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// Copyright (c) 2014 libmv authors.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
//
// Author: mierle@gmail.com (Keir Mierle)
#ifndef LIBMV_AUTOTRACK_RECONSTRUCTION_H_
#define LIBMV_AUTOTRACK_RECONSTRUCTION_H_
#include "libmv/base/vector.h"
#include "libmv/numeric/numeric.h"
#include "libmv/simple_pipeline/camera_intrinsics.h"
namespace mv {
using libmv::CameraIntrinsics;
using libmv::vector;
class Model;
class CameraPose {
int clip;
int frame;
int intrinsics;
Mat3 R;
Vec3 t;
};
class Point {
int track;
// The coordinates of the point. Note that not all coordinates are always
// used; for example points on a plane only use the first two coordinates.
Vec3 X;
};
// A reconstruction for a set of tracks. The indexing for clip, frame, and
// track should match that of a Tracs object, stored elsewhere.
class Reconstruction {
public:
// All methods copy their input reference or take ownership of the pointer.
void AddCameraPose(const CameraPose& pose);
int AddCameraIntrinsics(CameraIntrinsics* intrinsics);
int AddPoint(const Point& point);
int AddModel(Model* model);
// Returns the corresponding pose or point or NULL if missing.
CameraPose* CameraPoseForFrame(int clip, int frame);
const CameraPose* CameraPoseForFrame(int clip, int frame) const;
Point* PointForTrack(int track);
const Point* PointForTrack(int track) const;
const vector<vector<CameraPose> >& camera_poses() const {
return camera_poses_;
}
private:
// Indexed by CameraPose::intrinsics. Owns the intrinsics objects.
vector<CameraIntrinsics*> camera_intrinsics_;
// Indexed by Marker::clip then by Marker::frame.
vector<vector<CameraPose> > camera_poses_;
// Indexed by Marker::track.
vector<Point> points_;
// Indexed by Marker::model_id. Owns model objects.
vector<Model*> models_;
};
} // namespace mv
#endif // LIBMV_AUTOTRACK_RECONSTRUCTION_H_
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