1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
|
// Copyright (c) 2010, 2011 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.
#ifndef LIBMV_SIMPLE_PIPELINE_KEYFRAME_SELECTION_H_
#define LIBMV_SIMPLE_PIPELINE_KEYFRAME_SELECTION_H_
#include "libmv/base/vector.h"
#include "libmv/simple_pipeline/tracks.h"
#include "libmv/simple_pipeline/camera_intrinsics.h"
namespace libmv {
// Get list of all images which are good enough to be as keyframes from
// camera reconstruction. Based on GRIC criteria and uses Pollefeys'
// approach for correspondence ratio constraint.
//
// As an additional, additional criteria based on reconstruction
// variance is used. This means if correspondence and GRIC criteria
// are passed, two-frames reconstruction using candidate keyframes
// happens. After reconstruction variance of 3D points is calculating
// and if expected error estimation is too large, keyframe candidate
// is rejecting.
//
// \param tracks contains all tracked correspondences between frames
// expected to be undistorted and normalized
// \param intrinsics is camera intrinsics
// \param keyframes will contain all images number which are considered
// good to be used for reconstruction
void SelectKeyframesBasedOnGRICAndVariance(const Tracks &tracks,
CameraIntrinsics &intrinsics,
vector<int> &keyframes);
} // namespace libmv
#endif // LIBMV_SIMPLE_PIPELINE_KEYFRAME_SELECTION_H_
|
