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// Copyright (c) 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.
#include "libmv/simple_pipeline/tracks.h"
#include <algorithm>
#include <vector>
#include <iterator>
#include "libmv/numeric/numeric.h"
namespace libmv {
Tracks::Tracks(const Tracks &other) {
markers_ = other.markers_;
}
Tracks::Tracks(const vector<Marker> &markers) : markers_(markers) {}
void Tracks::Insert(int image, int track, double x, double y, double weight) {
// TODO(keir): Wow, this is quadratic for repeated insertions. Fix this by
// adding a smarter data structure like a set<>.
for (int i = 0; i < markers_.size(); ++i) {
if (markers_[i].image == image &&
markers_[i].track == track) {
markers_[i].x = x;
markers_[i].y = y;
return;
}
}
Marker marker = { image, track, x, y, weight };
markers_.push_back(marker);
}
vector<Marker> Tracks::AllMarkers() const {
return markers_;
}
vector<Marker> Tracks::MarkersInImage(int image) const {
vector<Marker> markers;
for (int i = 0; i < markers_.size(); ++i) {
if (image == markers_[i].image) {
markers.push_back(markers_[i]);
}
}
return markers;
}
vector<Marker> Tracks::MarkersForTrack(int track) const {
vector<Marker> markers;
for (int i = 0; i < markers_.size(); ++i) {
if (track == markers_[i].track) {
markers.push_back(markers_[i]);
}
}
return markers;
}
vector<Marker> Tracks::MarkersInBothImages(int image1, int image2) const {
vector<Marker> markers;
for (int i = 0; i < markers_.size(); ++i) {
int image = markers_[i].image;
if (image == image1 || image == image2)
markers.push_back(markers_[i]);
}
return markers;
}
vector<Marker> Tracks::MarkersForTracksInBothImages(int image1,
int image2) const {
std::vector<int> image1_tracks;
std::vector<int> image2_tracks;
for (int i = 0; i < markers_.size(); ++i) {
int image = markers_[i].image;
if (image == image1) {
image1_tracks.push_back(markers_[i].track);
} else if (image == image2) {
image2_tracks.push_back(markers_[i].track);
}
}
std::sort(image1_tracks.begin(), image1_tracks.end());
std::sort(image2_tracks.begin(), image2_tracks.end());
std::vector<int> intersection;
std::set_intersection(image1_tracks.begin(), image1_tracks.end(),
image2_tracks.begin(), image2_tracks.end(),
std::back_inserter(intersection));
vector<Marker> markers;
for (int i = 0; i < markers_.size(); ++i) {
if ((markers_[i].image == image1 || markers_[i].image == image2) &&
std::binary_search(intersection.begin(), intersection.end(),
markers_[i].track)) {
markers.push_back(markers_[i]);
}
}
return markers;
}
Marker Tracks::MarkerInImageForTrack(int image, int track) const {
for (int i = 0; i < markers_.size(); ++i) {
if (markers_[i].image == image && markers_[i].track == track) {
return markers_[i];
}
}
Marker null = { -1, -1, -1, -1, 0.0 };
return null;
}
void Tracks::RemoveMarkersForTrack(int track) {
int size = 0;
for (int i = 0; i < markers_.size(); ++i) {
if (markers_[i].track != track) {
markers_[size++] = markers_[i];
}
}
markers_.resize(size);
}
void Tracks::RemoveMarker(int image, int track) {
int size = 0;
for (int i = 0; i < markers_.size(); ++i) {
if (markers_[i].image != image || markers_[i].track != track) {
markers_[size++] = markers_[i];
}
}
markers_.resize(size);
}
int Tracks::MaxImage() const {
// TODO(MatthiasF): maintain a max_image_ member (updated on Insert)
int max_image = 0;
for (int i = 0; i < markers_.size(); ++i) {
max_image = std::max(markers_[i].image, max_image);
}
return max_image;
}
int Tracks::MaxTrack() const {
// TODO(MatthiasF): maintain a max_track_ member (updated on Insert)
int max_track = 0;
for (int i = 0; i < markers_.size(); ++i) {
max_track = std::max(markers_[i].track, max_track);
}
return max_track;
}
int Tracks::NumMarkers() const {
return markers_.size();
}
void CoordinatesForMarkersInImage(const vector<Marker> &markers,
int image,
Mat *coordinates) {
vector<Vec2> coords;
for (int i = 0; i < markers.size(); ++i) {
const Marker &marker = markers[i];
if (markers[i].image == image) {
coords.push_back(Vec2(marker.x, marker.y));
}
}
coordinates->resize(2, coords.size());
for (int i = 0; i < coords.size(); i++) {
coordinates->col(i) = coords[i];
}
}
} // namespace libmv
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