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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_MARKER_H_
#define LIBMV_AUTOTRACK_MARKER_H_
#include <ostream>
#include "libmv/autotrack/quad.h"
#include "libmv/autotrack/region.h"
#include "libmv/numeric/numeric.h"
namespace mv {
using libmv::Vec2f;
// A marker is the 2D location of a tracked region (quad) in an image.
// Note that some of this information could be normalized by having a
// collection of inter-connected structs. Instead the "fat Marker" design below
// trades memory for data structure simplicity.
struct Marker {
int clip; // The clip this marker is from.
int frame; // The frame within the clip this marker is from.
int track; // The track this marker is from.
// The center of the marker in frame coordinates. This is typically, but not
// always, the same as the center of the patch.
Vec2f center;
// A frame-realtive quad defining the part of the image the marker covers.
// For reference markers, the pixels in the patch are the tracking pattern.
Quad2Df patch;
// Some markers are less certain than others; the weight determines the
// amount this marker contributes to the error. 1.0 indicates normal
// contribution; 0.0 indicates a zero-weight track (and will be omitted from
// bundle adjustment).
float weight;
enum Source {
MANUAL, // The user placed this marker manually.
DETECTED, // A keypoint detector found this point.
TRACKED, // The tracking algorithm placed this marker.
MATCHED, // A matching algorithm (e.g. SIFT or SURF or ORB) found this.
PREDICTED, // A motion model predicted this marker. This is needed for
// handling occlusions in some cases where an imaginary marker
// is placed to keep camera motion smooth.
};
Source source;
// Markers may be inliers or outliers if the tracking fails; this allows
// visualizing the markers in the image.
enum Status { UNKNOWN, INLIER, OUTLIER };
Status status;
// When doing correlation tracking, where to search in the current frame for
// the pattern from the reference frame, in absolute frame coordinates.
Region search_region;
// For tracked and matched markers, indicates what the reference was.
int reference_clip;
int reference_frame;
// Model related information for non-point tracks.
//
// Some tracks are on a larger object, such as a plane or a line or perhaps
// another primitive (a rectangular prisim). This captures the information
// needed to say that for example a collection of markers belongs to model #2
// (and model #2 is a plane).
enum ModelType { POINT, PLANE, LINE, CUBE };
ModelType model_type;
// The model ID this track (e.g. the second model, which is a plane).
int model_id;
// TODO(keir): Add a "int model_argument" to capture that e.g. a marker is on
// the 3rd face of a cube.
enum Channel {
CHANNEL_R = (1 << 0),
CHANNEL_G = (1 << 1),
CHANNEL_B = (1 << 2),
};
// Channels from the original frame which this marker is unable to see.
int disabled_channels;
// Offset everything (center, patch, search) by the given delta.
template <typename T>
void Offset(const T& offset) {
center += offset.template cast<float>();
patch.coordinates.rowwise() += offset.template cast<int>();
search_region.Offset(offset);
}
// Shift the center to the given new position (and patch, search).
template <typename T>
void SetPosition(const T& new_center) {
Offset(new_center - center);
}
};
inline std::ostream& operator<<(std::ostream& out, const Marker& marker) {
out << "{" << marker.clip << ", " << marker.frame << ", " << marker.track
<< ", (" << marker.center.x() << ", " << marker.center.y() << ")"
<< "}";
return out;
}
} // namespace mv
#endif // LIBMV_AUTOTRACK_MARKER_H_
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