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// Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: Johannes L. Schoenberger (jsch at inf.ethz.ch)
#ifndef COLMAP_SRC_RETRIEVAL_GEOMETRY_H_
#define COLMAP_SRC_RETRIEVAL_GEOMETRY_H_
#include <vector>
#include <Eigen/Core>
namespace colmap {
namespace retrieval {
struct FeatureGeometryTransform {
float scale = 0.0f;
float angle = 0.0f;
float tx = 0.0f;
float ty = 0.0f;
};
struct FeatureGeometry {
// Compute the similarity that transforms the shape of feature 1 to feature 2.
static FeatureGeometryTransform TransformFromMatch(
const FeatureGeometry& feature1, const FeatureGeometry& feature2);
static Eigen::Matrix<float, 2, 3> TransformMatrixFromMatch(
const FeatureGeometry& feature1, const FeatureGeometry& feature2);
// Get the approximate area occupied by the feature.
float GetArea() const;
// Get the approximate area occupied by the feature after applying an affine
// transformation to the feature geometry.
float GetAreaUnderTransform(const Eigen::Matrix2f& A) const;
float x = 0.0f;
float y = 0.0f;
float scale = 0.0f;
float orientation = 0.0f;
};
// 1-to-M feature geometry match.
struct FeatureGeometryMatch {
FeatureGeometry geometry1;
std::vector<FeatureGeometry> geometries2;
};
} // namespace retrieval
} // namespace colmap
#endif // COLMAP_SRC_RETRIEVAL_GEOMETRY_H_
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