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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_UI_COLORMAPS_H_
#define COLMAP_SRC_UI_COLORMAPS_H_
#include <Eigen/Core>
#include "base/reconstruction.h"
#include "util/alignment.h"
#include "util/types.h"
namespace colmap {
// Base class for 3D point color mapping.
class PointColormapBase {
public:
PointColormapBase();
virtual void Prepare(EIGEN_STL_UMAP(camera_t, Camera) & cameras,
EIGEN_STL_UMAP(image_t, Image) & images,
EIGEN_STL_UMAP(point3D_t, Point3D) & points3D,
std::vector<image_t>& reg_image_ids) = 0;
virtual Eigen::Vector3f ComputeColor(const point3D_t point3D_id,
const Point3D& point3D) = 0;
void UpdateScale(std::vector<float>* values);
float AdjustScale(const float gray);
float scale;
float min;
float max;
float range;
float min_q;
float max_q;
};
// Map color according to RGB value from image.
class PointColormapPhotometric : public PointColormapBase {
public:
void Prepare(EIGEN_STL_UMAP(camera_t, Camera) & cameras,
EIGEN_STL_UMAP(image_t, Image) & images,
EIGEN_STL_UMAP(point3D_t, Point3D) & points3D,
std::vector<image_t>& reg_image_ids);
Eigen::Vector3f ComputeColor(const point3D_t point3D_id,
const Point3D& point3D);
};
// Map color according to error.
class PointColormapError : public PointColormapBase {
public:
void Prepare(EIGEN_STL_UMAP(camera_t, Camera) & cameras,
EIGEN_STL_UMAP(image_t, Image) & images,
EIGEN_STL_UMAP(point3D_t, Point3D) & points3D,
std::vector<image_t>& reg_image_ids);
Eigen::Vector3f ComputeColor(const point3D_t point3D_id,
const Point3D& point3D);
};
// Map color according to track length.
class PointColormapTrackLen : public PointColormapBase {
public:
void Prepare(EIGEN_STL_UMAP(camera_t, Camera) & cameras,
EIGEN_STL_UMAP(image_t, Image) & images,
EIGEN_STL_UMAP(point3D_t, Point3D) & points3D,
std::vector<image_t>& reg_image_ids);
Eigen::Vector3f ComputeColor(const point3D_t point3D_id,
const Point3D& point3D);
};
// Map color according to ground-resolution.
class PointColormapGroundResolution : public PointColormapBase {
public:
void Prepare(EIGEN_STL_UMAP(camera_t, Camera) & cameras,
EIGEN_STL_UMAP(image_t, Image) & images,
EIGEN_STL_UMAP(point3D_t, Point3D) & points3D,
std::vector<image_t>& reg_image_ids);
Eigen::Vector3f ComputeColor(const point3D_t point3D_id,
const Point3D& point3D);
private:
std::unordered_map<point3D_t, float> resolutions_;
};
} // namespace colmap
#endif // COLMAP_SRC_UI_COLORMAPS_H_
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