libmv/autotrack/reconstruction.h

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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_RECONSTRUCTION_H_
#define LIBMV_AUTOTRACK_RECONSTRUCTION_H_
 
#include "libmv/base/map.h"
#include "libmv/base/vector.h"
#include "libmv/numeric/numeric.h"
#include "libmv/simple_pipeline/camera_intrinsics.h"
 
namespace mv {
 
using libmv::CameraIntrinsics;
using libmv::vector;
 
class Model;
 
class CameraPose {
  int clip;
  int frame;
  int intrinsics;
  Mat3 R;
  Vec3 t;
};
 
class Point {
  int track;
 
  // The coordinates of the point. Note that not all coordinates are always
  // used; for example points on a plane only use the first two coordinates.
  Vec3 X;
};
 
// A reconstruction for a set of tracks. The indexing for clip, frame, and
// track should match that of a Tracks object, stored elsewhere.
class Reconstruction {
 public:
  // All methods copy their input reference or take ownership of the pointer.
  void AddCameraPose(const CameraPose& pose);
  int AddCameraIntrinsics(CameraIntrinsics* intrinsics);
  int AddPoint(const Point& point);
  int AddModel(Model* model);
 
  // Returns the corresponding pose or point or NULL if missing.
  CameraPose* CameraPoseForFrame(int clip, int frame);
  const CameraPose* CameraPoseForFrame(int clip, int frame) const;
  Point* PointForTrack(int track);
  const Point* PointForTrack(int track) const;
 
  const vector<vector<CameraPose>>& camera_poses() const {
    return camera_poses_;
  }
 
 private:
  // Indexed by CameraPose::intrinsics. Owns the intrinsics objects.
  vector<CameraIntrinsics*> camera_intrinsics_;
 
  // Indexed by Marker::clip then by Marker::frame.
  vector<map<int, CameraPose>> camera_poses_;
 
  // Indexed by Marker::track.
  vector<Point> points_;
 
  // Indexed by Marker::model_id. Owns model objects.
  vector<Model*> models_;
};
 
}  // namespace mv
 
#endif  // LIBMV_AUTOTRACK_RECONSTRUCTION_H_