libmv/simple_pipeline/reconstruction.h

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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.
 
#ifndef LIBMV_SIMPLE_PIPELINE_RECONSTRUCTION_H_
#define LIBMV_SIMPLE_PIPELINE_RECONSTRUCTION_H_
 
#include "libmv/base/map.h"
#include "libmv/base/vector.h"
#include "libmv/numeric/numeric.h"
 
namespace libmv {
 
struct EuclideanCamera {
  EuclideanCamera() : image(-1) {}
  EuclideanCamera(const EuclideanCamera& c) : image(c.image), R(c.R), t(c.t) {}
 
  int image;
  Mat3 R;
  Vec3 t;
};
 
struct EuclideanPoint {
  EuclideanPoint() : track(-1) {}
  EuclideanPoint(const EuclideanPoint& p) : track(p.track), X(p.X) {}
  int track;
  Vec3 X;
};
 
class EuclideanReconstruction {
 public:
  // Default constructor starts with no cameras.
  EuclideanReconstruction();
 
  EuclideanReconstruction(const EuclideanReconstruction& other);
 
  EuclideanReconstruction& operator=(const EuclideanReconstruction& other);
 
  void InsertCamera(int image, const Mat3& R, const Vec3& t);
 
  void InsertPoint(int track, const Vec3& X);
 
  EuclideanCamera* CameraForImage(int image);
  const EuclideanCamera* CameraForImage(int image) const;
 
  vector<EuclideanCamera> AllCameras() const;
 
  EuclideanPoint* PointForTrack(int track);
  const EuclideanPoint* PointForTrack(int track) const;
 
  vector<EuclideanPoint> AllPoints() const;
 
 private:
  // Indexed by frame number.
  typedef map<int, EuclideanCamera> ImageToCameraMap;
  ImageToCameraMap image_to_cameras_map_;
 
  // Insxed by track.
  vector<EuclideanPoint> points_;
};
 
struct ProjectiveCamera {
  ProjectiveCamera() : image(-1) {}
  ProjectiveCamera(const ProjectiveCamera& c) : image(c.image), P(c.P) {}
 
  int image;
  Mat34 P;
};
 
struct ProjectivePoint {
  ProjectivePoint() : track(-1) {}
  ProjectivePoint(const ProjectivePoint& p) : track(p.track), X(p.X) {}
  int track;
  Vec4 X;
};
 
class ProjectiveReconstruction {
 public:
  void InsertCamera(int image, const Mat34& P);
 
  void InsertPoint(int track, const Vec4& X);
 
  ProjectiveCamera* CameraForImage(int image);
  const ProjectiveCamera* CameraForImage(int image) const;
 
  vector<ProjectiveCamera> AllCameras() const;
 
  ProjectivePoint* PointForTrack(int track);
  const ProjectivePoint* PointForTrack(int track) const;
 
  vector<ProjectivePoint> AllPoints() const;
 
 private:
  // Indexed by frame number.
  typedef map<int, ProjectiveCamera> ImageToCameraMap;
  ImageToCameraMap image_to_cameras_map_;
 
  // Indexed by track.
  vector<ProjectivePoint> points_;
};
 
}  // namespace libmv
 
#endif  // LIBMV_SIMPLE_PIPELINE_RECONSTRUCTION_H_