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// 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-demuc-dot-de)
#ifndef COLMAP_SRC_FEATURE_TYPES_H_
#define COLMAP_SRC_FEATURE_TYPES_H_
#include <vector>
#include <Eigen/Core>
#include "util/types.h"
namespace colmap {
struct FeatureKeypoint {
FeatureKeypoint();
FeatureKeypoint(const float x, const float y);
FeatureKeypoint(const float x, const float y, const float scale,
const float orientation);
FeatureKeypoint(const float x, const float y, const float a11,
const float a12, const float a21, const float a22);
static FeatureKeypoint FromParameters(const float x, const float y,
const float scale_x,
const float scale_y,
const float orientation,
const float shear);
// Rescale the feature location and shape size by the given scale factor.
void Rescale(const float scale);
void Rescale(const float scale_x, const float scale_y);
// Compute similarity shape parameters from affine shape.
float ComputeScale() const;
float ComputeScaleX() const;
float ComputeScaleY() const;
float ComputeOrientation() const;
float ComputeShear() const;
// Location of the feature, with the origin at the upper left image corner,
// i.e. the upper left pixel has the coordinate (0.5, 0.5).
float x;
float y;
// Affine shape of the feature.
float a11;
float a12;
float a21;
float a22;
};
typedef Eigen::Matrix<uint8_t, 1, Eigen::Dynamic, Eigen::RowMajor>
FeatureDescriptor;
struct FeatureMatch {
FeatureMatch()
: point2D_idx1(kInvalidPoint2DIdx), point2D_idx2(kInvalidPoint2DIdx) {}
FeatureMatch(const point2D_t point2D_idx1, const point2D_t point2D_idx2)
: point2D_idx1(point2D_idx1), point2D_idx2(point2D_idx2) {}
// Feature index in first image.
point2D_t point2D_idx1 = kInvalidPoint2DIdx;
// Feature index in second image.
point2D_t point2D_idx2 = kInvalidPoint2DIdx;
};
typedef std::vector<FeatureKeypoint> FeatureKeypoints;
typedef Eigen::Matrix<uint8_t, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
FeatureDescriptors;
typedef std::vector<FeatureMatch> FeatureMatches;
} // namespace colmap
#endif // COLMAP_SRC_FEATURE_TYPES_H_
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