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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_MVS_MODEL_H_
#define COLMAP_SRC_MVS_MODEL_H_
#include <cstdint>
#include <fstream>
#include <map>
#include <set>
#include <string>
#include <unordered_map>
#include <vector>
#include "mvs/depth_map.h"
#include "mvs/image.h"
#include "mvs/normal_map.h"
namespace colmap {
namespace mvs {
// Simple sparse model class.
struct Model {
struct Point {
float x = 0;
float y = 0;
float z = 0;
std::vector<int> track;
};
// Read the model from different data formats.
void Read(const std::string& path, const std::string& format);
void ReadFromCOLMAP(const std::string& path,
const std::string& sparse_path = "sparse",
const std::string& images_path = "images");
void ReadFromPMVS(const std::string& path);
// Get the image index for the given image name.
int GetImageIdx(const std::string& name) const;
std::string GetImageName(const int image_idx) const;
// For each image, determine the maximally overlapping images, sorted based on
// the number of shared points subject to a minimum robust average
// triangulation angle of the points.
std::vector<std::vector<int>> GetMaxOverlappingImages(
const size_t num_images, const double min_triangulation_angle) const;
// Get the overlapping images defined in the vis.dat file.
const std::vector<std::vector<int>>& GetMaxOverlappingImagesFromPMVS() const;
// Compute the robust minimum and maximum depths from the sparse point cloud.
std::vector<std::pair<float, float>> ComputeDepthRanges() const;
// Compute the number of shared points between all overlapping images.
std::vector<std::map<int, int>> ComputeSharedPoints() const;
// Compute the median triangulation angles between all overlapping images.
std::vector<std::map<int, float>> ComputeTriangulationAngles(
const float percentile = 50) const;
// Note that in case the data is read from a COLMAP reconstruction, the index
// of an image or point does not correspond to its original identifier in the
// reconstruction, but it corresponds to the position in the
// images.bin/points3D.bin files. This is mainly done for more efficient
// access to the data, which is required during the stereo fusion stage.
std::vector<Image> images;
std::vector<Point> points;
private:
bool ReadFromBundlerPMVS(const std::string& path);
bool ReadFromRawPMVS(const std::string& path);
std::vector<std::string> image_names_;
std::unordered_map<std::string, int> image_name_to_idx_;
std::vector<std::vector<int>> pmvs_vis_dat_;
};
} // namespace mvs
} // namespace colmap
#endif // COLMAP_SRC_MVS_MODEL_H_
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