| // Copyright (c) 2022, 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 | |
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| // 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) | |
| 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 | |