| // 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 | |
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| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | |
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| // POSSIBILITY OF SUCH DAMAGE. | |
| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| namespace mvs { | |
| // List of geometrically consistent images, in the following format: | |
| // | |
| // r_1, c_1, N_1, i_11, i_12, ..., i_1N_1, | |
| // r_2, c_2, N_2, i_21, i_22, ..., i_2N_2, ... | |
| // | |
| // where r, c are the row and column image coordinates of the pixel, | |
| // N is the number of consistent images, followed by the N image indices. | |
| // Note that only pixels are listed which are not filtered and that the | |
| // consistency graph is only filled if filtering is enabled. | |
| class ConsistencyGraph { | |
| public: | |
| ConsistencyGraph(); | |
| ConsistencyGraph(const size_t width, const size_t height, | |
| const std::vector<int>& data); | |
| size_t GetNumBytes() const; | |
| void GetImageIdxs(const int row, const int col, int* num_images, | |
| const int** image_idxs) const; | |
| void Read(const std::string& path); | |
| void Write(const std::string& path) const; | |
| private: | |
| void InitializeMap(const size_t width, const size_t height); | |
| const static int kNoConsistentImageIds; | |
| std::vector<int> data_; | |
| Eigen::MatrixXi map_; | |
| }; | |
| } // namespace mvs | |
| } // namespace colmap | |