colmap/src/util/types.h

// 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
// 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_UTIL_TYPES_H_
#define COLMAP_SRC_UTIL_TYPES_H_

#include "util/alignment.h"

#ifdef _MSC_VER
#if _MSC_VER >= 1600
#include <cstdint>
#else
typedef __int8 int8_t;
typedef __int16 int16_t;
typedef __int32 int32_t;
typedef __int64 int64_t;
typedef unsigned __int8 uint8_t;
typedef unsigned __int16 uint16_t;
typedef unsigned __int32 uint32_t;
typedef unsigned __int64 uint64_t;
#endif
#elif __GNUC__ >= 3
#include <cstdint>
#endif

// Define non-copyable or non-movable classes.
#define NON_COPYABLE(class_name)          \
  class_name(class_name const&) = delete; \
  void operator=(class_name const& obj) = delete;
#define NON_MOVABLE(class_name) class_name(class_name&&) = delete;

#include <Eigen/Core>

namespace Eigen {

typedef Eigen::Matrix<float, 3, 4> Matrix3x4f;
typedef Eigen::Matrix<double, 3, 4> Matrix3x4d;
typedef Eigen::Matrix<double, 6, 6> Matrix6d;
typedef Eigen::Matrix<uint8_t, 3, 1> Vector3ub;
typedef Eigen::Matrix<uint8_t, 4, 1> Vector4ub;
typedef Eigen::Matrix<double, 6, 1> Vector6d;

}  // namespace Eigen

namespace colmap {

////////////////////////////////////////////////////////////////////////////////
// Index types, determines the maximum number of objects.
////////////////////////////////////////////////////////////////////////////////

// Unique identifier for cameras.
typedef uint32_t camera_t;

// Unique identifier for images.
typedef uint32_t image_t;

// Each image pair gets a unique ID, see `Database::ImagePairToPairId`.
typedef uint64_t image_pair_t;

// Index per image, i.e. determines maximum number of 2D points per image.
typedef uint32_t point2D_t;

// Unique identifier per added 3D point. Since we add many 3D points,
// delete them, and possibly re-add them again, the maximum number of allowed
// unique indices should be large.
typedef uint64_t point3D_t;

// Values for invalid identifiers or indices.
const camera_t kInvalidCameraId = std::numeric_limits<camera_t>::max();
const image_t kInvalidImageId = std::numeric_limits<image_t>::max();
const image_pair_t kInvalidImagePairId =
    std::numeric_limits<image_pair_t>::max();
const point2D_t kInvalidPoint2DIdx = std::numeric_limits<point2D_t>::max();
const point3D_t kInvalidPoint3DId = std::numeric_limits<point3D_t>::max();

}  // namespace colmap

// This file provides specializations of the templated hash function for
// custom types. These are used for comparison in unordered sets/maps.
namespace std {

// Hash function specialization for uint32_t pairs, e.g., image_t or camera_t.
template <>
struct hash<std::pair<uint32_t, uint32_t>> {
  std::size_t operator()(const std::pair<uint32_t, uint32_t>& p) const {
    const uint64_t s = (static_cast<uint64_t>(p.first) << 32) +
                       static_cast<uint64_t>(p.second);
    return std::hash<uint64_t>()(s);
  }
};

}  // namespace std

#endif  // COLMAP_SRC_UTIL_TYPES_H_