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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_CONSISTENCY_GRAPH_H_
#define COLMAP_SRC_MVS_CONSISTENCY_GRAPH_H_
#include <string>
#include <vector>
#include <Eigen/Core>
#include "util/types.h"
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
#endif // COLMAP_SRC_MVS_CONSISTENCY_GRAPH_H_
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