| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
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| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // A class that captures the distribution of points in a 2D grid. | |
| // For example, to capture the distribution of visible 3D points in an image. | |
| // | |
| // The class captures the distribution of points by a score. A higher score | |
| // corresponds to a more uniform distribution of the points in the grid. | |
| // | |
| // The score is computed by the number of populated cells in a multi-resolution | |
| // pyramid. A populated cell contributes to the overall score if it is | |
| // populated by at least one point and the contributed score is according | |
| // to its resolution in the pyramid. A cell in a higher resolution level | |
| // contributes a higher score to the overall score. | |
| class VisibilityPyramid { | |
| public: | |
| VisibilityPyramid(); | |
| VisibilityPyramid(const size_t num_levels, const size_t width, | |
| const size_t height); | |
| void SetPoint(const double x, const double y); | |
| void ResetPoint(const double x, const double y); | |
| inline size_t NumLevels() const; | |
| inline size_t Width() const; | |
| inline size_t Height() const; | |
| inline size_t Score() const; | |
| inline size_t MaxScore() const; | |
| private: | |
| void CellForPoint(const double x, const double y, size_t* cx, | |
| size_t* cy) const; | |
| // Range of the input points. | |
| size_t width_; | |
| size_t height_; | |
| // The overall visibility score. | |
| size_t score_; | |
| // The maximum score when all cells are populated. | |
| size_t max_score_; | |
| // The visibilty pyramid with multiple levels. | |
| std::vector<Eigen::MatrixXi> pyramid_; | |
| }; | |
| //////////////////////////////////////////////////////////////////////////////// | |
| // Implementation | |
| //////////////////////////////////////////////////////////////////////////////// | |
| size_t VisibilityPyramid::NumLevels() const { return pyramid_.size(); } | |
| size_t VisibilityPyramid::Width() const { return width_; } | |
| size_t VisibilityPyramid::Height() const { return height_; } | |
| size_t VisibilityPyramid::Score() const { return score_; } | |
| size_t VisibilityPyramid::MaxScore() const { return max_score_; } | |
| } // namespace colmap | |