StructureEstimationFromKnownPoses.hpp

// This file is part of the AliceVision project.
// Copyright (c) 2016 AliceVision contributors.
// Copyright (c) 2012 openMVG contributors.
// This Source Code Form is subject to the terms of the Mozilla Public License,
// v. 2.0. If a copy of the MPL was not distributed with this file,
// You can obtain one at https://mozilla.org/MPL/2.0/.
 
#pragma once
 
#include <aliceVision/sfmData/SfMData.hpp>
#include <aliceVision/feature/RegionsPerView.hpp>
#include <aliceVision/matching/MatchesCollections.hpp>
 
namespace aliceVision {
namespace sfm {
 
class StructureEstimationFromKnownPoses
{
  public:
    void run(sfmData::SfMData& sfmData,
             const PairSet& pairs,
             const feature::RegionsPerView& regionsPerView,
             std::mt19937& randomNumberGenerator,
             double geometricErrorMax);
 
  public:
    void match(const sfmData::SfMData& sfmData, const PairSet& pairs, const feature::RegionsPerView& regionsPerView, double geometricErrorMax);
 
    void filter(const sfmData::SfMData& sfmData, const PairSet& pairs, const feature::RegionsPerView& regionsPerView);
 
    void triangulate(sfmData::SfMData& sfmData, const feature::RegionsPerView& regionsPerView, std::mt19937& randomNumberGenerator);
 
    const matching::PairwiseMatches& getPutativesMatches() const { return _putativeMatches; }
 
  private:
    //--
    // DATA (temporary)
    //--
    matching::PairwiseMatches _putativeMatches;
    matching::PairwiseMatches _tripletMatches;
};
 
}  // namespace sfm
}  // namespace aliceVision