ISolver.hpp

// This file is part of the AliceVision project.
// Copyright (c) 2019 AliceVision 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/numeric/numeric.hpp>
#include <aliceVision/numeric/Container.hpp>
 
#include <vector>
 
namespace aliceVision {
namespace robustEstimation {
 
template<typename ModelT_>
class ISolver
{
  public:
    virtual std::size_t getMinimumNbRequiredSamples() const = 0;
 
    virtual std::size_t getMaximumNbModels() const = 0;
 
    virtual void solve(const Mat& x1, const Mat& x2, std::vector<ModelT_>& models) const = 0;
 
    virtual void solve(const Mat& x1, const Mat& x2, std::vector<ModelT_>& models, const std::vector<double>& weights) const = 0;
};
 
template<typename ModelT_>
class UndefinedSolver : public ISolver<ModelT_>
{
  public:
    std::size_t getMinimumNbRequiredSamples() const override
    {
        throw std::runtime_error("Undefined solver used in kernel.");
        return 0;
    }
 
    std::size_t getMaximumNbModels() const override
    {
        throw std::runtime_error("Undefined solver used in kernel.");
        return 0;
    }
 
    void solve(const Mat& x1, const Mat& x2, std::vector<ModelT_>& models) const override
    {
        throw std::runtime_error("Undefined solver used in kernel.");
    }
 
    void solve(const Mat& x1, const Mat& x2, std::vector<ModelT_>& models, const std::vector<double>& weights) const override
    {
        throw std::runtime_error("Undefined solver used in kernel.");
    }
};
 
template<typename MatrixT>
struct MatrixModel
{
    MatrixModel() = default;
 
    explicit MatrixModel(const MatrixT& matrix)
      : _matrix(matrix)
    {}
 
    inline const MatrixT& getMatrix() const { return _matrix; }
 
    inline MatrixT& getMatrix() { return _matrix; }
 
    inline void setMatrix(const MatrixT& matrix) { _matrix = matrix; }
 
  protected:
    MatrixT _matrix{};
};
 
using Mat3Model = MatrixModel<Mat3>;
 
using Mat34Model = MatrixModel<Mat34>;
 
}  // namespace robustEstimation
}  // namespace aliceVision