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// Copyright (c) 2010, 2011 libmv authors.
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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#ifndef LIBMV_SIMPLE_PIPELINE_KEYFRAME_SELECTION_H_
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#define LIBMV_SIMPLE_PIPELINE_KEYFRAME_SELECTION_H_
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#include "libmv/base/vector.h"
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#include "libmv/simple_pipeline/tracks.h"
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#include "libmv/simple_pipeline/camera_intrinsics.h"
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// Get list of all images which are good enough to be as keyframes from
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// camera reconstruction. Based on GRIC criteria and uses Pollefeys'
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// approach for correspondence ratio constraint.
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// As an additional, additional criteria based on reconstruction
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// variance is used. This means if correspondence and GRIC criteria
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// are passed, two-frames reconstruction using candidate keyframes
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// happens. After reconstruction variance of 3D points is calculating
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// and if expected error estimation is too large, keyframe candidate
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// \param tracks contains all tracked correspondences between frames
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// expected to be undistorted and normalized
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// \param intrinsics is camera intrinsics
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// \param keyframes will contain all images number which are considered
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// good to be used for reconstruction
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void SelectkeyframesBasedOnGRICAndVariance(const Tracks &tracks,
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CameraIntrinsics &intrinsics,
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vector<int> &keyframes);
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#endif // LIBMV_SIMPLE_PIPELINE_KEYFRAME_SELECTION_H_