consistency_graph.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <string>
#include <vector>
 
#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