geometry.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 <vector>
 
namespace colmap {
namespace retrieval {
 
struct FeatureGeometryTransform {
    float scale = 0.0f;
    float angle = 0.0f;
    float tx = 0.0f;
    float ty = 0.0f;
};
 
struct FeatureGeometry {
    // Compute the similarity that transforms the shape of feature 1 to
    // feature 2.
    static FeatureGeometryTransform TransformFromMatch(
            const FeatureGeometry& feature1, const FeatureGeometry& feature2);
    static Eigen::Matrix<float, 2, 3> TransformMatrixFromMatch(
            const FeatureGeometry& feature1, const FeatureGeometry& feature2);
 
    // Get the approximate area occupied by the feature.
    float GetArea() const;
 
    // Get the approximate area occupied by the feature after applying an affine
    // transformation to the feature geometry.
    float GetAreaUnderTransform(const Eigen::Matrix2f& A) const;
 
    float x = 0.0f;
    float y = 0.0f;
    float scale = 0.0f;
    float orientation = 0.0f;
};
 
// 1-to-M feature geometry match.
struct FeatureGeometryMatch {
    FeatureGeometry geometry1;
    std::vector<FeatureGeometry> geometries2;
};
 
}  // namespace retrieval
}  // namespace colmap