vote_and_verify.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "retrieval/geometry.h"
 
namespace colmap {
namespace retrieval {
 
struct VoteAndVerifyOptions {
    // Number of top transformations to generate.
    int num_transformations = 30;
 
    // Number of voting bins in the translation dimension.
    int num_trans_bins = 64;
 
    // Number of voting bins in the scale dimension.
    int num_scale_bins = 32;
 
    // Number of voting bins in the orientation dimension.
    int num_angle_bins = 8;
 
    // Maximum image dimension that bounds the range of the translation bins.
    int max_image_size = 4096;
 
    // Minimum number of votes for a transformation to be considered.
    int min_num_votes = 1;
 
    // RANSAC confidence level used to abort the iteration.
    double confidence = 0.99;
 
    // Thresholds for considering a match an inlier.
    double max_transfer_error = 100.0 * 100.0;
    double max_scale_error = 2.0;
};
 
// Compute effective inlier count using Vote-and-Verify by estimating an affine
// transformation from 2D-2D image matches. The method is described in:
//      "A Vote­-and­-Verify Strategy for
//       Fast Spatial Verification in Image Retrieval",
//      Schönberger et al., ACCV 2016.
int VoteAndVerify(const VoteAndVerifyOptions& options,
                  const std::vector<FeatureGeometryMatch>& matches);
 
}  // namespace retrieval
}  // namespace colmap