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triangulate_landmarks.h
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triangulate_landmarks.h
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/*ckwg +29
* Copyright 2014-2017 by Kitware, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* * Neither name of Kitware, Inc. nor the names of any contributors may be used
* to endorse or promote products derived from this software without specific
* prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ``AS IS''
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* \file
* \brief Header for VXL triangulate_landmarks algorithm
*/
#ifndef KWIVER_ARROWS_VXL_TRIANGULATE_LANDMARKS_H_
#define KWIVER_ARROWS_VXL_TRIANGULATE_LANDMARKS_H_
#include <vital/vital_config.h>
#include <arrows/vxl/kwiver_algo_vxl_export.h>
#include <vital/algo/triangulate_landmarks.h>
#include <memory>
namespace kwiver {
namespace arrows {
namespace vxl {
/// A class for triangulating landmarks from feature tracks and cameras using VXL
class KWIVER_ALGO_VXL_EXPORT triangulate_landmarks
: public vital::algorithm_impl<triangulate_landmarks,
vital::algo::triangulate_landmarks>
{
public:
/// Constructor
triangulate_landmarks();
/// Destructor
virtual ~triangulate_landmarks();
/// Get this algorithm's \link vital::config_block configuration block \endlink
virtual vital::config_block_sptr get_configuration() const;
/// Set this algorithm's properties via a config block
virtual void set_configuration(vital::config_block_sptr config);
/// Check that the algorithm's currently configuration is valid
virtual bool check_configuration(vital::config_block_sptr config) const;
/// Triangulate the landmark locations given sets of cameras and feature tracks
/**
* \param [in] cameras the cameras viewing the landmarks
* \param [in] tracks the feature tracks to use as constraints
* \param [in,out] landmarks the landmarks to triangulate
*
* This function only triangulates the landmarks with indicies in the
* landmark map and which have support in the tracks and cameras
*/
virtual void
triangulate(vital::camera_map_sptr cameras,
vital::feature_track_set_sptr tracks,
vital::landmark_map_sptr& landmarks) const;
private:
/// private implementation class
class priv;
const std::unique_ptr<priv> d_;
};
} // end namespace vxl
} // end namespace arrows
} // end namespace kwiver
#endif // KWIVER_ARROWS_VXL_TRIANGULATE_LANDMARKS_H_