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#ifndef BundleAdjustment_H__
#define BundleAdjustment_H__
#include "Eye.h"
#include "../oo/ObjBase.h"
namespace meow {
/*!
* @brief 列舉每個 \c Eye 可以有哪些種類的移動
*/
enum EyesReferenceInfoFlags {
CAN_OFFSET = 0x01, //!< 平移
CAN_ROTATE = 0x02, //!< 旋轉
CAN_ZOOM = 0x04 //!< 改變焦距
};
/*!
* @brief 記住每個 \c Eye 的reference以及Flag
*/
template<class Pixel>
struct EyesReferenceInfo {
unsigned long flag; //!< Flag, 定義如EyesReferenceInfoFlags
Eye<Pixel> eye; //!< reference
/*!
* @brief constructor with nothing
*/
EyesReferenceInfo(): flag(0), eye() {
}
/*!
* @brief constructor with flag and an Eye object. Here we will let
* memember '.eye' reference from the specify paramter \c e
*/
EyesReferenceInfo(Eye<Pixel>& e, unsigned long f): flag(f), eye() {
eye.referenceFrom(e);
}
/*!
* @brief constructor with another EyesReferenceInfo
*/
EyesReferenceInfo(EyesReferenceInfo const& si): flag(si.flag), eye() {
eye.referenceFrom(si.eye);
}
/*!
* @brief desructor
*/
~EyesReferenceInfo() {
}
/*!
* @brief copy operator, still use reference method
*/
EyesReferenceInfo& operator=(EyesReferenceInfo const& e) {
flag = e.flag;
eye.referenceFrom(e.eye);
return *this;
}
};
/*!
* @brief 這邊定義Bundle-Adjustment就是利用一系列場景來反推算出\b 相機資訊
* (包含拍攝座標, 角度與焦距) 或是在已知相機資訊的情況下推算出底片中
* 物體如何移動.
*/
template<class Pixel>
class BundleAdjustment: public ObjBase {
protected:
BundleAdjustment() {
}
public:
virtual ~BundleAdjustment() {
}
/*!
* @brief 推算相機資訊
*
* @param [in] seq 給定一系列場景
* @return 成功與否
*/
virtual
bool adjustEyes(std::vector<EyesReferenceInfo<Pixel> > seq) const {
return false;
}
/*!
* @brief 推算場景中的物體資訊
*
* 會將fixedPoints2D推算倒fixedPoints3D
*
* @param [in] seq 一系列場景(這裡的場景是有時間先後順序的)
* @brief 成功與否
*/
virtual
bool adjustFixedPoints(std::vector<EyesReferenceInfo<Pixel> > seq) const {
return false;
}
};
} // meow
#endif // BundleAdjustment_H__
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