void match2ind(int maxNum, const Matching& matches, Mat_i& indices) {
assert(maxNum > 0);
indices.resize(maxNum, 1);
indices.fill(-1);
for (int i = 0; i < matches.num; i++) {
int idx1 = matches[i].idx1;
int idx2 = matches[i].idx2;
indices.data[idx1] = idx2;
}
}
void getMatchIndices(Matching& matches, int maxInd, Mat_i& ind, bool inverse) {
ind.resize(maxInd, 1);
ind.fill(-1);
if (!inverse) {
for (int i = 0; i < matches.num; i++) {
int idx1 = matches[i].idx1;
int idx2 = matches[i].idx2;
ind.data[idx1] = idx2;
}
} else {
for (int i = 0; i < matches.num; i++) {
int idx1 = matches[i].idx1;
int idx2 = matches[i].idx2;
ind.data[idx2] = idx1;
}
}
}
void selectCameraOrder(int camNum, const int* distMat, Mat_i& order) {
int maxVal = 0;
int iMax = -1, jMax = -1;
const int* pDistMat = distMat;
// find the max value in the distMat at (iMax, jMax)
for (int i = 0; i < camNum; i++) {
for (int j = i; j < camNum; j++) {
if (pDistMat[j] > maxVal) {
maxVal = pDistMat[j];
iMax = i;
jMax = j;
}
}
pDistMat += camNum;
}
Mat_uc flag(camNum, 1);
flag.fill(0);
flag[iMax] = 1;
flag[jMax] = 1;
std::list<int> cams;
cams.push_back(iMax);
cams.push_back(jMax);
while (maxVal > 0) {
int iHead = cams.front();
int iTail = cams.back();
int iMaxHead = -1;
int maxValHead = 0;
pDistMat = distMat + camNum * iHead;
for (int j = 0; j < camNum; j++) {
if (flag[j] > 0)
continue;
else if (maxValHead < pDistMat[j]) {
maxValHead = pDistMat[j];
iMaxHead = j;
}
}
int iMaxTail = -1;
int maxValTail = 0;
pDistMat = distMat + camNum * iTail;
for (int j = 0; j < camNum; j++) {
if (flag[j] > 0)
continue;
else if (maxValTail < pDistMat[j]) {
maxValTail = pDistMat[j];
iMaxTail = j;
}
}
if (iMaxHead < 0 && iMaxTail < 0) {
break;
}
if (maxValHead > maxValTail) {
cams.push_front(iMaxHead);
flag[iMaxHead] = 1;
} else if (maxValHead < maxValTail) {
cams.push_back(iMaxTail);
flag[iMaxTail] = 1;
}
}
order.resize(cams.size(), 1);
int k = 0;
std::list<int>::iterator iter;
for (iter = cams.begin(); iter != cams.end(); iter++) {
order.data[k++] = *iter;
}
order.rows = k;
if (order.rows != camNum) {
repErr("selectCameraOrder - not all camera have the intersection of views");
}
}