// Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// Author: Johannes L. Schoenberger (jsch at inf.ethz.ch)

#ifndef COLMAP_SRC_RETRIEVAL_VOTE_AND_VERIFY_H_
#define COLMAP_SRC_RETRIEVAL_VOTE_AND_VERIFY_H_

#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

#endif  // COLMAP_SRC_RETRIEVAL_VOTE_AND_VERIFY_H_
