// Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
// 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 the name of ETH Zurich and UNC Chapel Hill nor the names of
//       its 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 COPYRIGHT HOLDERS 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
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)

#ifndef COLMAP_SRC_CONTROLLERS_HIERARCHICAL_MAPPER_H_
#define COLMAP_SRC_CONTROLLERS_HIERARCHICAL_MAPPER_H_

#include "base/reconstruction_manager.h"
#include "clustering/scene_clustering.h"
#include "controllers/incremental_mapper_controller.h"
#include "util/threading.h"

namespace colmap {

// Hierarchical mapping first hierarchically partitions the scene into multiple
// overlapping clusters, then reconstructs them separately using incremental
// mapping, and finally merges them all into a globally consistent
// reconstruction. This is especially useful for larger-scale scenes, since
// incremental mapping becomes slow with an increasing number of images.
class HierarchicalMapperController : public Thread 
{
public:
    struct Options 
    {
        // The path to the image folder which are used as input.
        std::string image_path;

        // The path to the database file which is used as input.
        std::string database_path;

        // The maximum number of trials to initialize a cluster.
        int init_num_trials = 10;

        // The number of workers used to reconstruct clusters in parallel.
        int num_workers = -1;

        bool Check() const;
    };

    HierarchicalMapperController(
        const Options& options,
        const SceneClustering::Options& clustering_options,
        const IncrementalMapperOptions& mapper_options,
        ReconstructionManager* reconstruction_manager);

private:
    void Run() override;
    
    const Options options_;
    const SceneClustering::Options clustering_options_;
    const IncrementalMapperOptions mapper_options_;
    ReconstructionManager* reconstruction_manager_;
};

}  // namespace colmap

#endif  // COLMAP_SRC_CONTROLLERS_HIERARCHICAL_MAPPER_H_
