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// Copyright (c) 2020, Viktor Larsson
// 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 the copyright holder 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 <COPYRIGHT HOLDER> 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.
#ifndef POSELIB_P4PF_H_
#define POSELIB_P4PF_H_
#include "PoseLib/camera_pose.h"
#include <Eigen/Dense>
#include <vector>
namespace poselib {
// Solves for camera pose and focal lengths (fx,fy) such that: lambda*diag(1/fx,1/fy,1)*[x;1] = R*X+t
// Re-implementation of the p4pf solver from
// Kukelova et al., Efficient Intersection of Three Quadrics and Applications in Computer Vision, CVPR 2016
// This solver returns a separate focal length for x and y
// If filter_solutions is true it only returns solutions with positive focal length
int p4pf(const std::vector<Eigen::Vector2d> &x, const std::vector<Eigen::Vector3d> &X, std::vector<CameraPose> *output,
std::vector<double> *output_fx, std::vector<double> *output_fy, bool filter_solutions = true);
// Wrapper that returns the average focal length instead.
// filter_solutions also removes instances where the aspect ratio (fx/fy) is far from 1
int p4pf(const std::vector<Eigen::Vector2d> &x, const std::vector<Eigen::Vector3d> &X, std::vector<CameraPose> *output,
std::vector<double> *output_focal, bool filter_solutions = true);
} // namespace poselib
#endif
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