// Copyright (c) 2011 libmv authors.
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// furnished to do so, subject to the following conditions:
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#ifndef LIBMV_SIMPLE_PIPELINE_RESECT_H
#define LIBMV_SIMPLE_PIPELINE_RESECT_H

#include "libmv/base/vector.h"
#include "libmv/simple_pipeline/reconstruction.h"
#include "libmv/simple_pipeline/tracks.h"

namespace libmv {

/*!
    Estimate the Euclidean pose of a camera from 2D to 3D correspondences.

    This takes a set of markers visible in one frame (which is the one to
    resection), such that the markers are also reconstructed in 3D in the
    reconstruction object, and solves for the pose and orientation of the
    camera for that frame.

    \a markers should contain \link Marker markers \endlink belonging to tracks
    visible in the one frame to be resectioned. Each of the tracks associated
    with the markers must have a corresponding reconstructed 3D position in the
    \a *reconstruction object.

    \a *reconstruction should contain the 3D points associated with the tracks
    for the markers present in \a markers.

    \note This assumes a calibrated reconstruction, e.g. the markers are
          already corrected for camera intrinsics and radial distortion.
    \note This assumes an outlier-free set of markers.

    \return True if the resection was successful, false otherwise.

    \sa EuclideanIntersect, EuclideanReconstructTwoFrames
*/
bool EuclideanResect(const vector<Marker>& markers,
                     EuclideanReconstruction* reconstruction,
                     bool final_pass);

/*!
    Estimate the projective pose of a camera from 2D to 3D correspondences.

    This takes a set of markers visible in one frame (which is the one to
    resection), such that the markers are also reconstructed in a projective
    frame in the reconstruction object, and solves for the projective matrix of
    the camera for that frame.

    \a markers should contain \link Marker markers \endlink belonging to tracks
    visible in the one frame to be resectioned. Each of the tracks associated
    with the markers must have a corresponding reconstructed homogeneous 3D
    position in the \a *reconstruction object.

    \a *reconstruction should contain the homogeneous 3D points associated with
    the tracks for the markers present in \a markers.

    \note This assumes radial distortion has already been corrected, but
          otherwise works for uncalibrated sequences.
    \note This assumes an outlier-free set of markers.

    \return True if the resection was successful, false otherwise.

    \sa ProjectiveIntersect, ProjectiveReconstructTwoFrames
*/
bool ProjectiveResect(const vector<Marker>& markers,
                      ProjectiveReconstruction* reconstruction);

}  // namespace libmv

#endif  // LIBMV_SIMPLE_PIPELINE_RESECT_H
