// 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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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)

#ifndef COLMAP_SRC_BASE_HOMOGRAPHY_MATRIX_UTILS_H_
#define COLMAP_SRC_BASE_HOMOGRAPHY_MATRIX_UTILS_H_

#include <Eigen/Core>
#include <vector>

#include "util/alignment.h"
#include "util/types.h"

namespace colmap {

// Decompose an homography matrix into the possible rotations, translations,
// and plane normal vectors, according to:
//
//    Malis, Ezio, and Manuel Vargas. "Deeper understanding of the homography
//    decomposition for vision-based control." (2007): 90.
//
// The first pose is assumed to be P = [I | 0]. Note that the homography is
// plane-induced if `R.size() == t.size() == n.size() == 4`. If `R.size() ==
// t.size() == n.size() == 1` the homography is pure-rotational.
//
// @param H          3x3 homography matrix.
// @param K          3x3 calibration matrix.
// @param R          Possible 3x3 rotation matrices.
// @param t          Possible translation vectors.
// @param n          Possible normal vectors.
void DecomposeHomographyMatrix(const Eigen::Matrix3d& H,
                               const Eigen::Matrix3d& K1,
                               const Eigen::Matrix3d& K2,
                               std::vector<Eigen::Matrix3d>* R,
                               std::vector<Eigen::Vector3d>* t,
                               std::vector<Eigen::Vector3d>* n);

// Recover the most probable pose from the given homography matrix.
//
// The pose of the first image is assumed to be P = [I | 0].
//
// @param H            3x3 homography matrix.
// @param K1           3x3 calibration matrix of first camera.
// @param K2           3x3 calibration matrix of second camera.
// @param points1      First set of corresponding points.
// @param points2      Second set of corresponding points.
// @param inlier_mask  Only points with `true` in the inlier mask are
//                     considered in the cheirality test. Size of the
//                     inlier mask must match the number of points N.
// @param R            Most probable 3x3 rotation matrix.
// @param t            Most probable 3x1 translation vector.
// @param n            Most probable 3x1 normal vector.
// @param points3D     Triangulated 3D points infront of camera
//                     (only if homography is not pure-rotational).
void PoseFromHomographyMatrix(const Eigen::Matrix3d& H,
                              const Eigen::Matrix3d& K1,
                              const Eigen::Matrix3d& K2,
                              const std::vector<Eigen::Vector2d>& points1,
                              const std::vector<Eigen::Vector2d>& points2,
                              Eigen::Matrix3d* R, Eigen::Vector3d* t,
                              Eigen::Vector3d* n,
                              std::vector<Eigen::Vector3d>* points3D);

// Compose homography matrix from relative pose.
//
// @param K1      3x3 calibration matrix of first camera.
// @param K2      3x3 calibration matrix of second camera.
// @param R       Most probable 3x3 rotation matrix.
// @param t       Most probable 3x1 translation vector.
// @param n       Most probable 3x1 normal vector.
// @param d       Orthogonal distance from plane.
//
// @return        3x3 homography matrix.
Eigen::Matrix3d HomographyMatrixFromPose(const Eigen::Matrix3d& K1,
                                         const Eigen::Matrix3d& K2,
                                         const Eigen::Matrix3d& R,
                                         const Eigen::Vector3d& t,
                                         const Eigen::Vector3d& n,
                                         const double d);

}  // namespace colmap

#endif  // COLMAP_SRC_BASE_HOMOGRAPHY_MATRIX_UTILS_H_
