// Copyright (C) 2014 The Regents of the University of California (Regents).
// 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 Regents or University of California 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
// 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.
//
// Please contact the author of this library if you have any questions.
// Author: Chris Sweeney (cmsweeney@cs.ucsb.edu)

// BSD 3-Clause License

// Copyright (c) 2020, Chenyu
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:

// 1. Redistributions of source code must retain the above copyright notice,
// this
//    list of conditions and the following disclaimer.

// 2. 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.

// 3. 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 THE COPYRIGHT HOLDER 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
// 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 GRAPHSFM_SFM_TWOVIEW_INFO_H_
#define GRAPHSFM_SFM_TWOVIEW_INFO_H_

#include <ceres/rotation.h>
#include <glog/logging.h>
#include <stdint.h>

#include <Eigen/Core>

#include "math/rotation.h"

namespace DAGSfM {

// A struct to hold match and projection data between two views. It is assumed
// that the first view is at the origin with an identity rotation.
class TwoViewInfo {
 public:
  TwoViewInfo()
      : position_2(Eigen::Vector3d::Zero()),
        rotation_2(Eigen::Vector3d::Zero()),
        visibility_score(1) {}

  Eigen::Vector3d position_2;
  Eigen::Vector3d rotation_2;

  // The visibility score is computed based on the inlier features from 2-view
  // geometry estimation. This score is similar to the number of verified
  // matches, but has a spatial weighting to encourage good coverage of the
  // image by the inliers. The visibility score here is the sum of the
  // visibility scores for each image.
  int visibility_score;
};

// Inverts the two view info such that the focal lengths are swapped and the
// rotation and position are inverted.
void SwapCameras(TwoViewInfo* twoview_info);

}  // namespace DAGSfM

#endif  // GRAPHSFM_SFM_TWOVIEW_INFO_H_
