// Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)

#ifndef COLMAP_SRC_ESTIMATORS_GENERALIZED_ABSOLUTE_POSE_H_
#define COLMAP_SRC_ESTIMATORS_GENERALIZED_ABSOLUTE_POSE_H_

#include <vector>

#include <Eigen/Core>

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

namespace colmap {

// Solver for the Generalized P3P problem (NP3P or GP3P), based on:
//
//      Lee, Gim Hee, et al. "Minimal solutions for pose estimation of a
//      multi-camera system." Robotics Research. Springer International
//      Publishing, 2016. 521-538.
//
// This class is based on an original implementation by Federico Camposeco.
class GP3PEstimator {
 public:
  // The generalized image observations, which is composed of the relative pose
  // of the specific camera in the generalized camera and its image observation.
  struct X_t {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    // The relative transformation from the generalized camera to the camera
    // frame of the observation.
    Eigen::Matrix3x4d rel_tform;
    // The 2D image feature observation.
    Eigen::Vector2d xy;
  };

  // The observed 3D feature points in the world frame.
  typedef Eigen::Vector3d Y_t;
  // The transformation from the world to the generalized camera frame.
  typedef Eigen::Matrix3x4d M_t;

  // The minimum number of samples needed to estimate a model.
  static const int kMinNumSamples = 3;

  enum class ResidualType {
    CosineDistance,
    ReprojectionError,
  };

  // Whether to compute the cosine similarity or the reprojection error.
  // [WARNING] The reprojection error being in normalized coordinates,
  // the unique error threshold of RANSAC corresponds to different pixel values
  // in the different cameras of the rig if they have different intrinsics.
  ResidualType residual_type = ResidualType::CosineDistance;

  // Estimate the most probable solution of the GP3P problem from a set of
  // three 2D-3D point correspondences.
  static std::vector<M_t> Estimate(const std::vector<X_t>& points2D,
                                   const std::vector<Y_t>& points3D);

  // Calculate the squared cosine distance error between the rays given a set of
  // 2D-3D point correspondences and a projection matrix of the generalized
  // camera.
  void Residuals(const std::vector<X_t>& points2D,
                 const std::vector<Y_t>& points3D,
                 const M_t& proj_matrix, std::vector<double>* residuals);
};

}  // namespace colmap

EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(colmap::GP3PEstimator::X_t)

#endif  // COLMAP_SRC_ESTIMATORS_GENERALIZED_ABSOLUTE_POSE_H_