/* 
 *  Copyright (c) 2008  Noah Snavely (snavely (at) cs.washington.edu)
 *    and the University of Washington
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 */

/* Epipolar.h */
/* Routines for computing epipolar geometry */

#ifndef __epipolar_h__
#define __epipolar_h__

#include <vector.h>

#include "keys.h"

/* Estimate an E-matrix from a given set of point matches */
std::vector<int> EstimateEMatrix(const std::vector<Keypoint> &k1, 
				 const std::vector<Keypoint> &k2, 
				 std::vector<KeypointMatch> matches, 
				 int num_trials, double threshold, 
				 double f1, double f2, 
                                 double *E, double *F);

/* Estimate relative pose from a given set of point matches */
int EstimatePose5Point(const std::vector<Keypoint> &k1, 
                       const std::vector<Keypoint> &k2, 
                       std::vector<KeypointMatch> matches, 
                       int num_trials, double threshold, 
                       double *K1, double *K2, 
                       double *R, double *t);

/* Estimate an F-matrix from a given set of point matches */
std::vector<int> EstimateFMatrix(const std::vector<Keypoint> &k1, 
				 const std::vector<Keypoint> &k2, 
				 std::vector<KeypointMatch> matches, 
				 int num_trials, double threshold, 
				 double *F, bool essential = false);

#endif /* __epipolar_h__ */
