/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
 *
 *  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 Autonomous Systems Lab / ETH Zurich 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 OWNER 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
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 *
 *  Created on: Mar 10, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

/**
 * @file stereo_triangulation.hpp
 * @brief File containing the triangulateFast method definition.
 * @author Stefan Leutenegger
 */


#ifndef INCLUDE_OKVIS_TRIANGULATION_STEREO_TRIANGULATION_HPP_
#define INCLUDE_OKVIS_TRIANGULATION_STEREO_TRIANGULATION_HPP_

#include <Eigen/Core>

/// \brief okvis Main namespace of this package.
namespace okvis {
/// \brief
namespace triangulation {

/**
 * @brief Triangulate the intersection of two rays.
 * @warning The rays e1 and e2 need to be normalized!
 * @param[in]  p1 Camera center position of frame A in coordinate frame A
 * @param[in]  e1 Ray through keypoint of frame A in coordinate frame A.
 * @param[in]  p2 Camera center position of frame B in coordinate frame A.
 * @param[in]  e2 Ray through keypoint of frame B in coordinate frame A.
 * @param[in]  sigma Ray uncertainty.
 * @param[out] isValid Is the triangulation valid.
 * @param[out] isParallel Are the rays parallel?
 * @return Homogeneous coordinates of triangulated point.
 */
Eigen::Vector4d triangulateFast(const Eigen::Vector3d & p1,
                                const Eigen::Vector3d & e1,
                                const Eigen::Vector3d & p2,
                                const Eigen::Vector3d & e2, double sigma,
                                bool & isValid, bool & isParallel);
}
}

#endif /* INCLUDE_OKVIS_TRIANGULATION_STEREO_TRIANGULATION_HPP_ */
