// Copyright (c) 2020, Viktor Larsson
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
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#ifndef POSELIB_UP1P1LL_H_
#define POSELIB_UP1P1LL_H_

#include "PoseLib/camera_pose.h"

#include <Eigen/Dense>
#include <vector>

namespace poselib {

// Point correspondence:
//     lambda * xp = R * Xp + t
// Line correspondence:
//     l^T * (R * X + t) = 0
//     l^T * R * V = 0

int up1p1ll(const Eigen::Vector3d &xp, const Eigen::Vector3d &Xp, const Eigen::Vector3d &l, const Eigen::Vector3d &X,
            const Eigen::Vector3d &V, CameraPoseVector *output);

// Wrapper for non-upright gravity (g_cam = R*g_world)
int up1p1ll(const Eigen::Vector3d &xp, const Eigen::Vector3d &Xp, const Eigen::Vector3d &l, const Eigen::Vector3d &X,
            const Eigen::Vector3d &V, const Eigen::Vector3d &g_cam, const Eigen::Vector3d &g_world,
            CameraPoseVector *output);

}; // namespace poselib

#endif