#ifndef epnp_h
#define epnp_h

#include <cv.h>

class epnp {
public:
	epnp(void);
	~epnp();

	void set_internal_parameters(const double uc, const double vc,
		const double fu, const double fv);

	void set_maximum_number_of_correspondences(const int n);
	void reset_correspondences(void);
	void add_correspondence(const double X, const double Y, const double Z,
		const double u, const double v);

	double compute_pose(double R[3][3], double T[3]);

	void relative_error(double & rot_err, double & transl_err,
		const double Rtrue[3][3], const double ttrue[3],
		const double Rest[3][3],  const double test[3]);

	void print_pose(const double R[3][3], const double t[3]);
	double reprojection_error(const double R[3][3], const double t[3]);

private:
	void choose_control_points(void);
	void compute_barycentric_coordinates(void);
	void fill_M(CvMat * M, const int row, const double * alphas, const double u, const double v);
	void compute_ccs(const double * betas, const double * ut);
	void compute_pcs(void);

	void solve_for_sign(void);

	void find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho, double * betas);
	void find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho, double * betas);
	void find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho, double * betas);
	void qr_solve(CvMat * A, CvMat * b, CvMat * X);

	double dot(const double * v1, const double * v2);
	double dist2(const double * p1, const double * p2);

	void compute_rho(double * rho);
	void compute_L_6x10(const double * ut, double * l_6x10);

	void gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double current_betas[4]);
	void compute_A_and_b_gauss_newton(const double * l_6x10, const double * rho,
		double cb[4], CvMat * A, CvMat * b);

	double compute_R_and_t(const double * ut, const double * betas,
		double R[3][3], double t[3]);

	void estimate_R_and_t(double R[3][3], double t[3]);

	void copy_R_and_t(const double R_dst[3][3], const double t_dst[3],
		double R_src[3][3], double t_src[3]);

	void mat_to_quat(const double R[3][3], double q[4]);


	double uc, vc, fu, fv;

	double * pws, * us, * alphas, * pcs;
	int maximum_number_of_correspondences;
	int number_of_correspondences;

	double cws[4][3], ccs[4][3];
	double cws_determinant;
};
#endif