PerspectivePose.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_GEOMETRY_PERSPECTIVE_POSE_H
#define META_OCEAN_GEOMETRY_PERSPECTIVE_POSE_H
 
#include "ocean/geometry/Geometry.h"
 
#include "ocean/math/Vector2.h"
#include "ocean/math/Vector3.h"
 
namespace Ocean
{
 
namespace Geometry
{
 
/**
 * This class is the base class for all perspective pose classes.
 * @ingroup geometry
 */
class OCEAN_GEOMETRY_EXPORT PerspectivePose
{
    protected:
 
        /**
         * Calculates the two possible solutions for the law of cosines.
         * @param x1 First leg distance
         * @param x1_2 Square of the first leg distance
         * @param cos12 Cosine value of the angle between the two legs
         * @param d12_2 Square of the far distance
         * @param x2a First solution of the second leg distance
         * @param x2b Second solution of the second leg distance
         * @return True, if succeeded
         * @tparam T The data type of the scalar
         */
        template <typename T>
        static bool calculateCosineSolutions(const T x1, const T x1_2, const T cos12, const T d12_2, T& x2a, T& x2b);
 
        /**
         * Returns the result of the law of cosines.
         * For valid parameters this result should be zero.
         * The law is: 0 = x1^2 + x2^2 - 2 * x1 * x2 * cos12 - d12^2
         * @param x1 First leg distance
         * @param x1_2 Square of the first leg distance
         * @param x2 Second leg distance
         * @param x2_2 Square of the second leg distance
         * @param cos12 Cosine value of the angle between the two legs
         * @param d12_2 Square of the far distance
         * @return Result of the law of cosines
         * @tparam T The data type of the scalar
         */
        template <typename T>
        static inline T calculateCosineResults(const T x1, const T x1_2, const T x2, const T x2_2, const T cos12, const T d12_2);
};
 
template <typename T>
inline T PerspectivePose::calculateCosineResults(const T x1, const T x1_2, const T x2, const T x2_2, const T cos12, const T d12_2)
{
    return x1_2 + x2_2 - 2 * x1 * x2 * cos12 - d12_2;
}
 
}
 
}
 
#endif // META_OCEAN_GEOMETRY_PERSPECTIVE_POSE_H