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use crate::{Bearing, CameraPoint, CameraToCamera, Pose, WorldPoint, WorldToCamera};
pub trait TriangulatorObservances {
fn triangulate_observances<B: Bearing>(
&self,
pairs: impl IntoIterator<Item = (WorldToCamera, B)>,
) -> Option<WorldPoint>;
}
pub trait TriangulatorRelative {
fn triangulate_relative<A: Bearing, B: Bearing>(
&self,
relative_pose: CameraToCamera,
a: A,
b: B,
) -> Option<CameraPoint>;
}
impl<T> TriangulatorRelative for T
where
T: TriangulatorObservances,
{
fn triangulate_relative<A: Bearing, B: Bearing>(
&self,
CameraToCamera(pose): CameraToCamera,
a: A,
b: B,
) -> Option<CameraPoint> {
use core::iter::once;
self.triangulate_observances(
once((WorldToCamera::identity(), a.bearing()))
.chain(once((WorldToCamera(pose), b.bearing()))),
)
.map(|p| CameraPoint(p.0))
}
}