/******************************************************************************
 * Author:   Laurent Kneip                                                    *
 * Contact:  kneip.laurent@gmail.com                                          *
 * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
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 * are met:                                                                   *
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 *   notice, this list of conditions and the following disclaimer.            *
 * * Redistributions in binary form must reproduce the above copyright        *
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 *   documentation and/or other materials provided with the distribution.     *
 * * Neither the name of ANU 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 ANU OR THE CONTRIBUTORS BE LIABLE        *
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 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
 * SUCH DAMAGE.                                                               *
 ******************************************************************************/


#include <opengv/absolute_pose/modules/gpnp1/modules.hpp>


void
opengv::absolute_pose::modules::gpnp1::sPolynomial3( Eigen::Matrix<double,5,3> & groebnerMatrix )
{
  groebnerMatrix(3,1) = (groebnerMatrix(0,1)/(groebnerMatrix(0,0))-groebnerMatrix(1,1)/(groebnerMatrix(1,0)));
  groebnerMatrix(3,2) = (groebnerMatrix(0,2)/(groebnerMatrix(0,0))-groebnerMatrix(1,2)/(groebnerMatrix(1,0)));
}

void
opengv::absolute_pose::modules::gpnp1::sPolynomial4( Eigen::Matrix<double,5,3> & groebnerMatrix )
{
  groebnerMatrix(4,1) = (groebnerMatrix(1,1)/(groebnerMatrix(1,0))-groebnerMatrix(2,1)/(groebnerMatrix(2,0)));
  groebnerMatrix(4,2) = (groebnerMatrix(1,2)/(groebnerMatrix(1,0))-groebnerMatrix(2,2)/(groebnerMatrix(2,0)));
}

