// Copyright (c), ETH Zurich and UNC Chapel Hill.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//
//     * Neither the name of ETH Zurich and UNC Chapel Hill 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
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// POSSIBILITY OF SUCH DAMAGE.

#include "colmap/estimators/two_view_geometry.h"

#include "colmap/estimators/generalized_pose.h"
#include "colmap/estimators/solvers/essential_matrix.h"
#include "colmap/estimators/solvers/fundamental_matrix.h"
#include "colmap/estimators/solvers/homography_matrix.h"
#include "colmap/estimators/solvers/translation_transform.h"
#include "colmap/geometry/essential_matrix.h"
#include "colmap/geometry/homography_matrix.h"
#include "colmap/geometry/triangulation.h"
#include "colmap/math/math.h"
#include "colmap/optim/loransac.h"
#include "colmap/optim/ransac.h"
#include "colmap/scene/camera.h"
#include "colmap/util/logging.h"
#include "colmap/util/timer.h"

#include <unordered_set>

#include <Eigen/Geometry>

namespace colmap {
namespace {

FeatureMatches ExtractInlierMatches(const FeatureMatches& matches,
                                    const size_t num_inliers,
                                    const std::vector<char>& inlier_mask) {
  FeatureMatches inlier_matches(num_inliers);
  size_t j = 0;
  for (size_t i = 0; i < matches.size(); ++i) {
    if (inlier_mask[i]) {
      inlier_matches[j] = matches[i];
      j += 1;
    }
  }
  return inlier_matches;
}

FeatureMatches ExtractOutlierMatches(const FeatureMatches& matches,
                                     const FeatureMatches& inlier_matches) {
  THROW_CHECK_GE(matches.size(), inlier_matches.size());

  std::unordered_set<std::pair<point2D_t, point2D_t>> inlier_matches_set;
  inlier_matches_set.reserve(inlier_matches.size());
  for (const auto& match : inlier_matches) {
    inlier_matches_set.emplace(match.point2D_idx1, match.point2D_idx2);
  }

  FeatureMatches outlier_matches;
  outlier_matches.reserve(matches.size() - inlier_matches.size());

  for (const auto& match : matches) {
    if (inlier_matches_set.count(
            std::make_pair(match.point2D_idx1, match.point2D_idx2)) == 0) {
      outlier_matches.push_back(match);
    }
  }

  return outlier_matches;
}

TwoViewGeometry EstimateCalibratedHomography(
    const Camera& camera1,
    const std::vector<Eigen::Vector2d>& points1,
    const Camera& camera2,
    const std::vector<Eigen::Vector2d>& points2,
    const FeatureMatches& matches,
    const TwoViewGeometryOptions& options) {
  TwoViewGeometry geometry;

  const size_t min_num_inliers = static_cast<size_t>(options.min_num_inliers);
  if (matches.size() < min_num_inliers) {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  }

  // Extract corresponding points.
  std::vector<Eigen::Vector2d> matched_img_points1(matches.size());
  std::vector<Eigen::Vector2d> matched_img_points2(matches.size());
  for (size_t i = 0; i < matches.size(); ++i) {
    matched_img_points1[i] = points1[matches[i].point2D_idx1];
    matched_img_points2[i] = points2[matches[i].point2D_idx2];
  }

  // Estimate planar or panoramic model.

  LORANSAC<HomographyMatrixEstimator, HomographyMatrixEstimator> H_ransac(
      options.ransac_options);
  const auto H_report =
      H_ransac.Estimate(matched_img_points1, matched_img_points2);
  geometry.H = H_report.model;

  if (!H_report.success || H_report.support.num_inliers < min_num_inliers) {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  } else {
    geometry.config = TwoViewGeometry::ConfigurationType::PLANAR_OR_PANORAMIC;
  }

  geometry.inlier_matches = ExtractInlierMatches(
      matches, H_report.support.num_inliers, H_report.inlier_mask);
  if (options.detect_watermark &&
      DetectWatermarkMatches(camera1,
                             matched_img_points1,
                             camera2,
                             matched_img_points2,
                             H_report.support.num_inliers,
                             H_report.inlier_mask,
                             options)) {
    geometry.config = TwoViewGeometry::ConfigurationType::WATERMARK;
  }

  if (options.compute_relative_pose) {
    EstimateTwoViewGeometryPose(camera1, points1, camera2, points2, &geometry);
  }

  return geometry;
}

TwoViewGeometry EstimateUncalibratedTwoViewGeometry(
    const Camera& camera1,
    const std::vector<Eigen::Vector2d>& points1,
    const Camera& camera2,
    const std::vector<Eigen::Vector2d>& points2,
    const FeatureMatches& matches,
    const TwoViewGeometryOptions& options) {
  TwoViewGeometry geometry;

  const size_t min_num_inliers = static_cast<size_t>(options.min_num_inliers);
  if (matches.size() < static_cast<size_t>(min_num_inliers)) {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  }

  // Extract corresponding points.
  std::vector<Eigen::Vector2d> matched_img_points1(matches.size());
  std::vector<Eigen::Vector2d> matched_img_points2(matches.size());
  for (size_t i = 0; i < matches.size(); ++i) {
    matched_img_points1[i] = points1[matches[i].point2D_idx1];
    matched_img_points2[i] = points2[matches[i].point2D_idx2];
  }

  // Estimate epipolar model.

  LORANSAC<FundamentalMatrixSevenPointEstimator,
           FundamentalMatrixEightPointEstimator>
      F_ransac(options.ransac_options);
  const auto F_report =
      F_ransac.Estimate(matched_img_points1, matched_img_points2);
  geometry.F = F_report.model;

  // Estimate planar or panoramic model.

  LORANSAC<HomographyMatrixEstimator, HomographyMatrixEstimator> H_ransac(
      options.ransac_options);
  const auto H_report =
      H_ransac.Estimate(matched_img_points1, matched_img_points2);
  geometry.H = H_report.model;

  if ((!F_report.success && !H_report.success) ||
      (F_report.support.num_inliers < min_num_inliers &&
       H_report.support.num_inliers < min_num_inliers)) {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  }

  // Determine inlier ratios of different models.

  const double H_F_inlier_ratio =
      static_cast<double>(H_report.support.num_inliers) /
      F_report.support.num_inliers;

  const std::vector<char>* best_inlier_mask = &F_report.inlier_mask;
  int num_inliers = F_report.support.num_inliers;
  if (H_F_inlier_ratio > options.max_H_inlier_ratio) {
    geometry.config = TwoViewGeometry::ConfigurationType::PLANAR_OR_PANORAMIC;
    if (H_report.support.num_inliers >= F_report.support.num_inliers) {
      num_inliers = H_report.support.num_inliers;
      best_inlier_mask = &H_report.inlier_mask;
    }
  } else {
    geometry.config = TwoViewGeometry::ConfigurationType::UNCALIBRATED;
  }

  geometry.inlier_matches =
      ExtractInlierMatches(matches, num_inliers, *best_inlier_mask);

  if (options.detect_watermark && DetectWatermarkMatches(camera1,
                                                         matched_img_points1,
                                                         camera2,
                                                         matched_img_points2,
                                                         num_inliers,
                                                         *best_inlier_mask,
                                                         options)) {
    geometry.config = TwoViewGeometry::ConfigurationType::WATERMARK;
  }

  if (options.compute_relative_pose) {
    EstimateTwoViewGeometryPose(camera1, points1, camera2, points2, &geometry);
  }

  return geometry;
}

TwoViewGeometry EstimateMultipleTwoViewGeometries(
    const Camera& camera1,
    const std::vector<Eigen::Vector2d>& points1,
    const Camera& camera2,
    const std::vector<Eigen::Vector2d>& points2,
    const FeatureMatches& matches,
    const TwoViewGeometryOptions& options) {
  FeatureMatches remaining_matches = matches;
  TwoViewGeometry multi_geometry;
  std::vector<TwoViewGeometry> geometries;
  while (true) {
    TwoViewGeometry geometry = EstimateTwoViewGeometry(
        camera1, points1, camera2, points2, remaining_matches, options);
    if (geometry.config == TwoViewGeometry::ConfigurationType::DEGENERATE) {
      break;
    }

    remaining_matches =
        ExtractOutlierMatches(remaining_matches, geometry.inlier_matches);

    if (options.multiple_ignore_watermark) {
      if (geometry.config != TwoViewGeometry::ConfigurationType::WATERMARK) {
        geometries.push_back(std::move(geometry));
      }
    } else {
      geometries.push_back(std::move(geometry));
    }
  }

  if (geometries.empty()) {
    multi_geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
  } else if (geometries.size() == 1) {
    multi_geometry = std::move(geometries[0]);
  } else {
    multi_geometry.config = TwoViewGeometry::ConfigurationType::MULTIPLE;
    for (const auto& geometry : geometries) {
      multi_geometry.inlier_matches.insert(multi_geometry.inlier_matches.end(),
                                           geometry.inlier_matches.begin(),
                                           geometry.inlier_matches.end());
    }
  }

  return multi_geometry;
}

// Estimate two-view geometry for an image pair where at least one camera is
// omnidirectional (no pinhole image plane, e.g. EQUIRECTANGULAR). The
// fundamental matrix and homography are not geometrically meaningful for such
// cameras, so only the bearing-based essential matrix is estimated and the
// result is committed to the CALIBRATED configuration (or DEGENERATE).
// TODO(jsch): Implement mixed spherical/calibrated perspective camera case
// using one-sided focal length solver from poselib.
TwoViewGeometry EstimateSphericalTwoViewGeometry(
    const Camera& camera1,
    const std::vector<Eigen::Vector2d>& points1,
    const Camera& camera2,
    const std::vector<Eigen::Vector2d>& points2,
    const FeatureMatches& matches,
    const TwoViewGeometryOptions& options) {
  THROW_CHECK(options.Check());

  TwoViewGeometry geometry;

  const size_t min_num_inliers = static_cast<size_t>(options.min_num_inliers);
  if (matches.size() < min_num_inliers) {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  }

  // For a mixed spherical/perspective pair the perspective camera's bearings
  // come from CamFromImg and degrade if its focal length is off, but an
  // essential matrix can still often be estimated as long as the focal length
  // is not completely wrong. Rather than gate on a focal prior, we attempt the
  // estimation and let the inlier count below decide whether the result is
  // degenerate.

  // Extract corresponding image points and bearing rays. For omnidirectional
  // cameras (e.g. EQUIRECTANGULAR) the bearing rays are the only valid
  // representation; the raw image points are kept only for watermark detection.
  std::vector<Eigen::Vector2d> matched_img_points1(matches.size());
  std::vector<Eigen::Vector2d> matched_img_points2(matches.size());
  std::vector<Eigen::Vector3d> matched_cam_rays1(matches.size());
  std::vector<Eigen::Vector3d> matched_cam_rays2(matches.size());
  for (size_t i = 0; i < matches.size(); ++i) {
    const point2D_t idx1 = matches[i].point2D_idx1;
    const point2D_t idx2 = matches[i].point2D_idx2;
    matched_img_points1[i] = points1[idx1];
    matched_img_points2[i] = points2[idx2];
    matched_cam_rays1[i] =
        camera1.CamRayFromImg(points1[idx1]).value_or(Eigen::Vector3d::Zero());
    matched_cam_rays2[i] =
        camera2.CamRayFromImg(points2[idx2]).value_or(Eigen::Vector3d::Zero());
  }

  // Only the bearing-based essential matrix is meaningful: the fundamental
  // matrix and homography assume a pinhole image plane that an omnidirectional
  // camera does not have.
  auto ransac_options = options.ransac_options;
  if (options.min_inlier_ratio > 0) {
    ransac_options.min_inlier_ratio = options.min_inlier_ratio;
  }
  ransac_options.max_error =
      (camera1.CamFromImgThreshold(options.ransac_options.max_error) +
       camera2.CamFromImgThreshold(options.ransac_options.max_error)) /
      2;

  LORANSAC<EssentialMatrixFivePointEstimator, EssentialMatrixFivePointEstimator>
      E_ransac(ransac_options);
  const auto E_report = E_ransac.Estimate(matched_cam_rays1, matched_cam_rays2);
  geometry.E = E_report.model;

  if (!E_report.success || E_report.support.num_inliers < min_num_inliers) {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  }

  geometry.config = TwoViewGeometry::ConfigurationType::CALIBRATED;
  geometry.inlier_matches = ExtractInlierMatches(
      matches, E_report.support.num_inliers, E_report.inlier_mask);

  // Check inlier ratio threshold.
  if (options.min_inlier_ratio > 0) {
    const double inlier_ratio =
        static_cast<double>(E_report.support.num_inliers) / matches.size();
    if (inlier_ratio < options.min_inlier_ratio) {
      geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
      return geometry;
    }
  }

  if (options.detect_watermark &&
      DetectWatermarkMatches(camera1,
                             matched_img_points1,
                             camera2,
                             matched_img_points2,
                             E_report.support.num_inliers,
                             E_report.inlier_mask,
                             options)) {
    geometry.config = TwoViewGeometry::ConfigurationType::WATERMARK;
  }

  if (options.compute_relative_pose) {
    EstimateTwoViewGeometryPose(camera1, points1, camera2, points2, &geometry);
  }

  return geometry;
}

}  // namespace

bool TwoViewGeometryOptions::Check() const {
  CHECK_OPTION_GE(min_num_inliers, 0);
  CHECK_OPTION_GE(min_E_F_inlier_ratio, 0);
  CHECK_OPTION_LE(min_E_F_inlier_ratio, 1);
  CHECK_OPTION_GE(max_H_inlier_ratio, 0);
  CHECK_OPTION_LE(max_H_inlier_ratio, 1);
  CHECK_OPTION_GE(watermark_min_inlier_ratio, 0);
  CHECK_OPTION_LE(watermark_min_inlier_ratio, 1);
  CHECK_OPTION_GE(watermark_border_size, 0);
  CHECK_OPTION_LE(watermark_border_size, 1);
  CHECK_OPTION_GT(ransac_options.max_error, 0);
  CHECK_OPTION_GE(ransac_options.min_inlier_ratio, 0);
  CHECK_OPTION_LE(ransac_options.min_inlier_ratio, 1);
  CHECK_OPTION_GE(ransac_options.confidence, 0);
  CHECK_OPTION_LE(ransac_options.confidence, 1);
  CHECK_OPTION_LE(ransac_options.min_num_trials, ransac_options.max_num_trials);
  CHECK_OPTION_GE(ransac_options.random_seed, -1);
  return true;
}

TwoViewGeometry EstimateTwoViewGeometry(
    const Camera& camera1,
    const std::vector<Eigen::Vector2d>& points1,
    const Camera& camera2,
    const std::vector<Eigen::Vector2d>& points2,
    FeatureMatches matches,
    const TwoViewGeometryOptions& options) {
  if (options.filter_stationary_matches) {
    FilterStationaryMatches(
        options.stationary_matches_max_error, points1, points2, &matches);
  }
  if (options.multiple_models) {
    TwoViewGeometryOptions multiple_model_options = options;
    // Set to false to prevent recursive calls to this function.
    multiple_model_options.multiple_models = false;
    // Set to false to prevent redundant filtering of stationary matches.
    multiple_model_options.filter_stationary_matches = false;
    return EstimateMultipleTwoViewGeometries(
        camera1, points1, camera2, points2, matches, multiple_model_options);
  } else if (options.force_H_use) {
    return EstimateCalibratedHomography(
        camera1, points1, camera2, points2, matches, options);
  } else {
    // A spherical (omnidirectional) camera has no pinhole image plane, so only
    // the bearing-based essential matrix is meaningful. Otherwise, use the
    // calibrated path if both cameras have a known focal length, and the
    // uncalibrated path otherwise.
    if (camera1.IsSpherical() || camera2.IsSpherical()) {
      return EstimateSphericalTwoViewGeometry(
          camera1, points1, camera2, points2, matches, options);
    } else if (camera1.has_prior_focal_length &&
               camera2.has_prior_focal_length) {
      return EstimateCalibratedTwoViewGeometry(
          camera1, points1, camera2, points2, matches, options);
    } else {
      return EstimateUncalibratedTwoViewGeometry(
          camera1, points1, camera2, points2, matches, options);
    }
  }
}

std::vector<std::pair<std::pair<image_t, image_t>, TwoViewGeometry>>
EstimateRigTwoViewGeometries(
    const Rig& rig1,
    const Rig& rig2,
    const std::unordered_map<image_t, Image>& images,
    const std::unordered_map<camera_t, Camera>& cameras,
    const std::vector<std::pair<std::pair<image_t, image_t>, FeatureMatches>>&
        matches,
    const TwoViewGeometryOptions& options) {
  std::vector<Eigen::Vector2d> points1;
  std::vector<Eigen::Vector2d> points2;
  std::vector<size_t> camera_idxs1;
  std::vector<size_t> camera_idxs2;
  std::vector<Rigid3d> cams_from_rig;
  cams_from_rig.reserve(rig1.NumSensors() + rig2.NumSensors());
  std::vector<Camera> cameras_vec;
  cameras_vec.reserve(cams_from_rig.size());
  std::vector<std::tuple<image_t, point2D_t, image_t, point2D_t>> corrs;

  std::unordered_map<camera_t, std::pair<rig_t, size_t>>
      camera_id_to_rig_and_camera_idx;
  auto maybe_add_camera =
      [&cameras_vec, &cams_from_rig, &camera_id_to_rig_and_camera_idx](
          const Rig& rig, const Camera& camera) {
        const auto [it, inserted] = camera_id_to_rig_and_camera_idx.emplace(
            camera.camera_id, std::make_pair(rig.RigId(), cameras_vec.size()));
        if (inserted) {
          cameras_vec.push_back(camera);
          if (rig.IsRefSensor(camera.SensorId())) {
            cams_from_rig.push_back(Rigid3d());
          } else {
            cams_from_rig.push_back(rig.SensorFromRig(camera.SensorId()));
          }
        } else {
          THROW_CHECK_EQ(it->second.first, rig.RigId())
              << "The same camera is assigned to both rigs";
        }
        return it->second.second;
      };

  std::unordered_set<image_pair_t> image_pairs;
  image_pairs.reserve(matches.size());
  for (const auto& [image_pair, pair_matches] : matches) {
    const auto& [image_id1, image_id2] = image_pair;

    THROW_CHECK(
        image_pairs.insert(ImagePairToPairId(image_id1, image_id2)).second)
        << "Duplicate image pair";

    const Image& image1 = images.at(image_id1);
    const Camera& camera1 = cameras.at(image1.CameraId());
    const size_t camera_idx1 = maybe_add_camera(rig1, camera1);

    const Image& image2 = images.at(image_id2);
    const Camera& camera2 = cameras.at(image2.CameraId());
    const size_t camera_idx2 = maybe_add_camera(rig2, camera2);

    for (const auto& match : pair_matches) {
      points1.push_back(image1.Point2D(match.point2D_idx1).xy);
      points2.push_back(image2.Point2D(match.point2D_idx2).xy);
      camera_idxs1.push_back(camera_idx1);
      camera_idxs2.push_back(camera_idx2);
      corrs.emplace_back(
          image_id1, match.point2D_idx1, image_id2, match.point2D_idx2);
    }
  }

  if (corrs.empty()) {
    return {};
  }

  std::optional<Rigid3d> maybe_rig2_from_rig1;
  std::optional<Rigid3d> maybe_pano2_from_pano1;
  size_t num_inliers;
  std::vector<char> inlier_mask;
  if (!EstimateGeneralizedRelativePose(options.ransac_options,
                                       points1,
                                       points2,
                                       camera_idxs1,
                                       camera_idxs2,
                                       cams_from_rig,
                                       cameras_vec,
                                       &maybe_rig2_from_rig1,
                                       &maybe_pano2_from_pano1,
                                       &num_inliers,
                                       &inlier_mask) ||
      num_inliers < static_cast<size_t>(options.min_num_inliers)) {
    return {};
  }

  std::map<std::pair<image_t, image_t>, FeatureMatches> inlier_matches;
  for (size_t i = 0; i < inlier_mask.size(); ++i) {
    if (!inlier_mask[i]) {
      continue;
    }
    const auto& [image_id1, point2D_idx1, image_id2, point2D_idx2] = corrs[i];
    inlier_matches[std::make_pair(image_id1, image_id2)].emplace_back(
        point2D_idx1, point2D_idx2);
  }

  const TwoViewGeometry::ConfigurationType config =
      maybe_rig2_from_rig1.has_value()
          ? TwoViewGeometry::ConfigurationType::CALIBRATED_RIG
          : TwoViewGeometry::ConfigurationType::CALIBRATED;

  std::vector<std::pair<std::pair<image_t, image_t>, TwoViewGeometry>>
      two_view_geometries;
  two_view_geometries.reserve(inlier_matches.size());
  for (auto& [image_pair, pair_matches] : inlier_matches) {
    TwoViewGeometry two_view_geometry;
    two_view_geometry.config = config;
    two_view_geometry.inlier_matches = std::move(pair_matches);

    const Rigid3d rig2_from_rig1 = maybe_rig2_from_rig1.has_value()
                                       ? maybe_rig2_from_rig1.value()
                                       : maybe_pano2_from_pano1.value();

    auto get_cam_from_rig = [&images](const Rig& rig, const image_t& image_id) {
      const Image& image = images.at(image_id);
      const sensor_t camera_id(SensorType::CAMERA, image.CameraId());
      if (rig.IsRefSensor(camera_id)) {
        return Rigid3d();
      } else {
        return rig.SensorFromRig(camera_id);
      }
    };

    const Rigid3d cam1_from_rig1 = get_cam_from_rig(rig1, image_pair.first);
    const Rigid3d cam2_from_rig2 = get_cam_from_rig(rig2, image_pair.second);

    two_view_geometry.cam2_from_cam1 =
        cam2_from_rig2 * rig2_from_rig1 * Inverse(cam1_from_rig1);
    // TODO(jsch): For panoramic rigs, we could further distinguish between
    // panoramic/planar configurations by estimating a homography matrix.
    two_view_geometry.E =
        EssentialMatrixFromPose(*two_view_geometry.cam2_from_cam1);

    two_view_geometries.emplace_back(image_pair, std::move(two_view_geometry));
  }

  // Ensure that each matched input pair has a corresponding two-view geometry,
  // even if it has no inliers.
  for (auto& [image_pair, _] : matches) {
    if (inlier_matches.count(image_pair) == 0) {
      two_view_geometries.emplace_back(image_pair, TwoViewGeometry());
    }
  }

  return two_view_geometries;
}

namespace {

void ExtractInlierCamRays(const Camera& camera1,
                          const std::vector<Eigen::Vector2d>& points1,
                          const Camera& camera2,
                          const std::vector<Eigen::Vector2d>& points2,
                          const FeatureMatches& inlier_matches,
                          std::vector<Eigen::Vector3d>* inlier_cam_rays1,
                          std::vector<Eigen::Vector3d>* inlier_cam_rays2) {
  inlier_cam_rays1->resize(inlier_matches.size());
  inlier_cam_rays2->resize(inlier_matches.size());
  for (size_t i = 0; i < inlier_matches.size(); ++i) {
    const FeatureMatch& match = inlier_matches[i];
    (*inlier_cam_rays1)[i] = camera1.CamRayFromImg(points1[match.point2D_idx1])
                                 .value_or(Eigen::Vector3d::Zero());
    (*inlier_cam_rays2)[i] = camera2.CamRayFromImg(points2[match.point2D_idx2])
                                 .value_or(Eigen::Vector3d::Zero());
  }
}

bool EstimateTwoViewGeometryPoseFromCamRays(
    const Camera& camera1,
    const Camera& camera2,
    const std::vector<Eigen::Vector3d>& inlier_cam_rays1,
    const std::vector<Eigen::Vector3d>& inlier_cam_rays2,
    TwoViewGeometry* geometry) {
  std::vector<Eigen::Vector3d> points3D;

  // Omnidirectional cameras (no focal length, e.g. EQUIRECTANGULAR) have no
  // calibration matrix, so only the bearing-based essential-matrix path is
  // valid for them. EstimateTwoViewGeometry already commits such pairs to the
  // CALIBRATED configuration (or DEGENERATE), so they are handled by the
  // CALIBRATED branch below and never reach the CalibrationMatrix() calls.
  Rigid3d cam2_from_cam1;
  if (geometry->config == TwoViewGeometry::ConfigurationType::CALIBRATED) {
    THROW_CHECK(geometry->E.has_value());
    PoseFromEssentialMatrix(*geometry->E,
                            inlier_cam_rays1,
                            inlier_cam_rays2,
                            &cam2_from_cam1,
                            &points3D);
    if (points3D.empty()) {
      return false;
    }
  } else if (geometry->config ==
             TwoViewGeometry::ConfigurationType::UNCALIBRATED) {
    THROW_CHECK(geometry->F.has_value());
    const Eigen::Matrix3d E = EssentialFromFundamentalMatrix(
        camera2.CalibrationMatrix(), *geometry->F, camera1.CalibrationMatrix());
    PoseFromEssentialMatrix(
        E, inlier_cam_rays1, inlier_cam_rays2, &cam2_from_cam1, &points3D);
    if (points3D.empty()) {
      return false;
    }
  } else if (geometry->config == TwoViewGeometry::ConfigurationType::PLANAR ||
             geometry->config ==
                 TwoViewGeometry::ConfigurationType::PANORAMIC ||
             geometry->config ==
                 TwoViewGeometry::ConfigurationType::PLANAR_OR_PANORAMIC) {
    THROW_CHECK(geometry->H.has_value());
    Eigen::Vector3d normal;
    PoseFromHomographyMatrix(*geometry->H,
                             camera1.CalibrationMatrix(),
                             camera2.CalibrationMatrix(),
                             inlier_cam_rays1,
                             inlier_cam_rays2,
                             &cam2_from_cam1,
                             &normal,
                             &points3D);
    if (geometry->config ==
        TwoViewGeometry::ConfigurationType::PLANAR_OR_PANORAMIC) {
      if (cam2_from_cam1.translation().squaredNorm() < 1e-12) {
        geometry->config = TwoViewGeometry::ConfigurationType::PANORAMIC;
      } else {
        geometry->config = TwoViewGeometry::ConfigurationType::PLANAR;
      }
    }

    if (geometry->config == TwoViewGeometry::ConfigurationType::PANORAMIC) {
      geometry->tri_angle = 0;
    }

    if (geometry->config == TwoViewGeometry::ConfigurationType::PLANAR &&
        points3D.empty()) {
      return false;
    }
  } else {
    return false;
  }

  geometry->cam2_from_cam1 = cam2_from_cam1;

  if (!points3D.empty()) {
    const Eigen::Vector3d proj_center1 = Eigen::Vector3d::Zero();
    const Eigen::Vector3d proj_center2 = cam2_from_cam1.TgtOriginInSrc();
    geometry->tri_angle = Median(
        CalculateTriangulationAngles(proj_center1, proj_center2, points3D));
  }

  return true;
}

}  // namespace

bool EstimateTwoViewGeometryPose(const Camera& camera1,
                                 const std::vector<Eigen::Vector2d>& points1,
                                 const Camera& camera2,
                                 const std::vector<Eigen::Vector2d>& points2,
                                 TwoViewGeometry* geometry) {
  // We need a valid epipolar geometry to estimate the relative pose.
  if (geometry->config != TwoViewGeometry::ConfigurationType::CALIBRATED &&
      geometry->config != TwoViewGeometry::ConfigurationType::UNCALIBRATED &&
      geometry->config != TwoViewGeometry::ConfigurationType::PLANAR &&
      geometry->config != TwoViewGeometry::ConfigurationType::PANORAMIC &&
      geometry->config !=
          TwoViewGeometry::ConfigurationType::PLANAR_OR_PANORAMIC) {
    return false;
  }
  if (geometry->inlier_matches.empty()) {
    return false;
  }

  std::vector<Eigen::Vector3d> inlier_cam_rays1;
  std::vector<Eigen::Vector3d> inlier_cam_rays2;
  ExtractInlierCamRays(camera1,
                       points1,
                       camera2,
                       points2,
                       geometry->inlier_matches,
                       &inlier_cam_rays1,
                       &inlier_cam_rays2);
  return EstimateTwoViewGeometryPoseFromCamRays(
      camera1, camera2, inlier_cam_rays1, inlier_cam_rays2, geometry);
}

TwoViewGeometry EstimateCalibratedTwoViewGeometry(
    const Camera& camera1,
    const std::vector<Eigen::Vector2d>& points1,
    const Camera& camera2,
    const std::vector<Eigen::Vector2d>& points2,
    const FeatureMatches& matches,
    const TwoViewGeometryOptions& options) {
  THROW_CHECK(options.Check());

  if (camera1.IsSpherical() || camera2.IsSpherical()) {
    return EstimateSphericalTwoViewGeometry(
        camera1, points1, camera2, points2, matches, options);
  }

  TwoViewGeometry geometry;

  const size_t min_num_inliers = static_cast<size_t>(options.min_num_inliers);
  if (matches.size() < min_num_inliers) {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  }

  // Extract corresponding points.
  std::vector<Eigen::Vector2d> matched_img_points1(matches.size());
  std::vector<Eigen::Vector2d> matched_img_points2(matches.size());
  std::vector<Eigen::Vector3d> matched_cam_rays1(matches.size());
  std::vector<Eigen::Vector3d> matched_cam_rays2(matches.size());
  for (size_t i = 0; i < matches.size(); ++i) {
    const point2D_t idx1 = matches[i].point2D_idx1;
    const point2D_t idx2 = matches[i].point2D_idx2;
    matched_img_points1[i] = points1[idx1];
    matched_img_points2[i] = points2[idx2];
    matched_cam_rays1[i] =
        camera1.CamRayFromImg(points1[idx1]).value_or(Eigen::Vector3d::Zero());
    matched_cam_rays2[i] =
        camera2.CamRayFromImg(points2[idx2]).value_or(Eigen::Vector3d::Zero());
  }

  // Estimate epipolar models.

  auto ransac_options = options.ransac_options;
  if (options.min_inlier_ratio > 0) {
    ransac_options.min_inlier_ratio = options.min_inlier_ratio;
  }

  auto E_ransac_options = ransac_options;
  E_ransac_options.max_error =
      (camera1.CamFromImgThreshold(options.ransac_options.max_error) +
       camera2.CamFromImgThreshold(options.ransac_options.max_error)) /
      2;

  LORANSAC<EssentialMatrixFivePointEstimator, EssentialMatrixFivePointEstimator>
      E_ransac(E_ransac_options);
  const auto E_report = E_ransac.Estimate(matched_cam_rays1, matched_cam_rays2);
  geometry.E = E_report.model;

  LORANSAC<FundamentalMatrixSevenPointEstimator,
           FundamentalMatrixEightPointEstimator>
      F_ransac(ransac_options);
  const auto F_report =
      F_ransac.Estimate(matched_img_points1, matched_img_points2);
  geometry.F = F_report.model;

  // Estimate planar or panoramic model.

  LORANSAC<HomographyMatrixEstimator, HomographyMatrixEstimator> H_ransac(
      ransac_options);
  const auto H_report =
      H_ransac.Estimate(matched_img_points1, matched_img_points2);
  geometry.H = H_report.model;

  if ((!E_report.success && !F_report.success && !H_report.success) ||
      (E_report.support.num_inliers < min_num_inliers &&
       F_report.support.num_inliers < min_num_inliers &&
       H_report.support.num_inliers < min_num_inliers)) {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  }

  // Determine inlier ratios of different models.

  const double E_F_inlier_ratio =
      static_cast<double>(E_report.support.num_inliers) /
      F_report.support.num_inliers;
  const double H_F_inlier_ratio =
      static_cast<double>(H_report.support.num_inliers) /
      F_report.support.num_inliers;
  const double H_E_inlier_ratio =
      static_cast<double>(H_report.support.num_inliers) /
      E_report.support.num_inliers;

  const std::vector<char>* best_inlier_mask = nullptr;
  size_t num_inliers = 0;

  if (E_report.success && E_F_inlier_ratio > options.min_E_F_inlier_ratio &&
      E_report.support.num_inliers >= min_num_inliers) {
    // Calibrated configuration.

    // Always use the model with maximum matches.
    if (E_report.support.num_inliers >= F_report.support.num_inliers) {
      num_inliers = E_report.support.num_inliers;
      best_inlier_mask = &E_report.inlier_mask;
    } else {
      num_inliers = F_report.support.num_inliers;
      best_inlier_mask = &F_report.inlier_mask;
    }

    if (H_E_inlier_ratio > options.max_H_inlier_ratio) {
      geometry.config = TwoViewGeometry::ConfigurationType::PLANAR_OR_PANORAMIC;
      if (H_report.support.num_inliers > num_inliers) {
        num_inliers = H_report.support.num_inliers;
        best_inlier_mask = &H_report.inlier_mask;
      }
    } else {
      geometry.config = TwoViewGeometry::ConfigurationType::CALIBRATED;
    }
  } else if (F_report.success &&
             F_report.support.num_inliers >= min_num_inliers) {
    // Uncalibrated configuration.

    num_inliers = F_report.support.num_inliers;
    best_inlier_mask = &F_report.inlier_mask;

    if (H_F_inlier_ratio > options.max_H_inlier_ratio) {
      geometry.config = TwoViewGeometry::ConfigurationType::PLANAR_OR_PANORAMIC;
      if (H_report.support.num_inliers > num_inliers) {
        num_inliers = H_report.support.num_inliers;
        best_inlier_mask = &H_report.inlier_mask;
      }
    } else {
      geometry.config = TwoViewGeometry::ConfigurationType::UNCALIBRATED;
    }
  } else if (H_report.success &&
             H_report.support.num_inliers >= min_num_inliers) {
    num_inliers = H_report.support.num_inliers;
    best_inlier_mask = &H_report.inlier_mask;
    geometry.config = TwoViewGeometry::ConfigurationType::PLANAR_OR_PANORAMIC;
  } else {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  }

  if (best_inlier_mask != nullptr) {
    geometry.inlier_matches =
        ExtractInlierMatches(matches, num_inliers, *best_inlier_mask);

    // Check inlier ratio threshold.
    if (options.min_inlier_ratio > 0) {
      const double inlier_ratio =
          static_cast<double>(num_inliers) / matches.size();
      if (inlier_ratio < options.min_inlier_ratio) {
        geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
        return geometry;
      }
    }

    if (options.detect_watermark && DetectWatermarkMatches(camera1,
                                                           matched_img_points1,
                                                           camera2,
                                                           matched_img_points2,
                                                           num_inliers,
                                                           *best_inlier_mask,
                                                           options)) {
      geometry.config = TwoViewGeometry::ConfigurationType::WATERMARK;
    }

    if (options.compute_relative_pose) {
      EstimateTwoViewGeometryPose(
          camera1, points1, camera2, points2, &geometry);
    }
  }

  return geometry;
}

bool DetectWatermarkMatches(const Camera& camera1,
                            const std::vector<Eigen::Vector2d>& points1,
                            const Camera& camera2,
                            const std::vector<Eigen::Vector2d>& points2,
                            const size_t num_inliers,
                            const std::vector<char>& inlier_mask,
                            const TwoViewGeometryOptions& options) {
  THROW_CHECK(options.Check());

  // Check if inlier points in border region and extract inlier matches.

  const double diagonal1 = std::sqrt(camera1.width * camera1.width +
                                     camera1.height * camera1.height);
  const double diagonal2 = std::sqrt(camera2.width * camera2.width +
                                     camera2.height * camera2.height);
  const double border_size1 = options.watermark_border_size * diagonal1;
  const Eigen::AlignedBox2d box1(
      Eigen::Vector2d(border_size1, border_size1),
      Eigen::Vector2d(camera1.width - border_size1,
                      camera1.height - border_size1));
  const double border_size2 = options.watermark_border_size * diagonal2;
  const Eigen::AlignedBox2d box2(
      Eigen::Vector2d(border_size2, border_size2),
      Eigen::Vector2d(camera2.width - border_size2,
                      camera2.height - border_size2));

  std::vector<Eigen::Vector2d> inlier_points1(num_inliers);
  std::vector<Eigen::Vector2d> inlier_points2(num_inliers);

  size_t num_matches_in_border = 0;

  size_t j = 0;
  for (size_t i = 0; i < inlier_mask.size(); ++i) {
    if (inlier_mask[i]) {
      inlier_points1[j] = points1[i];
      inlier_points2[j] = points2[i];
      ++j;

      if (!box1.contains(points1[i]) && !box2.contains(points2[i])) {
        ++num_matches_in_border;
      }
    }
  }

  const double matches_in_border_ratio =
      static_cast<double>(num_matches_in_border) / num_inliers;

  if (matches_in_border_ratio < options.watermark_min_inlier_ratio) {
    return false;
  }

  // Check if matches follow a translational model.

  RANSACOptions ransac_options = options.ransac_options;
  ransac_options.max_error = options.watermark_detection_max_error;
  ransac_options.min_inlier_ratio = options.watermark_min_inlier_ratio;

  LORANSAC<TranslationTransformEstimator<2>, TranslationTransformEstimator<2>>
      ransac(ransac_options);
  const auto report = ransac.Estimate(inlier_points1, inlier_points2);

  const double inlier_ratio =
      static_cast<double>(report.support.num_inliers) / num_inliers;

  return inlier_ratio >= options.watermark_min_inlier_ratio;
}

void FilterStationaryMatches(double max_error,
                             const std::vector<Eigen::Vector2d>& points1,
                             const std::vector<Eigen::Vector2d>& points2,
                             FeatureMatches* matches) {
  const double max_error_squared = max_error * max_error;
  matches->erase(std::remove_if(matches->begin(),
                                matches->end(),
                                [&](const FeatureMatch& match) {
                                  return (points1[match.point2D_idx1] -
                                          points2[match.point2D_idx2])
                                             .squaredNorm() <=
                                         max_error_squared;
                                }),
                 matches->end());
}

TwoViewGeometry TwoViewGeometryFromKnownRelativePose(
    const Camera& camera1,
    const std::vector<Eigen::Vector2d>& points1,
    const Camera& camera2,
    const std::vector<Eigen::Vector2d>& points2,
    const Rigid3d& cam2_from_cam1,
    const FeatureMatches& matches,
    int min_num_inliers,
    double max_error) {
  THROW_CHECK_GE(min_num_inliers, 0);
  THROW_CHECK_GT(max_error, 0);

  TwoViewGeometry geometry;
  const size_t num_matches = matches.size();

  if (num_matches < static_cast<size_t>(min_num_inliers)) {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  }

  std::vector<Eigen::Vector3d> matched_cam_rays1;
  std::vector<Eigen::Vector3d> matched_cam_rays2;
  ExtractInlierCamRays(camera1,
                       points1,
                       camera2,
                       points2,
                       matches,
                       &matched_cam_rays1,
                       &matched_cam_rays2);

  // For now, we use the average threshold from cameras following the design of
  // EstimateCalibratedTwoViewGeometry.
  const double max_error_in_cam = (camera1.CamFromImgThreshold(max_error) +
                                   camera2.CamFromImgThreshold(max_error)) /
                                  2;

  const Eigen::Matrix3d E = EssentialMatrixFromPose(cam2_from_cam1);
  std::vector<double> residuals(num_matches);
  ComputeSquaredSampsonError(
      matched_cam_rays1, matched_cam_rays2, E, &residuals);
  FeatureMatches inlier_matches;
  const double squared_max_error_in_cam = max_error_in_cam * max_error_in_cam;
  for (size_t i = 0; i < num_matches; ++i) {
    if (residuals[i] <= squared_max_error_in_cam) {
      inlier_matches.push_back(matches[i]);
    }
  }
  if (inlier_matches.size() < static_cast<size_t>(min_num_inliers)) {
    geometry.config = TwoViewGeometry::ConfigurationType::DEGENERATE;
    return geometry;
  }
  geometry.config = TwoViewGeometry::ConfigurationType::CALIBRATED;
  geometry.cam2_from_cam1 = cam2_from_cam1;
  geometry.E = E;
  geometry.inlier_matches = std::move(inlier_matches);
  return geometry;
}

namespace {

void ExtractInlierImagePoints(const std::vector<Eigen::Vector2d>& points1,
                              const std::vector<Eigen::Vector2d>& points2,
                              const FeatureMatches& inlier_matches,
                              std::vector<Eigen::Vector2d>* inlier_points1,
                              std::vector<Eigen::Vector2d>* inlier_points2) {
  inlier_points1->resize(inlier_matches.size());
  inlier_points2->resize(inlier_matches.size());
  for (size_t i = 0; i < inlier_matches.size(); ++i) {
    (*inlier_points1)[i] = points1[inlier_matches[i].point2D_idx1];
    (*inlier_points2)[i] = points2[inlier_matches[i].point2D_idx2];
  }
}

// Fits the E/F/H matrix matching `geometry->config` from the existing
// inlier matches when it was not persisted in the database (e.g. databases
// from older COLMAP versions that stored only the configuration). The 8-point
// estimators are used because the inlier matches have already been filtered
// by RANSAC at storage time (inlier counts are typically well above 8); pairs
// with fewer inliers would yield unreliable geometry and are returned as a
// failed fit. Returns false if the relevant matrix is already present, the
// inlier set is too small, or the fit returned no model.
bool MaybeFitMissingTwoViewGeometryMatrix(
    const std::vector<Eigen::Vector2d>& points1,
    const std::vector<Eigen::Vector2d>& points2,
    const std::vector<Eigen::Vector3d>& inlier_cam_rays1,
    const std::vector<Eigen::Vector3d>& inlier_cam_rays2,
    TwoViewGeometry* geometry) {
  switch (geometry->config) {
    case TwoViewGeometry::ConfigurationType::CALIBRATED: {
      if (geometry->E.has_value()) {
        return true;
      }
      std::vector<Eigen::Vector3d> valid_cam_rays1;
      std::vector<Eigen::Vector3d> valid_cam_rays2;
      valid_cam_rays1.reserve(inlier_cam_rays1.size());
      valid_cam_rays2.reserve(inlier_cam_rays2.size());
      for (size_t i = 0; i < inlier_cam_rays1.size(); ++i) {
        if (!inlier_cam_rays1[i].isZero() && !inlier_cam_rays2[i].isZero()) {
          valid_cam_rays1.push_back(inlier_cam_rays1[i]);
          valid_cam_rays2.push_back(inlier_cam_rays2[i]);
        }
      }
      if (valid_cam_rays1.size() <
          static_cast<size_t>(
              EssentialMatrixEightPointEstimator::kMinNumSamples)) {
        return false;
      }
      std::vector<Eigen::Matrix3d> models;
      EssentialMatrixEightPointEstimator::Estimate(
          valid_cam_rays1, valid_cam_rays2, &models);
      if (models.empty()) {
        return false;
      }
      geometry->E = models[0];
      return true;
    }
    case TwoViewGeometry::ConfigurationType::UNCALIBRATED: {
      if (geometry->F.has_value()) {
        return true;
      }
      std::vector<Eigen::Vector2d> inlier_points1;
      std::vector<Eigen::Vector2d> inlier_points2;
      ExtractInlierImagePoints(points1,
                               points2,
                               geometry->inlier_matches,
                               &inlier_points1,
                               &inlier_points2);
      if (inlier_points1.size() <
          static_cast<size_t>(
              FundamentalMatrixEightPointEstimator::kMinNumSamples)) {
        return false;
      }
      std::vector<Eigen::Matrix3d> models;
      FundamentalMatrixEightPointEstimator::Estimate(
          inlier_points1, inlier_points2, &models);
      if (models.empty()) {
        return false;
      }
      geometry->F = models[0];
      return true;
    }
    case TwoViewGeometry::ConfigurationType::PLANAR:
    case TwoViewGeometry::ConfigurationType::PANORAMIC:
    case TwoViewGeometry::ConfigurationType::PLANAR_OR_PANORAMIC: {
      if (geometry->H.has_value()) {
        return true;
      }
      std::vector<Eigen::Vector2d> inlier_points1;
      std::vector<Eigen::Vector2d> inlier_points2;
      ExtractInlierImagePoints(points1,
                               points2,
                               geometry->inlier_matches,
                               &inlier_points1,
                               &inlier_points2);
      if (inlier_points1.size() <
          static_cast<size_t>(HomographyMatrixEstimator::kMinNumSamples)) {
        return false;
      }
      std::vector<Eigen::Matrix3d> models;
      HomographyMatrixEstimator::Estimate(
          inlier_points1, inlier_points2, &models);
      if (models.empty()) {
        return false;
      }
      geometry->H = models[0];
      return true;
    }
    default:
      return false;
  }
}

}  // namespace

void MaybeDecomposeRelativePoses(DatabaseCache* database_cache) {
  Timer timer;
  timer.Start();
  LOG(INFO) << "Decomposing relative poses...";

  const auto& cameras = database_cache->Cameras();
  const auto& images = database_cache->Images();
  auto correspondence_graph = database_cache->CorrespondenceGraph();

  size_t decompose_count = 0;
  size_t decompose_failed_count = 0;

  for (const image_pair_t pair_id : correspondence_graph->ImagePairs()) {
    const auto [image_id1, image_id2] = PairIdToImagePair(pair_id);

    TwoViewGeometry two_view_geometry =
        correspondence_graph->ExtractTwoViewGeometry(
            image_id1, image_id2, /*extract_inlier_matches=*/true);

    if (two_view_geometry.cam2_from_cam1.has_value()) {
      continue;
    }

    const bool is_invalid =
        two_view_geometry.config == TwoViewGeometry::UNDEFINED ||
        two_view_geometry.config == TwoViewGeometry::DEGENERATE ||
        two_view_geometry.config == TwoViewGeometry::WATERMARK ||
        two_view_geometry.config == TwoViewGeometry::MULTIPLE;

    if (is_invalid) {
      continue;
    }

    if (two_view_geometry.inlier_matches.empty()) {
      decompose_count++;
      decompose_failed_count++;
      continue;
    }

    const Image& image1 = images.at(image_id1);
    const Image& image2 = images.at(image_id2);
    const Camera& camera1 = cameras.at(image1.CameraId());
    const Camera& camera2 = cameras.at(image2.CameraId());

    std::vector<Eigen::Vector2d> points1;
    points1.reserve(image1.NumPoints2D());
    for (const auto& point : image1.Points2D()) {
      points1.push_back(point.xy);
    }
    std::vector<Eigen::Vector2d> points2;
    points2.reserve(image2.NumPoints2D());
    for (const auto& point : image2.Points2D()) {
      points2.push_back(point.xy);
    }

    decompose_count++;

    std::vector<Eigen::Vector3d> inlier_cam_rays1;
    std::vector<Eigen::Vector3d> inlier_cam_rays2;
    ExtractInlierCamRays(camera1,
                         points1,
                         camera2,
                         points2,
                         two_view_geometry.inlier_matches,
                         &inlier_cam_rays1,
                         &inlier_cam_rays2);

    if (!MaybeFitMissingTwoViewGeometryMatrix(points1,
                                              points2,
                                              inlier_cam_rays1,
                                              inlier_cam_rays2,
                                              &two_view_geometry)) {
      decompose_failed_count++;
      continue;
    }

    const bool success =
        EstimateTwoViewGeometryPoseFromCamRays(camera1,
                                               camera2,
                                               inlier_cam_rays1,
                                               inlier_cam_rays2,
                                               &two_view_geometry);

    if (success && two_view_geometry.cam2_from_cam1.has_value()) {
      const double norm =
          two_view_geometry.cam2_from_cam1->translation().norm();
      if (norm > 1e-12) {
        two_view_geometry.cam2_from_cam1->translation() /= norm;
      }
      correspondence_graph->UpdateTwoViewGeometry(
          image_id1, image_id2, two_view_geometry);
    } else {
      decompose_failed_count++;
    }
  }

  LOG(INFO) << StringPrintf("Decomposed %d relative poses (%d failed) in %.3fs",
                            decompose_count,
                            decompose_failed_count,
                            timer.ElapsedSeconds());
}

}  // namespace colmap
