/*
 * Common.h
 *
 * Copyright (c) 2014-2015 SEACAVE
 *
 * Author(s):
 *
 *      cDc <cdc.seacave@gmail.com>
 *
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Affero General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Affero General Public License for more details.
 *
 * You should have received a copy of the GNU Affero General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 *
 * Additional Terms:
 *
 *      You are required to preserve legal notices and author attributions in
 *      that material or in the Appropriate Legal Notices displayed by works
 *      containing it.
 */

#ifndef _VIEWER_COMMON_H_
#define _VIEWER_COMMON_H_


// I N C L U D E S /////////////////////////////////////////////////

#include <GL/glew.h>
#include "../../libs/MVS/Common.h"
#include "../../libs/MVS/Scene.h"

#if defined(_MSC_VER)
#include <gl/GLU.h>
#elif defined(__APPLE__)
#include <OpenGL/glu.h>
#else
#include <GL/glu.h>
#endif
#include <GLFW/glfw3.h>


// D E F I N E S ///////////////////////////////////////////////////


// P R O T O T Y P E S /////////////////////////////////////////////

using namespace SEACAVE;

namespace VIEWER {

// the conversion matrix from OpenGL default coordinate system
//  to the camera coordinate system (NADIR orientation):
// [ 1  0  0  0] * [ x ] = [ x ]
//   0 -1  0  0      y      -y
//   0  0 -1  0      z      -z
//   0  0  0  1      1       1
static const Eigen::Matrix4d gs_convert = [] {
	Eigen::Matrix4d tmp; tmp <<
		1,  0,  0,  0,
		0, -1,  0,  0,
		0,  0, -1,  0,
		0,  0,  0,  1;
	return tmp;
}();

/// given rotation matrix R and translation vector t,
/// column-major matrix m is equal to:
/// [ R11 R12 R13 t.x ]
/// | R21 R22 R23 t.y |
/// | R31 R32 R33 t.z |
/// [ 0.0 0.0 0.0 1.0 ]
//
// World to Local
inline Eigen::Matrix4d TransW2L(const Eigen::Matrix3d& R, const Eigen::Vector3d& t)
{
	Eigen::Matrix4d m(Eigen::Matrix4d::Identity());
	m.block(0,0,3,3) = R;
	m.block(0,3,3,1) = t;
	return m;
}
// Local to World
// same as above, but with the inverse of the two
inline Eigen::Matrix4d TransL2W(const Eigen::Matrix3d& R, const Eigen::Vector3d& t)
{
	Eigen::Matrix4d m(Eigen::Matrix4d::Identity());
	m.block(0,0,3,3) = R.transpose();
	m.block(0,3,3,1) = -t;
	return m;
}
/*----------------------------------------------------------------*/

} // namespace MVS

#endif // _VIEWER_COMMON_H_
