/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  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 Willow Garage, Inc. 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 THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */

namespace pcl
{
  namespace visualization
  {
    template<typename PointT> void
    Camera::cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord) const
    {
      Eigen::Matrix4d proj, view;
      this->computeViewMatrix (view);
      this->computeProjectionMatrix (proj);
      this->cvtWindowCoordinates (pt, window_cord, proj*view);
      return;
    }

    template<typename PointT> void
    Camera::cvtWindowCoordinates (const PointT& pt, Eigen::Vector4d& window_cord, const Eigen::Matrix4d& composite_mat) const
    {
      Eigen::Vector4d pte (pt.x, pt.y, pt.z, 1);
      window_cord = composite_mat * pte;
      window_cord /=window_cord (3);
      window_cord[0] = (window_cord[0]+1.0) / 2.0*window_size[0];
      window_cord[1] = (window_cord[1]+1.0) / 2.0*window_size[1];
      window_cord[2] = (window_cord[2]+1.0) / 2.0;
    }
  }
}
