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//                           License Agreement
//                For Open Source Computer Vision Library
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// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
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// This software is provided by the copyright holders and contributors "as is" and
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// Authors:
//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
//  * Ozan Tonkal
//
//  During implementation of OpenCV Viz module, similar module
//  from PCL (www.pointclouds.org) was used as reference implementation.
//
//M*/

#ifndef __OPENCV_VIZ_HPP__
#define __OPENCV_VIZ_HPP__


#include <opencv2/viz/types.hpp>
#include <opencv2/viz/widgets.hpp>
#include <opencv2/viz/viz3d.hpp>


namespace cv
{
    namespace viz
    {
        //! takes coordiante frame data and builds transfrom to global coordinate frame
        CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0));

        //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation
        CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& up_vector);


        //! checks float value for Nan
        inline bool isNan(float x)
        {
            unsigned int *u = reinterpret_cast<unsigned int *>(&x);
            return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
        }

        //! checks double value for Nan
        inline bool isNan(double x)
        {
            unsigned int *u = reinterpret_cast<unsigned int *>(&x);
            return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0);
        }

        //! checks vectors for Nans
        template<typename _Tp, int cn> inline bool isNan(const Vec<_Tp, cn>& v)
        { return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); }

        //! checks point for Nans
        template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
        { return isNan(p.x) || isNan(p.y) || isNan(p.z); }
    }
}


#endif /* __OPENCV_VIZ_HPP__ */