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#include "precomp.hpp"

#if !defined(HAVE_CUDA)

void cv::gpu::transformPoints(const GpuMat&, const Mat&, const Mat&,
                              GpuMat&) { throw_nogpu(); }

void cv::gpu::projectPoints(const GpuMat&, const Mat&, const Mat&,
                            const Mat&, const Mat&, GpuMat&) { throw_nogpu(); }

#else

namespace cv { namespace gpu { namespace transform_points {
    void call(const DevMem2D_<float> src, const float* rot,
              const float* transl, DevMem2D_<float> dst);
}}}

void cv::gpu::transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
                              GpuMat& dst)
{
    CV_Assert(src.rows == 1 && src.cols > 0 && src.type() == CV_32FC3);
    CV_Assert(rvec.size() == Size(3, 1) && rvec.type() == CV_32F);
    CV_Assert(tvec.size() == Size(3, 1) && tvec.type() == CV_32F);

    // Convert rotation vector into matrix
    Mat rot;
    Rodrigues(rvec, rot);

    dst.create(src.size(), src.type());
    transform_points::call(src, rot.ptr<float>(), tvec.ptr<float>(), dst);
}


namespace cv { namespace gpu { namespace project_points {
    void call(const DevMem2D_<float> src, const float* rot,
              const float* transl, const float* proj, DevMem2D_<float> dst);
}}}

void cv::gpu::projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
                            const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst)
{
    CV_Assert(src.rows == 1 && src.cols > 0 && src.type() == CV_32FC3);
    CV_Assert(rvec.size() == Size(3, 1) && rvec.type() == CV_32F);
    CV_Assert(tvec.size() == Size(3, 1) && tvec.type() == CV_32F);
    CV_Assert(camera_mat.size() == Size(3, 3) && camera_mat.type() == CV_32F);
    CV_Assert(dist_coef.empty()); // Undistortion isn't supported

    // Convert rotation vector into matrix
    Mat rot;
    Rodrigues(rvec, rot);

    dst.create(src.size(), CV_32FC2);
    project_points::call(src, rot.ptr<float>(), tvec.ptr<float>(),
                         camera_mat.ptr<float>(), dst);
}

#endif