/*M///////////////////////////////////////////////////////////////////////////////////////
//
//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
//  By downloading, copying, installing or using the software you agree to this license.
//  If you do not agree to this license, do not download, install,
//  copy or use the software.
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//
//                           License Agreement
//                For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
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//   * Redistribution's of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
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//   * Redistribution's 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.
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//   * The name of the copyright holders may not be used to endorse or promote products
//     derived from this software without specific prior written permission.
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// This software is provided by the copyright holders and contributors "as is" and
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// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
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// Authors:
//  * Ozan Tonkal
//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
//
//  OpenCV Viz module is complete rewrite of
//  PCL visualization module (www.pointclouds.org)
//
//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
    {   
        typedef std::map<String, Viz3d> VizMap;
        typedef std::pair<String, Viz3d> VizPair;
        
        //! 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& y_dir);

        CV_EXPORTS Viz3d get(const String &window_name);

        //! 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); }
        
        class CV_EXPORTS VizAccessor
        {
        public:
            ~VizAccessor();
            static VizAccessor * getInstance();
            
            Viz3d get(const String &window_name);
            void add(Viz3d window);
            void remove(const String &window_name);
            
        private:
            VizAccessor(); // Singleton
            
            static VizAccessor * instance_;
            static bool is_instantiated_;
            static VizMap viz_map_;
        };
    }
}


#endif /* __OPENCV_VIZ_HPP__ */