SpaceTransformations.h

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// Copyright 2016 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//        http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef INCLUDED_SpaceTransformations_h_GUID_C1F96E04_2D97_428B_047B_0C620A82C10C
#define INCLUDED_SpaceTransformations_h_GUID_C1F96E04_2D97_428B_047B_0C620A82C10C

// Internal Includes
#include "TrackingSystem.h"

// Library/third-party includes
// - none

// Standard includes
// - none

namespace osvr {
namespace vbtracker {
    inline Eigen::Quaterniond getCameraRotation(TrackingSystem const &sys) {
        return Eigen::Quaterniond(sys.getCameraPose().rotation());
    }

    inline Eigen::Quaterniond getQuatToCameraSpace(TrackingSystem const &sys) {
        return getCameraRotation(sys).inverse();
    }

    inline Eigen::Matrix3d
    getRotationMatrixToCameraSpace(TrackingSystem const &sys) {
        return getQuatToCameraSpace(sys).matrix();
    }

} // namespace vbtracker
} // namespace osvr

#endif // INCLUDED_SpaceTransformations_h_GUID_C1F96E04_2D97_428B_047B_0C620A82C10C