// -*- c-basic-offset: 4 -*-
/** @file RotatePanorama.cpp
 *
 *  @author Pablo d'Angelo <pablo.dangelo@web.de>
 *
 *  $Id: Panorama.h 1947 2007-04-15 20:46:00Z dangelo $
 *
 * !! from Panorama.h 1947 
 *
 *  This is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public
 *  License as published by the Free Software Foundation; either
 *  version 2 of the License, or (at your option) any later version.
 *
 *  This software is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *  Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public
 *  License along with this software; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

#include "RotatePanorama.h"


namespace HuginBase {
    

///
RotatePanorama::RotatePanorama(PanoramaData& panorama, double yaw, double pitch, double roll)
 : PanoramaAlgorithm(panorama)
{
    o_transformMat.SetRotationPT(DEG_TO_RAD(yaw), DEG_TO_RAD(pitch), DEG_TO_RAD(roll));
}
    

void RotatePanorama::rotatePano(PanoramaData& panorama, const Matrix3& transformMat)
{
    for (unsigned int i = 0; i < panorama.getNrOfImages(); i++)
    {
        const SrcPanoImage & image = panorama.getImage(i);
        double y = image.getYaw();
        double p = image.getPitch();
        double r = image.getRoll();
        Matrix3 mat;
        mat.SetRotationPT(DEG_TO_RAD(y), DEG_TO_RAD(p), DEG_TO_RAD(r));
        DEBUG_DEBUG("rotation matrix (PT) for img " << i << " << ypr:" << y << " " << p << " " << r << std::endl << mat);
        Matrix3 rotated;
        rotated = transformMat * mat;
        DEBUG_DEBUG("rotation matrix after transform: " << rotated);
        rotated.GetRotationPT(y,p,r);
        y = RAD_TO_DEG(y);
        p = RAD_TO_DEG(p);
        r = RAD_TO_DEG(r);
        DEBUG_DEBUG("rotated angles of img " << i << ": " << y << " " << p << " " << r);
        
        // Don't update a variable linked to a variable we already updated.
        SrcPanoImage copy = image;
        #define conditional_set(variable, value) \
        if (image.variable##isLinked())\
        {\
            unsigned int j = 0;\
            while (j < i && !image.variable##isLinkedWith(panorama.getImage(j)))\
            {\
                j++;\
            }\
            if (j == i) copy.set##variable(value);\
        } else {\
            copy.set##variable(value);\
        }
        conditional_set(Yaw, y);
        conditional_set(Pitch, p);
        conditional_set(Roll, r);
        
        panorama.setImage(i, copy);
        panorama.imageChanged(i);
    }
}


} //namespace