camera.h

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#ifndef MF_CAMERA_H_
#define MF_CAMERA_H_

#include "../eigen.h"
#include <array>
#include <utility>
#include "../space_object.h"
#include "../geometry/spherical_coordinates.h"
#include "../eigen.h"

namespace mf {


class camera : public space_object {
protected:
    camera() = default;
    explicit camera(const pose&);

public:
    camera(const camera&) = default;
    camera& operator=(const camera&) = default;

    using image_coordinates_type = Eigen_vec2; 

    virtual ~camera() = default;


    Eigen_affine3 view_transformation() const;
        

    Eigen_vec3 center_ray_direction() const {
        return ray_direction(Eigen_vec3(0, 0, -1));
    }

    Eigen_vec3 ray_direction(const spherical_coordinates& sp) const {
        return ray_direction(point(sp));
    }

    Eigen_vec3 ray_direction(const Eigen_vec3& p) const;

    float distance_sq(const Eigen_vec3& p) const;

    float distance(const Eigen_vec3& p) const;  

    spherical_coordinates to_spherical(const Eigen_vec3& p) const;
    
    Eigen_vec3 point(const spherical_coordinates& sp) const;
    

    virtual image_coordinates_type project(const Eigen_vec3& p) const = 0;
    

    virtual image_coordinates_type project(const spherical_coordinates& sp) const {
        return this->project(point(sp));
    }


    virtual Eigen_vec3 ray_direction(const image_coordinates_type& c) const = 0;
};

}

#endif