// This file is part of OpenMVG, an Open Multiple View Geometry C++ library.

// Copyright (c) 2012, 2013 Pierre MOULON.

// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at http://mozilla.org/MPL/2.0/.

// BSD 3-Clause License

// Copyright (c) 2021, Chenyu
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:

// 1. Redistributions of source code must retain the above copyright notice, this
//    list of conditions and the following disclaimer.

// 2. Redistributions 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.

// 3. Neither the name of the copyright holder nor the names of its
//    contributors may be used to endorse or promote products derived from
//    this software without specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef UTIL_ALIGNMENT_H_
#define UTIL_ALIGNMENT_H_

#include <Eigen/Core>
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <Eigen/SparseCore>
#include <Eigen/StdVector>
#include <initializer_list>
#include <memory>
#include <vector>

#ifndef COLMAP_ENABLED // Patches to avoid conflicting with COLMAP.

#ifndef EIGEN_ALIGNED_ALLOCATOR
#define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator
#endif

// Equivalent to EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION but with support for
// initializer lists, which is a C++11 feature and not supported by the Eigen.
// The initializer list extension is inspired by Theia and StackOverflow code.
#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(...)                 \
  namespace std {                                                          \
  template <>                                                              \
  class vector<__VA_ARGS__, std::allocator<__VA_ARGS__>>                   \
      : public vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__>> { \
    typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__>>      \
        vector_base;                                                       \
                                                                           \
   public:                                                                 \
    typedef __VA_ARGS__ value_type;                                        \
    typedef vector_base::allocator_type allocator_type;                    \
    typedef vector_base::size_type size_type;                              \
    typedef vector_base::iterator iterator;                                \
    explicit vector(const allocator_type& a = allocator_type())            \
        : vector_base(a) {}                                                \
    template <typename InputIterator>                                      \
    vector(InputIterator first, InputIterator last,                        \
           const allocator_type& a = allocator_type())                     \
        : vector_base(first, last, a) {}                                   \
    vector(const vector& c) : vector_base(c) {}                            \
    explicit vector(size_type num, const value_type& val = value_type())   \
        : vector_base(num, val) {}                                         \
    vector(iterator start, iterator end) : vector_base(start, end) {}      \
    vector& operator=(const vector& x) {                                   \
      vector_base::operator=(x);                                           \
      return *this;                                                        \
    }                                                                      \
    vector(initializer_list<__VA_ARGS__> list)                             \
        : vector_base(list.begin(), list.end()) {}                         \
  };                                                                       \
  }  // namespace std


EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Vector2d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Vector4d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Vector4f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix2d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix2f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix4d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix4f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Affine3d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Affine3f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Quaterniond)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Quaternionf)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix<float, 3, 4>)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix<double, 3, 4>)

#define EIGEN_STL_UMAP(KEY, VALUE)                                   \
  std::unordered_map<KEY, VALUE, std::hash<KEY>, std::equal_to<KEY>, \
                     Eigen::aligned_allocator<std::pair<KEY const, VALUE>>>

#endif // COLMAP_ENABLED

#endif  // UTIL_ALIGNMENT_H_
