// Copyright 2024 SquareBlock Inc. All Rights Reserved.
// Author: tianlei.richard@qq.com (tianlei.richard)

#pragma once

#include <opencv2/core/core.hpp>

#include <Eigen/Dense>

using Vector3d = Eigen::Vector3d;
using Point2d = Eigen::Vector2d;
using Point3d = Eigen::Vector3d;
using BBox = cv::Rect2i;
using TransformMatrix = Eigen::Matrix<double, 4, 4>;

typedef struct Vertex {
  Vertex(const Point3d &p, const Vector3d &n, const Point2d &tex_coor)
      : position(p), normal(n), texture_coordinate({tex_coor, 1.}) {}

  Point3d position;
  Vector3d normal;
  std::pair<Point2d, double> texture_coordinate;
} Vertex;