function [cameraMatrix, eyePoseT] = eyePoseToCameraMatrix(eyePose, eyeLocalTranslate)
% eyePoseToCameraMatrix() - Convert eyePose directly to camera matrix.
%
% Usage:
%
% cameraMatrix = eyePoseToCameraMatrix(eyePose [, eyeLocalTranslate])
%
% Input arguments:
%
% 'eyePose' is a [tx, ty, tz, rx, ry, rz, rw] vector, with the first 3 components
% defining eye translation, and the last 4 components defining a rotation Quaternion
% that defines eye orientation.
%
% 'eyeLocalTranslate' is an optional 3 component translation vector that gets applied
% to 'eyePose' position, but within the eyes own rotated local coordinate system.
% This is useful if 'eyePose' is not actually describing an eye pose, but the tracked
% global head pose or global HMD pose. Applying suitable 'eyeLocalTranslate' translation
% vectors allows to derive the eyes position from the head/HMD position.
%
% Return arguments:
%
% 'cameraMatrix' is a 4x4 matrix that encodes eyePose as a combined rotation and
% translation matrix.
%
% 'eyePoseT' is the original input 'eyePose', but optionally transformed by
% 'eyeLocalTranslate'.

% History:
% 15-Sep-2015  mk  Written.

% Extract tanslation and rotation quaternion components:
translation = eyePose(1:3);
orientationQ = eyePose(4:7);

if nargin >= 2 && ~isempty(eyeLocalTranslate)
  % Apply translation in the local rotated coordinate frame, e.g., if eyePose
  % is actually a head pose and we need to translate from head rotation center to
  % rotated eyes:
  translation = translation + (qGetR(orientationQ) * eyeLocalTranslate')';
end

% Convert into OpenGL 4x4 right-handed reference frame matrix:
R = diag([1,1,1,1]);
R(1:3, 1:3) = qGetR(orientationQ);
T = diag([1,1,1,1]);
T(1:3, 4) = translation;

cameraMatrix = T * R;

% Output the transformed eye pose as optional 2nd return argument for reference:
eyePoseT = [translation, orientationQ];

return;