peak_icv_point_xyzi.hpp

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#pragma once
 
#include <peak_common/types/geometry/peak_common_rectangle.hpp>
#include <peak_common_c/detail/peak_common_defines.h>
#include <peak_icv/types/geometry/peak_icv_point_xyz.hpp>
#include <peak_icv/utils/peak_icv_printable.hpp>
#include <vector>
 
namespace peak
{
namespace icv
{
 
class PointXYZI
    : public PointXYZ
    , public detail::IPrintable<PointXYZI>
{
public:
    constexpr PointXYZI() = default;
 
    constexpr PointXYZI(float x, float y, float z, uint16_t intensity)
        : PointXYZ{ x, y, z }
        , m_intensity{ intensity }
    {}
 
    PEAK_COMMON_NO_DISCARD constexpr uint16_t GetIntensity() const
    {
        return m_intensity;
    }
 
    constexpr bool operator==(const PointXYZI& rhs) const
    {
        return PointXYZ::operator==(rhs) && m_intensity == rhs.m_intensity;
    }
 
protected:
    void Print(detail::CommaSeperatedStream& stream) const override
    {
        stream << GetX() << GetY() << GetZ() << GetIntensity();
    }
 
private:
    friend peak::common::detail::BackendAccessor<PointXYZI>;
 
    constexpr PointXYZI(peak_icv_point_xyzi point) // NOLINT
        : PointXYZI(point.x, point.y, point.z, point.intensity)
    {}
 
    uint16_t m_intensity{};
};
} /* namespace icv */
} /* namespace peak */