peak_icv_coordinate_system.hpp

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#pragma once
 
#include <peak_common/types/geometry/peak_common_point.hpp>
#include <peak_common/types/geometry/peak_common_vector.hpp>
#include <peak_common_c/detail/peak_common_defines.h>
#include <peak_icv/utils/peak_icv_printable.hpp>
#include <peak_icv_c/algorithms/calibration/peak_icv_calibration_view.h>
#include <limits>
#include <utility>
#include <vector>
 
namespace peak
{
namespace icv
{
 
 
class CoordinateSystem : public detail::IPrintable<CoordinateSystem>
{
public:
    CoordinateSystem() = default;
 
    CoordinateSystem(
        peak::common::PointF origin, peak::common::VectorF xAxis, peak::common::VectorF yAxis, peak::common::VectorF zAxis)
        : m_origin(origin)
        , m_xAxis(xAxis)
        , m_yAxis(yAxis)
        , m_zAxis(zAxis)
    {}
 
    PEAK_COMMON_NO_DISCARD peak::common::PointF GetOrigin() const
    {
        return m_origin;
    }
 
    PEAK_COMMON_NO_DISCARD peak::common::VectorF GetXAxis() const
    {
        return m_xAxis;
    }
 
    PEAK_COMMON_NO_DISCARD peak::common::VectorF GetYAxis() const
    {
        return m_yAxis;
    }
 
    PEAK_COMMON_NO_DISCARD peak::common::VectorF GetZAxis() const
    {
        return m_zAxis;
    }
 
    bool operator==(const CoordinateSystem& rhs) const
    {
        return m_origin == rhs.GetOrigin() && m_xAxis == rhs.GetXAxis() && m_yAxis == rhs.GetYAxis() && m_zAxis == rhs.GetZAxis();
    }
 
protected:
    void Print(detail::CommaSeperatedStream& stream) const override
    {
        stream << m_origin << m_xAxis << m_yAxis << m_zAxis;
    }
 
private:
    friend peak::common::detail::BackendAccessor<CoordinateSystem>;
 
    explicit CoordinateSystem(const peak_icv_coordinate_system& coordinateSystem);
 
    peak::common::PointF m_origin{ 0, 0 };
    peak::common::VectorF m_xAxis{ 1, 0 };
    peak::common::VectorF m_yAxis{ 0, 1 };
    peak::common::VectorF m_zAxis{ 0, 0 };
};
 
inline CoordinateSystem::CoordinateSystem(const peak_icv_coordinate_system& coordinateSystem)
    : m_origin(peak::common::detail::BackendAccessor<peak::common::PointF>::CreateInstance(coordinateSystem.origin))
    , m_xAxis(peak::common::detail::BackendAccessor<peak::common::VectorF>::CreateInstance(coordinateSystem.x_axis))
    , m_yAxis(peak::common::detail::BackendAccessor<peak::common::VectorF>::CreateInstance(coordinateSystem.y_axis))
    , m_zAxis(peak::common::detail::BackendAccessor<peak::common::VectorF>::CreateInstance(coordinateSystem.z_axis))
{}
 
} /* namespace icv */
} /* namespace peak */