ExtrinsicParameters.cs

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using System.Runtime.InteropServices;
using IDSImaging.Peak.ICV.Types;
using IDSImaging.Peak.ICV.Types.Geometry;
 
namespace IDSImaging.Peak.ICV.Algorithms.Calibration;
 
public class ExtrinsicParameters
{
    private readonly Backend.Types.peak_icv_extrinsic_parameters _extrinsicParameters;
 
    public ExtrinsicParameters(PointXYZ rotation, PointXYZ translation)
    {
        _extrinsicParameters = new Backend.Types.peak_icv_extrinsic_parameters
        {
            rotation = new Backend.Types.peak_icv_point_xyz
            {
                x = rotation.X,
                y = rotation.Y,
                z = rotation.Z
            },
            translation = new Backend.Types.peak_icv_point_xyz
            {
                x = translation.X,
                y = translation.Y,
                z = translation.Z
            }
        };
 
        Translation = translation;
        Rotation = rotation;
    }
 
    internal ExtrinsicParameters(Backend.Types.peak_icv_extrinsic_parameters extrinsicParameters)
    {
        _extrinsicParameters = extrinsicParameters;
        Translation = new PointXYZ(extrinsicParameters.translation.x, extrinsicParameters.translation.y,
            extrinsicParameters.translation.z);
        Rotation = new PointXYZ(extrinsicParameters.rotation.x, extrinsicParameters.rotation.y,
            extrinsicParameters.rotation.z);
    }
 
    public PointXYZ Rotation { get; }
 
    public PointXYZ Translation { get; }
 
    public TransformationMatrix3D TransformationMatrix
    {
        get
        {
            var matrixC = new float[16];
            DllHelper.ExecuteAndMapReturnCodes(() =>
                CInterface.peak_icv_Calibration_Extrinsic_CalculateTransformationMatrix(
                    _extrinsicParameters, (nuint) Marshal.SizeOf<Backend.Types.peak_icv_extrinsic_parameters>(),
                    matrixC));
 
            return new TransformationMatrix3D(matrixC);
        }
    }
 
    public static IEqualityComparer<ExtrinsicParameters> Comparer { get; } =
        new ExtrinsicParametersEqualityComparer();
 
    public override string ToString()
    {
        return $"Translation: ({Translation}), " +
               $"Rotation: ({Rotation})";
    }
 
    internal Backend.Types.peak_icv_extrinsic_parameters ToCType()
    {
        return _extrinsicParameters;
    }
 
    private sealed class ExtrinsicParametersEqualityComparer : IEqualityComparer<ExtrinsicParameters>
    {
        public bool Equals(ExtrinsicParameters x, ExtrinsicParameters y)
        {
            if (ReferenceEquals(x, y)) return true;
            if (ReferenceEquals(x, null)) return false;
            if (ReferenceEquals(y, null)) return false;
 
            return x._extrinsicParameters.Equals(y._extrinsicParameters);
        }
 
        public int GetHashCode(ExtrinsicParameters obj)
        {
            return obj._extrinsicParameters.GetHashCode();
        }
    }
 
    private static class CInterface
    {
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status
            peak_icv_Calibration_Extrinsic_CalculateTransformationMatrix(
                Backend.Types.peak_icv_extrinsic_parameters extrinsicParams,
                nuint extrinsicParamsSize,
                float[] transformationMatrix);
    }
}