CoordinateFrame.h

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#ifndef CoordinateFrame_DEFINED
#define CoordinateFrame_DEFINED


#include "cv.h"
#include "cxcore.h"
#include "highgui.h"
#include <iostream>
#include "Utils3D.h"

class CoordinateFrame 
{    // NOTE:
    // In this implementation it is pos->x, pos->y, pos->z, rot->x, rot->y, rot->z    
public:
    //Constructors//
    CoordinateFrame(CvPoint3D32f position, CvPoint3D32f rotation);
    CoordinateFrame(float posX, float posY, float posZ, float rotX, float rotY, float rotZ);
    CoordinateFrame(CvPoint3D32f position, float rotX, float rotY, float rotZ);
    CoordinateFrame(float posX, float posY, float posZ, CvPoint3D32f rotation);
    CoordinateFrame(CvPoint3D32f* p0, CvPoint3D32f* p1, CvPoint3D32f* p2);
    CoordinateFrame(cv::Point3f p1, cv::Point3f p2, cv::Point3f p3);
    CoordinateFrame(CvMat* trafoMat);
    CoordinateFrame();

    //Destructor//
    ~CoordinateFrame();

    //Methods on CoordinateFrame//

    CvMat* createTransformationMatrix();

    CvMat* createTransformationMatrix3x3();

    void getThreePoints(CvPoint3D32f* p0,CvPoint3D32f* p1,CvPoint3D32f* p2);

    CoordinateFrame * cInFrame(CoordinateFrame * base);

    CoordinateFrame * cInWorld(CoordinateFrame * base);

    CoordinateFrame * cMakeFrame(CoordinateFrame * base);
    CoordinateFrame * cMakeFrame(CvPoint3D32f* p0,CvPoint3D32f* p1,CvPoint3D32f* p2);

    //access//

    CvPoint3D32f * getPos() { return &(this->pos);}

    CvPoint3D32f * getRot() { return &(this->rot);}

    void setPos(CvPoint3D32f* pos_);

    void setRot(CvPoint3D32f* rot_);

    void toggleZDirection();


public:
    void getXAxis(CvPoint3D32f* normal);
    void getYAxis(CvPoint3D32f* normal);
    void getZAxis(CvPoint3D32f* normal);


private:
    CvPoint3D32f pos;
    CvPoint3D32f rot;

};

class CoordinateFrameExt : public CoordinateFrame
{
public:
    int error;
    int prob;
    bool isResult;

public:
    CoordinateFrameExt():CoordinateFrame(){}
    CoordinateFrameExt(CvPoint3D32f* p1,CvPoint3D32f* p2,CvPoint3D32f* p3):CoordinateFrame(p1,p2,p3){}
};

#endif