CscWorldImage.h

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//
//  CscWorldImage.hpp
//  ConscienceRobotManager
//
//  Created by Louis Grignon on 16/12/2021.
//  Copyright © 2021 IliesZaoui. All rights reserved.
//
 
#ifndef CscSceneImage_hpp
#define CscSceneImage_hpp
 
#include "CscCommon.h"
#include "Axiomes/Csc3dTypes.h"
#include "Axiomes/Csc2dTypes.h"
 
#include <mutex>
 
namespace cv { class Mat; }
using std::optional, std::mutex;
using namespace conscience_core::axiomes;
 
namespace conscience_core::core_objects {
 
    class CscWorldImage {
    public:
        CscWorldImage(const string &id, cv::Mat *image, const CscPoint3d *position, const CscPoint3d *rotation);
        ~CscWorldImage();
        
        const cv::Mat *getImage() const;
        
        const CscPoint3d * getPosition() const {
            return position;
        }
        
        const CscPoint3d * getRotationEulerAsPoint() const {
            return rotation;
        }
        
        const CscSize2d getDimensionInScene() const;
        
        const string & getId() const {
            return id;
        }
    private:
        const string id;
        cv::Mat *image;
        const CscPoint3d * position;
        const CscPoint3d * rotation;
    };
}
 
#endif /* CscSceneImage_hpp */