point.h

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#ifndef MF_POINT_CLOUD_POINT_H_
#define MF_POINT_CLOUD_POINT_H_

#include "../color.h"
#include "../eigen.h"
#include "../elem.h"
#include "../elem_tuple.h"

namespace mf {


struct point_xyz {
    Eigen_vec4 homogeneous_coordinates;
    
    point_xyz() :
        homogeneous_coordinates(Eigen_vec4::Zero()) { }
    
    point_xyz(const Eigen_vec3& pos) :
        homogeneous_coordinates(pos[0], pos[1], pos[2], 1.0) { }
    
    auto position() { return homogeneous_coordinates.head<3>(); }
    auto position() const { return homogeneous_coordinates.head<3>(); }
        
    bool is_null() const noexcept { return (homogeneous_coordinates[3] != 1.0); }
};


template<>
struct elem_traits<point_xyz> : elem_traits_base<point_xyz, Eigen_scalar, 3, true> { };


struct point_xyzrgb : elem_tuple<point_xyz, rgb_color> {
    using base = elem_tuple<point_xyz, rgb_color>;

    point_xyzrgb(const base& tup) : base(tup) { }
    
    point_xyzrgb(const point_xyz& xyz) :
        base(Eigen_vec3(xyz.position()), rgb_color{255,255,255}) { }
        
    auto position() { return get<0>(*this).position(); }
    auto position() const { return get<0>(*this).position(); }
    
    rgb_color& color() { return get<1>(*this); }
    const rgb_color& color() const { return get<1>(*this); }
};


struct point_full : elem_tuple<point_xyz, Eigen_vec3, Eigen_scalar, rgb_color> {
    using base = elem_tuple<point_xyz, Eigen_vec3, Eigen_scalar, rgb_color>;

    point_full(const base& tup) : base(tup) { }

    point_full(const point_xyz& xyz) : 
        base(Eigen_vec3(xyz.position()), Eigen_vec3::Zero(), 1.0, rgb_color{255,255,255}) { }

    point_full(const point_xyzrgb& xyzrgb) : 
        base(Eigen_vec3(xyzrgb.position()), Eigen_vec3::Zero(), 1.0, xyzrgb.color()) { }

    auto position() { return get<0>(*this).position(); }
    auto position() const { return get<0>(*this).position(); }
    
    Eigen_vec3& normal() { return get<1>(*this); }
    const Eigen_vec3& normal() const { return get<1>(*this); }

    Eigen_scalar& weight() { return get<2>(*this); }
    const Eigen_scalar& weight() const { return get<2>(*this); }
    
    rgb_color& color() { return get<3>(*this); }
    const rgb_color& color() const { return get<3>(*this); }
};


}

#endif