Representations/Perception/CameraMatrix.h

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/**
 * @file CameraMatrix.h
 * 
 * Declaration of class CameraMatrix
 */ 

#ifndef __CameraMatrix_h_
#define __CameraMatrix_h_

#include "Tools/Math/Pose3D.h"
#include "Tools/Streams/InOut.h"

/**
* Matrix describing transformation from neck joint to camera.
*/
class CameraMatrix: public Pose3D
{
  public:
    unsigned long frameNumber; /**< The frame number when perceived. */
    
    CameraMatrix(const Pose3D pose): Pose3D(pose),isValid(true),frameNumber(0) {}
    CameraMatrix():isValid(true),frameNumber(0) {}

    void setFrameNumber(unsigned long frameNumber) {this->frameNumber = frameNumber;}

    bool isValid; /**< Matrix is only valid if motion was stable. */
    


};

/**
 * Streaming operator that reads a CameraMatrix from a stream.
 * @param stream The stream from which is read.
 * @param cameraMatrix The CameraMatrix object.
 * @return The stream.
 */ 
In& operator>>(In& stream,CameraMatrix& cameraMatrix);
 
/**
 * Streaming operator that writes a CameraMatrix to a stream.
 * @param stream The stream to write on.
 * @param cameraMatrix The CameraMatrix object.
 * @return The stream.
 */ 
Out& operator<<(Out& stream, const CameraMatrix& cameraMatrix);

#endif //__CameraMatrix_h_

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