LGES-2170-ACW_CCW-Welder/AuroraVision/VisionCommon/Common/CoordSystem.cs

/*
  * Copyright (c) 2025 LG Electronics Inc.
   * SPDX-License-Identifier: LicenseRef-LGE-Proprietary
   */
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace VisionCommon {
    // 하드웨어 카메라 플립 유무
    public enum eFlipY : int {
        True = -1,
        False = 1
    }

    // 이미지 플립 방향
    public enum eImageFlip {
        None,                // 반전X
        LeftToRight,         // 좌우반전
        TopToBottom          // 상하반전
    }

    // 이미지 회전 각도
    public enum eImageRotation {
        None = 0,                 // 회전X
        CW_DEG_90 = 90,           // 90도 회전
        CW_DEG_180 = 180,         // 180도 회전
        CW_DEG_270 = 270,         // 270도 회전
    }

    public enum eCoordSysType {
        RotX_0,
        RotX_90,
        RotX_180,
        RotX_270,
        RotX_0_FilpY,
        RotX_90_FilpY,
        RotX_180_FilpY,
        RotX_270_FilpY,
    }

    /// <summary>
    /// Source -> Target 좌표계 변환을 위환 변환 값으로 작성한다.
    /// </summary>
    public class CoordSystem : ICloneable {
        public Angle RotationX { get; set; }
        public eFlipY FlipY { get; set; }
        public eDirection DirectionT { get; set; }
        public eDirection DirectionZ { get; set; }

        public CoordSystem() : this(new Angle(), eFlipY.False, eDirection.Plus) {
        }

        public CoordSystem(
            Angle rotationX,
            eFlipY flipY,
            eDirection directionT,
            eDirection directionZ = eDirection.Plus) {
            this.RotationX = rotationX;
            this.FlipY = flipY;
            this.DirectionT = directionT;
            this.DirectionZ = directionZ;
        }

        public static Angle NormalizeAngleDirection(Angle angle, int flipY) {
            // Image Coordinate (Vision Core) -> Calibrated Coordinate
            return Angle.CreateWithRadian(angle.Radian * flipY);
        }

        public static Angle DenormalizeAngleDirection(Angle angle, int flipY) {
            // Calibrated  Coordinate -> Image Coordinate (Vision Core)
            return Angle.CreateWithRadian(angle.Radian * flipY);
        }

        public static CoordSystem operator -(CoordSystem cs1, CoordSystem cs2) {
            var angleDiff = Angle.DenormalizeAngle(cs1.RotationX - cs2.RotationX);

            return new CoordSystem(
                angleDiff,
                (eFlipY)((int)cs1.FlipY * (int)cs2.FlipY),
                (eDirection)((int)cs1.DirectionT * (int)cs2.DirectionT),
                (eDirection)((int)cs1.DirectionZ * (int)cs2.DirectionZ));
        }

        public static DoublePoint ApplyDirection(DoublePoint point, SetupDirection setupDirection) {
            return ApplyDirection(
                point,
                Angle.CreateWithDegree(setupDirection.RotationX),
                setupDirection.FlipY);
        }

        public static DoublePoint ApplyDirection(DoublePoint point, CoordSystem csSource, CoordSystem csTarget) {
            var csCorrection = csTarget - csSource;

            return ApplyDirection(
                point,
                csCorrection.RotationX * (int)csSource.FlipY,
                csCorrection.FlipY);
        }

        public static DoublePoint ApplyDirection(DoublePoint point, Angle rotationX, eFlipY flipY) {
            return MathUtil.RotateFlip(
                point,
                rotationX * -1, // 좌표계 변환의 회전량은 부호가 반대이다.
                flipY);
        }

        public static double ApplyDirectionT(double deltaT, CoordSystem coordSystem) {
            return ApplyDirection(deltaT, coordSystem.DirectionT);
        }

        public static double ApplyDirectionZ(double deltaZ, CoordSystem coordSystem) {
            return ApplyDirection(deltaZ, coordSystem.DirectionZ);
        }

        public static double ApplyDirection(double delta, eDirection direction) {
            return delta * (int)direction;
        }

        public static eCoordSysType ToCoordSysType(CoordSystem coordSystem) {
            return ToCoordSysType(coordSystem.RotationX, coordSystem.FlipY);
        }

        public static eCoordSysType ToCoordSysType(Angle rotationX, eFlipY flipY) {
            var flipYType = (flipY == eFlipY.False) ? eCoordSysType.RotX_0 : eCoordSysType.RotX_0_FilpY;
            var rotationXType = (int)(rotationX.Degree / 90);

            return flipYType + rotationXType;
        }

        public static CoordSystem ToCoordSystem(eCoordSysType coordSysType, eDirection directionT, eDirection directionZ = eDirection.Plus) {
            return new CoordSystem() {
                RotationX = GetRotationX(coordSysType),
                FlipY = GetFlipY(coordSysType),
                DirectionT = directionT,
                DirectionZ = directionZ
            };
        }

        public static Angle GetRotationX(eCoordSysType coordSysType) {
            return Angle.CreateWithDegree((int)coordSysType % 4 * 90);
        }

        public static eFlipY GetFlipY(eCoordSysType coordSysType) {
            return (coordSysType < eCoordSysType.RotX_0_FilpY) ? eFlipY.False : eFlipY.True;
        }

        public object XFlip() {
            return XFlip(new CoordSystem(RotationX.Clone() as Angle, FlipY, DirectionT, DirectionZ));
        }

        public static CoordSystem XFlip(CoordSystem coordSystem) {
            return new CoordSystem() {
                RotationX = Angle.CreateWithDegree(coordSystem.RotationX.Degree + 180),
                FlipY = (eFlipY)((int)coordSystem.FlipY * -1),
                DirectionT = coordSystem.DirectionT,
                DirectionZ = coordSystem.DirectionZ
            };
        }

        public object YFlip() {
            return YFlip(new CoordSystem(RotationX.Clone() as Angle, FlipY, DirectionT, DirectionZ));
        }

        public static CoordSystem YFlip(CoordSystem coordSystem) {
            return new CoordSystem() {
                RotationX = coordSystem.RotationX.Clone() as Angle,
                FlipY = (eFlipY)((int)coordSystem.FlipY * -1),
                DirectionT = coordSystem.DirectionT,
                DirectionZ = coordSystem.DirectionZ
            };
        }

        public override bool Equals(object obj) {
            CoordSystem cs = obj as CoordSystem;

            if (cs == null || this.GetType() != cs.GetType()) {
                return false;
            }

            return this.RotationX.Equals(cs.RotationX) &&
                (this.FlipY == cs.FlipY) &&
                (this.DirectionT == cs.DirectionT) &&
                (this.DirectionZ == cs.DirectionZ);
        }

        public override int GetHashCode() {
            return RotationX.GetHashCode() ^ FlipY.GetHashCode() ^
                DirectionT.GetHashCode() ^ DirectionZ.GetHashCode();
        }

        public object Clone() {
            return new CoordSystem(RotationX.Clone() as Angle, FlipY, DirectionT, DirectionZ);
        }

        public override string ToString() {
            return $"RotX : {RotationX}, FlipY : {FlipY}, DirT : {DirectionT}, DirZ : {DirectionZ}";
        }
    }
}