projection.h

#ifndef SANDBOX_PROJECTION_H
#define SANDBOX_PROJECTION_H

#include <opencv2/opencv.hpp>
#include "beamer.h"
#include "camera.h"

class Projection{
    private:
        cv::Mat adjustingMatrix;
        float distanceTopSandbox;
        // Buffer for the builded virtual frame, which is scaled to n * depth_frame.size for the building process
        cv::Mat_<cv::Vec3b> resized_dst;
        // Buffer containing the pixels's new location when deprojected to beamer's POV
        cv::Mat_<cv::Point2i> deprojectMap;
        // Buffer indicating from where to get the pixels in the source frame
        cv::Mat_<cv::Point2i> frameMap;

        cv::Point2f fxy;
        cv::Point2f ppxy;

        void deprojectPixelsFromDepth(cv::Mat_<float> &depth, Camera *camera, cv::Point3f beamer_pos, cv::Mat_<cv::Point2i> &deprojectMap, cv::Point2f fxy, cv::Point2f ppxy);
        void filterLowestDeprojectedPoints(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &deprojectMap, cv::Mat_<cv::Point2i> &frameMap);
        void buildFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &frameMap, cv::Mat_<cv::Vec3b> &src, cv::Mat_<cv::Vec3b> &dst);
        cv::Point2i findMatchingPixel(int i, int j, float z, Camera *camera, cv::Point3f beamer_pos, cv::Point2f fxy, cv::Point2f ppxy);

    public:
        Projection();

        void setAdjustingMatrix(cv::Mat matrix){ adjustingMatrix = matrix; }
        cv::Mat getAdjustingMatrix(){ return adjustingMatrix; }
        void setDistanceTopSandbox(float dist){ distanceTopSandbox = dist; };
        float getDistanceTopSandbox(){ return distanceTopSandbox; };

        cv::Point2i rotatePixel(cv::Point2i pixel);
        cv::Point2i revertRotatePixel(cv::Point2i pixel);
        void adjustFrame(cv::Mat_<float> depth, cv::Mat_<cv::Vec3b> src, cv::Mat_<cv::Vec3b> &dst, Camera *camera, cv::Point3f beamer_pos);
        void printAdjustingMatrix();

};
#endif