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app/SandboxSetup/croppingmask.cpp

@@ -31,12 +31,12 @@ void CroppingMask::valideRoutine(){
     timer->stop();
     setup->getCamera()->capture();
     std::vector<cv::Point> rectPoints = getRectPoints();
-    cv::Point2i center = setup->getCenterOfQuadrilateral(rectPoints);
+    cv::Point2i centerProjection = setup->getCenterOfQuadrilateral(rectPoints);
     cv::Mat depthFrame = setup->getCamera()->getDepthFrame();
 
-    setup->setupAdjustMatrix(rectPoints, center);
+    setup->setupAdjustMatrix(rectPoints, centerProjection);
     setup->setupCroppingMask(rectPoints);
-    setup->getProjection()->setDistanceTopSandbox(depthFrame.at<float>(center));
+    setup->getProjection()->setDistanceTopSandbox(depthFrame.at<float>(centerProjection));
 
     endSuccess = true;
 }

src/components/projection.cpp

@@ -27,7 +27,9 @@ cv::Point2i Projection::revertRotatePixel(cv::Point2i pixel){
 }
 
 
-// Adjust the projected frame with the topology from the camera to the beamer POV
+/*
+    Adjust the projected frame with the topology from the camera to the beamer POV
+*/
 void Projection::adjustFrame(cv::Mat_<float> depth, cv::Mat_<cv::Vec3b> src, cv::Mat_<cv::Vec3b> &dst, Camera *camera, cv::Point3f beamer_pos){
 
     if(deprojectMap.empty() || deprojectMap.size() != depth.size()){
@@ -43,10 +45,10 @@ void Projection::adjustFrame(cv::Mat_<float> depth, cv::Mat_<cv::Vec3b> src, cv:
 
     deprojectMap = cv::Point2i(-1,-1);
     frameMap = cv::Point2i(-1,-1);
+    resized_dst = cv::Vec3b(0,0,0);
 
-    // resize the frames to be a multiple of the camera size :
-    //      src.size = n * camera.depth.size , where n is uint > 0
-    cv::resize(dst, resized_dst, resized_dst.size());
+    // resize to match 1:1 ratio with resized_dst, since we'll do later:
+    //      resized_dst[i] = src[i]
     cv::resize(src, src, resized_dst.size());
 
     deprojectPixelsFromDepth(depth, camera->getCroppingMask(), camera, beamer_pos, deprojectMap);
@@ -63,6 +65,11 @@ void Projection::adjustFrame(cv::Mat_<float> depth, cv::Mat_<cv::Vec3b> src, cv:
  *   PRIVATE
  */
 
+
+/*
+    Deproject pixels in 3D, then adapt to Beamer's POV, and go back to 2D
+    This gives us the location od pixels adapted to the Beamer projection
+*/
 void Projection::deprojectPixelsFromDepth(cv::Mat_<float> &depth, cv::Rect mask, Camera *camera, cv::Point3f beamer_pos, cv::Mat_<cv::Point2i> &deprojectMap){
 
     // Browse the depth frame matching the cropping mask
@@ -87,7 +94,13 @@ void Projection::deprojectPixelsFromDepth(cv::Mat_<float> &depth, cv::Rect mask,
     }
 }
 
+/*
+    Save the highest points in deprojectMap into frameMap,
+    because some points can be deprojected at the same location
 
+    frameMap indicates for each pixel of dst, where it should get the value from in src
+    deprojectMap indicates for each pixel, where it'll be displayed
+*/
 void Projection::filterLowestDeprojectedPoints(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &deprojectMap, cv::Mat_<cv::Point2i> &frameMap){
 
     for (int j = 0; j < deprojectMap.rows; j++){
@@ -115,6 +128,11 @@ void Projection::filterLowestDeprojectedPoints(cv::Mat_<float> &depth, cv::Mat_<
 }
 
 
+/*
+    Build the frame using frameMap,
+    where each pixel describes in which pixel of the source it should take the value from
+        dst[i] = src[frameMap[i]]
+*/
 void Projection::buildFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &frameMap, cv::Mat_<cv::Vec3b> &src, cv::Mat_<cv::Vec3b> &dst){
     
     for (int j = 0; j < frameMap.rows; j++){
@@ -132,6 +150,10 @@ void Projection::buildFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &frame
 }
 
 
+/*
+    resize the frames to be a multiple of the base size:
+        src.size = n * base.size, where n is uint > 0
+*/
 cv::Size Projection::getMatchingSize(cv::Mat &src, cv::Mat &base){
     cv::Size bigSize;
     bigSize.width = (src.size().width % base.size().width == 0) ? src.size().width : src.size().width - (src.size().width % base.size().width) + base.size().width;
@@ -140,7 +162,9 @@ cv::Size Projection::getMatchingSize(cv::Mat &src, cv::Mat &base){
 }
 
 
-// pixels coordinates are relative to the camera depth frame
+/*
+    pixels coordinates are relative to the camera depth frame
+*/
 void Projection::copyPixelsInto(cv::Point2i pixel_dst, cv::Mat_<cv::Vec3b> &dst, cv::Point2i pixel_src, cv::Mat_<cv::Vec3b> &src, cv::Mat_<float> &depth){
 
     if( src.size().width == dst.size().width && src.size().height == dst.size().height ){