Sandbox init return int status

inc/sandbox.h

@@ -22,7 +22,7 @@ class Sandbox{
         Beamer* getBeamer(){ return beamer; };
         Projection* getProjection(){ return projection; };
 
-        void init();
+        int init();
         void captureFrame();
         cv::Mat getColorFrame();
         cv::Mat getDepthFrame();

src/components/camera.cpp

@@ -32,7 +32,7 @@ Camera::~Camera(){
 
 int Camera::start(){
     
-    // check for a device availible
+    // check for a device available
     if(!cfg->can_resolve(*pipe)){
         //std::cout << "Error: No device found" << std::endl;
         return 1;

src/components/projection.cpp

 #include "../../inc/projection.h"
 
 
+/*
+ *   MAIN
+ */
+
 Projection::Projection(){
     adjustingMatrix = cv::getRotationMatrix2D(cv::Point(0, 0), 0, 1);
     distanceTopSandbox = 1.0f;
@@ -14,8 +18,7 @@ cv::Point2i Projection::rotatePixel(cv::Point2i pixel){
     return cv::Point2i(tmp.at<cv::Vec2f>(0, 0));
 }
 
-
-
+// Adjust the projected frame with the topology from the camera to the beamer POV
 void Projection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *camera, cv::Point3f beamer_pos){
 
     cv::Rect mask = camera->getCroppingMask();
@@ -40,6 +43,12 @@ void Projection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *c
     cv::warpAffine(dst, dst, adjustingMatrix, dst.size());
 }
 
+
+
+/*
+ *   PRIVATE
+ */
+
 void Projection::deprojectPixelsFromDepth(cv::Mat &depth, cv::Rect mask, Camera *camera, cv::Point3f beamer_pos, cv::Mat &pixelsDeprojectMap){
 
     // Browse the depth frame matching the cropping mask
@@ -64,6 +73,7 @@ void Projection::deprojectPixelsFromDepth(cv::Mat &depth, cv::Rect mask, Camera
     }
 }
 
+
 void Projection::filterHighestDeprojectedPoints(cv::Mat &depth, cv::Mat &pixelsDeprojectMap, cv::Mat &pixelsDeprojectHighestMap){
 
     for (int j = 0; j < pixelsDeprojectMap.rows; j++){
@@ -84,6 +94,7 @@ void Projection::filterHighestDeprojectedPoints(cv::Mat &depth, cv::Mat &pixelsD
     }
 }
 
+
 void Projection::buildFrame(cv::Mat &depth, cv::Mat &pixelsDeprojectHighestMap, cv::Mat &src, cv::Mat &dst){
     
     for (int j = 0; j < pixelsDeprojectHighestMap.rows; j++){
@@ -99,6 +110,7 @@ void Projection::buildFrame(cv::Mat &depth, cv::Mat &pixelsDeprojectHighestMap,
     }
 }
 
+
 cv::Size Projection::getMatchingSize(cv::Mat &src, cv::Rect base){
     cv::Size bigSize;
     bigSize.width = (src.size().width % base.width == 0) ? src.size().width : src.size().width - (src.size().width % base.width) + base.width;
@@ -106,6 +118,7 @@ cv::Size Projection::getMatchingSize(cv::Mat &src, cv::Rect base){
     return bigSize;
 }
 
+
 // pixels coordinates are relative to the camera depth frame
 void Projection::copyPixelsInto(cv::Point2i pixel_dst, cv::Mat &dst, cv::Point2i pixel_src, cv::Mat &src, cv::Mat &depth){
 
@@ -130,6 +143,7 @@ void Projection::copyPixelsInto(cv::Point2i pixel_dst, cv::Mat &dst, cv::Point2i
     }
 }
 
+
 /*
     C : Camera position
     B : Beamer position
@@ -154,6 +168,10 @@ cv::Point2i Projection::findMatchingPixel(int i, int j, float z, Camera *camera,
 }
 
 
+/*
+*   Debug
+*/
+
 void Projection::printAdjustingMatrix(){
 
     cv::Mat matrix = getAdjustingMatrix();

src/lib/sandbox.cpp

@@ -22,8 +22,8 @@ Sandbox::~Sandbox(){
  *   PUBLIC
  */
 
-void Sandbox::init(){
-    camera->start();
+int Sandbox::init(){
+    return camera->start();
 }
 
 void Sandbox::captureFrame(){