fixe projection + code clarity

inc/projection.h

@@ -15,7 +15,7 @@ class Projection{
         void buildFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &frameMapMask, 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);
         void copyPixelsInto(cv::Point2i pixel_dst, cv::Mat_<cv::Vec3b> &dst, cv::Point2i pixel_src, cv::Mat_<cv::Vec3b> &src, cv::Mat_<float> &depth);
-        cv::Size getMatchingSize(cv::Mat_<cv::Vec3b> &src, cv::Rect base);
+        cv::Size getMatchingSize(cv::Mat &src, cv::Mat &base);
 
     public:
         Projection();

src/components/projection.cpp

@@ -31,28 +31,24 @@ cv::Point2i Projection::revertRotatePixel(cv::Point2i pixel){
 // 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){
 
-    cv::Rect mask = camera->getCroppingMask();
-
     // resize the frames to be a multiple of the camera size :
     //      src.size = n * camera.depth.size , where n is uint > 0
-    static cv::Mat_<cv::Vec3b> resized_dst = cv::Mat_<cv::Vec3b>(getMatchingSize(dst, mask));
+    static cv::Mat_<cv::Vec3b> resized_dst = cv::Mat_<cv::Vec3b>(getMatchingSize(dst, depth));
     cv::resize(dst, resized_dst, resized_dst.size());
     cv::resize(src, src, resized_dst.size());
    
-    static cv::Mat_<cv::Point2i> deprojectMap = cv::Mat_<cv::Point2i>(mask.height, mask.width);
+    static cv::Mat_<cv::Point2i> deprojectMap = cv::Mat_<cv::Point2i>(depth.size());
     deprojectMap = cv::Point2i(-1,-1);
 
-    static cv::Mat_<cv::Point2i> frameMapMask = cv::Mat_<cv::Point2i>(mask.height, mask.width, cv::Point2i(-1,-1));
+    static cv::Mat_<cv::Point2i> frameMapMask = cv::Mat_<cv::Point2i>(depth.size(), cv::Point2i(-1,-1));
     frameMapMask = cv::Point2i(-1,-1);
 
-    deprojectPixelsFromDepth(depth, mask, camera, beamer_pos, deprojectMap);
+    deprojectPixelsFromDepth(depth, camera->getCroppingMask(), camera, beamer_pos, deprojectMap);
 
     filterLowestDeprojectedPoints(depth, deprojectMap, frameMapMask);
 
     buildFrame(depth, frameMapMask, src, resized_dst);
 
-    // TODO : Holefilling method
-
     cv::resize(resized_dst, dst, dst.size());
     cv::warpAffine(dst, dst, adjustingMatrix, dst.size());
 }
@@ -132,10 +128,10 @@ void Projection::buildFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &frame
 }
 
 
-cv::Size Projection::getMatchingSize(cv::Mat_<cv::Vec3b> &src, cv::Rect base){
+cv::Size Projection::getMatchingSize(cv::Mat &src, cv::Mat &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;
-    bigSize.height = (src.size().height % base.height == 0) ? src.size().height : src.size().height - (src.size().height % base.height) + base.height;
+    bigSize.width = (src.size().width % base.size().width == 0) ? src.size().width : src.size().width - (src.size().width % base.size().width) + base.size().width;
+    bigSize.height = (src.size().height % base.size().height == 0) ? src.size().height : src.size().height - (src.size().height % base.size().height) + base.size().height;
     return bigSize;
 }
 
@@ -177,13 +173,14 @@ void Projection::copyPixelsInto(cv::Point2i pixel_dst, cv::Mat_<cv::Vec3b> &dst,
 cv::Point2i Projection::findMatchingPixel(int i, int j, float z, Camera *camera, cv::Point3f CB){
    
     float pixel[2] = {static_cast<float>(i), static_cast<float>(j)};
+    const float BEz = distanceTopSandbox - CB.z;
+
     cv::Point3f CP = camera->deprojectPixelToPoint(pixel, z);
-    cv::Point3f BP = CB - CP;
-    float BAz = CB.z + BP.z;
-    float BEz = distanceTopSandbox - CB.z;
+    cv::Point3f BP = CP - CB;
+    float BAz = BP.z;
     float alpha = BEz / BAz;
-    cv::Point3f V = (alpha * BP);
-    cv::Point3f CV = V + CB;
+    cv::Point3f BV = (alpha * BP);
+    cv::Point3f CV = CB + BV;
 
     return camera->projectPointToPixel(CV);
 }