kinect_remapping.h

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#ifndef LICORNEA_KINECT_REMAPPING_H_
#define LICORNEA_KINECT_REMAPPING_H_

#include "../../lib/opencv.h"
#include "../../lib/color.h"
#include "ir_to_color_sample.h"
#include "kinect_internal_parameters.h"

namespace tlz {

class kinect_remapping {
protected:
    kinect_internal_parameters internal_parameters_;

public:
    explicit kinect_remapping(const kinect_internal_parameters&);

    vec2 distort_ir(vec2 undistorted) const;
    vec2 undistort_ir(vec2 distorted) const;
    
    vec2 map_ir_to_color(vec2 undistorted_ir, real ir_z) const;
    
    template<typename Value> using sample = ir_to_color_sample<Value>;

    template<typename Value, typename Depth>
    std::vector<sample<Value>> remap_ir_to_color_samples(
        const cv::Mat_<Value>& distorted_ir_values,
        const cv::Mat_<Depth>& distorted_ir_z
    ) const;
};

}

#include "kinect_remapping.tcc"

#endif