kinect_reprojection.h

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#ifndef LICORNEA_KINECT_REPROJECTION_H_
#define LICORNEA_KINECT_REPROJECTION_H_

#include "../../lib/opencv.h"
#include "../../lib/color.h"
#include "kinect_reprojection_parameters.h"
#include "ir_to_color_sample.h"
#include <vector>
#include <tuple>

namespace tlz {


class kinect_reprojection {
private:
    kinect_reprojection_parameters reprojection_parameters_;
    
public:
    explicit kinect_reprojection(const kinect_reprojection_parameters&);
    
    kinect_reprojection_parameters& parameters() { return reprojection_parameters_; }
    const kinect_reprojection_parameters& parameters() const { return reprojection_parameters_; }
    
    std::vector<vec2> reproject_points_ir_to_color(
        const std::vector<vec2> distorted_ir_i_xy,
        const std::vector<real>& ir_z,
        std::vector<real>& out_color_z,
        bool distort_color = true
    ) const;
    
    template<typename Value> using sample = ir_to_color_sample<Value>;

    template<typename Value, typename Depth>
    std::vector<sample<Value>> reproject_ir_to_color_samples(
        const cv::Mat_<Value>& distorted_ir_values,
        const cv::Mat_<Depth>& distorted_ir_z,
        bool distort_color = true
    ) const;
};

}

#include "kinect_reprojection.tcc"

#endif