camera_projection.h

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#ifndef _CAMERA_PROJECTION_H_
#define _CAMERA_PROJECTION_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}

//####################################################################
#include <ros/ros.h>

#include <opencv2/imgproc/imgproc.hpp> 
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>

#include <sensor_msgs/PointCloud2.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>
#include <tf/tf.h>

//include
#include "class_pinhole_projection.h"
#include "polygon_intersection.h"
#include <bo_polygon2d/polygon_boolean_operations.h>
#include "distortion_correction.h"
#include "projection_mesh.h"

typedef cv::Vec<unsigned char, 3> t_pixel;

class class_camera_projection: public class_pinhole_projection, public class_distortion_correction, public class_polygon_boolean_operations, virtual public class_camera_parameters, public class_projection_mesh 
{
        // ------------------------------------------------------------------------------
        //PUBLIC SECTION OF THE CLASS
        // ------------------------------------------------------------------------------
        public:

                class_camera_projection(void){is_mapped_to_mesh=false; projection_name="unknown";};

                ~class_camera_projection(void){};

                int set_image(const cv::Mat* image, ros::Time time, std::string name="none");

                int create_image_canvas(const cv::Mat* image, std::vector<pcl::PointXY>* pts);
                int create_image_canvas_for_known_camera(const cv::Mat* image, std::vector<pcl::PointXY>* pts, std::string name);
                int create_polygon_from_pts_list(const pcl::PointCloud<pcl::PointXYZ>* vertexes, pcl::PointCloud<pcl::PointXYZ>* vertices);
                float get_weight_for_pixel(int l, int c, double resolution_factor, float px, float py, float pz);

                int set_vertex_chull(const pcl::PointCloud<pcl::PointXYZ>::Ptr vertexes);       

                void compute_projectable_pixels(void);
                int compute_pixel_list_to_vertex_list(pcl::ModelCoefficientsPtr coeff);

                //Draw
                int draw_pixels_vector(cv::Mat* image, std::vector<pcl::PointXY>* pts, const cv::Scalar color, int thickness=1);
                int draw_pixels_projectable(cv::Mat* image, pcl::PointCloud<pcl::PointXYZRGB>* pc, const cv::Scalar color, int thickness=1);
                int draw_pixels_vector_as_polyline(cv::Mat* image, std::vector<pcl::PointXY>* pts, const cv::Scalar color, int thickness);

                
                std::string projection_name;
                cv::Mat image_original;
                cv::Mat image_corrected;
                cv::Mat image_gui;
                //cv::Mat image_hough;
                //cv::Mat mask_hough;
                cv::Mat image_gray;
                cv::Mat mask_canny;
                cv::Mat mask_grid;
                cv::Mat mask_intersection;
                cv::Mat mask_projectable_pixels;
                //cv::Mat mask_tmp;

                pcl::PointCloud<pcl::PointXYZ> vertex_canvas;
                pcl::PointCloud<pcl::PointXYZ> vertex_chull;
                pcl::PointCloud<pcl::PointXYZ> vertex_intersection;
                std::vector<pcl::PointXY> pixels_intersection;
                pcl::PointCloud<pcl::PointXYZRGB> pixels_projectable;
                pcl::PointCloud<pcl::PointXYZRGB> vertex_projectable;
                //std::vector<float> vertex_projectable_weight;
                //cv::vector<cv::Vec4i> lines;


                pcl::PointCloud<pcl::PointXYZRGB> pixel_list;
                pcl::PointCloud<pcl::PointXYZRGB> vertex_list;
                std::vector<float> face_weight;

                bool is_mapped_to_mesh;
                // ------------------------------------------------------------------------------
                //PRIVATE SECTION OF THE CLASS
                // ------------------------------------------------------------------------------

        private:
};

#endif