class_pinhole_projection.h

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#ifndef _CLASS_PINHOLE_PROJECTION_H_
#define _CLASS_PINHOLE_PROJECTION_H_

#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 <tf/tf.h>

#include "camera_parameters.h"

#ifndef PFLN
#define PFLN {printf("File %s Line %d\n",__FILE__, __LINE__);}
#endif
class class_pinhole_projection: virtual public class_camera_parameters
{
        public:

                class_pinhole_projection(void)
                {
                }

                ~class_pinhole_projection(void)
                {
                }

                int set_projection_plane(double a, double b, double c, double d);

                
                int project_vertex_to_pixel(const pcl::PointCloud<pcl::PointXYZ>::Ptr v, std::vector<pcl::PointXY>* p);
                int project_pixel_to_vertex(const std::vector<pcl::PointXY>* p, pcl::PointCloud<pcl::PointXYZ>* v);

                int project_pixel_with_color_to_vertex(const pcl::PointCloud<pcl::PointXYZRGB>* p, pcl::PointCloud<pcl::PointXYZRGB>* v);


                int compute_transformation_matrix(void);

                int print_CvMat(cv::Mat *mat, const char* name);


struct 
{
        double a,b,c,d;
}projection_plane;


        private:


};



#endif