view.h

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#ifndef RGBD_VIEW_H_
#define RGBD_VIEW_H_
 
#include <rgbd/image.h>
 
#include <geolib/datatypes.h>
#include <geolib/sensors/DepthCamera.h>
 
namespace rgbd {
 
class View {
 
public:
 
    View(const Image& image, int width);
 
    inline const int& getWidth() const
    {
        return width_;
    }
 
    inline const int& getHeight() const
    {
        return height_;
    }
 
    inline const cv::Vec3b& getColor(int x, int y) const
    {
        return image_.getRGBImage().at<cv::Vec3b>(y * rgb_factor_, x * rgb_factor_);
    }
 
    inline const float& getDepth(int x, int y) const
    {
        return image_.getDepthImage().at<float>(y * depth_factor_, x * depth_factor_);
    }
 
    inline bool getPoint3D(int x, int y, geo::Vector3& p) const
    {
        float d = getDepth(x, y);
        p = rasterizer_.project2Dto3D(x, y) * d;
        return (d == d && d > 0);
    }
 
    inline bool getPoint3DSafe(int x, int y, geo::Vector3& p) const
    {
        if (x < 0 || y < 0 || x >= width_ || y >= height_)
            return false;
 
        float d = getDepth(x, y);
        p = rasterizer_.project2Dto3D(x, y) * d;
        return (d == d && d > 0);
    }
 
    inline const geo::DepthCamera& getRasterizer() const { return rasterizer_; }
 
protected:
    const Image& image_;
    int width_;
    int height_;
 
    float rgb_factor_;
    float depth_factor_;
 
    geo::DepthCamera rasterizer_;
 
};
 
}
 
#endif // RGBD_VIEW_H_