projection.h

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#ifndef COB_3D_PROJECTION_H
#define COB_3D_PROJECTION_H

#include <cob_3d_mapping_common/polygon.h>

namespace cob_3d_mapping
{
  template<typename Vec3T>
  inline Eigen::Vector4f makeVector4f(const Vec3T& v, float last=1.0f)
  {
    return Eigen::Vector4f(v[0], v[1], v[2], last);
  }

  template<typename SensorT>
  class PerspectiveProjection
  {
  private:
    typedef Eigen::Vector3f Vec3;
    typedef Eigen::Vector4f Vec4;
    typedef Eigen::Matrix4f Mat4;
    typedef typename SensorT::MatMap MatMap;

  public:
    /* specialized for cob_3d_mapping::Polygon
     * camera_transform: transformation from world to camera
     * w,h: size of projected image
     * polygons: input polygons
     * projection: image vector with polygon ids
     */
    static void compute(
      const Mat4& tf_camera, int w, int h,
      const std::vector<cob_3d_mapping::Polygon::Ptr>& polygons,
      std::vector<std::vector<int> >& projection);
  };
}

#include "cob_3d_fov_segmentation/impl/projection.hpp"

#endif