beamer.h

#ifndef SANDBOX_BEAMER_H
#define SANDBOX_BEAMER_H

#include <opencv2/opencv.hpp>
#include "camera.h"
#include "frameProcessProfil.h"


class Beamer{
    private:
        cv::Point3f beamerPosition;
        cv::Size resolution;
        FrameProcessProfil *profil;
 
    public:
        Beamer();
        ~Beamer();

        const unsigned int MAX_LINEAR_LINE_POINTS = 3; //number of point to calculate 1 vector
        const double LINEAR_REGRESSION_FACT = -20.0; // used for linear regression

        cv::Point3f getPosition(){ return beamerPosition; };
        void setPosition(cv::Point3f pos){ beamerPosition = pos; };
        
        void setWidth(int w){ resolution.width = w; };
        int getWidth(){ return resolution.width; };
        void setHeight(int h){ resolution.height = h; };
        int getHeight(){ return resolution.height; };
        void setResolution(cv::Size res){ 
            setWidth(res.width);
            setHeight(res.height);
        }

        FrameProcessProfil* getProfil(){ return profil; };
        void setProfil(FrameProcessProfil p){ profil->setProfil(p); };

        cv::Mat editContrast(cv::Mat image, double contrast, int brightness);
        cv::Point3f deprojectPixel(cv::Point2i circle, cv::Mat *depth, Camera *camera);
        std::vector<cv::Point2i> getCrossList();
        cv::Mat buildCrossFrame(cv::Point2i projectedCross, int step, int max, bool circlesFound);
        cv::Point3d approximatePosition(std::vector<cv::Point3d> *bases, std::vector<cv::Point3d> *directions);
        void findLinearLineFrom(std::vector<cv::Point3f> *capturedPoints, std::vector<cv::Point3d> *bases, std::vector<cv::Point3d> *directions);
        std::vector<cv::Point3i> findCircles(cv::Mat &rgb, double contrast, int brightness, double centersMinDist, int cannyEdgeThreshold, int houghAccThreshold, double minRadius, double maxRadius);
        void printPosition();
        
};
#endif