#include <Slicer360ToPerspective.hpp>
#include <frame_conversions.hpp>

Slicer360ToPerspective::Slicer360ToPerspective()
{
    
}

Image Slicer360ToPerspective::ComputeCoverage(int width, bool raw)
{
    int height = width/2;
    Image coverage(width, height, 1);

    // Compute the coverage of the 360-degree image by the cameras added to the slicer.
    for(int i = 0; i < height; i++) {
        for(int j = 0; j < width; j++) {
            // Compute view vector in inertial frame from equirectangular coordinates
            Eigen::Vector3d ray_dir_sph  = equirectangular2sph(i, j, width, height);
            Eigen::Vector3d ray_dir_cart = sph2cart(ray_dir_sph);
            int count = 0;
            for(Camera const& camera : cameras)
            {
                if(camera.IsPointVisibleInertialFrame(ray_dir_cart))
                    count++;
            }
            coverage.SetPixelValue(i, j, 0, count);
        }
    }

    if(raw)
        return coverage;
    else
        return coverage.Normalized().Colorized(Image::Colormap::PARULA);
}