CalculateSoundOrigin.hpp

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#pragma once
 
#include <array>
 
/*
This class converts a pixel of the depth estimation
data into a position in 3d space, depending on the FOV
of the camera and the distance of the object in the pixel
*/
 
class CalculateSoundOrigin {
  public:
    std::array<float, 3> calculateSoundOrigin(
        std::array<int, 2> pixelCoordinates,
        float distanceToObject, int pictureXResolution
    );
 
  private:
    //FOV of the camera to ONE side
    float maxAngle = 80;
    float distanceToObject  =0;
    //coordinates of the pixel: from 1 to Resolution
    int pixelXCoordinate = 0;
    //int pixelYCoordinate;
    int pictureXResolution  =0;
    //int pictureYResolution;
    [[nodiscard]] float getPixelAngle() const;
    
    static std::array<float, 3> getVectorToOrigin(float pixelAngle);
    [[nodiscard]] std::array<float, 3> getOrigin(std::array<float, 3> directionalVector) const;
};