DepthGuide/src/module/camera_augment_helper_v2.h

#ifndef DEPTHGUIDE_CAMERA_AUGMENT_HELPER_V2_H
#define DEPTHGUIDE_CAMERA_AUGMENT_HELPER_V2_H

#include "augment_manager_v2.h"

// sophiar
#include "core/local_connection.h"

#include <glm/glm.hpp>

#include <memory>
#include <variant>

class cursor_guide;

class camera_augment_helper_v2 {
public:

    struct create_config {

        struct fixed_camera_config {
            float fov = 60.0f; // field of view
            std::string transform_var; // for sophiar
        };

        struct relative_camera_config {
            camera_augment_helper_v2 *parent = nullptr;
            glm::mat4 transform = glm::mat4(1.0f); // viewed in parent
        };

        struct freedom_camera_config {
            std::string transform_var; // for sophiar
        };

        using camera_config_type = std::variant<std::monostate,
                freedom_camera_config, fixed_camera_config, relative_camera_config>;
        camera_config_type camera;

        // sophiar
        sophiar_conn_type *sophiar_conn = nullptr;

        augment_manager_v2 *manager = nullptr;
        cursor_guide *act_guide = nullptr; // active guidance

        using io_context = boost::asio::io_context;
        io_context *ctx = nullptr;
    };

    explicit camera_augment_helper_v2(const create_config &conf);

    ~camera_augment_helper_v2();

    void render();

    struct output_config {
        cv::Size size;
        obj_name_type img_name;
        smart_cuda_stream *stream;
    };

    void render_image(output_config conf);

    void show();

    void sync_with(camera_augment_helper_v2 *other);

    void set_active_guidance(bool flag);

    struct guide_info {
        glm::vec2 pos;
    };

    void set_passive_guidance(bool flag, const guide_info &info);

    camera_info get_camera();

    // latency of image to tracked transform, offset < 0
    void set_fixed_transform_latency(int offset);

private:
    struct impl;
    std::unique_ptr<impl> pimpl;
};


#endif //DEPTHGUIDE_CAMERA_AUGMENT_HELPER_V2_H