DepthGuide/src/impl/apps/remote_ar/remote_ar_v2.cpp

#include "remote_ar_v2.h"
#include "image_process_v5/sp_image.h"
#include "image_process_v5/osg_helper.h"
#include "image_process_v5/image_process.h"
#include "core/yaml_utility.hpp"
#include "core/imgui_utility.hpp"
#include "device_v5/ndi_stray_point_tracker.h"

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

app_remote_ar_v2::app_remote_ar_v2(create_config _conf)
    : main_conf(std::move(_conf)) {
    auto conf = main_conf.ext_conf;

    // OBJ_SIG(left_img_id)->connect([](auto _) { auto img = OBJ_QUERY(sp_image, left_img_id); raise(SIGTRAP); });
    // OBJ_SIG(output_img_id)->connect([](auto _) { auto img = OBJ_QUERY(sp_image, left_img_id); raise(SIGTRAP); });

    if (true) {
        auto sub_conf = mvs_camera_ui::create_config{.ctx = main_conf.asio_ctx};
        sub_conf.cameras.push_back({.dev_name = LOAD_STR("left_camera_name"), .img_name = left_img_id});
        sub_conf.cameras.push_back({.dev_name = LOAD_STR("right_camera_name"), .img_name = right_img_id});
        mvs_cam.emplace(sub_conf);
        // mvs_cam->cap_info_sig.connect([this](auto info) {
        //     out_streamer->change_frame_rate(info.frame_rate);
        // });
    }

    if (true) {
        auto uvc_cam_conf = uvc_camera_ui::create_config{
            .img_name = uvc_img_id,
            .ctx = main_conf.asio_ctx,
        };
        uvc_cam.emplace(uvc_cam_conf);
    }

    if (true) {
        auto sub_conf = stereo_output_helper::create_config();
        sub_conf.left_name = left_img_id;
        sub_conf.right_name = right_img_id;
        sub_conf.out_name = output_img_id;
        // sub_conf.size = cv::Size(1920, 804);
        sub_conf.halve_width = false;
        output_helper.emplace(sub_conf);
    }

    if (true) {
        auto sub_conf = image_viewer_v2::create_config();
        sub_conf.items.emplace_back(uvc_img_id, "Endoscope", true);
        sub_conf.items.emplace_back(left_img_id, "Left", true);
        sub_conf.items.emplace_back(right_img_id, "Right", true);
        bg_viewer.emplace(sub_conf);
    }

    if (true) {
        auto sub_conf = image_streamer::create_config();
        sub_conf.img_name = output_img_id;
        sub_conf.asio_ctx = main_conf.asio_ctx;
        streamer.emplace(sub_conf);
    }

    if (true) {
        auto sub_conf = versatile_saver::create_config();
        // sub_conf.items.emplace_back(left_img_id, "Left", true);
        // sub_conf.items.emplace_back(right_img_id, "Right", true);
        sub_conf.items.emplace_back(uvc_img_id, "Endoscope", true);
        saver.emplace(sub_conf);
    }

    start_sophiar(LOAD_STR("sophiar_config"),
                  LOAD_STR("sophiar_start_name"));

    if (true) {
        auto sub_conf = ndi_stray_point_tracker::create_config();
        sub_conf.ip_addr = LOAD_STR("ndi_ip");
        sub_conf.port = LOAD_NUMBER(uint16_t, "ndi_port");
        create_ndi_stray_points_tracker(sub_conf);
    }

    if (true) {
        auto sub_conf = oblique_calibrator::create_config();
        sub_conf.camera_ref_name = LOAD_STR("camera_ref_transform_var");
        endo_calib.emplace(sub_conf);
    }
}

app_remote_ar_v2::~app_remote_ar_v2() = default;

void app_remote_ar_v2::render_background() {
    bg_viewer->render();
}

void app_remote_ar_v2::show_ui() {
    if (ImGui::Begin("Remote AR Control")) {
        ImGui::PushItemWidth(200);

        if (ImGui::CollapsingHeader("MVS Camera")) {
            auto id_guard = imgui_id_guard("mvs_camera");
            mvs_cam->show();
        }

        if (ImGui::CollapsingHeader("UVC Camera")) {
            auto id_guard = imgui_id_guard("uvc_camera");
            uvc_cam->show();
        }

        if (ImGui::CollapsingHeader("Endoscope Calibration")) {
            auto id_guard = imgui_id_guard("endo_calib");
            endo_calib->show_ui();
        }

        if (ImGui::CollapsingHeader("Streamer")) {
            auto id_guard = imgui_id_guard("streamer");
            streamer->show();
        }

        if (ImGui::CollapsingHeader("Debug")) {
            if (ImGui::TreeNode("Background")) {
                bg_viewer->show_ui();
                ImGui::TreePop();
            }
            if (ImGui::TreeNode("Saver")) {
                saver->show_ui();
                ImGui::TreePop();
            }
        }

        ImGui::PopItemWidth();
    }
    ImGui::End();
}