DepthGuide/src/impl/apps/depth_guide/depth_guide.cpp

#include "depth_guide.h"
#include "core/image_utility.hpp"
#include "core/imgui_utility.hpp"

app_depth_guide::app_depth_guide(const create_config &_conf) {
    conf = _conf;

    // initialize object manager
    OBJ_SAVE(img_color, image_u8c3());
    OBJ_SAVE(img_depth, image_f32c1());
    OBJ_SAVE(img_bg, image_u8c3());
    OBJ_SAVE(img_out, image_u8c4());

    OBJ_SIG(img_color)->connect(INT_MIN, [=](obj_name_type _) {
        OBJ_SAVE(img_bg, OBJ_QUERY(image_u8c3, img_color));
    });

    // initialize modules
    auto orb_cam_conf = orb_camera_ui::create_config{
            .cf_name = img_color, .df_name = img_depth,
            .ctx = conf.asio_ctx, .stream = default_cuda_stream,
    };
    orb_cam = std::make_unique<orb_camera_ui>(orb_cam_conf);

    auto bg_viewer_conf = image_viewer::create_config{
            .mode = VIEW_COLOR_DEPTH, .flip_y = true,
            .stream = default_cuda_stream,
    };
    auto &bg_extra_conf = bg_viewer_conf.extra.color_depth;
    bg_extra_conf.c_name = img_color;
    bg_extra_conf.d_name = img_depth;
    bg_viewer = std::make_unique<image_viewer>(bg_viewer_conf);

    auto out_down_conf = viewport_downloader::create_config{
            .stream = default_cuda_stream
    };
    out_downloader = std::make_unique<viewport_downloader>(out_down_conf);

    auto out_streamer_conf = image_streamer::create_config{
            .img_name = img_out, .asio_ctx = conf.asio_ctx,
            .cuda_ctx = conf.cuda_ctx, .stream = default_cuda_stream
    };
    out_streamer = std::make_unique<image_streamer>(out_streamer_conf);
}

void app_depth_guide::show_ui() {
    auto ctx = conf.asio_ctx;
    if (ImGui::Begin("Depth Guide Control")) {
        ImGui::PushItemWidth(200);

        if (ImGui::CollapsingHeader("Camera")) {
            auto id_guard = imgui_id_guard("camera");
            orb_cam->show();
        }

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

        if (ImGui::CollapsingHeader("Debug")) {
            if (ImGui::TreeNode("Background")) {
                bg_viewer->show();
                ImGui::TreePop();
            }
            if (ImGui::TreeNode("Memory Pool")) {
                if (ImGui::Button("Purge")) {
                    post(*ctx, [] { global_mp.purge(); });
                }
                ImGui::TreePop();
            }
            if (ImGui::TreeNode("Performance")) {
                ImGui::Text("UI Refresh Rate: %.2fms", perf_timer.query().interval);
                ImGui::TreePop();
            }
        }

        ImGui::PopItemWidth();
    }
    ImGui::End();
    perf_timer.record();
}

void app_depth_guide::render_background() {
    bg_viewer->render();

    // TODO: for test
    auto bg_img = out_downloader->download_argb();
    OBJ_SAVE(img_out, bg_img);
}