DepthGuide/src/render/render_tools.h

#ifndef DEPTHGUIDE_RENDER_TOOLS_H
#define DEPTHGUIDE_RENDER_TOOLS_H

#include "core/object_manager.h"
#include "render_utility.h"
#include "render_texture.h"

#include <boost/container/small_vector.hpp>

#include <optional>

simple_rect calc_render_range(cv::Size img_size);

class color_image_render {
public:

    struct config_type {
        color_format fmt = COLOR_RGB;
        bool flip_y = false;
        float alpha = 1.0;
        std::optional<simple_rect> range;
        smart_cuda_stream *stream = nullptr;
    };

    void render(obj_name_type name, config_type conf);

// note: use render_rgba() instead
//    void render_bw(const image_info_u8c1 &img, config_type conf);
//    void render_bw(obj_name_type name, config_type conf);

    // T = uchar{1-4}
    template<typename T>
    void render_rgba(const image_info_type<T> &img, config_type conf);

    // supports image_u8c{1-4}
    void render_rgba(obj_name_type name, config_type conf);

    // supports image_u8c1
    void render_nv12(const image_info_u8c1 &img, config_type conf);

    // supports image_u8c1
    void render_nv12(obj_name_type name, config_type conf);

private:
    smart_texture img_tex;
    smart_texture ext_tex[2];

    void render_tex(cv::Size img_size, config_type conf);
};

class depth_image_render {
public:

    struct config_type {
        bool flip_y = false;
        float alpha = 1.0;

        bool manual_depth_range = false;
        struct {
            float min = 0.15; // unit in meter
            float max = 10.0; // unit in meter
        } depth_range;

        smart_cuda_stream *stream = nullptr;
    };

    void render(obj_name_type name, config_type conf);

private:
    color_image_render color_render;
};

class pc_render {
public:

    struct config_type {
        struct {
            glm::mat4 transform = glm::mat4(1.0f);
            glm::vec3 color;
            float point_size = 1.0;
        } pc = {};
        struct {
            glm::mat4 transform = glm::mat4(1.0f);
            float fov = 60.0f;
            float near = 1.0f, far = 1000.0f; // clip range
        } camera = {};
        smart_cuda_stream *stream = nullptr;
    };

    void render(obj_name_type name, const config_type &conf);
};

#endif //DEPTHGUIDE_RENDER_TOOLS_H