camera.cpp

#include "camera.hpp"
#include "pose_window.hpp"
#include "screen.hpp"
#include <nanogui/glutil.h>

#include <ftl/profiler.hpp>

#include <opencv2/imgproc.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/cudaarithm.hpp>

#include <ftl/operators/antialiasing.hpp>
#include <ftl/cuda/normals.hpp>
#include <ftl/render/colouriser.hpp>
#include <ftl/cuda/transform.hpp>
#include <ftl/operators/gt_analysis.hpp>
#include <ftl/operators/poser.hpp>
#include <ftl/cuda/colour_cuda.hpp>

#include <ftl/render/overlay.hpp>
#include "statsimage.hpp"

#define LOGURU_REPLACE_GLOG 1
#include <loguru.hpp>

#include <fstream>

#ifdef HAVE_OPENVR
#include "vr.hpp"
#endif

using ftl::rgbd::isValidDepth;
using ftl::gui::GLTexture;
using ftl::gui::PoseWindow;
using ftl::codecs::Channel;
using ftl::codecs::Channels;
using cv::cuda::GpuMat;


static int vcamcount = 0;

static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
	Eigen::Affine3d rx =
		Eigen::Affine3d(Eigen::AngleAxisd(ax, Eigen::Vector3d(1, 0, 0)));
	Eigen::Affine3d ry =
		Eigen::Affine3d(Eigen::AngleAxisd(ay, Eigen::Vector3d(0, 1, 0)));
	Eigen::Affine3d rz =
		Eigen::Affine3d(Eigen::AngleAxisd(az, Eigen::Vector3d(0, 0, 1)));
	return rz * rx * ry;
}

ftl::gui::Camera::Camera(ftl::gui::Screen *screen, int fsmask, int fid, ftl::codecs::Channel c)
		: screen_(screen), fsmask_(fsmask), fid_(fid), texture1_(GLTexture::Type::BGRA), texture2_(GLTexture::Type::BGRA), depth1_(GLTexture::Type::Float), channel_(c),channels_(0u) {

	eye_ = Eigen::Vector3d::Zero();
	neye_ = Eigen::Vector4d::Zero();
	rotmat_.setIdentity();

	//up_ = Eigen::Vector3f(0,1.0f,0);
	lerpSpeed_ = 0.999f;
	sdepth_ = false;
	ftime_ = (float)glfwGetTime();
	pause_ = false;

#ifdef HAVE_OPENVR
	vr_mode_ = false;
#endif

	//channel_ = Channel::Left;