virtual_source.cpp

#include <ftl/virtual_source.hpp>
#include <ftl/depth_camera.hpp>
#include <ftl/scene_rep_hash_sdf.hpp>
#include <ftl/ray_cast_sdf.hpp>

#include <glog/logging.h>

using ftl::rgbd::VirtualSource;

VirtualSource::VirtualSource(nlohmann::json &config, ftl::net::Universe *net)
		: RGBDSource(config, net) {
	rays_ = new CUDARayCastSDF(config);
	scene_ = nullptr;

	params_.fx = config.value("focal", 430.0f);
	params_.fy = params_.fx;
	params_.width = config.value("width", 640);
	params_.height = config.value("height", 480);
	params_.cx = params_.width / 2;
	params_.cy = params_.height / 2;
	params_.maxDepth = config.value("max_depth", 10.0f);
	params_.minDepth = config.value("min_depth", 0.1f);

	rgb_ = cv::Mat(cv::Size(params_.width,params_.height), CV_8UC3);
	// init depth
}

VirtualSource::~VirtualSource() {
	if (scene_) delete scene_;
	if (rays_) delete rays_;
}

void VirtualSource::setScene(ftl::voxhash::SceneRep *scene) {
	scene_ = scene;
}

void VirtualSource::grab() {
	if (scene_) {
		DepthCameraParams params;
		params.fx = params_.fx;
		params.fy = params_.fy;
		params.mx = params_.cx;
		params.my = params_.cy;
		params.m_imageWidth = params_.width;
		params.m_imageHeight = params_.height;
		params.m_sensorDepthWorldMin = params_.minDepth;
		params.m_sensorDepthWorldMax = params_.maxDepth;

		rays_->render(scene_->getHashData(), scene_->getHashParams(), params, getPose());
		rays_->getRayCastData().download(nullptr, (uchar3*)rgb_.data, rays_->getRayCastParams());
	}
}

void VirtualSource::getRGBD(cv::Mat &rgb, cv::Mat &depth) {
	rgb_.copyTo(rgb);
	depth_.copyTo(depth);
}

bool VirtualSource::isReady() {

}