Working virtual camera pose input

applications/gui2/src/modules/camera.cpp

@@ -140,3 +140,11 @@ bool Camera::hasFrame() {
 	}
 	return false;
 }
+
+void Camera::sendPose(const Eigen::Matrix4d &pose) {
+	if (auto ptr = std::atomic_load(&current_fs_)) {
+		auto response = ptr->frames[frame_idx].response();
+		auto &rgbdresponse = response.cast<ftl::rgbd::Frame>();
+		rgbdresponse.setPose() = pose;
+	}
+}

applications/gui2/src/modules/camera.hpp

@@ -30,6 +30,8 @@ public:
 	/** Check if new frame is available */
 	bool hasFrame();
 
+	void sendPose(const Eigen::Matrix4d &pose);
+
 	ftl::render::Colouriser* colouriser() { return colouriser_.get(); };
 	ftl::overlay::Overlay* overlay() { return overlay_.get(); }
 

applications/gui2/src/views/camera3d.cpp

 #include "camera3d.hpp"
+#include "../modules/camera.hpp"
 
 using ftl::gui2::CameraView3D;
 
@@ -55,7 +56,8 @@ bool CameraView3D::keyboardEvent(int key, int scancode, int action, int modifier
 		//transform_ix_ = ix-1;
 	}
 
-	LOG(INFO) << "New pose: \n" << getUpdatedPose();
+	//LOG(INFO) << "New pose: \n" << getUpdatedPose();
+	//ctrl_->sendPose(getUpdatedPose());
 	return true;
 }
 
@@ -72,7 +74,8 @@ bool CameraView3D::mouseMotionEvent(const Eigen::Vector2i &p, const Eigen::Vecto
 	rx_ += rel[0];
 	ry_ += rel[1];
 
-	LOG(INFO) << "New pose: \n" << getUpdatedPose();
+	//LOG(INFO) << "New pose: \n" << getUpdatedPose();
+	//ctrl_->sendPose(getUpdatedPose());
 	return true;
 }
 
@@ -107,5 +110,6 @@ Eigen::Matrix4d CameraView3D::getUpdatedPose() {
 
 void CameraView3D::draw(NVGcontext* ctx) {
 	imview_->fit(); // TODO: should be moved to ::performLayout(ctx)?
+	ctrl_->sendPose(getUpdatedPose());
 	CameraView::draw(ctx);
 }