Don't render plane when missing depth

components/renderers/cpp/src/CUDARender.cpp

@@ -250,6 +250,9 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 
 	int valid_count = 0;
 
+	// FIXME: Is it possible to remember previously if there should be depth?
+	bool use_depth = scene_->anyHasChannel(Channel::Depth) || scene_->anyHasChannel(Channel::GroundTruth);
+
 	// For each source depth map
 	for (size_t i=0; i < scene_->frames.size(); ++i) {
 		//if (!scene_->hasFrame(i)) continue;
@@ -261,6 +264,11 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 			continue;
 		}
 
+		// We have the needed depth data?
+		if (use_depth && !f.hasOwn(Channel::Depth) && !f.hasOwn(Channel::GroundTruth)) {
+			continue;
+		}
+
 		++valid_count;
 
 		//auto pose = MatrixConversion::toCUDA(t.cast<float>() * f.getPose().cast<float>());
@@ -273,6 +281,7 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 		auto &screenbuffer = _getScreenBuffer(bufsize);
 
 		// Calculate and save virtual view screen position of each source pixel
+		if (use_depth) {
 			if (f.hasChannel(Channel::Depth)) {
 				ftl::cuda::screen_coord(
 					f.createTexture<float>(Channel::Depth),
@@ -287,6 +296,7 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 					screenbuffer,
 					params_, transform, f.getLeftCamera(), stream
 				);
+			}
 		} else {
 			// Constant depth version
 			ftl::cuda::screen_coord(

components/structures/include/ftl/data/new_frameset.hpp

@@ -134,6 +134,8 @@ class FrameSet : public ftl::data::Frame {
 	 */
 	bool hasAnyChanged(ftl::codecs::Channel) const;
 
+	bool anyHasChannel(ftl::codecs::Channel) const;
+
 	private:
 	std::atomic<int> flags_;
 };

components/structures/src/frameset.cpp

@@ -78,6 +78,13 @@ bool ftl::data::FrameSet::hasAnyChanged(ftl::codecs::Channel c) const {
 	return false;
 }
 
+bool ftl::data::FrameSet::anyHasChannel(ftl::codecs::Channel c) const {
+	for (size_t i=0; i<frames.size(); ++i) {
+		if (frames[i].hasOwn(c)) return true;
+	}
+	return false;
+}
+
 void FrameSet::store() {
 	if (status() != ftl::data::FrameStatus::CREATED) throw FTL_Error("Cannot store frameset multiple times");