diff --git a/components/streams/CMakeLists.txt b/components/streams/CMakeLists.txt
index 877940ec26dfbfede03c664933dace46c21a23ee..7bb5dc6ac6dda4b07fa9bfa13eed1a3fb56e0379 100644
--- a/components/streams/CMakeLists.txt
+++ b/components/streams/CMakeLists.txt
@@ -18,6 +18,7 @@ set(STREAMSRC
src/renderer.cpp
src/renderers/screen_render.cpp
src/renderers/openvr_render.cpp
+ src/renderers/collisions.cpp
)
add_library(ftlstreams ${STREAMSRC})
diff --git a/components/streams/src/renderers/collisions.cpp b/components/streams/src/renderers/collisions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ca4262e750f15eef3dbff9a305595b31f8681a24
--- /dev/null
+++ b/components/streams/src/renderers/collisions.cpp
@@ -0,0 +1,67 @@
+#include "collisions.hpp"
+#include <ftl/codecs/touch.hpp>
+#include <ftl/utility/matrix_conversion.hpp>
+#include <ftl/rgbd/capabilities.hpp>
+#include <ftl/algorithms/dbscan.hpp>
+
+using ftl::codecs::Channel;
+using ftl::rgbd::Capability;
+
+void ftl::render::collision2touch(const ftl::rgbd::Frame &rgbdframe, const std::vector<float4> &collisions, const std::list<ftl::data::FrameSetPtr> &sets, uint32_t myid) {
+ std::vector<float4> clusters;
+ std::vector<short> labels;
+ ftl::dbscan<float4>(collisions, [](const std::vector<float4> &pts, size_t idx, float radius) {
+ std::vector<size_t> neighbors;
+ for (auto i = 0u; i < pts.size(); i++) {
+ if (i == idx) {
+ continue;
+ }
+ float dx = pts[idx].x - pts[i].x;
+ float dy = pts[idx].y - pts[i].y;
+
+ if (dx*dx+dy*dy < radius*radius) {
+ neighbors.push_back(i);
+ }
+ }
+ return neighbors;
+ }, 5, 16.0f, labels, clusters);
+
+ // TODO: Support multi-touch
+ if (clusters.size() == 1) {
+ //LOG(INFO) << "Found " << clusters.size() << " collisions";
+ //LOG(INFO) << " -- " << clusters[0].x << "," << clusters[0].y << " " << clusters[0].z;
+
+ // Find all frames that support touch
+ for (auto &s : sets) {
+ if (s->frameset() == myid) continue;
+
+ for (const auto &f : s->frames) {
+ if (f.has(Channel::Capabilities)) {
+ const auto &cap = f.get<std::unordered_set<Capability>>(Channel::Capabilities);
+
+ // If it supports touch, calculate the touch points in screen coordinates
+ if (cap.count(Capability::TOUCH)){
+ const auto &rgbdf = f.cast<ftl::rgbd::Frame>();
+ auto pose = MatrixConversion::toCUDA((rgbdf.getPose().inverse() * rgbdframe.getPose()).cast<float>());
+ float3 campos = pose * rgbdframe.getLeft().screenToCam(clusters[0].x, clusters[0].y, clusters[0].z);
+ int2 pt = rgbdf.getLeft().camToScreen<int2>(campos);
+ //LOG(INFO) << "TOUCH AT " << pt.x << "," << pt.y << " - " << campos.z;
+
+ {
+ // Send the touch data
+ auto response = f.response();
+ auto &touches = response.create<std::vector<ftl::codecs::Touch>>(Channel::Touch);
+ auto &touch = touches.emplace_back();
+ touch.id = 0;
+ touch.x = pt.x;
+ touch.y = pt.y;
+ touch.type = ftl::codecs::TouchType::COLLISION;
+ touch.strength = 255;
+ touch.d = campos.z;
+ }
+ }
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/components/streams/src/renderers/collisions.hpp b/components/streams/src/renderers/collisions.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..a605759b8ab008cc6d9dc6865c0ec29b5469bfab
--- /dev/null
+++ b/components/streams/src/renderers/collisions.hpp
@@ -0,0 +1,15 @@
+#ifndef _FTL_RENDER_COLLISIONS_HPP_
+#define _FTL_RENDER_COLLISIONS_HPP_
+
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/rgbd/frame.hpp>
+
+namespace ftl {
+namespace render {
+
+void collision2touch(const ftl::rgbd::Frame &rgbdframe, const std::vector<float4> &collisions, const std::list<ftl::data::FrameSetPtr> &sets, uint32_t myid);
+
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/components/streams/src/renderers/screen_render.cpp b/components/streams/src/renderers/screen_render.cpp
index 580ebb84a1a67a15c774300b0dd6aa8f975c93db..a18b92c9f8af4ea5158a9555728f0b158a28108b 100644
--- a/components/streams/src/renderers/screen_render.cpp
+++ b/components/streams/src/renderers/screen_render.cpp
@@ -4,13 +4,12 @@
#include <ftl/rgbd/capabilities.hpp>
#include <ftl/operators/antialiasing.hpp>
#include <ftl/operators/gt_analysis.hpp>
-#include <ftl/algorithms/dbscan.hpp>
#include <ftl/utility/matrix_conversion.hpp>
-#include <ftl/codecs/touch.hpp>
#include <loguru.hpp>
#include "screen_render.hpp"
+#include "collisions.hpp"
using ftl::render::Source;
using ftl::render::ScreenRender;
@@ -139,65 +138,9 @@ bool ScreenRender::retrieve(ftl::data::Frame &frame_out) {
post_pipe_->apply(rgbdframe, rgbdframe, 0);
-
- const auto &collisions = renderer_->getCollisions();
- std::vector<float4> clusters;
- std::vector<short> labels;
- ftl::dbscan<float4>(collisions, [](const std::vector<float4> &pts, size_t idx, float radius) {
- std::vector<size_t> neighbors;
- for (auto i = 0u; i < pts.size(); i++) {
- if (i == idx) {
- continue;
- }
- float dx = pts[idx].x - pts[i].x;
- float dy = pts[idx].y - pts[i].y;
-
- if (dx*dx+dy*dy < radius*radius) {
- neighbors.push_back(i);
- }
- }
- return neighbors;
- }, 5, 16.0f, labels, clusters);
-
- // TODO: Support multi-touch
- if (clusters.size() == 1) {
- //LOG(INFO) << "Found " << clusters.size() << " collisions";
- //LOG(INFO) << " -- " << clusters[0].x << "," << clusters[0].y << " " << clusters[0].z;
-
- // Find all frames that support touch
- for (auto &s : sets) {
- if (s->frameset() == my_id_) continue;
-
- for (const auto &f : s->frames) {
- if (f.has(Channel::Capabilities)) {
- const auto &cap = f.get<std::unordered_set<Capability>>(Channel::Capabilities);
-
- // If it supports touch, calculate the touch points
- if (cap.count(Capability::TOUCH)){
- const auto &rgbdf = f.cast<ftl::rgbd::Frame>();
- auto pose = MatrixConversion::toCUDA((rgbdf.getPose().inverse() * rgbdframe.getPose()).cast<float>());
- float3 campos = pose * rgbdframe.getLeft().screenToCam(clusters[0].x, clusters[0].y, clusters[0].z);
- int2 pt = rgbdf.getLeft().camToScreen<int2>(campos);
- //LOG(INFO) << "TOUCH AT " << pt.x << "," << pt.y << " - " << campos.z;
-
- {
- // Send the touch data
- auto response = f.response();
- auto &touches = response.create<std::vector<ftl::codecs::Touch>>(Channel::Touch);
- auto &touch = touches.emplace_back();
- touch.id = 0;
- touch.x = pt.x;
- touch.y = pt.y;
- touch.type = ftl::codecs::TouchType::COLLISION;
- touch.strength = 255;
- touch.d = campos.z;
- }
- }
- }
- }
- }
+ if (host_->value("enable_touch", false)) {
+ ftl::render::collision2touch(rgbdframe, renderer_->getCollisions(), sets, my_id_);
}
-
return true;
} else {
//LOG(INFO) << "Render fail";