Implements #216 triangle renderer

components/renderers/cpp/include/ftl/render/tri_render.hpp

+#ifndef _FTL_RECONSTRUCTION_TRI_HPP_
+#define _FTL_RECONSTRUCTION_TRI_HPP_
+
+#include <ftl/render/renderer.hpp>
+#include <ftl/rgbd/frameset.hpp>
+#include <ftl/render/splat_params.hpp>
+#include <ftl/cuda/points.hpp>
+
+namespace ftl {
+namespace render {
+
+/**
+ * Generate triangles between connected points and render those. Colour is done
+ * by weighted reprojection to the original source images.
+ */
+class Triangular : public ftl::render::Renderer {
+	public:
+	explicit Triangular(nlohmann::json &config, ftl::rgbd::FrameSet *fs);
+	~Triangular();
+
+	bool render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) override;
+	//void setOutputDevice(int);
+
+	protected:
+	void _renderChannel(ftl::rgbd::Frame &out, ftl::codecs::Channel channel_in, ftl::codecs::Channel channel_out, cudaStream_t stream);
+
+	private:
+	int device_;
+	ftl::rgbd::Frame temp_;
+	ftl::rgbd::Frame accum_;
+	ftl::rgbd::FrameSet *scene_;
+	ftl::cuda::ClipSpace clip_;
+	bool clipping_;
+	float norm_filter_;
+	bool backcull_;
+	cv::Scalar background_;
+	bool mesh_;
+	float3 light_dir_;
+	uchar4 light_diffuse_;
+	uchar4 light_ambient_;
+	ftl::render::SplatParams params_;
+	cudaStream_t stream_;
+	float3 light_pos_;
+
+	template <typename T>
+	void __reprojectChannel(ftl::rgbd::Frame &, ftl::codecs::Channel in, ftl::codecs::Channel out, cudaStream_t);
+	void _reprojectChannel(ftl::rgbd::Frame &, ftl::codecs::Channel in, ftl::codecs::Channel out, cudaStream_t);
+	void _dibr(cudaStream_t);
+	void _mesh(cudaStream_t);
+};
+
+}
+}
+
+#endif  // _FTL_RECONSTRUCTION_TRI_HPP_