114 lines
2.9 KiB
C++
114 lines
2.9 KiB
C++
/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at https://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "Math/Math.hpp"
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#include "Math/Timestamp.hpp"
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#include "Math/Pose.hpp"
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#include "Math/CameraIntrinsic.hpp"
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#include "ArDepthFormat.hpp"
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#include "ArTrackingState.hpp"
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namespace openVulkanoCpp::AR
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{
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class ArImage
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{
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public:
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void* data;
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Math::Vector2ui resolution;
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};
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class ArImagePlanar
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{
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public:
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enum class Format { NV12, NV21, RGB, BGR };
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ArImage luminescenceOrColor;
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ArImage uv;
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Math::CameraIntrinsic intrinsic;
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Format format = Format::NV12;
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[[nodiscard]] Math::Vector4uc Sample(uint32_t x, uint32_t y, bool asRgb = true) const
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{
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const uint8_t* lumColBuffer = static_cast<const uint8_t*>(luminescenceOrColor.data);
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if (format == Format::BGR)
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{
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size_t idx = (y * luminescenceOrColor.resolution.x + x) * 3;
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return { lumColBuffer[idx + 2], lumColBuffer[idx + 1], lumColBuffer[idx], 255 };
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}
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else if (format == Format::RGB)
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{
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size_t idx = (y * luminescenceOrColor.resolution.x + x) * 3;
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return { lumColBuffer[idx], lumColBuffer[idx + 1], lumColBuffer[idx + 2], 255 };
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}
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int iUV = ((y / 2) * uv.resolution.x + x / 2) * 2;
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Math::Vector4uc sample(
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lumColBuffer[y * luminescenceOrColor.resolution.x + x],
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static_cast<const uint8_t*>(uv.data)[iUV],
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static_cast<const uint8_t*>(uv.data)[iUV+1],
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255);
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if (asRgb)
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{
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Math::Vector4f c(sample);
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Math::Matrix4f conversionMatrix(
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Math::Vector4f(+1.0000f, +1.0000f, +1.0000f, +0.0000f),
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Math::Vector4f(+0.0000f, -0.3441f, +1.7720f, +0.0000f),
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Math::Vector4f(+1.4020f, -0.7141f, +0.0000f, +0.0000f),
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Math::Vector4f(-0.7010f, +0.5291f, -0.8860f, +1.0000f)
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);
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sample = Math::Utils::clamp(conversionMatrix * c, 0.0f, 255.0f);
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}
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return sample;
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}
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};
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class ArDepthImage
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{
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public:
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ArImage depth;
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ArImage confidence;
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ArDepthFormat format;
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Math::CameraIntrinsic intrinsic;
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};
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class ArFrame
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{
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protected:
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ArFrame() = default;
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public:
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virtual ~ArFrame() = default;
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[[nodiscard]] virtual ArTrackingState GetTrackingState() = 0;
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[[nodiscard]] virtual Math::PoseF GetPose() = 0;
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[[nodiscard]] virtual Math::Timestamp GetTimestamp() = 0;
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//[[nodiscard]] virtual Math::Timestamp GetTimestampDepth() = 0;
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[[nodiscard]] virtual ArImagePlanar GetCameraImage() = 0;
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[[nodiscard]] virtual ArDepthImage GetDepthImage() = 0;
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[[nodiscard]] virtual const Math::Matrix4f& GetCameraTransformation() = 0;
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[[nodiscard]] virtual Math::Matrix4f GetCameraViewForCurrentDeviceOrientation() = 0;
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[[nodiscard]] virtual Math::Matrix4f GetCameraProjection(Math::Vector2f viewportSize, float near = 0.25f, float far = 250.0f) = 0;
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[[nodiscard]] virtual float GetConfidenceNormalisationFactor() = 0;
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[[nodiscard]] virtual float GetColorTemperature() const = 0;
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};
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}
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