InfiniTAM/plugin.hpp at main · ILLIXR/InfiniTAM · GitHub

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#pragma once

#include "illixr/plugin.hpp"
#include "illixr/switchboard.hpp"
#include "illixr/data_format/scene_reconstruction.hpp"
#include "illixr/data_format/mesh.hpp"
#include "illixr/relative_clock.hpp"
#include "illixr/phonebook.hpp"

#include "ITMLib/Core/ITMBasicEngine.h"
#include "ORUtils/FileUtils.h"

#include <filesystem>

//pyh only extracted partial updated mesh
//uncomment if you want to see what the full mesh looks like
#define ACTIVE_SCENE
#define PARALLEL_COMPRESSION

//pyh need to set env variable COMPRESSION_PARALLELIM & FPS

using namespace ILLIXR;

class infinitam : public plugin {
public:
    infinitam(const std::string& name_, phonebook *pb_);

    void process_frame(switchboard::ptr<const data_format::scene_recon_type>& datum);

    ~infinitam() override {
        sr_latency_.close();
    }

private:
    //ILLIXR related variables
    const std::shared_ptr<switchboard> switchboard_;
    //for parallel
    switchboard::writer<data_format::mesh_type> mesh_writer_;

    switchboard::writer<data_format::vb_type> vb_list_;

    std::unique_ptr<ORUtils::MemoryBlock<ITMLib::ITMMesh::Triangle>> cpu_triangles_;

    //InfiniTAM related variables
    ITMLib::ITMRGBDCalib *calib_;
    ITMLib::ITMMainEngine *main_engine_;
    ITMUChar4Image *input_RGB_image_;
    ITMShortImage *input_raw_depth_image_;
    ITMLib::ITMLibSettings *internal_settings_;
    ITMLib::ITMMesh *mesh_;

    std::string scene_number_;
    std::string merge_name_;
    unsigned frame_count_;
    unsigned fps_ = 15;
    unsigned thread_count_;

    std::ofstream sr_latency_;
    const std::string data_path_ = std::filesystem::current_path().string() + "/recorded_data";
};