InputProvider.h

/* ----------------------
* Copyright 2023 Université Libre de Bruxelles(ULB), Universidad Politécnica de Madrid(UPM), CREAL, Deutsches Zentrum für Luft - und Raumfahrt(DLR)
 
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at < http://www.apache.org/licenses/LICENSE-2.0>
 
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissionsand
* limitations under the License.
---------------------- */
 
 
 
#pragma once
#include <span>
#include <variant>
 
#include <glm/vec3.hpp>
#include <glm/vec2.hpp>
#include <glm/gtc/quaternion.hpp>
 
#include "commonVulkan.h"
 
class InputProvider{
  public:
 
     enum class ProjectionType {
          PROJECTION_INVALID,
          PROJECTION_PERSPECTIVE,
          PROJECTION_EQUIRECTANGULAR
    };
    struct Extrinsics{
        glm::vec3 position = {-1,-1,-1};
      glm::vec3 rotation= { -1,-1,-1 }; //Yaw, pitch, roll rotation
    };
 
    struct EquirectangularIntrinsics {
        glm::vec2 verticalRange = { -1,-1};   
        glm::vec2 horizontalRange = {-1,-1}; 
    };
 
    struct PerspectiveIntrinsics {
        glm::vec2 focals ; 
        glm::vec2 principle ; 
    };
 
    using Intrinsics = std::variant<PerspectiveIntrinsics, EquirectangularIntrinsics>; 
    struct StreamParameters{
        std::string streamName = "UNDEFINED";
 
        glm::ivec2 colorResolution = {-1,-1};
        glm::ivec2 depthResolution = {-1,-1};
        float nearDepth; float farDepth;
 
        vk::Format colorFormat = vk::Format::eUndefined;
        vk::Format depthFormat = vk::Format::eUndefined;
 
 
        vk::Sampler colorSampler ;
        vk::Sampler depthSampler ;
 
        ProjectionType projectionType = ProjectionType::PROJECTION_INVALID;
    };
 
    struct StreamImage{
        vk::Image image ;
        vk::ImageView view ;
    };
 
    struct StreamFrameInfo{
        uint32_t imageIndex = UINT_MAX;
        Extrinsics extrinsics;
        Intrinsics intrinsics;
    };
 
 
    virtual std::vector<StreamParameters> enumerateStreamsParameters() const = 0;
    virtual std::vector<StreamImage> enumerateStreamImages(uint32_t streamIndex, bool depth) const = 0;
    virtual void acquireStreamsFrames(const Extrinsics& targetViewExtrinsics, std::span<StreamFrameInfo> outFrameInfos) = 0;
    virtual void releaseStreamsFrames() = 0;
 
    virtual ~InputProvider() = default;
};