RealSenseInspector.h

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#pragma once

#include "PCH.h"
#include "RealSenseTypes.h"
#include "RuntimeMeshComponent.h"
#include "RealSenseInspector.generated.h"

// DECLARE_RUNTIME_MESH_VERTEX(VertexName, NeedsPosition, NeedsNormal, NeedsTangent, NeedsColor, UVChannelCount, TangentsType, UVChannelType)
DECLARE_RUNTIME_MESH_VERTEX(FPointCloudVertex, true, true, true, false, 1, ERuntimeMeshVertexTangentBasisType::Default, ERuntimeMeshVertexUVType::HighPrecision)

UCLASS(ClassGroup="RealSense", BlueprintType)
class REALSENSE_API ARealSenseInspector : public AActor
{
        GENERATED_UCLASS_BODY()
        friend class FRealSenseInspectorWorker;
        friend class FRealSenseInspectorCustomization;

public:

        virtual ~ARealSenseInspector();

        UPROPERTY(Category="RealSense", BlueprintReadOnly)
        class URealSenseContext* Context;

        UPROPERTY(Category="RealSense", BlueprintReadOnly)
        class URealSenseDevice* ActiveDevice;

        UFUNCTION(Category="RealSense", BlueprintCallable)
        virtual bool Start();

        UFUNCTION(Category="RealSense", BlueprintCallable)
        virtual void Stop();

        // Device

        UPROPERTY(Category="Device", BlueprintReadWrite, EditAnywhere)
        FString DeviceSerial;

        UPROPERTY(Category = "Device", BlueprintReadWrite, EditAnywhere)
        ERealSensePipelineMode PipelineMode = ERealSensePipelineMode::CaptureOnly;

        UPROPERTY(Category = "Device", BlueprintReadWrite, EditAnywhere)
        FString CaptureFile;

        UPROPERTY(Category="Device", BlueprintReadWrite, EditAnywhere)
        bool bEnablePolling = false;

        UPROPERTY(Category="Device", BlueprintReadWrite, EditAnywhere, meta=(ClampMin="0.001", ClampMax="1", UIMin="0.001", UIMax="1"))
        float PollFrameRate = 1.0f / 60.0f;

        UPROPERTY(Category="Device", BlueprintReadWrite, EditAnywhere, meta=(ClampMin="0.001", ClampMax="10", UIMin="0.001", UIMax="10"))
        float WaitFrameTimeout = 1.0f;

        // Depth

        UPROPERTY(Category="DepthStream", BlueprintReadWrite, EditAnywhere)
        FRealSenseStreamMode DepthConfig;

        UPROPERTY(Category="DepthStream", BlueprintReadWrite, EditAnywhere)
        bool bEnableRawDepth = true;

        UPROPERTY(Category="DepthStream", BlueprintReadWrite, EditAnywhere)
        bool bEnableColorizedDepth = true;

        UPROPERTY(Category = "DepthStream", BlueprintReadWrite, EditAnywhere)
        bool bAlignDepthToColor = true;

        UPROPERTY(Category="DepthStream", BlueprintReadWrite, EditAnywhere)
        bool bEqualizeHistogram = true;

        UPROPERTY(Category="DepthStream", BlueprintReadWrite, EditAnywhere, meta=(ClampMin="0", ClampMax="10", UIMin="0", UIMax="10"))
        float DepthMin = 0;

        UPROPERTY(Category="DepthStream", BlueprintReadWrite, EditAnywhere, meta=(ClampMin="0.1", ClampMax="10", UIMin="0.1", UIMax="10"))
        float DepthMax = 10;

        UPROPERTY(Category="DepthStream", BlueprintReadWrite, EditAnywhere)
        ERealSenseDepthColormap DepthColormap;

        UPROPERTY(Category="DepthStream", BlueprintReadOnly)
        float DepthScale = 0.001f;

        UPROPERTY(Category="DepthStream", BlueprintReadOnly)
        UTexture2D* DepthRawTexture;

        UPROPERTY(Category="DepthStream", BlueprintReadOnly)
        UTexture2D* DepthColorizedTexture;

        // Color

        UPROPERTY(Category="ColorStream", BlueprintReadWrite, EditAnywhere)
        FRealSenseStreamMode ColorConfig;

        UPROPERTY(Category="ColorStream", BlueprintReadWrite, EditAnywhere)
        bool bEnableColor = true;

        UPROPERTY(Category="ColorStream", BlueprintReadOnly)
        UTexture2D* ColorTexture;

        // Infrared

        UPROPERTY(Category="InfraredStream", BlueprintReadWrite, EditAnywhere)
        FRealSenseStreamMode InfraredConfig;

        UPROPERTY(Category="InfraredStream", BlueprintReadWrite, EditAnywhere)
        bool bEnableInfrared = true;

        UPROPERTY(Category="InfraredStream", BlueprintReadOnly)
        UTexture2D* InfraredTexture;

        // PointCloud

        UFUNCTION(Category="PointCloud", BlueprintCallable)
        void SetPointCloudMaterial(int SectionId, UMaterialInterface* Material);

        UPROPERTY(Category="PointCloud", BlueprintReadWrite, EditAnywhere)
        bool bEnablePcl = false;

        UPROPERTY(Category="PointCloud", BlueprintReadWrite, EditAnywhere, meta=(ClampMin="0.0", UIMin="0.0"))
        float PclScale = 1.0f;

        UPROPERTY(Category="PointCloud", BlueprintReadWrite, EditAnywhere, meta=(ClampMin="0.0001", ClampMax="10", UIMin="0.0001", UIMax="10"))
        float PclVoxelSize = 1.0f;

        UPROPERTY(Category="PointCloud", BlueprintReadWrite, EditAnywhere, meta=(ClampMin="0.0", ClampMax="1.0", UIMin="0.0", UIMax="1.0"))
        float PclDensity = 0.2f;

        UPROPERTY(Category="PointCloud", BlueprintReadWrite, EditAnywhere, meta=(ClampMin="0.016", ClampMax="100.0", UIMin="0.016", UIMax="100.0"))
        float PclRenderRate = 5;

        UPROPERTY(Category="PointCloud", BlueprintReadOnly)
        class URuntimeMeshComponent* PclMesh;

        UPROPERTY(Category = "PointCloud", BlueprintReadOnly)
        class UMaterialInterface* PclMaterial;

protected:

        // AActor
        virtual void Tick(float DeltaSeconds) override;

private:

        void GetDeviceDefaultProfileConfig();
        void ThreadProc();
        void PollFrames();
        void WaitFrames();
        void ProcessFrameset(class rs2::frameset* Frameset);
        void UpdatePointCloud();
        void EnsureProfileSupported(class URealSenseDevice* Device, ERealSenseStreamType StreamType, ERealSenseFormatType Format, FRealSenseStreamMode Mode);

        FCriticalSection StateMx;
        FCriticalSection PointCloudMx;

        TUniquePtr<class FDynamicTexture> DepthRawDtex;
        TUniquePtr<class FDynamicTexture> DepthColorizedDtex;
        TUniquePtr<class FDynamicTexture> ColorDtex;
        TUniquePtr<class FDynamicTexture> InfraredDtex;

        TUniquePtr<class rs2::pipeline> RsPipeline;
        TUniquePtr<class rs2::device> RsDevice;
        TUniquePtr<class rs2::align> RsAlign;

        struct FMeshSection
        {
                TArray<FPointCloudVertex> PclVertices;
                TArray<int32> PclIndices;
        };

        TUniquePtr<class rs2::pointcloud> RsPointCloud;
        TUniquePtr<class rs2::points> RsPoints;
        TMap< int32, TUniquePtr<FMeshSection> > PclMeshData;
        int PclFramesetId = 0;
        float PclRenderAccum = 0;
        volatile int PclCalculateFlag = false;
        volatile int PclReadyFlag = false;

        TUniquePtr<class FRealSenseInspectorWorker> Worker;
        TUniquePtr<class FRunnableThread> Thread;
        volatile int StartedFlag = false;
        volatile int FramesetId = 0;
};

class FRealSenseInspectorWorker : public FRunnable
{
public:
        FRealSenseInspectorWorker(ARealSenseInspector* Context) { this->Context = Context; }
        virtual ~FRealSenseInspectorWorker() {}
        virtual bool Init() { return true; }
        virtual uint32 Run() { Context->ThreadProc(); return 0; }
        virtual void Stop() { Context->StartedFlag = false; }

private:
        ARealSenseInspector* Context = nullptr;
};