File LayerToolhead.h¶

// #####################################################################
// >>>>>>>>>>>>>>>>>>>>> BEGINNING OF LEGAL NOTICE >>>>>>>>>>>>>>>>>>>>>
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//
// This source file, along with its associated content, was authored by
// Andrea Settimi, Hong-Bin Yang, Naravich Chutisilp, and numerous other
// contributors. The code was originally developed at the Laboratory for
// Timber Construction (IBOIS, director: Prof. Yves Weinand) at the School of 
// Architecture, Civil and Environmental Engineering (ENAC) at the Swiss
// Federal Institute of Technology in Lausanne (EPFL) for the Doctoral
// Research "Augmented Carpentry" (PhD researcher: Andrea Settimi,
// co-director: Dr. Julien Gamerro, director: Prof. Yves Weinand).
//
// Although the entire repository is distributed under the GPL license,
// these particular source files may also be used under the terms of the
// MIT license. By accessing or using this file, you agree to the following:
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// 1. You may reproduce, modify, and distribute this file in accordance
//    with the terms of the MIT license.
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#pragma once

#include "AIAC/Layer.h"
#include "AIAC/GOSys/GOPrimitive.h"
#include "AIAC/ACInfoToolheadManager.h"

#include <ttool.hh>



namespace AIAC
{
    class LayerToolhead : public AIAC::Layer
    {
    public:
        LayerToolhead()
            : IsShowSilouhette(false),
              ToolheadStateUI(-1),
              IsShowToolheadGOInfo(false),
            m_TtoolState(ttool::EventType::None)
        {
            this->m_ACScaleFactor = AIAC::Config::Get<float>(AIAC::Config::SEC_AIAC, AIAC::Config::SCALE_FACTOR, 1.0f);
            this->ACInfoToolheadManager = std::make_shared<AIAC::ACInfoToolheadManager>();
        };

        virtual void OnAttach() override;
        virtual void OnFrameStart() override;

        void ReloadCameraFromFile();
        void ReloadCameraFromMatrix(cv::Mat cameraMatrix, cv::Size cameraSize);

        void DetectToolhead();

        void UpdateToolheadStateUI();

        void SavePose();
        void ResetToLastSavedPose();
        void ResetPoseFromConfig();

        glm::mat4x4 GetWorldPose();

    public: 
        inline ttool::EventType GetTtoolState() const { return this->m_TtoolState; }
        void SetCurrentObject(std::string name);
        cv::Matx44f GetPose() const { return m_Pose; }
        std::string GetTrackingStatus() const { return TTool ? TTool->GetTrackingStatus() : "TTool not initialized"; }
        std::string GetClassifierLog() const { return TTool ? TTool->GetClassifierLog() : "TTool not initialized"; }
        std::vector<std::string> GetClassifierToolheadList() const {return m_ClassifierToolList; }

    private:
        void syncTToolAndACInfoToolhead();

    public:
        std::shared_ptr<ttool::TTool> TTool;
        int ToolheadStateUI;
        bool IsShowSilouhette;
        bool IsShowShaded = false;
        bool IsShowToolheadGOInfo;
        bool IsSavePoseLog = false;

    private:
        ttool::EventType m_TtoolState;
        cv::Matx44f m_Pose;
        float m_ACScaleFactor;
        std::vector<std::string> m_ClassifierToolList = {};

    public:
        std::shared_ptr<AIAC::ACInfoToolheadManager> ACInfoToolheadManager;
    };
}