RasterFrame.h

#pragma once
#include "PointScanner/Headers/PointContainer.h"
#include <NDEVR/IntegratedRotation.h>
#include "Base/Headers/Buffer.hpp"
#include "Base/Headers/Matrix.hpp"
#include "Base/Headers/Vertex.hpp"
#include "Base/Headers/Time.h"
#include "BlockModel/Headers/SegmentedBlockModel.h"
#include <opencv2\core\mat.hpp>
namespace NDEVR
{
    enum CollectionMode
    {
          e_indoor              
        , e_outdoor             
        , e_trigger             
        , e_low_power           
        , e_infrared            
        , e_tracking_only       
        , e_calibration         
        , e_off                 
        , e_collection_mode_size
    };

    enum class RasterColorFormat
    {
          e_rgb 
        , e_bgr 
        , e_yuv 
        , e_y8  
    };
 
    class KeyFrame;
    enum ProcessStage
    {
          e_collect             
        , e_slam_correction     
        , e_point_transform     
        , e_point_smooth        
        , e_block_model_add     
        , e_stage_size          
    };

    struct RasterFrame
    {
        Matrix<fltp08> matrix;                                      
        PointContainer<ColorNormalNode> raster_add;             
        cv::Mat slam_color;                                     
        cv::Mat slam_depth;                                     
        cv::Mat raster_color;                                   
        cv::Mat raster_depth;                                   
        cv::Mat left_frame;                                     
        cv::Mat right_frame;                                    
        cv::Mat ir_frame;                                       
        fltp04 frame_percent = Constant<fltp04>::Invalid;       
        const KeyFrame* key_frame = nullptr;                    
        Time frame_time;                                        
        volatile ProcessStage process_stage = ProcessStage::e_collect; 
        fltp04 weight_mult = 1.0f;                              
        fltp04 max_distance = 0.0f;                             
        Buffer<IMU::Point> imu_data;                            
        bool position_computed = false;                         
    };

    struct VideoFrameDetails
    {
        RasterColorFormat format;   
        uint04 width;               
        uint04 height;              
        uint04 bytes_per_pixel;     
    };
}