#pragma once

#include "../common/json.h"

#include "../common/Segmentation.h"

#include "../common/Aggregation.h"

struct ConstantBuffer

{

mat4f worldViewProj;

ml::vec4f modelColor;

};

class Visualizer : public ApplicationCallback

{

public:

void init(ApplicationData &app);

void render(ApplicationData &app);

void keyDown(ApplicationData &app, UINT key);

void keyPressed(ApplicationData &app, UINT key);

void mouseDown(ApplicationData &app, MouseButtonType button);

void mouseMove(ApplicationData &app);

void mouseWheel(ApplicationData &app, int wheelDelta);

void resize(ApplicationData &app);

private:

//returns #unique objects/colors

unsigned int computeObjectIdsAndColorsPerVertex(const Aggregation& aggregation, const Segmentation& segmentation, MeshDataf& meshData, const MeshDataf& meshHi);

static inline float gaussD(float sigma, int x, int y)

{

return exp(-((x*x + y*y) / (2.0f*sigma*sigma)));

}

static inline float gaussR(float sigma, float dist)

{

return exp(-(dist*dist) / (2.0f*sigma*sigma));

}

void propagateAnnotations(const MeshDataf& meshSrc, MeshDataf& meshDst);

ml::D3D11TriMesh m_mesh;

ml::D3D11ShaderManager m_shaderManager;

D3D11RenderTarget m_renderTarget;

FrameTimer m_timer;

D3D11ConstantBuffer<ConstantBuffer> m_constants;

Cameraf m_camera;

//scan data

SensorData m_sensorData;

std::string m_sensorName;

float m_fieldOfView;

};