G:/work/subversion/scol-technologies/trunk/plugins/OpenNiSCOL/OpenNiSCOL/generator/Depth.h

/*
-----------------------------------------------------------------------------
This source file is part of OpenSpace3D
For the latest info, see http://www.openspace3d.com

Copyright (c) 2010 I-maginer

This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.

This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA, or go to
http://www.gnu.org/copyleft/lesser.txt

You may alternatively use this source under the terms of a specific version of
the OpenSpace3D Unrestricted License provided you have obtained such a license from
I-maginer.
-----------------------------------------------------------------------------
*/

#ifndef __DEPTH_H__
#define __DEPTH_H__

#include "../lib/common.h"
#include "../core/GenericGenerator.h"
#define MAX_DEPTH 10000

namespace NIDevice
{
  namespace Generator
  {
    class Depth : public NIDevice::Core::GenericGenerator<xn::DepthGenerator, XN_NODE_TYPE_DEPTH>
    {
      public:
        Depth(NIDevice::Objects::KinectDevice* pDevice);
        ~Depth();

        const unsigned short* GetDepthBuffer(bool useMutex);

        void GetDepthSize(int &w, int &h);
        int SetOutputMode(int, int, int);
        float* GetHistory();
        bool UpdateData();
        void SetDistCutoff(int dist);
        int GetDistCutoff();
        void SetAngCutoff(float ang);
        float GetAngCutoff();

        NIDEVICE_GET_OBJECT_TYPE_AS_STRING(DeviceManager);
        NIDEVICE_GET_ERROR_MESSAGE(nRetVal,description);

      private:
        xn::DepthMetaData g_depthMD;
        unsigned short* depthData;
        float g_pDepthHist[MAX_DEPTH];
        int width;
        int height;
        XnStatus nRetVal;
        XnUInt32 iDistCutoff;
        float fAngCutoff;
        std::string description;
        void DepthCutoff();
        
      protected:
        Depth();
    };
  }
}


#endif