mitkKinectV2Device.h

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/*===================================================================

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.

This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.

See LICENSE.txt or http://www.mitk.org for details.

===================================================================*/
#ifndef __mitkKinectV2Device_h
#define __mitkKinectV2Device_h

#include <mitkCommon.h>
#include <MitkKinectV2Exports.h>
#include "mitkToFCameraDevice.h"
#include "mitkKinectV2Controller.h"

#include <itkObject.h>
#include <itkObjectFactory.h>
#include <itkMultiThreader.h>
#include <itkFastMutexLock.h>

#include <vtkSmartPointer.h>
#include <vtkPolyData.h>


namespace mitk
{
  class MITKKINECTV2_EXPORT KinectV2Device : public ToFCameraDevice
  {
  public:

    mitkClassMacro( KinectV2Device , ToFCameraDevice );
    itkFactorylessNewMacro(Self)
    itkCloneMacro(Self)

    
    virtual bool OnConnectCamera();
    virtual bool DisconnectCamera();
    virtual void StartCamera();
    virtual void StopCamera();
    virtual void UpdateCamera();
    virtual bool IsCameraActive();
    virtual void GetAmplitudes(float* amplitudeArray, int& imageSequence);
    virtual void GetIntensities(float* intensityArray, int& imageSequence);
    virtual void GetDistances(float* distanceArray, int& imageSequence);
    virtual void GetAllImages(float* distanceArray, float* amplitudeArray, float* intensityArray, char* sourceDataArray,
      int requiredImageSequence, int& capturedImageSequence, unsigned char* rgbDataArray=NULL);
    KinectV2Controller::Pointer GetController();

    int GetRGBCaptureWidth();
    int GetRGBCaptureHeight();

  protected:

    KinectV2Device();

    ~KinectV2Device();

    static ITK_THREAD_RETURN_TYPE Acquire(void* pInfoStruct);

    KinectV2Controller::Pointer m_Controller; 

    float** m_DistanceDataBuffer; 
    float** m_AmplitudeDataBuffer; 
    unsigned char** m_RGBDataBuffer; 

    size_t m_DepthBufferSize; 
    size_t m_RGBBufferSize; 

    vtkSmartPointer<vtkPolyData> m_PolyData; 
  };
} //END mitk namespace
#endif