mitkToFCameraPMDCamBoardController.h

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

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.

Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.

============================================================================*/
#ifndef __mitkToFCameraPMDCamBoardController_h
#define __mitkToFCameraPMDCamBoardController_h

#include "MitkPMDExports.h"
#include "mitkCommon.h"
#include "mitkToFCameraPMDController.h"

#include "itkObject.h"
#include "itkObjectFactory.h"

namespace mitk
{
  class MITKPMD_EXPORT ToFCameraPMDCamBoardController : public ToFCameraPMDController
  {
  public:

    mitkClassMacro( ToFCameraPMDCamBoardController , ToFCameraPMDController );

    itkFactorylessNewMacro(Self);

    itkCloneMacro(Self);

    virtual bool OpenCameraConnection();
    bool SetDistanceOffset( float offset );
    float GetDistanceOffset();
    bool SetRegionOfInterest( unsigned int leftUpperCornerX, unsigned int leftUpperCornerY, unsigned int width, unsigned int height );
    bool SetRegionOfInterest( unsigned int roi[4] );
    unsigned int* GetRegionOfInterest();
    bool SetFieldOfView( float fov );

  protected:

    ToFCameraPMDCamBoardController();

    ~ToFCameraPMDCamBoardController();

    /*
    \brief Transform the output of the camera, i.e. cut invalid pixels, and rotate 90 degrees
           counterclockwise
    \param input data array of original size (207x204)
    \param rotated output data array of reduced size (200x200)
    */
    virtual void TransformCameraOutput(float* in, float* out, bool isDist);

  };
} //END mitk namespace
#endif