dab_tracker_azure_camera.h

/** \file dab_tracker_azure_camera.h
*/

#include <iostream>
#include <vector>
#include <thread>
#include <k4a/k4a.hpp>
#include <k4arecord/playback.hpp>
#include <k4arecord/record.hpp>
#include "dab_tracker_camera.h"
#include "dab_exception.h"

#pragma once

namespace dab
{
	namespace tracker
	{
		class PointCloud;
		class AzureTools;

		class AzureCamera : public Camera
		{
			friend class AzureTools;

		public:

			enum WiredMode
			{
				NoWire,
				Slave,
				Master
			};

			AzureCamera(bool pColorMode, bool pDepthMode, bool pPointCloudMode, int pDeviceNr = 0, WiredMode pWiredMode = NoWire) throw (dab::Exception);
			AzureCamera(bool pColorMode, bool pDepthMode, bool pPointCloudMode, const std::string& pString, WiredMode pWiredMode = NoWire) throw (dab::Exception);
			AzureCamera(k4a_device_configuration_t pNativeConfig, int pDeviceNr = 0) throw (dab::Exception);
			AzureCamera(k4a_device_configuration_t pNativeConfig, const std::string& pSerialNr) throw (dab::Exception);

			~AzureCamera();

			bool isColorMode() const;
			bool isDepthMode() const;
			bool isPointCloudMode() const;

			ofxCvImage* colorFrame();
			ofxCvImage* depthFrame();
			PointCloud* pointCloud();

			const k4a::image nativeColorFrame();
			const k4a::image nativeDepthFrame();
			const k4a::image nativeDepthColorFrame();
			const k4a::image nativePointCloudFrame();

			void setControlValue(const std::string& pControlName) throw (dab::Exception);
			void setControlValue(const std::string& pControlName, const AbstractValue& pValue) throw (dab::Exception);

			void start() throw (dab::Exception);
			void stop() throw (dab::Exception);
			void capture() throw (dab::Exception);

			void startRecording() throw (dab::Exception);
			void stopRecording() throw (dab::Exception);
			void saveSettings() throw (dab::Exception);
			void restoreSettings() throw (dab::Exception);

		protected:
			int mDeviceNr = -1;
			std::string mSerialNr = "";

			// camera internals
			k4a::device mNativeDevice;
			k4a_device_configuration_t mNativeConfig;
			k4a::capture mNativeCapture;
			k4a::playback mNativeMoviePlayer;
			k4a::record mNativeMovieRecorder;

			// camera internals for transforming depth image into color image
			k4a::calibration mDepthColorCalibration;
			k4a::transformation mDepthColorTransformation;

			k4a::image mNativeColorImage;
			k4a::image mNativeDepthImage;
			k4a::image mNativeDepthColorImage;
			k4a::image mNativePointCloudImage;

			// camera frame
			ofxCvColorImage* mColorFrame;
			//ofxCvGrayscaleImage* mDepthFrame;
			ofxCvShortImage* mDepthFrame;
			PointCloud* mPointCloud;

			// camera basic settings
			float mMinDepth = 0.0;
			float mMaxDepth = SHRT_MAX;

			// camera state
			WiredMode mWiredMode;
			bool mColorMode;
			bool mDepthMode;
			bool mPointCloudMode;

			std::mutex mLock;

			std::shared_ptr<AzureCamera> mSelf;

			void init() throw (dab::Exception);
		};

	}
}