RealSenseStreamer.hpp

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#ifndef FAST_KINECT_STREAMER_HPP_
#define FAST_KINECT_STREAMER_HPP_
 
#include "FAST/ProcessObject.hpp"
#include "Streamer.hpp"
#include <thread>
#include <stack>
 
struct rs2_intrinsics;
 
namespace fast {
 
class Image;
class MeshVertex;
 
class FAST_EXPORT RealSenseStreamer : public Streamer {
    FAST_OBJECT(RealSenseStreamer);
    public:
        void setMaxRange(float range);
        void setMinRange(float range);
 
        void setMaxWidth(float range);
        void setMinWidth(float range);
        void setMaxHeight(float range);
        void setMinHeight(float range);
 
        uint getNrOfFrames() const;
        MeshVertex getPoint(int x, int y);
        ~RealSenseStreamer();
    private:
        RealSenseStreamer();
 
        void execute();
        void generateStream() override;
 
        float mMaxRange = std::numeric_limits<float>::max();
        float mMinRange = 0;
        float mMaxWidth = std::numeric_limits<float>::max();
        float mMinWidth = -std::numeric_limits<float>::max();
        float mMaxHeight = std::numeric_limits<float>::max();
        float mMinHeight = -std::numeric_limits<float>::max();
 
        uint mNrOfFrames;
 
        rs2_intrinsics* intrinsics;
        std::shared_ptr<Image> mDepthImage;
        std::shared_ptr<Image> mColorImage;
};
 
}
 
#endif