KinectStreamer.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>
 
namespace libfreenect2 {
class Frame;
class Registration;
}
 
namespace fast {
 
class MeshVertex;
 
class FAST_EXPORT KinectStreamer : public Streamer {
    FAST_OBJECT(KinectStreamer);
    public:
        void producerStream();
        void setPointCloudFiltering(bool enabled);
        void setMaxRange(float range);
        void setMinRange(float range);
        bool hasReachedEnd();
        uint getNrOfFrames() const;
        MeshVertex getPoint(int x, int y);
        ~KinectStreamer();
        void stop();
    private:
        KinectStreamer();
 
        void execute();
 
        bool mStreamIsStarted;
        bool mFirstFrameIsInserted;
        bool mHasReachedEnd;
        bool mStop;
        bool mPointCloudFilterEnabled;
        float mMaxRange = std::numeric_limits<float>::max(), mMinRange = 0;
        uint mNrOfFrames;
 
        std::thread* mThread;
        std::mutex mFirstFrameMutex;
        std::mutex mStopMutex;
        std::condition_variable mFirstFrameCondition;
        libfreenect2::Registration* registration;
        libfreenect2::Frame* mUndistorted;
        libfreenect2::Frame* mRegistered;
 
        static bool mInitialized;
        static std::stack<std::string> mAvailableDevices;
};
 
}
 
#endif