imi_Device.h

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#pragma once

#ifndef IMI_DEVICE_H
#define IMI_DEVICE_H

#include <boost/shared_ptr.hpp>
#include <boost/cstdint.hpp>
#include <boost/bind.hpp>
#include <boost/function.hpp>
#include <boost/thread/mutex.hpp>

#include <sensor_msgs/Image.h>
#include <image_transport/image_transport.h>
#include "ImiNect.h"
#include "ImiCamera.h"
#include <sensor_msgs/PointCloud2.h>
#include <string>
#include <vector>



namespace imi_wrapper
{
        typedef boost::function<void(sensor_msgs::ImagePtr image)> FrameCallbackFunction;
    typedef boost::function<void(boost::shared_ptr<sensor_msgs::PointCloud2> cloudPtr)> CloudCallbackFunction;

        class ImiDevice
        {
        public:
                ImiDevice();
                virtual ~ImiDevice();

                const std::string getUri() const;
                uint16_t getUsbVendorId() const;
                uint16_t getUsbProductId() const;

                bool isValid() const;

                bool hasColorSensor() const;
                bool hasUVCSensor() const;
                bool hasDepthSensor() const;

                int startColorStream(ImiFrameMode colorFrameMode);
                int startUVCStream(ImiCameraFrameMode uvcframeMode);
                int startDepthStream(ImiFrameMode depthFrameMode);

                void stopAllStreams();

                void stopColorStream();
                void stopUVCStream();
                void stopDepthStream();

                int openDevice();
                int closeDevice();

                void setColorFrameCallback(FrameCallbackFunction callback);
                void setUVCFrameCallback(FrameCallbackFunction callback);
                void setDepthFrameCallback(FrameCallbackFunction callback);
        void setCloudPointCallback(CloudCallbackFunction callback);

        void convertToCloudPoint(ImiImageFrame* pFrame);

        sensor_msgs::CameraInfoPtr getDefaultCameraInfo(int width, int height);

                static int readFrame(void* lParam);
        static int readUVCFrame(void* lParam);

        private:
        boost::mutex device_mutex_;
        boost::mutex uvc_mutex_;
                ImiDeviceAttribute* pDeviceAttr;
                ImiDeviceHandle pImiDevice;

                ImiStreamHandle depthHandle;
                ImiStreamHandle colorHandle;
                ImiCameraHandle camHandle;

                bool isDeviceValid;
                int color_video_started_;
                int depth_video_started_;
                int uvc_video_started_;

                FrameCallbackFunction depthCallback;
                FrameCallbackFunction colorCallback;
        CloudCallbackFunction cloudCallback;
                FrameCallbackFunction uvcCallback;

        double m_cx;
        double m_cy;
        double m_fx;
        double m_fy;
        };
}

#endif /* OPENNI_DEVICE_H */