DtZedTrackedCamera.h

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/******************************************************************************
** Copyright (c) 2020 MAK Technologies
** All rights reserved.
******************************************************************************/

#pragma once


#include "vrvVirtualReality/DtTrackedCamera.h"

#include <boost/thread.hpp>

#include "sl/Camera.hpp"

namespace makVrv
{

   class DT_DLL_VRVVR DtZedTrackedCamera : public DtTrackedCamera
   {
   public:
      DtZedTrackedCamera(DtDe& de);

      virtual ~DtZedTrackedCamera();

      DtZedTrackedCamera() = delete;

      DtZedTrackedCamera(const DtZedTrackedCamera&) = delete;

      DtZedTrackedCamera& operator=(const DtZedTrackedCamera&) = delete;

      static bool hasTrackedCamera();;

      virtual bool startStream();

      virtual void stopStream();

      virtual void tick();

      virtual void reset();

      virtual void setUseDepth(bool set);
      virtual bool useDepth();
    
      virtual void resetCameraProjection();

      virtual void setCameraSetting(sl::CAMERA_SETTINGS setting, int value);
      virtual int getCameraSetting(sl::CAMERA_SETTINGS setting);
      virtual void resetCameraSettings();

   public:
      static int theDepth;

   protected:
      virtual osg::Matrixd createProjectionMatrix(float zn, float zf, const float* fovx = NULL, const float* fovy = NULL);

      virtual void addDepthTexture(int width, int height, unsigned char* buffer);

      sl::Camera myCamera;
      sl::Mat myLeftImage;
      sl::Mat myRightImage;
      sl::Mat myDepthImage; 

      bool myUseDepth;
   };
}