osaOSGCamera.h

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#ifndef _osaOSGCamera_h
#define _osaOSGCamera_h

#include <cisstCommon/cmnPortability.h>

#include <sawOpenSceneGraph/sawOpenSceneGraphConfig.h>

#ifdef SAW_OPENSCENEGRAPH_SUPPORTS_OPENCV
//#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#endif

#include <osgViewer/Viewer>

#include <cisstVector/vctDynamicMatrix.h>
#include <cisstVector/vctTransformationTypes.h>
#include <cisstVector/vctFrame4x4.h>
#include <sawOpenSceneGraph/osaOSGWorld.h>

#include <sawOpenSceneGraph/sawOpenSceneGraphExport.h>

class mtsOSGCamera;
class osaOSGHUD;

class CISST_EXPORT osaOSGCamera : public osgViewer::Viewer{

  friend class osaOSGHUD;

 public:

  enum Errno { ESUCCESS, EFAILURE };

 private:

  vctFrame4x4<double> Rtoffset;

  bool offscreenrendering;


  virtual void UpdateTransform();
  osg::Matrixd osgtransform;

  friend class mtsOSGCameraTask;

 protected:

  bool IsOffscreenRenderingEnabled() const {return offscreenrendering;}


  class Data : public osg::Referenced {
  private:
    osg::ref_ptr<osaOSGCamera> camera;
  public:
    Data( osaOSGCamera* camera ) : camera( camera ){}
    osaOSGCamera* GetCamera() { return camera; }
  };
  






  class UpdateCallback : public osg::NodeCallback {

    void operator()( osg::Node* node, osg::NodeVisitor* );
  };




  // Only enable this if OpenCV2 is enabled
#ifdef SAW_OPENSCENEGRAPH_SUPPORTS_OPENCV


  class FinalDrawCallback : public osg::Camera::DrawCallback {
    
  public:

    // Data for the final draw callback. This data is used to copy images
    // outside the drawing traversal.
    class Data : public osg::Referenced {

    private:
      
      bool rangerequest;
      bool depthrequest;
      bool colorrequest;


      vctDynamicMatrix<double> rangedata;


      cv::Mat depthimage;
      
      cv::Mat rgbimage;
      
    public:
      
      Data( size_t width, size_t height );
      ~Data();
      
      void RequestRangeData()       { rangerequest = true; }
      void RequestDepthImage()      { depthrequest = true; }
      void RequestRGBImage()        { colorrequest = true; }

      bool RangeDataRequested()       const { return rangerequest; }
      bool DepthImageRequested()      const { return depthrequest; }
      bool RGBImageRequested()        const { return colorrequest; }

      vctDynamicMatrix<double> GetRangeData() const;
      cv::Mat GetDepthImage() const;
      cv::Mat GetRGBImage() const;

      void SetRangeData( const vctDynamicMatrix<double>& rangedata );
      void SetDepthImage( const cv::Mat& depthimage );
      void SetRGBImage( const cv::Mat& rgbimage );

    }; // Data

  private:

    osg::ref_ptr<osg::Image> depthbufferimg;

    osg::ref_ptr<osg::Image> colorbufferimg;
  

    virtual void operator () ( osg::RenderInfo& ) const;
    
    void ComputeRangeData( osg::Camera* camera ) const;

    void ComputeDepthImage( osg::Camera* camera ) const;

    void ComputeRGBImage( osg::Camera* camera ) const;

  public:
    

    FinalDrawCallback( osg::Camera* camera );
    
    ~FinalDrawCallback();
    
  }; // FinalDrawCallback

#endif // SAW_OPENSCENEGRAPH_SUPPORTS_OPENCV

  std::vector< osg::ref_ptr< osaOSGHUD > > huds;
  void AddHUD( osaOSGHUD* hud );

 public : 


  osaOSGCamera( osaOSGWorld* world,
        bool trackball = true,
        const vctFrame4x4<double>& Rtoffset = vctFrame4x4<double>(),
        bool offscreenrendering = false );

  ~osaOSGCamera();

  virtual void Initialize( const std::string& CMN_UNUSED(name)=std::string() ){}

  void setCullMask( osg::Node::NodeMask mask )
  { getCamera()->setCullMask( mask ); }

  void SetTransform( const vctFrm3& Rt );
  void SetTransform( const vctFrame4x4<double>& Rt );
  vctFrm3 GetTransform() const;  

};

#endif