osaOSGMono.h

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#ifndef _osaOSGMono_h
#define _osaOSGMono_h

#include <sawOpenSceneGraph/sawOpenSceneGraphConfig.h>

#include <cisstVector/vctDynamicNArray.h>
#include <sawOpenSceneGraph/osaOSGCamera.h>
#include <sawOpenSceneGraph/sawOpenSceneGraphExport.h>


class CISST_EXPORT osaOSGMono : public osaOSGCamera {

 private:

  int x;
  int y;
  int width;
  int height;

  // set this to true if you want to render quad buffer stereo
  bool quadbufferstereo;
  bool IsQuadBufferStereoEnabled() const { return quadbufferstereo; }

 public : 


  osaOSGMono( osaOSGWorld* world,
          int x, int y, int width, int height,
          double fovy, double aspectRatio,
          double zNear, double zFar,
          bool trackball = true,
          const vctFrame4x4<double>& Rtoffset = vctFrame4x4<double>(),
          bool quadbufferstereo = false,
          bool offscreenrendering = false );

  osaOSGMono( osaOSGWorld* world,
          int x, int y, int width, int height,
          const vctFixedSizeMatrix<double,3,3>& K,
          double zNear, double zFar,
          bool trackball = true,
          const vctFrame4x4<double>& Rtoffset = vctFrame4x4<double>(),
          bool quadbufferstereo = false,
          bool offscreenrendering = false );
  
  ~osaOSGMono();

  virtual void Initialize( const std::string& name = std::string() );
    
#ifdef SAW_OPENSCENEGRAPH_SUPPORTS_OPENCV

 public:

  osaOSGCamera::Errno GetRangeData( vctDynamicMatrix<double>& rangedata );
  osaOSGCamera::Errno GetRGBPlanarImage( vctDynamicNArray<unsigned char,3>& rgb );
  osaOSGCamera::Errno GetRGBImage( cv::Mat& rgb );
  osaOSGCamera::Errno GetDepthImage( cv::Mat& depth );

#endif
  
};

#endif