osaOSGStereo.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*- */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

#ifndef _osaOSGStereo_h
#define _osaOSGStereo_h

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

class CISST_EXPORT osaOSGStereo : public osaOSGCamera {

 public:
    
    enum Camera{ LEFT, RIGHT };
    
 private:
    
    int x;
    int y;
    int width;
    int height;
    
    double baseline;
    
 public : 
    

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

    osaOSGStereo( osaOSGWorld* world,
                  int x, int y, int width, int height,
                  const vctFixedSizeMatrix<double,3,3>& Kl,
                  const vctFixedSizeMatrix<double,3,3>& Kr,
                  const vctFrame4x4<double>& Rtlr,
                  double zNear, double zFar,
                  bool trackball = true,
                  const vctFrame4x4<double>& Rtoffset = vctFrame4x4<double>());

    ~osaOSGStereo( );
    
    void setCullMask( osg::Node::NodeMask mask, osaOSGStereo::Camera idx ){ 
        osg::View::Slave& slave = getSlave( idx );
        osg::ref_ptr<osg::Camera> camera = slave._camera.get();
        camera->setCullMask( mask ); 
    }
    
    virtual void Initialize( const std::string& name = std::string() );
    
#if 0
#ifdef SAW_OPENSCENEGRAPH_SUPPORTS_OPENCV
 public:
    //std::list< std::list< osaOSGBody* > > GetVisibilityList( size_t idx );
    vctDynamicMatrix<double> GetRangeData( size_t idx );
    vctDynamicNArray<unsigned char,3> GetRGBPlanarImage( size_t idx );
    cv::Mat GetRGBImage( size_t idx );
#endif
#endif
};

#endif