grabber.h

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#ifndef LICORNEA_KINECT_LIVE_GRABBER_H_
#define LICORNEA_KINECT_LIVE_GRABBER_H_

#include "../../lib/opencv.h"
#include "../freenect2.h"
#include "../kinect_internal_parameters.h"
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>
#include <string>
#include <memory>
#include <vector>

namespace tlz {

class grabber {
public:
    enum frame_type_value {
        color = 1<<0,
        registered_color = 1<<1,
        depth = 1<<2,
        bigdepth = 1<<3,
        ir = 1<<4
    };
            
private:    
    int frame_types_;
    bool released_;
    
    libfreenect2::Freenect2 context_;
    libfreenect2::CpuPacketPipeline* pipeline_;
    libfreenect2::SyncMultiFrameListener listener_;
    libfreenect2::FrameMap frames_;
    libfreenect2::Freenect2Device* device_;
    std::unique_ptr<libfreenect2::Registration> registration_;
    libfreenect2::Frame undistorted_depth_;
    libfreenect2::Frame undistorted_ir_;
    libfreenect2::Frame registered_color_;
    libfreenect2::Frame bigdepth_;

    bool has_(frame_type_value t) const { return ((frame_types_ & t) != 0); }
    int freenect2_frame_types_() const;
    
public: 
    explicit grabber(int frame_types);
    ~grabber();
    
    bool grab();
    void release();
    
    libfreenect2::Freenect2& context() { return context_; }
    libfreenect2::Freenect2Device& device() { return *device_; }
    libfreenect2::Registration& registration() { return *registration_; }
    kinect_internal_parameters internal_parameters();
    
    cv::Mat_<cv::Vec3b> get_color_frame();
    cv::Mat_<cv::Vec3b> get_registered_color_frame();
    cv::Mat_<uchar> get_ir_frame(float min_ir = 0, float max_ir = 0xffff, bool undistorted = false);
    cv::Mat_<ushort> get_original_ir_frame(bool undistorted = false); 
    cv::Mat_<float> get_depth_frame(bool undistorted = false);
    cv::Mat_<float> get_bigdepth_frame();
};

}

#endif