/home/rex/ebltrunk/tools/libeblearntools/include/camera_kinect.h

/***************************************************************************
 *   Copyright (C) 2010 by Soumith Chintala and Pierre Sermanet  *
 *   chin@nyu.edu, sermanet@cs.nyu.edu   *
 *   All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Redistribution under a license not approved by the Open Source 
 *       Initiative (http://www.opensource.org) must display the 
 *       following acknowledgement in all advertising material:
 *        This product includes software developed at the Courant
 *        Institute of Mathematical Sciences (http://cims.nyu.edu).
 *     * The names of the authors may not be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESS OR IMPLIED 
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL ThE AUTHORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ***************************************************************************/


#ifndef CAMERA_KINECT_H_
#define CAMERA_KINECT_H_

#include "camera.h"

using namespace std;

namespace ebl {

  //TODO: also add interface to grab RGB image(simple but haven't done yet)
  template <typename Tdata> class camera_kinect : public camera<Tdata> {
  public:

    // constructors/allocation

    camera_kinect(int height = -1, int width = -1,
                  std::ostream &out = std::cout,
                  std::ostream &err = std::cerr);

    virtual ~camera_kinect();

    // frame grabbing

    virtual idx<Tdata> grab();

    // members ////////////////////////////////////////////////////////
  protected:
    using camera<Tdata>::frame;         
    using camera<Tdata>::frame_id_;     
    using camera<Tdata>::grabbed;       
    using camera<Tdata>::height;        
    using camera<Tdata>::width;         
    using camera<Tdata>::bresize;       
    using camera<Tdata>::mresize;       
    using camera<Tdata>::resize_mode;   
    using camera<Tdata>::out;   
    using camera<Tdata>::err;   
  };

} // end namespace ebl

#include "camera_kinect.hpp"


#endif /* CAMERA_KINECT_H_ */