camThread.h

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/*************************************************************************
 *   Copyright (C) Markus Knapp                                          *
 *   www.direcs.de                                                       *
 *                                                                       *
 *   This file is part of direcs.                                        *
 *                                                                       *
 *   direcs is free software: you can redistribute it and/or modify it   *
 *   under the terms of the GNU General Public License as published      *
 *   by the Free Software Foundation, version 3 of the License.          *
 *                                                                       *
 *   direcs is distributed in the hope that it will be useful,           *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of      *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the        *
 *   GNU General Public License for more details.                        *
 *                                                                       *
 *   You should have received a copy of the GNU General Public License   *
 *   along with direcs. If not, see <http://www.gnu.org/licenses/>.      *
 *                                                                       *
 *************************************************************************/

#ifndef CAMTHREAD_H
#define CAMTHREAD_H

//-------------------------------------------------------------------
#include <QtGlobal> // for Q_OS_* Makro!
#include <QThread>
#include <QImage>
#include <QtDebug> // for a more convenient use of qDebug
#include <QFile>
#include <QMutex>
//-------------------------------------------------------------------
#include <opencv/cv.h>
#include <opencv/highgui.h>

#ifdef Q_OS_MAC
#include <libfreenect/libfreenect_sync.h>
#else
#include <libfreenect_sync.h>
#endif


#include <iostream>
#include <vector>
#include <cmath>

using namespace cv;
using namespace std;

//-------------------------------------------------------------------


class CamThread : public QThread
{
        Q_OBJECT


        public:
                CamThread();

                ~CamThread();

                bool init();

                bool isConnected(void);

                void setCascadePath(QString haarClassifierCascade);

                void stop();
                virtual void run();


        public slots:
                void enableFaceDetection(int state);

                void setThreshold(int threshold);


        signals:
                void camImageComplete(QImage* image);

                void camImageDepthComplete(QImage* image);

                void camImageOpenCVComplete(QImage* image);

                void disableFaceDetection();

                void disableCamera();

                void faceDetected(int faces, int faceX, int faceY, int faceRadius, int lastFaceX, int lastFaceY);

                void message(QString text);


        private:
                freenect_context *f_ctx;
                freenect_device *f_dev;

                char *data; // the 'raw' data from the Kinect image
                char *dataDepth;
                unsigned int timestamp;

                QImage qimage; // for sending a QImage to the GUI (Signal)
                QImage qimageDepth; // for sending a QImage to the GUI (Signal)
                QImage qimageOpenCV; // for sending a QImage to the GUI (Signal)
                Mat gray; // for OpencV

                int mThreshold;

                std::vector<uint16_t> m_gamma;

                //mutable QMutex m_rgb_mutex;
                //mutable QMutex m_depth_mutex;


                bool initDone;
                bool cameraIsOn;
                bool faceDetectionIsEnabled;
                bool faceDetectionWasActive;
                QString haarClassifierCascadeFilename;
                volatile bool stopped;

                // Every thread sleeps some time, for having a bit more time for the other threads!
                // Time in milliseconds
                static const unsigned long THREADSLEEPTIME = 50; // Default: 100 ms
};

#endif