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#include <pcl/stereo/stereo_grabber.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

///////////////////////////////////////////////////////////////////////////////////////////
//////////////////////// GrabberImplementation //////////////////////
struct pcl::StereoGrabberBase::StereoGrabberImpl
{
  StereoGrabberImpl (pcl::StereoGrabberBase& grabber,
                     const std::pair<std::string, std::string>& pair_files,
                     float frames_per_second,
                     bool repeat);
  StereoGrabberImpl (pcl::StereoGrabberBase& grabber,
                     const std::vector<std::pair<std::string, std::string> >& files,
                     float frames_per_second,
                     bool repeat);
  void trigger ();
  void readAhead ();
  
  pcl::StereoGrabberBase& grabber_;
  float frames_per_second_;
  bool repeat_;
  bool running_;
  std::vector<std::pair<std::string, std::string> > pair_files_;
  std::vector<std::pair<std::string, std::string> >::iterator pair_iterator_;
  TimeTrigger time_trigger_;

  pcl::PCLPointCloud2 next_cloud_;
  Eigen::Vector4f origin_;
  Eigen::Quaternionf orientation_;
  bool valid_;
};

///////////////////////////////////////////////////////////////////////////////////////////
pcl::StereoGrabberBase::StereoGrabberImpl::StereoGrabberImpl (pcl::StereoGrabberBase& grabber,
                                                              const std::pair<std::string, std::string>& pair_files,
                                                              float frames_per_second,
                                                              bool repeat)
  : grabber_ (grabber)
  , frames_per_second_ (frames_per_second)
  , repeat_ (repeat)
  , running_ (false)
  , pair_files_ ()
  , pair_iterator_ ()
  , time_trigger_ (1.0 / static_cast<double> (std::max (frames_per_second, 0.001f)), boost::bind (&StereoGrabberImpl::trigger, this))
  , next_cloud_ ()
  , origin_ ()
  , orientation_ ()
  , valid_ (false)
{
  pair_files_.push_back (pair_files);
  pair_iterator_ = pair_files_.begin ();
}

///////////////////////////////////////////////////////////////////////////////////////////
pcl::StereoGrabberBase::StereoGrabberImpl::StereoGrabberImpl (pcl::StereoGrabberBase& grabber,
                                                              const std::vector<std::pair<std::string, std::string> >& files,
                                                              float frames_per_second,
                                                              bool repeat)
  : grabber_ (grabber)
  , frames_per_second_ (frames_per_second)
  , repeat_ (repeat)
  , running_ (false)
  , pair_files_ ()
  , pair_iterator_ ()
  , time_trigger_ (1.0 / static_cast<double> (std::max (frames_per_second, 0.001f)), boost::bind (&StereoGrabberImpl::trigger, this))
  , next_cloud_ ()
  , origin_ ()
  , orientation_ ()
  , valid_ (false)
{
  pair_files_ = files;
  pair_iterator_ = pair_files_.begin ();
}

///////////////////////////////////////////////////////////////////////////////////////////
void 
pcl::StereoGrabberBase::StereoGrabberImpl::readAhead ()
{
  if (pair_iterator_ != pair_files_.end ())
  {
    // read next image pair and produce a cloud
    //valid_ = //(reader.read (*pair_iterator_, next_cloud_, origin_, orientation_, pcd_version) == 0);

    if (++pair_iterator_ == pair_files_.end () && repeat_)
      pair_iterator_ = pair_files_.begin ();
  }
  else
    valid_ = false;
}

///////////////////////////////////////////////////////////////////////////////////////////
void 
pcl::StereoGrabberBase::StereoGrabberImpl::trigger ()
{
  // If the stereo image pair was successfully read and a cloud was produced, simply publish it
  if (valid_)
    grabber_.publish (next_cloud_, origin_, orientation_);

  // use remaining time, if there is time left!
  readAhead ();
}

///////////////////////////////////////////////////////////////////////////////////////////
//////////////////////// GrabberBase //////////////////////
pcl::StereoGrabberBase::StereoGrabberBase (const std::pair<std::string, std::string>& pair_files,
                                           float frames_per_second,
                                           bool repeat)
  : impl_ (new StereoGrabberImpl (*this, pair_files, frames_per_second, repeat))
{
}

///////////////////////////////////////////////////////////////////////////////////////////
pcl::StereoGrabberBase::StereoGrabberBase (const std::vector<std::pair<std::string, std::string> >& files,
                                           float frames_per_second,
                                           bool repeat)
  : impl_ (new StereoGrabberImpl (*this, files, frames_per_second, repeat))
{
}

///////////////////////////////////////////////////////////////////////////////////////////
pcl::StereoGrabberBase::~StereoGrabberBase () throw ()
{
  stop ();
  delete impl_;
}

///////////////////////////////////////////////////////////////////////////////////////////
void 
pcl::StereoGrabberBase::start ()
{
  if (impl_->frames_per_second_ > 0)
  {
    impl_->running_ = true;
    impl_->time_trigger_.start ();
  }
  else // manual trigger
    impl_->trigger ();
}

///////////////////////////////////////////////////////////////////////////////////////////
void 
pcl::StereoGrabberBase::stop ()
{
  if (impl_->frames_per_second_ > 0)
  {
    impl_->time_trigger_.stop ();
    impl_->running_ = false;
  }
}

///////////////////////////////////////////////////////////////////////////////////////////
void
pcl::StereoGrabberBase::trigger ()
{
  if (impl_->frames_per_second_ > 0)
    return;
  impl_->trigger ();
}

///////////////////////////////////////////////////////////////////////////////////////////
bool 
pcl::StereoGrabberBase::isRunning () const
{
  return (impl_->running_);
}

///////////////////////////////////////////////////////////////////////////////////////////
std::string 
pcl::StereoGrabberBase::getName () const
{
  return ("StereoGrabber");
}

///////////////////////////////////////////////////////////////////////////////////////////
void 
pcl::StereoGrabberBase::rewind ()
{
  impl_->pair_iterator_ = impl_->pair_files_.begin ();
}

///////////////////////////////////////////////////////////////////////////////////////////
float 
pcl::StereoGrabberBase::getFramesPerSecond () const
{
  return (impl_->frames_per_second_);
}

///////////////////////////////////////////////////////////////////////////////////////////
bool 
pcl::StereoGrabberBase::isRepeatOn () const
{
  return (impl_->repeat_);
}

