/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011-2012, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  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.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "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
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 */

#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI

#ifndef __PCL_IO_ONI_PLAYER__
#define __PCL_IO_ONI_PLAYER__

#include <pcl/io/eigen.h>
#include <pcl/io/boost.h>
#include <pcl/io/grabber.h>
#include <pcl/io/openni_camera/openni_driver.h>
#include <pcl/io/openni_camera/openni_device_oni.h>
#include <pcl/io/openni_camera/openni_image.h>
#include <pcl/io/openni_camera/openni_depth_image.h>
#include <pcl/io/openni_camera/openni_ir_image.h>
#include <string>
#include <deque>
#include <pcl/common/synchronizer.h>

namespace pcl
{
  /** */
  template <typename T> class PointCloud;
  /** */
  struct PointXYZ;
  /** */
  struct PointXYZRGB;
  /** */
  struct PointXYZRGBA;
  /** */
  struct PointXYZI;

  /** \brief A simple ONI grabber.
    * \author Suat Gedikli
    * \ingroup io
    */
  class PCL_EXPORTS ONIGrabber : public Grabber
  {
    public:
      //define callback signature typedefs
      typedef void (sig_cb_openni_image) (const boost::shared_ptr<openni_wrapper::Image>&);
      typedef void (sig_cb_openni_depth_image) (const boost::shared_ptr<openni_wrapper::DepthImage>&);
      typedef void (sig_cb_openni_ir_image) (const boost::shared_ptr<openni_wrapper::IRImage>&);
      typedef void (sig_cb_openni_image_depth_image) (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant) ;
      typedef void (sig_cb_openni_ir_depth_image) (const boost::shared_ptr<openni_wrapper::IRImage>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant) ;
      typedef void (sig_cb_openni_point_cloud) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ> >&);
      typedef void (sig_cb_openni_point_cloud_rgb) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB> >&);
      typedef void (sig_cb_openni_point_cloud_rgba) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA> >&);
      typedef void (sig_cb_openni_point_cloud_i) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);

      /** \brief constructor
        * \param[in] file_name the path to the ONI file
        * \param[in] repeat whether the play back should be in an infinite loop or not
        * \param[in] stream whether the playback should be in streaming mode or in triggered mode.
        */
      ONIGrabber (const std::string& file_name, bool repeat, bool stream);

      /** \brief destructor never throws an exception */
      virtual ~ONIGrabber () throw ();

      /** \brief For devices that are streaming, the streams are started by calling this method.
        *        Trigger-based devices, just trigger the device once for each call of start.
        */
      virtual void 
      start ();

      /** \brief For devices that are streaming, the streams are stopped.
        *        This method has no effect for triggered devices.
        */
      virtual void 
      stop ();

      /** \brief returns the name of the concrete subclass.
        * \return the name of the concrete driver.
        */
      virtual std::string 
      getName () const;

      /** \brief Indicates whether the grabber is streaming or not. This value is not defined for triggered devices.
        * \return true if grabber is running / streaming. False otherwise.
        */
      virtual bool 
      isRunning () const;

      /** \brief returns the frames pre second. 0 if it is trigger based. */
      virtual float 
      getFramesPerSecond () const;

      /** \brief Check if there is any data left in the ONI file to process. */
      inline bool
      hasDataLeft ()
      {
        return (device_->hasDataLeft ());
      }

     protected:
      /** \brief internal OpenNI (openni_wrapper) callback that handles image streams */
      void
      imageCallback (boost::shared_ptr<openni_wrapper::Image> image, void* cookie);

      /** \brief internal OpenNI (openni_wrapper) callback that handles depth streams */
      void
      depthCallback (boost::shared_ptr<openni_wrapper::DepthImage> depth_image, void* cookie);

      /** \brief internal OpenNI (openni_wrapper) callback that handles IR streams */
      void
      irCallback (boost::shared_ptr<openni_wrapper::IRImage> ir_image, void* cookie);

      /** \brief internal callback that handles synchronized image + depth streams */
      void
      imageDepthImageCallback (const boost::shared_ptr<openni_wrapper::Image> &image,
                               const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image);

      /** \brief internal callback that handles synchronized IR + depth streams */
      void
      irDepthImageCallback (const boost::shared_ptr<openni_wrapper::IRImage> &image,
                            const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image);

      /** \brief internal method to assemble a point cloud object */
      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> >
      convertToXYZPointCloud (const boost::shared_ptr<openni_wrapper::DepthImage> &depth) const;

      /** \brief internal method to assemble a point cloud object */
      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> >
      convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wrapper::Image> &image,
                                 const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;

      /** \brief internal method to assemble a point cloud object */
      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >
      convertToXYZRGBAPointCloud (const boost::shared_ptr<openni_wrapper::Image> &image,
                                  const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;

      /** \brief internal method to assemble a point cloud object */
      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >
      convertToXYZIPointCloud (const boost::shared_ptr<openni_wrapper::IRImage> &image,
                               const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;

      /** \brief synchronizer object to synchronize image and depth streams*/
      Synchronizer<boost::shared_ptr<openni_wrapper::Image>, boost::shared_ptr<openni_wrapper::DepthImage> > rgb_sync_;

      /** \brief synchronizer object to synchronize IR and depth streams*/
      Synchronizer<boost::shared_ptr<openni_wrapper::IRImage>, boost::shared_ptr<openni_wrapper::DepthImage> > ir_sync_;

      /** \brief the actual openni device*/
      boost::shared_ptr<openni_wrapper::DeviceONI> device_;
      std::string rgb_frame_id_;
      std::string depth_frame_id_;
      bool running_;
      unsigned image_width_;
      unsigned image_height_;
      unsigned depth_width_;
      unsigned depth_height_;
      openni_wrapper::OpenNIDevice::CallbackHandle depth_callback_handle;
      openni_wrapper::OpenNIDevice::CallbackHandle image_callback_handle;
      openni_wrapper::OpenNIDevice::CallbackHandle ir_callback_handle;
      boost::signals2::signal<sig_cb_openni_image >*            image_signal_;
      boost::signals2::signal<sig_cb_openni_depth_image >*      depth_image_signal_;
      boost::signals2::signal<sig_cb_openni_ir_image >*         ir_image_signal_;
      boost::signals2::signal<sig_cb_openni_image_depth_image>* image_depth_image_signal_;
      boost::signals2::signal<sig_cb_openni_ir_depth_image>*    ir_depth_image_signal_;
      boost::signals2::signal<sig_cb_openni_point_cloud >*      point_cloud_signal_;
      boost::signals2::signal<sig_cb_openni_point_cloud_i >*    point_cloud_i_signal_;
      boost::signals2::signal<sig_cb_openni_point_cloud_rgb >*  point_cloud_rgb_signal_;
      boost::signals2::signal<sig_cb_openni_point_cloud_rgba >*  point_cloud_rgba_signal_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

} // namespace

#endif // __PCL_IO_ONI_PLAYER__
#endif // HAVE_OPENNI

