/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2009-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
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 *
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 *     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.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
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 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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#include <pcl/apps/openni_passthrough.h>

#include <QApplication>
#include <QEvent>
#include <QMutexLocker>
#include <QObject>
#include <ui_openni_passthrough.h>

#include <vtkGenericOpenGLRenderWindow.h>
#include <vtkRendererCollection.h>
#include <vtkRenderWindow.h>

#include <thread>

using namespace std::chrono_literals;

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
OpenNIPassthrough::OpenNIPassthrough(pcl::OpenNIGrabber& grabber)
: grabber_(grabber), ui_(new Ui::MainWindow), vis_timer_(new QTimer(this))
{
  // Create a timer and fire it up every 5ms
  vis_timer_->start(5);

  connect(vis_timer_, SIGNAL(timeout()), this, SLOT(timeoutSlot()));

  ui_->setupUi(this);

  this->setWindowTitle("PCL OpenNI PassThrough Viewer");
  // Create the QVTKWidget
#if VTK_MAJOR_VERSION > 8
  auto renderer = vtkSmartPointer<vtkRenderer>::New();
  auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
  renderWindow->AddRenderer(renderer);
  vis_.reset(new pcl::visualization::PCLVisualizer(renderer, renderWindow, "", false));
#else
  vis_.reset(new pcl::visualization::PCLVisualizer("", false));
#endif // VTK_MAJOR_VERSION > 8
  setRenderWindowCompat(*(ui_->qvtk_widget), *(vis_->getRenderWindow()));
  vis_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget)),
                        getRenderWindowCompat(*(ui_->qvtk_widget)));

  vis_->getInteractorStyle()->setKeyboardModifier(
      pcl::visualization::INTERACTOR_KB_MOD_SHIFT);

  refreshView();

  // Start the OpenNI data acquision
  std::function<void(const CloudConstPtr&)> f = [this](const CloudConstPtr& cloud) {
    cloud_cb(cloud);
  };
  boost::signals2::connection c = grabber_.registerCallback(f);

  grabber_.start();

  // Set defaults
  pass_.setFilterFieldName("z");
  pass_.setFilterLimits(0.5, 5.0);

  ui_->fieldValueSlider->setRange(5, 50);
  ui_->fieldValueSlider->setValue(50);
  connect(ui_->fieldValueSlider,
          SIGNAL(valueChanged(int)),
          this,
          SLOT(adjustPassThroughValues(int)));
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////
void
OpenNIPassthrough::cloud_cb(const CloudConstPtr& cloud)
{
  QMutexLocker locker(&mtx_);
  FPS_CALC("computation");

  // Computation goes here
  cloud_pass_.reset(new Cloud);
  pass_.setInputCloud(cloud);
  pass_.filter(*cloud_pass_);
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////
void
OpenNIPassthrough::timeoutSlot()
{
  if (!cloud_pass_) {
    std::this_thread::sleep_for(1ms);
    return;
  }

  CloudPtr temp_cloud;
  {
    QMutexLocker locker(&mtx_);
    temp_cloud.swap(cloud_pass_);
  }
  // Add to the 3D viewer
  if (!vis_->updatePointCloud(temp_cloud, "cloud_pass")) {
    vis_->addPointCloud(temp_cloud, "cloud_pass");
    vis_->resetCameraViewpoint("cloud_pass");
  }
  FPS_CALC("visualization");
  ui_->qvtk_widget->update();
}

void
OpenNIPassthrough::refreshView()
{
#if VTK_MAJOR_VERSION > 8
  ui_->qvtk_widget->renderWindow()->Render();
#else
  ui_->qvtk_widget->update();
#endif // VTK_MAJOR_VERSION > 8
}

int
main(int argc, char** argv)
{
  // Initialize QT
  QApplication app(argc, argv);

  // Open the first available camera
  pcl::OpenNIGrabber grabber("#1");
  // Check if an RGB stream is provided
  if (!grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgb>()) {
    PCL_ERROR("Device #1 does not provide an RGB stream!\n");
    return -1;
  }

  OpenNIPassthrough v(grabber);
  v.show();
  return QApplication::exec();
}
