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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
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#include <pcl/common/time.h>
#include <pcl/console/parse.h>
#include <pcl/features/boundary.h>
#include <pcl/features/integral_image_normal.h>
#include <pcl/filters/approximate_voxel_grid.h>
#include <pcl/io/openni_camera/openni_driver.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <mutex>
#include <thread>

using namespace std::chrono_literals;

using ColorHandler = pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>;
using ColorHandlerPtr = ColorHandler::Ptr;
using ColorHandlerConstPtr = ColorHandler::ConstPtr;

// clang-format off
#define FPS_CALC(_WHAT_)                                                               \
  do {                                                                                 \
    static unsigned count = 0;                                                         \
    static double last = pcl::getTime();                                               \
    double now = pcl::getTime();                                                       \
    ++count;                                                                           \
    if (now - last >= 1.0) {                                                           \
      std::cout << "Average framerate(" << _WHAT_ << "): "                             \
                << double(count) / double(now - last) << " Hz" << std::endl;           \
      count = 0;                                                                       \
      last = now;                                                                      \
    }                                                                                  \
  } while (false)
// clang-format on

class OpenNIIntegralImageNormalEstimation {
public:
  using Cloud = pcl::PointCloud<pcl::PointXYZRGBNormal>;
  using CloudPtr = Cloud::Ptr;
  using CloudConstPtr = Cloud::ConstPtr;

  OpenNIIntegralImageNormalEstimation(const std::string& device_id = "")
  : viewer("PCL OpenNI NormalEstimation Viewer"), device_id_(device_id)
  {
    ne_.setNormalEstimationMethod(ne_.AVERAGE_3D_GRADIENT);
    ne_.setRectSize(10, 10);
    new_cloud_ = false;

    pass_.setDownsampleAllData(true);
    pass_.setLeafSize(0.005f, 0.005f, 0.005f);

    pcl::search::OrganizedNeighbor<pcl::PointXYZRGBNormal>::Ptr tree(
        new pcl::search::OrganizedNeighbor<pcl::PointXYZRGBNormal>);
    be_.setRadiusSearch(0.02);
    be_.setSearchMethod(tree);
  }

  void
  cloud_cb(const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& cloud)
  {
    std::lock_guard<std::mutex> lock(mtx_);
    // lock while we set our cloud;
    FPS_CALC("computation");

    cloud_.reset(new pcl::PointCloud<pcl::PointXYZRGBNormal>);

    // Estimate surface normals
    ne_.setInputCloud(cloud);
    ne_.compute(*cloud_);
    copyPointCloud(*cloud, *cloud_);

    be_.setInputCloud(cloud_);
    be_.setInputNormals(cloud_);
    boundaries_.reset(new pcl::PointCloud<pcl::Boundary>);
    be_.compute(*boundaries_);

    new_cloud_ = true;
  }

  void
  viz_cb(pcl::visualization::PCLVisualizer& viz)
  {
    std::lock_guard<std::mutex> lock(mtx_);
    if (!cloud_) {
      std::this_thread::sleep_for(1s);
      return;
    }

    // Render the data
    if (new_cloud_ && cloud_ && boundaries_) {
      CloudPtr temp_cloud;
      temp_cloud.swap(cloud_); // here we set cloud_ to null, so that

      viz.removePointCloud("normalcloud");
      pcl::PCLPointCloud2::Ptr cloud2(new pcl::PCLPointCloud2);
      pcl::toPCLPointCloud2(*boundaries_, *cloud2);
      ColorHandlerConstPtr color_handler(
          new pcl::visualization::PointCloudColorHandlerGenericField<
              pcl::PCLPointCloud2>(cloud2, "boundary_point"));
      viz.addPointCloud<pcl::PointXYZRGBNormal>(
          temp_cloud, color_handler, "normalcloud");
      viz.resetCameraViewpoint("normalcloud");
      new_cloud_ = false;
    }
  }

  void
  run()
  {
    pcl::OpenNIGrabber interface{device_id_};

    std::function<void(const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f =
        [this](const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& cloud) {
          cloud_cb(cloud);
        };
    boost::signals2::connection c = interface.registerCallback(f);

    viewer.runOnVisualizationThread(
        [this](pcl::visualization::PCLVisualizer& viz) { viz_cb(viz); }, "viz_cb");

    interface.start();

    while (!viewer.wasStopped()) {
      std::this_thread::sleep_for(1s);
    }

    interface.stop();
  }

  pcl::ApproximateVoxelGrid<pcl::PointXYZRGBNormal> pass_;
  pcl::IntegralImageNormalEstimation<pcl::PointXYZRGB, pcl::PointXYZRGBNormal> ne_;
  pcl::BoundaryEstimation<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary>
      be_;
  pcl::visualization::CloudViewer viewer;
  std::string device_id_;
  std::mutex mtx_;
  // Data
  pcl::PointCloud<pcl::Boundary>::Ptr boundaries_;
  CloudPtr cloud_, cloud_pass_;
  bool new_cloud_;
};

void
usage(char** argv)
{
  std::cout << "usage: " << argv[0] << " <device_id> <options>\n\n";

  openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance();
  if (driver.getNumberDevices() > 0) {
    for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices(); ++deviceIdx) {
      // clang-format off
      std::cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
              << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << std::endl;
      std::cout << "device_id may be #1, #2, ... for the first second etc device in the list or" << std::endl
           << "                 bus@address for the device connected to a specific usb-bus / address combination (works only in Linux) or" << std::endl
           << "                 <serial-number> (only in Linux and for devices which provide serial numbers)"  << std::endl;
      // clang-format on
    }
  }
  else
    std::cout << "No devices connected." << std::endl;
}

int
main(int argc, char** argv)
{
  std::string arg;
  if (argc > 1)
    arg = std::string(argv[1]);

  if (arg == "--help" || arg == "-h") {
    usage(argv);
    return 1;
  }

  pcl::OpenNIGrabber grabber("");
  if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgb>()) {
    OpenNIIntegralImageNormalEstimation v("");
    v.run();
  }
  else
    PCL_ERROR("The input device does not provide a PointXYZRGB mode.\n");

  return 0;
}
