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#include <pcl/cuda/io/cloud_to_pcl.h>
#include <pcl/cuda/io/disparity_to_cloud.h>

#include <pcl/io/openni_grabber.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/cuda/time_cpu.h>
#include <boost/shared_ptr.hpp>
#include <pcl/visualization/cloud_viewer.h>
#include <iostream>

using pcl::cuda::PointCloudAOS;
using pcl::cuda::Device;

class KinectViewerCuda
{
  public:
     KinectViewerCuda (bool downsample) : viewer ("KinectGrabber"), downsample_(downsample) {}

    void cloud_cb_ (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float constant)
    {
      PointCloudAOS<Device>::Ptr data;
    	{
        pcl::cuda::ScopeTimeCPU t ("time:");    
        d2c.compute<Device> (depth_image, image, constant, data, downsample_);
      }

      pcl::PointCloud<pcl::PointXYZRGB>::Ptr output (new pcl::PointCloud<pcl::PointXYZRGB>);
      pcl::cuda::toPCL (*data, *output);

      viewer.showCloud (output, "cloud");

    }
    
    void run (const std::string& device_id)
    {
      pcl::Grabber* interface = new pcl::OpenNIGrabber(device_id);

      boost::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)>
        f = boost::bind (&KinectViewerCuda::cloud_cb_, this, _1, _2, _3);

      boost::signals2::connection c = interface->registerCallback (f);

      interface->start ();
      
      while (true)
      {
        pcl_sleep (1);
      }

      interface->stop ();
    }

    pcl::cuda::DisparityToCloud d2c;
    pcl::visualization::CloudViewer viewer;
    boost::mutex mutex_;
    bool downsample_;
};

int main (int argc, char** argv)
{
	std::string device_id = "#1";
  int downsample = false;
	if (argc >= 2)
	{
		device_id = argv[1];
	}
	if (argc >= 3)
	{
		downsample = atoi (argv[2]);
	}
  KinectViewerCuda v (downsample);
  v.run (device_id);
  return 0;
}
