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#ifndef PCL_CUDA_DISPARITY_TO_CLOUD_H_
#define PCL_CUDA_DISPARITY_TO_CLOUD_H_

#include <pcl/cuda/point_cloud.h>
#include <pcl/cuda/io/cloud_to_pcl.h>
#include <pcl/io/openni_camera/openni_image.h>
#include <pcl/io/openni_camera/openni_depth_image.h>
//#include <pcl/CameraInfo.h>
//#include <pcl/PCLImage.h>

#include <boost/cstdint.hpp>

namespace pcl
{
namespace cuda
{
  /** \brief Compute the XYZ values for a point based on disparity information. */
  struct ComputeXYZ
  {
    int    width, height;
    int    center_x, center_y;
    float  constant;
    float bad_point;

    ComputeXYZ (int w, int h, int cx, int cy, float con) : 
      width(w), height(h), center_x(cx), center_y(cy), constant(con)
    {
      bad_point = std::numeric_limits<float>::quiet_NaN ();
    }

    template <typename Tuple> __inline__ __host__ __device__ PointXYZRGB
    operator () (const Tuple &t);
  };

  /** \brief Compute the XYZ and RGB values for a point based on disparity information. */
  struct ComputeXYZRGB
  {
    int    width, height;
    int    center_x, center_y;
    float  constant;
    float bad_point;

    ComputeXYZRGB (int w, int h, int cx, int cy, float con) : 
      width(w), height(h), center_x(cx), center_y(cy), constant(con) 
    {
      bad_point = std::numeric_limits<float>::quiet_NaN ();
    }

    template <typename Tuple> __inline__ __host__ __device__ PointXYZRGB
    operator () (const Tuple &t);
  };

  /** \brief Disparity to PointCloudAOS generator.
    */
  class PCL_EXPORTS DisparityToCloud
  {
    public:
//      // compute using ROS images, Device output
//      void
//      compute (const pcl::PCLImage::ConstPtr &depth_image,
//               const pcl::PCLImage::ConstPtr &rgb_image,
//               const pcl::CameraInfo::ConstPtr &info,
//               PointCloudAOS<Device>::Ptr &output);
//      
//      // compute using ROS images, Host output
//      void
//      compute (const pcl::PCLImage::ConstPtr &depth_image,
//               const pcl::PCLImage::ConstPtr &rgb_image,
//               const pcl::CameraInfo::ConstPtr &info,
//               PointCloudAOS<Host>::Ptr &output);

      // compute using OpenNI images, Device output
      template <template <typename> class Storage> void
      compute (const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
               const boost::shared_ptr<openni_wrapper::Image>& image,
               float constant, 
               typename PointCloudAOS<Storage>::Ptr &output,
               bool downsample = false, int stride = 2, int smoothing_nr_iterations = 0, int smoothing_filter_size = 2);

      template <template <typename> class Storage> void
      compute (const boost::uint16_t* depth_image,
               const OpenNIRGB* rgb_image,
               int width, int height,
               float constant,
               typename PointCloudAOS<Storage>::Ptr &output,
               int smoothing_nr_iterations = 0, int smoothing_filter_size = 2);

      // compute using OpenNI images, Host output
/*      void
      compute (const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
               const boost::shared_ptr<openni_wrapper::Image>& image,
               float constant, 
               PointCloudAOS<Host>::Ptr &output);*/
      
      // ...
//      void
//      compute (const pcl::PCLImage::ConstPtr &depth_image,
//               const pcl::CameraInfo::ConstPtr &info,
//               PointCloudAOS<Device>::Ptr &output);
//
//      void
//      compute (const pcl::PCLImage::ConstPtr &depth_image,
//               const pcl::CameraInfo::ConstPtr &info,
//               PointCloudAOS<Host>::Ptr &output);

      void
      compute (const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
                float constant,
                PointCloudAOS<Device>::Ptr &output);

      void
      compute (const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image,
                float constant,
                PointCloudAOS<Host>::Ptr &output);
  };

} // namespace
} // namespace

#endif  //#ifndef PCL_CUDA_DISPARITY_TO_CLOUD_H_
