/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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#include <pcl/common/time.h>
#include <pcl/point_types.h>
#include <pcl/io/dinast_grabber.h>
#include <pcl/visualization/cloud_viewer.h>

template <typename PointType>
class DinastProcessor
{
  public:
    
    typedef pcl::PointCloud<PointType> Cloud;
    typedef typename Cloud::ConstPtr CloudConstPtr;
    
    DinastProcessor(pcl::Grabber& grabber) : interface(grabber), viewer("Dinast Cloud Viewer") {}

    void 
    cloud_cb_ (CloudConstPtr cloud_cb)
    {
      static unsigned count = 0;
      static double last = pcl::getTime ();
      if (++count == 30)
      {
        double now = pcl::getTime ();
        std::cout << "Average framerate: " << double(count)/double(now - last) << " Hz" <<  std::endl;
        count = 0;
        last = now;
      }
      if (!viewer.wasStopped())
        viewer.showCloud(cloud_cb);
    }
    
    int 
    run ()
    {
            
      boost::function<void (const CloudConstPtr&)> f =
        boost::bind (&DinastProcessor::cloud_cb_, this, _1);
      
      boost::signals2::connection c = interface.registerCallback (f);

      interface.start ();
      
      while (!viewer.wasStopped())
      {
        boost::this_thread::sleep (boost::posix_time::seconds (1));
      }
      
      interface.stop ();
      
      return(0);
    }
    
    pcl::Grabber& interface;
    pcl::visualization::CloudViewer viewer;  
    
};

int
main () 
{
  pcl::DinastGrabber grabber;
  DinastProcessor<pcl::PointXYZI> v (grabber);
  v.run ();
  return (0);
}
