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#include <pcl/console/parse.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/openni_camera/openni_driver.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <mutex>

template <typename PointType>
class OpenNIPlanarSegmentation {
public:
  using Cloud = pcl::PointCloud<PointType>;
  using CloudPtr = typename Cloud::Ptr;
  using CloudConstPtr = typename Cloud::ConstPtr;

  OpenNIPlanarSegmentation(const std::string& device_id = "", double threshold = 0.01)
  : viewer("PCL OpenNI Planar Segmentation Viewer"), device_id_(device_id)
  {
    grid_.setFilterFieldName("z");
    grid_.setFilterLimits(0.0f, 3.0f);
    grid_.setLeafSize(0.01f, 0.01f, 0.01f);

    seg_.setOptimizeCoefficients(true);
    seg_.setModelType(pcl::SACMODEL_PLANE);
    seg_.setMethodType(pcl::SAC_RANSAC);
    seg_.setMaxIterations(1000);
    seg_.setDistanceThreshold(threshold);

    extract_.setNegative(false);
  }

  void
  cloud_cb_(const CloudConstPtr& cloud)
  {
    set(cloud);
  }

  void
  set(const CloudConstPtr& cloud)
  {
    // lock while we set our cloud;
    std::lock_guard<std::mutex> lock(mtx_);
    cloud_ = cloud;
  }

  CloudPtr
  get()
  {
    // lock while we swap our cloud and reset it.
    std::lock_guard<std::mutex> lock(mtx_);
    CloudPtr temp_cloud(new Cloud);
    CloudPtr temp_cloud2(new Cloud);

    grid_.setInputCloud(cloud_);
    grid_.filter(*temp_cloud);

    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
    pcl::PointIndices::Ptr inliers(new pcl::PointIndices());

    seg_.setInputCloud(temp_cloud);
    seg_.segment(*inliers, *coefficients);

    extract_.setInputCloud(temp_cloud);
    extract_.setIndices(inliers);
    extract_.filter(*temp_cloud2);

    return temp_cloud2;
  }

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

    std::function<void(const CloudConstPtr&)> f = [this](const CloudConstPtr& cloud) {
      cloud_cb_(cloud);
    };
    boost::signals2::connection c = interface.registerCallback(f);

    interface.start();

    while (!viewer.wasStopped()) {
      if (cloud_) {
        // the call to get() sets the cloud_ to null;
        viewer.showCloud(get());
      }
    }

    interface.stop();
  }

  pcl::visualization::CloudViewer viewer;
  pcl::VoxelGrid<PointType> grid_;
  pcl::SACSegmentation<PointType> seg_;
  pcl::ExtractIndices<PointType> extract_;

  std::string device_id_;
  std::mutex mtx_;
  CloudConstPtr cloud_;
};

void
usage(char** argv)
{
  std::cout
      << "usage: " << argv[0] << " [options]\n\n"
      << "where options are:\n"
      << "    -device_id X: specify the device id (default: \"#1\").\n"
      << "    -thresh X: set the planar segmentation threshold (default: 0.5)\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;
      // clang-format on
    }

    std::cout << "\ndevice_id may be:" << std::endl
              << "    #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"

              << "    <serial-number> (only in Linux and for devices which provide "
                 "serial numbers)";
  }
  else
    std::cout << "No devices connected." << std::endl;
}

int
main(int argc, char** argv)
{
  /////////////////////////////////////////////////////////////////////
  if (pcl::console::find_argument(argc, argv, "-h") != -1 ||
      pcl::console::find_argument(argc, argv, "--help") != -1) {
    usage(argv);
    return 1;
  }

  std::string device_id = "";
  double threshold = 0.05;

  if (pcl::console::parse_argument(argc, argv, "-device_id", device_id) == -1 &&
      argc > 1 && argv[1][0] != '-')
    device_id = argv[1];
  pcl::console::parse_argument(argc, argv, "-thresh", threshold);
  /////////////////////////////////////////////////////////////////////

  pcl::OpenNIGrabber grabber(device_id);
  if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
    OpenNIPlanarSegmentation<pcl::PointXYZRGBA> v(device_id, threshold);
    v.run();
  }
  else {
    OpenNIPlanarSegmentation<pcl::PointXYZ> v(device_id, threshold);
    v.run();
  }

  return 0;
}
