// +-------------------------------- DISCLAIMER ---------------------------------+
// |                                                                             |
// | This program is provided to you free of charge "as such".                   |
// | You should not assume that this program is error-free or suitable for any   |
// | purpose whatsoever.                                                         |
// |                                                                             |
// | EURESYS does not give any representation, warranty or undertaking that this |
// | program is free of any defect or error or suitable for any purpose. EURESYS |
// | shall not be liable, in contract, in torts or otherwise, for any damages,   |
// | loss, costs, expenses or other claims for compensation, including those     |
// | asserted by third parties, arising out of or in connection with the use of  |
// | this program.                                                               |
// +-----------------------------------------------------------------------------+

#pragma once

#include "../Common/GrabberInterface.h"

#include <k4a/k4a.h>

class AzureKinectGrabber : public GrabberInterface
{
public:
  // Construction and destruction
  AzureKinectGrabber();
  ~AzureKinectGrabber();

  // Acquisition control
  virtual void Start(int num_frame = 1);
  virtual long long int WaitFrame(int timeout_ms = -1);
  virtual void ReleaseFrame();
  virtual void Stop();

  // Bit depth for DepthMap and ZMap
  virtual int GetBitDepth();

  // Data retrieval
  virtual void GetDepthMap(Easy3D::EDepthMap& map);
  virtual void GetPointCloud(Easy3D::EPointCloud& pc);
  virtual void GetZMap(Easy3D::EZMap& zmap);

  // Parameter handling GUI
  virtual void InvokeParameterPanel();

private:

  void ConfigureDevice();

protected:
  // device data
  k4a_device_t device;
  k4a_device_configuration_t config;
  k4a_calibration_t calibration;
  k4a_capture_t capture;
  k4a_image_t depth_image;
  k4a_image_t xy_table;

  // grabbing state
  bool started;
  bool locked;
  long long int frame_counter;

  // last processed point cloud (used for ZMap generation)
  Easy3D::EPointCloud point_cloud;

  // device user config
  k4a_depth_mode_t depth_mode;
  k4a_fps_t frame_rate;
};
