text: /*
   * Software License Agreement (BSD License)
   *
   *  Point Cloud Library (PCL) - www.pointclouds.org
   *  Copyright (c) 2012-, Open Perception, Inc.
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   *  All rights reserved.
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   *  are met:
   *
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   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
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   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
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   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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   */
  
  #include <pcl/stereo/stereo_grabber.h>
  #include <pcl/point_cloud.h>
  #include <pcl/point_types.h>
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  //////////////////////// GrabberImplementation //////////////////////
  struct pcl::StereoGrabberBase::StereoGrabberImpl
  {
    StereoGrabberImpl (pcl::StereoGrabberBase& grabber,
                       const std::pair<std::string, std::string>& pair_files,
                       float frames_per_second,
                       bool repeat);
    StereoGrabberImpl (pcl::StereoGrabberBase& grabber,
                       const std::vector<std::pair<std::string, std::string> >& files,
                       float frames_per_second,
                       bool repeat);
    void trigger ();
    void readAhead ();
    
    pcl::StereoGrabberBase& grabber_;
    float frames_per_second_;
    bool repeat_;
    bool running_;
    std::vector<std::pair<std::string, std::string> > pair_files_;
    std::vector<std::pair<std::string, std::string> >::iterator pair_iterator_;
    TimeTrigger time_trigger_;
  
    pcl::PCLPointCloud2 next_cloud_;
    Eigen::Vector4f origin_;
    Eigen::Quaternionf orientation_;
    bool valid_;
  };
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  pcl::StereoGrabberBase::StereoGrabberImpl::StereoGrabberImpl (pcl::StereoGrabberBase& grabber,
                                                                const std::pair<std::string, std::string>& pair_files,
                                                                float frames_per_second,
                                                                bool repeat)
    : grabber_ (grabber)
    , frames_per_second_ (frames_per_second)
    , repeat_ (repeat)
    , running_ (false)
    , pair_files_ ()
    , pair_iterator_ ()
    , time_trigger_ (1.0 / static_cast<double> (std::max (frames_per_second, 0.001f)), boost::bind (&StereoGrabberImpl::trigger, this))
    , next_cloud_ ()
    , origin_ ()
    , orientation_ ()
    , valid_ (false)
  {
    pair_files_.push_back (pair_files);
    pair_iterator_ = pair_files_.begin ();
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  pcl::StereoGrabberBase::StereoGrabberImpl::StereoGrabberImpl (pcl::StereoGrabberBase& grabber,
                                                                const std::vector<std::pair<std::string, std::string> >& files,
                                                                float frames_per_second,
                                                                bool repeat)
    : grabber_ (grabber)
    , frames_per_second_ (frames_per_second)
    , repeat_ (repeat)
    , running_ (false)
    , pair_files_ ()
    , pair_iterator_ ()
    , time_trigger_ (1.0 / static_cast<double> (std::max (frames_per_second, 0.001f)), boost::bind (&StereoGrabberImpl::trigger, this))
    , next_cloud_ ()
    , origin_ ()
    , orientation_ ()
    , valid_ (false)
  {
    pair_files_ = files;
    pair_iterator_ = pair_files_.begin ();
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  void 
  pcl::StereoGrabberBase::StereoGrabberImpl::readAhead ()
  {
    if (pair_iterator_ != pair_files_.end ())
    {
      // read next image pair and produce a cloud
      //valid_ = //(reader.read (*pair_iterator_, next_cloud_, origin_, orientation_, pcd_version) == 0);
  
      if (++pair_iterator_ == pair_files_.end () && repeat_)
        pair_iterator_ = pair_files_.begin ();
    }
    else
      valid_ = false;
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  void 
  pcl::StereoGrabberBase::StereoGrabberImpl::trigger ()
  {
    // If the stereo image pair was successfully read and a cloud was produced, simply publish it
    if (valid_)
      grabber_.publish (next_cloud_, origin_, orientation_);
  
    // use remaining time, if there is time left!
    readAhead ();
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  //////////////////////// GrabberBase //////////////////////
  pcl::StereoGrabberBase::StereoGrabberBase (const std::pair<std::string, std::string>& pair_files,
                                             float frames_per_second,
                                             bool repeat)
    : impl_ (new StereoGrabberImpl (*this, pair_files, frames_per_second, repeat))
  {
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  pcl::StereoGrabberBase::StereoGrabberBase (const std::vector<std::pair<std::string, std::string> >& files,
                                             float frames_per_second,
                                             bool repeat)
    : impl_ (new StereoGrabberImpl (*this, files, frames_per_second, repeat))
  {
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  pcl::StereoGrabberBase::~StereoGrabberBase () throw ()
  {
    stop ();
    delete impl_;
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  void 
  pcl::StereoGrabberBase::start ()
  {
    if (impl_->frames_per_second_ > 0)
    {
      impl_->running_ = true;
      impl_->time_trigger_.start ();
    }
    else // manual trigger
      impl_->trigger ();
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  void 
  pcl::StereoGrabberBase::stop ()
  {
    if (impl_->frames_per_second_ > 0)
    {
      impl_->time_trigger_.stop ();
      impl_->running_ = false;
    }
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  void
  pcl::StereoGrabberBase::trigger ()
  {
    if (impl_->frames_per_second_ > 0)
      return;
    impl_->trigger ();
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  bool 
  pcl::StereoGrabberBase::isRunning () const
  {
    return (impl_->running_);
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  std::string 
  pcl::StereoGrabberBase::getName () const
  {
    return ("StereoGrabber");
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  void 
  pcl::StereoGrabberBase::rewind ()
  {
    impl_->pair_iterator_ = impl_->pair_files_.begin ();
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  float 
  pcl::StereoGrabberBase::getFramesPerSecond () const
  {
    return (impl_->frames_per_second_);
  }
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  bool 
  pcl::StereoGrabberBase::isRepeatOn () const
  {
    return (impl_->repeat_);
  }
  
  