text: /*
   * Copyright (c) 2013, Willow Garage, Inc.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   *     * Redistributions of source code must retain the above copyright
   *       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.
   *     * Neither the name of the Willow Garage, Inc. nor the names of its
   *       contributors may be used to endorse or promote products derived from
   *       this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   *  Created on: Jan 22, 2013
   *      Author: jkammerl
   */
  
  #ifndef RVIZ_MULTI_LAYER_DEPTH_H_
  #define RVIZ_MULTI_LAYER_DEPTH_H_
  
  #include <boost/shared_ptr.hpp>
  #include <boost/thread/mutex.hpp>
  
  #include <sensor_msgs/Image.h>
  #include <sensor_msgs/PointCloud2.h>
  
  #include <vector>
  #include <exception>
  
  namespace rviz
  {
  class MultiLayerDepthException : public std::exception
  {
  public:
    MultiLayerDepthException(const std::string& error_msg) : std::exception(), error_msg_(error_msg)
    {
    }
    ~MultiLayerDepthException() throw() override
    {
    }
  
    const char* what() const throw() override
    {
      return error_msg_.c_str();
    }
  
  protected:
    std::string error_msg_;
  };
  
  class MultiLayerDepth
  {
  public:
    MultiLayerDepth() : shadow_time_out_(30.0), shadow_distance_(0.01){};
    virtual ~MultiLayerDepth()
    {
    }
  
    void setShadowTimeOut(double time_out)
    {
      shadow_time_out_ = time_out;
    }
  
    void enableOcclusionCompensation(bool occlusion_compensation)
    {
      occlusion_compensation_ = occlusion_compensation;
      reset();
    }
  
    sensor_msgs::PointCloud2Ptr
    generatePointCloudFromDepth(const sensor_msgs::ImageConstPtr& depth_msg,
                                const sensor_msgs::ImageConstPtr& color_msg,
                                sensor_msgs::CameraInfoConstPtr camera_info_msg);
    void reset()
    {
      if (occlusion_compensation_)
      {
        // reset shadow buffer
        memset(&shadow_depth_[0], 0, sizeof(float) * shadow_depth_.size());
        memset(&shadow_buffer_[0], 0, sizeof(uint8_t) * shadow_buffer_.size());
        memset(&shadow_timestamp_[0], 0, sizeof(double) * shadow_timestamp_.size());
      }
    }
  
  protected:
    /** @brief Precompute projection matrix, initialize buffers */
    void initializeConversion(const sensor_msgs::ImageConstPtr& depth_msg,
                              sensor_msgs::CameraInfoConstPtr& camera_info_msg);
  
    /** @brief Convert color data to RGBA format */
    template <typename T>
    void convertColor(const sensor_msgs::ImageConstPtr& color_msg, std::vector<uint32_t>& rgba_color_raw);
  
    /** @brief Generate single-layered depth cloud (depth only) */
    template <typename T>
    sensor_msgs::PointCloud2Ptr generatePointCloudSL(const sensor_msgs::ImageConstPtr& depth_msg,
                                                     std::vector<uint32_t>& rgba_color_raw);
  
    /** @brief Generate multi-layered depth cloud (depth+shadow) */
    template <typename T>
    sensor_msgs::PointCloud2Ptr generatePointCloudML(const sensor_msgs::ImageConstPtr& depth_msg,
                                                     std::vector<uint32_t>& rgba_color_raw);
  
    // Helpers to generate pointcloud2 message
    sensor_msgs::PointCloud2Ptr initPointCloud();
    void finalizingPointCloud(sensor_msgs::PointCloud2Ptr& point_cloud, std::size_t size);
  
    std::vector<float> projection_map_x_;
    std::vector<float> projection_map_y_;
  
    // shadow buffers
    std::vector<float> shadow_depth_;
    std::vector<double> shadow_timestamp_;
    std::vector<uint8_t> shadow_buffer_;
  
    // configuration
    bool occlusion_compensation_;
    double shadow_time_out_;
    float shadow_distance_;
  };
  
  } // namespace rviz
  #endif /* MULTI_LAYER_DEPTH_H_ */
  