vpOccipitalStructure.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * libStructure interface.
 */
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && defined(VISP_HAVE_THREADS)
#include <cstring>
#include <functional>
#include <iomanip>
#include <map>
#include <set>
#include <thread>
 
#include <ST/Utilities.h>
 
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/core/vpPoint.h>
#include <visp3/sensor/vpOccipitalStructure.h>
 
#define MANUAL_POINTCLOUD 1
 
BEGIN_VISP_NAMESPACE
  vpOccipitalStructure::vpOccipitalStructure() : m_invalidDepthValue(0.0f), m_maxZ(15000.0f) { }

vpOccipitalStructure::~vpOccipitalStructure() { close(); }

void vpOccipitalStructure::acquire(vpImage<unsigned char> &gray, bool undistorted, double *ts)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (m_delegate.m_visibleFrame.isValid()) {
    if (!undistorted)
      memcpy(gray.bitmap, m_delegate.m_visibleFrame.yData(), m_delegate.m_visibleFrame.ySize());
    else
      memcpy(gray.bitmap, m_delegate.m_visibleFrame.undistorted().yData(), m_delegate.m_visibleFrame.ySize());
 
    if (ts != nullptr)
      *ts = m_delegate.m_visibleFrame.arrivalTimestamp();
  }
 
  u.unlock();
}

void vpOccipitalStructure::acquire(vpImage<vpRGBa> &rgb, bool undistorted, double *ts)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (m_delegate.m_visibleFrame.isValid()) {
    // Detecting if it's a Color Structure Core device.
    if (m_delegate.m_cameraType == ST::StructureCoreCameraType::Color)
      vpImageConvert::RGBToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.rgbData()),
                                reinterpret_cast<unsigned char *>(rgb.bitmap),
                                m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
 
    else // If it's a monochrome Structure Core device.
    {
      if (!undistorted)
        vpImageConvert::GreyToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.yData()),
                                   reinterpret_cast<unsigned char *>(rgb.bitmap),
                                   m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
      else
        vpImageConvert::GreyToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.undistorted().yData()),
                                   reinterpret_cast<unsigned char *>(rgb.bitmap),
                                   m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
    }
 
    if (ts != nullptr)
      *ts = m_delegate.m_visibleFrame.arrivalTimestamp();
  }
 
  u.unlock();
}

void vpOccipitalStructure::acquire(vpImage<vpRGBa> *rgb, vpImage<vpRGBa> *depth, vpColVector *acceleration_data,
                                   vpColVector *gyroscope_data, bool undistorted, double *ts)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (rgb != nullptr && m_delegate.m_visibleFrame.isValid()) {
    // Detecting if it's a Color Structure Core device.
    if (m_delegate.m_cameraType == ST::StructureCoreCameraType::Color)
      vpImageConvert::RGBToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.rgbData()),
                                reinterpret_cast<unsigned char *>(rgb->bitmap),
                                m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
 
    else // If it's a monochrome Structure Core device.
    {
      if (!undistorted)
        vpImageConvert::GreyToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.yData()),
                                   reinterpret_cast<unsigned char *>(rgb->bitmap),
                                   m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
      else
        vpImageConvert::GreyToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.undistorted().yData()),
                                   reinterpret_cast<unsigned char *>(rgb->bitmap),
                                   m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
    }
 
    if (ts != nullptr)
      *ts = m_delegate.m_visibleFrame.arrivalTimestamp();
  }
 
  if (depth != nullptr && m_delegate.m_depthFrame.isValid())
    memcpy((unsigned char *)depth->bitmap, m_delegate.m_depthFrame.convertDepthToRgba(),
           m_delegate.m_depthFrame.width() * m_delegate.m_depthFrame.height() * 4);
 
  if (acceleration_data != nullptr) {
    ST::Acceleration accel = m_delegate.m_accelerometerEvent.acceleration();
    acceleration_data[0] = accel.x;
    acceleration_data[1] = accel.y;
    acceleration_data[2] = accel.z;
  }
 
  if (gyroscope_data != nullptr) {
    ST::RotationRate gyro_data = m_delegate.m_gyroscopeEvent.rotationRate();
    gyroscope_data[0] = gyro_data.x;
    gyroscope_data[1] = gyro_data.y;
    gyroscope_data[2] = gyro_data.z;
  }
 
  if (ts != nullptr) // By default, frames are synchronized.
    *ts = m_delegate.m_visibleFrame.arrivalTimestamp();
 
  u.unlock();
}

void vpOccipitalStructure::acquire(vpImage<unsigned char> *gray, vpImage<vpRGBa> *depth, vpColVector *acceleration_data,
                                   vpColVector *gyroscope_data, bool undistorted, double *ts)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (gray != nullptr && m_delegate.m_visibleFrame.isValid()) {
    if (!undistorted)
      memcpy(gray->bitmap, m_delegate.m_visibleFrame.yData(), m_delegate.m_visibleFrame.ySize());
    else
      memcpy(gray->bitmap, m_delegate.m_visibleFrame.undistorted().yData(), m_delegate.m_visibleFrame.ySize());
 
    if (ts != nullptr)
      *ts = m_delegate.m_visibleFrame.arrivalTimestamp();
  }
 
  if (depth != nullptr && m_delegate.m_depthFrame.isValid())
    memcpy((unsigned char *)depth->bitmap, m_delegate.m_depthFrame.convertDepthToRgba(),
           m_delegate.m_depthFrame.width() * m_delegate.m_depthFrame.height() * 4);
 
  if (acceleration_data != nullptr) {
    ST::Acceleration accel = m_delegate.m_accelerometerEvent.acceleration();
    acceleration_data[0] = accel.x;
    acceleration_data[1] = accel.y;
    acceleration_data[2] = accel.z;
  }
 
  if (gyroscope_data != nullptr) {
    ST::RotationRate gyro_data = m_delegate.m_gyroscopeEvent.rotationRate();
    gyroscope_data[0] = gyro_data.x;
    gyroscope_data[1] = gyro_data.y;
    gyroscope_data[2] = gyro_data.z;
  }
 
  if (ts != nullptr) // By default, frames are synchronized.
    *ts = m_delegate.m_visibleFrame.arrivalTimestamp();
 
  u.unlock();
}

void vpOccipitalStructure::acquire(unsigned char *const data_image, unsigned char *const data_depth,
                                   std::vector<vpColVector> *const data_pointCloud, unsigned char *const data_infrared,
                                   vpColVector *acceleration_data, vpColVector *gyroscope_data, bool undistorted,
                                   double *ts)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (m_delegate.m_depthFrame.isValid() && data_depth != nullptr)
    memcpy(data_depth, m_delegate.m_depthFrame.depthInMillimeters(),
           m_delegate.m_depthFrame.width() * m_delegate.m_depthFrame.height() * sizeof(float));
 
  if (m_delegate.m_visibleFrame.isValid() && data_image != nullptr) {
    if (m_delegate.m_cameraType == ST::StructureCoreCameraType::Color)
      vpImageConvert::RGBToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.rgbData()),
                                reinterpret_cast<unsigned char *>(data_image),
                                m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
 
    else // If it's a monochrome Structure Core device.
    {
      if (!undistorted)
        vpImageConvert::GreyToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.yData()),
                                   reinterpret_cast<unsigned char *>(data_image),
                                   m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
      else
        vpImageConvert::GreyToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.undistorted().yData()),
                                   reinterpret_cast<unsigned char *>(data_image),
                                   m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
    }
  }
 
  if (m_delegate.m_infraredFrame.isValid() && data_infrared != nullptr)
    memcpy(data_infrared, m_delegate.m_infraredFrame.data(),
           m_delegate.m_infraredFrame.width() * m_delegate.m_infraredFrame.height() * sizeof(uint16_t));
 
  if (data_pointCloud != nullptr)
    getPointcloud(*data_pointCloud);
 
  if (acceleration_data != nullptr) {
    ST::Acceleration accel = m_delegate.m_accelerometerEvent.acceleration();
    acceleration_data[0] = accel.x;
    acceleration_data[1] = accel.y;
    acceleration_data[2] = accel.z;
  }
 
  if (gyroscope_data != nullptr) {
    ST::RotationRate gyro_data = m_delegate.m_gyroscopeEvent.rotationRate();
    gyroscope_data[0] = gyro_data.x;
    gyroscope_data[1] = gyro_data.y;
    gyroscope_data[2] = gyro_data.z;
  }
 
  if (ts != nullptr) // By default, frames are synchronized.
    *ts = m_delegate.m_visibleFrame.arrivalTimestamp();
 
  u.unlock();
}
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
void vpOccipitalStructure::acquire(unsigned char *const data_image, unsigned char *const data_depth,
                                   std::vector<vpColVector> *const data_pointCloud,
                                   pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud, unsigned char *const data_infrared,
                                   vpColVector *acceleration_data, vpColVector *gyroscope_data, bool undistorted,
                                   double *ts)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (m_delegate.m_visibleFrame.isValid()) {
    if (m_delegate.m_cameraType == ST::StructureCoreCameraType::Color)
      vpImageConvert::RGBToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.rgbData()),
                                reinterpret_cast<unsigned char *>(data_image),
                                m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
 
    else // If it's a monochrome Structure Core device.
    {
      if (!undistorted)
        vpImageConvert::GreyToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.yData()),
                                   reinterpret_cast<unsigned char *>(data_image),
                                   m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
      else
        vpImageConvert::GreyToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.undistorted().yData()),
                                   reinterpret_cast<unsigned char *>(data_image),
                                   m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
    }
  }
 
  if (m_delegate.m_depthFrame.isValid() && data_depth != nullptr)
    memcpy(data_depth, m_delegate.m_depthFrame.depthInMillimeters(),
           m_delegate.m_depthFrame.width() * m_delegate.m_depthFrame.height() * sizeof(float));
 
  if (m_delegate.m_infraredFrame.isValid() && data_infrared != nullptr)
    memcpy(data_infrared, m_delegate.m_infraredFrame.data(),
           m_delegate.m_infraredFrame.width() * m_delegate.m_infraredFrame.height() * sizeof(uint16_t));
 
  if (data_pointCloud != nullptr)
    getPointcloud(*data_pointCloud);
 
  if (m_delegate.m_depthFrame.isValid() && pointcloud != nullptr)
    getPointcloud(pointcloud);
 
  if (acceleration_data != nullptr) {
    ST::Acceleration accel = m_delegate.m_accelerometerEvent.acceleration();
    acceleration_data[0] = accel.x;
    acceleration_data[1] = accel.y;
    acceleration_data[2] = accel.z;
  }
 
  if (gyroscope_data != nullptr) {
    ST::RotationRate gyro_data = m_delegate.m_gyroscopeEvent.rotationRate();
    gyroscope_data[0] = gyro_data.x;
    gyroscope_data[1] = gyro_data.y;
    gyroscope_data[2] = gyro_data.z;
  }
 
  if (ts != nullptr) // By default, frames are synchronized.
    *ts = m_delegate.m_visibleFrame.arrivalTimestamp();
 
  u.unlock();
}

void vpOccipitalStructure::acquire(unsigned char *const data_image, unsigned char *const data_depth,
                                   std::vector<vpColVector> *const data_pointCloud,
                                   pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
                                   unsigned char *const data_infrared, vpColVector *acceleration_data,
                                   vpColVector *gyroscope_data, bool undistorted, double *ts)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (m_delegate.m_depthFrame.isValid() && data_depth != nullptr)
    memcpy(data_depth, m_delegate.m_depthFrame.depthInMillimeters(),
           m_delegate.m_depthFrame.width() * m_delegate.m_depthFrame.height() * sizeof(float));
 
  if (m_delegate.m_visibleFrame.isValid() && data_image != nullptr) {
    if (m_delegate.m_cameraType == ST::StructureCoreCameraType::Color)
      vpImageConvert::RGBToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.rgbData()),
                                reinterpret_cast<unsigned char *>(data_image),
                                m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
 
    else // If it's a monochrome Structure Core device.
    {
      if (!undistorted)
        vpImageConvert::GreyToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.yData()),
                                   reinterpret_cast<unsigned char *>(data_image),
                                   m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
      else
        vpImageConvert::GreyToRGBa(const_cast<unsigned char *>(m_delegate.m_visibleFrame.undistorted().yData()),
                                   reinterpret_cast<unsigned char *>(data_image),
                                   m_delegate.m_visibleFrame.width() * m_delegate.m_visibleFrame.height());
    }
  }
 
  if (m_delegate.m_infraredFrame.isValid() && data_infrared != nullptr)
    memcpy(data_infrared, m_delegate.m_infraredFrame.data(),
           m_delegate.m_infraredFrame.width() * m_delegate.m_infraredFrame.height() * sizeof(uint16_t));
 
  if (m_delegate.m_depthFrame.isValid() && data_pointCloud != nullptr)
    getPointcloud(*data_pointCloud);
 
  if (m_delegate.m_depthFrame.isValid() && m_delegate.m_visibleFrame.isValid() && pointcloud != nullptr)
    getColoredPointcloud(pointcloud);
 
  if (acceleration_data != nullptr) {
    ST::Acceleration accel = m_delegate.m_accelerometerEvent.acceleration();
    acceleration_data[0] = accel.x;
    acceleration_data[1] = accel.y;
    acceleration_data[2] = accel.z;
  }
 
  if (gyroscope_data != nullptr) {
    ST::RotationRate gyro_data = m_delegate.m_gyroscopeEvent.rotationRate();
    gyroscope_data[0] = gyro_data.x;
    gyroscope_data[1] = gyro_data.y;
    gyroscope_data[2] = gyro_data.z;
  }
 
  if (ts != nullptr) // By default, frames are synchronized.
    *ts = m_delegate.m_visibleFrame.arrivalTimestamp();
 
  u.unlock();
}
 
#endif

void vpOccipitalStructure::getIMUVelocity(vpColVector *imu_vel, double *ts)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (imu_vel != nullptr) {
    imu_vel->resize(3, false);
    ST::RotationRate imu_rotationRate = m_delegate.m_gyroscopeEvent.rotationRate();
    (*imu_vel)[0] = imu_rotationRate.x;
    (*imu_vel)[1] = imu_rotationRate.y;
    (*imu_vel)[2] = imu_rotationRate.z;
  }
 
  if (ts != nullptr)
    *ts = m_delegate.m_gyroscopeEvent.arrivalTimestamp();
 
  u.unlock();
}

void vpOccipitalStructure::getIMUAcceleration(vpColVector *imu_acc, double *ts)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (imu_acc != nullptr) {
    imu_acc->resize(3, false);
    ST::Acceleration imu_acceleration = m_delegate.m_accelerometerEvent.acceleration();
    (*imu_acc)[0] = imu_acceleration.x;
    (*imu_acc)[1] = imu_acceleration.y;
    (*imu_acc)[2] = imu_acceleration.z;
  }
 
  if (ts != nullptr)
    *ts = m_delegate.m_accelerometerEvent.arrivalTimestamp();
 
  u.unlock();
}

void vpOccipitalStructure::getIMUData(vpColVector *imu_vel, vpColVector *imu_acc, double *ts)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
  double imu_vel_timestamp = 0., imu_acc_timestamp = 0.;
 
  if (imu_vel != nullptr) {
    imu_vel->resize(3, false);
    ST::RotationRate imu_rotationRate = m_delegate.m_gyroscopeEvent.rotationRate();
    (*imu_vel)[0] = imu_rotationRate.x;
    (*imu_vel)[1] = imu_rotationRate.y;
    (*imu_vel)[2] = imu_rotationRate.z;
    imu_vel_timestamp =
      m_delegate.m_gyroscopeEvent.arrivalTimestamp(); // Relative to an unspecified epoch. (see documentation).
  }
 
  if (imu_acc != nullptr) {
    imu_acc->resize(3, false);
    ST::Acceleration imu_acceleration = m_delegate.m_accelerometerEvent.acceleration();
    (*imu_acc)[0] = imu_acceleration.x;
    (*imu_acc)[1] = imu_acceleration.y;
    (*imu_acc)[2] = imu_acceleration.z;
    imu_acc_timestamp = m_delegate.m_accelerometerEvent.arrivalTimestamp();
  }
 
  if (ts != nullptr) {
    *ts = std::max<double>(imu_vel_timestamp, imu_acc_timestamp);
  }
 
  u.unlock();
}

bool vpOccipitalStructure::open(const ST::CaptureSessionSettings &settings)
{
  if (m_init) {
    close();
  }
 
  m_captureSession.setDelegate(&m_delegate);
 
  if (!m_captureSession.startMonitoring(settings)) {
    std::cout << "Failed to initialize capture session!" << std::endl;
    return false;
  }
 
  // This will lock the open() function until the CaptureSession
  // recieves the first frame or a timeout.
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  std::cv_status var =
    m_delegate.cv_sampleLock.wait_for(u, std::chrono::seconds(20)); // Make sure a device is connected.
 
// In case the device is not connected, open() should return false.
  if (var == std::cv_status::timeout) {
    m_init = false;
    return m_init;
  }
 
  m_init = true;
  m_captureSessionSettings = settings;
  return m_init;
}

void vpOccipitalStructure::close()
{
  if (m_init) {
    m_captureSession.stopStreaming();
    m_init = false;
  }
}

unsigned int vpOccipitalStructure::getWidth(vpOccipitalStructureStream stream_type)
{
  switch (stream_type) {
  case vpOccipitalStructureStream::visible:
    if (m_delegate.m_visibleFrame.isValid())
      return m_delegate.m_visibleFrame.width();
    break;
 
  case vpOccipitalStructureStream::depth:
    if (m_delegate.m_depthFrame.isValid())
      return m_delegate.m_depthFrame.width();
    break;
 
  case vpOccipitalStructureStream::infrared:
    if (m_delegate.m_infraredFrame.isValid())
      return m_delegate.m_infraredFrame.width();
    break;
 
  default:
    break;
  }
 
  return 0;
}

unsigned int vpOccipitalStructure::getHeight(vpOccipitalStructureStream stream_type)
{
  switch (stream_type) {
  case vpOccipitalStructureStream::visible:
    if (m_delegate.m_visibleFrame.isValid())
      return m_delegate.m_visibleFrame.height();
    break;
 
  case vpOccipitalStructureStream::depth:
    if (m_delegate.m_depthFrame.isValid())
      return m_delegate.m_depthFrame.height();
    break;
 
  case vpOccipitalStructureStream::infrared:
    if (m_delegate.m_infraredFrame.isValid())
      return m_delegate.m_infraredFrame.height();
    break;
 
  default:
    break;
  }
 
  return 0;
}

float vpOccipitalStructure::getDepth(int x, int y)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (m_delegate.m_depthFrame.isValid())
    return m_delegate.m_depthFrame(x, y);
 
  else
    return 0.;
 
  u.unlock();
}

// Return vpColVector
vpPoint vpOccipitalStructure::unprojectPoint(int row, int col)
{
  std::unique_lock<std::mutex> u(m_delegate.m_sampleLock);
  m_delegate.cv_sampleLock.wait(u);
 
  if (m_delegate.m_depthFrame.isValid()) {
    ST::Vector3f point_3D = m_delegate.m_depthFrame.unprojectPoint(row, col);
    return vpPoint(point_3D.x, point_3D.y, point_3D.z);
  }
 
  else // Should be returning invalid vpPoint.
    return vpPoint(0., 0., 0.);
 
  u.unlock();
}

vpHomogeneousMatrix vpOccipitalStructure::getTransform(const vpOccipitalStructureStream from,
                                                       const vpOccipitalStructureStream to)
{
  vpHomogeneousMatrix result;
 
  switch (from) {
  case vpOccipitalStructure::depth:
    if (to == vpOccipitalStructure::visible) {
      ST::Matrix4 v_M_d = m_delegate.m_depthFrame.visibleCameraPoseInDepthCoordinateFrame();
 
      result[0][0] = v_M_d.m00;
      result[0][1] = v_M_d.m10;
      result[0][2] = v_M_d.m20;
      result[0][3] = v_M_d.m30;
      result[1][0] = v_M_d.m01;
      result[1][1] = v_M_d.m11;
      result[1][2] = v_M_d.m21;
      result[1][3] = v_M_d.m31;
      result[2][0] = v_M_d.m02;
      result[2][1] = v_M_d.m12;
      result[2][2] = v_M_d.m22;
      result[2][3] = v_M_d.m32;
    }
 
    if (to == vpOccipitalStructure::imu) {
      ST::Matrix4 imu_M_d = m_captureSession.getImuFromDepthExtrinsics().inversed();
 
      result[0][0] = imu_M_d.m00;
      result[0][1] = imu_M_d.m10;
      result[0][2] = imu_M_d.m20;
      result[0][3] = imu_M_d.m30;
      result[1][0] = imu_M_d.m01;
      result[1][1] = imu_M_d.m11;
      result[1][2] = imu_M_d.m21;
      result[1][3] = imu_M_d.m31;
      result[2][0] = imu_M_d.m02;
      result[2][1] = imu_M_d.m12;
      result[2][2] = imu_M_d.m22;
      result[2][3] = imu_M_d.m32;
    }
    break;
 
  case vpOccipitalStructure::visible:
    if (to == vpOccipitalStructure::depth) {
      ST::Matrix4 d_M_v = m_delegate.m_depthFrame.visibleCameraPoseInDepthCoordinateFrame().inversed();
 
      result[0][0] = d_M_v.m00;
      result[0][1] = d_M_v.m10;
      result[0][2] = d_M_v.m20;
      result[0][3] = d_M_v.m30;
      result[1][0] = d_M_v.m01;
      result[1][1] = d_M_v.m11;
      result[1][2] = d_M_v.m21;
      result[1][3] = d_M_v.m31;
      result[2][0] = d_M_v.m02;
      result[2][1] = d_M_v.m12;
      result[2][2] = d_M_v.m22;
      result[2][3] = d_M_v.m32;
    }
 
    if (to == vpOccipitalStructure::imu) {
      ST::Matrix4 imu_M_v = m_captureSession.getImuFromVisibleExtrinsics().inversed();
 
      result[0][0] = imu_M_v.m00;
      result[0][1] = imu_M_v.m10;
      result[0][2] = imu_M_v.m20;
      result[0][3] = imu_M_v.m30;
      result[1][0] = imu_M_v.m01;
      result[1][1] = imu_M_v.m11;
      result[1][2] = imu_M_v.m21;
      result[1][3] = imu_M_v.m31;
      result[2][0] = imu_M_v.m02;
      result[2][1] = imu_M_v.m12;
      result[2][2] = imu_M_v.m22;
      result[2][3] = imu_M_v.m32;
    }
    break;
 
  case vpOccipitalStructure::infrared:
    break;
 
  case vpOccipitalStructure::imu:
    if (to == vpOccipitalStructure::depth) {
      ST::Matrix4 d_M_imu = m_captureSession.getImuFromDepthExtrinsics();
 
      result[0][0] = d_M_imu.m00;
      result[0][1] = d_M_imu.m10;
      result[0][2] = d_M_imu.m20;
      result[0][3] = d_M_imu.m30;
      result[1][0] = d_M_imu.m01;
      result[1][1] = d_M_imu.m11;
      result[1][2] = d_M_imu.m21;
      result[1][3] = d_M_imu.m31;
      result[2][0] = d_M_imu.m02;
      result[2][1] = d_M_imu.m12;
      result[2][2] = d_M_imu.m22;
      result[2][3] = d_M_imu.m32;
    }
 
    if (to == vpOccipitalStructure::visible) {
      ST::Matrix4 v_M_imu = m_captureSession.getImuFromVisibleExtrinsics();
 
      result[0][0] = v_M_imu.m00;
      result[0][1] = v_M_imu.m10;
      result[0][2] = v_M_imu.m20;
      result[0][3] = v_M_imu.m30;
      result[1][0] = v_M_imu.m01;
      result[1][1] = v_M_imu.m11;
      result[1][2] = v_M_imu.m21;
      result[1][3] = v_M_imu.m31;
      result[2][0] = v_M_imu.m02;
      result[2][1] = v_M_imu.m12;
      result[2][2] = v_M_imu.m22;
      result[2][3] = v_M_imu.m32;
    }
    break;
 
  default:
    break;
  }
 
  return result;
}

ST::Intrinsics vpOccipitalStructure::getIntrinsics(const vpOccipitalStructureStream stream_type) const
{
  ST::Intrinsics result;
 
  switch (stream_type) {
  case vpOccipitalStructure::visible:
    result = m_delegate.m_visibleFrame.intrinsics();
    break;
 
  case vpOccipitalStructure::depth:
    result = m_delegate.m_depthFrame.intrinsics();
    break;
 
  case vpOccipitalStructure::infrared:
    result = m_delegate.m_infraredFrame.intrinsics();
    break;
 
  default:
    // Deal with exceptions.
    break;
  }
 
  return result;
}

void vpOccipitalStructure::saveDepthImageAsPointCloudMesh(std::string &filename)
{
  m_delegate.m_depthFrame.saveImageAsPointCloudMesh(filename.c_str());
}

vpCameraParameters vpOccipitalStructure::getCameraParameters(const vpOccipitalStructureStream stream_type,
                                                             vpCameraParameters::vpCameraParametersProjType proj_type)
{
  ST::Intrinsics cam_intrinsics;
  switch (stream_type) {
  case vpOccipitalStructureStream::visible:
    cam_intrinsics = m_delegate.m_visibleFrame.intrinsics();
    if (proj_type == vpCameraParameters::perspectiveProjWithDistortion)
      m_visible_camera_parameters = vpCameraParameters(cam_intrinsics.fx, cam_intrinsics.fy, cam_intrinsics.cx,
                                                       cam_intrinsics.cy, cam_intrinsics.k1, -cam_intrinsics.k1);
 
    if (proj_type == vpCameraParameters::perspectiveProjWithoutDistortion)
      m_visible_camera_parameters =
      vpCameraParameters(cam_intrinsics.fx, cam_intrinsics.fy, cam_intrinsics.cx, cam_intrinsics.cy);
 
    return m_visible_camera_parameters;
    break;
 
  case vpOccipitalStructureStream::depth:
    cam_intrinsics = m_delegate.m_depthFrame.intrinsics();
    m_depth_camera_parameters =
      vpCameraParameters(cam_intrinsics.fx, cam_intrinsics.fy, cam_intrinsics.cx, cam_intrinsics.cy);
 
    return m_depth_camera_parameters;
    break;
 
  default: // Should throw exception for not having this type of extrinsic transforms.
    return vpCameraParameters();
    break;
  }
}
 
// Protected functions.
void vpOccipitalStructure::getPointcloud(std::vector<vpColVector> &pointcloud)
{
  ST::DepthFrame last_df = m_delegate.m_depthFrame;
  const int width = last_df.width();
  const int height = last_df.height();
  pointcloud.resize(static_cast<size_t>(width * height));
 
  const float *p_depth_frame = reinterpret_cast<const float *>(last_df.depthInMillimeters());
 
// Multi-threading if OpenMP
// Concurrent writes at different locations are safe
#pragma omp parallel for schedule(dynamic)
  for (int i = 0; i < height; i++) {
    auto depth_pixel_index = i * width;
 
    for (int j = 0; j < width; j++, depth_pixel_index++) {
      if (std::isnan(p_depth_frame[depth_pixel_index])) {
        pointcloud[static_cast<size_t>(depth_pixel_index)].resize(4, false);
        pointcloud[static_cast<size_t>(depth_pixel_index)][0] = m_invalidDepthValue;
        pointcloud[static_cast<size_t>(depth_pixel_index)][1] = m_invalidDepthValue;
        pointcloud[static_cast<size_t>(depth_pixel_index)][2] = m_invalidDepthValue;
        pointcloud[static_cast<size_t>(depth_pixel_index)][3] = 1.0;
        continue;
      }
 
      // Get the depth value of the current pixel
      auto pixels_distance = p_depth_frame[depth_pixel_index];
 
      ST::Vector3f point_3D = last_df.unprojectPoint(i, j);
 
      if (pixels_distance > m_maxZ)
        point_3D.x = point_3D.y = point_3D.z = m_invalidDepthValue;
 
      pointcloud[static_cast<size_t>(depth_pixel_index)].resize(4, false);
      pointcloud[static_cast<size_t>(depth_pixel_index)][0] = point_3D.x * 0.001;
      pointcloud[static_cast<size_t>(depth_pixel_index)][1] = point_3D.y * 0.001;
      pointcloud[static_cast<size_t>(depth_pixel_index)][2] = point_3D.z * 0.001;
      pointcloud[static_cast<size_t>(depth_pixel_index)][3] = 1.0;
    }
  }
}
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
void vpOccipitalStructure::getPointcloud(pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud)
{
  ST::DepthFrame last_df = m_delegate.m_depthFrame;
  const int width = last_df.width();
  const int height = last_df.height();
  pointcloud->width = static_cast<uint32_t>(width);
  pointcloud->height = static_cast<uint32_t>(height);
  pointcloud->resize(static_cast<size_t>(width * height));
 
#if MANUAL_POINTCLOUD // faster to compute manually when tested
  const float *p_depth_frame = reinterpret_cast<const float *>(last_df.depthInMillimeters());
 
  // Multi-threading if OpenMP
  // Concurrent writes at different locations are safe
#pragma omp parallel for schedule(dynamic)
  for (int i = 0; i < height; i++) {
    auto depth_pixel_index = i * width;
 
    for (int j = 0; j < width; j++, depth_pixel_index++) {
      if (p_depth_frame[depth_pixel_index] == 0) {
        pointcloud->points[static_cast<size_t>(depth_pixel_index)].x = m_invalidDepthValue;
        pointcloud->points[static_cast<size_t>(depth_pixel_index)].y = m_invalidDepthValue;
        pointcloud->points[static_cast<size_t>(depth_pixel_index)].z = m_invalidDepthValue;
        continue;
      }
 
      // Get the depth value of the current pixel
      auto pixels_distance = p_depth_frame[depth_pixel_index];
 
      // Get 3D coordinates in depth frame. (in mm)
      ST::Vector3f point_3D = last_df.unprojectPoint(i, j);
 
      if (pixels_distance > m_maxZ)
        point_3D.x = point_3D.y = point_3D.z = m_invalidDepthValue;
 
      pointcloud->points[static_cast<size_t>(depth_pixel_index)].x = point_3D.x * 0.001;
      pointcloud->points[static_cast<size_t>(depth_pixel_index)].y = point_3D.y * 0.001;
      pointcloud->points[static_cast<size_t>(depth_pixel_index)].z = point_3D.z * 0.001;
    }
  }
// #else
//   m_points = m_pointcloud.calculate(depth_frame);
//   auto vertices = m_points.get_vertices();
 
//   for (size_t i = 0; i < m_points.size(); i++) {
//     if (vertices[i].z <= 0.0f || vertices[i].z > m_maxZ) {
//       pointcloud->points[i].x = m_invalidDepthValue;
//       pointcloud->points[i].y = m_invalidDepthValue;
//       pointcloud->points[i].z = m_invalidDepthValue;
//     } else {
//       pointcloud->points[i].x = vertices[i].x;
//       pointcloud->points[i].y = vertices[i].y;
//       pointcloud->points[i].z = vertices[i].z;
//     }
//   }
#endif
}
 
void vpOccipitalStructure::getColoredPointcloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud)
{
  ST::DepthFrame last_df = m_delegate.m_depthFrame;
  ST::ColorFrame last_cf = m_delegate.m_visibleFrame;
 
  const int depth_width = last_df.width();
  const int depth_height = last_df.height();
  pointcloud->width = static_cast<uint32_t>(depth_width);
  pointcloud->height = static_cast<uint32_t>(depth_height);
  pointcloud->resize(static_cast<uint32_t>(depth_width * depth_height));
 
  const int color_width = last_cf.width();
  const int color_height = last_cf.height();
 
  const float *p_depth_frame = reinterpret_cast<const float *>(last_df.depthInMillimeters());
  const ST::Matrix4 depth2ColorExtrinsics = last_df.visibleCameraPoseInDepthCoordinateFrame(); // c_M_d
 
  const bool swap_rb = false;
  unsigned int nb_color_pixel = 3; // RGB image.
  const uint8_t *p_color_frame = static_cast<const uint8_t *>(last_cf.rgbData());
 
  const bool registered_streams = last_df.isRegisteredTo(last_cf);
 
  // Multi-threading if OpenMP
  // Concurrent writes at different locations are safe
#pragma omp parallel for schedule(dynamic)
  for (int i = 0; i < depth_height; i++) {
    auto depth_pixel_index = i * depth_width;
 
    for (int j = 0; j < depth_width; j++, depth_pixel_index++) {
      if (std::isnan(p_depth_frame[depth_pixel_index])) {
        pointcloud->points[static_cast<size_t>(depth_pixel_index)].x = m_invalidDepthValue;
        pointcloud->points[static_cast<size_t>(depth_pixel_index)].y = m_invalidDepthValue;
        pointcloud->points[static_cast<size_t>(depth_pixel_index)].z = m_invalidDepthValue;
 
        // For out of bounds color data, default to black.
#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
        unsigned int r = 0, g = 0, b = 0;
        uint32_t rgb = (static_cast<uint32_t>(r) << 16 | static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
 
        pointcloud->points[static_cast<size_t>(depth_pixel_index)].rgb = *reinterpret_cast<float *>(&rgb);
#else
        pointcloud->points[static_cast<size_t>(depth_pixel_index)].r = (uint8_t)0;
        pointcloud->points[static_cast<size_t>(depth_pixel_index)].g = (uint8_t)0;
        pointcloud->points[static_cast<size_t>(depth_pixel_index)].b = (uint8_t)0;
#endif
        continue;
      }
 
      // Get the depth value of the current pixel
      auto pixels_distance = p_depth_frame[depth_pixel_index];
 
      ST::Vector3f depth_point_3D = last_df.unprojectPoint(i, j);
 
      if (pixels_distance > m_maxZ) {
        depth_point_3D.x = depth_point_3D.y = depth_point_3D.z = m_invalidDepthValue;
      }
 
      pointcloud->points[static_cast<size_t>(depth_pixel_index)].x = depth_point_3D.x * 0.001;
      pointcloud->points[static_cast<size_t>(depth_pixel_index)].y = depth_point_3D.y * 0.001;
      pointcloud->points[static_cast<size_t>(depth_pixel_index)].z = depth_point_3D.z * 0.001;
 
      if (!registered_streams) {
 
        ST::Vector3f color_point_3D = depth2ColorExtrinsics * depth_point_3D;
 
        ST::Vector2f color_pixel;
        color_pixel.x = -1;
        color_pixel.y = -1;
        if (color_point_3D.z != 0) {
          double x, y, pixel_x = 0., pixel_y = 0.;
          x = static_cast<double>(color_point_3D.y / color_point_3D.z);
          y = static_cast<double>(color_point_3D.x / color_point_3D.z);
          vpMeterPixelConversion::convertPoint(m_visible_camera_parameters, y, x, pixel_y, pixel_x);
          color_pixel.x = pixel_x;
          color_pixel.y = pixel_y;
        }
 
        if (color_pixel.y < 0 || color_pixel.y >= color_height || color_pixel.x < 0 || color_pixel.x >= color_width) {
          // For out of bounds color data, default to a shade of blue in order to visually distinguish holes.
#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
          unsigned int r = 0, g = 0, b = 0;
          uint32_t rgb = (static_cast<uint32_t>(r) << 16 | static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
 
          pointcloud->points[static_cast<size_t>(depth_pixel_index)].rgb = *reinterpret_cast<float *>(&rgb);
#else
          pointcloud->points[static_cast<size_t>(depth_pixel_index)].r = (uint8_t)0;
          pointcloud->points[static_cast<size_t>(depth_pixel_index)].g = (uint8_t)0;
          pointcloud->points[static_cast<size_t>(depth_pixel_index)].b = (uint8_t)0;
#endif
        }
        else {
          unsigned int i_ = static_cast<unsigned int>(color_pixel.x);
          unsigned int j_ = static_cast<unsigned int>(color_pixel.y);
 
#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
          uint32_t rgb = 0;
          if (swap_rb) {
            rgb =
              (static_cast<uint32_t>(p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel]) |
               static_cast<uint32_t>(p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel + 1]) << 8 |
               static_cast<uint32_t>(p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel + 2])
                   << 16);
          }
          else {
            rgb =
              (static_cast<uint32_t>(p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel]) << 16 |
               static_cast<uint32_t>(p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel + 1]) << 8 |
               static_cast<uint32_t>(p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel + 2]));
          }
 
          pointcloud->points[static_cast<size_t>(i * depth_width + j)].rgb = *reinterpret_cast<float *>(&rgb);
#else
          if (swap_rb) {
            pointcloud->points[static_cast<size_t>(depth_pixel_index)].b =
              p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel];
            pointcloud->points[static_cast<size_t>(depth_pixel_index)].g =
              p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel + 1];
            pointcloud->points[static_cast<size_t>(depth_pixel_index)].r =
              p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel + 2];
          }
          else {
            pointcloud->points[static_cast<size_t>(depth_pixel_index)].r =
              p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel];
            pointcloud->points[static_cast<size_t>(depth_pixel_index)].g =
              p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel + 1];
            pointcloud->points[static_cast<size_t>(depth_pixel_index)].b =
              p_color_frame[(i_ * static_cast<unsigned int>(color_width) + j_) * nb_color_pixel + 2];
          }
#endif
        }
      }
      else {
#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
        uint32_t rgb = 0;
        if (swap_rb) {
          rgb = (static_cast<uint32_t>(p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel]) |
                 static_cast<uint32_t>(p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel + 1]) << 8 |
                 static_cast<uint32_t>(p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel + 2]) << 16);
        }
        else {
          rgb = (static_cast<uint32_t>(p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel]) << 16 |
                 static_cast<uint32_t>(p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel + 1]) << 8 |
                 static_cast<uint32_t>(p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel + 2]));
        }
 
        pointcloud->points[static_cast<size_t>(i * depth_width + j)].rgb = *reinterpret_cast<float *>(&rgb);
#else
        if (swap_rb) {
          pointcloud->points[static_cast<size_t>(depth_pixel_index)].b =
            p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel];
          pointcloud->points[static_cast<size_t>(depth_pixel_index)].g =
            p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel + 1];
          pointcloud->points[static_cast<size_t>(depth_pixel_index)].r =
            p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel + 2];
        }
        else {
          pointcloud->points[static_cast<size_t>(depth_pixel_index)].r =
            p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel];
          pointcloud->points[static_cast<size_t>(depth_pixel_index)].g =
            p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel + 1];
          pointcloud->points[static_cast<size_t>(depth_pixel_index)].b =
            p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel + 2];
        }
#endif
      }
    }
  }
}
 
#endif
END_VISP_NAMESPACE
#endif