package org.myrobotlab.boofcv;

/*
 * Copyright (c) 2011-2014, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

import boofcv.gui.image.ImagePanel;
import boofcv.gui.image.ShowImages;
import boofcv.gui.image.VisualizeImageData;
import boofcv.io.image.ConvertBufferedImage;
import boofcv.openkinect.StreamOpenKinectRgbDepth;
import boofcv.openkinect.UtilOpenKinect;
import boofcv.struct.image.GrayU16;
import boofcv.struct.image.GrayU8;
import boofcv.struct.image.Planar;
import org.openkinect.freenect.Context;
import org.openkinect.freenect.Device;
import org.openkinect.freenect.Freenect;
import org.openkinect.freenect.Resolution;

import java.awt.*;
import java.awt.image.BufferedImage;

/**
 * @author Peter Abeles
 */
public class KinectRGBDepth implements StreamOpenKinectRgbDepth.Listener {

  Resolution resolution = Resolution.MEDIUM;

  BufferedImage buffRgb;
  BufferedImage buffDepth;

  ImagePanel gui;

  public void process() {

    int w = UtilOpenKinect.getWidth(resolution);
    int h = UtilOpenKinect.getHeight(resolution);

    buffRgb = new BufferedImage(w, h, BufferedImage.TYPE_INT_RGB);
    buffDepth = new BufferedImage(w, h, BufferedImage.TYPE_INT_RGB);

    gui = ShowImages.showWindow(buffRgb, "Kinect Overlay");

    StreamOpenKinectRgbDepth stream = new StreamOpenKinectRgbDepth();
    Context kinect = Freenect.createContext();

    if (kinect.numDevices() < 0)
      throw new RuntimeException("No kinect found!");

    Device device = kinect.openDevice(0);
    stream.start(device, resolution, this);
  }

  @Override
  public void processKinect(Planar<GrayU8> rgb, GrayU16 depth, long timeRgb, long timeDepth) {
    VisualizeImageData.disparity(depth, buffDepth, 0, UtilOpenKinect.FREENECT_DEPTH_MM_MAX_VALUE, 0);
    ConvertBufferedImage.convertTo_U8(rgb, buffRgb, true);

    Graphics2D g2 = buffRgb.createGraphics();
    float alpha = 0.5f;
    int type = AlphaComposite.SRC_OVER;
    AlphaComposite composite = AlphaComposite.getInstance(type, alpha);
    g2.setComposite(composite);
    g2.drawImage(buffDepth, 0, 0, null);

    gui.repaint();
  }

  public static void main(String args[]) {
    KinectRGBDepth app = new KinectRGBDepth();
    app.process();
  }
}