/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/PointCloudCreatorCL.h              **
** Module : ICLGeom                                                **
** Authors: Andre Ueckermann                                       **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLUtils/CompatMacros.h>
#include <ICLGeom/PointCloudObjectBase.h>
#include <ICLCore/Img.h>
#include <ICLMath/FixedVector.h>

#ifdef ICL_HAVE_OPENCL    
#include <ICLUtils/CLProgram.h>
#include <ICLUtils/CLKernel.h>
#include <ICLUtils/CLBuffer.h>
#endif

namespace icl{
  namespace geom{
    /**
       This class is used in PointCloudCreator for GPU-parallelized pointcloud creation*/
    class PointCloudCreatorCL{
  	
     public:
      ///Constructor
      /** Constructs an object of this class.
          @param size size of the input core::depth image and output pointcloud
          @param dirs view ray directions calculated in PointCloudCreator*/
      ICLGeom_API PointCloudCreatorCL(utils::Size size, const utils::Array2D<Vec> &dirs); 
  	
      ///Destructor
      ICLGeom_API ~PointCloudCreatorCL();
  	  	
      /// updates the internally used direction vectors
      /** the underlying chip size must not change, otherwise, and exception is thrown */
      ICLGeom_API void setDirectionVectors(const utils::Array2D<Vec> &dirs) throw (utils::ICLException);
      
      ///Creates a uncolored pointcloud (called from PointCloudCreator)
      ICLGeom_API void create(bool NEEDS_RAW_TO_MM_MAPPING,const core::Img32f *depthValues, 
                        const Vec O, const int DEPTH_DIM, 
                        core::DataSegment<float,3> xyz, const utils::Array2D<Vec> &dirs, float depthScaling);
      
      ///Creates a RGBD-mapped pointcloud (called from PointCloudCreator)
      ICLGeom_API void createRGB(bool NEEDS_RAW_TO_MM_MAPPING, const core::Img32f *depthValues, const Mat M,
                           const Vec O, const unsigned int COLOR_W, const unsigned int COLOR_H, const int DEPTH_DIM, 
                           core::DataSegment<float,3> xyz, core::DataSegment<float,4> rgba,
                           const core::Img8u *rgbIn,const utils::Array2D<Vec> &dirs, float depthScaling);
  	
      /// Returns the openCL status (true=openCL context ready, false=no openCL context available)
      /**        @return openCL context ready/unavailable */
      ICLGeom_API bool isCLReady();
  	  	
     private:
      bool clReady;
      utils::Size size;
    #ifdef ICL_HAVE_OPENCL
      //OpenCL data

      //float* depthValuesArray;
      //	  unsigned char* rInArray;
      //unsigned char* gInArray;
      //unsigned char* bInArray;
  	  float* xyzData;
  	  math::FixedColVector<float, 4>* rgbaData;
  	
      //OpenCL
      utils::CLProgram program;

      utils::CLKernel kernelCreate;
      utils::CLKernel kernelCreateRGB;

      utils::CLBuffer depthValuesBuffer;
      utils::CLBuffer matrixBuffer;
      utils::CLBuffer xyzBuffer;
      utils::CLBuffer rgbaBuffer;
      utils::CLBuffer rInBuffer;
      utils::CLBuffer gInBuffer;
      utils::CLBuffer bInBuffer;
      utils::CLBuffer dirsBuffer;

    #endif
    };
  } // namespace geom
}