/*

This file is part of the Structure SDK.

Copyright © 2015 Occipital, Inc. All rights reserved.

http://structure.io

*/

#import <UIKit/UIKit.h>

#import <AVFoundation/AVFoundation.h>

#import <CoreMotion/CoreMotion.h>

#define HAS_LIBCXX

#import <Structure/Structure.h>

#import "GPUImage.h"

#include <string>

#include <vector>

#import "Config.h"

struct Options //TODO get rid of mesh view/tracking params

{

// Whether we should use depth aligned to the color viewpoint when Structure Sensor was calibrated.

// This setting may get overwritten to false if no color camera can be used.

bool useHardwareRegisteredDepth = false;

// Focus position for the color camera (between 0 and 1). Must remain fixed one depth streaming

// has started when using hardware registered depth.

const float lensPosition = 0.75f;

unsigned int colorEncodeBitrate = 5000;

//meta-data (res, intrinsics)

unsigned int colorWidth = 640;

unsigned int colorHeight = 480;

unsigned int depthWidth = 640;

unsigned int depthHeight = 480;

float colorFocalX = 578.0f; float colorFocalY = 578.0f; float colorCenterX = 320.0f; float colorCenterY = 240.0f; //default for VGA

float depthFocalX = 570.5f; float depthFocalY = 570.5f; float depthCenterX = 320.0f; float depthCenterY = 240.0f; //default for VGA

bool useHalfResColor = false;

float colorToDepthExtrinsics[16];

std::string sceneLabel = "";

std::string deviceId = "";

std::string deviceName = "";

std::string specifiedSceneType = "";

std::string userName = "";

};

enum ScannerState

{

// scene label - wait for label (can't can until have one)

ScannerStateSceneLabelling = 0,

// before scanning (let user toggle awb, find good first frame)

ScannerStateCubePlacement,

// Scanning (scan!)

ScannerStateScanning,

// View all uploads

ScannerStateViewing,

NumStates

};

// SLAM-related members.

struct SlamData

{

SlamData ()

: initialized (false)

, scannerState (ScannerStateCubePlacement)

{}

BOOL initialized;

BOOL showingMemoryWarning = false;

NSTimeInterval prevFrameTimeStamp = -1.0;

ScannerState scannerState;

};

struct AppStatus

{

NSString* const pleaseConnectSensorMessage = @"Please connect Structure Sensor.";

NSString* const pleaseChargeSensorMessage = @"Please charge Structure Sensor.";

NSString* const needColorCameraAccessMessage = @"This app requires camera access to capture color.\nAllow access by going to Settings → Privacy → Camera.";

NSString* const needIntrinsicsMessage = @"No intrinsics received. Please restart the app.";

enum SensorStatus

{

SensorStatusOk,

SensorStatusNeedsUserToConnect,

SensorStatusNeedsUserToCharge,

SensorStatusNeedsIntrinsics,

};

// Structure Sensor status.

SensorStatus sensorStatus = SensorStatusOk;

// Whether iOS camera access was granted by the user.

bool colorCameraIsAuthorized = true;

// Whether there is currently a message to show.

bool needsDisplayOfStatusMessage = false;

// Flag to disable entirely status message display.

bool statusMessageDisabled = false;

};

// Display related members.

struct DisplayData

{

DisplayData ()

{

}

~DisplayData ()

{

if (lumaTexture)

{

CFRelease (lumaTexture);

lumaTexture = NULL;

}

if (chromaTexture)

{

CFRelease (chromaTexture);

lumaTexture = NULL;

}

if (videoTextureCache)

{

CFRelease(videoTextureCache);

videoTextureCache = NULL;

}

/*

if (corners)

{

corners = NULL;

}*/

}

// OpenGL context.

EAGLContext *context;

// OpenGL Texture reference for y images.

CVOpenGLESTextureRef lumaTexture;

// OpenGL Texture reference for color images.

CVOpenGLESTextureRef chromaTexture;

// OpenGL Texture cache for the color camera.

CVOpenGLESTextureCacheRef videoTextureCache;

// Shader to render a GL texture as a simple quad.

STGLTextureShaderYCbCr *yCbCrTextureShader;

STGLTextureShaderRGBA *rgbaTextureShader;

STGLTextureShaderGray *grayTextureShader;

GLuint depthAsRgbaTexture;

GLuint grayTexture;

//uint8_t* cornerBuffer;

// Renders the volume boundaries as a cube.

//STCubeRenderer *cubeRenderer;

// OpenGL viewport.

GLfloat viewport[4];

// OpenGL projection matrix for the color camera.

GLKMatrix4 colorCameraGLProjectionMatrix = GLKMatrix4Identity;

// OpenGL projection matrix for the depth camera.

GLKMatrix4 depthCameraGLProjectionMatrix = GLKMatrix4Identity;

};

@interface ViewController : UIViewController <STBackgroundTaskDelegate, //MeshViewDelegate,

UIPopoverControllerDelegate, UIGestureRecognizerDelegate, NSURLSessionTaskDelegate, UITableViewDelegate, UITableViewDataSource, UIPickerViewDataSource, UIPickerViewDelegate>

{

// Structure Sensor controller.

STSensorController *_sensorController;

STStreamConfig _structureStreamConfig;

SlamData _slamState;

Options _options;

// Manages the app status messages.

AppStatus _appStatus;

DisplayData _display;

// Most recent gravity vector from IMU.

GLKVector3 _lastGravity;

// Scale of the scanning volume.

//PinchScaleState _volumeScale;

// IMU handling.

CMMotionManager *_motionManager;

NSOperationQueue *_imuQueue;

NSOperationQueue *_uploadQueue;

NSOperationQueue *_verifyQueue;

STDepthToRgba *_depthAsRgbaVisualizer;

bool _useColorCamera;

bool _renderDepthOverlay;

FILE *g_imuFile;

NSLock* g_imuLock;

unsigned int g_numIMUmeasurements;

FILE *g_cameraFile;

NSLock* g_cameraLock;

std::vector<NSTimeInterval> _colorTimestamps; // NSTimeInterval : double

std::vector<NSTimeInterval> _depthTimestamps; // NSTimeInterval : double

NSTimer *uploadErrorTimer;

NSUInteger blinkCounter;

NSMutableArray *myScanData;

NSMutableArray *sceneTypes;

NSString* specifiedSceneType;

NSMutableArray *corners;

//For Upload Task

NSURLSession *defaultSession;

int numPreviousCorners[12];

int numPrevFramesTracked;

NSArray *exposureLevels;

NSString* exposureValue;

}

@property (weak, nonatomic) IBOutlet UIButton *toggleDepthButton;

@property (weak, nonatomic) IBOutlet UIButton *uploadButton;

@property (weak, nonatomic) IBOutlet UITextField *sceneLabelField;

@property (weak, nonatomic) IBOutlet UIView *sceneLabelFieldView;

@property (weak, nonatomic) IBOutlet UIProgressView *memProgressView;

@property (weak, nonatomic) IBOutlet UIView *memProgressFieldView;

@property (weak, nonatomic) IBOutlet UITextField *userNameField;

@property (weak, nonatomic) IBOutlet UIView *optionsView;

@property (weak, nonatomic) IBOutlet UISegmentedControl *colorResControl;

@property (nonatomic, retain) AVCaptureSession *avCaptureSession;

@property (nonatomic, retain) AVCaptureDevice *videoDevice;

@property (weak, nonatomic) IBOutlet UILabel *appStatusMessageLabel;

@property (weak, nonatomic) IBOutlet UIButton *scanButton;

@property (weak, nonatomic) IBOutlet UIButton *resetButton;

@property (weak, nonatomic) IBOutlet UIButton *doneButton;

@property (weak, nonatomic) IBOutlet UILabel *trackingLostLabel;

@property (weak, nonatomic) IBOutlet UIProgressView *progressView;

@property (weak, nonatomic) IBOutlet UILabel *uploadErrorIndicator;

@property (weak, nonatomic) IBOutlet UIButton *viewScans;

@property (weak, nonatomic) IBOutlet UITableView *exposureTable;

@property (nonatomic, retain) IBOutlet UITableView *tableView;

@property (weak, nonatomic) IBOutlet UILabel *tooCloseLabel;

@property (weak, nonatomic) IBOutlet UIProgressView *numCornersProgressView;

@property (weak, nonatomic) IBOutlet UIButton *changeExposure;

@property (weak, nonatomic) IBOutlet UILabel *AWBLabel;

//@property (weak, nonatomic) IBOutlet UILabel *percentTooClose;

@property (weak, nonatomic) IBOutlet UILabel *losingTrackingLabel;

@property (weak, nonatomic) IBOutlet UIPickerView *pickSceneType;

@property (weak, nonatomic) IBOutlet UILabel *uploadErrorDescription;

@property (weak, nonatomic) IBOutlet UISwitch *AWBSwitch;

- (IBAction)awbSwitchChanged:(id)sender;

- (IBAction)indexChanged:(UISegmentedControl *)sender;

//- (IBAction)enableNewTrackerSwitchChanged:(id)sender;

- (IBAction)scanButtonPressed:(id)sender;

- (IBAction)resetButtonPressed:(id)sender;

- (IBAction)doneButtonPressed:(id)sender;

- (IBAction)uploadButtonPressed:(id)sender;

- (IBAction)sceneLabelFieldEdited:(id)sender;

- (IBAction)toggleDepthButtonPressed:(id)sender;

- (IBAction)viewScansPressed:(id)sender;

- (IBAction)userNameFieldEdited:(id)sender;

- (IBAction)changeExposurePressed:(id)sender;

//- (NSInteger)tableView:(UITableView *)tableView numberOfRowsInSection:(NSInteger)section;

//- (UITableView *)tableView:(UITableView *)tableView cellForRowAtIndexPath:(NSIndexPath *)indexPath;

- (BOOL)isConnectedToWIFI;

- (void)enterSceneLabellingState;

- (void)enterCubePlacementState;

- (void)enterScanningState;

- (void)enterViewingState;

- (void)updateAppStatusMessage;

- (BOOL)currentStateNeedsSensor;

- (void)updateIdleTimer;

- (void)showTrackingMessage:(NSString*)message;

- (void)hideTrackingErrorMessage;

- (void)updateColorRes:(NSInteger)index;

- (void)loadOptions;

- (void)loadSceneLabel;

- (void)cleanUpAndReset;

- (void)blinkUploadErrorIndicator;

@end