/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Copyright (c) 2016 Raytrix GmbH. All rights reserved.
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

/************************************************************************/
/*  This example demonstrates:                                          */
/*      - Loading of an image with the MGPU runtime                     */
/*      - Loading and applying of a parameter set                       */
/*      - Calculating and displaying Total Focus image                  */
/*      - Loading and applying of another parameter set                 */
/*      - Calculating and displaying color depth map                    */
/************************************************************************/

using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using System;

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// namespace: Example.LFR.CS.BasicD
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
namespace Example.LFR.CS.BasicD
{
	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	/// <summary>
	///     Multiple Cameras one GPU synchronous.
	/// </summary>
	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	class Example
	{
		/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
		/// <summary>
		///     Runs this example.
		/// </summary>
		///
		/// <returns> The return code. </returns>
		/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
		public int Run()
		{
			System.Console.WriteLine("Initializing visualization...");
			// Create the visualization
			CLUViz.Net.Tool.Init();

			int iHandle1 = CLUViz.Net.Tool.CreateViewImage(0, 0, 1000, 800, "");
			int iHandle2 = CLUViz.Net.Tool.CreateViewImage(1000, 0, 1000, 800, "");

			System.Console.WriteLine("Initializing Runtime and Cuda...");
			/************************************************************************/
			/* Authenticate LFR                                                     */
			/************************************************************************/
			Rx.LFR.Net.LightFieldRuntime.Authenticate();

			// <summary> Initialize the calibration manager. </summary>
			Rx.LFR.Net.CalibrationManager.Initialize();

			// Enumerate all CUDA devices at the beginning
			Rx.LFR.Net.Cuda.EnumerateCudaDevices();

			// Initialize the Cuda compute instance
			Rx.LFR.Net.CudaCompute xCudaCompute = new Rx.LFR.Net.CudaCompute();
			xCudaCompute.SetCudaDevice(Rx.LFR.Net.Cuda.GetDevice(0));
			xCudaCompute.GetParams().SetValue(Rx.LFR.Net.Params.ECudaCompute.PreProc_DataType, (uint) Rx.InteropNet.Runtime28.EDataType.UByte);

			// Read all paths
			System.Console.WriteLine("Please enter image path: ");
			System.String xImagePath = System.Console.ReadLine();
			if (!System.IO.File.Exists(xImagePath))
			{
				System.Console.WriteLine("File does not exist!");
				return -1;
			}

			System.Console.WriteLine("Please enter total focus image settings path: ");
			System.String xTotalFocusSettingsPath = System.Console.ReadLine();
			if (!System.IO.File.Exists(xTotalFocusSettingsPath))
			{
				System.Console.WriteLine("File does not exist!");
				return -1;
			}

			System.Console.WriteLine("Please enter depth settings path: ");
			System.String xDepthSettingsPath = System.Console.ReadLine();
			if (!System.IO.File.Exists(xDepthSettingsPath))
			{
				System.Console.WriteLine("File does not exist!");
				return -1;
			}

			System.Console.WriteLine("Processing Image...");

			/************************************************************************/
			/* Process Image                                                        */
			/************************************************************************/
			System.Console.WriteLine("  - Reading image source...");
			Rx.LFR.Net.RayImage xImage = new Rx.LFR.Net.RayImage();
			Rx.LFR.Net.RayFileReader.Read(xImagePath, xImage);
			xCudaCompute.ApplyCalibration(xImage.GetCalibration(), true);

			System.Console.WriteLine("  - Uploading raw image to cuda device...");
			xCudaCompute.UploadRawImage(xImage);

			System.Console.WriteLine("  - Loading and applying total focus parameter settings...");
			xCudaCompute.GetParams().ImportFromFile(xTotalFocusSettingsPath);

			System.Console.WriteLine("  - Computing total focus...");
			// Calculate total focus image
			xCudaCompute.Compute_PreProcess();
			xCudaCompute.Compute_RefocusBasic();
			xCudaCompute.Compute_DepthRay();
			xCudaCompute.Compute_DepthMap(Rx.LFR.Net.ESpace.View_Object_Pinhole);
			xCudaCompute.Compute_TotalFocus(Rx.LFR.Net.ESpace.View_Object_Pinhole);

			// Get the image access interface. This interface allows:
			// * Download CUDA image into host memory
			// * Upload a host image to CUDA to overwrite a certain CUDA image
			// * Access to CUDA device pointer to do own CUDA image processing
			Rx.LFR.Net.ICudaDataImages xImages = (xCudaCompute.GetInterface(Rx.LFR.Net.Interfaces.ECudaCompute.Images)) as Rx.LFR.Net.ICudaDataImages;

			System.Console.WriteLine("  - Downloading total focus image...");
			Rx.Net.Image xTotalFocusImage = new Rx.Net.Image();
			xImages.Download(Rx.LFR.Net.EImage.TotalFocus_View_Object_Pinhole, xTotalFocusImage);
			CLUViz.Net.Tool.ViewSetImage(iHandle1, xTotalFocusImage);

			System.Console.WriteLine("  - Loading and applying depth parameter settings...");
			xCudaCompute.GetParams().ImportFromFile(xDepthSettingsPath);

			System.Console.WriteLine("  - Computing depth...");
			// Calculate colored depth map image
			xCudaCompute.Compute_PreProcess();
			xCudaCompute.Compute_RefocusBasic();
			xCudaCompute.Compute_DepthRay();
			xCudaCompute.Compute_DepthMap(Rx.LFR.Net.ESpace.View_Object_Pinhole);
			xCudaCompute.Compute_Depth3D();
			xCudaCompute.Compute_DepthColorCode(Rx.LFR.Net.ESpace.View_Object_Pinhole);

			System.Console.WriteLine("  - Downloading depth image...");
			Rx.Net.Image xColoredDepthMapImage = new Rx.Net.Image();
			xImages.Download(Rx.LFR.Net.EImage.DepthMapColored_View_Object_Pinhole, xColoredDepthMapImage);
			CLUViz.Net.Tool.ViewSetImage(iHandle2, xColoredDepthMapImage);

			//Write PLY

			/************************************************************************/
			/* Wait                                                                 */
			/************************************************************************/

			// Press any key to stop the capturing
			System.Console.WriteLine("Press any key to exit.");
			Console.ReadKey();

			return 0;
		}
	};

	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	/// <summary>
	///     A program.
	/// </summary>
	/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	static class Program
	{
		/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
		/// <summary>
		///     The main entry point for the application.
		/// </summary>
		/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
		static void Main()
		{
			new Example().Run();
		}
	}
}