//
// Created by xtkuang on 2025/6/4.
//

#ifndef MECHMIND_CAMERA_H
#define MECHMIND_CAMERA_H

#pragma once

#include <mutex>
#include <opencv2/opencv.hpp>
#include "devices/abstract_camera.h"
#include "area_scan_3d_camera/Camera.h"
#include "area_scan_3d_camera/api_util.h"
#include "area_scan_3d_camera/Mapping2DToDepth.h"
#include "area_scan_3d_camera/Frame3D.h"
#include "area_scan_3d_camera/Frame2DAnd3D.h"


namespace cmvr::device
{
    enum Image2DType {COLOR, GRAY};
    //工业级摄像机
    class MechmindCamera: public AbstractCamera {
    public:
        explicit MechmindCamera(const XmlNode& config);
        ~MechmindCamera() override = default;

        void init() override;
        void start() override;
        void stop() override;
        void getRGBImage(cv::Mat& color) override;
        void getDepthImage(cv::Mat& depth) override;
        void getRGBDImages(cv::Mat &color, cv::Mat &depth) override;
        void updateParams(const std::pair<std::string, std::string>& param) override;
        void startRecording(const std::string &video_path) override;
        void stopRecording() override;

    private:
        std::string ip_;
        bool align_;
        Image2DType image2d_type_;

        std::mutex dev_mtx_;
        mmind::eye::Camera camera_;

        static void textured_plc_to_rgbd_(const mmind::eye::TexturedPointCloud& cloud, cv::Mat& color, cv::Mat& depth);
    };
}



#endif //MECHMIND_CAMERA_H