// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2015 Intel Corporation. All Rights Reserved.

#include <librealsense/rs.hpp>
#include <thread>
#include <iostream>

int main() try
{
    rs::context ctx;
    if(ctx.get_device_count() == 0) return EXIT_FAILURE;
    rs::device * dev = ctx.get_device(0);

    //dev->enable_stream(rs::stream::depth, rs::preset::best_quality);
    //dev->enable_stream(rs::stream::color, rs::preset::best_quality);
    dev->enable_stream(rs::stream::infrared, rs::preset::best_quality);
    //dev->enable_stream(rs::stream::infrared2, rs::preset::best_quality);

    // Set callbacks prior to calling start()
    auto depth_callback = [](rs::frame f)
    {
        std::cout << "Depth stream called back";
        std::cout << ":: " << f.get_width() << "x" << f.get_height()
            << " " << f.get_format() << "\t " <<
            f.get_frame_number() << "\tat t = " << f.get_timestamp() << " ms" << std::endl;
    };
    auto color_callback = [](rs::frame f)
    {
        std::cout << "Color stream called back";
        std::cout << ":: " << f.get_width() << "x" << f.get_height()
            << " " << f.get_format() << "\t " <<
            f.get_frame_number() << "\tat t = " << f.get_timestamp() << " ms" << std::endl;
    };
    auto ir_callback = [](rs::frame f)
    {
        std::cout << "IR    stream called back";
        std::cout << ":: " << f.get_width() << "x" << f.get_height()
            << " " << f.get_format() << "\t " <<
            f.get_frame_number() << "\tat t = " << f.get_timestamp() << " ms" << std::endl;
    };
    auto ir2_callback = [](rs::frame f)
    {
        std::cout << "IR2   stream called back";
        std::cout << ":: " << f.get_width() << "x" << f.get_height()
            << " " << f.get_format() << "\t " <<
            f.get_frame_number() << "\tat t = " << f.get_timestamp() << " ms" << std::endl;
    };

    dev->set_frame_callback(rs::stream::depth, depth_callback);
    dev->set_frame_callback(rs::stream::color, color_callback);
    dev->set_frame_callback(rs::stream::infrared, ir_callback);
    dev->set_frame_callback(rs::stream::infrared2, ir2_callback);

    std::cout << "Starting only IR stream" << std::endl;

    // Between start() and stop(), you will receive calls to the specified callbacks from background threads
    dev->start();
    std::this_thread::sleep_for(std::chrono::seconds(1));
    // NOTE: No need to call wait_for_frames() or poll_for_frames(), though they should still work as designed
    dev->stop();

    std::cout << std::endl;
    std::cout << "Starting only IR2 stream" << std::endl;

    dev->disable_stream(rs::stream::infrared);
    dev->enable_stream(rs::stream::infrared2, rs::preset::best_quality);

    dev->set_frame_callback(rs::stream::depth, depth_callback);
    dev->set_frame_callback(rs::stream::color, color_callback);
    dev->set_frame_callback(rs::stream::infrared, ir_callback);
    dev->set_frame_callback(rs::stream::infrared2, ir2_callback);

    // Between start() and stop(), you will receive calls to the specified callbacks from background threads
    dev->start();
    std::this_thread::sleep_for(std::chrono::seconds(1));
    // NOTE: No need to call wait_for_frames() or poll_for_frames(), though they should still work as designed
    dev->stop();

    return EXIT_SUCCESS;
}
catch(const rs::error & e)
{
    std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;
    return EXIT_FAILURE;
}