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#pragma once

#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/surface/marching_cubes.h>

namespace pcl
{
  /** \brief The marching cubes surface reconstruction algorithm, using a signed distance function based on radial
    * basis functions. Partially based on:
    * Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R.,
    * "Reconstruction and representation of 3D objects with radial basis functions"
    * SIGGRAPH '01
    *
    * \note This algorithm in its current implementation may not be suitable for very
    * large point clouds, due to high memory requirements.
    * \tparam PointNT Use `pcl::PointNormal` or `pcl::PointXYZRGBNormal` or `pcl::PointXYZINormal`
    * \author Alexandru E. Ichim
    * \ingroup surface
    */
  template <typename PointNT>
  class MarchingCubesRBF : public MarchingCubes<PointNT>
  {
    public:
      using Ptr = shared_ptr<MarchingCubesRBF<PointNT> >;
      using ConstPtr = shared_ptr<const MarchingCubesRBF<PointNT> >;

      using SurfaceReconstruction<PointNT>::input_;
      using SurfaceReconstruction<PointNT>::tree_;
      using MarchingCubes<PointNT>::grid_;
      using MarchingCubes<PointNT>::res_x_;
      using MarchingCubes<PointNT>::res_y_;
      using MarchingCubes<PointNT>::res_z_;
      using MarchingCubes<PointNT>::size_voxel_;
      using MarchingCubes<PointNT>::upper_boundary_;
      using MarchingCubes<PointNT>::lower_boundary_;

      using PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr;

      using KdTree = pcl::KdTree<PointNT>;
      using KdTreePtr = typename KdTree::Ptr;


      /** \brief Constructor. */
      MarchingCubesRBF (const float off_surface_epsilon = 0.1f,
                        const float percentage_extend_grid = 0.0f,
                        const float iso_level = 0.0f) :
        MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
        off_surface_epsilon_ (off_surface_epsilon)
      {
      }

      /** \brief Destructor. */
      ~MarchingCubesRBF () override;

      /** \brief Convert the point cloud into voxel data.
        */
      void
      voxelizeData () override;


      /** \brief Set the off-surface points displacement value.
        * \param[in] epsilon the value
        */
      inline void
      setOffSurfaceDisplacement (float epsilon)
      { off_surface_epsilon_ = epsilon; }

      /** \brief Get the off-surface points displacement value. */
      inline float
      getOffSurfaceDisplacement ()
      { return off_surface_epsilon_; }


    protected:
      /** \brief the Radial Basis Function kernel. */
      double
      kernel (Eigen::Vector3d c, Eigen::Vector3d x);

      /** \brief The off-surface displacement value. */
      float off_surface_epsilon_;

    public:
      PCL_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/surface/impl/marching_cubes_rbf.hpp>
#endif
