/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
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#pragma once

#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/gpu/containers/device_array.h>
#include <Eigen/Core>

namespace pcl
{
  namespace gpu
  {
    class TsdfVolume;
      
    /** \brief MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU
      * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
      */
    class PCL_EXPORTS MarchingCubes
    {
    public:

      /** \brief Default size for triangles buffer */
      enum
      { 
        POINTS_PER_TRIANGLE = 3,
        DEFAULT_TRIANGLES_BUFFER_SIZE = 2 * 1000 * 1000 * POINTS_PER_TRIANGLE      
      };
    
      /** \brief Point type. */
      using PointType = pcl::PointXYZ;
      
      /** \brief Smart pointer. */
      using Ptr = shared_ptr<MarchingCubes>;
      using ConstPtr = shared_ptr<const MarchingCubes>;

      /** \brief Default constructor */
      MarchingCubes();
      
      /** \brief Runs marching cubes triangulation.
          * \param[in] tsdf
          * \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size to be used.          
          * \return Array with triangles. Each 3 consequent points belong to a single triangle. The returned array points to 'triangles_buffer' data.
          */
      DeviceArray<PointType> 
      run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);

    private:             
      /** \brief Edge table for marching cubes  */
      DeviceArray<int> edgeTable_;
      
      /** \brief Number of vertices table for marching cubes  */
      DeviceArray<int> numVertsTable_;
      
      /** \brief Triangles table for marching cubes  */
      DeviceArray<int> triTable_;     
      
      /** \brief Temporary buffer used by marching cubes (first row stores occupied voxel id, second number of vertices, third points offsets */
      DeviceArray2D<int> occupied_voxels_buffer_;
    };
  }
}
