/*
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 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     from this software without specific prior written permission.
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 * $Id: octree_pointcloud_voxelcentroid.hpp 6459 2012-07-18 07:50:37Z dpb $
 */

#ifndef PCL_OCTREE_VOXELCENTROID_HPP
#define PCL_OCTREE_VOXELCENTROID_HPP

/*
 * OctreePointCloudVoxelcontroid is not precompiled, since it's used in other
 * parts of PCL with custom LeafContainers. So if PCL_NO_PRECOMPILE is NOT
 * used, octree_pointcloud_voxelcentroid.h includes this file but octree_pointcloud.h
 * would not include the implementation because it's precompiled. So we need to
 * include it here "manually".
 */
#include <pcl/octree/impl/octree_pointcloud.hpp>

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename LeafContainerT, typename BranchContainerT>
bool
pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::
    getVoxelCentroidAtPoint(const PointT& point_arg, PointT& voxel_centroid_arg) const
{
  OctreeKey key;
  LeafContainerT* leaf = NULL;

  // generate key
  genOctreeKeyforPoint(point_arg, key);

  leaf = this->findLeaf(key);
  if (leaf)
    leaf->getCentroid(voxel_centroid_arg);

  return (leaf != NULL);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename LeafContainerT, typename BranchContainerT>
pcl::uindex_t
pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::
    getVoxelCentroids(
        typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::
            AlignedPointTVector& voxel_centroid_list_arg) const
{
  OctreeKey new_key;

  // reset output vector
  voxel_centroid_list_arg.clear();
  voxel_centroid_list_arg.reserve(this->leaf_count_);

  getVoxelCentroidsRecursive(this->root_node_, new_key, voxel_centroid_list_arg);

  // return size of centroid vector
  return (voxel_centroid_list_arg.size());
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename LeafContainerT, typename BranchContainerT>
void
pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::
    getVoxelCentroidsRecursive(
        const BranchNode* branch_arg,
        OctreeKey& key_arg,
        typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::
            AlignedPointTVector& voxel_centroid_list_arg) const
{
  // iterate over all children
  for (unsigned char child_idx = 0; child_idx < 8; child_idx++) {
    // if child exist
    if (branch_arg->hasChild(child_idx)) {
      // add current branch voxel to key
      key_arg.pushBranch(child_idx);

      OctreeNode* child_node = branch_arg->getChildPtr(child_idx);

      switch (child_node->getNodeType()) {
      case BRANCH_NODE: {
        // recursively proceed with indexed child branch
        getVoxelCentroidsRecursive(static_cast<const BranchNode*>(child_node),
                                   key_arg,
                                   voxel_centroid_list_arg);
        break;
      }
      case LEAF_NODE: {
        PointT new_centroid;

        auto* container = static_cast<LeafNode*>(child_node);

        container->getContainer().getCentroid(new_centroid);

        voxel_centroid_list_arg.push_back(new_centroid);
        break;
      }
      default:
        break;
      }

      // pop current branch voxel from key
      key_arg.popBranch();
    }
  }
}

#define PCL_INSTANTIATE_OctreePointCloudVoxelCentroid(T)                               \
  template class PCL_EXPORTS pcl::octree::OctreePointCloudVoxelCentroid<T>;

#endif
