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 * $Id: octree_pointcloud_density.h 6119 2012-07-03 18:50:04Z aichim $
 */

#ifndef OCTREE_DENSITY_H
#define OCTREE_DENSITY_H

#include "octree_pointcloud.h"

#include "octree_base.h"
#include "octree2buf_base.h"

namespace pcl
{
  namespace octree
  {
    /** \brief @b Octree pointcloud density leaf node class
      * \note This class implements a leaf node that counts the amount of points which fall into its voxel space.
      * \author Julius Kammerl (julius@kammerl.de)
      */
    template<typename DataT>
    class OctreePointCloudDensityContainer
    {
      public:
        /** \brief Class initialization. */
        OctreePointCloudDensityContainer () : pointCounter_ (0)
        {
        }

        /** \brief Empty class deconstructor. */
        virtual ~OctreePointCloudDensityContainer ()
        {
        }

        /** \brief deep copy function */
        virtual OctreePointCloudDensityContainer *
        deepCopy () const
        {
          return (new OctreePointCloudDensityContainer (*this));
        }

        /** \brief Get size of container (number of DataT objects)
         * \return number of DataT elements in leaf node container.
         */
        size_t
        getSize () const
        {
          return 0;
        }

        /** \brief Read input data. Only an internal counter is increased.
          */
        void
        setData (const DataT&)
        {
          pointCounter_++;
        }

        /** \brief Returns a null pointer as this leaf node does not store any data.
          * \param[out] data_arg: reference to return pointer of leaf node DataT element (will be set to 0).
          */
        void
        getData (const DataT*& data_arg) const
        {
          data_arg = 0;
        }

        /** \brief Empty getData data vector implementation as this leaf node does not store any data. \
          */
        void
        getData (std::vector<DataT>&) const
        {
        }

        /** \brief Return point counter.
          * \return Amaount of points
          */
        unsigned int
        getPointCounter ()
        {
          return (pointCounter_);
        }

        /** \brief Empty reset leaf node implementation as this leaf node does not store any data. */
        void
        reset ()
        {
          pointCounter_ = 0;
        }

      private:
        unsigned int pointCounter_;

    };

    /** \brief @b Octree pointcloud density class
      * \note This class generate an octrees from a point cloud (zero-copy). Only the amount of points that fall into the leaf node voxel are stored.
      * \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
      * \note
      * \note typename: PointT: type of point used in pointcloud
      * \ingroup octree
      * \author Julius Kammerl (julius@kammerl.de)
      */
    template<typename PointT, typename LeafT = OctreePointCloudDensityContainer<int> , typename BranchT = OctreeContainerEmpty<int> >
    class OctreePointCloudDensity : public OctreePointCloud<PointT, LeafT, BranchT>
    {
      public:

      /** \brief OctreePointCloudDensity class constructor.
         *  \param resolution_arg:  octree resolution at lowest octree level
         * */
        OctreePointCloudDensity (const double resolution_arg) :
        OctreePointCloud<PointT, LeafT, BranchT> (resolution_arg)
        {
        }

        /** \brief Empty class deconstructor. */
        virtual
        ~OctreePointCloudDensity ()
        {
        }

        /** \brief Get the amount of points within a leaf node voxel which is addressed by a point
          * \param[in] point_arg: a point addressing a voxel
          * \return amount of points that fall within leaf node voxel
          */
        unsigned int
        getVoxelDensityAtPoint (const PointT& point_arg) const
        {
          unsigned int pointCount = 0;

          OctreePointCloudDensityContainer<int>* leaf = this->findLeafAtPoint (point_arg);

          if (leaf)
            pointCount = leaf->getPointCounter ();

          return (pointCount);
        }
    };
  }
}

#define PCL_INSTANTIATE_OctreePointCloudDensity(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>;

#endif

