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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 the distance
     * from tangent planes, proposed by Hoppe et. al. in:
     * Hoppe H., DeRose T., Duchamp T., MC-Donald J., Stuetzle W., "Surface reconstruction from unorganized points",
     * SIGGRAPH '92
     * \author Alexandru E. Ichim
     * \ingroup surface
     */
  template <typename PointNT>
  class MarchingCubesHoppe : public MarchingCubes<PointNT>
  {
    public:
      using Ptr = shared_ptr<MarchingCubesHoppe<PointNT> >;
      using ConstPtr = shared_ptr<const MarchingCubesHoppe<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. */
      MarchingCubesHoppe (const float dist_ignore = -1.0f,
                          const float percentage_extend_grid = 0.0f,
                          const float iso_level = 0.0f) :
        MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
        dist_ignore_ (dist_ignore)
      {
      }

      /** \brief Destructor. */
      ~MarchingCubesHoppe ();

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

      /** \brief Method that sets the distance for ignoring voxels which are far from point cloud.
        * If the distance is negative, then the distance functions would be calculated in all voxels;
        * otherwise, only voxels with distance lower than dist_ignore would be involved in marching cube.
        * \param[in] dist_ignore threshold of distance. Default value is -1.0. Set to negative if all voxels are
        * to be involved.
        */
      inline void
      setDistanceIgnore (const float dist_ignore)
      { dist_ignore_ = dist_ignore; }

      /** \brief get the distance for ignoring voxels which are far from point cloud.
       * */
      inline float
      getDistanceIgnore () const
      { return dist_ignore_; }

    protected:
      /** \brief ignore the distance function
       * if it is negative
       * or distance between voxel centroid and point are larger that it. */
      float dist_ignore_;

    public:
      PCL_MAKE_ALIGNED_OPERATOR_NEW
  };
}

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