/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
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 */

#pragma once

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


namespace pcl
{
  namespace gpu
  {
    namespace kinfuLS
    {
      class TsdfVolume;

      /**
       * \brief ColorVolume class
       * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
       */
      class PCL_EXPORTS ColorVolume
      {
      public:
        using PointType = PointXYZ;
        using Ptr = shared_ptr<ColorVolume>;
        using ConstPtr = shared_ptr<const ColorVolume>;

        /**
         * \brief Constructor
         * \param[in] tsdf tsdf volume to get parameters from
         * \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
         */
        ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);

        /** \brief Resets color volume to uninitialized state */
        void
        reset();

        /** \brief Returns running average length */
        int
        getMaxWeight() const;

        /** \brief Returns container with color volume in GPU memory */
        DeviceArray2D<int>
        data() const;

        /**
         * \brief Computes colors from color volume
         * \param[in] cloud Points for which colors are to be computed.
         * \param[out] colors output array for colors
         */
        void
        fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const; 

      private:
        /** \brief Volume resolution */
        Eigen::Vector3i resolution_;

        /** \brief Volume size in meters */
        Eigen::Vector3f volume_size_;

        /** \brief Length of running average */
        int max_weight_;

        /** \brief color volume data */
        DeviceArray2D<int> color_volume_;

      public:
        PCL_MAKE_ALIGNED_OPERATOR_NEW
      };
    }
  }
}
