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#ifndef PCL_CUDA_FILTERS_VOXELGRID_H_
#define PCL_CUDA_FILTERS_VOXELGRID_H_

#include <pcl_cuda/filters/filter.h>
#include <pcl_cuda/filters/passthrough.h>
#include <thrust/count.h>
#include <thrust/remove.h>
#include <vector_types.h>

namespace pcl_cuda
{
  ///////////////////////////////////////////////////////////////////////////////////////////
  /** \brief @b VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
    */
  template <typename CloudT>
  class VoxelGrid: public Filter<CloudT>
  {
    public:
      using Filter<CloudT>::filter_name_;

      typedef typename PCLCUDABase<CloudT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      /** \brief Empty constructor. */
      VoxelGrid ()
      {
        filter_name_ = "VoxelGrid";
      };

    protected:
      /** \brief Filter a Point Cloud.
        * \param output the resultant point cloud message
        */
      void 
      applyFilter (PointCloud &output)
      {
        std::cerr << "applyFilter" << std::endl;
      }
  };
  
  ///////////////////////////////////////////////////////////////////////////////////////////
  template <>
  class VoxelGrid<PointCloudAOS<Device> >: public Filter<PointCloudAOS<Device> >
  {
    public:
      /** \brief Empty constructor. */
      VoxelGrid ()
      {
        filter_name_ = "VoxelGridAOS";
      };

    protected:
      /** \brief Filter a Point Cloud.
        * \param output the resultant point cloud message
        */
      void 
      applyFilter (PointCloud &output)
      {
        // Allocate enough space
        output.points.resize (input_->points.size ());
        // Copy data
        Device<PointXYZRGB>::type::iterator nr_points = thrust::copy_if (input_->points.begin (), input_->points.end (), output.points.begin (), isFiniteAOS ());
        output.points.resize (nr_points - output.points.begin ());

        //std::cerr << "[applyFilterAOS]: ";
        //std::cerr << input_->points.size () << " " << output.points.size () << std::endl;
      }
  };
 
  //////////////////////////////////////////////////////////////////////////////////////////
  template <>
  class VoxelGrid<PointCloudSOA<Device> >: public Filter<PointCloudSOA<Device> >
  {
    public:
      /** \brief Empty constructor. */
      VoxelGrid () : zip_(false)
      {
        filter_name_ = "VoxelGridSOA";
      };

      inline void
      setZip (bool zip)
      {
        zip_ = zip;
      }


    protected:
      /** \brief Filter a Point Cloud.
        * \param output the resultant point cloud message
        */
      void 
      applyFilter (PointCloud &output)
      {
        if (!zip_)
        {
          // Allocate enough space
          output.resize (input_->size ());
          // Copy data
          Device<float>::type::iterator nr_points = thrust::copy_if (input_->points_x.begin (), input_->points_x.end (), output.points_x.begin (), isFiniteSOA ());
          nr_points = thrust::copy_if (input_->points_y.begin (), input_->points_y.end (), output.points_y.begin (), isFiniteSOA ());
          nr_points = thrust::copy_if (input_->points_z.begin (), input_->points_z.end (), output.points_z.begin (), isFiniteSOA ());
          output.resize (nr_points - output.points_z.begin ());
        
          //std::cerr << "[applyFilterSOA]: ";
          //std::cerr << input_->size () << " " << output.size () << std::endl;
        }

        else
        {
          output = *input_;
          PointCloud::zip_iterator result = thrust::remove_if (output.zip_begin (), output.zip_end (), isFiniteZIPSOA ());
          PointCloud::iterator_tuple result_tuple = result.get_iterator_tuple ();
          PointCloud::float_iterator xiter = thrust::get<0> (result_tuple),
                                     yiter = thrust::get<1> (result_tuple),
                                     ziter = thrust::get<2> (result_tuple);

          unsigned badpoints = distance (xiter, output.points_x.end ());
          unsigned goodpoints = distance (output.points_x.begin (), xiter);

          output.resize (goodpoints);

          //std::cerr << "[applyFilterSOA-ZIP]: ";
          //std::cerr << input_->size () << " " << output.size () << std::endl;
        }
      }

    private:
      bool zip_;
  };
}

#endif  //#ifndef PCL_FILTERS_VOXELGRID_H_
