/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
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#pragma once

#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/gpu/containers/device_array.h>
#include <Eigen/Core>
//#include <boost/graph/buffer_concepts.hpp>


namespace pcl
{
  namespace gpu
  {
    namespace kinfuLS
    {
      class TsdfVolume;
        
      /** \brief MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU
        * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
        */
      class PCL_EXPORTS MarchingCubes
      {
      public:

        /** \brief Default size for triangles buffer */
        enum
        { 
          POINTS_PER_TRIANGLE = 3,
          DEFAULT_TRIANGLES_BUFFER_SIZE = 2 * 1000 * 1000 * POINTS_PER_TRIANGLE * 2     
        };
      
        /** \brief Point type. */
        using PointType = pcl::PointXYZ;
        
        /** \brief Smart pointer. */
        using Ptr = shared_ptr<MarchingCubes>;
        using ConstPtr = shared_ptr<const MarchingCubes>;

        /** \brief Default constructor */
        MarchingCubes();
        
        /** \brief Runs marching cubes triangulation.
            * \param[in] tsdf
            * \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size will be used.          
            * \return Array with triangles. Each 3 consequent points belong to a single triangle. The returned array points to 'triangles_buffer' data.
            */
        DeviceArray<PointType> 
        run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);

      private:             
        /** \brief Edge table for marching cubes  */
        DeviceArray<int> edgeTable_;
        
        /** \brief Number of vertices table for marching cubes  */
        DeviceArray<int> numVertsTable_;
        
        /** \brief Triangles table for marching cubes  */
        DeviceArray<int> triTable_;     
        
        /** \brief Temporary buffer used by marching cubes (first row stores occupied voxel id, second number of vertices, third points offsets */
        DeviceArray2D<int> occupied_voxels_buffer_;
      };
    }
  }
}
