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#ifndef PCL_SURFACE_MARCHING_CUBES_RBF_H_
#define PCL_SURFACE_MARCHING_CUBES_RBF_H_

#include <pcl/surface/boost.h>
#include <pcl/surface/marching_cubes.h>

namespace pcl
{
  /** \brief The marching cubes surface reconstruction algorithm, using a signed distance function based on radial
    * basis functions. Partially based on:
    * Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R.,
    * "Reconstruction and representation of 3D objects with radial basis functions"
    * SIGGRAPH '01
    *
    * \author Alexandru E. Ichim
    * \ingroup surface
    */
  template <typename PointNT>
  class MarchingCubesRBF : public MarchingCubes<PointNT>
  {
    public:
      typedef boost::shared_ptr<MarchingCubesRBF<PointNT> > Ptr;
      typedef boost::shared_ptr<const MarchingCubesRBF<PointNT> > ConstPtr;

      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>::min_p_;
      using MarchingCubes<PointNT>::max_p_;

      typedef typename pcl::PointCloud<PointNT>::Ptr PointCloudPtr;

      typedef typename pcl::KdTree<PointNT> KdTree;
      typedef typename pcl::KdTree<PointNT>::Ptr KdTreePtr;


      /** \brief Constructor. */
      MarchingCubesRBF ();

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

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


      /** \brief Set the off-surface points displacement value.
        * \param[in] epsilon the value
        */
      inline void
      setOffSurfaceDisplacement (float epsilon)
      { off_surface_epsilon_ = epsilon; }

      /** \brief Get the off-surface points displacement value. */
      inline float
      getOffSurfaceDisplacement ()
      { return off_surface_epsilon_; }


    protected:
      /** \brief the Radial Basis Function kernel. */
      double
      kernel (Eigen::Vector3d c, Eigen::Vector3d x);

      /** \brief The off-surface displacement value. */
      float off_surface_epsilon_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

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

#endif  // PCL_SURFACE_MARCHING_CUBES_RBF_H_

