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#ifndef PCL_OCTREE_CHANGEDETECTOR_H
#define PCL_OCTREE_CHANGEDETECTOR_H

#include "octree_pointcloud.h"

namespace pcl
{
  namespace octree
  {

    //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
    /** \brief @b Octree pointcloud change detector class
     *  \note This pointcloud octree class generate an octrees from a point cloud (zero-copy). It allows to detect new leaf nodes and serialize their point indices
     *  \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
     *  \note
     *  \note typename: PointT: type of point used in pointcloud
     *  \ingroup octree
     *  \author Julius Kammerl (julius@kammerl.de)
     */
    //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
    template<typename PointT,
        typename LeafContainerT = OctreeContainerPointIndices,
        typename BranchContainerT = OctreeContainerEmpty >

    class OctreePointCloudChangeDetector : public OctreePointCloud<PointT,
        LeafContainerT, BranchContainerT, Octree2BufBase<LeafContainerT, BranchContainerT> >

    {

      public:

        /** \brief Constructor.
         *  \param resolution_arg:  octree resolution at lowest octree level
         * */
        OctreePointCloudChangeDetector (const double resolution_arg) :
            OctreePointCloud<PointT, LeafContainerT, BranchContainerT,
                Octree2BufBase<LeafContainerT, BranchContainerT> > (resolution_arg)
        {
        }

        /** \brief Empty class constructor. */
        virtual ~OctreePointCloudChangeDetector ()
        {
        }

        /** \brief Get a indices from all leaf nodes that did not exist in previous buffer.
         * \param indicesVector_arg: results are written to this vector of int indices
         * \param minPointsPerLeaf_arg: minimum amount of points required within leaf node to become serialized.
         * \return number of point indices
         */
        std::size_t getPointIndicesFromNewVoxels (std::vector<int> &indicesVector_arg,
            const int minPointsPerLeaf_arg = 0)
        {

          std::vector<OctreeContainerPointIndices*> leaf_containers;
          this->serializeNewLeafs (leaf_containers);

          std::vector<OctreeContainerPointIndices*>::iterator it;
          std::vector<OctreeContainerPointIndices*>::const_iterator it_end = leaf_containers.end();

          for (it=leaf_containers.begin(); it!=it_end; ++it)
          {
            if ((*it)->getSize()>=minPointsPerLeaf_arg)
              (*it)->getPointIndices(indicesVector_arg);
          }

          return (indicesVector_arg.size ());
        }
    };
  }
}

#define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;

#endif

