/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  $Id$
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#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>

#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>

#include <pcl/outofcore/outofcore.h>
#include <pcl/outofcore/outofcore_impl.h>
#include <pcl/outofcore/boost.h>

using namespace pcl::outofcore;

typedef OutofcoreOctreeBase<OutofcoreOctreeDiskContainer<pcl::PointXYZ>, pcl::PointXYZ> OctreeDisk;
typedef OutofcoreOctreeBaseNode<OutofcoreOctreeDiskContainer<pcl::PointXY>, pcl::PointXYZ> OctreeDiskNode;

int main (int, char** argv)
{
//  pcl::console::setVerbosityLevel (pcl::console::L_VERBOSE);

  int depth = 3;
  Eigen::Vector3d min (-10.0, -10.0, -10.0);
  Eigen::Vector3d max (10.0, 10.0, 10.0);

  //specify the destination of the tree
  boost::filesystem::path file_location ("tree/tree.oct_idx");
  
  //create the tree with bounding box that will encompass the region of points in the PCD files
  OctreeDisk* octree;
  octree = new OctreeDisk (depth, min, max, file_location, "ECEF");

  pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2 ());
    
  pcl::io::loadPCDFile (argv[1], *cloud);
  octree->addPointCloud (cloud, false);

  pcl::io::loadPCDFile (argv[2], *cloud);
  octree->addPointCloud (cloud, false);
  
  octree->buildLOD ();
  
  //iterate over the octree, depth first
  OutofcoreDepthFirstIterator<pcl::PointXYZ, pcl::outofcore::OutofcoreOctreeDiskContainer<pcl::PointXYZ> > it (*octree);
  OctreeDisk::Iterator myit (*octree);

  while ( *myit !=0 )
  {
    octree->printBoundingBox (**myit);
    myit++;
  }

  return (0);
}
