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 *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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#ifndef PCL_GPU_OCTREE_INTERNAL_HPP_
#define PCL_GPU_OCTREE_INTERNAL_HPP_

#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/octree/device_format.hpp>
#include <pcl/gpu/utils/safe_call.hpp>

namespace pcl
{
    namespace device
    {
        struct OctreeGlobal
        {
            int *nodes;
            int *codes;
            int *begs;
            int *ends;

            int *nodes_num;

            int *parent;

            OctreeGlobal() : nodes(0), codes(0), begs(0), ends(0), nodes_num(0), parent(0) {}
        };

        struct OctreeGlobalWithBox : public OctreeGlobal
        {
            float3 minp, maxp;
        };


        class OctreeImpl
        {
        public:
            typedef float4 PointType;
            typedef DeviceArray<PointType> PointArray;

            typedef PointArray PointCloud;
            typedef PointArray Queries;

            typedef DeviceArray<float> Radiuses;
            typedef DeviceArray<int> BatchResult;
            typedef DeviceArray<int> BatchResultSizes;
            typedef DeviceArray<float> BatchResultSqrDists;
            typedef DeviceArray<int> Indices;

            typedef pcl::gpu::NeighborIndices NeighborIndices;

            static void get_gpu_arch_compiled_for(int& bin, int& ptr);

            OctreeImpl() {};
            ~OctreeImpl() {};

            void setCloud(const PointCloud& input_points);
            void build();
            void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out, int max_nn) const;
            void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist) const;

            void radiusSearch(const Queries& queries, float radius, NeighborIndices& results);
            void radiusSearch(const Queries& queries, const Radiuses& radiuses, NeighborIndices& results);

            void radiusSearch(const Queries& queries, const Indices& indices, float radius, NeighborIndices& results);

            void approxNearestSearch(const Queries& queries, NeighborIndices& results) const;

            void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results) const;

            //just reference
            PointCloud points;

            // data
            DeviceArray2D<float> points_sorted;
            DeviceArray<int> codes;
            DeviceArray<int> indices;

            OctreeGlobalWithBox octreeGlobal;

            //storage
            DeviceArray2D<int> storage;

            struct OctreeDataHost
            {
                std::vector<int> nodes;
                std::vector<int> codes;

                std::vector<int> begs;
                std::vector<int> ends;


                std::vector<int> indices;

                std::vector<float> points_sorted;
                int points_sorted_step;

                int downloaded;

            } host_octree;


            void internalDownload();
        private:
            template<typename BatchType>
            void radiusSearchEx(BatchType& batch, const Queries& queries, NeighborIndices& results);
        };

        void bruteForceRadiusSearch(const OctreeImpl::PointCloud& cloud, const OctreeImpl::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);

    }
}

#endif /* PCL_GPU_OCTREE_INTERNAL_HPP_ */