/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2012 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : include/ICLGeom/PointCloudObject                       **
** Module : ICLGeom                                                **
** Authors: Christof Elbrechter, Patrick Nobou                     **
**                                                                 **
**                                                                 **
** Commercial License                                              **
** ICL can be used commercially, please refer to our website       **
** www.iclcv.org for more details.                                 **
**                                                                 **
** GNU General Public License Usage                                **
** Alternatively, this file may be used under the terms of the     **
** GNU General Public License version 3.0 as published by the      **
** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the GNU General Public License  **
** version 3.0 requirements will be met:                           **
** http://www.gnu.org/copyleft/gpl.html.                           **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
*********************************************************************/

#pragma once

#include <ICLGeom/PointCloudObjectBase.h>

namespace icl{
  namespace geom{
    
    /// Base implementation of the SceneObjectBase interface for compability with common icl::SceneObjects
    /** This class replaces the former implementations
        - PointcloudSceneObject
        - RGBDImageSceneObject 
        
        \section TODO
        - add optional color (perhaps not possible)
        - add optional normals and may other useful fields
    */
    class PointCloudObject : public PointCloudObjectBase{
      protected:
      bool m_organized; //!< internal 2D organized flag
      utils::Size m_dim2D;     //!< 2D dimension
      
      public:
      
      /// creates a new ordered or unordered SimplePointCloudObject instance
      /** @param width number of points per line (if unordered, number of points)
          @param height number of points per row (if unordered, height is not used)
          @param organized specifies whether there is a 2D data order or not
          */
      PointCloudObject(int width=0, int height=0, bool organized=true);
  
      /// returns which features are supported (only XYZ and RGBA32f)
      virtual bool supports(FeatureType t);
      
      /// returns whether the points are 2D-ordered
      virtual bool isOrganized() const;
  
      /// returns the 2D size of the pointcloud (throws exception if not ordered)
      virtual utils::Size getSize() const throw (utils::ICLException);
      
      /// return the linearily ordered number of point in the point cloud
      virtual int getDim() const;
  
      /// adapts the point cloud size
      /** if the sizes height is smaller than 1, the cloud becomes un-organized*/
      virtual void setSize(const utils::Size &size);
  
      /// returns XYZ data segment
      virtual DataSegment<float,3> selectXYZ();
      
      /// returns the RGBA data segment (4-floats)
      virtual DataSegment<float,4> selectRGBA32f();
  
      /// important, this is again, reimplemented in order to NOT draw the stuff manually here
      virtual void customRender();
  
      /// deep copy function
      virtual PointCloudObject *copy() const {
        return new PointCloudObject(*this);
      }
  
    };
  
    
    
  } // namespace geom
}