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   *  Point Cloud Library (PCL) - www.pointclouds.org
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  #ifndef PCL_SURFACE_RECONSTRUCTION_H_
  #define PCL_SURFACE_RECONSTRUCTION_H_
  
  #include <pcl_base.h>
  #include <PolygonMesh.h>
  #include <pcl/search/pcl_search.h>
  #include <conversions.h>
  #include <pcl/surface/boost.h>
  
  namespace pcl
  {
    /** \brief Pure abstract class. All types of meshing/reconstruction
      * algorithms in \b libpcl_surface must inherit from this, in order to make
      * sure we have a consistent API. The methods that we care about here are:
      *
      *  - \b setSearchMethod(&SearchPtr): passes a search locator
      *  - \b reconstruct(&PolygonMesh): creates a PolygonMesh object from the input data
      *
      * \author Radu B. Rusu, Michael Dixon, Alexandru E. Ichim
      */
    template <typename PointInT>
    class PCLSurfaceBase: public PCLBase<PointInT>
    {
      public:
        typedef boost::shared_ptr<PCLSurfaceBase<PointInT> > Ptr;
        typedef boost::shared_ptr<const PCLSurfaceBase<PointInT> > ConstPtr;
  
        typedef typename pcl::search::Search<PointInT> KdTree;
        typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;
  
        /** \brief Empty constructor. */
        PCLSurfaceBase () : tree_ () {}
        
        /** \brief Empty destructor */
        virtual ~PCLSurfaceBase () {}
  
        /** \brief Provide an optional pointer to a search object.
          * \param[in] tree a pointer to the spatial search object.
          */
        inline void
        setSearchMethod (const KdTreePtr &tree)
        {
          tree_ = tree;
        }
  
        /** \brief Get a pointer to the search method used. */
        inline KdTreePtr 
        getSearchMethod () { return (tree_); }
  
        /** \brief Base method for surface reconstruction for all points given in
          * <setInputCloud (), setIndices ()> 
          * \param[out] output the resultant reconstructed surface model
          */
        virtual void 
        reconstruct (pcl::PolygonMesh &output) = 0;
  
      protected:
        /** \brief A pointer to the spatial search object. */
        KdTreePtr tree_;
  
        /** \brief Abstract class get name method. */
        virtual std::string 
        getClassName () const { return (""); }
    };
  
    /** \brief SurfaceReconstruction represents a base surface reconstruction
      * class. All \b surface reconstruction methods take in a point cloud and
      * generate a new surface from it, by either re-sampling the data or
      * generating new data altogether. These methods are thus \b not preserving
      * the topology of the original data.
      *
      * \note Reconstruction methods that always preserve the original input
      * point cloud data as the surface vertices and simply construct the mesh on
      * top should inherit from \ref MeshConstruction.
      *
      * \author Radu B. Rusu, Michael Dixon, Alexandru E. Ichim
      * \ingroup surface
      */
    template <typename PointInT>
    class SurfaceReconstruction: public PCLSurfaceBase<PointInT>
    {
      public:
        typedef boost::shared_ptr<SurfaceReconstruction<PointInT> > Ptr;
        typedef boost::shared_ptr<const SurfaceReconstruction<PointInT> > ConstPtr;
  
        using PCLSurfaceBase<PointInT>::input_;
        using PCLSurfaceBase<PointInT>::indices_;
        using PCLSurfaceBase<PointInT>::initCompute;
        using PCLSurfaceBase<PointInT>::deinitCompute;
        using PCLSurfaceBase<PointInT>::tree_;
        using PCLSurfaceBase<PointInT>::getClassName;
  
        /** \brief Constructor. */
        SurfaceReconstruction () : check_tree_ (true) {}
  
        /** \brief Destructor. */
        virtual ~SurfaceReconstruction () {}
  
         /** \brief Base method for surface reconstruction for all points given in
          * <setInputCloud (), setIndices ()> 
          * \param[out] output the resultant reconstructed surface model
          */
        virtual void 
        reconstruct (pcl::PolygonMesh &output);
  
        /** \brief Base method for surface reconstruction for all points given in
          * <setInputCloud (), setIndices ()> 
          * \param[out] points the resultant points lying on the new surface
          * \param[out] polygons the resultant polygons, as a set of
          * vertices. The Vertices structure contains an array of point indices.
          */
        virtual void 
        reconstruct (pcl::PointCloud<PointInT> &points,
                     std::vector<pcl::Vertices> &polygons);
  
      protected:
        /** \brief A flag specifying whether or not the derived reconstruction
          * algorithm needs the search object \a tree.*/
        bool check_tree_;
  
        /** \brief Abstract surface reconstruction method. 
          * \param[out] output the output polygonal mesh 
          */
        virtual void 
        performReconstruction (pcl::PolygonMesh &output) = 0;
  
        /** \brief Abstract surface reconstruction method. 
          * \param[out] points the resultant points lying on the surface
          * \param[out] polygons the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.
          */
        virtual void 
        performReconstruction (pcl::PointCloud<PointInT> &points, 
                               std::vector<pcl::Vertices> &polygons) = 0;
    };
  
    /** \brief MeshConstruction represents a base surface reconstruction
      * class. All \b mesh constructing methods that take in a point cloud and
      * generate a surface that uses the original data as vertices should inherit
      * from this class.
      *
      * \note Reconstruction methods that generate a new surface or create new
      * vertices in locations different than the input data should inherit from
      * \ref SurfaceReconstruction.
      *
      * \author Radu B. Rusu, Michael Dixon, Alexandru E. Ichim
      * \ingroup surface
      */
    template <typename PointInT>
    class MeshConstruction: public PCLSurfaceBase<PointInT>
    {
      public:
        typedef boost::shared_ptr<MeshConstruction<PointInT> > Ptr;
        typedef boost::shared_ptr<const MeshConstruction<PointInT> > ConstPtr;
  
        using PCLSurfaceBase<PointInT>::input_;
        using PCLSurfaceBase<PointInT>::indices_;
        using PCLSurfaceBase<PointInT>::initCompute;
        using PCLSurfaceBase<PointInT>::deinitCompute;
        using PCLSurfaceBase<PointInT>::tree_;
        using PCLSurfaceBase<PointInT>::getClassName;
  
        /** \brief Constructor. */
        MeshConstruction () : check_tree_ (true) {}
  
        /** \brief Destructor. */
        virtual ~MeshConstruction () {}
  
        /** \brief Base method for surface reconstruction for all points given in
          * <setInputCloud (), setIndices ()> 
          * \param[out] output the resultant reconstructed surface model
          *
          * \note This method copies the input point cloud data from
          * PointCloud<T> to PCLPointCloud2, and is implemented here for backwards
          * compatibility only!
          *
          */
        virtual void 
        reconstruct (pcl::PolygonMesh &output);
  
        /** \brief Base method for mesh construction for all points given in
          * <setInputCloud (), setIndices ()> 
          * \param[out] polygons the resultant polygons, as a set of
          * vertices. The Vertices structure contains an array of point indices.
          */
        virtual void 
        reconstruct (std::vector<pcl::Vertices> &polygons);
  
      protected:
        /** \brief A flag specifying whether or not the derived reconstruction
          * algorithm needs the search object \a tree.*/
        bool check_tree_;
  
        /** \brief Abstract surface reconstruction method. 
          * \param[out] output the output polygonal mesh 
          */
        virtual void 
        performReconstruction (pcl::PolygonMesh &output) = 0;
  
        /** \brief Abstract surface reconstruction method. 
          * \param[out] polygons the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.
          */
        virtual void 
        performReconstruction (std::vector<pcl::Vertices> &polygons) = 0;
    };
  }
  
  #include <pcl/surface/impl/reconstruction.hpp>
  
  #endif  // PCL_SURFACE_RECONSTRUCTION_H_
  
  