/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */

#ifndef PCL_VOXEL_GRID_LABEL_H_
#define PCL_VOXEL_GRID_LABEL_H_

#include <pcl/filters/voxel_grid.h>
#include <pcl/point_types.h>

namespace pcl
{
  /** \brief 
    *
    *
    * \author Christian Potthast (potthast@usc.edu)
    */
  class PCL_EXPORTS VoxelGridLabel : public VoxelGrid<pcl::PointXYZRGBL>
  {
    public:

      typedef boost::shared_ptr< VoxelGridLabel > Ptr;
      typedef boost::shared_ptr< const VoxelGridLabel > ConstPtr;


      /** \brief Constructor.
       * Sets \ref leaf_size_ to 0 and \ref searchable_ to false.
       */
      VoxelGridLabel () {};

    protected:

      /** \brief Filter cloud and initializes voxel structure.
        * \param[out] output cloud containing centroids of voxels containing a sufficient number of points
        */
      void 
      applyFilter (PointCloud &output);

  };
}

#endif  //#ifndef PCL_VOXEL_GRID_LABEL_H_
