#ifndef POINTCLOUDFILTER_H
#define POINTCLOUDFILTER_H

#include <cstddef>
#include <vector>

#include "VZNL_Types.h"

// Selects the outlier removal algorithm.
enum class PointCloudFilterMethod
{
    None = 0,
    ScanLineContinuity,
    RadiusOutlier,
    StatisticalOutlier
};

struct PointCloudFilterParams
{
    PointCloudFilterMethod method = PointCloudFilterMethod::None;

    // ScanLineContinuity parameters. Units follow the point cloud (normally mm).
    double continuityThreshold = 20.0;
    std::size_t minSegmentLength = 5;

    // RadiusOutlier parameters. minNeighbors excludes the point itself.
    double radius = 5.0;
    std::size_t minNeighbors = 2;

    // StatisticalOutlier parameters.
    std::size_t meanK = 8;
    double standardDeviationMultiplier = 1.0;
    // Zero estimates a radius from the cloud density; non-zero limits the search.
    double searchRadius = 0.0;
};

struct PointCloudFilterStats
{
    std::size_t inputPointCount = 0;
    std::size_t outputPointCount = 0;
    std::size_t removedPointCount = 0;
};

class PointCloudFilter
{
public:
    // The input is not modified. Original nPointIdx values are retained.
    static bool Filter(const std::vector<std::vector<SVzNL3DPosition>>& input,
                       std::vector<std::vector<SVzNL3DPosition>>& output,
                       const PointCloudFilterParams& params = PointCloudFilterParams(),
                       PointCloudFilterStats* stats = nullptr);

    static bool Filter(const std::vector<SVzNL3DPosition>& input,
                       std::vector<SVzNL3DPosition>& output,
                       const PointCloudFilterParams& params = PointCloudFilterParams(),
                       PointCloudFilterStats* stats = nullptr);
};

#endif // POINTCLOUDFILTER_H