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* Copyright (c) 2019, Helix Re Inc. nicolas@helix.re
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#pragma once

#include <thread>

#include <pdal/Filter.hpp>

namespace pdal {

class PDAL_EXPORT CovarianceFeaturesFilter: public Filter
{
public:
    CovarianceFeaturesFilter() {}
    CovarianceFeaturesFilter &operator=(const CovarianceFeaturesFilter &) = delete;
    CovarianceFeaturesFilter(const CovarianceFeaturesFilter &) = delete;

    std::string getName() const;

private:
    enum class Mode
    {
        Raw,
        SQRT,
        Normalized
    };

    int m_knn;
    int m_threads;
    StringList m_featureSetString;
    std::vector<Dimension::Id> m_extraDims;
    size_t m_stride;
    double m_radius;
    int m_minK;
    Mode m_mode;
    Arg* m_radiusArg;
    bool m_optimal;

    virtual void addDimensions(PointLayoutPtr layout);
    virtual void addArgs(ProgramArgs &args);
    virtual void filter(PointView &view);
    virtual void prepared(PointTableRef table);

    void setDimensionality(PointView &view, const PointId &id, const KD3Index &kid);

    friend std::istream& operator>>(std::istream& in,
        CovarianceFeaturesFilter::Mode& mode);
    friend std::ostream& operator<<(std::ostream& in,
        const CovarianceFeaturesFilter::Mode& mode);
};
}

