/*
 * 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
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 *  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 Willow Garage, Inc. 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
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 */

#pragma once

#include <pcl/common/common.h>

#include <istream>
#include <ostream>

namespace pcl {

/** Feature for comparing two sample points in 2D multi-channel data. */
template <class PointT>
class PCL_EXPORTS MultiChannel2DComparisonFeature {
public:
  /** Constructor. */
  MultiChannel2DComparisonFeature() : p1(), p2(), channel(0) {}

  /** Destructor. */
  virtual ~MultiChannel2DComparisonFeature() {}

  /** Serializes the feature to a stream.
   *
   * \param[out] stream the destination for the serialization
   */
  inline void
  serialize(std::ostream& stream) const
  {
    p1.serialize(stream);
    p2.serialize(stream);
    stream.write(reinterpret_cast<const char*>(&channel), sizeof(channel));
  }

  /** Deserializes the feature from a stream.
   *
   * \param[in] stream the source for the deserialization
   */
  inline void
  deserialize(std::istream& stream)
  {
    p1.deserialize(stream);
    p2.deserialize(stream);
    stream.read(reinterpret_cast<char*>(&channel), sizeof(channel));
  }

public:
  /** First sample point. */
  PointT p1;
  /** Second sample point. */
  PointT p2;
  /** Specifies which channel is used for comparison. */
  unsigned char channel;
};

} // namespace pcl
