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#include <pcl/registration/correspondence_rejection_organized_boundary.h>
#include <pcl/memory.h> // for static_pointer_cast

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::registration::CorrespondenceRejectionOrganizedBoundary::
    getRemainingCorrespondences(const pcl::Correspondences& original_correspondences,
                                pcl::Correspondences& remaining_correspondences)
{
  pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud =
      static_pointer_cast<
          pcl::registration::DataContainer<pcl::PointXYZ, pcl::PointNormal>>(
          data_container_)
          ->getInputTarget();

  if (!cloud->isOrganized()) {
    PCL_ERROR("[pcl::registration::CorrespondenceRejectionOrganizedBoundary::"
              "getRemainingCorrespondences] The target cloud is not organized.\n");
    remaining_correspondences.clear();
    return;
  }

  remaining_correspondences.reserve(original_correspondences.size());
  for (const auto& original_correspondence : original_correspondences) {
    /// Count how many NaNs bound the target point
    int x = original_correspondence.index_match % cloud->width;
    int y = original_correspondence.index_match / cloud->width;

    int nan_count_tgt = 0;
    for (int x_d = -window_size_ / 2; x_d <= window_size_ / 2; ++x_d)
      for (int y_d = -window_size_ / 2; y_d <= window_size_ / 2; ++y_d)
        if (x + x_d >= 0 && x + x_d < static_cast<int>(cloud->width) && y + y_d >= 0 &&
            y + y_d < static_cast<int>(cloud->height)) {
          if (!std::isfinite((*cloud)(x + x_d, y + y_d).z) ||
              std::fabs((*cloud)(x, y).z - (*cloud)(x + x_d, y + y_d).z) >
                  depth_step_threshold_)
            nan_count_tgt++;
        }

    if (nan_count_tgt >= boundary_nans_threshold_)
      continue;

    /// The correspondence passes both tests, add it to the filtered set of
    /// correspondences
    remaining_correspondences.push_back(original_correspondence);
  }
}
