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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 * $Id$
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#include <pcl/filters/impl/extract_indices.hpp>

///////////////////////////////////////////////////////////////////////////////////////////
void
pcl::ExtractIndices<pcl::PCLPointCloud2>::applyFilter (PCLPointCloud2 &output)
{
  if (keep_organized_)
  {
    output = *input_;
    if (negative_)
    {
      // Prepare the output and copy the data
      for (std::size_t i = 0; i < indices_->size (); ++i)
        for (std::size_t j = 0; j < output.fields.size(); ++j)
          memcpy (&output.data[(*indices_)[i] * output.point_step + output.fields[j].offset],
                  &user_filter_value_, sizeof(float));
    }
    else
    {
      // Prepare a vector holding all indices
      Indices all_indices (input_->width * input_->height);
      for (index_t i = 0; i < static_cast<index_t>(all_indices.size ()); ++i)
        all_indices[i] = i;

      Indices indices = *indices_;
      std::sort (indices.begin (), indices.end ());

      // Get the difference
      Indices remaining_indices;
      set_difference (all_indices.begin (), all_indices.end (), indices.begin (), indices.end (),
                      inserter (remaining_indices, remaining_indices.begin ()));

      // Prepare the output and copy the data
      for (const auto &remaining_index : remaining_indices)
        for (std::size_t j = 0; j < output.fields.size(); ++j)
          memcpy (&output.data[remaining_index * output.point_step + output.fields[j].offset],
                  &user_filter_value_, sizeof(float));
    }
    if (!std::isfinite (user_filter_value_))
      output.is_dense = false;
    return;
  }
  if (indices_->empty () || (input_->width * input_->height == 0))
  {
    output.width = output.height = 0;
    output.data.clear ();
    // If negative, copy all the data
    if (negative_)
      output = *input_;
    return;
  }
  if (indices_->size () == (input_->width * input_->height))
  {
    // If negative, then return an empty cloud
    if (negative_)
    {
      output.width = output.height = 0;
      output.data.clear ();
    }
    // else, we need to return all points
    else
      output = *input_;
    return;
  }

  // Copy the common fields (header and fields should have already been copied)
  output.is_bigendian = input_->is_bigendian;
  output.point_step   = input_->point_step;
  output.height       = 1;
  // TODO: check the output cloud and assign is_dense based on whether the points are valid or not
  output.is_dense     = false;

  if (negative_)
  {
    // Prepare a vector holding all indices
    Indices all_indices (input_->width * input_->height);
    for (index_t i = 0; i < static_cast<index_t>(all_indices.size ()); ++i)
      all_indices[i] = i;

    Indices indices = *indices_;
    std::sort (indices.begin (), indices.end ());

    // Get the difference
    Indices remaining_indices;
    set_difference (all_indices.begin (), all_indices.end (), indices.begin (), indices.end (),
                    inserter (remaining_indices, remaining_indices.begin ()));

    // Prepare the output and copy the data
    output.width = remaining_indices.size ();
    output.data.resize (remaining_indices.size () * output.point_step);
    for (std::size_t i = 0; i < remaining_indices.size (); ++i)
      memcpy (&output.data[i * output.point_step], &input_->data[remaining_indices[i] * output.point_step], output.point_step);
  }
  else
  {
    // Prepare the output and copy the data
    output.width = indices_->size ();
    output.data.resize (indices_->size () * output.point_step);
    for (std::size_t i = 0; i < indices_->size (); ++i)
      memcpy (&output.data[i * output.point_step], &input_->data[(*indices_)[i] * output.point_step], output.point_step);
  }
  output.row_step = output.point_step * output.width;
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::ExtractIndices<pcl::PCLPointCloud2>::applyFilter (Indices &indices)
{
  if (indices_->size () > (input_->width * input_->height))
  {
    PCL_ERROR ("[pcl::%s::applyFilter] The indices size exceeds the size of the input.\n", getClassName ().c_str ());
    indices.clear ();
    removed_indices_->clear ();
    return;
  }

  if (!negative_)  // Normal functionality
  {
    indices = *indices_;

    if (extract_removed_indices_)
    {
      // Set up the full indices set
      Indices full_indices (input_->width * input_->height);
      for (index_t fii = 0; fii < static_cast<index_t> (full_indices.size ()); ++fii)  // fii = full indices iterator
        full_indices[fii] = fii;

      // Set up the sorted input indices
      Indices sorted_input_indices = *indices_;
      std::sort (sorted_input_indices.begin (), sorted_input_indices.end ());

      // Store the difference in removed_indices
      removed_indices_->clear ();
      std::set_difference (full_indices.begin (), full_indices.end (), sorted_input_indices.begin (), sorted_input_indices.end (), std::inserter (*removed_indices_, removed_indices_->begin ()));
    }
  }
  else  // Inverted functionality
  {
    // Set up the full indices set
    Indices full_indices (input_->width * input_->height);
    for (index_t fii = 0; fii < static_cast<index_t> (full_indices.size ()); ++fii)  // fii = full indices iterator
      full_indices[fii] = fii;

    // Set up the sorted input indices
    Indices sorted_input_indices = *indices_;
    std::sort (sorted_input_indices.begin (), sorted_input_indices.end ());

    // Store the difference in indices
    indices.clear ();
    std::set_difference (full_indices.begin (), full_indices.end (), sorted_input_indices.begin (), sorted_input_indices.end (), std::inserter (indices, indices.begin ()));

    if (extract_removed_indices_)
      removed_indices_ = indices_;
  }
}

#ifndef PCL_NO_PRECOMPILE
#include <pcl/impl/instantiate.hpp>
#include <pcl/point_types.h>

#ifdef PCL_ONLY_CORE_POINT_TYPES
  PCL_INSTANTIATE(ExtractIndices, (pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::Normal)(pcl::PointNormal)(pcl::PointXYZRGBNormal))
#else
  PCL_INSTANTIATE(ExtractIndices, PCL_POINT_TYPES)
#endif

#endif    // PCL_NO_PRECOMPILE

