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 *     from this software without specific prior written permission.
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 * $Id: extract_indices.cpp 2617 2011-09-30 21:37:23Z rusu $
 *
 */

#include "pcl/impl/instantiate.hpp"
#include "pcl/point_types.h"
#include "pcl/filters/extract_indices.h"
#include "pcl/filters/impl/extract_indices.hpp"

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::ExtractIndices<sensor_msgs::PointCloud2>::applyFilter (PointCloud2 &output)
{
  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
    std::vector<int> all_indices (input_->width * input_->height);
    for (size_t i = 0; i < all_indices.size (); ++i)
      all_indices[i] = i;

    std::vector<int> indices = *indices_;
    std::sort (indices.begin (), indices.end ());

    // Get the diference
    std::vector<int> 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 (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 (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;
}

PCL_INSTANTIATE(ExtractIndices, PCL_POINT_TYPES);
