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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::registration::CorrespondenceRejectorFeatures::applyRejection (
    pcl::Correspondences &correspondences)
{
  unsigned int number_valid_correspondences = 0;
  correspondences.resize (input_correspondences_->size ());
  // For each set of features, go over each correspondence from input_correspondences_
  for (size_t i = 0; i < input_correspondences_->size (); ++i)
  {
    // Go over the map of features
    for (FeaturesMap::const_iterator it = features_map_.begin (); it != features_map_.end (); ++it)
    {
      // Check if the score in feature space is above the given threshold
      // (assume that the number of feature correspondenecs is the same as the number of point correspondences)
      if (!it->second->isCorrespondenceValid (i))
        break;

      correspondences[number_valid_correspondences] = (*input_correspondences_)[i];
      ++number_valid_correspondences;
    }
  }
  correspondences.resize (number_valid_correspondences);
}

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::registration::CorrespondenceRejectorFeatures::getRemainingCorrespondences (
    const pcl::Correspondences& original_correspondences, 
    pcl::Correspondences& remaining_correspondences)
{
  unsigned int number_valid_correspondences = 0;
  remaining_correspondences.resize (original_correspondences.size ());
  // For each set of features, go over each correspondence from input_correspondences_
  for (size_t i = 0; i < input_correspondences_->size (); ++i)
  {
    // Go over the map of features
    for (FeaturesMap::const_iterator it = features_map_.begin (); it != features_map_.end (); ++it)
    {
      // Check if the score in feature space is above the given threshold
      // (assume that the number of feature correspondenecs is the same as the number of point correspondences)
      if (!it->second->isCorrespondenceValid (i))
        break;

      remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
      ++number_valid_correspondences;
    }
  }
  remaining_correspondences.resize (number_valid_correspondences);
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void 
pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature (
    const typename pcl::PointCloud<FeatureT>::ConstPtr &source_feature, const std::string &key)
{
  if (features_map_.count (key) == 0)
    features_map_[key].reset (new FeatureContainer<FeatureT>);
  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setSourceFeature (source_feature);
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline typename pcl::PointCloud<FeatureT>::ConstPtr 
pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature (const std::string &key)
{
  if (features_map_.count (key) == 0)
    return (boost::shared_ptr<pcl::PointCloud<const FeatureT> > ());
  else
    return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getSourceFeature ());
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void 
pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature (
    const typename pcl::PointCloud<FeatureT>::ConstPtr &target_feature, const std::string &key)
{
  if (features_map_.count (key) == 0)
    features_map_[key].reset (new FeatureContainer<FeatureT>);
  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setTargetFeature (target_feature);
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline typename pcl::PointCloud<FeatureT>::ConstPtr 
pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature (const std::string &key)
{
  typedef pcl::PointCloud<FeatureT> FeatureCloud;
  typedef typename FeatureCloud::ConstPtr FeatureCloudConstPtr;

  if (features_map_.count (key) == 0)
    return (boost::shared_ptr<const pcl::PointCloud<FeatureT> > ());
  else
    return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getTargetFeature ());
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void 
pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold (
    double thresh, const std::string &key)
{
  if (features_map_.count (key) == 0)
    features_map_[key].reset (new FeatureContainer<FeatureT>);
  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setDistanceThreshold (thresh);
}

//////////////////////////////////////////////////////////////////////////////////////////////
inline bool
pcl::registration::CorrespondenceRejectorFeatures::hasValidFeatures ()
{
  if (features_map_.empty ())
    return (false);
  typename FeaturesMap::const_iterator feature_itr;
  for (feature_itr = features_map_.begin (); feature_itr != features_map_.end (); ++feature_itr)
    if (!feature_itr->second->isValid ())
      return (false);
  return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void 
pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation (
  const typename pcl::PointRepresentation<FeatureT>::ConstPtr &fr,
  const std::string &key)
{
  if (features_map_.count (key) == 0)
    features_map_[key].reset (new FeatureContainer<FeatureT>);
  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setFeatureRepresentation (fr);
}


#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ */
