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 * $Id: extract_indices.hpp 2617 2011-09-30 21:37:23Z rusu $
 *
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#ifndef PCL_FILTERS_IMPL_EXTRACT_INDICES_H_
#define PCL_FILTERS_IMPL_EXTRACT_INDICES_H_

#include "pcl/common/io.h"
#include "pcl/filters/extract_indices.h"

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::ExtractIndices<PointT>::applyFilter (PointCloud &output)
{
  if (indices_->empty () || input_->points.empty ())
  {
    output.width = output.height = 0;
    output.points.clear ();
    // If negative, copy all the data
    if (negative_)
      output = *input_;
    return;
  }

  // If the set of indices equals the number of points in the input dataset
  if (indices_->size () == (input_->width * input_->height) ||
      indices_->size () == input_->points.size ())
  {
    // If negative, then return an empty cloud
    if (negative_)
    {
      output.width = output.height = 0;
      output.points.clear ();
    }
    // else, we need to return all points
    else
      output = *input_;
    return;
  }

  // We have a set of indices which is a subset of cloud, so let's start processing
  if (negative_)
  {
    // Prepare a vector holding all indices
    std::vector<int> all_indices (input_->points.size ());
    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 ()));

    copyPointCloud (*input_, remaining_indices, output);
  }
  else
    copyPointCloud (*input_, *indices_, output);
}

#define PCL_INSTANTIATE_ExtractIndices(T) template class PCL_EXPORTS pcl::ExtractIndices<T>;

#endif    // PCL_FILTERS_IMPL_EXTRACT_INDICES_H_
