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

#include "pcl/common/concatenate.h"

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> int
pcl::getFieldIndex (const pcl::PointCloud<PointT> &cloud, 
                    const std::string &field_name, 
                    std::vector<sensor_msgs::PointField> &fields)
{
  fields.clear ();
  // Get the fields list
  pcl::for_each_type<typename pcl::traits::fieldList<PointT>::type>(pcl::detail::FieldAdder<PointT>(fields));
  for (size_t d = 0; d < fields.size (); ++d)
    if (fields[d].name == field_name)
      return ((int) d);
  return (-1);
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::getFields (const pcl::PointCloud<PointT> &cloud, std::vector<sensor_msgs::PointField> &fields)
{
  fields.clear ();
  // Get the fields list
  pcl::for_each_type<typename pcl::traits::fieldList<PointT>::type>(pcl::detail::FieldAdder<PointT>(fields));
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> std::string
pcl::getFieldsList (const pcl::PointCloud<PointT> &cloud)
{
  // Get the fields list
  std::vector<sensor_msgs::PointField> fields;
  pcl::for_each_type<typename pcl::traits::fieldList<PointT>::type>(pcl::detail::FieldAdder<PointT>(fields));
  std::string result;
  for (size_t i = 0; i < fields.size () - 1; ++i)
    result += fields[i].name + " ";
  result += fields[fields.size () - 1].name;
  return (result);
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, pcl::PointCloud<PointOutT> &cloud_out)
{
  // Allocate enough space and copy the basics
  cloud_out.points.resize (cloud_in.points.size ());
  cloud_out.header   = cloud_in.header;
  cloud_out.width    = cloud_in.width;
  cloud_out.height   = cloud_in.height;
  cloud_out.is_dense = cloud_in.is_dense;
  // Copy all the data fields from the input cloud to the output one
  typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
  typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
  typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList; 
  // Iterate over each point
  for (size_t i = 0; i < cloud_in.points.size (); ++i)
  {
    // Iterate over each dimension
    pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[i], cloud_out.points[i]));
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, const std::vector<int> &indices,
                     pcl::PointCloud<PointT> &cloud_out)
{
  // Allocate enough space and copy the basics
  cloud_out.points.resize (indices.size ());
  cloud_out.header   = cloud_in.header;
  cloud_out.width    = indices.size ();
  cloud_out.height   = 1;
  if (cloud_in.is_dense)
    cloud_out.is_dense = true;
  else
    // It's not necessarily true that is_dense is false if cloud_in.is_dense is false
    // To verify this, we would need to iterate over all points and check for NaNs
    cloud_out.is_dense = false;

  // Copy all the data fields from the input cloud to the output one
  typedef typename pcl::traits::fieldList<PointT>::type FieldList;
  // Iterate over each point
  for (size_t i = 0; i < indices.size (); ++i)
    // Iterate over each dimension
    pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointT, PointT> (cloud_in.points[indices[i]], cloud_out.points[i]));
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                     const std::vector<int, Eigen::aligned_allocator<int> > &indices,
                     pcl::PointCloud<PointT> &cloud_out)
{
  // Allocate enough space and copy the basics
  cloud_out.points.resize (indices.size ());
  cloud_out.header   = cloud_in.header;
  cloud_out.width    = indices.size ();
  cloud_out.height   = 1;
  if (cloud_in.is_dense)
    cloud_out.is_dense = true;
  else
    // It's not necessarily true that is_dense is false if cloud_in.is_dense is false
    // To verify this, we would need to iterate over all points and check for NaNs
    cloud_out.is_dense = false;

  // Copy all the data fields from the input cloud to the output one
  typedef typename pcl::traits::fieldList<PointT>::type FieldList;
  // Iterate over each point
  for (size_t i = 0; i < indices.size (); ++i)
    // Iterate over each dimension
    pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointT, PointT> (cloud_in.points[indices[i]], cloud_out.points[i]));
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, const std::vector<int> &indices,
                     pcl::PointCloud<PointOutT> &cloud_out)
{
  // Allocate enough space and copy the basics
  cloud_out.points.resize (indices.size ());
  cloud_out.header   = cloud_in.header;
  cloud_out.width    = indices.size ();
  cloud_out.height   = 1;
  if (cloud_in.is_dense)
    cloud_out.is_dense = true;
  else
    // It's not necessarily true that is_dense is false if cloud_in.is_dense is false
    // To verify this, we would need to iterate over all points and check for NaNs
    cloud_out.is_dense = false;

  // Copy all the data fields from the input cloud to the output one
  typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
  typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
  typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList; 
  // Iterate over each point
  for (size_t i = 0; i < indices.size (); ++i)
    // Iterate over each dimension
    pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices[i]], cloud_out.points[i]));
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 
                     const std::vector<int, Eigen::aligned_allocator<int> > &indices,
                     pcl::PointCloud<PointOutT> &cloud_out)
{
  // Allocate enough space and copy the basics
  cloud_out.points.resize (indices.size ());
  cloud_out.header   = cloud_in.header;
  cloud_out.width    = indices.size ();
  cloud_out.height   = 1;
  if (cloud_in.is_dense)
    cloud_out.is_dense = true;
  else
    // It's not necessarily true that is_dense is false if cloud_in.is_dense is false
    // To verify this, we would need to iterate over all points and check for NaNs
    cloud_out.is_dense = false;

  // Copy all the data fields from the input cloud to the output one
  typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
  typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
  typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList; 
  // Iterate over each point
  for (size_t i = 0; i < indices.size (); ++i)
    // Iterate over each dimension
    pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices[i]], cloud_out.points[i]));
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, const pcl::PointIndices &indices,
                     pcl::PointCloud<PointT> &cloud_out)
{
  // Allocate enough space and copy the basics
  cloud_out.points.resize (indices.indices.size ());
  cloud_out.header   = cloud_in.header;
  cloud_out.width    = indices.indices.size ();
  cloud_out.height   = 1;
  if (cloud_in.is_dense)
    cloud_out.is_dense = true;
  else
    // It's not necessarily true that is_dense is false if cloud_in.is_dense is false
    // To verify this, we would need to iterate over all points and check for NaNs
    cloud_out.is_dense = false;

  // Copy all the data fields from the input cloud to the output one
  typedef typename pcl::traits::fieldList<PointT>::type FieldList;
  // Iterate over each point
  for (size_t i = 0; i < indices.indices.size (); ++i)
    // Iterate over each dimension
    pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointT, PointT> (cloud_in.points[indices.indices[i]], cloud_out.points[i]));
}

///////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, const pcl::PointIndices &indices,
                     pcl::PointCloud<PointOutT> &cloud_out)
{
  // Allocate enough space and copy the basics
  cloud_out.points.resize (indices.indices.size ());
  cloud_out.header   = cloud_in.header;
  cloud_out.width    = indices.indices.size ();
  cloud_out.height   = 1;
  if (cloud_in.is_dense)
    cloud_out.is_dense = true;
  else
    // It's not necessarily true that is_dense is false if cloud_in.is_dense is false
    // To verify this, we would need to iterate over all points and check for NaNs
    cloud_out.is_dense = false;

  // Copy all the data fields from the input cloud to the output one
  typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
  typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
  typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList; 
  // Iterate over each point
  for (size_t i = 0; i < indices.indices.size (); ++i)
    // Iterate over each dimension
    pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices.indices[i]], cloud_out.points[i]));
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, const std::vector<pcl::PointIndices> &indices,
                     pcl::PointCloud<PointT> &cloud_out)
{
  int nr_p = 0;
  for (size_t i = 0; i < indices.size (); ++i)
    nr_p += indices[i].indices.size ();

  // Allocate enough space and copy the basics
  cloud_out.points.resize (nr_p);
  cloud_out.header   = cloud_in.header;
  cloud_out.width    = nr_p;
  cloud_out.height   = 1;
  if (cloud_in.is_dense)
    cloud_out.is_dense = true;
  else
    // It's not necessarily true that is_dense is false if cloud_in.is_dense is false
    // To verify this, we would need to iterate over all points and check for NaNs
    cloud_out.is_dense = false;

  // Copy all the data fields from the input cloud to the output one
  typedef typename pcl::traits::fieldList<PointT>::type FieldList;
  // Iterate over each cluster
  int cp = 0;
  for (size_t cc = 0; cc < indices.size (); ++cc)
  {
    // Iterate over each idx
    for (size_t i = 0; i < indices[cc].indices.size (); ++i)
    {
      // Iterate over each dimension
      pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointT, PointT> (cloud_in.points[indices[cc].indices[i]], cloud_out.points[cp]));
      cp++;
    }
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, const std::vector<pcl::PointIndices> &indices,
                     pcl::PointCloud<PointOutT> &cloud_out)
{
  int nr_p = 0;
  for (size_t i = 0; i < indices.size (); ++i)
    nr_p += indices[i].indices.size ();

  // Allocate enough space and copy the basics
  cloud_out.points.resize (nr_p);
  cloud_out.header   = cloud_in.header;
  cloud_out.width    = nr_p;
  cloud_out.height   = 1;
  if (cloud_in.is_dense)
    cloud_out.is_dense = true;
  else
    // It's not necessarily true that is_dense is false if cloud_in.is_dense is false
    // To verify this, we would need to iterate over all points and check for NaNs
    cloud_out.is_dense = false;

  // Copy all the data fields from the input cloud to the output one
  typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
  typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
  typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList; 
  // Iterate over each cluster
  int cp = 0;
  for (size_t cc = 0; cc < indices.size (); ++cc)
  {
    // Iterate over each idx
    for (size_t i = 0; i < indices[cc].indices.size (); ++i)
    {
      // Iterate over each dimension
      pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices[cc].indices[i]], cloud_out.points[cp]));
      ++cp;
    }
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointIn1T, typename PointIn2T, typename PointOutT> void
pcl::concatenateFields (const pcl::PointCloud<PointIn1T> &cloud1_in,
                        const pcl::PointCloud<PointIn2T> &cloud2_in,
                        pcl::PointCloud<PointOutT> &cloud_out)
{
  typedef typename pcl::traits::fieldList<PointIn1T>::type FieldList1;
  typedef typename pcl::traits::fieldList<PointIn2T>::type FieldList2;

  if (cloud1_in.points.size () != cloud2_in.points.size ())
  {
    PCL_ERROR ("[pcl::concatenateFields] The number of points in the two input datasets differs!\n");
    return;
  }

  // Resize the output dataset
  cloud_out.points.resize (cloud1_in.points.size ());
  cloud_out.header   = cloud1_in.header;
  cloud_out.width    = cloud1_in.width;
  cloud_out.height   = cloud1_in.height;
  if (!cloud1_in.is_dense || !cloud2_in.is_dense)
    cloud_out.is_dense = false;
  else
    cloud_out.is_dense = true;

  // Iterate over each point
  for (size_t i = 0; i < cloud_out.points.size (); ++i)
  {
    // Iterate over each dimension
    pcl::for_each_type <FieldList1> (pcl::NdConcatenateFunctor <PointIn1T, PointOutT> (cloud1_in.points[i], cloud_out.points[i]));
    pcl::for_each_type <FieldList2> (pcl::NdConcatenateFunctor <PointIn2T, PointOutT> (cloud2_in.points[i], cloud_out.points[i]));
  }
}

#endif // PCL_IO_IMPL_IO_H_

