/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Alexandru-Eugen Ichim
 *                      Willow Garage, Inc
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 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 * $Id: ppf.cpp 6144 2012-07-04 22:06:28Z rusu $
 */

#include <pcl/features/ppf.h>
#include <pcl/features/impl/ppf.hpp>
#include <pcl/point_types.h>
#include <pcl/impl/instantiate.hpp>

//////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::computePPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,
                            const Eigen::Vector4f &p2, const Eigen::Vector4f &n2,
                            float &f1, float &f2, float &f3, float &f4)
{
  Eigen::Vector4f delta = p2 - p1;
  delta[3] = 0.0f;
  // f4 = ||delta||
  f4 = delta.norm ();

  delta /= f4;

  // f1 = n1 dot delta
  f1 = n1[0] * delta[0] + n1[1] * delta[1] + n1[2] * delta[2];
  // f2 = n2 dot delta
  f2 = n2[0] * delta[0] + n2[1] * delta[1] + n2[2] * delta[2];
  // f3 = n1 dot n2
  f3 = n1[0] * n2[0] + n1[1] * n2[1] + n1[2] * n2[2];

  return (true);
}

// Instantiations of specific point types
#ifdef PCL_ONLY_CORE_POINT_TYPES
  PCL_INSTANTIATE_PRODUCT(PPFEstimation, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointNormal)(pcl::PointXYZRGBA))((pcl::PointNormal)(pcl::Normal))((pcl::PPFSignature)))
#else
  PCL_INSTANTIATE_PRODUCT(PPFEstimation, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES)((pcl::PPFSignature)))
  PCL_INSTANTIATE_PRODUCT(PPFEstimation, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES)((Eigen::MatrixXf)))
#endif

