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 * $Id: project_inliers.cpp 5026 2012-03-12 02:51:44Z rusu $
 *
 */

#include <pcl/impl/instantiate.hpp>
#include <pcl/point_types.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/filters/impl/project_inliers.hpp>

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::ProjectInliers<sensor_msgs::PointCloud2>::applyFilter (PointCloud2 &output)
{
  if (indices_->empty ())
  {
    PCL_WARN ("[pcl::%s::applyFilter] No indices given or empty indices!\n", getClassName ().c_str ());
    output.width = output.height = 0;
    output.data.clear ();
    return;
  }

  //Eigen::Map<Eigen::VectorXf, Eigen::Aligned> model_coefficients (&model_->values[0], model_->values.size ());
  // More expensive than a map but safer (32bit architectures seem to complain)
  Eigen::VectorXf model_coefficients (model_->values.size ());
  for (size_t i = 0; i < model_->values.size (); ++i)
    model_coefficients[i] = model_->values[i];

  // Construct the model and project
  if (!initSACModel (model_type_))
  {
    PCL_ERROR ("[pcl::%s::segment] Error initializing the SAC model!\n", getClassName ().c_str ());
    output.width = output.height = 0;
    output.data.clear ();
    return;
  }
  pcl::PointCloud<pcl::PointXYZ> cloud_out;

  if (!copy_all_fields_)
    sacmodel_->projectPoints (*indices_, model_coefficients, cloud_out, false);
  else
    sacmodel_->projectPoints (*indices_, model_coefficients, cloud_out, true);

  if (copy_all_data_)
  {
    output.height       = input_->height;
    output.width        = input_->width;
    output.is_bigendian = input_->is_bigendian;
    output.point_step   = input_->point_step;
    output.row_step     = input_->row_step;
    output.data         = input_->data;
    output.is_dense     = input_->is_dense;

    // Get the distance field index
    int x_idx = -1, y_idx = -1, z_idx = -1;
    for (int d = 0; d < static_cast<int> (output.fields.size ()); ++d)
    {
      if (output.fields[d].name == "x") x_idx = d;
      if (output.fields[d].name == "y") y_idx = d;
      if (output.fields[d].name == "z") z_idx = d;
    }
    if (x_idx == -1 || y_idx == -1 || z_idx == -1)
    {
      PCL_ERROR ("[pcl::%s::segment] X (%d) Y (%d) Z (%d) field dimensions not found!\n", getClassName ().c_str (), x_idx, y_idx, z_idx);
      output.width = output.height = 0;
      output.data.clear ();
      return;
    }

    // Copy the projected points
    for (size_t i = 0; i < indices_->size (); ++i)
    {
      memcpy (&output.data[(*indices_)[i] * output.point_step + output.fields[x_idx].offset], &cloud_out.points[(*indices_)[i]].x, sizeof (float));
      memcpy (&output.data[(*indices_)[i] * output.point_step + output.fields[y_idx].offset], &cloud_out.points[(*indices_)[i]].y, sizeof (float));
      memcpy (&output.data[(*indices_)[i] * output.point_step + output.fields[z_idx].offset], &cloud_out.points[(*indices_)[i]].z, sizeof (float));
    }
  }
  else
  {
    if (!copy_all_fields_)
    {
      pcl::toROSMsg<pcl::PointXYZ> (cloud_out, output);
    }
    else
    {
      // Copy everything
      output.height       = 1;
      output.width        = static_cast<uint32_t> (indices_->size ());
      output.point_step   = input_->point_step;
      output.data.resize (output.width * output.point_step);
      output.is_bigendian = input_->is_bigendian;
      output.row_step     = output.point_step * output.width;
      // All projections should return valid data, so is_dense = true
      output.is_dense     = true;

      // Get the distance field index
      int x_idx = -1, y_idx = -1, z_idx = -1;
      for (int d = 0; d < static_cast<int> (output.fields.size ()); ++d)
      {
        if (output.fields[d].name == "x") x_idx = d;
        if (output.fields[d].name == "y") y_idx = d;
        if (output.fields[d].name == "z") z_idx = d;
      }

      if (x_idx == -1 || y_idx == -1 || z_idx == -1)
      {
        PCL_ERROR ("[pcl::%s::segment] X (%d) Y (%d) Z (%d) field dimensions not found!\n", getClassName ().c_str (), x_idx, y_idx, z_idx);
        output.width = output.height = 0;
        output.data.clear ();
        return;
      }

      // Copy the projected points
      for (size_t i = 0; i < indices_->size (); ++i)
      {
        memcpy (&output.data[i * output.point_step], &input_->data[(*indices_)[i] * input_->point_step], output.point_step);
        memcpy (&output.data[i * output.point_step + output.fields[x_idx].offset], &cloud_out.points[(*indices_)[i]].x, sizeof (float));
        memcpy (&output.data[i * output.point_step + output.fields[y_idx].offset], &cloud_out.points[(*indices_)[i]].y, sizeof (float));
        memcpy (&output.data[i * output.point_step + output.fields[z_idx].offset], &cloud_out.points[(*indices_)[i]].z, sizeof (float));
      }
    }
  }
}

/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::ProjectInliers<sensor_msgs::PointCloud2>::initSACModel (int model_type)
{
  // Convert the input data
  PointCloud<PointXYZ> cloud;
  fromROSMsg (*input_, cloud);
  PointCloud<PointXYZ>::Ptr cloud_ptr = cloud.makeShared ();

  // Build the model
  switch (model_type)
  {
    case SACMODEL_PLANE:
    {
      //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_PLANE\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelPlane<pcl::PointXYZ> (cloud_ptr));
      break;
    }
    case SACMODEL_LINE:
    {
      //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_LINE\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelLine<pcl::PointXYZ> (cloud_ptr));
      break;
    }
    case SACMODEL_CIRCLE2D:
    {
      //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_CIRCLE2D\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelCircle2D<pcl::PointXYZ> (cloud_ptr));
      break;
    }
    case SACMODEL_SPHERE:
    {
      //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_SPHERE\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelSphere<pcl::PointXYZ> (cloud_ptr));
      break;
    }
    case SACMODEL_PARALLEL_LINE:
    {
      //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_PARALLEL_LINE\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelParallelLine<pcl::PointXYZ> (cloud_ptr));
      break;
    }
    case SACMODEL_PERPENDICULAR_PLANE:
    {
      //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_PERPENDICULAR_PLANE\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelPerpendicularPlane<pcl::PointXYZ> (cloud_ptr));
      break;
    }
    case SACMODEL_CYLINDER:
    {
      //PCL_DEBUG ("[pcl::%s::segment] Using a model of type: SACMODEL_CYLINDER\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelCylinder<pcl::PointXYZ, Normal> (cloud_ptr));
      break;
    }
    case SACMODEL_NORMAL_PLANE:
    {
      //PCL_DEBUG ("[pcl::%s::segment] Using a model of type: SACMODEL_NORMAL_PLANE\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelNormalPlane<pcl::PointXYZ, Normal> (cloud_ptr));
      break;
    }
    case SACMODEL_CONE:
    {
      //PCL_DEBUG ("[pcl::%s::segment] Using a model of type: SACMODEL_CONE\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelCone<pcl::PointXYZ, Normal> (cloud_ptr));
      break;
    }
    case SACMODEL_NORMAL_SPHERE:
    {
      //PCL_DEBUG ("[pcl::%s::segment] Using a model of type: SACMODEL_NORMAL_SPHERE\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelNormalSphere<pcl::PointXYZ, Normal> (cloud_ptr));
      break;
    }
    case SACMODEL_NORMAL_PARALLEL_PLANE:
    {
      //PCL_DEBUG ("[pcl::%s::segment] Using a model of type: SACMODEL_NORMAL_PARALLEL_PLANE\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelNormalParallelPlane<pcl::PointXYZ, Normal> (cloud_ptr));
      break;
    }
    case SACMODEL_PARALLEL_PLANE:
    {
      //PCL_DEBUG ("[pcl::%s::segment] Using a model of type: SACMODEL_PARALLEL_PLANE\n", getClassName ().c_str ());
      sacmodel_.reset (new SampleConsensusModelParallelPlane<pcl::PointXYZ> (cloud_ptr));
      break;
    }
    default:
    {
      PCL_ERROR ("[pcl::%s::initSACModel] No valid model given!\n", getClassName ().c_str ());
      return (false);
    }
  }
  return (true);
}

// Instantiations of specific point types
#ifdef PCL_ONLY_CORE_POINT_TYPES
  PCL_INSTANTIATE(ProjectInliers, (pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA))
#else
  PCL_INSTANTIATE(ProjectInliers, PCL_XYZ_POINT_TYPES)
#endif
