 /*
  * Software License Agreement (BSD License)
  *
  *  Point Cloud Library (PCL) - www.pointclouds.org
  *  Copyright (c) 2012, Yani Ioannou <yani.ioannou@gmail.com>
  *
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
  *  modification, are permitted provided that the following conditions
  *  are met:
  *
  *   * Redistributions of source code must retain the above copyright
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the copyright holder(s) nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  *  "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,
  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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  *
  */
#ifndef PCL_FILTERS_DON_IMPL_H_
#define PCL_FILTERS_DON_IMPL_H_

#include <pcl/features/don.h>

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> bool
pcl::DifferenceOfNormalsEstimation<PointInT, PointNT, PointOutT>::initCompute ()
{
  // Check if input normals are set
  if (!input_normals_small_)
  {
    PCL_ERROR ("[pcl::%s::initCompute] No input dataset containing small support radius normals was given!\n", getClassName().c_str ());
    Feature<PointInT, PointOutT>::deinitCompute();
    return (false);
  }

  if (!input_normals_large_)
  {
    PCL_ERROR ("[pcl::%s::initCompute] No input dataset containing large support radius normals was given!\n", getClassName().c_str ());
    Feature<PointInT, PointOutT>::deinitCompute();
    return (false);
  }

  // Check if the size of normals is the same as the size of the surface
  if (input_normals_small_->points.size () != input_->points.size ())
  {
    PCL_ERROR ("[pcl::%s::initCompute] ", getClassName().c_str ());
    PCL_ERROR ("The number of points in the input dataset differs from ");
    PCL_ERROR ("the number of points in the dataset containing the small support radius normals!\n");
    Feature<PointInT, PointOutT>::deinitCompute ();
    return (false);
  }

  if (input_normals_large_->points.size () != input_->points.size ())
  {
    PCL_ERROR ("[pcl::%s::initCompute] ", getClassName().c_str ());
    PCL_ERROR ("The number of points in the input dataset differs from ");
    PCL_ERROR ("the number of points in the dataset containing the large support radius normals!\n");
    Feature<PointInT, PointOutT>::deinitCompute ();
    return (false);
  }

  return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> void
pcl::DifferenceOfNormalsEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)
{
  //perform DoN subtraction and return results
  for (std::size_t point_id = 0; point_id < input_->points.size (); ++point_id)
  {
    output.points[point_id].getNormalVector3fMap () =  (input_normals_small_->points[point_id].getNormalVector3fMap ()
    		- input_normals_large_->points[point_id].getNormalVector3fMap ()) / 2.0;
    if(!std::isfinite (output.points[point_id].normal_x) ||
        !std::isfinite (output.points[point_id].normal_y) ||
        !std::isfinite (output.points[point_id].normal_z)){
      output.points[point_id].getNormalVector3fMap () = Eigen::Vector3f(0,0,0);
    }
    output.points[point_id].curvature = output.points[point_id].getNormalVector3fMap ().norm();
  }
}


#define PCL_INSTANTIATE_DifferenceOfNormalsEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::DifferenceOfNormalsEstimation<T,NT,OutT>;

#endif // PCL_FILTERS_DON_H_
