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 *  Copyright (c) 2011, Alexandru-Eugen Ichim
 *                      Willow Garage, Inc
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#include <pcl/registration/ppf_registration.h>

//#ifndef PCL_NO_PRECOMPILE
//#include <pcl/point_types.h>
//#include <pcl/impl/instantiate.hpp>
//#include <pcl/registration/impl/ppf_registration.hpp>

//PCL_INSTANTIATE_PRODUCT(PPFRegistration, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES));
//#endif    // PCL_NO_PRECOMPILE

void
pcl::PPFHashMapSearch::setInputFeatureCloud (PointCloud<PPFSignature>::ConstPtr feature_cloud)
{
  // Discretize the feature cloud and insert it in the hash map
  feature_hash_map_->clear ();
  unsigned int n = static_cast<unsigned int> (sqrt (static_cast<float> (feature_cloud->points.size ())));
  int d1, d2, d3, d4;
  max_dist_ = -1.0;
  alpha_m_.resize (n);
  for (size_t i = 0; i < n; ++i)
  {
    std::vector <float> alpha_m_row (n);
    for (size_t j = 0; j < n; ++j)
    {
      d1 = static_cast<int> (floor (feature_cloud->points[i*n+j].f1 / angle_discretization_step_));
      d2 = static_cast<int> (floor (feature_cloud->points[i*n+j].f2 / angle_discretization_step_));
      d3 = static_cast<int> (floor (feature_cloud->points[i*n+j].f3 / angle_discretization_step_));
      d4 = static_cast<int> (floor (feature_cloud->points[i*n+j].f4 / distance_discretization_step_));
      feature_hash_map_->insert (std::pair<HashKeyStruct, std::pair<size_t, size_t> > (HashKeyStruct (d1, d2, d3, d4), std::pair<size_t, size_t> (i, j)));
      alpha_m_row [j] = feature_cloud->points[i*n + j].alpha_m;

      if (max_dist_ < feature_cloud->points[i*n + j].f4)
        max_dist_ = feature_cloud->points[i*n + j].f4;
    }
    alpha_m_[i] = alpha_m_row;
  }

  internals_initialized_ = true;
}


//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::PPFHashMapSearch::nearestNeighborSearch (float &f1, float &f2, float &f3, float &f4,
                                              std::vector<std::pair<size_t, size_t> > &indices)
{
  if (!internals_initialized_)
  {
    PCL_ERROR("[pcl::PPFRegistration::nearestNeighborSearch]: input feature cloud has not been set - skipping search!\n");
    return;
  }

  int d1 = static_cast<int> (floor (f1 / angle_discretization_step_)),
      d2 = static_cast<int> (floor (f2 / angle_discretization_step_)),
      d3 = static_cast<int> (floor (f3 / angle_discretization_step_)),
      d4 = static_cast<int> (floor (f4 / distance_discretization_step_));

  indices.clear ();
  HashKeyStruct key = HashKeyStruct (d1, d2, d3, d4);
  std::pair <FeatureHashMapType::iterator, FeatureHashMapType::iterator> map_iterator_pair = feature_hash_map_->equal_range (key);
  for (; map_iterator_pair.first != map_iterator_pair.second; ++ map_iterator_pair.first)
    indices.push_back (std::pair<size_t, size_t> (map_iterator_pair.first->second.first,
                                                  map_iterator_pair.first->second.second));
}
