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#include <pcl/registration/correspondence_rejection_features.h>

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::registration::CorrespondenceRejectorFeatures::getRemainingCorrespondences (
    const pcl::Correspondences& original_correspondences,
    pcl::Correspondences& remaining_correspondences)
{
  unsigned int number_valid_correspondences = 0;
  remaining_correspondences.resize (original_correspondences.size ());
  // For each set of features, go over each correspondence from input_correspondences_
  for (size_t i = 0; i < input_correspondences_->size (); ++i)
  {
    // Go over the map of features
    for (FeaturesMap::const_iterator it = features_map_.begin (); it != features_map_.end (); ++it)
    {
      // Check if the score in feature space is above the given threshold
      // (assume that the number of feature correspondenecs is the same as the number of point correspondences)
      if (!it->second->isCorrespondenceValid (static_cast<int> (i)))
        break;

      remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
      ++number_valid_correspondences;
    }
  }
  remaining_correspondences.resize (number_valid_correspondences);
}

//////////////////////////////////////////////////////////////////////////////////////////////
inline bool
pcl::registration::CorrespondenceRejectorFeatures::hasValidFeatures ()
{
  if (features_map_.empty ())
    return (false);
  FeaturesMap::const_iterator feature_itr;
  for (feature_itr = features_map_.begin (); feature_itr != features_map_.end (); ++feature_itr)
    if (!feature_itr->second->isValid ())
      return (false);
  return (true);
}
