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 * $Id$
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#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/cuda/io/cloud_to_pcl.h>

namespace pcl
{
namespace cuda
{

//////////////////////////////////////////////////////////////////////////
void
toPCL (const PointCloudAOS<Host> &input, 
                 const thrust::host_vector<float4> &normals,
                 pcl::PointCloud<pcl::PointXYZRGBNormal> &output)
{
  output.points.resize (input.points.size ());
  for (size_t i = 0; i < input.points.size (); ++i)
  {
    output.points[i].x = input.points[i].x;
    output.points[i].y = input.points[i].y;
    output.points[i].z = input.points[i].z;
    // Pack RGB into a float
    output.points[i].rgb = *(float*)(&input.points[i].rgb);

    output.points[i].normal_x  = normals[i].x;
    output.points[i].normal_y  = normals[i].y;
    output.points[i].normal_z  = normals[i].z;
    output.points[i].curvature = normals[i].w;
  }

  output.width    = input.width;
  output.height   = input.height;
  output.is_dense = input.is_dense;
}

//////////////////////////////////////////////////////////////////////////
void
toPCL (const PointCloudAOS<Device> &d_input, 
                 const thrust::device_vector<float4> &d_normals,
                 pcl::PointCloud<pcl::PointXYZRGBNormal> &output)
{
  PointCloudAOS<Host> input;
  input << d_input;
  thrust::host_vector<float4> normals = d_normals;

  output.points.resize (input.points.size ());
  for (size_t i = 0; i < input.points.size (); ++i)
  {
    output.points[i].x = input.points[i].x;
    output.points[i].y = input.points[i].y;
    output.points[i].z = input.points[i].z;
    // Pack RGB into a float
    output.points[i].rgb = *(float*)(&input.points[i].rgb);

    output.points[i].normal_x  = normals[i].x;
    output.points[i].normal_y  = normals[i].y;
    output.points[i].normal_z  = normals[i].z;
    output.points[i].curvature = normals[i].w;
  }
  output.width    = input.width;
  output.height   = input.height;
  output.is_dense = input.is_dense;
}

//////////////////////////////////////////////////////////////////////////
void
toPCL (const PointCloudAOS<Host> &input, 
                 pcl::PointCloud<pcl::PointXYZRGB> &output)
{
  output.points.resize (input.points.size ());
  for (size_t i = 0; i < input.points.size (); ++i)
  {
    output.points[i].x = input.points[i].x;
    output.points[i].y = input.points[i].y;
    output.points[i].z = input.points[i].z;
    // Pack RGB into a float
    output.points[i].rgb = *(float*)(&input.points[i].rgb);
  }

  output.width    = input.width;
  output.height   = input.height;
  output.is_dense = input.is_dense;

/*  for (size_t i = 0; i < output.points.size (); ++i)
  std::cerr << 
    output.points[i].x << " " <<
    output.points[i].y << " " <<
    output.points[i].z << " " << std::endl;*/
}

//////////////////////////////////////////////////////////////////////////
void
toPCL (const PointCloudAOS<Device> &input, 
                 pcl::PointCloud<pcl::PointXYZRGB> &output)
{
  PointCloudAOS<Host> cloud;
  cloud << input;

  output.points.resize (cloud.points.size ());
  for (size_t i = 0; i < cloud.points.size (); ++i)
  {
    output.points[i].x = cloud.points[i].x;
    output.points[i].y = cloud.points[i].y;
    output.points[i].z = cloud.points[i].z;
    // Pack RGB into a float
    output.points[i].rgb = *(float*)(&cloud.points[i].rgb);
  }

  output.width    = cloud.width;
  output.height   = cloud.height;
  output.is_dense = cloud.is_dense;

/*  for (size_t i = 0; i < output.points.size (); ++i)
  std::cerr << 
    output.points[i].x << " " <<
    output.points[i].y << " " <<
    output.points[i].z << " " << std::endl;*/
}

} // namespace
} // namespace

