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#ifndef PCL_2D_CONVOLUTION_IMPL_HPP
#define PCL_2D_CONVOLUTION_IMPL_HPP

//////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::Convolution<PointT>::filter (pcl::PointCloud<PointT> &output)
{
  int input_row = 0;
  int input_col = 0;
  // default boundary option : zero padding
  output = *input_;

  int iw = static_cast<int> (input_->width),
      ih = static_cast<int> (input_->height),
      kw = static_cast<int> (kernel_.width),
      kh = static_cast<int> (kernel_.height);
  switch (boundary_options_)
  {
    default:
    case BOUNDARY_OPTION_CLAMP:
    {
      for (int i = 0; i < ih; i++)
      {
        for (int j = 0; j < iw; j++)
        {
          float intensity = 0;
          for (int k = 0; k < kh; k++)
          {
            for (int l = 0; l < kw; l++)
            {
              int ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;
              if (ikkh < 0)
                input_row = 0;
              else if (ikkh >= ih)
                input_row = ih - 1;
              else
                input_row = ikkh;

              if (jlkw < 0)
                input_col = 0;
              else if (jlkw >= iw)
                input_col = iw - 1;
              else
                input_col = jlkw;

              intensity += kernel_ (l, k).intensity * (*input_)(input_col, input_row).intensity;
            }
          }
          output (j, i).intensity = intensity;
        }
      }
      break;
    }

    case BOUNDARY_OPTION_MIRROR:
    {
      for (int i = 0; i < ih; i++)
      {
        for (int j = 0; j < iw; j++)
        {
          float intensity = 0;
          for (int k = 0; k < kh; k++)
          {
            for (int l = 0; l < kw; l++)
            {
              int ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;
              if (ikkh < 0)
                input_row = -ikkh - 1;
              else if (ikkh >= ih)
                input_row = 2 * ih - 1 - ikkh;
              else
                input_row = ikkh;

              if (jlkw < 0)
                input_col = -jlkw - 1;
              else if (jlkw >= iw)
                input_col = 2 * iw - 1 - jlkw;
              else
                input_col = jlkw;

              intensity += kernel_ (l, k).intensity * ((*input_)(input_col, input_row).intensity);
            }
          }
          output (j, i).intensity = intensity;
        }
      }
      break;
    }
    
    case BOUNDARY_OPTION_ZERO_PADDING:
    {
      for (int i = 0; i < ih; i++)
      {
        for (int j = 0; j < iw; j++)
        {
          float intensity = 0;
          for (int k = 0; k < kh; k++)
          {
            for (int l = 0; l < kw; l++)
            {
              int ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;
              if (ikkh < 0 || ikkh >= ih || jlkw < 0 || jlkw >= iw)
                continue;
              else
                intensity += kernel_ (l, k).intensity * ((*input_)(jlkw, ikkh).intensity);
            }
          }
          output (j, i).intensity = intensity;
        }
      }
      break;
    }
  }  // switch
}

#endif
