function visiblePtInds=HPR(p,C,param)
% HPR - Using HPR ("Hidden Point Removal") method, approximates a visible subset of points 
% as viewed from a given viewpoint.
% Usage:
% visiblePtInds=HPR(p,C,param)
%
% Input:
% p - NxD D dimensional point cloud.
% C - 1xD D dimensional viewpoint.
% param - parameter for the algorithm. Indirectly sets the radius.
%
% Output:
% visiblePtInds - indices of p that are visible from C.
%
% This code was written by Sagi Katz
% sagikatz@tx.technion.ac.il
% Technion, 2006.
% For more information, see "Direct Visibility of Point Sets", Katz S., Tal
% A. and Basri R., SIGGRAPH 2007, ACM Transactions on Graphics, Volume 26, Issue 3, August 2007.
%
% This method is patent pending.

dim=size(p,2);
numPts=size(p,1);
p=p-repmat(C,[numPts 1]);%Move C to the origin
normp=sqrt(dot(p,p,2));%Calculate ||p||
R=repmat(max(normp)*(10^param),[numPts 1]);%Sphere radius
P=p+2*repmat(R-normp,[1 dim]).*p./repmat(normp,[1 dim]);%Spherical flipping
visiblePtInds=unique(convhulln([P;zeros(1,dim)]));%convex hull
visiblePtInds(visiblePtInds==numPts+1)=[];