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#pragma once

#include <pcl/registration/transformation_estimation.h>
#include <pcl/registration/transformation_estimation_lm.h>
#include <pcl/registration/warp_point_rigid.h>

namespace pcl {
namespace registration {
/** @b TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to
 * find the transformation that minimizes the point-to-plane distance between the given
 * correspondences.
 *
 * \author Michael Dixon
 * \ingroup registration
 */
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationEstimationPointToPlane
: public TransformationEstimationLM<PointSource, PointTarget, Scalar> {
public:
  using Ptr = shared_ptr<
      TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar>>;
  using ConstPtr = shared_ptr<
      const TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar>>;

  using PointCloudSource = pcl::PointCloud<PointSource>;
  using PointCloudSourcePtr = typename PointCloudSource::Ptr;
  using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr;
  using PointCloudTarget = pcl::PointCloud<PointTarget>;
  using PointIndicesPtr = PointIndices::Ptr;
  using PointIndicesConstPtr = PointIndices::ConstPtr;

  using Vector4 = Eigen::Matrix<Scalar, 4, 1>;

  TransformationEstimationPointToPlane(){};
  ~TransformationEstimationPointToPlane(){};

protected:
  Scalar
  computeDistance(const PointSource& p_src, const PointTarget& p_tgt) const override
  {
    // Compute the point-to-plane distance
    Vector4 s(p_src.x, p_src.y, p_src.z, 0);
    Vector4 t(p_tgt.x, p_tgt.y, p_tgt.z, 0);
    Vector4 n(p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
    return ((s - t).dot(n));
  }

  Scalar
  computeDistance(const Vector4& p_src, const PointTarget& p_tgt) const override
  {
    // Compute the point-to-plane distance
    Vector4 t(p_tgt.x, p_tgt.y, p_tgt.z, 0);
    Vector4 n(p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
    return ((p_src - t).dot(n));
  }
};
} // namespace registration
} // namespace pcl
