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#pragma once

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

namespace pcl {
namespace registration {
/** \brief @b TransformationEstimationPointToPlaneLLSWeighted implements a Linear Least
 * Squares (LLS) approximation for minimizing the point-to-plane distance between two
 * clouds of corresponding points with normals, with the possibility of assigning
 * weights to the correspondences.
 *
 * For additional details, see
 *   "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration",
 * Kok-Lim Low, 2004
 *
 * \note The class is templated on the source and target point types as well as on the
 * output scalar of the transformation matrix (i.e., float or double). Default: float.
 * \author Alex Ichim
 * \ingroup registration
 */
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationEstimationPointToPlaneLLSWeighted
: public TransformationEstimation<PointSource, PointTarget, Scalar> {
public:
  using Ptr = shared_ptr<TransformationEstimationPointToPlaneLLSWeighted<PointSource,
                                                                         PointTarget,
                                                                         Scalar>>;
  using ConstPtr =
      shared_ptr<const TransformationEstimationPointToPlaneLLSWeighted<PointSource,
                                                                       PointTarget,
                                                                       Scalar>>;

  using Matrix4 =
      typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4;

  TransformationEstimationPointToPlaneLLSWeighted(){};
  virtual ~TransformationEstimationPointToPlaneLLSWeighted(){};

  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
   * \param[in] cloud_tgt the target point cloud dataset
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  inline void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              Matrix4& transformation_matrix) const;

  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
   * \param[in] indices_src the vector of indices describing the points of interest in
   * \a cloud_src
   * \param[in] cloud_tgt the target point cloud dataset
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  inline void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::Indices& indices_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              Matrix4& transformation_matrix) const;

  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
   * \param[in] indices_src the vector of indices describing the points of interest in
   * \a cloud_src
   * \param[in] cloud_tgt the target point cloud dataset
   * \param[in] indices_tgt the vector of indices describing the correspondences of the
   * interest points from \a indices_src
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  inline void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::Indices& indices_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              const pcl::Indices& indices_tgt,
                              Matrix4& transformation_matrix) const;

  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
   * \param[in] cloud_tgt the target point cloud dataset
   * \param[in] correspondences the vector of correspondences between source and target
   * point cloud \param[out] transformation_matrix the resultant transformation matrix
   */
  inline void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              const pcl::Correspondences& correspondences,
                              Matrix4& transformation_matrix) const;

  /** \brief Set the weights for the correspondences.
   * \param[in] weights the weights for each correspondence
   */
  inline void
  setCorrespondenceWeights(const std::vector<Scalar>& weights)
  {
    weights_ = weights;
  }

protected:
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * \param[in] source_it an iterator over the source point cloud dataset
   * \param[in] target_it an iterator over the target point cloud dataset
   * \param weights_it
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  void
  estimateRigidTransformation(ConstCloudIterator<PointSource>& source_it,
                              ConstCloudIterator<PointTarget>& target_it,
                              typename std::vector<Scalar>::const_iterator& weights_it,
                              Matrix4& transformation_matrix) const;

  /** \brief Construct a 4 by 4 transformation matrix from the provided rotation and
   * translation. \param[in] alpha the rotation about the x-axis \param[in] beta the
   * rotation about the y-axis \param[in] gamma the rotation about the z-axis \param[in]
   * tx the x translation \param[in] ty the y translation \param[in] tz the z
   * translation \param[out] transformation_matrix the resultant transformation matrix
   */
  inline void
  constructTransformationMatrix(const double& alpha,
                                const double& beta,
                                const double& gamma,
                                const double& tx,
                                const double& ty,
                                const double& tz,
                                Matrix4& transformation_matrix) const;

  std::vector<Scalar> weights_;
};
} // namespace registration
} // namespace pcl

#include <pcl/registration/impl/transformation_estimation_point_to_plane_lls_weighted.hpp>
