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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 TransformationEstimationPointToPlaneLLS implements a Linear Least Squares
 * (LLS) approximation for minimizing the point-to-plane distance between two clouds of
 * corresponding points with normals.
 *
 * 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 Michael Dixon
 * \ingroup registration
 */
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationEstimationPointToPlaneLLS
: public TransformationEstimation<PointSource, PointTarget, Scalar> {
public:
  using Ptr = shared_ptr<
      TransformationEstimationPointToPlaneLLS<PointSource, PointTarget, Scalar>>;
  using ConstPtr = shared_ptr<
      const TransformationEstimationPointToPlaneLLS<PointSource, PointTarget, Scalar>>;

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

  TransformationEstimationPointToPlaneLLS() = default;
  ~TransformationEstimationPointToPlaneLLS() override = default;

  /** \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 override;

  /** \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 override;

  /** \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 override;

  /** \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 override;

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[out] transformation_matrix the resultant transformation matrix
   */
  void
  estimateRigidTransformation(ConstCloudIterator<PointSource>& source_it,
                              ConstCloudIterator<PointTarget>& target_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;
};
} // namespace registration
} // namespace pcl

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