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#pragma once

#include <pcl/registration/transformation_estimation.h>

namespace pcl {
namespace registration {
/** @b TransformationEstimation2D implements a simple 2D rigid transformation
 * estimation (x, y, theta) for a given pair of datasets.
 *
 * The two datasets should already be transformed so that the reference plane
 * equals z = 0.
 *
 * \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 Suat Gedikli
 * \ingroup registration
 */
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationEstimation2D
: public TransformationEstimation<PointSource, PointTarget, Scalar> {
public:
  using Ptr = shared_ptr<TransformationEstimation2D<PointSource, PointTarget, Scalar>>;
  using ConstPtr =
      shared_ptr<const TransformationEstimation2D<PointSource, PointTarget, Scalar>>;

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

  TransformationEstimation2D(){};
  virtual ~TransformationEstimation2D(){};

  /** \brief Estimate a rigid transformation between a source and a target point cloud
   * in 2D. \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 transformation between a source and a target point cloud
   * in 2D. \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 transformation between a source and a target point cloud
   * in 2D. \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
   */
  virtual 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 transformation between a source and a target point cloud
   * in 2D. \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
   */
  virtual void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              const pcl::Correspondences& correspondences,
                              Matrix4& transformation_matrix) const;

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 Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src
   * * tgt' \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen
   * format \param[in] centroid_src the input source centroid, in Eigen format
   * \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
   * \param[in] centroid_tgt the input target cloud, in Eigen format
   * \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix
   */
  void
  getTransformationFromCorrelation(
      const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_src_demean,
      const Eigen::Matrix<Scalar, 4, 1>& centroid_src,
      const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_tgt_demean,
      const Eigen::Matrix<Scalar, 4, 1>& centroid_tgt,
      Matrix4& transformation_matrix) const;
};

} // namespace registration
} // namespace pcl

#include <pcl/registration/impl/transformation_estimation_2D.hpp>
