/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: transformation_estimation_svd.h 2617 2011-09-30 21:37:23Z rusu $
 *
 */
#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_

#include <pcl/registration/transformation_estimation.h>

namespace pcl
{
  namespace registration
  {
    /** @b TransformationEstimationSVD implements an SVD-based estimation of
      * the transformation aligning the given correspondences 
      *
      * \author Dirk Holz, Radu B. Rusu
      * \ingroup registration
      */
    template <typename PointSource, typename PointTarget>
    class TransformationEstimationSVD : public TransformationEstimation<PointSource, PointTarget>
    {
      public:
        TransformationEstimationSVD () {};
        virtual ~TransformationEstimationSVD () {};

        /** \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,
            Eigen::Matrix4f &transformation_matrix);

        /** \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 std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Eigen::Matrix4f &transformation_matrix);

        /** \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 interst points from \a indices_src
          * \param[out] transformation_matrix the resultant transformation matrix
          */
        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            const std::vector<int> &indices_tgt,
            Eigen::Matrix4f &transformation_matrix);

        /** \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 std::vector<pcl::Correspondence> &correspondences,
            Eigen::Matrix4f &transformation_matrix);

      protected:

        /** \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::MatrixXf &cloud_src_demean,
                                          const Eigen::Vector4f &centroid_src,
                                          const Eigen::MatrixXf &cloud_tgt_demean,
                                          const Eigen::Vector4f &centroid_tgt,
                                          Eigen::Matrix4f &transformation_matrix);
    };

  }
}

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

#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_ */
