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 * $Id: transformation_estimation.h 2617 2011-09-30 21:37:23Z rusu $
 *
 */
#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_

#include <pcl/correspondence.h>
#include <pcl/features/feature.h>
#include <pcl/common/transforms.h>
#include <pcl/registration/correspondence_types.h>

namespace pcl
{
  namespace registration
  {
    /** @b TransformationEstimation represents the base class for methods for transformation estimation based on:
      * <ul>
      * <li>correspondence vectors
      * <li>two point clouds (source and target) of the same size
      * <li>a point cloud with a set of indices (source), and another point cloud (target)
      * <li>two point clouds with two sets of indices (source and target) of the same size
      * </ul>
      *
      * \author Dirk Holz, Radu B. Rusu
      * \ingroup registration
      */
    template <typename PointSource, typename PointTarget>
    class TransformationEstimation
    {
      public:
        TransformationEstimation () {};
        virtual ~TransformationEstimation () {};

        /** \brief Estimate a rigid rotation transformation between a source and a target point cloud.
          * \param cloud_src the source point cloud dataset
          * \param cloud_tgt the target point cloud dataset
          * \param transformation_matrix the resultant transformation matrix
          */
        virtual void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Eigen::Matrix4f &transformation_matrix) = 0;

        /** \brief Estimate a rigid rotation transformation between a source and a target point cloud.
          * \param cloud_src the source point cloud dataset
          * \param indices_src the vector of indices describing the points of interest in \a cloud_src
          * \param cloud_tgt the target point cloud dataset
          * \param transformation_matrix the resultant transformation matrix
          */
        virtual void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Eigen::Matrix4f &transformation_matrix) = 0;

        /** \brief Estimate a rigid rotation transformation between a source and a target point cloud.
          * \param cloud_src the source point cloud dataset
          * \param indices_src the vector of indices describing the points of interest in \a cloud_src
          * \param cloud_tgt the target point cloud dataset
          * \param indices_tgt the vector of indices describing the correspondences of the interst points from \a indices_src
          * \param transformation_matrix the resultant transformation matrix
          */
        virtual 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) = 0;

        /** \brief Estimate a rigid rotation transformation between a source and a target point cloud.
          * \param cloud_src the source point cloud dataset
          * \param cloud_tgt the target point cloud dataset
          * \param correspondences the vector of correspondences between source and target point cloud
          * \param transformation_matrix the resultant transformation matrix
          */
        virtual void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            const std::vector<pcl::Correspondence> &correspondences,
            Eigen::Matrix4f &transformation_matrix) = 0;


        typedef boost::shared_ptr<TransformationEstimation<PointSource, PointTarget> > Ptr;
        typedef boost::shared_ptr<const TransformationEstimation<PointSource, PointTarget> > ConstPtr;
    };
  }
}

#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_ */
