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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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#pragma once

#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/correspondence.h>

namespace pcl
{
  /**
    * \brief calculate 3D transformation based on point correspondences
    * \author Bastian Steder
    * \ingroup common
    */
  class PCL_EXPORTS PosesFromMatches
  {
    public:
      // =====STRUCTS=====
      //! Parameters used in this class
      struct PCL_EXPORTS Parameters
      {
        float max_correspondence_distance_error = 0.2f;  // As a fraction
      };

      //! A result of the pose estimation process
      struct PoseEstimate
      {
        Eigen::Affine3f transformation = Eigen::Affine3f::Identity ();   //!< The estimated transformation between the two coordinate systems
        float score = 0;                         //!< An estimate in [0,1], how good the estimated pose is 
        std::vector<int> correspondence_indices;  //!< The indices of the used correspondences

        struct IsBetter 
        {
          bool operator()(const PoseEstimate& pe1, const PoseEstimate& pe2) const { return pe1.score>pe2.score;}
        };
        public:
          PCL_MAKE_ALIGNED_OPERATOR_NEW
      };
      
      // =====TYPEDEFS=====
      using PoseEstimatesVector = std::vector<PoseEstimate, Eigen::aligned_allocator<PoseEstimate> >;

      
      // =====STATIC METHODS=====
      
      // =====PUBLIC METHODS=====
      /** Use single 6DOF correspondences to estimate transformations between the coordinate systems.
       *  Use max_no_of_results=-1 to use all.
       *  It is assumed, that the correspondences are sorted from good to bad. */
      void 
      estimatePosesUsing1Correspondence (
          const PointCorrespondences6DVector& correspondences,
          int max_no_of_results, PoseEstimatesVector& pose_estimates) const;

      /** Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems.
       *  It is assumed, that the correspondences are sorted from good to bad. */
      void 
      estimatePosesUsing2Correspondences (
          const PointCorrespondences6DVector& correspondences,
          int max_no_of_tested_combinations, int max_no_of_results,
          PoseEstimatesVector& pose_estimates) const;
      
      /** Use triples of 6DOF correspondences to estimate transformations between the coordinate systems.
       *  It is assumed, that the correspondences are sorted from good to bad. */
      void 
      estimatePosesUsing3Correspondences (
          const PointCorrespondences6DVector& correspondences,
          int max_no_of_tested_combinations, int max_no_of_results,
          PoseEstimatesVector& pose_estimates) const;

      /// Get a reference to the parameters struct
      Parameters& 
      getParameters () { return parameters_; }

    protected:
      // =====PROTECTED MEMBER VARIABLES=====
      Parameters parameters_;

  };

}  // end namespace pcl
