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#pragma once

#include <pcl/registration/correspondence_rejection.h>

namespace pcl
{
  namespace registration
  {
    /** \brief CorrespondenceRejectorTrimmed implements a correspondence
      * rejection for ICP-like registration algorithms that uses only the best
      * 'k' correspondences where 'k' is some estimate of the overlap between
      * the two point clouds being registered.
      *
      * Reference:
      * 'The Trimmed Iterative Closest Point Algorithm' by
      * D. Chetverikov, D. Svirko, D. Stepanov, and Pavel Krsek.
      * In Proceedings of the 16th International Conference on Pattern
      * Recognition (ICPR 2002).
      *
      * \author Dirk Holz
      * \ingroup registration
      */
    class PCL_EXPORTS CorrespondenceRejectorTrimmed: public CorrespondenceRejector
    {
      using CorrespondenceRejector::input_correspondences_;
      using CorrespondenceRejector::rejection_name_;
      using CorrespondenceRejector::getClassName;

      public:
        using Ptr = shared_ptr<CorrespondenceRejectorTrimmed>;
        using ConstPtr = shared_ptr<const CorrespondenceRejectorTrimmed>;

        /** \brief Empty constructor. */
        CorrespondenceRejectorTrimmed () : 
          overlap_ratio_ (0.5f),
          nr_min_correspondences_ (0)
        {
          rejection_name_ = "CorrespondenceRejectorTrimmed";
        }

        /** \brief Destructor. */
        ~CorrespondenceRejectorTrimmed () {}

        /** \brief Set the expected ratio of overlap between point clouds (in
          * terms of correspondences).
          * \param[in] ratio ratio of overlap between 0 (no overlap, no
          * correspondences) and 1 (full overlap, all correspondences)
          */
        virtual inline void 
        setOverlapRatio (float ratio) { overlap_ratio_ = std::min (1.0f, std::max (0.0f, ratio)); };

        /** \brief Get the maximum distance used for thresholding in correspondence rejection. */
        inline float 
        getOverlapRatio () const { return overlap_ratio_; };

        /** \brief Set a minimum number of correspondences. If the specified overlap ratio causes to have
          * less correspondences,  \a CorrespondenceRejectorTrimmed will try to return at least
          * \a nr_min_correspondences_ correspondences (or all correspondences in case \a nr_min_correspondences_
          * is less than the number of given correspondences). 
          * \param[in] min_correspondences the minimum number of correspondences
          */
        inline void 
        setMinCorrespondences (unsigned int min_correspondences) { nr_min_correspondences_ = min_correspondences; };

        /** \brief Get the minimum number of correspondences. */
        inline unsigned int 
        getMinCorrespondences () const { return nr_min_correspondences_; };


        /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
          * \param[in] original_correspondences the set of initial correspondences given
          * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
          */
        void
        getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
                                     pcl::Correspondences& remaining_correspondences) override;

      protected:

        /** \brief Apply the rejection algorithm.
          * \param[out] correspondences the set of resultant correspondences.
          */
        inline void 
        applyRejection (pcl::Correspondences &correspondences) override
        {
          getRemainingCorrespondences (*input_correspondences_, correspondences);
        }

        /** Overlap Ratio in [0..1] */
        float overlap_ratio_;

        /** Minimum number of correspondences. */
        unsigned int nr_min_correspondences_;
    };

  }
}

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