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#pragma once

#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/registration/transformation_estimation_point_to_plane.h>
#include <pcl/registration/warp_point_rigid.h>
#include <pcl/registration/distances.h>

namespace pcl
{
  namespace registration
  {
    /** @b TransformationEstimationPointToPlaneWeighted uses Levenberg Marquardt optimization to find the transformation
      * that minimizes the point-to-plane distance between the given correspondences. In addition to the
      * TransformationEstimationPointToPlane class, this version takes per-correspondence weights and optimizes accordingly.
      *
      * \author Alexandru-Eugen Ichim
      * \ingroup registration
      */
    template <typename PointSource, typename PointTarget, typename MatScalar = float>
    class TransformationEstimationPointToPlaneWeighted : public TransformationEstimationPointToPlane<PointSource, PointTarget, MatScalar>
    {
      using PointCloudSource = pcl::PointCloud<PointSource>;
      using PointCloudSourcePtr = typename PointCloudSource::Ptr;
      using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr;

      using PointCloudTarget = pcl::PointCloud<PointTarget>;

      using PointIndicesPtr = PointIndices::Ptr;
      using PointIndicesConstPtr = PointIndices::ConstPtr;

      public:
        using Ptr = shared_ptr<TransformationEstimationPointToPlaneWeighted<PointSource, PointTarget, MatScalar> >;
        using ConstPtr = shared_ptr<const TransformationEstimationPointToPlaneWeighted<PointSource, PointTarget, MatScalar> >;

        using VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>;
        using Vector4 = Eigen::Matrix<MatScalar, 4, 1>;
        using Matrix4 = typename TransformationEstimation<PointSource, PointTarget, MatScalar>::Matrix4;
        
        /** \brief Constructor. */
        TransformationEstimationPointToPlaneWeighted ();

        /** \brief Copy constructor. 
          * \param[in] src the TransformationEstimationPointToPlaneWeighted object to copy into this
          */
        TransformationEstimationPointToPlaneWeighted (const TransformationEstimationPointToPlaneWeighted &src) :
          tmp_src_ (src.tmp_src_), 
          tmp_tgt_ (src.tmp_tgt_), 
          tmp_idx_src_ (src.tmp_idx_src_), 
          tmp_idx_tgt_ (src.tmp_idx_tgt_), 
          warp_point_ (src.warp_point_),
          correspondence_weights_ (src.correspondence_weights_),
          use_correspondence_weights_ (src.use_correspondence_weights_)
        {};

        /** \brief Copy operator. 
          * \param[in] src the TransformationEstimationPointToPlaneWeighted object to copy into this
          */
        TransformationEstimationPointToPlaneWeighted&
        operator = (const TransformationEstimationPointToPlaneWeighted &src)
        {
          tmp_src_ = src.tmp_src_; 
          tmp_tgt_ = src.tmp_tgt_; 
          tmp_idx_src_ = src.tmp_idx_src_;
          tmp_idx_tgt_ = src.tmp_idx_tgt_; 
          warp_point_ = src.warp_point_;
          correspondence_weights_ = src.correspondence_weights_;
          use_correspondence_weights_ = src.use_correspondence_weights_;
        }

         /** \brief Destructor. */
        virtual ~TransformationEstimationPointToPlaneWeighted () {};

        /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using LM.
          * \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
          * \note Uses the weights given by setWeights.
          */
        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Matrix4 &transformation_matrix) const;

        /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using LM.
          * \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
          * \note Uses the weights given by setWeights.
          */
        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Matrix4 &transformation_matrix) const;

        /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using LM.
          * \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
          * \note Uses the weights given by setWeights.
          */
        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,
            Matrix4 &transformation_matrix) const;

        /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using LM.
          * \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
          * \note Uses the weights given by setWeights.
          */
        void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            const pcl::Correspondences &correspondences,
            Matrix4 &transformation_matrix) const;  


        inline void
        setWeights (const std::vector<double> &weights)
        { correspondence_weights_ = weights; }

        /// use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (...) methods
        inline void
        setUseCorrespondenceWeights (bool use_correspondence_weights)
        { use_correspondence_weights_ = use_correspondence_weights; }

        /** \brief Set the function we use to warp points. Defaults to rigid 6D warp.
          * \param[in] warp_fcn a shared pointer to an object that warps points
          */
        void
        setWarpFunction (const typename WarpPointRigid<PointSource, PointTarget, MatScalar>::Ptr &warp_fcn)
        { warp_point_ = warp_fcn; }

      protected:
        bool use_correspondence_weights_;
        mutable std::vector<double> correspondence_weights_;

        /** \brief Temporary pointer to the source dataset. */
        mutable const PointCloudSource *tmp_src_;

        /** \brief Temporary pointer to the target dataset. */
        mutable const PointCloudTarget  *tmp_tgt_;

        /** \brief Temporary pointer to the source dataset indices. */
        mutable const std::vector<int> *tmp_idx_src_;

        /** \brief Temporary pointer to the target dataset indices. */
        mutable const std::vector<int> *tmp_idx_tgt_;

        /** \brief The parameterized function used to warp the source to the target. */
        typename pcl::registration::WarpPointRigid<PointSource, PointTarget, MatScalar>::Ptr warp_point_;
        
        /** Base functor all the models that need non linear optimization must
          * define their own one and implement operator() (const Eigen::VectorXd& x, Eigen::VectorXd& fvec)
          * or operator() (const Eigen::VectorXf& x, Eigen::VectorXf& fvec) depending on the chosen _Scalar
          */
        template<typename _Scalar, int NX=Eigen::Dynamic, int NY=Eigen::Dynamic>
        struct Functor
        {
          using Scalar = _Scalar;
          enum 
          {
            InputsAtCompileTime = NX,
            ValuesAtCompileTime = NY
          };
          using InputType = Eigen::Matrix<_Scalar,InputsAtCompileTime,1>;
          using ValueType = Eigen::Matrix<_Scalar,ValuesAtCompileTime,1>;
          using JacobianType = Eigen::Matrix<_Scalar,ValuesAtCompileTime,InputsAtCompileTime>;

          /** \brief Empty Constructor. */
          Functor () : m_data_points_ (ValuesAtCompileTime) {}

          /** \brief Constructor
            * \param[in] m_data_points number of data points to evaluate.
            */
          Functor (int m_data_points) : m_data_points_ (m_data_points) {}
        
          /** \brief Destructor. */
          virtual ~Functor () {}

          /** \brief Get the number of values. */ 
          int
          values () const { return (m_data_points_); }

          protected:
            int m_data_points_;
        };

        struct OptimizationFunctor : public Functor<MatScalar>
        {
          using Functor<MatScalar>::values;

          /** Functor constructor
            * \param[in] m_data_points the number of data points to evaluate
            * \param[in,out] estimator pointer to the estimator object
            */
          OptimizationFunctor (int m_data_points, 
                               const TransformationEstimationPointToPlaneWeighted *estimator)
            :  Functor<MatScalar> (m_data_points), estimator_ (estimator) 
          {}

          /** Copy constructor
            * \param[in] src the optimization functor to copy into this
            */
          inline OptimizationFunctor (const OptimizationFunctor &src) : 
            Functor<MatScalar> (src.m_data_points_), estimator_ ()
          {
            *this = src;
          }

          /** Copy operator
            * \param[in] src the optimization functor to copy into this
            */
          inline OptimizationFunctor& 
          operator = (const OptimizationFunctor &src) 
          { 
            Functor<MatScalar>::operator=(src);
            estimator_ = src.estimator_; 
            return (*this); 
          }

          /** \brief Destructor. */
          virtual ~OptimizationFunctor () {}

          /** Fill fvec from x. For the current state vector x fill the f values
            * \param[in] x state vector
            * \param[out] fvec f values vector
            */
          int 
          operator () (const VectorX &x, VectorX &fvec) const;

          const TransformationEstimationPointToPlaneWeighted<PointSource, PointTarget, MatScalar> *estimator_;
        };

        struct OptimizationFunctorWithIndices : public Functor<MatScalar>
        {
          using Functor<MatScalar>::values;

          /** Functor constructor
            * \param[in] m_data_points the number of data points to evaluate
            * \param[in,out] estimator pointer to the estimator object
            */
          OptimizationFunctorWithIndices (int m_data_points, 
                                          const TransformationEstimationPointToPlaneWeighted *estimator)
            : Functor<MatScalar> (m_data_points), estimator_ (estimator) 
          {}

          /** Copy constructor
            * \param[in] src the optimization functor to copy into this
            */
          inline OptimizationFunctorWithIndices (const OptimizationFunctorWithIndices &src)
            : Functor<MatScalar> (src.m_data_points_), estimator_ ()
          {
            *this = src;
          }

          /** Copy operator
            * \param[in] src the optimization functor to copy into this
            */
          inline OptimizationFunctorWithIndices& 
          operator = (const OptimizationFunctorWithIndices &src) 
          { 
            Functor<MatScalar>::operator=(src);
            estimator_ = src.estimator_; 
            return (*this); 
          }

          /** \brief Destructor. */
          virtual ~OptimizationFunctorWithIndices () {}

          /** Fill fvec from x. For the current state vector x fill the f values
            * \param[in] x state vector
            * \param[out] fvec f values vector
            */
          int 
          operator () (const VectorX &x, VectorX &fvec) const;

          const TransformationEstimationPointToPlaneWeighted<PointSource, PointTarget, MatScalar> *estimator_;
        };
      public:
        PCL_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

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