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#pragma once

// PCL includes
#include <pcl/memory.h>  // for dynamic_pointer_cast, pcl::make_shared, shared_ptr
#include <pcl/registration/registration.h>
#include <pcl/registration/transformation_estimation_svd.h>
#include <pcl/registration/transformation_estimation_point_to_plane_lls.h>
#include <pcl/registration/transformation_estimation_symmetric_point_to_plane_lls.h>
#include <pcl/registration/correspondence_estimation.h>
#include <pcl/registration/default_convergence_criteria.h>


namespace pcl
{
  /** \brief @b IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm. 
    * The transformation is estimated based on Singular Value Decomposition (SVD).
    *
    * The algorithm has several termination criteria:
    *
    * <ol>
    * <li>Number of iterations has reached the maximum user imposed number of iterations (via \ref setMaximumIterations)</li>
    * <li>The epsilon (difference) between the previous transformation and the current estimated transformation is smaller than an user imposed value (via \ref setTransformationEpsilon)</li>
    * <li>The sum of Euclidean squared errors is smaller than a user defined threshold (via \ref setEuclideanFitnessEpsilon)</li>
    * </ol>
    *
    *
    * Usage example:
    * \code
    * IterativeClosestPoint<PointXYZ, PointXYZ> icp;
    * // Set the input source and target
    * icp.setInputCloud (cloud_source);
    * icp.setInputTarget (cloud_target);
    *
    * // Set the max correspondence distance to 5cm (e.g., correspondences with higher distances will be ignored)
    * icp.setMaxCorrespondenceDistance (0.05);
    * // Set the maximum number of iterations (criterion 1)
    * icp.setMaximumIterations (50);
    * // Set the transformation epsilon (criterion 2)
    * icp.setTransformationEpsilon (1e-8);
    * // Set the euclidean distance difference epsilon (criterion 3)
    * icp.setEuclideanFitnessEpsilon (1);
    *
    * // Perform the alignment
    * icp.align (cloud_source_registered);
    *
    * // Obtain the transformation that aligned cloud_source to cloud_source_registered
    * Eigen::Matrix4f transformation = icp.getFinalTransformation ();
    * \endcode
    *
    * \author Radu B. Rusu, Michael Dixon
    * \ingroup registration
    */
  template <typename PointSource, typename PointTarget, typename Scalar = float>
  class IterativeClosestPoint : public Registration<PointSource, PointTarget, Scalar>
  {
    public:
      using PointCloudSource = typename Registration<PointSource, PointTarget, Scalar>::PointCloudSource;
      using PointCloudSourcePtr = typename PointCloudSource::Ptr;
      using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr;

      using PointCloudTarget = typename Registration<PointSource, PointTarget, Scalar>::PointCloudTarget;
      using PointCloudTargetPtr = typename PointCloudTarget::Ptr;
      using PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr;

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

      using Ptr = shared_ptr<IterativeClosestPoint<PointSource, PointTarget, Scalar> >;
      using ConstPtr = shared_ptr<const IterativeClosestPoint<PointSource, PointTarget, Scalar> >;

      using Registration<PointSource, PointTarget, Scalar>::reg_name_;
      using Registration<PointSource, PointTarget, Scalar>::getClassName;
      using Registration<PointSource, PointTarget, Scalar>::input_;
      using Registration<PointSource, PointTarget, Scalar>::indices_;
      using Registration<PointSource, PointTarget, Scalar>::target_;
      using Registration<PointSource, PointTarget, Scalar>::nr_iterations_;
      using Registration<PointSource, PointTarget, Scalar>::max_iterations_;
      using Registration<PointSource, PointTarget, Scalar>::previous_transformation_;
      using Registration<PointSource, PointTarget, Scalar>::final_transformation_;
      using Registration<PointSource, PointTarget, Scalar>::transformation_;
      using Registration<PointSource, PointTarget, Scalar>::transformation_epsilon_;
      using Registration<PointSource, PointTarget, Scalar>::transformation_rotation_epsilon_;
      using Registration<PointSource, PointTarget, Scalar>::converged_;
      using Registration<PointSource, PointTarget, Scalar>::corr_dist_threshold_;
      using Registration<PointSource, PointTarget, Scalar>::inlier_threshold_;
      using Registration<PointSource, PointTarget, Scalar>::min_number_correspondences_;
      using Registration<PointSource, PointTarget, Scalar>::update_visualizer_;
      using Registration<PointSource, PointTarget, Scalar>::euclidean_fitness_epsilon_;
      using Registration<PointSource, PointTarget, Scalar>::correspondences_;
      using Registration<PointSource, PointTarget, Scalar>::transformation_estimation_;
      using Registration<PointSource, PointTarget, Scalar>::correspondence_estimation_;
      using Registration<PointSource, PointTarget, Scalar>::correspondence_rejectors_;

      typename pcl::registration::DefaultConvergenceCriteria<Scalar>::Ptr convergence_criteria_;
      using Matrix4 = typename Registration<PointSource, PointTarget, Scalar>::Matrix4;

      /** \brief Empty constructor. */
      IterativeClosestPoint () 
        : x_idx_offset_ (0)
        , y_idx_offset_ (0)
        , z_idx_offset_ (0)
        , nx_idx_offset_ (0)
        , ny_idx_offset_ (0)
        , nz_idx_offset_ (0)
        , use_reciprocal_correspondence_ (false)
        , source_has_normals_ (false)
        , target_has_normals_ (false)
      {
        reg_name_ = "IterativeClosestPoint";
        transformation_estimation_.reset (new pcl::registration::TransformationEstimationSVD<PointSource, PointTarget, Scalar> ());
        correspondence_estimation_.reset (new pcl::registration::CorrespondenceEstimation<PointSource, PointTarget, Scalar>);
        convergence_criteria_.reset(new pcl::registration::DefaultConvergenceCriteria<Scalar> (nr_iterations_, transformation_, *correspondences_));
      };

      /** \brief Empty destructor */
      ~IterativeClosestPoint () {}

      /** \brief Returns a pointer to the DefaultConvergenceCriteria used by the IterativeClosestPoint class.
        * This allows to check the convergence state after the align() method as well as to configure
        * DefaultConvergenceCriteria's parameters not available through the ICP API before the align()
        * method is called. Please note that the align method sets max_iterations_,
        * euclidean_fitness_epsilon_ and transformation_epsilon_ and therefore overrides the default / set
        * values of the DefaultConvergenceCriteria instance.
        * \return Pointer to the IterativeClosestPoint's DefaultConvergenceCriteria.
        */
      inline typename pcl::registration::DefaultConvergenceCriteria<Scalar>::Ptr
      getConvergeCriteria ()
      {
        return convergence_criteria_;
      }

      /** \brief Provide a pointer to the input source 
        * (e.g., the point cloud that we want to align to the target)
        *
        * \param[in] cloud the input point cloud source
        */
      void
      setInputSource (const PointCloudSourceConstPtr &cloud) override
      {
        Registration<PointSource, PointTarget, Scalar>::setInputSource (cloud);
        const auto fields = pcl::getFields<PointSource> ();
        source_has_normals_ = false;
        for (const auto &field : fields)
        {
          if      (field.name == "x") x_idx_offset_ = field.offset;
          else if (field.name == "y") y_idx_offset_ = field.offset;
          else if (field.name == "z") z_idx_offset_ = field.offset;
          else if (field.name == "normal_x") 
          {
            source_has_normals_ = true;
            nx_idx_offset_ = field.offset;
          }
          else if (field.name == "normal_y") 
          {
            source_has_normals_ = true;
            ny_idx_offset_ = field.offset;
          }
          else if (field.name == "normal_z") 
          {
            source_has_normals_ = true;
            nz_idx_offset_ = field.offset;
          }
        }
      }
      
      /** \brief Provide a pointer to the input target 
        * (e.g., the point cloud that we want to align to the target)
        *
        * \param[in] cloud the input point cloud target
        */
      void
      setInputTarget (const PointCloudTargetConstPtr &cloud) override
      {
        Registration<PointSource, PointTarget, Scalar>::setInputTarget (cloud);
        const auto fields = pcl::getFields<PointSource> ();
        target_has_normals_ = false;
        for (const auto &field : fields)
        {
          if (field.name == "normal_x" || field.name == "normal_y" || field.name == "normal_z") 
          {
            target_has_normals_ = true;
            break;
          }
        }
      }

      /** \brief Set whether to use reciprocal correspondence or not
        *
        * \param[in] use_reciprocal_correspondence whether to use reciprocal correspondence or not
        */
      inline void
      setUseReciprocalCorrespondences (bool use_reciprocal_correspondence)
      {
        use_reciprocal_correspondence_ = use_reciprocal_correspondence;
      }

      /** \brief Obtain whether reciprocal correspondence are used or not */
      inline bool
      getUseReciprocalCorrespondences () const
      {
        return (use_reciprocal_correspondence_);
      }

    protected:

      /** \brief Apply a rigid transform to a given dataset. Here we check whether whether
        * the dataset has surface normals in addition to XYZ, and rotate normals as well.
        * \param[in] input the input point cloud
        * \param[out] output the resultant output point cloud
        * \param[in] transform a 4x4 rigid transformation
        * \note Can be used with cloud_in equal to cloud_out
        */
      virtual void 
      transformCloud (const PointCloudSource &input, 
                      PointCloudSource &output, 
                      const Matrix4 &transform);

      /** \brief Rigid transformation computation method  with initial guess.
        * \param output the transformed input point cloud dataset using the rigid transformation found
        * \param guess the initial guess of the transformation to compute
        */
      void 
      computeTransformation (PointCloudSource &output, const Matrix4 &guess) override;

      /** \brief Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be called */
      virtual void
      determineRequiredBlobData ();

      /** \brief XYZ fields offset. */
      std::size_t x_idx_offset_, y_idx_offset_, z_idx_offset_;

      /** \brief Normal fields offset. */
      std::size_t nx_idx_offset_, ny_idx_offset_, nz_idx_offset_;

      /** \brief The correspondence type used for correspondence estimation. */
      bool use_reciprocal_correspondence_;

      /** \brief Internal check whether source dataset has normals or not. */
      bool source_has_normals_;
      /** \brief Internal check whether target dataset has normals or not. */
      bool target_has_normals_;

      /** \brief Checks for whether estimators and rejectors need various data */
      bool need_source_blob_, need_target_blob_;
  };

  /** \brief @b IterativeClosestPointWithNormals is a special case of
    * IterativeClosestPoint, that uses a transformation estimated based on
    * Point to Plane distances by default.
    *
    * By default, this implementation uses the traditional point to plane objective
    * and computes point to plane distances using the normals of the target point
    * cloud. It also provides the option (through setUseSymmetricObjective) of
    * using the symmetric objective function of [Rusinkiewicz 2019]. This objective
    * uses the normals of both the source and target point cloud and has a similar
    * computational cost to the traditional point to plane objective while also
    * offering improved convergence speed and a wider basin of convergence.
    *
    * Note that this implementation not demean the point clouds which can lead
    * to increased numerical error. If desired, a user can demean the point cloud,
    * run iterative closest point, and composite the resulting ICP transformation
    * with the translations from demeaning to obtain a transformation between
    * the original point clouds.
    *
    * \author Radu B. Rusu, Matthew Cong
    * \ingroup registration
    */
  template <typename PointSource, typename PointTarget, typename Scalar = float>
  class IterativeClosestPointWithNormals : public IterativeClosestPoint<PointSource, PointTarget, Scalar>
  {
    public:
      using PointCloudSource = typename IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudSource;
      using PointCloudTarget = typename IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudTarget;
      using Matrix4 = typename IterativeClosestPoint<PointSource, PointTarget, Scalar>::Matrix4;

      using IterativeClosestPoint<PointSource, PointTarget, Scalar>::reg_name_;
      using IterativeClosestPoint<PointSource, PointTarget, Scalar>::transformation_estimation_;
      using IterativeClosestPoint<PointSource, PointTarget, Scalar>::correspondence_rejectors_;

      using Ptr = shared_ptr<IterativeClosestPoint<PointSource, PointTarget, Scalar> >;
      using ConstPtr = shared_ptr<const IterativeClosestPoint<PointSource, PointTarget, Scalar> >;

      /** \brief Empty constructor. */
      IterativeClosestPointWithNormals ()
      {
        reg_name_ = "IterativeClosestPointWithNormals";
        setUseSymmetricObjective (false);
        setEnforceSameDirectionNormals (true);
        //correspondence_rejectors_.add
      };
      
      /** \brief Empty destructor */
      virtual ~IterativeClosestPointWithNormals () {}

      /** \brief Set whether to use a symmetric objective function or not
        *
        * \param[in] use_symmetric_objective whether to use a symmetric objective function or not
        */
      inline void
      setUseSymmetricObjective (bool use_symmetric_objective)
      {
        use_symmetric_objective_ = use_symmetric_objective;
        if (use_symmetric_objective_)
        {
            auto symmetric_transformation_estimation = pcl::make_shared<pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS<PointSource, PointTarget, Scalar> > ();
            symmetric_transformation_estimation->setEnforceSameDirectionNormals (enforce_same_direction_normals_);
            transformation_estimation_ = symmetric_transformation_estimation;
        }
        else
        {
            transformation_estimation_.reset (new pcl::registration::TransformationEstimationPointToPlaneLLS<PointSource, PointTarget, Scalar> ());
        }
      }

      /** \brief Obtain whether a symmetric objective is used or not */
      inline bool
      getUseSymmetricObjective () const
      {
        return use_symmetric_objective_;
      }

        /** \brief Set whether or not to negate source or target normals on a per-point basis such that they point in the same direction. Only applicable to the symmetric objective function.
        *
        * \param[in] enforce_same_direction_normals whether to negate source or target normals on a per-point basis such that they point in the same direction.
        */
      inline void
      setEnforceSameDirectionNormals (bool enforce_same_direction_normals)
      {
        enforce_same_direction_normals_ = enforce_same_direction_normals;
        auto symmetric_transformation_estimation = dynamic_pointer_cast<pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS<PointSource, PointTarget, Scalar> >(transformation_estimation_);
        if (symmetric_transformation_estimation)
            symmetric_transformation_estimation->setEnforceSameDirectionNormals (enforce_same_direction_normals_);
      }

      /** \brief Obtain whether source or target normals are negated on a per-point basis such that they point in the same direction or not */
      inline bool
      getEnforceSameDirectionNormals () const
      {
        return enforce_same_direction_normals_;
      }

    protected:

      /** \brief Apply a rigid transform to a given dataset
        * \param[in] input the input point cloud
        * \param[out] output the resultant output point cloud
        * \param[in] transform a 4x4 rigid transformation
        * \note Can be used with cloud_in equal to cloud_out
        */
      virtual void 
      transformCloud (const PointCloudSource &input, 
                      PointCloudSource &output, 
                      const Matrix4 &transform);

      /** \brief Type of objective function (asymmetric vs. symmetric) used for transform estimation */
      bool use_symmetric_objective_;
      /** \brief Whether or not to negate source and/or target normals such that they point in the same direction in the symmetric objective function */
      bool enforce_same_direction_normals_;
  };

}

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