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

#include <pcl/common/eigen.h>

namespace pcl 
{
  /**
    * \brief Calculates a transformation based on corresponding 3D points
    * \author Bastian Steder
    * \ingroup common
    */
  class TransformationFromCorrespondences 
  {
     public:
        //-----CONSTRUCTOR&DESTRUCTOR-----
        /** Constructor - dimension gives the size of the vectors to work with. */
        TransformationFromCorrespondences () : 
          no_of_samples_ (0), accumulated_weight_ (0), 
          mean1_ (Eigen::Vector3f::Identity ()),
          mean2_ (Eigen::Vector3f::Identity ()),
          covariance_ (Eigen::Matrix<float, 3, 3>::Identity ())
        { reset (); }

        /** Destructor */
        ~TransformationFromCorrespondences () { };
        
        //-----METHODS-----
        /** Reset the object to work with a new data set */
        inline void 
        reset ();
        
        /** Get the summed up weight of all added vectors */
        inline float 
        getAccumulatedWeight () const { return accumulated_weight_;}
        
        /** Get the number of added vectors */
        inline unsigned int 
        getNoOfSamples () { return no_of_samples_;}
        
        /** Add a new sample */
        inline void 
        add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point, float weight=1.0);
        
        /** Calculate the transformation that will best transform the points into their correspondences */
        inline Eigen::Affine3f 
        getTransformation ();
        
        //-----VARIABLES-----
        
     protected:
        //-----METHODS-----
        //-----VARIABLES-----
        unsigned int no_of_samples_;
        float accumulated_weight_;
        Eigen::Vector3f mean1_, mean2_;
        Eigen::Matrix<float, 3, 3> covariance_;
  };

}  // END namespace

#include <pcl/common/impl/transformation_from_correspondences.hpp>

#endif  // #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H

