/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2015, Michael 'v4hn' Goerner
 *  Copyright (c) 2015-, Open Perception, Inc.
 *
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 */

#ifndef PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
#define PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_

namespace pcl {

namespace registration {

template <typename PointT, typename Scalar>
IncrementalRegistration<PointT, Scalar>::IncrementalRegistration()
: delta_transform_(Matrix4::Identity()), abs_transform_(Matrix4::Identity())
{}

template <typename PointT, typename Scalar>
bool
IncrementalRegistration<PointT, Scalar>::registerCloud(const PointCloudConstPtr& cloud,
                                                       const Matrix4& delta_estimate)
{
  assert(registration_);

  if (!last_cloud_) {
    last_cloud_ = cloud;
    abs_transform_ = delta_transform_ = delta_estimate;
    return (true);
  }

  registration_->setInputSource(cloud);
  registration_->setInputTarget(last_cloud_);

  {
    pcl::PointCloud<PointT> p;
    registration_->align(p, delta_estimate);
  }

  bool converged = registration_->hasConverged();

  if (converged) {
    delta_transform_ = registration_->getFinalTransformation();
    abs_transform_ *= delta_transform_;
    last_cloud_ = cloud;
  }

  return (converged);
}

template <typename PointT, typename Scalar>
inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
IncrementalRegistration<PointT, Scalar>::getDeltaTransform() const
{
  return (delta_transform_);
}

template <typename PointT, typename Scalar>
inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
IncrementalRegistration<PointT, Scalar>::getAbsoluteTransform() const
{
  return (abs_transform_);
}

template <typename PointT, typename Scalar>
inline void
IncrementalRegistration<PointT, Scalar>::reset()
{
  last_cloud_.reset();
  delta_transform_ = abs_transform_ = Matrix4::Identity();
}

template <typename PointT, typename Scalar>
inline void
IncrementalRegistration<PointT, Scalar>::setRegistration(RegistrationPtr registration)
{
  registration_ = registration;
}

} // namespace registration
} // namespace pcl

#endif /*PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_*/
