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#include <pcl/test/gtest.h>

#include <limits>

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/registration/correspondence_estimation.h>
#include <pcl/registration/correspondence_rejection_distance.h>
#include <pcl/registration/correspondence_rejection_median_distance.h>
#include <pcl/registration/correspondence_rejection_surface_normal.h>
#include <pcl/registration/correspondence_rejection.h>
#include <pcl/registration/correspondence_rejection_one_to_one.h>
#include <pcl/registration/correspondence_rejection_sample_consensus.h>
#include <pcl/registration/correspondence_rejection_trimmed.h>
#include <pcl/registration/correspondence_rejection_var_trimmed.h>
#include <pcl/registration/transformation_estimation_lm.h>
#include <pcl/registration/transformation_estimation_svd.h>
#include <pcl/registration/transformation_estimation_dual_quaternion.h>
#include <pcl/registration/transformation_estimation_point_to_plane_lls.h>
#include <pcl/registration/transformation_estimation_point_to_plane.h>
#include <pcl/registration/transformation_estimation_symmetric_point_to_plane_lls.h>
#include <pcl/features/normal_3d.h>

#include "test_registration_api_data.h"

using PointXYZ = pcl::PointXYZ;
using CloudXYZ = pcl::PointCloud<PointXYZ>;
using CloudXYZPtr = CloudXYZ::Ptr;
using CloudXYZConstPtr = CloudXYZ::ConstPtr;

using PointNormal = pcl::PointNormal;
using CloudNormal = pcl::PointCloud<PointNormal>;
using CloudNormalPtr = CloudNormal::Ptr;
using CloudNormalConstPtr = CloudNormal::ConstPtr;

CloudXYZ cloud_source, cloud_target, cloud_reg;

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CorrespondenceEstimation)
{
  CloudXYZConstPtr source (new CloudXYZ (cloud_source));
  CloudXYZConstPtr target (new CloudXYZ (cloud_target));

  pcl::CorrespondencesPtr correspondences (new pcl::Correspondences);
  pcl::registration::CorrespondenceEstimation<PointXYZ, PointXYZ> corr_est;
  corr_est.setInputSource (source);
  corr_est.setInputTarget (target);
  corr_est.determineCorrespondences (*correspondences);

  // check for correct order and number of matches
  EXPECT_EQ (int (correspondences->size ()), nr_original_correspondences);
  if (static_cast<int>(correspondences->size ()) == nr_original_correspondences)
  {
    for (int i = 0; i < nr_original_correspondences; ++i)
    {
      EXPECT_EQ ((*correspondences)[i].index_query, i);
      EXPECT_EQ ((*correspondences)[i].index_match, correspondences_original[i][1]);
    }
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CorrespondenceEstimationReciprocal)
{
  CloudXYZConstPtr source (new CloudXYZ (cloud_source));
  CloudXYZConstPtr target (new CloudXYZ (cloud_target));

  pcl::CorrespondencesPtr correspondences (new pcl::Correspondences);
  pcl::registration::CorrespondenceEstimation<PointXYZ, PointXYZ> corr_est;
  corr_est.setInputSource (source);
  corr_est.setInputTarget (target);
  corr_est.determineReciprocalCorrespondences (*correspondences);

  // check for correct matches and number of matches
  EXPECT_EQ (int (correspondences->size ()), nr_reciprocal_correspondences);
  if (static_cast<int>(correspondences->size ()) == nr_reciprocal_correspondences)
  {
    for (int i = 0; i < nr_reciprocal_correspondences; ++i)
    {
      EXPECT_EQ ((*correspondences)[i].index_query, correspondences_reciprocal[i][0]);
      EXPECT_EQ ((*correspondences)[i].index_match, correspondences_reciprocal[i][1]);
    }
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CorrespondenceRejectorDistance)
{
  CloudXYZConstPtr source (new CloudXYZ (cloud_source));
  CloudXYZConstPtr target (new CloudXYZ (cloud_target));

  // re-do correspondence estimation
  pcl::CorrespondencesPtr correspondences (new pcl::Correspondences);
  pcl::registration::CorrespondenceEstimation<PointXYZ, PointXYZ> corr_est;
  corr_est.setInputSource (source);
  corr_est.setInputTarget (target);
  corr_est.determineCorrespondences (*correspondences);

  pcl::CorrespondencesPtr  correspondences_result_rej_dist (new pcl::Correspondences);
  pcl::registration::CorrespondenceRejectorDistance corr_rej_dist;
  corr_rej_dist.setInputCorrespondences (correspondences);
  corr_rej_dist.setMaximumDistance (rej_dist_max_dist);
  corr_rej_dist.getCorrespondences (*correspondences_result_rej_dist);

  // check for correct matches and number of matches
  EXPECT_EQ (int (correspondences_result_rej_dist->size ()), nr_correspondences_result_rej_dist);
  if (static_cast<int>(correspondences_result_rej_dist->size ()) == nr_correspondences_result_rej_dist)
  {
    for (int i = 0; i < nr_correspondences_result_rej_dist; ++i)
    {
      EXPECT_EQ ((*correspondences_result_rej_dist)[i].index_query, correspondences_dist[i][0]);
      EXPECT_EQ ((*correspondences_result_rej_dist)[i].index_match, correspondences_dist[i][1]);
    }
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CorrespondenceRejectorMedianDistance)
{
  CloudXYZConstPtr source (new CloudXYZ (cloud_source));
  CloudXYZConstPtr target (new CloudXYZ (cloud_target));

  // re-do correspondence estimation
  pcl::CorrespondencesPtr correspondences (new pcl::Correspondences);
  pcl::registration::CorrespondenceEstimation<PointXYZ, PointXYZ> corr_est;
  corr_est.setInputSource (source);
  corr_est.setInputTarget (target);
  corr_est.determineCorrespondences (*correspondences);

  pcl::CorrespondencesPtr correspondences_result_rej_median_dist (new pcl::Correspondences);
  pcl::registration::CorrespondenceRejectorMedianDistance corr_rej_median_dist;
  corr_rej_median_dist.setInputCorrespondences(correspondences);
  corr_rej_median_dist.setMedianFactor (rej_median_factor);

  corr_rej_median_dist.getCorrespondences(*correspondences_result_rej_median_dist);

  // check for correct matches
  EXPECT_NEAR (corr_rej_median_dist.getMedianDistance (), rej_median_distance, 1e-4);
  EXPECT_EQ (int (correspondences_result_rej_median_dist->size ()), nr_correspondences_result_rej_median_dist);
  if (static_cast<int>(correspondences_result_rej_median_dist->size ()) == nr_correspondences_result_rej_median_dist)
  {
    for (int i = 0; i < nr_correspondences_result_rej_median_dist; ++i)
    {
      EXPECT_EQ ((*correspondences_result_rej_median_dist)[i].index_query, correspondences_median_dist[i][0]);
      EXPECT_EQ ((*correspondences_result_rej_median_dist)[i].index_match, correspondences_median_dist[i][1]);
    }
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CorrespondenceRejectorOneToOne)
{
  CloudXYZConstPtr source (new CloudXYZ (cloud_source));
  CloudXYZConstPtr target (new CloudXYZ (cloud_target));

  // re-do correspondence estimation
  pcl::CorrespondencesPtr correspondences (new pcl::Correspondences);
  pcl::registration::CorrespondenceEstimation<PointXYZ, PointXYZ> corr_est;
  corr_est.setInputSource (source);
  corr_est.setInputTarget (target);
  corr_est.determineCorrespondences (*correspondences);

  pcl::CorrespondencesPtr correspondences_result_rej_one_to_one (new pcl::Correspondences);
  pcl::registration::CorrespondenceRejectorOneToOne corr_rej_one_to_one;
  corr_rej_one_to_one.setInputCorrespondences(correspondences);
  corr_rej_one_to_one.getCorrespondences(*correspondences_result_rej_one_to_one);

  // check for correct matches and number of matches
  EXPECT_EQ (int (correspondences_result_rej_one_to_one->size ()), nr_correspondences_result_rej_one_to_one);
  if (static_cast<int>(correspondences_result_rej_one_to_one->size ()) == nr_correspondences_result_rej_one_to_one)
  {
    for (int i = 0; i < nr_correspondences_result_rej_one_to_one; ++i)
    {
      EXPECT_EQ ((*correspondences_result_rej_one_to_one)[i].index_query, correspondences_one_to_one[i][0]);
      EXPECT_EQ ((*correspondences_result_rej_one_to_one)[i].index_match, correspondences_one_to_one[i][1]);
    }
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CorrespondenceRejectorSampleConsensus)
{
  CloudXYZConstPtr source (new CloudXYZ (cloud_source));
  CloudXYZConstPtr target (new CloudXYZ (cloud_target));

  // re-do correspondence estimation
  pcl::CorrespondencesPtr correspondences (new pcl::Correspondences);
  pcl::registration::CorrespondenceEstimation<PointXYZ, PointXYZ> corr_est;
  corr_est.setInputSource (source);
  corr_est.setInputTarget (target);
  corr_est.determineCorrespondences (*correspondences);
  EXPECT_EQ (int (correspondences->size ()), nr_original_correspondences);

  pcl::CorrespondencesPtr correspondences_result_rej_sac (new pcl::Correspondences);
  pcl::registration::CorrespondenceRejectorSampleConsensus<PointXYZ> corr_rej_sac;
  corr_rej_sac.setInputSource (source);
  corr_rej_sac.setInputTarget (target);
  corr_rej_sac.setInlierThreshold (rej_sac_max_dist);
  corr_rej_sac.setMaximumIterations (rej_sac_max_iter);
  corr_rej_sac.setInputCorrespondences (correspondences);
  corr_rej_sac.getCorrespondences (*correspondences_result_rej_sac);
  Eigen::Matrix4f transform_res_from_SAC = corr_rej_sac.getBestTransformation ();

  // check for correct matches and number of matches
  EXPECT_EQ (int (correspondences_result_rej_sac->size ()), nr_correspondences_result_rej_sac);
  if (static_cast<int>(correspondences_result_rej_sac->size ()) == nr_correspondences_result_rej_sac)
  {
    for (int i = 0; i < nr_correspondences_result_rej_sac; ++i)
    {
      EXPECT_EQ ((*correspondences_result_rej_sac)[i].index_query, correspondences_sac[i][0]);
      EXPECT_EQ ((*correspondences_result_rej_sac)[i].index_match, correspondences_sac[i][1]);
    }
  }

  // check for correct transformation
  for (int i = 0; i < 4; ++i)
    for (int j = 0; j < 4; ++j)
      EXPECT_NEAR (transform_res_from_SAC (i, j), transform_from_SAC[i][j], 1e-4);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CorrespondenceRejectorSurfaceNormal)
{
  CloudXYZConstPtr source (new CloudXYZ (cloud_source));
  CloudXYZConstPtr target (new CloudXYZ (cloud_target));

  // re-do correspondence estimation
  pcl::CorrespondencesPtr correspondences (new pcl::Correspondences);
  pcl::registration::CorrespondenceEstimation<PointXYZ, PointXYZ> corr_est;
  corr_est.setInputSource (source);
  corr_est.setInputTarget (target);
  corr_est.determineCorrespondences (*correspondences);


  CloudNormalPtr source_normals (new CloudNormal ());
  pcl::copyPointCloud (*source, *source_normals);
  CloudNormalPtr target_normals (new CloudNormal ());
  pcl::copyPointCloud (*target, *target_normals);

  pcl::NormalEstimation<PointNormal, PointNormal> norm_est_src;
  norm_est_src.setSearchMethod (pcl::search::KdTree<PointNormal>::Ptr (new pcl::search::KdTree<PointNormal>));
  norm_est_src.setKSearch (10);
  norm_est_src.setInputCloud (source_normals);
  norm_est_src.compute (*source_normals);

  pcl::NormalEstimation<PointNormal, PointNormal> norm_est_tgt;
  norm_est_tgt.setSearchMethod (pcl::search::KdTree<PointNormal>::Ptr (new pcl::search::KdTree<PointNormal>));
  norm_est_tgt.setKSearch (10);
  norm_est_tgt.setInputCloud (target_normals);
  norm_est_tgt.compute (*target_normals);

  pcl::registration::CorrespondenceRejectorSurfaceNormal  corr_rej_surf_norm;
  corr_rej_surf_norm.initializeDataContainer <PointXYZ, PointNormal> ();
  corr_rej_surf_norm.setInputSource <PointXYZ> (source);
  corr_rej_surf_norm.setInputTarget <PointXYZ> (target);
  corr_rej_surf_norm.setInputNormals <PointXYZ, PointNormal> (source_normals);
  corr_rej_surf_norm.setTargetNormals <PointXYZ, PointNormal> (target_normals);

  pcl::CorrespondencesPtr correspondences_result_rej_surf_norm (new pcl::Correspondences);
  corr_rej_surf_norm.setInputCorrespondences (correspondences);
  corr_rej_surf_norm.setThreshold (0.5);

  corr_rej_surf_norm.getCorrespondences (*correspondences_result_rej_surf_norm);

  // check for correct matches
  if (static_cast<int>(correspondences_result_rej_surf_norm->size ()) == nr_correspondences_result_rej_dist)
  {
    for (int i = 0; i < nr_correspondences_result_rej_dist; ++i)
    {
      EXPECT_EQ ((*correspondences_result_rej_surf_norm)[i].index_query, correspondences_dist[i][0]);
      EXPECT_EQ ((*correspondences_result_rej_surf_norm)[i].index_match, correspondences_dist[i][1]);
    }
  }
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CorrespondenceRejectorTrimmed)
{
  CloudXYZConstPtr source (new CloudXYZ (cloud_source));
  CloudXYZConstPtr target (new CloudXYZ (cloud_target));

  // re-do correspondence estimation
  pcl::CorrespondencesPtr correspondences (new pcl::Correspondences);
  pcl::registration::CorrespondenceEstimation<PointXYZ, PointXYZ> corr_est;
  corr_est.setInputSource (source);
  corr_est.setInputTarget (target);
  corr_est.determineCorrespondences (*correspondences);

  pcl::CorrespondencesPtr correspondences_result_rej_trimmed (new pcl::Correspondences);
  pcl::registration::CorrespondenceRejectorTrimmed corr_rej_trimmed;
  corr_rej_trimmed.setOverlapRatio(rej_trimmed_overlap);
  corr_rej_trimmed.setInputCorrespondences(correspondences);
  corr_rej_trimmed.getCorrespondences(*correspondences_result_rej_trimmed);

  // check for correct matches, number of matches, and for sorting (correspondences should be sorted w.r.t. distance)
  EXPECT_EQ (int (correspondences_result_rej_trimmed->size ()), nr_correspondences_result_rej_trimmed);
  if (static_cast<int>(correspondences_result_rej_trimmed->size ()) == nr_correspondences_result_rej_trimmed)
  {
    for (int i = 0; i < nr_correspondences_result_rej_trimmed; ++i)
    {
      EXPECT_EQ ((*correspondences_result_rej_trimmed)[i].index_query, correspondences_trimmed[i][0]);
      EXPECT_EQ ((*correspondences_result_rej_trimmed)[i].index_match, correspondences_trimmed[i][1]);
    }
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CorrespondenceRejectorVarTrimmed)
{
  CloudXYZConstPtr source (new CloudXYZ (cloud_source));
  CloudXYZConstPtr target (new CloudXYZ (cloud_target));

  // re-do correspondence estimation
  pcl::CorrespondencesPtr correspondences (new pcl::Correspondences);
  pcl::registration::CorrespondenceEstimation<PointXYZ, PointXYZ> corr_est;
  corr_est.setInputSource (source);
  corr_est.setInputTarget (target);
  corr_est.determineCorrespondences (*correspondences);

  pcl::CorrespondencesPtr correspondences_result_rej_var_trimmed_dist (new pcl::Correspondences);
  pcl::registration::CorrespondenceRejectorVarTrimmed corr_rej_var_trimmed_dist;
  corr_rej_var_trimmed_dist.setInputSource<PointXYZ> (source);
  corr_rej_var_trimmed_dist.setInputTarget<PointXYZ> (target);
  corr_rej_var_trimmed_dist.setInputCorrespondences(correspondences);

  corr_rej_var_trimmed_dist.getCorrespondences(*correspondences_result_rej_var_trimmed_dist);

  // check for correct matches
  if (static_cast<int>(correspondences_result_rej_var_trimmed_dist->size ()) == nr_correspondences_result_rej_dist)
  {
    for (int i = 0; i < nr_correspondences_result_rej_dist; ++i)
    {
      EXPECT_EQ ((*correspondences_result_rej_var_trimmed_dist)[i].index_query, correspondences_dist[i][0]);
      EXPECT_EQ ((*correspondences_result_rej_var_trimmed_dist)[i].index_match, correspondences_dist[i][1]);
    }
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, TransformationEstimationSVD)
{
  // Ideal conditions for the estimation (no noise, exact correspondences)
  CloudXYZConstPtr source (new CloudXYZ (cloud_target));
  CloudXYZPtr      target (new CloudXYZ ());
  pcl::transformPointCloud (*source, *target, T_ref);

  Eigen::Matrix4f T_SVD_1;
  const pcl::registration::TransformationEstimationSVD<PointXYZ, PointXYZ> trans_est_svd;
  trans_est_svd.estimateRigidTransformation(*source, *target, T_SVD_1);

  const Eigen::Quaternionf   R_SVD_1 (T_SVD_1.topLeftCorner  <3, 3> ());
  const Eigen::Translation3f t_SVD_1 (T_SVD_1.topRightCorner <3, 1> ());

  EXPECT_NEAR (R_SVD_1.x (), R_ref.x (), 1e-6f);
  EXPECT_NEAR (R_SVD_1.y (), R_ref.y (), 1e-6f);
  EXPECT_NEAR (R_SVD_1.z (), R_ref.z (), 1e-6f);
  EXPECT_NEAR (R_SVD_1.w (), R_ref.w (), 1e-6f);

  EXPECT_NEAR (t_SVD_1.x (), t_ref.x (), 1e-6f);
  EXPECT_NEAR (t_SVD_1.y (), t_ref.y (), 1e-6f);
  EXPECT_NEAR (t_SVD_1.z (), t_ref.z (), 1e-6f);

  // Check if the estimation with correspondences gives the same results
  Eigen::Matrix4f T_SVD_2;
  pcl::Correspondences corr; corr.reserve (source->size ());
  for (std::size_t i=0; i<source->size (); ++i) corr.push_back (pcl::Correspondence (i, i, 0.f));
  trans_est_svd.estimateRigidTransformation(*source, *target, corr, T_SVD_2);

  const Eigen::Quaternionf   R_SVD_2 (T_SVD_2.topLeftCorner  <3, 3> ());
  const Eigen::Translation3f t_SVD_2 (T_SVD_2.topRightCorner <3, 1> ());

  EXPECT_FLOAT_EQ (R_SVD_1.x (), R_SVD_2.x ());
  EXPECT_FLOAT_EQ (R_SVD_1.y (), R_SVD_2.y ());
  EXPECT_FLOAT_EQ (R_SVD_1.z (), R_SVD_2.z ());
  EXPECT_FLOAT_EQ (R_SVD_1.w (), R_SVD_2.w ());

  EXPECT_FLOAT_EQ (t_SVD_1.x (), t_SVD_2.x ());
  EXPECT_FLOAT_EQ (t_SVD_1.y (), t_SVD_2.y ());
  EXPECT_FLOAT_EQ (t_SVD_1.z (), t_SVD_2.z ());
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, TransformationEstimationDualQuaternion)
{
  // Ideal conditions for the estimation (no noise, exact correspondences)
  CloudXYZConstPtr source (new CloudXYZ (cloud_target));
  CloudXYZPtr      target (new CloudXYZ ());
  pcl::transformPointCloud (*source, *target, T_ref);

  Eigen::Matrix4f T_DQ_1;
  const pcl::registration::TransformationEstimationDualQuaternion<PointXYZ, PointXYZ> trans_est_dual_quaternion;
  trans_est_dual_quaternion.estimateRigidTransformation(*source, *target, T_DQ_1);

  const Eigen::Quaternionf   R_DQ_1 (T_DQ_1.topLeftCorner  <3, 3> ());
  const Eigen::Translation3f t_DQ_1 (T_DQ_1.topRightCorner <3, 1> ());

  EXPECT_NEAR (R_DQ_1.x (), R_ref.x (), 1e-6f);
  EXPECT_NEAR (R_DQ_1.y (), R_ref.y (), 1e-6f);
  EXPECT_NEAR (R_DQ_1.z (), R_ref.z (), 1e-6f);
  EXPECT_NEAR (R_DQ_1.w (), R_ref.w (), 1e-6f);

  EXPECT_NEAR (t_DQ_1.x (), t_ref.x (), 1e-6f);
  EXPECT_NEAR (t_DQ_1.y (), t_ref.y (), 1e-6f);
  EXPECT_NEAR (t_DQ_1.z (), t_ref.z (), 1e-6f);

  // Check if the estimation with correspondences gives the same results
  Eigen::Matrix4f T_DQ_2;
  pcl::Correspondences corr; corr.reserve (source->size ());
  for (std::size_t i=0; i<source->size (); ++i) corr.push_back (pcl::Correspondence (i, i, 0.f));
  trans_est_dual_quaternion.estimateRigidTransformation(*source, *target, corr, T_DQ_2);

  const Eigen::Quaternionf   R_DQ_2 (T_DQ_2.topLeftCorner  <3, 3> ());
  const Eigen::Translation3f t_DQ_2 (T_DQ_2.topRightCorner <3, 1> ());

  EXPECT_FLOAT_EQ (R_DQ_1.x (), R_DQ_2.x ());
  EXPECT_FLOAT_EQ (R_DQ_1.y (), R_DQ_2.y ());
  EXPECT_FLOAT_EQ (R_DQ_1.z (), R_DQ_2.z ());
  EXPECT_FLOAT_EQ (R_DQ_1.w (), R_DQ_2.w ());

  EXPECT_FLOAT_EQ (t_DQ_1.x (), t_DQ_2.x ());
  EXPECT_FLOAT_EQ (t_DQ_1.y (), t_DQ_2.y ());
  EXPECT_FLOAT_EQ (t_DQ_1.z (), t_DQ_2.z ());
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, TransformationEstimationPointToPlaneLLS)
{
  pcl::registration::TransformationEstimationPointToPlaneLLS<pcl::PointNormal, pcl::PointNormal> transform_estimator;

  // Create a test cloud
  pcl::PointCloud<pcl::PointNormal>::Ptr src (new pcl::PointCloud<pcl::PointNormal>);
  src->height = 1;
  src->is_dense = true;
  for (float x = -5.0f; x <= 5.0f; x += 0.5f)
    for (float y = -5.0f; y <= 5.0f; y += 0.5f)
    {
      pcl::PointNormal p;
      p.x = x;
      p.y = y;
      p.z = 0.1f * powf (x, 2.0f) + 0.2f * p.x * p.y - 0.3f * y + 1.0f;
      float & nx = p.normal[0];
      float & ny = p.normal[1];
      float & nz = p.normal[2];
      nx = -0.2f * p.x - 0.2f;
      ny = 0.6f * p.y - 0.2f;
      nz = 1.0f;

      float magnitude = std::sqrt (nx * nx + ny * ny + nz * nz);
      nx /= magnitude;
      ny /= magnitude;
      nz /= magnitude;

      src->points.push_back (p);
    }
  src->width = src->size ();

  // Create a test matrix
  Eigen::Matrix4f ground_truth_tform = Eigen::Matrix4f::Identity ();
  ground_truth_tform.row (0) <<  0.9938f,  0.0988f,  0.0517f,  0.1000f;
  ground_truth_tform.row (1) << -0.0997f,  0.9949f,  0.0149f, -0.2000f;
  ground_truth_tform.row (2) << -0.0500f, -0.0200f,  0.9986f,  0.3000f;
  ground_truth_tform.row (3) <<  0.0000f,  0.0000f,  0.0000f,  1.0000f;

  pcl::PointCloud<pcl::PointNormal>::Ptr tgt (new pcl::PointCloud<pcl::PointNormal>);

  pcl::transformPointCloudWithNormals (*src, *tgt, ground_truth_tform);

  Eigen::Matrix4f estimated_transform;
  transform_estimator.estimateRigidTransformation (*src, *tgt, estimated_transform);

  for (int i = 0; i < 4; ++i)
    for (int j = 0; j < 4; ++j)
      EXPECT_NEAR (estimated_transform (i, j), ground_truth_tform (i, j), 1e-2);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, TransformationEstimationLM)
{
  CloudXYZConstPtr source (new CloudXYZ (cloud_target));
  CloudXYZPtr      target (new CloudXYZ ());
  pcl::transformPointCloud (*source, *target, T_ref);

  // Test the float precision first
  Eigen::Matrix4f T_LM_float;
  const pcl::registration::TransformationEstimationLM<PointXYZ, PointXYZ, float> trans_est_lm_float;
  trans_est_lm_float.estimateRigidTransformation (*source, *target, T_LM_float);

  const Eigen::Quaternionf   R_LM_1_float (T_LM_float.topLeftCorner  <3, 3> ());
  const Eigen::Translation3f t_LM_1_float (T_LM_float.topRightCorner <3, 1> ());

  EXPECT_NEAR (R_LM_1_float.x (), R_ref.x (), 1e-3f);
  EXPECT_NEAR (R_LM_1_float.y (), R_ref.y (), 1e-3f);
  EXPECT_NEAR (R_LM_1_float.z (), R_ref.z (), 1e-3f);
  EXPECT_NEAR (R_LM_1_float.w (), R_ref.w (), 1e-3f);

  EXPECT_NEAR (t_LM_1_float.x (), t_ref.x (), 1e-3f);
  EXPECT_NEAR (t_LM_1_float.y (), t_ref.y (), 1e-3f);
  EXPECT_NEAR (t_LM_1_float.z (), t_ref.z (), 1e-3f);

  // Check if the estimation with correspondences gives the same results
  Eigen::Matrix4f T_LM_2_float;
  pcl::Correspondences corr;
  corr.reserve (source->size ());
  for (std::size_t i = 0; i < source->size (); ++i)
    corr.push_back (pcl::Correspondence (i, i, 0.f));
  trans_est_lm_float.estimateRigidTransformation (*source, *target, corr, T_LM_2_float);

  const Eigen::Quaternionf   R_LM_2_float (T_LM_2_float.topLeftCorner  <3, 3> ());
  const Eigen::Translation3f t_LM_2_float (T_LM_2_float.topRightCorner <3, 1> ());

  EXPECT_FLOAT_EQ (R_LM_1_float.x (), R_LM_2_float.x ());
  EXPECT_FLOAT_EQ (R_LM_1_float.y (), R_LM_2_float.y ());
  EXPECT_FLOAT_EQ (R_LM_1_float.z (), R_LM_2_float.z ());
  EXPECT_FLOAT_EQ (R_LM_1_float.w (), R_LM_2_float.w ());

  EXPECT_FLOAT_EQ (t_LM_1_float.x (), t_LM_2_float.x ());
  EXPECT_FLOAT_EQ (t_LM_1_float.y (), t_LM_2_float.y ());
  EXPECT_FLOAT_EQ (t_LM_1_float.z (), t_LM_2_float.z ());


  // Test the double precision, notice that the testing tolerances are much smaller
  Eigen::Matrix4d T_LM_double;
  const pcl::registration::TransformationEstimationLM<PointXYZ, PointXYZ, double> trans_est_lm_double;
  trans_est_lm_double.estimateRigidTransformation (*source, *target, T_LM_double);

  const Eigen::Quaterniond   R_LM_1_double (T_LM_double.topLeftCorner  <3, 3> ());
  const Eigen::Translation3d t_LM_1_double (T_LM_double.topRightCorner <3, 1> ());

  EXPECT_NEAR (R_LM_1_double.x (), R_ref.x (), 1e-6);
  EXPECT_NEAR (R_LM_1_double.y (), R_ref.y (), 1e-6);
  EXPECT_NEAR (R_LM_1_double.z (), R_ref.z (), 1e-6);
  EXPECT_NEAR (R_LM_1_double.w (), R_ref.w (), 1e-6);

  EXPECT_NEAR (t_LM_1_double.x (), t_ref.x (), 1e-6);
  EXPECT_NEAR (t_LM_1_double.y (), t_ref.y (), 1e-6);
  EXPECT_NEAR (t_LM_1_double.z (), t_ref.z (), 1e-6);

  // Check if the estimation with correspondences gives the same results
  Eigen::Matrix4d T_LM_2_double;
  corr.clear ();
  corr.reserve (source->size ());
  for (std::size_t i = 0; i < source->size (); ++i)
    corr.push_back (pcl::Correspondence (i, i, 0.f));
  trans_est_lm_double.estimateRigidTransformation (*source, *target, corr, T_LM_2_double);

  const Eigen::Quaterniond   R_LM_2_double (T_LM_2_double.topLeftCorner  <3, 3> ());
  const Eigen::Translation3d t_LM_2_double (T_LM_2_double.topRightCorner <3, 1> ());

  EXPECT_DOUBLE_EQ (R_LM_1_double.x (), R_LM_2_double.x ());
  EXPECT_DOUBLE_EQ (R_LM_1_double.y (), R_LM_2_double.y ());
  EXPECT_DOUBLE_EQ (R_LM_1_double.z (), R_LM_2_double.z ());
  EXPECT_DOUBLE_EQ (R_LM_1_double.w (), R_LM_2_double.w ());

  EXPECT_DOUBLE_EQ (t_LM_1_double.x (), t_LM_2_double.x ());
  EXPECT_DOUBLE_EQ (t_LM_1_double.y (), t_LM_2_double.y ());
  EXPECT_DOUBLE_EQ (t_LM_1_double.z (), t_LM_2_double.z ());
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, TransformationEstimationPointToPlane)
{
  pcl::registration::TransformationEstimationPointToPlane<pcl::PointNormal, pcl::PointNormal, float> transform_estimator_float;

  // Create a test cloud
  pcl::PointCloud<pcl::PointNormal>::Ptr src (new pcl::PointCloud<pcl::PointNormal>);
  src->height = 1;
  src->is_dense = true;
  for (float x = -5.0f; x <= 5.0f; x += 0.5f)
    for (float y = -5.0f; y <= 5.0f; y += 0.5f)
    {
      pcl::PointNormal p;
      p.x = x;
      p.y = y;
      p.z = 0.1f * powf (x, 2.0f) + 0.2f * p.x * p.y - 0.3f * y + 1.0f;
      float & nx = p.normal[0];
      float & ny = p.normal[1];
      float & nz = p.normal[2];
      nx = -0.2f * p.x - 0.2f;
      ny = 0.6f * p.y - 0.2f;
      nz = 1.0f;

      float magnitude = std::sqrt (nx * nx + ny * ny + nz * nz);
      nx /= magnitude;
      ny /= magnitude;
      nz /= magnitude;

      src->points.push_back (p);
    }
  src->width = src->size ();

  // Create a test matrix
  Eigen::Matrix4f ground_truth_tform = Eigen::Matrix4f::Identity ();
  ground_truth_tform.row (0) <<  0.9938f,  0.0988f,  0.0517f,  0.1000f;
  ground_truth_tform.row (1) << -0.0997f,  0.9949f,  0.0149f, -0.2000f;
  ground_truth_tform.row (2) << -0.0500f, -0.0200f,  0.9986f,  0.3000f;
  ground_truth_tform.row (3) <<  0.0000f,  0.0000f,  0.0000f,  1.0000f;

  pcl::PointCloud<pcl::PointNormal>::Ptr tgt (new pcl::PointCloud<pcl::PointNormal>);

  pcl::transformPointCloudWithNormals (*src, *tgt, ground_truth_tform);

  Eigen::Matrix4f estimated_transform_float;
  transform_estimator_float.estimateRigidTransformation (*src, *tgt, estimated_transform_float);

  for (int i = 0; i < 4; ++i)
    for (int j = 0; j < 4; ++j)
      EXPECT_NEAR (estimated_transform_float (i, j), ground_truth_tform (i, j), 1e-3);



  pcl::registration::TransformationEstimationPointToPlane<pcl::PointNormal, pcl::PointNormal, double> transform_estimator_double;
  Eigen::Matrix4d estimated_transform_double;
  transform_estimator_double.estimateRigidTransformation (*src, *tgt, estimated_transform_double);

  for (int i = 0; i < 4; ++i)
    for (int j = 0; j < 4; ++j)
      EXPECT_NEAR (estimated_transform_double (i, j), ground_truth_tform (i, j), 1e-3);
}

TEST (PCL, TransformationEstimationSymmetricPointToPlaneLLS)
{
  pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS<pcl::PointNormal, pcl::PointNormal> transform_estimator;

  // Create a test cloud
  pcl::PointCloud<pcl::PointNormal>::Ptr src (new pcl::PointCloud<pcl::PointNormal>);
  src->height = 1;
  src->is_dense = true;
  for (float x = -5.0f; x <= 5.0f; x += 0.5f)
    for (float y = -5.0f; y <= 5.0f; y += 0.5f)
    {
      pcl::PointNormal p;
      p.x = x;
      p.y = y;
      p.z = 0.1f * powf (x, 2.0f) + 0.2f * p.x * p.y - 0.3f * y + 1.0f;
      float & nx = p.normal[0];
      float & ny = p.normal[1];
      float & nz = p.normal[2];
      nx = -0.2f * p.x - 0.2f;
      ny = 0.6f * p.y - 0.2f;
      nz = 1.0f;

      float magnitude = std::sqrt (nx * nx + ny * ny + nz * nz);
      nx /= magnitude;
      ny /= magnitude;
      nz /= magnitude;

      src->points.push_back (p);
    }
  src->width = src->size ();

  // Create a test matrix
  // (alpha, beta, gamma) = (-0.0180524, 0.0525268, -0.0999635)
  // (tx, ty, tz) = (0.0911343, -0.207119, 0.294305)
  Eigen::Matrix4f ground_truth_tform = Eigen::Matrix4f::Identity ();
  ground_truth_tform.row (0) <<  0.9938f,  0.0988f,  0.0517f,  0.1000f;
  ground_truth_tform.row (1) << -0.0997f,  0.9949f,  0.0149f, -0.2000f;
  ground_truth_tform.row (2) << -0.0500f, -0.0200f,  0.9986f,  0.3000f;
  ground_truth_tform.row (3) <<  0.0000f,  0.0000f,  0.0000f,  1.0000f;

  pcl::PointCloud<pcl::PointNormal>::Ptr tgt (new pcl::PointCloud<pcl::PointNormal>);

  pcl::transformPointCloudWithNormals (*src, *tgt, ground_truth_tform);

  Eigen::Matrix4f estimated_transform;
  transform_estimator.estimateRigidTransformation (*src, *tgt, estimated_transform);

  for (int i = 0; i < 4; ++i)
    for (int j = 0; j < 4; ++j)
      EXPECT_NEAR (estimated_transform (i, j), ground_truth_tform (i, j), 1e-2);
}


/* ---[ */
int
main (int argc, char** argv)
{
  if (argc < 3)
  {
    std::cerr << "No test files given. Please download `bun0.pcd` and `bun4.pcd` and pass their path to the test." << std::endl;
    return (-1);
  }

  // Input
  if (pcl::io::loadPCDFile (argv[1], cloud_source) < 0)
  {
    std::cerr << "Failed to read test file. Please download `bun0.pcd` and pass its path to the test." << std::endl;
    return (-1);
  }
  if (pcl::io::loadPCDFile (argv[2], cloud_target) < 0)
  {
    std::cerr << "Failed to read test file. Please download `bun4.pcd` and pass its path to the test." << std::endl;
    return (-1);
  }

  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());

  // Tranpose the cloud_model
  /*for (std::size_t i = 0; i < cloud_model.size (); ++i)
  {
  //  cloud_model[i].z += 1;
  }*/
}
/* ]--- */
