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#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_

#include <pcl/registration/transformation_estimation_svd.h>

namespace pcl
{
  namespace registration
  {
    /** @b TransformationEstimationSVD implements SVD-based estimation of
      * the transformation aligning the given correspondences.
      * Optionally the scale is estimated. Note that the similarity transform might not be optimal for the underlying Frobenius Norm.
      *
      * \note The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.
      * \author Suat Gedikli
      * \ingroup registration
      */
    template <typename PointSource, typename PointTarget, typename Scalar = float>
    class TransformationEstimationSVDScale : public TransformationEstimationSVD<PointSource, PointTarget, Scalar>
    {
      public:
        typedef boost::shared_ptr<TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > Ptr;
        typedef boost::shared_ptr<const TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > ConstPtr;

        typedef typename TransformationEstimationSVD<PointSource, PointTarget, Scalar>::Matrix4 Matrix4;

        /** \brief Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method */
        TransformationEstimationSVDScale ():
          TransformationEstimationSVD<PointSource, PointTarget, Scalar> (false)
      {}

      protected:
        /** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'
          * \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen format
          * \param[in] centroid_src the input source centroid, in Eigen format
          * \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
          * \param[in] centroid_tgt the input target cloud, in Eigen format
          * \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix
          */ 
        void
        getTransformationFromCorrelation (const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean,
                                          const Eigen::Matrix<Scalar, 4, 1> &centroid_src,
                                          const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean,
                                          const Eigen::Matrix<Scalar, 4, 1> &centroid_tgt,
                                          Matrix4 &transformation_matrix) const;
    };

  }
}

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

#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_ */
