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 * $Id: correspondence_estimation_backprojection.hpp 7230 2012-09-21 06:31:19Z rusu $
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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_HPP_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_HPP_

#include <pcl/registration/correspondence_estimation_normal_shooting.h>

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename NormalT, typename Scalar> bool
pcl::registration::CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar>::initCompute ()
{
  if (!source_normals_ || !target_normals_)
  {
    PCL_WARN ("[pcl::registration::%s::initCompute] Datasets containing normals for source/target have not been given!\n", getClassName ().c_str ());
    return (false);
  }

  return (CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::initCompute ());
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename NormalT, typename Scalar> void
pcl::registration::CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar>::rotatePointCloudNormals (
    const pcl::PointCloud<NormalT> &cloud_in,
    pcl::PointCloud<NormalT> &cloud_out,
    const Eigen::Matrix<Scalar, 4, 4> &transform)
{
  if (&cloud_in != &cloud_out)
  {
    // Note: could be replaced by cloud_out = cloud_in
    cloud_out.header   = cloud_in.header;
    cloud_out.width    = cloud_in.width;
    cloud_out.height   = cloud_in.height;
    cloud_out.is_dense = cloud_in.is_dense;
    cloud_out.points.reserve (cloud_out.points.size ());
    cloud_out.points.assign (cloud_in.points.begin (), cloud_in.points.end ());
  }

  for (size_t i = 0; i < cloud_out.points.size (); ++i)
  {
    // Rotate normals (WARNING: transform.rotation () uses SVD internally!)
    Eigen::Matrix<Scalar, 3, 1> nt (cloud_in[i].normal_x, cloud_in[i].normal_y, cloud_in[i].normal_z);
    cloud_out[i].normal_x = static_cast<float> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));
    cloud_out[i].normal_y = static_cast<float> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));
    cloud_out[i].normal_z = static_cast<float> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));
  }
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename NormalT, typename Scalar> void
pcl::registration::CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar>::determineCorrespondences (
    pcl::Correspondences &correspondences, double max_distance)
{
  if (!initCompute ())
    return;

  typedef typename pcl::traits::fieldList<PointTarget>::type FieldListTarget;
  correspondences.resize (indices_->size ());

  std::vector<int> nn_indices (k_);
  std::vector<float> nn_dists (k_);

  float min_dist = std::numeric_limits<float>::max ();
  int min_index = 0;
  
  pcl::Correspondence corr;
  unsigned int nr_valid_correspondences = 0;

  // Check if the template types are the same. If true, avoid a copy.
  // Both point types MUST be registered using the POINT_CLOUD_REGISTER_POINT_STRUCT macro!
  if (isSamePointType<PointSource, PointTarget> ())
  {
    PointTarget pt;
    // Iterate over the input set of source indices
    for (std::vector<int>::const_iterator idx_i = indices_->begin (); idx_i != indices_->end (); ++idx_i)
    {
      tree_->nearestKSearch (input_->points[*idx_i], k_, nn_indices, nn_dists);

      // Among the K nearest neighbours find the one with minimum perpendicular distance to the normal
      min_dist = std::numeric_limits<float>::max ();
      
      // Find the best correspondence
      for (size_t j = 0; j < nn_indices.size (); j++)
      {
        float cos_angle = source_normals_->points[*idx_i].normal_x * target_normals_->points[nn_indices[j]].normal_x +
                          source_normals_->points[*idx_i].normal_y * target_normals_->points[nn_indices[j]].normal_y +
                          source_normals_->points[*idx_i].normal_z * target_normals_->points[nn_indices[j]].normal_z ;
        float dist = nn_dists[min_index] * (2.0f - cos_angle * cos_angle);
        
        if (dist < min_dist)
        {
          min_dist = dist;
          min_index = static_cast<int> (j);
        }
      }
      if (min_dist > max_distance)
        continue;

      corr.index_query = *idx_i;
      corr.index_match = nn_indices[min_index];
      corr.distance = nn_dists[min_index];//min_dist;
      correspondences[nr_valid_correspondences++] = corr;
    }
  }
  else
  {
    PointTarget pt;
    
    // Iterate over the input set of source indices
    for (std::vector<int>::const_iterator idx_i = indices_->begin (); idx_i != indices_->end (); ++idx_i)
    {
      tree_->nearestKSearch (input_->points[*idx_i], k_, nn_indices, nn_dists);
 
      // Among the K nearest neighbours find the one with minimum perpendicular distance to the normal
      min_dist = std::numeric_limits<float>::max ();
      
      // Find the best correspondence
      for (size_t j = 0; j < nn_indices.size (); j++)
      {
        PointSource pt_src;
        // Copy the source data to a target PointTarget format so we can search in the tree
        pcl::for_each_type <FieldListTarget> (pcl::NdConcatenateFunctor <PointSource, PointTarget> (
            input_->points[*idx_i], 
            pt_src));

        float cos_angle = source_normals_->points[*idx_i].normal_x * target_normals_->points[nn_indices[j]].normal_x +
                          source_normals_->points[*idx_i].normal_y * target_normals_->points[nn_indices[j]].normal_y +
                          source_normals_->points[*idx_i].normal_z * target_normals_->points[nn_indices[j]].normal_z ;
        float dist = nn_dists[min_index] * (2.0f - cos_angle * cos_angle);
        
        if (dist < min_dist)
        {
          min_dist = dist;
          min_index = static_cast<int> (j);
        }
      }
      if (min_dist > max_distance)
        continue;
      
      corr.index_query = *idx_i;
      corr.index_match = nn_indices[min_index];
      corr.distance = nn_dists[min_index];//min_dist;
      correspondences[nr_valid_correspondences++] = corr;
    }
  }
  correspondences.resize (nr_valid_correspondences);
  deinitCompute ();
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename NormalT, typename Scalar> void
pcl::registration::CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar>::determineReciprocalCorrespondences (
    pcl::Correspondences &correspondences, double max_distance)
{
  if (!initCompute ())
    return;

  typedef typename pcl::traits::fieldList<PointSource>::type FieldListSource;
  typedef typename pcl::traits::fieldList<PointTarget>::type FieldListTarget;
  typedef typename pcl::intersect<FieldListSource, FieldListTarget>::type FieldList;
  
  // setup tree for reciprocal search
  pcl::KdTreeFLANN<PointSource> tree_reciprocal;
  // Set the internal point representation of choice
  if (point_representation_)
    tree_reciprocal.setPointRepresentation (point_representation_);

  tree_reciprocal.setInputCloud (input_, indices_);

  correspondences.resize (indices_->size ());

  std::vector<int> nn_indices (k_);
  std::vector<float> nn_dists (k_);
  std::vector<int> index_reciprocal (1);
  std::vector<float> distance_reciprocal (1);

  float min_dist = std::numeric_limits<float>::max ();
  int min_index = 0;
  
  pcl::Correspondence corr;
  unsigned int nr_valid_correspondences = 0;
  int target_idx = 0;

  // Check if the template types are the same. If true, avoid a copy.
  // Both point types MUST be registered using the POINT_CLOUD_REGISTER_POINT_STRUCT macro!
  if (isSamePointType<PointSource, PointTarget> ())
  {
    PointTarget pt;
    // Iterate over the input set of source indices
    for (std::vector<int>::const_iterator idx_i = indices_->begin (); idx_i != indices_->end (); ++idx_i)
    {
      tree_->nearestKSearch (input_->points[*idx_i], k_, nn_indices, nn_dists);

      // Among the K nearest neighbours find the one with minimum perpendicular distance to the normal
      min_dist = std::numeric_limits<float>::max ();
      
      // Find the best correspondence
      for (size_t j = 0; j < nn_indices.size (); j++)
      {
        float cos_angle = source_normals_->points[*idx_i].normal_x * target_normals_->points[nn_indices[j]].normal_x +
                          source_normals_->points[*idx_i].normal_y * target_normals_->points[nn_indices[j]].normal_y +
                          source_normals_->points[*idx_i].normal_z * target_normals_->points[nn_indices[j]].normal_z ;
        float dist = nn_dists[min_index] * (2.0f - cos_angle * cos_angle);
        
        if (dist < min_dist)
        {
          min_dist = dist;
          min_index = static_cast<int> (j);
        }
      }
      if (min_dist > max_distance)
        continue;

      // Check if the correspondence is reciprocal
      target_idx = nn_indices[min_index];
      tree_reciprocal.nearestKSearch (target_->points[target_idx], 1, index_reciprocal, distance_reciprocal);

      if (*idx_i != index_reciprocal[0])
        continue;

      corr.index_query = *idx_i;
      corr.index_match = nn_indices[min_index];
      corr.distance = nn_dists[min_index];//min_dist;
      correspondences[nr_valid_correspondences++] = corr;
    }
  }
  else
  {
    PointTarget pt;
    
    // Iterate over the input set of source indices
    for (std::vector<int>::const_iterator idx_i = indices_->begin (); idx_i != indices_->end (); ++idx_i)
    {
      tree_->nearestKSearch (input_->points[*idx_i], k_, nn_indices, nn_dists);
 
      // Among the K nearest neighbours find the one with minimum perpendicular distance to the normal
      min_dist = std::numeric_limits<float>::max ();
      
      // Find the best correspondence
      for (size_t j = 0; j < nn_indices.size (); j++)
      {
        PointSource pt_src;
        // Copy the source data to a target PointTarget format so we can search in the tree
        pcl::for_each_type <FieldListTarget> (pcl::NdConcatenateFunctor <PointSource, PointTarget> (
            input_->points[*idx_i], 
            pt_src));

        float cos_angle = source_normals_->points[*idx_i].normal_x * target_normals_->points[nn_indices[j]].normal_x +
                          source_normals_->points[*idx_i].normal_y * target_normals_->points[nn_indices[j]].normal_y +
                          source_normals_->points[*idx_i].normal_z * target_normals_->points[nn_indices[j]].normal_z ;
        float dist = nn_dists[min_index] * (2.0f - cos_angle * cos_angle);
        
        if (dist < min_dist)
        {
          min_dist = dist;
          min_index = static_cast<int> (j);
        }
      }
      if (min_dist > max_distance)
        continue;
      
      // Check if the correspondence is reciprocal
      target_idx = nn_indices[min_index];
      tree_reciprocal.nearestKSearch (target_->points[target_idx], 1, index_reciprocal, distance_reciprocal);

      if (*idx_i != index_reciprocal[0])
        continue;

      corr.index_query = *idx_i;
      corr.index_match = nn_indices[min_index];
      corr.distance = nn_dists[min_index];//min_dist;
      correspondences[nr_valid_correspondences++] = corr;
    }
  }
  correspondences.resize (nr_valid_correspondences);
  deinitCompute ();
}

#endif    // PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_HPP_
