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#pragma once

#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/sac_model.h>

namespace pcl
{
  /** \brief @b ProgressiveSampleConsensus represents an implementation of the PROSAC (PROgressive SAmple Consensus) algorithm, as
    * described in: "Matching with PROSAC – Progressive Sample Consensus", Chum, O. and Matas, J.G., CVPR, I: 220-226
    * 2005.
    * \author Vincent Rabaud
    * \ingroup sample_consensus
    */
  template<typename PointT>
  class ProgressiveSampleConsensus : public SampleConsensus<PointT>
  {
    using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;

    public:
      using Ptr = shared_ptr<ProgressiveSampleConsensus>;
      using ConstPtr = shared_ptr<const ProgressiveSampleConsensus>;

      using SampleConsensus<PointT>::max_iterations_;
      using SampleConsensus<PointT>::threshold_;
      using SampleConsensus<PointT>::iterations_;
      using SampleConsensus<PointT>::sac_model_;
      using SampleConsensus<PointT>::model_;
      using SampleConsensus<PointT>::model_coefficients_;
      using SampleConsensus<PointT>::inliers_;
      using SampleConsensus<PointT>::probability_;

      /** \brief PROSAC (Progressive SAmple Consensus) main constructor
        * \param[in] model a Sample Consensus model
        */
      ProgressiveSampleConsensus (const SampleConsensusModelPtr &model) :
        SampleConsensus<PointT> (model)
      {
        // Maximum number of trials before we give up.
        max_iterations_ = 10000;
      }

      /** \brief PROSAC (Progressive SAmple Consensus) main constructor
        * \param[in] model a Sample Consensus model
        * \param[in] threshold distance to model threshold
       */
      ProgressiveSampleConsensus (const SampleConsensusModelPtr &model, double threshold) :
        SampleConsensus<PointT> (model, threshold)
      {
        // Maximum number of trials before we give up.
        max_iterations_ = 10000;
      }

      /** \brief Compute the actual model and find the inliers
        * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
        */
      bool 
      computeModel (int debug_verbosity_level = 0) override;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/sample_consensus/impl/prosac.hpp>
#endif