/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

/**
 *  @file  testProjectionFactor.cpp
 *  @brief Unit tests for ProjectionFactorPPP Class
 *  @author Chris Beall
 *  @date July 2014
 */

#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam_unstable/slam/ProjectionFactorPPP.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Point2.h>

#include <CppUnitLite/TestHarness.h>

#include <boost/bind.hpp>

using namespace std;
using namespace gtsam;

// make a realistic calibration matrix
static double fov = 60; // degrees
static size_t w=640,h=480;
static Cal3_S2::shared_ptr K(new Cal3_S2(fov,w,h));

// Create a noise model for the pixel error
static SharedNoiseModel model(noiseModel::Unit::Create(2));

// Convenience for named keys
using symbol_shorthand::X;
using symbol_shorthand::L;
using symbol_shorthand::T;

typedef ProjectionFactorPPP<Pose3, Point3> TestProjectionFactor;

/// traits
namespace gtsam {
template<>
struct traits<TestProjectionFactor> : public Testable<TestProjectionFactor> {
};
}

/* ************************************************************************* */
TEST( ProjectionFactorPPP, nonStandard ) {
  ProjectionFactorPPP<Pose3, Point3, Cal3DS2> f;
}

/* ************************************************************************* */
TEST( ProjectionFactorPPP, Constructor) {
  Key poseKey(X(1));
  Key transformKey(T(1));
  Key pointKey(L(1));

  Point2 measurement(323.0, 240.0);

  TestProjectionFactor factor(measurement, model, poseKey, transformKey, pointKey, K);
}

/* ************************************************************************* */
TEST( ProjectionFactorPPP, ConstructorWithTransform) {
  Key poseKey(X(1));
  Key transformKey(T(1));
  Key pointKey(L(1));

  Point2 measurement(323.0, 240.0);
  TestProjectionFactor factor(measurement, model, poseKey, transformKey, pointKey, K);
}

/* ************************************************************************* */
TEST( ProjectionFactorPPP, Equals ) {
  // Create two identical factors and make sure they're equal
  Point2 measurement(323.0, 240.0);

  TestProjectionFactor factor1(measurement, model, X(1), T(1), L(1), K);
  TestProjectionFactor factor2(measurement, model, X(1), T(1), L(1), K);

  CHECK(assert_equal(factor1, factor2));
}

/* ************************************************************************* */
TEST( ProjectionFactorPPP, EqualsWithTransform ) {
  // Create two identical factors and make sure they're equal
  Point2 measurement(323.0, 240.0);
  Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));

  TestProjectionFactor factor1(measurement, model, X(1), T(1), L(1), K);
  TestProjectionFactor factor2(measurement, model, X(1), T(1), L(1), K);

  CHECK(assert_equal(factor1, factor2));
}

/* ************************************************************************* */
TEST( ProjectionFactorPPP, Error ) {
  // Create the factor with a measurement that is 3 pixels off in x
  Key poseKey(X(1));
  Key transformKey(T(1));
  Key pointKey(L(1));
  Point2 measurement(323.0, 240.0);
  TestProjectionFactor factor(measurement, model, poseKey, transformKey, pointKey, K);

  // Set the linearization point
  Pose3 pose(Rot3(), Point3(0,0,-6));
  Point3 point(0.0, 0.0, 0.0);

  // Use the factor to calculate the error
  Vector actualError(factor.evaluateError(pose, Pose3(), point));

  // The expected error is (-3.0, 0.0) pixels / UnitCovariance
  Vector expectedError = Vector2(-3.0, 0.0);

  // Verify we get the expected error
  CHECK(assert_equal(expectedError, actualError, 1e-9));
}

/* ************************************************************************* */
TEST( ProjectionFactorPPP, ErrorWithTransform ) {
  // Create the factor with a measurement that is 3 pixels off in x
  Key poseKey(X(1));
  Key transformKey(T(1));
  Key pointKey(L(1));
  Point2 measurement(323.0, 240.0);
  Pose3 transform(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
  TestProjectionFactor factor(measurement, model, poseKey,transformKey, pointKey, K);

  // Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0)
  Pose3 pose(Rot3(), Point3(-6.25, 0.10 , -1.0));
  Point3 point(0.0, 0.0, 0.0);

  // Use the factor to calculate the error
  Vector actualError(factor.evaluateError(pose, transform, point));

  // The expected error is (-3.0, 0.0) pixels / UnitCovariance
  Vector expectedError = Vector2(-3.0, 0.0);

  // Verify we get the expected error
  CHECK(assert_equal(expectedError, actualError, 1e-9));
}

/* ************************************************************************* */
TEST( ProjectionFactorPPP, Jacobian ) {
  // Create the factor with a measurement that is 3 pixels off in x
  Key poseKey(X(1));
  Key transformKey(T(1));
  Key pointKey(L(1));
  Point2 measurement(323.0, 240.0);
  TestProjectionFactor factor(measurement, model, poseKey, transformKey, pointKey, K);

  // Set the linearization point
  Pose3 pose(Rot3(), Point3(0,0,-6));
  Point3 point(0.0, 0.0, 0.0);

  // Use the factor to calculate the Jacobians
  Matrix H1Actual, H2Actual, H3Actual;
  factor.evaluateError(pose, Pose3(), point, H1Actual, H2Actual, H3Actual);

  // The expected Jacobians
  Matrix H1Expected = (Matrix(2, 6) << 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.).finished();
  Matrix H3Expected = (Matrix(2, 3) << 92.376, 0., 0., 0., 92.376, 0.).finished();

  // Verify the Jacobians are correct
  CHECK(assert_equal(H1Expected, H1Actual, 1e-3));
  CHECK(assert_equal(H3Expected, H3Actual, 1e-3));

  // Verify H2 with numerical derivative
  Matrix H2Expected = numericalDerivative32<Vector,Pose3, Pose3, Point3>(
      boost::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
      boost::bind(&TestProjectionFactor::evaluateError, &factor, _1, _2, _3,
          boost::none, boost::none, boost::none)), pose, Pose3(), point);

  CHECK(assert_equal(H2Expected, H2Actual, 1e-5));
}

/* ************************************************************************* */
TEST( ProjectionFactorPPP, JacobianWithTransform ) {
  // Create the factor with a measurement that is 3 pixels off in x
  Key poseKey(X(1));
  Key transformKey(T(1));
  Key pointKey(L(1));
  Point2 measurement(323.0, 240.0);
  Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
  TestProjectionFactor factor(measurement, model, poseKey, transformKey, pointKey, K);

  // Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0)
  Pose3 pose(Rot3(), Point3(-6.25, 0.10 , -1.0));
  Point3 point(0.0, 0.0, 0.0);

  // Use the factor to calculate the Jacobians
  Matrix H1Actual, H2Actual, H3Actual;
  factor.evaluateError(pose, body_P_sensor, point, H1Actual, H2Actual, H3Actual);

  // The expected Jacobians
  Matrix H1Expected = (Matrix(2, 6) << -92.376, 0., 577.350, 0., 92.376, 0., -9.2376, -577.350, 0., 0., 0., 92.376).finished();
  Matrix H3Expected = (Matrix(2, 3) << 0., -92.376, 0., 0., 0., -92.376).finished();

  // Verify the Jacobians are correct
  CHECK(assert_equal(H1Expected, H1Actual, 1e-3));
  CHECK(assert_equal(H3Expected, H3Actual, 1e-3));

  // Verify H2 with numerical derivative
  Matrix H2Expected = numericalDerivative32<Vector, Pose3, Pose3, Point3>(
      boost::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
      boost::bind(&TestProjectionFactor::evaluateError, &factor, _1, _2, _3,
          boost::none, boost::none, boost::none)), pose, body_P_sensor, point);

  CHECK(assert_equal(H2Expected, H2Actual, 1e-5));


}

/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */