// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef G2O_SEVEN_DOF_EXPMAP_TYPES
#define G2O_SEVEN_DOF_EXPMAP_TYPES
#include "g2o/config.h"
#include "g2o/core/base_vertex.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o/types/sba/types_six_dof_expmap.h"
#include "sim3.h"

#ifdef _MSC_VER
// We are using a Microsoft compiler:
#ifdef G2O_SHARED_LIBS
#ifdef types_sim3_EXPORTS
#define G2O_TYPES_SIM3_API __declspec(dllexport)
#else
#define G2O_TYPES_SIM3_API __declspec(dllimport)
#endif
#else
#define G2O_TYPES_SIM3_API
#endif

#else
// Not Microsoft compiler so set empty definition:
#define G2O_TYPES_SIM3_API
#endif
namespace g2o {


/**
 * \brief Sim3 Vertex, (x,y,z,qw,qx,qy,qz)
 * the parameterization for the increments constructed is a 7d vector
 * (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion.
 *
 * Will represent relative transformation between two cameras
*/
class G2O_TYPES_SIM3_API VertexSim3Expmap : public BaseVertex<7, Sim3>
{
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  VertexSim3Expmap();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

  virtual void setToOriginImpl() {
    _estimate = Sim3();
  }

  virtual void oplusImpl(const number_t* update_)
  {
    Eigen::Map<Vector7> update(const_cast<number_t*>(update_));

    if (_fix_scale)
      update[6] = 0;

    Sim3 s(update);
    setEstimate(s*estimate());
  }

  Vector2 _principle_point1, _principle_point2;
  Vector2 _focal_length1, _focal_length2;

  Vector2 cam_map1(const Vector2 &v) const {
    Vector2 res;
    res[0] = v[0] * _focal_length1[0] + _principle_point1[0];
    res[1] = v[1] * _focal_length1[1] + _principle_point1[1];
    return res;
  }

  Vector2 cam_map2(const Vector2 &v) const {
    Vector2 res;
    res[0] = v[0] * _focal_length2[0] + _principle_point2[0];
    res[1] = v[1] * _focal_length2[1] + _principle_point2[1];
    return res;
  }

  bool _fix_scale;


 protected:
};

  /**
 * \brief 7D edge between two Vertex7
 */
  class G2O_TYPES_SIM3_API EdgeSim3 : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap>
  {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    EdgeSim3();
    virtual bool read(std::istream& is);
    virtual bool write(std::ostream& os) const;
    void computeError()
    {
      const VertexSim3Expmap* v1 = static_cast<const VertexSim3Expmap*>(_vertices[0]);
      const VertexSim3Expmap* v2 = static_cast<const VertexSim3Expmap*>(_vertices[1]);

      Sim3 C(_measurement);
      Sim3 error_=C*v1->estimate()*v2->estimate().inverse();
      _error = error_.log();
    }

    virtual number_t initialEstimatePossible(const OptimizableGraph::VertexSet& , OptimizableGraph::Vertex* ) { return 1.;}
    virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to*/)
    {
      VertexSim3Expmap* v1 = static_cast<VertexSim3Expmap*>(_vertices[0]);
      VertexSim3Expmap* v2 = static_cast<VertexSim3Expmap*>(_vertices[1]);
      if (from.count(v1) > 0)
  v2->setEstimate(measurement()*v1->estimate());
      else
  v1->setEstimate(measurement().inverse()*v2->estimate());
    }
  };


/**/
class G2O_TYPES_SIM3_API EdgeSim3ProjectXYZ : public  BaseBinaryEdge<2, Vector2,  VertexSBAPointXYZ, VertexSim3Expmap>
{
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    EdgeSim3ProjectXYZ();
    virtual bool read(std::istream& is);
    virtual bool write(std::ostream& os) const;

    void computeError()
    {
      const VertexSim3Expmap* v1 = static_cast<const VertexSim3Expmap*>(_vertices[1]);
      const VertexSBAPointXYZ* v2 = static_cast<const VertexSBAPointXYZ*>(_vertices[0]);

      Vector2 obs(_measurement);
      _error = obs-v1->cam_map1(project(v1->estimate().map(v2->estimate())));
    }

   // virtual void linearizeOplus();

};

/**/
class G2O_TYPES_SIM3_API EdgeInverseSim3ProjectXYZ : public BaseBinaryEdge<2, Vector2, VertexSBAPointXYZ, VertexSim3Expmap> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeInverseSim3ProjectXYZ();
  virtual bool read(std::istream &is);
  virtual bool write(std::ostream &os) const;

  void computeError() {
    const VertexSim3Expmap *v1 = static_cast<const VertexSim3Expmap *>(_vertices[1]);
    const VertexSBAPointXYZ *v2 = static_cast<const VertexSBAPointXYZ *>(_vertices[0]);

    Vector2 obs(_measurement);
    _error = obs - v1->cam_map2(project(v1->estimate().inverse().map(v2->estimate())));
  }

  // virtual void linearizeOplus();

};

} // end namespace

#endif
