// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 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
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include "parameter_camera.h"

#include "isometry3d_gradients.h"
#include "isometry3d_mappings.h"

#ifdef G2O_HAVE_OPENGL
#include "g2o/stuff/opengl_primitives.h"
#include "g2o/stuff/opengl_wrapper.h"
#endif

using namespace std;

namespace g2o {

ParameterCamera::ParameterCamera() {
  setId(-1);
  setKcam(1, 1, 0.5, 0.5);
  setOffset();
}

void ParameterCamera::setOffset(const Isometry3& offset_) {
  ParameterSE3Offset::setOffset(offset_);
  _Kcam_inverseOffsetR = _Kcam * inverseOffset().rotation();
}

void ParameterCamera::setKcam(double fx, double fy, double cx, double cy) {
  _Kcam.setZero();
  _Kcam(0, 0) = fx;
  _Kcam(1, 1) = fy;
  _Kcam(0, 2) = cx;
  _Kcam(1, 2) = cy;
  _Kcam(2, 2) = 1.0;
  _invKcam = _Kcam.inverse();
  _Kcam_inverseOffsetR = _Kcam * inverseOffset().rotation();
}

bool ParameterCamera::read(std::istream& is) {
  Vector7 off;
  internal::readVector(is, off);
  // normalize the quaternion to recover numerical precision lost by storing as
  // human readable text
  Vector4::MapType(off.data() + 3).normalize();
  setOffset(internal::fromVectorQT(off));
  double fx, fy, cx, cy;
  is >> fx >> fy >> cx >> cy;
  setKcam(fx, fy, cx, cy);
  return is.good();
}

bool ParameterCamera::write(std::ostream& os) const {
  internal::writeVector(os, internal::toVectorQT(_offset));
  os << _Kcam(0, 0) << " ";
  os << _Kcam(1, 1) << " ";
  os << _Kcam(0, 2) << " ";
  os << _Kcam(1, 2) << " ";
  return os.good();
}

bool CacheCamera::resolveDependencies() {
  if (!CacheSE3Offset::resolveDependencies()) return false;
  params = dynamic_cast<ParameterCamera*>(_parameters[0]);
  return params != 0;
}

void CacheCamera::updateImpl() {
  CacheSE3Offset::updateImpl();
  _w2i.matrix().topLeftCorner<3, 4>() =
      params->Kcam() * w2n().matrix().topLeftCorner<3, 4>();
}

#ifdef G2O_HAVE_OPENGL

CacheCameraDrawAction::CacheCameraDrawAction()
    : DrawAction(typeid(CacheCamera).name()) {
  _previousParams = (DrawAction::Parameters*)0x42;
  refreshPropertyPtrs(0);
}

bool CacheCameraDrawAction::refreshPropertyPtrs(
    HyperGraphElementAction::Parameters* params_) {
  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
  if (_previousParams) {
    _cameraZ = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::CAMERA_Z", .05f);
    _cameraSide = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::CAMERA_SIDE", .05f);

  } else {
    _cameraZ = 0;
    _cameraSide = 0;
  }
  return true;
}

HyperGraphElementAction* CacheCameraDrawAction::operator()(
    HyperGraph::HyperGraphElement* element,
    HyperGraphElementAction::Parameters* params) {
  if (typeid(*element).name() != _typeName) return nullptr;
  CacheCamera* that = static_cast<CacheCamera*>(element);
  refreshPropertyPtrs(params);
  if (!_previousParams) return this;

  if (_show && !_show->value()) return this;

  glPushAttrib(GL_COLOR);
  glColor3f(POSE_PARAMETER_COLOR);
  glPushMatrix();
  glMultMatrixd(that->camParams()->offset().cast<double>().data());
  glRotatef(180.0f, 0.0f, 1.0f, 0.0f);
  opengl::drawPyramid(_cameraSide->value(), _cameraZ->value());
  glPopMatrix();
  glPopAttrib();
  return this;
}
#endif

}  // namespace g2o
