// 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
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//
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#include "edge_project_stereo_xyz_onlypose.h"

namespace g2o {

bool EdgeStereoSE3ProjectXYZOnlyPose::read(std::istream& is) {
  internal::readVector(is, _measurement);
  return readInformationMatrix(is);
}

bool EdgeStereoSE3ProjectXYZOnlyPose::write(std::ostream& os) const {
  internal::writeVector(os, measurement());
  return writeInformationMatrix(os);
}

void EdgeStereoSE3ProjectXYZOnlyPose::linearizeOplus() {
  VertexSE3Expmap* vi = static_cast<VertexSE3Expmap*>(_vertices[0]);
  Vector3 xyz_trans = vi->estimate().map(Xw);

  double x = xyz_trans[0];
  double y = xyz_trans[1];
  double invz = 1.0 / xyz_trans[2];
  double invz_2 = invz * invz;

  _jacobianOplusXi(0, 0) = x * y * invz_2 * fx;
  _jacobianOplusXi(0, 1) = -(1 + (x * x * invz_2)) * fx;
  _jacobianOplusXi(0, 2) = y * invz * fx;
  _jacobianOplusXi(0, 3) = -invz * fx;
  _jacobianOplusXi(0, 4) = 0;
  _jacobianOplusXi(0, 5) = x * invz_2 * fx;

  _jacobianOplusXi(1, 0) = (1 + y * y * invz_2) * fy;
  _jacobianOplusXi(1, 1) = -x * y * invz_2 * fy;
  _jacobianOplusXi(1, 2) = -x * invz * fy;
  _jacobianOplusXi(1, 3) = 0;
  _jacobianOplusXi(1, 4) = -invz * fy;
  _jacobianOplusXi(1, 5) = y * invz_2 * fy;

  _jacobianOplusXi(2, 0) = _jacobianOplusXi(0, 0) - bf * y * invz_2;
  _jacobianOplusXi(2, 1) = _jacobianOplusXi(0, 1) + bf * x * invz_2;
  _jacobianOplusXi(2, 2) = _jacobianOplusXi(0, 2);
  _jacobianOplusXi(2, 3) = _jacobianOplusXi(0, 3);
  _jacobianOplusXi(2, 4) = 0;
  _jacobianOplusXi(2, 5) = _jacobianOplusXi(0, 5) - bf * invz_2;
}

void EdgeStereoSE3ProjectXYZOnlyPose::computeError() {
  const VertexSE3Expmap* v1 = static_cast<const VertexSE3Expmap*>(_vertices[0]);
  Vector3 obs(_measurement);
  _error = obs - cam_project(v1->estimate().map(Xw));
}

bool EdgeStereoSE3ProjectXYZOnlyPose::isDepthPositive() {
  const VertexSE3Expmap* v1 = static_cast<const VertexSE3Expmap*>(_vertices[0]);
  return (v1->estimate().map(Xw))(2) > 0;
}

Vector3 EdgeStereoSE3ProjectXYZOnlyPose::cam_project(
    const Vector3& trans_xyz) const {
  const float invz = 1.0f / trans_xyz[2];
  Vector3 res;
  res[0] = trans_xyz[0] * invz * fx + cx;
  res[1] = trans_xyz[1] * invz * fy + cy;
  res[2] = res[0] - bf * invz;
  return res;
}

}  // namespace g2o
