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/*
 * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.sfm.robust;

import boofcv.alg.geo.NormalizedToPinholePixelError;
import boofcv.alg.sfm.overhead.CameraPlaneProjection;
import boofcv.struct.sfm.PlanePtPixel;
import georegression.struct.point.Point2D_F64;
import georegression.struct.se.Se2_F64;
import georegression.struct.se.Se3_F64;
import georegression.transform.se.SePointOps_F64;
import org.ddogleg.fitting.modelset.DistanceFromModel;

import java.util.List;

/**
 * Computes the difference between a predicted observation and the actual observation. The prediction is done
 * by applying a transform on a point in on a 2D plane then rendering it onto the camera.
 *
 * @author Peter Abeles
 */
@SuppressWarnings({"NullAway.Init"})
public class DistancePlane2DToPixelSq implements DistanceFromModel {

	// motion from key frame to current frame in plane 2D reference frame
	private Se2_F64 keyToCurr;

	// predicted location of point on plane in current ref frame in 2D
	private final Point2D_F64 curr2D = new Point2D_F64();

	// normalized image coordinates of predicted position
	private final Point2D_F64 normalizedPred = new Point2D_F64();

	// code for projection to/from plane
	private CameraPlaneProjection planeProjection = new CameraPlaneProjection();

	// given observations in normalized image coordinates, compute the error in pixels
	private NormalizedToPinholePixelError errorCamera = new NormalizedToPinholePixelError();

	public DistancePlane2DToPixelSq( CameraPlaneProjection planeProjection,
									 NormalizedToPinholePixelError errorCamera ) {
		this.planeProjection = planeProjection;
		this.errorCamera = errorCamera;
	}

	public DistancePlane2DToPixelSq() {}

	/**
	 * Specify extrinsic camera properties
	 *
	 * @param planeToCamera Transform from plane to camera reference frame
	 */
	public void setExtrinsic( Se3_F64 planeToCamera ) {
		planeProjection.setPlaneToCamera(planeToCamera, false);
	}

	/**
	 * Specify intrinsic camera properties
	 *
	 * @param fx focal length x
	 * @param fy focal length y
	 * @param skew camera skew
	 */
	public void setIntrinsic( double fx, double fy, double skew ) {
		errorCamera.setTo(fx, fy, skew);
	}

	@Override
	public void setModel( Se2_F64 keyToCurr ) {
		this.keyToCurr = keyToCurr;
	}

	@Override
	public double distance( PlanePtPixel sample ) {

		// apply transform from key frame to current frame
		SePointOps_F64.transform(keyToCurr, sample.planeKey, curr2D);

		// project plane to normalized
		if (!planeProjection.planeToNormalized(curr2D.x, curr2D.y, normalizedPred))
			return Double.MAX_VALUE;

		// Euclidean pixel error squared error
		return errorCamera.errorSq(sample.normalizedCurr, normalizedPred);
	}

	@Override
	public void distances( List samples, double[] distance ) {
		for (int i = 0; i < samples.size(); i++) {
			distance[i] = distance(samples.get(i));
		}
	}

	@Override
	public Class getPointType() {
		return PlanePtPixel.class;
	}

	@Override
	public Class getModelType() {
		return Se2_F64.class;
	}

	/**
	 * Creates a new instances for concurrency. Calibration data is shared between all instance so that only one
	 * needs to be updated.
	 */
	public DistancePlane2DToPixelSq newConcurrent() {
		return new DistancePlane2DToPixelSq(planeProjection, errorCamera);
	}
}