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#include "test_precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"

namespace opencv_test { namespace {

template<class T> double thres() { return 1.0; }
template<> double thres<float>() { return 1e-5; }

class CV_ReprojectImageTo3DTest : public cvtest::BaseTest
{
public:
    CV_ReprojectImageTo3DTest() {}
    ~CV_ReprojectImageTo3DTest() {}
protected:


    void run(int)
    {
        ts->set_failed_test_info(cvtest::TS::OK);
        int progress = 0;
        int caseId = 0;

        progress = update_progress( progress, 1, 14, 0 );
        runCase<float, float>(++caseId, -100.f, 100.f);
        progress = update_progress( progress, 2, 14, 0 );
        runCase<int, float>(++caseId, -100, 100);
        progress = update_progress( progress, 3, 14, 0 );
        runCase<short, float>(++caseId, -100, 100);
        progress = update_progress( progress, 4, 14, 0 );
        runCase<unsigned char, float>(++caseId, 10, 100);
        progress = update_progress( progress, 5, 14, 0 );

        runCase<float, int>(++caseId, -100.f, 100.f);
        progress = update_progress( progress, 6, 14, 0 );
        runCase<int, int>(++caseId, -100, 100);
        progress = update_progress( progress, 7, 14, 0 );
        runCase<short, int>(++caseId, -100, 100);
        progress = update_progress( progress, 8, 14, 0 );
        runCase<unsigned char, int>(++caseId, 10, 100);
        progress = update_progress( progress, 10, 14, 0 );

        runCase<float, short>(++caseId, -100.f, 100.f);
        progress = update_progress( progress, 11, 14, 0 );
        runCase<int, short>(++caseId, -100, 100);
        progress = update_progress( progress, 12, 14, 0 );
        runCase<short, short>(++caseId, -100, 100);
        progress = update_progress( progress, 13, 14, 0 );
        runCase<unsigned char, short>(++caseId, 10, 100);
        progress = update_progress( progress, 14, 14, 0 );
    }

    template<class U, class V> double error(const Vec<U, 3>& v1, const Vec<V, 3>& v2) const
    {
        double tmp, sum = 0;
        double nsum = 0;
        for(int i = 0; i < 3; ++i)
        {
            tmp = v1[i];
            nsum +=  tmp * tmp;

            tmp = tmp - v2[i];
            sum += tmp * tmp;

        }
        return sqrt(sum)/(sqrt(nsum)+1.);
    }

    template<class InT, class OutT> void runCase(int caseId, InT min, InT max)
    {
        typedef Vec<OutT, 3> out3d_t;

        bool handleMissingValues = (unsigned)theRNG() % 2 == 0;

        Mat_<InT> disp(Size(320, 240));
        randu(disp, Scalar(min), Scalar(max));

        if (handleMissingValues)
            disp(disp.rows/2, disp.cols/2) = min - 1;

        Mat_<double> Q(4, 4);
        randu(Q, Scalar(-5), Scalar(5));

        Mat_<out3d_t> _3dImg(disp.size());

        CvMat cvdisp = cvMat(disp); CvMat cv_3dImg = cvMat(_3dImg); CvMat cvQ = cvMat(Q);
        cvReprojectImageTo3D( &cvdisp, &cv_3dImg, &cvQ, handleMissingValues );

        if (std::numeric_limits<OutT>::max() == std::numeric_limits<float>::max())
            reprojectImageTo3D(disp, _3dImg, Q, handleMissingValues);

        for(int y = 0; y < disp.rows; ++y)
            for(int x = 0; x < disp.cols; ++x)
            {
                InT d = disp(y, x);

                double from[4] = {
                    static_cast<double>(x),
                    static_cast<double>(y),
                    static_cast<double>(d),
                    1.0,
                };
                Mat_<double> res = Q * Mat_<double>(4, 1, from);
                res /= res(3, 0);

                out3d_t pixel_exp = *res.ptr<Vec3d>();
                out3d_t pixel_out = _3dImg(y, x);

                const int largeZValue = 10000; /* see documentation */

                if (handleMissingValues && y == disp.rows/2 && x == disp.cols/2)
                {
                    if (pixel_out[2] == largeZValue)
                        continue;

                    ts->printf(cvtest::TS::LOG, "Missing values are handled improperly\n");
                    ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
                    return;
                }
                else
                {
                    double err = error(pixel_out, pixel_exp), t = thres<OutT>();
                    if ( err > t )
                    {
                        ts->printf(cvtest::TS::LOG, "case %d. too big error at (%d, %d): %g vs expected %g: res = (%g, %g, %g, w=%g) vs pixel_out = (%g, %g, %g)\n",
                            caseId, x, y, err, t, res(0,0), res(1,0), res(2,0), res(3,0),
                            (double)pixel_out[0], (double)pixel_out[1], (double)pixel_out[2]);
                        ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
                        return;
                    }
                }
            }
    }
};

TEST(Calib3d_ReprojectImageTo3D, accuracy) { CV_ReprojectImageTo3DTest test; test.safe_run(); }

}} // namespace