/*
    * Copyright (C) 2015 Alberto Irurueta Carro (alberto@irurueta.com)
    *
    * 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 com.irurueta.geometry.estimators;
  
  import com.irurueta.geometry.Line2D;
  import com.irurueta.geometry.PinholeCamera;
  import com.irurueta.geometry.Plane;
  import com.irurueta.numerical.robust.MSACRobustEstimator;
  import com.irurueta.numerical.robust.MSACRobustEstimatorListener;
  import com.irurueta.numerical.robust.RobustEstimator;
  import com.irurueta.numerical.robust.RobustEstimatorException;
  import com.irurueta.numerical.robust.RobustEstimatorMethod;
  
  import java.util.ArrayList;
  import java.util.List;
  
  /**
   * Finds the best pinhole camera for provided collections of matched lines and
   * planes using MSAC algorithm.
   */
  @SuppressWarnings("DuplicatedCode")
  public class MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator extends
          DLTLinePlaneCorrespondencePinholeCameraRobustEstimator {
  
      /**
       * Constant defining default threshold to determine whether planes are
       * inliers or not.
       * Residuals to determine whether planes are inliers or not are computed by
       * comparing two planes algebraically (e.g. doing the dot product of their
       * parameters).
       * A residual of 0 indicates that dot product was 1 or -1 and lines were
       * equal.
       * A residual of 1 indicates that dot product was 0 and lines were
       * orthogonal.
       * If dot product between lines is -1, then although their director vectors
       * are opposed, lines are considered equal, since sign changes are not taken
       * into account and their residuals will be 0.
       */
      public static final double DEFAULT_THRESHOLD = 1e-6;
  
      /**
       * Minimum value that can be set as threshold.
       * Threshold must be strictly greater than 0.0.
       */
      public static final double MIN_THRESHOLD = 0.0;
  
      /**
       * Threshold to determine whether planes are inliers or not when testing
       * possible estimation solutions.
       * The threshold refers to the amount of error a possible solution has on a
       * plane respect the back-projected plane of a line using estimated camera.
       */
      private double threshold;
  
      /**
       * Constructor.
       */
      public MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator() {
          super();
          threshold = DEFAULT_THRESHOLD;
      }
  
      /**
       * Constructor with lists of matched planes and 2D lines to estimate a
       * pinhole camera.
       * Points and lines in the lists located at the same position are considered
       * to be matched. Hence, both lists must have the same size, and their size
       * must be greater or equal than MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES
       * (4 matches).
       *
       * @param planes list of planes used to estimate a pinhole camera.
       * @param lines  list of corresponding projected 2D lines used to estimate
       *               a pinhole camera.
       * @throws IllegalArgumentException if provided lists don't have the same
       *                                  size or their size is smaller than required minimum size (4 matches).
       */
      public MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator(
              final List<Plane> planes, final List<Line2D> lines) {
          super(planes, lines);
          threshold = DEFAULT_THRESHOLD;
      }
  
      /**
       * Constructor with listener.
       *
       * @param listener listener to be notified of events such as when estimation
      *                 starts, ends or its progress significantly changes.
      */
     public MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator(
             final PinholeCameraRobustEstimatorListener listener) {
         super(listener);
         threshold = DEFAULT_THRESHOLD;
     }
 
     /**
      * Constructor with listener and lists of matched planes and 2D lines to
      * estimate a pinhole camera.
      * Points and lines in the lists located at the same position are considered
      * to be matched. Hence, both lists must have the same size, and their size
      * must be greater or equal than MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES
      * (4 matches).
      *
      * @param listener listener to be notified of events such as when estimation
      *                 starts, ends or its progress significantly changes.
      * @param planes   list of planes used to estimate a pinhole camera.
      * @param lines    list of corresponding projected 2D lines used to estimate
      *                 a pinhole camera.
      * @throws IllegalArgumentException if provided lists don't have the same
      *                                  size or their size is smaller than required minimum size (4 matches).
      */
     public MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator(
             final PinholeCameraRobustEstimatorListener listener, final List<Plane> planes, final List<Line2D> lines) {
         super(listener, planes, lines);
         threshold = DEFAULT_THRESHOLD;
     }
 
     /**
      * Returns threshold to determine whether planes are inliers or not when
      * testing possible estimation solutions.
      * The threshold refers to the amount of error a possible solution has on a
      * plane respect the back-projected plane of a line using estimated camera
      * Residuals to determine whether planes are inliers or not are computed by
      * comparing two planes algebraically (e.g. doing the dot product of their
      * parameters).
      * A residual of 0 indicates that dot product was 1 or -1 and planes were
      * equal.
      * A residual of 1 indicates that dot product was 0 and planes were
      * orthogonal.
      * If dot product between planes is -1, then although their director vectors
      * are opposed, planes are considered equal, since sign changes are not
      * taken into account and their residuals will be 0.
      *
      * @return threshold to determine whether matched planes are inliers or not.
      */
     public double getThreshold() {
         return threshold;
     }
 
     /**
      * Sets threshold to determine whether planes are inliers or not when
      * testing possible estimation solutions.
      * The threshold refers to the amount of error a possible solution has on a
      * plane respect the back-projected plane of a line using estimated camera
      * Residuals to determine whether planes are inliers or not are computed by
      * comparing two planes algebraically (e.g. doing the dot product of their
      * parameters).
      * A residual of 0 indicates that dot product was 1 or -1 and planes were
      * equal.
      * A residual of 1 indicates that dot product was 0 and planes were
      * orthogonal.
      * If dot product between planes is -1, then although their director vectors
      * are opposed, planes are considered equal, since sign changes are not
      * taken into account and their residuals will be 0.
      *
      * @param threshold threshold to determine whether matched planes are
      *                  inliers or not.
      * @throws IllegalArgumentException if provided value is equal or less than
      *                                  zero.
      * @throws LockedException          if robust estimator is locked because an
      *                                  estimation is already in progress.
      */
     public void setThreshold(final double threshold) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         if (threshold <= MIN_THRESHOLD) {
             throw new IllegalArgumentException();
         }
         this.threshold = threshold;
     }
 
     /**
      * Estimates a pinhole camera using a robust estimator and
      * the best set of matched 2D line/3D plane correspondences found using the
      * robust estimator.
      *
      * @return a pinhole camera.
      * @throws LockedException          if robust estimator is locked because an
      *                                  estimation is already in progress.
      * @throws NotReadyException        if provided input data is not enough to start
      *                                  the estimation.
      * @throws RobustEstimatorException if estimation fails for any reason
      *                                  (i.e. numerical instability, no solution available, etc).
      */
     @Override
     public PinholeCamera estimate() throws LockedException, NotReadyException, RobustEstimatorException {
         if (isLocked()) {
             throw new LockedException();
         }
         if (!isReady()) {
             throw new NotReadyException();
         }
 
         // pinhole camera estimator using DLT (Direct Linear Transform) algorithm
         final var nonRobustEstimator = new DLTLinePlaneCorrespondencePinholeCameraEstimator();
 
         nonRobustEstimator.setLMSESolutionAllowed(false);
 
         // suggestions
         nonRobustEstimator.setSuggestSkewnessValueEnabled(isSuggestSkewnessValueEnabled());
         nonRobustEstimator.setSuggestedSkewnessValue(getSuggestedSkewnessValue());
         nonRobustEstimator.setSuggestHorizontalFocalLengthEnabled(isSuggestHorizontalFocalLengthEnabled());
         nonRobustEstimator.setSuggestedHorizontalFocalLengthValue(getSuggestedHorizontalFocalLengthValue());
         nonRobustEstimator.setSuggestVerticalFocalLengthEnabled(isSuggestVerticalFocalLengthEnabled());
         nonRobustEstimator.setSuggestedVerticalFocalLengthValue(getSuggestedVerticalFocalLengthValue());
         nonRobustEstimator.setSuggestAspectRatioEnabled(isSuggestAspectRatioEnabled());
         nonRobustEstimator.setSuggestedAspectRatioValue(getSuggestedAspectRatioValue());
         nonRobustEstimator.setSuggestPrincipalPointEnabled(isSuggestPrincipalPointEnabled());
         nonRobustEstimator.setSuggestedPrincipalPointValue(getSuggestedPrincipalPointValue());
         nonRobustEstimator.setSuggestRotationEnabled(isSuggestRotationEnabled());
         nonRobustEstimator.setSuggestedRotationValue(getSuggestedRotationValue());
         nonRobustEstimator.setSuggestCenterEnabled(isSuggestCenterEnabled());
         nonRobustEstimator.setSuggestedCenterValue(getSuggestedCenterValue());
 
         final var innerEstimator = new MSACRobustEstimator<>(new MSACRobustEstimatorListener<PinholeCamera>() {
 
             // 3D planes for a subset of samples
             private final List<Plane> subsetPlanes = new ArrayList<>();
 
             // 2D lines for a subset of samples
             private final List<Line2D> subsetLines = new ArrayList<>();
 
             @Override
             public double getThreshold() {
                 return threshold;
             }
 
             @Override
             public int getTotalSamples() {
                 return planes.size();
             }
 
             @Override
             public int getSubsetSize() {
                 return LinePlaneCorrespondencePinholeCameraEstimator.MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES;
             }
 
             @Override
             public void estimatePreliminarSolutions(final int[] samplesIndices, final List<PinholeCamera> solutions) {
                 subsetPlanes.clear();
                 subsetPlanes.add(planes.get(samplesIndices[0]));
                 subsetPlanes.add(planes.get(samplesIndices[1]));
                 subsetPlanes.add(planes.get(samplesIndices[2]));
                 subsetPlanes.add(planes.get(samplesIndices[3]));
 
                 subsetLines.clear();
                 subsetLines.add(lines.get(samplesIndices[0]));
                 subsetLines.add(lines.get(samplesIndices[1]));
                 subsetLines.add(lines.get(samplesIndices[2]));
                 subsetLines.add(lines.get(samplesIndices[3]));
 
                 try {
                     nonRobustEstimator.setLists(subsetPlanes, subsetLines);
 
                     final var cam = nonRobustEstimator.estimate();
                     solutions.add(cam);
                 } catch (final Exception e) {
                     // if lines/planes configuration is degenerate, no solution
                     // is added
                 }
             }
 
             @Override
             public double computeResidual(final PinholeCamera currentEstimation, final int i) {
                 final var inputLine = lines.get(i);
                 final var inputPlane = planes.get(i);
 
                 return singleBackprojectionResidual(currentEstimation, inputLine, inputPlane);
             }
 
             @Override
             public boolean isReady() {
                 return MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator.this.isReady();
             }
 
             @Override
             public void onEstimateStart(final RobustEstimator<PinholeCamera> estimator) {
                 if (listener != null) {
                     listener.onEstimateStart(MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator.this);
                 }
             }
 
             @Override
             public void onEstimateEnd(final RobustEstimator<PinholeCamera> estimator) {
                 if (listener != null) {
                     listener.onEstimateEnd(MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator.this);
                 }
             }
 
             @Override
             public void onEstimateNextIteration(final RobustEstimator<PinholeCamera> estimator, final int iteration) {
                 if (listener != null) {
                     listener.onEstimateNextIteration(
                             MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator.this, iteration);
                 }
             }
 
             @Override
             public void onEstimateProgressChange(final RobustEstimator<PinholeCamera> estimator, final float progress) {
                 if (listener != null) {
                     listener.onEstimateProgressChange(
                             MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator.this, progress);
                 }
             }
         });
 
         try {
             locked = true;
             inliersData = null;
             innerEstimator.setConfidence(confidence);
             innerEstimator.setMaxIterations(maxIterations);
             innerEstimator.setProgressDelta(progressDelta);
             final var result = innerEstimator.estimate();
             inliersData = innerEstimator.getInliersData();
             return attemptRefine(result, nonRobustEstimator.getMaxSuggestionWeight());
 
         } catch (final com.irurueta.numerical.LockedException e) {
             throw new LockedException(e);
         } catch (final com.irurueta.numerical.NotReadyException e) {
             throw new NotReadyException(e);
         } finally {
             locked = false;
         }
     }
 
     /**
      * Returns method being used for robust estimation.
      *
      * @return method being used for robust estimation.
      */
     @Override
     public RobustEstimatorMethod getMethod() {
         return RobustEstimatorMethod.MSAC;
     }
 
     /**
      * Gets standard deviation used for Levenberg-Marquardt fitting during
      * refinement.
      * Returned value gives an indication of how much variance each residual
      * has.
      * Typically, this value is related to the threshold used on each robust
      * estimation, since residuals of found inliers are within the range of
      * such threshold.
      *
      * @return standard deviation used for refinement.
      */
     @Override
     protected double getRefinementStandardDeviation() {
         return threshold;
     }
 }