/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          https://www.mrpt.org/                            |
   |                                                                           |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file        |
   | See: https://www.mrpt.org/Authors - All rights reserved.                  |
   | Released under BSD License. See details in https://www.mrpt.org/License   |
   +---------------------------------------------------------------------------+
 */

#include <mrpt/poses/CPoint3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/system/CTicTac.h>

#include <iostream>

int main()
{
	using namespace mrpt;
	using namespace mrpt::poses;
	using namespace mrpt::system;
	using namespace std;

	try
	{
		// The landmark (global) position: 3D (x,y,z)
		CPoint3D L(0, 4, 2);

		// Robot pose: 2D (x,y,phi)
		CPose2D R(2, 1, DEG2RAD(45.0f));

		// Camera pose relative to the robot: 6D (x,y,z,yaw,pitch,roll).
		CPose3D C(
			0.5f, 0.5f, 1.5f, DEG2RAD(-90.0f), DEG2RAD(0), DEG2RAD(-90.0f));

		// TEST 1. Relative position L' of the landmark wrt the camera
		// --------------------------------------------------------------
		cout << "L: " << L << endl;
		cout << "R: " << R << endl;
		cout << "C: " << C << endl;
		cout << "R+C:" << (R + C) << endl;
		// cout << (R+C).getHomogeneousMatrix();

		CPoint3D L2;
		CTicTac tictac;
		tictac.Tic();
		size_t i, N = 10000;
		for (i = 0; i < N; i++)
			L2 = L - (R + C);
		cout << "Computation in: " << 1e6 * tictac.Tac() / ((double)N) << " us"
			 << endl;

		cout << "L': " << L2 << endl;

		// TEST 2. Reconstruct the landmark position:
		// --------------------------------------------------------------
		CPoint3D L3 = R + C + L2;
		cout << "R(+)C(+)L' = " << L3 << endl;
		cout << "Should be equal to L = " << L << endl;

		// TEST 3. Distance from the camera to the landmark
		// --------------------------------------------------------------
		cout << "|(R(+)C)-L|= " << (R + C).distanceTo(L) << endl;
		cout << "|L-(R(+)C)|= " << (R + C).distanceTo(L) << endl;

		return 0;
	}
	catch (exception& e)
	{
		cerr << "EXCEPCTION: " << e.what() << endl;
		return -1;
	}
	catch (...)
	{
		cerr << "Untyped excepcion!!";
		return -1;
	}
}
