// Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)

#define TEST_NAME "base/gps"
#include "util/testing.h"

#include "base/gps.h"

using namespace colmap;

BOOST_AUTO_TEST_CASE(TestEllToXYZGRS80) {
  std::vector<Eigen::Vector3d> ell;
  ell.emplace_back(48 + 8. / 60 + 51.70361 / 3600,
                   11 + 34. / 60 + 10.51777 / 3600, 561.1851);
  ell.emplace_back(48 + 8. / 60 + 52.40575 / 3600,
                   11 + 34. / 60 + 11.77179 / 3600, 561.1509);
  std::vector<Eigen::Vector3d> ref_xyz;
  ref_xyz.emplace_back(4.1772397090808507e6, 0.85515377993121441e6,
                       4.7282674046563692e6);
  ref_xyz.emplace_back(4.1772186604902023e6, 0.8551759313518483e6,
                       4.7282818502697079e6);

  GPSTransform gps_tform(GPSTransform::GRS80);

  const auto xyz = gps_tform.EllToXYZ(ell);

  for (size_t i = 0; i < ell.size(); ++i) {
    BOOST_CHECK(xyz[i].isApprox(ref_xyz[i], 1e-8));
  }
}

BOOST_AUTO_TEST_CASE(TestEllToXYZWGS84) {
  std::vector<Eigen::Vector3d> ell;
  ell.emplace_back(48 + 8. / 60 + 51.70361 / 3600,
                   11 + 34. / 60 + 10.51777 / 3600, 561.1851);
  ell.emplace_back(48 + 8. / 60 + 52.40575 / 3600,
                   11 + 34. / 60 + 11.77179 / 3600, 561.1509);
  std::vector<Eigen::Vector3d> ref_xyz;
  ref_xyz.emplace_back(4.177239709042750e6, 0.855153779923415e6,
                       4.728267404769168e6);
  ref_xyz.emplace_back(4.177218660452103e6, 0.855175931344048e6,
                       4.728281850382507e6);

  GPSTransform gps_tform(GPSTransform::WGS84);

  const auto xyz = gps_tform.EllToXYZ(ell);

  for (size_t i = 0; i < ell.size(); ++i) {
    BOOST_CHECK(xyz[i].isApprox(ref_xyz[i], 1e-8));
  }
}

BOOST_AUTO_TEST_CASE(TestXYZToEll_GRS80) {
  std::vector<Eigen::Vector3d> xyz;
  xyz.emplace_back(4.1772397090808507e6, 0.85515377993121441e6,
                   4.7282674046563692e6);
  xyz.emplace_back(4.1772186604902023e6, 0.8551759313518483e6,
                   4.7282818502697079e6);
  std::vector<Eigen::Vector3d> ref_ell;
  ref_ell.emplace_back(48 + 8. / 60 + 51.70361 / 3600,
                       11 + 34. / 60 + 10.51777 / 3600, 561.1851);
  ref_ell.emplace_back(48 + 8. / 60 + 52.40575 / 3600,
                       11 + 34. / 60 + 11.77179 / 3600, 561.1509);

  GPSTransform gps_tform(GPSTransform::GRS80);

  const auto ell = gps_tform.XYZToEll(xyz);

  for (size_t i = 0; i < xyz.size(); ++i) {
    BOOST_CHECK(ell[i].isApprox(ref_ell[i], 1e-5));
  }
}

BOOST_AUTO_TEST_CASE(TestXYZToEll_WGS84) {
  std::vector<Eigen::Vector3d> xyz;
  xyz.emplace_back(4.177239709042750e6, 0.855153779923415e6,
                   4.728267404769168e6);
  xyz.emplace_back(4.177218660452103e6, 0.855175931344048e6,
                   4.728281850382507e6);
  std::vector<Eigen::Vector3d> ref_ell;
  ref_ell.emplace_back(48 + 8. / 60 + 51.70361 / 3600,
                       11 + 34. / 60 + 10.51777 / 3600, 561.1851);
  ref_ell.emplace_back(48 + 8. / 60 + 52.40575 / 3600,
                       11 + 34. / 60 + 11.77179 / 3600, 561.1509);

  GPSTransform gps_tform(GPSTransform::WGS84);

  const auto ell = gps_tform.XYZToEll(xyz);

  for (size_t i = 0; i < xyz.size(); ++i) {
    BOOST_CHECK(ell[i].isApprox(ref_ell[i], 1e-5));
  }
}

BOOST_AUTO_TEST_CASE(TestXYZToEllToXYZ_GRS80) {
  std::vector<Eigen::Vector3d> xyz;
  xyz.emplace_back(4.177239709080851e6, 0.855153779931214e6,
                   4.728267404656370e6);
  xyz.emplace_back(4.177218660490202e6, 0.855175931351848e6,
                   4.728281850269709e6);

  GPSTransform gps_tform(GPSTransform::GRS80);

  const auto ell = gps_tform.XYZToEll(xyz);
  const auto xyz2 = gps_tform.EllToXYZ(ell);

  for (size_t i = 0; i < xyz.size(); ++i) {
    BOOST_CHECK(xyz[i].isApprox(xyz2[i], 1e-5));
  }
}

BOOST_AUTO_TEST_CASE(TestXYZToEllToXYZ_WGS84) {
  std::vector<Eigen::Vector3d> xyz;
  xyz.emplace_back(4.177239709080851e6, 0.855153779931214e6,
                   4.728267404656370e6);
  xyz.emplace_back(4.177218660490202e6, 0.855175931351848e6,
                   4.728281850269709e6);

  GPSTransform gps_tform(GPSTransform::WGS84);

  const auto ell = gps_tform.XYZToEll(xyz);
  const auto xyz2 = gps_tform.EllToXYZ(ell);

  for (size_t i = 0; i < xyz.size(); ++i) {
    BOOST_CHECK(xyz[i].isApprox(xyz2[i], 1e-5));
  }
}

BOOST_AUTO_TEST_CASE(TestEllToENUWGS84) {
  std::vector<Eigen::Vector3d> ell;
  ell.emplace_back(48 + 8. / 60 + 51.70361 / 3600,
                   11 + 34. / 60 + 10.51777 / 3600, 561.1851);
  ell.emplace_back(48 + 8. / 60 + 52.40575 / 3600,
                   11 + 34. / 60 + 11.77179 / 3600, 561.1509);
  std::vector<Eigen::Vector3d> ref_xyz;
  ref_xyz.emplace_back(4.177239709042750e6, 0.855153779923415e6,
                       4.728267404769168e6);
  ref_xyz.emplace_back(4.177218660452103e6, 0.855175931344048e6,
                       4.728281850382507e6);

  GPSTransform gps_tform(GPSTransform::WGS84);

  // Get lat0, lon0 origin from ref
  const auto ori_ell = gps_tform.XYZToEll({ref_xyz[0]})[0];

  // Get ENU ref from ECEF ref
  const auto ref_enu = gps_tform.XYZToENU(ref_xyz, ori_ell(0), ori_ell(1));

  // Get ENU from Ell
  const auto enu = gps_tform.EllToENU(ell, ori_ell(0), ori_ell(1));

  for (size_t i = 0; i < ell.size(); ++i) {
    BOOST_CHECK(enu[i].isApprox(ref_enu[i], 1e-8));
  }
}

BOOST_AUTO_TEST_CASE(TestXYZToENU) {
  std::vector<Eigen::Vector3d> ell;
  ell.emplace_back(48 + 8. / 60 + 51.70361 / 3600,
                   11 + 34. / 60 + 10.51777 / 3600, 561.1851);
  ell.emplace_back(48 + 8. / 60 + 52.40575 / 3600,
                   11 + 34. / 60 + 11.77179 / 3600, 561.1509);
  std::vector<Eigen::Vector3d> ref_xyz;
  ref_xyz.emplace_back(4.177239709042750e6, 0.855153779923415e6,
                       4.728267404769168e6);
  ref_xyz.emplace_back(4.177218660452103e6, 0.855175931344048e6,
                       4.728281850382507e6);

  GPSTransform gps_tform(GPSTransform::WGS84);

  const auto xyz = gps_tform.EllToXYZ(ell);

  // Get lat0, lon0 origin from ref
  const auto ori_ell = gps_tform.XYZToEll({ref_xyz[0]})[0];

  // Get ENU from ECEF ref
  const auto ref_enu = gps_tform.XYZToENU(ref_xyz, ori_ell(0), ori_ell(1));

  // Get ENU from ECEF
  const auto enu = gps_tform.XYZToENU(xyz, ori_ell(0), ori_ell(1));

  for (size_t i = 0; i < ell.size(); ++i) {
    BOOST_CHECK(enu[i].isApprox(ref_enu[i], 1e-8));
  }
}

BOOST_AUTO_TEST_CASE(TestENUToEllWGS84) {
  std::vector<Eigen::Vector3d> ref_ell;
  ref_ell.emplace_back(48 + 8. / 60 + 51.70361 / 3600,
                       11 + 34. / 60 + 10.51777 / 3600, 561.1851);
  ref_ell.emplace_back(48 + 8. / 60 + 52.40575 / 3600,
                       11 + 34. / 60 + 11.77179 / 3600, 561.1509);

  std::vector<Eigen::Vector3d> xyz;
  xyz.emplace_back(4.177239709042750e6, 0.855153779923415e6,
                   4.728267404769168e6);
  xyz.emplace_back(4.177218660452103e6, 0.855175931344048e6,
                   4.728281850382507e6);

  GPSTransform gps_tform(GPSTransform::WGS84);

  // Get lat0, lon0 origin from ref
  const auto ori_ell = gps_tform.XYZToEll(xyz);
  const double lat0 = ori_ell[0](0);
  const double lon0 = ori_ell[0](1);
  const double alt0 = ori_ell[0](2);

  // Get ENU from ECEF
  const auto enu = gps_tform.XYZToENU(xyz, lat0, lon0);

  const auto xyz_enu = gps_tform.ENUToXYZ(enu, lat0, lon0, alt0);

  // Get Ell from ENU
  const auto ell = gps_tform.ENUToEll(enu, lat0, lon0, alt0);

  for (size_t i = 0; i < ell.size(); ++i) {
    BOOST_CHECK(ell[i].isApprox(ref_ell[i], 1e-5));
  }
}

BOOST_AUTO_TEST_CASE(TestENUToXYZ) {
  std::vector<Eigen::Vector3d> ell;
  ell.emplace_back(48 + 8. / 60 + 51.70361 / 3600,
                   11 + 34. / 60 + 10.51777 / 3600, 561.1851);
  ell.emplace_back(48 + 8. / 60 + 52.40575 / 3600,
                   11 + 34. / 60 + 11.77179 / 3600, 561.1509);
  std::vector<Eigen::Vector3d> ref_xyz;
  ref_xyz.emplace_back(4.177239709042750e6, 0.855153779923415e6,
                       4.728267404769168e6);
  ref_xyz.emplace_back(4.177218660452103e6, 0.855175931344048e6,
                       4.728281850382507e6);

  GPSTransform gps_tform(GPSTransform::WGS84);

  // Get lat0, lon0 origin from Ell
  const double lat0 = ell[0](0);
  const double lon0 = ell[0](1);
  const double alt0 = ell[0](2);

  // Get ENU from Ell
  const auto enu = gps_tform.EllToENU(ell, lat0, lon0);

  // Get XYZ from ENU
  const auto xyz = gps_tform.ENUToXYZ(enu, lat0, lon0, alt0);

  for (size_t i = 0; i < ell.size(); ++i) {
    BOOST_CHECK(xyz[i].isApprox(ref_xyz[i], 1e-8));
  }
}