// 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/point3d"
#include "util/testing.h"

#include "base/point3d.h"

using namespace colmap;

BOOST_AUTO_TEST_CASE(TestDefault) {
  Point3D point3D;
  BOOST_CHECK_EQUAL(point3D.X(), 0);
  BOOST_CHECK_EQUAL(point3D.Y(), 0);
  BOOST_CHECK_EQUAL(point3D.Z(), 0);
  BOOST_CHECK_EQUAL(point3D.XYZ()[0], point3D.X());
  BOOST_CHECK_EQUAL(point3D.XYZ()[1], point3D.Y());
  BOOST_CHECK_EQUAL(point3D.XYZ()[2], point3D.Z());
  BOOST_CHECK_EQUAL(point3D.Color()[0], 0);
  BOOST_CHECK_EQUAL(point3D.Color()[1], 0);
  BOOST_CHECK_EQUAL(point3D.Color()[2], 0);
  BOOST_CHECK_EQUAL(point3D.Error(), -1.0);
  BOOST_CHECK_EQUAL(point3D.HasError(), false);
  BOOST_CHECK_EQUAL(point3D.Track().Length(), 0);
}

BOOST_AUTO_TEST_CASE(TestXYZ) {
  Point3D point3D;
  BOOST_CHECK_EQUAL(point3D.X(), 0);
  BOOST_CHECK_EQUAL(point3D.Y(), 0);
  BOOST_CHECK_EQUAL(point3D.Z(), 0);
  BOOST_CHECK_EQUAL(point3D.XYZ()[0], point3D.X());
  BOOST_CHECK_EQUAL(point3D.XYZ()[1], point3D.Y());
  BOOST_CHECK_EQUAL(point3D.XYZ()[2], point3D.Z());
  point3D.SetXYZ(Eigen::Vector3d(0.1, 0.2, 0.3));
  BOOST_CHECK_EQUAL(point3D.X(), 0.1);
  BOOST_CHECK_EQUAL(point3D.Y(), 0.2);
  BOOST_CHECK_EQUAL(point3D.Z(), 0.3);
  BOOST_CHECK_EQUAL(point3D.XYZ()[0], point3D.X());
  BOOST_CHECK_EQUAL(point3D.XYZ()[1], point3D.Y());
  BOOST_CHECK_EQUAL(point3D.XYZ()[2], point3D.Z());
  point3D.XYZ() = Eigen::Vector3d(0.2, 0.3, 0.4);
  BOOST_CHECK_EQUAL(point3D.X(), 0.2);
  BOOST_CHECK_EQUAL(point3D.Y(), 0.3);
  BOOST_CHECK_EQUAL(point3D.Z(), 0.4);
  BOOST_CHECK_EQUAL(point3D.XYZ()[0], point3D.X());
  BOOST_CHECK_EQUAL(point3D.XYZ()[1], point3D.Y());
  BOOST_CHECK_EQUAL(point3D.XYZ()[2], point3D.Z());
}

BOOST_AUTO_TEST_CASE(TestRGB) {
  Point3D point3D;
  BOOST_CHECK_EQUAL(point3D.Color()[0], 0);
  BOOST_CHECK_EQUAL(point3D.Color()[1], 0);
  BOOST_CHECK_EQUAL(point3D.Color()[2], 0);
  point3D.SetColor(Eigen::Vector3ub(1, 2, 3));
  BOOST_CHECK_EQUAL(point3D.Color()[0], 1);
  BOOST_CHECK_EQUAL(point3D.Color()[1], 2);
  BOOST_CHECK_EQUAL(point3D.Color()[2], 3);
}

BOOST_AUTO_TEST_CASE(TestError) {
  Point3D point3D;
  BOOST_CHECK_EQUAL(point3D.Error(), -1.0);
  BOOST_CHECK_EQUAL(point3D.HasError(), false);
  point3D.SetError(1.0);
  BOOST_CHECK_EQUAL(point3D.Error(), 1.0);
  BOOST_CHECK_EQUAL(point3D.HasError(), true);
  point3D.SetError(-1.0);
  BOOST_CHECK_EQUAL(point3D.Error(), -1.0);
  BOOST_CHECK_EQUAL(point3D.HasError(), false);
}

BOOST_AUTO_TEST_CASE(TestTrack) {
  Point3D point3D;
  BOOST_CHECK_EQUAL(point3D.Track().Length(), 0);
  point3D.SetTrack(Track());
  BOOST_CHECK_EQUAL(point3D.Track().Length(), 0);
  Track track;
  track.AddElement(0, 1);
  track.AddElement(0, 2);
  point3D.SetTrack(track);
  BOOST_CHECK_EQUAL(point3D.Track().Length(), 2);
  track.AddElement(0, 3);
  BOOST_CHECK_EQUAL(point3D.Track().Length(), 2);
}