// Ceres Solver - A fast non-linear least squares minimizer
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// Author: sergiu.deitsch@gmail.com (Sergiu Deitsch)

#include "bal_problem.h"

#include <algorithm>
#include <cmath>
#include <vector>

#include "gtest/gtest.h"

namespace ceres::examples {
namespace {

TEST(BALProblem, PerturbsRotationWhenPointPerturbationIsDisabled) {
  constexpr const char* kProblemFile =
      CERES_TEST_DATA_DIR "/problem-16-22106-pre.txt";
  BALProblem baseline(kProblemFile, false);
  BALProblem problem(kProblemFile, false);
  const int num_camera_parameters =
      problem.num_cameras() * problem.camera_block_size();

  constexpr double kRotationSigma = 1.0;
  constexpr double kNoRotationSigma = 0.0;
  constexpr double kNoTranslationSigma = 0.0;
  constexpr double kNoPointSigma = 0.0;
  baseline.Perturb(kNoRotationSigma, kNoTranslationSigma, kNoPointSigma);
  problem.Perturb(kRotationSigma, kNoTranslationSigma, kNoPointSigma);

  double maximum_change = 0.0;
  for (int i = 0; i < num_camera_parameters; ++i) {
    maximum_change = std::max(
        maximum_change, std::abs(baseline.cameras()[i] - problem.cameras()[i]));
  }
  EXPECT_GT(maximum_change, 0.0);
}

}  // namespace
}  // namespace ceres::examples