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//                           License Agreement
//                For Open Source Computer Vision Library
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#include "opencv2/datasets/msm_epfl.hpp"

#include <opencv2/core.hpp>

#include <cstdio>

#include <string>
#include <vector>

using namespace std;
using namespace cv;
using namespace cv::datasets;

int main(int argc, char *argv[])
{
    const char *keys =
            "{ help h usage ? |    | show this message }"
            "{ path p         |true| path to dataset (bounding/, camera/, P/, png/ folders) }";
    CommandLineParser parser(argc, argv, keys);
    string path(parser.get<string>("path"));
    if (parser.has("help") || path=="true")
    {
        parser.printMessage();
        return -1;
    }

    Ptr<MSM_epfl> dataset = MSM_epfl::create();
    dataset->load(path);

    // ***************
    // dataset contains all information for each image.
    // For example, let output dataset size and first object.
    printf("dataset size: %u\n", (unsigned int)dataset->getTrain().size());
    MSM_epflObj *example = static_cast<MSM_epflObj *>(dataset->getTrain()[0].get());
    printf("first image:\nname: %s\n", example->imageName.c_str());

    printf("\nbounding:\n");
    for (int i=0; i<2; ++i)
    {
        for (int j=0; j<3; ++j)
        {
            printf("%f ", example->bounding(i, j));
        }
        printf("\n");
    }

    printf("\ncamera:\n");
    for (int i=0; i<3; ++i)
    {
        for (int j=0; j<3; ++j)
        {
            printf("%f ", example->camera.mat1(i, j));
        }
        printf("\n");
    }
    printf("\n");

    for (int i=0; i<3; ++i)
    {
        printf("%f ", example->camera.mat2[i]);
    }
    printf("\n\n");

    for (int i=0; i<3; ++i)
    {
        for (int j=0; j<3; ++j)
        {
            printf("%f ", example->camera.mat3(i, j));
        }
        printf("\n");
    }
    printf("\n");

    for (int i=0; i<3; ++i)
    {
        printf("%f ", example->camera.mat4[i]);
    }
    printf("\n\n");

    printf("image width: %u, height: %u\n", example->camera.imageWidth, example->camera.imageHeight);

    printf("\nP:\n");
    for (int i=0; i<3; ++i)
    {
        for (int j=0; j<4; ++j)
        {
            printf("%f ", example->p(i, j));
        }
        printf("\n");
    }

    return 0;
}