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#include "opencv2/datasets/slam_tumindoor.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 folders }";
    CommandLineParser parser(argc, argv, keys);
    string path(parser.get<string>("path"));
    if (parser.has("help") || path=="true")
    {
        parser.printMessage();
        return -1;
    }

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

    // ***************
    // dataset contains image and its information.
    // For example, let output first image information and dataset size.
    printf("dataset size: %u\n", (unsigned int)dataset->getTrain().size());

    SLAM_tumindoorObj *example = static_cast<SLAM_tumindoorObj *>(dataset->getTrain()[0].get());
    printf("first image:\ntype: %u\n", example->type);

    string imagePath(path);
    if (LADYBUG == example->type)
    {
        imagePath += "ladybug/";
    } else
    {
        imagePath += "dslr/";
    }
    printf("file name: %s\n", (imagePath + example->name).c_str());

    printf("\ntransformation matrix:\n");
    for (unsigned int i=0; i<4; ++i)
    {
        for (unsigned int j=0; j<4; ++j)
        {
            printf("%f ", example->transformMat(i, j));
        }
        printf("\n");
    }

    return 0;
}