// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mynteye/logger.h"
#include "mynteye/api/api.h"
#include "mynteye/types.h"

MYNTEYE_USE_NAMESPACE

int main(int argc, char *argv[]) {
  auto &&api = API::Create(argc, argv);
  if (!api) return 1;



  bool ok;
  auto &&request = api->SelectStreamRequest(&ok);
  if (!ok) return 1;
  api->ConfigStreamRequest(request);
  auto in_left = api->GetIntrinsicsBase(Stream::LEFT);
  auto in_right = api->GetIntrinsicsBase(Stream::RIGHT);
  if (in_left->calib_model() == CalibrationModel::PINHOLE) {
    in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left);
    in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right);
  } else if (in_left->calib_model() == CalibrationModel::KANNALA_BRANDT) {
    in_left = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left);
    in_right = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_right);
  } else {
    LOG(INFO) << "UNKNOW CALIB MODEL.";
    return 0;
  }
  in_left -> ResizeIntrinsics();
  in_right -> ResizeIntrinsics();
  LOG(INFO) << "Intrinsics left: {" << *in_left << "}";
  LOG(INFO) << "Intrinsics right: {" << *in_right << "}";
  LOG(INFO) << "Extrinsics right to left: {"
            << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";

  auto info = api->GetCameraROSMsgInfoPair();

  if (!info->isEmpty())
    std::cout << "ROSMsgInfoPair:"<< std::endl << *info << std::endl;

  return 0;
}