#define PROG_NAME "test_povray_camera"
#define PROG_DESC "tests the conversion from Tsai camera matrix to POV-Ray camera spec"

#define _GNU_SOURCE
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <malloc.h>
#include <math.h>

#include <tf_calib.h> 
#include <tf_camera.h> 
#include <tf_targets.h> 
#include <r2x2.h> 
#include <r2.h>
#include <jsfile.h>
#include <sys/stat.h>
#include <sys/types.h>

int32_t main (int32_t argc, char *argv[])
{

  char *frame_prefix = argv[1];

  tf_camera_params_t *cpar = tf_camera_specs_get_new_mean_params(cspec);

  FILE *f_cpars = fopen(argv[3], "r");

  int32_t n_p_w;
  tf_calib_data_t *cdat = tf_calib_data_new();
  tf_calib_data_read_world_points (argv[4], &n_p_w, &(cdat->world));


  while (!feof(f_cpars)) {
      char *frame_name = NULL; 
      int32_t frame = tf_camera_params_read (f_cpars, cpar);
      fprintf(stderr, "O frame lido foi %d\n", frame);
      asprintf(&frame_name, "%s%05d.pgm", frame_prefix, frame);
      image_t img = image_read_pgm (frame_name);

      fprintf(stderr, "In camera parameters:\n");
      tf_camera_params_print (cpar, stderr);

      int32_t i;

      mkdir("out", 0777);
      char *out_dir = NULL;
      asprintf(&out_dir, "points/%05d", frame);
      /* Creating the frame directory */
      assert(mkdir(out_dir, 0777)==0);

      fprintf(stdout, "######################### Frame: %d\n", frame); 
      fprintf(stdout, "tdat->ntargets: %d\n", n_p_w);
      /* Output Postscript file: */

      char *cross_fname = NULL; 
      asprintf(&cross_fname, "out/cross_%05d.pgm", frame);
      image_write_pgm (img, PGM_RAW_MAGIC, MAXVAL, cross_fname);
      free(cross_fname);

      free(frame_name);
      image_free(img);
  }

  if (strcmp(argv[5], "none") != 0) {
     fclose(f_true);
  }
  return 0;
}