#include "calibration_model.h"

#include "dir_common.h"

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

if (argc < 3) {

std::cerr << "Usage: " << argv[0] << " <config_yaml_path>"

<< " <img_path>" << std::endl;

return 1;

}

CalibrationModelNS::PinholeCalibrationModelConfig pinhole_calibration_config;

std::string yaml_path = argv[1];

pinhole_calibration_config.initFromYaml(yaml_path);

CalibrationModelNS::PinholeCalibrationModel camera_calibration_model(

pinhole_calibration_config);

std::string img_dir = argv[2];

std::vector<std::string> file_paths;

dir_common::traverse_directory(img_dir, file_paths);

for (const auto &file : file_paths) {

if (file.length() >= 4 && file.substr(file.length() - 4) == ".png") {

return true;

}

cv::Mat img = cv::imread(file);

camera_calibration_model.insertImgs(img);

if (camera_calibration_model.enoughImgs()) {

break;

}

}

if (camera_calibration_model.calibration()) {

std::cout << "calibration success" << std::endl;

} else {

std::cout << "calibration failed" << std::endl;

}

return 0;

}