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#include "opencv2/datasets/slam_tumindoor.hpp"
#include "opencv2/datasets/util.hpp"

#include <cstring>

namespace cv
{
namespace datasets
{

using namespace std;

class SLAM_tumindoorImp : public SLAM_tumindoor
{
public:
    SLAM_tumindoorImp() {}
    //SLAM_tumindoorImp(const string &path);
    virtual ~SLAM_tumindoorImp() {}

    virtual void load(const string &path);

private:
    void loadDataset(const string &path);
};

/*SLAM_tumindoorImp::SLAM_tumindoorImp(const string &path)
{
    loadDataset(path);
}*/

void SLAM_tumindoorImp::load(const string &path)
{
    loadDataset(path);
}

void SLAM_tumindoorImp::loadDataset(const string &path)
{
    train.push_back(vector< Ptr<Object> >());
    test.push_back(vector< Ptr<Object> >());
    validation.push_back(vector< Ptr<Object> >());

    string infoPath(path + "info/");

    // get info map name, .csv should be only one such file in folder
    string csvName;
    vector<string> infoNames;
    getDirList(infoPath, infoNames);
    for (vector<string>::iterator it=infoNames.begin(); it!=infoNames.end(); ++it)
    {
        string &name = *it;
        if (name.length()>3 && name.substr( name.length()-4, 4 )==".csv")
        {
            if (csvName.length()==0)
            {
                csvName = name;
            } else
            {
                printf("more than one .csv file in info folder\n");
                return;
            }
        }
    }
    if (csvName.length()==0)
    {
        printf("didn't find .csv file in info folder\n");
        return;
    }

    ifstream infile((infoPath + csvName).c_str());
    string line;
    while (getline(infile, line))
    {
        vector<string> elems;
        split(line, elems, ';');

        Ptr<SLAM_tumindoorObj> curr(new SLAM_tumindoorObj);

        curr->name = elems[0];
        if (curr->name.substr(0, strlen("dslr_left")) == "dslr_left")
        {
            curr->type = LEFT;
        } else
        if (curr->name.substr(0, strlen("dslr_right")) == "dslr_right")
        {
            curr->type = RIGHT;
        } else
        {
            curr->type = LADYBUG;
        }

        for (unsigned int i=0; i<4; ++i)
        {
            for (unsigned int j=0; j<4; ++j)
            {
                curr->transformMat(i, j) = atof(elems[1 + j + i*4].c_str());
            }
        }

        train.back().push_back(curr);
    }
}

Ptr<SLAM_tumindoor> SLAM_tumindoor::create()
{
    return Ptr<SLAM_tumindoorImp>(new SLAM_tumindoorImp);
}

}
}
