GAAS

#include <chrono>
#include <opencv2/opencv.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/core/persistence.hpp>
#include "FeatureFrontEndCV.h"
#include "Timer.h"


using namespace mcs;
using namespace std;
int main(int argc,char** argv)
{
    LOG(INFO)<<"reading imgs..."<<endl;
    shared_ptr<cvMat_T> pL(new cvMat_T(mcs::IMREAD("data/left_400.png") ));
    shared_ptr<cvMat_T> pR(new cvMat_T(mcs::IMREAD("data/right_400.png") ));
    if(pL->empty())
    {
        LOG(ERROR)<<"pL is empty."<<endl;
    }
    //cv::FileStorage
    LOG(INFO)<<"reading file storage..."<<endl;
    cv::FileStorage fsSettings("data/stereoSettings1_test_create_stereo_frame.yaml",cv::FileStorage::READ);
    LOG(INFO)<<"setting timer."<<endl;
    ScopeTimer t1("keyFrame generation timer");
    auto lr_pair = std::make_pair(pL,pR);
    shared_ptr<vector<StereoMatPtrPair> > pVecStereo(new vector<StereoMatPtrPair>);
    pVecStereo->push_back(lr_pair);
    LOG(INFO)<<"size:"<<fsSettings["cams"].size()<<endl;
    StereoCamConfig conf(fsSettings["cams"][0]);
    //LOG(INFO)<<"Init fn"<<endl;
    //cv::FileNode fn = fsSettings["cams"][0];
    //auto keys_ = fn.name();
    //LOG(INFO)<<"keys_"<<keys_<<endl;
    //LOG(INFO)<<"is map:"<<fn.isMap()<<endl;
    //LOG(INFO)<<"size:"<<fn.size()<<endl;

    /*

    for(int i = 0;i<keys_.size();i++)
    {
        LOG(INFO)<<"keys:"<<keys_[i]<<";";
    }*/

    vector<StereoCamConfig> cams_conf;
    cams_conf.push_back(conf);
    bool create_frame_success_output;
    auto f = createFrameStereos(pVecStereo,cams_conf,create_frame_success_output,true);
    LOG(INFO)<<"f.ptr:"<<f.get()<<endl;

    t1.watch("create_frame time cost:");
    LOG(INFO)<<"create frame success:"<<create_frame_success_output<<endl;
    return 0;
}