#include "sparse_img_align.h"
#include "feature_detection.h"
#include "SparseImgAlignTest.h"
#include <glog/logging.h>

int main(int argc, char **argv)
{
    google::InitGoogleLogging(argv[0]);
    google::SetLogDestination(google::GLOG_INFO, "../log_info/");
    std::string experiment_name("flying_room_1_rig_1_fast_minlev0");
    std::string dataset_dir(std::string(argv[1]) + "/sin2_tex2_h1_v8_d");
    
    ToolBox::SparseImgAlignTest test;
    ToolBox::feature_detection::FastDetector detector(
        test.cam_->width(), test.cam_->height(), /* svo::Config::gridSize() */25, 
                                                 /* svo::Config::nPyrLevels() */3);
    Correspondence_Viewer viewer("correspondence_viewer");
    test.testSequenceNew(std::string(argv[1]), dataset_dir, experiment_name, &detector, &viewer);
    // Test funciton in original svo format.
    // test.testSequence(std::string(argv[1]), dataset_dir, experiment_name, &detector);
    return 0;
}