//
// Created by root on 8/5/21.
//

#include <iostream>
#include "cl_class.h"
#include <opencv2/opencv.hpp>
#include <opencv2/core.hpp>
#include <opencv2/core/mat.hpp>
#include <sparse_img_align_gpu.h>
// Maximum number of corners.
#define FAST_COUNT (1 << 18)

int main() {
    opencl gpu;
    gpu.make_kernel("compute_residual");
    cv::Mat img=cv::Mat(cv::Size(700, 500),CV_8UC1);
    gpu.write_buf(0,0,img);
    gpu.write_buf(0,1,img);
    cl_float3 pose[1]={0.0};
    gpu.write_buf(0,2,1,pose);
    gpu.write_buf(0,3,1,pose);
    cl_float3 f[300]={0};
    gpu.write_buf(0,4,300,f);
    cl_float2 px[300]={0};
    gpu.write_buf(0,5,300,px);
    float  e[300]={0};
    gpu.write_buf(0,7,300,e);
    float H[300*9]={0};
    gpu.write_buf(0,8,9*300,H);
    cl_float3 J[300];
    gpu.write_buf(0,9,300,J);
    float chi2[300]={0.01};
    gpu.write_buf(0,10,300,chi2);
    for(int i=0;i<10;++i){
        vio::SparseImgAlignGpu img_align(4, 2,30, vio::SparseImgAlignGpu::GaussNewton, true,&gpu);
        img_align.run();
    }
    gpu.clear_buf();
    std::cerr<<"finished\n";
    return 0;
}