ExampleThreeDOutVRML.cpp

/* 
This file is part of the BIAS library (Basic ImageAlgorithmS).

Copyright (C) 2003-2009    (see file CONTACT for details)
  Multimediale Systeme der Informationsverarbeitung
  Institut fuer Informatik
  Christian-Albrechts-Universitaet Kiel


BIAS is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

BIAS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with BIAS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

/** @example ExampleThreeDOutVRML.cpp
 *  @relates ThreeDOut
    @ingroup g_examples
    @brief Example for ThreeDOut object, writes a wrl with an image
    @author MIP */

#include "Utils/ThreeDOut.hh"

#include <Base/Common/BIASpragma.hh>

using namespace std;
using namespace BIAS;

int main()
{
  ThreeDOutParameters param;
  param.CameraStyle = PyramidSolid;
  param.PointStyle = Box;
  param.PointSize = 0.1;
  param.LineStyle = Solid;
  param.DrawUncertaintyEllipsoids = false;
  ThreeDOut T(param);
  HomgPoint3D P1(1,1,1), P2(0,0,0);
  RGBAuc Color(0,0,255,0);
  
  //T.AddLine(P1, P2, Color);
  P1[0] = 5;
  P1[1] = -1;
  //T.AddPoint(P1, Color);
  P2[0] = 3;
  P2[1] = 2;
  //  T.AddPoint(P2);


  PMatrix P;
  P.SetIdentity();
  Color[0]=255;
  Color[1]=0;
  Color[2]=128;
  //T.AddPMatrix(P, 640, 480, Color);

  CovMatrix3x3 Cov;
  Cov.SetIdentity();
  Cov[0][0] = 0.5;
  Cov[1][1] = 0.8;
  P2[2] = 0.8;
  Color[1] = 255;
  //T.AddEllipsoid(Cov, P2, Color);




  
#define IMSIZE 5
  Image<unsigned char> im(IMSIZE,IMSIZE,1);
  for (unsigned int i=0; i<IMSIZE*IMSIZE; i++) 
    im.GetImageDataArray()[i/IMSIZE][i%IMSIZE] 
                                     = (255 / (IMSIZE*IMSIZE)) * i;
  // 3 of the 4 corners
  Vector3<double> UL(0,0,0), UR(1,0,0), LL(0,0,1), 
    offset1(5,-5,12), offset2(17,-5, 2);
  T.AddImage(UL+offset2, UR+offset2, LL+offset2, IMSIZE, IMSIZE, im.GetImageData(),
             1, "testbillboard1", false);

  T.AddImage(UL+offset1, UR+offset1, LL+offset1, IMSIZE, IMSIZE, 
             im.GetImageData(),
             1, "testbillboard2", true);
  
  
  KMatrix K(MatrixIdentity);
  K[0][2] = 256;
  K[1][2] = 256;
  cout<<"K is "<<K<<endl;
  K[0][0] = K[1][1] = 256;
  Vector3<double> axis(0.1, 0.9, 0.1);
  axis.Normalize();
  PMatrix PM1(K, RMatrix(axis, 0.4), offset1), 
    PM2(K, RMatrix(MatrixIdentity), offset2),
    PM3(K, RMatrix(axis, -0.3), Vector3<double>(6.5,0,0)); 
  T.AddPMatrix(PM1, 512, 512);
  T.AddPMatrix(PM2, 512, 512);
  //T.AddPMatrix(PM3, 512, 512);
  
  T.VRMLOut("test.wrl");
  T.Dump();
  return 0;
}