debug.h

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#ifndef __D_DEBUG__
#define __D_DEBUG__

#include <opencv/cv.h>
#include <iostream>
#include <string>
#include <sstream>
#include <fstream>
#include <vector>

#include "geometry_msgs/Point.h"

using namespace std;

class debug
{
public:

  // Creates a VRML file with the axis of the given transformation
  static void saveTscene(const cv::Mat &rTo, 
    const std::vector<geometry_msgs::Point> &wP3d,
    const std::string &filename);

protected:

  // prints the VRML code for drawing a reference
  static void saveRef(fstream &f, const cv::Mat &wTr);
  
  // prints the VRML code for drawing a rectangle
  static void saveRectangle(fstream &f, const cv::Mat &wTr, float width, 
    float height);
  
  // prints the VRML code for drawing 3d points
  static void savePoints(fstream &f, 
    const std::vector<geometry_msgs::Point> &wP3d);

};



#endif