import geometry.Plane;

import geometry.Point;

import org.json.simple.JSONArray;

import org.json.simple.JSONObject;

import org.json.simple.parser.JSONParser;

import org.json.simple.parser.ParseException;

import java.io.File;

import java.io.FileReader;

import java.io.IOException;

import java.util.ArrayList;

import java.util.Arrays;

import java.util.List;

public class Main {

public static void main(String[] argv) throws IOException, ParseException {

new Main(argv);

}

public Main(String[] arguments) throws IOException, ParseException {

JSONObject configuration = (JSONObject) new JSONParser().parse(new FileReader(new File(arguments[0])));

Plane[] planes = Plane.fromJson((JSONArray)((JSONObject)configuration.get("target")).get("planes"));

List<Point> pointArrayList = new ArrayList<>();

for(Plane p : planes) {

Point[] points = Point.generatePointPlane(p, 0.3, 4);

pointArrayList.addAll(Arrays.asList(points));

}

Point[] points = new Point[pointArrayList.size()];

pointArrayList.toArray(points);

Point.applyTranslation(points, 10, 30);

Point.applyRotation(points, new Point(250, 250), 45 * (Math.PI / 180));

new Scene("Sparse ICP test", planes, points);

}

}