ExampleTFT.cpp

Example for TrifocalTensor with Synthetic Matches

Author

MIP

/*
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 ExampleTFT.cpp
 *  @relates TrifocalTensorBase
    @ingroup g_examples
    @brief Example for TrifocalTensor with Synthetic Matches
    @author MIP */


#include <iostream>

#include <Utils/GenSynthMatches.hh>
#include <Base/Image/ImageIO.hh>
#include <Base/Geometry/TrifocalTensorBase.hh>

#include <Base/Common/BIASpragma.hh>

using namespace BIAS;
using namespace std;

#define DEFAULT_PARA_FILE_NAME "TFT.ini"
#define DEBUG true

int main(int argc, char *argv[]) 
{
  Param para;
  GenSynthMatches gsm(para);
  //  gsm.AddDebugLevel(GSM_CAM_MOTION);
  //  gsm.AddDebugLevel(GSM_VIEWINGVOL);
  //  gsm.AddDebugLevel(GSM_3D_POINTS);
  //  gsm.AddDebugLevel(GSM_2D_MATCHES);
  //  gsm.AddDebugLevel(GSM_MOVIN_TRANSF);


  bool FoundDefaultParaFile=true;
  ifstream is(DEFAULT_PARA_FILE_NAME);
  if (!is){ 
    is.close(); 
    if (DEBUG) cerr << "reading "<<DEFAULT_PARA_FILE_NAME<<" failed"<<endl;
    FoundDefaultParaFile=false;
  } else {
    if (DEBUG) cerr << "reading "<<DEFAULT_PARA_FILE_NAME<<endl;
    para.ReadParameter(DEFAULT_PARA_FILE_NAME);
  }

  int argind = para.ParseCommandLine(argc, argv);
  if (argind<0){
    BIASERR("error parsing command line");
    return -1;
  }

  if ((!FoundDefaultParaFile) && (*para.GetParamString("readconfig")=="")) {
    cerr << "no parameter file found, writing default to "
         <<DEFAULT_PARA_FILE_NAME<<"\n"; 
    para.SetWriteOptions(true,false,false);
    para.WriteParameter(DEFAULT_PARA_FILE_NAME); 
  }

  if (*para.GetParamInt("NumImages")<3){
    BIASERR("must be at least 3 images for trifocal tensor");
    BIASASSERT(false);
  }

  gsm.CreateMatches();

  gsm.WriteData("data.txt");
  
  //cout << gsm <<endl;

  Image<unsigned char> im;
  gsm.DrawTrue(im, 0, 2);

  //ImageIO::Save("true.mip", im);
  ImageIO::Save("true.mip", im);

  gsm.DrawNoisy(im, 0, 2);

  //ImageIO::Save("noisy.mip", im);
  ImageIO::Save("noisy.mip", im);

  int num=*para.GetParamInt("NumPoints");
  vector<HomgPoint2D> m1, m2, m3;
  vector<RMatrixBase> R(3);
  vector<HomgPoint3D> C(3);
  Matrix3x3<double> res;
  gsm.GetNormalizedPoints(0, m1);
  gsm.GetNormalizedPoints(1, m2);
  gsm.GetNormalizedPoints(2, m3);
  gsm.GetR(R);
  gsm.GetC(C);
  TrifocalTensorBase tft;
  tft.Compose(R[0], R[1], R[2], C[0], C[1], C[2]);
  /*
  vector<RMatrixBase> mR(2);
  vector<Vector3<double> > mC(2);
  for (int i=1; i<3; i++){
    mR[i-1]=R[0].Transpose() * R[i];
    C[i].Homogenize(); C[0].Homogenize();
    HomgPoint3D dC=C[i]-C[0];
    for (int k=0; k<3; k++) mC[i-1][k]=dC[k];
    mC[i-1]=R[0].Transpose() * mC[i-1];
  }
  tft.Compose(mR[0], mR[1], mC[0], mC[1]);
  */
  for (int  i=0; i<num; i++){
    tft.CheckPointCorr(m1[i], m2[i], m3[i], res);
    //cerr << setw(3)<<i<<" : " << res ;//<< endl;
    cerr << setw(3)<<i<<" : " << res.NormL1() <<"\t"<< res.NormL2()<<endl;
  }
  
  return 0;
}