ExampleProjectionParametersProjective.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 ExampleProjectionParametersProjective.cpp
   @relates   ProjectionParametersProjective
   @brief small example demonstrating the ProjectionParametersProjective  
   @ingroup g_examples
   @author sedlazeck 8/2009
*/

#include <Geometry/ProjectionParametersProjective.hh>

using namespace BIAS;
using namespace std;

int main(int argc, char *argv[])
{
  ProjectionParametersProjective ppp;

  KMatrix K(MatrixIdentity);
  RMatrix R(MatrixIdentity);
  R.SetXYZ(30.0 / 180.0 * M_PI, 10.0 / 180.0 * M_PI, 20.0 / 180.0 * M_PI);
  Vector3<double> C;
  C[0] = 0.0;
  C[1] = 0.0;
  C[2] = 0.0;

  PMatrix P;
  P.Compose(K, R, C);

  cout << "using P Matrix " << P << endl;

  ppp.SetP(P);

  ppp.SetImageSize(400, 600);

  cout << "retrieving C " << ppp.GetC() << endl;

  cout << "ostream after setting from P : ppp " << ppp << endl;

#ifdef BIAS_HAVE_XML2
  string fname = "ProjParProjExample01.xml";
  int res = ppp.XMLWrite(fname);

  res = ppp.XMLRead(fname);
  if (res!=0)
  {
    cerr << "error reading "<< fname << endl;
    return -3;
  }
#endif

  cout << "ostream after xml read ppp " << ppp << endl;

  // testing copy constructor
  ProjectionParametersProjective pppc(ppp);

  cout << "copy constructor " <<  pppc << endl;




  // project and unproject
  HomgPoint3D point3D(3, 4, 0, 1);
  HomgPoint2D point2D = ppp.Project(point3D);
  HomgPoint3D point3DNew = HomgPoint3D(ppp.UnProjectToPoint(point2D, 5));
  point3DNew.Homogenize();
  cout << "orig 3D point " << point3D << " project/unproject " << point3DNew << endl;


  // testing project with P and Project method
  HomgPoint3D point3D1(1.5, -2.3,  4.34, 1.0);
  HomgPoint2D point2D1 = ppp.Project(point3D1);
  point2D1.Homogenize();
  cout << "point2D by Project method " << point2D1 << endl;
  point2D1 = ppp.GetP() * point3D1;
  point2D1.Homogenize();
  cout << "point2D by P projection " << point2D1 << endl;


  return 0;
}