ExampleVRMLOutProjection.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 ExampleVRMLOutProjection.cpp
 *  @relates ThreeDOut,Projection
    @ingroup g_examples
    @brief Example for VRML output of a BIAS::Projection
    @author MIP */

#include <Utils/ThreeDOut.hh>
#include <Geometry/Projection.hh>
#include <Base/Image/ImageIO.hh>
#include <Base/Image/ImageConvert.hh>
#include <iostream>
#include <Base/Math/Random.hh>

using namespace std;
using namespace BIAS;

int main(int argc, char* argv[]) 
{
  if(argc<4) {
    cout<<"usage:\n";
    cout<<argv[0]<<" <projectionFile.xml> <ouputFile> [texture]\n";
    return -1;
  }
  
  int count = atoi(argv[3]);
  ThreeDOut vrmlWriter;

  CameraData camData;
  
  for(int i = 0; i < count; i++){
    /**
    time_t uc;

    // get the seed (seconds since 1.1.1970 0:00)
    time(&uc);
    srand( (unsigned int)(uc) );
    **/

    ProjectionParametersBase* ppb = NULL;

    //SPHERICAL CAMERAS

 //    ProjectionParametersSpherical* pps = new ProjectionParametersSpherical();
//     pps->SetRadius(camData.radius_);
//     pps->SetUndistortion(camData.AngleCorrX_, camData.AngleCorrY_, 
//                          camData.radius_);
//     ppb = (ProjectionParametersBase*) pps;


    //ZOOMED CAMERAS
    /**
    ProjectionParametersZoom* ppz = new ProjectionParametersZoom();
    std::vector<CPDiscreteParam>::iterator it;
    ppz->Clear();
    for (unsigned int j=0; j<camData.knownparams_vect_.size(); j++) {
      ppz->AddZoomStep(camData.knownparams_vect_[j].zoom, 
                       camData.knownparams_vect_[j].focallength,
                       camData.knownparams_vect_[j].kc1, 
                       camData.knownparams_vect_[j].kc2, 
                       camData.knownparams_vect_[j].kc3, 
                       camData.knownparams_vect_[j].kc4);
    }
    ppb = (ProjectionParametersBase*) ppz;
    **/

    //PERSPECTIVE CAMERAS
    /**
    ProjectionParametersPerspective* ppp = 
      new ProjectionParametersPerspective();
    ppp->SetFocalLengthAndAspect( camData.focallengthDef_, 
                                  camData.aspectratio_);
    ppp->SetUndistortion(camData.kc1Def_,camData.kc2Def_,
                         camData.kc3Def_,camData.kc4Def_);
    ppb = (ProjectionParametersBase*) ppp;     
    **/

    ProjectionParametersPerspective* ppp = 
      new ProjectionParametersPerspective();
    ppp->SetFocalLengthAndAspect( (double)(rand()%1000)/100.0, 
                                  (double)(rand()%1000)/100.0);
    ppp->SetUndistortion((double)(rand()%1000)/100.0,
                         (double)(rand()%1000)/100.0,
                         (double)(rand()%1000)/100.0,
                         (double)(rand()%1000)/100.0);
    ppb = (ProjectionParametersBase*) ppp;

    ppb->SetImageSize(640, 480);
    ppb->SetPrincipal((rand()%640), (rand()%480));

    ppb->SetAspectratio((double)(rand()%100)/10.0);

    BIAS::Vector3<double> c_mat ((double)(rand()%1000)/100.0,
                                 (double)(rand()%1000)/100.0,
                                 (double)(rand()%1000)/100.0);
    ppb->SetC(c_mat);
    RMatrix R;
    Quaternion<double> Q;

    R.SetXYZ((double)(rand()%1000)/100.0, 
             (double)(rand()%1000)/100.0, 
             (double)(rand()%1000)/100.0);
    R.GetQuaternion(Q);

    ppb->SetQ(Q);

    cout << Q[0] << ", " << Q[1] << ", " << Q[2] << ", " << Q[3] << endl;

    Projection P(*ppb);

    /**
    if(P.XMLRead(argv[1])!=0) {
      cout<<"could not read projection file!\n";
      return -1;
    }
    **/
    if(P.GetParameters() == NULL) {
      cout<<"Fatal error generating projection object!\n";
      return -1;
    }
    BIAS::Random Rand;
    vrmlWriter.AddProjection(P, RGBAuc(0, 255, 0, 0), 
                             1.3,//(double)(rand()%1000)/100.00,
                             (double)(rand()%100)/100.00,
                             "puppy me", (rand()%2));

    cout << "Projection " << i << " added" << endl;
  }
  
  ThreeDOut vrmlWriter2;
  //vrmlWriter.AddProjection(P, RGBAuc(0, 255, 0, 0) );
  //vrmlWriter.AddProjection(P, "funny P");
  
  vrmlWriter.VRMLOut(argv[2]);

  cout<<"finished\n"<<flush;

  /**
  if (argc>3) {
    cout<<"writing textured triangle mesh \n"<<flush;
    TriangleMesh T;
    Image<unsigned char> texture, textureRGB;
    ImageIO::Load(argv[3], texture);
    ImageConvert::ToRGB(texture, textureRGB);
    T.GenerateTexturedCamera(P.GetParameters(), textureRGB, T, 1.0);
    vrmlWriter2.AddTriangleMesh(T);
    vrmlWriter2.AddPoint(P.GetC());
    vrmlWriter2.VRMLOut(string("textured-")+string(argv[2]));
  }
  **/
  
  return 0;
}