ExampleLoadBOG_P.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 ExampleLoadBOG_P.cpp
   @brief Example Daimler .bog reader
   @ingroup g_examples
   @author Jan Woetzel
*/


#include <Base/Common/BIASpragma.hh>

// STD
#include <iostream>
#include <fstream>
#include <string>
#include <vector>

// BIAS
#include <Base/Math/BogIO.hh>
#include <Base/Math/Vector3.hh>
#include <Base/Geometry/KMatrix.hh>
#include <Geometry/PMatrix.hh>
#include <Geometry/RMatrix.hh>


using namespace std;
using namespace BIAS;

// entry JW
int main(int argc, char** argv){
    cout<<"started "<<argv[0]<<endl;
#ifdef BIAS_TESTS_DATA
    string filename(BIAS_TESTS_DATA "calib01.bog");
#else
    string filename("calib01.bog");
    cout<<"BIAS_TESTS_DATA  not defined."<<endl;
    return -1;
#endif
    if (argc>1) filename=argv[1];
    cout<<"using filename "<<filename<<endl;
    int result=0;
    //bool ok=true;

    PMatrix P;
    if (0!=P.LoadBOG(filename)) return -2;
    cout<<"P: "<<P<<endl;
    P.Save("out_ExampleLoadBOGP.P");

    KMatrix K;
    LoadBogK(filename, K);
    RMatrix R;
    LoadBogRC(filename, R);
    Vector3<double> C;    
    C.LoadBogTC(filename);

    // compare: 
    cout<<"bog.K: "<<K<<endl;
    cout<<"P.K  : "<<P.GetK()<<endl;

    cout<<"bog.R: "<<R<<endl;
    cout<<"P.R  : "<<P.GetR()<<endl;
    Vector3<double> axis;
    double angle=0;
    R.GetRotationAxisAngle(axis,angle);
    cout<<"P.angle="<<angle<<" axis="<<axis<<endl;

    cout<<"bog.C: "<<C<<endl;
    cout<<"P.C  : "<<P.GetC()<<endl;

    return result; // OK.
}