ExampleUndistort.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 ExampleUndistort.cpp
 * @relates UndistortionMapping
 * @brief shows usage of the changed UndistortionMapping class
 * @author bangerer (updated version)
 * @date 09/2009
 */


#include <bias_config.h>

#ifndef BIAS_HAVE_XML2
#  error You need XML2 to compile this code. Please enable USE_XML2 and recompile BIAS.
#endif // BIAS_HAVE_XML2


#include <Image/ProjectionMapping.hh>
#include <Geometry/Projection.hh>
#include <Geometry/ProjectionParametersPerspective.hh>
#include <Geometry/ProjectionParametersSpherical.hh>
#include <Base/Image/ImageIO.hh>
#include <Base/Image/ImageConvert.hh>
#include <iostream>

using namespace BIAS;
using namespace std;



int main(int argc, char** argv )
{
  if (argc<3 ) {
    cout <<"Usage: ExampleUndistort <image> <projection.xml>"<<endl;
    exit(1);
  }

  ProjectionMapping<unsigned char, unsigned char> pm;
  Image<unsigned char> src, dst;

  // read projection from file
  string camfile = argv[2];
  BIAS::Projection proj;
  int ret  = proj.XMLRead(camfile);
  if(ret < 0){
    BIASERR("Error reading Projection:"<<camfile);
    return -1;
  }
  else cout<<"Read source projection:"<<camfile<<endl;
 
  
  //decide if image is perspective or spherical
  ProjectionParametersPerspective* ppp = NULL;
  ppp = dynamic_cast<ProjectionParametersPerspective *>(proj.GetParameters());

  if(ppp ==NULL){
    BIASERR("Example only implemented for perspective cameras.");
    return -1;
  }
  
  
  BIAS::Projection projSink(proj);
  dynamic_cast<ProjectionParametersPerspective *>(projSink.GetParameters())->
        SetUndistortion(0.0,0.0,0.0,0.0);
  
  pm.SetSourceCam(proj);
  pm.SetSinkCam(projSink);
  
  // load source image 
  if (ImageIO::Load(argv[1], src)!=0){
    BIASERR("error loading image "<<argv[1]);
    return -1;
  }
  if(src.GetColorModel() != ImageBase::CM_RGB){
    cout<<"Converting to RGB:"<<endl;
    Image<unsigned char> tmp(src);
    ImageConvert::ToRGB(tmp,src);
  }
  else{
    cout<<"Colormodel is RGB:"<<endl;
  }
  dst.Init(src.GetWidth(),src.GetHeight(),src.GetChannelCount());
  //you can either use lookuptable 
  //pm.PrepareLookupTableMapping(src,dst,MapTrilinear);
  //pm.MapWithLookupTable(src,dst,MapTrilinear);
  //or map without lookuptable
  pm.Map(src,dst,MapTrilinear);
  
  Image<float> disp;
  disp.Init(src.GetWidth(),src.GetHeight(),3);
  pm.GetDisplacementMap(disp,src);
  
  ImageIO::Save("UndistortedImage.mip", dst);
  ImageIO::Save("DisplacementImage.mip", disp);
  cout << " created: "<<"UndistortedImage.mip"<<endl;
  cout << " created: "<<"DisplacementImage.mip"<<endl;

  return 0;
}