TestCalibratedPyramid.cpp

shows usage of calibrated pyramid

Author

MIP

Date

2007

/* 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 TestCalibratedPyramid.cpp
 * @relates CalibratedPyramid
 * @brief shows usage of calibrated pyramid
 * @author MIP
 * @date 2007
 */


#include <Base/Geometry/KMatrix.hh>
#include <Geometry/ProjectionParametersPerspective.hh>
#include <Image/CalibratedPyramid.hh>

#include <vector>

using namespace BIAS;
using namespace std;

SharedPtr<ProjectionParametersBase> GetProjPersp(const double focal)
{
  // generate projection parameters with fake K matrix
  KMatrix K(MatrixIdentity);
  K[0][0] = K[1][1] = focal;
  K[0][2] = 320.0; K[1][2] = 240.0;
  
  SharedPtr<ProjectionParametersPerspective> projpersp = 
    SharedPtr<ProjectionParametersPerspective>(new ProjectionParametersPerspective);
  projpersp->SetK(K);
  SharedPtr<ProjectionParametersBase> proj = 
    DynamicCast<ProjectionParametersBase>(projpersp);
  BIASASSERT(proj);
  return proj;
}

void GetCalibratedPyramid(CalibratedPyramid<unsigned char>& cp)
{
  SharedPtr<Image<unsigned char> > im =
    SharedPtr<Image<unsigned char> >(new Image<unsigned char>(640, 480, 1));
  im->FillImageWithXValue();
  const double focal = 800.0;
  CalibratedImage<unsigned char> ci;
  ci.image = im;
  ci.projection = GetProjPersp(focal);
  
  cp.Init(ci);
}


void TestInit()
{
  Image<unsigned char> im(640, 480, 1);
  im.FillImageWithXValue();
  const int x = 42, y = 42;
  unsigned char val = im.GetImageDataArray()[y][x];

  CalibratedImage<unsigned char> ci;
  ci.image = SharedPtr<Image<unsigned char> >(new Image<unsigned char>(im));
  ci.projection = SharedPtr<ProjectionParametersBase>(NULL);
  CalibratedPyramid<unsigned char> cp;

  const unsigned size = 2;
  const double factor = 4.0;
  cp.Init(ci, size, factor);

  if (cp.IsEmpty()) { BIASABORT; }
  if (cp.Size()!=size) { BIASABORT; }
  if (!Equal(cp.GetRescaleFactor(), factor)) { BIASABORT; }

  // test access
  unsigned char mval = cp[0].image->GetImageDataArray()[y][x];
  if (val != mval) { BIASABORT; } 
}


void TestSTL()
{
  vector<CalibratedPyramid<unsigned char> > vcp(3);
  CalibratedPyramid<unsigned char> cp;
  GetCalibratedPyramid(cp);
  vcp[1] = cp;
}


int main(int argc, char *argv[])
{
  TestInit();
  TestSTL();
  return 0;
}