ExampleCalcRelativeTransform.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 ExampleCalcRelativeTransform.cpp
   @relates CoordinateTransform3D
   @brief Example for calculation of the relative transform between 2 transforms
   @ingroup g_examples
   @author MIP
*/

#include <Geometry/CoordinateTransform3D.hh>
#include <Geometry/Projection.hh>
#include <Utils/Param.hh>
#include <iostream>

using namespace std;
using namespace BIAS;

void commandHelp(char* argv) {
  cout<<argv<<" [options] <projection A > <projection B>\n";
}


int main(int argc, char* argv[]) 
{
  Param params(true);

  bool* help = params.AddParamBool("help", "", false, 'h');

  int fup = params.ParseCommandLine(argc, argv);

  if(*help || argc<3) {
    commandHelp(argv[0]);
    params.Usage();
    return 0;
  }

  Projection A, B;
  if(A.Load(argv[fup])!=0) {
    cerr<<"error loading projection A\n";
    commandHelp(argv[0]);
    params.Usage();
    return -1;
  }
  if(B.Load(argv[fup+1])!=0) {
    cerr<<"error loading projection B\n";
    commandHelp(argv[0]);
    params.Usage();
    return -1;
  }

  Pose poseA, poseB, result, check;
  poseA = A.GetPose();
  poseB = B.GetPose();

  cout<<" PoseA = ";
  poseA.Talk();

  cout<<" PoseB = ";
  poseB.Talk();

  cout<<"calculating relative transformations between A and B:\n\n";
  cout<<"making A global: A*result = B :\n";
  result.BecomeRelativeTransform(poseB, poseA);
  result.Talk();
  cout<<endl;
//   cout<<"check should be B : ";
//   poseA.ConcatenateLocalTransform(result, check);
//   check.Talk();
//   cout<<endl;

  cout<<"making B global: B*result = A :\n";
  result.BecomeRelativeTransform(poseA, poseB);
  result.Talk();
  cout<<endl;
//   cout<<"check should be A : ";
//   poseB.ConcatenateLocalTransform(result, check);
//   check.Talk();
//   cout<<endl;
    
  
  return 0;
}