ExampleTransformToCartesian.cpp

small example demonstrating the TransformToCartesian Function

Author

ischiller 06/2010

/* 
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 ExampleTransformToCartesian.cpp
   @relates ProjectionParametersPerspective
   @brief small example demonstrating the TransformToCartesian Function
   @ingroup g_examples
   @author ischiller 06/2010
*/

#include <Geometry/Projection.hh>
#include <Geometry/ProjectionParametersPerspective.hh>
#include <Base/Image/Image.hh>
#include <Base/Image/ImageIO.hh>
#include <Utils/Param.hh>
#include <Utils/IOUtils.hh>

using namespace BIAS;
using namespace std;


int main(int argc, char *argv[])
{

    Param params;
    string *proj = params.AddParamString("Projection","The projection to use, not mandatory","", 'p');
    string *image = params.AddParamString("Image","The float (depth) image to use, not mandatory","", 'i');

  if (!IOUtils::ParseCommandLineEvalHelp(params, argc, argv))
  { return 0; }

    Projection projection;

  int ret = 0;

  if(*proj!=""){
    ret = projection.XMLRead(*proj);
    cout<<"Loaded projection:"<<*proj<<endl;
   }
   if(string(*proj)=="" || ret < 0){
    ProjectionParametersPerspective ppp;
    ppp.SetSimplePerspective(40,176,144); //typical PMD camera
    ppp.SetFocalLengthAndAspect(250.0,1.0);
    ppp.ValidatePose();
    projection.AddAbsoluteCamera(&ppp);
    cout<<"Generated sample projection."<<endl;
   }

  Image<float> depthImg,cartDepthImg,polarDepthImg;
  if(*image !=""){
    ret = ImageIO::Load(*image,polarDepthImg );
    cout<<"Loaded image :"<<*image<<endl;
  }
  if(string(*image)=="" || ret < 0){
    depthImg.Init(176,144,1);
    depthImg.FillImageWithConstValue(2000.0);
    cout<<"Filled standard image with 5000mm.";

    if((dynamic_cast<ProjectionParametersPerspective*>(projection.GetParameters()))!= NULL){
        (dynamic_cast<ProjectionParametersPerspective*>(projection.GetParameters()))->
                TransformCartesianToPolarCoordinates(depthImg, polarDepthImg);
    }
    cout<<" ..and transformed to polar."<<endl;
  }

  ImageIO::Save("polarInput.mip",polarDepthImg);

  if((dynamic_cast<ProjectionParametersPerspective*>(projection.GetParameters()))!= NULL){
    (dynamic_cast<ProjectionParametersPerspective*>(projection.GetParameters()))->
            TransformPolarToCartesianCoordinates(polarDepthImg, cartDepthImg);
     ImageIO::Save("cartesianOutput.mip",cartDepthImg);
    (dynamic_cast<ProjectionParametersPerspective*>(projection.GetParameters()))->
        TransformCartesianToPolarCoordinates(cartDepthImg,polarDepthImg);
     ImageIO::Save("polarOutput.mip",polarDepthImg);

    cout<<"Transformed Images."<<endl;
  }
  else {
    BIASERR("Not a perspective camera");
    return -1;
  }

  return 0;
}