ExampleCamera.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 ExampleCamera.cpp
   @relates Camera  
   @brief Example for camera object using, BIAS::Camera is an enhanced BIAS::Image with Metadata 
   @ingroup g_examples
   @author MIP
*/
// must be first:
//#include <Base/Common/LeakChecking.h> 

#include "Image/Camera.hh"
#include "Base/Image/ImageIO.hh"

using namespace BIAS;
using namespace std;


int main(int argc, char *argv[])
{
  Camera<unsigned char> cam, cam2, cam3;
  PMatrix P;
  KMatrix K;
  RMatrix R;
  Projection proj;
  R.SetXYZ(0.0, 0.0, 0.0);
  Vector3<double> C(1.0, 2.0, 3.0);
  BIAS::UUID UID;

  cam.Init(640, 480, 1);
  cam.FillImageWithXValue();

  // check if DAIMLER format is used
  if (argc>2) {
    const std::string format(argv[2]);
    if (format.compare("--daimler") == 0 ||
        format.compare("-daimler") == 0)
    {
      DC_ptu ptu;
      DC_inertial inert;
      DC_GPS gps;

      ptu.PanPos=1;
      ptu.TiltPos=0.56;
      ptu.TimeStamp=1234567890;

      inert.Set(1.0, 2.0, 3.14, 4.2, 7.2);

      gps.Set(7, 1.5, 2.5, 3.5, 4.5, 5.5);

      cam.SetPTU(ptu);
      cam.SetInertial(inert);
      cam.SetGPS(gps);
    } else {
      cout << "Use --daimler as second argument to use Daimler camera format." << endl;
      return 0;
    }
  }

  K.SetIdentity();
  K[0][0]=K[1][1]=100;
  K[0][2]=cam.GetWidth()/2.0;
  K[1][2]=cam.GetHeight()/2.0;
  P.Compose(K, R, C);
 
  if (argc>1) {
    cout <<"Reading projection from "<<argv[1]<<endl;
    proj.XMLRead(argv[1]);
    cam.SetProj(proj);
  }
  cam.SetP(P);
  cam.SetC(C);
  cam.SetR(R);
  cam.SetK(K);
  cam.Setf(0.008); // focal length 8mm
  cam.SetReferenceUUID(BIAS::UUID::GenerateUUID());

  cam.UpdateMetaData();

  cout <<endl<< "added meta data to camera: "<<endl;
  //cam.PrintAppData(cout);
  cam.GetMetaData()->Dump();

  //if (ImageIO::Save("cam", cam)!=0){
  if (ImageIO::Save("cam", cam)!=0){
    BIASERR("error writing cam.mip");
    return -1;
  }
 
  //if (ImageIO::Load("cam.mip", cam2)!=0){
  if (ImageIO::Load("cam.mip", cam2)!=0){
    BIASERR("error reading cam.mip");
    return -1;
  }

  cam2.ParseMetaData();
 
  cout <<endl<< "====== now read from mip: \nC:\n" << cam2.GetC() 
       << "\nR:\n"<<cam2.GetR()<<"\nK:\n"<<cam2.GetK()
       << "\nP:\n"<<cam2.GetP()<<" Projection: "<<  cam2.GetProj()<<endl;
  cout <<"==== PrintAppData() from mip ======="<<endl;
  cam.PrintAppData(cout);
  cerr << "sizeof metadata: "<<cam.GetMetaData()->size()<<endl;
  if (ImageIO::Save("cam", cam, ImageIO::FF_pgm)!=0){
    BIASERR("error writing cam.pgm");
    return -1;
  }

  if (ImageIO::ImportImage("cam.pgm", cam3)!=0){
    BIASERR("error reading cam.pgm");
    return -1;
  }
  cout <<endl<< "now read from pgm:"<<endl;
  cam3.SetDebugLevel(cam3.GetDebugLevel() |D_CAMERA_METADATA );
  cam3.ParseMetaData();
  cam3.GetMetaData()->Dump();
  cout <<"My Projection fom pgm: "<<  cam3.GetProj()<<endl;

  return 0;
}