biasgetpmddata.cpp

/*
 * getPmdData.cpp
 *
 *  Created on: Jan 22, 2010
 *      Author: africk
 */

#include <Base/Image/ImageIO.hh>
#include <Utils/Param.hh>
#include <VideoSource/VideoSource_PMD.hh>

using namespace std;
using namespace BIAS;

/**
   @file
   @ingroup g_tools
   @brief program for calculating pmd data from source images
          with pmd source descriptor as meta data, see biasgetpmddata.cpp
   @author africk
   */
int main(int argc, char** argv) {
    Param *p = new Param();

    p->AddParamString("pmdImagesList",
                        "list of pmd images with discriptor data saved as meta data", "");
        p->AddParamBool("flipHorizontal",
                        "true flip horizontal, false not", false);
        p->AddParamBool("flipVertical",
                        "true flip vertical, false not", false);

    p->ParseCommandLine(argc, argv);

    string imageListName = *(p->GetParamString("pmdImagesList"));
        bool flipHorizontal = *(p->GetParamBool("flipHorizontal"));
         bool flipVertical = *(p->GetParamBool("flipVertical"));

    vector<string> imageNames;
    if (Param::ParseListFile(imageListName, imageNames) != 0) {
        BIASERR("error: loading " << imageListName << endl);
        return -1;
    } else {
        cout << "loaded : " << imageListName << endl;
    }

    VideoSource_PMD vsPMD;
    vsPMD.OpenProcessingPlugin();
    Camera<char> camera;
    Camera<float> newCamera;
//  Camera<float> tmpCamera;
//  tmpCamera.Init(204,204,1);
    for (unsigned int i = 0; i < imageNames.size(); i++) {
        if (ImageIO::Load(imageNames[i], camera) != 0) {
            BIASERR("error loading "<< imageNames[i]);
        } else {
            camera.ParseMetaData();
        }

        string imageName = imageNames[i];

        MetaData* metaData = camera.GetMetaData();

        if (metaData != NULL) {
            AppData appData;
            int res = metaData->Find(AppData::MD_PMD_DataDesc, appData);
            if (res >= 0) {
                vsPMD.CalcIntensitiesFromSourceData(camera, newCamera);
                                if (flipHorizontal) {
                                newCamera.FlipHorizontal();
                                }
                                if (flipVertical) {
                                newCamera.Flip();
                                }
                newCamera.SetMetaData(*metaData);
                ImageIO::Save("int_" + imageName, newCamera);
                vsPMD.CalcDistancesFromSourceData(camera, newCamera);
                                if (flipHorizontal) {
                                newCamera.FlipHorizontal();
                                }
                                if (flipVertical) {
                                newCamera.Flip();
                                }
                newCamera.ScaleShift(1000.0,0);
                newCamera.SetMetaData(*metaData);
                ImageIO::Save("depth_" + imageName, newCamera);
                vsPMD.CalcAmplitudesFromSourceData(camera, newCamera);
                                if (flipHorizontal) {
                                newCamera.FlipHorizontal();
                                }
                                if (flipVertical) {
                                newCamera.Flip();
                                }
                newCamera.SetMetaData(*metaData);
                ImageIO::Save("amp_" + imageName, newCamera);
                cout << imageName << " done ..." << endl;
            } else {
                BIASERR("No MD_PMD_DataDesc meta data found for " << imageName);
            }
        } else {
            BIASERR("  no meta data exists for " << imageName);
        }

    }

    vsPMD.CloseProcessingPlugin();

    return 0;

}