ExamplePMDImageIO.cpp

example for usage of PMD (ToF)-ImgeIO

, PMDImageIO

Author

MIP

/*
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 ExamplePMDImageIO.cpp
   @relates PMDImageProc, PMDImageIO
   @brief  example for usage of PMD (ToF)-ImgeIO
   @ingroup g_examples
   @author  MIP
*/

#include <iostream>

#include <Base/Image/ImageBase.hh>
#include <Base/Image/ImageConvert.hh>
#include <Base/Image/ImageIO.hh>
#include <Image/PMDImageProc.hh>

using namespace BIAS;
using namespace std;

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

  Image<unsigned char> im, im2;
  Image<float> dim, dim2, mcim, mcim2;
  string PMDName = "img.tif";
  string PMDNameXML = "";
  PMDImageMetaData meta, meta2, metad, metad2, metadum;
  cout<<"ExamplePMDImageIO:"<<endl;
  if (argc>1) {
    if (strstr(argv[1],".xml")!=NULL) {
      PMDNameXML = argv[1];
    } else if (strstr(argv[1],".tif")!=NULL) {
      PMDName = argv[1];
    } else if (strstr(argv[1],".bmp")!=NULL) {
      PMDImageIO::LoadFromTXT(48, 64, argv[2], argv[3], argv[4], 
                              im, dim, mcim, metad);
      if (argc<=1 || ImageIO::Load(argv[1], im)!=0){
        cerr << argv[1] << " <image>\n";
        im.Init(640, 480, 3);
        im.FillImageWithXValue();
      } else {
        cout << "Read 2D-image:" <<  argv[1] << endl;
      }
      meta.width = im.GetWidth();
      meta.height = im.GetHeight();
      meta.channels = 1;
      meta.PrincipalX = (double)im.GetWidth()/2.0;
      meta.PrincipalY = (double)im.GetHeight()/2.0;
      meta.FocallengthX = metad.FocallengthX*((double)im.GetWidth()/(double)dim.GetWidth());
      meta.AspectRatio = 1;
      meta.UndistCoeff[0] = 0;
      meta.UndistCoeff[1] = 0;
      meta.UndistCoeff[2] = 0;
      meta.UndistCoeff[3] = 0;
      meta.CameraCenter[0] = 0;
      meta.CameraCenter[1] = 0;
      meta.CameraCenter[2] = 0;
      meta.CameraRotation[0] = 0;
      meta.CameraRotation[1] = 0;
      meta.CameraRotation[2] = 0;
      metadum = metad;
      PMDImageProc::FitModCoeffTo2DImage(mcim, dim,
                                         meta, metadum);
      PMDImageProc::FitDepthTo2DImage(dim, meta, metad);

      PMDImageIO::Save("img.tif", im, dim, mcim, meta, metad);
      cout << "Wrote img.tif" << endl; 
      cout << "Metadata set: " << endl 
           << meta.PrincipalX << " " << meta.PrincipalY  << " " 
           << meta.FocallengthX  << " " << meta.AspectRatio << " " ;
    } else {
      if (argc<=1 || ImageIO::Load(argv[1], im)!=0){
        cerr << argv[1] << " <image>\n";
        im.Init(640, 480, 3);
        im.FillImageWithXValue();
      } else {
        cout << "Read 2D-image:" <<  argv[1] << endl;
      }
      if (argc<=2 || ImageIO::Load(argv[2], dim)!=0){
        cerr << argv[2] << " <image>\n";
        dim.Init(640, 480, 1, ImageBase::ST_unsignedshortint);
        dim.FillImageWithXValue();
      } else {
        cout << "Read depth-image:" <<  argv[2] << endl;
      }
      if (argc<=3 || ImageIO::Load(argv[3], mcim)!=0){
        cerr << argv[3] << " <image>\n";
        mcim.Init(640, 480, 1, ImageBase::ST_unsignedshortint);
        mcim.FillImageWithXValue();
      } else {
        cout << "Read modulation-coefficients-image:" <<  argv[3] << endl;
      }

      meta.PrincipalX = 100;
      meta.PrincipalY = 200;
      meta.FocallengthX = 300;
      meta.AspectRatio = 1;
      meta.UndistCoeff[0] = 1;
      meta.UndistCoeff[1] = 1.3;
      meta.UndistCoeff[2] = 1.6;
      meta.UndistCoeff[3] = 1.9;

      metad.PrincipalX = 1100;
      metad.PrincipalY = 1200;
      metad.FocallengthX = 1300;
      metad.AspectRatio = 1.8;
      metad.UndistCoeff[0] = 1.8;
      metad.UndistCoeff[1] = 1.34;
      metad.UndistCoeff[2] = 1.64;
      metad.UndistCoeff[3] = 1.94;

      PMDImageIO::Save("img.tif", im, dim, mcim, meta, metad);
      cout << "Wrote img.tif" << endl; 
      cout << "Metadata set: " << endl 
           << meta.PrincipalX << " " << meta.PrincipalY  << " " 
           << meta.FocallengthX  << " " << meta.AspectRatio << " " ;
      for (int i=0; i<4; i++) {
        cout << meta.UndistCoeff[i] << " " ;
      }
      cout << endl;
    }
  }

  if (PMDNameXML!="") {
#ifdef BIAS_HAVE_XML2
    PMDImageIO::Load(PMDNameXML, im2, dim2, mcim2, meta2, metad2);
    PMDImageIO::Save(PMDName, im2, dim2, mcim2, meta2, metad2);
#else
    BIASERR("USE_XML2 switched off, cannot parse xml-file!");
    BIASABORT;
#endif
  } else {
    PMDImageIO::Load(PMDName, im2, dim2, mcim2, meta2, metad2);
  }
  cout << "Read " << PMDNameXML << " or " << PMDName << endl;
  cout << "Metadata read: " << endl
       << meta2.PrincipalX << " " << meta2.PrincipalY  << " "
       << meta2.FocallengthX  << " " << meta2.AspectRatio << " "
       << meta2.width  << " " << meta2.height << " "
       << meta2.channels << " ";
  cout << "|";
  for (int i=0; i<4; i++) {
    cout << meta2.UndistCoeff[i] << " " ;
  }
  cout << "|";
  for (int i=0; i<3; i++) {
    cout << meta2.CameraCenter[i] << " ";
  }
  cout << "|";
  for (int i=0; i<3; i++) {
     cout << meta2.CameraRotation[i] << " ";
  }
  cout  << endl << "Metadata depth read: " << endl
        << metad2.PrincipalX << " " << metad2.PrincipalY  << " "
        << metad2.FocallengthX  << " " << metad2.AspectRatio << " "
        << metad2.width  << " " << metad2.height << " "
        << metad2.channels ;

  cout << "|";
  for (int i=0; i<4; i++) {
    cout << metad2.UndistCoeff[i] << " " ;
  }
  cout << "|";
  for (int i=0; i<3; i++) {
    cout << metad2.CameraCenter[i] << " ";
  }
  cout << "|";
  for (int i=0; i<3; i++) {
     cout << metad2.CameraRotation[i] << " ";
  }
  cout << endl;

  if (!im2.IsEmpty())
    ImageIO::Save("img.pgm", im2);
  if (!dim2.IsEmpty())
    ImageIO::Save("imgdepth.mip", dim2);
  if (!mcim2.IsEmpty())
    ImageIO::Save("imgModCoeff.mip", mcim2);

}