ProjectionError.cpp

example investigating P-Matrix

Author

MIP

/* 
This file is part of the BIAS library (Basic ImageAlgorithmS).

Copyright (C) 2003, 2004    (see file CONTACTS 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 ProjectionError.cpp
   @relates ProjectionError
   @brief example investigating P-Matrix
   @ingroup g_examples
   @author MIP
*/

#include <Geometry/ProjectionError.hh>
#include <Utils/Param.hh>
#include <MathAlgo/StandardDeviation.hh>

using namespace BIAS;
using namespace std;

int main(int argc, char **argv)
{
  Param pp;
  pp.AddParamDouble("baseline", "Abstand der beiden Kameras",
                    0.0, 0.0, DBL_MAX, 'b', 1);
  pp.AddParamDouble("angle", "Winkel Kamera1-Objekt-Kamera2",
                    7.5, -90.0, 90.0, 'a', 1);
  pp.AddParamDouble("mindepth", "Minimale Tiefe",
                    0.0, 0.0, DBL_MAX, 'd', 1);
  pp.AddParamDouble("maxdepth", "Maximale Tiefe",
                    0.0, 0.0, DBL_MAX, 'D', 1);
  pp.AddParamDouble("offset", "Verschiebung auf der Bildebene",
                    0.5, 0.0, DBL_MAX, 'o', 1);
  pp.AddParamInt("resolution", "Horizontale Kameraaufloesung",
                 0, 0, INT_MAX, 'r', 1);
  pp.AddParamInt("tests", "Anzahl an Tests",
                 25, 0, INT_MAX, 't', 1);
  pp.SetGroupName(1, "Parameter");
  
  pp.ParseCommandLine(argc, argv);
  
  double b = *pp.GetParamDouble("baseline");
  double a = *pp.GetParamDouble("angle");
  double dMin = *pp.GetParamDouble("mindepth");
  double dMax = *pp.GetParamDouble("maxdepth");
  double offset = *pp.GetParamDouble("offset");
  int res = *pp.GetParamInt("resolution");
  int nTests = *pp.GetParamInt("tests");
  
  if (dMin <= 0 || res <= 0)
  {
    pp.Usage();
    return 1;
  }
  
  if (dMax <= dMin)
    nTests = 1;
  
  ProjectionError pe;
  double d = dMin;
  if (b == 0.0)
    pe.Init(res, dMin, a * M_PI / 180.0);
  else
    pe.Init(res, b);
  
  StandardDeviation sd;
  for (int i = 0; i < nTests; i++)
  {
    sd.Clear();
    sd.AddValue(pe.ComputeDiff(d, -offset));
    sd.AddValue(pe.ComputeDiff(d, 0.0));
    sd.AddValue(pe.ComputeDiff(d, offset));
    double s = sd.CalcStandardDeviation();
    
    cout << d << "\t" << s << endl;
    
    d += (dMax - dMin) / (nTests - 1);
  }
  
  if (b == 0.0)
  {
    b = pe.GetBaseline();
    cout << "Baseline: " << b << endl;
  }
  
  return 0;
}