testCameraParametersConversion.cpp

/****************************************************************************
 *
 * $Id: testCameraParametersConversion.cpp 4658 2014-02-09 09:50:14Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Performs various tests on the vpPixelMeterConversion and
 * vpPixelMeterConversion class.
 *
 * Authors:
 * Anthony saunier
 *
 *****************************************************************************/



// List of allowed command line options
#define GETOPTARGS  "h"

#include <visp/vpMath.h>
#include <visp/vpDebug.h>
#include <visp/vpParseArgv.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpMeterPixelConversion.h>
#include <visp/vpPixelMeterConversion.h>
#include <visp/vpMath.h>
#include <stdlib.h>
#include <stdio.h>

void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv);

void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
  Performs various tests on the vpPixelMeterConversion and\n\
  vpPixelMeterConversion class.\n\
\n\
SYNOPSIS\n\
  %s [-h]\n", name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -h\n\
     Print the help.\n");

  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv)
{
  const char *optarg_;
  int   c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {

    switch (c) {
    case 'h': usage(argv[0], NULL); return false; break;

    default:
      usage(argv[0], optarg_);
      return false; break;
    }
  }

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }

  return true;
}


int
main(int argc, const char ** argv)
{
  try {
    // Read the command line options
    if (getOptions(argc, argv) == false) {
      exit (-1);
    }

    vpCameraParameters cam;
    double px,py,u0,v0;
    px = 1657.429131;
    py = 1658.818598;
    u0 = 322.2437833;
    v0 = 230.8012737;
    vpCameraParameters camDist;
    double px_dist,py_dist,u0_dist,v0_dist,kud_dist,kdu_dist;
    px_dist = 1624.824731;
    py_dist = 1625.263641;
    u0_dist = 324.0923411;
    v0_dist = 245.2421388;
    kud_dist = -0.1741532338;
    kdu_dist = 0.1771165148;

    cam.initPersProjWithoutDistortion(px,py,u0,v0);
    camDist.initPersProjWithDistortion(px_dist,py_dist,u0_dist,v0_dist,
                                       kud_dist, kdu_dist);

    double u1 = 320;
    double v1 = 240;
    double x1 = 0, y1 = 0;
    double u2 = 0, v2 = 0;
    vpPixelMeterConversion::convertPoint(cam,u1,v1,x1,y1);
    vpMeterPixelConversion::convertPoint(cam,x1,y1,u2,v2);
    if(!vpMath::equal(u1,u2) || !vpMath::equal(v1,v2)){
      vpTRACE("Error in convertPoint without distortion:\n"
              "u1 = %f, u2 = %f\n"
              "v1 = %f, v2 = %f\n",u1,u2,v1,v2);
      return -1;
    }
    vpTRACE("convertPoint without distortion :\n"
            "u1 - u2 = %.20f\n"
            "v1 - v2 = %.20f\n",u1 - u2,v1 - v2);

    vpPixelMeterConversion::convertPoint(camDist,u1,v1,x1,y1);
    vpMeterPixelConversion::convertPoint(camDist,x1,y1,u2,v2);
    if(!vpMath::equal(u1,u2) || !vpMath::equal(v1,v2)){
      vpTRACE("Error in convertPoint with distortion :\n"
              "u1 = %f, u2 = %f\n"
              "v1 = %f, v2 = %f\n",u1,u2,v1,v2);
      return -1;
    }
    vpTRACE("convertPoint with distortion :\n"
            "u1 - u2 = %.20f\n"
            "v1 - v2 = %.20f\n",u1 - u2,v1 - v2);
    return 0;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}