tutorial-undistort.cpp

#include <visp3/core/vpImageTools.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/io/vpImageIo.h>

int
main( int argc, char **argv )
{
  std::string opt_input_image = "chessboard.jpg";
  std::string opt_camera_file = "camera.xml";
  std::string opt_camera_name = "Camera";

  try
  {
    for ( int i = 1; i < argc; i++ )
    {
      if ( std::string( argv[i] ) == "--image" && i + 1 < argc )
      {
        opt_input_image = std::string( argv[i + 1] );
      }
      else if ( std::string( argv[i] ) == "--camera-file" && i + 1 < argc )
      {
        opt_camera_file = std::string( argv[i + 1] );
      }
      else if ( std::string( argv[i] ) == "--camera-name" && i + 1 < argc )
      {
        opt_camera_name = std::string( argv[i + 1] );
      }
      else if ( std::string( argv[i] ) == "--help" || std::string( argv[i] ) == "-h" )
      {
        std::cout << argv[0] << " [--image <input image (pgm,ppm,jpeg,png,tiff,bmp,ras,jp2)>]"
                  << " [--camera-file <xml file>] [--camera-name <name>] [--help] [-h]\n"
                  << std::endl;
        std::cout << "Examples: " << std::endl
                  << argv[0] << std::endl
                  << argv[0] << " --image chessboard.jpg --camera-file camera.xml --camera-name Camera" << std::endl;
        return EXIT_SUCCESS;
      }
    }

    vpImage< unsigned char > I;
    std::cout << "Read input image: " << opt_input_image << std::endl;
    vpImageIo::read( I, opt_input_image );

    vpCameraParameters cam;
    vpXmlParserCamera p;
    vpCameraParameters::vpCameraParametersProjType projModel;
    projModel = vpCameraParameters::perspectiveProjWithDistortion;
    if ( p.parse( cam, opt_camera_file, opt_camera_name, projModel, I.getWidth(), I.getHeight() ) !=
         vpXmlParserCamera::SEQUENCE_OK )
    {
      std::cout << "Cannot found parameters for camera named \"Camera\"" << std::endl;
    }
#if 0
    cam.initPersProjWithDistortion(582.7, 580.6, 326.6, 215.0, -0.3372, 0.4021);
#endif

    std::cout << cam << std::endl;

    vpImage< unsigned char > Iud;
    vpImageTools::undistort( I, cam, Iud );
    std::string name_we      = vpIoTools::getNameWE( opt_input_image );
    std::string ext          = vpIoTools::getFileExtension( opt_input_image );
    std::string output_image = name_we + "-undistort" + ext;
    std::cout << "Save undistorted image in: " << output_image << std::endl;
    vpImageIo::write( Iud, output_image );
  }
  catch ( const vpException &e )
  {
    std::cout << "Catch an exception: " << e << std::endl;
  }

  return 0;
}