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testCameraParametersConversion.cpp
1 /****************************************************************************
2  *
3  * $Id: testCameraParametersConversion.cpp 4056 2013-01-05 13:04:42Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Performs various tests on the vpPixelMeterConversion and
36  * vpPixelMeterConversion class.
37  *
38  * Authors:
39  * Anthony saunier
40  *
41  *****************************************************************************/
42 
43 
44 
52 // List of allowed command line options
53 #define GETOPTARGS "h"
54 
55 #include <visp/vpMath.h>
56 #include <visp/vpDebug.h>
57 #include <visp/vpParseArgv.h>
58 #include <visp/vpCameraParameters.h>
59 #include <visp/vpMeterPixelConversion.h>
60 #include <visp/vpPixelMeterConversion.h>
61 #include <visp/vpMath.h>
62 #include <stdlib.h>
63 #include <stdio.h>
64 
70 void usage(const char *name, const char *badparam)
71 {
72  fprintf(stdout, "\n\
73  Performs various tests on the vpPixelMeterConversion and\n\
74  vpPixelMeterConversion class.\n\
75 \n\
76 SYNOPSIS\n\
77  %s [-h]\n", name);
78 
79  fprintf(stdout, "\n\
80 OPTIONS: Default\n\
81  -h\n\
82  Print the help.\n");
83 
84  if (badparam)
85  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
86 }
94 bool getOptions(int argc, const char **argv)
95 {
96  const char *optarg;
97  int c;
98  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
99 
100  switch (c) {
101  case 'h': usage(argv[0], NULL); return false; break;
102 
103  default:
104  usage(argv[0], optarg);
105  return false; break;
106  }
107  }
108 
109  if ((c == 1) || (c == -1)) {
110  // standalone param or error
111  usage(argv[0], NULL);
112  std::cerr << "ERROR: " << std::endl;
113  std::cerr << " Bad argument " << optarg << std::endl << std::endl;
114  return false;
115  }
116 
117  return true;
118 }
119 
120 
121 int
122 main(int argc, const char ** argv)
123 {
124  // Read the command line options
125  if (getOptions(argc, argv) == false) {
126  exit (-1);
127  }
128 
129  vpCameraParameters cam;
130  double px,py,u0,v0;
131  px = 1657.429131;
132  py = 1658.818598;
133  u0 = 322.2437833;
134  v0 = 230.8012737;
135  vpCameraParameters camDist;
136  double px_dist,py_dist,u0_dist,v0_dist,kud_dist,kdu_dist;
137  px_dist = 1624.824731;
138  py_dist = 1625.263641;
139  u0_dist = 324.0923411;
140  v0_dist = 245.2421388;
141  kud_dist = -0.1741532338;
142  kdu_dist = 0.1771165148;
143 
144  cam.initPersProjWithoutDistortion(px,py,u0,v0);
145  camDist.initPersProjWithDistortion(px_dist,py_dist,u0_dist,v0_dist,
146  kud_dist, kdu_dist);
147 
148  double u1 = 320;
149  double v1 = 240;
150  double x1 = 0, y1 = 0;
151  double u2 = 0, v2 = 0;
152  vpPixelMeterConversion::convertPoint(cam,u1,v1,x1,y1);
153  vpMeterPixelConversion::convertPoint(cam,x1,y1,u2,v2);
154  if(!vpMath::equal(u1,u2) || !vpMath::equal(v1,v2)){
155  vpTRACE("Error in convertPoint without distortion:\n"
156  "u1 = %f, u2 = %f\n"
157  "v1 = %f, v2 = %f\n",u1,u2,v1,v2);
158  return -1;
159  }
160  vpTRACE("convertPoint without distortion :\n"
161  "u1 - u2 = %.20f\n"
162  "v1 - v2 = %.20f\n",u1 - u2,v1 - v2);
163 
164  vpPixelMeterConversion::convertPoint(camDist,u1,v1,x1,y1);
165  vpMeterPixelConversion::convertPoint(camDist,x1,y1,u2,v2);
166  if(!vpMath::equal(u1,u2) || !vpMath::equal(v1,v2)){
167  vpTRACE("Error in convertPoint with distortion :\n"
168  "u1 = %f, u2 = %f\n"
169  "v1 = %f, v2 = %f\n",u1,u2,v1,v2);
170  return -1;
171  }
172  vpTRACE("convertPoint with distortion :\n"
173  "u1 - u2 = %.20f\n"
174  "v1 - v2 = %.20f\n",u1 - u2,v1 - v2);
175  return 0;
176 }