Visual Servoing Platform version 3.5.0
homographyHLM2DObject.cpp
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Example of the HLM (Malis) homography estimation algorithm.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
55#include <visp3/core/vpDebug.h>
56#include <visp3/core/vpMath.h>
57#include <visp3/core/vpRotationMatrix.h>
58#include <visp3/core/vpThetaUVector.h>
59#include <visp3/vision/vpHomography.h>
60
61#include <stdlib.h>
62#include <visp3/core/vpDebug.h>
63#include <visp3/core/vpHomogeneousMatrix.h>
64#include <visp3/core/vpMath.h>
65#include <visp3/core/vpPoint.h>
66#include <visp3/io/vpParseArgv.h>
67// List of allowed command line options
68#define GETOPTARGS "h"
69#define L 0.1
70#define nbpt 5
71
72void usage(const char *name, const char *badparam);
73bool getOptions(int argc, const char **argv);
74
84void usage(const char *name, const char *badparam)
85{
86 fprintf(stdout, "\n\
87Test the HLM (Malis) homography estimation algorithm with a planar object.\n\
88\n\
89SYNOPSIS\n\
90 %s [-h]\n", name);
91
92 fprintf(stdout, "\n\
93OPTIONS: Default\n\
94 -h\n\
95 Print the help.\n");
96
97 if (badparam) {
98 fprintf(stderr, "ERROR: \n");
99 fprintf(stderr, "\nBad parameter [%s]\n", badparam);
100 }
101}
112bool getOptions(int argc, const char **argv)
113{
114 const char *optarg_;
115 int c;
116 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
117
118 switch (c) {
119 case 'h':
120 usage(argv[0], NULL);
121 return false;
122 break;
123
124 default:
125 usage(argv[0], optarg_);
126 return false;
127 break;
128 }
129 }
130
131 if ((c == 1) || (c == -1)) {
132 // standalone param or error
133 usage(argv[0], NULL);
134 std::cerr << "ERROR: " << std::endl;
135 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
136 return false;
137 }
138
139 return true;
140}
141
142int main(int argc, const char **argv)
143{
144#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
145 try {
146 // Read the command line options
147 if (getOptions(argc, argv) == false) {
148 exit(-1);
149 }
150
151 vpPoint P[nbpt]; // Point to be tracked
152 std::vector<double> xa(nbpt), ya(nbpt);
153 std::vector<double> xb(nbpt), yb(nbpt);
154
155 vpPoint aP[nbpt]; // Point to be tracked
156 vpPoint bP[nbpt]; // Point to be tracked
157
158 P[0].setWorldCoordinates(-L, -L, 0);
159 P[1].setWorldCoordinates(2 * L, -L, 0);
160 P[2].setWorldCoordinates(L, L, 0);
161 P[3].setWorldCoordinates(-L, 3 * L, 0);
162 P[4].setWorldCoordinates(0, 0, 0);
163 /*
164 P[5].setWorldCoordinates(10,20, 0 ) ;
165 P[6].setWorldCoordinates(-10,12, 0 ) ;
166 */
167 vpHomogeneousMatrix bMo(0, 0, 1, 0, 0, 0);
168 vpHomogeneousMatrix aMb(1, 0, 0.0, vpMath::rad(10), 0, vpMath::rad(40));
169 vpHomogeneousMatrix aMo = aMb * bMo;
170 for (unsigned int i = 0; i < nbpt; i++) {
171 P[i].project(aMo);
172 aP[i] = P[i];
173 xa[i] = P[i].get_x();
174 ya[i] = P[i].get_y();
175 }
176
177 for (unsigned int i = 0; i < nbpt; i++) {
178 P[i].project(bMo);
179 bP[i] = P[i];
180 xb[i] = P[i].get_x();
181 yb[i] = P[i].get_y();
182 }
183 std::cout << "-------------------------------" << std::endl;
184 std::cout << "aMb " << std::endl << aMb << std::endl;
185 std::cout << "-------------------------------" << std::endl;
186 vpHomography aHb;
187
188 vpHomography::HLM(xb, yb, xa, ya, true, aHb);
189
190 aHb /= aHb[2][2];
191 std::cout << "aHb computed using the Malis paralax algorithm: \n" << aHb << std::endl;
192
195 vpColVector n;
196
197 std::cout << "-------------------------------" << std::endl;
198 std::cout << "extract R, T and n " << std::endl;
199 aHb.computeDisplacement(aRb, aTb, n);
200 std::cout << "Rotation: aRb" << std::endl;
201 std::cout << aRb << std::endl;
202 std::cout << "Translation: aTb" << std::endl;
203 std::cout << (aTb).t() << std::endl;
204 std::cout << "Normal to the plane: n" << std::endl;
205 std::cout << (n).t() << std::endl;
206
207 std::cout << "-------------------------------" << std::endl;
208 std::cout << "Compare with built homography H = R + t/d " << std::endl;
209 vpPlane bp(0, 0, 1, 1);
210 vpHomography aHb_built(aMb, bp);
211 std::cout << "aHb built from the displacement " << std::endl;
212 std::cout << std::endl << aHb_built / aHb_built[2][2] << std::endl;
213
214 aHb_built.computeDisplacement(aRb, aTb, n);
215 std::cout << "Rotation: aRb" << std::endl;
216 std::cout << aRb << std::endl;
217 std::cout << "Translation: aTb" << std::endl;
218 std::cout << (aTb).t() << std::endl;
219 std::cout << "Normal to the plane: n" << std::endl;
220 std::cout << (n).t() << std::endl;
221
222 std::cout << "-------------------------------" << std::endl;
223 std::cout << "test if ap = aHb bp" << std::endl;
224
225 for (unsigned int i = 0; i < nbpt; i++) {
226 std::cout << "Point " << i << std::endl;
227 vpPoint p;
228 std::cout << "(";
229 std::cout << aP[i].get_x() / aP[i].get_w() << ", " << aP[i].get_y() / aP[i].get_w();
230 std::cout << ") = (";
231 p = aHb * bP[i];
232 std::cout << p.get_x() / p.get_w() << ", " << p.get_y() / p.get_w() << ")" << std::endl;
233 }
234
235 std::cout << "-------------------------------" << std::endl;
236 std::cout << "test displacement" << std::endl;
237
238 std::list<vpRotationMatrix> laRb;
239 std::list<vpTranslationVector> laTb;
240 std::list<vpColVector> lnb;
241
242 vpHomography::computeDisplacement(aHb, bP[0].get_x(), bP[0].get_y(), laRb, laTb, lnb);
243
244 std::list<vpRotationMatrix>::const_iterator it_laRb = laRb.begin();
245 std::list<vpTranslationVector>::const_iterator it_laTb = laTb.begin();
246 std::list<vpColVector>::const_iterator it_lnb = lnb.begin();
247
248 int k = 1;
249 while (it_lnb != lnb.end()) {
250 std::cout << "Solution " << k++ << std::endl;
251
252 aRb = *it_laRb;
253 aTb = *it_laTb;
254 n = *it_lnb;
255 std::cout << "Rotation: aRb" << std::endl;
256 std::cout << aRb << std::endl;
257 std::cout << "Translation: aTb" << std::endl;
258 std::cout << (aTb).t() << std::endl;
259 std::cout << "Normal to the plane: n" << std::endl;
260 std::cout << (n).t() << std::endl;
261
262 ++it_laRb;
263 ++it_laTb;
264 ++it_lnb;
265 }
266 return EXIT_SUCCESS;
267 } catch (const vpException &e) {
268 std::cout << "Catch an exception: " << e << std::endl;
269 return EXIT_FAILURE;
270 }
271#else
272 (void)argc;
273 (void)argv;
274 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
275 return EXIT_SUCCESS;
276#endif
277}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:175
static void HLM(const std::vector< double > &xb, const std::vector< double > &yb, const std::vector< double > &xa, const std::vector< double > &ya, bool isplanar, vpHomography &aHb)
void computeDisplacement(vpRotationMatrix &aRb, vpTranslationVector &atb, vpColVector &n)
static double rad(double deg)
Definition: vpMath.h:110
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
This class defines the container for a plane geometrical structure.
Definition: vpPlane.h:59
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
double get_w() const
Get the point w coordinate in the image plane.
Definition: vpPoint.cpp:474
double get_y() const
Get the point y coordinate in the image plane.
Definition: vpPoint.cpp:472
double get_x() const
Get the point x coordinate in the image plane.
Definition: vpPoint.cpp:470
void setWorldCoordinates(double oX, double oY, double oZ)
Definition: vpPoint.cpp:113
Implementation of a rotation matrix and operations on such kind of matrices.
Class that consider the case of a translation vector.