Visual Servoing Platform version 3.5.0
tutorial-homography-from-points.cpp
1
2
4#include <visp3/vision/vpHomography.h>
6#include <visp3/core/vpMeterPixelConversion.h>
7
8int main()
9{
11 double L = 0.1;
12 std::vector<vpPoint> oP;
13 oP.push_back(vpPoint(-L, -L, 0));
14 oP.push_back(vpPoint(2 * L, -L, 0));
15 oP.push_back(vpPoint(L, 3 * L, 0));
16 oP.push_back(vpPoint(-L, 4 * L, 0));
18
20 vpHomogeneousMatrix bMo(0.1, 0, 1, 0, vpMath::rad(15), 0);
21 vpHomogeneousMatrix aMb(0.2, -0.1, 0.1, vpMath::rad(-3), vpMath::rad(20), vpMath::rad(5));
22 vpHomogeneousMatrix aMo = aMb * bMo;
24
26 std::vector<vpPoint> aP(4), bP(4);
27 std::vector<double> xa(4), ya(4), xb(4), yb(4);
28 for (unsigned int i = 0; i < 4; i++) {
29 oP[i].project(aMo);
30 xa[i] = oP[i].get_x();
31 ya[i] = oP[i].get_y();
32 oP[i].project(bMo);
33 xb[i] = oP[i].get_x();
34 yb[i] = oP[i].get_y();
35 }
37
39 vpHomography aHb;
40 vpHomography::DLT(xb, yb, xa, ya, aHb, true);
41 std::cout << "Estimated homography using DLT:\n" << aHb / aHb[2][2] << std::endl;
42
43 vpHomography::HLM(xb, yb, xa, ya, true, aHb);
44 std::cout << "Estimated homography using HLM:\n" << aHb / aHb[2][2] << std::endl;
46
51 aHb.computeDisplacement(aRb, atb, n);
53
55 std::cout << "\nEstimated displacement:" << std::endl;
56 std::cout << " atb: " << atb.t() << std::endl;
57 vpThetaUVector atub;
58 atub.buildFrom(aRb);
59 std::cout << " athetaub: ";
60 for (unsigned int i = 0; i < 3; i++)
61 std::cout << vpMath::deg(atub[i]) << " ";
62 std::cout << std::endl;
63 std::cout << " n: " << n.t() << std::endl;
65
67 vpImagePoint iPa, iPb;
69 vpMeterPixelConversion::convertPoint(cam, xb[3], yb[3], iPb);
70 vpMeterPixelConversion::convertPoint(cam, xa[3], ya[3], iPa);
71
72 std::cout << "Ground truth: Point 3 in pixels in frame b: " << iPb << std::endl;
73 std::cout << "Ground truth: Point 3 in pixels in frame a: " << iPa << std::endl;
75
77 // Project the position in pixel of point 3 from the homography
78 std::cout << "Estimation from homography: Point 3 in pixels in frame a: " << vpHomography::project(cam, aHb, iPb)
79 << std::endl;
81}
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
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 DLT(const std::vector< double > &xb, const std::vector< double > &yb, const std::vector< double > &xa, const std::vector< double > &ya, vpHomography &aHb, bool normalization=true)
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 vpImagePoint project(const vpCameraParameters &cam, const vpHomography &bHa, const vpImagePoint &iPa)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static double rad(double deg)
Definition: vpMath.h:110
static double deg(double rad)
Definition: vpMath.h:103
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
Class that consider the case of a translation vector.
vpRowVector t() const