Visual Servoing Platform version 3.5.0
testDisplacement.cpp
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30 *
31 * Description:
32 * Tests transformation within various representations of rotation.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
48#include <stdio.h>
49#include <stdlib.h>
50#include <visp3/core/vpDebug.h>
51#include <visp3/core/vpMath.h>
52#include <visp3/core/vpRotationMatrix.h>
53#include <visp3/core/vpThetaUVector.h>
54#include <visp3/vision/vpHomography.h>
55
56bool test(const std::string &s, const vpHomography &H, const std::vector<double> &bench)
57{
58 static unsigned int cpt = 0;
59 std::cout << "** Test " << ++cpt << std::endl;
60 std::cout << s << "(" << H.getRows() << "," << H.getCols() << ") = \n[" << H << "]" << std::endl;
61 if (bench.size() != H.size()) {
62 std::cout << "Test fails: bad size wrt bench" << std::endl;
63 return false;
64 }
65 for (unsigned int i = 0; i < H.size(); i++) {
66 if (std::fabs(H.data[i] - bench[i]) > std::fabs(H.data[i]) * std::numeric_limits<double>::epsilon()) {
67 std::cout << "Test fails: bad content" << std::endl;
68 return false;
69 }
70 }
71
72 return true;
73}
74
75int main()
76{
77#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
78 try {
79 {
81 H.eye();
82 std::vector<double> bench(9, 0);
83 bench[0] = bench[4] = bench[8] = 1.;
84 int err = 1;
85 if (test("H", H, bench) == false)
86 return err;
87 if (test("H", H / H[2][2], bench) == false)
88 return err;
89 }
90 {
92
93 std::cout << "Initialization " << std::endl;
94 // std::cout << tu << std::endl ;
95
96 std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl;
97 vpRotationMatrix R(tu);
98
99 // pure rotation
101 M.insert(R);
102
103 std::cout << "M" << std::endl << M << std::endl;
104 vpPlane p(0, 0, 1, 1);
105
106 vpHomography H(M, p);
107
108 std::cout << "H" << std::endl << H << std::endl;
109
110 vpColVector n;
112
113 H.computeDisplacement(R, T, n);
114
115 std::cout << "R" << std::endl << R;
116 std::cout << "T" << std::endl << T.t() << std::endl;
117 std::cout << "n" << std::endl << n.t() << std::endl;
118 }
119 std::cout << "------------------------------------------------------" << std::endl;
120
121 {
123
124 std::cout << "Initialization " << std::endl;
125 // std::cout << tu << std::endl ;
126
127 std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl;
128 vpRotationMatrix R(tu);
129
130 // pure rotation
132 M.insert(R);
133
134 M[0][3] = 0.21;
135 M[1][3] = 0.31;
136 M[2][3] = 0.5;
137
138 std::cout << "M" << std::endl << M << std::endl;
139 vpPlane p(0, 0, 1, 1);
140
141 vpHomography H(M, p);
142
143 std::cout << "H" << std::endl << H << std::endl;
144
145 vpColVector n;
147
148 H.computeDisplacement(R, T, n);
149
150 std::cout << "R" << std::endl << R;
151 std::cout << "T" << std::endl << T.t() << std::endl;
152 std::cout << "n" << std::endl << n.t() << std::endl;
153 }
154
155 std::cout << "------------------------------------------------------" << std::endl;
156 {
158
159 vpRotationMatrix R(tu);
160
161 // pure rotation
163 M.insert(R);
164
165 M[0][3] = 0.21;
166 M[1][3] = -0.31;
167 M[2][3] = 0.5;
168
169 std::cout << "M" << std::endl << M << std::endl;
170 vpPlane p(0.4, -0.5, 0.5, 1);
171
172 vpHomography H(M, p);
173
174 std::cout << "H" << std::endl << H << std::endl;
175
176 vpColVector n;
178 H.computeDisplacement(R, T, n);
179
180 std::cout << "R" << std::endl << R;
181 std::cout << "T" << std::endl << T.t() << std::endl;
182 std::cout << "n" << std::endl << n.t() << std::endl;
183
184 vpPlane p1(n[0], n[1], n[2], 1.0);
185 H.buildFrom(R, T, p1);
186 std::cout << "H" << std::endl << H << std::endl;
187 }
188 std::cout << "All tests succeed" << std::endl;
189 return EXIT_SUCCESS;
190 } catch (const vpException &e) {
191 std::cout << "Catch an exception: " << e << std::endl;
192 return EXIT_FAILURE;
193 }
194#else
195 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
196 return EXIT_SUCCESS;
197#endif
198}
unsigned int getCols() const
Definition: vpArray2D.h:279
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
unsigned int getRows() const
Definition: vpArray2D.h:289
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
error that can be emited by ViSP classes.
Definition: vpException.h:72
Implementation of an homogeneous matrix and operations on such kind of matrices.
void insert(const vpRotationMatrix &R)
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:175
void buildFrom(const vpRotationMatrix &aRb, const vpTranslationVector &atb, const vpPlane &bP)
Construction from Translation and rotation and a plane.
void computeDisplacement(vpRotationMatrix &aRb, vpTranslationVector &atb, vpColVector &n)
static double rad(double deg)
Definition: vpMath.h:110
This class defines the container for a plane geometrical structure.
Definition: vpPlane.h:59
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.
vpRowVector t() const