Visual Servoing Platform version 3.6.0
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homographyHLM3DObject.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test the HLM (Malis) homography estimation algorithm with a 3D object.
33 *
34*****************************************************************************/
35
52#include <visp3/core/vpDebug.h>
53#include <visp3/core/vpMath.h>
54#include <visp3/core/vpRotationMatrix.h>
55#include <visp3/core/vpThetaUVector.h>
56#include <visp3/vision/vpHomography.h>
57
58#include <stdlib.h>
59#include <visp3/core/vpDebug.h>
60#include <visp3/core/vpHomogeneousMatrix.h>
61#include <visp3/core/vpMath.h>
62#include <visp3/core/vpPoint.h>
63#include <visp3/io/vpParseArgv.h>
64// List of allowed command line options
65#define GETOPTARGS "h"
66
67#define L 0.1
68#define nbpt 11
69
70void usage(const char *name, const char *badparam);
71bool getOptions(int argc, const char **argv);
72
82void usage(const char *name, const char *badparam)
83{
84 fprintf(stdout, "\n\
85Test the HLM (Malis) homography estimation algorithm with a 3D object.\n\
86\n\
87SYNOPSIS\n\
88 %s [-h]\n",
89 name);
90
91 fprintf(stdout, "\n\
92OPTIONS: Default\n\
93 -h\n\
94 Print the help.\n");
95
96 if (badparam) {
97 fprintf(stderr, "ERROR: \n");
98 fprintf(stderr, "\nBad parameter [%s]\n", badparam);
99 }
100}
111bool getOptions(int argc, const char **argv)
112{
113 const char *optarg_;
114 int c;
115 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
116
117 switch (c) {
118 case 'h':
119 usage(argv[0], NULL);
120 return false;
121 break;
122
123 default:
124 usage(argv[0], optarg_);
125 return false;
126 break;
127 }
128 }
129
130 if ((c == 1) || (c == -1)) {
131 // standalone param or error
132 usage(argv[0], NULL);
133 std::cerr << "ERROR: " << std::endl;
134 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
135 return false;
136 }
137
138 return true;
139}
140
141int main(int argc, const char **argv)
142{
143#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
144 try {
145 // Read the command line options
146 if (getOptions(argc, argv) == false) {
147 return EXIT_FAILURE;
148 }
149
150 vpPoint P[nbpt]; // Point to be tracked
151 std::vector<double> xa(nbpt), ya(nbpt);
152 std::vector<double> xb(nbpt), yb(nbpt);
153
154 vpPoint aP[nbpt]; // Point to be tracked
155 vpPoint bP[nbpt]; // Point to be tracked
156
157 P[0].setWorldCoordinates(-L, -L, 0);
158 P[1].setWorldCoordinates(2 * L, -L, 0);
159 P[2].setWorldCoordinates(L, L, 0);
160 P[3].setWorldCoordinates(-L, 3 * L, 0);
161 P[4].setWorldCoordinates(0, 0, L);
162 P[5].setWorldCoordinates(L, -2 * L, L);
163 P[6].setWorldCoordinates(L, -4 * L, 2 * L);
164 P[7].setWorldCoordinates(-2 * L, -L, -L);
165 P[8].setWorldCoordinates(-5 * L, -5 * L, L);
166 P[9].setWorldCoordinates(-2 * L, +3 * L, 2 * L);
167 P[10].setWorldCoordinates(-2 * L, -0.5 * L, 2 * L);
168
169 vpHomogeneousMatrix bMo(0, 0, 1, 0, 0, 0);
170 vpHomogeneousMatrix aMb(0.1, 0.1, 0.1, vpMath::rad(10), 0, vpMath::rad(40));
171 vpHomogeneousMatrix aMo = aMb * bMo;
172 for (unsigned int i = 0; i < nbpt; i++) {
173 P[i].project(aMo);
174 aP[i] = P[i];
175 xa[i] = P[i].get_x();
176 ya[i] = P[i].get_y();
177 }
178
179 for (unsigned int i = 0; i < nbpt; i++) {
180 P[i].project(bMo);
181 bP[i] = P[i];
182 xb[i] = P[i].get_x();
183 yb[i] = P[i].get_y();
184 }
185
188 vpColVector n;
189 std::cout << "-------------------------------" << std::endl;
190 std::cout << "Compare with built homography H = R + t/d n " << std::endl;
191 vpPlane bp(0, 0, 1, 1);
192 vpHomography aHb_built(aMb, bp);
193 std::cout << "aHb built from the displacement: \n" << aHb_built / aHb_built[2][2] << std::endl;
194
195 aHb_built.computeDisplacement(aRb, aTb, n);
196 std::cout << "Rotation: aRb" << std::endl;
197 std::cout << aRb << std::endl;
198 std::cout << "Translation: aTb" << std::endl;
199 std::cout << (aTb).t() << std::endl;
200 std::cout << "Normal to the plane: n" << std::endl;
201 std::cout << (n).t() << std::endl;
202
203 std::cout << "-------------------------------" << std::endl;
204 std::cout << "aMb " << std::endl << aMb << std::endl;
205 std::cout << "-------------------------------" << std::endl;
206 vpHomography aHb;
207
208 vpHomography::HLM(xb, yb, xa, ya, false, aHb);
209
210 std::cout << "aHb computed using the Malis paralax algorithm" << std::endl;
211 aHb /= aHb[2][2];
212 std::cout << std::endl << aHb << std::endl;
213
214 std::cout << "-------------------------------" << std::endl;
215 std::cout << "extract R, T and n " << std::endl;
216 aHb.computeDisplacement(aRb, aTb, n);
217 std::cout << "Rotation: aRb" << std::endl;
218 std::cout << aRb << std::endl;
219 std::cout << "Translation: aTb" << std::endl;
220 std::cout << (aTb).t() << std::endl;
221 std::cout << "Normal to the plane: n" << std::endl;
222 std::cout << (n).t() << std::endl;
223
224 std::cout << "-------------------------------" << std::endl;
225 std::cout << "test if ap = aHb bp" << std::endl;
226
227 for (unsigned int i = 0; i < nbpt; i++) {
228 std::cout << "Point " << i << std::endl;
229 vpPoint p;
230 std::cout << "(";
231 std::cout << aP[i].get_x() / aP[i].get_w() << ", " << aP[i].get_y() / aP[i].get_w();
232 std::cout << ") = (";
233 p = aHb * bP[i];
234 std::cout << p.get_x() / p.get_w() << ", " << p.get_y() / p.get_w() << ")" << std::endl;
235 }
236 return EXIT_SUCCESS;
237 }
238 catch (const vpException &e) {
239 std::cout << "Catch an exception: " << e << std::endl;
240 return EXIT_FAILURE;
241 }
242#else
243 (void)argc;
244 (void)argv;
245 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
246 return EXIT_SUCCESS;
247#endif
248}
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of an homography and operations on homographies.
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:116
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
This class defines the container for a plane geometrical structure.
Definition vpPlane.h:54
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
double get_w() const
Get the point w coordinate in the image plane.
Definition vpPoint.cpp:471
double get_y() const
Get the point y coordinate in the image plane.
Definition vpPoint.cpp:469
double get_x() const
Get the point x coordinate in the image plane.
Definition vpPoint.cpp:467
void setWorldCoordinates(double oX, double oY, double oZ)
Definition vpPoint.cpp:110
Implementation of a rotation matrix and operations on such kind of matrices.
Class that consider the case of a translation vector.