Visual Servoing Platform  version 3.2.0 under development (2018-12-14)
testFindMatch.cpp

Find Matches using Ransac.

/****************************************************************************
*
* This file is part of the ViSP software.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
*
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Compute the pose of a 3D object using the Dementhon method. Assuming that
* the correspondance between 2D points and 3D points is not done, we use
* the RANSAC algorithm to achieve this task
*
* Authors:
* Aurelien Yol
*
*****************************************************************************/
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/vision/vpPose.h>
#include <stdio.h>
#include <stdlib.h>
#define L 0.1
int main()
{
try {
std::cout << "Find Matches using Ransac" << std::endl;
std::vector<vpPoint> P;
P.push_back(vpPoint(-L, -L, 0));
P.push_back(vpPoint(L, -L, 0));
P.push_back(vpPoint(L, L, 0));
P.push_back(vpPoint(-L, L, 0));
P.push_back(vpPoint(-0, L / 2., L));
std::vector<vpPoint> p(P.size());
for (unsigned int i = 0; i < P.size(); i++) {
vpPoint pt = P[i];
pt.project(cMo_ref);
p[i].set_x(pt.get_x());
p[i].set_y(pt.get_y());
}
unsigned int ninliers;
std::vector<vpPoint> inliers;
double threshold = 1e-6;
unsigned int nbInlierToReachConsensus = (unsigned int)(P.size());
vpPose::findMatch(p, P, nbInlierToReachConsensus, threshold, ninliers, inliers, cMo);
std::cout << "Inliers: " << std::endl;
for (unsigned int i = 0; i < inliers.size(); i++) {
inliers[i].print();
std::cout << std::endl;
}
std::cout << "cMo :\n" << vpPoseVector(cMo).t() << std::endl << std::endl;
vpPoseVector pose_ref = vpPoseVector(cMo_ref);
vpPoseVector pose_est = vpPoseVector(cMo);
std::cout << std::endl;
std::cout << "reference cMo :\n" << pose_ref.t() << std::endl << std::endl;
std::cout << "estimated cMo :\n" << pose_est.t() << std::endl << std::endl;
int test_fail = 0;
for (unsigned int i = 0; i < 6; i++) {
if (std::fabs(pose_ref[i] - pose_est[i]) > 0.001)
test_fail = 1;
}
std::cout << "Matching is " << (test_fail ? "badly" : "well") << " performed" << std::endl;
return test_fail;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}