Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
testPoseFeatures.cpp

Compute the pose from different visual features.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* 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
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* 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 from visual features by virtual visual servoing.
*
* Authors:
* Aurelien Yol
*
*****************************************************************************/
#include <iostream>
#include <limits>
#include <vector>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpPoint.h>
#include <visp3/vision/vpPose.h>
#include <visp3/vision/vpPoseFeatures.h>
#ifndef DOXYGEN_SHOULD_SKIP_THIS
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
class vp_createPointClass
{
public:
int value;
vp_createPointClass() : value(0) {}
int vp_createPoint(vpFeaturePoint &fp, const vpPoint &v)
{
value += 1;
return value;
}
};
void vp_createPoint(vpFeaturePoint &fp, const vpPoint &v) { vpFeatureBuilder::create(fp, v); }
void vp_createLine(vpFeatureLine &fp, const vpLine &v) { vpFeatureBuilder::create(fp, v); }
#endif
#endif
int test_pose(bool use_robust)
{
if (use_robust)
std::cout << "** Test robust pose estimation from features\n" << std::endl;
else
std::cout << "** Test pose estimation from features\n" << std::endl;
vpHomogeneousMatrix cMo_ref(0., 0., 1., vpMath::rad(0), vpMath::rad(0), vpMath::rad(60));
vpPoseVector pose_ref = vpPoseVector(cMo_ref);
std::cout << "Reference pose used to create the visual features : " << std::endl;
std::cout << pose_ref.t() << std::endl;
std::vector<vpPoint> pts;
double val = 0.25;
double val2 = 0.0;
// 2D Point Feature
pts.push_back(vpPoint(0.0, -val, val2));
pts.push_back(vpPoint(0.0, val, val2));
pts.push_back(vpPoint(-val, val, val2));
// Segment Feature
pts.push_back(vpPoint(-val, -val / 2.0, val2));
pts.push_back(vpPoint(val, val / 2.0, val2));
// 3D point Feature
pts.push_back(vpPoint(0.0, 0.0, -1.5));
// Line Feature
vpLine line;
line.setWorldCoordinates(0.0, 1.0, 0.0, .0, 0.0, 0.0, 1.0, 0.0);
// Vanishing Point Feature
vpLine l1;
l1.setWorldCoordinates(0.0, 1.0, 0.2, 0.0, 1.0, 0.0, 0.0, -0.25);
vpLine l2;
l2.setWorldCoordinates(0.0, 1.0, 0.2, 0.0, -1.0, 0.0, 0.0, -0.25);
// Ellipse Feature
vpCircle circle;
circle.setWorldCoordinates(0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.25);
pts[0].project(cMo_ref);
pts[1].project(cMo_ref);
pts[2].project(cMo_ref);
pts[3].project(cMo_ref);
pts[4].project(cMo_ref);
pts[5].project(cMo_ref);
line.project(cMo_ref);
l1.project(cMo_ref);
l2.project(cMo_ref);
circle.project(cMo_ref);
pose.addFeaturePoint(pts[0]);
// pose.addFeaturePoint(pts[1]);
pose.addFeaturePoint(pts[2]);
pose.addFeaturePoint3D(pts[5]);
// pose.addFeatureSegment(pts[3],pts[4]);
//
// pose.addFeatureLine(line);
pose.addFeatureEllipse(circle);
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
void (*ptr)(vpFeatureSegment &, vpPoint &, vpPoint &) = &vpFeatureBuilder::create;
vp_createPointClass cpClass;
int (vp_createPointClass::*ptrClass)(vpFeaturePoint &, const vpPoint &) = &vp_createPointClass::vp_createPoint;
pose.addSpecificFeature(&cpClass, ptrClass, fp, pts[1]);
pose.addSpecificFeature(&vp_createLine, fl, line);
pose.addSpecificFeature(ptr, fs, pts[3], pts[4]);
#endif
pose.setVerbose(true);
pose.setLambda(0.6);
pose.setVVSIterMax(200);
vpHomogeneousMatrix cMo_est(0.4, 0.3, 1.5, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
vpPoseVector pose_est = vpPoseVector(cMo_est);
std::cout << "\nPose used as initialisation of the pose computation : " << std::endl;
std::cout << pose_est.t() << std::endl;
if (!use_robust)
pose.computePose(cMo_est);
else
if (!use_robust)
std::cout << "\nEstimated pose from visual features : " << std::endl;
else
std::cout << "\nRobust estimated pose from visual features : " << std::endl;
pose_est.buildFrom(cMo_est);
std::cout << pose_est.t() << std::endl;
std::cout << "\nResulting covariance (Diag): " << std::endl;
vpMatrix covariance = pose.getCovarianceMatrix();
std::cout << covariance[0][0] << " " << covariance[1][1] << " " << covariance[2][2] << " " << covariance[3][3] << " "
<< covariance[4][4] << " " << covariance[5][5] << " " << 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 << "\nPose is " << (test_fail ? "badly" : "well") << " estimated\n" << std::endl;
return test_fail;
}
int main()
{
try {
if (test_pose(false))
return -1;
if (test_pose(true))
return -1;
return 0;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
return -1;
}
}