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

Compute the pose of a 3D object using the Dementhon, Lagrange and Non-Linear approach.

/****************************************************************************
*
* 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 of a 3D object using the Dementhon, Lagrange and
* Non-Linear approach.
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/vision/vpPose.h>
#include <stdio.h>
#include <stdlib.h>
#define L 0.035
void print_pose(const vpHomogeneousMatrix &cMo, const std::string &legend);
int compare_pose(const vpPose &pose, const vpHomogeneousMatrix &cMo_ref, const vpHomogeneousMatrix &cMo_est,
const std::string &legend);
// print the resulting estimated pose
void print_pose(const vpHomogeneousMatrix &cMo, const std::string &legend)
{
std::cout << std::endl
<< legend << "\n "
<< "tx = " << cpo[0] << "\n "
<< "ty = " << cpo[1] << "\n "
<< "tz = " << cpo[2] << "\n "
<< "tux = vpMath::rad(" << vpMath::deg(cpo[3]) << ")\n "
<< "tuy = vpMath::rad(" << vpMath::deg(cpo[4]) << ")\n "
<< "tuz = vpMath::rad(" << vpMath::deg(cpo[5]) << ")\n"
<< std::endl;
}
// test if pose is well estimated
int compare_pose(const vpPose &pose, const vpHomogeneousMatrix &cMo_ref, const vpHomogeneousMatrix &cMo_est,
const std::string &legend)
{
vpPoseVector pose_ref = vpPoseVector(cMo_ref);
vpPoseVector pose_est = vpPoseVector(cMo_est);
int fail = 0;
// Test done on the 3D pose
for (unsigned int i = 0; i < 6; i++) {
if (std::fabs(pose_ref[i] - pose_est[i]) > 0.001)
fail = 1;
}
std::cout << "Based on 3D parameters " << legend << " is " << (fail ? "badly" : "well") << " estimated" << std::endl;
// Test done on the residual
double r = pose.computeResidual(cMo_est);
if (pose.listP.size() < 4) {
fail = 1;
std::cout << "Not enough point" << std::endl;
return fail;
}
r = sqrt(r) / pose.listP.size();
// std::cout << "Residual on each point (meter): " << r << std::endl;
fail = (r > 0.1) ? 1 : 0;
std::cout << "Based on 2D residual (" << r << ") " << legend << " is " << (fail ? "badly" : "well") << " estimated"
<< std::endl;
return fail;
}
int main()
{
try {
vpPoint P[5]; // Point to be tracked
vpPose pose;
pose.clearPoint();
P[0].setWorldCoordinates(-L, -L, 0);
P[1].setWorldCoordinates(L, -L, 0);
P[2].setWorldCoordinates(L, L, 0);
P[3].setWorldCoordinates(-2 * L, 3 * L, 0);
P[4].setWorldCoordinates(-L, L, 0.01);
int test_fail = 0, fail = 0;
vpPoseVector cpo_ref = vpPoseVector(0.01, 0.02, 0.25, vpMath::rad(5), 0, vpMath::rad(10));
vpHomogeneousMatrix cMo_ref(cpo_ref);
vpHomogeneousMatrix cMo; // will contain the estimated pose
for (int i = 0; i < 5; i++) {
P[i].project(cMo_ref);
// P[i].print();
pose.addPoint(P[i]); // and added to the pose computation class
}
// Let's go ...
print_pose(cMo_ref,
std::string("Reference pose")); // print the reference pose
std::cout << "-------------------------------------------------" << std::endl;
print_pose(cMo, std::string("Pose estimated by Lagrange"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange");
test_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
print_pose(cMo, std::string("Pose estimated by Dementhon"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon");
test_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.setRansacThreshold(0.01);
print_pose(cMo, std::string("Pose estimated by Ransac"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Ransac");
test_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
print_pose(cMo, std::string("Pose estimated by Lagrange than Lowe"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange than Lowe");
test_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
print_pose(cMo, std::string("Pose estimated by Dementhon than Lowe"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon than Lowe");
test_fail |= fail;
// Now Virtual Visual servoing
std::cout << "--------------------------------------------------" << std::endl;
print_pose(cMo, std::string("Pose estimated by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by VVS");
test_fail |= fail;
std::cout << "-------------------------------------------------" << std::endl;
print_pose(cMo, std::string("Pose estimated by Dementhon than by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon than by VVS");
test_fail |= fail;
std::cout << "-------------------------------------------------" << std::endl;
print_pose(cMo, std::string("Pose estimated by Lagrange than by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange than by VVS");
test_fail |= fail;
std::cout << "\nGlobal pose estimation test " << (test_fail ? "fail" : "is ok") << std::endl;
return test_fail;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}