Visual Servoing Platform  version 3.2.0 under development (2018-08-16)
tutorial-pose-from-points-image.cpp
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/vision/vpPose.h>
void computePose(std::vector<vpPoint> &point, const std::vector<vpDot2> &dot, const vpCameraParameters &cam, bool init,
{
vpPose pose;
double x = 0, y = 0;
for (unsigned int i = 0; i < point.size(); i++) {
vpPixelMeterConversion::convertPoint(cam, dot[i].getCog(), x, y);
point[i].set_x(x);
point[i].set_y(y);
pose.addPoint(point[i]);
}
if (init == true) {
pose.computePose(vpPose::LAGRANGE, cMo_lag);
double residual_dem = pose.computeResidual(cMo_dem);
double residual_lag = pose.computeResidual(cMo_lag);
if (residual_dem < residual_lag)
cMo = cMo_dem;
else
cMo = cMo_lag;
}
}
int main()
{
try {
vpImageIo::read(I, "square.pgm");
#if defined(VISP_HAVE_X11)
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#endif
vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
std::vector<vpDot2> dot(4);
dot[0].initTracking(I, vpImagePoint(193, 157));
dot[1].initTracking(I, vpImagePoint(203, 366));
dot[2].initTracking(I, vpImagePoint(313, 402));
dot[3].initTracking(I, vpImagePoint(304, 133));
std::vector<vpPoint> point;
point.push_back(vpPoint(-0.06, -0.06, 0));
point.push_back(vpPoint(0.06, -0.06, 0));
point.push_back(vpPoint(0.06, 0.06, 0));
point.push_back(vpPoint(-0.06, 0.06, 0));
bool init = true;
while (1) {
vpImageIo::read(I, "square.pgm");
for (unsigned int i = 0; i < dot.size(); i++) {
dot[i].setGraphics(true);
dot[i].track(I);
}
computePose(point, dot, cam, init, cMo);
if (init)
init = false; // turn off pose initialisation
if (vpDisplay::getClick(I, false))
break;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
}
}