homographyHLM2DObject.cpp

Example of the HLM (Malis) homography estimation algorithm with a planar object using vpHomography class.

/****************************************************************************
 *
 * $Id: homographyHLM2DObject.cpp 4658 2014-02-09 09:50:14Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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:
 * Example of the HLM (Malis) homography estimation algorithm.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#include <visp/vpMath.h>
#include <visp/vpRotationMatrix.h>
#include <visp/vpHomography.h>
#include <visp/vpDebug.h>
#include <visp/vpThetaUVector.h>

#include <visp/vpPoint.h>
#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpDebug.h>
#include <visp/vpParseArgv.h>
#include <stdlib.h>
// List of allowed command line options
#define GETOPTARGS  "h"
#define L 0.1
#define nbpt 5

void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv);

void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
Test the HLM (Malis) homography estimation algorithm with a planar object.\n\
\n\
SYNOPSIS\n\
  %s [-h]\n", name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -h\n\
     Print the help.\n");

  if (badparam) {
    fprintf(stderr, "ERROR: \n" );
    fprintf(stderr, "\nBad parameter [%s]\n", badparam);
  }
}
bool getOptions(int argc, const char **argv)
{
  const char *optarg_;
  int   c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {

    switch (c) {
    case 'h': usage(argv[0], NULL); return false; break;

    default:
      usage(argv[0], optarg_);
      return false; break;
    }
  }

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }

  return true;
}


int
main(int argc, const char ** argv)
{
  try {
    // Read the command line options
    if (getOptions(argc, argv) == false) {
      exit (-1);
    }

    vpPoint P[nbpt]  ;  //  Point to be tracked
    std::vector<double> xa(nbpt), ya(nbpt) ;
    std::vector<double> xb(nbpt), yb(nbpt) ;

    vpPoint aP[nbpt]  ;  //  Point to be tracked
    vpPoint bP[nbpt]  ;  //  Point to be tracked

    P[0].setWorldCoordinates(-L,-L, 0 ) ;
    P[1].setWorldCoordinates(2*L,-L, 0 ) ;
    P[2].setWorldCoordinates(L,L, 0 ) ;
    P[3].setWorldCoordinates(-L,3*L, 0 ) ;
    P[4].setWorldCoordinates(0,0, 0 ) ;
    /*
    P[5].setWorldCoordinates(10,20, 0 ) ;
    P[6].setWorldCoordinates(-10,12, 0 ) ;
  */
    vpHomogeneousMatrix bMo(0,0,1, 0,0,0) ;
    vpHomogeneousMatrix aMb(1,0,0.0,vpMath::rad(10),0,vpMath::rad(40)) ;
    vpHomogeneousMatrix aMo =aMb*bMo ;
    for(unsigned int i=0 ; i < nbpt ; i++)
    {
      P[i].project(aMo) ;
      aP[i] = P[i] ;
      xa[i] = P[i].get_x() ;
      ya[i] = P[i].get_y() ;
    }

    for(unsigned int i=0 ; i < nbpt ; i++)
    {
      P[i].project(bMo) ;
      bP[i] = P[i] ;
      xb[i] = P[i].get_x() ;
      yb[i] = P[i].get_y() ;
    }
    std::cout << "-------------------------------" <<std::endl ;
    std::cout << "aMb "<<std::endl <<aMb << std::endl ;
    std::cout << "-------------------------------" <<std::endl ;
    vpHomography aHb ;

    vpHomography::HLM(xb, yb, xa, ya, true, aHb) ;

    aHb /= aHb[2][2] ;
    std::cout << "aHb computed using the Malis paralax  algorithm: \n" << aHb<< std::endl ;

    vpRotationMatrix aRb  ;
    vpTranslationVector aTb ;
    vpColVector n ;

    std::cout << "-------------------------------" <<std::endl ;
    std::cout << "extract R, T and n " << std::endl;
    aHb.computeDisplacement(aRb, aTb, n) ;
    std::cout << "Rotation: aRb" <<std::endl ;
    std::cout << aRb << std::endl ;
    std::cout << "Translation: aTb" <<std::endl;
    std::cout << (aTb).t() <<std::endl   ;
    std::cout << "Normal to the plane: n" <<std::endl;
    std::cout << (n).t() <<std::endl ;


    std::cout << "-------------------------------" <<std::endl ;
    std::cout << "Compare with built homography H = R + t/d " << std::endl ;
    vpPlane bp(0,0,1,1) ;
    vpHomography aHb_built(aMb,bp) ;
    std::cout << "aHb built from the displacement " << std::endl ;
    std::cout <<  std::endl <<aHb_built/aHb_built[2][2] << std::endl ;

    aHb_built.computeDisplacement(aRb, aTb, n) ;
    std::cout << "Rotation: aRb" <<std::endl ;
    std::cout << aRb << std::endl ;
    std::cout << "Translation: aTb" <<std::endl;
    std::cout << (aTb).t() <<std::endl ;
    std::cout << "Normal to the plane: n" <<std::endl;
    std::cout << (n).t() <<std::endl ;

    std::cout << "-------------------------------" << std::endl ;
    std::cout << "test if ap = aHb bp" << std::endl ;

    for(unsigned int i=0 ; i < nbpt ; i++)
    {
      std::cout << "Point "<< i<< std::endl ;
      vpPoint p ;
      std::cout << "(" ;
      std::cout << aP[i].get_x()/aP[i].get_w()<<", "<< aP[i].get_y()/aP[i].get_w() ;
      std::cout <<") =  (" ;
      p = aHb*bP[i] ;
      std::cout << p.get_x() /p.get_w()<<",  "<< p.get_y()/ p.get_w() <<")"<<std::endl ;
    }

    std::cout << "-------------------------------" <<std::endl ;
    std::cout << "test displacement" << std::endl ;

    std::list<vpRotationMatrix> laRb ;
    std::list<vpTranslationVector> laTb ;
    std::list<vpColVector> lnb ;

    vpHomography::computeDisplacement(aHb,bP[0].get_x(),bP[0].get_y(),
        laRb, laTb, lnb) ;

    std::list<vpRotationMatrix>::const_iterator it_laRb = laRb.begin();
    std::list<vpTranslationVector>::const_iterator it_laTb = laTb.begin();
    std::list<vpColVector>::const_iterator it_lnb = lnb.begin();

    int k =1 ;
    while (it_lnb != lnb.end())
    {
      std::cout << "Solution " << k++ << std::endl ;

      aRb = *it_laRb;
      aTb = *it_laTb;
      n = *it_lnb;
      std::cout << "Rotation: aRb" <<std::endl ;
      std::cout << aRb << std::endl ;
      std::cout << "Translation: aTb" <<std::endl;
      std::cout << (aTb).t() <<std::endl ;
      std::cout << "Normal to the plane: n" <<std::endl;
      std::cout << (n).t() <<std::endl ;

      ++ it_laRb;
      ++ it_laTb;
      ++ it_lnb;
    }
    return 0;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}