#include <vpPose.h>

Public Types
enum	vpPoseMethodType { LAGRANGE, DEMENTHON, LOWE, RANSAC, LAGRANGE_LOWE, DEMENTHON_LOWE, VIRTUAL_VS, DEMENTHON_VIRTUAL_VS, LAGRANGE_VIRTUAL_VS }

Public Member Functions
	vpPose ()

virtual	~vpPose ()

void	addPoint (const vpPoint &P)

void	clearPoint ()

void	computePose (vpPoseMethodType methode, vpHomogeneousMatrix &cMo)

double	computeResidual (vpHomogeneousMatrix &cMo)

double	computeResidual ()

bool	coplanar ()

void	displayModel (vpImage< unsigned char > &I, vpCameraParameters &cam, vpColor col=vpColor::none)

void	displayModel (vpImage< vpRGBa > &I, vpCameraParameters &cam, vpColor col=vpColor::none)

void	init ()

void	poseDementhonPlan (vpHomogeneousMatrix &cMo)

void	poseDementhonNonPlan (vpHomogeneousMatrix &cMo)

void	poseLagrangePlan (vpHomogeneousMatrix &cMo)

void	poseLagrangeNonPlan (vpHomogeneousMatrix &cMo)

void	poseLowe (vpHomogeneousMatrix &cMo)

void	poseRansac (vpHomogeneousMatrix &cMo)

void	poseVirtualVSrobust (vpHomogeneousMatrix &cMo)

void	poseVirtualVS (vpHomogeneousMatrix &cMo)

void	printPoint ()

void	setDistanceToPlaneForCoplanarityTest (double d)

void	setLambda (double a)

void	setVvsIterMax (int nb)

void	setRansacNbInliersToReachConsensus (const int &nbC)

void	setRansacThreshold (const double &t)

void	setRansacMaxTrials (const int &rM)

int	getRansacNbInliers ()

std::vector< vpPoint >	getRansacInliers ()

void	setCovarianceComputation (const bool &flag)

vpMatrix	getCovarianceMatrix () const

Static Public Member Functions
static void	display (vpImage< unsigned char > &I, vpHomogeneousMatrix &cMo, vpCameraParameters &cam, double size, vpColor col=vpColor::none)

static void	display (vpImage< vpRGBa > &I, vpHomogeneousMatrix &cMo, vpCameraParameters &cam, double size, vpColor col=vpColor::none)

static double	poseFromRectangle (vpPoint &p1, vpPoint &p2, vpPoint &p3, vpPoint &p4, double lx, vpCameraParameters &cam, vpHomogeneousMatrix &cMo)

static void	findMatch (std::vector< vpPoint > &p2D, std::vector< vpPoint > &p3D, const int &numberOfInlierToReachAConsensus, const double &threshold, unsigned int &ninliers, std::vector< vpPoint > &listInliers, vpHomogeneousMatrix &cMo, const int &maxNbTrials=10000)

Public Attributes
unsigned int	npt

std::list< vpPoint >	listP

double	residual

double	distanceToPlaneForCoplanarityTest

Protected Member Functions
double	computeResidualDementhon (vpHomogeneousMatrix &cMo)

int	calculArbreDementhon (vpMatrix &b, vpColVector &U, vpHomogeneousMatrix &cMo)

Protected Attributes
double	lambda

Deprecated functions
static void	computeTransformation (vpColVector &x, unsigned int *ind, vpColVector &M)

static double	computeResidual (vpColVector &x, vpColVector &M, vpColVector &d)

static bool	degenerateConfiguration (vpColVector &x, unsigned int *ind)

static void	ransac (const unsigned int n, const double x, const double y, const unsigned int m, const double X, const double Y, const double *Z, const int numberOfInlierToReachAConsensus, const double threshold, unsigned int &ninliers, vpColVector &xi, vpColVector &yi, vpColVector &Xi, vpColVector &Yi, vpColVector &Zi, vpHomogeneousMatrix &cMo, const int maxNbTrials=10000)

static vp_deprecated void	ransac (const unsigned int n, const vpPoint p, const unsigned int m, const vpPoint P, const int numberOfInlierToReachAConsensus, const double threshold, unsigned int &ninliers, std::list< vpPoint > &Pi, vpHomogeneousMatrix &cMo, const int maxNbTrials=10000)

static vp_deprecated void	ransac (std::list< vpPoint > &p, std::list< vpPoint > &P, const int numberOfInlierToReachAConsensus, const double threshold, unsigned int &ninliers, std::list< vpPoint > &lPi, vpHomogeneousMatrix &cMo, const int maxNbTrials=10000)

Detailed Description

Class used for pose computation from N points (pose from point only).

Note: It is also possible to estimate a pose from other features using vpPoseFeatures class.

Author: Eric Marchand (INRIA) using code from Francois Chaumette (INRIA)

Date: April, 6 1999 (first issue)

Examples:: AROgre.cpp, AROgreBasic.cpp, calibrate2dGrid.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testPose.cpp, testPoseRansac.cpp, testRobotAfma6Pose.cpp, and testRobotViper850Pose.cpp.

Definition at line 80 of file vpPose.h.

Member Enumeration Documentation

enum vpPose::vpPoseMethodType

Enumerator
LAGRANGE
DEMENTHON
LOWE
RANSAC
LAGRANGE_LOWE
DEMENTHON_LOWE
VIRTUAL_VS
DEMENTHON_VIRTUAL_VS
LAGRANGE_VIRTUAL_VS

Definition at line 83 of file vpPose.h.

Constructor & Destructor Documentation

vpPose::vpPose ( )

constructor

Definition at line 93 of file vpPose.cpp.

References init().

vpPose::~vpPose ( )

virtual

destructor

destructor delete the array of point (freed the memory)

Definition at line 110 of file vpPose.cpp.

References listP.

Member Function Documentation

void vpPose::addPoint ( const vpPoint & newP )

Add a new point in this array.

Add a new point in the array of point.

Parameters

newP	: New point to add in the array of point.

Warning: Considering a point from the class vpPoint, X, Y, and Z will represent the 3D information and x and y its 2D informations. These 5 fields must be initialized to be used within this library

Examples:: AROgre.cpp, AROgreBasic.cpp, calibrate2dGrid.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testPose.cpp, testPoseRansac.cpp, testRobotAfma6Pose.cpp, and testRobotViper850Pose.cpp.

Definition at line 148 of file vpPose.cpp.

References listP, and npt.

Referenced by computeTransformation(), findMatch(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), poseFromRectangle(), and poseRansac().

int vpPose::calculArbreDementhon	(	vpMatrix &	b,
		vpColVector &	U,
		vpHomogeneousMatrix &	cMo
	)

protected

Definition at line 325 of file vpPoseDementhon.cpp.

References computeResidualDementhon(), vpColVector::dotProd(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), npt, vpMatrix::sumSquare(), and vpColVector::t().

Referenced by poseDementhonPlan().

void vpPose::clearPoint ( )

suppress all the point in the array of point

delete the array of point

Examples:: AROgre.cpp, AROgreBasic.cpp, calibrate2dGrid.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, and testPose.cpp.

Definition at line 126 of file vpPose.cpp.

References listP, and npt.

Referenced by computeTransformation(), and vpMbTracker::initClick().

void vpPose::computePose	(	vpPoseMethodType	methode,
		vpHomogeneousMatrix &	cMo
	)

compute the pose for a given method

Compute the pose according to the desired method.

the different method are

LAGRANGE Lagrange approach (test is done to switch between planar and non planar algorithm)

DEMENTHON Dementhon approach (test is done to switch between planar and non planar algorithm)

VIRTUAL_VS Virtual visual servoing approach

DEMENTHON_VIRTUAL_VS Virtual visual servoing approach initialized using Dementhon approach

LAGRANGE_VIRTUAL_VS Virtual visual servoing initialized using Lagrange approach

Examples:: AROgre.cpp, AROgreBasic.cpp, calibrate2dGrid.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testPose.cpp, testPoseRansac.cpp, testRobotAfma6Pose.cpp, and testRobotViper850Pose.cpp.

Definition at line 298 of file vpPose.cpp.

References coplanar(), DEMENTHON, DEMENTHON_LOWE, DEMENTHON_VIRTUAL_VS, LAGRANGE, LAGRANGE_LOWE, LAGRANGE_VIRTUAL_VS, LOWE, vpPoseException::notEnoughPointError, npt, poseDementhonNonPlan(), poseDementhonPlan(), poseLagrangeNonPlan(), poseLagrangePlan(), poseLowe(), poseRansac(), poseVirtualVS(), RANSAC, VIRTUAL_VS, and vpERROR_TRACE.

Referenced by computeTransformation(), findMatch(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), poseFromRectangle(), and poseRansac().

double vpPose::computeResidual ( vpHomogeneousMatrix & cMo )

Compute and return the residual expressed in meter for the pose matrix 'cMo'.

compute the residual (i.e., the quality of the result) compute the residual (in meter for pose M)

Parameters

cMo	: Input pose. The matrix that defines the pose to be tested.

Returns: The value of he residual in meter.

Examples:: servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, and testPose.cpp.

Definition at line 255 of file vpPose.cpp.

References vpPoint::get_x(), vpPoint::get_y(), listP, residual, vpMath::sqr(), and vpForwardProjection::track().

Referenced by vpMbTracker::initClick(), vpMbTracker::initFromPoints(), and poseRansac().

double vpPose::computeResidual ( )

compute the residual (in meter)

double vpPose::computeResidual	(	vpColVector &	x,
		vpColVector &	M,
		vpColVector &	d
	)

static

Evaluate distances between points and model.

this function can certainly be optimized...

Definition at line 357 of file vpPoseRansac.cpp.

References vpPoint::changeFrame(), vpMatrix::data, vpMatrix::getRows(), vpPoint::projection(), vpColVector::resize(), vpPoint::setWorldCoordinates(), and vpMath::sqr().

double vpPose::computeResidualDementhon ( vpHomogeneousMatrix & cMo )

protected

Compute and return the residual expressed in meter for the pose matrix 'pose'.

Parameters

cMo	: the matrix that defines the pose to be tested.

Returns: the value of he residual in meter

Definition at line 739 of file vpPoseDementhon.cpp.

References vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), npt, residual, and vpMath::sqr().

Referenced by calculArbreDementhon(), and poseDementhonPlan().

void vpPose::computeTransformation	(	vpColVector &	x,
		unsigned int *	ind,
		vpColVector &	M
	)

static

Fit model to this random selection of data points.

We chose the Dementhon algorithm to compute the pose

Definition at line 309 of file vpPoseRansac.cpp.

References addPoint(), clearPoint(), computePose(), vpMatrix::data, DEMENTHON, vpColVector::resize(), vpPoint::set_x(), vpPoint::set_y(), vpHomogeneousMatrix::setIdentity(), and vpPoint::setWorldCoordinates().

bool vpPose::coplanar ( )

test the coplanarity of the points

test the coplanarity of the set of points

Returns: true if points are coplanar false if not

Definition at line 176 of file vpPose.cpp.

References distanceToPlaneForCoplanarityTest, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), listP, vpPoseException::notEnoughPointError, npt, vpMath::sqr(), vpDEBUG_TRACE, and vpERROR_TRACE.

Referenced by computePose().

bool vpPose::degenerateConfiguration	(	vpColVector &	x,
		unsigned int *	ind
	)

static

Definition at line 284 of file vpPoseRansac.cpp.

void vpPose::display	(	vpImage< unsigned char > &	I,
		vpHomogeneousMatrix &	cMo,
		vpCameraParameters &	cam,
		double	size,
		vpColor	col = `vpColor::none`
	)

static

Examples:: AROgre.cpp, AROgreBasic.cpp, calibrate2dGrid.cpp, and poseVirtualVS.cpp.

Definition at line 490 of file vpPose.cpp.

References vpDisplay::displayFrame().

void vpPose::display	(	vpImage< vpRGBa > &	I,
		vpHomogeneousMatrix &	cMo,
		vpCameraParameters &	cam,
		double	size,
		vpColor	col = `vpColor::none`
	)

static

Definition at line 501 of file vpPose.cpp.

References vpDisplay::displayFrame().

void vpPose::displayModel	(	vpImage< unsigned char > &	I,
		vpCameraParameters &	cam,
		vpColor	col = `vpColor::none`
	)

Definition at line 516 of file vpPose.cpp.

References vpMeterPixelConversion::convertPoint(), vpDisplay::displayCross(), listP, and vpTracker::p.

void vpPose::displayModel	(	vpImage< vpRGBa > &	I,
		vpCameraParameters &	cam,
		vpColor	col = `vpColor::none`
	)

Definition at line 539 of file vpPose.cpp.

References vpMeterPixelConversion::convertPoint(), vpDisplay::displayCross(), listP, and vpTracker::p.

void vpPose::findMatch	(	std::vector< vpPoint > &	p2D,
		std::vector< vpPoint > &	p3D,
		const int &	numberOfInlierToReachAConsensus,
		const double &	threshold,
		unsigned int &	ninliers,
		std::vector< vpPoint > &	listInliers,
		vpHomogeneousMatrix &	cMo,
		const int &	maxNbTrials = `10000`
	)

static

Match a vector p2D of 2D point (x,y) and a vector p3D of 3D points (X,Y,Z) using the Ransac algorithm.

At least numberOfInlierToReachAConsensus of true correspondance are required to validate the pose

The inliers are given in a vector of vpPoint listInliers.

The pose is returned in cMo.

Parameters

p2D	: Vector of 2d points (x and y attributes are used).
p3D	: Vector of 3d points (oX, oY and oZ attributes are used).
numberOfInlierToReachAConsensus	: The minimum number of inlier to have to consider a trial as correct.
threshold	: The maximum error allowed between the 2d points and the reprojection of its associated 3d points by the current pose (in meter).
ninliers	: Number of inliers found for the best solution.
listInliers	: Vector of points (2d and 3d) that are inliers for the best solution.
cMo	: The computed pose (best solution).
maxNbTrials	: Maximum number of trials before considering a solution fitting the required numberOfInlierToReachAConsensus and threshold cannot be found.

Examples:: testFindMatch.cpp.

Definition at line 226 of file vpPoseRansac.cpp.

References addPoint(), computePose(), getRansacInliers(), getRansacNbInliers(), listP, vpPoseException::notEnoughPointError, RANSAC, vpPoint::set_x(), vpPoint::set_y(), setRansacMaxTrials(), setRansacNbInliersToReachConsensus(), setRansacThreshold(), vpPoint::setWorldCoordinates(), and vpERROR_TRACE.

vpMatrix vpPose::getCovarianceMatrix ( ) const

inline

Get the covariance matrix computed in the Virtual Visual Servoing approach.

Warning: The compute covariance flag has to be true if you want to compute the covariance matrix.

See also: setCovarianceComputation

Definition at line 193 of file vpPose.h.

References vpTRACE.

std::vector<vpPoint> vpPose::getRansacInliers ( )

inline

Examples:: testPoseRansac.cpp.

Definition at line 177 of file vpPose.h.

Referenced by findMatch().

int vpPose::getRansacNbInliers ( )

inline

Definition at line 176 of file vpPose.h.

Referenced by findMatch().

void vpPose::init ( )

basic initialisation (called by the constructors)

Definition at line 67 of file vpPose.cpp.

References distanceToPlaneForCoplanarityTest, lambda, listP, and npt.

Referenced by vpPose().

void vpPose::poseDementhonNonPlan ( vpHomogeneousMatrix & cMo )

compute the pose using Dementhon approach (non planar object)

Compute the pose using Dementhon approach for non planar objects this is a direct implementation of the algorithm proposed by Dementhon and Davis in their 1995 paper.

D. Dementhon, L. Davis. – Model-based object pose in 25 lines of codes. – Int. J. of Computer Vision, 15:123–141, 1995.

Definition at line 69 of file vpPoseDementhon.cpp.

References vpColVector::cross(), vpException::divideByZeroError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), listP, vpColVector::normalize(), npt, vpMatrix::pseudoInverse(), vpColVector::resize(), vpMatrix::resize(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpMatrix::sumSquare(), vpMatrix::t(), and vpERROR_TRACE.

Referenced by computePose().

void vpPose::poseDementhonPlan ( vpHomogeneousMatrix & cMo )

compute the pose using Dementhon approach (planar object)

Compute the pose using Dementhon approach for planar objects this is a direct implementation of the algorithm proposed by Dementhon in his PhD.

Author: Francois Chaumette (simplified by Eric Marchand)

Definition at line 517 of file vpPoseDementhon.cpp.

References calculArbreDementhon(), vpMatrix::column(), computeResidualDementhon(), vpColVector::dotProd(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), vpMatrix::getCols(), vpMatrix::getRows(), listP, npt, vpMatrix::resize(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpMatrix::sumSquare(), vpMatrix::svd(), vpColVector::t(), vpMatrix::t(), and vpERROR_TRACE.

Referenced by computePose().

double vpPose::poseFromRectangle	(	vpPoint &	p1,
		vpPoint &	p2,
		vpPoint &	p3,
		vpPoint &	p4,
		double	lx,
		vpCameraParameters &	cam,
		vpHomogeneousMatrix &	cMo
	)

static

Carries out the camera pose the image of a rectangle and the intrinsec parameters, the length on x axis is known but the proprtion of the rectangle are unknown.

This method is taken from "Markerless Tracking using Planar Structures in the Scene" by Gilles Simon. The idea is to compute the homography H giving the image point of the rectangle by associating them with the coordinates (0,0)(1,0)(1,1/s)(0,1/s) (the rectangle is on the Z=0 plane). If K is the intrinsec parameters matrix, we have s = ||Kh1||/ ||Kh2||. s gives us the proportion of the rectangle

Parameters

p1,p2,p3,p4	the image of the corners of the rectangle (respectively the image of (0,0),(lx,0),(lx,lx/s) and (0,lx/s)) (input)
cam	the camera used (input)
lx	the rectangle size on the x axis (input)
cMo	the camera pose (output)

Returns: int : OK if no pb occurs

Definition at line 577 of file vpPose.cpp.

References addPoint(), vpMatrix::column(), computePose(), DEMENTHON_LOWE, vpCameraParameters::get_K(), vpPoint::get_x(), vpPoint::get_y(), vpHomography::HLM(), vpMatrix::pseudoInverse(), vpMatrix::setIdentity(), vpPoint::setWorldCoordinates(), and vpMatrix::sumSquare().

void vpPose::poseLagrangeNonPlan ( vpHomogeneousMatrix & cMo )

compute the pose using Lagrange approach (non planar object)

Definition at line 366 of file vpPoseLagrange.cpp.

References vpException::divideByZeroError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), listP, npt, vpMatrix::sumSquare(), and vpERROR_TRACE.

Referenced by computePose().

void vpPose::poseLagrangePlan ( vpHomogeneousMatrix & cMo )

compute the pose using Lagrange approach (planar object)

Compute the pose using Lagrange approach.

Definition at line 243 of file vpPoseLagrange.cpp.

References vpException::divideByZeroError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_x(), vpPoint::get_y(), listP, npt, vpMatrix::sumSquare(), and vpERROR_TRACE.

Referenced by computePose().

void vpPose::poseLowe ( vpHomogeneousMatrix & cMo )

Compute the pose using the Lowe non linear approach it consider the minimization of a residual using the levenberg marquartd approach.

compute the pose using the Lowe approach (i.e., using the Levenberg Marquartd non linear minimization approach)

The approach has been proposed by D.G Lowe in 1992 paper

D.G. Lowe. – Robust model-based motion tracking through the integration of search and estimation. – Int. J. of Computer Vision, 8(2):113–122, 1992.

Definition at line 291 of file vpPoseLowe.cpp.

References vpHomogeneousMatrix::extract(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), vpHomogeneousMatrix::insert(), and listP.

Referenced by computePose().

void vpPose::poseRansac ( vpHomogeneousMatrix & cMo )

compute the pose using the Ransac approach

Compute the pose using the Ransac approach.

Parameters

cMo	: Computed pose

Definition at line 69 of file vpPoseRansac.cpp.

References addPoint(), computePose(), computeResidual(), DEMENTHON, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), LAGRANGE_VIRTUAL_VS, listP, vpMath::sqr(), vpForwardProjection::track(), and vpERROR_TRACE.

Referenced by computePose().

void vpPose::poseVirtualVS ( vpHomogeneousMatrix & cMo )

compute the pose using virtual visual servoing approach

Compute the pose using virtual visual servoing approach.

This approach is described in

E. Marchand, F. Chaumette. Virtual Visual Servoing: a framework for real-time augmented reality. In EUROGRAPHICS 2002 Conference Proceeding, G. Drettakis, H.-P. Seidel (eds.), Computer Graphics Forum, Volume 21(3), Pages 289-298, Sarrebruck, Allemagne, 2002.

Definition at line 67 of file vpPoseVirtualVisualServoing.cpp.

References vpMatrix::computeCovarianceMatrix(), vpExponentialMap::direct(), vpPoint::get_x(), vpPoint::get_y(), vpPoint::get_Z(), vpHomogeneousMatrix::inverse(), lambda, listP, vpMatrix::pseudoInverse(), vpMatrix::sumSquare(), vpForwardProjection::track(), and vpERROR_TRACE.

Referenced by computePose().

void vpPose::poseVirtualVSrobust ( vpHomogeneousMatrix & cMo )

compute the pose using a robust virtual visual servoing approach

Compute the pose using virtual visual servoing approach and a robust cotrol law.

This approach is described in

A.I. Comport, E. Marchand, M. Pressigout, F. Chaumette. Real-time markerless tracking for augmented reality: the virtual visual servoing framework. IEEE Trans. on Visualization and Computer Graphics, 12(4):615-628, Juillet 2006.

Definition at line 174 of file vpPoseVirtualVisualServoing.cpp.

References vpMatrix::computeCovarianceMatrix(), vpExponentialMap::direct(), vpPoint::get_x(), vpPoint::get_y(), vpPoint::get_Z(), vpMatrix::getRows(), vpHomogeneousMatrix::inverse(), lambda, listP, vpColVector::resize(), vpMatrix::resize(), vpRobust::setThreshold(), vpMath::sqr(), vpMatrix::sumSquare(), vpForwardProjection::track(), vpRobust::TUKEY, and vpERROR_TRACE.

void vpPose::printPoint ( )

Definition at line 475 of file vpPose.cpp.

References vpTracker::cP, listP, vpForwardProjection::oP, vpTracker::p, and vpColVector::t().

void vpPose::ransac	(	const unsigned int	n,
		const double *	x,
		const double *	y,
		const unsigned int	m,
		const double *	X,
		const double *	Y,
		const double *	Z,
		const int	numberOfInlierToReachAConsensus,
		const double	threshold,
		unsigned int &	ninliers,
		vpColVector &	xi,
		vpColVector &	yi,
		vpColVector &	Xi,
		vpColVector &	Yi,
		vpColVector &	Zi,
		vpHomogeneousMatrix &	cMo,
		const int	maxNbTrials = `10000`
	)

static

Compute the pose from a set of n 2D point (x,y) and m 3D points (X,Y,Z) using the Ransac algorithm. It is not assumed that the 2D and 3D points are registred (there is nm posibilities)

At least numberOfInlierToReachAConsensus of true correspondance are required to validate the pose

The inliers are given in xi, yi, Xi, Yi, Zi

The pose is returned in cMo.

Parameters

n	: Number of 2d points.
x	: Array (of size n) of the x coordinates of the 2d points.
y	: Array (of size n) of the y coordinates of the 2d points.
m	: Number of 3d points.
X	: Array (of size m) of the oX coordinates of the 3d points.
Y	: Array (of size m) of the oY coordinates of the 3d points.
Z	: Array (of size m) of the oZ coordinates of the 3d points.
numberOfInlierToReachAConsensus	: The minimum number of inlier to have to consider a trial as correct.
threshold	: The maximum error allowed between the 2d points and the reprojection of its associated 3d points by the current pose (in meter).
ninliers	: Number of inliers found for the best solution.
xi	: Array (of size ninliers) of the x coordinates of the inliers.
yi	: Array (of size ninliers) of the y coordinates of the inliers.
Xi	: Array (of size ninliers) of the oX coordinates of the inliers.
Yi	: Array (of size ninliers) of the oY coordinates of the inliers.
Zi	: Array (of size ninliers) of the oZ coordinates of the inliers.
cMo	: The computed pose (best solution).
maxNbTrials	: Maximum number of trials before considering a solution fitting the required numberOfInlierToReachAConsensus and threshold cannot be found.

Definition at line 455 of file vpPoseRansac.cpp.

References vpMatrix::data, vpMath::maximum(), vpTime::measureTimeMs(), vpRansac< vpTransformation >::ransac(), and vpColVector::resize().

Referenced by ransac().

void vpPose::ransac	(	const unsigned int	n,
		const vpPoint *	p,
		const unsigned int	m,
		const vpPoint *	P,
		const int	numberOfInlierToReachAConsensus,
		const double	threshold,
		unsigned int &	ninliers,
		std::list< vpPoint > &	lPi,
		vpHomogeneousMatrix &	cMo,
		const int	maxNbTrials = `10000`
	)

static

Compute the pose from a set of n 2D point (x,y) in p and m 3D points (X,Y,Z) in P using the Ransac algorithm. It is not assumed that the 2D and 3D points are registred (there is nm posibilities)

At least numberOfInlierToReachAConsensus of true correspondance are required to validate the pose

The inliers are given in a list of vpPoint

The pose is returned in cMo.

Parameters

n	: Number of 2d points.
p	: Array (of size n) of 2d points (x and y attributes are used).
m	: Number of 3d points.
P	: Array of size m of 3d points (oX, oY and oZ attributes are used).
numberOfInlierToReachAConsensus	: The minimum number of inlier to have to consider a trial as correct.
threshold	: The maximum error allowed between the 2d points and the reprojection of its associated 3d points by the current pose (in meter).
ninliers	: Number of inliers found for the best solution.
lPi	: List of points (2d and 3d) that are inliers for the best solution.
cMo	: The computed pose (best solution).
maxNbTrials	: Maximum number of trials before considering a solution fitting the required numberOfInlierToReachAConsensus and threshold cannot be found.

Definition at line 550 of file vpPoseRansac.cpp.

References vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), ransac(), vpPoint::set_x(), vpPoint::set_y(), and vpPoint::setWorldCoordinates().

void vpPose::ransac	(	std::list< vpPoint > &	lp,
		std::list< vpPoint > &	lP,
		const int	numberOfInlierToReachAConsensus,
		const double	threshold,
		unsigned int &	ninliers,
		std::list< vpPoint > &	lPi,
		vpHomogeneousMatrix &	cMo,
		const int	maxNbTrials = `10000`
	)

static

Compute the pose from a list lp of 2D point (x,y) and a list lP 3D points (X,Y,Z) in P using the Ransac algorithm. It is not assumed that the 2D and 3D points are registred

At least numberOfInlierToReachAConsensus of true correspondance are required to validate the pose

The inliers are given in a list of vpPoint lPi.

The pose is returned in cMo.

Parameters

lp	: List of 2d points (x and y attributes are used).
lP	: List of 3d points (oX, oY and oZ attributes are used).
numberOfInlierToReachAConsensus	: The minimum number of inlier to have to consider a trial as correct.
threshold	: The maximum error allowed between the 2d points and the reprojection of its associated 3d points by the current pose (in meter).
ninliers	: Number of inliers found for the best solution.
lPi	: List of points (2d and 3d) that are inliers for the best solution.
cMo	: The computed pose (best solution).
maxNbTrials	: Maximum number of trials before considering a solution fitting the required numberOfInlierToReachAConsensus and threshold cannot be found.

Definition at line 631 of file vpPoseRansac.cpp.

References vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), ransac(), vpPoint::set_x(), vpPoint::set_y(), and vpPoint::setWorldCoordinates().

void vpPose::setCovarianceComputation ( const bool & flag )

inline

Set if the covaraince matrix has to be computed in the Virtual Visual Servoing approach.

Parameters

flag	: True if the covariance has to be computed, false otherwise.

Definition at line 184 of file vpPose.h.

void vpPose::setDistanceToPlaneForCoplanarityTest ( double d )

Definition at line 165 of file vpPose.cpp.

References distanceToPlaneForCoplanarityTest.

void vpPose::setLambda ( double a )

inline

Definition at line 170 of file vpPose.h.

void vpPose::setRansacMaxTrials ( const int & rM )

inline

Definition at line 175 of file vpPose.h.

Referenced by findMatch().

void vpPose::setRansacNbInliersToReachConsensus ( const int & nbC )

inline

Examples:: testPoseRansac.cpp.

Definition at line 173 of file vpPose.h.

Referenced by findMatch().

void vpPose::setRansacThreshold ( const double & t )

inline

Examples:: testPoseRansac.cpp.

Definition at line 174 of file vpPose.h.

Referenced by findMatch().

void vpPose::setVvsIterMax ( int nb )

inline

Definition at line 171 of file vpPose.h.

Member Data Documentation

double vpPose::distanceToPlaneForCoplanarityTest

Definition at line 149 of file vpPose.h.

Referenced by coplanar(), init(), and setDistanceToPlaneForCoplanarityTest().

double vpPose::lambda

protected

parameters use for the virtual visual servoing approach

Definition at line 102 of file vpPose.h.

Referenced by init(), poseVirtualVS(), and poseVirtualVSrobust().

std::list<vpPoint> vpPose::listP

array of point (use here class vpPoint)

Definition at line 97 of file vpPose.h.

Referenced by addPoint(), clearPoint(), computeResidual(), coplanar(), displayModel(), findMatch(), init(), poseDementhonNonPlan(), poseDementhonPlan(), poseLagrangeNonPlan(), poseLagrangePlan(), poseLowe(), poseRansac(), poseVirtualVS(), poseVirtualVSrobust(), printPoint(), and ~vpPose().

unsigned int vpPose::npt

number of point used in pose computation

Definition at line 96 of file vpPose.h.

Referenced by addPoint(), calculArbreDementhon(), clearPoint(), computePose(), computeResidualDementhon(), coplanar(), init(), poseDementhonNonPlan(), poseDementhonPlan(), poseLagrangeNonPlan(), and poseLagrangePlan().

double vpPose::residual

compute the residual in meter

Definition at line 99 of file vpPose.h.

Referenced by computeResidual(), and computeResidualDementhon().

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Deprecated functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation