ViSP  2.6.2
testFindMatch.cpp

Find Matches using Ransac.

/****************************************************************************
*
* $Id: testFindMatch.cpp 3820 2012-06-27 13:13:29Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2012 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:
* Compute the pose of a 3D object using the Dementhon method. Assuming that
* the correspondance between 2D points and 3D points is not done, we use
* the RANSAC algorithm to achieve this task
*
* Authors:
* Aurelien Yol
*
*****************************************************************************/
#include <visp/vpPose.h>
#include <visp/vpPoint.h>
#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <stdlib.h>
#include <stdio.h>
#define L 0.1
int
main()
{
{
std::cout << "Find Matches using Ransac" << std::endl;
unsigned int nb3D = 4;
unsigned int nb2D = 8;
std::vector<vpPoint> P(nb3D);
std::vector<vpPoint> p(nb2D);
P[0].setWorldCoordinates(-L,-L, 0 ) ;
P[1].setWorldCoordinates(L,-L, 0 ) ;
P[2].setWorldCoordinates(L,L, 0 ) ;
P[3].setWorldCoordinates(-L,L, 0 ) ;
//P[4].setWorldCoordinates(-0,0, L ) ; //ERREUR DANS LAGRANGE ET DEMENTHON
vpHomogeneousMatrix cMo_ref(0,0.2,1,vpMath::rad(0),0,0) ;
for(unsigned int i=0 ; i < nb3D ; i++)
{
vpPoint pt = P[i];
pt.project(cMo_ref);
p[i].set_x(pt.get_x());
p[i].set_y(pt.get_y());
}
p[4].set_x(0.02) ;
p[4].set_y(0.05) ;
p[5].set_x(0.02) ;
p[5].set_y(-0.05) ;
p[6].set_x(0.07) ;
p[6].set_y(-0.05) ;
p[7].set_x(0.24) ;
p[7].set_y(0.07) ;
unsigned int ninliers ;
std::vector<vpPoint> inliers;
double threshold = 1e-6;
unsigned int nbInlierToReachConsensus = 4;
vpPose::findMatch(p,P,nbInlierToReachConsensus,threshold,ninliers,inliers,cMo);
std::cout << "Inliers: " << std::endl;
for (unsigned int i = 0; i < inliers.size() ; i++)
{
inliers[i].print() ;
std::cout << std::endl;
}
std::cout << "cMo :\n" << vpPoseVector(cMo).t() << std::endl << std::endl;
}
}