ViSP  2.8.0
testDisplacement.cpp
/****************************************************************************
*
* $Id: testDisplacement.cpp 4056 2013-01-05 13:04:42Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 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:
* Tests transformation within various representations of rotation.
*
* 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/vpParseArgv.h>
#include <stdlib.h>
#include <stdio.h>
// List of allowed command line options
#define GETOPTARGS "h"
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Tests transformation within various representations of rotation.\n\
\n\
SYNOPSIS\n\
%s [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-h\n\
Print the help.\n");
if (badparam)
fprintf(stdout, "\nERROR: Bad 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)
{
// Read the command line options
if (getOptions(argc, argv) == false) {
exit (-1);
}
{
std::cout << "Initialization " <<std::endl ;
// std::cout << tu << std::endl ;
std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl ;
// pure rotation
M.insert(R) ;
std::cout << "M" <<std::endl <<M << std::endl ;
vpPlane p(0,0,1,1) ;
vpHomography H(M,p) ;
vpTRACE(" ") ;
std::cout << "H" <<std::endl <<H << std::endl ;
vpTRACE(" ") ;
H.computeDisplacement(R,T,n) ;
std::cout << "R" <<std::endl << R ;
std::cout << "T" <<std::endl << T.t() ;
std::cout << "n" <<std::endl << n.t() ;
vpTRACE(" ") ;
vpTRACE(" ") ;
}
std::cout <<"------------------------------------------------------" << std::endl ;
{
std::cout << "Initialization " <<std::endl ;
// std::cout << tu << std::endl ;
std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl ;
// pure rotation
M.insert(R) ;
M[0][3] = 0.21 ;
M[1][3] = 0.31 ;
M[2][3] = 0.5 ;
std::cout << "M" <<std::endl <<M << std::endl ;
vpPlane p(0,0,1,1) ;
vpHomography H(M,p) ;
vpTRACE(" ") ;
std::cout << "H" <<std::endl <<H << std::endl ;
vpTRACE(" ") ;
H.computeDisplacement(R,T,n) ;
std::cout << "R" <<std::endl << R ;
std::cout << "T" <<std::endl << T.t() ;
std::cout << "n" <<std::endl << n.t() ;
vpTRACE(" ") ;
vpTRACE(" ") ;
}
std::cout <<"------------------------------------------------------" << std::endl ;
{
// pure rotation
M.insert(R) ;
M[0][3] = 0.21 ;
M[1][3] =- 0.31 ;
M[2][3] = 0.5 ;
std::cout << "M" <<std::endl <<M << std::endl ;
vpPlane p(0.4,-0.5,0.5,1) ;
vpHomography H(M,p) ;
vpTRACE(" ") ;
std::cout << "H" <<std::endl <<H << std::endl ;
vpTRACE(" ") ;
H.computeDisplacement(R,T,n) ;
std::cout << "R" <<std::endl << R ;
std::cout << "T" <<std::endl << T.t() ;
std::cout << "n" <<std::endl << n.t() ;
vpPlane p1(n[0],n[1],n[2],1.0) ;
H.buildFrom(R,T,p1) ;
std::cout << "H" <<std::endl <<H << std::endl ;
}
}