testFindMatch.cpp

Find Matches using Ransac.

/****************************************************************************
 *
 * $Id: testFindMatch.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:
 * 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 = 5;
  unsigned int nb2D = 5;
  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,L/2., L ) ;

  vpHomogeneousMatrix cMo_ref(0, 0.2, 1, vpMath::rad(3), vpMath::rad(-2), vpMath::rad(10)) ;

  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());
  }

  unsigned int ninliers ;
  std::vector<vpPoint> inliers;
  double threshold = 1e-6;
  unsigned int nbInlierToReachConsensus = nb3D;

  vpHomogeneousMatrix cMo ;

  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;

  vpPoseVector pose_ref = vpPoseVector(cMo_ref);
  vpPoseVector pose_est = vpPoseVector(cMo);

  std::cout << std::endl;
  std::cout << "reference cMo :\n" << pose_ref.t() << std::endl << std::endl;
  std::cout << "estimated cMo :\n" << pose_est.t() << std::endl << std::endl;

  int test_fail = 0;
  for(unsigned int i=0; i<6; i++) {
    if (std::fabs(pose_ref[i]-pose_est[i]) > 0.001)
      test_fail = 1;
  }

  std::cout << "Matching is " << (test_fail ? "badly" : "well") << " performed" << std::endl;
  return test_fail;
}