testPoint.cpp

/****************************************************************************
 *
 * $Id: testPoint.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:
 * Performs various tests on the point class.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/



// List of allowed command line options
#define GETOPTARGS  "h"

#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpPoint.h>
#include <visp/vpFeaturePoint.h>
#include <visp/vpFeatureException.h>
#include <visp/vpDebug.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpParseArgv.h>

#include <stdlib.h>
#include <stdio.h>


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\
Performs various tests on the point class.\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)
{
  try {
    // Read the command line options
    if (getOptions(argc, argv) == false) {
      exit (-1);
    }

    vpHomogeneousMatrix cMo ;
    cMo[0][3] = 0.1 ;
    cMo[1][3] = 0.2 ;
    cMo[2][3] = 2 ;

    vpPoint point ;
    vpTRACE("set point coordinates in the world  frame ") ;
    point.setWorldCoordinates(0,0,0) ;

    std::cout <<"------------------------------------------------------"<<std::endl ;
    vpTRACE("test the projection ") ;
    point.track(cMo) ;

    vpTRACE("coordinates in the world frame ") ;
    std::cout << point.oP.t() << std::endl ;
    vpTRACE("coordinates in the camera frame  ") ;
    std::cout << point.cP.t() << std::endl ;

    vpTRACE("2D coordinates ") ;
    std::cout<< point.get_x() << "  " << point.get_y() << std::endl ;

    std::cout <<"------------------------------------------------------"<<std::endl ;
    vpTRACE("test the interaction matrix ") ;

    vpFeaturePoint p ;
    vpFeatureBuilder::create(p,point) ;

    vpMatrix L ;
    L = p.interaction() ;
    std::cout << L << std::endl ;

    vpTRACE("test the interaction matrix select") ;
    vpTRACE("\t only X") ;
    L = p.interaction(vpFeaturePoint::selectX()) ;
    std::cout << L << std::endl ;

    vpTRACE("\t only Y") ;
    L = p.interaction(vpFeaturePoint::selectY()) ;
    std::cout << L << std::endl ;

    vpTRACE("\t X & Y") ;
    L = p.interaction(vpFeaturePoint::selectX() |
                      vpFeaturePoint::selectY()) ;
    std::cout << L << std::endl ;

    vpTRACE("\t selectAll") ;
    L = p.interaction(vpFeaturePoint::selectAll() ) ;
    std::cout << L << std::endl ;

    std::cout <<"------------------------------------------------------"<<std::endl ;
    vpTRACE("test the error ") ;

    try{
      vpFeaturePoint pd ;
      pd.set_x(0) ;
      pd.set_y(0) ;

      pd.print() ; std::cout << std::endl ;
      vpColVector e ;
      e = p.error(pd) ;
      std::cout << e << std::endl ;

      vpTRACE("test the interaction matrix select") ;
      vpTRACE("\t only X") ;
      e = p.error(pd,vpFeaturePoint::selectX()) ;
      std::cout << e << std::endl ;

      vpTRACE("\t only Y") ;
      e = p.error(pd,vpFeaturePoint::selectY()) ;
      std::cout << e << std::endl ;

      vpTRACE("\t X & Y") ;
      e = p.error(pd,vpFeaturePoint::selectX() | vpFeaturePoint::selectY()) ;
      std::cout << e << std::endl ;

      vpTRACE("\t selectAll") ;
      e = p.error(pd,vpFeaturePoint::selectAll() ) ;
      std::cout << e << std::endl ;
    }
    catch(vpFeatureException me){ std::cout << me << std::endl ; }
    catch(vpException me){ std::cout << me << std::endl ; }
    std::cout <<"------------------------------------------------------"<<std::endl ;
    vpTRACE("test the  dimension") ;
    unsigned int dim ;
    dim = p.getDimension() ;
    std::cout << "Dimension = " << dim << std::endl ;

    vpTRACE("test the dimension with  select") ;
    vpTRACE("\t only X") ;
    dim = p.getDimension(vpFeaturePoint::selectX()) ;
    std::cout << "Dimension = " << dim << std::endl ;

    vpTRACE("\t only Y") ;
    dim = p.getDimension(vpFeaturePoint::selectY()) ;
    std::cout << "Dimension = " << dim << std::endl ;

    vpTRACE("\t X & Y") ;
    dim = p.getDimension(vpFeaturePoint::selectX() | vpFeaturePoint::selectY()) ;
    std::cout << "Dimension = " << dim << std::endl ;

    vpTRACE("\t selectAll") ;
    dim = p.getDimension(vpFeaturePoint::selectAll() ) ;
    std::cout << "Dimension = " << dim << std::endl ;
    return 0;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}