testPoseFeatures.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 from visual features by virtual visual servoing.
 *
 * Authors:
 * Aurelien Yol
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/vision/vpPoseFeatures.h>
#include <visp3/vision/vpPose.h>
#include <iostream>
#include <vector>
#include <visp3/vision/vpPose.h>
#include <limits> 

#ifndef DOXYGEN_SHOULD_SKIP_THIS
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
class vp_createPointClass{
public:
  int value;
  
  vp_createPointClass() : value(0){}
  
  int vp_createPoint(vpFeaturePoint &fp,const vpPoint &v){
    value += 1;
    vpFeatureBuilder::create(fp,v);
    return value;
  }
};

void vp_createPoint(vpFeaturePoint &fp,const vpPoint &v){
  vpFeatureBuilder::create(fp,v);
}

void vp_createLine(vpFeatureLine &fp,const vpLine &v){
  vpFeatureBuilder::create(fp,v);
}
#endif
#endif

int main()
{
  try {
    vpImage<unsigned char> I(600,600);

    vpHomogeneousMatrix cMo_ref(0., 0., 1., vpMath::rad(0), vpMath::rad(0), vpMath::rad(60));
    vpPoseVector pose_ref = vpPoseVector(cMo_ref);

    std::cout << "Reference pose used to create the visual features : " << std::endl;
    std::cout << pose_ref.t() << std::endl;

    vpPoseFeatures pose;

    std::vector<vpPoint> pts;
    
    double val = 0.25;
    double val2 = 0.0;

    //2D Point Feature
    pts.push_back( vpPoint(0.0,-val,val2) );
    pts.push_back( vpPoint(0.0,val,val2) );
    pts.push_back( vpPoint(-val,val,val2) );

    //Segment Feature
    pts.push_back( vpPoint(-val,-val/2.0,val2) );
    pts.push_back( vpPoint(val,val/2.0,val2) );

    //3D point Feature
    pts.push_back( vpPoint(0.0,0.0,-1.5) );

    //Line Feature
    vpLine line;
    line.setWorldCoordinates(0.0,1.0,0.0,.0,
                             0.0,0.0,1.0,0.0);

    //Vanishing Point Feature
    vpLine l1;
    l1.setWorldCoordinates(0.0,1.0,0.2,0.0,
                           1.0,0.0,0.0,-0.25);

    vpLine l2;
    l2.setWorldCoordinates(0.0,1.0,0.2,0.0,
                           -1.0,0.0,0.0,-0.25);

    //Ellipse Feature
    vpCircle circle;
    circle.setWorldCoordinates(0.0, 0.0, 1.0 , 0.0, 0.0, 0.0, 0.25);

    pts[0].project(cMo_ref);
    pts[1].project(cMo_ref);
    pts[2].project(cMo_ref);

    pts[3].project(cMo_ref);
    pts[4].project(cMo_ref);

    pts[5].project(cMo_ref);

    line.project(cMo_ref);

    l1.project(cMo_ref);
    l2.project(cMo_ref);

    circle.project(cMo_ref);

    pose.addFeaturePoint(pts[0]);
    //   pose.addFeaturePoint(pts[1]);
    pose.addFeaturePoint(pts[2]);

    pose.addFeaturePoint3D(pts[5]);

    pose.addFeatureVanishingPoint(l1,l2);

    //   pose.addFeatureSegment(pts[3],pts[4]);
    //
    //   pose.addFeatureLine(line);

    pose.addFeatureEllipse(circle);

#ifdef VISP_HAVE_CPP11_COMPATIBILITY
    vpFeaturePoint fp;
    vpFeatureLine fl;
    vpFeatureSegment fs;
    void (*ptr)(vpFeatureSegment&, vpPoint&, vpPoint&) = &vpFeatureBuilder::create;
    vp_createPointClass cpClass;
    int (vp_createPointClass::*ptrClass)(vpFeaturePoint&, const vpPoint&) = &vp_createPointClass::vp_createPoint;
    pose.addSpecificFeature(&cpClass, ptrClass, fp, pts[1]);
    pose.addSpecificFeature(&vp_createLine, fl, line);
    pose.addSpecificFeature(ptr, fs, pts[3], pts[4]);
#endif

    pose.setVerbose(true);
    pose.setLambda(0.6);
    pose.setVVSIterMax(200);
    pose.setCovarianceComputation(true);

    vpHomogeneousMatrix cMo_est(0.4, 0.3, 1.5, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
    vpPoseVector pose_est = vpPoseVector(cMo_est);
    std::cout << "\nPose used as initialisation of the pose computation : " << std::endl;
    std::cout << pose_est.t() << std::endl;

    pose.computePose(cMo_est);
    //   pose.computePose(cMo_est, vpPoseFeatures::ROBUST_VIRTUAL_VS);


    std::cout << "\nEstimated pose from visual features : " << std::endl;
    pose_est.buildFrom(cMo_est);
    std::cout << pose_est.t() << std::endl;

    std::cout << "\nResulting covariance (Diag): " << std::endl;
    vpMatrix covariance = pose.getCovarianceMatrix();
    std::cout << covariance[0][0] << " " << covariance[1][1] << " "
              << covariance[2][2] << " " << covariance[3][3] << " "
              << covariance[4][4] << " " << covariance[5][5] << " " << 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 << "\nPose is " << (test_fail ? "badly" : "well") << " estimated" << std::endl;

    return test_fail;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}