testPoseRansac.cpp

Compute the pose of a 3D object using the Ransac method.

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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 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 <visp3/vision/vpPose.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpHomogeneousMatrix.h>

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

#define L 0.1


int
main()
{
  try {
    std::cout << "Pose computation with matched points" << std::endl;
    std::vector<vpPoint> P;  //  Point to be tracked

    P.push_back( vpPoint(-L,-L, 0 ) );
    P.push_back( vpPoint(L,-L, 0 ) );
    P.push_back( vpPoint(L,L, 0 ) );
    P.push_back( vpPoint(-L,L, 0 ) );
    
    double L2 = L*3.0;
    P.push_back( vpPoint(0,-L2, 0 ) );
    P.push_back( vpPoint(L2,0, 0 ) );
    P.push_back( vpPoint(0,L2, 0 ) );
    P.push_back( vpPoint(-L2,0, 0 ) );
    
    vpHomogeneousMatrix cMo_ref(0, 0.2, 1, 0, 0, 0) ;
    for(size_t i=0 ; i < P.size(); i++)
    {
      P[i].project(cMo_ref) ;
      P[i].print() ;
      std::cout << std::endl;
    }

    //Introduce an error
    double error = 0.01;
    P[3].set_y(P[3].get_y() + 2*error);
    P[6].set_x(P[6].get_x() + error);
    
    vpPose pose;
    for(size_t i=0 ; i < P.size() ; i++)
      pose.addPoint(P[i]);
    
    unsigned int nbInlierToReachConsensus = (unsigned int)(75.0 * (double)(P.size()) / 100.0);
    double threshold = 0.001;
    
    pose.setRansacNbInliersToReachConsensus(nbInlierToReachConsensus);
    pose.setRansacThreshold(threshold);
    
    vpHomogeneousMatrix cMo ;
    //vpPose::ransac(lp,lP, 5, 1e-6, ninliers, lPi, cMo) ;
    pose.computePose(vpPose::RANSAC, cMo);
    
    std::vector<vpPoint> inliers = pose.getRansacInliers();
    
    std::cout << "Inliers: " << std::endl;
    for (unsigned int i = 0; i < inliers.size() ; i++)
    {
      inliers[i].print() ;
      std::cout << 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 << "Pose is " << (test_fail ? "badly" : "well") << " estimated" << std::endl;
    return test_fail;
  }
  catch(vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}