#include <visp3/vision/vpPose.h>

Public Types
enum	vpPoseMethodType { LAGRANGE, DEMENTHON, LOWE, RANSAC, LAGRANGE_LOWE, DEMENTHON_LOWE, VIRTUAL_VS, DEMENTHON_VIRTUAL_VS, LAGRANGE_VIRTUAL_VS }

enum	FILTERING_RANSAC_FLAGS { PREFILTER_DUPLICATE_POINTS = 0x1, PREFILTER_ALMOST_DUPLICATE_POINTS = 0x2, PREFILTER_DEGENERATE_POINTS = 0x4, CHECK_DEGENERATE_POINTS = 0x8 }

Public Member Functions
	vpPose ()

virtual	~vpPose ()

void	addPoint (const vpPoint &P)

void	addPoints (const std::vector< vpPoint > &lP)

void	clearPoint ()

bool	computePose (vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(func)(vpHomogeneousMatrix )=NULL)

double	computeResidual (const vpHomogeneousMatrix &cMo) const

bool	coplanar (int &coplanar_plane_type)

void	displayModel (vpImage< unsigned char > &I, vpCameraParameters &cam, vpColor col=vpColor::none)

void	displayModel (vpImage< vpRGBa > &I, vpCameraParameters &cam, vpColor col=vpColor::none)

void	init ()

void	poseDementhonPlan (vpHomogeneousMatrix &cMo)

void	poseDementhonNonPlan (vpHomogeneousMatrix &cMo)

void	poseLagrangePlan (vpHomogeneousMatrix &cMo, const int coplanar_plane_type=0)

void	poseLagrangeNonPlan (vpHomogeneousMatrix &cMo)

void	poseLowe (vpHomogeneousMatrix &cMo)

bool	poseRansac (vpHomogeneousMatrix &cMo, bool(func)(vpHomogeneousMatrix )=NULL)

void	poseVirtualVSrobust (vpHomogeneousMatrix &cMo)

void	poseVirtualVS (vpHomogeneousMatrix &cMo)

void	printPoint ()

void	setDistanceToPlaneForCoplanarityTest (double d)

void	setLambda (double a)

void	setVvsEpsilon (const double eps)

void	setVvsIterMax (int nb)

void	setRansacNbInliersToReachConsensus (const unsigned int &nbC)

void	setRansacThreshold (const double &t)

void	setRansacMaxTrials (const int &rM)

unsigned int	getRansacNbInliers () const

std::vector< unsigned int >	getRansacInlierIndex () const

std::vector< vpPoint >	getRansacInliers () const

void	setCovarianceComputation (const bool &flag)

vpMatrix	getCovarianceMatrix () const

void	setRansacFilterFlags (const int flags)

int	getNbParallelRansacThreads () const

void	setNbParallelRansacThreads (const int nb)

bool	getUseParallelRansac () const

void	setUseParallelRansac (const bool use)

std::vector< vpPoint >	getPoints () const

Static Public Member Functions
static void	display (vpImage< unsigned char > &I, vpHomogeneousMatrix &cMo, vpCameraParameters &cam, double size, vpColor col=vpColor::none)

static void	display (vpImage< vpRGBa > &I, vpHomogeneousMatrix &cMo, vpCameraParameters &cam, double size, vpColor col=vpColor::none)

static double	poseFromRectangle (vpPoint &p1, vpPoint &p2, vpPoint &p3, vpPoint &p4, double lx, vpCameraParameters &cam, vpHomogeneousMatrix &cMo)

static int	computeRansacIterations (double probability, double epsilon, const int sampleSize=4, int maxIterations=2000)

static void	findMatch (std::vector< vpPoint > &p2D, std::vector< vpPoint > &p3D, const unsigned int &numberOfInlierToReachAConsensus, const double &threshold, unsigned int &ninliers, std::vector< vpPoint > &listInliers, vpHomogeneousMatrix &cMo, const int &maxNbTrials=10000)

Public Attributes
unsigned int	npt

std::list< vpPoint >	listP

double	residual

Protected Member Functions
double	computeResidualDementhon (const vpHomogeneousMatrix &cMo)

int	calculArbreDementhon (vpMatrix &b, vpColVector &U, vpHomogeneousMatrix &cMo)

Protected Attributes
double	lambda

Detailed Description

Class used for pose computation from N points (pose from point only). Some of the algorithms implemented in this class are described in [29].

Note: It is also possible to estimate a pose from other features using vpPoseFeatures class.

To see how to use this class you can follow the Tutorial: Pose estimation from points.

Examples:: AROgre.cpp, AROgreBasic.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testKeyPoint-4.cpp, testPose.cpp, testPoseRansac.cpp, testPoseRansac2.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-tracking.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 79 of file vpPose.h.

Member Enumeration Documentation

◆ FILTERING_RANSAC_FLAGS

enum vpPose::FILTERING_RANSAC_FLAGS

Enumerator
PREFILTER_DUPLICATE_POINTS	Remove duplicate points before the RANSAC.
PREFILTER_ALMOST_DUPLICATE_POINTS	Remove almost duplicate points (up to a tolerance) before the RANSAC.
PREFILTER_DEGENERATE_POINTS	Remove degenerate points (same 3D or 2D coordinates) before the RANSAC.
CHECK_DEGENERATE_POINTS	Check for degenerate points during the RANSAC.

Definition at line 103 of file vpPose.h.

◆ vpPoseMethodType

enum vpPose::vpPoseMethodType

Methods that could be used to estimate the pose from points.

Enumerator
LAGRANGE	Linear Lagrange approach (does't need an initialization)
DEMENTHON	Linear Dementhon aproach (does't need an initialization)
LOWE	Lowe aproach based on a Levenberg Marquartd non linear minimization scheme that needs an initialization from Lagrange or Dementhon aproach
RANSAC	Robust Ransac aproach (does't need an initialization)
LAGRANGE_LOWE	Non linear Lowe aproach initialized by Lagrange approach
DEMENTHON_LOWE	Non linear Lowe aproach initialized by Dementhon approach
VIRTUAL_VS	Non linear virtual visual servoing approach that needs an initialization from Lagrange or Dementhon aproach
DEMENTHON_VIRTUAL_VS	Non linear virtual visual servoing approach initialized by Dementhon approach
LAGRANGE_VIRTUAL_VS	Non linear virtual visual servoing approach initialized by Lagrange approach

Definition at line 83 of file vpPose.h.

Constructor & Destructor Documentation

◆ vpPose()

vpPose::vpPose ( )

Default constructor.

Definition at line 94 of file vpPose.cpp.

◆ ~vpPose()

vpPose::~vpPose ( )

virtual

Destructor that deletes the array of point (freed the memory).

Definition at line 107 of file vpPose.cpp.

References listP.

Member Function Documentation

◆ addPoint()

void vpPose::addPoint ( const vpPoint & newP )

Add a new point in the array of points.

Parameters

newP	: New point to add in the array of point.

Warning: Considering a point from the class vpPoint, oX, oY, and oZ will represent the 3D coordinates of the point in the object frame and x and y its 2D coordinates in the image plane. These 5 fields must be initialized to be used within this function.

Examples:: AROgre.cpp, AROgreBasic.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testKeyPoint-4.cpp, testPose.cpp, testPoseRansac.cpp, testPoseRansac2.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-tracking.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 137 of file vpPose.cpp.

References listP, and npt.

Referenced by vpCalibration::addPoint(), vpKeyPoint::computePose(), findMatch(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), poseFromRectangle(), and poseRansac().

◆ addPoints()

void vpPose::addPoints ( const std::vector< vpPoint > & lP )

Add (append) a list of points in the array of points.

Parameters

lP	: List of points to add (append).

Warning: Considering a point from the class vpPoint, oX, oY, and oZ will represent the 3D coordinates of the point in the object frame and x and y its 2D coordinates in the image plane. These 5 fields must be initialized to be used within this function.

Examples:: testPoseRansac2.cpp.

Definition at line 152 of file vpPose.cpp.

References listP, and npt.

◆ calculArbreDementhon()

int vpPose::calculArbreDementhon	(	vpMatrix &	b,
		vpColVector &	U,
		vpHomogeneousMatrix &	cMo
	)

protected

Definition at line 254 of file vpPoseDementhon.cpp.

References computeResidualDementhon(), vpColVector::dotProd(), npt, vpColVector::sumSquare(), and vpColVector::t().

Referenced by poseDementhonPlan().

◆ clearPoint()

void vpPose::clearPoint ( )

Delete the array of point

Examples:: AROgre.cpp, AROgreBasic.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, and testPose.cpp.

Definition at line 122 of file vpPose.cpp.

References listP, and npt.

Referenced by vpCalibration::addPoint(), and vpMbTracker::initClick().

◆ computePose()

bool vpPose::computePose	(	vpPoseMethodType	method,
		vpHomogeneousMatrix &	cMo,
		bool()(vpHomogeneousMatrix )	func = `NULL`
	)

Compute the pose according to the desired method which are:

vpPose::LAGRANGE: Linear Lagrange approach (test is done to switch between planar and non planar algorithm)
vpPose::DEMENTHON: Linear Dementhon approach (test is done to switch between planar and non planar algorithm)
vpPose::LOWE: Lowe aproach based on a Levenberg Marquartd non linear minimization scheme that needs an initialization from Lagrange or Dementhon aproach
vpPose::LAGRANGE_LOWE: Non linear Lowe aproach initialized by Lagrange approach
vpPose::DEMENTHON_LOWE: Non linear Lowe aproach initialized by Dementhon approach
vpPose::VIRTUAL_VS: Non linear virtual visual servoing approach that needs an initialization from Lagrange or Dementhon aproach
vpPose::DEMENTHON_VIRTUAL_VS: Non linear virtual visual servoing approach initialized by Dementhon approach
vpPose::LAGRANGE_VIRTUAL_VS: Non linear virtual visual servoing approach initialized by Lagrange approach
vpPose::RANSAC: Robust Ransac aproach (does't need an initialization)

Examples:: AROgre.cpp, AROgreBasic.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testKeyPoint-4.cpp, testPose.cpp, testPoseRansac.cpp, testPoseRansac2.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-tracking.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 362 of file vpPose.cpp.

References coplanar(), DEMENTHON, DEMENTHON_LOWE, DEMENTHON_VIRTUAL_VS, LAGRANGE, LAGRANGE_LOWE, LAGRANGE_VIRTUAL_VS, LOWE, vpPoseException::notEnoughPointError, npt, poseDementhonNonPlan(), poseDementhonPlan(), poseLagrangeNonPlan(), poseLagrangePlan(), poseLowe(), poseRansac(), poseVirtualVS(), RANSAC, VIRTUAL_VS, and vpERROR_TRACE.

Referenced by vpCalibration::addPoint(), vpKeyPoint::computePose(), findMatch(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), poseFromRectangle(), and poseRansac().

◆ computeRansacIterations()

int vpPose::computeRansacIterations	(	double	probability,
		double	epsilon,
		const int	sampleSize = `4`,
		int	maxIterations = `2000`
	)

static

Compute the number of RANSAC iterations to ensure with a probability p that at least one of the random samples of s points is free from outliers.

Note: See: Hartley and Zisserman, Multiple View Geometry in Computer Vision, p119 (2. How many samples?).

Parameters

probability	: Probability that at least one of the random samples is free from outliers (typically p=0.99).
epsilon	: Probability that a selected point is an outlier (between 0 and 1).
sampleSize	: Minimum number of points to estimate the model (4 for a pose estimation).
maxIterations	: Upper bound on the number of iterations or -1 for INT_MAX.

Returns: The number of RANSAC iterations to ensure with a probability p that at least one of the random samples of s points is free from outliers or maxIterations if it exceeds the desired upper bound or INT_MAX if maxIterations=-1.

Examples:: testPoseRansac2.cpp.

Definition at line 984 of file vpPoseRansac.cpp.

References vpMath::nul().

◆ computeResidual()

double vpPose::computeResidual ( const vpHomogeneousMatrix & cMo ) const

Compute and return the residual expressed in meter for the pose matrix 'cMo'.

Parameters

cMo	: Input pose. The matrix that defines the pose to be tested.

Returns: The value of he residual in meter.

Examples:: servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testPose.cpp, testPoseRansac2.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-tracking.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 324 of file vpPose.cpp.

References vpPoint::get_x(), vpPoint::get_y(), listP, vpMath::sqr(), and vpForwardProjection::track().

Referenced by vpCalibration::addPoint(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), and poseRansac().

◆ computeResidualDementhon()

double vpPose::computeResidualDementhon ( const vpHomogeneousMatrix & cMo )

protected

Compute and return the residual expressed in meter for the pose matrix 'pose'.

Parameters

cMo	: the matrix that defines the pose to be tested.

Returns: the value of he residual in meter

Definition at line 643 of file vpPoseDementhon.cpp.

References npt, and vpMath::sqr().

Referenced by calculArbreDementhon(), and poseDementhonPlan().

◆ coplanar()

bool vpPose::coplanar ( int & coplanar_plane_type )

Test the coplanarity of the set of points

Parameters

coplanar_plane_type 1: if plane x=cst 2: if plane y=cst 3: if plane z=cst 4: if the points are collinear. 0: any other plane

Returns: true if points are coplanar false otherwise.

Definition at line 172 of file vpPose.cpp.

References vpColVector::crossProd(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), listP, vpPoseException::notEnoughPointError, npt, vpMath::sqr(), vpColVector::sumSquare(), vpDEBUG_TRACE, and vpERROR_TRACE.

Referenced by computePose().

◆ display() [1/2]

void vpPose::display	(	vpImage< unsigned char > &	I,
		vpHomogeneousMatrix &	cMo,
		vpCameraParameters &	cam,
		double	size,
		vpColor	col = `vpColor::none`
	)

static

Display in the image I the pose represented by its homogenous transformation cMo as a 3 axis frame.

Parameters

I	Image where the pose is displayed in overlay.
cMo	Considered pose to display.
cam	Camera parameters associated to image I.
size	length in meter of the axis that will be displayed
col	Color used to display the 3 axis. If vpColor::none, red, green and blue will represent x-axiw, y-axis and z-axis respectively.

Examples:: AROgre.cpp, AROgreBasic.cpp, and poseVirtualVS.cpp.

Definition at line 516 of file vpPose.cpp.

References vpDisplay::displayFrame().

◆ display() [2/2]

void vpPose::display	(	vpImage< vpRGBa > &	I,
		vpHomogeneousMatrix &	cMo,
		vpCameraParameters &	cam,
		double	size,
		vpColor	col = `vpColor::none`
	)

static

Display in the image I the pose represented by its homogenous transformation cMo as a 3 axis frame.

Parameters

I	Image where the pose is displayed in overlay.
cMo	Considered pose to display.
cam	Camera parameters associated to image I.
size	length in meter of the axis that will be displayed
col	Color used to display the 3 axis. If vpColor::none, red, green and blue will represent x-axiw, y-axis and z-axis respectively.

Definition at line 531 of file vpPose.cpp.

References vpDisplay::displayFrame().

◆ displayModel() [1/2]

void vpPose::displayModel	(	vpImage< unsigned char > &	I,
		vpCameraParameters &	cam,
		vpColor	col = `vpColor::none`
	)

Display the coordinates of the points in the image plane that are used to compute the pose in image I.

Definition at line 540 of file vpPose.cpp.

References vpMeterPixelConversion::convertPoint(), vpDisplay::displayCross(), listP, and vpTracker::p.

◆ displayModel() [2/2]

void vpPose::displayModel	(	vpImage< vpRGBa > &	I,
		vpCameraParameters &	cam,
		vpColor	col = `vpColor::none`
	)

Display the coordinates of the points in the image plane that are used to compute the pose in image I.

Definition at line 558 of file vpPose.cpp.

References vpMeterPixelConversion::convertPoint(), vpDisplay::displayCross(), listP, and vpTracker::p.

◆ findMatch()

void vpPose::findMatch	(	std::vector< vpPoint > &	p2D,
		std::vector< vpPoint > &	p3D,
		const unsigned int &	numberOfInlierToReachAConsensus,
		const double &	threshold,
		unsigned int &	ninliers,
		std::vector< vpPoint > &	listInliers,
		vpHomogeneousMatrix &	cMo,
		const int &	maxNbTrials = `10000`
	)

static

Match a vector p2D of 2D point (x,y) and a vector p3D of 3D points (X,Y,Z) using the Ransac algorithm.

At least numberOfInlierToReachAConsensus of true correspondance are required to validate the pose

The inliers are given in a vector of vpPoint listInliers.

The pose is returned in cMo.

Parameters

p2D	: Vector of 2d points (x and y attributes are used).
p3D	: Vector of 3d points (oX, oY and oZ attributes are used).
numberOfInlierToReachAConsensus	: The minimum number of inlier to have to consider a trial as correct.
threshold	: The maximum error allowed between the 2d points and the reprojection of its associated 3d points by the current pose (in meter).
ninliers	: Number of inliers found for the best solution.
listInliers	: Vector of points (2d and 3d) that are inliers for the best solution.
cMo	: The computed pose (best solution).
maxNbTrials	: Maximum number of trials before considering a solution fitting the required numberOfInlierToReachAConsensus and threshold cannot be found.

Examples:: testFindMatch.cpp.

Definition at line 1045 of file vpPoseRansac.cpp.

References addPoint(), computePose(), getRansacInliers(), getRansacNbInliers(), listP, vpPoseException::notEnoughPointError, RANSAC, vpPoint::set_x(), vpPoint::set_y(), setRansacMaxTrials(), setRansacNbInliersToReachConsensus(), setRansacThreshold(), and vpERROR_TRACE.

◆ getCovarianceMatrix()

vpMatrix vpPose::getCovarianceMatrix ( ) const

inline

Get the covariance matrix computed in the Virtual Visual Servoing approach.

Warning: The compute covariance flag has to be true if you want to compute the covariance matrix.

See also: setCovarianceComputation

Definition at line 283 of file vpPose.h.

References vpTRACE.

Referenced by vpKeyPoint::computePose().

◆ getNbParallelRansacThreads()

int vpPose::getNbParallelRansacThreads ( ) const

inline

Get the number of threads for the parallel RANSAC implementation.

See also: setNbParallelRansacThreads

Definition at line 306 of file vpPose.h.

◆ getPoints()

std::vector<vpPoint> vpPose::getPoints ( ) const

inline

Get the vector of points.

Returns: The vector of points.

Definition at line 336 of file vpPose.h.

References vpColor::none.

◆ getRansacInlierIndex()

std::vector<unsigned int> vpPose::getRansacInlierIndex ( ) const

inline

Examples:: testPoseRansac2.cpp.

Definition at line 263 of file vpPose.h.

Referenced by vpKeyPoint::computePose().

◆ getRansacInliers()

std::vector<vpPoint> vpPose::getRansacInliers ( ) const

inline

Examples:: testPoseRansac.cpp, and testPoseRansac2.cpp.

Definition at line 264 of file vpPose.h.

Referenced by vpKeyPoint::computePose(), and findMatch().

◆ getRansacNbInliers()

unsigned int vpPose::getRansacNbInliers ( ) const

inline

Definition at line 262 of file vpPose.h.

Referenced by findMatch().

◆ getUseParallelRansac()

bool vpPose::getUseParallelRansac ( ) const

inline

Returns: True if the parallel RANSAC version should be used.

See also: setUseParallelRansac

Definition at line 322 of file vpPose.h.

◆ init()

void vpPose::init ( void )

Basic initialisation that is called by the constructors.

Definition at line 62 of file vpPose.cpp.

References vpMatrix::clear(), lambda, listP, npt, PREFILTER_DUPLICATE_POINTS, and residual.

◆ poseDementhonNonPlan()

void vpPose::poseDementhonNonPlan ( vpHomogeneousMatrix & cMo )

Compute the pose using Dementhon approach for non planar objects this is a direct implementation of the algorithm proposed by Dementhon and Davis in their 1995 paper [12].

Definition at line 60 of file vpPoseDementhon.cpp.

References vpColVector::cross(), vpException::divideByZeroError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), listP, vpColVector::normalize(), npt, vpMatrix::pseudoInverse(), vpColVector::resize(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpColVector::sumSquare(), and vpMatrix::t().

Referenced by computePose().

◆ poseDementhonPlan()

void vpPose::poseDementhonPlan ( vpHomogeneousMatrix & cMo )

Compute the pose using Dementhon approach for planar objects this is a direct implementation of the algorithm proposed by Dementhon in his PhD.

Author: Francois Chaumette (simplified by Eric Marchand)

Definition at line 427 of file vpPoseDementhon.cpp.

References calculArbreDementhon(), computeResidualDementhon(), vpColVector::dotProd(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpMatrix::getCol(), vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), listP, npt, vpArray2D< Type >::resize(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpColVector::sumSquare(), vpMatrix::svd(), vpColVector::t(), vpMatrix::t(), and vpERROR_TRACE.

Referenced by computePose().

◆ poseFromRectangle()

double vpPose::poseFromRectangle	(	vpPoint &	p1,
		vpPoint &	p2,
		vpPoint &	p3,
		vpPoint &	p4,
		double	lx,
		vpCameraParameters &	cam,
		vpHomogeneousMatrix &	cMo
	)

static

Carries out the camera pose the image of a rectangle and the intrinsec parameters, the length on x axis is known but the proprtion of the rectangle are unknown.

This method is taken from "Markerless Tracking using Planar Structures in the Scene" by Gilles Simon. The idea is to compute the homography H giving the image point of the rectangle by associating them with the coordinates (0,0)(1,0)(1,1/s)(0,1/s) (the rectangle is on the Z=0 plane). If K is the intrinsec parameters matrix, we have s = ||Kh1||/ ||Kh2||. s gives us the proportion of the rectangle

Parameters

p1,p2,p3,p4	the image of the corners of the rectangle (respectively the image of (0,0),(lx,0),(lx,lx/s) and (0,lx/s)) (input)
cam	the camera used (input)
lx	the rectangle size on the x axis (input)
cMo	the camera pose (output)

Returns: int : OK if no pb occurs

Definition at line 591 of file vpPose.cpp.

References addPoint(), computePose(), DEMENTHON_LOWE, vpMatrix::eye(), vpCameraParameters::get_K(), vpPoint::get_x(), vpPoint::get_y(), vpMatrix::getCol(), vpHomography::HLM(), vpMatrix::pseudoInverse(), vpPoint::setWorldCoordinates(), and vpColVector::sumSquare().

◆ poseLagrangeNonPlan()

void vpPose::poseLagrangeNonPlan ( vpHomogeneousMatrix & cMo )

Definition at line 471 of file vpPoseLagrange.cpp.

References vpException::divideByZeroError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), listP, npt, and vpColVector::sumSquare().

Referenced by computePose().

◆ poseLagrangePlan()

void vpPose::poseLagrangePlan	(	vpHomogeneousMatrix &	cMo,
		const int	coplanar_plane_type = `0`
	)

Compute the pose of a planar object using Lagrange approach.

Parameters

cMo	: Estimated pose. No initialisation is requested to estimate cMo.
coplanar_plane_type	: Type of coplanar plane: 1: if plane x=cst 2: if plane y=cst 3: if plane z=cst 0: any other plane

Definition at line 260 of file vpPoseLagrange.cpp.

References vpException::divideByZeroError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), listP, npt, and vpColVector::sumSquare().

Referenced by computePose().

◆ poseLowe()

void vpPose::poseLowe ( vpHomogeneousMatrix & cMo )

Compute the pose using the Lowe non linear approach it consider the minimization of a residual using the levenberg marquartd approach.

The approach has been proposed by D.G Lowe in 1992 paper [22].

Definition at line 262 of file vpPoseLowe.cpp.

References vpHomogeneousMatrix::extract(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), vpHomogeneousMatrix::insert(), and listP.

Referenced by computePose().

◆ poseRansac()

bool vpPose::poseRansac	(	vpHomogeneousMatrix &	cMo,
		bool()(vpHomogeneousMatrix )	func = `NULL`
	)

Compute the pose using the Ransac approach.

Parameters

cMo	: Computed pose
func	: Pointer to a function that takes in parameter a vpHomogeneousMatrix and returns true if the pose check is OK or false otherwise

Returns: True if we found at least 4 points with a reprojection error below ransacThreshold.

Definition at line 440 of file vpPoseRansac.cpp.

References addPoint(), computePose(), computeResidual(), DEMENTHON, vpPoint::get_x(), vpPoint::get_y(), vpMath::isNaN(), LAGRANGE, vpPoseException::notInitializedError, npt, setCovarianceComputation(), vpPoint::setWorldCoordinates(), vpArray2D< Type >::size(), vpMath::sqr(), vpForwardProjection::track(), and VIRTUAL_VS.

Referenced by computePose().

◆ poseVirtualVS()

void vpPose::poseVirtualVS ( vpHomogeneousMatrix & cMo )

Compute the pose using virtual visual servoing approach.

This approach is described in [26].

Definition at line 56 of file vpPoseVirtualVisualServoing.cpp.

References vpMatrix::computeCovarianceMatrixVVS(), vpExponentialMap::direct(), vpPoint::get_x(), vpPoint::get_y(), vpPoint::get_Z(), vpHomogeneousMatrix::inverse(), lambda, listP, vpMatrix::pseudoInverse(), vpColVector::sumSquare(), vpForwardProjection::track(), and vpERROR_TRACE.

Referenced by computePose().

◆ poseVirtualVSrobust()

void vpPose::poseVirtualVSrobust ( vpHomogeneousMatrix & cMo )

Compute the pose using virtual visual servoing approach and a robust control law.

This approach is described in [7].

Definition at line 160 of file vpPoseVirtualVisualServoing.cpp.

References vpMatrix::computeCovarianceMatrix(), vpExponentialMap::direct(), vpPoint::get_x(), vpPoint::get_y(), vpPoint::get_Z(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), lambda, listP, vpRobust::MEstimator(), vpArray2D< Type >::resize(), vpColVector::resize(), vpRobust::setIteration(), vpRobust::setThreshold(), vpMath::sqr(), vpColVector::sumSquare(), vpForwardProjection::track(), vpRobust::TUKEY, and vpERROR_TRACE.

◆ printPoint()

void vpPose::printPoint ( )

Definition at line 495 of file vpPose.cpp.

References vpTracker::cP, listP, vpForwardProjection::oP, vpTracker::p, and vpColVector::t().

◆ setCovarianceComputation()

void vpPose::setCovarianceComputation ( const bool & flag )

inline

Set if the covariance matrix has to be computed in the Virtual Visual Servoing approach.

Parameters

flag	: True if the covariance has to be computed, false otherwise.

Definition at line 272 of file vpPose.h.

Referenced by vpKeyPoint::computePose(), and poseRansac().

◆ setDistanceToPlaneForCoplanarityTest()

void vpPose::setDistanceToPlaneForCoplanarityTest ( double d )

Definition at line 159 of file vpPose.cpp.

◆ setLambda()

void vpPose::setLambda ( double a )

inline

Definition at line 240 of file vpPose.h.

◆ setNbParallelRansacThreads()

void vpPose::setNbParallelRansacThreads ( const int nb )

inline

Set the number of threads for the parallel RANSAC implementation.

Note: You have to enable the parallel version with setUseParallelRansac(). If the number of threads is 0, the number of threads to use is automatically determined with OpenMP.

See also: setUseParallelRansac

Examples:: testPoseRansac2.cpp.

Definition at line 315 of file vpPose.h.

◆ setRansacFilterFlags()

void vpPose::setRansacFilterFlags ( const int flags )

inline

Set RANSAC filtering flags.

Parameters

flags : Flags to use, e.g. setRansacFilterFlags(PREFILTER_DUPLICATE_POINTS + CHECK_DEGENERATE_POINTS).

See also: FILTERING_RANSAC_FLAGS

Examples:: testPoseRansac2.cpp.

Definition at line 299 of file vpPose.h.

◆ setRansacMaxTrials()

void vpPose::setRansacMaxTrials ( const int & rM )

inline

Examples:: testKeyPoint-4.cpp, and testPoseRansac2.cpp.

Definition at line 261 of file vpPose.h.

Referenced by vpKeyPoint::computePose(), and findMatch().

◆ setRansacNbInliersToReachConsensus()

void vpPose::setRansacNbInliersToReachConsensus ( const unsigned int & nbC )

inline

Examples:: testKeyPoint-4.cpp, testPose.cpp, testPoseRansac.cpp, and testPoseRansac2.cpp.

Definition at line 251 of file vpPose.h.

Referenced by vpKeyPoint::computePose(), and findMatch().

◆ setRansacThreshold()

void vpPose::setRansacThreshold ( const double & t )

inline

Examples:: testKeyPoint-4.cpp, testPose.cpp, testPoseRansac.cpp, and testPoseRansac2.cpp.

Definition at line 252 of file vpPose.h.

References vpException::badValue.

Referenced by vpKeyPoint::computePose(), and findMatch().

◆ setUseParallelRansac()

void vpPose::setUseParallelRansac ( const bool use )

inline

Set if parallel RANSAC version should be used or not.

Note: Need Pthread.

Examples:: testPoseRansac2.cpp.

Definition at line 329 of file vpPose.h.

◆ setVvsEpsilon()

void vpPose::setVvsEpsilon ( const double eps )

inline

Definition at line 241 of file vpPose.h.

References vpException::badValue.

◆ setVvsIterMax()

void vpPose::setVvsIterMax ( int nb )

inline

Definition at line 249 of file vpPose.h.

Member Data Documentation

◆ lambda

double vpPose::lambda

protected

parameters use for the virtual visual servoing approach

Definition at line 120 of file vpPose.h.

Referenced by init(), poseVirtualVS(), and poseVirtualVSrobust().

◆ listP

std::list<vpPoint> vpPose::listP

Array of point (use here class vpPoint)

Examples:: testPose.cpp.

Definition at line 115 of file vpPose.h.

Referenced by addPoint(), addPoints(), clearPoint(), computeResidual(), coplanar(), displayModel(), findMatch(), init(), poseDementhonNonPlan(), poseDementhonPlan(), poseLagrangeNonPlan(), poseLagrangePlan(), poseLowe(), poseVirtualVS(), poseVirtualVSrobust(), printPoint(), and ~vpPose().

◆ npt

unsigned int vpPose::npt

Number of point used in pose computation.

Examples:: testKeyPoint-4.cpp.

Definition at line 114 of file vpPose.h.

Referenced by addPoint(), addPoints(), calculArbreDementhon(), clearPoint(), computePose(), computeResidualDementhon(), coplanar(), init(), poseDementhonNonPlan(), poseDementhonPlan(), poseLagrangeNonPlan(), poseLagrangePlan(), and poseRansac().

◆ residual

double vpPose::residual

Residual in meter.

Definition at line 117 of file vpPose.h.

Referenced by init().

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ FILTERING_RANSAC_FLAGS

◆ vpPoseMethodType

Constructor & Destructor Documentation

◆ vpPose()

◆ ~vpPose()

Member Function Documentation

◆ addPoint()

◆ addPoints()

◆ calculArbreDementhon()

◆ clearPoint()

◆ computePose()

◆ computeRansacIterations()

◆ computeResidual()

◆ computeResidualDementhon()

◆ coplanar()

◆ display() [1/2]

◆ display() [2/2]

◆ displayModel() [1/2]

◆ displayModel() [2/2]

◆ findMatch()

◆ getCovarianceMatrix()

◆ getNbParallelRansacThreads()

◆ getPoints()

◆ getRansacInlierIndex()

◆ getRansacInliers()

◆ getRansacNbInliers()

◆ getUseParallelRansac()

◆ init()

◆ poseDementhonNonPlan()

◆ poseDementhonPlan()

◆ poseFromRectangle()

◆ poseLagrangeNonPlan()

◆ poseLagrangePlan()

◆ poseLowe()

◆ poseRansac()

◆ poseVirtualVS()

◆ poseVirtualVSrobust()

◆ printPoint()

◆ setCovarianceComputation()

◆ setDistanceToPlaneForCoplanarityTest()

◆ setLambda()

◆ setNbParallelRansacThreads()

◆ setRansacFilterFlags()

◆ setRansacMaxTrials()

◆ setRansacNbInliersToReachConsensus()

◆ setRansacThreshold()

◆ setUseParallelRansac()

◆ setVvsEpsilon()

◆ setVvsIterMax()

Member Data Documentation

◆ lambda

◆ listP

◆ npt

◆ residual