Visual Servoing Platform  version 3.1.0
homographyHLM3DObject.cpp

Example of the HLM (Malis) homography estimation algorithm with a 3D object using vpHomography class.

/****************************************************************************
*
* 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 as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* 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
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* 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:
* Test the HLM (Malis) homography estimation algorithm with a 3D object.
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpThetaUVector.h>
#include <visp3/vision/vpHomography.h>
#include <stdlib.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/io/vpParseArgv.h>
// List of allowed command line options
#define GETOPTARGS "h"
#define L 0.1
#define nbpt 11
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\
Test the HLM (Malis) homography estimation algorithm with a 3D object.\n\
\n\
SYNOPSIS\n\
%s [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-h\n\
Print the help.\n");
if (badparam) {
fprintf(stderr, "ERROR: \n");
fprintf(stderr, "\nBad 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);
}
vpPoint P[nbpt]; // Point to be tracked
std::vector<double> xa(nbpt), ya(nbpt);
std::vector<double> xb(nbpt), yb(nbpt);
vpPoint aP[nbpt]; // Point to be tracked
vpPoint bP[nbpt]; // Point to be tracked
P[0].setWorldCoordinates(-L, -L, 0);
P[1].setWorldCoordinates(2 * L, -L, 0);
P[2].setWorldCoordinates(L, L, 0);
P[3].setWorldCoordinates(-L, 3 * L, 0);
P[4].setWorldCoordinates(0, 0, L);
P[5].setWorldCoordinates(L, -2 * L, L);
P[6].setWorldCoordinates(L, -4 * L, 2 * L);
P[7].setWorldCoordinates(-2 * L, -L, -L);
P[8].setWorldCoordinates(-5 * L, -5 * L, L);
P[9].setWorldCoordinates(-2 * L, +3 * L, 2 * L);
P[10].setWorldCoordinates(-2 * L, -0.5 * L, 2 * L);
vpHomogeneousMatrix bMo(0, 0, 1, 0, 0, 0);
vpHomogeneousMatrix aMb(0.1, 0.1, 0.1, vpMath::rad(10), 0, vpMath::rad(40));
vpHomogeneousMatrix aMo = aMb * bMo;
for (unsigned int i = 0; i < nbpt; i++) {
P[i].project(aMo);
aP[i] = P[i];
xa[i] = P[i].get_x();
ya[i] = P[i].get_y();
}
for (unsigned int i = 0; i < nbpt; i++) {
P[i].project(bMo);
bP[i] = P[i];
xb[i] = P[i].get_x();
yb[i] = P[i].get_y();
}
std::cout << "-------------------------------" << std::endl;
std::cout << "Compare with built homography H = R + t/d n " << std::endl;
vpPlane bp(0, 0, 1, 1);
vpHomography aHb_built(aMb, bp);
std::cout << "aHb built from the displacement: \n" << aHb_built / aHb_built[2][2] << std::endl;
aHb_built.computeDisplacement(aRb, aTb, n);
std::cout << "Rotation: aRb" << std::endl;
std::cout << aRb << std::endl;
std::cout << "Translation: aTb" << std::endl;
std::cout << (aTb).t() << std::endl;
std::cout << "Normal to the plane: n" << std::endl;
std::cout << (n).t() << std::endl;
std::cout << "-------------------------------" << std::endl;
std::cout << "aMb " << std::endl << aMb << std::endl;
std::cout << "-------------------------------" << std::endl;
vpHomography::HLM(xb, yb, xa, ya, false, aHb);
std::cout << "aHb computed using the Malis paralax algorithm" << std::endl;
aHb /= aHb[2][2];
std::cout << std::endl << aHb << std::endl;
std::cout << "-------------------------------" << std::endl;
std::cout << "extract R, T and n " << std::endl;
aHb.computeDisplacement(aRb, aTb, n);
std::cout << "Rotation: aRb" << std::endl;
std::cout << aRb << std::endl;
std::cout << "Translation: aTb" << std::endl;
std::cout << (aTb).t() << std::endl;
std::cout << "Normal to the plane: n" << std::endl;
std::cout << (n).t() << std::endl;
std::cout << "-------------------------------" << std::endl;
std::cout << "test if ap = aHb bp" << std::endl;
for (unsigned int i = 0; i < nbpt; i++) {
std::cout << "Point " << i << std::endl;
std::cout << "(";
std::cout << aP[i].get_x() / aP[i].get_w() << ", " << aP[i].get_y() / aP[i].get_w();
std::cout << ") = (";
p = aHb * bP[i];
std::cout << p.get_x() / p.get_w() << ", " << p.get_y() / p.get_w() << ")" << std::endl;
}
return 0;
} catch (vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}