Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
testPose.cpp

Compute the pose of a 3D object using the Dementhon, Lagrange and Non-Linear approach.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 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
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* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
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* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
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* 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:
* Compute the pose of a 3D object using the Dementhon, Lagrange and
* Non-Linear approach.
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/vision/vpPose.h>
#include <stdio.h>
#include <stdlib.h>
#define L 0.035
#define L2 0.1
void print_pose(const vpHomogeneousMatrix &cMo, const std::string &legend);
int compare_pose(const vpPose &pose, const vpHomogeneousMatrix &cMo_ref, const vpHomogeneousMatrix &cMo_est,
const std::string &legend);
// print the resulting estimated pose
void print_pose(const vpHomogeneousMatrix &cMo, const std::string &legend)
{
vpPoseVector cpo = vpPoseVector(cMo);
std::cout << std::endl
<< legend << "\n "
<< "tx = " << cpo[0] << "\n "
<< "ty = " << cpo[1] << "\n "
<< "tz = " << cpo[2] << "\n "
<< "tux = vpMath::rad(" << vpMath::deg(cpo[3]) << ")\n "
<< "tuy = vpMath::rad(" << vpMath::deg(cpo[4]) << ")\n "
<< "tuz = vpMath::rad(" << vpMath::deg(cpo[5]) << ")\n"
<< std::endl;
}
// test if pose is well estimated
int compare_pose(const vpPose &pose, const vpHomogeneousMatrix &cMo_ref, const vpHomogeneousMatrix &cMo_est,
const std::string &legend)
{
vpPoseVector pose_ref = vpPoseVector(cMo_ref);
vpPoseVector pose_est = vpPoseVector(cMo_est);
int fail = 0;
// Test done on the 3D pose
for (unsigned int i = 0; i < 6; i++) {
if (std::fabs(pose_ref[i] - pose_est[i]) > 0.001)
fail = 1;
}
std::cout << "Based on 3D parameters " << legend << " is " << (fail ? "badly" : "well") << " estimated" << std::endl;
// Test done on the residual
double r = pose.computeResidual(cMo_est);
if (pose.listP.size() < 4) {
fail = 1;
std::cout << "Not enough point" << std::endl;
return fail;
}
r = sqrt(r / pose.listP.size());
// std::cout << "Residual on each point (meter): " << r << std::endl;
fail = (r > 0.001) ? 1 : 0;
std::cout << "Based on 2D residual (" << r << ") " << legend << " is " << (fail ? "badly" : "well") << " estimated"
<< std::endl;
return fail;
}
int main()
{
#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
try {
int test_planar_fail = 0, test_non_planar_fail = 0, fail = 0;
vpHomogeneousMatrix cMo; // will contain the estimated pose
{
//
// Test planar case with 4 points
//
std::cout << "Start test considering planar case with 4 points..." << std::endl;
std::cout << "===================================================" << std::endl;
//vpPoseVector cpo_ref = vpPoseVector(0.01, 0.02, 0.25, vpMath::rad(5), 0, vpMath::rad(10));
vpPoseVector cpo_ref = vpPoseVector(-0.01, -0.02, 0.3, vpMath::rad(20), vpMath::rad(-20), vpMath::rad(10));
vpHomogeneousMatrix cMo_ref(cpo_ref);
int npt = 4;
std::vector<vpPoint> P(npt); // Point to be tracked
double Z = 0.05; // FS: Dementhon estimation is not good when Z=0.3
P[0].setWorldCoordinates(-L, -L, Z);
P[1].setWorldCoordinates( L, -L, Z);
P[2].setWorldCoordinates( L, L, Z);
P[3].setWorldCoordinates(-L, L, Z);
vpPose pose;
for (int i = 0; i < npt; i++) {
P[i].project(cMo_ref);
// P[i].print();
pose.addPoint(P[i]); // and added to the pose computation class
}
// Let's go ...
print_pose(cMo_ref, std::string("Reference pose"));
std::cout << "-------------------------------------------------" << std::endl;
pose.computePose(vpPose::LAGRANGE, cMo);
print_pose(cMo, std::string("Pose estimated by Lagrange"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange");
test_planar_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::DEMENTHON, cMo);
print_pose(cMo, std::string("Pose estimated by Dementhon"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon");
test_planar_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.setRansacNbInliersToReachConsensus(4);
pose.setRansacThreshold(0.01);
pose.computePose(vpPose::RANSAC, cMo);
print_pose(cMo, std::string("Pose estimated by Ransac"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Ransac");
test_planar_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::LAGRANGE_LOWE, cMo);
print_pose(cMo, std::string("Pose estimated by Lagrange then Lowe"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange then Lowe");
test_planar_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::DEMENTHON_LOWE, cMo);
print_pose(cMo, std::string("Pose estimated by Dementhon then Lowe"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon then Lowe");
test_planar_fail |= fail;
// Now Virtual Visual servoing
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::VIRTUAL_VS, cMo);
print_pose(cMo, std::string("Pose estimated by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by VVS");
test_planar_fail |= fail;
std::cout << "-------------------------------------------------" << std::endl;
pose.computePose(vpPose::DEMENTHON_VIRTUAL_VS, cMo);
print_pose(cMo, std::string("Pose estimated by Dementhon then by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon then by VVS");
test_planar_fail |= fail;
std::cout << "-------------------------------------------------" << std::endl;
pose.computePose(vpPose::LAGRANGE_VIRTUAL_VS, cMo);
print_pose(cMo, std::string("Pose estimated by Lagrange then by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange then by VVS");
test_planar_fail |= fail;
}
{
//
// Test non-planar case with 6 points (at least 6 points for Lagrange non planar)
//
std::cout << "\nStart test considering non-planar case with 6 points..." << std::endl;
std::cout << "=======================================================" << std::endl;
vpPoseVector cpo_ref = vpPoseVector(0.01, 0.02, 0.25, vpMath::rad(5), 0, vpMath::rad(10));
vpHomogeneousMatrix cMo_ref(cpo_ref);
int npt = 6;
std::vector<vpPoint> P(npt); // Point to be tracked
P[0].setWorldCoordinates(-L, -L, 0); // Lagrange not accurate...
P[0].setWorldCoordinates(-L, -L, -0.02);
P[1].setWorldCoordinates( L, -L, 0);
P[2].setWorldCoordinates( L, L, 0);
P[3].setWorldCoordinates(-2 * L, 3 * L, 0);
P[4].setWorldCoordinates(-L, L, 0.01);
P[5].setWorldCoordinates( L, L/2., 0.03);
vpPose pose;
for (int i = 0; i < npt; i++) {
P[i].project(cMo_ref);
// P[i].print();
pose.addPoint(P[i]); // and added to the pose computation class
}
// Let's go ...
print_pose(cMo_ref, std::string("Reference pose"));
std::cout << "-------------------------------------------------" << std::endl;
pose.computePose(vpPose::LAGRANGE, cMo);
print_pose(cMo, std::string("Pose estimated by Lagrange"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange");
test_non_planar_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::DEMENTHON, cMo);
print_pose(cMo, std::string("Pose estimated by Dementhon"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon");
test_non_planar_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.setRansacNbInliersToReachConsensus(4);
pose.setRansacThreshold(0.01);
pose.computePose(vpPose::RANSAC, cMo);
print_pose(cMo, std::string("Pose estimated by Ransac"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Ransac");
test_non_planar_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::LAGRANGE_LOWE, cMo);
print_pose(cMo, std::string("Pose estimated by Lagrange then Lowe"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange then Lowe");
test_non_planar_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::DEMENTHON_LOWE, cMo);
print_pose(cMo, std::string("Pose estimated by Dementhon then Lowe"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon then Lowe");
test_non_planar_fail |= fail;
// Now Virtual Visual servoing
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::VIRTUAL_VS, cMo);
print_pose(cMo, std::string("Pose estimated by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by VVS");
test_non_planar_fail |= fail;
std::cout << "-------------------------------------------------" << std::endl;
pose.computePose(vpPose::DEMENTHON_VIRTUAL_VS, cMo);
print_pose(cMo, std::string("Pose estimated by Dementhon then by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon then by VVS");
test_non_planar_fail |= fail;
std::cout << "-------------------------------------------------" << std::endl;
pose.computePose(vpPose::LAGRANGE_VIRTUAL_VS, cMo);
print_pose(cMo, std::string("Pose estimated by Lagrange then by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange then by VVS");
test_non_planar_fail |= fail;
}
//
// Test non-planar case with 4 points (Lagrange can not be used)
//
std::cout << "\nStart test considering non-planar case with 4 points..." << std::endl;
std::cout << "=======================================================" << std::endl;
{
int npt = 4;
std::vector<vpPoint> P(npt); // Point to be tracked
P[0].setWorldCoordinates(-L2, -L2, 0);
P[1].setWorldCoordinates( L2, -L2, 0.2);
P[2].setWorldCoordinates( L2, L2, -0.1);
P[3].setWorldCoordinates(-L2, L2, 0);
vpPose pose;
vpPoseVector cpo_ref = vpPoseVector(-0.1, -0.2, 0.8, vpMath::rad(10), vpMath::rad(-10), vpMath::rad(25));
vpHomogeneousMatrix cMo_ref(cpo_ref);
for (int i = 0; i < npt; i++) {
P[i].project(cMo_ref);
// P[i].print(); printf("\n");
pose.addPoint(P[i]); // and added to the pose computation class
}
// Let's go ...
print_pose(cMo_ref, std::string("Reference pose"));
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::DEMENTHON, cMo);
print_pose(cMo, std::string("Pose estimated by Dementhon"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon");
test_non_planar_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.setRansacNbInliersToReachConsensus(4);
pose.setRansacThreshold(0.01);
pose.computePose(vpPose::RANSAC, cMo);
print_pose(cMo, std::string("Pose estimated by Ransac"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Ransac");
test_non_planar_fail |= fail;
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::DEMENTHON_LOWE, cMo);
print_pose(cMo, std::string("Pose estimated by Dementhon then Lowe"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon then Lowe");
test_non_planar_fail |= fail;
// Now Virtual Visual servoing
std::cout << "--------------------------------------------------" << std::endl;
pose.computePose(vpPose::VIRTUAL_VS, cMo);
print_pose(cMo, std::string("Pose estimated by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by VVS");
test_non_planar_fail |= fail;
std::cout << "-------------------------------------------------" << std::endl;
pose.computePose(vpPose::DEMENTHON_VIRTUAL_VS, cMo);
print_pose(cMo, std::string("Pose estimated by Dementhon then by VVS"));
fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon then by VVS");
test_non_planar_fail |= fail;
std::cout << "-------------------------------------------------" << std::endl;
}
std::cout << "=======================================================" << std::endl;
std::cout << "Pose estimation test from planar points: " << (test_planar_fail ? "fail" : "is ok") << std::endl;
std::cout << "Pose estimation test from non-planar points: " << (test_non_planar_fail ? "fail" : "is ok") << std::endl;
std::cout << "Global pose estimation test: " << ((test_planar_fail | test_non_planar_fail) ? "fail" : "is ok") << std::endl;
return ((test_planar_fail | test_non_planar_fail) ? EXIT_FAILURE : EXIT_SUCCESS);
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
#else
std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
return EXIT_SUCCESS;
#endif
}