Visual Servoing Platform
version 3.6.1 under development (2024-12-10)
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#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 , DEMENTHON_LAGRANGE_VIRTUAL_VS } |
enum | RANSAC_FILTER_FLAGS { NO_FILTER , PREFILTER_DEGENERATE_POINTS , CHECK_DEGENERATE_POINTS } |
typedef bool(* | FuncCheckValidityPose) (const vpHomogeneousMatrix &) |
Static Public Member Functions | |
static bool | computePlanarObjectPoseFromRGBD (const vpImage< float > &depthMap, const std::vector< vpImagePoint > &corners, const vpCameraParameters &colorIntrinsics, const std::vector< vpPoint > &point3d, vpHomogeneousMatrix &cMo, double *confidence_index=nullptr) |
static bool | computePlanarObjectPoseFromRGBD (const vpImage< float > &depthMap, const std::vector< std::vector< vpImagePoint > > &corners, const vpCameraParameters &colorIntrinsics, const std::vector< std::vector< vpPoint > > &point3d, vpHomogeneousMatrix &cMo, double *confidence_index=nullptr, bool coplanar_points=true) |
static int | computeRansacIterations (double probability, double epsilon, const int sampleSize=4, int maxIterations=2000) |
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 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, bool useParallelRansac=true, unsigned int nthreads=0, FuncCheckValidityPose func=nullptr) |
static double | poseFromRectangle (vpPoint &p1, vpPoint &p2, vpPoint &p3, vpPoint &p4, double lx, vpCameraParameters &cam, vpHomogeneousMatrix &cMo) |
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 | m_lambda |
double | m_dementhonSvThresh |
Class used for pose computation from N points (pose from point only). Some of the algorithms implemented in this class are described in [34].
To see how to use this class you can follow the Tutorial: Pose estimation from points.
typedef bool(* vpPose::FuncCheckValidityPose) (const vpHomogeneousMatrix &) |
Methods that could be used to estimate the pose from points.
BEGIN_VISP_NAMESPACE vpPose::vpPose | ( | ) |
Default constructor.
Definition at line 65 of file vpPose.cpp.
vpPose::vpPose | ( | const std::vector< vpPoint > & | lP | ) |
Constructor from a vector of points.
Definition at line 74 of file vpPose.cpp.
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Destructor that deletes the array of point (freed the memory).
Definition at line 84 of file vpPose.cpp.
References listP.
void vpPose::addPoint | ( | const vpPoint & | P | ) |
Add a new point in the array of points.
P | : Point to add in the array of point. |
Definition at line 96 of file vpPose.cpp.
Referenced by vpKeyPoint::computePose(), findMatch(), vpMbTracker::initFromPoints(), vpMbGenericTracker::initFromPose(), poseFromRectangle(), and poseRansac().
void vpPose::addPoints | ( | const std::vector< vpPoint > & | lP | ) |
Add (append) a list of points in the array of points.
lP | : List of points to add (append). |
Definition at line 103 of file vpPose.cpp.
Referenced by computePlanarObjectPoseFromRGBD().
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Method used in poseDementhonPlan() Return 0 if success, -1 if failure.
Definition at line 266 of file vpPoseDementhon.cpp.
References computeResidualDementhon(), and npt.
Referenced by poseDementhonPlan().
void vpPose::clearPoint | ( | ) |
Delete the array of point
Definition at line 89 of file vpPose.cpp.
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Compute the pose of multiple planar object from corresponding 2D-3D point coordinates and depth map. Depth map is here used to estimate the 3D plane of each planar object.
This implementation is reserved for the case where multiple planar objects are considered and where an object like robot arm obstruct the view and interfere with plane equation estimation for each single object. Therefore this function considers only the 3D point inside the visible tags.
[in] | depthMap | : Depth map aligned to the color image from where corners are extracted. |
[in] | corners | : Vector where each element is a vector containing 2D pixel coordinates of the 2D polygon that defines the object edges in an image. |
[in] | colorIntrinsics | : Camera parameters used to convert corners from pixel to meters. |
[in] | point3d | : Vector where each element is a vector containing 3D points coordinates of the 3D polygon that defines the model of the planar object. |
[out] | cMo | : Computed pose. |
[out] | confidence_index | : Confidence index in range [0, 1]. When values are close to 1, it means that pose estimation confidence is high. Values close to 0 indicate that pose is not well estimated. This confidence index corresponds to the product between the normalized number of depth data covering the tag and the normalized M-estimator weights returned by the robust estimation of the tag 3D plane. |
[in] | coplanar_points | : There are cases where all the planar objects are not in the same plane. In order to differentiate these cases, this parameter will be used to compute the common plane for all objects if its value is true and compute the plane individually for each object otherwise. |
Definition at line 252 of file vpPoseRGBD.cpp.
References addPoints(), vpHomogeneousMatrix::compute3d3dTransformation(), computePose(), vpPlane::computeZ(), vpPixelMeterConversion::convertPoint(), vpException::fatalError, vpImagePoint::get_u(), vpImagePoint::get_v(), vpPolygon::getArea(), vpRect::getBottom(), vpPolygon::getBoundingBox(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpImage< Type >::getWidth(), vpImage< Type >::insert(), vpPolygon::isInside(), vpHomogeneousMatrix::isValid(), and VIRTUAL_VS.
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Compute the pose of a planar object from corresponding 2D-3D point coordinates and depth map. Depth map is here used to estimate the 3D plane of the object.
[in] | depthMap | : Depth map aligned to the color image from where corners are extracted. |
[in] | corners | : Vector of 2D pixel coordinates of the object in an image. |
[in] | colorIntrinsics | : Camera parameters used to convert corners from pixel to meters. |
[in] | point3d | : Vector of 3D points corresponding to the model of the planar object. |
[out] | cMo | : Computed pose. |
[out] | confidence_index | : Confidence index in range [0, 1]. When values are close to 1, it means that pose estimation confidence is high. Values close to 0 indicate that pose is not well estimated. This confidence index corresponds to the product between the normalized number of depth data covering the tag and the normalized M-estimator weights returned by the robust estimation of the tag 3D plane. |
The following code snippet implemented in tutorial-apriltag-detector-live-rgbd-realsense.cpp shows how to use this function to estimate the pose of an AprilTag using this method:
Definition at line 158 of file vpPoseRGBD.cpp.
References addPoints(), vpHomogeneousMatrix::compute3d3dTransformation(), computePose(), vpPlane::computeZ(), vpPixelMeterConversion::convertPoint(), vpException::fatalError, vpImagePoint::get_u(), vpImagePoint::get_v(), vpPolygon::getArea(), vpRect::getBottom(), vpPolygon::getBoundingBox(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpImage< Type >::getWidth(), vpPolygon::isInside(), vpHomogeneousMatrix::isValid(), and VIRTUAL_VS.
bool vpPose::computePose | ( | vpPoseMethodType | method, |
vpHomogeneousMatrix & | cMo, | ||
FuncCheckValidityPose | func = nullptr |
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Compute the pose according to the desired method which are:
Definition at line 385 of file vpPose.cpp.
References computePoseDementhonLagrangeVVS(), coplanar(), DEMENTHON, DEMENTHON_LAGRANGE_VIRTUAL_VS, DEMENTHON_LOWE, DEMENTHON_VIRTUAL_VS, LAGRANGE, LAGRANGE_LOWE, LAGRANGE_VIRTUAL_VS, LOWE, vpPoseException::notEnoughPointError, npt, poseDementhonNonPlan(), poseDementhonPlan(), poseLowe(), poseRansac(), poseVirtualVS(), RANSAC, and VIRTUAL_VS.
Referenced by computePlanarObjectPoseFromRGBD(), vpKeyPoint::computePose(), computePoseDementhonLagrangeVVS(), findMatch(), vpMbTracker::initFromPoints(), poseFromRectangle(), and poseRansac().
bool vpPose::computePoseDementhonLagrangeVVS | ( | vpHomogeneousMatrix & | cMo | ) |
Method that first computes the pose cMo using the linear approaches of Dementhon and Lagrange and then uses the non-linear Virtual Visual Servoing approach to affine the pose which had the lowest residual.
cMo | the pose of the object with regard to the camera. |
Definition at line 463 of file vpPose.cpp.
References computePose(), computeResidual(), coplanar(), poseDementhonNonPlan(), poseDementhonPlan(), poseLagrangeNonPlan(), poseLagrangePlan(), and VIRTUAL_VS.
Referenced by computePose().
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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.
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. |
maxIterations
if it exceeds the desired upper bound or INT_MAX if maxIterations=-1. Definition at line 538 of file vpPoseRansac.cpp.
References vpMath::nul().
double vpPose::computeResidual | ( | const vpHomogeneousMatrix & | cMo | ) | const |
Compute and return the sum of squared residuals expressed in meter^2 for the pose matrix cMo.
cMo | : Input pose. The matrix that defines the pose to be tested. |
Definition at line 298 of file vpPose.cpp.
References vpPoint::get_x(), vpPoint::get_y(), listP, vpMath::sqr(), and vpForwardProjection::track().
Referenced by computePoseDementhonLagrangeVVS(), and computeResidual().
double vpPose::computeResidual | ( | const vpHomogeneousMatrix & | cMo, |
const vpCameraParameters & | cam | ||
) | const |
Compute and return the sum of squared residuals expressed in pixel^2 for the pose matrix cMo.
cMo | : Input pose. The matrix that defines the pose to be tested. |
cam | : Camera parameters used to observe the points. |
Definition at line 315 of file vpPose.cpp.
References computeResidual().
double vpPose::computeResidual | ( | const vpHomogeneousMatrix & | cMo, |
const vpCameraParameters & | cam, | ||
vpColVector & | squaredResidual | ||
) | const |
Compute and return the sum of squared residuals expressed in pixel^2 for the pose matrix cMo.
cMo | : Input pose. The matrix that defines the pose to be tested. |
cam | : Camera parameters used to observe the points. |
squaredResidual | Input/output vector that will be resized and will contain the squared residuals expressed in pixel^2 of each point. |
Definition at line 321 of file vpPose.cpp.
References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), listP, vpColVector::resize(), vpMath::sqr(), and vpForwardProjection::track().
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Compute and return the residual corresponding to the sum of squared residuals in meter^2 for the pose matrix cMo.
cMo | : the matrix that defines the pose to be tested. |
Definition at line 488 of file vpPoseDementhon.cpp.
References npt, and vpMath::sqr().
Referenced by calculArbreDementhon(), poseDementhonNonPlan(), and poseDementhonPlan().
bool vpPose::coplanar | ( | int & | coplanar_plane_type, |
double * | p_a = nullptr , |
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double * | p_b = nullptr , |
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double * | p_c = nullptr , |
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double * | p_d = nullptr |
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Test the coplanarity of the set of points
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 |
p_a | if different from null, it will be set to equal the a coefficient of the potential plan. |
p_b | if different from null, it will be set to equal the b coefficient of the potential plan. |
p_c | if different from null, it will be set to equal the c coefficient of the potential plan. |
p_d | if different from null, it will be set to equal the d coefficient of the potential plan. |
Definition at line 120 of file vpPose.cpp.
References vpColVector::crossProd(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoseException::notEnoughPointError, npt, vpMath::sqr(), and vpColVector::sumSquare().
Referenced by computePose(), computePoseDementhonLagrangeVVS(), and poseLagrangePlan().
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Display in the image I the pose represented by its homogenous transformation cMo as a 3 axis frame.
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-axis, y-axis and z-axis respectively. |
Definition at line 567 of file vpPose.cpp.
References vpDisplay::displayFrame().
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Display in the image I the pose represented by its homogenous transformation cMo as a 3 axis frame.
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-axis, y-axis and z-axis respectively. |
Definition at line 573 of file vpPose.cpp.
References vpDisplay::displayFrame().
void vpPose::displayModel | ( | vpImage< unsigned char > & | I, |
vpCameraParameters & | cam, | ||
vpColor | col = vpColor::none |
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Display the coordinates of the points in the image plane that are used to compute the pose in image I.
Definition at line 578 of file vpPose.cpp.
References vpMeterPixelConversion::convertPoint(), vpDisplay::displayCross(), listP, and vpTracker::p.
void vpPose::displayModel | ( | vpImage< vpRGBa > & | I, |
vpCameraParameters & | cam, | ||
vpColor | col = vpColor::none |
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Display the coordinates of the points in the image plane that are used to compute the pose in image I.
Definition at line 591 of file vpPose.cpp.
References vpMeterPixelConversion::convertPoint(), vpDisplay::displayCross(), listP, and vpTracker::p.
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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 correspondence are required to validate the pose
The inliers are given in a vector of vpPoint listInliers.
The pose is returned in cMo.
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. |
useParallelRansac | : If true, use parallel RANSAC version (if C++11 is available). |
nthreads | : Number of threads to use, if 0 the number of CPU threads will be determined. |
func | : Pointer to a function that takes in parameter a vpHomogeneousMatrix and returns true if the pose check is OK or false otherwise |
Definition at line 576 of file vpPoseRansac.cpp.
References addPoint(), CHECK_DEGENERATE_POINTS, computePose(), getRansacInliers(), getRansacNbInliers(), listP, vpPoseException::notEnoughPointError, RANSAC, vpPoint::set_x(), vpPoint::set_y(), setNbParallelRansacThreads(), setRansacFilterFlag(), setRansacMaxTrials(), setRansacNbInliersToReachConsensus(), setRansacThreshold(), and setUseParallelRansac().
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Get the covariance matrix computed in the Virtual Visual Servoing approach.
Definition at line 440 of file vpPose.h.
Referenced by vpKeyPoint::computePose().
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Get the number of threads for the parallel RANSAC implementation.
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Get the vector of indexes corresponding to inliers.
Definition at line 416 of file vpPose.h.
Referenced by vpKeyPoint::computePose().
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Get the vector of inliers.
Definition at line 421 of file vpPose.h.
Referenced by vpKeyPoint::computePose(), and findMatch().
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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 [14].
Definition at line 87 of file vpPoseDementhon.cpp.
References computeResidualDementhon(), vpException::fatalError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), listP, m_dementhonSvThresh, npt, vpMatrix::pseudoInverse(), vpPoint::set_oX(), vpPoint::set_oY(), and vpPoint::set_oZ().
Referenced by computePose(), and computePoseDementhonLagrangeVVS().
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.
Definition at line 357 of file vpPoseDementhon.cpp.
References calculArbreDementhon(), computeResidualDementhon(), vpException::fatalError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), listP, m_dementhonSvThresh, npt, vpMatrix::pseudoInverse(), vpPoint::set_oX(), vpPoint::set_oY(), and vpPoint::set_oZ().
Referenced by computePose(), and computePoseDementhonLagrangeVVS().
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Carries out the camera pose the image of a rectangle and the intrinsic parameters, the length on x axis is known but the proportion 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 intrinsic parameters matrix, we have s = ||Kh1||/ ||Kh2||. s gives us the proportion of the rectangle
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) |
Definition at line 606 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().
void vpPose::poseLagrangeNonPlan | ( | vpHomogeneousMatrix & | cMo | ) |
Compute the pose of a non planar object using Lagrange approach.
cMo | : Estimated pose. No initialisation is requested to estimate cMo. |
Definition at line 360 of file vpPoseLagrange.cpp.
References vpException::dimensionError, vpException::divideByZeroError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), listP, and npt.
Referenced by computePoseDementhonLagrangeVVS().
void vpPose::poseLagrangePlan | ( | vpHomogeneousMatrix & | cMo, |
bool * | p_isPlan = nullptr , |
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double * | p_a = nullptr , |
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double * | p_b = nullptr , |
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double * | p_c = nullptr , |
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double * | p_d = nullptr |
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Compute the pose of a planar object using Lagrange approach.
cMo | : Estimated pose. No initialisation is requested to estimate cMo. |
p_isPlan | : if different from nullptr, indicates if the object is planar or not. |
p_a | : if different from nullptr, the a coefficient of the plan formed by the points. |
p_b | : if different from nullptr, the b coefficient of the plan formed by the points. |
p_c | : if different from nullptr, the c coefficient of the plan formed by the points. |
p_d | : if different from nullptr, the d coefficient of the plan formed by the points. |
Definition at line 174 of file vpPoseLagrange.cpp.
References coplanar(), vpColVector::crossProd(), vpException::divideByZeroError, vpException::fatalError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), listP, and npt.
Referenced by computePoseDementhonLagrangeVVS().
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 [26].
Definition at line 270 of file vpPoseLowe.cpp.
References vpHomogeneousMatrix::extract(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_x(), vpPoint::get_y(), vpHomogeneousMatrix::insert(), listP, and npt.
Referenced by computePose().
bool vpPose::poseRansac | ( | vpHomogeneousMatrix & | cMo, |
FuncCheckValidityPose | func = nullptr |
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Compute the pose using the Ransac approach.
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 |
Definition at line 331 of file vpPoseRansac.cpp.
References addPoint(), CHECK_DEGENERATE_POINTS, computePose(), DEMENTHON_LAGRANGE_VIRTUAL_VS, listP, vpPoseException::notInitializedError, PREFILTER_DEGENERATE_POINTS, and setCovarianceComputation().
Referenced by computePose().
BEGIN_VISP_NAMESPACE void vpPose::poseVirtualVS | ( | vpHomogeneousMatrix & | cMo | ) |
Compute the pose using virtual visual servoing approach.
This approach is described in [31].
Definition at line 47 of file vpPoseVirtualVisualServoing.cpp.
References vpMatrix::computeCovarianceMatrixVVS(), vpExponentialMap::direct(), vpException::fatalError, vpPoint::get_x(), vpPoint::get_y(), vpPoint::get_Z(), vpHomogeneousMatrix::inverse(), listP, m_lambda, vpColVector::sumSquare(), and vpForwardProjection::track().
Referenced by computePose().
void vpPose::poseVirtualVSrobust | ( | vpHomogeneousMatrix & | cMo | ) |
Compute the pose using virtual visual servoing approach and a robust control law.
This approach is described in [8].
Definition at line 159 of file vpPoseVirtualVisualServoing.cpp.
References vpMatrix::computeCovarianceMatrix(), vpExponentialMap::direct(), vpPoint::get_x(), vpPoint::get_y(), vpPoint::get_Z(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), listP, m_lambda, vpRobust::MEstimator(), vpColVector::resize(), vpArray2D< Type >::resize(), vpRobust::setMinMedianAbsoluteDeviation(), vpMath::sqr(), vpColVector::sumSquare(), vpForwardProjection::track(), and vpRobust::TUKEY.
void vpPose::printPoint | ( | ) |
Print to std::cout points used as input.
Definition at line 554 of file vpPose.cpp.
References vpTracker::cP, listP, vpForwardProjection::oP, vpTracker::p, and vpColVector::t().
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Set if the covariance matrix has to be computed in the Virtual Visual Servoing approach.
flag | : True if the covariance has to be computed, false otherwise. |
Definition at line 429 of file vpPose.h.
Referenced by vpKeyPoint::computePose(), and poseRansac().
void vpPose::setDementhonSvThreshold | ( | const double & | svThresh | ) |
Set singular value threshold in Dementhon pose estimation method.
Definition at line 112 of file vpPose.cpp.
References vpException::badValue, and m_dementhonSvThresh.
void vpPose::setDistToPlaneForCoplanTest | ( | double | d | ) |
Set distance threshold to consider that when a point belongs to a plane.
Definition at line 110 of file vpPose.cpp.
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Set the number of threads for the parallel RANSAC implementation.
Definition at line 476 of file vpPose.h.
Referenced by vpKeyPoint::computePose(), and findMatch().
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Set RANSAC filter flag.
flag | : RANSAC flag to use to prefilter or perform degenerate configuration check. |
Definition at line 459 of file vpPose.h.
Referenced by vpKeyPoint::computePose(), and findMatch().
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Set Ransac number of trials.
Definition at line 406 of file vpPose.h.
Referenced by vpKeyPoint::computePose(), and findMatch().
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Set Ransac requested number of inliers to reach consensus.
Definition at line 387 of file vpPose.h.
Referenced by vpKeyPoint::computePose(), and findMatch().
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Set Ransac threshold.
Definition at line 392 of file vpPose.h.
References vpException::badValue.
Referenced by vpKeyPoint::computePose(), and findMatch().
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Set if parallel RANSAC version should be used or not (only if C++11).
Definition at line 490 of file vpPose.h.
Referenced by vpKeyPoint::computePose(), and findMatch().
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Set virtual visual servoing epsilon value used in the pseudo-inverse.
Definition at line 369 of file vpPose.h.
References vpException::badValue.
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std::list<vpPoint> vpPose::listP |
Array of point (use here class vpPoint)
Definition at line 114 of file vpPose.h.
Referenced by addPoint(), addPoints(), clearPoint(), computeResidual(), displayModel(), findMatch(), poseDementhonNonPlan(), poseDementhonPlan(), poseLagrangeNonPlan(), poseLagrangePlan(), poseLowe(), poseRansac(), poseVirtualVS(), poseVirtualVSrobust(), printPoint(), and ~vpPose().
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SVD threshold use for the pseudo-inverse computation in poseDementhonPlan.
Definition at line 769 of file vpPose.h.
Referenced by poseDementhonNonPlan(), poseDementhonPlan(), and setDementhonSvThreshold().
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Parameters use for the virtual visual servoing approach.
Definition at line 768 of file vpPose.h.
Referenced by poseVirtualVS(), and poseVirtualVSrobust().
unsigned int vpPose::npt |
Number of point used in pose computation.
Definition at line 113 of file vpPose.h.
Referenced by addPoint(), addPoints(), calculArbreDementhon(), clearPoint(), computePose(), computeResidualDementhon(), coplanar(), poseDementhonNonPlan(), poseDementhonPlan(), poseLagrangeNonPlan(), poseLagrangePlan(), and poseLowe().