41 #include <visp3/core/vpConfig.h>
43 #if defined(VISP_HAVE_CATCH2) && defined(VISP_HAVE_APRILTAG) && (VISP_HAVE_DATASET_VERSION >= 0x030300)
44 #define CATCH_CONFIG_RUNNER
48 #include <visp3/core/vpDisplay.h>
49 #include <visp3/core/vpIoTools.h>
50 #include <visp3/core/vpPixelMeterConversion.h>
51 #include <visp3/core/vpPoint.h>
52 #include <visp3/detection/vpDetectorAprilTag.h>
53 #include <visp3/io/vpImageIo.h>
54 #include <visp3/vision/vpPose.h>
57 struct TagGroundTruth {
58 std::string m_message;
59 std::vector<vpImagePoint> m_corners;
61 TagGroundTruth(
const std::string &msg,
const std::vector<vpImagePoint> &c) : m_message(msg), m_corners(c) {}
63 bool operator==(
const TagGroundTruth &b)
const
65 if (m_message != b.m_message || m_corners.size() != b.m_corners.size()) {
69 for (
size_t i = 0; i < m_corners.size(); i++) {
71 if (!
vpMath::equal(m_corners[i].get_u(), b.m_corners[i].get_u(), 0.5) ||
72 !
vpMath::equal(m_corners[i].get_v(), b.m_corners[i].get_v(), 0.5)) {
80 bool operator!=(
const TagGroundTruth &b)
const {
return !(*
this == b); }
82 double rmse(
const std::vector<vpImagePoint> &c)
86 if (m_corners.size() == c.size()) {
87 for (
size_t i = 0; i < m_corners.size(); i++) {
96 return sqrt(error / (2 * m_corners.size()));
100 #if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_EIGEN3)
101 std::ostream &
operator<<(std::ostream &os, TagGroundTruth &t)
103 os << t.m_message << std::endl;
104 for (
size_t i = 0; i < t.m_corners.size(); i++) {
105 os << t.m_corners[i] << std::endl;
112 struct FailedTestCase {
119 : m_family(family), m_method(method), m_tagId(tagId)
123 bool operator==(
const FailedTestCase &b)
const
125 return m_family == b.m_family && m_method == b.m_method && m_tagId == b.m_tagId;
128 bool operator!=(
const FailedTestCase &b)
const {
return !(*
this == b); }
132 TEST_CASE(
"Apriltag pose estimation test",
"[apriltag_pose_estimation_test]")
134 std::map<vpDetectorAprilTag::vpAprilTagFamily, std::string> apriltagMap = {
139 #if defined(VISP_HAVE_APRILTAG_BIG_FAMILY)
148 std::map<vpDetectorAprilTag::vpAprilTagFamily, double> tagSizeScales = {
153 #if defined(VISP_HAVE_APRILTAG_BIG_FAMILY)
162 std::vector<vpDetectorAprilTag::vpPoseEstimationMethod> poseMethods = {
165 #if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_EIGEN3)
172 std::map<vpDetectorAprilTag::vpPoseEstimationMethod, std::string> methodNames = {
176 #if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_EIGEN3)
183 const size_t nbTags = 5;
184 const double tagSize_ = 0.25;
185 std::map<int, double> tagsSize = {
186 {0, tagSize_}, {1, tagSize_}, {2, tagSize_}, {3, tagSize_ / 2}, {4, tagSize_ / 2},
189 std::map<int, double> errorTranslationThresh = {
190 {0, 0.025}, {1, 0.09}, {2, 0.05}, {3, 0.13}, {4, 0.09},
192 std::map<int, double> errorRotationThresh = {
193 {0, 0.04}, {1, 0.075}, {2, 0.07}, {3, 0.18}, {4, 0.13},
195 std::vector<FailedTestCase> ignoreTests = {
203 std::map<int, vpHomogeneousMatrix> groundTruthPoses;
204 for (
size_t i = 0; i < nbTags; i++) {
205 std::string filename =
207 std::to_string(i) + std::string(
".txt"));
208 std::ifstream file(filename);
209 groundTruthPoses[
static_cast<int>(i)].load(file);
212 for (
const auto &kv : apriltagMap) {
213 auto family = kv.first;
214 std::cout <<
"\nApriltag family: " << family << std::endl;
215 std::string filename =
217 std::string(
"AprilTag/benchmark/640x480/") + kv.second + std::string(
"_640x480.png"));
218 const double tagSize = tagSize_ * tagSizeScales[family];
223 REQUIRE(I.
getSize() == 640 * 480);
227 for (
auto method : poseMethods) {
228 std::cout <<
"\tPose estimation method: " << method << std::endl;
229 apriltag_detector.setAprilTagPoseEstimationMethod(method);
233 std::vector<vpHomogeneousMatrix> cMo_vec;
234 apriltag_detector.detect(I, tagSize, cam, cMo_vec);
235 CHECK(cMo_vec.size() == nbTags);
237 std::vector<std::vector<vpImagePoint> > tagsCorners = apriltag_detector.getPolygon();
238 CHECK(tagsCorners.size() == nbTags);
240 std::vector<std::string> messages = apriltag_detector.getMessage();
241 CHECK(messages.size() == nbTags);
243 std::vector<int> tagsId = apriltag_detector.getTagsId();
244 CHECK(tagsId.size() == nbTags);
245 std::map<int, int> idsCount;
246 for (
size_t i = 0; i < tagsId.size(); i++) {
247 idsCount[tagsId[i]]++;
248 CHECK((tagsId[i] >= 0 && tagsId[i] < 5));
250 CHECK(idsCount.size() == nbTags);
252 for (
size_t i = 0; i < cMo_vec.size(); i++) {
259 std::cout <<
"\t\tSame size, Tag: " << i << std::endl;
263 vpColVector error_translation = pose.getTranslationVector() - pose_truth.getTranslationVector();
265 double error_trans = sqrt(error_translation.
sumSquare() / 3);
266 double error_orientation = sqrt(error_thetau.
sumSquare() / 3);
267 std::cout <<
"\t\t\tTranslation error: " << error_trans <<
" / Rotation error: " << error_orientation
269 CHECK((error_trans < errorTranslationThresh[
id] && error_orientation < errorRotationThresh[
id]));
275 apriltag_detector.detect(I);
277 std::vector<std::vector<vpImagePoint> > tagsCorners = apriltag_detector.getPolygon();
278 CHECK(tagsCorners.size() == nbTags);
280 std::vector<std::string> messages = apriltag_detector.getMessage();
281 CHECK(messages.size() == nbTags);
283 std::vector<int> tagsId = apriltag_detector.getTagsId();
284 CHECK(tagsId.size() == nbTags);
285 std::map<int, int> idsCount;
286 for (
size_t i = 0; i < tagsId.size(); i++) {
287 idsCount[tagsId[i]]++;
288 CHECK((tagsId[i] >= 0 && tagsId[i] < 5));
290 CHECK(idsCount.size() == nbTags);
292 for (
size_t idx = 0; idx < tagsId.size(); idx++) {
293 std::cout <<
"\t\tCustom size, Tag: " << idx << std::endl;
294 const int id = tagsId[idx];
296 apriltag_detector.getPose(idx, tagsSize[
id] * tagSizeScales[family], cam, cMo);
302 vpColVector error_translation = pose.getTranslationVector() - pose_truth.getTranslationVector();
304 double error_trans = sqrt(error_translation.
sumSquare() / 3);
305 double error_orientation = sqrt(error_thetau.
sumSquare() / 3);
306 std::cout <<
"\t\t\tTranslation error: " << error_trans <<
" / Rotation error: " << error_orientation
308 if (std::find(ignoreTests.begin(), ignoreTests.end(),
309 FailedTestCase(family, method,
static_cast<int>(idx))) == ignoreTests.end()) {
310 CHECK((error_trans < errorTranslationThresh[
id] && error_orientation < errorRotationThresh[
id]));
317 apriltag_detector.detect(I);
319 std::vector<std::vector<vpImagePoint> > tagsCorners = apriltag_detector.getPolygon();
320 CHECK(tagsCorners.size() == nbTags);
322 std::vector<std::string> messages = apriltag_detector.getMessage();
323 CHECK(messages.size() == nbTags);
325 std::vector<int> tagsId = apriltag_detector.getTagsId();
326 CHECK(tagsId.size() == nbTags);
327 std::map<int, int> idsCount;
328 for (
size_t i = 0; i < tagsId.size(); i++) {
329 idsCount[tagsId[i]]++;
330 CHECK((tagsId[i] >= 0 && tagsId[i] < 5));
332 CHECK(idsCount.size() == nbTags);
334 for (
size_t idx = 0; idx < tagsId.size(); idx++) {
335 std::cout <<
"\t\tCustom size + aligned Z-axis, Tag: " << idx << std::endl;
336 const int id = tagsId[idx];
338 apriltag_detector.setZAlignedWithCameraAxis(
true);
339 apriltag_detector.getPose(idx, tagsSize[
id] * tagSizeScales[family], cam, cMo);
340 apriltag_detector.setZAlignedWithCameraAxis(
false);
347 vpColVector error_translation = pose.getTranslationVector() - pose_truth.getTranslationVector();
349 double error_trans = sqrt(error_translation.
sumSquare() / 3);
350 double error_orientation = sqrt(error_thetau.
sumSquare() / 3);
351 std::cout <<
"\t\t\tTranslation error: " << error_trans <<
" / Rotation error: " << error_orientation
353 if (std::find(ignoreTests.begin(), ignoreTests.end(),
354 FailedTestCase(family, method,
static_cast<int>(idx))) == ignoreTests.end()) {
355 CHECK((error_trans < errorTranslationThresh[
id] && error_orientation < errorRotationThresh[
id]));
363 TEST_CASE(
"Apriltag corners accuracy test",
"[apriltag_corners_accuracy_test]")
365 std::map<vpDetectorAprilTag::vpAprilTagFamily, std::string> apriltagMap = {
370 #if defined(VISP_HAVE_APRILTAG_BIG_FAMILY)
379 const size_t nbTags = 5;
380 std::map<vpDetectorAprilTag::vpAprilTagFamily, std::map<int, std::vector<vpImagePoint> > > groundTruthCorners;
381 for (
const auto &kv : apriltagMap) {
382 std::string filename =
384 std::string(
"AprilTag/benchmark/640x480/corners_") + kv.second + std::string(
".txt"));
385 std::ifstream file(filename);
386 REQUIRE(file.is_open());
389 double p0x = 0, p0y = 0;
390 double p1x = 0, p1y = 0;
391 double p2x = 0, p2y = 0;
392 double p3x = 0, p3y = 0;
393 while (file >>
id >> p0x >> p0y >> p1x >> p1y >> p2x >> p2y >> p3x >> p3y) {
394 groundTruthCorners[kv.first][id].push_back(
vpImagePoint(p0y, p0x));
395 groundTruthCorners[kv.first][id].push_back(
vpImagePoint(p1y, p1x));
396 groundTruthCorners[kv.first][id].push_back(
vpImagePoint(p2y, p2x));
397 groundTruthCorners[kv.first][id].push_back(
vpImagePoint(p3y, p3x));
398 REQUIRE(groundTruthCorners[kv.first][
id].size() == 4);
402 for (
const auto &kv : apriltagMap) {
403 auto family = kv.first;
404 std::cout <<
"\nApriltag family: " << family << std::endl;
405 std::string filename =
407 std::string(
"AprilTag/benchmark/640x480/") + kv.second + std::string(
"_640x480.png"));
412 REQUIRE(I.
getSize() == 640 * 480);
415 apriltag_detector.detect(I);
416 std::vector<int> tagsId = apriltag_detector.getTagsId();
417 std::vector<std::vector<vpImagePoint> > tagsCorners = apriltag_detector.getTagsCorners();
419 REQUIRE(tagsCorners.size() == nbTags);
420 REQUIRE(tagsId.size() == nbTags);
421 for (
size_t i = 0; i < tagsCorners.size(); i++) {
422 const int tagId = tagsId[i];
423 REQUIRE(tagsCorners[i].size() == 4);
425 TagGroundTruth corners_ref(
"", groundTruthCorners[family][tagId]);
426 TagGroundTruth corners_cur(
"", tagsCorners[i]);
427 CHECK((corners_ref == corners_cur));
429 std::cout <<
"\tid: " << tagId <<
" - RMSE: " << corners_ref.rmse(corners_cur.m_corners) << std::endl;
434 #if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_EIGEN3)
435 TEST_CASE(
"Apriltag regression test",
"[apriltag_regression_test]")
437 #if (VISP_HAVE_DATASET_VERSION >= 0x030600)
446 REQUIRE(I.
getSize() == 640 * 480);
450 const double tagSize = 0.053;
451 const float quad_decimate = 1.0;
454 dynamic_cast<vpDetectorAprilTag *
>(detector)->setAprilTagPoseEstimationMethod(poseEstimationMethod);
459 std::vector<vpHomogeneousMatrix> cMo_vec;
463 std::map<std::string, TagGroundTruth> mapOfTagsGroundTruth;
465 std::string filename_ground_truth =
467 std::ifstream file_ground_truth(filename_ground_truth.c_str());
468 REQUIRE(file_ground_truth.is_open());
469 std::string message =
"";
470 double v1 = 0.0, v2 = 0.0, v3 = 0.0, v4 = 0.0;
471 double u1 = 0.0, u2 = 0.0, u3 = 0.0, u4 = 0.0;
472 while (file_ground_truth >> message >> v1 >> u1 >> v2 >> u2 >> v3 >> u3 >> v4 >> u4) {
473 std::vector<vpImagePoint> tagCorners(4);
474 tagCorners[0].set_ij(v1, u1);
475 tagCorners[1].set_ij(v2, u2);
476 tagCorners[2].set_ij(v3, u3);
477 tagCorners[3].set_ij(v4, u4);
478 mapOfTagsGroundTruth.insert(std::make_pair(message, TagGroundTruth(message, tagCorners)));
482 std::map<std::string, vpPoseVector> mapOfPosesGroundTruth;
484 std::string filename_ground_truth =
486 std::ifstream file_ground_truth(filename_ground_truth.c_str());
487 REQUIRE(file_ground_truth.is_open());
488 std::string message =
"";
489 double tx = 0.0, ty = 0.0, tz = 0.0;
490 double tux = 0.0, tuy = 0.0, tuz = 0.0;
491 while (file_ground_truth >> message >> tx >> ty >> tz >> tux >> tuy >> tuz) {
492 mapOfPosesGroundTruth.insert(std::make_pair(message,
vpPoseVector(tx, ty, tz, tux, tuy, tuz)));
497 std::vector<vpImagePoint> p = detector->
getPolygon(i);
499 std::string message = detector->
getMessage(i);
500 std::replace(message.begin(), message.end(),
' ',
'_');
501 std::map<std::string, TagGroundTruth>::iterator it = mapOfTagsGroundTruth.find(message);
502 TagGroundTruth current(message, p);
503 if (it == mapOfTagsGroundTruth.end()) {
504 std::cerr <<
"Problem with tag decoding (tag_family or id): " << message << std::endl;
505 }
else if (it->second != current) {
506 std::cerr <<
"Problem, current detection:\n" << current <<
"\nReference:\n" << it->second << std::endl;
508 REQUIRE(it != mapOfTagsGroundTruth.end());
509 CHECK(it->second == current);
512 for (
size_t i = 0; i < cMo_vec.size(); i++) {
515 std::string message = detector->
getMessage(i);
516 std::replace(message.begin(), message.end(),
' ',
'_');
517 std::map<std::string, vpPoseVector>::iterator it = mapOfPosesGroundTruth.find(message);
518 if (it == mapOfPosesGroundTruth.end()) {
519 std::cerr <<
"Problem with tag decoding (tag_family or id): " << message << std::endl;
521 REQUIRE(it != mapOfPosesGroundTruth.end());
522 std::cout <<
"Tag: " << message << std::endl;
523 std::cout <<
"\tEstimated pose: " << pose_vec.t() << std::endl;
524 std::cout <<
"\tReference pose: " << it->second.t() << std::endl;
525 for (
unsigned int cpt = 0; cpt < 3; cpt++) {
527 !
vpMath::equal(it->second[cpt + 3], pose_vec[cpt + 3], 0.005)) {
528 std::cerr <<
"Problem, current pose: " << pose_vec.t() <<
"\nReference pose: " << it->second.t() << std::endl;
530 CHECK((
vpMath::equal(it->second[cpt], pose_vec[cpt], 0.005) &&
531 vpMath::equal(it->second[cpt + 3], pose_vec[cpt + 3], 0.005)));
538 TEST_CASE(
"Apriltag copy constructor test",
"[apriltag_copy_constructor_test]")
540 const std::string filename =
546 REQUIRE(I.
getSize() == 640 * 480);
550 const double tagSize = 0.25 * 5 / 9;
551 const float quad_decimate = 1.0;
558 std::vector<vpHomogeneousMatrix> cMo_vec;
559 detector->
detect(I, tagSize, cam, cMo_vec);
560 std::vector<std::vector<vpImagePoint> > tagsCorners = detector->
getTagsCorners();
561 std::vector<int> tagsId = detector->
getTagsId();
568 std::vector<std::vector<vpImagePoint> > tagsCorners_copy = detector_copy.
getTagsCorners();
569 std::vector<int> tagsId_copy = detector_copy.getTagsId();
570 REQUIRE(tagsCorners_copy.size() == tagsCorners.size());
571 REQUIRE(tagsId_copy.size() == tagsId.size());
572 REQUIRE(tagsCorners_copy.size() == tagsId_copy.size());
574 for (
size_t i = 0; i < tagsCorners.size(); i++) {
575 const std::vector<vpImagePoint> &corners_ref = tagsCorners[i];
576 const std::vector<vpImagePoint> &corners_copy = tagsCorners_copy[i];
577 REQUIRE(corners_ref.size() == corners_copy.size());
579 for (
size_t j = 0; j < corners_ref.size(); j++) {
582 CHECK(corner_ref == corner_copy);
585 int id_ref = tagsId[i];
586 int id_copy = tagsId_copy[i];
587 CHECK(id_ref == id_copy);
590 std::vector<vpHomogeneousMatrix> cMo_vec_copy;
591 detector_copy.detect(I, tagSize, cam, cMo_vec_copy);
592 REQUIRE(cMo_vec.size() == cMo_vec_copy.size());
593 for (
size_t idx = 0; idx < cMo_vec_copy.size(); idx++) {
596 for (
unsigned int i = 0; i < 3; i++) {
597 for (
unsigned int j = 0; j < 4; j++) {
598 CHECK(
vpMath::equal(cMo[i][j], cMo_copy[i][j], std::numeric_limits<double>::epsilon()));
604 TEST_CASE(
"Apriltag assignment operator test",
"[apriltag_assignment_operator_test]")
606 const std::string filename =
612 REQUIRE(I.
getSize() == 640 * 480);
616 const double tagSize = 0.25 * 5 / 9;
617 const float quad_decimate = 1.0;
624 std::vector<vpHomogeneousMatrix> cMo_vec;
625 detector->
detect(I, tagSize, cam, cMo_vec);
626 std::vector<std::vector<vpImagePoint> > tagsCorners = detector->
getTagsCorners();
627 std::vector<int> tagsId = detector->
getTagsId();
634 std::vector<std::vector<vpImagePoint> > tagsCorners_copy = detector_copy.
getTagsCorners();
635 std::vector<int> tagsId_copy = detector_copy.
getTagsId();
636 REQUIRE(tagsCorners_copy.size() == tagsCorners.size());
637 REQUIRE(tagsId_copy.size() == tagsId.size());
638 REQUIRE(tagsCorners_copy.size() == tagsId_copy.size());
640 for (
size_t i = 0; i < tagsCorners.size(); i++) {
641 const std::vector<vpImagePoint> &corners_ref = tagsCorners[i];
642 const std::vector<vpImagePoint> &corners_copy = tagsCorners_copy[i];
643 REQUIRE(corners_ref.size() == corners_copy.size());
645 for (
size_t j = 0; j < corners_ref.size(); j++) {
648 CHECK(corner_ref == corner_copy);
651 int id_ref = tagsId[i];
652 int id_copy = tagsId_copy[i];
653 CHECK(id_ref == id_copy);
656 std::vector<vpHomogeneousMatrix> cMo_vec_copy;
657 detector_copy.
detect(I, tagSize, cam, cMo_vec_copy);
658 REQUIRE(cMo_vec.size() == cMo_vec_copy.size());
659 for (
size_t idx = 0; idx < cMo_vec_copy.size(); idx++) {
662 for (
unsigned int i = 0; i < 3; i++) {
663 for (
unsigned int j = 0; j < 4; j++) {
664 CHECK(
vpMath::equal(cMo[i][j], cMo_copy[i][j], std::numeric_limits<double>::epsilon()));
670 TEST_CASE(
"Apriltag getTagsPoints3D test",
"[apriltag_get_tags_points3D_test]")
672 const std::string filename =
678 REQUIRE(I.
getSize() == 640 * 480);
682 const double familyScale = 5.0 / 9;
683 const double tagSize = 0.25;
684 std::map<int, double> tagsSize = {
685 {-1, tagSize * familyScale}, {3, tagSize / 2 * familyScale}, {4, tagSize / 2 * familyScale}};
692 std::vector<vpHomogeneousMatrix> cMo_vec;
693 REQUIRE(detector.
detect(I));
696 std::vector<int> tagsId = detector.
getTagsId();
697 for (
size_t i = 0; i < tagsId.size(); i++) {
699 double size = tagsSize[-1];
700 if (tagsSize.find(
id) != tagsSize.end()) {
705 detector.
getPose(i, size, cam, cMo);
706 cMo_vec.push_back(cMo);
710 std::vector<std::vector<vpPoint> > tagsPoints = detector.
getTagsPoints3D(tagsId, tagsSize);
711 std::vector<std::vector<vpImagePoint> > tagsCorners = detector.
getTagsCorners();
712 REQUIRE(tagsPoints.size() == tagsCorners.size());
714 for (
size_t i = 0; i < tagsPoints.size(); i++) {
715 REQUIRE(tagsPoints[i].size() == tagsCorners[i].size());
717 for (
size_t j = 0; j < tagsPoints[i].size(); j++) {
718 vpPoint &pt = tagsPoints[i][j];
726 vpPose pose(tagsPoints[i]);
736 double epsilon = 1e-12;
738 for (
unsigned int row = 0; row < cMo.
getRows(); row++) {
739 for (
unsigned int col = 0; col < cMo.
getCols(); col++) {
740 CHECK(
vpMath::equal(cMo[row][col], cMo_manual[row][col], epsilon));
747 int main(
int argc,
const char *argv[])
749 Catch::Session session;
752 session.applyCommandLine(argc, argv);
754 int numFailed = session.run();
762 int main() {
return EXIT_SUCCESS; }
unsigned int getCols() const
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
unsigned int getRows() const
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
Implementation of column vector and the associated operations.
@ BEST_RESIDUAL_VIRTUAL_VS
@ HOMOGRAPHY_ORTHOGONAL_ITERATION
std::vector< std::vector< vpImagePoint > > getTagsCorners() const
void setAprilTagQuadDecimate(float quadDecimate)
std::vector< std::vector< vpPoint > > getTagsPoints3D(const std::vector< int > &tagsId, const std::map< int, double > &tagsSize) const
bool detect(const vpImage< unsigned char > &I) vp_override
@ TAG_CIRCLE21h7
AprilTag Circle21h7 pattern.
@ TAG_25h9
AprilTag 25h9 pattern.
@ TAG_CUSTOM48h12
AprilTag Custom48h12 pattern.
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
@ TAG_STANDARD52h13
AprilTag Standard52h13 pattern.
@ TAG_16h5
AprilTag 16h5 pattern.
@ TAG_STANDARD41h12
AprilTag Standard41h12 pattern.
@ TAG_CIRCLE49h12
AprilTag Circle49h12 pattern.
std::vector< int > getTagsId() const
bool getPose(size_t tagIndex, double tagSize, const vpCameraParameters &cam, vpHomogeneousMatrix &cMo, vpHomogeneousMatrix *cMo2=nullptr, double *projError=nullptr, double *projError2=nullptr)
std::vector< std::vector< vpImagePoint > > & getPolygon()
size_t getNbObjects() const
std::vector< std::string > & getMessage()
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
unsigned int getSize() const
static bool equal(double x, double y, double threshold=0.001)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void set_x(double x)
Set the point x coordinate in the image plane.
void set_y(double y)
Set the point y coordinate in the image plane.
Implementation of a pose vector and operations on poses.
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
@ DEMENTHON_LAGRANGE_VIRTUAL_VS
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.