Visual Servoing Platform  version 3.5.1 under development (2022-09-30)
testPoseFeatures.cpp

Compute the pose from different visual features.

/****************************************************************************
*
* 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
* 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
*
* 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 from visual features by virtual visual servoing.
*
* Authors:
* Aurelien Yol
*
*****************************************************************************/
#include <iostream>
#include <limits>
#include <vector>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpPoint.h>
#include <visp3/vision/vpPose.h>
#include <visp3/vision/vpPoseFeatures.h>
#ifndef DOXYGEN_SHOULD_SKIP_THIS
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
class vp_createPointClass
{
public:
int value;
vp_createPointClass() : value(0) {}
int vp_createPoint(vpFeaturePoint &fp, const vpPoint &v)
{
value += 1;
return value;
}
};
void vp_createPoint(vpFeaturePoint &fp, const vpPoint &v) { vpFeatureBuilder::create(fp, v); }
void vp_createLine(vpFeatureLine &fp, const vpLine &v) { vpFeatureBuilder::create(fp, v); }
#endif
#endif
int test_pose(bool use_robust)
{
if (use_robust)
std::cout << "** Test robust pose estimation from features\n" << std::endl;
else
std::cout << "** Test pose estimation from features\n" << std::endl;
vpHomogeneousMatrix cMo_ref(0., 0., 1., vpMath::rad(0), vpMath::rad(0), vpMath::rad(60));
vpPoseVector pose_ref = vpPoseVector(cMo_ref);
std::cout << "Reference pose used to create the visual features : " << std::endl;
std::cout << pose_ref.t() << std::endl;
std::vector<vpPoint> pts;
double val = 0.25;
double val2 = 0.0;
// 2D Point Feature
pts.push_back(vpPoint(0.0, -val, val2));
pts.push_back(vpPoint(0.0, val, val2));
pts.push_back(vpPoint(-val, val, val2));
// Segment Feature
pts.push_back(vpPoint(-val, -val / 2.0, val2));
pts.push_back(vpPoint(val, val / 2.0, val2));
// 3D point Feature
pts.push_back(vpPoint(0.0, 0.0, -1.5));
// Line Feature
vpLine line;
line.setWorldCoordinates(0.0, 1.0, 0.0, .0, 0.0, 0.0, 1.0, 0.0);
// Vanishing Point Feature
vpLine l1;
l1.setWorldCoordinates(0.0, 1.0, 0.2, 0.0, 1.0, 0.0, 0.0, -0.25);
vpLine l2;
l2.setWorldCoordinates(0.0, 1.0, 0.2, 0.0, -1.0, 0.0, 0.0, -0.25);
// Ellipse Feature
vpCircle circle;
circle.setWorldCoordinates(0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.25);
pts[0].project(cMo_ref);
pts[1].project(cMo_ref);
pts[2].project(cMo_ref);
pts[3].project(cMo_ref);
pts[4].project(cMo_ref);
pts[5].project(cMo_ref);
line.project(cMo_ref);
l1.project(cMo_ref);
l2.project(cMo_ref);
circle.project(cMo_ref);
pose.addFeaturePoint(pts[0]);
// pose.addFeaturePoint(pts[1]);
pose.addFeaturePoint(pts[2]);
pose.addFeaturePoint3D(pts[5]);
// pose.addFeatureSegment(pts[3],pts[4]);
//
// pose.addFeatureLine(line);
pose.addFeatureEllipse(circle);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
vp_createPointClass cpClass;
int (vp_createPointClass::*ptrClass)(vpFeaturePoint &, const vpPoint &) = &vp_createPointClass::vp_createPoint;
pose.addSpecificFeature(&cpClass, ptrClass, fp, pts[1]);
pose.addSpecificFeature(&vp_createLine, fl, line);
pose.addSpecificFeature(ptr, fs, pts[3], pts[4]);
#endif
pose.setVerbose(true);
pose.setLambda(0.6);
pose.setVVSIterMax(200);
vpHomogeneousMatrix cMo_est(0.4, 0.3, 1.5, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
vpPoseVector pose_est = vpPoseVector(cMo_est);
std::cout << "\nPose used as initialisation of the pose computation : " << std::endl;
std::cout << pose_est.t() << std::endl;
if (!use_robust)
pose.computePose(cMo_est);
else
if (!use_robust)
std::cout << "\nEstimated pose from visual features : " << std::endl;
else
std::cout << "\nRobust estimated pose from visual features : " << std::endl;
pose_est.buildFrom(cMo_est);
std::cout << pose_est.t() << std::endl;
std::cout << "\nResulting covariance (Diag): " << std::endl;
vpMatrix covariance = pose.getCovarianceMatrix();
std::cout << covariance[0][0] << " " << covariance[1][1] << " " << covariance[2][2] << " " << covariance[3][3] << " "
<< covariance[4][4] << " " << covariance[5][5] << " " << std::endl;
int test_fail = 0;
for (unsigned int i = 0; i < 6; i++) {
if (std::fabs(pose_ref[i] - pose_est[i]) > 0.001)
test_fail = 1;
}
std::cout << "\nPose is " << (test_fail ? "badly" : "well") << " estimated\n" << std::endl;
return test_fail;
}
int main()
{
#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
try {
if (test_pose(false))
return -1;
if (test_pose(true))
return -1;
return 0;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
return -1;
}
#else
std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
return EXIT_SUCCESS;
#endif
}
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:92
void setWorldCoordinates(const vpColVector &oP)
Definition: vpCircle.cpp:60
error that can be emited by ViSP classes.
Definition: vpException.h:72
const std::string & getStringMessage() const
Send a reference (constant) related the error message (can be empty).
Definition: vpException.cpp:89
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:105
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
Definition: vpLine.cpp:85
static double rad(double deg)
Definition: vpMath.h:117
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
Tools for pose computation from any feature.
void addFeatureVanishingPoint(const vpPoint &)
void setVerbose(const bool &mode)
void setVVSIterMax(const unsigned int &val)
void addFeaturePoint3D(const vpPoint &)
void addFeaturePoint(const vpPoint &)
void setCovarianceComputation(const bool &flag)
void addFeatureEllipse(const vpCircle &)
void addSpecificFeature(RetType(*fct_ptr)(ArgsFunc...), Args &&...args)
void setLambda(const double &val)
void computePose(vpHomogeneousMatrix &cMo, const vpPoseFeaturesMethodType &type=VIRTUAL_VS)
vpMatrix getCovarianceMatrix() const
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
vpRowVector t() const
vpPoseVector buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz)