Visual Servoing Platform version 3.6.0
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testFindMatch.cpp
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Compute the pose of a 3D object using the Dementhon method. Assuming that
32 * the correspondance between 2D points and 3D points is not done, we use
33 * the RANSAC algorithm to achieve this task
34 */
35
36#include <visp3/core/vpHomogeneousMatrix.h>
37#include <visp3/core/vpMath.h>
38#include <visp3/core/vpPoint.h>
39#include <visp3/vision/vpPose.h>
40
41#include <stdio.h>
42#include <stdlib.h>
43
44#define L 0.1
45
53int main()
54{
55#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
56 try {
57 std::cout << "Find Matches using Ransac" << std::endl;
58 std::vector<vpPoint> P;
59
60 P.push_back(vpPoint(-L, -L, 0));
61 P.push_back(vpPoint(L, -L, 0));
62 P.push_back(vpPoint(L, L, 0));
63 P.push_back(vpPoint(-L, L, 0));
64 P.push_back(vpPoint(-0, L / 2., L));
65
66 vpHomogeneousMatrix cMo_ref(0, 0.2, 1, vpMath::rad(3), vpMath::rad(-2), vpMath::rad(10));
67
68 std::vector<vpPoint> p(P.size());
69 for (unsigned int i = 0; i < P.size(); i++) {
70 vpPoint pt = P[i];
71 pt.project(cMo_ref);
72 p[i].set_x(pt.get_x());
73 p[i].set_y(pt.get_y());
74 }
75
76 unsigned int ninliers;
77 std::vector<vpPoint> inliers;
78 double threshold = 1e-6;
79 unsigned int nbInlierToReachConsensus = (unsigned int)(P.size());
80
82
83 vpPose::findMatch(p, P, nbInlierToReachConsensus, threshold, ninliers, inliers, cMo);
84
85 std::cout << "Inliers: " << std::endl;
86 for (unsigned int i = 0; i < inliers.size(); i++) {
87 inliers[i].print();
88 std::cout << std::endl;
89 }
90
91 std::cout << "cMo :\n" << vpPoseVector(cMo).t() << std::endl << std::endl;
92
93 vpPoseVector pose_ref = vpPoseVector(cMo_ref);
94 vpPoseVector pose_est = vpPoseVector(cMo);
95
96 std::cout << std::endl;
97 std::cout << "reference cMo :\n" << pose_ref.t() << std::endl << std::endl;
98 std::cout << "estimated cMo :\n" << pose_est.t() << std::endl << std::endl;
99
100 int test_fail = 0;
101 for (unsigned int i = 0; i < 6; i++) {
102 if (std::fabs(pose_ref[i] - pose_est[i]) > 0.001)
103 test_fail = 1;
104 }
105
106 std::cout << "Matching is " << (test_fail ? "badly" : "well") << " performed" << std::endl;
107
108 return (test_fail ? EXIT_FAILURE : EXIT_SUCCESS);
109 } catch (const vpException &e) {
110 std::cout << "Catch an exception: " << e << std::endl;
111 return EXIT_FAILURE;
112 }
113#else
114 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
115 return EXIT_SUCCESS;
116#endif
117}
error that can be emitted by ViSP classes.
Definition vpException.h:59
Implementation of an homogeneous matrix and operations on such kind of matrices.
static double rad(double deg)
Definition vpMath.h:116
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
double get_y() const
Get the point y coordinate in the image plane.
Definition vpPoint.cpp:469
double get_x() const
Get the point x coordinate in the image plane.
Definition vpPoint.cpp:467
Implementation of a pose vector and operations on poses.
vpRowVector t() const
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, bool(*func)(const vpHomogeneousMatrix &)=NULL)