Visual Servoing Platform  version 3.0.1
homographyRansac2DObject.cpp
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19  * Inria Rennes - Bretagne Atlantique
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Example of the Ransac homography estimation algorithm.
32  *
33  * Authors:
34  * Eric Marchand
35  *
36  *****************************************************************************/
37 
56 #include <visp3/core/vpMath.h>
57 #include <visp3/core/vpRotationMatrix.h>
58 #include <visp3/vision/vpHomography.h>
59 #include <visp3/core/vpDebug.h>
60 #include <visp3/core/vpThetaUVector.h>
61 
62 #include <visp3/core/vpPoint.h>
63 #include <visp3/core/vpMath.h>
64 #include <visp3/core/vpHomogeneousMatrix.h>
65 #include <visp3/core/vpDebug.h>
66 
67 #include <visp3/core/vpRansac.h>
68 #include <visp3/io/vpParseArgv.h>
69 #include <stdlib.h>
70 // List of allowed command line options
71 #define GETOPTARGS "h"
72 
73 void usage(const char *name, const char *badparam);
74 bool getOptions(int argc, const char **argv);
75 
84 void usage(const char *name, const char *badparam)
85 {
86  fprintf(stdout, "\n\
87 Test the Ransac homography estimation algorithm.\n\
88 \n\
89 SYNOPSIS\n\
90  %s [-h]\n", name);
91 
92  fprintf(stdout, "\n\
93 OPTIONS: Default\n\
94  -h\n\
95  Print the help.\n");
96 
97  if (badparam) {
98  fprintf(stderr, "ERROR: \n" );
99  fprintf(stderr, "\nBad parameter [%s]\n", badparam);
100  }
101 }
112 bool getOptions(int argc, const char **argv)
113 {
114  const char *optarg_;
115  int c;
116  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
117 
118  switch (c) {
119  case 'h': usage(argv[0], NULL); return false; break;
120 
121  default:
122  usage(argv[0], optarg_);
123  return false; break;
124  }
125  }
126 
127  if ((c == 1) || (c == -1)) {
128  // standalone param or error
129  usage(argv[0], NULL);
130  std::cerr << "ERROR: " << std::endl;
131  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
132  return false;
133  }
134 
135  return true;
136 }
137 
138 
139 int
140 main(int argc, const char ** argv)
141 {
142  try {
143  // Read the command line options
144  if (getOptions(argc, argv) == false) {
145  exit (-1);
146  }
147 
148  double L=0.1;
149  unsigned int nbpt = 11;
150 
151  std::vector<vpPoint> P(nbpt); // Point to be tracked
152  std::vector<double> xa(nbpt), ya(nbpt), xb(nbpt), yb(nbpt);
153 
154  P[0].setWorldCoordinates(-L,-L, 0 ) ; // inlier
155  P[1].setWorldCoordinates(2*L,-L, 0 ) ; // inlier
156  P[2].setWorldCoordinates(L,L, 0 ) ; // inlier
157  P[3].setWorldCoordinates(-L,3*L, 0 ) ; // inlier
158  P[4].setWorldCoordinates(0,0, L ) ;
159  P[5].setWorldCoordinates(L,-2*L, L ) ;
160  P[6].setWorldCoordinates(L,-4*L, 2*L ) ;
161  P[7].setWorldCoordinates(-2*L,-L, -3*L ) ;
162  P[8].setWorldCoordinates(-5*L,-5*L, 0 ) ; // inlier
163  P[9].setWorldCoordinates(-2*L,+3*L, 4*L ) ;
164  P[10].setWorldCoordinates(-2*L,-0.5*L, 0 ) ; // inlier
165 
166  std::vector<bool> inliers_ground_truth(nbpt, false);
167  inliers_ground_truth[0] = true;
168  inliers_ground_truth[1] = true;
169  inliers_ground_truth[2] = true;
170  inliers_ground_truth[3] = true;
171  inliers_ground_truth[8] = true;
172  inliers_ground_truth[10] = true;
173 
174  vpHomogeneousMatrix bMo(0,0,1, 0,0,0) ;
175  vpHomogeneousMatrix aMb(0.1,0.1,0.1,vpMath::rad(10),0,vpMath::rad(40)) ;
176  vpHomogeneousMatrix aMo =aMb*bMo ;
177  for(unsigned int i=0 ; i < nbpt ; i++)
178  {
179  P[i].project(aMo) ;
180  xa[i] = P[i].get_x() ;
181  ya[i] = P[i].get_y() ;
182  }
183 
184  for(unsigned int i=0 ; i < nbpt ; i++)
185  {
186  P[i].project(bMo) ;
187  xb[i] = P[i].get_x() ;
188  yb[i] = P[i].get_y() ;
189  }
190  std::cout << "-------------------------------" <<std::endl ;
191 
192  vpRotationMatrix aRb ;
193  vpTranslationVector aTb ;
194  vpColVector n ;
195  std::cout << "Compare with built homography H = R + t/d n " << std::endl;
196  vpPlane bp(0,0,1,1) ;
197  vpHomography aHb_built(aMb,bp) ;
198  std::cout << "aHb built from the displacement: \n" << aHb_built/aHb_built[2][2] << std::endl ;
199 
200  aHb_built.computeDisplacement(aRb, aTb, n) ;
201  std::cout << "Rotation aRb: " <<std::endl ;
202  std::cout << aRb << std::endl ;
203  std::cout << "Translation: aTb" <<std::endl;
204  std::cout << (aTb).t() <<std::endl ;
205  std::cout << "Normal to the plane: n" <<std::endl;
206  std::cout << (n).t() <<std::endl ;
207 
208  std::cout << "-------------------------------" <<std::endl ;
209  vpHomography aHb;
210  std::vector<bool> inliers;
211  double residual;
212  // Suppose px=1000. Set the threshold to 2 pixels => 2/1000
213  // In the data we have 6 inliers. We request that at least 6 are retrieved
214  vpHomography::ransac(xb, yb, xa, ya, aHb, inliers, residual, 6, 2./1000) ;
215 
216  std::cout << "aHb estimated using ransac:\n" << aHb << std::endl ;
217  std::cout << "Inliers indexes (should be 0,1,2,3,8,10): ";
218  for (unsigned int i=0; i< inliers.size(); i++)
219  if (inliers[i]) std::cout << i << ",";
220  std::cout << std::endl;
221 
222  if (inliers == inliers_ground_truth) {
223  std::cout << "Ransac estimation succeed" << std::endl;
224  return 0;
225  }
226  else {
227  std::cout << "Ransac estimation fails" << std::endl;
228  return 1;
229  }
230  }
231  catch(vpException &e) {
232  std::cout << "Catch an exception: " << e << std::endl;
233  return 1;
234  }
235 }
Implementation of an homogeneous matrix and operations on such kind of matrices.
error that can be emited by ViSP classes.
Definition: vpException.h:73
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:76
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:179
static bool ransac(const std::vector< double > &xb, const std::vector< double > &yb, const std::vector< double > &xa, const std::vector< double > &ya, vpHomography &aHb, std::vector< bool > &inliers, double &residual, unsigned int nbInliersConsensus, double threshold, bool normalization=true)
static double rad(double deg)
Definition: vpMath.h:104
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
This class defines the container for a plane geometrical structure.
Definition: vpPlane.h:58
Class that consider the case of a translation vector.