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> 62 #include <visp3/core/vpPoint.h> 63 #include <visp3/core/vpMath.h> 64 #include <visp3/core/vpHomogeneousMatrix.h> 65 #include <visp3/core/vpDebug.h> 67 #include <visp3/core/vpRansac.h> 68 #include <visp3/io/vpParseArgv.h> 71 #define GETOPTARGS "h" 73 void usage(
const char *name,
const char *badparam);
74 bool getOptions(
int argc,
const char **argv);
84 void usage(
const char *name,
const char *badparam)
87 Test the Ransac homography estimation algorithm.\n\ 98 fprintf(stderr,
"ERROR: \n" );
99 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
112 bool getOptions(
int argc,
const char **argv)
119 case 'h': usage(argv[0], NULL);
return false;
break;
122 usage(argv[0], optarg_);
127 if ((c == 1) || (c == -1)) {
129 usage(argv[0], NULL);
130 std::cerr <<
"ERROR: " << std::endl;
131 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
140 main(
int argc,
const char ** argv)
144 if (getOptions(argc, argv) ==
false) {
149 unsigned int nbpt = 11;
151 std::vector<vpPoint> P(nbpt);
152 std::vector<double> xa(nbpt), ya(nbpt), xb(nbpt), yb(nbpt);
154 P[0].setWorldCoordinates(-L,-L, 0 ) ;
155 P[1].setWorldCoordinates(2*L,-L, 0 ) ;
156 P[2].setWorldCoordinates(L,L, 0 ) ;
157 P[3].setWorldCoordinates(-L,3*L, 0 ) ;
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 ) ;
163 P[9].setWorldCoordinates(-2*L,+3*L, 4*L ) ;
164 P[10].setWorldCoordinates(-2*L,-0.5*L, 0 ) ;
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;
177 for(
unsigned int i=0 ; i < nbpt ; i++)
180 xa[i] = P[i].get_x() ;
181 ya[i] = P[i].get_y() ;
184 for(
unsigned int i=0 ; i < nbpt ; i++)
187 xb[i] = P[i].get_x() ;
188 yb[i] = P[i].get_y() ;
190 std::cout <<
"-------------------------------" <<std::endl ;
195 std::cout <<
"Compare with built homography H = R + t/d n " << std::endl;
198 std::cout <<
"aHb built from the displacement: \n" << aHb_built/aHb_built[2][2] << std::endl ;
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 ;
208 std::cout <<
"-------------------------------" <<std::endl ;
210 std::vector<bool> inliers;
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;
222 if (inliers == inliers_ground_truth) {
223 std::cout <<
"Ransac estimation succeed" << std::endl;
227 std::cout <<
"Ransac estimation fails" << std::endl;
232 std::cout <<
"Catch an exception: " << e << std::endl;
Implementation of an homogeneous matrix and operations on such kind of matrices.
error that can be emited by ViSP classes.
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of an homography and operations on homographies.
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)
Implementation of column vector and the associated operations.
This class defines the container for a plane geometrical structure.
Class that consider the case of a translation vector.