54 #include <visp3/core/vpMath.h> 55 #include <visp3/core/vpRotationMatrix.h> 56 #include <visp3/vision/vpHomography.h> 57 #include <visp3/core/vpDebug.h> 58 #include <visp3/core/vpThetaUVector.h> 60 #include <visp3/core/vpPoint.h> 61 #include <visp3/core/vpMath.h> 62 #include <visp3/core/vpHomogeneousMatrix.h> 63 #include <visp3/core/vpDebug.h> 64 #include <visp3/io/vpParseArgv.h> 67 #define GETOPTARGS "h" 72 void usage(
const char *name,
const char *badparam);
73 bool getOptions(
int argc,
const char **argv);
84 void usage(
const char *name,
const char *badparam)
87 Test the HartleyDLT homography estimation algorithm.\n\ 98 fprintf(stderr,
"ERROR: \n" );
99 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
113 bool getOptions(
int argc,
const char **argv)
120 case 'h': usage(argv[0], NULL);
return false;
break;
123 usage(argv[0], optarg_);
128 if ((c == 1) || (c == -1)) {
130 usage(argv[0], NULL);
131 std::cerr <<
"ERROR: " << std::endl;
132 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
141 main(
int argc,
const char ** argv)
145 if (getOptions(argc, argv) ==
false) {
150 std::vector<double> xa(nbpt), ya(nbpt), xb(nbpt), yb(nbpt);
167 for(
unsigned int i=0 ; i < nbpt ; i++)
171 xa[i] = P[i].
get_x() ;
172 ya[i] = P[i].
get_y() ;
175 for(
unsigned int i=0 ; i < nbpt ; i++)
179 xb[i] = P[i].
get_x() ;
180 yb[i] = P[i].
get_y() ;
182 std::cout <<
"-------------------------------" <<std::endl ;
183 std::cout <<
"aMb "<<std::endl <<aMb << std::endl ;
184 std::cout <<
"-------------------------------" <<std::endl ;
189 vpTRACE(
"aHb computed using the DLT algorithm") ;
191 std::cout << std::endl << aHb<< std::endl ;
197 std::cout <<
"-------------------------------" <<std::endl ;
198 vpTRACE(
"extract R, T and n ") ;
200 std::cout <<
"Rotation: aRb" <<std::endl ;
201 std::cout << aRb << std::endl ;
202 std::cout <<
"Translation: aTb" <<std::endl;
203 std::cout << (aTb).t() <<std::endl ;
204 std::cout <<
"Normal to the plane: n" <<std::endl;
205 std::cout << (n).t() <<std::endl ;
207 std::cout <<
"-------------------------------" <<std::endl ;
208 vpTRACE(
"Compare with built homoraphy H = R + t/d ") ;
211 vpTRACE(
"aHb built from the displacement ") ;
212 std::cout << std::endl <<aHb_built/aHb_built[2][2] << std::endl ;
214 aHb_built.computeDisplacement(aRb, aTb, n) ;
215 std::cout <<
"Rotation: aRb" <<std::endl ;
216 std::cout << aRb << std::endl ;
217 std::cout <<
"Translation: aTb" <<std::endl;
218 std::cout << (aTb).t() <<std::endl ;
219 std::cout <<
"Normal to the plane: n" <<std::endl;
220 std::cout << (n).t() <<std::endl ;
222 std::cout <<
"-------------------------------" <<std::endl ;
223 vpTRACE(
"test if ap = aHb bp") ;
225 for(
unsigned int i=0 ; i < nbpt ; i++)
227 std::cout <<
"Point "<< i<< std::endl ;
231 std::cout <<
") = (" ;
238 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.
void computeDisplacement(vpRotationMatrix &aRb, vpTranslationVector &atb, vpColVector &n)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines what is a point.
Implementation of a rotation matrix and operations on such kind of matrices.
double get_w() const
Get the point w coordinate in the image plane.
Implementation of an homography and operations on homographies.
static double rad(double deg)
static void DLT(const std::vector< double > &xb, const std::vector< double > &yb, const std::vector< double > &xa, const std::vector< double > &ya, vpHomography &aHb, bool normalization=true)
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
double get_x() const
Get the point x coordinate in the image plane.
double get_y() const
Get the point y coordinate in the image plane.
This class defines the container for a plane geometrical structure.
Class that consider the case of a translation vector.