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Visual Servoing Platform
version 3.2.0
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4 #include <visp3/vision/vpHomography.h>
6 #include <visp3/core/vpMeterPixelConversion.h>
12 std::vector<vpPoint> oP;
13 oP.push_back(
vpPoint(-L, -L, 0));
14 oP.push_back(
vpPoint(2 * L, -L, 0));
15 oP.push_back(
vpPoint(L, 3 * L, 0));
16 oP.push_back(
vpPoint(-L, 4 * L, 0));
26 std::vector<vpPoint> aP(4), bP(4);
27 std::vector<double> xa(4), ya(4), xb(4), yb(4);
28 for (
unsigned int i = 0; i < 4; i++) {
30 xa[i] = oP[i].get_x();
31 ya[i] = oP[i].get_y();
33 xb[i] = oP[i].get_x();
34 yb[i] = oP[i].get_y();
41 std::cout <<
"Estimated homography using DLT:\n" << aHb / aHb[2][2] << std::endl;
44 std::cout <<
"Estimated homography using HLM:\n" << aHb / aHb[2][2] << std::endl;
55 std::cout <<
"\nEstimated displacement:" << std::endl;
56 std::cout <<
" atb: " << atb.
t() << std::endl;
59 std::cout <<
" athetaub: ";
60 for (
unsigned int i = 0; i < 3; i++)
62 std::cout << std::endl;
63 std::cout <<
" n: " << n.
t() << std::endl;
72 std::cout <<
"Ground truth: Point 3 in pixels in frame b: " << iPb << std::endl;
73 std::cout <<
"Ground truth: Point 3 in pixels in frame a: " << iPa << std::endl;
78 std::cout <<
"Estimation from homography: Point 3 in pixels in frame a: " <<
vpHomography::project(cam, aHb, iPb)
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
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)
static double rad(double deg)
Generic class defining intrinsic camera parameters.
static double deg(double rad)
static void HLM(const std::vector< double > &xb, const std::vector< double > &yb, const std::vector< double > &xa, const std::vector< double > &ya, bool isplanar, vpHomography &aHb)
void computeDisplacement(vpRotationMatrix &aRb, vpTranslationVector &atb, vpColVector &n)
Class that consider the case of a translation vector.
Implementation of a rotation vector as axis-angle minimal representation.
Implementation of column vector and the associated operations.
Implementation of a rotation matrix and operations on such kind of matrices.
static vpImagePoint project(const vpCameraParameters &cam, const vpHomography &bHa, const vpImagePoint &iPa)
Implementation of an homography and operations on homographies.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Class that defines what is a point.
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)