55 #include <visp3/core/vpDebug.h>
56 #include <visp3/core/vpMath.h>
57 #include <visp3/core/vpRotationMatrix.h>
58 #include <visp3/core/vpThetaUVector.h>
59 #include <visp3/vision/vpHomography.h>
62 #include <visp3/core/vpDebug.h>
63 #include <visp3/core/vpHomogeneousMatrix.h>
64 #include <visp3/core/vpMath.h>
65 #include <visp3/core/vpPoint.h>
66 #include <visp3/io/vpParseArgv.h>
68 #define GETOPTARGS "h"
73 void usage(
const char *name,
const char *badparam);
74 bool getOptions(
int argc,
const char **argv);
85 void usage(
const char *name,
const char *badparam)
88 Test the HLM (Malis) homography estimation algorithm with a 3D object.\n\
99 fprintf(stderr,
"ERROR: \n");
100 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
113 bool getOptions(
int argc,
const char **argv)
121 usage(argv[0], NULL);
126 usage(argv[0], optarg_);
132 if ((c == 1) || (c == -1)) {
134 usage(argv[0], NULL);
135 std::cerr <<
"ERROR: " << std::endl;
136 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
143 int main(
int argc,
const char **argv)
147 if (getOptions(argc, argv) ==
false) {
152 std::vector<double> xa(nbpt), ya(nbpt);
153 std::vector<double> xb(nbpt), yb(nbpt);
173 for (
unsigned int i = 0; i < nbpt; i++) {
176 xa[i] = P[i].
get_x();
177 ya[i] = P[i].
get_y();
180 for (
unsigned int i = 0; i < nbpt; i++) {
183 xb[i] = P[i].
get_x();
184 yb[i] = P[i].
get_y();
190 std::cout <<
"-------------------------------" << std::endl;
191 std::cout <<
"Compare with built homography H = R + t/d n " << std::endl;
194 std::cout <<
"aHb built from the displacement: \n" << aHb_built / aHb_built[2][2] << std::endl;
196 aHb_built.computeDisplacement(aRb, aTb, n);
197 std::cout <<
"Rotation: aRb" << std::endl;
198 std::cout << aRb << std::endl;
199 std::cout <<
"Translation: aTb" << std::endl;
200 std::cout << (aTb).t() << std::endl;
201 std::cout <<
"Normal to the plane: n" << std::endl;
202 std::cout << (n).t() << std::endl;
204 std::cout <<
"-------------------------------" << std::endl;
205 std::cout <<
"aMb " << std::endl << aMb << std::endl;
206 std::cout <<
"-------------------------------" << std::endl;
211 std::cout <<
"aHb computed using the Malis paralax algorithm" << std::endl;
213 std::cout << std::endl << aHb << std::endl;
215 std::cout <<
"-------------------------------" << std::endl;
216 std::cout <<
"extract R, T and n " << std::endl;
218 std::cout <<
"Rotation: aRb" << std::endl;
219 std::cout << aRb << std::endl;
220 std::cout <<
"Translation: aTb" << std::endl;
221 std::cout << (aTb).t() << std::endl;
222 std::cout <<
"Normal to the plane: n" << std::endl;
223 std::cout << (n).t() << std::endl;
225 std::cout <<
"-------------------------------" << std::endl;
226 std::cout <<
"test if ap = aHb bp" << std::endl;
228 for (
unsigned int i = 0; i < nbpt; i++) {
229 std::cout <<
"Point " << i << std::endl;
233 std::cout <<
") = (";
239 std::cout <<
"Catch an exception: " << e << std::endl;