53#include <visp3/core/vpDebug.h>
54#include <visp3/core/vpMath.h>
55#include <visp3/core/vpRotationMatrix.h>
56#include <visp3/core/vpThetaUVector.h>
57#include <visp3/vision/vpHomography.h>
60#include <visp3/core/vpDebug.h>
61#include <visp3/core/vpHomogeneousMatrix.h>
62#include <visp3/core/vpMath.h>
63#include <visp3/core/vpPoint.h>
64#include <visp3/io/vpParseArgv.h>
71void usage(
const char *name,
const char *badparam);
72bool getOptions(
int argc,
const char **argv);
83void usage(
const char *name,
const char *badparam)
86Test the HartleyDLT homography estimation algorithm.\n\
97 fprintf(stderr,
"ERROR: \n");
98 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
112bool getOptions(
int argc,
const char **argv)
120 usage(argv[0], NULL);
125 usage(argv[0], optarg_);
131 if ((c == 1) || (c == -1)) {
133 usage(argv[0], NULL);
134 std::cerr <<
"ERROR: " << std::endl;
135 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
142int main(
int argc,
const char **argv)
144#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
147 if (getOptions(argc, argv) ==
false) {
152 std::vector<double> xa(nbpt), ya(nbpt), xb(nbpt), yb(nbpt);
169 for (
unsigned int i = 0; i < nbpt; i++) {
172 xa[i] = P[i].
get_x();
173 ya[i] = P[i].
get_y();
176 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++) {
226 std::cout <<
"Point " << i << std::endl;
230 std::cout <<
") = (";
236 std::cout <<
"Catch an exception: " << e << std::endl;
242 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
Implementation of column vector and the associated operations.
error that can be emited by ViSP classes.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of an homography and operations on homographies.
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 computeDisplacement(vpRotationMatrix &aRb, vpTranslationVector &atb, vpColVector &n)
static double rad(double deg)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
This class defines the container for a plane geometrical structure.
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
double get_w() const
Get the point w coordinate in the image plane.
double get_y() const
Get the point y coordinate in the image plane.
double get_x() const
Get the point x coordinate in the image plane.
void setWorldCoordinates(double oX, double oY, double oZ)
Implementation of a rotation matrix and operations on such kind of matrices.
Class that consider the case of a translation vector.