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>
73void usage(
const char *name,
const char *badparam);
74bool getOptions(
int argc,
const char **argv);
85void usage(
const char *name,
const char *badparam)
88Test the HLM (Malis) homography estimation algorithm with a 3D object.\n\
99 fprintf(stderr,
"ERROR: \n");
100 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
113bool 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;
143int main(
int argc,
const char **argv)
145#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
148 if (getOptions(argc, argv) ==
false) {
153 std::vector<double> xa(nbpt), ya(nbpt);
154 std::vector<double> xb(nbpt), yb(nbpt);
174 for (
unsigned int i = 0; i < nbpt; i++) {
177 xa[i] = P[i].
get_x();
178 ya[i] = P[i].
get_y();
181 for (
unsigned int i = 0; i < nbpt; i++) {
184 xb[i] = P[i].
get_x();
185 yb[i] = P[i].
get_y();
191 std::cout <<
"-------------------------------" << std::endl;
192 std::cout <<
"Compare with built homography H = R + t/d n " << std::endl;
195 std::cout <<
"aHb built from the displacement: \n" << aHb_built / aHb_built[2][2] << std::endl;
197 aHb_built.computeDisplacement(aRb, aTb, n);
198 std::cout <<
"Rotation: aRb" << std::endl;
199 std::cout << aRb << std::endl;
200 std::cout <<
"Translation: aTb" << std::endl;
201 std::cout << (aTb).t() << std::endl;
202 std::cout <<
"Normal to the plane: n" << std::endl;
203 std::cout << (n).t() << std::endl;
205 std::cout <<
"-------------------------------" << std::endl;
206 std::cout <<
"aMb " << std::endl << aMb << std::endl;
207 std::cout <<
"-------------------------------" << std::endl;
212 std::cout <<
"aHb computed using the Malis paralax algorithm" << std::endl;
214 std::cout << std::endl << aHb << std::endl;
216 std::cout <<
"-------------------------------" << std::endl;
217 std::cout <<
"extract R, T and n " << std::endl;
219 std::cout <<
"Rotation: aRb" << std::endl;
220 std::cout << aRb << std::endl;
221 std::cout <<
"Translation: aTb" << std::endl;
222 std::cout << (aTb).t() << std::endl;
223 std::cout <<
"Normal to the plane: n" << std::endl;
224 std::cout << (n).t() << std::endl;
226 std::cout <<
"-------------------------------" << std::endl;
227 std::cout <<
"test if ap = aHb bp" << std::endl;
229 for (
unsigned int i = 0; i < nbpt; i++) {
230 std::cout <<
"Point " << i << std::endl;
234 std::cout <<
") = (";
240 std::cout <<
"Catch an exception: " << e << std::endl;
246 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 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)
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.