Visual Servoing Platform version 3.6.0
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testDisplacement.cpp
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Tests transformation within various representations of rotation.
32 */
33
43#include <stdio.h>
44#include <stdlib.h>
45#include <visp3/core/vpDebug.h>
46#include <visp3/core/vpMath.h>
47#include <visp3/core/vpRotationMatrix.h>
48#include <visp3/core/vpThetaUVector.h>
49#include <visp3/vision/vpHomography.h>
50
51bool test(const std::string &s, const vpHomography &H, const std::vector<double> &bench)
52{
53 static unsigned int cpt = 0;
54 std::cout << "** Test " << ++cpt << std::endl;
55 std::cout << s << "(" << H.getRows() << "," << H.getCols() << ") = \n[" << H << "]" << std::endl;
56 if (bench.size() != H.size()) {
57 std::cout << "Test fails: bad size wrt bench" << std::endl;
58 return false;
59 }
60 for (unsigned int i = 0; i < H.size(); i++) {
61 if (std::fabs(H.data[i] - bench[i]) > std::fabs(H.data[i]) * std::numeric_limits<double>::epsilon()) {
62 std::cout << "Test fails: bad content" << std::endl;
63 return false;
64 }
65 }
66
67 return true;
68}
69
70int main()
71{
72#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
73 try {
74 {
76 H.eye();
77 std::vector<double> bench(9, 0);
78 bench[0] = bench[4] = bench[8] = 1.;
79 int err = 1;
80 if (test("H", H, bench) == false)
81 return err;
82 if (test("H", H / H[2][2], bench) == false)
83 return err;
84 }
85 {
87
88 std::cout << "Initialization " << std::endl;
89 // std::cout << tu << std::endl ;
90
91 std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl;
92 vpRotationMatrix R(tu);
93
94 // pure rotation
96 M.insert(R);
97
98 std::cout << "M" << std::endl << M << std::endl;
99 vpPlane p(0, 0, 1, 1);
100
101 vpHomography H(M, p);
102
103 std::cout << "H" << std::endl << H << std::endl;
104
105 vpColVector n;
107
108 H.computeDisplacement(R, T, n);
109
110 std::cout << "R" << std::endl << R;
111 std::cout << "T" << std::endl << T.t() << std::endl;
112 std::cout << "n" << std::endl << n.t() << std::endl;
113 }
114 std::cout << "------------------------------------------------------" << std::endl;
115
116 {
118
119 std::cout << "Initialization " << std::endl;
120 // std::cout << tu << std::endl ;
121
122 std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl;
123 vpRotationMatrix R(tu);
124
125 // pure rotation
127 M.insert(R);
128
129 M[0][3] = 0.21;
130 M[1][3] = 0.31;
131 M[2][3] = 0.5;
132
133 std::cout << "M" << std::endl << M << std::endl;
134 vpPlane p(0, 0, 1, 1);
135
136 vpHomography H(M, p);
137
138 std::cout << "H" << std::endl << H << std::endl;
139
140 vpColVector n;
142
143 H.computeDisplacement(R, T, n);
144
145 std::cout << "R" << std::endl << R;
146 std::cout << "T" << std::endl << T.t() << std::endl;
147 std::cout << "n" << std::endl << n.t() << std::endl;
148 }
149
150 std::cout << "------------------------------------------------------" << std::endl;
151 {
153
154 vpRotationMatrix R(tu);
155
156 // pure rotation
158 M.insert(R);
159
160 M[0][3] = 0.21;
161 M[1][3] = -0.31;
162 M[2][3] = 0.5;
163
164 std::cout << "M" << std::endl << M << std::endl;
165 vpPlane p(0.4, -0.5, 0.5, 1);
166
167 vpHomography H(M, p);
168
169 std::cout << "H" << std::endl << H << std::endl;
170
171 vpColVector n;
173 H.computeDisplacement(R, T, n);
174
175 std::cout << "R" << std::endl << R;
176 std::cout << "T" << std::endl << T.t() << std::endl;
177 std::cout << "n" << std::endl << n.t() << std::endl;
178
179 vpPlane p1(n[0], n[1], n[2], 1.0);
180 H.buildFrom(R, T, p1);
181 std::cout << "H" << std::endl << H << std::endl;
182 }
183 std::cout << "All tests succeed" << std::endl;
184 return EXIT_SUCCESS;
185 } catch (const vpException &e) {
186 std::cout << "Catch an exception: " << e << std::endl;
187 return EXIT_FAILURE;
188 }
189#else
190 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
191 return EXIT_SUCCESS;
192#endif
193}
unsigned int getCols() const
Definition vpArray2D.h:280
Type * data
Address of the first element of the data array.
Definition vpArray2D.h:144
unsigned int size() const
Return the number of elements of the 2D array.
Definition vpArray2D.h:292
unsigned int getRows() const
Definition vpArray2D.h:290
Implementation of column vector and the associated operations.
vpRowVector t() const
error that can be emitted by ViSP classes.
Definition vpException.h:59
Implementation of an homogeneous matrix and operations on such kind of matrices.
void insert(const vpRotationMatrix &R)
Implementation of an homography and operations on homographies.
void buildFrom(const vpRotationMatrix &aRb, const vpTranslationVector &atb, const vpPlane &bP)
Construction from translation and rotation and a plane.
void computeDisplacement(vpRotationMatrix &aRb, vpTranslationVector &atb, vpColVector &n)
static double rad(double deg)
Definition vpMath.h:116
This class defines the container for a plane geometrical structure.
Definition vpPlane.h:54
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.