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Ivan
2022-04-05 11:42:28 +03:00
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/******************************************************************************
* Author: Laurent Kneip *
* Contact: kneip.laurent@gmail.com *
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions *
* are met: *
* * Redistributions of source code must retain the above copyright *
* notice, this list of conditions and the following disclaimer. *
* * Redistributions in binary form must reproduce the above copyright *
* notice, this list of conditions and the following disclaimer in the *
* documentation and/or other materials provided with the distribution. *
* * Neither the name of ANU nor the names of its contributors may be *
* used to endorse or promote products derived from this software without *
* specific prior written permission. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
* ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE *
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT *
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY *
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF *
* SUCH DAMAGE. *
******************************************************************************/
#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <iomanip>
#include <opengv/absolute_pose/methods.hpp>
#include <opengv/absolute_pose/CentralAbsoluteAdapter.hpp>
#include <opengv/math/cayley.hpp>
#include <sstream>
#include <fstream>
#include "random_generators.hpp"
#include "experiment_helpers.hpp"
#include "time_measurement.hpp"
using namespace std;
using namespace Eigen;
using namespace opengv;
int main( int argc, char** argv )
{
//initialize random seed
initializeRandomSeed();
//set experiment parameters
double noise = 0.0;
double outlierFraction = 0.0;
size_t numberPoints = 100;
//create a random viewpoint pose
translation_t position = generateRandomTranslation(2.0);
rotation_t rotation = generateRandomRotation(0.5);
//create a fake central camera
translations_t camOffsets;
rotations_t camRotations;
generateCentralCameraSystem( camOffsets, camRotations );
//derive correspondences based on random point-cloud
bearingVectors_t bearingVectors;
points_t points;
std::vector<int> camCorrespondences; //unused in the central case!
Eigen::MatrixXd gt(3,numberPoints);
generateRandom2D3DCorrespondences(
position, rotation, camOffsets, camRotations, numberPoints, noise, outlierFraction,
bearingVectors, points, camCorrespondences, gt );
//print the experiment characteristics
printExperimentCharacteristics(
position, rotation, noise, outlierFraction );
//create a central absolute adapter
absolute_pose::CentralAbsoluteAdapter adapter(
bearingVectors,
points,
rotation );
//timer
struct timeval tic;
struct timeval toc;
size_t iterations = 50;
//run the experiments
std::cout << "running Kneip's P2P (first two correspondences)" << std::endl;
translation_t p2p_translation;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
p2p_translation = absolute_pose::p2p(adapter);
gettimeofday( &toc, 0 );
double p2p_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running Kneip's P3P (first three correspondences)" << std::endl;
transformations_t p3p_kneip_transformations;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
p3p_kneip_transformations = absolute_pose::p3p_kneip(adapter);
gettimeofday( &toc, 0 );
double p3p_kneip_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running Gao's P3P (first three correspondences)" << std::endl;
transformations_t p3p_gao_transformations;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
p3p_gao_transformations = absolute_pose::p3p_gao(adapter);
gettimeofday( &toc, 0 );
double p3p_gao_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running epnp (all correspondences)" << std::endl;
transformation_t epnp_transformation;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
epnp_transformation = absolute_pose::epnp(adapter);
gettimeofday( &toc, 0 );
double epnp_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running epnp with 6 correspondences" << std::endl;
std::vector<int> indices6 = getNindices(6);
transformation_t epnp_transformation_6 =
absolute_pose::epnp( adapter, indices6 );
std::cout << "running upnp with all correspondences" << std::endl;
transformations_t upnp_transformations;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
upnp_transformations = absolute_pose::upnp(adapter);
gettimeofday( &toc, 0 );
double upnp_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running upnp with 3 correspondences" << std::endl;
std::vector<int> indices3 = getNindices(3);
transformations_t upnp_transformations_3 =
absolute_pose::upnp( adapter, indices3 );
std::cout << "setting perturbed pose";
std::cout << "and performing nonlinear optimization" << std::endl;
//add a small perturbation to the pose
translation_t t_perturbed; rotation_t R_perturbed;
getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.1 );
transformation_t nonlinear_transformation;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
{
adapter.sett(t_perturbed);
adapter.setR(R_perturbed);
nonlinear_transformation = absolute_pose::optimize_nonlinear(adapter);
}
gettimeofday( &toc, 0 );
double nonlinear_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "setting perturbed pose";
std::cout << "and performing nonlinear optimization with 10 correspondences";
std::cout << std::endl;
std::vector<int> indices10 = getNindices(10);
//add a small perturbation to the pose
getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.1 );
adapter.sett(t_perturbed);
adapter.setR(R_perturbed);
transformation_t nonlinear_transformation_10 =
absolute_pose::optimize_nonlinear(adapter,indices10);
//print the results
std::cout << "results from P2P algorithm:" << std::endl;
std::cout << p2p_translation << std::endl << std::endl;
std::cout << "results from Kneip's P3P algorithm:" << std::endl;
for(size_t i = 0; i < p3p_kneip_transformations.size(); i++)
std::cout << p3p_kneip_transformations[i] << std::endl << std::endl;
std::cout << "results from Gao's P3P algorithm:" << std::endl;
for(size_t i = 0; i < p3p_gao_transformations.size(); i++)
std::cout << p3p_gao_transformations[i] << std::endl << std::endl;
std::cout << "results from epnp algorithm:" << std::endl;
std::cout << epnp_transformation << std::endl << std::endl;
std::cout << "results from epnp algorithm with only 6 correspondences:";
std::cout << std::endl;
std::cout << epnp_transformation_6 << std::endl << std::endl;
std::cout << "results from upnp:" << std::endl;
for(size_t i = 0; i < upnp_transformations.size(); i++)
std::cout << upnp_transformations[i] << std::endl << std::endl;
std::cout << "results form upnp algorithm with only 3 correspondences:";
std::cout << std::endl;
for(size_t i = 0; i < upnp_transformations_3.size(); i++)
std::cout << upnp_transformations_3[i] << std::endl << std::endl;
std::cout << "results from nonlinear algorithm:" << std::endl;
std::cout << nonlinear_transformation << std::endl << std::endl;
std::cout << "results from nonlinear algorithm with only 10 correspondences:";
std::cout << std::endl;
std::cout << nonlinear_transformation_10 << std::endl << std::endl;
std::cout << "timings from P2P algorithm: ";
std::cout << p2p_time << std::endl;
std::cout << "timings from Kneip's P3P algorithm: ";
std::cout << p3p_kneip_time << std::endl;
std::cout << "timings from Gao's P3P algorithm: ";
std::cout << p3p_gao_time << std::endl;
std::cout << "timings from epnp algorithm: ";
std::cout << epnp_time << std::endl;
std::cout << "timings for the upnp algorithm: ";
std::cout << upnp_time << std::endl;
std::cout << "timings from nonlinear algorithm: ";
std::cout << nonlinear_time << std::endl;
}