v01

thirdparty/opengv/test/test_noncentral_absolute_pose_sac.cpp

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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 <limits.h>
+#include <Eigen/Eigen>
+#include <opengv/absolute_pose/methods.hpp>
+#include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
+#include <opengv/sac/Ransac.hpp>
+#include <opengv/sac/Lmeds.hpp>
+#include <opengv/sac_problems/absolute_pose/AbsolutePoseSacProblem.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 = 0.5;
+  double outlierFraction = 0.1;
+  size_t numberPoints = 100;
+  int numberCameras = 4;
+
+  //create a random viewpoint pose
+  translation_t position = generateRandomTranslation(2.0);
+  rotation_t rotation = generateRandomRotation(0.5);
+  
+  //create a random camera-system
+  translations_t camOffsets;
+  rotations_t camRotations;
+  generateRandomCameraSystem( numberCameras, camOffsets, camRotations );
+  
+  //derive correspondences based on random point-cloud
+  bearingVectors_t bearingVectors;
+  points_t points;
+  std::vector<int> camCorrespondences;
+  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 non-central absolute adapter
+  absolute_pose::NoncentralAbsoluteAdapter adapter(
+      bearingVectors,
+      camCorrespondences,
+      points,
+      camOffsets,
+      camRotations,
+      rotation);
+
+  //Create a AbsolutePoseSacProblem and Ransac
+  //The method is set to GP3P
+  sac::Ransac<
+      sac_problems::absolute_pose::AbsolutePoseSacProblem> ransac;
+  std::shared_ptr<
+      sac_problems::absolute_pose::AbsolutePoseSacProblem> absposeproblem_ptr(
+      new sac_problems::absolute_pose::AbsolutePoseSacProblem(
+      adapter,
+      sac_problems::absolute_pose::AbsolutePoseSacProblem::GP3P));
+  ransac.sac_model_ = absposeproblem_ptr;
+  ransac.threshold_ = 1.0 - cos(atan(sqrt(2.0)*0.5/800.0));
+  ransac.max_iterations_ = 50;
+
+  //Run the experiment
+  struct timeval tic;
+  struct timeval toc;
+  gettimeofday( &tic, 0 );
+  ransac.computeModel();
+  gettimeofday( &toc, 0 );
+  double ransac_time = TIMETODOUBLE(timeval_minus(toc,tic));
+
+  //print the results
+  std::cout << "the ransac results is: " << std::endl;
+  std::cout << ransac.model_coefficients_ << std::endl << std::endl;
+  std::cout << "Ransac needed " << ransac.iterations_ << " iterations and ";
+  std::cout << ransac_time << " seconds" << std::endl << std::endl;
+  std::cout << "the number of inliers is: " << ransac.inliers_.size();
+  std::cout << std::endl << std::endl;
+  std::cout << "the found inliers are: " << std::endl;
+  for(size_t i = 0; i < ransac.inliers_.size(); i++)
+    std::cout << ransac.inliers_[i] << " ";
+  std::cout << std::endl << std::endl;
+
+  // Create LMedS
+  sac::Lmeds<sac_problems::absolute_pose::AbsolutePoseSacProblem> lmeds;
+  lmeds.sac_model_ = absposeproblem_ptr;
+  lmeds.threshold_ = 1.0 - cos(atan(sqrt(2.0)*0.5/800.0));
+  lmeds.max_iterations_ = 50;
+
+  //Run the experiment
+  gettimeofday( &tic, 0 );
+  lmeds.computeModel();
+  gettimeofday( &toc, 0 );
+  double lmeds_time = TIMETODOUBLE(timeval_minus(toc,tic));
+
+  //print the results
+  std::cout << "the lmeds results is: " << std::endl;
+  std::cout << lmeds.model_coefficients_ << std::endl << std::endl;
+  std::cout << "Lmeds needed " << lmeds.iterations_ << " iterations and ";
+  std::cout << lmeds_time << " seconds" << std::endl << std::endl;
+  std::cout << "the number of inliers is: " << lmeds.inliers_.size();
+  std::cout << std::endl << std::endl;
+  std::cout << "the found inliers are: " << std::endl;
+  for(size_t i = 0; i < lmeds.inliers_.size(); i++)
+    std::cout << lmeds.inliers_[i] << " ";
+  std::cout << std::endl << std::endl;
+}