154 lines
5.7 KiB
C++
154 lines
5.7 KiB
C++
/******************************************************************************
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* Author: Laurent Kneip *
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* Contact: kneip.laurent@gmail.com *
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* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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* *
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* Redistribution and use in source and binary forms, with or without *
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* modification, are permitted provided that the following conditions *
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* are met: *
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* * Redistributions of source code must retain the above copyright *
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* notice, this list of conditions and the following disclaimer. *
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* * Redistributions in binary form must reproduce the above copyright *
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* notice, this list of conditions and the following disclaimer in the *
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* documentation and/or other materials provided with the distribution. *
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* * Neither the name of ANU nor the names of its contributors may be *
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* used to endorse or promote products derived from this software without *
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* specific prior written permission. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
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* ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE *
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT *
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY *
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF *
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* SUCH DAMAGE. *
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******************************************************************************/
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#ifndef OPENGV_EXPERIMENT_HELPERS_HPP_
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#define OPENGV_EXPERIMENT_HELPERS_HPP_
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#include <opengv/types.hpp>
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#include <memory>
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namespace opengv
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{
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void generateCentralCameraSystem(
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translations_t & camOffsets,
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rotations_t & camRotations );
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void generateRandomCameraSystem(
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int numberCameras,
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translations_t & camOffsets,
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rotations_t & camRotations );
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void extractRelativePose(
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const translation_t & position1,
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const translation_t & position2,
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const rotation_t & rotation1,
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const rotation_t & rotation2,
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translation_t & relativePosition,
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rotation_t & relativeRotation,
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bool normalize = true );
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void printExperimentCharacteristics(
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const translation_t & position,
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const rotation_t & rotation,
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double noise,
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double outlierFraction );
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void printBearingVectorArraysMatlab(
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const bearingVectors_t & bearingVectors1,
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const bearingVectors_t & bearingVectors2 );
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void printEssentialMatrix(
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const translation_t & position,
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const rotation_t & rotation);
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void getPerturbedPose(
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const translation_t & position,
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const rotation_t & rotation,
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translation_t & perturbedPosition,
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rotation_t & perturbedRotation,
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double amplitude );
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std::vector<int> getNindices( int n );
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void generateRandom2D3DCorrespondences(
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const translation_t & position,
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const rotation_t & rotation,
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const translations_t & camOffsets,
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const rotations_t & camRotations,
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size_t numberPoints,
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double noise,
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double outlierFraction,
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bearingVectors_t & bearingVectors,
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points_t & points,
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std::vector<int> & camCorrespondences,
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Eigen::MatrixXd & gt );
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void generateMulti2D3DCorrespondences(
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const translation_t & position,
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const rotation_t & rotation,
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const translations_t & camOffsets,
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const rotations_t & camRotations,
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size_t pointsPerCam,
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double noise,
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double outlierFraction,
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std::vector<std::shared_ptr<points_t> > & multiPoints,
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std::vector<std::shared_ptr<bearingVectors_t> > & multiBearingVectors,
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std::vector<std::shared_ptr<Eigen::MatrixXd> > & gt );
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void generateRandom2D2DCorrespondences(
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const translation_t & position1,
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const rotation_t & rotation1,
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const translation_t & position2,
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const rotation_t & rotation2,
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const translations_t & camOffsets,
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const rotations_t & camRotations,
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size_t numberPoints,
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double noise,
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double outlierFraction,
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bearingVectors_t & bearingVectors1,
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bearingVectors_t & bearingVectors2,
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std::vector<int> & camCorrespondences1,
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std::vector<int> & camCorrespondences2,
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Eigen::MatrixXd & gt );
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void generateRandom3D3DCorrespondences(
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const translation_t & position1,
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const rotation_t & rotation1,
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const translation_t & position2,
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const rotation_t & rotation2,
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size_t numberPoints,
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double noise,
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double outlierFraction,
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bearingVectors_t & points1,
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bearingVectors_t & points2,
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Eigen::MatrixXd & gt );
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void generateMulti2D2DCorrespondences(
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const translation_t & position1,
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const rotation_t & rotation1,
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const translation_t & position2,
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const rotation_t & rotation2,
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const translations_t & camOffsets,
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const rotations_t & camRotations,
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size_t pointsPerCam,
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double noise,
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double outlierFraction,
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std::vector<std::shared_ptr<bearingVectors_t> > & multiBearingVectors1,
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std::vector<std::shared_ptr<bearingVectors_t> > & multiBearingVectors2,
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std::vector<std::shared_ptr<Eigen::MatrixXd> > & gt );
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}
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#endif /* OPENGV_EXPERIMENT_HELPERS_HPP_ */
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