151 lines
6.6 KiB
C++
151 lines
6.6 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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#include <stdlib.h>
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#include <stdio.h>
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#include <iostream>
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#include <iomanip>
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#include <opengv/point_cloud/methods.hpp>
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#include <opengv/point_cloud/PointCloudAdapter.hpp>
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#include <sstream>
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#include <fstream>
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#include "random_generators.hpp"
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#include "experiment_helpers.hpp"
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#include "time_measurement.hpp"
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using namespace std;
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using namespace Eigen;
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using namespace opengv;
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int main( int argc, char** argv )
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{
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//initialize random seed
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initializeRandomSeed();
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//set experiment parameters
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double noise = 0.05;
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double outlierFraction = 0.0;
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size_t numberPoints = 10;
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//generate a random pose for viewpoint 1
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translation_t position1 = Eigen::Vector3d::Zero();
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rotation_t rotation1 = Eigen::Matrix3d::Identity();
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//generate a random pose for viewpoint 2
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translation_t position2 = generateRandomTranslation(2.0);
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rotation_t rotation2 = generateRandomRotation(0.5);
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//derive the correspondences based on random point-cloud
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points_t points1;
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points_t points2;
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Eigen::MatrixXd gt(3,numberPoints);
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generateRandom3D3DCorrespondences(
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position1, rotation1, position2, rotation2,
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numberPoints, noise, outlierFraction, points1, points2, gt );
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//Extract the relative pose
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translation_t position; rotation_t rotation;
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extractRelativePose(
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position1, position2, rotation1, rotation2, position, rotation, false );
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//print experiment characteristics
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printExperimentCharacteristics( position, rotation, noise, outlierFraction );
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//create the point-cloud adapter
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point_cloud::PointCloudAdapter adapter(
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points1, points2, position, rotation);
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//timer
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struct timeval tic;
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struct timeval toc;
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size_t iterations = 100;
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//run experiments
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std::cout << "running threept with all the points" << std::endl;
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transformation_t threept_transformation;
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gettimeofday( &tic, 0 );
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for(size_t i = 0; i < iterations; i++)
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threept_transformation = point_cloud::threept_arun(adapter);
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gettimeofday( &toc, 0 );
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double threept_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
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std::cout << "running threept with three points only" << std::endl;
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std::vector<int> indices3 = getNindices(3);
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transformation_t threept_transformation_3;
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gettimeofday( &tic, 0 );
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for(size_t i = 0; i < iterations; i++)
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threept_transformation_3 = point_cloud::threept_arun(adapter,indices3);
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gettimeofday( &toc, 0 );
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double threept_time_3 = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
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std::cout << "setting perturbed pose and ";
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std::cout << "performing nonlinear optimization" << std::endl;
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//add a small perturbation to the rotation
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translation_t t_perturbed; rotation_t R_perturbed;
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getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.1);
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adapter.sett12(t_perturbed);
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adapter.setR12(R_perturbed);
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transformation_t nonlinear_transformation;
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gettimeofday( &tic, 0 );
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for(size_t i = 0; i < iterations; i++)
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nonlinear_transformation = point_cloud::optimize_nonlinear(adapter);
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gettimeofday( &toc, 0 );
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double nonlinear_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
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std::cout << "setting perturbed pose and ";
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std::cout << "performing nonlinear optimization with three points only";
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std::cout << std::endl;
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//add a small perturbation to the rotation
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getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.01);
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adapter.sett12(t_perturbed);
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adapter.setR12(R_perturbed);
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transformation_t nonlinear_transformation_3 =
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point_cloud::optimize_nonlinear(adapter,indices3);
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//print results
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std::cout << "results from threept_arun algorithm:" << std::endl;
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std::cout << threept_transformation << std::endl << std::endl;
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std::cout << "results from threept_arun with 3 points only:" << std::endl;
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std::cout << threept_transformation_3 << std::endl << std::endl;
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std::cout << "results of nonlinear optimization:" << std::endl;
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std::cout << nonlinear_transformation << std::endl << std::endl;
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std::cout << "results of nonlinear optimization with 3 points only:" << std::endl;
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std::cout << nonlinear_transformation_3 << std::endl << std::endl;
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std::cout << "timings from threept_arun algorithm: ";
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std::cout << threept_time << std::endl;
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std::cout << "timings from threept_arun algorithm with 3 points only: ";
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std::cout << threept_time_3 << std::endl;
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std::cout << "timing of nonlinear optimization: ";
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std::cout << nonlinear_time << std::endl;
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}
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