148 lines
6.2 KiB
C++
148 lines
6.2 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 <limits.h>
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#include <Eigen/Eigen>
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#include <opengv/absolute_pose/methods.hpp>
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#include <opengv/absolute_pose/CentralAbsoluteAdapter.hpp>
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#include <opengv/sac/Ransac.hpp>
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#include <opengv/sac/Lmeds.hpp>
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#include <opengv/sac_problems/absolute_pose/AbsolutePoseSacProblem.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 = 0.0;
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double outlierFraction = 0.1;
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size_t numberPoints = 100;
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//create a random viewpoint pose
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translation_t position = generateRandomTranslation(2.0);
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rotation_t rotation = generateRandomRotation(0.5);
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//create a fake central camera
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translations_t camOffsets;
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rotations_t camRotations;
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generateCentralCameraSystem( camOffsets, camRotations );
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//derive correspondences based on random point-cloud
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bearingVectors_t bearingVectors;
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points_t points;
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std::vector<int> camCorrespondences; //unused in the central case!
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Eigen::MatrixXd gt(3,numberPoints);
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generateRandom2D3DCorrespondences(
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position, rotation, camOffsets, camRotations, numberPoints, noise, outlierFraction,
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bearingVectors, points, camCorrespondences, gt );
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//print the experiment characteristics
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printExperimentCharacteristics(
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position, rotation, noise, outlierFraction );
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//create a central absolute adapter
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absolute_pose::CentralAbsoluteAdapter adapter(
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bearingVectors,
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points,
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rotation);
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//Create an AbsolutePoseSac problem and Ransac
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//The method can be set to KNEIP, GAO or EPNP
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sac::Ransac<sac_problems::absolute_pose::AbsolutePoseSacProblem> ransac;
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std::shared_ptr<
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sac_problems::absolute_pose::AbsolutePoseSacProblem> absposeproblem_ptr(
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new sac_problems::absolute_pose::AbsolutePoseSacProblem(
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adapter,
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sac_problems::absolute_pose::AbsolutePoseSacProblem::KNEIP));
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ransac.sac_model_ = absposeproblem_ptr;
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ransac.threshold_ = 1.0 - cos(atan(sqrt(2.0)*0.5/800.0));
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ransac.max_iterations_ = 50;
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//Run the experiment
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struct timeval tic;
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struct timeval toc;
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gettimeofday( &tic, 0 );
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ransac.computeModel();
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gettimeofday( &toc, 0 );
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double ransac_time = TIMETODOUBLE(timeval_minus(toc,tic));
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//print the results
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std::cout << "the ransac results is: " << std::endl;
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std::cout << ransac.model_coefficients_ << std::endl << std::endl;
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std::cout << "Ransac needed " << ransac.iterations_ << " iterations and ";
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std::cout << ransac_time << " seconds" << std::endl << std::endl;
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std::cout << "the number of inliers is: " << ransac.inliers_.size();
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std::cout << std::endl << std::endl;
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std::cout << "the found inliers are: " << std::endl;
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for(size_t i = 0; i < ransac.inliers_.size(); i++)
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std::cout << ransac.inliers_[i] << " ";
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std::cout << std::endl << std::endl;
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// Create LMedS
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sac::Lmeds<sac_problems::absolute_pose::AbsolutePoseSacProblem> lmeds;
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lmeds.sac_model_ = absposeproblem_ptr;
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lmeds.threshold_ = 1.0 - cos(atan(sqrt(2.0)*0.5/800.0));
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lmeds.max_iterations_ = 50;
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//Run the LMedS experiment
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gettimeofday( &tic, 0 );
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lmeds.computeModel();
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gettimeofday( &toc, 0 );
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double lmeds_time = TIMETODOUBLE(timeval_minus(toc,tic));
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//print the results
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std::cout << "the lmeds results is: " << std::endl;
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std::cout << lmeds.model_coefficients_ << std::endl << std::endl;
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std::cout << "Lmeds needed " << lmeds.iterations_ << " iterations and ";
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std::cout << lmeds_time << " seconds" << std::endl << std::endl;
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std::cout << "the number of inliers is: " << lmeds.inliers_.size();
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std::cout << std::endl << std::endl;
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std::cout << "the found inliers are: " << std::endl;
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for(size_t i = 0; i < lmeds.inliers_.size(); i++)
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std::cout << lmeds.inliers_[i] << " ";
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std::cout << std::endl << std::endl;
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}
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