160 lines
6.8 KiB
C++
160 lines
6.8 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/relative_pose/methods.hpp>
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#include <opengv/relative_pose/CentralRelativeAdapter.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/relative_pose/RotationOnlySacProblem.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 = 0.5;
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double outlierFraction = 0.1;
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size_t numberPoints = 100;
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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 = Eigen::Vector3d::Zero();
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rotation_t rotation2 = 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 bearingVectors1;
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bearingVectors_t bearingVectors2;
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std::vector<int> camCorrespondences1; //unused in the central case
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std::vector<int> camCorrespondences2; //unused in the central case
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Eigen::MatrixXd gt(3,numberPoints);
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generateRandom2D2DCorrespondences(
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position1, rotation1, position2, rotation2,
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camOffsets, camRotations, numberPoints, noise, outlierFraction,
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bearingVectors1, bearingVectors2,
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camCorrespondences1, camCorrespondences2, 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 );
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//print experiment characteristics
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printExperimentCharacteristics( position, rotation, noise, outlierFraction );
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//create a central relative adapter
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relative_pose::CentralRelativeAdapter adapter(
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bearingVectors1,
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bearingVectors2,
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rotation);
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//Create a RotationOnlySacProblem and Ransac
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sac::Ransac<
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sac_problems::relative_pose::RotationOnlySacProblem> ransac;
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std::shared_ptr<
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sac_problems::relative_pose::RotationOnlySacProblem> relposeproblem_ptr(
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new sac_problems::relative_pose::RotationOnlySacProblem(adapter));
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ransac.sac_model_ = relposeproblem_ptr;
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ransac.threshold_ = 2.0*(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(0);
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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 threshold is: " << ransac.threshold_ << std::endl;
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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<
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sac_problems::relative_pose::RotationOnlySacProblem> lmeds;
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lmeds.sac_model_ = relposeproblem_ptr;
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lmeds.threshold_ = 2.0*(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 experiment
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gettimeofday( &tic, 0 );
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lmeds.computeModel(0);
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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 threshold is: " << lmeds.threshold_ << std::endl;
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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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