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