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2022-04-05 11:42:28 +03:00
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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/relative_pose/methods.hpp>
#include <opengv/relative_pose/CentralRelativeAdapter.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 = 0.0;
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);
//create a fake central camera
translations_t camOffsets;
rotations_t camRotations;
generateCentralCameraSystem( camOffsets, camRotations );
//derive correspondences based on random point-cloud
bearingVectors_t bearingVectors1;
bearingVectors_t bearingVectors2;
std::vector<int> camCorrespondences1; //unused in the central case
std::vector<int> camCorrespondences2; //unused in the central case
Eigen::MatrixXd gt(3,numberPoints);
generateRandom2D2DCorrespondences(
position1, rotation1, position2, rotation2,
camOffsets, camRotations, numberPoints, noise, outlierFraction,
bearingVectors1, bearingVectors2,
camCorrespondences1, camCorrespondences2, gt );
//Extract the relative pose
translation_t position; rotation_t rotation;
extractRelativePose(
position1, position2, rotation1, rotation2, position, rotation );
//print experiment characteristics
printExperimentCharacteristics( position, rotation, noise, outlierFraction );
//compute and print the essential-matrix
printEssentialMatrix( position, rotation );
//create a central relative adapter
relative_pose::CentralRelativeAdapter adapter(
bearingVectors1,
bearingVectors2,
rotation);
//timer
struct timeval tic;
struct timeval toc;
size_t iterations = 50;
//running experiments
std::cout << "running twopt" << std::endl;
translation_t twopt_translation;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
twopt_translation = relative_pose::twopt(adapter,true);
gettimeofday( &toc, 0 );
double twopt_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running fivept_stewenius" << std::endl;
complexEssentials_t fivept_stewenius_essentials;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
fivept_stewenius_essentials = relative_pose::fivept_stewenius(adapter);
gettimeofday( &toc, 0 );
double fivept_stewenius_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running fivept_nister" << std::endl;
essentials_t fivept_nister_essentials;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
fivept_nister_essentials = relative_pose::fivept_nister(adapter);
gettimeofday( &toc, 0 );
double fivept_nister_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running fivept_kneip" << std::endl;
rotations_t fivept_kneip_rotations;
gettimeofday( &tic, 0 );
std::vector<int> indices5 = getNindices(5);
for(size_t i = 0; i < iterations; i++)
fivept_kneip_rotations = relative_pose::fivept_kneip(adapter,indices5);
gettimeofday( &toc, 0 );
double fivept_kneip_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running sevenpt" << std::endl;
essentials_t sevenpt_essentials;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
sevenpt_essentials = relative_pose::sevenpt(adapter);
gettimeofday( &toc, 0 );
double sevenpt_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running eightpt" << std::endl;
essential_t eightpt_essential;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
eightpt_essential = relative_pose::eightpt(adapter);
gettimeofday( &toc, 0 );
double eightpt_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "setting perturbed rotation and ";
std::cout << "running eigensolver" << std::endl;
translation_t t_perturbed; rotation_t R_perturbed;
getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.01);
rotation_t eigensolver_rotation;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
{
adapter.setR12(R_perturbed);
eigensolver_rotation = relative_pose::eigensolver(adapter);
}
gettimeofday( &toc, 0 );
double eigensolver_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "setting perturbed pose and ";
std::cout << "performing nonlinear optimization" << std::endl;
getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.1);
transformation_t nonlinear_transformation;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
{
adapter.sett12(t_perturbed);
adapter.setR12(R_perturbed);
nonlinear_transformation = relative_pose::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 10 indices" << std::endl;
std::vector<int> indices10 = getNindices(10);
getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.1);
adapter.sett12(t_perturbed);
adapter.setR12(R_perturbed);
transformation_t nonlinear_transformation_10 =
relative_pose::optimize_nonlinear(adapter,indices10);
//print results
std::cout << "results from two-points algorithm:" << std::endl;
std::cout << twopt_translation << std::endl << std::endl;
std::cout << "results from stewenius' five-point algorithm:" << std::endl;
for( size_t i = 0; i < fivept_stewenius_essentials.size(); i++ )
std::cout << fivept_stewenius_essentials.at(i) << std::endl << std::endl;
std::cout << "results from nisters' five-point algorithm:" << std::endl;
for( size_t i = 0; i < fivept_nister_essentials.size(); i++ )
std::cout << fivept_nister_essentials.at(i) << std::endl << std::endl;
std::cout << "results from kneip's five-point algorithm:" << std::endl;
for( size_t i = 0; i < fivept_kneip_rotations.size(); i++ )
std::cout << fivept_kneip_rotations.at(i) << std::endl << std::endl;
std::cout << "results from seven-point algorithm:" << std::endl;
for( size_t i = 0; i < sevenpt_essentials.size(); i++ )
std::cout << sevenpt_essentials.at(i) << std::endl << std::endl;
std::cout << "results from eight-point algorithm:" << std::endl;
std::cout << eightpt_essential << std::endl << std::endl;
std::cout << "results from eigensystem based rotation solver:" << std::endl;
std::cout << eigensolver_rotation << std::endl << std::endl << std::endl;
std::cout << "results from nonlinear algorithm:" << std::endl;
std::cout << nonlinear_transformation << std::endl << std::endl;
std::cout << "results from nonlinear algorithm with only few correspondences:";
std::cout << std::endl;
std::cout << nonlinear_transformation_10 << std::endl << std::endl;
std::cout << "timings from two-points algorithm: ";
std::cout << twopt_time << std::endl;
std::cout << "timings from stewenius' five-point algorithm: ";
std::cout << fivept_stewenius_time << std::endl;
std::cout << "timings from nisters' five-point algorithm: ";
std::cout << fivept_nister_time << std::endl;
std::cout << "timings from kneip's five-point algorithm: ";
std::cout << fivept_kneip_time << std::endl;
std::cout << "timings from seven-point algorithm: ";
std::cout << sevenpt_time << std::endl;
std::cout << "timings from eight-point algorithm: ";
std::cout << eightpt_time << std::endl;
std::cout << "timings from eigensystem based rotation solver: ";
std::cout << eigensolver_time << std::endl;
std::cout << "timings from nonlinear algorithm: ";
std::cout << nonlinear_time << std::endl;
}