v01

thirdparty/opengv/test/test_relative_pose_rotationOnly.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/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 = Eigen::Vector3d::Zero();
+  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, false );
+
+  //print experiment characteristics
+  printExperimentCharacteristics( position, rotation, noise, outlierFraction );
+
+  //create a central relative adapter
+  relative_pose::CentralRelativeAdapter adapter(
+      bearingVectors1,
+      bearingVectors2,
+      rotation);
+
+  //timer
+  struct timeval tic;
+  struct timeval toc;
+  size_t iterations = 100;
+
+  //run experiment
+  std::cout << "running twopt_rotationOnly (using first 2 correpondences";
+  std::cout << std::endl;
+  rotation_t twopt_rotationOnly_rotation;
+  gettimeofday( &tic, 0 );
+  for(size_t i = 0; i < iterations; i++)
+    twopt_rotationOnly_rotation = relative_pose::twopt_rotationOnly(adapter);
+  gettimeofday( &toc, 0 );
+  double twopt_rotationOnly_time =
+      TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
+
+  std::cout << "running rotationOnly (using all correspondences)" << std::endl;
+  rotation_t rotationOnly_rotation;
+  gettimeofday( &tic, 0 );
+  for(size_t i = 0; i < iterations; i++)
+    rotationOnly_rotation = relative_pose::rotationOnly(adapter);
+  gettimeofday( &toc, 0 );
+  double rotationOnly_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
+
+  std::cout << "running rotationOnly with 10 correspondences" << std::endl;
+  std::vector<int> indices10 = getNindices(10);
+  rotation_t rotationOnly10_rotation;
+  gettimeofday( &tic, 0 );
+  for(size_t i = 0; i < iterations; i++)
+    rotationOnly10_rotation = relative_pose::rotationOnly(adapter,indices10);
+  gettimeofday( &toc, 0 );
+  double rotationOnly10_time =
+      TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
+
+  //print results
+  std::cout << "results from two-points rotation algorithm:" << std::endl;
+  std::cout << twopt_rotationOnly_rotation << std::endl << std::endl;
+  std::cout << "results from rotation algorithm:" << std::endl;
+  std::cout << rotationOnly_rotation << std::endl << std::endl;
+  std::cout << "results from rotation algorithm with 10 points:" << std::endl;
+  std::cout << rotationOnly10_rotation << std::endl << std::endl;
+
+  std::cout << "timings from two-points rotation algorithm: ";
+  std::cout << twopt_rotationOnly_time << std::endl;
+  std::cout << "timings from rotation algorithm: ";
+  std::cout << rotationOnly_time << std::endl;
+  std::cout << "timings from rotation algorithm with 10 points: ";
+  std::cout << rotationOnly10_time << std::endl;
+}