190 lines
8.0 KiB
C++
190 lines
8.0 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 <opengv/absolute_pose/methods.hpp>
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#include <opengv/absolute_pose/NoncentralAbsoluteAdapter.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 = 0.0;
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size_t numberPoints = 100;
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int numberCameras = 4;
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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 random camera-system
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translations_t camOffsets;
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rotations_t camRotations;
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generateRandomCameraSystem( numberCameras, 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;
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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 non-central absolute adapter
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absolute_pose::NoncentralAbsoluteAdapter adapter(
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bearingVectors,
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camCorrespondences,
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points,
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camOffsets,
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camRotations,
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rotation);
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//timer
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struct timeval tic;
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struct timeval toc;
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size_t iterations = 50;
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//run the experiments
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std::cout << "running Kneip's GP3P (using first three correspondences/";
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std::cout << std::endl;
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transformations_t gp3p_transformations;
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gettimeofday( &tic, 0 );
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for(size_t i = 0; i < iterations; i++)
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gp3p_transformations = absolute_pose::gp3p(adapter);
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gettimeofday( &toc, 0 );
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double gp3p_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
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std::cout << "running gpnp over all correspondences" << std::endl;
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transformation_t gpnp_transformation;
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gettimeofday( &tic, 0 );
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for(size_t i = 0; i < iterations; i++)
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gpnp_transformation = absolute_pose::gpnp(adapter);
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gettimeofday( &toc, 0 );
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double gpnp_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
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std::cout << "running gpnp over 6 correspondences" << std::endl;
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std::vector<int> indices6 = getNindices(6);
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transformation_t gpnp_transformation_6 =
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absolute_pose::gpnp( adapter, indices6 );
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std::cout << "running upnp over all correspondences" << std::endl;
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transformations_t upnp_transformations;
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gettimeofday( &tic, 0 );
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for( size_t i = 0; i < iterations; i++ )
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upnp_transformations = absolute_pose::upnp(adapter);
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gettimeofday( &toc, 0);
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double upnp_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
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std::cout << "running upnp over 3 correspondences" << std::endl;
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std::vector<int> indices3 = getNindices(3);
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transformations_t upnp_transformations_3 =
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absolute_pose::upnp( adapter, indices3 );
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std::cout << "setting perturbed pose and ";
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std::cout << "performing nonlinear optimization" << std::endl;
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//add a small perturbation to the rotation
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translation_t t_perturbed; rotation_t R_perturbed;
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getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.1 );
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transformation_t nonlinear_transformation;
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gettimeofday( &tic, 0 );
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for(size_t i = 0; i < iterations; i++)
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{
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adapter.sett(t_perturbed);
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adapter.setR(R_perturbed);
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nonlinear_transformation = absolute_pose::optimize_nonlinear(adapter);
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}
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gettimeofday( &toc, 0 );
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double nonlinear_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
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std::cout << "setting perturbed pose and ";
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std::cout << "performing nonlinear optimization with 10 correspondences";
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std::cout << std::endl;
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std::vector<int> indices10 = getNindices(10);
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//add a small perturbation to the rotation
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getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.1 );
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adapter.sett(t_perturbed);
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adapter.setR(R_perturbed);
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transformation_t nonlinear_transformation_10 =
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absolute_pose::optimize_nonlinear(adapter,indices10);
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//print the results
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std::cout << "results from gp3p algorithm:" << std::endl;
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for(size_t i = 0; i < gp3p_transformations.size(); i++)
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std::cout << gp3p_transformations[i] << std::endl << std::endl;
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std::cout << "results from gpnp algorithm:" << std::endl;
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std::cout << gpnp_transformation << std::endl << std::endl;
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std::cout << "results from gpnp algorithm with only 6 correspondences:";
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std::cout << std::endl;
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std::cout << gpnp_transformation_6 << std::endl << std::endl;
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std::cout << "results from upnp algorithm:" << std::endl;
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for(size_t i = 0; i < upnp_transformations.size(); i++)
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std::cout << upnp_transformations[i] << std::endl << std::endl;
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std::cout << "results from upnp algorithm with only 3 correspondences:";
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std::cout << std::endl;
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for(size_t i = 0; i < upnp_transformations_3.size(); i++)
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std::cout << upnp_transformations_3[i] << std::endl << std::endl;
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std::cout << "results from nonlinear algorithm:" << std::endl;
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std::cout << nonlinear_transformation << std::endl << std::endl;
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std::cout << "results from nonlinear algorithm with only 10 correspondences:";
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std::cout << std::endl;
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std::cout << nonlinear_transformation_10 << std::endl << std::endl;
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std::cout << "timings from gp3p algorithm: ";
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std::cout << gp3p_time << std::endl;
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std::cout << "timings from gpnp algorithm: ";
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std::cout << gpnp_time << std::endl;
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std::cout << "timings from upnp algorithm: ";
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std::cout << upnp_time << std::endl;
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std::cout << "timings from nonlinear algorithm: ";
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std::cout << nonlinear_time << std::endl;
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}
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