200 lines
8.4 KiB
C++
200 lines
8.4 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/relative_pose/methods.hpp>
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#include <opengv/relative_pose/NoncentralRelativeAdapter.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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//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 = generateRandomTranslation(2.0);
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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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generateRandomCameraSystem( numberCameras, 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;
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std::vector<int> camCorrespondences2;
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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, false );
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//print experiment characteristics
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printExperimentCharacteristics( position, rotation, noise, outlierFraction );
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//create non-central relative adapter
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relative_pose::NoncentralRelativeAdapter adapter(
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bearingVectors1,
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bearingVectors2,
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camCorrespondences1,
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camCorrespondences2,
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camOffsets,
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camRotations,
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position,
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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 = 100;
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//running experiment
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std::cout << "running sixpt with 6 correspondences" << std::endl;
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std::vector<int> indices6 = getNindices(6);
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rotations_t sixpt_rotations;
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gettimeofday( &tic, 0 );
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for( size_t i = 0; i < iterations; i++ )
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sixpt_rotations = relative_pose::sixpt(adapter,indices6);
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gettimeofday( &toc, 0 );
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double sixpt_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
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std::cout << "running ge with 8 correspondences" << std::endl;
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std::vector<int> indices8 = getNindices(8);
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rotation_t ge_rotation;
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gettimeofday( &tic, 0 );
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for( size_t i = 0; i < iterations; i++ )
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ge_rotation = relative_pose::ge(adapter,indices8);
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gettimeofday( &toc, 0 );
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double ge_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
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std::cout << "running seventeenpt algorithm with 17 correspondences";
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std::cout << std::endl;
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std::vector<int> indices17 = getNindices(17);
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transformation_t seventeenpt_transformation;
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gettimeofday( &tic, 0 );
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for(size_t i = 0; i < iterations; i++)
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seventeenpt_transformation = relative_pose::seventeenpt(adapter,indices17);
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gettimeofday( &toc, 0 );
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double seventeenpt_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
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std::cout << "running seventeenpt algorithm with all correspondences";
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std::cout << std::endl;
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transformation_t seventeenpt_transformation_all;
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gettimeofday( &tic, 0 );
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for(size_t i = 0; i < iterations; i++)
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seventeenpt_transformation_all = relative_pose::seventeenpt(adapter);
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gettimeofday( &toc, 0 );
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double seventeenpt_time_all =
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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" << std::endl;
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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.sett12(t_perturbed);
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adapter.setR12(R_perturbed);
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nonlinear_transformation = relative_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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getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.1);
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adapter.sett12(t_perturbed);
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adapter.setR12(R_perturbed);
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transformation_t nonlinear_transformation_10 =
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relative_pose::optimize_nonlinear(adapter,indices10);
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//print results
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std::cout << "results from 6pt algorithm:" << std::endl;
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for( size_t i = 0; i < sixpt_rotations.size(); i++ )
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std::cout << sixpt_rotations[i] << std::endl << std::endl;
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std::cout << "result from ge using 8 points:" << std::endl;
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std::cout << ge_rotation << std::endl << std::endl;
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std::cout << "results from 17pt algorithm:" << std::endl;
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std::cout << seventeenpt_transformation << std::endl << std::endl;
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std::cout << "results from 17pt algorithm with all points:" << std::endl;
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std::cout << seventeenpt_transformation_all << 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 few 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 6pt algorithm: ";
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std::cout << sixpt_time << std::endl;
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std::cout << "timings from ge: ";
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std::cout << ge_time << std::endl;
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std::cout << "timings from 17pt algorithm: ";
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std::cout << seventeenpt_time << std::endl;
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std::cout << "timings from 17pt algorithm with all the points: ";
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std::cout << seventeenpt_time_all << 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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