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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/NoncentralRelativeAdapter.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 = 100;
int numberCameras = 4;
//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;
generateRandomCameraSystem( numberCameras, camOffsets, camRotations );
//derive correspondences based on random point-cloud
bearingVectors_t bearingVectors1;
bearingVectors_t bearingVectors2;
std::vector<int> camCorrespondences1;
std::vector<int> camCorrespondences2;
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 non-central relative adapter
relative_pose::NoncentralRelativeAdapter adapter(
bearingVectors1,
bearingVectors2,
camCorrespondences1,
camCorrespondences2,
camOffsets,
camRotations,
position,
rotation);
//timer
struct timeval tic;
struct timeval toc;
size_t iterations = 100;
//running experiment
std::cout << "running sixpt with 6 correspondences" << std::endl;
std::vector<int> indices6 = getNindices(6);
rotations_t sixpt_rotations;
gettimeofday( &tic, 0 );
for( size_t i = 0; i < iterations; i++ )
sixpt_rotations = relative_pose::sixpt(adapter,indices6);
gettimeofday( &toc, 0 );
double sixpt_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running ge with 8 correspondences" << std::endl;
std::vector<int> indices8 = getNindices(8);
rotation_t ge_rotation;
gettimeofday( &tic, 0 );
for( size_t i = 0; i < iterations; i++ )
ge_rotation = relative_pose::ge(adapter,indices8);
gettimeofday( &toc, 0 );
double ge_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running seventeenpt algorithm with 17 correspondences";
std::cout << std::endl;
std::vector<int> indices17 = getNindices(17);
transformation_t seventeenpt_transformation;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
seventeenpt_transformation = relative_pose::seventeenpt(adapter,indices17);
gettimeofday( &toc, 0 );
double seventeenpt_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running seventeenpt algorithm with all correspondences";
std::cout << std::endl;
transformation_t seventeenpt_transformation_all;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
seventeenpt_transformation_all = relative_pose::seventeenpt(adapter);
gettimeofday( &toc, 0 );
double seventeenpt_time_all =
TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "setting perturbed pose and ";
std::cout << "performing nonlinear optimization" << std::endl;
translation_t t_perturbed; rotation_t R_perturbed;
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 correspondences";
std::cout << 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 6pt algorithm:" << std::endl;
for( size_t i = 0; i < sixpt_rotations.size(); i++ )
std::cout << sixpt_rotations[i] << std::endl << std::endl;
std::cout << "result from ge using 8 points:" << std::endl;
std::cout << ge_rotation << std::endl << std::endl;
std::cout << "results from 17pt algorithm:" << std::endl;
std::cout << seventeenpt_transformation << std::endl << std::endl;
std::cout << "results from 17pt algorithm with all points:" << std::endl;
std::cout << seventeenpt_transformation_all << 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 6pt algorithm: ";
std::cout << sixpt_time << std::endl;
std::cout << "timings from ge: ";
std::cout << ge_time << std::endl;
std::cout << "timings from 17pt algorithm: ";
std::cout << seventeenpt_time << std::endl;
std::cout << "timings from 17pt algorithm with all the points: ";
std::cout << seventeenpt_time_all << std::endl;
std::cout << "timings from nonlinear algorithm: ";
std::cout << nonlinear_time << std::endl;
}
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