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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/point_cloud/methods.hpp>
#include <opengv/point_cloud/PointCloudAdapter.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 = 0.05;
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);
//derive the correspondences based on random point-cloud
points_t points1;
points_t points2;
Eigen::MatrixXd gt(3,numberPoints);
generateRandom3D3DCorrespondences(
position1, rotation1, position2, rotation2,
numberPoints, noise, outlierFraction, points1, points2, 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 the point-cloud adapter
point_cloud::PointCloudAdapter adapter(
points1, points2, position, rotation);
//timer
struct timeval tic;
struct timeval toc;
size_t iterations = 100;
//run experiments
std::cout << "running threept with all the points" << std::endl;
transformation_t threept_transformation;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
threept_transformation = point_cloud::threept_arun(adapter);
gettimeofday( &toc, 0 );
double threept_time = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "running threept with three points only" << std::endl;
std::vector<int> indices3 = getNindices(3);
transformation_t threept_transformation_3;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
threept_transformation_3 = point_cloud::threept_arun(adapter,indices3);
gettimeofday( &toc, 0 );
double threept_time_3 = TIMETODOUBLE(timeval_minus(toc,tic)) / iterations;
std::cout << "setting perturbed pose and ";
std::cout << "performing nonlinear optimization" << std::endl;
//add a small perturbation to the rotation
translation_t t_perturbed; rotation_t R_perturbed;
getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.1);
adapter.sett12(t_perturbed);
adapter.setR12(R_perturbed);
transformation_t nonlinear_transformation;
gettimeofday( &tic, 0 );
for(size_t i = 0; i < iterations; i++)
nonlinear_transformation = point_cloud::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 three points only";
std::cout << std::endl;
//add a small perturbation to the rotation
getPerturbedPose( position, rotation, t_perturbed, R_perturbed, 0.01);
adapter.sett12(t_perturbed);
adapter.setR12(R_perturbed);
transformation_t nonlinear_transformation_3 =
point_cloud::optimize_nonlinear(adapter,indices3);
//print results
std::cout << "results from threept_arun algorithm:" << std::endl;
std::cout << threept_transformation << std::endl << std::endl;
std::cout << "results from threept_arun with 3 points only:" << std::endl;
std::cout << threept_transformation_3 << std::endl << std::endl;
std::cout << "results of nonlinear optimization:" << std::endl;
std::cout << nonlinear_transformation << std::endl << std::endl;
std::cout << "results of nonlinear optimization with 3 points only:" << std::endl;
std::cout << nonlinear_transformation_3 << std::endl << std::endl;
std::cout << "timings from threept_arun algorithm: ";
std::cout << threept_time << std::endl;
std::cout << "timings from threept_arun algorithm with 3 points only: ";
std::cout << threept_time_3 << std::endl;
std::cout << "timing of nonlinear optimization: ";
std::cout << nonlinear_time << std::endl;
}
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