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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 <limits.h>
#include <Eigen/Eigen>
#include <opengv/relative_pose/methods.hpp>
#include <opengv/relative_pose/CentralRelativeAdapter.hpp>
#include <opengv/sac/Ransac.hpp>
#include <opengv/sac/Lmeds.hpp>
#include <opengv/sac_problems/relative_pose/RotationOnlySacProblem.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 = 0.5;
double outlierFraction = 0.1;
size_t numberPoints = 100;
//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 );
//print experiment characteristics
printExperimentCharacteristics( position, rotation, noise, outlierFraction );
//create a central relative adapter
relative_pose::CentralRelativeAdapter adapter(
bearingVectors1,
bearingVectors2,
rotation);
//Create a RotationOnlySacProblem and Ransac
sac::Ransac<
sac_problems::relative_pose::RotationOnlySacProblem> ransac;
std::shared_ptr<
sac_problems::relative_pose::RotationOnlySacProblem> relposeproblem_ptr(
new sac_problems::relative_pose::RotationOnlySacProblem(adapter));
ransac.sac_model_ = relposeproblem_ptr;
ransac.threshold_ = 2.0*(1.0 - cos(atan(sqrt(2.0)*0.5/800.0)));
ransac.max_iterations_ = 50;
//Run the experiment
struct timeval tic;
struct timeval toc;
gettimeofday( &tic, 0 );
ransac.computeModel(0);
gettimeofday( &toc, 0 );
double ransac_time = TIMETODOUBLE(timeval_minus(toc,tic));
//print the results
std::cout << "the ransac threshold is: " << ransac.threshold_ << std::endl;
std::cout << "the ransac results is: " << std::endl;
std::cout << ransac.model_coefficients_ << std::endl << std::endl;
std::cout << "Ransac needed " << ransac.iterations_ << " iterations and ";
std::cout << ransac_time << " seconds" << std::endl << std::endl;
std::cout << "the number of inliers is: " << ransac.inliers_.size();
std::cout << std::endl << std::endl;
std::cout << "the found inliers are: " << std::endl;
for(size_t i = 0; i < ransac.inliers_.size(); i++)
std::cout << ransac.inliers_[i] << " ";
std::cout << std::endl << std::endl;
// Create Lmeds
sac::Lmeds<
sac_problems::relative_pose::RotationOnlySacProblem> lmeds;
lmeds.sac_model_ = relposeproblem_ptr;
lmeds.threshold_ = 2.0*(1.0 - cos(atan(sqrt(2.0)*0.5/800.0)));
lmeds.max_iterations_ = 50;
//Run the experiment
gettimeofday( &tic, 0 );
lmeds.computeModel(0);
gettimeofday( &toc, 0 );
double lmeds_time = TIMETODOUBLE(timeval_minus(toc,tic));
//print the results
std::cout << "the lmeds threshold is: " << lmeds.threshold_ << std::endl;
std::cout << "the lmeds results is: " << std::endl;
std::cout << lmeds.model_coefficients_ << std::endl << std::endl;
std::cout << "Lmeds needed " << lmeds.iterations_ << " iterations and ";
std::cout << lmeds_time << " seconds" << std::endl << std::endl;
std::cout << "the number of inliers is: " << lmeds.inliers_.size();
std::cout << std::endl << std::endl;
std::cout << "the found inliers are: " << std::endl;
for(size_t i = 0; i < lmeds.inliers_.size(); i++)
std::cout << lmeds.inliers_[i] << " ";
std::cout << std::endl << std::endl;
}
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