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p4p_testing.cpp
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/*
* p3p_testing.cpp
*
* Created on: Mar 21, 2015
* Author: Marco Zorzi
*
*/
#include <iostream>
#include <chrono>
#include <ctime>
#include <iostream>
#include <algorithm>
#include <functional>
#include <iterator>
#include <array>
#include <string>
#include <string>
#include <fstream>
#include <sstream>
#include <cassert>
#include <vector>
#include <chrono>
#include <cmath>
#include <time.h>
#include <sys/time.h>
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Eigen>
#include "P4pf.hpp"
#define DBG_TEST 0
#define OUT 1
void testP4p_m() {
/*********** BEGIN main funciton ************/
/*
% P4P + unknown focal length testing app
% given a set of 4x 2D<->3D correspondences, calculate camera pose and the
% camera focal length.
%
% by Martin Bujnak, (c)apr2008
%
% ground truth focal, image resolution [-0.5;0.5]x[-0.5;0.5]
*/
double fgt = 1.5;
// general scene
Eigen::Matrix<double,3,4> M;
M << -3.33639834336120, -23.35549638285873, -13.18941519576778, 6.43164913914748,
0.65948286155096, -4.90376715918747, 1.17103701629876, 0.14580433383203,
-8.46658219501120, -3.99876939947909, -3.02248927651177, -22.16086539862748;
Eigen::Matrix<double,2,4> m;
m << 0.11009888473695, 0.39776592879400, 0.28752996253253, -0.05017617729940,
0.03882059658299, -0.17303453640632, -0.05791310109713, 0.19297848817239;
// ground truth orientation + position
Eigen::Matrix<double,3,3> Rgt;
Rgt << -0.94382954756954, 0.33043272406750, 0,
0.27314119331857, 0.78018522420862, -0.56276540799790,
-0.18595610677571, -0.53115462041845, -0.82661665574857;
Eigen::Matrix<double,3,1> Tgt;
Tgt << 2.85817409844554,
-2.17296255562889,
77.54246130780075;
std::cout << M << std::endl;
std::cout << m << std::endl;
std::cout << Rgt << std::endl;
std::cout << Tgt << std::endl;
P4pf object;
std::vector<double> focalLengthsResults;
std::vector<Eigen::Matrix<double, 3,3>> rotationMatrices;
std::vector<Eigen::Matrix<double, 3,1>> translationResult;
if (DBG_TEST) std::cout << "\n\n focalLengthsResults.size()= " << focalLengthsResults.size() <<"\n";
if (DBG_TEST) std::cout << "\n\n rotationMatrices.size()= " << rotationMatrices.size() <<"\n";
if (DBG_TEST) std::cout << "\n\n translationResult.size()= " << translationResult.size() <<"\n";
if (OUT) std::cout << "******************************************** LEAVING TESTING *********************************************\n\n";
std::chrono::milliseconds ms_start = std::chrono::duration_cast< std::chrono::milliseconds >(
std::chrono::high_resolution_clock::now().time_since_epoch() );
int checkError = object.P4Pf_m(m, M, &focalLengthsResults, &rotationMatrices, &translationResult);
std::chrono::milliseconds ms_stop = std::chrono::duration_cast< std::chrono::milliseconds >(
std::chrono::high_resolution_clock::now().time_since_epoch() );
if (OUT) std::cout << "***************************************** RETURNED TO TESTING ******************************************\n\n";
if (OUT) std::cout << "Completed in "<< (ms_stop.count()-ms_start.count()) <<" millisecond(ms)" << "with checkError = "<< checkError <<"\n\n";
if (DBG_TEST) std::cout << "\n focalLengthsResults.size()= " << focalLengthsResults.size() <<"\n";
if (DBG_TEST) std::cout << "\n rotationMatrices.size()= " << rotationMatrices.size() <<"\n";
if (DBG_TEST) std::cout << "\n translationResult.size()= " << translationResult.size() <<"\n";
if (DBG_TEST) std::cout << "\n focalLengthsResults:\n";
for (int i = 0; i< focalLengthsResults.size(); i++)
{
if (DBG_TEST) std::cout << focalLengthsResults.at(i) <<"\n";
}
if (DBG_TEST) std::cout<<"\n";
if (DBG_TEST) std::cout << "\n rotationMatrices:\n";
for (int i = 0; i< rotationMatrices.size(); i++)
{
if (DBG_TEST) std::cout << "R("<<i<<"):\n"<< rotationMatrices.at(i) <<"\n";
}
if (DBG_TEST) std::cout<<"\n";
if (DBG_TEST) std::cout << "\n translationResult:\n";
for (int i = 0; i< translationResult.size(); i++)
{
if (DBG_TEST) std::cout << "T("<<i<<"):\n"<< translationResult.at(i) <<"\n";
}
if (DBG_TEST)std::cout<<"\n";
Eigen::Matrix<double,3,3> Rrel = Eigen::Matrix<double,3,3>::Zero(3,3);
Eigen::Matrix<double,3,1> Trel = Eigen::Matrix<double,3,1>::Zero(3,1);
double dangle = -1;
for (int i = 0; i< focalLengthsResults.size(); i++)
{
if (DBG_TEST) std::cout << "\n i = " << i<<"\n\n";
if (DBG_TEST) std::cout << "\n Rgt:\n" << Rgt <<"\n\n";
if (DBG_TEST) std::cout << "\n Rgt.inverse():\n" << Rgt.inverse() <<"\n\n";
if (DBG_TEST) std::cout << "\n rotationMatrices.at(i):\n" << rotationMatrices.at(i) <<"\n\n";
Rrel = Rgt.inverse()*rotationMatrices.at(i);
if (DBG_TEST) std::cout << "\n Rrel:\n" << Rrel <<"\n\n";
Trel = Tgt - translationResult.at(i);
if (DBG_TEST) std::cout << "\n Trel:\n" << Trel <<"\n\n";
if (DBG_TEST) std::cout << "Rrel.trace():\n" << Rrel.trace() <<"\n\n";
if (DBG_TEST) std::cout << "Rrel.trace() -1:\n" << Rrel.trace() -1 <<"\n\n";
if (DBG_TEST) std::cout << "(Rrel.trace() -1)/2:\n" << (Rrel.trace() -1)/2 <<"\n\n";
if (DBG_TEST) std::cout << "acos(1):\n" << acos(1) <<"\n\n";
if (DBG_TEST) std::cout << "acos(1-0.000000000001):\n" << acos(1-0.000000000001) <<"\n\n";
if (DBG_TEST) std::cout << "acos( (Rrel.trace() -1)/2 ):\n" << std::acos( (Rrel.trace() -1)/2 ) <<"\n\n";
if (DBG_TEST) std::cout << "std::norm(acos( (Rrel.trace() -1)/2 )):\n" << std::norm(std::acos( (Rrel.trace() -1)/2 )) <<"\n\n";
if (DBG_TEST) std::cout << "sqrt(std::norm(acos( (Rrel.trace() -1)/2 ))):\n" << std::sqrt(std::norm(std::acos( (Rrel.trace() -1)/2 ))) <<"\n\n";
if (DBG_TEST) std::cout << "(sqrt(std::norm(acos( (Rrel.trace() -1)/2 ))) )/M_PI*180:\n" << (std::sqrt(std::norm(std::acos( (Rrel.trace() -1)/2 ))) )/M_PI*180 <<"\n\n";
dangle = (
sqrt(
std::norm(
acos(
(Rrel.trace() -1)/2
)
)
)
)/M_PI*180;
if (DBG_TEST) std::cout << "dangle:\n" << dangle <<"\n\n";
if (DBG_TEST) std::cout << "focalLengthsResults.at(i)= " << focalLengthsResults.at(i) <<"\n\n";
if (OUT) std::cout << "focal err= " << fgt-focalLengthsResults.at(i) << "\nRotation err= " << dangle << "\nTranslation err= "<<Trel.norm() << "\n\n";
}
}
void testP4p() {
Eigen::Matrix<double,3,4> M;
M << -3.33639834336120, -23.35549638285873, -13.18941519576778, 6.43164913914748,
0.65948286155096, -4.90376715918747, 1.17103701629876, 0.14580433383203,
-8.46658219501120, -3.99876939947909, -3.02248927651177, -22.16086539862748;
Eigen::Matrix<double,2,4> m;
m << 0.11009888473695, 0.39776592879400, 0.28752996253253, -0.05017617729940,
0.03882059658299, -0.17303453640632, -0.05791310109713, 0.19297848817239;
// ground truth orientation + position
Eigen::Matrix<double,3,3> Rgt;
Rgt << -0.94382954756954, 0.33043272406750, 0,
0.27314119331857, 0.78018522420862, -0.56276540799790,
-0.18595610677571, -0.53115462041845, -0.82661665574857;
Eigen::Matrix<double,3,1> Tgt;
Tgt << 2.85817409844554,
-2.17296255562889,
77.54246130780075;
P4pf object;
double fgt = 1.5;
std::vector<double> focalLengthsResults2;
std::vector<Eigen::Matrix<double, 3,3>> rotationMatrices2;
std::vector<Eigen::Matrix<double, 3,1>> translationResult2;
if (DBG_TEST) std::cout << "\n\n focalLengthsResults2.size()= " << focalLengthsResults2.size() <<"\n";
if (DBG_TEST) std::cout << "\n\n rotationMatrices2.size()= " << rotationMatrices2.size() <<"\n";
if (DBG_TEST) std::cout << "\n\n translationResult2.size()= " << translationResult2.size() <<"\n";
if (OUT) std::cout << "******************************************** LEAVING TESTING *********************************************\n\n";
std::chrono::milliseconds ms_start2 = std::chrono::duration_cast< std::chrono::milliseconds >(
std::chrono::high_resolution_clock::now().time_since_epoch() );
int checkError2 = object.P4Pf(m, M, &focalLengthsResults2, &rotationMatrices2, &translationResult2);
std::chrono::milliseconds ms_stop2 = std::chrono::duration_cast< std::chrono::milliseconds >(
std::chrono::high_resolution_clock::now().time_since_epoch() );
if (OUT) std::cout << "***************************************** RETURNED TO TESTING ******************************************\n\n";
if (OUT) std::cout << "Completed in "<< (ms_stop2.count()-ms_start2.count()) <<" millisecond(ms)" << "with checkError2 = "<< checkError2 <<"\n\n";
if (DBG_TEST) std::cout << "\n focalLengthsResults2.size()= " << focalLengthsResults2.size() <<"\n";
if (DBG_TEST) std::cout << "\n rotationMatrices2.size()= " << rotationMatrices2.size() <<"\n";
if (DBG_TEST) std::cout << "\n translationResult2.size()= " << translationResult2.size() <<"\n";
if (DBG_TEST) std::cout << "\n focalLengthsResults2:\n";
for (int i = 0; i< focalLengthsResults2.size(); i++)
{
if (DBG_TEST) std::cout << focalLengthsResults2.at(i) <<"\n";
}
if (DBG_TEST) std::cout<<"\n";
if (DBG_TEST) std::cout << "\n rotationMatrices:\n";
for (int i = 0; i< rotationMatrices2.size(); i++)
{
if (DBG_TEST) std::cout << "R("<<i<<"):\n"<< rotationMatrices2.at(i) <<"\n";
}
if (DBG_TEST) std::cout<<"\n";
if (DBG_TEST) std::cout << "\n translationResult:\n";
for (int i = 0; i< translationResult2.size(); i++)
{
if (DBG_TEST) std::cout << "T("<<i<<"):\n"<< translationResult2.at(i) <<"\n";
}
if (DBG_TEST) std::cout<<"\n";
Eigen::Matrix<double,3,3> Rrel2 = Eigen::Matrix<double,3,3>::Zero(3,3);
Eigen::Matrix<double,3,1> Trel2 = Eigen::Matrix<double,3,1>::Zero(3,1);
double dangle2 = -1;
for (int i = 0; i< focalLengthsResults2.size(); i++)
{
if (DBG_TEST) std::cout << "\n i = " << i<<"\n\n";
if (DBG_TEST) std::cout << "\n Rgt:\n" << Rgt <<"\n\n";
if (DBG_TEST) std::cout << "\n Rgt.inverse():\n" << Rgt.inverse() <<"\n\n";
if (DBG_TEST) std::cout << "\n rotationMatrices.at(i):\n" << rotationMatrices2.at(i) <<"\n\n";
Rrel2 = Rgt.inverse()*rotationMatrices2.at(i);
if (DBG_TEST) std::cout << "\n Rrel2:\n" << Rrel2 <<"\n\n";
Trel2 = Tgt - translationResult2.at(i);
if (DBG_TEST) std::cout << "\n Trel2:\n" << Trel2 <<"\n\n";
dangle2 = (
sqrt(
std::norm(
acos(
(Rrel2.trace() -1)/2
)
)
)
)/M_PI*180;
if (DBG_TEST) std::cout << "dangle:\n" << dangle2 <<"\n\n";
if (DBG_TEST) std::cout << "focalLengthsResults.at(i)= " << focalLengthsResults2.at(i) <<"\n\n";
if (OUT) std::cout << "focal err= " << fgt-focalLengthsResults2.at(i) << "\nRotation err= " << dangle2 << "\nTranslation err= "<<Trel2.norm() << "\n\n";
}
}
int main(int argc, char* argv[]) {
if (OUT) std::cout << "\n********************************************* P4PF_M BEGIN *********************************************\n\n";
testP4p_m();
if (OUT) std::cout << "********************************************* P4PF_M END ***********************************************\n\n";
if (OUT) std::cout << "********************************************* P4PF BEGIN ***********************************************\n\n";
testP4p();
if (OUT) std::cout << "********************************************* P4PF END *************************************************\n\n";
if (OUT) std::cout << "************************************** P4P runned successfully *******************************************\n\n";
return 0;
}