42 #include <visp3/vision/vpPose.h> 43 #include <visp3/core/vpPoint.h> 44 #include <visp3/core/vpMath.h> 45 #include <visp3/core/vpGaussRand.h> 46 #include <visp3/core/vpHomogeneousMatrix.h> 49 const std::string file_content =
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1683 int checkInlierIndex(
const std::vector<unsigned int> &vectorOfFoundInlierIndex,
const std::vector<bool> &vectorOfOutlierFlags) {
1684 int nbInlierIndexOk = 0;
1686 for(std::vector<unsigned int>::const_iterator it = vectorOfFoundInlierIndex.begin();
1687 it != vectorOfFoundInlierIndex.end(); ++it) {
1688 if(!vectorOfOutlierFlags[*it]) {
1693 return nbInlierIndexOk;
1696 bool checkInlierPoints(
const std::vector<vpPoint> &vectorOfFoundInlierPoints,
const std::vector<unsigned int> &vectorOfFoundInlierIndex,
1697 const std::vector<vpPoint> &bunnyModelPoints_noisy) {
1698 for(
size_t i = 0; i < vectorOfFoundInlierPoints.size(); i++) {
1699 if(!samePoints(vectorOfFoundInlierPoints[i], bunnyModelPoints_noisy[vectorOfFoundInlierIndex[i]])) {
1700 std::cerr <<
"Problem with the inlier index and the corresponding inlier point !" << std::endl;
1708 void readBunnyModelPoints(std::vector<vpPoint> &bunnyModelPoints, std::vector<vpPoint> &bunnyModelPoints_noisy) {
1710 std::istringstream iss_file_content(file_content);
1721 while (iss_file_content) {
1723 iss_file_content >> oX >> oY >> oZ;
1726 pt.project(cMo_groundTruth);
1727 bunnyModelPoints.push_back(pt);
1730 pt.set_x(pt.get_x() + gaussian_noise());
1731 pt.set_y(pt.get_y() + gaussian_noise());
1732 bunnyModelPoints_noisy.push_back(pt);
1736 std::cout <<
"The raw model contains " << bunnyModelPoints.size() <<
" points." << std::endl;
1737 std::cout <<
"cMo_groundTruth=\n" << cMo_groundTruth << std::endl << std::endl;
1740 bool testRansac(
const std::vector<vpPoint> &bunnyModelPoints_original,
const std::vector<vpPoint> &bunnyModelPoints_noisy_original,
1741 const size_t nb_model_points,
const bool test_duplicate,
const bool test_degenerate) {
1742 std::vector<vpPoint> bunnyModelPoints = bunnyModelPoints_original;
1743 std::vector<vpPoint> bunnyModelPoints_noisy = bunnyModelPoints_noisy_original;
1745 if (nb_model_points > 0) {
1746 bunnyModelPoints.resize(nb_model_points);
1747 bunnyModelPoints_noisy.resize(nb_model_points);
1750 vpPose ground_truth_pose, real_pose;
1751 ground_truth_pose.
addPoints(bunnyModelPoints);
1752 real_pose.
addPoints(bunnyModelPoints_noisy);
1761 if(r_lagrange < r_dementhon) {
1762 cMo_estimated = cMo_lagrange;
1764 cMo_estimated = cMo_dementhon;
1769 std::cout <<
"\ncMo estimated using VVS on data with small gaussian noise:\n" << cMo_estimated << std::endl;
1770 std::cout <<
"Corresponding residual: " << r_vvs << std::endl;
1773 size_t nbOutliers = (size_t) (0.35 * bunnyModelPoints_noisy.size());
1776 std::vector<bool> vectorOfOutlierFlags(bunnyModelPoints_noisy.size(),
false);
1778 for(
size_t i = 0; i < nbOutliers; i++) {
1779 bunnyModelPoints_noisy[i].set_x(bunnyModelPoints_noisy[i].get_x() + noise());
1780 bunnyModelPoints_noisy[i].set_y(bunnyModelPoints_noisy[i].get_y() + noise());
1781 vectorOfOutlierFlags[i] =
true;
1784 if (test_duplicate) {
1786 size_t nbDuplicatePoints = 100;
1787 for (
size_t i = 0; i < nbDuplicatePoints; i++) {
1788 size_t index = (size_t) rand() % bunnyModelPoints_noisy.size();
1789 vpPoint duplicatePoint = bunnyModelPoints_noisy[index];
1790 bunnyModelPoints_noisy.push_back(duplicatePoint);
1791 vectorOfOutlierFlags.push_back(
true);
1795 if (test_degenerate) {
1797 size_t nbDegeneratePoints = 100;
1798 double degenerate_tolerence = 9.999e-7;
1799 std::vector<vpPoint> listOfDegeneratePoints;
1800 for(
size_t i = 0; i < nbDegeneratePoints; i++) {
1801 size_t index = (size_t) rand() % bunnyModelPoints_noisy.size();
1802 vpPoint degeneratePoint = bunnyModelPoints_noisy[index];
1805 degeneratePoint.
set_oX(degeneratePoint.
get_oX() + degenerate_tolerence);
1806 degeneratePoint.
set_oY(degeneratePoint.
get_oY() + degenerate_tolerence);
1807 degeneratePoint.
set_oZ(degeneratePoint.
get_oZ() - degenerate_tolerence);
1810 listOfDegeneratePoints.push_back(degeneratePoint);
1814 index = (size_t) rand() % bunnyModelPoints_noisy.size();
1815 degeneratePoint = bunnyModelPoints_noisy[index];
1817 degeneratePoint.
set_x(degeneratePoint.
get_x() + degenerate_tolerence);
1818 degeneratePoint.
set_y(degeneratePoint.
get_y() - degenerate_tolerence);
1821 listOfDegeneratePoints.push_back(degeneratePoint);
1824 for (std::vector<vpPoint>::const_iterator it_degenerate = listOfDegeneratePoints.begin();
1825 it_degenerate != listOfDegeneratePoints.end(); ++it_degenerate) {
1826 bunnyModelPoints_noisy.push_back(*it_degenerate);
1827 vectorOfOutlierFlags.push_back(
true);
1832 std::vector<size_t> vectorOfIndex(bunnyModelPoints_noisy.size());
1833 for(
size_t i = 0; i < vectorOfIndex.size(); i++) {
1834 vectorOfIndex[i] = i;
1836 std::random_shuffle(vectorOfIndex.begin(), vectorOfIndex.end());
1838 std::vector<vpPoint> bunnyModelPoints_noisy_tmp = bunnyModelPoints_noisy;
1839 bunnyModelPoints_noisy.clear();
1840 std::vector<bool> vectorOfOutlierFlags_tmp = vectorOfOutlierFlags;
1841 vectorOfOutlierFlags.clear();
1842 for(std::vector<size_t>::const_iterator it = vectorOfIndex.begin(); it != vectorOfIndex.end(); ++it) {
1843 bunnyModelPoints_noisy.push_back(bunnyModelPoints_noisy_tmp[*it]);
1844 vectorOfOutlierFlags.push_back(vectorOfOutlierFlags_tmp[*it]);
1849 vpPose pose_ransac, pose_ransac2;
1851 #if defined (VISP_HAVE_PTHREAD) || (defined (_WIN32) && !defined(WINRT_8_0)) || defined (VISP_HAVE_OPENMP) 1852 # define TEST_PARALLEL_RANSAC 1855 #ifdef TEST_PARALLEL_RANSAC 1856 vpPose pose_ransac_parallel, pose_ransac_parallel2;
1863 #if !defined (VISP_HAVE_OPENMP) 1870 for(std::vector<vpPoint>::const_iterator it = bunnyModelPoints_noisy.begin();
1871 it != bunnyModelPoints_noisy.end(); ++it) {
1875 pose_ransac.
addPoints(bunnyModelPoints_noisy);
1876 pose_ransac2.
addPoints(bunnyModelPoints_noisy);
1877 #ifdef TEST_PARALLEL_RANSAC 1878 pose_ransac_parallel.
addPoints(bunnyModelPoints_noisy);
1879 pose_ransac_parallel2.
addPoints(bunnyModelPoints_noisy);
1883 std::cout <<
"\nNumber of model points in the noisy data vector: " 1884 << bunnyModelPoints_noisy.size() <<
" points." << std::endl << std::endl;
1886 unsigned int nbInlierToReachConsensus = (
unsigned int)(60.0 * (
double)(bunnyModelPoints_noisy.size()) / 100.0);
1887 double threshold = 0.001;
1893 #ifdef TEST_PARALLEL_RANSAC 1908 std::cout <<
"Number of RANSAC iterations to ensure p=0.99 and epsilon=0.4: " << ransac_iterations << std::endl;
1915 std::cout <<
"\ncMo estimated with RANSAC (1000 iterations) on noisy data:\n" << cMo_estimated_RANSAC << std::endl;
1916 std::cout <<
"Computation time: " << t_RANSAC <<
" ms" << std::endl;
1918 double r_RANSAC_estimated = ground_truth_pose.
computeResidual(cMo_estimated_RANSAC);
1919 std::cout <<
"Corresponding residual (1000 iterations): " << r_RANSAC_estimated << std::endl;
1926 std::cout <<
"\ncMo estimated with RANSAC (" << ransac_iterations <<
" iterations) on noisy data:\n" 1927 << cMo_estimated_RANSAC_2 << std::endl;
1928 std::cout <<
"Computation time: " << t_RANSAC <<
" ms" << std::endl;
1930 double r_RANSAC_estimated_2 = ground_truth_pose.
computeResidual(cMo_estimated_RANSAC_2);
1931 std::cout <<
"Corresponding residual (" << ransac_iterations <<
" iterations): " << r_RANSAC_estimated_2 << std::endl;
1939 if(r_lagrange < r_dementhon) {
1940 cMo_estimated = cMo_lagrange;
1942 cMo_estimated = cMo_dementhon;
1946 std::cout <<
"\ncMo estimated with only VVS on noisy data:\n" << cMo_estimated << std::endl;
1948 double r_estimated = ground_truth_pose.
computeResidual(cMo_estimated);
1949 std::cout <<
"Corresponding residual: " << r_estimated << std::endl;
1951 #ifdef TEST_PARALLEL_RANSAC 1957 std::cout <<
"\ncMo estimated with parallel RANSAC (1000 iterations) on noisy data:\n" << cMo_estimated_RANSAC_parallel << std::endl;
1958 std::cout <<
"Computation time: " << t_RANSAC_parallel <<
" ms" << std::endl;
1960 double r_RANSAC_estimated_parallel = ground_truth_pose.
computeResidual(cMo_estimated_RANSAC_parallel);
1961 std::cout <<
"Corresponding residual (1000 iterations): " << r_RANSAC_estimated_parallel << std::endl;
1968 std::cout <<
"\ncMo estimated with parallel RANSAC (" << ransac_iterations <<
" iterations) on noisy data:\n" << cMo_estimated_RANSAC_parallel2 << std::endl;
1969 std::cout <<
"Computation time: " << t_RANSAC_parallel2 <<
" ms" << std::endl;
1971 double r_RANSAC_estimated_parallel2 = ground_truth_pose.
computeResidual(cMo_estimated_RANSAC_parallel2);
1972 std::cout <<
"Corresponding residual (" << ransac_iterations <<
" iterations): " << r_RANSAC_estimated_parallel2 << std::endl;
1978 int nbInlierIndexOk = checkInlierIndex(vectorOfFoundInlierIndex, vectorOfOutlierFlags);
1980 int nbTrueInlierIndex = (int) std::count(vectorOfOutlierFlags.begin(), vectorOfOutlierFlags.end(),
false);
1981 std::cout <<
"\nThere are " << nbInlierIndexOk <<
" true inliers found, " << vectorOfFoundInlierIndex.size()
1982 <<
" inliers returned and " << nbTrueInlierIndex <<
" true inliers." << std::endl;
1985 std::vector<vpPoint> vectorOfFoundInlierPoints = pose_ransac.
getRansacInliers();
1987 if(vectorOfFoundInlierPoints.size() != vectorOfFoundInlierIndex.size()) {
1988 std::cerr <<
"The number of inlier index is different with the number of inlier points !" << std::endl;
1991 if (!checkInlierPoints(vectorOfFoundInlierPoints, vectorOfFoundInlierIndex, bunnyModelPoints_noisy)) {
1998 std::cout <<
"\nCheck for RANSAC iterations: " << ransac_iterations << std::endl;
2000 nbInlierIndexOk = checkInlierIndex(vectorOfFoundInlierIndex_2, vectorOfOutlierFlags);
2002 std::cout <<
"There are " << nbInlierIndexOk <<
" true inliers found, " << vectorOfFoundInlierIndex_2.size()
2003 <<
" inliers returned and " << nbTrueInlierIndex <<
" true inliers." << std::endl;
2006 std::vector<vpPoint> vectorOfFoundInlierPoints_2 = pose_ransac2.
getRansacInliers();
2007 if(vectorOfFoundInlierPoints_2.size() != vectorOfFoundInlierIndex_2.size()) {
2008 std::cerr <<
"The number of inlier index is different with the number of inlier points !" << std::endl;
2011 if (!checkInlierPoints(vectorOfFoundInlierPoints_2, vectorOfFoundInlierIndex_2, bunnyModelPoints_noisy)) {
2016 #ifdef TEST_PARALLEL_RANSAC 2019 std::cout <<
"\nCheck for parallel RANSAC (1000 iterations)" << std::endl;
2020 std::vector<unsigned int> vectorOfFoundInlierIndex_parallel = pose_ransac_parallel.
getRansacInlierIndex();
2021 nbInlierIndexOk = checkInlierIndex(vectorOfFoundInlierIndex_parallel, vectorOfOutlierFlags);
2023 std::cout <<
"There are " << nbInlierIndexOk <<
" true inliers found, " << vectorOfFoundInlierIndex_parallel.size()
2024 <<
" inliers returned and " << nbTrueInlierIndex <<
" true inliers." << std::endl;
2027 std::vector<vpPoint> vectorOfFoundInlierPoints_parallel = pose_ransac_parallel.
getRansacInliers();
2028 if(vectorOfFoundInlierPoints_parallel.size() != vectorOfFoundInlierIndex_parallel.size()) {
2029 std::cerr <<
"The number of inlier index is different with the number of inlier points !" << std::endl;
2032 if (!checkInlierPoints(vectorOfFoundInlierPoints_parallel, vectorOfFoundInlierIndex_parallel, bunnyModelPoints_noisy)) {
2038 std::cout <<
"\nCheck for parallel RANSAC (" << ransac_iterations <<
" iterations)" << std::endl;
2039 std::vector<unsigned int> vectorOfFoundInlierIndex_parallel2 = pose_ransac_parallel2.
getRansacInlierIndex();
2040 nbInlierIndexOk = checkInlierIndex(vectorOfFoundInlierIndex_parallel2, vectorOfOutlierFlags);
2042 std::cout <<
"There are " << nbInlierIndexOk <<
" true inliers found, " << vectorOfFoundInlierIndex_parallel2.size()
2043 <<
" inliers returned and " << nbTrueInlierIndex <<
" true inliers." << std::endl;
2046 std::vector<vpPoint> vectorOfFoundInlierPoints_parallel2 = pose_ransac_parallel2.
getRansacInliers();
2047 if(vectorOfFoundInlierPoints_parallel2.size() != vectorOfFoundInlierIndex_parallel2.size()) {
2048 std::cerr <<
"The number of inlier index is different with the number of inlier points !" << std::endl;
2051 if (!checkInlierPoints(vectorOfFoundInlierPoints_parallel2, vectorOfFoundInlierIndex_parallel2, bunnyModelPoints_noisy)) {
2057 if(r_RANSAC_estimated > threshold ) {
2058 std::cerr <<
"The pose estimated with the RANSAC method is badly estimated!" << std::endl;
2059 std::cerr <<
"r_RANSAC_estimated=" << r_RANSAC_estimated << std::endl;
2060 std::cerr <<
"threshold=" << threshold << std::endl;
2063 #ifdef TEST_PARALLEL_RANSAC 2064 if (r_RANSAC_estimated_parallel > threshold) {
2065 std::cerr <<
"The pose estimated with the parallel RANSAC method is badly estimated!" << std::endl;
2066 std::cerr <<
"r_RANSAC_estimated_parallel=" << r_RANSAC_estimated_parallel << std::endl;
2067 std::cerr <<
"threshold=" << threshold << std::endl;
2071 std::cout <<
"The pose estimated with the RANSAC method is well estimated!" << std::endl;
2084 int sample_sizes[] = {2, 3, 4, 5, 6, 7, 8};
2085 double epsilon[] = {0.05, 0.1, 0.2, 0.25, 0.3, 0.4, 0.5};
2089 for (
int cpt2 = 0; cpt2 < 7; cpt2++) {
2090 std::cout << std::setfill(
' ') << std::setw(5) << epsilon[cpt2] <<
" ";
2092 std::cout << std::endl;
2094 std::cout << std::setfill(
' ') << std::setw(7) <<
"+";
2095 for (
int cpt2 = 0; cpt2 < 6; cpt2++) {
2096 std::cout << std::setw(7) <<
"-------";
2098 std::cout << std::endl;
2100 for (
int cpt1 = 0; cpt1 < 7; cpt1++) {
2101 std::cout << std::setfill(
' ') << std::setw(6) << sample_sizes[cpt1] <<
"|";
2103 for (
int cpt2 = 0; cpt2 < 7; cpt2++) {
2105 std::cout << std::setfill(
' ') << std::setw(6) << ransac_iters;
2107 std::cout << std::endl;
2109 std::cout << std::endl;
2112 size_t model_sizes[] = {10, 20, 50, 100, 200, 500, 1000, 0, 0};
2113 bool duplicates[] = {
false,
false,
false,
false,
false,
false,
false,
false,
true};
2114 bool degenerates[] = {
false,
false,
false,
false,
false,
false,
true,
true,
true};
2117 std::vector<vpPoint> bunnyModelPoints, bunnyModelPoints_noisy_original;
2118 readBunnyModelPoints(bunnyModelPoints, bunnyModelPoints_noisy_original);
2120 for (
int cpt = 0; cpt < nb; cpt++) {
2121 std::cout <<
"\n\n====================================================================" << std::endl;
2122 if (model_sizes[cpt] == 0) {
2123 std::cout <<
"Test on " << bunnyModelPoints_noisy_original.size() <<
" model points." << std::endl;
2125 std::cout <<
"Test on " << model_sizes[cpt] <<
" model points." << std::endl;
2127 std::cout <<
"Test duplicate: " << duplicates[cpt] <<
" ; Test degenerate: " << degenerates[cpt] << std::endl;
2129 if ( !testRansac(bunnyModelPoints, bunnyModelPoints_noisy_original, model_sizes[cpt], duplicates[cpt], degenerates[cpt]) ) {
2130 return EXIT_FAILURE;
2134 std::cout <<
"\n\ntestPoseRansac2 is ok!" << std::endl;
2135 return EXIT_SUCCESS;
2138 std::cout <<
"Catch an exception: " << e << std::endl;
2139 return EXIT_FAILURE;
void set_oZ(const double oZ)
Set the point Z coordinate in the object frame.
double get_oY() const
Get the point Y coordinate in the object frame.
std::vector< unsigned int > getRansacInlierIndex() const
Implementation of an homogeneous matrix and operations on such kind of matrices.
static bool equal(double x, double y, double s=0.001)
void addPoints(const std::vector< vpPoint > &lP)
error that can be emited by ViSP classes.
void setRansacThreshold(const double &t)
void set_x(const double x)
Set the point x coordinate in the image plane.
Implementation of a rotation vector as Euler angle minimal representation.
std::vector< vpPoint > getRansacInliers() const
double get_oX() const
Get the point X coordinate in the object frame.
VISP_EXPORT double measureTimeMs()
Class that defines what is a point.
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
void setNbParallelRansacThreads(const int nb)
void set_y(const double y)
Set the point y coordinate in the image plane.
void set_oX(const double oX)
Set the point X coordinate in the object frame.
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(vpHomogeneousMatrix *)=NULL)
double get_oZ() const
Get the point Z coordinate in the object frame.
static double rad(double deg)
void setRansacMaxTrials(const int &rM)
void setRansacNbInliersToReachConsensus(const unsigned int &nbC)
void setUseParallelRansac(const bool use)
Class for generating random number with normal probability density.
double get_x() const
Get the point x coordinate in the image plane.
void set_oY(const double oY)
Set the point Y coordinate in the object frame.
void setRansacFilterFlags(const int flags)
double get_y() const
Get the point y coordinate in the image plane.
double computeResidual(const vpHomogeneousMatrix &cMo) const
Compute and return the residual expressed in meter for the pose matrix 'cMo'.
void addPoint(const vpPoint &P)
Class that consider the case of a translation vector.
Implementation of a rotation vector as axis-angle minimal representation.
static int computeRansacIterations(double probability, double epsilon, const int sampleSize=4, int maxIterations=2000)