Visual Servoing Platform  version 3.2.0 under development (2018-10-21)
testPoseRansac2.cpp

Compute the pose of a 3D object using the Ransac method.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Compute the pose of a 3D object using the RANSAC method.
*
* Author:
* Souriya Trinh
*
*****************************************************************************/
#include <algorithm>
#include <iomanip>
#include <map>
#include <sstream>
#include <visp3/core/vpGaussRand.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/vision/vpPose.h>
// Stanford Bunny Model points
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"-0.072282 0.143895 -0.012909 ";
bool samePoints(const vpPoint &pt1, const vpPoint &pt2)
{
return vpMath::equal(pt1.get_oX(), pt2.get_oX(), std::numeric_limits<double>::epsilon()) &&
vpMath::equal(pt1.get_oY(), pt2.get_oY(), std::numeric_limits<double>::epsilon()) &&
vpMath::equal(pt1.get_oZ(), pt2.get_oZ(), std::numeric_limits<double>::epsilon()) &&
vpMath::equal(pt1.get_x(), pt2.get_x(), std::numeric_limits<double>::epsilon()) &&
vpMath::equal(pt1.get_y(), pt2.get_y(), std::numeric_limits<double>::epsilon());
}
int checkInlierIndex(const std::vector<unsigned int> &vectorOfFoundInlierIndex,
const std::vector<bool> &vectorOfOutlierFlags)
{
int nbInlierIndexOk = 0;
for (std::vector<unsigned int>::const_iterator it = vectorOfFoundInlierIndex.begin();
it != vectorOfFoundInlierIndex.end(); ++it) {
if (!vectorOfOutlierFlags[*it]) {
nbInlierIndexOk++;
}
}
return nbInlierIndexOk;
}
bool checkInlierPoints(const std::vector<vpPoint> &vectorOfFoundInlierPoints,
const std::vector<unsigned int> &vectorOfFoundInlierIndex,
const std::vector<vpPoint> &bunnyModelPoints_noisy)
{
for (size_t i = 0; i < vectorOfFoundInlierPoints.size(); i++) {
if (!samePoints(vectorOfFoundInlierPoints[i], bunnyModelPoints_noisy[vectorOfFoundInlierIndex[i]])) {
std::cerr << "Problem with the inlier index and the corresponding "
"inlier point !"
<< std::endl;
return false;
}
}
return true;
}
void readBunnyModelPoints(std::vector<vpPoint> &bunnyModelPoints, std::vector<vpPoint> &bunnyModelPoints_noisy)
{
// Read the string
std::istringstream iss_file_content(file_content);
// vpTranslationVector translation(-0.1, 0.15, 1.0);
vpTranslationVector translation(-0.14568, 0.154567, 1.4462);
// vpRzyxVector zyxVector(vpMath::rad(10.0f), vpMath::rad(-15.0f),
// vpMath::rad(38.0f));
vpRzyxVector zyxVector(vpMath::rad(12.4146f), vpMath::rad(-75.5478f), vpMath::rad(138.5607f));
vpThetaUVector thetau(zyxVector);
vpHomogeneousMatrix cMo_groundTruth(translation, thetau);
vpGaussRand gaussian_noise(0.0002, 0.0 /*, time(NULL)*/);
while (iss_file_content) {
double oX, oY, oZ;
iss_file_content >> oX >> oY >> oZ;
vpPoint pt(oX, oY, oZ);
pt.project(cMo_groundTruth);
bunnyModelPoints.push_back(pt);
// Add a small gaussian noise to data to be a little more realistic
pt.set_x(pt.get_x() + gaussian_noise());
pt.set_y(pt.get_y() + gaussian_noise());
bunnyModelPoints_noisy.push_back(pt);
}
// Print the number of model points
std::cout << "The raw model contains " << bunnyModelPoints.size() << " points." << std::endl;
std::cout << "cMo_groundTruth=\n" << cMo_groundTruth << std::endl << std::endl;
}
bool testRansac(const std::vector<vpPoint> &bunnyModelPoints_original,
const std::vector<vpPoint> &bunnyModelPoints_noisy_original, const size_t nb_model_points,
const bool test_duplicate, const bool test_degenerate)
{
std::vector<vpPoint> bunnyModelPoints = bunnyModelPoints_original;
std::vector<vpPoint> bunnyModelPoints_noisy = bunnyModelPoints_noisy_original;
// Resize
if (nb_model_points > 0) {
bunnyModelPoints.resize(nb_model_points);
bunnyModelPoints_noisy.resize(nb_model_points);
}
vpPose ground_truth_pose, real_pose;
ground_truth_pose.addPoints(bunnyModelPoints);
real_pose.addPoints(bunnyModelPoints_noisy);
vpHomogeneousMatrix cMo_dementhon, cMo_lagrange;
real_pose.computePose(vpPose::DEMENTHON, cMo_dementhon);
real_pose.computePose(vpPose::LAGRANGE, cMo_lagrange);
double r_dementhon = real_pose.computeResidual(cMo_dementhon);
double r_lagrange = real_pose.computeResidual(cMo_lagrange);
vpHomogeneousMatrix cMo_estimated;
if (r_lagrange < r_dementhon) {
cMo_estimated = cMo_lagrange;
} else {
cMo_estimated = cMo_dementhon;
}
real_pose.computePose(vpPose::VIRTUAL_VS, cMo_estimated);
double r_vvs = ground_truth_pose.computeResidual(cMo_estimated);
std::cout << "\ncMo estimated using VVS on data with small gaussian noise:\n" << cMo_estimated << std::endl;
std::cout << "Corresponding residual: " << r_vvs << std::endl;
size_t nbOutliers = (size_t)(0.35 * bunnyModelPoints_noisy.size());
vpGaussRand noise(0.01, 0.008 /*, time(NULL)*/);
// Vector that indicates if the point is an outlier or not
std::vector<bool> vectorOfOutlierFlags(bunnyModelPoints_noisy.size(), false);
// Generate outliers points
for (size_t i = 0; i < nbOutliers; i++) {
bunnyModelPoints_noisy[i].set_x(bunnyModelPoints_noisy[i].get_x() + noise());
bunnyModelPoints_noisy[i].set_y(bunnyModelPoints_noisy[i].get_y() + noise());
vectorOfOutlierFlags[i] = true;
}
if (test_duplicate) {
// Add some duplicate points
size_t nbDuplicatePoints = 100;
for (size_t i = 0; i < nbDuplicatePoints; i++) {
size_t index = (size_t)rand() % bunnyModelPoints_noisy.size();
vpPoint duplicatePoint = bunnyModelPoints_noisy[index];
bunnyModelPoints_noisy.push_back(duplicatePoint);
vectorOfOutlierFlags.push_back(true);
}
}
if (test_degenerate) {
// Add some degenerate points
size_t nbDegeneratePoints = 100;
double degenerate_tolerence = 9.999e-7; // 1e-6 is used in the code to
// detect if a point is degenerate
// or not
std::vector<vpPoint> listOfDegeneratePoints;
for (size_t i = 0; i < nbDegeneratePoints; i++) {
size_t index = (size_t)rand() % bunnyModelPoints_noisy.size();
vpPoint degeneratePoint = bunnyModelPoints_noisy[index];
// Object point is degenerate
degeneratePoint.set_oX(degeneratePoint.get_oX() + degenerate_tolerence);
degeneratePoint.set_oY(degeneratePoint.get_oY() + degenerate_tolerence);
degeneratePoint.set_oZ(degeneratePoint.get_oZ() - degenerate_tolerence);
// Add duplicate 3D points
listOfDegeneratePoints.push_back(degeneratePoint);
// Image point is degenerate
index = (size_t)rand() % bunnyModelPoints_noisy.size();
degeneratePoint = bunnyModelPoints_noisy[index];
degeneratePoint.set_x(degeneratePoint.get_x() + degenerate_tolerence);
degeneratePoint.set_y(degeneratePoint.get_y() - degenerate_tolerence);
// Add duplicate 2D points
listOfDegeneratePoints.push_back(degeneratePoint);
}
for (std::vector<vpPoint>::const_iterator it_degenerate = listOfDegeneratePoints.begin();
it_degenerate != listOfDegeneratePoints.end(); ++it_degenerate) {
bunnyModelPoints_noisy.push_back(*it_degenerate);
vectorOfOutlierFlags.push_back(true);
}
}
// Shuffle the data vector
std::vector<size_t> vectorOfIndex(bunnyModelPoints_noisy.size());
for (size_t i = 0; i < vectorOfIndex.size(); i++) {
vectorOfIndex[i] = i;
}
std::random_shuffle(vectorOfIndex.begin(), vectorOfIndex.end());
std::vector<vpPoint> bunnyModelPoints_noisy_tmp = bunnyModelPoints_noisy;
bunnyModelPoints_noisy.clear();
std::vector<bool> vectorOfOutlierFlags_tmp = vectorOfOutlierFlags;
vectorOfOutlierFlags.clear();
for (std::vector<size_t>::const_iterator it = vectorOfIndex.begin(); it != vectorOfIndex.end(); ++it) {
bunnyModelPoints_noisy.push_back(bunnyModelPoints_noisy_tmp[*it]);
vectorOfOutlierFlags.push_back(vectorOfOutlierFlags_tmp[*it]);
}
// Add data to vpPose
vpPose pose;
vpPose pose_ransac, pose_ransac2;
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
vpPose pose_ransac_parallel, pose_ransac_parallel2;
pose_ransac_parallel.setUseParallelRansac(true);
pose_ransac_parallel2.setUseParallelRansac(true);
#endif
for (std::vector<vpPoint>::const_iterator it = bunnyModelPoints_noisy.begin(); it != bunnyModelPoints_noisy.end(); ++it) {
pose.addPoint(*it);
}
// Test addPoints
pose_ransac.addPoints(bunnyModelPoints_noisy);
pose_ransac2.addPoints(bunnyModelPoints_noisy);
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
pose_ransac_parallel.addPoints(bunnyModelPoints_noisy);
pose_ransac_parallel2.addPoints(bunnyModelPoints_noisy);
#endif
// Print the number of points in the final data vector
std::cout << "\nNumber of model points in the noisy data vector: " << bunnyModelPoints_noisy.size() << " points."
<< std::endl
<< std::endl;
unsigned int nbInlierToReachConsensus = (unsigned int)(60.0 * (double)(bunnyModelPoints_noisy.size()) / 100.0);
double threshold = 0.001;
// RANSAC with 1000 iterations
pose_ransac.setRansacNbInliersToReachConsensus(nbInlierToReachConsensus);
pose_ransac.setRansacThreshold(threshold);
pose_ransac.setRansacMaxTrials(1000);
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
pose_ransac_parallel.setRansacNbInliersToReachConsensus(nbInlierToReachConsensus);
pose_ransac_parallel.setRansacThreshold(threshold);
pose_ransac_parallel.setRansacMaxTrials(1000);
pose_ransac_parallel2.setRansacNbInliersToReachConsensus(nbInlierToReachConsensus);
pose_ransac_parallel2.setRansacThreshold(threshold);
pose_ransac_parallel2.setRansacMaxTrials(vpPose::computeRansacIterations(0.99, 0.4, 4, -1));
#endif
// RANSAC with p=0.99, epsilon=0.4
pose_ransac2.setRansacNbInliersToReachConsensus(nbInlierToReachConsensus);
pose_ransac2.setRansacThreshold(threshold);
int ransac_iterations = vpPose::computeRansacIterations(0.99, 0.4, 4, -1);
pose_ransac2.setRansacMaxTrials(ransac_iterations);
std::cout << "Number of RANSAC iterations to ensure p=0.99 and epsilon=0.4: " << ransac_iterations << std::endl;
vpHomogeneousMatrix cMo_estimated_RANSAC;
double t_RANSAC = vpTime::measureTimeMs();
pose_ransac.computePose(vpPose::RANSAC, cMo_estimated_RANSAC);
t_RANSAC = vpTime::measureTimeMs() - t_RANSAC;
std::cout << "\ncMo estimated with RANSAC (1000 iterations) on noisy data:\n" << cMo_estimated_RANSAC << std::endl;
std::cout << "Computation time: " << t_RANSAC << " ms" << std::endl;
double r_RANSAC_estimated = ground_truth_pose.computeResidual(cMo_estimated_RANSAC);
std::cout << "Corresponding residual (1000 iterations): " << r_RANSAC_estimated << std::endl;
vpHomogeneousMatrix cMo_estimated_RANSAC_2;
t_RANSAC = vpTime::measureTimeMs();
pose_ransac2.computePose(vpPose::RANSAC, cMo_estimated_RANSAC_2);
t_RANSAC = vpTime::measureTimeMs() - t_RANSAC;
std::cout << "\ncMo estimated with RANSAC (" << ransac_iterations << " iterations) on noisy data:\n"
<< cMo_estimated_RANSAC_2 << std::endl;
std::cout << "Computation time: " << t_RANSAC << " ms" << std::endl;
double r_RANSAC_estimated_2 = ground_truth_pose.computeResidual(cMo_estimated_RANSAC_2);
std::cout << "Corresponding residual (" << ransac_iterations << " iterations): " << r_RANSAC_estimated_2 << std::endl;
pose.computePose(vpPose::DEMENTHON, cMo_dementhon);
pose.computePose(vpPose::LAGRANGE, cMo_lagrange);
r_dementhon = pose.computeResidual(cMo_dementhon);
r_lagrange = pose.computeResidual(cMo_lagrange);
if (r_lagrange < r_dementhon) {
cMo_estimated = cMo_lagrange;
} else {
cMo_estimated = cMo_dementhon;
}
pose.computePose(vpPose::VIRTUAL_VS, cMo_estimated);
std::cout << "\ncMo estimated with only VVS on noisy data:\n" << cMo_estimated << std::endl;
double r_estimated = ground_truth_pose.computeResidual(cMo_estimated);
std::cout << "Corresponding residual: " << r_estimated << std::endl;
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
double r_RANSAC_estimated_parallel = std::numeric_limits<double>::max();
vpHomogeneousMatrix cMo_estimated_RANSAC_parallel;
double t_RANSAC_parallel = vpTime::measureTimeMs();
pose_ransac_parallel.computePose(vpPose::RANSAC, cMo_estimated_RANSAC_parallel);
t_RANSAC_parallel = vpTime::measureTimeMs() - t_RANSAC_parallel;
std::cout << "\ncMo estimated with parallel RANSAC (1000 iterations) on "
"noisy data:\n"
<< cMo_estimated_RANSAC_parallel << std::endl;
std::cout << "Computation time: " << t_RANSAC_parallel << " ms" << std::endl;
r_RANSAC_estimated_parallel = ground_truth_pose.computeResidual(cMo_estimated_RANSAC_parallel);
std::cout << "Corresponding residual (1000 iterations): " << r_RANSAC_estimated_parallel << std::endl;
vpHomogeneousMatrix cMo_estimated_RANSAC_parallel2;
double t_RANSAC_parallel2 = vpTime::measureTimeMs();
pose_ransac_parallel2.computePose(vpPose::RANSAC, cMo_estimated_RANSAC_parallel2);
t_RANSAC_parallel2 = vpTime::measureTimeMs() - t_RANSAC_parallel2;
std::cout << "\ncMo estimated with parallel RANSAC (" << ransac_iterations << " iterations) on noisy data:\n"
<< cMo_estimated_RANSAC_parallel2 << std::endl;
std::cout << "Computation time: " << t_RANSAC_parallel2 << " ms" << std::endl;
double r_RANSAC_estimated_parallel2 = ground_truth_pose.computeResidual(cMo_estimated_RANSAC_parallel2);
std::cout << "Corresponding residual (" << ransac_iterations << " iterations): " << r_RANSAC_estimated_parallel2
<< std::endl;
#endif
// Check inlier index
std::vector<unsigned int> vectorOfFoundInlierIndex = pose_ransac.getRansacInlierIndex();
int nbInlierIndexOk = checkInlierIndex(vectorOfFoundInlierIndex, vectorOfOutlierFlags);
int nbTrueInlierIndex = (int)std::count(vectorOfOutlierFlags.begin(), vectorOfOutlierFlags.end(), false);
std::cout << "\nThere are " << nbInlierIndexOk << " true inliers found, " << vectorOfFoundInlierIndex.size()
<< " inliers returned and " << nbTrueInlierIndex << " true inliers." << std::endl;
// Check inlier points returned
std::vector<vpPoint> vectorOfFoundInlierPoints = pose_ransac.getRansacInliers();
if (vectorOfFoundInlierPoints.size() != vectorOfFoundInlierIndex.size()) {
std::cerr << "The number of inlier index is different with the number of "
"inlier points !"
<< std::endl;
return false;
}
if (!checkInlierPoints(vectorOfFoundInlierPoints, vectorOfFoundInlierIndex, bunnyModelPoints_noisy)) {
return false;
}
// Check for RANSAC with p=0.99, epsilon=0.4
// Check inlier index
std::cout << "\nCheck for RANSAC iterations: " << ransac_iterations << std::endl;
std::vector<unsigned int> vectorOfFoundInlierIndex_2 = pose_ransac2.getRansacInlierIndex();
nbInlierIndexOk = checkInlierIndex(vectorOfFoundInlierIndex_2, vectorOfOutlierFlags);
std::cout << "There are " << nbInlierIndexOk << " true inliers found, " << vectorOfFoundInlierIndex_2.size()
<< " inliers returned and " << nbTrueInlierIndex << " true inliers." << std::endl;
// Check inlier points returned
std::vector<vpPoint> vectorOfFoundInlierPoints_2 = pose_ransac2.getRansacInliers();
if (vectorOfFoundInlierPoints_2.size() != vectorOfFoundInlierIndex_2.size()) {
std::cerr << "The number of inlier index is different with the number of "
"inlier points !"
<< std::endl;
return false;
}
if (!checkInlierPoints(vectorOfFoundInlierPoints_2, vectorOfFoundInlierIndex_2, bunnyModelPoints_noisy)) {
return false;
}
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
// Check for parallel RANSAC
// Check inlier index
std::cout << "\nCheck for parallel RANSAC (1000 iterations)" << std::endl;
std::vector<unsigned int> vectorOfFoundInlierIndex_parallel = pose_ransac_parallel.getRansacInlierIndex();
nbInlierIndexOk = checkInlierIndex(vectorOfFoundInlierIndex_parallel, vectorOfOutlierFlags);
std::cout << "There are " << nbInlierIndexOk << " true inliers found, " << vectorOfFoundInlierIndex_parallel.size()
<< " inliers returned and " << nbTrueInlierIndex << " true inliers." << std::endl;
// Check inlier points returned
std::vector<vpPoint> vectorOfFoundInlierPoints_parallel = pose_ransac_parallel.getRansacInliers();
if (vectorOfFoundInlierPoints_parallel.size() != vectorOfFoundInlierIndex_parallel.size()) {
std::cerr << "The number of inlier index is different with the number "
"of inlier points !"
<< std::endl;
return false;
}
if (!checkInlierPoints(vectorOfFoundInlierPoints_parallel, vectorOfFoundInlierIndex_parallel,
bunnyModelPoints_noisy)) {
return false;
}
// Check for parallel RANSAC 2
// Check inlier index
std::cout << "\nCheck for parallel RANSAC (" << ransac_iterations << " iterations)" << std::endl;
std::vector<unsigned int> vectorOfFoundInlierIndex_parallel2 = pose_ransac_parallel2.getRansacInlierIndex();
nbInlierIndexOk = checkInlierIndex(vectorOfFoundInlierIndex_parallel2, vectorOfOutlierFlags);
std::cout << "There are " << nbInlierIndexOk << " true inliers found, " << vectorOfFoundInlierIndex_parallel2.size()
<< " inliers returned and " << nbTrueInlierIndex << " true inliers." << std::endl;
// Check inlier points returned
std::vector<vpPoint> vectorOfFoundInlierPoints_parallel2 = pose_ransac_parallel2.getRansacInliers();
if (vectorOfFoundInlierPoints_parallel2.size() != vectorOfFoundInlierIndex_parallel2.size()) {
std::cerr << "The number of inlier index is different with the number "
"of inlier points !"
<< std::endl;
return false;
}
if (!checkInlierPoints(vectorOfFoundInlierPoints_parallel2, vectorOfFoundInlierIndex_parallel2,
bunnyModelPoints_noisy)) {
return false;
}
#endif
if (r_RANSAC_estimated > threshold /*|| r_RANSAC_estimated_2 > threshold*/) {
std::cerr << "The pose estimated with the RANSAC method is badly estimated!" << std::endl;
std::cerr << "r_RANSAC_estimated=" << r_RANSAC_estimated << std::endl;
std::cerr << "threshold=" << threshold << std::endl;
return false;
} else {
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
if (r_RANSAC_estimated_parallel > threshold) {
std::cerr << "The pose estimated with the parallel RANSAC method is "
"badly estimated!"
<< std::endl;
std::cerr << "r_RANSAC_estimated_parallel=" << r_RANSAC_estimated_parallel << std::endl;
std::cerr << "threshold=" << threshold << std::endl;
return false;
}
#endif
std::cout << "The pose estimated with the RANSAC method is well estimated!" << std::endl;
}
return true;
}
int main()
{
#if defined(__mips__) || defined(__mips) || defined(mips) || defined(__MIPS__)
// To avoid Debian test timeout
return EXIT_SUCCESS;
#endif
// vpPose::computeRansacIterations
int sample_sizes[] = {2, 3, 4, 5, 6, 7, 8};
double epsilon[] = {0.05, 0.1, 0.2, 0.25, 0.3, 0.4, 0.5};
// Format output
std::cout << " ";
for (int cpt2 = 0; cpt2 < 7; cpt2++) {
std::cout << std::setfill(' ') << std::setw(5) << epsilon[cpt2] << " ";
}
std::cout << std::endl;
std::cout << std::setfill(' ') << std::setw(7) << "+";
for (int cpt2 = 0; cpt2 < 6; cpt2++) {
std::cout << std::setw(7) << "-------";
}
std::cout << std::endl;
for (int cpt1 = 0; cpt1 < 7; cpt1++) {
std::cout << std::setfill(' ') << std::setw(6) << sample_sizes[cpt1] << "|";
for (int cpt2 = 0; cpt2 < 7; cpt2++) {
int ransac_iters = vpPose::computeRansacIterations(0.99, epsilon[cpt2], sample_sizes[cpt1], -1);
std::cout << std::setfill(' ') << std::setw(6) << ransac_iters;
}
std::cout << std::endl;
}
std::cout << std::endl;
try {
size_t model_sizes[] = {10, 20, 50, 100, 200, 500, 1000, 0, 0};
bool duplicates[] = {false, false, false, false, false, false, false, false, true};
bool degenerates[] = {false, false, false, false, false, false, true, true, true};
int nb = 9;
std::vector<vpPoint> bunnyModelPoints, bunnyModelPoints_noisy_original;
readBunnyModelPoints(bunnyModelPoints, bunnyModelPoints_noisy_original);
for (int cpt = 0; cpt < nb; cpt++) {
std::cout << "\n\n====================================================="
"==============="
<< std::endl;
if (model_sizes[cpt] == 0) {
std::cout << "Test on " << bunnyModelPoints_noisy_original.size() << " model points." << std::endl;
} else {
std::cout << "Test on " << model_sizes[cpt] << " model points." << std::endl;
}
std::cout << "Test duplicate: " << duplicates[cpt] << " ; Test degenerate: " << degenerates[cpt] << std::endl;
if (!testRansac(bunnyModelPoints, bunnyModelPoints_noisy_original, model_sizes[cpt], duplicates[cpt],
degenerates[cpt])) {
return EXIT_FAILURE;
}
}
std::cout << "\n\ntestPoseRansac2 is ok!" << std::endl;
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}