Compute the pose of a 3D object using the Ransac method.
#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>
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"0.003429 0.056934 -0.031203 "
"0.000547 0.063627 -0.034407 "
"-0.038058 0.154792 -0.009202 "
"-0.057976 0.145744 -0.001916 "
"0.048347 0.058938 -0.004908 "
"0.043359 0.058916 -0.004699 "
"0.023338 0.060640 -0.025362 "
"0.021085 0.061931 -0.026580 "
"-0.044209 0.165146 -0.009112 "
"0.011063 0.036040 -0.022358 "
"-0.026875 0.105825 -0.022448 "
"-0.025640 0.106222 -0.022782 "
"-0.014088 0.062639 -0.036940 "
"-0.054028 0.131061 -0.005002 "
"-0.061313 0.103293 -0.018311 "
"-0.064291 0.169609 -0.060793 "
"-0.033408 0.056284 -0.010273 "
"-0.073436 0.073412 0.034880 "
"-0.043887 0.108471 -0.019159 "
"-0.054118 0.157553 -0.002300 "
"-0.057247 0.060528 -0.003067 "
"0.026280 0.066086 -0.022657 "
"0.021876 0.069295 -0.027500 "
"-0.061063 0.138403 -0.006548 "
"-0.078029 0.141290 -0.004917 "
"-0.060035 0.121358 -0.008732 "
"0.010879 0.066111 -0.031139 "
"-0.002871 0.068252 -0.034506 "
"-0.015884 0.037769 0.051576 "
"0.012128 0.110130 -0.018785 "
"-0.038213 0.169665 -0.012413 "
"-0.021532 0.173488 -0.021241 "
"-0.008517 0.074198 -0.037653 "
"-0.065608 0.066936 -0.007497 "
"-0.050280 0.143741 0.000824 "
"-0.011878 0.107304 -0.022095 "
"-0.040535 0.159216 -0.011492 "
"0.028230 0.071783 -0.022893 "
"-0.021022 0.065418 -0.036655 "
"0.010141 0.103018 -0.020770 "
"-0.051433 0.067108 -0.012491 "
"-0.049160 0.160603 -0.005985 "
"0.028264 0.073195 -0.022943 "
"-0.015261 0.076268 -0.038966 "
"-0.034533 0.064421 -0.014132 "
"-0.043908 0.067784 -0.016159 "
"-0.069183 0.153837 -0.049560 "
"0.024869 0.084767 -0.024560 "
"-0.000856 0.103081 -0.022665 "
"-0.001863 0.103074 -0.022753 "
"-0.059077 0.069973 -0.015104 "
"-0.012182 0.178673 -0.029235 "
"-0.012881 0.107288 -0.021846 "
"-0.047615 0.037865 -0.012539 "
"-0.067038 0.155239 -0.051934 "
"-0.041303 0.084378 -0.021267 "
"0.000115 0.110154 -0.020162 "
"-0.021633 0.035044 -0.028053 "
"-0.045200 0.165138 -0.008331 "
"-0.069516 0.075346 -0.014957 "
"-0.076657 0.075864 -0.007819 "
"-0.067246 0.173921 -0.058281 "
"-0.046064 0.151688 -0.005548 "
"-0.016173 0.168253 -0.021040 "
"0.008721 0.073259 -0.033724 "
"0.005912 0.084442 -0.033198 "
"-0.026776 0.036519 0.053822 "
"-0.027674 0.086866 -0.036187 "
"0.034221 0.081361 -0.018238 "
"0.030238 0.081488 -0.020170 "
"0.025200 0.081800 -0.024570 "
"0.014356 0.076788 -0.030104 "
"-0.064199 0.163840 -0.059407 "
"-0.080908 0.111715 -0.000772 "
"0.014113 0.087083 -0.030146 "
"-0.074816 0.084473 -0.015099 "
"-0.074011 0.141343 -0.006888 "
"-0.076411 0.094841 -0.013406 "
"-0.077868 0.101964 -0.009289 "
"-0.068244 0.179461 -0.058921 "
"-0.002226 0.083034 -0.037089 "
"-0.022749 0.077591 -0.039002 "
"-0.055926 0.079634 -0.020972 "
"-0.065841 0.083605 -0.018912 "
"-0.064292 0.168172 -0.060588 "
"-0.075004 0.141334 -0.006491 "
"-0.015214 0.091053 -0.037504 "
"-0.054630 0.152755 -0.002679 "
"0.033230 0.087092 -0.018683 "
"0.011114 0.110132 -0.019128 "
"-0.075927 0.125275 -0.008277 "
"-0.015831 0.088312 -0.038067 "
"-0.018345 0.033731 -0.026079 "
"0.004456 0.033966 -0.021007 "
"-0.003268 0.034370 -0.017376 "
"0.011950 0.034304 -0.011204 "
"-0.045950 0.035101 -0.022412 "
"-0.031721 0.033828 -0.021186 "
"0.007540 0.038802 -0.009431 "
"-0.080480 0.114080 0.047569 "
"-0.004172 0.039154 -0.014111 "
"-0.032684 0.038589 -0.016529 "
"-0.051977 0.034100 -0.013438 "
"0.032543 0.038050 0.000016 "
"0.033741 0.038472 -0.000065 "
"-0.039195 0.034033 -0.015253 "
"-0.073604 0.148628 -0.025599 "
"0.007509 0.034411 0.004670 "
"0.025586 0.034909 0.002751 "
"-0.062356 0.033753 -0.009695 "
"-0.042372 0.033809 -0.003477 "
"0.017120 0.034271 0.001954 "
"-0.059944 0.033627 -0.010153 "
"-0.038120 0.038250 -0.006977 "
"-0.004094 0.038391 0.008568 "
"0.025074 0.034411 0.011174 "
"0.044118 0.040892 0.004384 "
"-0.048695 0.033571 -0.013389 "
"-0.022206 0.038690 -0.017188 "
"0.002026 0.034165 0.004107 "
"-0.079652 0.070444 0.015237 "
"0.048793 0.042901 0.011011 "
"-0.089979 0.116378 0.044138 "
"-0.069850 0.033539 0.004727 "
"-0.029039 0.038221 0.002720 "
"-0.069196 0.034579 -0.006020 "
"0.005046 0.034177 0.015760 "
"0.034111 0.035601 0.011664 "
"-0.086781 0.115997 0.046920 "
"0.002619 0.034323 0.019675 "
"-0.051528 0.033550 0.007814 "
"-0.034901 0.033747 0.010379 "
"-0.030015 0.034351 0.018172 "
"-0.027929 0.037711 0.020035 "
"-0.072159 0.034912 0.007119 "
"0.019617 0.034742 0.021397 "
"-0.071684 0.035136 0.008802 "
"-0.071483 0.036208 0.009431 "
"-0.000694 0.038513 0.021743 "
"0.048576 0.046442 0.024984 "
"0.022319 0.035282 0.024092 "
"0.034684 0.038735 0.024611 "
"-0.070531 0.151779 -0.045373 "
"-0.066422 0.035267 0.015055 "
"-0.062077 0.034516 0.020294 "
"-0.063971 0.034365 0.016456 "
"-0.081219 0.078592 0.029019 "
"-0.051600 0.066088 0.036174 "
"0.031905 0.043740 0.029538 "
"-0.063341 0.035770 0.018750 "
"-0.004483 0.039218 0.035614 "
"-0.082655 0.076999 0.021106 "
"-0.055121 0.034056 0.024036 "
"0.009041 0.035141 0.035926 "
"0.012972 0.034672 0.029418 "
"-0.070622 0.146831 -0.025571 "
"-0.090089 0.112403 0.037453 "
"-0.066997 0.062934 -0.001956 "
"-0.035388 0.034596 0.034245 "
"0.007859 0.039240 0.030372 "
"-0.071388 0.147097 -0.026896 "
"-0.078147 0.116431 0.050321 "
"-0.070936 0.078069 0.038683 "
"-0.075074 0.077317 0.034901 "
"-0.016213 0.038057 0.016945 "
"-0.006919 0.034711 0.042546 "
"-0.050487 0.064658 0.035198 "
"-0.064600 0.034724 0.026530 "
"-0.031802 0.037839 0.032183 "
"0.004891 0.034575 0.043617 "
"-0.084324 0.077527 0.016962 "
"-0.091292 0.116401 0.042037 "
"-0.069946 0.064187 0.001256 "
"-0.073267 0.148476 -0.029258 "
"-0.084864 0.078984 0.019130 "
"-0.069386 0.061033 0.009766 "
"-0.036723 0.034210 0.026670 "
"-0.024903 0.039047 0.038063 "
"0.014685 0.037467 0.044223 "
"-0.079247 0.080308 0.033239 "
"-0.082419 0.078886 0.026767 "
"-0.091014 0.114490 0.034742 "
"-0.066996 0.034958 0.031010 "
"-0.067902 0.146313 -0.025723 "
"-0.053202 0.073352 0.041234 "
"-0.037419 0.034781 0.041799 "
"-0.012835 0.035252 0.050222 "
"0.009197 0.039194 0.045161 "
"-0.082296 0.077332 0.022849 "
"-0.061775 0.065542 0.032955 "
"-0.074682 0.066385 0.006255 "
"-0.051757 0.056601 0.019874 "
"-0.046877 0.035027 0.045407 "
"-0.070681 0.109318 0.037859 "
"-0.075092 0.066454 0.007232 "
"-0.074437 0.065821 0.007911 "
"0.004325 0.035606 0.045888 "
"-0.089199 0.115860 0.044703 "
"-0.066365 0.036009 0.037225 "
"-0.038999 0.036125 0.042901 "
"-0.072850 0.107163 0.037442 "
"-0.076428 0.117143 0.051891 "
"-0.079737 0.071741 0.005181 "
"-0.084462 0.111705 0.028857 "
"-0.060273 0.034788 0.045444 "
"-0.030763 0.035297 0.052008 "
"-0.082857 0.076402 0.018249 "
"-0.074827 0.110670 0.046334 "
"-0.079080 0.070406 0.008268 "
"-0.076864 0.067957 0.011082 "
"-0.069649 0.061738 0.018026 "
"-0.058329 0.059742 0.021921 "
"-0.075934 0.078899 0.035147 "
"-0.065150 0.036692 0.040216 "
"-0.069152 0.078835 0.040145 "
"-0.035996 0.151076 -0.002026 "
"-0.063069 0.150547 -0.026594 "
"-0.069062 0.149033 -0.037134 "
"-0.062215 0.166391 -0.060509 "
"-0.062798 0.167240 -0.060784 "
"-0.039381 0.154717 -0.008957 "
"-0.049932 0.141822 0.003858 "
"-0.064944 0.157314 -0.054480 "
"-0.069406 0.153071 -0.048274 "
"-0.044493 0.149423 -0.004750 "
"-0.056918 0.136838 -0.005280 "
"-0.064125 0.156393 -0.043120 "
"-0.071932 0.149607 -0.039423 "
"-0.009322 0.175020 -0.028678 "
"-0.060545 0.169731 -0.062221 "
"-0.068381 0.149044 -0.036363 "
"-0.050757 0.137975 0.001565 "
"-0.027652 0.155350 -0.003855 "
"-0.027938 0.155215 -0.003967 "
"-0.026306 0.157004 -0.009894 "
"-0.028940 0.154865 -0.002858 "
"-0.009716 0.176357 -0.030374 "
"-0.008588 0.169530 -0.025410 "
"-0.067979 0.154919 -0.051359 "
"-0.018495 0.165075 -0.017689 "
"-0.013589 0.169514 -0.023467 "
"-0.009085 0.173025 -0.027717 "
"-0.066223 0.155560 -0.052081 "
"-0.029333 0.154386 -0.003606 "
"-0.063933 0.153712 -0.036871 "
"-0.028864 0.154571 -0.003558 "
"-0.064135 0.160881 -0.057617 "
"-0.072553 0.150608 -0.041367 "
"-0.030385 0.154168 -0.002474 "
"-0.009715 0.177216 -0.029461 "
"-0.014691 0.160456 -0.011333 "
"-0.063650 0.159498 -0.051954 "
"-0.072177 0.146332 -0.024671 "
"-0.020377 0.158233 -0.007259 "
"-0.062349 0.141045 -0.006499 "
"-0.064196 0.142314 -0.007840 "
"-0.068829 0.148429 -0.034137 "
"-0.067194 0.151677 -0.045577 "
"-0.071411 0.144356 -0.015185 "
"-0.009825 0.166960 -0.022046 "
"-0.052896 0.143026 -0.000456 "
"-0.032692 0.152804 -0.002950 "
"-0.072038 0.149669 -0.039594 "
"-0.072282 0.143895 -0.012909 ";
{
}
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)
{
std::istringstream iss_file_content(file_content);
while (iss_file_content) {
double oX, oY, oZ;
iss_file_content >> oX >> oY >> oZ;
bunnyModelPoints.push_back(pt);
bunnyModelPoints_noisy.push_back(pt);
}
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;
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);
if (r_lagrange < r_dementhon) {
cMo_estimated = cMo_lagrange;
} else {
cMo_estimated = cMo_dementhon;
}
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());
std::vector<bool> vectorOfOutlierFlags(bunnyModelPoints_noisy.size(), false);
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) {
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) {
size_t nbDegeneratePoints = 100;
double degenerate_tolerence = 9.999e-7;
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];
degeneratePoint.
set_oX(degeneratePoint.
get_oX() + degenerate_tolerence);
degeneratePoint.
set_oY(degeneratePoint.
get_oY() + degenerate_tolerence);
degeneratePoint.
set_oZ(degeneratePoint.
get_oZ() - degenerate_tolerence);
listOfDegeneratePoints.push_back(degeneratePoint);
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);
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);
}
}
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]);
}
vpPose pose_ransac, pose_ransac2;
#if defined(VISP_HAVE_PTHREAD) || (defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_OPENMP)
#define TEST_PARALLEL_RANSAC
#endif
std::string appveyor_threading = "";
try {
} catch (...) {
}
#ifdef TEST_PARALLEL_RANSAC
vpPose pose_ransac_parallel, pose_ransac_parallel2;
if (appveyor_threading == "true") {
#if !defined(VISP_HAVE_OPENMP)
#endif
}
#endif
for (std::vector<vpPoint>::const_iterator it = bunnyModelPoints_noisy.begin(); it != bunnyModelPoints_noisy.end();
++it) {
}
pose_ransac.
addPoints(bunnyModelPoints_noisy);
pose_ransac2.
addPoints(bunnyModelPoints_noisy);
#ifdef TEST_PARALLEL_RANSAC
if (appveyor_threading == "true") {
pose_ransac_parallel.
addPoints(bunnyModelPoints_noisy);
pose_ransac_parallel2.
addPoints(bunnyModelPoints_noisy);
}
#endif
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;
#ifdef TEST_PARALLEL_RANSAC
if (appveyor_threading == "true") {
}
#endif
std::cout << "Number of RANSAC iterations to ensure p=0.99 and epsilon=0.4: " << ransac_iterations << std::endl;
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;
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;
if (r_lagrange < r_dementhon) {
cMo_estimated = cMo_lagrange;
} else {
cMo_estimated = cMo_dementhon;
}
std::cout << "\ncMo estimated with only VVS on noisy data:\n" << cMo_estimated << std::endl;
std::cout << "Corresponding residual: " << r_estimated << std::endl;
#ifdef TEST_PARALLEL_RANSAC
double r_RANSAC_estimated_parallel = std::numeric_limits<double>::max();
if (appveyor_threading == "true") {
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;
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
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;
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;
}
std::cout << "\nCheck for RANSAC iterations: " << ransac_iterations << std::endl;
nbInlierIndexOk = checkInlierIndex(vectorOfFoundInlierIndex_2, vectorOfOutlierFlags);
std::cout << "There are " << nbInlierIndexOk << " true inliers found, " << vectorOfFoundInlierIndex_2.size()
<< " inliers returned and " << nbTrueInlierIndex << " true inliers." << std::endl;
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 TEST_PARALLEL_RANSAC
if (appveyor_threading == "true") {
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;
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;
}
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;
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 ) {
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 TEST_PARALLEL_RANSAC
if (appveyor_threading == "true") {
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()
{
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};
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++) {
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;
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
1.8.13