run_simulated2d.cpp

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#include <opencv2/core/core.hpp>
#include <posest/test/simulated.h>
#include <posest/planarSFM.h>
#include <iostream>
#include <stdio.h>

using namespace pe;
using namespace cv;

int main(int argc, char** argv)
{
    Mat intrinsics, R0, T0;
    vector<Point3f> points;
    vector<KeyPoint> points1, points2;
    vector<int> indices;
    generateData(intrinsics, R0, T0, points1, points2, indices, points);

    Mat R, T, H;
    double error = SFM(intrinsics, points1, points2, indices, R, T);
    printf("SFM completed with reprojection error %f\n", error);
    T = T*10.0;
    dumpFltMat("SFM returned R", R);
    dumpFltMat("SFM return T", T);

    vector<Point2f> _points1, _points2;
    matchesFromIndices(points1, points2, indices, _points1, _points2);

    Mat essential = calcEssentialMatrix(intrinsics.inv(), R, T);
    vector<bool> inliers;
    computeEpipolarInliers(essential, _points1, _points2, inliers, 5.0);
    filterVector(_points1, inliers);
    filterVector(_points2, inliers);
    filterVector(points, inliers);

    vector<Point3f> cloud;
    vector<bool> valid;
    reprojectPoints(intrinsics, R, T, _points1, _points2, cloud, valid);

    printf("%d points before filtering\n", (int)points.size());
    filterVector(_points1, valid);
    filterVector(_points2, valid);
    filterVector(points, valid);
    filterVector(cloud, valid);

    printf("%d points left after filtering\n", (int)points.size());
    float error0 = calcScaledPointCloudDistance(cloud, points);

    Mat rvec;
    Rodrigues(R, rvec);

    sba(intrinsics, rvec, T, cloud, _points1, _points2);
    findNaNPoints(cloud, valid);
    filterVector(_points1, valid);
    filterVector(_points2, valid);
    filterVector(cloud, valid);
    filterVector(points, valid);

    float error1 = calcScaledPointCloudDistance(cloud, points);

    dumpFltMat("rvec", rvec);
    dumpFltMat("tvec", T);

    printf("%d points left after sba\n3D error after SFM: %f\n 3D error after sba: %f\n",
        points.size(), error0, error1);

    FileStorage fs("extrinsics.yml", FileStorage::WRITE);
    fs << "rvec" << rvec << "T" << T;
}