#include?
#include?
#include?“RPP.h“

using?namespace?cv;

inline?double?SQ（double?x）
{
????return?x*x;
}

int?main（int?argc?char?**argv）
{
????//?Data?from?the?original?Matlab?code?we‘ll?use?it?for?ground?truth.?Verify?the?results?with?the?Matlab?output.
????//?First?row?is?x
????//?Second?row?is?y
????double?model_data[20]?=?{0.0685?0.6383?0.4558?0.7411?-0.7219?0.7081?0.7061?0.2887?-0.9521?-0.2553
?????????????????????????????0.4636?0.0159?-0.1010?0.2817?0.6638?0.1582?0.3925?-0.7954?0.6965?-0.7795};


????double?iprts_data[20]?=?{-0.0168?0.0377?0.0277?0.0373?-0.0824?0.0386?0.0317?0.0360?-0.1015?-0.0080
??????????????????????????????0.0866?0.1179?0.1233?0.1035??0.0667?0.1102?0.0969?0.1660??0.0622?0.1608};


????//?Results?from?Matlab/Octave
????//?R?is?rotation?and?t?is?translation?you?should?get?VERY?similar?results?or?even?numerically?exact
????/*
??????R?=

?????0.85763??-0.31179???0.40898
?????0.16047??-0.59331??-0.78882
?????0.48859???0.74214??-0.45881

????t?=
?????-0.10825
??????1.26601
?????11.19855
????*/

????Mat?model?=?Mat::zeros（3?10?CV_64F）;?//?3D?points?z?is?zero
????Mat?iprts?=?Mat::ones（3?10?CV_64F）;?//?2D?points?homogenous?points
????Mat?rotation;
????Mat?translation;
????int?iterations;
????double?obj_err;
????double?img_err;

????for（int?i=0;?i?????????model.at（0i）?=?model_data[i];
????????model.at（1i）?=?model_data[i+10];

????????iprts.at（0i）?=?iprts_data[i];
????????iprts.at（1i）?=?iprts_data[i+10];
????}

????if（!RPP::Rpp（model?iprts?rotation?translation?iterations?obj_err?img_err））?{
????????fprintf（stderr?“Error?with?RPP\n“）;
????????return?1;
????}

	printf（“Input?normalised?image?points?（using?3x3?camera?intrinsic?matrix）:\n“）;
	for（int?i=0;?i?		printf（“%d:?（%g?%g）\n“?i?iprts_data[i*2]?iprts_data[i*2+1]）;
	}

	printf（“\n“）;
	printf（“Input?model?points?（fixed?3D?points?chosen?by?the?user?z?is?fixed?to?0.0）:\n“）;
	for（int?i=0;?i?		printf（“%d:?（%g?%g?0.0）\n“?i?model_data[i*2]?model_data[i*2+1]）;
	}

	printf（“\n“）;
	printf（“Pose?found?by?RPP\n“）;

	printf（“\n“）;
????printf（“Rotation?matrix\n“）;
????RPP::Print（rotation）;

????printf（“Translation?matrix\n“）;
????RPP::Print（translation）;

????printf（“Number?of?iterations:?%d\n“?iterations）;
????printf（“object?error:?%f\n“?obj_err）;
????printf（“Image?error:?%f\n“?img_err）;

????//?Compare?against?ground?truth
????double?rot_err?=?0.0;
????double?tran_err?=?0.0;

????//?Using?fabs?instead?of?sum?square?in?case?the?signs?are?opposite
????rot_err?+=?SQ（rotation.at（00）?-??0.85763）;
????rot_err?+=?SQ（rotation.at（01）?-?-0.31179）;
????rot_err?+=?SQ（rotation.at（02）?-?0.40898）;
????rot_err?+=?SQ（rotation.at（10）?-?0.16047）;
????rot_err?+=?SQ（rotation.at（11）?-?-0.59331）;
????rot_err?+=?SQ（rotation.at（12）?-?-0.78882）;
????rot_err?+=?SQ（rotation.at（20）?-?0.

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????660??2012-03-12?11:57??RobustPlanarPose\ChangeLog.txt
?????文件????????3759??2012-03-12?11:52??RobustPlanarPose\demo.cpp
?????文件????????1702??2011-08-11?13:02??RobustPlanarPose\LICENSE.txt
?????文件?????????275??2011-03-24?10:57??RobustPlanarPose\Makefile
?????文件????????1034??2011-12-07?07:58??RobustPlanarPose\RobustPlanarPose.cbp
?????文件?????????515??2011-12-07?08:23??RobustPlanarPose\RobustPlanarPose.depend
?????文件?????????652??2011-12-07?12:00??RobustPlanarPose\RobustPlanarPose.layout
?????文件???????28995??2011-03-24?11:20??RobustPlanarPose\Rpoly.cpp
?????文件????????3146??2011-03-24?11:20??RobustPlanarPose\Rpoly.h
?????文件???????28884??2012-03-12?11:52??RobustPlanarPose\RPP.cpp
?????文件????????5299??2011-12-07?08:07??RobustPlanarPose\RPP.h