v01

thirdparty/opengv/matlab/benchmark_absolute_pose_execution_times.m

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+%% Reset everything
+
+clear all;
+clc;
+close all;
+addpath('helpers');
+
+%% Configure the benchmark
+
+% central case -> only one camera
+cam_number = 1;
+% let's only get 6 points, and generate new ones in each iteration
+pt_number = 50;
+% noise test, so no outliers
+outlier_fraction = 0.0;
+% repeat 1000 iterations
+iterations = 1000;
+
+% The algorithms we want to test
+algorithms = { 'p2p'; 'p3p_kneip'; 'p3p_gao'; 'epnp'; 'upnp' };
+% This defines the number of points used for every algorithm
+indices = { [1, 2]; [1, 2, 3]; [1, 2, 3]; [1:1:50]; [1:1:50] };
+% The name of the algorithms on the plots
+names = { 'P2P'; 'P3P (Kneip)'; 'P3P (Gao)'; 'EPnP (50pts)'; 'UPnP (50pts)'};
+
+% The noise in this experiment
+noise = 1.0;
+
+%% Run the benchmark
+
+%prepare the overall result array
+num_algorithms = size(algorithms,1);
+execution_times = zeros(num_algorithms,iterations);
+counter = 0;
+
+for i=1:iterations
+    
+    % generate experiment
+    [points,v,t,R] = create2D3DExperiment(pt_number,cam_number,noise,outlier_fraction);
+    [t_perturbed,R_perturbed] = perturb(t,R,0.01);
+    T_perturbed = [R_perturbed,t_perturbed];
+    
+    % run all algorithms
+    for a=1:num_algorithms
+        tic;
+        T = opengv_donotuse(algorithms{a},indices{a},points,v,T_perturbed);
+        execution_times(a,i) = toc/20.0;
+    end
+    
+    counter = counter + 1;
+    if counter == 100
+        counter = 0;
+        display(['Iteration ' num2str(i) ' of ' num2str(iterations)]);
+    end
+end
+
+%% Plot the results
+
+bins = [0.000001:0.000001:0.00001];
+hist(execution_times',bins)
+legend(names,'Location','NorthWest')
+xlabel('execution times [s]')
+grid on
+
+mean(execution_times')