ml/ar_basalt
Archived
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

v01

Browse Source
This commit is contained in:
Ivan
2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
5565 changed files with 1200500 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
thirdparty/opengv/matlab/helpers/addNoise.m vendored Normal file
View File

@@ -0,0 +1,35 @@
function v_noisy = addNoise(v_clean,focal_length,pixel_noise)
%find good vector in normal plane based on good conditioning
inPlaneVector1 = zeros(3,1);
if v_clean(1,1) > v_clean(2,1) && v_clean(1,1) > v_clean(3,1)
inPlaneVector1(2,1) = 1.0;
inPlaneVector1(3,1) = 0.0;
inPlaneVector1(1,1) = 1.0/v_clean(1,1) * (-v_clean(2,1));
else
if v_clean(2,1) > v_clean(3,1) && v_clean(2,1) > v_clean(1,1)
inPlaneVector1(3,1) = 1.0;
inPlaneVector1(1,1) = 0.0;
inPlaneVector1(2,1) = 1.0/v_clean(2,1) * (-v_clean(3,1));
else
%v_clean(3,1) > v_clean(1,1) && v_clean(3,1) > v_clean(2,1)
inPlaneVector1(1,1) = 1.0;
inPlaneVector1(2,1) = 0.0;
inPlaneVector1(3,1) = 1.0/v_clean(3,1) * (-v_clean(1,1));
end
end
%normalize the in-plane vector
inPlaneVector1 = inPlaneVector1 / norm(inPlaneVector1);
inPlaneVector2 = cross(v_clean,inPlaneVector1);
noiseX = pixel_noise * (rand-0.5)*2.0;% / sqrt(2);
noiseY = pixel_noise * (rand-0.5)*2.0;% / sqrt(2);
v_noisy = focal_length * v_clean + noiseX * inPlaneVector1 + noiseY * inPlaneVector2;
v_noisy_norm = norm(v_noisy);
v_noisy = v_noisy ./ v_noisy_norm;
end