92 lines
2.9 KiB
Matlab
92 lines
2.9 KiB
Matlab
%% Reset everything
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clear all;
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clc;
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close all;
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addpath('helpers');
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rng shuffle
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%% Configure the benchmark
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% noncentral case
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cam_number = 4;
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% Getting 10 points, and testing all algorithms with the respective number of points
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pt_per_cam = 20;
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% outlier test, so constant noise
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noise = 0.5;
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% repeat 100 tests per outlier-ratio
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iterations = 50;
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% The algorithms we want to test
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algorithms = [ 0; 1; 2 ];
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% The name of the algorithms in the final plots
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names = { '6pt'; 'ge (8pt)'; '17pt'};
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% The main experiment parameters
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min_outlier_fraction = 0.05;
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max_outlier_fraction = 0.45;
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outlier_fraction_step = 0.05;
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%% Run the benchmark
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%prepare the overall result arrays
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number_outlier_fraction_levels = round((max_outlier_fraction - min_outlier_fraction) / outlier_fraction_step + 1);
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num_algorithms = size(algorithms,1);
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%Run the experiment
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for n=1:number_outlier_fraction_levels
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outlier_fraction = (n - 1) * outlier_fraction_step + min_outlier_fraction;
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display(['Analyzing outlier fraction level: ' num2str(outlier_fraction)])
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clear number_iterations
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clear execution_times
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counter = 0;
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temp_file_name1 = ['number_iterations_' num2str(outlier_fraction) '.mat'];
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temp_file_name2 = ['execution_times_' num2str(outlier_fraction) '.mat'];
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if exist(temp_file_name1,'file') > 0
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display(['number_iterations_' num2str(outlier_fraction) '.mat exists already'])
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load(temp_file_name1)
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load(temp_file_name2)
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startingIteration = size(number_iterations,2) + 1;
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display(['starting at ' num2str(startingIteration)])
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else
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startingIteration = 1;
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end
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if startingIteration <= iterations
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for i=startingIteration:iterations
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% generate experiment
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[v1,v2,cam_offsets,t,R] = createMulti2D2DOmniExperiment(pt_per_cam,cam_number,noise,outlier_fraction);
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for a=1:num_algorithms
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if strcmp(names{a,1},'6pt') && outlier_fraction > 0.25
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Out = zeros(4,5);
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time = 10000000.0;
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else
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tic
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Out = opengv_experimental1( v1{1,1}, v1{2,1}, v1{3,1}, v1{4,1}, v2{1,1}, v2{2,1}, v2{3,1}, v2{4,1}, cam_offsets, algorithms(a,1) );
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time = toc;
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end
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number_iterations(a,i) = Out(1,5);
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execution_times(a,i) = time;
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end
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save(temp_file_name1,'number_iterations');
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save(temp_file_name2,'execution_times');
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counter = counter + 1;
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if counter == 1
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counter = 0;
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display(['Iteration ' num2str(i) ' of ' num2str(iterations) '(outlier_fraction level ' num2str(outlier_fraction) ')']);
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end
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end
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end
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end |