v01

2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
5565 changed files with 1200500 additions and 0 deletions
--- a/thirdparty/opengv/matlab/helpers/perturb.m
+++ b/thirdparty/opengv/matlab/helpers/perturb.m
@@ -0,0 +1,12 @@
+function [t_perturbed,R_perturbed] = perturb(t,R,amplitude)
+    
+    t_perturbed = t;
+	r = rodrigues(R);
+    
+    for i=1:3
+        t_perturbed(i,1) = t_perturbed(i,1) + (rand-0.5)*2.0*amplitude;
+        r(i,1) = r(i,1) + (rand-0.5)*2.0*amplitude;
+    end
+    
+    R_perturbed = rodrigues(r);
+end