v01

thirdparty/opengv/matlab/ransac_experiment.m

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+%% Reset everything
+
+clear all;
+clc;
+close all;
+addpath('helpers');
+
+%% Configure the benchmark
+
+% noncentral case
+cam_number = 4;
+% set maximum and minimum number of points per cam
+pt_number_per_cam =  50;
+% set maximum and minimum number of outliers
+min_outlier_fraction = 0.1;
+max_outlier_fraction = 0.2;
+% repeat 10000 iterations
+iterations = 1000;
+
+% The name of the algorithms in the final plots
+names = { 'Homogeneous'; 'Vanilla' };
+
+% The noise in this experiment
+noise = 0.5;
+
+%% Run the benchmark
+
+%prepare the overall result arrays
+ransac_iterations = zeros(2,iterations);
+
+%Run the RANSAC with homogeneous sampling
+counter = 0;
+
+for i=1:iterations
+
+    %generate random outlier fraction
+    outlier_fraction = rand() * (max_outlier_fraction - min_outlier_fraction) + min_outlier_fraction;
+    
+    % generate experiment        
+    [v1,v2,cam_offsets,t,R] = createMulti2D2DExperiment(pt_number_per_cam,cam_number,noise,outlier_fraction);
+    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, 2 );
+    ransac_iterations(1,i) = Out(1,5);
+
+    counter = counter + 1;
+    if counter == 100
+        counter = 0;
+        display(['Homogeneous sampling: Iteration ' num2str(i) ' of ' num2str(iterations)]);
+    end        
+end
+
+%Run the RANSAC with vanilla sampling
+counter = 0;
+
+for i=1:iterations
+
+    %generate random outlier fraction
+    outlier_fraction = rand() * (max_outlier_fraction - min_outlier_fraction) + min_outlier_fraction;
+    
+    % generate experiment        
+    [v1,v2,t,R] = create2D2DExperiment(pt_number_per_cam*cam_number,cam_number,noise,outlier_fraction);
+    Out = opengv_experimental2( v1, v2, 2 );
+    ransac_iterations(2,i) = Out(1,5);
+
+    counter = counter + 1;
+    if counter == 100
+        counter = 0;
+        display(['Vanilla sampling: Iteration ' num2str(i) ' of ' num2str(iterations)]);
+    end        
+end
+
+%% Plot the results
+
+figure(1)
+hist(ransac_iterations')
+[Y,X] = hist(ransac_iterations')
+legend(names,'Location','NorthEast')
+xlabel('number of iterations')
+grid on