v01

thirdparty/opengv/matlab/ransac_experiment2.m

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