v01

thirdparty/opengv/matlab/ransac_experiment3.m

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+%% Reset everything
+
+clear all;
+clc;
+close all;
+addpath('helpers');
+
+%% Configure the benchmark
+
+% 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(names,1);
+mean_number_iterations = zeros(num_algorithms,number_outlier_fraction_levels);
+mean_execution_times = zeros(num_algorithms,number_outlier_fraction_levels);
+outlier_fraction_levels = zeros(1,number_outlier_fraction_levels);
+
+%Run the experiment
+for n=1:number_outlier_fraction_levels
+
+    outlier_fraction = (n - 1) * outlier_fraction_step + min_outlier_fraction;
+    outlier_fraction_levels(1,n) = outlier_fraction;
+    display(['Analyzing outlier fraction level: ' num2str(outlier_fraction)])
+    
+    clear number_iterations
+    clear execution_times
+    temp_file_name1 = ['number_iterations_' num2str(outlier_fraction) '.mat'];
+    temp_file_name2 = ['execution_times_' num2str(outlier_fraction) '.mat'];
+    load(temp_file_name1)
+    load(temp_file_name2)
+    
+    %Now compute the mean and median value of the error for each algorithm
+    for a=1:num_algorithms
+        mean_number_iterations(a,n) = mean(number_iterations(a,:));
+        mean_execution_times(a,n) = mean(execution_times(a,:));
+    end
+end
+
+%% Plot the results
+ 
+figure(1)
+plot(outlier_fraction_levels,mean_number_iterations,'LineWidth',2)
+legend(names,'Location','NorthWest')
+xlabel('outlier fraction')
+ylabel('mean number iterations')
+axis([0.05 0.25 0 1500])
+grid on
+
+figure(2)
+hold on
+plot(outlier_fraction_levels(1,1:6),mean_execution_times(1,1:6),'LineWidth',2)
+plot(outlier_fraction_levels,mean_execution_times(2:3,:),'LineWidth',2)
+legend(names,'Location','NorthWest')
+xlabel('outlier fraction')
+ylabel('mean execution time [s]')
+axis([0.05 0.45 0 40])
+grid on