118 lines
3.9 KiB
Matlab
118 lines
3.9 KiB
Matlab
function [v1, v2, t, R ] = create2D2DOmniExperiment( pt_number, cam_number, noise, outlier_fraction )
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%% generate the camera system
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cam_distance = 1.0;
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%% set a regular camera system with 2 or 4 cameras here
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if cam_number == 2
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cam_offsets = [ cam_distance -cam_distance; 0.0 0.0; 0.0 0.0 ];
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else
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cam_number = 4; % only two or 4 supported for this experiment
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cam_offsets = [ cam_distance 0.0 -cam_distance 0.0; 0.0 cam_distance 0.0 -cam_distance; 0.0 0.0 0.0 0.0 ];
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end
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%% generate random view-points
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max_parallax = 2.0;
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max_rotation = 0.5;
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position1 = zeros(3,1);
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rotation1 = eye(3);
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position2 = max_parallax * 2.0 * (rand(3,1) - repmat(0.5,3,1));
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rotation2 = generateBoundedR(max_rotation);
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%% Generate random point-cloud
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avg_depth_over_cam_distance = 10.0;
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maxDepth = 5.0;
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normalizedPoints = 2.0*(rand(3,pt_number)-repmat(0.5,3,pt_number));
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points = maxDepth * normalizedPoints;
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%% Now create the correspondences by looping through the cameras
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focal_length = 800.0;
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v1 = zeros(6,pt_number);
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v2 = zeros(6,pt_number);
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cam_correspondence = 1;
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cam_correspondences = zeros(1,pt_number);
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for i=1:pt_number
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cam_offset = cam_offsets(:,cam_correspondence);
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%cam_rotation = cam_rotations(:,(cam_correspondence-1)*3+1:(cam_correspondence-1)*3+3);
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%special: shift the point in the first frame along current camera axis, which guarantees homogeneous distribution
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temp = points(:,i) + avg_depth_over_cam_distance * cam_offset;
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points(:,i) = temp;
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body_point1 = rotation1' * (points(:,i)-position1);
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body_point2 = rotation2' * (points(:,i)-position2);
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% we actually omit the can rotation here by unrotating the bearing
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% vectors already
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bearingVector1 = body_point1 - cam_offset;
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bearingVector2 = body_point2 - cam_offset;
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bearingVector1_norm = norm(bearingVector1);
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bearingVector2_norm = norm(bearingVector2);
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bearingVector1 = bearingVector1/bearingVector1_norm;
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bearingVector2 = bearingVector2/bearingVector2_norm;
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% add noise to the bearing vectors here
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bearingVector1_noisy = addNoise(bearingVector1,focal_length,noise);
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bearingVector2_noisy = addNoise(bearingVector2,focal_length,noise);
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% store the normalized bearing vectors along with the cameras they are
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% being seen (we create correspondences that always originate from the
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% same camera, you can change this if you want)
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bearingVector1_norm = norm(bearingVector1_noisy);
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bearingVector2_norm = norm(bearingVector2_noisy);
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v1(:,i) = [bearingVector1_noisy./bearingVector1_norm; cam_offset];
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v2(:,i) = [bearingVector2_noisy./bearingVector2_norm; cam_offset];
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% change the camera correspondence
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cam_correspondences(1,i) = cam_correspondence;
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cam_correspondence = cam_correspondence + 1;
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if cam_correspondence > cam_number
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cam_correspondence = 1;
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end
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end
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%% Add outliers
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number_outliers = floor(outlier_fraction*pt_number);
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if number_outliers > 0
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for i=1:number_outliers
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cam_correspondence = cam_correspondences(1,i);
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cam_offset = cam_offsets(:,cam_correspondence);
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%cam_rotation = cam_rotations(:,(cam_correspondence-1)*3+1:(cam_correspondence-1)*3+3);
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%generate random point
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normalizedPoint = 2.0*(rand(3,1)-repmat(0.5,3,1));
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point = maxDepth * normalizedPoint + avg_depth_over_cam_distance * cam_offset;
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body_point2 = rotation2' * (point-position2);
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% store the point (no need to add noise)
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bearingVector2 = body_point2 - cam_offset;
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% store the normalized bearing vectors along with the cameras they are
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% being seen (we create correspondences that always originate from the
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% same camera, you can change this if you want)
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bearingVector2_norm = norm(bearingVector2);
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v2(:,i) = [bearingVector2./bearingVector2_norm; cam_offset];
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end
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end
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%% compute relative translation and rotation
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R = rotation1' * rotation2;
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t = rotation1' * (position2 - position1); |