63 lines
1.5 KiB
Matlab
63 lines
1.5 KiB
Matlab
%% Reset everything
|
|
|
|
clear all;
|
|
clc;
|
|
close all;
|
|
addpath('helpers');
|
|
|
|
%% Configure the benchmark
|
|
|
|
% noncentral case
|
|
cam_number = 4;
|
|
% Getting 17 points, and testing all algorithms with the respective number of points
|
|
pt_number = 8;
|
|
% noise test, so no outliers
|
|
outlier_fraction = 0.0;
|
|
% repeat 1000 tests per noise level
|
|
iterations = 10000;
|
|
|
|
% The algorithms we want to test
|
|
algorithms = { 'ge2' };
|
|
% This defines the number of points used for every algorithm
|
|
indices = { [1:1:8] };
|
|
% The name of the algorithms in the final plots
|
|
names = { 'arun (8pt)' };
|
|
|
|
% The maximum noise to analyze
|
|
noise = 0.5;
|
|
|
|
%% Run the benchmark
|
|
|
|
%Run the experiment
|
|
|
|
rotation_errors = zeros(1,iterations);
|
|
|
|
counter = 0;
|
|
|
|
for i=1:iterations
|
|
|
|
% generate experiment
|
|
[v1,v2,t,R] = create2D2DOmniExperiment(pt_number,cam_number,noise,outlier_fraction);
|
|
[t_perturbed,R_perturbed] = perturb(t,R,0.01);
|
|
T_perturbed = [R_perturbed,t_perturbed];
|
|
T_init = [eye(3),zeros(3,1)];
|
|
T_gt = [R,t];
|
|
|
|
Out = opengv(algorithms{1},indices{1},v1,v2,T_perturbed);
|
|
|
|
rotation_error = evaluateRotationError( R, Out(1:3,1:3) );
|
|
rotation_errors(1,i) = rotation_error;
|
|
|
|
|
|
counter = counter + 1;
|
|
if counter == 100
|
|
counter = 0;
|
|
display(['Iteration ' num2str(i) ' of ' num2str(iterations) '(noise level ' num2str(noise) ')']);
|
|
end
|
|
end
|
|
|
|
%% Plot the results
|
|
hist(rad2deg(rotation_errors))
|
|
xlabel('rotation error [deg]')
|
|
ylabel('occurence')
|
|
grid on |