1%% Reset everything
2
3clear all;
4clc;
5close all;
6addpath('helpers');
7
8rng shuffle
9
10%% Configure the benchmark
11
12% noncentral case
13cam_number = 4;
14% Getting 10 points, and testing all algorithms with the respective number of points
15pt_per_cam = 20;
16% outlier test, so constant noise
17noise = 0.5;
18% repeat 100 tests per outlier-ratio
19iterations = 50;
20
21% The algorithms we want to test
22algorithms = [ 0; 1; 2 ];
23% The name of the algorithms in the final plots
24names = { '6pt'; 'ge (8pt)'; '17pt'};
25
26% The main experiment parameters
27min_outlier_fraction = 0.05;
28max_outlier_fraction = 0.45;
29outlier_fraction_step = 0.05;
30
31%% Run the benchmark
32
33%prepare the overall result arrays
34number_outlier_fraction_levels = round((max_outlier_fraction - min_outlier_fraction) / outlier_fraction_step + 1);
35num_algorithms = size(algorithms,1);
36
37%Run the experiment
38for n=1:number_outlier_fraction_levels
39
40    outlier_fraction = (n - 1) * outlier_fraction_step + min_outlier_fraction;
41    display(['Analyzing outlier fraction level: ' num2str(outlier_fraction)])
42
43    clear number_iterations
44    clear execution_times
45
46    counter = 0;
47
48    temp_file_name1 = ['number_iterations_' num2str(outlier_fraction) '.mat'];
49    temp_file_name2 = ['execution_times_' num2str(outlier_fraction) '.mat'];
50
51    if exist(temp_file_name1,'file') > 0
52        display(['number_iterations_' num2str(outlier_fraction) '.mat exists already'])
53        load(temp_file_name1)
54        load(temp_file_name2)
55        startingIteration = size(number_iterations,2) + 1;
56        display(['starting at ' num2str(startingIteration)])
57    else
58        startingIteration = 1;
59    end
60
61    if startingIteration <= iterations
62        for i=startingIteration:iterations
63
64            % generate experiment
65            [v1,v2,cam_offsets,t,R] = createMulti2D2DOmniExperiment(pt_per_cam,cam_number,noise,outlier_fraction);
66
67            for a=1:num_algorithms
68
69                if strcmp(names{a,1},'6pt') && outlier_fraction > 0.25
70                    Out = zeros(4,5);
71                    time = 10000000.0;
72                else
73                    tic
74                    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) );
75                    time = toc;
76                end
77
78                number_iterations(a,i) = Out(1,5);
79                execution_times(a,i) = time;
80            end
81
82            save(temp_file_name1,'number_iterations');
83            save(temp_file_name2,'execution_times');
84
85            counter = counter + 1;
86            if counter == 1
87                counter = 0;
88                display(['Iteration ' num2str(i) ' of ' num2str(iterations) '(outlier_fraction level ' num2str(outlier_fraction) ')']);
89            end
90        end
91    end
92end