1 | % By Philip Torr 2002
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2 | % copyright Microsoft Corp.
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3 | %main()
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4 |
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5 | %this script compares two methods for estimating F
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6 | %select the two methods and place their ID's in the array methods_used
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7 | %
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8 |
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9 | %methods_used = [4,3]
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10 |
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11 | %comparing non-linear method with Sampson
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12 | %methods_used = [4,2]
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13 |
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14 | %compare sampson and Hegel
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15 | methods_used = [4,7];
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16 |
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17 | %compare bundle and Hegel
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18 | methods_used = [6,7];
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19 |
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20 | %comparing linear and Hegel
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21 | methods_used = [2,7];
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22 |
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23 |
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24 |
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25 | m3 = 256;
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26 | sse2t = 0;
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27 | %
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28 | % randn('state',0)
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29 | % rand('state',0)
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30 |
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31 | no_methods = 7;
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32 | foc = 256;
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33 | best_method_array = zeros(no_methods,1);
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34 | method_sse = zeros(no_methods,1);
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35 | method_n_sse = zeros(no_methods,1);
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36 | epipole_distance = zeros(no_methods,1);
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37 | oo_vicar = 0;
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38 |
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39 | no_matches =100;
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40 | noise_sigma = 1;
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41 | translation_mult = foc * 10;
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42 | translation_adder = 20;
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43 |
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44 | %max number of degrees to rotate
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45 | rotation_multplier = 40;
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46 | min_Z = 1;
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47 | Z_RAN = 10;
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48 |
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49 |
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50 |
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51 |
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52 | no_tests =1;
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53 |
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54 |
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55 | min_noise = 1;
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56 | max_noise = 1;
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57 | percent_gain = zeros(1,max_noise);
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58 | ep_percent_gain = zeros(1,max_noise);
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59 |
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60 | for(noise_sigma = min_noise:max_noise)
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61 | for(i = 1:no_tests)
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62 |
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63 |
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64 | best_sse = 10000000000;
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65 | best_method = 5;
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66 |
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67 | %generate a load of stuffs
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68 | %F
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69 |
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70 | ave_fa_e = 0.0;
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71 | while ave_fa_e < 0.5
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72 | [true_F,x1,y1,x2,y2,nx1,ny1,nx2,ny2,true_C,true_R,true_TX, true_E, true_X, true_t] = ...
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73 | torr_gen_2view_matches(foc, no_matches, noise_sigma, translation_mult, translation_adder, ...
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74 | rotation_multplier, min_Z,Z_RAN,m3);
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75 | [FA, fa] = torr_estfa(x1,y1,x2,y2, no_matches,m3);
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76 | fa_e = torr_errfa(fa, x1,y1,x2,y2, no_matches, m3);
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77 |
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78 | %see what average match looks like
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79 |
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80 | ave_fa_e = norm(fa_e,1)/no_matches;
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81 | if no_tests == 1
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82 | ave_fa_e;
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83 | end
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84 |
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85 | end
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86 | %
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87 | % if ssse_fa <6.0
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88 | % disp('ooo vicar');
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89 | % oo_vicar = oo_vicar + 1;
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90 | % end
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91 | % %calc true epipole
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92 | true_epipole = torr_get_right_epipole(true_F,m3);
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93 |
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94 | % for method = 2:6
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95 |
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96 |
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97 | for method = methods_used
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98 |
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99 | set_rank2 = 1;
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100 | [nf, f_sq_errors, n_inliers,inlier_index,nF] ...
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101 | = torr_estimateF( [nx1,ny1,nx2,ny2], m3, [], method,set_rank2);
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102 |
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103 | %calc noisy epipole
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104 | noisy_epipole = torr_get_right_epipole(nF,m3);
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105 | epipole_distance(method) = epipole_distance(method) + sqrt(norm(true_epipole -noisy_epipole));
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106 |
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107 |
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108 | pe = torr_errf2(nf,x1,y1,x2,y2, no_matches, m3);
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109 | n_e = torr_errf2(nf,nx1,ny1,nx2,ny2, no_matches, m3);
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110 |
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111 | sse_n = norm(pe);
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112 |
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113 | if (sse_n < best_sse)
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114 | best_method = method;
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115 | best_sse = sse_n;
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116 | end
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117 |
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118 | method_sse(method) = method_sse(method) + sse_n;
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119 | method_n_sse(method) = method_sse(method) + norm(n_e);
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120 |
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121 | end %method = 1:4
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122 | best_method_array(best_method) = best_method_array(best_method)+1;
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123 | end
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124 |
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125 |
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126 |
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127 | best_method_array(methods_used)';
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128 | (method_sse(methods_used)/(no_tests*length(x1)))';
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129 | (method_n_sse(methods_used)/(no_tests*length(x1)))';
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130 |
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131 | percent_gain(noise_sigma) = method_sse(methods_used(1))/method_sse(methods_used(2));
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132 |
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133 |
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134 |
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135 |
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136 | %disp('distance to true epipole');
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137 | (epipole_distance(methods_used)/no_tests)';
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138 |
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139 | ep_percent_gain(noise_sigma) = epipole_distance(methods_used(1))/epipole_distance(methods_used(2));
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140 |
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141 | %oo_vicar
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142 | %display_mat(perfect_matches, x1,y1, u1, v1)
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143 | %
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144 |
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145 | % e = fm_error_hs(F, n1, n2, nowarn);
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146 |
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147 |
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148 | %torr_display_epipoles(nF,nF,perfect_matches, x1,y1, u1, v1)
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149 | end
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150 |
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151 | disp('ratio of first to second method average error on noise free points');
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152 | 100 * percent_gain
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153 |
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154 | disp('ratio of first to second method average epipole error');
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155 | 100 * ep_percent_gain
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156 |
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157 | disp('number of times gets lowest errors')
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158 | best_method_array
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159 |
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160 | disp('average error for each method')
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161 | method_sse |
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