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function [points, v, t, R ] = create2D3DExperiment( pt_number, cam_number, noise, outlier_fraction )
%% generate the camera system
avg_cam_distance = 0.5;
cam_offsets = zeros(3,cam_number);
%cam_rotations = zeros(3,cam_number*3);
if cam_number == 1
cam_offsets = zeros(3,1);
%cam_rotations = eye(3);
else
for i=1:cam_number
cam_offsets(:,i) = avg_cam_distance * generateRandomR() * [1.0; 0.0; 0.0];
%cam_rotations(:,(i-1)*3+1:(i-1)*3+3) = generateRandomR();
end
end
%% generate random view-points
max_parallax = 2.0;
max_rotation = 0.5;
position = max_parallax * 2.0 * (rand(3,1) - repmat(0.5,3,1));
rotation = generateBoundedR(max_rotation);
%% Generate random point-cloud
minDepth = 4.0;
maxDepth = 8.0;
normalizedPoints = 2.0*(rand(3,pt_number)-repmat(0.5,3,pt_number));
norms = sqrt(sum(normalizedPoints.*normalizedPoints));
directions = normalizedPoints./repmat(norms,3,1);
points = (maxDepth-minDepth) * normalizedPoints + minDepth * directions;
%% Now create the correspondences by looping through the cameras
focal_length = 800.0;
v = zeros(6,pt_number);
cam_correspondence = 1;
cam_correspondences = zeros(1,pt_number);
for i=1:pt_number
cam_offset = cam_offsets(:,cam_correspondence);
%cam_rotation = cam_rotations(:,(cam_correspondence-1)*3+1:(cam_correspondence-1)*3+3);
body_point = rotation' * (points(:,i)-position);
% we actually omit the can rotation here by unrotating the bearing
% vectors already
bearingVector = body_point - cam_offset;
bearingVector_norm = norm(bearingVector);
bearingVector = bearingVector/bearingVector_norm;
% add noise to the bearing vectors here
bearingVector_noisy = addNoise(bearingVector,focal_length,noise);
% store the normalized bearing vectors along with the cameras they are
% being seen (we create correspondences that always originate from the
% same camera, you can change this if you want)
bearingVector_norm = norm(bearingVector_noisy);
v(:,i) = [bearingVector_noisy./bearingVector_norm; cam_offset];
% change the camera correspondence
cam_correspondences(1,i) = cam_correspondence;
cam_correspondence = cam_correspondence + 1;
if cam_correspondence > cam_number
cam_correspondence = 1;
end
end
%% Add outliers
number_outliers = floor(outlier_fraction*pt_number);
if number_outliers > 0
for i=1:number_outliers
cam_correspondence = cam_correspondences(1,i);
cam_offset = cam_offsets(:,cam_correspondence);
%cam_rotation = cam_rotations(:,(cam_correspondence-1)*3+1:(cam_correspondence-1)*3+3);
%generate random point
normalizedPoint = 2.0*(rand(3,1)-repmat(0.5,3,1));
norm1 = sqrt(sum(normalizedPoint.*normalizedPoint));
direction = normalizedPoint./norm1;
point = (maxDepth-minDepth) * normalizedPoint + minDepth * direction;
body_point = rotation' * (point-position);
% store the point (no need to add noise)
bearingVector = body_point - cam_offset;
% store the normalized bearing vectors along with the cameras they are
% being seen (we create correspondences that always originate from the
% same camera, you can change this if you want)
bearingVector_norm = norm(bearingVector);
v(:,i) = [bearingVector./bearingVector_norm; cam_offset];
end
end
%% copy over the position and orientation
t = position;
R = rotation;
%% cut the cam offsets in the single camera (e.g. central case)
if cam_number == 1
v = v(1:3,:);
end
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