%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?This?toolbox?illustrates?how?to?use?the?REPPnP?and?EPPnP?
%?algorithms?described?in:
%
%???????Luis?Ferraz?Xavier?Binefa?Francesc?Moreno-Noguer.
%???????Very?Fast?Solution?to?the?PnP?Problem?with?Algebraic?Outlier?Rejection.?
%???????In?Proceedings?of?CVPR?2014.?
%
%?Copyright?（C）?<2014>??
%?
%?This?program?is?free?software:?you?can?redistribute?it?and/or?modify
%?it?under?the?terms?of?the?version?3?of?the?GNU?General?Public?License
%?as?published?by?the?Free?Software?Foundation.
%?
%?This?program?is?distributed?in?the?hope?that?it?will?be?useful?but
%?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
%?MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.?See?the?GNU
%?General?Public?License?for?more?details.???????
%?You?should?have?received?a?copy?of?the?GNU?General?Public?License
%?along?with?this?program.?If?not?see?.
%
%?Luis?Ferraz?CMTech-UPF?June?2014.
%?luisferrazc@gmail.comhttp://cmtech.upf.edu/user/62
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

clear;?clc;
IniToolbox;

%load?data?
load?./data/mymodel?model
load?./data/mytest?test

%inliers-3D?points
U?=?test.modelcorresp（1:3:）;?%set?of?features?matched?with?the?model


%inliers-2D?points
pt?=?test.modelcorresp（6:7:）;
u?=?model.K?\?[pt;ones（1size（pt2））];
u?=?u（1:2:）;

%?compared?methods
name=?{‘RNSC?P3P‘‘RNSC?RP4P?RPnP‘‘RNSC?P3P?OPnP‘‘RNSC?P3P?ASPnP‘?‘REPPnP‘};
f?=?{@kP3P@RPnP@kP3P@kP3P@REPPnP};
f2?=?{[]@RPnP@OPnP@ASPnP[]};?%post?ransac?method
ransacsamples?=?{34330};?%number?of?samples?to?apply?ransac
marker=?{‘o‘‘d‘‘>‘‘<‘‘o‘};
color=?{‘g‘[10.50]‘c‘‘b‘‘k‘};
markerfacecolor=??{‘g‘[10.50]‘c‘‘b‘‘n‘};

method_list=?struct（‘name‘?name?‘f‘?f‘f2‘?f2?‘ransac‘ransacsamples...
????‘c‘?0...
????‘mask_inliers‘ones（1size（u2））...
????‘marker‘?marker?‘color‘?color?‘markerfacecolor‘?markerfacecolor）;


%estimate?camera?pose?
disp（‘Each?method?is?evaluated?100?times?to?compute?the?mean?cost‘）;
for?k?=?1:length（name）

????try
????????%experiments?are?evaluated?10?times
????????for?i?=?1:100
????????if?strcmp（method_list（k）.name?‘REPPnP‘）
????????????sigmaerr?=?10;
????????????coef?????=?1.4;
????????????minerror?=?（coef?*?sigmaerr）/model.K（1）;
????????????
????????????tic;
????????????mU?=?U?-?repmat（mean（U2）1size（U2））;
????????????[R1?t1?mask]?=?method_list（k）.f（mUuminerror）;
????????????t1?=?t1?-?R1?*?mean（U2）;
????????????tcost?=?toc?*?1000;
????????????method_list（k）.mask_inliers?=?mask;
????????else
??????????if?（method_list（k）.ransac?==?0）
??????????????tic;
??????????????[R1t1]=?method_list（k）.f（Uu）;
??????????????tcost?=?toc*?1000;
??????????else
??????????????thr?=?10;
??????????????s?=?method_list（k）.ransac;
??????????????tic;
??????????????[R1?t1?inliers]?=?ransac（mo

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\ASPnP\
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\common_funcs\
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\data\
?????文件????????5290??2014-05-22?15:47??\PnP_Toolbox\demo_box_with_outliers_ransac.m
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\dls_pnp_matlab\
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\gOp\
?????文件??????????54??2014-05-22?15:47??\PnP_Toolbox\IniToolbox.m
?????文件????????7217??2014-05-22?15:47??\PnP_Toolbox\main_ordinary_3d.m
?????文件????????8490??2014-05-22?15:47??\PnP_Toolbox\main_ordinary_3d_outliers.m
?????文件???????10343??2014-05-22?15:47??\PnP_Toolbox\main_ordinary_3d_outliers_ransac.m
?????文件????????9610??2014-05-22?15:47??\PnP_Toolbox\main_ordinary_3d_sigma.m
?????文件????????3570??2014-05-22?15:47??\PnP_Toolbox\main_ordinary_3d_time.m
?????文件????????7178??2014-05-22?15:47??\PnP_Toolbox\main_planar.m
?????文件????????8073??2014-05-22?15:47??\PnP_Toolbox\main_planar_outliers.m
?????文件???????10418??2014-05-22?15:47??\PnP_Toolbox\main_planar_outliers_ransac.m
?????文件????????7025??2014-05-22?15:47??\PnP_Toolbox\main_planar_sigma.m
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\OPnP\
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\p3p_code_final\
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\plot_funcs\
?????文件????????3342??2014-05-22?15:47??\PnP_Toolbox\plotEffectOutliersKernel.m
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\ppnp\
?????文件????????2685??2014-05-22?15:47??\PnP_Toolbox\ReadMe.txt
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\REPPnP\
?????目錄???????????0??2014-05-22?15:47??\PnP_Toolbox\rpnp\
?????文件?????????461??2014-05-22?15:47??\PnP_Toolbox\ASPnP\appendimages.m
?????文件????????1642??2014-05-22?15:47??\PnP_Toolbox\ASPnP\ASPnP.m
?????文件???????19168??2014-05-22?15:47??\PnP_Toolbox\ASPnP\ASPnP_Case1_V2.m
?????文件????????4318??2014-05-22?15:47??\PnP_Toolbox\ASPnP\ASPnP_Case2_V2.m
?????文件????????1771??2014-05-22?15:47??\PnP_Toolbox\ASPnP\ASPnP_Case3_V2.m
?????文件?????????753??2014-05-22?15:47??\PnP_Toolbox\ASPnP\ASPnP_Case4_V2.m
............此處省略595個文件信息