demo_LNIFT.m

clc;clear;close all; warning('off')
addpath dataset\Optical-Optical\
addpath algorithms\LNIFT\;
addpath algorithms\common\
RES=[];

for i=1:200
    i
    str1=['pair' num2str(i) '_1.jpg'];
    str2=['pair' num2str(i) '_2.jpg'];
    gtstr =['gt_' num2str(i) '.txt'];

    if exist(str1,'file')==0
        continue;
    end
    gt=load(gtstr);
    im1 = uint8(imread(str1));
    im2 = uint8(imread(str2));

    imwrite(im1,'.\algorithms\LNIFT\1.png');
    imwrite(im2,'.\algorithms\LNIFT\2.png');

    exe='.\algorithms\LNIFT\LNIFT.exe';
    cmd = [exe ' ' '.\algorithms\LNIFT\1.png' ' ' '.\algorithms\LNIFT\2.png' ' ' '1' ' ' '.\algorithms\LNIFT\time.txt' ' ' '.\algorithms\LNIFT\matches.txt' ' ' '128' ' ' '4'];
    system(cmd);
    matches = load('.\algorithms\LNIFT\matches.txt');
    time = load('.\algorithms\LNIFT\time.txt');

    matchedPoints1 = matches(:,1:2);
    matchedPoints2 = matches(:,3:4);

    H=[gt;0 0 1];
    Y_=H*[matchedPoints1';ones(1,size(matchedPoints1,1))];
    Y_(1,:)=Y_(1,:)./Y_(3,:);
    Y_(2,:)=Y_(2,:)./Y_(3,:);
    E=sqrt(sum((Y_(1:2,:)-matchedPoints2').^2));
    inliersIndex=E<3;
    cleanedPoints1 = matchedPoints1(inliersIndex, :);
    cleanedPoints2 = matchedPoints2(inliersIndex, :);
    [cleanedPoints2,IA] = unique(cleanedPoints2,'rows');
    cleanedPoints1 = cleanedPoints1(IA,:);
    cleanedPoints=[cleanedPoints1 cleanedPoints2];
    cleanedPoints = double(cleanedPoints);
    Y_=H*[cleanedPoints(:,1:2)';ones(1,size(cleanedPoints,1))];
    Y_(1,:)=Y_(1,:)./Y_(3,:);
    Y_(2,:)=Y_(2,:)./Y_(3,:);
    E=sqrt(sum((Y_(1:2,:)-cleanedPoints(:,3:4)').^2));
    if length(E)<10
        rmse = 20;
    else
        rmse = sqrt(sum(E.^2)/size(E,2));
    end
    length(E)
    timeres = double([time rmse size(cleanedPoints,1) size(matches,1)]);
    RES = [RES;timeres];

end

save RES_lnift.mat RES