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Changing/updating name of matlab scripts

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@221 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2011-06-21 21:13:37 +00:00
parent f7cf230c87
commit 15203e9f1f
2 changed files with 0 additions and 449 deletions
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109
Matlab/ShowLogs/getPrecisionRecall.m
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@@ -1,109 +0,0 @@
function [ PR ] = getPrecisionRecall( LogI, LogF, GT_file, LoopThr )
%GETPRECISIONRECALL Calculate the precision-recall results from the log
%files of RTAB-Map and a Ground Truth file (a bmp).
% PR(:,1) = Precision
% PR(:,2) = Recall
% PR(:,3) = Precision with verification
% PR(:,4) = Recall with verification
%
% LogI: The 'LogI.txt' generated file
% LogF: The 'LogF.txt' generated file
% GT_file: The related Ground truth file of the dataset ('GT.bmp')
% LoopThr: Display false positives over the loop thr (>=0.0 && < 1.0)
GroundTruth = [];
if exist(GT_file, 'file')
display('--- getPrecisionRecall ---');
display(['Loading GroundTruth ''' GT_file ''' ...']);
GroundTruth = imread(GT_file);
else
error(['The ground truth ''' GT_file '''doesn''t exist.'])
end
if ~isempty(GroundTruth)
%display('Calculating Precision-Recall graph')
%figure
%imshow(GroundTruth)
%title('GroundTruth')
if size(GroundTruth, 1) ~= length(LogF(:,1)) || size(GroundTruth, 1) ~= length(LogI(:,1))
error(['The ground truth size doesn''t match the log files (LogI=' num2str(length(LogI(:,1))) ', LogF=' num2str(length(LogF(:,1))) ', GT=' num2str(size(GroundTruth, 1)) ')'])
end
%[highestHypot, CorrespondingID, GT, Accepted, Good, Index, UnderLoopRatio] descending order
lc = [LogF(:,10) LogI(:,2) sum(GroundTruth == 255, 2)>0 (LogI(:, 8) == 10 | LogI(:, 8) == 11) zeros(length(LogI(:,1)),1) (1:length(LogF(:,10)))' LogI(:, 8) == 3];
%eliminate loops on diagonal
ignored = 0;
for i=1:length(lc)
index = find(GroundTruth(:,i) > 0 & GroundTruth(:,i) < 255);
if ~isempty(index)
row = GroundTruth(index(1), :);
if lc(i,2) >= min(index) && lc(i,2) <= max(index)
display(['i=' NUM2STR(i) ' loop=' NUM2STR(LogI(i,2)) ' min(index)=' NUM2STR(min(index)) ' max(index)' NUM2STR(max(index))])
lc(i,1) = 0;
ignored = ignored + 1;
end
end
end
lc = sortrows(lc, -1);
GT_total_positives = sum(sum(GroundTruth == 255, 2) > 0)
%figure
%plot(sum(GroundTruth > 0, 2)>0)
%title('Ground truth (timeline)')
sizeNonZero = sum(lc(:,1) > 0);
PR = zeros(sizeNonZero, 4);
for i=1:length(lc)
if lc(i,1) == 0
break;
end
id = lc(i,2);
if id && sum(GroundTruth(lc(i,6), id)) > 0
lc(i,5) = 1;
end
PR(i,2) = sum(lc(1:i,5) & ~lc(1:i,7) & lc(1:i,2))/GT_total_positives;
PR(i,1) = sum(lc(1:i,5) & ~lc(1:i,7) & lc(1:i,2)) / sum(~lc(1:i, 7) & lc(1:i,2));
%PR(i,2) = sum(lc(1:i,5))/GT_total_positives;
%PR(i,1) = sum(lc(1:i,5)) / i;
PR(i,4) = sum(lc(1:i,4) & lc(1:i,5))/GT_total_positives;
PR(i,3) = sum(lc(1:i,4) & lc(1:i,5)) / sum(lc(1:i,4));
if ~lc(i,5) && ~lc(i,7) && id && lc(i,1) >= LoopThr
display(['False positive! id=' num2str(lc(i,6)) ' with old=' num2str(id) ' (p=' num2str(lc(i,1)) ')'] )
end
if lc(i,4) ~= lc(i,5) && lc(i,4)
display(['False positive! (v) id=' num2str(lc(i,6)) ' with old=' num2str(id) ' (p=' num2str(lc(i,1)) ')'] )
end
end
index = find(PR(:,1) == 1);
if ~isempty(index)
maxRecall = PR(index(end),2) * 100;
display(['Recall max (Precision=100%) = ' num2str(maxRecall) '% (p=' num2str(lc(index(end),1)) '), accepted=' num2str(sum(lc(1:index(end),5) & ~lc(1:index(end),7) & lc(1:index(end),2)))])
else
display('Recall max (Precision=100%) = 0')
end
indexV = find(PR(:,3) == 1);
if ~isempty(indexV)
maxRecallVerified = PR(indexV(end),4) * 100;
display(['Recall max (Precision=100%, with verification) = ' num2str(maxRecallVerified) '% (p=' num2str(lc(indexV(end),1)) ')'])
else
display('Recall max (Precision=100%, with verification) = 0')
end
display(['ignored = ' num2str(ignored)])
end
end