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Added script to reproduce results from loop closure detection paper. Added option to show Recall at 100% precision directly from rtabmap-console. Fixed retrieval not working on loop closure detection mode-only. Fixed showLogs.m error with Octave.

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matlabbe
2024-05-19 14:54:37 -07:00
parent 812caeeb9a
commit 256dcbded4
9 changed files with 264 additions and 70 deletions
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7
archive/2010-LoopClosure/ShowLogs/getPrecisionRecall.m
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@@ -32,8 +32,7 @@ if ~isempty(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
if(sum(LogI(:,8) == 10) > 0)
%OLD
@@ -111,14 +110,14 @@ if ~isempty(GroundTruth)
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)))])
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))) '/' num2str(GT_total_positives)])
else
display('Recall max (Precision=100%) = 0')
end
indexAccepted = find(PR(:,3) == 1);
if ~isempty(indexAccepted)
maxRecall = PR(indexAccepted(end),2) * 100;
display(['Recall max accepted (Precision=100%) = ' num2str(maxRecall) '% (p=' num2str(lc(indexAccepted(end),1)) '), accepted=' num2str(sum(lc(1:indexAccepted(end),5) & ~lc(1:indexAccepted(end),7) & lc(1:indexAccepted(end),2)))])
display(['Recall max accepted (Precision=100%) = ' num2str(maxRecall) '% (p=' num2str(lc(indexAccepted(end),1)) '), accepted=' num2str(sum(lc(1:indexAccepted(end),5) & ~lc(1:indexAccepted(end),7) & lc(1:indexAccepted(end),2))) '/' num2str(GT_total_positives)])
else
display('Recall max accepted (Precision=100%) = 0')
end