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merged attention branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-11 18:05:05 +00:00
parent f9033809a2
commit 2836d4c48c
216 changed files with 7983 additions and 94891 deletions
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33
Matlab/ShowLogs/showlogs.m
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@@ -60,7 +60,7 @@ LogI = importfile([PathPrefix '/' 'LogI.txt']);
% 4 hessianThr,
% 5 wordsNewSign,
% 6 dictionarySize,
% 7 this->getSTMem().size(),
% 7 this->getWorkingMem().size(),
% 8 rejectedHypothesis?,
% 9 processMemoryUsed,
% 10 databaseMemoryUsed
@@ -69,8 +69,8 @@ LogI = importfile([PathPrefix '/' 'LogI.txt']);
% 13 refUniqueWordsCount
% 14 _reactivateId
% 15 nonNulls.size()
% 16 directNeighborsNotReactivated
% 17 _spreadMargin
% 16 rehearsalMaxId
% 17 rehearsalNbMerged
if isempty(LogI) || isempty(LogF)
error('Log files are empty')
@@ -103,8 +103,9 @@ ylabel('Time (ms)')
xlabel('Location indexes')
meanTime = mean(LogF(:,1))*1000
plot([1 length(LogF(:,1))], [700 700], 'r')
plot([1 length(LogF(:,1))], [1000 1000], 'k--')
legend('Processing time', 'Time limit', 'Acquisition rate (1 Hz)')
%plot([1 length(LogF(:,1))], [350 350], 'r')
%legend('Processing time', 'Time limit')%, 'Acquisition rate (1 Hz)')
title('Processing time')
maxTime = max(sum(LogF(:,2:7),2)+LogF(:,17))
maxDict = max(LogI(:, 6))
@@ -202,15 +203,17 @@ meanDict = mean(LogI(:,6))
meanWordsPerSign = mean(LogI(:,5))
%% -------------------------
figure
subplot(211)
plot(LogF(:,20) + LogF(:,17)); %17 join or 19 empty trash
ylabel('Time (s)')
xlabel('Location indexes')
subplot(212)
plot(LogI(:,7));
ylabel('WM size (locations)')
xlabel('Location indexes')
if size(LogF, 2) > 19
figure
subplot(211)
plot(LogF(:,20) + LogF(:,17)); %17 join or 19 empty trash
ylabel('Time (s)')
xlabel('Location indexes')
subplot(212)
plot(LogI(:,7));
ylabel('WM size (locations)')
xlabel('Location indexes')
end
%% -------------------------
% Detected/Accepted/Rejected loop closures
@@ -335,7 +338,7 @@ lcRejected = sum(LogI(:, 8) == 1)
%Precision-Recall graph
GroundTruthFile = [GT_file];
if ~isempty(GT_file) && exist(GroundTruthFile, 'file')
PR = getPrecisionRecall(LogI, LogF, GroundTruthFile, 0.09);
PR = getPrecisionRecall(LogI, LogF, GroundTruthFile, 0.07);
Precision = PR(:,1);
Recall = PR(:,2);