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MERGE branch STM 325:449 into trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2012-03-03 01:46:30 +00:00
parent c4aff5f20a
commit a2eb8bcab6
100 changed files with 76652 additions and 5164 deletions
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42
Matlab/ShowLogs/getPrecisionRecall.m
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@@ -32,7 +32,14 @@ if ~isempty(GroundTruth)
%[highestHypot, CorrespondingID, GT, Accepted, Good, Index, UnderLoopRatio] descending order
lc = [LogF(:,10) LogI(:,2) sum(GroundTruth == 255, 2)>0 LogI(:, 1) > 0 zeros(length(LogI(:,1)),1) (1:length(LogF(:,10)))' LogI(:, 8) == 1];
if(sum(LogI(:,8) == 10) > 0)
%OLD
warning('Detected old Log format...');
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];
else
%NEW
lc = [LogF(:,10) LogI(:,2) sum(GroundTruth == 255, 2)>0 LogI(:, 1) > 0 zeros(length(LogI(:,1)),1) (1:length(LogF(:,10)))' LogI(:, 8) == 1];
end
%eliminate loops on diagonal
ignored = 0;
@@ -70,21 +77,24 @@ if ~isempty(GroundTruth)
lc(i,5) = 1;
end
PR(i,2) = sum(lc(1:i,5) & ~lc(1:i,7) & lc(1:i,2))/GT_total_positives;
%Recall = Loop closures detected / GT loop closures
PR(i,2) = sum(lc(1:i,5) & ~lc(1:i,7) & lc(1:i,2)) / GT_total_positives;
%Precision = Good loop closures / total loop closure detected
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)) ')'] )
%Recall = Loop closures detected / GT loop closures
PR(i,4) = sum(lc(i,4) & lc(1:i,5) & ~lc(1:i,7) & lc(1:i,2)) / GT_total_positives;
%Precision = Good loop closures / total loop closure detected
PR(i,3) = sum(lc(i,4) & lc(1:i,5) & ~lc(1:i,7) & lc(1:i,2)) / sum(~lc(1:i, 7) & lc(1:i,2) & lc(i,4));
if lc(i,4) && ~lc(i,5) && ~lc(i,7) && id && lc(i,1) >= LoopThr
display(['False positive accepted! id=' num2str(lc(i,6)) ' with old=' num2str(id) ' (p=' num2str(lc(i,1)) ')'] )
end
end
@@ -95,12 +105,12 @@ if ~isempty(GroundTruth)
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)) ')'])
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)))])
else
display('Recall max (Precision=100%, with verification) = 0')
display('Recall max accepted (Precision=100%) = 0')
end
display(['ignored = ' num2str(ignored)])
end