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https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Updated logged statistics
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@@ -97,15 +97,21 @@ end
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% xlabel('Location indexes')
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figure
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plot((sum(LogF(:,2:7),2)+LogF(:,17))*1000);
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plot(LogF(:,1), 'g'); % to verify that we have all timings below
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hold on
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ylabel('Time (ms)')
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xlabel('Location indexes')
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if size(LogF, 2) == 21
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plot((sum(LogF(:,2:7),2)+LogF(:,17)+LogF(:,21)));
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else
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plot((sum(LogF(:,2:7),2)+LogF(:,17)+sum(LogF(:,21:26),2)));
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end
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ylabel('Time (s)')
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xlabel('Node indexes')
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meanTime = mean(LogF(:,1))*1000
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plot([1 length(LogF(:,1))], [700 700], 'r')
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plot([1 length(LogF(:,1))], [0.7 0.7], 'r')
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plot([1 length(LogF(:,1))], [1 1], 'k')
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%plot([1 length(LogF(:,1))], [350 350], 'r')
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%legend('Processing time', 'Time limit')%, 'Acquisition rate (1 Hz)')
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title('Processing time')
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%title('Processing time')
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maxTime = max(sum(LogF(:,2:7),2)+LogF(:,17))
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maxDict = max(LogI(:, 6))
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@@ -183,22 +189,51 @@ ylabel('MB')
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xlabel('Location indexes')
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% -------------------------
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figure
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% subplot(211)
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H1 = plot(LogI(:,7));
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% hold on
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% H2 = plot(1:length(LogI(:,7)), ones(length(LogI(:,7)),1).*mean(LogI(:,7)), 'r--')
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title('Working memory size')
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meanWM = mean(LogI(:,7))
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ylabel('WM size (locations)')
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xlabel('Location indexes')
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% set(H1,'color',[0.3 0.3 0.3])
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% set(H2,'color',[0 0 0])
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% subplot(212)
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% plot(LogI(:,6));
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meanDict = mean(LogI(:,6))
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% ylabel('Dictionary size')
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% xlabel('Location indexes')
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if size(LogI, 2) >= 18
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LTMsize = zeros(1,length(LogI(:,16)));
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for i=1:length(LogI(:,16))
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LTMsize(i) = sum(LogI(1:i,16) == 0);
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end
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LTM = LTMsize(end)
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figure
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% subplot(211)
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H2 = plot(LTMsize, 'r'); % global graph
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hold on
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H1 = plot(LogI(:,7)); % WM
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H3 = plot(LogI(:,17), 'g'); % Local graph
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% H2 = plot(1:length(LogI(:,7)), ones(length(LogI(:,7)),1).*mean(LogI(:,7)), 'r--')
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%title('Graph size')
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legend('Global graph', 'WM', 'Local graph')
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ylabel('Nodes')
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xlabel('Node indexes')
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%set(H1,'color',[0.3 0.3 0.3])
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%set(H2,'color',[0 0 0])
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%set(H3,'color',[0 0 0])
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% subplot(212)
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% plot(LogI(:,6));
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meanWM = mean(LogI(:,7))
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meanDict = mean(LogI(:,6))
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% ylabel('Dictionary size')
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% xlabel('Location indexes')
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else
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figure
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% subplot(211)
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H1 = plot(LogI(:,7));
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% hold on
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% H2 = plot(1:length(LogI(:,7)), ones(length(LogI(:,7)),1).*mean(LogI(:,7)), 'r--')
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title('Working memory size')
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meanWM = mean(LogI(:,7))
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ylabel('WM size (locations)')
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xlabel('Location indexes')
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% set(H1,'color',[0.3 0.3 0.3])
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% set(H2,'color',[0 0 0])
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% subplot(212)
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% plot(LogI(:,6));
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meanDict = mean(LogI(:,6))
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% ylabel('Dictionary size')
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% xlabel('Location indexes')
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end
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meanWordsPerSign = mean(LogI(:,5))
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%% -------------------------
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