mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-03 16:47:47 +08:00
110 lines
2.5 KiB
Matlab
110 lines
2.5 KiB
Matlab
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clear all
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close all
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# sudo apt install octave-signal
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pkg load signal
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# Use with files generated by export_stats.sh
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dataDir = 'SET_PATH_TO_RESULTS_DIR';
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prefix = 'Stat';
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dataset = 6
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sep = [0, 1000, 3000, 5000, 7000, 9000, 12000];
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sepName = {'16:51', '17:31', '17:58', '18:30', '18:59', '19:42'};
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statName = strrep('Loop/Distance_since_last_loc/','/','-');
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data = dlmread([dataDir '/' prefix num2str(dataset) '-' statName '.txt'], '\t', 1, 0, "emptyvalue", 0);
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sessions = size(data,2)-1
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j = 1 % session #
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x3 = data(:,1);
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y3 = data(:,11);
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y3 = y3(x3>=sep(j) & x3<=sep(j+1), :);
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x3 = x3(x3>=sep(j) & x3<=sep(j+1), :);
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max = 0;
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for i=2:length(y3)
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if isfinite(y3(i)) && isfinite(y3(i-1)) && (x3(i) - x3(i-1) < 1.5)
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v = y3(i);
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if v>max
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max = v
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endif
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endif
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endfor
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xb = max/2:max:5;
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[nn3, xx3] = hist (y3, xb);
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nn3 = nn3/length(x3);
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nn3(nn3==0) = NaN;
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for j=1:6
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x{j} = data(:,1);
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y{j} = data(:,2);
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y{j} = y{j}(x{j}>=sep(j) & x{j}<=sep(j+1), :);
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x{j} = x{j}(x{j}>=sep(j) & x{j}<=sep(j+1), :);
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[nn{j}, xx{j}] = hist (y{j}, xb);
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%nn{j} = nn{j}/length(x{j});
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%nn{j} = nn{j}/sum(nn{j});
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for k=length(nn{j}):-1:1
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if nn{j}(k) != 0
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break;
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else
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nn{j}(k) = NaN;
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endif
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endfor
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endfor
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j = 6 % session #
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x4 = data(:,1);
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y4 = data(:,12);
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y4 = y4(x4>=sep(j) & x4<=sep(j+1), :);
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x4 = x4(x4>=sep(j) & x4<=sep(j+1), :);
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[nn4, xx4] = hist (y4, xb);
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nn4 = nn4/length(x4);
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nn4(nn4==0) = NaN;
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figure
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hold on
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%plot(x1,y1, '.-');
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%plot(x2-x2(1),y2, '.-');
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plot(x3-x3(1),y3, '.-');
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%plot(x4-x4(1),y4, '.-');
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%legend('Map1 -> LocA', 'Map1 -> LocF', 'Map1+2+3+4+5+6 -> LocF', 'Map1-2-3-4-5-6 -> LocF')
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legend('Map1+2+3+4+5+6 -> LocA')
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xlabel('Time')
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ylabel('m')
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title('Distance since last loc')
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figure
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hold on
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%plot(x1,y1, '.-');
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%plot(x2-x2(1),y2, '.-');
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plot(x{6}-x{6}(1),y{6}, '.-');
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%plot(x4-x4(1),y4, '.-');
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%legend('Map1 -> LocA', 'Map1 -> LocF', 'Map1+2+3+4+5+6 -> LocF', 'Map1-2-3-4-5-6 -> LocF')
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legend('Map1 -> LocF')
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xlabel('Time')
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ylabel('m')
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title('Distance since last loc')
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figure
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hold on
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for j=1:6
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plot(xx{j},nn{j}, '-', 'linewidth', 3)
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endfor
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%plot(xx3,nn3, '.-', 'linewidth', 3)
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%plot(xx4,nn4, '.-', 'linewidth', 3)
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%legend('Loc-F', 'Loc-E', 'Loc-D', 'Loc-C', 'Loc-B', 'Loc-A')
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legend('A-16:51', 'B-17:31', 'C-17:58', 'D-18:30', 'E-18:59', 'F-19:42', 'Map1+2+3+4+5+6 -> LocF', 'Map1-2-3-4-5-6 -> LocF')
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%h = get(gca,'Children');
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%set(gca,'Children',[h(6) h(5) h(4) h(3) h(2) h(1)])
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%set(gca, 'YScale', 'log')
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xlabel(['Distance not localized (m) Step ' num2str(max) ' m'])
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ylabel('Re-Localization Probability on Map 1 (16:46)')
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