X-lanni
129 lines
5.0 KiB
Matlab
129 lines
5.0 KiB
Matlab
function [ PR ] = getPrecisionRecall( LogI, LogF, GT_file, LoopThr )
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%GETPRECISIONRECALL Calculate the precision-recall results from the log
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%files of RTAB-Map and a Ground Truth file (a bmp).
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% PR(:,1) = Precision
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% PR(:,2) = Recall
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% PR(:,3) = Precision with verification
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% PR(:,4) = Recall with verification
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%
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% LogI: The 'LogI.txt' generated file
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% LogF: The 'LogF.txt' generated file
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% GT_file: The related Ground truth file of the dataset ('GT.bmp')
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% LoopThr: Display false positives over the loop thr (>=0.0 && < 1.0)
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GroundTruth = [];
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if exist(GT_file, 'file')
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display('--- getPrecisionRecall ---');
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display(['Loading GroundTruth ''' GT_file ''' ...']);
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GroundTruth = imread(GT_file);
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if max(max(GroundTruth)) == 1
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GroundTruth=GroundTruth*255;
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end
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else
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error(['The ground truth ''' GT_file '''doesn''t exist.'])
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end
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if ~isempty(GroundTruth)
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%display('Calculating Precision-Recall graph')
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%figure
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%imshow(GroundTruth)
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%title('GroundTruth')
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if size(GroundTruth, 1) ~= length(LogF(:,1)) || size(GroundTruth, 1) ~= length(LogI(:,1))
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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)) ')'])
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end
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%[highestHypot, CorrespondingID, GT, Accepted, Good, Index, UnderLoopRatio] descending order
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if(sum(LogI(:,8) == 10) > 0)
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%OLD
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warning('Detected old Log format...');
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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];
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else
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%NEW
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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];
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end
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%eliminate loops on diagonal
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ignored = 0;
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for i=1:length(lc)
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index = find(GroundTruth(:,i) > 0 & GroundTruth(:,i) < 255);
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if ~isempty(index)
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row = GroundTruth(index(1), :);
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if lc(i,2) >= min(index) && lc(i,2) <= max(index)
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%display(['i=' NUM2STR(i) ' loop=' NUM2STR(LogI(i,2)) ' min(index)=' NUM2STR(min(index)) ' max(index)' NUM2STR(max(index))])
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lc(i,1) = 0;
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ignored = ignored + 1;
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end
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end
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end
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lc = sortrows(lc, -1);
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GT_total_positives = sum(sum(GroundTruth == 255, 2) > 0)
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if GT_total_positives == 0
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error(['The ground truth ''' GT_file '''doesn''t have any white pixels!?'])
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end
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%figure
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%plot(sum(GroundTruth > 0, 2)>0)
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%title('Ground truth (timeline)')
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sizeNonZero = sum(lc(:,1) > 0);
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PR = zeros(sizeNonZero, 4);
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for i=1:length(lc)
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if lc(i,1) == 0
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break;
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end
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id = lc(i,2);
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if id && sum(GroundTruth(lc(i,6), id)) > 0
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lc(i,5) = 1;
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end
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%Recall = Loop closures detected / GT loop closures
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PR(i,2) = sum(lc(1:i,5) & ~lc(1:i,7) & lc(1:i,2)) / GT_total_positives;
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%Precision = Good loop closures / total loop closure detected
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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));
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if ~lc(i,5) && ~lc(i,7) && id && lc(i,1) >= LoopThr
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display(['False positive! id=' num2str(lc(i,6)) ' with old=' num2str(id) ' (p=' num2str(lc(i,1)) ')'] )
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end
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%Recall = Loop closures detected / GT loop closures
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PR(i,4) = sum(lc(i,4) & lc(1:i,5) & ~lc(1:i,7) & lc(1:i,2)) / GT_total_positives;
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%Precision = Good loop closures / total loop closure detected
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if sum(~lc(1:i, 7) & lc(1:i,2) & lc(i,4)) > 0
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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));
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else
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PR(i,3) = 0;
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end
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if lc(i,4) && ~lc(i,5) && ~lc(i,7) && id && lc(i,1) >= LoopThr
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display(['False positive accepted! id=' num2str(lc(i,6)) ' with old=' num2str(id) ' (p=' num2str(lc(i,1)) ')'] )
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end
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end
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index = find(PR(:,1) == 1);
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if ~isempty(index)
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maxRecall = PR(index(end),2) * 100;
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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)])
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else
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display('Recall max (Precision=100%) = 0')
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end
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indexAccepted = find(PR(:,3) == 1);
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if ~isempty(indexAccepted)
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maxRecall = PR(indexAccepted(end),2) * 100;
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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)])
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else
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display('Recall max accepted (Precision=100%) = 0')
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end
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display(['ignored = ' num2str(ignored)])
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end
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end
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