Updated loop closure benchmark scripts

archive/2010-LoopClosure/ShowLogs/precisionRecallAllDetectors.m

@@ -0,0 +1,56 @@
+
+#set(0,'defaultAxesFontName', 'Times')
+#set(0,'defaultTextFontName', 'Times')
+
+Prefix = 'loop_closure_detection_datasets';
+Dataset= 'CityCentre'
+Detectors = {'Surf'; 'Sift'; 'CudaSift'; 'GfttBrief'};
+
+% The Ground Truth is a squared bmp file (size must match the log files 
+% length) where white dots mean loop closures.
+% Grey dots mean 'loop closures to ignore', this happens when the rehearsal
+% doesn't match consecutive images together.
+GroundTruthFile = [Prefix '/' Dataset '.png'];
+
+colors = 'kbgrcm';
+figure
+xlabel('Recall (%)')
+ylabel('Precision (%)')
+hold on;
+
+Results = {};
+TimeResults = {};
+
+for i=1:length(Detectors)
+    LogI = importfile([Prefix '/' Dataset '/' Detectors{i} 'LogI.txt']);
+    LogF = importfile([Prefix '/' Dataset '/' Detectors{i} 'LogF.txt']);
+
+    PR = getPrecisionRecall(LogI, LogF, GroundTruthFile, 0.07);
+    plot(100*PR(:,2), 100*PR(:,1), colors(mod(i,6)+1));
+   % hold on;
+   Results{i} = PR;
+   time = sum(LogF(:,2:7),2)+LogF(:,17);%LogF(:,1)
+   TimeResults{i} = time;
+   meanTime = mean(time)
+   meanWm = mean(LogI(:,7))
+   meanDict = mean(LogI(:,6))
+   maxTime = max(time)
+   maxWm = max(LogI(:,7))
+   maxDict = max(LogI(:,6))
+
+    %figure(2)
+    %plot(PR(:,4), PR(:,3), colors(mod(i,6)+1));
+    %hold on;
+end
+legend(Detectors)
+title(Dataset)
+
+figure
+rows=floor(length(Detectors)/2 )+ mod(length(Detectors),  2)
+for i=1:length(TimeResults)
+    subplot(rows, 2, i)
+    plot(TimeResults{i})
+    ylabel('Time (s)')
+    title([Detectors{i} ' (' num2str(mean(TimeResults{i})) 's)'])
+end
+xlabel('Location indexes')

archive/2010-LoopClosure/ShowLogs/showlogs.m

@@ -1,4 +1,4 @@
-function [LogF LogI] = showlogs(PathPrefix, GT_file)
+function [LogF LogI] = showlogs(PathPrefix, GT_file, LogPrefix)
 % [LogF LogI] = showlogs(PathPrefix, GT_file)
 % SHOWLOGS  Plot a RTAB-Map results (LogI.txt, LogF.txt). Just put this 
 %           file in the same directory as LogF.txt and LogI.txt files 
@@ -24,14 +24,15 @@
 
 close all
 
+if nargin < 3, LogPrefix = ''; end
 if nargin < 2, GT_file = ''; end
 if nargin < 1, PathPrefix = '.'; end
 
 %---------------------------------------------------------
 
 display(' ');
 display('Loading log files...');
-LogF = importfile([PathPrefix '/' 'LogF.txt']);
+LogF = importfile([PathPrefix '/' LogPrefix 'LogF.txt']);
 % COLUMN HEADERS : 
 % 1 totalTime
 % 2 timeMemoryUpdate,
@@ -54,7 +55,7 @@
 % 19 timeEmptyingTrash
 % 20 timeRetrievalDbAccess
 
-LogI = importfile([PathPrefix '/' 'LogI.txt']);
+LogI = importfile([PathPrefix '/' LogPrefix 'LogI.txt']);
 % COLUMN HEADERS : 
 % 1 lcHypothesisId,
 % 2 highestHypothesisId,

archive/2010-LoopClosure/run_all_datasets.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+
+DATASETS_FOLDER=""
+if [ $# -eq 1 ] 
+then
+    DATASETS_FOLDER=$1
+else
+echo "Usage: run_all_datasets.sh \"datasets folder\" "
+exit
+fi
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+$SCRIPT_DIR/run_bow.sh $DATASETS_FOLDER/NewCollege $DATASETS_FOLDER/NewCollege.png
+if [ -s LogF.txt ]; then
+mv LogF.txt $DATASETS_FOLDER/NewCollege/LogF.txt
+mv LogI.txt $DATASETS_FOLDER/NewCollege/LogI.txt
+fi
+$SCRIPT_DIR/run_bow.sh $DATASETS_FOLDER/CityCentre $DATASETS_FOLDER/CityCentre.png
+if [ -s LogF.txt ]; then
+mv LogF.txt $DATASETS_FOLDER/CityCentre/LogF.txt
+mv LogI.txt $DATASETS_FOLDER/CityCentre/LogI.txt
+fi
+$SCRIPT_DIR/run_bow.sh $DATASETS_FOLDER/UdeS_1Hz $DATASETS_FOLDER/UdeS_1Hz.png
+if [ -s LogF.txt ]; then
+mv LogF.txt $DATASETS_FOLDER/UdeS_1Hz/LogF.txt
+mv LogI.txt $DATASETS_FOLDER/UdeS_1Hz/LogI.txt
+fi
+

archive/2010-LoopClosure/run_all_detectors.sh

@@ -0,0 +1,37 @@
+#!/bin/bash
+
+DATASET_FOLDER=""
+GT_FILE=""
+MEMORY_THR=0
+if [ $# -ge 2 ] 
+then
+    DATASET_FOLDER=$1
+    GT_FILE=$2
+else
+echo "Usage: run_all_detectors.sh \"dataset folder\" \"ground truth file\" [\"Rtabmap/MemoryThr=0\"]"
+exit
+fi
+
+if [ $# -ge 3 ] 
+then
+    MEMORY_THR=$3
+fi
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 0 false
+mv LogF.txt $DATASET_FOLDER/SurfLogF.txt
+mv LogI.txt $DATASET_FOLDER/SurfLogI.txt
+$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 1 false
+mv LogF.txt $DATASET_FOLDER/SiftLogF.txt
+mv LogI.txt $DATASET_FOLDER/SiftLogI.txt
+$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 1 true
+mv LogF.txt $DATASET_FOLDER/CudaSiftLogF.txt
+mv LogI.txt $DATASET_FOLDER/CudaSiftLogI.txt
+$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 6 false
+mv LogF.txt $DATASET_FOLDER/GfttBriefLogF.txt
+mv LogI.txt $DATASET_FOLDER/GfttBriefLogI.txt
+#$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 11 false
+#mv LogF.txt $DATASET_FOLDER/SuperPointLogF.txt
+#mv LogI.txt $DATASET_FOLDER/SuperPointLogI.txt
+

archive/2010-LoopClosure/run_bow.sh

@@ -2,22 +2,38 @@
 
 DATASET_FOLDER=""
 GT_FILE=""
-if [ $# -eq 2 ] 
+MEMORY_THR=300
+DETECTOR=0
+GPU=false
+if [ $# -ge 2 ] 
 then
     DATASET_FOLDER=$1
     GT_FILE=$2
 else
-echo "Usage: run_bow.sh \"dataset folder\" \"ground truth file\""
+echo "Usage: run_bow.sh \"dataset folder\" \"ground truth file\" [\"Rtabmap/MemoryThr=300\"] [\"Kp/DetectorStrategy=0\"] [\"GPU=false\"]"
 exit
 fi
 
+if [ $# -ge 3 ] 
+then
+    MEMORY_THR=$3
+fi
+if [ $# -ge 4 ] 
+then
+    DETECTOR=$4
+fi 
+if [ $# -ge 5 ] 
+then
+    GPU=$5
+fi 
+
 rtabmap-console \
        -quiet \
        --Rtabmap/StatisticLogged true\
        --Rtabmap/StatisticLoggedHeaders false\
-       --Kp/DetectorStrategy 0\
+       --Kp/DetectorStrategy $DETECTOR\
        --SURF/HessianThreshold 150\
-       --Rtabmap/MemoryThr 300\
+       --Rtabmap/MemoryThr $MEMORY_THR\
        --Rtabmap/LoopRatio 0.9\
        --Mem/STMSize 30\
        --Vis/MaxFeatures 400\
@@ -27,6 +43,11 @@ rtabmap-console \
        --Mem/BadSignaturesIgnored true\
        --Mem/RehearsalSimilarity 0.20\
        --Mem/RecentWmRatio 0.20\
+       --FAST/Gpu $GPU\
+       --GFTT/Gpu $GPU\
+       --ORB/Gpu $GPU\
+       --SIFT/Gpu $GPU\
+       --SURF/GpuVersion $GPU\
        -gt "$GT_FILE"\
        "$DATASET_FOLDER"