Added script to reproduce results from loop closure detection paper. …

…Added option to show Recall at 100% precision directly from rtabmap-console. Fixed retrieval not working on loop closure detection mode-only. Fixed showLogs.m error with Octave.

archive/2010-LoopClosure/README.md

@@ -0,0 +1,25 @@
+
+ To reproduce results (based on parameters of this [paper](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/b/bc/TRO2013.pdf)):
+
+ ```
+ rtabmap-console \
+ --Rtabmap/StatisticLogged true\
+ --Rtabmap/StatisticLoggedHeaders false\
+ --Kp/DetectorStrategy 0\
+ --Rtabmap/MemoryThr 300\
+ --Rtabmap/LoopRatio 0.9\
+ --SURF/HessianThreshold 150\
+ --Mem/STMSize 30\
+ --Vis/MaxFeatures 400\
+ --Kp/TfIdfLikelihoodUsed false\
+ --Kp/MaxFeatures 400\
+ --Kp/BadSignRatio 0.25\
+ --Mem/BadSignaturesIgnored true\
+ --Mem/RehearsalSimilarity 0.20\
+ --Mem/RecentWmRatio 0.2\
+ -gt "~/Downloads/UdeS_1Hz.png"\
+ ~/Downloads/UdeS_1Hz
+ ```
+Adding the ground truth file here is optional to show recall at 100% precision at the end of the process directly without using the octave/MATLAB script below. For NewCollege and CityCentre datasets, `rtabmap-imagesJoiner` can be used to assemble the left and right images together.
+
+ To analyze with Octave/MATLAB, drop `LogF.txt` and `LogI.txt` generated files from command above in ShowLogs directly, then execute `showLogs.m`.

archive/2010-LoopClosure/ShowLogs/getPrecisionRecall.m

@@ -32,8 +32,7 @@
  if size(GroundTruth, 1) ~= length(LogF(:,1)) || size(GroundTruth, 1) ~= length(LogI(:,1))
  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)) ')'])
  end
-
-
+
  %[highestHypot, CorrespondingID, GT, Accepted, Good, Index, UnderLoopRatio] descending order
  if(sum(LogI(:,8) == 10) > 0)
  %OLD
@@ -111,14 +110,14 @@
  index = find(PR(:,1) == 1);
  if ~isempty(index)
  maxRecall = PR(index(end),2) * 100;
- 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)))])
+ 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)])
  else
  display('Recall max (Precision=100%) = 0')
  end
  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)))])
+ 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)])
  else
  display('Recall max accepted (Precision=100%) = 0')
  end

archive/2010-LoopClosure/ShowLogs/showlogs.m

@@ -22,6 +22,8 @@
 set(0,'defaultAxesFontName', 'Times')
 set(0,'defaultTextFontName', 'Times')
 
+close all
+
 if nargin < 2, GT_file = ''; end
 if nargin < 1, PathPrefix = '.'; end
 
@@ -325,7 +327,7 @@
 x(LogI(:, 1) == 0) = [];
 plot(x,y, 'g.')
 
-set(datacursormode,'UpdateFcn',@(Y,X){sprintf('X: %0.2f',X.Position(1)),sprintf('Y: %0.2f',X.Position(2))})
+%set(datacursormode,'UpdateFcn',@(Y,X){sprintf('X: %0.2f',X.Position(1)),sprintf('Y: %0.2f',X.Position(2))})
 % %matched sign words
 % y = LogI(:,2);
 % x = 1:length(y);

archive/2010-LoopClosure/run_all.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+$SCRIPT_DIR/run_bow.sh ~/loop_closure_detection_datasets/NewCollege ~/loop_closure_detection_datasets/NewCollege.png
+$SCRIPT_DIR/run_bow.sh ~/loop_closure_detection_datasets/CityCentre ~/loop_closure_detection_datasets/CityCentre.png
+$SCRIPT_DIR/run_bow.sh ~/loop_closure_detection_datasets/UdeS_1Hz ~/loop_closure_detection_datasets/UdeS_1Hz.png
+

archive/2010-LoopClosure/run_bow.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+
+DATASET_FOLDER=""
+GT_FILE=""
+if [ $# -eq 2 ] 
+then
+ DATASET_FOLDER=$1
+ GT_FILE=$2
+else
+echo "Usage: run_bow.sh \"dataset folder\" \"ground truth file\""
+exit
+fi
+
+rtabmap-console \
+ -quiet \
+ --Rtabmap/StatisticLogged true\
+ --Rtabmap/StatisticLoggedHeaders false\
+ --Kp/DetectorStrategy 0\
+ --SURF/HessianThreshold 150\
+ --Rtabmap/MemoryThr 300\
+ --Rtabmap/LoopRatio 0.9\
+ --Mem/STMSize 30\
+ --Vis/MaxFeatures 400\
+ --Kp/TfIdfLikelihoodUsed false\
+ --Kp/MaxFeatures 400\
+ --Kp/BadSignRatio 0.25\
+ --Mem/BadSignaturesIgnored true\
+ --Mem/RehearsalSimilarity 0.20\
+ --Mem/RecentWmRatio 0.20\
+ -gt "$GT_FILE"\
+ "$DATASET_FOLDER"
+

corelib/include/rtabmap/core/Rtabmap.h

@@ -151,6 +151,8 @@ class RTABMAP_CORE_EXPORT Rtabmap
 
  float getTimeThreshold() const {return _maxTimeAllowed;} // in ms
  void setTimeThreshold(float maxTimeAllowed); // in ms
+ int getMemoryThreshold() const {return _maxMemoryAllowed;} // in nodes
+ void setMemoryThreshold(int maxMemoryAllowed); // in nodes
 
  void setInitialPose(const Transform & initialPose);
  int triggerNewMap();

corelib/src/Rtabmap.cpp

@@ -2532,37 +2532,37 @@ bool Rtabmap::process(
  // insert them first to make sure they are loaded.
  reactivatedIds.insert(reactivatedIds.begin(), retrievalLocalIds.begin(), retrievalLocalIds.end());
  }
+ }
 
-  //============================================================
-  // RETRIEVAL 3/3 : Load signatures from the database
-  //============================================================
-  if(reactivatedIds.size())
-  {
-  // Not important if the loop closure hypothesis don't have all its neighbors loaded,
-  // only a loop closure link is added...
-  signaturesRetrieved = _memory->reactivateSignatures(
-  reactivatedIds,
-  _maxRetrieved+(unsigned int)retrievalLocalIds.size(), // add path retrieved
-  timeRetrievalDbAccess);
+ //============================================================
+ // RETRIEVAL 3/3 : Load signatures from the database
+ //============================================================
+ if(reactivatedIds.size())
+ {
+ // Not important if the loop closure hypothesis don't have all its neighbors loaded,
+ // only a loop closure link is added...
+ signaturesRetrieved = _memory->reactivateSignatures(
+ reactivatedIds,
+ _maxRetrieved+(unsigned int)retrievalLocalIds.size(), // add path retrieved
+ timeRetrievalDbAccess);
 
-  ULOGGER_INFO("retrieval of %d (db time = %fs)", (int)signaturesRetrieved.size(), timeRetrievalDbAccess);
+ ULOGGER_INFO("retrieval of %d (db time = %fs)", (int)signaturesRetrieved.size(), timeRetrievalDbAccess);
 
-  timeRetrievalDbAccess += timeGetNeighborsTimeDb + timeGetNeighborsSpaceDb;
-  UINFO("total timeRetrievalDbAccess=%fs", timeRetrievalDbAccess);
+ timeRetrievalDbAccess += timeGetNeighborsTimeDb + timeGetNeighborsSpaceDb;
+ UINFO("total timeRetrievalDbAccess=%fs", timeRetrievalDbAccess);
 
-  // Immunize just retrieved signatures
-  immunizedLocations.insert(signaturesRetrieved.begin(), signaturesRetrieved.end());
+ // Immunize just retrieved signatures
+ immunizedLocations.insert(signaturesRetrieved.begin(), signaturesRetrieved.end());
 
- if(!signaturesRetrieved.empty() && !_globalScanMap.empty())
- {
- UWARN("Some signatures have been retrieved from memory management, clearing global scan map...");
- _globalScanMap.clear();
- _globalScanMapPoses.clear();
- }
+ if(!signaturesRetrieved.empty() && !_globalScanMap.empty())
+ {
+ UWARN("Some signatures have been retrieved from memory management, clearing global scan map...");
+ _globalScanMap.clear();
+ _globalScanMapPoses.clear();
  }
- timeReactivations = timer.ticks();
- ULOGGER_INFO("timeReactivations=%fs", timeReactivations);
  }
+ timeReactivations = timer.ticks();
+ ULOGGER_INFO("timeReactivations=%fs", timeReactivations);
 
  //============================================================
  // Proximity detections
@@ -4739,6 +4739,16 @@ void Rtabmap::setTimeThreshold(float maxTimeAllowed)
  ULOGGER_WARN("Time threshold set to %fms, it is not in seconds!", _maxTimeAllowed);
  }
 }
+void Rtabmap::setMemoryThreshold(int maxMemoryAllowed)
+{
+ //must be positive, 0 mean inf memory allowed (no memory limit)
+ _maxMemoryAllowed = maxMemoryAllowed;
+ if(_maxMemoryAllowed < 0)
+ {
+ ULOGGER_WARN("maxMemoryAllowed < 0, then setting it to 0 (inf).");
+ _maxMemoryAllowed = 0;
+ }
+}
 
 void Rtabmap::setWorkingDirectory(std::string path)
 {