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)
 {