Commit ea6c2321 authored by dla.adolfsson@gmail.com's avatar dla.adolfsson@gmail.com
Browse files

added matlab files for plotting and licenses

parent 81b05cd0
graph_map (c) by Daniel Adolfsson, Henrik Andreasson
ndt_tools is licensed under a
Creative Commons Attribution-ShareAlike 4.0 International License.
You should have received a copy of the license along with this
work. If not, see <http://creativecommons.org/licenses/by-sa/4.0/>.
...@@ -4,41 +4,12 @@ ...@@ -4,41 +4,12 @@
<version>2.0.0</version> <version>2.0.0</version>
<description>The graph_localization package</description> <description>The graph_localization package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="daniel.adolfsson@oru.se">Daniel Adolfsson</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/graph_localization</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<maintainer email="daniel.adolfsson@oru.se">Daniel Adolfsson</maintainer>
<license>CC BY-SA 4.0</license>
<author>Daniel Adolfsson</author>
<author>Henrik Andreasson</author>
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
<build_depend>cmake_modules</build_depend> <build_depend>cmake_modules</build_depend>
<build_depend>libpcl-all-dev</build_depend> <build_depend>libpcl-all-dev</build_depend>
...@@ -50,7 +21,6 @@ ...@@ -50,7 +21,6 @@
<build_depend>laser_geometry</build_depend> <build_depend>laser_geometry</build_depend>
<build_depend>ndt_map</build_depend> <build_depend>ndt_map</build_depend>
<build_depend>graph_map</build_depend> <build_depend>graph_map</build_depend>
<!--build_depend>ndt_mcl</build_depend-->
<build_depend>ndt_registration</build_depend> <build_depend>ndt_registration</build_depend>
<build_depend>eigen_conversions</build_depend> <build_depend>eigen_conversions</build_depend>
<build_depend>tf_conversions</build_depend> <build_depend>tf_conversions</build_depend>
...@@ -86,10 +56,6 @@ ...@@ -86,10 +56,6 @@
<run_depend>ndt_generic</run_depend> <run_depend>ndt_generic</run_depend>
<run_depend>ndt_offline</run_depend> <run_depend>ndt_offline</run_depend>
<!-- The run_depend tag contains other, unspecified, tags -->
<!-- The export tag contains other, unspecified, tags -->
<export> <export>
<cpp lflags="-L${prefix}/lib" cflags="-I${prefix}/include"/> <cpp lflags="-L${prefix}/lib" cflags="-I${prefix}/include"/>
</export> </export>
......
...@@ -4,43 +4,12 @@ ...@@ -4,43 +4,12 @@
<version>2.0.0</version> <version>2.0.0</version>
<description>The graph_map package</description> <description>The graph_map package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="daniel.adolfsson@oru.se">Daniel Adolfsson</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/graph_map</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<maintainer email="daniel.adolfsson@oru.se">Daniel Adolfsson</maintainer>
<license>CC BY-SA 4.0</license>
<author>Daniel Adolfsson</author> <author>Daniel Adolfsson</author>
<author>Henrik Andreasson</author> <author>Henrik Andreasson</author>
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
<build_depend>cmake_modules</build_depend> <build_depend>cmake_modules</build_depend>
<build_depend>libpcl-all-dev</build_depend> <build_depend>libpcl-all-dev</build_depend>
......
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
<maintainer email="henrik.andreasson@oru.se">Henrik Andreasson</maintainer> <maintainer email="henrik.andreasson@oru.se">Henrik Andreasson</maintainer>
<maintainer email="todor.stoyanov@oru.se">Todor Stoyanov</maintainer> <maintainer email="todor.stoyanov@oru.se">Todor Stoyanov</maintainer>
<license>BSD</license> <license>CC BY-SA 4.0</license>
<author>Henrik Andreasson</author> <author>Henrik Andreasson</author>
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
......
...@@ -5,8 +5,8 @@ ...@@ -5,8 +5,8 @@
<description>The ndt_evaluation package</description> <description>The ndt_evaluation package</description>
<maintainer email="henrik.andreasson@oru.se">Henrik Andreasson</maintainer> <maintainer email="henrik.andreasson@oru.se">Henrik Andreasson</maintainer>
<license>CC BY-SA 4.0</license>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
<build_depend>cmake_modules</build_depend> <build_depend>cmake_modules</build_depend>
<build_depend>pcl_ros</build_depend> <build_depend>pcl_ros</build_depend>
......
clc
clear all
close all
filename='/home/daniel/Documents/results/arla/results_m=node_position_esg_dataset=arla-2012_08_31.txt'
Table=import_data_textfile(filename);
methods=['node_position ';
'closest_observation ';
'overlap ';
'overlap_registration']
metric='translational_error_mean'
x_variable='interchange_radius'
color='rbgk'
for i=1:size(methods,1)
method=deblank(methods(i,:))
ydata=table2array(Table(strcmp(Table.switch_method, method ), metric));
xdata=table2array(Table(strcmp(Table.switch_method, method ), x_variable));
itr=color(i)
plot(xdata,ydata,strcat(color(i),'.'))
axis([min(xdata) max(xdata) 0 0.2])
hold on
end
xlabel( strcat(strrep(x_variable,'_',' '),' [m]') )
ylabel( strcat(strrep(metric,'_',' '),' [m]') )
legend( strcat(strrep(methods(1,:),'_',' '),' [m]'), strcat(strrep(methods(2,:),'_',' '),' [m]') , strcat(strrep(methods(3,:),'_',' '),' [m]') ,strcat(strrep(methods(4,:),'_',' '),' [m]') )
\ No newline at end of file
clc clc
clear all clear all
close all close all
filename='/home/daniel/.ros/maps/results/results_m=node_position_l=closest_observation_11_28_test_localisation_keyframe.txt' filename='/home/daniel/Documents/results/arla/results_m=node_position_esg_dataset=arla-2012_08_31.txt'
%filename='/home/daniel/.ros/maps/eval/results.txt' %filename='/home/daniel/.ros/maps/eval/results.txt'
eval = Evaluations(filename) eval = Evaluations(filename)
eval.Table eval.Table
axis_variable='interchange_radius' axis_variable='interchange_radius'
constraint_variable={'resolution';'submap'} constraint_variable={'resolution';'submap'}
constraint_val=[0.7 1.1 1.5]; constraint_val=[0.6 0.7 0.8 0.9 1];
% axis_variable='interchange_radius' % axis_variable='interchange_radius'
% constraint_variable={'resolution';'submap'} % constraint_variable={'resolution';'submap'}
...@@ -103,7 +103,7 @@ end ...@@ -103,7 +103,7 @@ end
% drawnow % drawnow
% %
% w=waitforbuttonpress % w=waitforbuttonpress
% %
% end % end
% figure('Name',strcat('resolution=',num2str(constraint_val))); % figure('Name',strcat('resolution=',num2str(constraint_val)));
......
function resultsmnodepositionesgdatasetarla20120831 = importfile(filename, startRow, endRow)
%IMPORTFILE Import numeric data from a text file as a matrix.
% RESULTSMNODEPOSITIONESGDATASETARLA20120831 = IMPORTFILE(FILENAME) Reads
% data from text file FILENAME for the default selection.
%
% RESULTSMNODEPOSITIONESGDATASETARLA20120831 = IMPORTFILE(FILENAME,
% STARTROW, ENDROW) Reads data from rows STARTROW through ENDROW of text
% file FILENAME.
%
% Example:
% resultsmnodepositionesgdatasetarla20120831 = importfile('results_m=node_position_esg_dataset=arla-2012_08_31.txt', 2, 81);
%
% See also TEXTSCAN.
% Auto-generated by MATLAB on 2018/08/31 11:48:17
%% Initialize variables.
delimiter = ' ';
if nargin<=2
startRow = 2;
endRow = inf;
end
%% Format string for each line of text:
% column1: double (%f)
% column2: double (%f)
% column3: double (%f)
% column4: double (%f)
% column5: double (%f)
% column6: double (%f)
% column7: double (%f)
% column8: double (%f)
% column9: double (%f)
% column10: double (%f)
% column11: double (%f)
% column12: double (%f)
% column13: double (%f)
% column14: double (%f)
% column15: double (%f)
% column16: double (%f)
% column17: double (%f)
% column18: text (%s)
% For more information, see the TEXTSCAN documentation.
formatSpec = '%f%f%f%f%f%f%f%f%f%f%f%f%f%f%f%f%f%s%[^\n\r]';
%% Open the text file.
fileID = fopen(filename,'r');
%% Read columns of data according to format string.
% This call is based on the structure of the file used to generate this
% code. If an error occurs for a different file, try regenerating the code
% from the Import Tool.
dataArray = textscan(fileID, formatSpec, endRow(1)-startRow(1)+1, 'Delimiter', delimiter, 'MultipleDelimsAsOne', true, 'HeaderLines', startRow(1)-1, 'ReturnOnError', false);
for block=2:length(startRow)
frewind(fileID);
dataArrayBlock = textscan(fileID, formatSpec, endRow(block)-startRow(block)+1, 'Delimiter', delimiter, 'MultipleDelimsAsOne', true, 'HeaderLines', startRow(block)-1, 'ReturnOnError', false);
for col=1:length(dataArray)
dataArray{col} = [dataArray{col};dataArrayBlock{col}];
end
end
%% Close the text file.
fclose(fileID);
%% Post processing for unimportable data.
% No unimportable data rules were applied during the import, so no post
% processing code is included. To generate code which works for
% unimportable data, select unimportable cells in a file and regenerate the
% script.
%% Create output variable
resultsmnodepositionesgdatasetarla20120831 = table(dataArray{1:end-1}, 'VariableNames', {'compared_pose_pairs','translational_error_rmse','translational_error_mean','translational_error_median','translational_error_std','translational_error_min','translational_error_max','interchange_radius','compound_radius','resolution','m_keyframe','m_keyframed','m_keyframedeg','alpha','submap','l_keyframed','l_keyframedeg','switch_method'});
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment