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arrenglover / openfabmap

Open-source C++ code for the FAB-MAP visual place recognition algorithm
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Create unit tests. #8

Open kmactavish opened 9 years ago

kmactavish commented 9 years ago

I've started using the Catch unit testing framework. I'll add it in an upcoming pull request, but we should think about what unit tests would be beneficial for FabMap.

lynnsky commented 8 years ago

Sorry to bother you.I see you paper "Towards Hierarchical Place Recognition for Long-Term Autonomy". Could I ask you how to get Precison-Recall curves using the New College datasets.I downloaded NewCollegeGroundTruth.mat. FabMap1.0 outputs a matrix psame.But this psame matrix is not a 0-1 matrix,and the high probability entries on the main diagonal indicate the detection of new places. So I set main diagonal element in psame to 0.The matlab code:

psame=psame+diag(-diag(psame)); psame=(psame>=0.99); npsame=length(find(psame==1)); tp=length(intersect(find(psame1==1),find(truth==1))); ntruth=length(find(truth==1)); r=tp/ntruth; p=tp/npsame;

Is it right?I find the ntruth is too big and tp is too small compared to npsame.

kmactavish commented 8 years ago

This belongs in a separate thread, you can tag people using @wengxiuling36 to bring them into the conversation. I've moved your question.

lynnsky commented 8 years ago

OK，You are so nice.Thank you @kmactavish