paper_quality_plot.matlab/cdf2.asv at main · LimHyungTae/paper_quality_plot.matlab · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
%% CDF
clc
close all;
clear all;

%% Color parameter
num_objects = 5;
linecolors = linspecer(num_objects, 'qualitative');
LineColors = flipud(linecolors);

%% Load output file
fileID = fopen('/media/shapelim/UX9804/uHumans2_cloud/0730_w_gt_w_labels_to_skip/uhumans2__mesh_objects__ALIGNED_ROBOTS/chamfer_distances.txt', 'r');
mesh_objects = textscan(fileID, '%s %s %f %f %f %f');
fclose(fileID);

fileID = fopen('/media/shapelim/UX9804/uHumans2_cloud/0730_w_gt_w_labels_to_skip/uhumans2__khronos__ALIGNED_ROBOTS/chamfer_distances.txt', 'r');
khronos = textscan(fileID, '%s %s %f %f %f %f');
fclose(fileID);

fileID = fopen('/media/shapelim/UX9804/uHumans2_cloud/0730_w_gt_w_labels_to_skip/uhumans2__crisp__ALIGNED_ROBOTS/chamfer_distances.txt', 'r');
crisp_wo_certifier = textscan(fileID, '%s %s %f %f %f %f');
fclose(fileID);

fileID = fopen('/media/shapelim/UX9804/uHumans2_cloud/0730_w_gt_w_labels_to_skip/uhumans2__crisp__ALIGNED_ROBOTS/chamfer_distances.txt', 'r');
crisp = textscan(fileID, '%s %s %f %f %f %f');
fclose(fileID);

disp("Loading data complete!");
%% Plot parameters;
MAX_RANGE = 3.0;
INTERVAL = 1000;
lindwidth = 1.5;
LegendFontSize = 13;
XLabelFontSize = 12;  YLabelFontSize = 12;

%% Draw cdf of alpha:
figure("name", "alpha");
set(gca,'LooseInset', max(get(gca,'TightInset'), 0.02))
set(groot, 'defaultAxesTickLabelInterpreter','latex');
disp("Drawing cdf of alpha...");

gap = MAX_RANGE / 1000;
x_linspace = 0:gap:MAX_RANGE;
mesh_objects_cum = calcCDF(mesh_objects{4}, MAX_RANGE, INTERVAL) * 100;
khronos_cum = calcCDF(khronos{4}, MAX_RANGE, INTERVAL) * 100;
crisp_wo_certifier_cum = calcCDF(crisp_wo_certifier{4}, MAX_RANGE, INTERVAL) * 100;
crisp_cum = calcCDF(crisp{4}, MAX_RANGE, INTERVAL) * 100;


plot(x_linspace, mesh_objects_cum, '-^', 'Color', LineColors(3, :),  'LineWidth', lindwidth, 'MarkerIndices',1:50:length(x_linspace));
hold on;
plot(x_linspace, khronos_cum, '--o', 'Color', LineColors(1, :), 'LineWidth', lindwidth, 'MarkerIndices',1:50:length(x_linspace));
% plot(x_linspace, e_ge_cum,'--+','MarkerIndices',1:50:length(x_linspace));
plot(x_linspace, crisp_cum,'--s', 'Color', LineColors(2, :),  'LineWidth', lindwidth, 'MarkerIndices',1:50:length(x_linspace));


plot(x_linspace, crisp_wo_certifier_cum, '-o', 'Color', LineColors(4, :),  'LineWidth', lindwidth, 'MarkerIndices',1:50:length(x_linspace));
% plot(x_linspace, e_ga_cum, '-+','MarkerIndices',1:50:length(x_linspace));
% plot(x_linspace, a_la_cum, '-s', 'Color', LineColors(5, :),  'LineWidth', lindwidth, 'MarkerIndices',1:50:length(x_linspace));
lgd = legend({'Hydra','LSTM-\texttt{Minimal}', 'Model-aided', 'RNN-\texttt{All}'},'Location','southeast','NumColumns',2, 'fontsize', LegendFontSize);
lgd.Interpreter = 'latex';
grid on;

xlabel('Absolute Error (deg)', "FontSize", XLabelFontSize, "Interpreter", 'latex')
ylabel('Percentage (\%)', "FontSize", YLabelFontSize, "Interpreter", 'latex')

saveas(gcf,"imgs/total_cdf_alpha.png");
% print -depsc 'imgs/total_cdf_alpha.eps'

disp("Drawing cdf of alpha complete");