run_draw_distribution.m

close all;
clear all;

disp('== Position/Error Distribution for Triangulation Toolbox ==');

% Configure the drawing target %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
target.file = 'run_eval_random.mat';
target.ex = 1;          % Index of experiment to analyze in detail
target.v = 6;           % Index of variable to analyze in detail
histogram.scale = 6;    % The scale of histogram (width = scale * median)
histogram.bin = 50;     % The number of bins for histogram

% Draw distributions (position, position error, orientation error) %%%%%%%%%%%%
% Load the target evaluation file
load(target.file);

% Draw distribution of estimated position with the ground truth
figure('Color', [1, 1, 1]);
hold on;
    set(gca, 'FontSize', 12);
    box on;
    grid on;
    for m = config.algoSelM
        plot3(record.pose{target.ex,target.v}(:,1,m), record.pose{target.ex,target.v}(:,2,m), ...
            record.pose{target.ex,target.v}(:,3,m), [config.algorithm{m,config.algoLine}(1), '.'])
    end
    for i = 1:size(config.pose,1)
        truth = config.pose(i,1:3);
        line(get(gca, 'XLim'), [truth(2), truth(2)], [truth(3), truth(3)], 'Color', 'y', 'LineWidth', 1);
        line([truth(1), truth(1)], get(gca, 'YLim'), [truth(3), truth(3)], 'Color', 'y', 'LineWidth', 1);
        line([truth(1), truth(1)], [truth(2), truth(2)], get(gca, 'ZLim'), 'Color', 'y', 'LineWidth', 1);
    end
    xlabel('X [m]', 'FontSize', 12);
    ylabel('Y [m]', 'FontSize', 12);
    zlabel('Z [m]', 'FontSize', 12);
    legend(config.algorithm(config.algoSelM,config.algoName), 'FontSize', 12);
hold off;

% Draw distribution of position/orientation error (CDF)
xtext = { 'distance [m]', 'angle [deg]', 'angle [deg]' };
ytext = { 'P(position error < distance)', 'P(orientation error < angle)', 'P(reprojection error < angle)' };
for cr = 1:(size(criteria.name, 2) - 2)
    med = median(median(record.perf{target.ex,target.v}(:,cr,config.algoSelM)));
    if med == 0, med = 1; end
    bins = 0:(histogram.scale*med/histogram.bin):histogram.scale*med;
    isDrawn = [];
    figure('Color', [1, 1, 1]);
    hold on;
        set(gca, 'FontSize', 12);
        box on;
        grid on;
        for m = config.algoSelM
            if (cr == 2) && (config.algorithm{m,config.algoVald}(end) == 0), continue; end
            N = length(record.perf{target.ex,target.v}(:,cr,m));
            cdfN = histc(record.perf{target.ex,target.v}(:,cr,m), bins) / N;
            for i = 2:size(cdfN)
                cdfN(i) = cdfN(i-1) + cdfN(i);
            end
            plot(bins, cdfN, config.algorithm{m,config.algoLine}, 'LineWidth', 2, 'MarkerSize', 2);
            isDrawn = [isDrawn, m];
        end
        axis([0, histogram.scale*med, 0, 1]);
        xlabel(xtext{cr}, 'FontSize', 12);
        ylabel(ytext{cr}, 'FontSize', 12);
        legend(config.algorithm(isDrawn,config.algoName), 'FontSize', 12);
    hold off;
end