plot_pr_curve.asv

%% CDF
clc
close all;
clear all;

%% Color parameter
num_objects = 4; 
linecolors = linspecer(num_objects, 'qualitative');
LineColors = flipud(linecolors);

%% Load output file
% Mesh objects
fileID = fopen('/home/shapelim/multi_ws/src/hydra_multi_system/hydra_multi_evaluation/scripts/results/0804_w_gt_w_plants/uhumans2__mesh_objects__ALIGNED_ROBOTS/dists_for_precision.txt', 'r');
precision_data_mesh_objects = textscan(fileID, '%s %s %f %f');
fclose(fileID);

fileID = fopen('/home/shapelim/multi_ws/src/hydra_multi_system/hydra_multi_evaluation/scripts/results/0804_w_gt_w_plants/uhumans2__mesh_objects__ALIGNED_ROBOTS/dists_for_recall.txt', 'r');
recall_data_mesh_objects = textscan(fileID, '%s %s %f %f');
fclose(fileID);

% Khronos
fileID = fopen('/home/shapelim/multi_ws/src/hydra_multi_system/hydra_multi_evaluation/scripts/results/0804_w_gt_w_plants/uhumans2__khronos__ALIGNED_ROBOTS/dists_for_precision.txt', 'r');
precision_data_khronos = textscan(fileID, '%s %s %f %f');
fclose(fileID);

fileID = fopen('/home/shapelim/multi_ws/src/hydra_multi_system/hydra_multi_evaluation/scripts/results/0804_w_gt_w_plants/uhumans2__khronos__ALIGNED_ROBOTS/dists_for_recall.txt', 'r');
recall_data_khronos = textscan(fileID, '%s %s %f %f');
fclose(fileID);

% CRISP w/o Verification
fileID = fopen('/home/shapelim/multi_ws/src/hydra_multi_system/hydra_multi_evaluation/scripts/results/0804_w_gt_w_plants/uhumans2__crisp_wo_cert__ALIGNED_ROBOTS/chamfer_distances.txt', 'r');
precison_data_crisp_wo_verif = textscan(fileID, '%s %s %f %f %f %f');
fclose(fileID);

fileID = fopen('/home/shapelim/multi_ws/src/hydra_multi_system/hydra_multi_evaluation/scripts/results/0804_w_gt_w_plants/uhumans2__crisp_wo_cert__ALIGNED_ROBOTS/chamfer_distances.txt', 'r');
recall_data_crisp_wo_verif = textscan(fileID, '%s %s %f %f');
fclose(fileID);

% CRISP
fileID = fopen('/home/shapelim/multi_ws/src/hydra_multi_system/hydra_multi_evaluation/scripts/results/0804_w_gt_w_plants/uhumans2__crisp__ALIGNED_ROBOTS/chamfer_distances.txt', 'r');
precison_data_crisp = textscan(fileID, '%s %s %f %f %f %f');
fclose(fileID);

fileID = fopen('/home/shapelim/multi_ws/src/hydra_multi_system/hydra_multi_evaluation/scripts/results/0804_w_gt_w_plants/uhumans2__crisp__ALIGNED_ROBOTS/chamfer_distances.txt', 'r');
recall_data_crisp = textscan(fileID, '%s %s %f %f');
fclose(fileID);


disp("Loading data complete!");
%% Plot parameters;
MAX_RANGE = 0.5; 
INTERVAL = 100;   
linewidth = 2.5;
markerSize = 15; 
LegendFontSize = 20;
ticksFontSIze = 20;
XLabelFontSize = 20;  YLabelFontSize = 20;

%% Threshold linspace
gap = MAX_RANGE / INTERVAL;
x_linspace = 0:gap:MAX_RANGE;

%% Extract distance arrays
mesh_objects_dist = precision_data_mesh_objects{4};
khronos_dist = precision_data_khronos{4};
crisp_wo_certifier_dist = precison_data_crisp_wo_verif{4};
crisp_dist = precison_data_crisp{4};

recall_mesh_objects_dist = recall_data_mesh_objects{4};
recall_khronos_dist = recall_data_khronos{4};
recall_crisp_wo_certifier_dist = recall_data_crisp_wo_verif{4};
recall_crisp_dist = recall_data_crisp{4};

%% Compute precision-recall
precision_recall = @(prec_dists, rec_dists, thresh) ...
    [sum(prec_dists <= thresh) / length(prec_dists), ...
     sum(rec_dists <= thresh) / length(rec_dists)];

    PR_mesh(:, i) = precision_recall(mesh_objects_dist, recall_mesh_objects_dist, t);
    PR_khronos(:, i) = precision_recall(khronos_dist, recall_khronos_dist, t);
    PR_crisp_wo_cert(:, i) = precision_recall(crisp_wo_certifier_dist, recall_crisp_wo_certifier_dist, t);
    PR_crisp(:, i) = precision_recall(crisp_dist, recall_crisp_dist, t);


%%
PR_mesh = zeros(2, length(x_linspace));
PR_khronos = zeros(2, length(x_linspace));
PR_crisp_wo_cert = zeros(2, length(x_linspace));
PR_crisp = zeros(2, length(x_linspace));

for i = 1:length(x_linspace)
    t = x_linspace(i);
    PR_mesh(:, i) = precision_recall(mesh_objects_dist, recall_mesh_objects_dist, t);
    PR_khronos(:, i) = precision_recall(khronos_dist, recall_khronos_dist, t);
    PR_crisp_wo_cert(:, i) = precision_recall(crisp_wo_certifier_dist, recall_crisp_wo_certifier_dist, t);
    PR_crisp(:, i) = precision_recall(crisp_dist, recall_crisp_dist, t);
end

%% Plot Precision-Recall curve
figure("name", "PR Curve", 'Position', [50, 50, 500, 500]);
set(gca,'LooseInset', max(get(gca,'TightInset'), 0.02))
set(gca, 'FontSize', 25);
set(groot, 'defaultAxesTickLabelInterpreter','latex');

plot(PR_mesh(2, :), PR_mesh(1, :), '-.^', 'Color', LineColors(3, :), ...
    "MarkerSize", markerSize, 'LineWidth', linewidth, 'MarkerIndices',1:8:length(x_linspace));
hold on;
plot(PR_khronos(2, :), PR_khronos(1, :), '--d', 'Color', LineColors(1, :), ...
    "MarkerSize", markerSize, 'LineWidth', linewidth, 'MarkerIndices',1:8:length(x_linspace));
plot(PR_crisp_wo_cert(2, :), PR_crisp_wo_cert(1, :), '-s', 'Color', LineColors(4, :), ...
    "MarkerSize", markerSize, 'LineWidth', linewidth, 'MarkerIndices',1:8:length(x_linspace));
plot(PR_crisp(2, :), PR_crisp(1, :), '-o', 'Color', LineColors(2, :), ...
    "MarkerSize", markerSize, 'LineWidth', linewidth, 'MarkerIndices',1:8:length(x_linspace));

lgd = legend({'Hydra','Khronos', 'Ours W/o Cert.', 'Ours'}, ...
    'Location','southeast','NumColumns',1, 'fontsize', LegendFontSize);
lgd.Interpreter = 'latex';
grid on;
set(gca, 'FontSize', ticksFontSIze);

xlabel('Recall', "FontSize", XLabelFontSize, "Interpreter", 'latex')
ylabel('Precision', "FontSize", YLabelFontSize, "Interpreter", 'latex')

print(gcf, "imgs/precision_recall_curve.png",'-dpng','-r300');
exportgraphics(gcf, 'imgs/precision_recall_curve.pdf', 'ContentType', 'vector');