i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script.

Browse Source
This commit is contained in:
matlabbe
2020-05-20 09:45:39 -04:00
parent 63d40b2240
commit 360a153565
18 changed files with 255 additions and 148 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
guilib/src/AboutDialog.cpp
View File

@@ -73,12 +73,12 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_sptorch->setText("No");
_ui->label_sptorch_license->setEnabled(false);
#endif
#ifdef RTABMAP_SUPERGLUE_PYTORCH
_ui->label_sgpytorch->setText("Yes");
_ui->label_sgpytorch_license->setEnabled(true);
#ifdef RTABMAP_PYMATCHER
_ui->label_pymatcher->setText("Yes");
_ui->label_pymatcher_license->setEnabled(true);
#else
_ui->label_sptorch->setText("No");
_ui->label_sptorch_license->setEnabled(false);
_ui->label_pymatcher->setText("No");
_ui->label_pymatcher_license->setEnabled(false);
#endif
#ifdef RTABMAP_FASTCV
_ui->label_fastcv->setText("Yes");

2
guilib/src/DatabaseViewer.cpp
View File

@@ -212,7 +212,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
uInsert(parameters, Parameters::getDefaultParameters("Reg"));
uInsert(parameters, Parameters::getDefaultParameters("Vis"));
uInsert(parameters, Parameters::getDefaultParameters("Icp"));
uInsert(parameters, Parameters::getDefaultParameters("SuperGlue"));
uInsert(parameters, Parameters::getDefaultParameters("PyMatcher"));
uInsert(parameters, Parameters::getDefaultParameters("Stereo"));
uInsert(parameters, Parameters::getDefaultParameters("StereoBM"));
uInsert(parameters, Parameters::getDefaultParameters("Grid"));

46
guilib/src/PreferencesDialog.cpp
View File

@@ -223,7 +223,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->vis_feature_detector->setItemData(11, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_SUPERGLUE_PYTORCH
#ifndef RTABMAP_PYMATCHER
_ui->reextract_nn->setItemData(6, 0, Qt::UserRole - 1);
#endif
@@ -964,13 +964,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_sptorch_minDistance->setObjectName(Parameters::kSuperPointNMSRadius().c_str());
_ui->checkBox_sptorch_cuda->setObjectName(Parameters::kSuperPointCuda().c_str());
// SuperGlue PyTorch
_ui->lineEdit_sgpytorch_path->setObjectName(Parameters::kSuperGluePath().c_str());
connect(_ui->toolButton_sgpytorch_path, SIGNAL(clicked()), this, SLOT(changeSuperGluePath()));
_ui->sgpytorch_matchThreshold->setObjectName(Parameters::kSuperGlueMatchThreshold().c_str());
_ui->sgpytorch_iterations->setObjectName(Parameters::kSuperGlueIterations().c_str());
_ui->checkBox_sgpytorch_cuda->setObjectName(Parameters::kSuperGlueCuda().c_str());
_ui->checkBox_sgpytorch_indoor->setObjectName(Parameters::kSuperGlueIndoor().c_str());
// PyMatcher
_ui->lineEdit_pymatcher_path->setObjectName(Parameters::kPyMatcherPath().c_str());
connect(_ui->toolButton_pymatcher_path, SIGNAL(clicked()), this, SLOT(changePyMatcherPath()));
_ui->pymatcher_matchThreshold->setObjectName(Parameters::kPyMatcherThreshold().c_str());
_ui->pymatcher_iterations->setObjectName(Parameters::kPyMatcherIterations().c_str());
_ui->checkBox_pymatcher_cuda->setObjectName(Parameters::kPyMatcherCuda().c_str());
_ui->lineEdit_pymatcher_model->setObjectName(Parameters::kPyMatcherModel().c_str());
connect(_ui->toolButton_pymatcher_model, SIGNAL(clicked()), this, SLOT(changePyMatcherPath()));
// GMS
_ui->checkBox_gms_withRotation->setObjectName(Parameters::kGMSWithRotation().c_str());
@@ -4617,7 +4618,7 @@ void PreferencesDialog::updateStereoDisparityVisibility()
void PreferencesDialog::updateFeatureMatchingVisibility()
{
_ui->groupBox_superglue->setVisible(_ui->reextract_nn->currentIndex() == 6);
_ui->groupBox_pymatcher->setVisible(_ui->reextract_nn->currentIndex() == 6);
_ui->groupBox_gms->setVisible(_ui->reextract_nn->currentIndex() == 7);
}
@@ -4757,20 +4758,37 @@ void PreferencesDialog::changeSuperPointModelPath()
}
}
void PreferencesDialog::changeSuperGluePath()
void PreferencesDialog::changePyMatcherPath()
{
QString path;
if(_ui->lineEdit_sgpytorch_path->text().isEmpty())
if(_ui->lineEdit_pymatcher_path->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("SuperGlue wrapper (*.py)"));
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("Python wrapper (*.py)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_sgpytorch_path->text(), tr("SuperGlue wrapper (*.py)"));
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_pymatcher_path->text(), tr("Python wrapper (*.py)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_sgpytorch_path->setText(path);
_ui->lineEdit_pymatcher_path->setText(path);
}
}
void PreferencesDialog::changePyMatcherModel()
{
QString path;
if(_ui->lineEdit_pymatcher_model->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("PyTorch model (*.pth, *.pt)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_pymatcher_model->text(), tr("PyTorch model (*.pth, *.pt)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_pymatcher_model->setText(path);
}
}

8
guilib/src/ui/aboutDialog.ui
View File

@@ -1291,9 +1291,9 @@ p, li { white-space: pre-wrap; }
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_sgpytorch_license">
<widget class="QLabel" name="label_pymatcher_license">
<property name="text">
<string>GPLv3</string>
<string>PSF</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1303,7 +1303,7 @@ p, li { white-space: pre-wrap; }
<item row="7" column="0">
<widget class="QLabel" name="label_43">
<property name="text">
<string>With SuperGlue PyTorch :</string>
<string>With Python3 :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1311,7 +1311,7 @@ p, li { white-space: pre-wrap; }
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_sgpytorch">
<widget class="QLabel" name="label_pymatcher">
<property name="text">
<string/>
</property>

39
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-279</y>
<width>680</width>
<height>3270</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>19</number>
<number>21</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -17117,7 +17117,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
<item>
<property name="text">
<string>SuperGlue PyTorch</string>
<string>PyMatcher</string>
</property>
</item>
<item>
@@ -17239,15 +17239,15 @@ Lower the ratio -&gt; higher the precision.</string>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_superglue">
<widget class="QGroupBox" name="groupBox_pymatcher">
<property name="title">
<string>SuperGlue</string>
<string>PyMatcher</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_149">
<item>
<widget class="QLabel" name="label_586">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Python wrapper of &lt;a href=&quot;https://github.com/magicleap/SuperGluePretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperGlue&lt;/span&gt;&lt;/a&gt; project. Download &lt;a href=&quot;https://github.com/introlab/rtabmap/blob/master/corelib/src/superglue_pytorch/rtabmap_superglue.py&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;rtabmap_superpoint.py&lt;/span&gt;&lt;/a&gt; and copy it at the root folder of SuperGlue git, then set its path below. &lt;span style=&quot; font-weight:600;&quot;&gt;Important&lt;/span&gt;: SuperGlue works only with SuperPoint descriptors!&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Python wrapper for python matcher like &lt;a href=&quot;https://github.com/magicleap/SuperGluePretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperGlue&lt;/span&gt;&lt;/a&gt; or &lt;a href=&quot;https://github.com/zjhthu/OANet&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;OANet&lt;/span&gt;&lt;/a&gt;. Download the &lt;a href=&quot;https://github.com/introlab/rtabmap/tree/master/corelib/src/pymatcher&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;scripts&lt;/span&gt;&lt;/a&gt; and copy them at the root folder of SuperGlue git or in demo folder of OANet respectively, then set its path below. &lt;span style=&quot; font-weight:600;&quot;&gt;Important&lt;/span&gt;: Only float descriptors are allowed and SuperGlue works only with SuperPoint descriptors! You may have to train a new model for the feature used.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -17263,19 +17263,19 @@ Lower the ratio -&gt; higher the precision.</string>
<item>
<layout class="QGridLayout" name="gridLayout_116" columnstretch="0,0,1">
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_sgpytorch_path">
<widget class="QToolButton" name="toolButton_pymatcher_path">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_sgpytorch_path"/>
<widget class="QLineEdit" name="lineEdit_pymatcher_path"/>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_585">
<property name="text">
<string>Match threshold.</string>
<string>Match threshold. Used by SuperGlue.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -17286,7 +17286,7 @@ Lower the ratio -&gt; higher the precision.</string>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="sgpytorch_matchThreshold">
<widget class="QDoubleSpinBox" name="pymatcher_matchThreshold">
<property name="decimals">
<number>3</number>
</property>
@@ -17307,7 +17307,7 @@ Lower the ratio -&gt; higher the precision.</string>
<item row="1" column="2">
<widget class="QLabel" name="label_584">
<property name="text">
<string>Iterations.</string>
<string>Iterations. Used by SuperGlue.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -17320,7 +17320,7 @@ Lower the ratio -&gt; higher the precision.</string>
<item row="0" column="2">
<widget class="QLabel" name="label_583">
<property name="text">
<string>[Required] Path to rtabmap_superpoint.py.</string>
<string>[Required] Path to rtabmap python script.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -17331,7 +17331,7 @@ Lower the ratio -&gt; higher the precision.</string>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="sgpytorch_iterations">
<widget class="QSpinBox" name="pymatcher_iterations">
<property name="minimum">
<number>0</number>
</property>
@@ -17349,7 +17349,7 @@ Lower the ratio -&gt; higher the precision.</string>
<item row="3" column="2">
<widget class="QLabel" name="label_587">
<property name="text">
<string>Cuda.</string>
<string>Cuda. Used by SuperGlue.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -17360,7 +17360,7 @@ Lower the ratio -&gt; higher the precision.</string>
</widget>
</item>
<item row="3" column="1">
<widget class="QCheckBox" name="checkBox_sgpytorch_cuda">
<widget class="QCheckBox" name="checkBox_pymatcher_cuda">
<property name="text">
<string/>
</property>
@@ -17369,7 +17369,7 @@ Lower the ratio -&gt; higher the precision.</string>
<item row="4" column="2">
<widget class="QLabel" name="label_590">
<property name="text">
<string>Indoor model. Uncheck to use outdoor model.</string>
<string>For SuperGlue, set only &quot;indoor&quot; or &quot;outdoor&quot;. For OANet, set path to one of the pth file (e.g., &quot;~/OANet/model/gl3d/sift-4000/model_best.pth&quot;).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -17380,9 +17380,12 @@ Lower the ratio -&gt; higher the precision.</string>
</widget>
</item>
<item row="4" column="1">
<widget class="QCheckBox" name="checkBox_sgpytorch_indoor">
<widget class="QLineEdit" name="lineEdit_pymatcher_model"/>
</item>
<item row="4" column="0">
<widget class="QToolButton" name="toolButton_pymatcher_model">
<property name="text">
<string/>
<string>...</string>
</property>
</widget>
</item>