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Updated archive/2022-IlluminationInvariant/README.md

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matlabbe
2022-09-13 00:29:44 -07:00
parent e059ead7f5
commit 3dd0965a15
7 changed files with 36 additions and 13 deletions
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27
archive/2022-IlluminationInvariant/README.md
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@@ -61,6 +61,12 @@ We provide two formats: the first one is more general and the second one is used
5. Export statistics with `export_stats.sh` script.
6. Use the MatLab/Octave scripts in this folder to show results you want. Set `dataDir` to directory containing the exported statistics.
```
sudo apt install install octave liboctave-dev
# In octave:
pkg install -forge control signal
```
### Docker
@@ -77,7 +83,24 @@ mkdir ~/Downloads/Illumination_invariant_databases/results
3. Run script:
```
docker run --gpus all -it --rm --ipc=host --runtime=nvidia --user $(id -u):$(id -g) -w=/root/scripts -v ~/Downloads/Illumination_invariant_databases:/root/databases -v ~/Downloads/Illumination_invariant_databases/results:/root/results rtabmap_frontiers /root/scripts/run_all.sh /root/databases /root/results
docker run --gpus all -it --rm --ipc=host --runtime=nvidia \
--user $(id -u):$(id -g) \
-w=/workspace/scripts \
-v ~/Downloads/Illumination_invariant_databases:/workspace/databases \
-v ~/Downloads/Illumination_invariant_databases/results:/workspace/results \
rtabmap_frontiers /workspace/scripts/run_all.sh /workspace/databases /workspace/results
```
4. Export statistics:
```
docker run --gpus all -it --rm --ipc=host --runtime=nvidia \
--env="DISPLAY=$DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--env="XAUTHORITY=$XAUTH" \
--volume="$XAUTH:$XAUTH" \
--user $(id -u):$(id -g) \
-w=/workspace/results \
-v ~/Downloads/Illumination_invariant_databases/results:/workspace/results \
rtabmap_frontiers /workspace/scripts/export_stats.sh /workspace/results
```

2
archive/2022-IlluminationInvariant/results_common.m
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@@ -7,7 +7,7 @@ pkg load signal
# Use with files generated by export_stats.sh
dataDir = '2'; % '0'=old, '1'=new, 2=revised(2022)
dataDir = 'SET_PATH_TO_RESULTS_DIR';
resultsToShow = 1; % 1=single 2=Consecutive
prefix = 'Stat';

2
archive/2022-IlluminationInvariant/results_loc_over_time.m
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@@ -6,7 +6,7 @@ pkg load signal
# Use with files generated by export_stats.sh
dataDir = '2'; % '0'(old) '1'(new) '2' (revised april 2022)
dataDir = 'SET_PATH_TO_RESULTS_DIR';
resultsToShow = 1; % 1=single loc, 2=merged loc, 3=consecutive
datasetPrefix = 'Stat';

2
archive/2022-IlluminationInvariant/results_loc_prob_by_dist.m
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@@ -7,7 +7,7 @@ pkg load signal
# Use with files generated by export_stats.sh
dataDir = '2'; % '0'(old) '1'(new) '2' (revised april 2022)
dataDir = 'SET_PATH_TO_RESULTS_DIR';
prefix = 'Stat';
dataset = 6

2
archive/2022-IlluminationInvariant/scripts/reprocess_maps.sh
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@@ -35,7 +35,7 @@ fi
echo $PARAMS
for db in "${DATABASES[@]}"
do
rtabmap-reprocess --RGBD/MarkerDetection false --RGBD/ProximityBySpace true --RGBD/LocalRadius 1 --Mem/InitWMWithAllNodes true --Rtabmap/TimeThr 0 --Mem/UseOdomFeatures false --Optimizer/GravitySigma 0.1 --Mem/UseOdomGravity true --RGBD/OptimizeFromGraphEnd false --Mem/DepthAsMask false --RGBD/OptimizeMaxError 10 --RGBD/ProximityOdomGuess false --Vis/MaxFeatures 1000 --Kp/MaxFeatures 400 --Vis/EpipolarGeometryVar 0.1 --Vis/EstimationType 1 --Vis/MinInliers 20 --Rtabmap/MaxRetrieved 2 --Optimizer/Iterations 20 --Mem/CompressionParallelized true --Kp/Parallelized true --Kp/MaxDepth 0 --Kp/BadSignRatio 0.2 --BRIEF/Bytes 32 --Kp/ByteToFloat true --SURF/HessianThreshold 100 --SIFT/ContrastThreshold 0.02 --BRISK/Thresh 10 --SuperPoint/ModelPath superpoint_v1.pt --Rtabmap/PublishRAMUsage true --ORB/EdgeThreshold 19 --ORB/ScaleFactor 2 --ORB/NLevels 3 --Db/TargetVersion "" --Icp/CorrespondenceRatio 0.1 --RGBD/MaxOdomCacheSize 0 --uwarn $PARAMS $INPUT/$db $OUTPUT/$TYPE/$db
rtabmap-reprocess --RGBD/MarkerDetection false --RGBD/ProximityBySpace true --RGBD/LocalRadius 1 --Mem/InitWMWithAllNodes true --Rtabmap/TimeThr 0 --Mem/UseOdomFeatures false --Optimizer/GravitySigma 0.1 --Mem/UseOdomGravity true --RGBD/OptimizeFromGraphEnd false --Mem/DepthAsMask false --RGBD/OptimizeMaxError 5 --RGBD/ProximityOdomGuess false --Vis/MaxFeatures 1000 --Kp/MaxFeatures 400 --Vis/EpipolarGeometryVar 0.1 --Vis/EstimationType 1 --Vis/MinInliers 20 --Rtabmap/MaxRetrieved 2 --Optimizer/Iterations 20 --Mem/CompressionParallelized true --Kp/Parallelized true --Kp/MaxDepth 0 --Kp/BadSignRatio 0.2 --BRIEF/Bytes 32 --Kp/ByteToFloat true --SURF/HessianThreshold 100 --SIFT/ContrastThreshold 0.02 --BRISK/Thresh 10 --SuperPoint/ModelPath superpoint_v1.pt --Rtabmap/PublishRAMUsage true --ORB/EdgeThreshold 19 --ORB/ScaleFactor 2 --ORB/NLevels 3 --Db/TargetVersion "" --Icp/CorrespondenceRatio 0.1 --RGBD/MaxOdomCacheSize 0 --uwarn $PARAMS $INPUT/$db $OUTPUT/$TYPE/$db
rtabmap-detectMoreLoopClosures --uwarn $OUTPUT/$TYPE/$db
done

12
archive/2022-IlluminationInvariant/scripts/run_merge.sh
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@@ -15,20 +15,20 @@ source rtabmap_latest.bash
DATABASES="$DATA/$TYPE/map_190321-164651.db;$DATA/$TYPE/map_190321-172717.db;$DATA/$TYPE/map_190321-175428.db;$DATA/$TYPE/map_190321-182709.db;$DATA/$TYPE/map_190321-185608.db;$DATA/$TYPE/map_190321-193556.db"
# To compute "Ground truth"
rtabmap-reprocess --uwarn --RGBD/OptimizeMaxError 10 "$DATABASES" $DATA/$TYPE/merged_123456.db
rtabmap-reprocess --uwarn "$DATABASES" $DATA/$TYPE/merged_123456.db
cp $DATA/$TYPE/merged_123456.db $DATA/$TYPE/merged_123456_gt.db
rtabmap-detectMoreLoopClosures -r 0.5 -i 5 $DATA/$TYPE/merged_123456_gt.db
rtabmap-reprocess --uwarn --RGBD/OptimizeMaxError 10 -gt $DATA/$TYPE/merged_123456_gt.db $DATA/$TYPE/merged_123456.db
rtabmap-reprocess --uwarn -gt $DATA/$TYPE/merged_123456_gt.db $DATA/$TYPE/merged_123456.db
rtabmap-reprocess --uwarn --RGBD/OptimizeMaxError 10 "$DATA/$TYPE/map_190321-164651.db;$DATA/$TYPE/map_190321-193556.db" $DATA/$TYPE/merged_16.db
rtabmap-reprocess --uwarn "$DATA/$TYPE/map_190321-164651.db;$DATA/$TYPE/map_190321-193556.db" $DATA/$TYPE/merged_16.db
rtabmap-reprocess --uwarn --RGBD/OptimizeMaxError 10 "$DATA/$TYPE/map_190321-164651.db;$DATA/$TYPE/map_190321-175428.db;$DATA/$TYPE/map_190321-185608.db" $DATA/$TYPE/merged_135.db
rtabmap-reprocess --uwarn "$DATA/$TYPE/map_190321-164651.db;$DATA/$TYPE/map_190321-175428.db;$DATA/$TYPE/map_190321-185608.db" $DATA/$TYPE/merged_135.db
rtabmap-reprocess --uwarn --RGBD/OptimizeMaxError 10 "$DATA/$TYPE/map_190321-172717.db;$DATA/$TYPE/map_190321-182709.db;$DATA/$TYPE/map_190321-193556.db" $DATA/$TYPE/merged_246.db
rtabmap-reprocess --uwarn "$DATA/$TYPE/map_190321-172717.db;$DATA/$TYPE/map_190321-182709.db;$DATA/$TYPE/map_190321-193556.db" $DATA/$TYPE/merged_246.db
# Reduced graph
rtabmap-reprocess --uwarn --RGBD/OptimizeMaxError 10 -gt --Mem/ReduceGraph true --Vis/MinInliers $MIN_INLIERS $DATA/$TYPE/merged_123456_gt.db $DATA/$TYPE/merged_123456_reduced.db
rtabmap-reprocess --uwarn -gt --Mem/ReduceGraph true --Vis/MinInliers $MIN_INLIERS $DATA/$TYPE/merged_123456_gt.db $DATA/$TYPE/merged_123456_reduced.db