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GlobalDescriptor (PyDescriptor / netvlad) (#1163)

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* First commit for pydescriptor

* Fixed Python refactoring errors

* GUI: added PyDescriptor parameters

* reordered python3 includes

* updated rtabmap_netvlad.py test main

* fixed build from last merge

* integrated https://github.com/introlab/rtabmap/pull/1255

* rescaled dot product result

Closing https://github.com/introlab/rtabmap/issues/1105
This commit is contained in:
matlabbe
2024-04-07 15:48:16 -07:00
committed by GitHub
parent c33e995e83
commit 5ed1bf0ca8
15 changed files with 723 additions and 16 deletions
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corelib/src/Memory.cpp
+29 -1
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@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/EpipolarGeometry.h>
#include "rtabmap/core/VisualWord.h"
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/GlobalDescriptorExtractor.h"
#include "rtabmap/core/RegistrationIcp.h"
#include "rtabmap/core/Registration.h"
#include "rtabmap/core/RegistrationVis.h"
@@ -132,6 +133,7 @@ Memory::Memory(const ParametersMap & parameters) :
_feature2D = Feature2D::create(parameters);
_vwd = new VWDictionary(parameters);
_registrationPipeline = Registration::create(parameters);
_globalDescriptorExtractor = GlobalDescriptorExtractor::create(parameters);
if(!_registrationPipeline->isImageRequired())
{
// make sure feature matching is used instead of optical flow to compute the guess
@@ -761,6 +763,22 @@ void Memory::parseParameters(const ParametersMap & parameters)
_markerDetector->parseParameters(params);
}
int globalDescriptorStrategy = -1;
Parameters::parse(params, Parameters::kMemGlobalDescriptorStrategy(), globalDescriptorStrategy);
if(globalDescriptorStrategy != -1 &&
(_globalDescriptorExtractor==0 || (int)_globalDescriptorExtractor->getType() != globalDescriptorStrategy))
{
if(_globalDescriptorExtractor)
{
delete _globalDescriptorExtractor;
}
_globalDescriptorExtractor = GlobalDescriptorExtractor::create(parameters_);
}
else if(_globalDescriptorExtractor)
{
_globalDescriptorExtractor->parseParameters(params);
}
// do this after all params are parsed
// SLAM mode vs Localization mode
iter = params.find(Parameters::kMemIncrementalMemory());
@@ -5934,7 +5952,17 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
s->sensorData().setGroundTruth(data.groundTruth());
s->sensorData().setGPS(data.gps());
s->sensorData().setEnvSensors(data.envSensors());
s->sensorData().setGlobalDescriptors(data.globalDescriptors());
std::vector<GlobalDescriptor> globalDescriptors = data.globalDescriptors();
if(_globalDescriptorExtractor)
{
GlobalDescriptor gdescriptor = _globalDescriptorExtractor->extract(inputData);
if(!gdescriptor.data().empty())
{
globalDescriptors.push_back(gdescriptor);
}
}
s->sensorData().setGlobalDescriptors(globalDescriptors);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemCompressing_data(), t*1000.0f);