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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/Signature.cpp
+30 -7
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@@ -249,17 +249,40 @@ void Signature::removeLandmark(int landmarkId)
float Signature::compareTo(const Signature & s) const
{
UASSERT(this->sensorData().globalDescriptors().size() == s.sensorData().globalDescriptors().size());
float similarity = 0.0f;
const std::multimap<int, int> & words = s.getWords();
int totalDescs = 0;
if(!s.isBadSignature() && !this->isBadSignature())
for(size_t i=0; i<this->sensorData().globalDescriptors().size(); ++i)
{
std::list<std::pair<int, std::pair<int, int> > > pairs;
int totalWords = ((int)_words.size()-_invalidWordsCount)>((int)words.size()-s.getInvalidWordsCount())?((int)_words.size()-_invalidWordsCount):((int)words.size()-s.getInvalidWordsCount());
UASSERT(totalWords > 0);
EpipolarGeometry::findPairs(words, _words, pairs);
if(this->sensorData().globalDescriptors()[i].type()==1 && s.sensorData().globalDescriptors()[i].type()==1)
{
// rescale dot product from -1<->1 to 0<->1 (we assume normalized vectors!)
float dotProd = (this->sensorData().globalDescriptors()[i].data().dot(s.sensorData().globalDescriptors()[i].data()) + 1.0f) / 2.0f;
UASSERT_MSG(dotProd>=0, "Global descriptors should be normalized!");
similarity += dotProd;
totalDescs += 1;
}
}
similarity = float(pairs.size()) / float(totalWords);
if(totalDescs)
{
similarity /= totalDescs;
}
else
{
const std::multimap<int, int> & words = s.getWords();
if(!s.isBadSignature() && !this->isBadSignature())
{
std::list<std::pair<int, std::pair<int, int> > > pairs;
int totalWords = ((int)_words.size()-_invalidWordsCount)>((int)words.size()-s.getInvalidWordsCount())?((int)_words.size()-_invalidWordsCount):((int)words.size()-s.getInvalidWordsCount());
UASSERT(totalWords > 0);
EpipolarGeometry::findPairs(words, _words, pairs);
similarity = float(pairs.size()) / float(totalWords);
}
}
return similarity;
}