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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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32
guilib/src/PreferencesDialog.cpp
View File

@@ -263,6 +263,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_detector_strategy->setItemData(15, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(15, 0, Qt::UserRole - 1);
_ui->reextract_nn->setItemData(6, 0, Qt::UserRole - 1);
_ui->comboBox_globalDescriptorExtractor->setItemData(1, 0, Qt::UserRole - 1);
#endif
#if !defined(HAVE_OPENCV_XFEATURES2D) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION<4 || CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<1))
@@ -971,6 +972,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Create hypotheses
_ui->general_doubleSpinBox_hardThr->setObjectName(Parameters::kRtabmapLoopThr().c_str());
_ui->general_doubleSpinBox_loopRatio->setObjectName(Parameters::kRtabmapLoopRatio().c_str());
_ui->comboBox_globalDescriptorExtractor->setObjectName(Parameters::kMemGlobalDescriptorStrategy().c_str());
connect(_ui->comboBox_globalDescriptorExtractor, SIGNAL(currentIndexChanged(int)), this, SLOT(updateGlobalDescriptorVisibility()));
//Bayes
_ui->general_doubleSpinBox_vp->setObjectName(Parameters::kBayesVirtualPlacePriorThr().c_str());
@@ -1102,6 +1105,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_gms_withScale->setObjectName(Parameters::kGMSWithScale().c_str());
_ui->gms_thresholdFactor->setObjectName(Parameters::kGMSThresholdFactor().c_str());
// PyDescriptor
_ui->lineEdit_pydescriptor_path->setObjectName(Parameters::kPyDescriptorPath().c_str());
connect(_ui->toolButton_pydescriptor_path, SIGNAL(clicked()), this, SLOT(changePyDescriptorPath()));
_ui->pydescriptor_dim->setObjectName(Parameters::kPyDescriptorDim().c_str());
// verifyHypotheses
_ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str());
_ui->surf_spinBox_matchCountMinAccepted->setObjectName(Parameters::kVhEpMatchCountMin().c_str());
@@ -1611,6 +1619,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
this->setupTreeView();
_obsoletePanels = kPanelAll;
updateFeatureMatchingVisibility();
updateGlobalDescriptorVisibility();
}
PreferencesDialog::~PreferencesDialog() {
@@ -5147,6 +5158,11 @@ void PreferencesDialog::updateFeatureMatchingVisibility()
_ui->groupBox_gms->setVisible(_ui->reextract_nn->currentIndex() == 7);
}
void PreferencesDialog::updateGlobalDescriptorVisibility()
{
_ui->groupBox_pydescriptor->setVisible(_ui->comboBox_globalDescriptorExtractor->currentIndex() == 1);
}
void PreferencesDialog::updateOdometryStackedIndex(int index)
{
if(index == 11) // FLOAM -> LOAM
@@ -5375,6 +5391,22 @@ void PreferencesDialog::changePyMatcherModel()
}
}
void PreferencesDialog::changePyDescriptorPath()
{
QString path;
if(_ui->lineEdit_pydescriptor_path->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("Python wrapper (*.py)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_pydescriptor_path->text(), tr("Python wrapper (*.py)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_pydescriptor_path->setText(path);
}
}
void PreferencesDialog::changePyDetectorPath()
{
QString path;

128
guilib/src/ui/preferencesDialog.ui
View File

@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>12</number>
<number>11</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -11209,7 +11209,7 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
<property name="title">
<string>Loop Closure Detection</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_22" stretch="0,0,0,1,0,0">
<layout class="QVBoxLayout" name="verticalLayout_22" stretch="0,0,0,1,0,0,0">
<item>
<widget class="QLabel" name="label">
<property name="text">
@@ -11370,6 +11370,36 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_603">
<property name="text">
<string>Global descriptor extractor.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="comboBox_globalDescriptorExtractor">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>Disabled</string>
</property>
</item>
<item>
<property name="text">
<string>PyDescriptor</string>
</property>
</item>
</widget>
</item>
</layout>
</item>
<item>
@@ -11468,6 +11498,100 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_pydescriptor">
<property name="title">
<string>PyDescriptor</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_152">
<item>
<widget class="QLabel" name="label_604">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Python wrapper for python descriptor like &lt;a href=&quot;https://github.com/uzh-rpg/netvlad_tf_open&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;NetVLAD&lt;/span&gt;&lt;/a&gt;. Download the interface &lt;a href=&quot;https://github.com/introlab/rtabmap/tree/master/corelib/src/pydescriptor&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;script&lt;/span&gt;&lt;/a&gt; and copy it in the python folder of NetVLAD, then set its path below.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_118" columnstretch="0,0,1">
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_pydescriptor_path">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="pydescriptor_dim">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>4096</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_pydescriptor_path"/>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_607">
<property name="text">
<string>[Required] Path to rtabmap python script.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_606">
<property name="text">
<string>Descriptor dimension.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_88">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>