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Added archive directory to put paper related scripts

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matlabbe
2021-03-09 17:08:42 -05:00
parent db43479e44
commit 800d087b07
45 changed files with 659 additions and 2 deletions
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19
archive/2020-IlluminationInvariant/scripts/export_stats.sh Executable file
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#!/bin/bash
SKIP=0
if [ $# -eq 1 ]
then
SKIP=$1
fi
DETECTOR=(0 1 6 7 9 11 12 14) #0 1 6 7 8 9 11 12 13 14
PREFIX="/home/mathieu/workspace/rtabmap_cv_latest/bin/"
REPORT_TOOL="${PREFIX}rtabmap-report"
for d in "${DETECTOR[@]}"
do
$REPORT_TOOL --export --export_prefix "Stat$d" --loc 32 Loop/Odom_correction_norm/m Loop/Visual_inliers/ Timing/Total/ms Loop/Map_id/ Keypoint/Current_frame/words Memory/RAM_usage/MB Memory/RAM_estimated/MB Memory/Distance_travelled/m "$SKIP/$d/loc"
$REPORT_TOOL --export --export_prefix "Consecutive$d" --loc 32 Loop/Map_id/ "$SKIP/$d/consecutive_loc"
done

42
archive/2020-IlluminationInvariant/scripts/reprocess_maps.sh Executable file
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#!/bin/bash
if [ $# -eq 0 ]
then
echo "No arguments supplied. It should be the detector number type (0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint)."
exit
fi
TYPE=$1
SKIP=0
if [ $# -eq 2 ]
then
SKIP=$2
fi
PREFIX="/home/mathieu/workspace/rtabmap_cv_latest/bin/"
REPROCESS_TOOL="${PREFIX}rtabmap-reprocess"
DETECT_MORE_LOOP_CLOSURE_TOOL="${PREFIX}rtabmap-detectMoreLoopClosures"
[ ! -d "$SKIP" ] && mkdir $SKIP
[ ! -d "$SKIP/$TYPE" ] && mkdir $SKIP/$TYPE
# 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db'
DATABASES=( 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db' )
PARAMS="--Kp/DetectorStrategy $TYPE --Vis/FeatureType $TYPE"
if [ $TYPE -eq 2 ] || [ $TYPE -eq 3 ] || [ $TYPE -eq 4 ] || [ $TYPE -eq 5 ] || [ $TYPE -eq 6 ] || [ $TYPE -eq 7 ] || [ $TYPE -eq 8 ] || [ $TYPE -eq 10 ] || [ $TYPE -eq 12 ]
then
# binary descriptors
PARAMS="--Vis/CorNNDR 0.8 $PARAMS"
else
# float descriptors
PARAMS="--Vis/CorNNDR 0.6 $PARAMS"
if
echo $PARAMS
for db in "${DATABASES[@]}"
do
$REPROCESS_TOOL --skip $SKIP --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 4 --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.pt --Rtabmap/PublishRAMUsage true --ORB/EdgeThreshold 19 --ORB/ScaleFactor 2 --ORB/NLevels 3 --uerror $PARAMS $db $SKIP/$TYPE/$db
$DETECT_MORE_LOOP_CLOSURE_TOOL --uwarn $SKIP/$TYPE/$db
done

16
archive/2020-IlluminationInvariant/scripts/reprocess_maps_all.sh Executable file
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#!/bin/bash
SKIP=0
if [ $# -eq 1 ]
then
SKIP=$1
fi
DETECTOR=(0 1 6 7 9 11 12 14)
for d in "${DETECTOR[@]}"
do
./reprocess_maps.sh $d $SKIP
./run_merge.sh $d $SKIP
done

13
archive/2020-IlluminationInvariant/scripts/run_all.sh Executable file
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#!/bin/bash
SKIP=0
if [ $# -eq 1 ]
then
SKIP=$1
fi
./reprocess_maps_all.sh $SKIP
./run_merge.sh $SKIP
./run_localization_single_all.sh $SKIP
./run_consecutive_localization_all.sh $SKIP

31
archive/2020-IlluminationInvariant/scripts/run_consecutive_localization.sh Executable file
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#!/bin/bash
if [ $# -eq 0 ]
then
echo "No arguments supplied. It should be the detector number type (0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint)."
exit
fi
TYPE=$1
SKIP=0
if [ $# -eq 2 ]
then
SKIP=$2
fi
PREFIX="/home/mathieu/workspace/rtabmap_cv_latest/bin/"
REPROCESS_TOOL="${PREFIX}rtabmap-reprocess"
SOURCE=('map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db')
TARGETS=($SKIP/$TYPE'/map_190321-172717.db;'$SKIP/$TYPE'/map_190321-175428.db;'$SKIP/$TYPE'/map_190321-193556.db' $SKIP/$TYPE'/map_190321-175428.db;'$SKIP/$TYPE'/map_190321-182709.db;' $SKIP/$TYPE'/map_190321-182709.db;'$SKIP/$TYPE'/map_190321-185608.db' $SKIP/$TYPE'/map_190321-185608.db;'$SKIP/$TYPE'/map_190321-193556.db' $SKIP/$TYPE'/map_190321-193556.db' )
[ ! -d "$SKIP/$TYPE/consecutive_loc" ] && mkdir $SKIP/$TYPE/consecutive_loc
for i in ${!SOURCE[@]}
do
db=${SOURCE[$i]}
loc_dbs=${TARGETS[$i]}
$REPROCESS_TOOL --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --uwarn "$SKIP/$TYPE/$db;$loc_dbs" $SKIP/$TYPE/consecutive_loc/loc_$db
done

15
archive/2020-IlluminationInvariant/scripts/run_consecutive_localization_all.sh Executable file
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#!/bin/bash
SKIP=0
if [ $# -eq 1 ]
then
SKIP=$1
fi
DETECTOR=(0 1 6 7 9 11 12 14)
for d in "${DETECTOR[@]}"
do
./run_consecutive_localization.sh $d $SKIP
done

38
archive/2020-IlluminationInvariant/scripts/run_localization_accuracy.sh Executable file
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#!/bin/bash
if [ $# -eq 0 ]
then
echo "No arguments supplied. It should be the detector number type (0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint)."
exit
fi
TYPE=$1
SKIP=0
if [ $# -eq 2 ]
then
SKIP=$2
fi
PREFIX="/home/mathieu/workspace/rtabmap_cv_latest/bin/"
REPROCESS_TOOL="${PREFIX}rtabmap-reprocess"
# loc_190321-165128.db;loc_190321-173134.db;loc_190321-175823.db;loc_190321-183051.db;loc_190321-185950.db;loc_190321-194226.db
LOCALIZATION_DATABASES="loc_190321-165128.db;loc_190321-173134.db;loc_190321-175823.db;loc_190321-183051.db;loc_190321-185950.db;loc_190321-194226.db"
[ ! -d "$SKIP/$TYPE/loc" ] && mkdir $SKIP/$TYPE/accuracy
db=merged_9999.db
$REPROCESS_TOOL --skip $SKIP --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce true --Vis/BundleAdjustment 1 --uwarn "$SKIP/$TYPE/$db;$LOCALIZATION_DATABASES" $SKIP/$TYPE/accuracy/ProxOff_DoubleRegOn_BaOn_$db
$REPROCESS_TOOL --skip $SKIP --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce false --Vis/BundleAdjustment 1 --uwarn "$SKIP/$TYPE/$db;$LOCALIZATION_DATABASES" $SKIP/$TYPE/accuracy/ProxOff_DoubleRegOff_BaOn_$db
$REPROCESS_TOOL --skip $SKIP --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce true --Vis/BundleAdjustment 0 --uwarn "$SKIP/$TYPE/$db;$LOCALIZATION_DATABASES" $SKIP/$TYPE/accuracy/ProxOff_DoubleRegOn_BaOff_$db
$REPROCESS_TOOL --skip $SKIP --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce false --Vis/BundleAdjustment 0 --uwarn "$SKIP/$TYPE/$db;$LOCALIZATION_DATABASES" $SKIP/$TYPE/accuracy/ProxOff_DoubleRegOff_BaOff_$db
$REPROCESS_TOOL --skip $SKIP --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess true --Reg/RepeatOnce true --Vis/BundleAdjustment 1 --uwarn "$SKIP/$TYPE/$db;$LOCALIZATION_DATABASES" $SKIP/$TYPE/accuracy/ProxOn_DoubleRegOn_BaOn_$db
$REPROCESS_TOOL --skip $SKIP --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess true --Reg/RepeatOnce true --Vis/BundleAdjustment 0 --uwarn "$SKIP/$TYPE/$db;$LOCALIZATION_DATABASES" $SKIP/$TYPE/accuracy/ProxOn_DoubleRegOn_BaOff_$db

32
archive/2020-IlluminationInvariant/scripts/run_localization_single.sh Executable file
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#!/bin/bash
if [ $# -eq 0 ]
then
echo "No arguments supplied. It should be the detector number type (0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint)."
exit
fi
TYPE=$1
SKIP=0
if [ $# -eq 2 ]
then
SKIP=$2
fi
PREFIX="/home/mathieu/workspace/rtabmap_cv_latest/bin/"
REPROCESS_TOOL="${PREFIX}rtabmap-reprocess"
# 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db' 'merged_9999.db' 'merged_135.db' 'merged_246.db' 'merged_16.db' 'merged_9999_reduced.db'
DATABASES=( 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db' 'merged_9999.db' 'merged_135.db' 'merged_246.db' 'merged_16.db' )
# loc_190321-165128.db;loc_190321-173134.db;loc_190321-175823.db;loc_190321-183051.db;loc_190321-185950.db;loc_190321-194226.db
LOCALIZATION_DATABASES="loc_190321-165128.db;loc_190321-173134.db;loc_190321-175823.db;loc_190321-183051.db;loc_190321-185950.db;loc_190321-194226.db"
[ ! -d "$SKIP/$TYPE/loc" ] && mkdir $SKIP/$TYPE/loc
echo $PARAMS
for db in "${DATABASES[@]}"
do
$REPROCESS_TOOL --skip $SKIP --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --uwarn "$SKIP/$TYPE/$db;$LOCALIZATION_DATABASES" $SKIP/$TYPE/loc/loc_$db
done

15
archive/2020-IlluminationInvariant/scripts/run_localization_single_all.sh Executable file
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#!/bin/bash
SKIP=0
if [ $# -eq 1 ]
then
SKIP=$1
fi
DETECTOR=(0 1 6 7 9 11 12 14)
for d in "${DETECTOR[@]}"
do
./run_localization_single.sh $d $SKIP
done

38
archive/2020-IlluminationInvariant/scripts/run_merge.sh Executable file
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#!/bin/bash
if [ $# -eq 0 ]
then
echo "No arguments supplied. It should be the detector number type (0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint)."
exit
fi
TYPE=$1
SKIP=0
if [ $# -eq 2 ]
then
SKIP=$2
fi
PREFIX="/home/mathieu/workspace/rtabmap_cv_latest/bin/"
REPROCESS_TOOL="${PREFIX}rtabmap-reprocess"
DETECT_MORE_LOOP_CLOSURE_TOOL="${PREFIX}rtabmap-detectMoreLoopClosures"
DATABASES="$SKIP/$TYPE/map_190321-164651.db;$SKIP/$TYPE/map_190321-172717.db;$SKIP/$TYPE/map_190321-175428.db;$SKIP/$TYPE/map_190321-182709.db;$SKIP/$TYPE/map_190321-185608.db;$SKIP/$TYPE/map_190321-193556.db"
$REPROCESS_TOOL --uwarn --RGBD/OptimizeMaxError 0 "$DATABASES" $SKIP/$TYPE/merged_9999.db
$DETECT_MORE_LOOP_CLOSURE_TOOL $SKIP/$TYPE/merged_9999.db
#$REPROCESS_TOOL --uwarn --RGBD/OptimizeMaxError 0 --Mem/ReduceGraph true --Vis/MinInliers 60 "$DATABASES" $SKIP/$TYPE/merged_9999_reduced.db
#$DETECT_MORE_LOOP_CLOSURE_TOOL $SKIP/$TYPE/merged_9999_reduced.db
$REPROCESS_TOOL --uwarn --RGBD/OptimizeMaxError 0 "$SKIP/$TYPE/map_190321-164651.db;$SKIP/$TYPE/map_190321-193556.db" $SKIP/$TYPE/merged_16.db
$DETECT_MORE_LOOP_CLOSURE_TOOL $SKIP/$TYPE/merged_16.db
$REPROCESS_TOOL --uwarn --RGBD/OptimizeMaxError 0 "$SKIP/$TYPE/map_190321-164651.db;$SKIP/$TYPE/map_190321-175428.db;$SKIP/$TYPE/map_190321-185608.db" $SKIP/$TYPE/merged_135.db
$DETECT_MORE_LOOP_CLOSURE_TOOL $SKIP/$TYPE/merged_135.db
$REPROCESS_TOOL --uwarn --RGBD/OptimizeMaxError 0 "$SKIP/$TYPE/map_190321-172717.db;$SKIP/$TYPE/map_190321-182709.db;$SKIP/$TYPE/map_190321-193556.db" $SKIP/$TYPE/merged_246.db
$DETECT_MORE_LOOP_CLOSURE_TOOL $SKIP/$TYPE/merged_246.db

19
archive/2020-IlluminationInvariant/scripts/valgrind.sh Executable file
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#!/bin/bash
SKIP=0
if [ $# -eq 1 ]
then
SKIP=$1
fi
DETECTOR=(0 1 6 7 8 9 11 12 14)
PREFIX="/home/mathieu/workspace/rtabmap_cv_latest/bin/"
REPORT_TOOL="${PREFIX}rtabmap-report"
for d in "${DETECTOR[@]}"
do
valgrind --tool=massif --time-unit=ms --detailed-freq=1 --max-snapshots=100 ${PREFIX}rtabmap-reprocess --Mem/IncrementalMemory false --Kp/IncrementalFlann false "${SKIP}/${d}/merged_9999.db;map_190321-164651.db" output.db
rm output.db
done