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Updated illumination invariant paper documentation

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matlabbe
2022-06-26 20:46:08 -07:00
parent bc42bc3520
commit 83c1adfd1e
41 changed files with 991 additions and 616 deletions
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archive/2022-IlluminationInvariant/scripts/export_stats.sh
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#!/bin/bash
if [ $# -lt 1 ]
then
echo "No arguments supplied. It should be the data directory (where the reprocessed map databases are saved)."
exit
fi
DATA=$1
DETECTOR=(0 1 6 7 9 14 11 111)
source rtabmap_latest.bash
for d in "${DETECTOR[@]}"
do
rtabmap-report --export --export_prefix "Stat$d" --loc 32 Loop/Odom_correction_norm/m Loop/Visual_inliers/ Timing/Total/ms Timing/Proximity_by_space_visual/ms Timing/Likelihood_computation/ms Timing/Posterior_computation/ms TimingMem/Keypoints_detection/ms TimingMem/Descriptors_extraction/ms TimingMem/Add_new_words/ms Loop/Map_id/ Keypoint/Current_frame/words Memory/RAM_usage/MB Memory/RAM_estimated/MB Memory/Distance_travelled/m Loop/Distance_since_last_loc/ Memory/Local_graph_size/ Keypoint/Dictionary_size/words "$DATA/$d/loc"
rtabmap-report --export --export_prefix "Consecutive$d" --loc 32 Loop/Map_id/ Loop/Distance_since_last_loc/ "$DATA/$d/consecutive_loc"
done
archive/2022-IlluminationInvariant/scripts/reprocess_maps.sh
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#!/bin/bash
if [ $# -lt 2 ]
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) and the data directory (where reprocessed map databases will be saved)."
exit
fi
TYPE=$1
DATA=$2
source rtabmap_latest.bash
[ ! -d "$DATA" ] && mkdir $DATA
[ ! -d "$DATA/$TYPE" ] && mkdir $DATA/$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"
fi
if [ $TYPE -eq 111 ]
then
PARAMS="--Vis/CorNNType 6 --SuperGlue/Path ~/workspace/SuperGluePretrainedNetwork/rtabmap_superglue.py --Reg/RepeatOnce false --Vis/CorGuessWinSize 0 $PARAMS --Kp/DetectorStrategy 11 --Vis/FeatureType 11"
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.pt --Rtabmap/PublishRAMUsage true --ORB/EdgeThreshold 19 --ORB/ScaleFactor 2 --ORB/NLevels 3 --Db/TargetVersion "" --Icp/CorrespondenceRatio 0.1 --RGBD/MaxOdomCacheSize 0 --uerror $PARAMS $db $DATA/$TYPE/$db
rtabmap-detectMoreLoopClosures --uwarn $DATA/$TYPE/$db
done
archive/2022-IlluminationInvariant/scripts/reprocess_maps_all.sh
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#!/bin/bash
if [ $# -lt 1 ]
then
echo "No arguments supplied. It should be the data directory (where the reprocessed map databases will be saved)."
exit
fi
DATA=$1
DETECTOR=(0 1 6 7 9 14 11 111)
for d in "${DETECTOR[@]}"
do
./reprocess_maps.sh $d $DATA
./run_merge.sh $d $DATA
done
archive/2022-IlluminationInvariant/scripts/rtabmap_latest.bash
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#!/bin/bash
export PATH=~/workspace/rtabmap/build/bin:$PATH
export LD_LIBRARY_PATH=~/workspace/rtabmap/build/lib:$LD_LIBRARY_PATH
archive/2022-IlluminationInvariant/scripts/run_all.sh
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#!/bin/bash
if [ $# -lt 1 ]
then
echo "No arguments supplied. It should be the data directory (where the reprocessed map databases will be saved)."
exit
fi
DATA=$1
./reprocess_maps_all.sh $DATA
./run_localization_single_all.sh $DATA
./run_consecutive_localization_all.sh $DATA
archive/2022-IlluminationInvariant/scripts/run_consecutive_localization.sh
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#!/bin/bash
if [ $# -lt 2 ]
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) and the data directory (where map databases have been reprocessed)."
exit
fi
TYPE=$1
DATA=$2
source rtabmap_latest.bash
SOURCE=('map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db')
TARGETS=($DATA/$TYPE'/map_190321-172717.db;'$DATA/$TYPE'/map_190321-175428.db;'$DATA/$TYPE'/map_190321-193556.db' $DATA/$TYPE'/map_190321-175428.db;'$DATA/$TYPE'/map_190321-182709.db;' $DATA/$TYPE'/map_190321-182709.db;'$DATA/$TYPE'/map_190321-185608.db' $DATA/$TYPE'/map_190321-185608.db;'$DATA/$TYPE'/map_190321-193556.db' $DATA/$TYPE'/map_190321-193556.db' )
[ ! -d "$DATA/$TYPE/consecutive_loc" ] && mkdir $DATA/$TYPE/consecutive_loc
for i in ${!SOURCE[@]}
do
db=${SOURCE[$i]}
loc_dbs=${TARGETS[$i]}
rtabmap-reprocess --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --RGBD/ProximityMaxPaths 1 --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --uwarn "$DATA/$TYPE/$db;$loc_dbs" $DATA/$TYPE/consecutive_loc/loc_$db
done
archive/2022-IlluminationInvariant/scripts/run_consecutive_localization_all.sh
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#!/bin/bash
if [ $# -lt 1 ]
then
echo "No arguments supplied. It should be the data directory (where the reprocessed map databases will be saved)."
exit
fi
DATA=$1
DETECTOR=(0 1 6 7 9 14 11 111)
for d in "${DETECTOR[@]}"
do
./run_consecutive_localization.sh $d $DATA
done
archive/2022-IlluminationInvariant/scripts/run_localization_accuracy.sh
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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=$1
PREFIX="/home/mathieu/workspace/rtabmap_cv_latest/bin/"
REPROCESS_TOOL="${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 "results/$TYPE/loc" ] && mkdir results/$TYPE/accuracy
db=merged_9999.db
$REPROCESS_TOOL --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce true --Vis/BundleAdjustment 1 --uwarn "results/$TYPE/$db;$LOCALIZATION_DATABASES" results/$TYPE/accuracy/ProxOff_DoubleRegOn_BaOn_$db
$REPROCESS_TOOL --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce false --Vis/BundleAdjustment 1 --uwarn "results/$TYPE/$db;$LOCALIZATION_DATABASES" results/$TYPE/accuracy/ProxOff_DoubleRegOff_BaOn_$db
$REPROCESS_TOOL --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce true --Vis/BundleAdjustment 0 --uwarn "results/$TYPE/$db;$LOCALIZATION_DATABASES" results/$TYPE/accuracy/ProxOff_DoubleRegOn_BaOff_$db
$REPROCESS_TOOL --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce false --Vis/BundleAdjustment 0 --uwarn "results/$TYPE/$db;$LOCALIZATION_DATABASES" results/$TYPE/accuracy/ProxOff_DoubleRegOff_BaOff_$db
$REPROCESS_TOOL --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess true --Reg/RepeatOnce true --Vis/BundleAdjustment 1 --uwarn "results/$TYPE/$db;$LOCALIZATION_DATABASES" results/$TYPE/accuracy/ProxOn_DoubleRegOn_BaOn_$db
$REPROCESS_TOOL --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess true --Reg/RepeatOnce true --Vis/BundleAdjustment 0 --uwarn "results/$TYPE/$db;$LOCALIZATION_DATABASES" results/$TYPE/accuracy/ProxOn_DoubleRegOn_BaOff_$db
archive/2022-IlluminationInvariant/scripts/run_localization_single.sh
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#!/bin/bash
if [ $# -lt 2 ]
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) and the data directory (where map databases have been reprocessed)."
exit
fi
TYPE=$1
DATA=$2
source rtabmap_latest.bash
# 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db' 'merged_123456.db' 'merged_135.db' 'merged_246.db' 'merged_16.db' 'merged_123456_reduced.db'
DATABASES=('map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db' 'merged_123456.db' 'merged_135.db' 'merged_246.db' 'merged_16.db' 'merged_123456_reduced.db')
# loc_190321-165128.db;loc_190321-173134.db;loc_190321-175823.db;loc_190321-183051.db;loc_190321-185950.db;loc_190321-194226.db
LOCALIZATION_DATABASES="loc_190321-165128.db;loc_190321-173134.db;loc_190321-175823.db;loc_190321-183051.db;loc_190321-185950.db;loc_190321-194226.db"
[ ! -d "$DATA/$TYPE/loc" ] && mkdir $DATA/$TYPE/loc
echo $PARAMS
for db in "${DATABASES[@]}"
do
rtabmap-reprocess -loc_null --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --RGBD/ProximityMaxPaths 1 --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --uwarn "$DATA/$TYPE/$db;$LOCALIZATION_DATABASES" $DATA/$TYPE/loc/loc_$db
done
archive/2022-IlluminationInvariant/scripts/run_localization_single_all.sh
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#!/bin/bash
if [ $# -lt 1 ]
then
echo "No arguments supplied. It should be the data directory (where the reprocessed map databases will be saved)."
exit
fi
DATA=$1
DETECTOR=(0 1 6 7 9 14 11 111)
for d in "${DETECTOR[@]}"
do
./run_localization_single.sh $d $DATA
done
archive/2022-IlluminationInvariant/scripts/run_merge.sh
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#!/bin/bash
if [ $# -lt 2 ]
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) and the data directory (where map databases have been reprocessed)."
exit
fi
TYPE=$1
DATA=$2
MIN_INLIERS=20 #20 40 60 80
source rtabmap_latest.bash
DATABASES="$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
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 --RGBD/OptimizeMaxError 10 "$DATA/$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 --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
# 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
archive/2022-IlluminationInvariant/scripts/valgrind.sh
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#!/bin/bash
if [ $# -lt 1 ]
then
echo "No arguments supplied. It should be the data directory (where the reprocessed map databases are saved)."
exit
fi
DATA=$1
DETECTOR=(0 1 6 7 9 14 11 111)
source rtabmap_latest.bash
for d in "${DETECTOR[@]}"
do
valgrind --tool=massif --time-unit=ms --detailed-freq=1 --max-snapshots=100 rtabmap-reprocess --Mem/IncrementalMemory false --Kp/IncrementalFlann false "${DATA}/${d}/map_190321-164651.db;loc_190321-165128.db" output.db
rm output.db
done