mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Added PyDetector (#677)
* Added PyDetector. Refactored PyMatcher. * Fixed python freezing with multi-threading
This commit is contained in:
matlabbe
@@ -120,7 +120,8 @@ public:
|
||||
kFeatureSuperPointTorch=11, //new 0.19.7
|
||||
kFeatureSurfFreak=12, //new 0.20.4
|
||||
kFeatureGfttDaisy=13, //new 0.20.6
|
||||
kFeatureSurfDaisy=14}; //new 0.20.6
|
||||
kFeatureSurfDaisy=14, //new 0.20.6
|
||||
kFeaturePyDetector=15}; //new 0.20.8
|
||||
|
||||
static std::string typeName(Type type)
|
||||
{
|
||||
|
||||
@@ -244,9 +244,9 @@ class RTABMAP_EXP Parameters
|
||||
RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
|
||||
#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
|
||||
// OpenCV>2 without xFeatures2D module doesn't have BRIEF
|
||||
RTABMAP_PARAM(Kp, DetectorStrategy, int, 8, "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 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY");
|
||||
RTABMAP_PARAM(Kp, DetectorStrategy, int, 8, "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 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
|
||||
#else
|
||||
RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "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 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY");
|
||||
RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "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 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
|
||||
#endif
|
||||
RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
|
||||
RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
|
||||
@@ -332,6 +332,9 @@ class RTABMAP_EXP Parameters
|
||||
RTABMAP_PARAM(SuperPoint, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()));
|
||||
RTABMAP_PARAM(SuperPoint, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
|
||||
|
||||
RTABMAP_PARAM_STR(PyDetector, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
|
||||
RTABMAP_PARAM(PyDetector, Cuda, bool, true, "Use cuda.");
|
||||
|
||||
// BayesFilter
|
||||
RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9, "Virtual place prior");
|
||||
RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}.");
|
||||
@@ -592,9 +595,9 @@ class RTABMAP_EXP Parameters
|
||||
RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
|
||||
#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
|
||||
// OpenCV>2 without xFeatures2D module doesn't have BRIEF
|
||||
RTABMAP_PARAM(Vis, FeatureType, int, 8, "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 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY");
|
||||
RTABMAP_PARAM(Vis, FeatureType, int, 8, "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 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
|
||||
#else
|
||||
RTABMAP_PARAM(Vis, FeatureType, int, 6, "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 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY");
|
||||
RTABMAP_PARAM(Vis, FeatureType, int, 6, "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 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
|
||||
#endif
|
||||
RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
|
||||
RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
|
||||
@@ -622,7 +625,7 @@ class RTABMAP_EXP Parameters
|
||||
#endif
|
||||
|
||||
// Features matching approaches
|
||||
RTABMAP_PARAM_STR(PyMatcher, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/pymatcher/*). See the header to see where the script should be copied.");
|
||||
RTABMAP_PARAM_STR(PyMatcher, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
|
||||
RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
|
||||
RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
|
||||
RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
|
||||
|
||||
41
corelib/include/rtabmap/core/PythonInterface.h
Normal file
41
corelib/include/rtabmap/core/PythonInterface.h
Normal file
@@ -0,0 +1,41 @@
|
||||
/*
|
||||
* PythonInterface.h
|
||||
*
|
||||
* Created on: Jan. 14, 2021
|
||||
* Author: mathieu
|
||||
*/
|
||||
|
||||
#ifndef CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_
|
||||
#define CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_
|
||||
|
||||
|
||||
#include <string>
|
||||
#include <rtabmap/utilite/UMutex.h>
|
||||
#include <Python.h>
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
class PythonInterface
|
||||
{
|
||||
public:
|
||||
PythonInterface();
|
||||
virtual ~PythonInterface();
|
||||
|
||||
protected:
|
||||
std::string getTraceback(); // should be called between lock() and unlock()
|
||||
void lock();
|
||||
void unlock();
|
||||
|
||||
private:
|
||||
static UMutex mutex_;
|
||||
static int refCount_;
|
||||
|
||||
protected:
|
||||
static PyThreadState * mainThreadState_;
|
||||
static unsigned long mainThreadID_;
|
||||
PyThreadState * threadState_;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif /* CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_ */
|
||||
@@ -37,7 +37,7 @@ namespace rtabmap {
|
||||
|
||||
class Feature2D;
|
||||
|
||||
#ifdef RTABMAP_PYMATCHER
|
||||
#ifdef RTABMAP_PYTHON
|
||||
class PyMatcher;
|
||||
#endif
|
||||
|
||||
@@ -105,7 +105,7 @@ private:
|
||||
Feature2D * _detectorFrom;
|
||||
Feature2D * _detectorTo;
|
||||
|
||||
#ifdef RTABMAP_PYMATCHER
|
||||
#ifdef RTABMAP_PYTHON
|
||||
PyMatcher * _pyMatcher;
|
||||
#endif
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user