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Adding OpenCV's GPU GFTT/ OpticalFlow and CudaSift support (#1330)
* Adding GFTT and SIFT Cuda support * Working CudaSift * Disable cudasift option when not available * Added check to avoid re-allocating gpu memory everytime parseParameters is called. Added workaround of to detect/ignore invalid descriptors * Added SIFT/PreciseUpscale and SIFT/Upscale parameters. Adjusted max octave to behave more like opencv * Refactored how maximum features are thresholded, to be more similar to OpenCV version * Updated loop closure benchmark scripts * Cuda optical flow tmp commit * Added Stereo/Gpu Vis/CorFlowGpu parameters (optical flow gpu integration for F2F odom and stereo correspondences) * Fixed build without opencv cuda * Fixed build with Opencv 4.10 * ZED: updated parameters to match zed sdk 4 * MRPT requires C++17 * updated max octave limit CudaSift
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archive/2010-LoopClosure/ShowLogs/precisionRecallAllDetectors.m
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,56 @@ | ||
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| #set(0,'defaultAxesFontName', 'Times') | ||
| #set(0,'defaultTextFontName', 'Times') | ||
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| Prefix = 'loop_closure_detection_datasets'; | ||
| Dataset= 'CityCentre' | ||
| Detectors = {'Surf'; 'Sift'; 'CudaSift'; 'GfttBrief'}; | ||
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| % The Ground Truth is a squared bmp file (size must match the log files | ||
| % length) where white dots mean loop closures. | ||
| % Grey dots mean 'loop closures to ignore', this happens when the rehearsal | ||
| % doesn't match consecutive images together. | ||
| GroundTruthFile = [Prefix '/' Dataset '.png']; | ||
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| colors = 'kbgrcm'; | ||
| figure | ||
| xlabel('Recall (%)') | ||
| ylabel('Precision (%)') | ||
| hold on; | ||
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| Results = {}; | ||
| TimeResults = {}; | ||
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| for i=1:length(Detectors) | ||
| LogI = importfile([Prefix '/' Dataset '/' Detectors{i} 'LogI.txt']); | ||
| LogF = importfile([Prefix '/' Dataset '/' Detectors{i} 'LogF.txt']); | ||
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| PR = getPrecisionRecall(LogI, LogF, GroundTruthFile, 0.07); | ||
| plot(100*PR(:,2), 100*PR(:,1), colors(mod(i,6)+1)); | ||
| % hold on; | ||
| Results{i} = PR; | ||
| time = sum(LogF(:,2:7),2)+LogF(:,17);%LogF(:,1) | ||
| TimeResults{i} = time; | ||
| meanTime = mean(time) | ||
| meanWm = mean(LogI(:,7)) | ||
| meanDict = mean(LogI(:,6)) | ||
| maxTime = max(time) | ||
| maxWm = max(LogI(:,7)) | ||
| maxDict = max(LogI(:,6)) | ||
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| %figure(2) | ||
| %plot(PR(:,4), PR(:,3), colors(mod(i,6)+1)); | ||
| %hold on; | ||
| end | ||
| legend(Detectors) | ||
| title(Dataset) | ||
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| figure | ||
| rows=floor(length(Detectors)/2 )+ mod(length(Detectors), 2) | ||
| for i=1:length(TimeResults) | ||
| subplot(rows, 2, i) | ||
| plot(TimeResults{i}) | ||
| ylabel('Time (s)') | ||
| title([Detectors{i} ' (' num2str(mean(TimeResults{i})) 's)']) | ||
| end | ||
| xlabel('Location indexes') |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,29 @@ | ||
| #!/bin/bash | ||
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| DATASETS_FOLDER="" | ||
| if [ $# -eq 1 ] | ||
| then | ||
| DATASETS_FOLDER=$1 | ||
| else | ||
| echo "Usage: run_all_datasets.sh \"datasets folder\" " | ||
| exit | ||
| fi | ||
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| SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" | ||
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| $SCRIPT_DIR/run_bow.sh $DATASETS_FOLDER/NewCollege $DATASETS_FOLDER/NewCollege.png | ||
| if [ -s LogF.txt ]; then | ||
| mv LogF.txt $DATASETS_FOLDER/NewCollege/LogF.txt | ||
| mv LogI.txt $DATASETS_FOLDER/NewCollege/LogI.txt | ||
| fi | ||
| $SCRIPT_DIR/run_bow.sh $DATASETS_FOLDER/CityCentre $DATASETS_FOLDER/CityCentre.png | ||
| if [ -s LogF.txt ]; then | ||
| mv LogF.txt $DATASETS_FOLDER/CityCentre/LogF.txt | ||
| mv LogI.txt $DATASETS_FOLDER/CityCentre/LogI.txt | ||
| fi | ||
| $SCRIPT_DIR/run_bow.sh $DATASETS_FOLDER/UdeS_1Hz $DATASETS_FOLDER/UdeS_1Hz.png | ||
| if [ -s LogF.txt ]; then | ||
| mv LogF.txt $DATASETS_FOLDER/UdeS_1Hz/LogF.txt | ||
| mv LogI.txt $DATASETS_FOLDER/UdeS_1Hz/LogI.txt | ||
| fi | ||
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| #!/bin/bash | ||
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| DATASET_FOLDER="" | ||
| GT_FILE="" | ||
| MEMORY_THR=0 | ||
| if [ $# -ge 2 ] | ||
| then | ||
| DATASET_FOLDER=$1 | ||
| GT_FILE=$2 | ||
| else | ||
| echo "Usage: run_all_detectors.sh \"dataset folder\" \"ground truth file\" [\"Rtabmap/MemoryThr=0\"]" | ||
| exit | ||
| fi | ||
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| if [ $# -ge 3 ] | ||
| then | ||
| MEMORY_THR=$3 | ||
| fi | ||
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| SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" | ||
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| $SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 0 false | ||
| mv LogF.txt $DATASET_FOLDER/SurfLogF.txt | ||
| mv LogI.txt $DATASET_FOLDER/SurfLogI.txt | ||
| $SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 1 false | ||
| mv LogF.txt $DATASET_FOLDER/SiftLogF.txt | ||
| mv LogI.txt $DATASET_FOLDER/SiftLogI.txt | ||
| $SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 1 true | ||
| mv LogF.txt $DATASET_FOLDER/CudaSiftLogF.txt | ||
| mv LogI.txt $DATASET_FOLDER/CudaSiftLogI.txt | ||
| $SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 6 false | ||
| mv LogF.txt $DATASET_FOLDER/GfttBriefLogF.txt | ||
| mv LogI.txt $DATASET_FOLDER/GfttBriefLogI.txt | ||
| #$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 11 false | ||
| #mv LogF.txt $DATASET_FOLDER/SuperPointLogF.txt | ||
| #mv LogI.txt $DATASET_FOLDER/SuperPointLogI.txt | ||
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