From 8183f83406f12b834e7659fd2d90e93ee3a475a8 Mon Sep 17 00:00:00 2001 From: horacehxw Date: Sat, 11 May 2019 06:59:07 -0700 Subject: [PATCH] add mask syncronization strategy for DynamicExtractor --- Examples/DynamicExtractor/back.png | Bin 0 -> 553063 bytes Examples/DynamicExtractor/back2.png | Bin 0 -> 524874 bytes Examples/DynamicExtractor/outimg_1.png | Bin 473007 -> 476189 bytes Examples/DynamicExtractor/outimg_2.png | Bin 316291 -> 305744 bytes Examples/DynamicExtractor/outimg_3.png | Bin 473563 -> 476445 bytes Examples/DynamicExtractor/outimg_false.png | Bin 469743 -> 479136 bytes Examples/DynamicExtractor/test.cc | 3 +- Examples/MaskRCNN/dynamic_mask.png | Bin 4773 -> 0 bytes Examples/MaskRCNN/mask.png | Bin 478803 -> 0 bytes Examples/MaskRCNN/mask_rcnn.cc | 2 +- Examples/RGB-D/rgbd_tum.cc | 10 +- dynamic_mask.png | Bin 4773 -> 4796 bytes include/DynamicExtractor.h | 8 +- include/ORBextractor.h | 2 +- include/System.h | 2 +- include/Tracking.h | 2 +- results/KITTI_stero/00_Dyna.txt | 4541 +++++++++++++++++++ results/KITTI_stero/01_Dyna.txt | 1101 +++++ results/KITTI_stero/02_Dyna.txt | 4661 ++++++++++++++++++++ results/KITTI_stero/03_Dyna.txt | 801 ++++ results/KITTI_stero/04_Dyna.txt | 271 ++ results/KITTI_stero/06_Dyna.txt | 1101 +++++ results/KITTI_stero/07_Dyna.txt | 1101 +++++ results/KITTI_stero/09_Dyna.txt | 1591 +++++++ results/KITTI_stero/10_Dyna.txt | 1201 +++++ run_mask_sync.sh | 9 + src/DynamicExtractor.cc | 23 +- src/ORBextractor.cc | 4 +- src/System.cc | 6 +- src/Tracking.cc | 8 +- 30 files changed, 16425 insertions(+), 23 deletions(-) create mode 100644 Examples/DynamicExtractor/back.png create mode 100644 Examples/DynamicExtractor/back2.png delete mode 100644 Examples/MaskRCNN/dynamic_mask.png delete mode 100644 Examples/MaskRCNN/mask.png create mode 100644 results/KITTI_stero/00_Dyna.txt create mode 100644 results/KITTI_stero/01_Dyna.txt create mode 100644 results/KITTI_stero/02_Dyna.txt create mode 100644 results/KITTI_stero/03_Dyna.txt create mode 100644 results/KITTI_stero/04_Dyna.txt create mode 100644 results/KITTI_stero/06_Dyna.txt create mode 100644 results/KITTI_stero/07_Dyna.txt create mode 100644 results/KITTI_stero/09_Dyna.txt create mode 100644 results/KITTI_stero/10_Dyna.txt create mode 100644 run_mask_sync.sh diff --git a/Examples/DynamicExtractor/back.png b/Examples/DynamicExtractor/back.png new file mode 100644 index 0000000000000000000000000000000000000000..56d1673f25aba3ddb4d995e4b04ab76ec473570f GIT binary patch literal 553063 zcma&NcQ~8x|2`b5MTb?TMUB*mQmQ4?rZHR8-lKL9J7QC`R#7!;*Q^jLLXA*W)GjLa zE-69mJ)XQj-zOMztjwL?y!7aI9z4zNdde}?1*WmG zVW85C`b{CG%}+iYtm-(5)Gqp>L%IJ#fG1^APf=Ztr!@bSBcu$do%iO)O|aGa(o}~SSs&~C;`!E436k2lPnj& zm^_NLh)h?y_#MfU!KVPpy&i{c$q z>}c<4xJTA|GJU4sq8O{s$xJa($-CgkO?1tN00AI}Re^+>Mg}ibx(>{IJ!h&VLU^XZ z?-Ub|^--Yrcy*O8H)wC$fyh+GtSvEnf8VmP8oqn*V&X`%F(|GeKz&NSfr|5=c>)0F z5_Mu^gqeCBXyt;pR!eAeum~TYn)C`Yf~3F5Izrj6MvNu?UA9Gi5|0N%7kJG$6Eqbn 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a/Examples/RGB-D/rgbd_tum.cc b/Examples/RGB-D/rgbd_tum.cc index 92daaf6..ee3f2ae 100644 --- a/Examples/RGB-D/rgbd_tum.cc +++ b/Examples/RGB-D/rgbd_tum.cc @@ -35,9 +35,9 @@ void LoadImages(const string &strAssociationFilename, vector &vstrImageF vector &vstrImageFilenamesD, vector &vTimestamps); int main(int argc, char **argv) { - if (argc != 6 && argc != 7) { + if (argc != 6 && argc != 7 && argc != 8) { cerr << endl - << "Usage: ./rgbd_tum path_to_vocabulary path_to_settings path_to_sequence path_to_association target_name path_to_cnn_model" + << "Usage: ./rgbd_tum path_to_vocabulary path_to_settings path_to_sequence path_to_association target_name path_to_cnn_model mask_sync" << endl; return 1; } @@ -61,15 +61,19 @@ int main(int argc, char **argv) { // Create SLAM system. It initializes all system threads and gets ready to process frames. string model_path; + int skip = 1; if (argc > 6) { model_path = string(argv[6]); } + if (argc > 7) { + skip = stoi(string(argv[7])); + } // test 5 runs! { //cout << "run number " << runs << endl; - ORB_SLAM2::System SLAM(argv[1], argv[2], ORB_SLAM2::System::RGBD, true, model_path); + ORB_SLAM2::System SLAM(argv[1], argv[2], ORB_SLAM2::System::RGBD, true, model_path, skip); // Vector for tracking time statistics diff --git a/dynamic_mask.png b/dynamic_mask.png index 0f10aeb5a56ff7eecc983c1a55713fa41d92a7f5..6592e6542f6b733135c24aacdd27be2851ddbd93 100644 GIT binary patch literal 4796 zcmd6rdsGwGzQ?IACJ9Pj1Q5hz^5P9ftzbc62qA%lM5MfhQm04-Y)a`hC{>XeUPhWp z6a-OEPNN{cT8b%nD6US|X(x+Tb2!!>8q}NH+#a+`rK!j31N9D}IjcSA{Bi!dYu&%* zyFdH8f4^V$p6op{ZJO+irPSqAA0MBk3b{1L$7jJlAD@^06Ci;P{Zdncj}Nm+Ax+KI zy>$08+Ut(>oW-AQcv@EX{?A881)b?RKC#^2M-JA!3p(<||L-miKuuJGj{nokRRRVb ze*mu9N?(jN0P;tbodnm3#QIWdFhqDP^Dbn9WXOa2jI9h_lCa3=FOrQjby2aZ=+ 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b/include/DynamicExtractor.h index 3d02681..cb8ed29 100644 --- a/include/DynamicExtractor.h +++ b/include/DynamicExtractor.h @@ -26,13 +26,15 @@ namespace ORB_SLAM2 { public: // need model location to load the model // only supports mask-rcnn for now - DynamicExtractor(const std::string &strModelPath, + DynamicExtractor(const std::string &strModelPath, int maxUsage=1, float confThreshold = 0.5, float maskThreshold = 0.3); // compute dynamic mask for given frame void extractMask(const cv::Mat &frame, cv::Mat &dynamic_mask); private: + // do real mask extraction under CNN + cv::Mat extractMask(const cv::Mat &frame); // return non-zero if the corresponding class is dynamic bool is_dynamic(int classId) { return dynamicClasses.count(classes[classId]); @@ -40,10 +42,14 @@ namespace ORB_SLAM2 { float confThreshold; // Confidence threshold float maskThreshold; // Mask threshold + int maskUsage; // prevMask usage counter + int maxUsage; // max number of mask synchronization std::vector classes; // classId --> className std::unordered_set dynamicClasses; // name of dynamic classes cv::dnn::Net net; // mask-rcnn model + cv::Mat prevMask; + }; } diff --git a/include/ORBextractor.h b/include/ORBextractor.h index a85f06b..cec15ad 100644 --- a/include/ORBextractor.h +++ b/include/ORBextractor.h @@ -50,7 +50,7 @@ class ORBextractor enum {HARRIS_SCORE=0, FAST_SCORE=1 }; ORBextractor(int nfeatures, float scaleFactor, int nlevels, - int iniThFAST, int minThFAST, const std::string &strModelPath); + int iniThFAST, int minThFAST, const std::string &strModelPath, int skip); ~ORBextractor(){} diff --git a/include/System.h b/include/System.h index 94c2a67..ac67803 100644 --- a/include/System.h +++ b/include/System.h @@ -61,7 +61,7 @@ class System // Initialize the SLAM system. It launches the Local Mapping, Loop Closing and Viewer threads. System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer = true, - const string &strModelPath=""); + const string &strModelPath="", int skip=1); // Proccess the given stereo frame. Images must be synchronized and rectified. // Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale. diff --git a/include/Tracking.h b/include/Tracking.h index 7fc160d..bd25f85 100644 --- a/include/Tracking.h +++ b/include/Tracking.h @@ -56,7 +56,7 @@ class Tracking public: Tracking(System *pSys, ORBVocabulary *pVoc, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Map *pMap, KeyFrameDatabase *pKFDB, const string &strSettingPath, const int sensor, - const string &strModelPath); + const string &strModelPath, int skip=1); // Preprocess the input and call Track(). Extract features and performs stereo matching. cv::Mat GrabImageStereo(const cv::Mat &imRectLeft,const cv::Mat &imRectRight, const double ×tamp); diff --git a/results/KITTI_stero/00_Dyna.txt b/results/KITTI_stero/00_Dyna.txt new file mode 100644 index 0000000..7f642ec --- /dev/null +++ b/results/KITTI_stero/00_Dyna.txt @@ -0,0 +1,4541 @@ +0.999999940 -0.000000000 -0.000000000 -0.000000030 -0.000000000 1.000000000 0.000000000 0.000000119 -0.000000000 0.000000000 1.000000000 -0.000000015 +0.999991000 -0.002469766 -0.003434085 -0.003552541 0.002462033 0.999994457 -0.002254279 -0.004815613 0.003439634 0.002245804 0.999991536 0.672989726 +0.999969721 -0.002116257 -0.007486561 -0.011808597 0.002090925 0.999992073 -0.003389850 -0.009199658 0.007493677 0.003374094 0.999966264 1.366472960 +0.999936700 -0.001842362 -0.011090277 -0.033598743 0.001786720 0.999985754 -0.005025049 -0.008793166 0.011099376 0.005004916 0.999925911 2.070182085 +0.999870360 -0.000595346 -0.016087672 -0.051949549 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0.661949515 -0.124686092 -0.739105105 -13.386138916 +-0.747145534 -0.029084072 -0.664023817 545.746337891 0.060502570 0.991918445 -0.111521974 -21.819950104 0.661900997 -0.123498306 -0.739347816 -13.461914062 +-0.746870518 -0.029998906 -0.664292395 545.680175781 0.059407178 0.991977155 -0.111588962 -21.831665039 0.662310481 -0.122806258 -0.739096403 -13.545715332 +-0.747198224 -0.029947056 -0.663926184 545.605590820 0.059927650 0.991878748 -0.112183675 -21.844764709 0.661893904 -0.123610981 -0.739335299 -13.622406006 +-0.746988773 -0.029266033 -0.664192319 545.533813477 0.061327506 0.991737902 -0.112670958 -21.857910156 0.662002146 -0.124897197 -0.739022136 -13.702880859 +-0.746737480 -0.028539415 -0.664506435 545.459655762 0.062503688 0.991646588 -0.112827919 -21.871627808 0.662175655 -0.125786930 -0.738715827 -13.785095215 +-0.746936619 -0.027615195 -0.664321721 545.383300781 0.063395128 0.991627395 -0.112499893 -21.886318207 0.661866307 -0.126145050 -0.738932014 -13.868835449 +-0.747287214 -0.025462706 -0.664013326 545.297241211 0.065966494 0.991486788 -0.112259574 -21.899250031 0.661218882 -0.127692759 -0.739245653 -13.953765869 +-0.746841908 -0.023436550 -0.664588630 545.215576172 0.068171166 0.991415501 -0.111570448 -21.912143707 0.661498249 -0.128631264 -0.738832831 -14.040466309 +-0.746828556 -0.022732666 -0.664628088 545.144287109 0.068400681 0.991489112 -0.110772863 -21.929141998 0.661489666 -0.128189370 -0.738917410 -14.123535156 +-0.747158110 -0.023297442 -0.664237976 545.072875977 0.067225806 0.991611302 -0.110397644 -21.943706512 0.661237895 -0.127138421 -0.739324152 -14.200439453 +-0.746976495 -0.023424461 -0.664437890 545.007141113 0.067166068 0.991607428 -0.110468350 -21.958137512 0.661449254 -0.127144903 -0.739134073 -14.276550293 +-0.746900260 -0.023487218 -0.664521098 544.941528320 0.066892929 0.991651952 -0.110235013 -21.971282959 0.661562741 -0.126786351 -0.739093959 -14.354736328 +-0.747236490 -0.023287218 -0.664150178 544.885498047 0.066818833 0.991688550 -0.109949730 -21.982696533 0.661190569 -0.126536191 -0.739469826 -14.421447754 +-0.747764409 -0.022180581 -0.663593650 544.828002930 0.067510523 0.991722107 -0.109221876 -21.994758606 0.660523117 -0.126471788 -0.740077019 -14.484436035 +-0.747439086 -0.022416767 -0.663952053 544.785644531 0.066679545 0.991851926 -0.108551539 -22.002895355 0.660975575 -0.125407681 -0.739854157 -14.544708252 +-0.748389006 -0.021650011 -0.662906587 544.735351562 0.066544436 0.991973221 -0.107522450 -22.014266968 0.659913421 -0.124581382 -0.740941048 -14.586578369 diff --git a/run_mask_sync.sh b/run_mask_sync.sh new file mode 100644 index 0000000..f2156cd --- /dev/null +++ b/run_mask_sync.sh @@ -0,0 +1,9 @@ +./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz/associations.txt results/w_xyz_Dyna_skip2.txt ModelsCNN/ 2 +./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz/associations.txt results/w_xyz_Dyna_skip3.txt ModelsCNN/ 3 +./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz/associations.txt results/w_xyz_Dyna_skip4.txt ModelsCNN/ 4 +./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz/associations.txt results/w_xyz_Dyna_skip5.txt ModelsCNN/ 5 +./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz/associations.txt results/w_xyz_Dyna_skip7.txt ModelsCNN/ 7 +./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz/associations.txt results/w_xyz_Dyna_skip10.txt ModelsCNN/ 10 +./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz/associations.txt results/w_xyz_Dyna_skip15.txt ModelsCNN/ 15 +./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz ~/Data/TUM/rgbd_dataset_freiburg3_walking_xyz/associations.txt results/w_xyz_Dyna_skip20.txt ModelsCNN/ 20 + diff --git a/src/DynamicExtractor.cc b/src/DynamicExtractor.cc index b028231..175e4fb 100644 --- a/src/DynamicExtractor.cc +++ b/src/DynamicExtractor.cc @@ -9,9 +9,11 @@ using namespace cv; using namespace dnn; namespace ORB_SLAM2 { - DynamicExtractor::DynamicExtractor(const string &strModelPath, - float confThreshold, float maskThreshold) : confThreshold(confThreshold), + DynamicExtractor::DynamicExtractor(const string &strModelPath, int maxUsage, + float confThreshold, float maskThreshold) : maxUsage(maxUsage), + confThreshold(confThreshold), maskThreshold(maskThreshold) { + maskUsage = 0; string textGraph = strModelPath + "mask_rcnn_inception_v2_coco_2018_01_28.pbtxt"; string modelWeights = strModelPath + "frozen_inference_graph.pb"; string classesFile = strModelPath + "mscoco_labels.names"; @@ -34,9 +36,8 @@ namespace ORB_SLAM2 { } - void DynamicExtractor::extractMask(const Mat &frame, Mat &dynamic_mask) { + Mat DynamicExtractor::extractMask(const Mat &frame) { Mat blob; - // Create 4D blob from a frame as input blobFromImage(frame, blob, 1.0, Size(frame.cols, frame.rows), Scalar(), true, false); net.setInput(blob); @@ -63,7 +64,7 @@ namespace ORB_SLAM2 { // aggregate binary mask of dynamic objects into dynamic_mask // dynamic part should be zero - dynamic_mask = Mat(frame.size(), CV_8U, Scalar(255)); + Mat dynamic_mask = Mat(frame.size(), CV_8U, Scalar(255)); Mat mat_zeros = Mat::zeros(frame.size(), CV_8U); for (int i = 0; i < numDetections; ++i) { float score = outDetections.at(i, 2); @@ -97,5 +98,17 @@ namespace ORB_SLAM2 { } } } + return dynamic_mask; + } + + void DynamicExtractor::extractMask(const Mat &frame, Mat &dynamic_mask) { + // if maskUsage <= masUsage, resuse prevMask + if (prevMask.empty() || maskUsage >= maxUsage) { + prevMask = extractMask(frame); + maskUsage = 0; + } + + dynamic_mask = prevMask.clone(); + maskUsage++; } } \ No newline at end of file diff --git a/src/ORBextractor.cc b/src/ORBextractor.cc index 1b9570b..8380abf 100644 --- a/src/ORBextractor.cc +++ b/src/ORBextractor.cc @@ -410,7 +410,7 @@ static int bit_pattern_31_[256*4] = }; ORBextractor::ORBextractor(int _nfeatures, float _scaleFactor, int _nlevels, - int _iniThFAST, int _minThFAST, const std::string &strModelPath): + int _iniThFAST, int _minThFAST, const std::string &strModelPath, int skip): nfeatures(_nfeatures), scaleFactor(_scaleFactor), nlevels(_nlevels), iniThFAST(_iniThFAST), minThFAST(_minThFAST) { @@ -418,7 +418,7 @@ ORBextractor::ORBextractor(int _nfeatures, float _scaleFactor, int _nlevels, remove_dynamic = false; } else { remove_dynamic = true; - mask_extractor = new DynamicExtractor(strModelPath); + mask_extractor = new DynamicExtractor(strModelPath, skip); } diff --git a/src/System.cc b/src/System.cc index dc67f5f..396d045 100644 --- a/src/System.cc +++ b/src/System.cc @@ -30,8 +30,8 @@ namespace ORB_SLAM2 { System::System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, - const bool bUseViewer, const string &strModelPath):mSensor(sensor), mpViewer(static_cast(NULL)), mbReset(false),mbActivateLocalizationMode(false), - mbDeactivateLocalizationMode(false) + const bool bUseViewer, const string &strModelPath, int skip):mSensor(sensor), mpViewer(static_cast(NULL)), mbReset(false), + mbActivateLocalizationMode(false), mbDeactivateLocalizationMode(false) { // Output welcome message cout << endl << @@ -81,7 +81,7 @@ System::System(const string &strVocFile, const string &strSettingsFile, const eS //Initialize the Tracking thread //(it will live in the main thread of execution, the one that called this constructor) mpTracker = new Tracking(this, mpVocabulary, mpFrameDrawer, mpMapDrawer, - mpMap, mpKeyFrameDatabase, strSettingsFile, mSensor, strModelPath); + mpMap, mpKeyFrameDatabase, strSettingsFile, mSensor, strModelPath, skip); //Initialize the Local Mapping thread and launch mpLocalMapper = new LocalMapping(mpMap, mSensor==MONOCULAR); diff --git a/src/Tracking.cc b/src/Tracking.cc index 6fc117b..8c59adf 100644 --- a/src/Tracking.cc +++ b/src/Tracking.cc @@ -44,7 +44,7 @@ namespace ORB_SLAM2 { Tracking::Tracking(System *pSys, ORBVocabulary *pVoc, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Map *pMap, - KeyFrameDatabase *pKFDB, const string &strSettingPath, const int sensor, const string &strModelPath) + KeyFrameDatabase *pKFDB, const string &strSettingPath, const int sensor, const string &strModelPath, int skip) : mState(NO_IMAGES_YET), mSensor(sensor), mbOnlyTracking(false), mbVO(false), mpORBVocabulary(pVoc), mpKeyFrameDB(pKFDB), mpInitializer(static_cast(NULL)), mpSystem(pSys), mpViewer(NULL), @@ -118,13 +118,13 @@ Tracking::Tracking(System *pSys, ORBVocabulary *pVoc, FrameDrawer *pFrameDrawer, int fIniThFAST = fSettings["ORBextractor.iniThFAST"]; int fMinThFAST = fSettings["ORBextractor.minThFAST"]; - mpORBextractorLeft = new ORBextractor(nFeatures,fScaleFactor,nLevels,fIniThFAST,fMinThFAST, strModelPath); + mpORBextractorLeft = new ORBextractor(nFeatures,fScaleFactor,nLevels,fIniThFAST,fMinThFAST, strModelPath, skip); if(sensor==System::STEREO) - mpORBextractorRight = new ORBextractor(nFeatures,fScaleFactor,nLevels,fIniThFAST,fMinThFAST, strModelPath); + mpORBextractorRight = new ORBextractor(nFeatures,fScaleFactor,nLevels,fIniThFAST,fMinThFAST, strModelPath, skip); if(sensor==System::MONOCULAR) - mpIniORBextractor = new ORBextractor(2*nFeatures,fScaleFactor,nLevels,fIniThFAST,fMinThFAST, strModelPath); + mpIniORBextractor = new ORBextractor(2*nFeatures,fScaleFactor,nLevels,fIniThFAST,fMinThFAST, strModelPath, skip); cout << endl << "ORB Extractor Parameters: " << endl; cout << "- Number of Features: " << nFeatures << endl;

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