more reasonable way to use 640x480 resolution

davidxupiaopiao · Jun 5, 2019 · 19d4355 · 19d4355
1 parent a6ce4b7
commit 19d4355
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Showing 4 changed files with 11 additions and 2 deletions.
diff --git a/GCN2/gcn2.pt → GCN2/gcn2_320x240.pt b/GCN2/gcn2.pt → GCN2/gcn2_320x240.pt
diff --git a/GCN2/gcn2_480x640.pt b/GCN2/gcn2_480x640.pt
diff --git a/GCN2/run.sh b/GCN2/run.sh
@@ -1,10 +1,13 @@
 # Run GCN, removed resolution requirment. The current model was trained with resolution 320x240 as input. Use other resolution may affect the actual performance. Ideally, GCNv2 should be trained/finetuned in desired resolution.
-GCN_PATH=gcn2.pt ./rgbd_gcn ../Vocabulary/GCNvoc.bin TUM3.yaml ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household/associations.txt
+GCN_PATH=gcn2_320x240.pt ./rgbd_gcn ../Vocabulary/GCNvoc.bin TUM3.yaml ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household/associations.txt
+
+# 640x480 resolution example
+FULL_RESOLUTION=1 GCN_PATH=gcn2_640x480.pt ./rgbd_gcn ../Vocabulary/GCNvoc.bin TUM3.yaml ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household/associations.txt
 
 # Reproduce results in comparison with ORB as in our paper, will enable NN_ONLY and use 320x240 resolution.
 
 # GCNv2
-# NN_ONLY=1 GCN_PATH=gcn2.pt ./rgbd_gcn ../Vocabulary/GCNvoc.bin TUM3_small.yaml ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household/associations.txt
+# NN_ONLY=1 GCN_PATH=gcn2_320x240.pt ./rgbd_gcn ../Vocabulary/GCNvoc.bin TUM3_small.yaml ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household/associations.txt
 
 # Vanilla ORB
 # NN_ONLY=1 USE_ORB=1 ./rgbd_gcn ../Vocabulary/ORBvoc.bin TUM3_small.yaml ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household ~/Workspace/Datasets/TUM/freiburg3/rgbd_dataset_freiburg3_long_office_household/associations.txt
diff --git a/src/GCNextractor.cc b/src/GCNextractor.cc
@@ -237,6 +237,12 @@ void GCNextractor::operator()( InputArray _image, InputArray _mask, vector<KeyPo
 
     int img_width = 320;
     int img_height = 240;
+
+    if (getenv("FULL_RESOLUTION") != nullptr)
+    {
+        img_width = 640;
+        img_height = 480;
+    }
 
     float ratio_width = float(img.cols) / float(img_width);
     float ratio_height = float(img.rows) / float(img_height);