Isaac Mapping - feature_extractor_main text protobuf config

[andreas.kradolfer]

I’m facing an issue with the keypoint_creation_config.pb.txt file—I have no information on how to define it. Additionally, the frames_metadata.pb.txt file, which should be inside the input_image_directory, is also missing.
The Isaac Mapping ROS run_rosbag_to_mapping_data provided the images and metadata only in JSONL format (frames_metadata.jsonl, frames_metadata.json).

To extract the features, I need to run:

feature_extractor_main \
    --input_image_directory <input_image_dir> \
    --output_dir <output_keyframe_dir> \
    --keypoint_creation_config configs/keypoint_creation_config.pb.txt

Is there any additional information available on this topic?

[andreas.kradolfer]

I found the pb.txt config file, but I’m still getting an error message.

./feature_extractor_main \
    --input_image_directory /workspaces/isaac_ros-dev/src/fs_25_andreaskradolfer/viras_ros_global_localization/map \
    --output_dir /workspaces/isaac_ros-dev/src/fs_25_andreaskradolfer/viras_ros_global_localization/map/features \
    --keypoint_creation_config   /opt/ros/humble/share/isaac_mapping_ros/configs/keypoint_creation_config.pb.txt

keypoint_creation_config.pb.txt:

sift_cv_cuda_detector {
  # in order to increase success rate, increase layers, suggest formulat is log(min(image_width,image_height))/log(2)-2
  max_layers_per_octave: 6
  # match with SIFT GPU peak_threshold, SIFT GPU use 0.02/layers, layer number use 3
  contrast_threshold: 0.02
  edge_threshold: 10.0
  initial_sigma: 1.6
  expand_input_image: false

  max_num_keypoints: 4096
  num_points_tolerance_fraction: 0.5
  global_non_max_method: NONE
}

super_point_detector {
  max_key_points_for_tensorrt: 4000
  detector_threshold: 0.005

  tensorrt_config {
    model_id: 0
    input_dimension {
      min: 1
      min: 1
      min: 100
      min: 100
      opt: 1
      opt: 1
      opt: 1200
      opt: 1920
      max: 1
      max: 1
      max: 2400
      max: 4000
    }
  }

  tensorrt_config{
    model_id: 1
    input_dimension {
      min: 1
      min: 2
      opt: 3200
      opt: 2
      max: 5500
      max: 2
    }
    input_dimension {
      min: 1
      min: 256
      min: 1
      min: 1
      opt: 1
      opt: 256
      opt: 150
      opt: 240
      max: 1
      max: 256
      max: 300
      max: 500
    }
  }
} 

my error:

admin@viras32:/opt/ros/humble/bin/isaac_mapping$ ./feature_extractor_main     --input_image_directory /workspaces/isaac_ros-dev/src/fs_25_andreaskradolfer/viras_ros_global_localization/map     --output_dir /workspaces/isaac_ros-dev/src/fs_25_andreaskradolfer/viras_ros_global_localization/map/features     --keypoint_creation_config   /opt/ros/humble/share/isaac_mapping_ros/configs/keypoint_creation_config.pb.txt
F0402 16:44:22.121856 13734 feature_extractor_main.cc:101] Unsupport feature type: 
*** Check failure stack trace: ***
    @     0xffffbb1ed41c  google::LogMessage::Fail()
    @     0xffffbb1f46d0  google::LogMessage::SendToLog()
    @     0xffffbb1ed0f4  google::LogMessage::Flush()
    @     0xffffbb1eeebc  google::LogMessageFatal::~LogMessageFatal()
    @     0xaaaab28457a8  (unknown)
    @     0xffffa99473fc  (unknown)
    @     0xffffa99474cc  __libc_start_main
    @     0xaaaab2848c70  (unknown)
Aborted (core dumped)

[dizeng]

Hi Andreas, Please provide the command line flag --feature_type sift since you are calling the binary directly.
See create_cuvgl_map.py for examples of how to call the binary. For ease of use, we suggest directly using the Python script.