Added the dataset imageNames, the .csv ground truth files, code to check the dataset, and the readme file.

.gitattributes

@@ -53,3 +53,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.jpg filter=lfs diff=lfs merge=lfs -text
 *.jpeg filter=lfs diff=lfs merge=lfs -text
 *.webp filter=lfs diff=lfs merge=lfs -text
+*.tar.gz filter=lfs diff=lfs merge=lfs -text

Nordland_match.ipynb

@@ -0,0 +1,430 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import pandas as pd\n",
+    "import numpy as np\n",
+    "\n",
+    "# fall, winter & spring are aligned to summer, so read summer.csv\n",
+    "df=pd.read_csv('summer.csv', sep=',', header=0)\n",
+    "df.head()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "tids = df.values[:, 0] / 100  # format: hhmmss\n",
+    "lats = df.values[:, 1]\n",
+    "lons = df.values[:, 2]\n",
+    "speeds = df.values[:, 3]\n",
+    "courses = df.values[:, 4]\n",
+    "alts = df.values[:, 5]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# go from their time-based representation to number of seconds\n",
+    "def val_to_sec(val):\n",
+    "    if not isinstance(val, np.ndarray):\n",
+    "        val = np.array([val])\n",
+    "    hours = (val / 10000).astype(np.int)\n",
+    "    minutes = ((val % 10000) / 100).astype(np.int)\n",
+    "    secs = (val % 100).astype(np.int)\n",
+    "    \n",
+    "    absolute = hours * 3600 + minutes * 60 + secs\n",
+    "    if len(absolute) == 1:\n",
+    "        return int(absolute[0])\n",
+    "    else:\n",
+    "        return hours * 3600 + minutes * 60 + secs"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "tids_abs_seconds = val_to_sec(tids)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "keep_indices = tids_abs_seconds <= val_to_sec(152840) # all data past 15h 28m 40s is not contained in the video, so remove it\n",
+    "# check that we have increasing timestamps\n",
+    "going_back_in_time = np.diff(tids_abs_seconds) <= 0\n",
+    "assert not np.any(going_back_in_time)\n",
+    "\n",
+    "speeds = speeds[keep_indices]\n",
+    "tids_abs_seconds = tids_abs_seconds[keep_indices]\n",
+    "start_val = val_to_sec(53806)  # this is when the train starts moving"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "tids_abs_seconds_off = tids_abs_seconds - start_val"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "tids_abs_seconds_off"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "np.argwhere(np.diff(tids_abs_seconds_off) > 25).flatten()  # just for debugging"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "np.diff(tids_abs_seconds_off[tids_abs_seconds_off > 0]).sum()  # train moves for ~35439 frames so we're not far off"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "desired_times = np.arange(-168, 35768-168)  # train starts moving at frame 168 so make everything relative to that"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "match_indices = []\n",
+    "for desired_time in desired_times:\n",
+    "    diffs = np.abs(tids_abs_seconds_off - desired_time)\n",
+    "    best_idx = diffs.argmin()\n",
+    "    match_indices.append(best_idx)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "new_img_ids, new_speeds, new_ref_times, new_lats, new_lons, new_courses, new_alts = [], [], [], [], [], [], []\n",
+    "for row_idx in range(35768):\n",
+    "    new_img_ids.append(row_idx + 1)\n",
+    "    new_match_idx = match_indices[row_idx]\n",
+    "    new_speeds.append(speeds[new_match_idx])\n",
+    "    new_ref_times.append(tids[new_match_idx])\n",
+    "    new_lats.append(lats[new_match_idx] / 100000)\n",
+    "    new_lons.append(lons[new_match_idx] / 100000)\n",
+    "    new_courses.append(courses[new_match_idx])\n",
+    "    new_alts.append(alts[new_match_idx])\n",
+    "new_img_ids = np.array(new_img_ids)\n",
+    "new_speeds = np.array(new_speeds)\n",
+    "new_ref_times = np.array(new_ref_times)\n",
+    "new_lats = np.array(new_lats)\n",
+    "new_lons = np.array(new_lons)\n",
+    "new_courses = np.array(new_courses)\n",
+    "new_alts = np.array(new_alts)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "np.savez('nordland_aligned.npz',\n",
+    "         img_id=new_img_ids,\n",
+    "         speed=new_speeds,\n",
+    "         ref_time=new_ref_times,\n",
+    "         lat=new_lats,\n",
+    "         lon=new_lons,\n",
+    "         course=new_courses,\n",
+    "         alt=new_alts)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Sanity check from manually found matches"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "rows_frames = np.array([  # manually found matches (when does train start/stop moving) -> frame number in video\n",
+    "    168,  1290, 1792, 2211, 2295, 2501, 2655, 3405, 3668, 5072, 5460, 7080, 7277, 7772, 7870, 10050, 10200, 11670, 11880, 13360, 14835, 19740,\n",
+    "    20040, 24120, 24390, 26410, 26535, 28975, 29090, 31090, 31185, 32400, 33040, 35130, 35177, 35608,\n",
+    "])\n",
+    "points_gps = [  # manually found matches -> time stamp in GPS data\n",
+    "    5380600, 5564200, 6050800, 6120100, 6133500, 6165300, 6193200, 6315700, 6363000, 6593500, 7061900, 7331200, 7363400, 7444600, 7462800,\n",
+    "    8225000, 8250600, 8494500, 8531900, 9175300, 9421800, 11040900, 11092800, 12171300, 12215500, 12552800, 12573600, 13381000,\n",
+    "    13400700, 14132000, 14150200, 14350900, 14455900, 15204500, 15213600, 15284000,\n",
+    "]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "rows_gps = []\n",
+    "for point_gps in points_gps:\n",
+    "    diffs = np.abs(tids - point_gps / 100)\n",
+    "    best_idx = diffs.argmin()\n",
+    "    rows_gps.append(best_idx)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "np.array(rows_gps)  # as we can see we're close enough"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "np.array(match_indices)[np.array(rows_frames)]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "abs_diff = np.abs(np.array(rows_gps)-np.array(match_indices)[np.array(rows_frames)])\n",
+    "np.mean(abs_diff), np.max(abs_diff)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Build dbStruct matlab file"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "%load_ext autoreload\n",
+    "%autoreload 2\n",
+    "\n",
+    "import sys\n",
+    "sys.path.append('../pytorch-NetVlad-Nanne')\n",
+    "\n",
+    "from datasets import parse_db_struct, save_db_struct, dbStruct"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "tunnels = [(1870, 2029),   (2313, 2333),   (2341, 2355),   (4093, 4097),   (6501, 6506),   (6756, 6773),   (8479, 8484),   (8489, 8494),   (9967, 9979),   (10239, 10268), (10408, 10416), (10944, 10947),\n",
+    "           (10985, 10991), (10997, 11003), (11008, 11019), (11022, 11028), (11030, 11032),\n",
+    "           (11037, 11048), (11057, 11065), (11101, 11107), (11129, 11146), (11225, 11228), (11280, 11286), (11915, 12036), (12057, 12062), (12074, 12082), (12165, 12168), (12204, 12208), (12319, 12365),\n",
+    "           (12409, 12417), (12472, 12481), (13620, 13628), (14320, 14348), (14390, 14400), (16203, 16206), (16472, 16484), (16690, 16695), (16933, 16936), (17054, 17068), (17177, 17183), (17734, 17756),\n",
+    "           (17868, 17902), (17974, 17986), (17991, 17996), (18161, 18170), (18330, 18443), (18540, 18550), (18580, 18588), (18661, 18683), (18955, 18966), (18977, 18986), (19019, 19026), (19092, 19100),\n",
+    "           (19170, 19185), (20310, 20354), (20540, 20547), (20594, 20599), (20737, 20760), (21058, 21063), (21478, 21499), (21832, 21872), (21947, 21961), (21986, 22003), (22014, 22030), (22037, 22048),\n",
+    "           (22149, 22152), (22174, 22197), (22212, 22241), (22249, 22251), (22263, 22269), (22279, 22344), (22358, 22361), (22397, 22430), (22442, 22450), (22483, 22502), (22571, 22578), (22593, 22596),\n",
+    "           (22944, 22950), (22999, 23004), (23026, 23029), (23045, 23049), (23141, 23148), (23166, 23171), (23197, 23214), (23402, 23407), (23486, 23493), (23496, 23503), (23519, 23534), (23571, 23577),\n",
+    "           (23593, 23598), (23666, 23675), (23691, 23703), (23707, 23711), (23842, 23855), (23950, 23955), (24988, 24997), (25004, 25030), (25037, 25044), (25256, 25320), (25373, 25380), (25398, 25406),\n",
+    "           (25507, 25521), (25825, 25846), (26086, 26091), (26120, 26135), (26890, 26897), (26997, 27012), (27408, 27423), (27432, 27435), (27926, 27943), (28687, 28693), (29321, 29331), (29384, 29421),\n",
+    "           (29525, 29532), (29693, 29707), (29974, 29981), (29994, 30010), (30073, 30091), (30103, 30106), (30137, 30142), (30174, 30179), (30204, 30211), (31301, 31325), (31332, 31340), (31396, 31410),\n",
+    "           (31433, 31437), (31448, 31482), (31492, 31551), (31611, 31628), (31666, 31712), (31748, 31796), (31823, 31828), (31831, 31836), (31848, 31865), (31903, 31965), (31998, 32062), (32102, 32128),\n",
+    "           (32143, 32165), (32214, 32242), (32344, 32348), (33317, 33328), (33341, 33346), (33370, 33386), (33430, 33513), (33717, 33721), (33754, 33781), (33917, 33923), (34234, 34242), (34631, 34655),\n",
+    "           (34742, 34757), (34775, 34811), (34849, 34857), (34978, 34992), (35362, 35366), (35386, 35390), (35395, 35400), (35430, 35440), (35464, 35466)]\n",
+    "filter_tunnels = np.array(np.ones(len(new_img_ids)), dtype=np.bool)\n",
+    "last = 0\n",
+    "for tunnel in tunnels:\n",
+    "    # print(tunnel[1]-tunnel[0])\n",
+    "    # print(tunnel[1])\n",
+    "    assert tunnel[0] > last\n",
+    "    last = tunnel[1]\n",
+    "    filter_tunnels[tunnel[0]-1:tunnel[1]-1] = False"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "filter_speed = new_speeds > 1500\n",
+    "all_filters = np.logical_and(filter_speed, filter_tunnels)\n",
+    "max_im_num = 10000000000000  # 10000000000 for all\n",
+    "\n",
+    "whichSet = 'test'\n",
+    "dataset = 'nordland'\n",
+    "dbImage = ['images-%05d.png' % img_id for img_id in new_img_ids[all_filters][:max_im_num]]\n",
+    "qImage = dbImage"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "numDb = len(dbImage)\n",
+    "numQ = len(qImage)\n",
+    "\n",
+    "posDistThr = 2\n",
+    "posDistSqThr = posDistThr**2\n",
+    "nonTrivPosDistSqThr = 100\n",
+    "\n",
+    "gpsDb = np.vstack((new_lats[all_filters][:max_im_num], new_lons[all_filters][:max_im_num])).T\n",
+    "gpsQ = gpsDb\n",
+    "\n",
+    "utmDb = np.vstack((range(numDb), range(numDb))).T\n",
+    "utmQ = utmDb\n",
+    "# utmQ = None; utmDb = None; \n",
+    "\n",
+    "dbTimeStamp = None; qTimeStamp = None\n",
+    "\n",
+    "db = dbStruct(whichSet, dataset, dbImage, utmDb, qImage, utmQ, numDb, numQ, posDistThr,\n",
+    "              posDistSqThr, nonTrivPosDistSqThr, dbTimeStamp, qTimeStamp, gpsDb, gpsQ)\n",
+    "\n",
+    "save_db_struct('nordland.mat', db)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from sklearn.neighbors import NearestNeighbors\n",
+    "knn = NearestNeighbors(n_jobs=-1)\n",
+    "knn.fit(db.utmDb)\n",
+    "distances, positives = knn.radius_neighbors(db.utmQ, radius=db.posDistThr)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "positives"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Other stuff"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "scrolled": true
+   },
+   "outputs": [],
+   "source": [
+    "import os\n",
+    "source_dir = '/media/storage_hdd/Datasets/nordland/640x320-color/'\n",
+    "dest_dir = '/media/storage_hdd/Datasets/nordland/640x320-color-filtered/'\n",
+    "for season in ['summer', 'spring', 'fall', 'winter']:\n",
+    "    os.makedirs(os.path.join(dest_dir, season))\n",
+    "    for idx, im in enumerate(dbImage):\n",
+    "        os.symlink(os.path.join(source_dir, season, im), os.path.join(dest_dir, season, 'filtered-%05d.png' % idx))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "with open('nordland_matches.txt', 'w') as outfile:\n",
+    "    for im_name1 in dbImage:\n",
+    "        for im_name2 in dbImage:\n",
+    "            outfile.write('summer/' + im_name1 + ' ' + 'winter/' + im_name2 + '\\n')"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "__End__"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python [conda env:netvlad20]",
+   "language": "python",
+   "name": "conda-env-netvlad20-py"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.7.7"
+  },
+  "widgets": {
+   "application/vnd.jupyter.widget-state+json": {
+    "state": {},
+    "version_major": 2,
+    "version_minor": 0
+   }
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 4
+}

README.md

@@ -1,3 +1,53 @@
 ---
 license: cc-by-nc-sa-4.0
 ---
+
+## Nordland dataset 
+
+This dataset is from the original videos released here: [https://nrkbeta.no/2013/01/15/nordlandsbanen-minute-by-minute-season-by-season/](https://nrkbeta.no/2013/01/15/nordlandsbanen-minute-by-minute-season-by-season/)
+
+
+### Citation Information
+
+Please cite the original publication if you use this dataset. 
+
+Sünderhauf, Niko, Peer Neubert, and Peter Protzel. "Are we there yet? Challenging SeqSLAM on a 3000 km journey across all four seasons." Proc. of Workshop on Long-Term Autonomy, IEEE International Conference on Robotics and Automation (ICRA). 2013.
+
+```bibtex
+@inproceedings{sunderhauf2013we,
+  title={Are we there yet? Challenging SeqSLAM on a 3000 km journey across all four seasons},
+  author={S{\"u}nderhauf, Niko and Neubert, Peer and Protzel, Peter},
+  booktitle={Proc. of workshop on long-term autonomy, IEEE international conference on robotics and automation (ICRA)},
+  pages={2013},
+  year={2013}
+}
+```
+
+### Dataset Description
+
+The Nordland dataset captures a 728 km railway journey in Norway across four seasons: spring, summer, fall, and winter. 
+It is organized into four folders, each named after a season and containing 35,768 images. 
+
+These images maintain a one-to-one correspondence across folders. 
+For each traverse, the corresponding ground truth data is available in designated .csv files. 
+
+We have also included a file named `nordland_imageNames.txt`, which offers a filtered list of images. 
+This selection excludes segments captured when the train's speed fell below 15 km/h, as determined by the accompanying GPS data.
+
+
+### Our utilisation 
+
+We have used this dataset for the three publications below: 
+
+* Ensembles of Modular SNNs with/without sequence matching: [Applications of Spiking Neural Networks in Visual Place Recognition](https://arxiv.org/abs/2311.13186)
+
+* Modular SNN: [Ensembles of Compact, Region-specific & Regularized Spiking Neural Networks for Scalable Place Recognition (ICRA 2023)](https://arxiv.org/abs/2209.08723) DOI: [10.1109/ICRA48891.2023.10160749](https://doi.org/10.1109/ICRA48891.2023.10160749)
+
+* Non-modular SNN: [Spiking Neural Networks for Visual Place Recognition via Weighted Neuronal Assignments (RAL + ICRA2022)](https://arxiv.org/abs/2109.06452) DOI: [10.1109/LRA.2022.3149030](https://doi.org/10.1109/LRA.2022.3149030)
+
+
+The code for our three papers mentioned above is publicly available at: [https://github.com/QVPR/VPRSNN](https://github.com/QVPR/VPRSNN)
+
+
+
+