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SuperPoint Rpautrat (MIT license) (#1603)

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* initial python implementation of superpoint rpautrat

* working python implementation of superpoint

* small tweaks to try and work around the GIL issue

* fix missing os import

* begging cpp impl of superpoint python model

* finishing cpp superpoint impl using the same SPDetector interface

* finalizing superpoint cpp impl, working with cpu but needs to be cleaned

* fixing feature matching by reworking nms and filtering logic

* speeding up nms with batched operations and cleaning up

* updating conversion script

* adding args for image dimensions and cuda usage to model tracer

* wiring up UI to parse superpoint params

* adding label to superpoint rpautrat ui

* reverting some unintended ui changes

* typo

* oneline revert

* removing nms and threshold filtering from cpp, this is handled internally by the superpoint model

* using python interface to run the superpoint _to_torchscript.py script at runtime

* generate and load model file on the first incoming frame

* reverting unintented change

* ui changes appear mysteriously again, reverting

* remove topk from model to prevent issue when number of detected keypoints is lower then the k value (scripting fails in this case)

* cleaning up for review

* change dest for model file and remove debug logs

* bump patch and add version comment

* rm unucessary comment

* use resources to load file to ensure it works when rtabmap isn't built from source

* execute with pybind runpy instead of system call

* only build superpoint rpautrat if we have torch and python support

* changing param to accept a path to the weights .pth file directly

* parse the default working directory to save the model file in

* rm extraneous change

* rm setters and re-initialize the detector whenever params change. We cannot support changing params after the model is constructed

* update UI text

* only enable superpoint rpautrat when built with python and torch

* more build information regarding superpoint rpautrat

* generate temporary python script in the working dir

* rm unecessary changes to rtabmap_superpoint.py

* fix comment and only add repo root to sys.path

* introduce a new parameter for the superpoint python model definition

* execute script from string instead of writing to a file

* wrap parse params in a single compiler directive

* remove descriptor spatial matching logic and rely on upstream RTAB-Map processes to take the top-K desc and kpts

* only add python script to resources if built with superpoint rpautrat support. supress warning with type casting

* isolate pybind11 setup so it can't affect any other modules or potential regnerations of the model file

* update about dialog to show superpoint rpautrat

* remove debug logs

---------

Co-authored-by: Felix Toft <felix@robust.ai>
This commit is contained in:
Felix Toft
2025-11-07 17:22:35 -08:00
committed by GitHub
parent f44a4fc478
commit 5e4fd171e2
16 changed files with 2083 additions and 1178 deletions
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21
CMakeLists.txt
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 23)
SET(RTABMAP_PATCH_VERSION 2)
SET(RTABMAP_PATCH_VERSION 3)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -1453,15 +1453,26 @@ MESSAGE(STATUS " With ORB OcTree = NO (WITH_ORB_OCTREE=OFF)")
ENDIF()
IF(TORCH_FOUND)
MESSAGE(STATUS " With SuperPoint = YES (License: GPLv3) libtorch=${Torch_VERSION}")
MESSAGE(STATUS " With SuperPoint = YES (License: GPLv3) libtorch=${Torch_VERSION}")
ELSEIF(NOT WITH_TORCH)
MESSAGE(STATUS " With SuperPoint = NO (WITH_TORCH=OFF)")
MESSAGE(STATUS " With SuperPoint = NO (WITH_TORCH=OFF)")
ELSE()
MESSAGE(STATUS " With SuperPoint = NO (libtorch not found)")
MESSAGE(STATUS " With SuperPoint = NO (libtorch not found)")
ENDIF()
IF(TORCH_FOUND AND WITH_PYTHON AND Python3_FOUND)
MESSAGE(STATUS " With Superpoint Rpautrat = YES (Liscense: MIT) libtorch=${Torch_VERSION}")
ELSEIF(NOT WITH_TORCH)
MESSAGE(STATUS " With Superpoint Rpautrat = NO (WITH_TORCH=OFF)")
ELSEIF(NOT WITH_PYTHON)
MESSAGE(STATUS " With Superpoint Rpautrat = NO (WITH_PYTHON=OFF)")
ELSE()
MESSAGE(STATUS " Wtih Superpoint Rpautrat = NO (libtorch and/or python3 not found)")
ENDIF()
IF(WITH_PYTHON AND Python3_FOUND)
MESSAGE(STATUS " With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR} = YES (License: PSF)")
MESSAGE(STATUS " With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR} = YES (License: PSF)")
ELSEIF(NOT WITH_PYTHON)
MESSAGE(STATUS " With Python3 = NO (WITH_PYTHON=OFF)")
ELSE()