SuperPoint Rpautrat (MIT license) (#1603)

* 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>

corelib/src/CMakeLists.txt

@@ -215,11 +215,21 @@ IF(TORCH_FOUND)
 		${SRC_FILES}
 		superpoint_torch/SuperPoint.cc
 	)
-	 SET(INCLUDE_DIRS
+	SET(INCLUDE_DIRS
 	    ${TORCH_INCLUDE_DIRS}
 	    ${CMAKE_CURRENT_SOURCE_DIR}/superpoint_torch
 		${INCLUDE_DIRS}
 	)
+	IF(WITH_PYTHON AND Python3_FOUND)
+		SET(SRC_FILES
+			${SRC_FILES}
+			superpoint_rpautrat/SuperpointRpautrat.cpp
+		)
+		SET(INCLUDE_DIRS
+	    	${CMAKE_CURRENT_SOURCE_DIR}/superpoint_rpautrat
+			${INCLUDE_DIRS}
+		)
+	ENDIF(WITH_PYTHON AND Python3_FOUND)
 ENDIF(TORCH_FOUND)
 
 IF(WITH_PYTHON AND Python3_FOUND)
@@ -838,6 +848,13 @@ SET(RESOURCES
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_16_0.sql
 )
 
+IF(TORCH_FOUND AND WITH_PYTHON AND Python3_FOUND)
+	SET(RESOURCES
+		${RESOURCES}
+		${CMAKE_CURRENT_SOURCE_DIR}/superpoint_rpautrat/superpoint_to_torchscript.py
+	)
+ENDIF()
+
 foreach(arg ${RESOURCES})
    get_filename_component(filename ${arg} NAME)
    string(REPLACE "." "_" output ${filename})