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 <[email protected]>

guilib/src/PreferencesDialog.cpp

@@ -294,6 +294,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->comboBox_detector_strategy->setItemData(11, 0, Qt::UserRole - 1);
 	_ui->vis_feature_detector->setItemData(11, 0, Qt::UserRole - 1);
 #endif
+#if !defined(RTABMAP_TORCH) || !defined(RTABMAP_PYTHON)
+	_ui->comboBox_detector_strategy->setItemData(16, 0, Qt::UserRole - 1);
+	_ui->vis_feature_detector->setItemData(16, 0, Qt::UserRole - 1);
+#endif
 
 #ifndef RTABMAP_PYTHON
 	_ui->comboBox_detector_strategy->setItemData(15, 0, Qt::UserRole - 1);
@@ -1197,6 +1201,16 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->spinBox_sptorch_minDistance->setObjectName(Parameters::kSuperPointNMSRadius().c_str());
 	_ui->checkBox_sptorch_cuda->setObjectName(Parameters::kSuperPointCuda().c_str());
 
+	// SuperPoint Rpautrat
+	_ui->lineEdit_sprpautrat_weights_path->setObjectName(Parameters::kSuperPointRpautratWeightsPath().c_str());
+	connect(_ui->toolButton_sprpautrat_weights_path, SIGNAL(clicked()), this, SLOT(changeSuperPointRpautratWeightsPath()));
+	_ui->lineEdit_sprpautrat_model_path->setObjectName(Parameters::kSuperPointRpautratModelPath().c_str());
+	connect(_ui->toolButton_sprpautrat_model_path, SIGNAL(clicked()), this, SLOT(changeSuperPointRpautratModelPath()));
+	_ui->doubleSpinBox_sprpautrat_threshold->setObjectName(Parameters::kSuperPointRpautratThreshold().c_str());
+	_ui->checkBox_sprpautrat_nms->setObjectName(Parameters::kSuperPointRpautratNMS().c_str());
+	_ui->spinBox_sprpautrat_minDistance->setObjectName(Parameters::kSuperPointRpautratNMSRadius().c_str());
+	_ui->checkBox_sprpautrat_cuda->setObjectName(Parameters::kSuperPointRpautratCuda().c_str());
+
 	// PyMatcher
 	_ui->lineEdit_pymatcher_path->setObjectName(Parameters::kPyMatcherPath().c_str());
 	connect(_ui->toolButton_pymatcher_path, SIGNAL(clicked()), this, SLOT(changePyMatcherPath()));
@@ -5701,6 +5715,41 @@ void PreferencesDialog::changeSuperPointModelPath()
 	}
 }
 
+void PreferencesDialog::changeSuperPointRpautratWeightsPath()
+{
+	QString path;
+	if(_ui->lineEdit_sprpautrat_weights_path->text().isEmpty())
+	{
+		path = QFileDialog::getOpenFileName(this, tr("Select SuperPoint weights"), this->getWorkingDirectory(), tr("SuperPoint weights (*.pth)"));
+	}
+	else
+	{
+		path = QFileDialog::getOpenFileName(this, tr("Select SuperPoint weights"), _ui->lineEdit_sprpautrat_weights_path->text(), tr("SuperPoint weights (*.pth)"));
+	}
+	if(!path.isEmpty())
+	{
+		_ui->lineEdit_sprpautrat_weights_path->setText(path);
+	}
+}
+
+void PreferencesDialog::changeSuperPointRpautratModelPath()
+{
+	QString path;
+	if(_ui->lineEdit_sprpautrat_model_path->text().isEmpty())
+	{
+		path = QFileDialog::getOpenFileName(this, tr("Select SuperPoint Python Model"), this->getWorkingDirectory(), tr("SuperPoint Python Model (*.py)"));
+	}
+	else
+	{
+		path = QFileDialog::getOpenFileName(this, tr("Select SuperPoint Python Model"), _ui->lineEdit_sprpautrat_model_path->text(), tr("SuperPoint Python Model (*.py)"));
+	}
+	if(!path.isEmpty())
+	{
+		_ui->lineEdit_sprpautrat_model_path->setText(path);
+	}
+}
+
+
 void PreferencesDialog::changePyMatcherPath()
 {
 	QString path;