mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-08 02:57:46 +08:00
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]>
This commit is contained in:
Felix Toft
@@ -11232,6 +11232,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<string>PyDetector</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Superpoint Rpautrat</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
@@ -23491,6 +23496,11 @@ Lower the ratio -> higher the precision.</string>
|
||||
<string>PyDetector</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>SuperPoint Rpautrat</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
@@ -27861,6 +27871,183 @@ Lower the ratio -> higher the precision.</string>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_101">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_183">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_42">
|
||||
<property name="title">
|
||||
<string>SuperPoint Rpautrat</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_184">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_131">
|
||||
<property name="text">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">SuperPoint C++ implementation from the <a href="https://github.com/rpautrat/SuperPoint"><span style=" text-decoration: underline; color:#0000ff;">rpautrat/SuperPoint</span></a> project.</p>
|
||||
<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A &quot;pt&quot; model file with same name than the &quot;pth&quot; file will be generated automatically in RTAB-Map's working directory so that the model can be called by c++ libtorch directly.</p>
|
||||
<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">RTAB-Map must be built with libtorch and python to use this feature.<br /></p></body></html></string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_139" columnstretch="0,0,1">
|
||||
<item row="5" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_sprpautrat_cuda">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_sprpautrat_weights_path"/>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_sprpautrat_minDistance"/>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_768">
|
||||
<property name="text">
|
||||
<string>[Required] SuperPoint weights file (*.pth).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_769">
|
||||
<property name="text">
|
||||
<string>Detector response threshold to accept keypoint.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_772">
|
||||
<property name="text">
|
||||
<string>Use Cuda device for Torch, otherwise CPU device is used by default.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QToolButton" name="toolButton_sprpautrat_weights_path">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_sprpautrat_threshold">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_771">
|
||||
<property name="text">
|
||||
<string>If true, non-maximum suppression is applied to detected keypoints.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_sprpautrat_nms">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_773">
|
||||
<property name="text">
|
||||
<string>Minimum distance (pixels) between keypoints (when non-maximum suppression is enabled).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_781">
|
||||
<property name="text">
|
||||
<string>[Required] SuperPoint python model file (superpoint_pytorch.py).</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_sprpautrat_model_path"/>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QToolButton" name="toolButton_sprpautrat_model_path">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_91">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>4561</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
Reference in New Issue
Block a user