i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed compilation issues with libtorch 1.4.0

Browse Source
This commit is contained in:
matlabbe
2020-04-17 08:32:44 -04:00
parent f575652456
commit 6074e84653
2 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/superpoint_torch/SuperPoint.cc
View File

@@ -215,7 +215,7 @@ cv::Mat SPDetector::compute(const std::vector<cv::KeyPoint> &keypoints)
grid[0][0].slice(1, 0, 1) = 2.0 * fkpts.slice(1, 1, 2) / prob_.size(1) - 1; // x
grid[0][0].slice(1, 1, 2) = 2.0 * fkpts.slice(1, 0, 1) / prob_.size(0) - 1; // y
auto desc = torch::grid_sampler(desc_, grid, 0, 0); // [1, 256, 1, n_keypoints]
auto desc = torch::grid_sampler(desc_, grid, 0, 0, true); // [1, 256, 1, n_keypoints]
desc = desc.squeeze(0).squeeze(1); // [256, n_keypoints]
// normalize to 1