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Handle edge case when SuperPoint detects only 1 keypoint (#1509)

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* Handle edge case when SuperPoint detects only 1 keypoint

* missing normalize

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Co-authored-by: matlabbe <matlabbe@gmail.com>
This commit is contained in:
Torjus Iveland
2025-05-25 00:38:44 +02:00
committed by GitHub
parent 478e909742
commit 683a1dc554
1 changed files with 1 additions and 2 deletions
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3
corelib/src/superpoint_torch/SuperPoint.cc
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@@ -242,8 +242,7 @@ cv::Mat SPDetector::compute(const std::vector<cv::KeyPoint> &keypoints)
auto desc = torch::grid_sampler(desc_, grid, 0, 0, true); // [1, 256, 1, n_keypoints]
// normalize to 1
desc = torch::nn::functional::normalize(desc.reshape({1, desc_.size(1), -1})); //[1, 256, n_keypoints]
desc = desc.squeeze(); //[256, n_keypoints]
desc = torch::nn::functional::normalize(desc.reshape({desc_.size(1), -1}), torch::nn::functional::NormalizeFuncOptions().dim(0)); //[256, n_keypoints]
desc = desc.transpose(0, 1).contiguous(); //[n_keypoints, 256]
if(cuda_)