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Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.

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This commit is contained in:
matlabbe
2020-05-09 21:13:41 -04:00
parent abc3ebee8c
commit 91285e5e97
35 changed files with 1554 additions and 249 deletions
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23
corelib/src/superpoint_torch/SuperPoint.cc
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@@ -4,6 +4,9 @@
#include <superpoint_torch/SuperPoint.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UConversion.h>
namespace rtabmap
@@ -119,10 +122,17 @@ SPDetector::SPDetector(const std::string & modelPath, float threshold, bool nms,
UDEBUG("modelPath=%s thr=%f nms=%d cuda=%d", modelPath.c_str(), threshold, nms?1:0, cuda?1:0);
if(modelPath.empty())
{
UERROR("Model's path is empty!");
return;
}
std::string path = uReplaceChar(modelPath, '~', UDirectory::homeDir());
if(!UFile::exists(path))
{
UERROR("Model's path \"%s\" doesn't exist!", path.c_str());
return;
}
model_ = std::make_shared<SuperPoint>();
torch::load(model_, modelPath);
torch::load(model_, uReplaceChar(path, '~', UDirectory::homeDir()));
if(cuda && !torch::cuda::is_available())
{
@@ -137,8 +147,10 @@ SPDetector::~SPDetector()
{
}
std::vector<cv::KeyPoint> SPDetector::detect(const cv::Mat &img)
std::vector<cv::KeyPoint> SPDetector::detect(const cv::Mat &img, const cv::Mat & mask)
{
UASSERT(img.type() == CV_8UC1);
UASSERT(mask.empty() || (mask.type() == CV_8UC1 && img.cols == mask.cols && img.rows == mask.rows));
detected_ = false;
if(model_)
{
@@ -158,8 +170,11 @@ std::vector<cv::KeyPoint> SPDetector::detect(const cv::Mat &img)
std::vector<cv::KeyPoint> keypoints_no_nms;
for (int i = 0; i < kpts.size(0); i++) {
float response = prob_[kpts[i][0]][kpts[i][1]].item<float>();
keypoints_no_nms.push_back(cv::KeyPoint(kpts[i][1].item<float>(), kpts[i][0].item<float>(), 8, -1, response));
if(mask.empty() || mask.at<unsigned char>(kpts[i][0].item<int>(), kpts[i][1].item<int>()) != 0)
{
float response = prob_[kpts[i][0]][kpts[i][1]].item<float>();
keypoints_no_nms.push_back(cv::KeyPoint(kpts[i][1].item<float>(), kpts[i][0].item<float>(), 8, -1, response));
}
}
detected_ = true;

2
corelib/src/superpoint_torch/SuperPoint.h
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@@ -50,7 +50,7 @@ class SPDetector {
public:
SPDetector(const std::string & modelPath, float threshold = 0.2f, bool nms = true, int minDistance = 4, bool cuda = false);
virtual ~SPDetector();
std::vector<cv::KeyPoint> detect(const cv::Mat &img);
std::vector<cv::KeyPoint> detect(const cv::Mat &img, const cv::Mat & mask = cv::Mat());
cv::Mat compute(const std::vector<cv::KeyPoint> &keypoints);
void setThreshold(float threshold) {threshold_ = threshold;}