mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-09 19:39:50 +08:00
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.
This commit is contained in:
matlabbe
@@ -63,7 +63,7 @@
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@@ -16830,7 +16830,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -17056,7 +17056,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string> pixels</string>
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@@ -17094,7 +17094,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -17124,6 +17124,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>Brute Force GPU</string>
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<string>Brute Force Cross Check</string>
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<string>SuperGlue PyTorch</string>
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<property name="text">
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<string>Matching window size around projected points when a guess transform is provided to find correspondences. 0 means that global matching will be done.</string>
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@@ -17154,7 +17164,7 @@ Lower the ratio -> higher the precision.</string>
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@@ -17167,7 +17177,7 @@ Lower the ratio -> higher the precision.</string>
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<string>Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.</string>
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@@ -17180,33 +17190,13 @@ Lower the ratio -> higher the precision.</string>
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<string/>
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<item row="2" column="1">
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<widget class="QLabel" name="label_582">
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<property name="text">
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<string>Cross check matching. If enabled, brute force matching with cross check is done instead of one of the nearest neighbor strategy above based on NNDR ratio.</string>
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<bool>true</bool>
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@@ -17528,7 +17518,7 @@ Lower the ratio -> higher the precision.</string>
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<string>SuperGlue</string>
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<string><html><head/><body><p>Python wrapper of <a href="https://github.com/magicleap/SuperGluePretrainedNetwork"><span style=" text-decoration: underline; color:#0000ff;">SuperGlue</span></a> project. Download <a href="https://github.com/introlab/rtabmap/blob/master/corelib/src/superglue_pytorch/rtabmap_superglue.py"><span style=" text-decoration: underline; color:#0000ff;">rtabmap_superpoint.py</span></a> and copy it at the root folder of SuperGlue git, then set its path below. <span style=" font-weight:600;">Important</span>: SuperGlue works only with SuperPoint descriptors!</p></body></html></string>
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<string>...</string>
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<string>Match threshold.</string>
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<property name="wordWrap">
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<bool>true</bool>
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<double>0.200000000000000</double>
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<string>Iterations.</string>
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<property name="text">
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<string>[Required] Path to rtabmap_superpoint.py.</string>
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<property name="wordWrap">
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<bool>true</bool>
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<number>20</number>
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</spacer>
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@@ -17922,8 +18058,8 @@ Lower the ratio -> higher the precision.</string>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>40</height>
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<width>0</width>
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<height>0</height>
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</spacer>
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