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Added PyDetector (#677)

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* Added PyDetector. Refactored PyMatcher.

* Fixed python freezing with multi-threading
This commit is contained in:
matlabbe
2021-01-17 01:56:27 -05:00
committed by GitHub
parent 0bc483b6d3
commit c49785061f
26 changed files with 733 additions and 115 deletions
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6
corelib/src/superpoint_torch/SuperPoint.cc
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@@ -168,9 +168,9 @@ std::vector<cv::KeyPoint> SPDetector::detect(const cv::Mat &img, const cv::Mat &
auto kpts = (prob_ > threshold_);
kpts = torch::nonzero(kpts); // [n_keypoints, 2] (y, x)
//convert back to cpu if in gpu
auto kpts_cpu = kpts.to(torch::kCPU);
auto prob_cpu = prob_.to(torch::kCPU);
//convert back to cpu if in gpu
auto kpts_cpu = kpts.to(torch::kCPU);
auto prob_cpu = prob_.to(torch::kCPU);
std::vector<cv::KeyPoint> keypoints_no_nms;
for (int i = 0; i < kpts_cpu.size(0); i++) {