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0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration.

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matlabbe
2020-04-16 17:59:45 -04:00
parent 2ff582f06f
commit f575652456
16 changed files with 939 additions and 140 deletions
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guilib/src/ui/preferencesDialog.ui
+164 -3
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@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>680</width>
<height>3197</height>
<height>3310</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>36</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8697,6 +8697,11 @@ generate the number of words requested.</string>
<string>ORB OCTREE</string>
</property>
</item>
<item>
<property name="text">
<string>SuperPoint Torch</string>
</property>
</item>
</widget>
</item>
<item row="6" column="0">
@@ -17499,7 +17504,7 @@ Lower the ratio -&gt; higher the precision.</string>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="reextract_type">
<widget class="QComboBox" name="vis_feature_detector">
<property name="currentIndex">
<number>0</number>
</property>
@@ -17561,6 +17566,11 @@ Lower the ratio -&gt; higher the precision.</string>
<string>ORB OCTREE</string>
</property>
</item>
<item>
<property name="text">
<string>SuperPoint Torch</string>
</property>
</item>
</widget>
</item>
<item row="3" column="0">
@@ -21126,6 +21136,157 @@ Lower the ratio -&gt; higher the precision.</string>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_85">
<layout class="QVBoxLayout" name="verticalLayout_146">
<item>
<widget class="QGroupBox" name="groupBox_detector_superpoint_torch2">
<property name="title">
<string>SupertPoint Torch</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_147">
<item>
<widget class="QLabel" name="label_575">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;SupertPoint c++ implementation from &lt;a href=&quot;https://github.com/KinglittleQ/SuperPoint_SLAM&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPoint_SLAM&lt;/span&gt;&lt;/a&gt; project based on pytorch. A &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pt&lt;/span&gt; weights file can be downloaded from its Git. It should be the same weights file &lt;a href=&quot;https://pytorch.org/tutorials/advanced/cpp_export.html&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;converted&lt;/span&gt;&lt;/a&gt; from &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pth&lt;/span&gt; of the &lt;a href=&quot;https://github.com/magicleap/SuperPointPretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPointPretrainedNetwork&lt;/span&gt;&lt;/a&gt; project.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_114" columnstretch="0,0,1">
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_sptorch_path">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_sptorch_path"/>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_579">
<property name="text">
<string>[Required] Path to pre-trained weights Torch file of SuperPoint.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_sptorch_threshold">
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_578">
<property name="text">
<string>Detector response threshold to accept keypoint.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QCheckBox" name="checkBox_sptorch_nms">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_577">
<property name="text">
<string>If true, non-maximum suppression is applied to detected keypoints.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QCheckBox" name="checkBox_sptorch_cuda">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_574">
<property name="text">
<string>Use Cuda device for Torch, otherwise CPU device is used by default.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_580">
<property name="text">
<string>Minimum distance (pixels) between keypoints (when non-maximum suppression is enabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="spinBox_sptorch_minDistance"/>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_84">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>2964</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>