matlabbe
f29676deb0
PyDetector: adding check if returned descriptors are empty ( #1715 )
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* PyDetector: adding check if returned descriptors are empty (addressing #1714 )
* Throwing error instead of asserting if keypoints and descriptors mistmatch
* ading error instead of warning
* lets do warnings instead (could be possible that images are blanck)
2026-06-01 21:04:08 -07:00
Torjus Iveland and matlabbe
683a1dc554
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 <[email protected]
2025-05-24 15:38:44 -07:00
Borong Yuan
1bd2d9fe81
superpoint torch using simple nms ( #1213 )
2024-02-10 13:54:20 -08:00
Borong Yuan
2dd64a6283
move NMS to util2d
2023-06-17 13:06:54 +08:00
matlabbe
9bd758a62c
SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components.
2022-02-15 01:28:38 -05:00
matlabbe
c49785061f
Added PyDetector ( #677 )
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* Added PyDetector. Refactored PyMatcher.
* Fixed python freezing with multi-threading
2021-01-17 01:56:27 -05:00
42Max42
3271723034
superpoint, fixing slow convert after cnn ( #659 )
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* fixing slow convert after cnn
* restoring cmake
2020-12-11 09:27:18 -05:00
matlabbe
cc9fd439fe
SuperPoint: updated descriptor normalization process to match exactly the implementation in SuperGlue. generateWords3DMono: use variance at 25% instead of 50% of the sqrd variance vector (to do the same than with PnP), also fixed return camera transform to include local transform of the camera model. rtabmap-matcher: updated default parameters when no depth images are used, added reproj error in title bar.
2020-05-10 14:13:41 -04:00
matlabbe
91285e5e97
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.
2020-05-09 21:13:41 -04:00
matlabbe
e8be3f21fa
SuperPoint: fixed nms bug
2020-04-23 20:06:48 -04:00
matlabbe
6074e84653
Fixed compilation issues with libtorch 1.4.0
2020-04-17 08:32:44 -04:00
matlabbe
f575652456
0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration.
2020-04-16 17:59:45 -04:00
matlabbe