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Felix ToftandFelix Toft
5e4fd171e2
* initial python implementation of superpoint rpautrat * working python implementation of superpoint * small tweaks to try and work around the GIL issue * fix missing os import * begging cpp impl of superpoint python model * finishing cpp superpoint impl using the same SPDetector interface * finalizing superpoint cpp impl, working with cpu but needs to be cleaned * fixing feature matching by reworking nms and filtering logic * speeding up nms with batched operations and cleaning up * updating conversion script * adding args for image dimensions and cuda usage to model tracer * wiring up UI to parse superpoint params * adding label to superpoint rpautrat ui * reverting some unintended ui changes * typo * oneline revert * removing nms and threshold filtering from cpp, this is handled internally by the superpoint model * using python interface to run the superpoint _to_torchscript.py script at runtime * generate and load model file on the first incoming frame * reverting unintented change * ui changes appear mysteriously again, reverting * remove topk from model to prevent issue when number of detected keypoints is lower then the k value (scripting fails in this case) * cleaning up for review * change dest for model file and remove debug logs * bump patch and add version comment * rm unucessary comment * use resources to load file to ensure it works when rtabmap isn't built from source * execute with pybind runpy instead of system call * only build superpoint rpautrat if we have torch and python support * changing param to accept a path to the weights .pth file directly * parse the default working directory to save the model file in * rm extraneous change * rm setters and re-initialize the detector whenever params change. We cannot support changing params after the model is constructed * update UI text * only enable superpoint rpautrat when built with python and torch * more build information regarding superpoint rpautrat * generate temporary python script in the working dir * rm unecessary changes to rtabmap_superpoint.py * fix comment and only add repo root to sys.path * introduce a new parameter for the superpoint python model definition * execute script from string instead of writing to a file * wrap parse params in a single compiler directive * remove descriptor spatial matching logic and rely on upstream RTAB-Map processes to take the top-K desc and kpts * only add python script to resources if built with superpoint rpautrat support. supress warning with type casting * isolate pybind11 setup so it can't affect any other modules or potential regnerations of the model file * update about dialog to show superpoint rpautrat * remove debug logs --------- Co-authored-by: Felix Toft <felix@robust.ai>
rtabmap
RTAB-Map library and standalone application.
- For more information (e.g., papers, major updates), visit RTAB-Map's home page.
- For installation instructions and examples, visit RTAB-Map's wiki.
To use RTAB-Map under ROS, visit the rtabmap page on the ROS wiki.
Acknowledgements
This project is supported by IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab, Sherbrooke, Québec, Canada.
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