ROS2 SuperPoint/SuperGlue example

docker/jazzy/superpoint/launch.sh

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+#!/bin/bash
+
+# X11 Setup
+XAUTH=/tmp/.docker.xauth
+touch $XAUTH
+xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+
+# Docker Run Command
+docker run -it --rm \
+  --user $(id -u) \
+  --privileged \
+  --gpus all \
+  -e LD_PRELOAD="/opt/hpcx/ucc/lib/libucc.so.1" \
+  -e NVIDIA_VISIBLE_DEVICES=all \
+  -e NVIDIA_DRIVER_CAPABILITIES=all \
+  -e DISPLAY=$DISPLAY \
+  -e QT_X11_NO_MITSHM=1 \
+  -e XAUTHORITY=$XAUTH \
+  -v $XAUTH:$XAUTH \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -e ROS_HOME=/tmp/.ros \
+  --network host \
+  -v ~/.ros:/tmp/.ros \
+  rtabmap_ros:superpoint \
+  ros2 launch rtabmap_examples realsense_d435i_infra.launch.py \
+    args:=" \
+        --SuperPoint/ModelPath /workspace/superpoint_v1.pt \
+        --PyMatcher/Path /workspace/SuperGluePretrainedNetwork/rtabmap_superglue.py \
+        --Kp/DetectorStrategy 11 \
+        --Kp/NndrRatio 0.6 \
+        --Vis/CorNNType 6 \
+        --Vis/CorNNDR 0.6 \
+        --Reg/RepeatOnce false \
+        --Vis/CorGuessWinSize 0" \
+     odom_args:=" \
+        --Vis/CorNNType 1 \
+        --Reg/RepeatOnce true \
+        --Vis/CorGuessWinSize 40 \
+        --Vis/CorNNDR 0.8"