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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Reimplement NMS using morphological operations #1192

Closed borongyuan closed 6 months ago

borongyuan commented 6 months ago

This borrows from the PyTorch implementation in SuperGlue, but uses this corrected version. This implementation is relatively simple, and since OpenCV has various optimizations for morphological operations, it will theoretically have better performance. But I haven't done any performance comparison testing yet. Since this is performed on heatmap, the NMS in SuperPoint Torch can be changed to PyTorch implementation. This way we can remove this part from util2d and introduce ANMS later.

matlabbe commented 6 months ago

The NMS version for SuperPoint Torch you are referring is this one? https://github.com/introlab/rtabmap/blob/d135ef02e2fdce19ce8484f3ad45428042e1e773/corelib/src/superpoint_torch/SuperPoint.cc#L168-L192

I am not using that much that code right now, but if you use it and know how to update it, you can make another PR.

borongyuan commented 6 months ago

I am not using that much that code right now, but if you use it and know how to update it, you can make another PR.

I don't use this part very much either. But I will test the new environment after upgrading my Jetson system to JetPack 6 in the near future and update this part.