rtabmap_superpoint.py

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#! /usr/bin/env python3
#
# Drop this file in the root folder of SuperPoint git: https://github.com/magicleap/SuperPointPretrainedNetwork
# To use with rtabmap:
#   --Vis/FeatureType 15 --PyDetector/Path "~/SuperPointPretrainedNetwork/rtabmap_superpoint.py" --PyDetector/Model "~/SuperPointPretrainedNetwork/superpoint_v1.pth"
#
 
import random
import numpy as np
import torch
 
#import sys
#import os
#print(os.sys.path)
#print(sys.version)
 
from demo_superpoint import SuperPointFrontend
 
torch.set_grad_enabled(False)
 
device = 'cpu'
superpoint = []
 
def init(cuda):
    #print("SuperPoint python init()")
    
    global device
    device = 'cuda' if torch.cuda.is_available() and cuda else 'cpu'
    
    # This class runs the SuperPoint network and processes its outputs.
    global superpoint
    superpoint = SuperPointFrontend(weights_path="superpoint_v1.pth",
                          nms_dist=4,
                          conf_thresh=0.015,
                          nn_thresh=1,
                          cuda=cuda)
 
def detect(imageBuffer):
    #print("SuperPoint python detect()")
    global device
    image = np.asarray(imageBuffer)
    image = (image.astype('float32') / 255.)
   
    global superpoint
    pts, desc, heatmap = superpoint.run(image)
    # return float: Kpts:Nx3, Desc:NxDim
    # use copy to make sure memory is correctly re-ordered
    pts = np.float32(np.transpose(pts)).copy()
    desc = np.float32(np.transpose(desc)).copy()
    return pts, desc
 
 
if __name__ == '__main__':
    #test
    init(True)
    detect(np.random.rand(640,480)*255)