Semantic Feature Points

• SuperPoint
• GCNv2 features

Prerequisites

• OpenCV 3

• LibTorch

  • SuperPoint: LibTorch 1.2.0 wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-1.2.0.zip

  • GCNv2: LibTorch 1.10.0+cu102 (the latest)

Build

cmake -B build [-D BUILD_SP=0 -D BUILD_GCN=1] # select one
cmake --build build -j4

Run

./build/super_point
# or
./build/gcn_ftr

Algorithms

SuperPoint

Ref

• magicleap/SuperPointPretrainedNetwork: SuperPoint Weights File and Demo Script

• SuperPoint-SLAM

• open_vins_with_superpoint

GCNv2 Feature

Ref

• GCNv2 SLAM
• Pytorch1.4下运行 GCNv2slam 需要修改的地方