彭星宇

ADD rtabmap_lightglue.py to replace superglue, but lightglue failed when the camera is occluded or moving fast with superpoint built-in rtabmap (standalone with latest), need help!

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Hi,@borongyuan @matlabbe @Phil26AT @sarlinpe, we want to add lightglue to rtabmap, similar to rtabmap_superglue.py (https://github.com/introlab/rtabmap/blob/master/corelib/src/python/rtabmap_superglue.py) reference to https://github.com/introlab/rtabmap/issues/1129 and https://github.com/introlab/rtabmap/issues/1123, Our script is on the fork https://github.com/cdb0y511/rtabmap/commit/d6a7f75046bf4201632f22524771fba208549d0e#diff-d8e61c1e666b0ab9c60b68f0a82f363e058a15daa91a4369efd51779a9e915ba Our script works...

rtabmap matching with superglue

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when i change the preferences -> motion estimation -> visual registration -> features Matching to Pymatcher, i try to use the rtabmap_superglue.py, but their effects are all the same no...

how to compile

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how?