key-points extract tool

[zhengshunkai]

Hi,Thanks for your great job. 1.Can you share a key-points extract and match tool by the great pth-model? So we can test this keypoints quickly.. 2.Can the model detect the key-points of Monocular image？

[mona-robotics]

@zhengshunkai Apologies for the late reply. I had failed to pay attention to there being issues posted. Thank you for your interest in the work.

1. I have posted a script that does simple feature extraction. Matching can be done by any method you prefer for matching descriptor vectors. https://github.com/utiasASRL/deep_learned_visual_features/blob/main/extract_features.py
2. Yes the network takes a single monocular image. I used stereo when training because I needed the depth of keypoints.