Superpoint libtorch c++

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Introduction

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This repo contains the source code implemented SuperPoint with libtorch c++ (version 1.3.0 or 1.8.1)

If you want use c++ 11 version. you only choose libtorch 1.3.0

prerequisite

you must have cuda

How to use

-- Plz use Clion

1. git clone
2. download pre_weight from here
3. mkdir Thirdparty
4. cd Thirdparty
5. download libtorch version which you want libtorch 1.3.0 , libtorch 1.8.1
6. unzip
7. If you want use c++ 11 then -DCXX_VERSION=11 else -DCXX_VERSION=1x

use your images

use sample folder

sample

Geforce RTX 2070 , 2 image , avg 250 ms~300 ms (torch 1.8.1)

reference

• https://github.com/magicleap/SuperPointPretrainedNetwork
• https://github.com/KinglittleQ/SuperPoint_SLAM

next step

to be ros sample.