SuperPointCPP

An implementation of SuperPoint C++ version and some new contributions

This repository was from here. I modified the usage and parts of it.

Besides, I planned to develop new modules based on it.

Demo

The FAST detector demo can be found here.

Some Useful Links

1. Paper

• https://arxiv.org/abs/1712.07629

• https://nalinbendapudi.github.io/projects/open-vins/report.pdf

2. Code Project

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

• https://github.com/rpautrat/SuperPoint

• https://github.com/konan6915/SuperPointCPP

Test Platform

Windows 11 + Visual Studio 2019 + cmake 3.26.2

Prerequisites

1. libtorch

• I tested it on libtorch cpu version 2.0.1. You can download it here.

2. opencv

• I tested it on opencv version 4.0.1. You can download it here.

• Actually, you can choose my package opencv.

Build

1. Configure with suitable platform

2. Generate with correct library directory

• For libtorch, you should choose */libtorch/share/cmake/Torch.

• And for opencv, you should choose */opencv/x64/vc15/lib.

3. Compile the whole project

• I tested the mode "RelWithDebInfo".

4. Add dll for running

• You should put dlls below in the build directory ./build/RelWithDebInfo/.

• 

TODO List

• Modify PointTracker according to PyTorch version.

• Integrate the new frontend to our sensor fusion framework.