SuperGlue ROS

ROS wrapper for SuperGlue and SuperPoint models

• SuperGlue: paper
• SuperPoint: paper

You can find the utilization of this module in this repository in the frontend part of the visual-inertial SLAM system

System

• ROS Melodic (with python3 support)
• Pytorch
• Numpy
• OpenCV
• CUDA (highly recommended)

Usage

Download and build:

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
git clone --recursive https://github.com/KopanevPavel/SuperGlue_ROS
cd ..
catkin build
source devel/setup.bash

Add to python path:

export PYTHONPATH=$PYTHONPATH:/home/jetson/SLAM/runbot_custom_localization/frontend/SuperGlue_ROS/src/SuperGlue_ROS
export PYTHONPATH=$PYTHONPATH:/home/jetson/SLAM/runbot_custom_localization/frontend/SuperGlue_ROS/src/SuperGlue_ROS/models/SuperGluePretrainedNetwork
export PYTHONPATH=$PYTHONPATH:/home/jetson/SLAM/runbot_custom_localization/frontend/SuperGlue_ROS/src/SuperGlue_ROS/models/SuperPointPretrainedNetwork

Run SuperPoint detector:

rosrun SuperGlue_ROS detector_node

Run SuperGlue matcher:

rosrun SuperGlue_ROS matcher_node

The matcher_node node publishes matching result as string message transformed via json

Subsciber example (string -> numpy array) could be found in vo_node node

Credits: https://github.com/Shiaoming/Python-VO