Superglue ROS #534
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Hi, you may add Note also that latest rtabmap version has some refactoring to python interface, which may help for the problem. |
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Hi, With the new version (rtabmap and rtabmap_ros to the latest master), with just rtabmap (same config but with the correct path for rtabmap_superglue.py) with both cpu and gpu, and it doesn't match anything. But with rtabmap-matcher it works fine for matching. In ros (pymatcher path adapted) it crashes at start without any error in logs or display. |
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rtabmap node coudl be launched with gdb: SuperGlue has been tested only with the standalone version. I should update my computer to Noetic soon, I could take a look afterwards for ROS (I don't even want to try on melodic, to not mess up my config between python 2 and 3...). |
How is it now？ SuperGlue + which ROS version？ @matlabbe |
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See introlab/rtabmap#896 (comment) for ROS example. The tricky part is to install pytorch with cuda correctly. |
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Hi,
I tryed Superglue with superpoint torch with rtabmap 0.20.7 and the results are great.
Then I tryed to run the same thing in ROS noetic (from tag 0.20.7-noetic), but when it loads Superpoint to match the first pair, it hangs for ever. I am using libtorch 1.7.1 cuda 11 (downloaded from pytorch.org, and uncompressed in /data/libtorch) and pytorch 1.7.1+cu110 installed with pip. It works fine using Superpoint in ROS with an other Vis/CorNNType.
Here is my launch file:
I also had to
to get rtabmap running with superpoint.
What is wrong?
Thanks in advance.
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