Feature detector

Integration of some simple sparse feature detection methods.

Components

• Feature point detector
  • Harris.
  • Shi-Tomas.
  • Fast.
• Feature descriptor
  • Brief.
• Feature line detector
  • Line Segment Detector(LSD).
• NN feature point detector
  • Superpoint.
  • Superpoint with nms.
  • Disk.
  • Disk with nms.

Dependence

Project repository dependencies (source code is in the repo)

• Slam_Utility
• Image_Painter
• Visualizor2D

Third-party repository dependencies

• Eigen3 (>= 3.3.7) (sudo apt install libeigen3-dev)
• onnxruntime (required for NN features; download it and place it in the specified directory. Official site: https://github.com/microsoft/onnxruntime)

Compile and Run

• For third-party repositories, install them yourself with apt-get install
• Pull the source code in Dependence, create a build folder in the current repo, and run the standard cmake process

mkdir build
cmake ..
make -j

• The successfully compiled executables are in build. For the list of executables, refer to the enumeration in run.sh. You can run run.sh directly to execute all…