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slam VO modular matcher changes/fixes

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This commit is contained in:
Agrim Rai
2026-07-07 21:12:37 +05:30
parent 747a71fdfe
commit f552e8ac82
5 changed files with 86 additions and 23 deletions
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samples/slam/visual_odometry.cpp
+44 -9
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@@ -3,15 +3,27 @@
// of this distribution and at http://opencv.org/license.html.
// Copyright (C) 2026, BigVision LLC, all rights reserved.
#include <opencv2/ptcloud/slam.hpp>
#include <opencv2/ptcloud.hpp>
#include <opencv2/features.hpp>
#include <opencv2/dnn.hpp>
#include <opencv2/core.hpp>
#include <iostream>
using namespace cv;
#include "../dnn/common.hpp"
static const char* keys =
using namespace cv;
using namespace std;
const string about =
"Monocular visual odometry using ALIKED + LightGlue.\n\n"
"Runs feature detection (ALIKED) and matching (LightGlue) from ONNX models over a\n"
"directory of images, estimates the camera trajectory and writes it to --output.\n"
"To run:\n"
"\t ./example_slam_visual_odometry --aliked=aliked.onnx --lightglue=lightglue.onnx --images=./seq\n"
"Sample command (run on the GPU):\n"
"\t ./example_slam_visual_odometry --aliked=aliked.onnx --lightglue=lightglue.onnx --images=./seq --target=cuda\n";
const string param_keys =
"{ help h | | Print help message }"
"{ aliked | <none> | Path to ALIKED ONNX model }"
"{ lightglue | <none> | Path to LightGlue ONNX model }"
@@ -24,11 +36,31 @@ static const char* keys =
"{ min-parallax | 1.5 | Minimum initialisation parallax in degrees }"
"{ min-points | 50 | Minimum initialisation map points }";
const string backend_keys = format(
"{ backend | default | Choose one of computation backends: "
"default: automatically (by default), "
"openvino: Intel's Deep Learning Inference Engine (https://software.intel.com/openvino-toolkit), "
"opencv: OpenCV implementation, "
"vkcom: VKCOM, "
"cuda: CUDA, "
"webnn: WebNN }");
const string target_keys = format(
"{ target | cpu | Choose one of target computation devices: "
"cpu: CPU target (by default), "
"opencl: OpenCL, "
"opencl_fp16: OpenCL fp16 (half-float precision), "
"vpu: VPU, "
"vulkan: Vulkan, "
"cuda: CUDA, "
"cuda_fp16: CUDA fp16 (half-float preprocess) }");
string keys = param_keys + backend_keys + target_keys;
int main(int argc, char** argv)
{
CommandLineParser parser(argc, argv, keys);
parser.about("Monocular visual odometry using ALIKED + LightGlue\n"
" Example: visual_odometry --aliked=aliked.onnx --lightglue=lg.onnx --images=./seq\n");
parser.about(about);
if (parser.has("help"))
{
@@ -36,9 +68,11 @@ int main(int argc, char** argv)
return 0;
}
const String alikedPath = parser.get<String>("aliked");
const String alikedPath = parser.get<String>("aliked");
const String lightgluePath = parser.get<String>("lightglue");
const String imagesDir = parser.get<String>("images");
const String imagesDir = parser.get<String>("images");
const int backendId = getBackendID(parser.get<String>("backend"));
const int targetId = getTargetID(parser.get<String>("target"));
if (!parser.check() || alikedPath == "<none>" || lightgluePath == "<none>" || imagesDir == "<none>")
{
@@ -56,11 +90,12 @@ int main(int argc, char** argv)
ALIKED::Params detParams;
detParams.inputSize = Size(640, 640);
detParams.engine = dnn::ENGINE_NEW;
detParams.backend = backendId;
detParams.target = targetId;
auto detector = ALIKED::create(alikedPath, detParams);
auto matcher = LightGlueMatcher::create(lightgluePath, 0.0f,
dnn::DNN_BACKEND_DEFAULT,
dnn::DNN_TARGET_CPU);
backendId, targetId);
slam::OdometryParams voParams;
voParams.minInitParallaxDeg = parser.get<double>("min-parallax");