CPP implementation of ALIKE
ALIKE applies a differentiable keypoint detection module to detect accurate sub-pixel keypoints. The network can run at 95 frames per second for 640 x 480 images on NVIDIA Titan X (Pascal) GPU and achieve equivalent performance with the state-of-the-arts. ALIKE benefits real-time applications in resource-limited platforms/devices. Technical details are described in this paper.
Xiaoming Zhao, Xingming Wu, Jinyu Miao, Weihai Chen, Peter C. Y. Chen, Zhengguo Li, "ALIKE: Accurate and Lightweight Keypoint Detection and Descriptor Extraction," IEEE Transactions on Multimedia, 2022.
If you use ALIKE in an academic work, please cite:
@article{Zhao2022ALIKE,
title = {ALIKE: Accurate and Lightweight Keypoint Detection and Descriptor Extraction},
url = {http://arxiv.org/abs/2112.02906},
doi = {10.1109/TMM.2022.3155927},
journal = {IEEE Transactions on Multimedia},
author = {Zhao, Xiaoming and Wu, Xingming and Miao, Jinyu and Chen, Weihai and Chen, Peter C. Y. and Li, Zhengguo},
month = march,
year = {2022},
}
The implementation mainly based on OpenCV and libtorch.
-
OpenCV
sudo apt install libopencv-dev- libtorch
Download libtorch and unzip it to the repository root.
- OpenMP (Optional)
Tested environment:
GNU=9.3.0
NVCC=11.3.109
OpenMP=4.5
cuDNN=8.2.0
OpenCV=4.2.0
libtorch-cxx11-abi-shared-with-deps-1.11.0%2Bcu113.zip
Build the demo program.
mkdir build
cd build
cmake ..
make$ ./build/demo -h
./build/demo input model {OPTIONS}
ALIKE-demo
OPTIONS:
-h, --help Display this help menu
input Image directory or movie file or
'camera0' (for webcam0).
model Path of alike torchscript model.
--cuda Use cuda or not.
--top_k=[top_k] Detect top K keypoints. <=0 for
threshold based mode, >0 for top K mode.
[default: -1]
--scores_th=[scores_th] Detector score threshold. [default: 0.2]
--n_limit=[n_limit] Maximum number of keypoints to be
detected. [default: 5000]
--ratio=[ratio] Ratio in FLANN matching process.
[default: 0.7]
--no_display Do not display images to screen. Useful
if running remotely.
--no_subpixel Do not detect sub-pixel keypoints.
"--" can be used to terminate flag options and force all following
arguments to be treated as positional options./build/demo assets/kitti models/alike-t.pt --cuda
./build/demo assets/tum models/alike-t.pt --cuda
For more details, please refer to the paper.
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