SuperGlue PyTorch Implementation

Introduction

The SuperGlue network is a Graph Neural Network combined with an Optimal Matching layer that is trained to perform matching on two sets of sparse image features. This repo includes PyTorch code for training the SuperGlue matching network on top of SuperPoint. SuperGlue operates as a "middle-end," performing context aggregation, matching, and filtering in a single end-to-end architecture. For more details, please see:

• Full paper PDF: SuperGlue: Learning Feature Matching with Graph Neural Networks.
• Note: this repo is based on the work of HeatherJiaZG https://github.com/HeatherJiaZG/SuperGlue-pytorch.

This work aims to reproduce the SuperGlue, and then tune it with SimCol dataset in two different methods: Homography-based and Camera Pose-based methods.

Dependencies

• Python 3
• PyTorch >= 1.1
• OpenCV >= 3.4 (4.1.2.30 recommended for best GUI keyboard interaction, see this note)
• Matplotlib >= 3.1
• NumPy >= 1.18

Simply run the following command: pip3 install numpy opencv-python torch matplotlib

Or create a conda environment by conda install --name myenv --file superglue.txt

Dataset

Please Download SimCol dataset the link below:

https://www.synapse.org/#!Synapse:syn28548633/wiki/617130

which needs the permission of the owner, so please first apply on the web page.

The folder structure should look like (use SyntheticColon_I as example):

datasets/ ($DATA_DIR)
`-- SyntheticColon_I (accumulated folders from raw data)
|   |-- Frames_S1
|   |   |-- Depth_0000.png/
|   |   |-- ...
|   `-- Frames_S2
|   |   |-- Depth_0000.png/
|   |   |-- ...
...
|   |-- Frames_S14
|   |   |-- Depth_0000.png/
|   |   |-- ...
|   |SavedPosition_S1.txt
|   |SavedPosition_S2.txt
...
|   |SavedPosition_S14.txt
|   |SavedRotationQuaternion_S1.txt
|   |SavedRotationQuaternion_S2.txt
...
|   |SavedRotationQuaternion_S14.txt
|   |train.txt
|   |val.txt

Contents

There are one main top-level scripts in this repo:

1. train.py : trains the superglue model.
2. datasets/superpoint_gauss2_dataset.py: reads images from files and creates pairs. It generates keypoints, descriptors by tuned SuperPoint and ground truth matches which will be used in training.

Weights

1. Tuned SuperPoint weight: models\weights\superPointNet_114000_checkpoint.pth.tar
2. Tuned SuperGlue weight by Homography: models\weights\indoor_homo_model_epoch_2.pth
3. Tuned SuperGlue weight by Camera Pose and Intrinsics: models\weights\indoor_cam_model_epoch_2.pth

Training Directions

To train the SuperGlue with default parameters (SuperPoint detector), run the following command:

python train.py

Additional useful command line parameters

• Use --detector to set the detector mode : superpoint,sift, or superpoint_gauss2 (our tuned SuperPoint) (default: superpoint_gauss2).
• Use --epoch to set the number of epochs (default: 10).
• Use --train_path to set the path to the directory of training images.
• Use --eval_output_dir to set the path to the directory in which the visualizations is written (default: dump_match_pairs/).
• Use --show_keypoints to visualize the detected keypoints (default: False).
• Use --viz_extension to set the visualization file extension (default: png). Use pdf for highest-quality.

Visualization Demo

The matches are colored by their predicted confidence in a jet colormap (Green: more confident, Red: less confident).