# FeatureTracker

**Repository Path**: weismarts/FeatureTracker

## Basic Information

- **Project Name**: FeatureTracker
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-02-02
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## FeatureTracker

### What this repository for
Detect, match and track different type features

**Current type of feture points**
  - [X] ORB feature points
  - [X] SuperPoint feature points

### Usage
**PreInstall**

install libpytorch: [Install from source with Anaconda](https://pytorch.org/get-started/locally/)
Set libpytorch cmake path at CMakeLists.txt

**Dependence Info**

pytorch: 1.1.0

cuda/cudatoolkit: 9.0

**Build**
```bash
$ cd FeatureTracker
$ mkdir build
$ cd build && cmake ..
$ make -j4
```

**Run**
***ORB feature points***
```bash
$ ./FeatureTracker --image_dir /path/to/images_dir --type orb [--image_suffix .jpg]
```
***SuperPoint feature points***
```bash
Download superpoint model
$ cd utils
$ wget https://github.com/MagicLeapResearch/SuperPointPretrainedNetwork/raw/master/superpoint_v1.pth
$ python pytorch_model_convert.py superpoint_v1.pth
$ cd ../build
$ ./FeatureTracker --image_dir /path/to/image_dir --model_path ../utils/super_point_scripted_model.pt --type sp [--image_suffix .jpg --H 480 --W 640]
```

Kitti:

**ORB Tracker**

<img src="utils/orb_track.gif" width="1200">


**SuperPoint Tracker**

Resized image to 414, 125 (width/3, height/3)
<img src="utils/sp_track_resized_1_3rd.gif" width="1200">

Original size image
<img src="utils/sp_track_origin_size.gif" width="1200">