improve NMS implementation #1173
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This fixes the problem of extracting multiple keypoints at the same location. Previously, where prob is greater than the threshold were extracted as keypoints.
rtabmap/corelib/src/camera/CameraDepthAI.cpp
Line 653 in 7ab1ee0
rtabmap/corelib/src/superpoint_torch/SuperPoint.cc
Line 161 in 7ab1ee0
Therefore in NMS, local maximums are found first, and then neighbors are suppressed. Now for loop closure, it works fine when the image resolution is 400P or 800P. For odometry, 800P is not suitable for F2M, but is suitable for F2F. Because the position of keypoints is more jittery.