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models/vit_kprpe/RPE/KPRPE/relative_keypoints.py
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import torch
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import math
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@torch.no_grad()
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def make_rel_keypoints(keyponints, query):
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seq_length = query.shape[1]
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side = int(math.sqrt(seq_length))
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assert side == math.sqrt(seq_length)
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# make a grid of points from 0 to 1
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coord = torch.linspace(0, 1, side+1, device=query.device, dtype=query.dtype)
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coord = (coord[:-1] + coord[1:]) / 2 # get center of patches
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x, y = torch.meshgrid(coord, coord, indexing='ij')
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grid = torch.stack([y, x], dim=-1).reshape(-1, 2).unsqueeze(0).unsqueeze(-2) # BxNx1x2
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_keyponints = keyponints.unsqueeze(-3) # Bx1x5x2
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diff = (grid - _keyponints) # BxNx5x2
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diff = diff.flatten(2) # BxNx10
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return diff
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