Spaces:
Running
Running
File size: 13,271 Bytes
9223079 e15a186 9223079 e15a186 9223079 42dde81 9223079 6cb641c fe82065 e15a186 9223079 e15a186 9223079 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 |
import numpy as np
import torch
import torchvision.transforms.functional as F
from types import SimpleNamespace
from .extract_features import read_image, resize_image
import cv2
device = "cuda" if torch.cuda.is_available() else "cpu"
confs = {
# Best quality but loads of points. Only use for small scenes
"loftr": {
"output": "matches-loftr",
"model": {
"name": "loftr",
"weights": "outdoor",
"max_keypoints": 2000,
"match_threshold": 0.2,
},
"preprocessing": {
"grayscale": True,
"resize_max": 1024,
"dfactor": 8,
"width": 640,
"height": 480,
"force_resize": True,
},
"max_error": 1, # max error for assigned keypoints (in px)
"cell_size": 1, # size of quantization patch (max 1 kp/patch)
},
# Semi-scalable loftr which limits detected keypoints
"loftr_aachen": {
"output": "matches-loftr_aachen",
"model": {
"name": "loftr",
"weights": "outdoor",
"max_keypoints": 2000,
"match_threshold": 0.2,
},
"preprocessing": {"grayscale": True, "resize_max": 1024, "dfactor": 8},
"max_error": 2, # max error for assigned keypoints (in px)
"cell_size": 8, # size of quantization patch (max 1 kp/patch)
},
# Use for matching superpoint feats with loftr
"loftr_superpoint": {
"output": "matches-loftr_aachen",
"model": {
"name": "loftr",
"weights": "outdoor",
"max_keypoints": 2000,
"match_threshold": 0.2,
},
"preprocessing": {"grayscale": True, "resize_max": 1024, "dfactor": 8},
"max_error": 4, # max error for assigned keypoints (in px)
"cell_size": 4, # size of quantization patch (max 1 kp/patch)
},
# Use topicfm for matching feats
"topicfm": {
"output": "matches-topicfm",
"model": {
"name": "topicfm",
"weights": "outdoor",
"max_keypoints": 2000,
"match_threshold": 0.2,
},
"preprocessing": {
"grayscale": True,
"force_resize": True,
"resize_max": 1024,
"dfactor": 8,
"width": 640,
"height": 480,
},
},
# Use topicfm for matching feats
"aspanformer": {
"output": "matches-aspanformer",
"model": {
"name": "aspanformer",
"weights": "outdoor",
"max_keypoints": 2000,
"match_threshold": 0.2,
},
"preprocessing": {
"grayscale": True,
"force_resize": True,
"resize_max": 1024,
"width": 640,
"height": 480,
"dfactor": 8,
},
},
"dkm": {
"output": "matches-dkm",
"model": {
"name": "dkm",
"weights": "outdoor",
"max_keypoints": 2000,
"match_threshold": 0.2,
},
"preprocessing": {
"grayscale": False,
"force_resize": True,
"resize_max": 1024,
"width": 80,
"height": 60,
"dfactor": 8,
},
},
"roma": {
"output": "matches-roma",
"model": {
"name": "roma",
"weights": "outdoor",
"max_keypoints": 2000,
"match_threshold": 0.2,
},
"preprocessing": {
"grayscale": False,
"force_resize": True,
"resize_max": 1024,
"width": 320,
"height": 240,
"dfactor": 8,
},
},
"dedode_sparse": {
"output": "matches-dedode",
"model": {
"name": "dedode",
"max_keypoints": 2000,
"match_threshold": 0.2,
"dense": False,
},
"preprocessing": {
"grayscale": False,
"force_resize": True,
"resize_max": 1024,
"width": 768,
"height": 768,
"dfactor": 8,
},
},
"sold2": {
"output": "matches-sold2",
"model": {
"name": "sold2",
"max_keypoints": 2000,
"match_threshold": 0.2,
},
"preprocessing": {
"grayscale": True,
"force_resize": True,
"resize_max": 1024,
"width": 640,
"height": 480,
"dfactor": 8,
},
},
"gluestick": {
"output": "matches-gluestick",
"model": {
"name": "gluestick",
"use_lines": True,
"max_keypoints": 1000,
"max_lines": 300,
"force_num_keypoints": False,
},
"preprocessing": {
"grayscale": True,
"force_resize": True,
"resize_max": 1024,
"width": 640,
"height": 480,
"dfactor": 8,
},
},
}
def scale_keypoints(kpts, scale):
if np.any(scale != 1.0):
kpts *= kpts.new_tensor(scale)
return kpts
def scale_lines(lines, scale):
if np.any(scale != 1.0):
lines *= lines.new_tensor(scale)
return lines
def match(model, path_0, path_1, conf):
default_conf = {
"grayscale": True,
"resize_max": 1024,
"dfactor": 8,
"cache_images": False,
"force_resize": False,
"width": 320,
"height": 240,
}
def preprocess(image: np.ndarray):
image = image.astype(np.float32, copy=False)
size = image.shape[:2][::-1]
scale = np.array([1.0, 1.0])
if conf.resize_max:
scale = conf.resize_max / max(size)
if scale < 1.0:
size_new = tuple(int(round(x * scale)) for x in size)
image = resize_image(image, size_new, "cv2_area")
scale = np.array(size) / np.array(size_new)
if conf.force_resize:
size = image.shape[:2][::-1]
image = resize_image(image, (conf.width, conf.height), "cv2_area")
size_new = (conf.width, conf.height)
scale = np.array(size) / np.array(size_new)
if conf.grayscale:
assert image.ndim == 2, image.shape
image = image[None]
else:
image = image.transpose((2, 0, 1)) # HxWxC to CxHxW
image = torch.from_numpy(image / 255.0).float()
# assure that the size is divisible by dfactor
size_new = tuple(
map(
lambda x: int(x // conf.dfactor * conf.dfactor),
image.shape[-2:],
)
)
image = F.resize(image, size=size_new, antialias=True)
scale = np.array(size) / np.array(size_new)[::-1]
return image, scale
conf = SimpleNamespace(**{**default_conf, **conf})
image0 = read_image(path_0, conf.grayscale)
image1 = read_image(path_1, conf.grayscale)
image0, scale0 = preprocess(image0)
image1, scale1 = preprocess(image1)
image0 = image0.to(device)[None]
image1 = image1.to(device)[None]
pred = model({"image0": image0, "image1": image1})
# Rescale keypoints and move to cpu
kpts0, kpts1 = pred["keypoints0"], pred["keypoints1"]
kpts0 = scale_keypoints(kpts0 + 0.5, scale0) - 0.5
kpts1 = scale_keypoints(kpts1 + 0.5, scale1) - 0.5
ret = {
"image0": image0.squeeze().cpu().numpy(),
"image1": image1.squeeze().cpu().numpy(),
"keypoints0": kpts0.cpu().numpy(),
"keypoints1": kpts1.cpu().numpy(),
}
if "mconf" in pred.keys():
ret["mconf"] = pred["mconf"].cpu().numpy()
return ret
@torch.no_grad()
def match_images(model, image_0, image_1, conf, device="cpu"):
default_conf = {
"grayscale": True,
"resize_max": 1024,
"dfactor": 8,
"cache_images": False,
"force_resize": False,
"width": 320,
"height": 240,
}
def preprocess(image: np.ndarray):
image = image.astype(np.float32, copy=False)
size = image.shape[:2][::-1]
scale = np.array([1.0, 1.0])
if conf.resize_max:
scale = conf.resize_max / max(size)
if scale < 1.0:
size_new = tuple(int(round(x * scale)) for x in size)
image = resize_image(image, size_new, "cv2_area")
scale = np.array(size) / np.array(size_new)
if conf.force_resize:
size = image.shape[:2][::-1]
image = resize_image(image, (conf.width, conf.height), "cv2_area")
size_new = (conf.width, conf.height)
scale = np.array(size) / np.array(size_new)
if conf.grayscale:
assert image.ndim == 2, image.shape
image = image[None]
else:
image = image.transpose((2, 0, 1)) # HxWxC to CxHxW
image = torch.from_numpy(image / 255.0).float()
# assure that the size is divisible by dfactor
size_new = tuple(
map(
lambda x: int(x // conf.dfactor * conf.dfactor),
image.shape[-2:],
)
)
image = F.resize(image, size=size_new)
scale = np.array(size) / np.array(size_new)[::-1]
return image, scale
conf = SimpleNamespace(**{**default_conf, **conf})
if len(image_0.shape) == 3 and conf.grayscale:
image0 = cv2.cvtColor(image_0, cv2.COLOR_RGB2GRAY)
else:
image0 = image_0
if len(image_0.shape) == 3 and conf.grayscale:
image1 = cv2.cvtColor(image_1, cv2.COLOR_RGB2GRAY)
else:
image1 = image_1
# comment following lines, image is always RGB mode
# if not conf.grayscale and len(image0.shape) == 3:
# image0 = image0[:, :, ::-1] # BGR to RGB
# if not conf.grayscale and len(image1.shape) == 3:
# image1 = image1[:, :, ::-1] # BGR to RGB
image0, scale0 = preprocess(image0)
image1, scale1 = preprocess(image1)
image0 = image0.to(device)[None]
image1 = image1.to(device)[None]
pred = model({"image0": image0, "image1": image1})
s0 = np.array(image_0.shape[:2][::-1]) / np.array(image0.shape[-2:][::-1])
s1 = np.array(image_1.shape[:2][::-1]) / np.array(image1.shape[-2:][::-1])
# Rescale keypoints and move to cpu
if "keypoints0" in pred.keys() and "keypoints1" in pred.keys():
kpts0, kpts1 = pred["keypoints0"], pred["keypoints1"]
kpts0_origin = scale_keypoints(kpts0 + 0.5, s0) - 0.5
kpts1_origin = scale_keypoints(kpts1 + 0.5, s1) - 0.5
ret = {
"image0": image0.squeeze().cpu().numpy(),
"image1": image1.squeeze().cpu().numpy(),
"image0_orig": image_0,
"image1_orig": image_1,
"keypoints0": kpts0_origin.cpu().numpy(),
"keypoints1": kpts1_origin.cpu().numpy(),
"keypoints0_orig": kpts0_origin.cpu().numpy(),
"keypoints1_orig": kpts1_origin.cpu().numpy(),
"original_size0": np.array(image_0.shape[:2][::-1]),
"original_size1": np.array(image_1.shape[:2][::-1]),
"new_size0": np.array(image0.shape[-2:][::-1]),
"new_size1": np.array(image1.shape[-2:][::-1]),
"scale0": s0,
"scale1": s1,
}
if "mconf" in pred.keys():
ret["mconf"] = pred["mconf"].cpu().numpy()
elif "scores" in pred.keys(): #adapting loftr
ret["mconf"] = pred["scores"].cpu().numpy()
else:
ret["mconf"] = np.ones_like(kpts0.cpu().numpy()[:, 0])
if "lines0" in pred.keys() and "lines1" in pred.keys():
if "keypoints0" in pred.keys() and "keypoints1" in pred.keys():
kpts0, kpts1 = pred["keypoints0"], pred["keypoints1"]
kpts0_origin = scale_keypoints(kpts0 + 0.5, s0) - 0.5
kpts1_origin = scale_keypoints(kpts1 + 0.5, s1) - 0.5
kpts0_origin = kpts0_origin.cpu().numpy()
kpts1_origin = kpts1_origin.cpu().numpy()
else:
kpts0_origin, kpts1_origin = (
None,
None,
) # np.zeros([0]), np.zeros([0])
lines0, lines1 = pred["lines0"], pred["lines1"]
lines0_raw, lines1_raw = pred["raw_lines0"], pred["raw_lines1"]
lines0_raw = torch.from_numpy(lines0_raw.copy())
lines1_raw = torch.from_numpy(lines1_raw.copy())
lines0_raw = scale_lines(lines0_raw + 0.5, s0) - 0.5
lines1_raw = scale_lines(lines1_raw + 0.5, s1) - 0.5
lines0 = torch.from_numpy(lines0.copy())
lines1 = torch.from_numpy(lines1.copy())
lines0 = scale_lines(lines0 + 0.5, s0) - 0.5
lines1 = scale_lines(lines1 + 0.5, s1) - 0.5
ret = {
"image0_orig": image_0,
"image1_orig": image_1,
"line0": lines0_raw.cpu().numpy(),
"line1": lines1_raw.cpu().numpy(),
"line0_orig": lines0.cpu().numpy(),
"line1_orig": lines1.cpu().numpy(),
"line_keypoints0_orig": kpts0_origin,
"line_keypoints1_orig": kpts1_origin,
}
del pred
torch.cuda.empty_cache()
return ret
|