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"""
Code for loading models trained with CosPlace as a global features extractor
for geolocalization through image retrieval.
Multiple models are available with different backbones. Below is a summary of
models available (backbone : list of available output descriptors
dimensionality). For example you can use a model based on a ResNet50 with
descriptors dimensionality 1024.
ResNet18: [32, 64, 128, 256, 512]
ResNet50: [32, 64, 128, 256, 512, 1024, 2048]
ResNet101: [32, 64, 128, 256, 512, 1024, 2048]
ResNet152: [32, 64, 128, 256, 512, 1024, 2048]
VGG16: [ 64, 128, 256, 512]
CosPlace paper: https://arxiv.org/abs/2204.02287
"""
import torch
import torchvision.transforms as tvf
from ..utils.base_model import BaseModel
class CosPlace(BaseModel):
default_conf = {"backbone": "ResNet50", "fc_output_dim": 2048}
required_inputs = ["image"]
def _init(self, conf):
self.net = torch.hub.load(
"gmberton/CosPlace",
"get_trained_model",
backbone=conf["backbone"],
fc_output_dim=conf["fc_output_dim"],
).eval()
mean = [0.485, 0.456, 0.406]
std = [0.229, 0.224, 0.225]
self.norm_rgb = tvf.Normalize(mean=mean, std=std)
def _forward(self, data):
image = self.norm_rgb(data["image"])
desc = self.net(image)
return {
"global_descriptor": desc,
}