import sys from pathlib import Path import subprocess import torch from PIL import Image from ..utils.base_model import BaseModel from .. import logger roma_path = Path(__file__).parent / "../../third_party/RoMa" sys.path.append(str(roma_path)) from roma.models.model_zoo.roma_models import roma_model device = torch.device("cuda" if torch.cuda.is_available() else "cpu") class Roma(BaseModel): default_conf = { "name": "two_view_pipeline", "model_name": "roma_outdoor.pth", "model_utils_name": "dinov2_vitl14_pretrain.pth", "max_keypoints": 3000, } required_inputs = [ "image0", "image1", ] weight_urls = { "roma": { "roma_outdoor.pth": "https://github.com/Parskatt/storage/releases/download/roma/roma_outdoor.pth", "roma_indoor.pth": "https://github.com/Parskatt/storage/releases/download/roma/roma_indoor.pth", }, "dinov2_vitl14_pretrain.pth": "https://dl.fbaipublicfiles.com/dinov2/dinov2_vitl14/dinov2_vitl14_pretrain.pth", } # Initialize the line matcher def _init(self, conf): model_path = roma_path / "pretrained" / conf["model_name"] dinov2_weights = roma_path / "pretrained" / conf["model_utils_name"] # Download the model. if not model_path.exists(): model_path.parent.mkdir(exist_ok=True) link = self.weight_urls["roma"][conf["model_name"]] cmd = ["wget", link, "-O", str(model_path)] logger.info(f"Downloading the Roma model with `{cmd}`.") subprocess.run(cmd, check=True) if not dinov2_weights.exists(): dinov2_weights.parent.mkdir(exist_ok=True) link = self.weight_urls[conf["model_utils_name"]] cmd = ["wget", link, "-O", str(dinov2_weights)] logger.info(f"Downloading the dinov2 model with `{cmd}`.") subprocess.run(cmd, check=True) logger.info(f"Loading Roma model...") # load the model weights = torch.load(model_path, map_location="cpu") dinov2_weights = torch.load(dinov2_weights, map_location="cpu") self.net = roma_model( resolution=(14 * 8 * 6, 14 * 8 * 6), upsample_preds=False, weights=weights, dinov2_weights=dinov2_weights, device=device, #temp fix issue: https://github.com/Parskatt/RoMa/issues/26 amp_dtype=torch.float32, ) logger.info(f"Load Roma model done.") def _forward(self, data): img0 = data["image0"].cpu().numpy().squeeze() * 255 img1 = data["image1"].cpu().numpy().squeeze() * 255 img0 = img0.transpose(1, 2, 0) img1 = img1.transpose(1, 2, 0) img0 = Image.fromarray(img0.astype("uint8")) img1 = Image.fromarray(img1.astype("uint8")) W_A, H_A = img0.size W_B, H_B = img1.size # Match warp, certainty = self.net.match(img0, img1, device=device) # Sample matches for estimation matches, certainty = self.net.sample( warp, certainty, num=self.conf["max_keypoints"] ) kpts1, kpts2 = self.net.to_pixel_coordinates( matches, H_A, W_A, H_B, W_B ) pred = { "keypoints0": kpts1, "keypoints1": kpts2, "mconf": certainty, } return pred