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| import subprocess | |
| import sys | |
| from pathlib import Path | |
| import torch | |
| from .. import logger | |
| from ..utils.base_model import BaseModel | |
| mickey_path = Path(__file__).parent / "../../third_party" | |
| sys.path.append(str(mickey_path)) | |
| from mickey.config.default import cfg | |
| from mickey.lib.models.builder import build_model | |
| device = torch.device("cuda" if torch.cuda.is_available() else "cpu") | |
| class Mickey(BaseModel): | |
| default_conf = { | |
| "config_path": "config.yaml", | |
| "model_name": "mickey.ckpt", | |
| "max_keypoints": 3000, | |
| } | |
| required_inputs = [ | |
| "image0", | |
| "image1", | |
| ] | |
| weight_urls = "https://storage.googleapis.com/niantic-lon-static/research/mickey/assets/mickey_weights.zip" | |
| # Initialize the line matcher | |
| def _init(self, conf): | |
| model_path = mickey_path / "mickey/mickey_weights" / conf["model_name"] | |
| zip_path = mickey_path / "mickey/mickey_weights.zip" | |
| config_path = model_path.parent / self.conf["config_path"] | |
| # Download the model. | |
| if not model_path.exists(): | |
| model_path.parent.mkdir(exist_ok=True, parents=True) | |
| link = self.weight_urls | |
| if not zip_path.exists(): | |
| cmd = ["wget", "--quiet", link, "-O", str(zip_path)] | |
| logger.info(f"Downloading the Mickey model with {cmd}.") | |
| subprocess.run(cmd, check=True) | |
| cmd = ["unzip", "-d", str(model_path.parent.parent), str(zip_path)] | |
| logger.info(f"Running {cmd}.") | |
| subprocess.run(cmd, check=True) | |
| logger.info("Loading mickey model...") | |
| cfg.merge_from_file(config_path) | |
| self.net = build_model(cfg, checkpoint=model_path) | |
| logger.info("Load Mickey model done.") | |
| def _forward(self, data): | |
| # data['K_color0'] = torch.from_numpy(K['im0.jpg']).unsqueeze(0).to(device) | |
| # data['K_color1'] = torch.from_numpy(K['im1.jpg']).unsqueeze(0).to(device) | |
| pred = self.net(data) | |
| pred = { | |
| **pred, | |
| **data, | |
| } | |
| inliers = data["inliers_list"] | |
| pred = { | |
| "keypoints0": inliers[:, :2], | |
| "keypoints1": inliers[:, 2:4], | |
| } | |
| return pred | |