third_party/d2net/lib/utils.py

import matplotlib.pyplot as plt

import numpy as np

import torch

from lib.exceptions import EmptyTensorError


def preprocess_image(image, preprocessing=None):
    image = image.astype(np.float32)
    image = np.transpose(image, [2, 0, 1])
    if preprocessing is None:
        pass
    elif preprocessing == 'caffe':
        # RGB -> BGR
        image = image[:: -1, :, :]
        # Zero-center by mean pixel
        mean = np.array([103.939, 116.779, 123.68])
        image = image - mean.reshape([3, 1, 1])
    elif preprocessing == 'torch':
        image /= 255.0
        mean = np.array([0.485, 0.456, 0.406])
        std = np.array([0.229, 0.224, 0.225])
        image = (image - mean.reshape([3, 1, 1])) / std.reshape([3, 1, 1])
    else:
        raise ValueError('Unknown preprocessing parameter.')
    return image


def imshow_image(image, preprocessing=None):
    if preprocessing is None:
        pass
    elif preprocessing == 'caffe':
        mean = np.array([103.939, 116.779, 123.68])
        image = image + mean.reshape([3, 1, 1])
        # RGB -> BGR
        image = image[:: -1, :, :]
    elif preprocessing == 'torch':
        mean = np.array([0.485, 0.456, 0.406])
        std = np.array([0.229, 0.224, 0.225])
        image = image * std.reshape([3, 1, 1]) + mean.reshape([3, 1, 1])
        image *= 255.0
    else:
        raise ValueError('Unknown preprocessing parameter.')
    image = np.transpose(image, [1, 2, 0])
    image = np.round(image).astype(np.uint8)
    return image


def grid_positions(h, w, device, matrix=False):
    lines = torch.arange(
        0, h, device=device
    ).view(-1, 1).float().repeat(1, w)
    columns = torch.arange(
        0, w, device=device
    ).view(1, -1).float().repeat(h, 1)
    if matrix:
        return torch.stack([lines, columns], dim=0)
    else:
        return torch.cat([lines.view(1, -1), columns.view(1, -1)], dim=0)


def upscale_positions(pos, scaling_steps=0):
    for _ in range(scaling_steps):
        pos = pos * 2 + 0.5
    return pos


def downscale_positions(pos, scaling_steps=0):
    for _ in range(scaling_steps):
        pos = (pos - 0.5) / 2
    return pos


def interpolate_dense_features(pos, dense_features, return_corners=False):
    device = pos.device

    ids = torch.arange(0, pos.size(1), device=device)

    _, h, w = dense_features.size()

    i = pos[0, :]
    j = pos[1, :]

    # Valid corners
    i_top_left = torch.floor(i).long()
    j_top_left = torch.floor(j).long()
    valid_top_left = torch.min(i_top_left >= 0, j_top_left >= 0)

    i_top_right = torch.floor(i).long()
    j_top_right = torch.ceil(j).long()
    valid_top_right = torch.min(i_top_right >= 0, j_top_right < w)

    i_bottom_left = torch.ceil(i).long()
    j_bottom_left = torch.floor(j).long()
    valid_bottom_left = torch.min(i_bottom_left < h, j_bottom_left >= 0)

    i_bottom_right = torch.ceil(i).long()
    j_bottom_right = torch.ceil(j).long()
    valid_bottom_right = torch.min(i_bottom_right < h, j_bottom_right < w)

    valid_corners = torch.min(
        torch.min(valid_top_left, valid_top_right),
        torch.min(valid_bottom_left, valid_bottom_right)
    )

    i_top_left = i_top_left[valid_corners]
    j_top_left = j_top_left[valid_corners]

    i_top_right = i_top_right[valid_corners]
    j_top_right = j_top_right[valid_corners]

    i_bottom_left = i_bottom_left[valid_corners]
    j_bottom_left = j_bottom_left[valid_corners]

    i_bottom_right = i_bottom_right[valid_corners]
    j_bottom_right = j_bottom_right[valid_corners]

    ids = ids[valid_corners]
    if ids.size(0) == 0:
        raise EmptyTensorError

    # Interpolation
    i = i[ids]
    j = j[ids]
    dist_i_top_left = i - i_top_left.float()
    dist_j_top_left = j - j_top_left.float()
    w_top_left = (1 - dist_i_top_left) * (1 - dist_j_top_left)
    w_top_right = (1 - dist_i_top_left) * dist_j_top_left
    w_bottom_left = dist_i_top_left * (1 - dist_j_top_left)
    w_bottom_right = dist_i_top_left * dist_j_top_left

    descriptors = (
        w_top_left * dense_features[:, i_top_left, j_top_left] +
        w_top_right * dense_features[:, i_top_right, j_top_right] +
        w_bottom_left * dense_features[:, i_bottom_left, j_bottom_left] +
        w_bottom_right * dense_features[:, i_bottom_right, j_bottom_right]
    )

    pos = torch.cat([i.view(1, -1), j.view(1, -1)], dim=0)

    if not return_corners:
        return [descriptors, pos, ids]
    else:
        corners = torch.stack([
            torch.stack([i_top_left, j_top_left], dim=0),
            torch.stack([i_top_right, j_top_right], dim=0),
            torch.stack([i_bottom_left, j_bottom_left], dim=0),
            torch.stack([i_bottom_right, j_bottom_right], dim=0)
        ], dim=0)
        return [descriptors, pos, ids, corners]


def savefig(filepath, fig=None, dpi=None):
    # TomNorway - https://stackoverflow.com/a/53516034
    if not fig:
        fig = plt.gcf()

    plt.subplots_adjust(0, 0, 1, 1, 0, 0)
    for ax in fig.axes:
        ax.axis('off')
        ax.margins(0, 0)
        ax.xaxis.set_major_locator(plt.NullLocator())
        ax.yaxis.set_major_locator(plt.NullLocator())

    fig.savefig(filepath, pad_inches=0, bbox_inches='tight', dpi=dpi)