third_party/SOLD2/sold2/model/nets/junction_decoder.py

import torch
import torch.nn as nn


class SuperpointDecoder(nn.Module):
    """Junction decoder based on the SuperPoint architecture."""

    def __init__(self, input_feat_dim=128, backbone_name="lcnn"):
        super(SuperpointDecoder, self).__init__()
        self.relu = torch.nn.ReLU(inplace=True)
        # Perform strided convolution when using lcnn backbone.
        if backbone_name == "lcnn":
            self.convPa = torch.nn.Conv2d(
                input_feat_dim, 256, kernel_size=3, stride=2, padding=1
            )
        elif backbone_name == "superpoint":
            self.convPa = torch.nn.Conv2d(
                input_feat_dim, 256, kernel_size=3, stride=1, padding=1
            )
        else:
            raise ValueError("[Error] Unknown backbone option.")

        self.convPb = torch.nn.Conv2d(256, 65, kernel_size=1, stride=1, padding=0)

    def forward(self, input_features):
        feat = self.relu(self.convPa(input_features))
        semi = self.convPb(feat)

        return semi