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| import torch | |
| import torch.nn as nn | |
| import torchvision.transforms as tvf | |
| from .modules import InterestPointModule, CorrespondenceModule | |
| def warp_homography_batch(sources, homographies): | |
| """ | |
| Batch warp keypoints given homographies. From https://github.com/TRI-ML/KP2D. | |
| Parameters | |
| ---------- | |
| sources: torch.Tensor (B,H,W,C) | |
| Keypoints vector. | |
| homographies: torch.Tensor (B,3,3) | |
| Homographies. | |
| Returns | |
| ------- | |
| warped_sources: torch.Tensor (B,H,W,C) | |
| Warped keypoints vector. | |
| """ | |
| B, H, W, _ = sources.shape | |
| warped_sources = [] | |
| for b in range(B): | |
| source = sources[b].clone() | |
| source = source.view(-1, 2) | |
| """ | |
| [X, [M11, M12, M13 [x, M11*x + M12*y + M13 [M11, M12 [M13, | |
| Y, = M21, M22, M23 * y, = M21*x + M22*y + M23 = [x, y] * M21, M22 + M23, | |
| Z] M31, M32, M33] 1] M31*x + M32*y + M33 M31, M32].T M33] | |
| """ | |
| source = torch.addmm(homographies[b, :, 2], source, homographies[b, :, :2].t()) | |
| source.mul_(1 / source[:, 2].unsqueeze(1)) | |
| source = source[:, :2].contiguous().view(H, W, 2) | |
| warped_sources.append(source) | |
| return torch.stack(warped_sources, dim=0) | |
| class PointModel(nn.Module): | |
| def __init__(self, is_test=False): | |
| super(PointModel, self).__init__() | |
| self.is_test = is_test | |
| self.interestpoint_module = InterestPointModule(is_test=self.is_test) | |
| self.correspondence_module = CorrespondenceModule() | |
| self.norm_rgb = tvf.Normalize( | |
| mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225] | |
| ) | |
| def forward(self, *args): | |
| img = args[0] | |
| img = self.norm_rgb(img) | |
| score, coord, desc = self.interestpoint_module(img) | |
| return score, coord, desc | |