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from ...geometry.gt_generation import (
gt_line_matches_from_homography,
gt_matches_from_homography,
)
from ..base_model import BaseModel
class HomographyMatcher(BaseModel):
default_conf = {
# GT parameters for points
"use_points": True,
"th_positive": 3.0,
"th_negative": 3.0,
# GT parameters for lines
"use_lines": False,
"n_line_sampled_pts": 50,
"line_perp_dist_th": 5,
"overlap_th": 0.2,
"min_visibility_th": 0.5,
}
required_data_keys = ["H_0to1"]
def _init(self, conf):
# TODO (iago): Is this just boilerplate code?
if self.conf.use_points:
self.required_data_keys += ["keypoints0", "keypoints1"]
if self.conf.use_lines:
self.required_data_keys += [
"lines0",
"lines1",
"valid_lines0",
"valid_lines1",
]
def _forward(self, data):
result = {}
if self.conf.use_points:
result = gt_matches_from_homography(
data["keypoints0"],
data["keypoints1"],
data["H_0to1"],
pos_th=self.conf.th_positive,
neg_th=self.conf.th_negative,
)
if self.conf.use_lines:
line_assignment, line_m0, line_m1 = gt_line_matches_from_homography(
data["lines0"],
data["lines1"],
data["valid_lines0"],
data["valid_lines1"],
data["view0"]["image"].shape,
data["view1"]["image"].shape,
data["H_0to1"],
self.conf.n_line_sampled_pts,
self.conf.line_perp_dist_th,
self.conf.overlap_th,
self.conf.min_visibility_th,
)
result["line_matches0"] = line_m0
result["line_matches1"] = line_m1
result["line_assignment"] = line_assignment
return result
def loss(self, pred, data):
raise NotImplementedError
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