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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 | |