| import torch | |
| import warnings | |
| from ..utils.base_model import BaseModel | |
| import sys | |
| from pathlib import Path | |
| sys.path.append(str(Path(__file__).parent / "../../third_party")) | |
| from TopicFM.src.models.topic_fm import TopicFM as _TopicFM | |
| from TopicFM.src import get_model_cfg | |
| topicfm_path = Path(__file__).parent / "../../third_party/TopicFM" | |
| class TopicFM(BaseModel): | |
| default_conf = { | |
| "weights": "outdoor", | |
| "match_threshold": 0.2, | |
| "n_sampling_topics": 4, | |
| } | |
| required_inputs = ["image0", "image1"] | |
| def _init(self, conf): | |
| _conf = dict(get_model_cfg()) | |
| _conf["match_coarse"]["thr"] = conf["match_threshold"] | |
| _conf["coarse"]["n_samples"] = conf["n_sampling_topics"] | |
| weight_path = topicfm_path / "pretrained/model_best.ckpt" | |
| self.net = _TopicFM(config=_conf) | |
| ckpt_dict = torch.load(weight_path, map_location="cpu") | |
| self.net.load_state_dict(ckpt_dict["state_dict"]) | |
| def _forward(self, data): | |
| data_ = { | |
| "image0": data["image0"], | |
| "image1": data["image1"], | |
| } | |
| self.net(data_) | |
| mkpts0 = data_["mkpts0_f"] | |
| mkpts1 = data_["mkpts1_f"] | |
| mconf = data_["mconf"] | |
| total_n_matches = len(data_["mkpts0_f"]) | |
| pred = {} | |
| pred["keypoints0"], pred["keypoints1"] = mkpts0, mkpts1 | |
| pred["mconf"] = mconf | |
| return pred | |