| import torch | |
| import torch.nn as nn | |
| class SuperpointDescriptor(nn.Module): | |
| """Descriptor decoder based on the SuperPoint arcihtecture.""" | |
| def __init__(self, input_feat_dim=128): | |
| super(SuperpointDescriptor, self).__init__() | |
| self.relu = torch.nn.ReLU(inplace=True) | |
| self.convPa = torch.nn.Conv2d( | |
| input_feat_dim, 256, kernel_size=3, stride=1, padding=1 | |
| ) | |
| self.convPb = torch.nn.Conv2d(256, 128, 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 | |