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+*.pyc
+*.DS_Store
+*.swp
diff --git a/LICENSE b/LICENSE
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+SUPERGLUE: LEARNING FEATURE MATCHING WITH GRAPH NEURAL NETWORKS
+SOFTWARE LICENSE AGREEMENT
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diff --git a/README.md b/README.md
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+
+
+### Research @ Magic Leap (CVPR 2020, Oral)
+
+# SuperGlue Inference and Evaluation Demo Script
+
+## Introduction
+SuperGlue is a CVPR 2020 research project done at Magic Leap. The SuperGlue network is a Graph Neural Network combined with an Optimal Matching layer that is trained to perform matching on two sets of sparse image features. This repo includes PyTorch code and pretrained weights for running the SuperGlue matching network on top of [SuperPoint](https://arxiv.org/abs/1712.07629) keypoints and descriptors. Given a pair of images, you can use this repo to extract matching features across the image pair.
+
+
+
+SuperGlue operates as a "middle-end," performing context aggregation, matching, and filtering in a single end-to-end architecture. For more details, please see:
+
+* Full paper PDF: [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://arxiv.org/abs/1911.11763).
+
+* Authors: *Paul-Edouard Sarlin, Daniel DeTone, Tomasz Malisiewicz, Andrew Rabinovich*
+
+We provide two pre-trained weights files: an indoor model trained on ScanNet data, and an outdoor model trained on MegaDepth data. Both models are inside the [weights directory](./models/weights). By default, the demo will run the **indoor** model.
+
+## Dependencies
+* Python 3
+* PyTorch >= 1.1
+* OpenCV >= 3.4 (4.1.2.30 recommended for best GUI keyboard interaction, see this [note](#additional-notes))
+* Matplotlib >= 3.1
+
+Simply run the following command: `pip3 install opencv-python torch matplotlib`
+
+## Contents
+There are two main top-level scripts in this repo:
+
+1. `demo_superglue.py` : runs a live demo on a webcam, IP camera, image directory or movie file
+2. `match_pairs.py`: reads image pairs from files and dumps matches to disk (also runs evaluation if GT is provided)
+
+## Live Matching Demo Script (`demo_superglue.py`)
+This demo runs SuperPoint + SuperGlue feature matching on an anchor image and live image. You can update the anchor image by pressing the `n` key. The demo can read image streams from a USB or IP camera, a directory containing images, or a video file. You can pass all of these inputs using the `--input` flag.
+
+### Run the demo on a live webcam
+
+Run the demo on the default USB webcam (ID #0), running on a CUDA GPU if one is found:
+
+```sh
+./demo_superglue.py
+```
+
+Keyboard control:
+
+* `n`: select the current frame as the reference
+* `e`/`r`: increase/decrease the detector confidence threshold
+* `d`/`f`: increase/decrease the match filtering threshold
+* `k`: toggle the visualization of keypoints
+* `q`: quit
+
+Run the demo on 320x240 images running on the CPU:
+
+```sh
+./demo_superglue.py --resize 320 240 --force_cpu
+```
+
+### Run the demo on a directory of images
+
+The `--input` flag also accepts paths to directories. We provide a directory of sample images from a sequence. To run the demo on the directory of images in `freiburg_sequence/` on a headless server (will not display to the screen) and write to `dump_demo_sequence/`:
+
+```sh
+./demo_superglue.py --input assets/freiburg_sequence/ --resize 320 240 --no_display --write --write_dir dump_demo_sequence
+```
+
+You should see this output on the sample Freiburg-TUM RGBD sequence:
+
+
+
+The matches are colored by their predicted confidence in a jet colormap (Red: more confident, Blue: less confident).
+
+### Additional useful command line parameters
+* Use `--display_scale` to scale the output visualization image height and width (default: `1`).
+* Use `--img_glob` to change the image file extension (default: `*.png`, `*.jpg`, `*.jpeg`).
+* Use `--skip` to skip intermediate frames (default: `1`).
+* Use `--show_keypoints` to visualize the detected keypoints (default: `False`).
+
+## Run Matching+Evaluation (`match_pairs.py`)
+
+This repo also contains a script `match_pairs.py` that runs the matching from a list of image pairs. With this script, you can:
+
+* Run the matcher on a set of image pairs (no ground truth needed)
+* Visualize the keypoints and matches, based on their confidence
+* Evaluate and visualize the match correctness, if the ground truth relative poses and intrinsics are provided
+* Save the keypoints, matches, and evaluation results for further processing
+* Collate evaluation results over many pairs and generate result tables
+
+### Matches Only Mode
+
+The simplest usage of this script will process the image pairs listed in a given text file and dump the keypoints and matches to compressed numpy `npz` files. We provide the challenging ScanNet pairs from the main paper in `assets/example_indoor_pairs/`. Running the following will run SuperPoint + SuperGlue on each image pair, and dump the results to `dump_match_pairs/`:
+
+```sh
+./match_pairs.py
+```
+
+The resulting `.npz` files can be read from Python as follows:
+
+```python
+>>> import numpy as np
+>>> path = 'dump_match_pairs/scene0711_00_frame-001680_scene0711_00_frame-001995_matches.npz'
+>>> npz = np.load(path)
+>>> npz.files
+['keypoints0', 'keypoints1', 'matches', 'match_confidence']
+>>> npz['keypoints0'].shape
+(382, 2)
+>>> npz['keypoints1'].shape
+(391, 2)
+>>> npz['matches'].shape
+(382,)
+>>> np.sum(npz['matches']>-1)
+115
+>>> npz['match_confidence'].shape
+(382,)
+```
+
+For each keypoint in `keypoints0`, the `matches` array indicates the index of the matching keypoint in `keypoints1`, or `-1` if the keypoint is unmatched.
+
+### Visualization Mode
+
+You can add the flag `--viz` to dump image outputs which visualize the matches:
+
+```sh
+./match_pairs.py --viz
+```
+
+You should see images like this inside of `dump_match_pairs/` (or something very close to it, see this [note](#a-note-on-reproducibility)):
+
+
+
+The matches are colored by their predicted confidence in a jet colormap (Red: more confident, Blue: less confident).
+
+### Evaluation mode
+
+You can also estimate the pose using RANSAC + Essential Matrix decomposition and evaluate it if the ground truth relative poses and intrinsics are provided in the input `.txt` files. Each `.txt` file contains three key groundtruth matrices: a 3x3 intrinsics matrix of image0: `K0`, a 3x3 intrinsics matrix of image1: `K1` , and a 4x4 matrix of the relative pose extrinsics `T_0to1`.
+
+To run the evaluation on the sample set of images (by default reading `assets/scannet_sample_pairs.txt`), you can run:
+
+```sh
+./match_pairs.py --eval
+```
+
+
+Since you enabled `--eval`, you should see collated results printed to the terminal. For the example images provided, you should get the following numbers (or something very close to it, see this [note](#a-note-on-reproducibility)):
+
+```txt
+Evaluation Results (mean over 15 pairs):
+AUC@5 AUC@10 AUC@20 Prec MScore
+26.99 48.40 64.47 73.52 19.60
+```
+
+The resulting `.npz` files in `dump_match_pairs/` will now contain scalar values related to the evaluation, computed on the sample images provided. Here is what you should find in one of the generated evaluation files:
+
+```python
+>>> import numpy as np
+>>> path = 'dump_match_pairs/scene0711_00_frame-001680_scene0711_00_frame-001995_evaluation.npz'
+>>> npz = np.load(path)
+>>> print(npz.files)
+['error_t', 'error_R', 'precision', 'matching_score', 'num_correct', 'epipolar_errors']
+```
+
+You can also visualize the evaluation metrics by running the following command:
+
+```sh
+./match_pairs.py --eval --viz
+```
+
+You should also now see additional images in `dump_match_pairs/` which visualize the evaluation numbers (or something very close to it, see this [note](#a-note-on-reproducibility)):
+
+
+
+The top left corner of the image shows the pose error and number of inliers, while the lines are colored by their epipolar error computed with the ground truth relative pose (red: higher error, green: lower error).
+
+### Running on sample outdoor pairs
+
+
+ [Click to expand]
+
+In this repo, we also provide a few challenging Phototourism pairs, so that you can re-create some of the figures from the paper. Run this script to run matching and visualization (no ground truth is provided, see this [note](#reproducing-outdoor-evaluation-final-table)) on the provided pairs:
+
+```sh
+./match_pairs.py --resize 1600 --superglue outdoor --max_keypoints 2048 --nms_radius 3 --resize_float --data_dir assets/phototourism_sample_images/ --pairs_list assets/phototourism_sample_pairs.txt --results_dir dump_match_pairs_outdoor --viz
+```
+
+You should now image pairs such as these in `dump_match_pairs_outdoor/` (or something very close to it, see this [note](#a-note-on-reproducibility)):
+
+
+
+
+
+
+### Recommended Settings for indoor / outdoor
+
+
+ [Click to expand]
+
+For **indoor** images, we recommend the following settings (these are the defaults):
+
+```sh
+./match_pairs.py --resize 640 --superglue indoor --max_keypoints 1024 --nms_radius 4
+```
+
+For **outdoor** images, we recommend the following settings:
+
+```sh
+./match_pairs.py --resize 1600 --superglue outdoor --max_keypoints 2048 --nms_radius 3 --resize_float
+```
+
+You can provide your own list of pairs `--pairs_list` for images contained in `--data_dir`. Images can be resized before network inference with `--resize`. If you are re-running the same evaluation many times, you can use the `--cache` flag to reuse old computation.
+
+
+### Test set pair file format explained
+
+
+ [Click to expand]
+
+We provide the list of ScanNet test pairs in `assets/scannet_test_pairs.txt` and Phototourism test pairs `assets/phototourism_test_pairs.txt` used to evaluate the matching from the paper. Each line corresponds to one pair and is structured as follows:
+
+```
+path_image_A path_image_B overlap exif_rotationA exif_rotationB [KA_0 ... KA_8] [KB_0 ... KB_8] [T_AB_0 ... T_AB_15]
+```
+
+
+The `path_image_A` and `path_image_B` entries are paths to image A and B, respectively. The `overlap` is a score that measures the image similarity/ viewpoint overlap. Higher means more overlap. If the overlap is unknown you can just provide 0., the overlap is not actually used during evalution. The `exif_rotation` is an integer in the range [0, 3] that comes from the original EXIF metadata associated with the image, where, 0: no rotation, 1: 90 degree clockwise, 2: 180 degree clockwise, 3: 270 degree clockwise. If the EXIF data is not known, you can just provide a zero here and no rotation will be performed. `KA` and `KB` are the flattened `3x3` matrices of image A and image B intrinsics. `T_AB` is a flattened `4x4` matrix of the extrinsics between the pair.
+
+
+### Reproducing Indoor Evaluation Final Table
+
+
+ [Click to expand]
+
+In order to reproduce similar tables to what was in the paper, you will need to obtain the raw test set images (we do not include them in this repo). We list the scenes and images in `assets/scannet_test_images.txt`. We provide the groundtruth in our format in the file `assets/scannet_test_pairs.txt` for convenience. If you put the raw images in the directory `assets/scannet_test_images/`, you can reproduce the full results with:
+
+```sh
+./match_pairs.py --eval --pairs_list assets/scannet_test_pairs.txt --data_dir assets/scannet_test_images/ --results_dir dump_scannet_test_results
+```
+
+You should get the following table for ScanNet (or something very close to it, see this [note](#a-note-on-reproducibility)):
+
+```txt
+Evaluation Results (mean over 1500 pairs):
+AUC@5 AUC@10 AUC@20 Prec MScore
+16.12 33.76 51.79 84.37 31.14
+```
+
+
+
+### Reproducing Outdoor Evaluation Final Table
+
+
+ [Click to expand]
+
+The Phototourism results shown in the paper were produced using similar data as the test set from the [Image Matching Workshop](https://vision.uvic.ca/image-matching-challenge/), which does not contain publically available ground truth data for the test set. We list the pairs and overlaps we used in `assets/phototourism_test_pairs_no_groundtruth.txt`. To reproduce similar numbers on this test set, please use the image matching workshop benchmark. While the challenge is still live, we cannot share the test set publically since we want to help maintain the integrity of the challenge.
+
+
+
+### Outdoor training / validation scene split
+
+
+ [Click to expand]
+
+For training and validation of the outdoor model, we used scenes from the [MegaDepth dataset](http://www.cs.cornell.edu/projects/megadepth/). We provide the list of scenes used to train the outdoor model in the `assets/` directory:
+
+* Training set: `assets/megadepth_train_scenes.txt`
+* Validation set: `assets/megadepth_validation_scenes.txt`
+
+
+
+### A note on reproducibility
+
+
+ [Click to expand]
+
+After simplifying the model code and evaluation code and preparing it for release, we made some improvements and tweaks that result in slightly different numbers than what was reported in the paper. The numbers and figures reported in the README were done using Ubuntu 16.04, OpenCV 3.4.5, and PyTorch 1.1.0. Even with matching the library versions, we observed some slight differences across Mac and Ubuntu, which we believe are due to differences in OpenCV's image resize function implementation and randomization of RANSAC.
+
+
+## BibTeX Citation
+If you use any ideas from the paper or code from this repo, please consider citing:
+
+```txt
+@inproceedings{sarlin20superglue,
+ author = {Paul-Edouard Sarlin and
+ Daniel DeTone and
+ Tomasz Malisiewicz and
+ Andrew Rabinovich},
+ title = {SuperGlue: Learning Feature Matching with Graph Neural Networks},
+ booktitle = {CVPR},
+ year = {2020},
+ url = {https://arxiv.org/abs/1911.11763}
+}
+```
+
+## Additional Notes
+* For the demo, we found that the keyboard interaction works well with OpenCV 4.1.2.30, older versions were less responsive and the newest version had a [OpenCV bug on Mac](https://stackoverflow.com/questions/60032540/opencv-cv2-imshow-is-not-working-because-of-the-qt)
+* We generally do not recommend to run SuperPoint+SuperGlue below 160x120 resolution (QQVGA) and above 2000x1500
+* We do not intend to release the SuperGlue training code.
+
+## Legal Disclaimer
+Magic Leap is proud to provide its latest samples, toolkits, and research projects on Github to foster development and gather feedback from the spatial computing community. Use of the resources within this repo is subject to (a) the license(s) included herein, or (b) if no license is included, Magic Leap's [Developer Agreement](https://id.magicleap.com/terms/developer), which is available on our [Developer Portal](https://developer.magicleap.com/).
+If you need more, just ask on the [forums](https://forum.magicleap.com/hc/en-us/community/topics)!
+We're thrilled to be part of a well-meaning, friendly and welcoming community of millions.
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diff --git a/assets/scannet_sample_pairs.txt b/assets/scannet_sample_pairs.txt
new file mode 100644
index 00000000..9981daf5
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diff --git a/assets/scannet_test_images.txt b/assets/scannet_test_images.txt
new file mode 100644
index 00000000..ba2f232e
--- /dev/null
+++ b/assets/scannet_test_images.txt
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diff --git a/assets/scannet_test_pairs.txt b/assets/scannet_test_pairs.txt
new file mode 100644
index 00000000..f20f941c
--- /dev/null
+++ b/assets/scannet_test_pairs.txt
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diff --git a/assets/teaser.png b/assets/teaser.png
new file mode 100644
index 00000000..c07ff95e
Binary files /dev/null and b/assets/teaser.png differ
diff --git a/demo_superglue.py b/demo_superglue.py
new file mode 100755
index 00000000..c0d7be86
--- /dev/null
+++ b/demo_superglue.py
@@ -0,0 +1,242 @@
+#! /usr/bin/env python3
+#
+# %BANNER_BEGIN%
+# ---------------------------------------------------------------------
+# %COPYRIGHT_BEGIN%
+#
+# Magic Leap, Inc. ("COMPANY") CONFIDENTIAL
+#
+# Unpublished Copyright (c) 2020
+# Magic Leap, Inc., All Rights Reserved.
+#
+# NOTICE: All information contained herein is, and remains the property
+# of COMPANY. The intellectual and technical concepts contained herein
+# are proprietary to COMPANY and may be covered by U.S. and Foreign
+# Patents, patents in process, and are protected by trade secret or
+# copyright law. Dissemination of this information or reproduction of
+# this material is strictly forbidden unless prior written permission is
+# obtained from COMPANY. Access to the source code contained herein is
+# hereby forbidden to anyone except current COMPANY employees, managers
+# or contractors who have executed Confidentiality and Non-disclosure
+# agreements explicitly covering such access.
+#
+# The copyright notice above does not evidence any actual or intended
+# publication or disclosure of this source code, which includes
+# information that is confidential and/or proprietary, and is a trade
+# secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION,
+# PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS
+# SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS
+# STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND
+# INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE
+# CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS
+# TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE,
+# USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART.
+#
+# %COPYRIGHT_END%
+# ----------------------------------------------------------------------
+# %AUTHORS_BEGIN%
+#
+# Originating Authors: Paul-Edouard Sarlin
+# Daniel DeTone
+# Tomasz Malisiewicz
+#
+# %AUTHORS_END%
+# --------------------------------------------------------------------*/
+# %BANNER_END%
+
+import argparse
+import cv2
+import matplotlib.cm as cm
+from pathlib import Path
+import torch
+
+from models.matching import Matching
+from models.utils import (AverageTimer, VideoStreamer,
+ make_matching_plot_fast, frame2tensor)
+
+torch.set_grad_enabled(False)
+
+
+if __name__ == '__main__':
+ parser = argparse.ArgumentParser(
+ description='SuperGlue demo',
+ formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+ parser.add_argument(
+ '--input', type=str, default='0',
+ help='ID of a USB webcam, URL of an IP camera, '
+ 'or path to an image directory or movie file')
+ parser.add_argument(
+ '--img_glob', type=str, nargs='+', default=['*.png', '*.jpg', '*.jpeg'],
+ help='Glob if a directory of images is specified')
+ parser.add_argument(
+ '--skip', type=int, default=1,
+ help='Images to skip if input is a movie or directory')
+ parser.add_argument(
+ '--maxlen', type=int, default=1000000,
+ help='Maximum length if input is a movie or directory')
+ parser.add_argument(
+ '--resize', type=int, nargs='+', default=[640, 480],
+ help='Resize the input image before running inference. If two numbers, '
+ 'resize to the exact dimensions, if one number, resize the max '
+ 'dimension, if -1, do not resize')
+
+ parser.add_argument(
+ '--max_keypoints', type=int, default=-1,
+ help='Maximum number of keypoints detected by Superpoint'
+ ' (\'-1\' keeps all keypoints)')
+ parser.add_argument(
+ '--nms_radius', type=int, default=4,
+ help='SuperPoint Non Maximum Suppression (NMS) radius')
+ parser.add_argument(
+ '--keypoint_thresh', type=float, default=0.005,
+ help='SuperPoint detector confidence threshold')
+ parser.add_argument(
+ '--superglue', choices={'indoor', 'outdoor'}, default='indoor',
+ help='SuperGlue weights')
+ parser.add_argument(
+ '--sinkhorn_iterations', type=int, default=20,
+ help='Number of Sinkhorn iterations performed by SuperGlue')
+ parser.add_argument(
+ '--match_thresh', type=float, default=0.2,
+ help='SuperGlue match threshold')
+
+ parser.add_argument(
+ '--display_scale', type=float, default=1,
+ help='How much to resize the display image by')
+ parser.add_argument(
+ '--show_keypoints', action='store_true',
+ help='Show the detected keypoints')
+ parser.add_argument(
+ '--write', action='store_true',
+ help='Save output frames to a directory')
+ parser.add_argument(
+ '--write_dir', type=str, default='dump_demo_superglue/',
+ help='Directory where to write output frames')
+ parser.add_argument(
+ '--no_display', action='store_true',
+ help='Do not display images to screen. Useful if running remotely')
+ parser.add_argument(
+ '--force_cpu', action='store_true',
+ help='Force pytorch to run in CPU mode.')
+ opt = parser.parse_args()
+ print(opt)
+
+ if len(opt.resize) == 2 and opt.resize[1] == -1:
+ opt.resize = opt.resize[0:1]
+ if len(opt.resize) == 2:
+ print('Will resize to {}x{} (WxH)'.format(
+ opt.resize[0], opt.resize[1]))
+ elif len(opt.resize) == 1 and opt.resize[0] > 0:
+ print('Will resize max dimension to {}'.format(opt.resize[0]))
+ elif len(opt.resize) == 1:
+ print('Will not resize images')
+ else:
+ raise ValueError('Cannot specify more than two integers for --resize')
+
+ device = 'cuda' if torch.cuda.is_available() and not opt.force_cpu else 'cpu'
+ print('Running inference on device \"{}\"'.format(device))
+ config = {
+ 'superpoint': {
+ 'nms_radius': opt.nms_radius,
+ 'detection_threshold': opt.keypoint_thresh,
+ 'max_keypoints': opt.max_keypoints
+ },
+ 'superglue': {
+ 'weights': opt.superglue,
+ 'num_sinkhorn_iterations': opt.sinkhorn_iterations,
+ 'filter_threshold': opt.match_thresh,
+ }
+ }
+ matching = Matching(config).eval().to(device)
+ keys = ['keypoints', 'scores', 'descriptors']
+
+ vs = VideoStreamer(opt.input, opt.resize, opt.skip,
+ opt.img_glob, opt.maxlen)
+ frame, ret = vs.next_frame()
+ assert ret, 'Error when reading the first frame (try different --input?)'
+
+ frame_tensor = frame2tensor(frame, device)
+ last_data = matching.superpoint({'image': frame_tensor})
+ last_data = {k+'0': last_data[k] for k in keys}
+ last_data['image0'] = frame_tensor
+ last_frame = frame
+ last_image_id = 0
+
+ if opt.write:
+ print('==> Will write outputs to {}'.format(opt.write_dir))
+ Path(opt.write_dir).mkdir(exist_ok=True)
+
+ # Create a window to display the demo.
+ if not opt.no_display:
+ cv2.namedWindow('SuperGlue matches', cv2.WINDOW_NORMAL)
+ cv2.resizeWindow('SuperGlue matches', (640*2, 480))
+ else:
+ print('Skipping visualization, will not show a GUI.')
+ timer = AverageTimer()
+
+ while True:
+ frame, ret = vs.next_frame()
+ if not ret:
+ print('Finished demo_superglue.py')
+ break
+ timer.update('data')
+
+ frame_tensor = frame2tensor(frame, device)
+ pred = matching({**last_data, 'image1': frame_tensor})
+ kpts0 = last_data['keypoints0'][0].cpu().numpy()
+ kpts1 = pred['keypoints1'][0].cpu().numpy()
+ matches = pred['matches0'][0].cpu().numpy()
+ confidence = pred['matching_scores0'][0].cpu().numpy()
+ timer.update('forward')
+
+ valid = matches > -1
+ mkpts0 = kpts0[valid]
+ mkpts1 = kpts1[matches[valid]]
+ color = cm.jet(confidence[valid])
+ text = [
+ 'SuperGlue',
+ 'Keypoints: {}:{}'.format(len(kpts0), len(kpts1)),
+ 'Matches: {}'.format(len(mkpts0))
+ ]
+ out = make_matching_plot_fast(
+ last_frame, frame, kpts0, kpts1, mkpts0, mkpts1, color, text,
+ add_keypoints=opt.show_keypoints)
+
+ if not opt.no_display:
+ ds = opt.display_scale
+ out = cv2.resize(out, (int(out.shape[1]*ds), int(out.shape[0]*ds)))
+ cv2.imshow('SuperGlue matches', out)
+ key = chr(cv2.waitKey(1) & 0xFF)
+ if key == 'q':
+ print('Exiting (via q) demo_superglue.py')
+ break
+ elif key == 'n': # set the current frame as reference
+ last_data = {k+'0': pred[k+'1'] for k in keys}
+ last_data['image0'] = frame_tensor
+ last_frame = frame
+ last_image_id = (vs.i - 1)
+ elif key in ['e', 'r']: # increase/decrease the detection threshold
+ d = 0.001 * (-1 if key == 'e' else 1)
+ matching.superpoint.config['detection_threshold'] = min(max(
+ 0.001, matching.superpoint.config['detection_threshold']+d), 1)
+ print('\nChanged the detection threshold to {:.3f}'.format(
+ matching.superpoint.config['detection_threshold']))
+ elif key in ['d', 'f']: # increase/decrease the match threshold
+ d = 0.05 * (-1 if key == 'd' else 1)
+ matching.superglue.config['filter_threshold'] = min(max(
+ 0.05, matching.superglue.config['filter_threshold']+d), .95)
+ print('\nChanged the match threshold to {:.2f}'.format(
+ matching.superglue.config['filter_threshold']))
+ elif key == 'k':
+ opt.show_keypoints = not opt.show_keypoints
+
+ timer.update('viz')
+ timer.print()
+
+ if opt.write:
+ stem = 'matches_{:06}_{:06}'.format(last_image_id, vs.i-1)
+ out_file = str(Path(opt.write_dir, stem + '.png'))
+ print('\nWriting image to {}'.format(out_file))
+ cv2.imwrite(out_file, out)
+
+ cv2.destroyAllWindows()
diff --git a/match_pairs.py b/match_pairs.py
new file mode 100755
index 00000000..bfc6bf0c
--- /dev/null
+++ b/match_pairs.py
@@ -0,0 +1,353 @@
+#! /usr/bin/env python3
+#
+# %BANNER_BEGIN%
+# ---------------------------------------------------------------------
+# %COPYRIGHT_BEGIN%
+#
+# Magic Leap, Inc. ("COMPANY") CONFIDENTIAL
+#
+# Unpublished Copyright (c) 2020
+# Magic Leap, Inc., All Rights Reserved.
+#
+# NOTICE: All information contained herein is, and remains the property
+# of COMPANY. The intellectual and technical concepts contained herein
+# are proprietary to COMPANY and may be covered by U.S. and Foreign
+# Patents, patents in process, and are protected by trade secret or
+# copyright law. Dissemination of this information or reproduction of
+# this material is strictly forbidden unless prior written permission is
+# obtained from COMPANY. Access to the source code contained herein is
+# hereby forbidden to anyone except current COMPANY employees, managers
+# or contractors who have executed Confidentiality and Non-disclosure
+# agreements explicitly covering such access.
+#
+# The copyright notice above does not evidence any actual or intended
+# publication or disclosure of this source code, which includes
+# information that is confidential and/or proprietary, and is a trade
+# secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION,
+# PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS
+# SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS
+# STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND
+# INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE
+# CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS
+# TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE,
+# USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART.
+#
+# %COPYRIGHT_END%
+# ----------------------------------------------------------------------
+# %AUTHORS_BEGIN%
+#
+# Originating Authors: Paul-Edouard Sarlin
+# Daniel DeTone
+# Tomasz Malisiewicz
+#
+# %AUTHORS_END%
+# --------------------------------------------------------------------*/
+# %BANNER_END%
+
+import argparse
+import cv2
+import numpy as np
+import matplotlib.cm as cm
+from pathlib import Path
+import torch
+import random
+
+from models.matching import Matching
+from models.utils import (compute_pose_error, compute_epipolar_error,
+ estimate_pose, make_matching_plot,
+ error_colormap, AverageTimer, pose_auc, read_image,
+ rotate_intrinsics, rotate_pose_inplane,
+ scale_intrinsics)
+
+torch.set_grad_enabled(False)
+
+
+if __name__ == '__main__':
+ parser = argparse.ArgumentParser(
+ description='Image pair matching and pose evaluation with SuperGlue',
+ formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+ parser.add_argument(
+ '--viz', action='store_true',
+ help='Visualize the matches and dump the plots')
+ parser.add_argument(
+ '--eval', action='store_true',
+ help='Perform the evaluation'
+ ' (requires ground truth pose and intrinsics)')
+
+ parser.add_argument(
+ '--superglue', choices={'indoor', 'outdoor'}, default='indoor',
+ help='SuperGlue weights')
+ parser.add_argument(
+ '--max_keypoints', type=int, default=1024,
+ help='Maximum number of keypoints detected by Superpoint'
+ ' (\'-1\' keeps all keypoints)')
+ parser.add_argument(
+ '--nms_radius', type=int, default=4,
+ help='SuperPoint Non Maximum Suppression (NMS) radius'
+ ' (Must be positive)')
+ parser.add_argument(
+ '--resize', type=int, nargs='+', default=[640, 480],
+ help='Resize the input image before running inference. If two numbers, '
+ 'resize to the exact dimensions, if one number, resize the max '
+ 'dimension, if -1, do not resize')
+ parser.add_argument(
+ '--resize_float', action='store_true',
+ help='Resize the image after casting uint8 to float')
+
+ parser.add_argument(
+ '--cache', action='store_true',
+ help='Skip the pair if output .npz files are already found')
+ parser.add_argument(
+ '--show_keypoints', action='store_true',
+ help='Plot the keypoints in addition to the matches')
+ parser.add_argument(
+ '--pairs_list', type=str, default='assets/scannet_sample_pairs.txt',
+ help='Path to the list of image pairs')
+ parser.add_argument(
+ '--data_dir', type=str, default='assets/scannet_sample_images/',
+ help='Path to the directory that contains the images')
+ parser.add_argument(
+ '--results_dir', type=str, default='dump_match_pairs/',
+ help='Path to the directory in which the .npz results and optional,'
+ 'visualizations are written')
+
+ opt = parser.parse_args()
+ print(opt)
+
+ if len(opt.resize) == 2 and opt.resize[1] == -1:
+ opt.resize = opt.resize[0:1]
+ if len(opt.resize) == 2:
+ print('Will resize to {}x{} (WxH)'.format(
+ opt.resize[0], opt.resize[1]))
+ elif len(opt.resize) == 1 and opt.resize[0] > 0:
+ print('Will resize max dimension to {}'.format(opt.resize[0]))
+ elif len(opt.resize) == 1:
+ print('Will not resize images')
+ else:
+ raise ValueError('Cannot specify more than two integers for --resize')
+
+ with open(opt.pairs_list, 'r') as f:
+ pairs = [l.split() for l in f.readlines()]
+ random.Random(0).shuffle(pairs)
+
+ if opt.eval:
+ if not all([len(p) == 39 for p in pairs]):
+ raise ValueError(
+ 'All pairs should have ground truth info for evaluation')
+
+ # Load the SuperPoint and SuperGlue models.
+ device = 'cuda' if torch.cuda.is_available() else 'cpu'
+ print('Running inference on device \"{}\"'.format(device))
+ config = {
+ 'superpoint': {'max_keypoints': opt.max_keypoints,
+ 'nms_radius': opt.nms_radius},
+ 'superglue': {'weights': opt.superglue}
+ }
+ matching = Matching(config).eval().to(device)
+
+ # Create the output directories if they do not exist already.
+ data_dir = Path(opt.data_dir)
+ print('Looking for data in directory \"{}\"'.format(data_dir))
+ results_dir = Path(opt.results_dir)
+ results_dir.mkdir(exist_ok=True, parents=True)
+ print('Will write matches to directory \"{}\"'.format(results_dir))
+ if opt.eval:
+ print('Will write evaluation results',
+ 'to directory \"{}\"'.format(results_dir))
+ if opt.viz:
+ print('Will write visualization images to',
+ 'directory \"{}\"'.format(results_dir))
+
+ timer = AverageTimer(newline=True)
+ for i, pair in enumerate(pairs):
+ name0, name1 = pair[:2]
+ stem0, stem1 = Path(name0).stem, Path(name1).stem
+ matches_path = results_dir / '{}_{}_matches.npz'.format(stem0, stem1)
+ eval_path = results_dir / '{}_{}_evaluation.npz'.format(stem0, stem1)
+ viz_path = results_dir / '{}_{}_matches.png'.format(stem0, stem1)
+ viz_eval_path = results_dir / \
+ '{}_{}_evaluation.png'.format(stem0, stem1)
+
+ # Handle --cache logic.
+ do_match = True
+ do_eval = opt.eval
+ do_viz = opt.viz
+ do_viz_eval = opt.eval and opt.viz
+ if opt.cache:
+ if matches_path.exists():
+ try:
+ results = np.load(matches_path)
+ except:
+ raise IOError('Cannot load matches .npz file: %s' %
+ matches_path)
+
+ kpts0, kpts1 = results['keypoints0'], results['keypoints1']
+ matches, conf = results['matches'], results['match_confidence']
+ do_match = False
+ if opt.eval and eval_path.exists():
+ try:
+ results = np.load(eval_path)
+ except:
+ raise IOError('Cannot load eval .npz file: %s' % eval_path)
+ err_R, err_t = results['error_R'], results['error_t']
+ precision = results['precision']
+ matching_score = results['matching_score']
+ num_correct = results['num_correct']
+ epi_errs = results['epipolar_errors']
+ do_eval = False
+ if opt.viz and viz_path.exists():
+ do_viz = False
+ if opt.viz and opt.eval and viz_eval_path.exists():
+ do_viz_eval = False
+ timer.update('load_cache')
+
+ if not (do_match or do_eval or do_viz or do_viz_eval):
+ timer.print('Finished pair {:5} of {:5}'.format(i, len(pairs)))
+ continue
+
+ # If a rotation integer is provided (e.g. from EXIF data), use it:
+ if len(pair) >= 5:
+ rot0, rot1 = int(pair[3]), int(pair[4])
+ else:
+ rot0, rot1 = 0, 0
+
+ # Load the image pair.
+ image0, inp0, scales0 = read_image(
+ data_dir / name0, device, opt.resize, rot0, opt.resize_float)
+ image1, inp1, scales1 = read_image(
+ data_dir / name1, device, opt.resize, rot1, opt.resize_float)
+ if image0 is None or image1 is None:
+ print('Problem reading image pair: {} {}'.format(
+ data_dir/name0, data_dir/name1))
+ exit(1)
+ timer.update('load_image')
+
+ if do_match:
+ # Perform the matching.
+ pred = matching({'image0': inp0, 'image1': inp1})
+ pred = {k: v[0].cpu().numpy() for k, v in pred.items()}
+ kpts0, kpts1 = pred['keypoints0'], pred['keypoints1']
+ matches, conf = pred['matches0'], pred['matching_scores0']
+ timer.update('matcher')
+
+ # Write the matches to disk.
+ out_matches = {'keypoints0': kpts0, 'keypoints1': kpts1,
+ 'matches': matches, 'match_confidence': conf}
+ np.savez(str(matches_path), **out_matches)
+
+ # Keep the matching keypoints.
+ valid = matches > -1
+ mkpts0 = kpts0[valid]
+ mkpts1 = kpts1[matches[valid]]
+ mconf = conf[valid]
+
+ if do_eval:
+ # Estimate the pose and compute the pose error.
+ assert len(pair) == 39, 'Pair does not have ground truth info'
+ K0 = np.array(pair[5:14]).astype(float).reshape(3, 3)
+ K1 = np.array(pair[14:23]).astype(float).reshape(3, 3)
+ T_0to1 = np.array(pair[23:]).astype(float).reshape(4, 4)
+
+ # Scale the intrinsics to resized image.
+ K0 = scale_intrinsics(K0, scales0)
+ K1 = scale_intrinsics(K1, scales1)
+
+ # Update the intrinsics + extrinsics if EXIF rotation was found.
+ if rot0 != 0 or rot1 != 0:
+ cam0_T_w = np.eye(4)
+ cam1_T_w = T_0to1
+ if rot0 != 0:
+ K0 = rotate_intrinsics(K0, image0.shape, rot0)
+ cam0_T_w = rotate_pose_inplane(cam0_T_w, rot0)
+ if rot1 != 0:
+ K1 = rotate_intrinsics(K1, image1.shape, rot1)
+ cam1_T_w = rotate_pose_inplane(cam1_T_w, rot1)
+ cam1_T_cam0 = cam1_T_w @ np.linalg.inv(cam0_T_w)
+ T_0to1 = cam1_T_cam0
+
+ epi_errs = compute_epipolar_error(mkpts0, mkpts1, T_0to1, K0, K1)
+ correct = epi_errs < 5e-4
+ num_correct = np.sum(correct)
+ precision = np.mean(correct) if len(correct) > 0 else 0
+ matching_score = num_correct / len(kpts0) if len(kpts0) > 0 else 0
+
+ thresh = 1. # In pixels relative to resized image size.
+ ret = estimate_pose(mkpts0, mkpts1, K0, K1, thresh)
+ if ret is None:
+ err_t, err_R = np.inf, np.inf
+ else:
+ R, t, inliers = ret
+ err_t, err_R = compute_pose_error(T_0to1, R, t)
+
+ # Write the evaluation results to disk.
+ out_eval = {'error_t': err_t,
+ 'error_R': err_R,
+ 'precision': precision,
+ 'matching_score': matching_score,
+ 'num_correct': num_correct,
+ 'epipolar_errors': epi_errs}
+ np.savez(str(eval_path), **out_eval)
+ timer.update('eval')
+
+ if do_viz:
+ # Visualize the matches.
+ color = cm.jet(mconf)
+ text = [
+ 'SuperGlue',
+ 'Keypoints: {}:{}'.format(len(kpts0), len(kpts1)),
+ 'Matches: {}'.format(len(mkpts0)),
+ ]
+ if rot0 != 0 or rot1 != 0:
+ text.append('Rotation: {}:{}'.format(rot0, rot1))
+
+ make_matching_plot(
+ image0, image1, kpts0, kpts1, mkpts0, mkpts1, color,
+ text, viz_path, stem0, stem1, add_keypoints=opt.show_keypoints)
+ timer.update('viz_match')
+
+ if do_viz_eval:
+ # Visualize the evaluation results for the image pair.
+ color = np.clip((epi_errs - 0) / (1e-3 - 0), 0, 1)
+ color = error_colormap(1 - color)
+ e_t = 'FAIL' if np.isinf(err_t) else '{:.1f}°'.format(err_t)
+ e_R = 'FAIL' if np.isinf(err_R) else '{:.1f}°'.format(err_R)
+ text = [
+ 'SuperGlue',
+ '$\\Delta$R: {}'.format(e_R), '$\\Delta$t: {}'.format(e_t),
+ 'inliers: {}/{}'.format(num_correct, (matches > -1).sum()),
+ ]
+ if rot0 != 0 or rot1 != 0:
+ text.append('Rotation: {}:{}'.format(rot0, rot1))
+ make_matching_plot(
+ image0, image1, kpts0, kpts1, mkpts0, mkpts1, color,
+ text, viz_eval_path, stem0, stem1,
+ add_keypoints=opt.show_keypoints)
+ timer.update('viz_eval')
+
+ timer.print('Finished pair {:5} of {:5}'.format(i, len(pairs)))
+
+ if opt.eval:
+ # Collate the results into a final table and print to terminal.
+ pose_errors = []
+ precisions = []
+ matching_scores = []
+ for pair in pairs:
+ name0, name1 = pair[:2]
+ stem0, stem1 = Path(name0).stem, Path(name1).stem
+ eval_path = results_dir / \
+ '{}_{}_evaluation.npz'.format(stem0, stem1)
+ results = np.load(eval_path)
+ pose_error = np.maximum(results['error_t'], results['error_R'])
+ pose_errors.append(pose_error)
+ precisions.append(results['precision'])
+ matching_scores.append(results['matching_score'])
+ thresholds = [5, 10, 20]
+ aucs = pose_auc(pose_errors, thresholds)
+ aucs = [100.*yy for yy in aucs]
+ prec = 100.*np.mean(precisions)
+ ms = 100.*np.mean(matching_scores)
+ print('Evaluation Results (mean over {} pairs):'.format(len(pairs)))
+ print('AUC@5\t AUC@10\t AUC@20\t Prec\t MScore\t')
+ print('{:.2f}\t {:.2f}\t {:.2f}\t {:.2f}\t {:.2f}\t'.format(
+ aucs[0], aucs[1], aucs[2], prec, ms))
diff --git a/models/__init__.py b/models/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/models/matching.py b/models/matching.py
new file mode 100644
index 00000000..5b35352e
--- /dev/null
+++ b/models/matching.py
@@ -0,0 +1,77 @@
+# %BANNER_BEGIN%
+# ---------------------------------------------------------------------
+# %COPYRIGHT_BEGIN%
+#
+# Magic Leap, Inc. ("COMPANY") CONFIDENTIAL
+#
+# Unpublished Copyright (c) 2020
+# Magic Leap, Inc., All Rights Reserved.
+#
+# NOTICE: All information contained herein is, and remains the property
+# of COMPANY. The intellectual and technical concepts contained herein
+# are proprietary to COMPANY and may be covered by U.S. and Foreign
+# Patents, patents in process, and are protected by trade secret or
+# copyright law. Dissemination of this information or reproduction of
+# this material is strictly forbidden unless prior written permission is
+# obtained from COMPANY. Access to the source code contained herein is
+# hereby forbidden to anyone except current COMPANY employees, managers
+# or contractors who have executed Confidentiality and Non-disclosure
+# agreements explicitly covering such access.
+#
+# The copyright notice above does not evidence any actual or intended
+# publication or disclosure of this source code, which includes
+# information that is confidential and/or proprietary, and is a trade
+# secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION,
+# PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS
+# SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS
+# STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND
+# INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE
+# CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS
+# TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE,
+# USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART.
+#
+# %COPYRIGHT_END%
+# ----------------------------------------------------------------------
+# %AUTHORS_BEGIN%
+#
+# Originating Authors: Paul-Edouard Sarlin
+#
+# %AUTHORS_END%
+# --------------------------------------------------------------------*/
+# %BANNER_END%
+
+import torch
+
+from .superpoint import SuperPoint
+from .superglue import SuperGlue
+
+
+class Matching(torch.nn.Module):
+ def __init__(self, config={}):
+ super().__init__()
+ self.superpoint = SuperPoint(config.get('superpoint', {}))
+ self.superglue = SuperGlue(config.get('superglue', {}))
+
+ def forward(self, data):
+ pred = {}
+
+ # Extract the SuperPoint features if not already provided
+ if 'keypoints0' not in data:
+ pred0 = self.superpoint({'image': data['image0']})
+ pred = {**pred, **{k+'0': v for k, v in pred0.items()}}
+ if 'keypoints1' not in data:
+ pred1 = self.superpoint({'image': data['image1']})
+ pred = {**pred, **{k+'1': v for k, v in pred1.items()}}
+
+ # Batch all features
+ # We should either have i) one image per batch, or
+ # ii) the same number of local features for all images in the batch.
+ data = {**data, **pred}
+ for k in data:
+ if isinstance(data[k], (list, tuple)):
+ data[k] = torch.stack(data[k])
+
+ # Perform the matching
+ pred = {**pred, **self.superglue(data)}
+
+ return pred
diff --git a/models/superglue.py b/models/superglue.py
new file mode 100644
index 00000000..bbda8255
--- /dev/null
+++ b/models/superglue.py
@@ -0,0 +1,261 @@
+# %BANNER_BEGIN%
+# ---------------------------------------------------------------------
+# %COPYRIGHT_BEGIN%
+#
+# Magic Leap, Inc. ("COMPANY") CONFIDENTIAL
+#
+# Unpublished Copyright (c) 2020
+# Magic Leap, Inc., All Rights Reserved.
+#
+# NOTICE: All information contained herein is, and remains the property
+# of COMPANY. The intellectual and technical concepts contained herein
+# are proprietary to COMPANY and may be covered by U.S. and Foreign
+# Patents, patents in process, and are protected by trade secret or
+# copyright law. Dissemination of this information or reproduction of
+# this material is strictly forbidden unless prior written permission is
+# obtained from COMPANY. Access to the source code contained herein is
+# hereby forbidden to anyone except current COMPANY employees, managers
+# or contractors who have executed Confidentiality and Non-disclosure
+# agreements explicitly covering such access.
+#
+# The copyright notice above does not evidence any actual or intended
+# publication or disclosure of this source code, which includes
+# information that is confidential and/or proprietary, and is a trade
+# secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION,
+# PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS
+# SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS
+# STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND
+# INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE
+# CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS
+# TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE,
+# USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART.
+#
+# %COPYRIGHT_END%
+# ----------------------------------------------------------------------
+# %AUTHORS_BEGIN%
+#
+# Originating Authors: Paul-Edouard Sarlin
+#
+# %AUTHORS_END%
+# --------------------------------------------------------------------*/
+# %BANNER_END%
+
+from copy import deepcopy
+from pathlib import Path
+import torch
+from torch import nn
+
+
+def MLP(channels, do_bn=True):
+ n = len(channels)
+ layers = []
+ for i in range(1, n):
+ layers.append(
+ nn.Conv1d(channels[i - 1], channels[i], kernel_size=1, bias=True))
+ if i < (n-1):
+ if do_bn:
+ layers.append(nn.BatchNorm1d(channels[i]))
+ layers.append(nn.ReLU())
+ return nn.Sequential(*layers)
+
+
+def normalize_keypoints(kpts, shape):
+ _, _, h, w = shape
+ one = kpts.new_tensor(1)
+ size = torch.stack([one*w, one*h])[None]
+ c = size / 2
+ f = size.max(1, keepdim=True).values * 0.7
+ return (kpts - c[:, None, :]) / f[:, None, :]
+
+
+class KeypointEncoder(nn.Module):
+ def __init__(self, feature_dim, layers):
+ super().__init__()
+ self.encoder = MLP([3] + layers + [feature_dim])
+ nn.init.constant_(self.encoder[-1].bias, 0.0)
+
+ def forward(self, kpts, scores):
+ inputs = [kpts.transpose(1, 2), scores.unsqueeze(1)]
+ return self.encoder(torch.cat(inputs, dim=1))
+
+
+def attention(query, key, value):
+ dim = query.shape[1]
+ scores = torch.einsum('bdhn,bdhm->bhnm', query, key) / dim**.5
+ prob = torch.nn.functional.softmax(scores, dim=-1)
+ return torch.einsum('bhnm,bdhm->bdhn', prob, value), prob
+
+
+class MultiHeadedAttention(nn.Module):
+ def __init__(self, h, d_model):
+ super().__init__()
+ assert d_model % h == 0
+ self.dim = d_model // h
+ self.h = h
+ self.merge = nn.Conv1d(d_model, d_model, kernel_size=1)
+ self.proj = nn.ModuleList([deepcopy(self.merge) for _ in range(3)])
+
+ def forward(self, query, key, value):
+ b = query.size(0)
+ query, key, value = [l(x).view(b, self.dim, self.h, -1)
+ for l, x in zip(self.proj, (query, key, value))]
+ x, prob = attention(query, key, value)
+ self.prob.append(prob)
+ return self.merge(x.contiguous().view(b, self.dim*self.h, -1))
+
+
+class AttentionalPropagation(nn.Module):
+ def __init__(self, num_dim, num_heads):
+ super().__init__()
+ self.attn = MultiHeadedAttention(num_heads, num_dim)
+ self.mlp = MLP([num_dim*2, num_dim*2, num_dim])
+ nn.init.constant_(self.mlp[-1].bias, 0.0)
+
+ def forward(self, x, source):
+ message = self.attn(x, source, source)
+ return self.mlp(torch.cat([x, message], dim=1))
+
+
+class AttentionalGNN(nn.Module):
+ def __init__(self, feature_dim, layer_names):
+ super().__init__()
+ self.layers = nn.ModuleList([
+ AttentionalPropagation(feature_dim, 4)
+ for _ in range(len(layer_names))])
+ self.names = layer_names
+
+ def forward(self, desc0, desc1):
+ for layer, name in zip(self.layers, self.names):
+ layer.attn.prob = []
+ if name == 'cross':
+ src0, src1 = desc1, desc0
+ else: # if name == 'self':
+ src0, src1 = desc0, desc1
+ delta0, delta1 = layer(desc0, src0), layer(desc1, src1)
+ desc0, desc1 = (desc0 + delta0), (desc1 + delta1)
+ return desc0, desc1
+
+
+def log_sinkhorn_iterations(Z, log_mu, log_nu, iters):
+ u, v = torch.zeros_like(log_mu), torch.zeros_like(log_nu)
+ for _ in range(iters):
+ u = log_mu - torch.logsumexp(Z + v.unsqueeze(1), dim=2)
+ v = log_nu - torch.logsumexp(Z + u.unsqueeze(2), dim=1)
+ return Z + u.unsqueeze(2) + v.unsqueeze(1)
+
+
+def log_optimal_transport(scores, alpha, iters):
+ b, m, n = scores.shape
+ one = scores.new_tensor(1)
+ ms, ns = (m*one).to(scores), (n*one).to(scores)
+
+ bins0 = alpha.expand(b, m, 1)
+ bins1 = alpha.expand(b, 1, n)
+ alpha = alpha.expand(b, 1, 1)
+
+ couplings = torch.cat([torch.cat([scores, bins0], -1),
+ torch.cat([bins1, alpha], -1)], 1)
+
+ norm = - (ms + ns).log()
+ log_mu = torch.cat([norm.expand(m), ns.log()[None] + norm])
+ log_nu = torch.cat([norm.expand(n), ms.log()[None] + norm])
+ log_mu, log_nu = log_mu[None].expand(b, -1), log_nu[None].expand(b, -1)
+
+ Z = log_sinkhorn_iterations(couplings, log_mu, log_nu, iters)
+ Z = Z - norm # multiply probabilities by M+N
+ return Z
+
+
+def arange_like(x, dim):
+ return x.new_ones(x.shape[dim]).cumsum(0) - 1 # traceable in 1.1
+
+
+class SuperGlue(nn.Module):
+ default_config = {
+ 'descriptor_dim': 256,
+ 'weights': 'indoor',
+ 'keypoint_encoder': [32, 64, 128, 256],
+ 'GNN_layers': ['self', 'cross'] * 9,
+ 'num_sinkhorn_iterations': 100,
+ 'filter_threshold': 0.2,
+ }
+
+ def __init__(self, config):
+ super().__init__()
+ self.config = {**self.default_config, **config}
+
+ self.kenc = KeypointEncoder(
+ self.config['descriptor_dim'], self.config['keypoint_encoder'])
+
+ self.gnn = AttentionalGNN(
+ self.config['descriptor_dim'], self.config['GNN_layers'])
+
+ self.final_proj = nn.Conv1d(
+ self.config['descriptor_dim'], self.config['descriptor_dim'],
+ kernel_size=1, bias=True)
+
+ bin_score = torch.nn.Parameter(torch.tensor(1.))
+ self.register_parameter('bin_score', bin_score)
+
+ assert self.config['weights'] in ['indoor', 'outdoor']
+ path = Path(__file__).parent
+ path = path / 'weights/superglue_{}.pth'.format(self.config['weights'])
+ self.load_state_dict(torch.load(path))
+ print('Loaded SuperGlue model (\"{}\" weights)'.format(
+ self.config['weights']))
+
+ def forward(self, data):
+ desc0, desc1 = data['descriptors0'], data['descriptors1']
+ kpts0, kpts1 = data['keypoints0'], data['keypoints1']
+
+ if kpts0.shape[1] == 0 or kpts1.shape[1] == 0: # no keypoints
+ shape0, shape1 = kpts0.shape[:-1], kpts1.shape[:-1]
+ return {
+ 'matches0': kpts0.new_full(shape0, -1, dtype=torch.int),
+ 'matches1': kpts1.new_full(shape1, -1, dtype=torch.int),
+ 'matching_scores0': kpts0.new_zeros(shape0),
+ 'matching_scores1': kpts1.new_zeros(shape1),
+ }
+
+ # Keypoint normalization.
+ kpts0 = normalize_keypoints(kpts0, data['image0'].shape)
+ kpts1 = normalize_keypoints(kpts1, data['image1'].shape)
+
+ # Keypoint MLP encoder.
+ desc0 = desc0 + self.kenc(kpts0, data['scores0'])
+ desc1 = desc1 + self.kenc(kpts1, data['scores1'])
+
+ # Multi-layer Transformer network.
+ desc0, desc1 = self.gnn(desc0, desc1)
+
+ # Final MLP projection.
+ mdesc0, mdesc1 = self.final_proj(desc0), self.final_proj(desc1)
+
+ # Compute matching descriptor distance.
+ scores = torch.einsum('bdn,bdm->bnm', mdesc0, mdesc1)
+ scores = scores / self.config['descriptor_dim']**.5
+
+ # Run the optimal transport.
+ scores = log_optimal_transport(
+ scores, self.bin_score,
+ iters=self.config['num_sinkhorn_iterations'])
+
+ # Get the matches with score above "filter_threshold".
+ max0, max1 = scores[:, :-1, :-1].max(2), scores[:, :-1, :-1].max(1)
+ m0, m1 = max0.indices, max1.indices
+ mutual0 = arange_like(m0, 1)[None] == m1.gather(1, m0)
+ mutual1 = arange_like(m1, 1)[None] == m0.gather(1, m1)
+ zero = scores.new_tensor(0)
+ mscores0 = torch.where(mutual0, max0.values.exp(), zero)
+ mscores1 = torch.where(mutual1, mscores0.gather(1, m1), zero)
+ valid0 = mutual0 & (mscores0 > self.config['filter_threshold'])
+ valid1 = mutual1 & valid0.gather(1, m1)
+ m0 = torch.where(valid0, m0, m0.new_tensor(-1))
+ m1 = torch.where(valid1, m1, m1.new_tensor(-1))
+
+ return {
+ 'matches0': m0,
+ 'matches1': m1,
+ 'matching_scores0': mscores0,
+ 'matching_scores1': mscores1,
+ }
diff --git a/models/superpoint.py b/models/superpoint.py
new file mode 100644
index 00000000..6d5f59fc
--- /dev/null
+++ b/models/superpoint.py
@@ -0,0 +1,192 @@
+# %BANNER_BEGIN%
+# ---------------------------------------------------------------------
+# %COPYRIGHT_BEGIN%
+#
+# Magic Leap, Inc. ("COMPANY") CONFIDENTIAL
+#
+# Unpublished Copyright (c) 2020
+# Magic Leap, Inc., All Rights Reserved.
+#
+# NOTICE: All information contained herein is, and remains the property
+# of COMPANY. The intellectual and technical concepts contained herein
+# are proprietary to COMPANY and may be covered by U.S. and Foreign
+# Patents, patents in process, and are protected by trade secret or
+# copyright law. Dissemination of this information or reproduction of
+# this material is strictly forbidden unless prior written permission is
+# obtained from COMPANY. Access to the source code contained herein is
+# hereby forbidden to anyone except current COMPANY employees, managers
+# or contractors who have executed Confidentiality and Non-disclosure
+# agreements explicitly covering such access.
+#
+# The copyright notice above does not evidence any actual or intended
+# publication or disclosure of this source code, which includes
+# information that is confidential and/or proprietary, and is a trade
+# secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION,
+# PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS
+# SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS
+# STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND
+# INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE
+# CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS
+# TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE,
+# USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART.
+#
+# %COPYRIGHT_END%
+# ----------------------------------------------------------------------
+# %AUTHORS_BEGIN%
+#
+# Originating Authors: Paul-Edouard Sarlin
+#
+# %AUTHORS_END%
+# --------------------------------------------------------------------*/
+# %BANNER_END%
+
+from pathlib import Path
+import torch
+from torch import nn
+
+
+def simple_nms(scores, nms_radius):
+ assert(nms_radius >= 0)
+
+ def max_pool(x):
+ return torch.nn.functional.max_pool2d(
+ x, kernel_size=nms_radius*2+1, stride=1, padding=nms_radius)
+
+ zeros = torch.zeros_like(scores)
+ max_mask = scores == max_pool(scores)
+ for _ in range(2):
+ supp_mask = max_pool(max_mask.float()) > 0
+ supp_scores = torch.where(supp_mask, zeros, scores)
+ new_max_mask = supp_scores == max_pool(supp_scores)
+ max_mask = max_mask | (new_max_mask & (~supp_mask))
+ return torch.where(max_mask, scores, zeros)
+
+
+def remove_borders(keypoints, scores, b, h, w):
+ mask_h = (keypoints[:, 0] >= b) & (keypoints[:, 0] < (h - b))
+ mask_w = (keypoints[:, 1] >= b) & (keypoints[:, 1] < (w - b))
+ mask = mask_h & mask_w
+ return keypoints[mask], scores[mask]
+
+
+def top_k_keypoints(keypoints, scores, k):
+ if k >= len(keypoints):
+ return keypoints, scores
+ scores, indices = torch.topk(scores, k, dim=0)
+ return keypoints[indices], scores
+
+
+def sample_descriptors(keypoints, descriptors, s):
+ b, c, h, w = descriptors.shape
+ keypoints = keypoints - s / 2 + 0.5
+ keypoints /= torch.tensor([(w*s - s/2 - 0.5), (h*s - s/2 - 0.5)],
+ ).to(keypoints)[None]
+ keypoints = keypoints*2 - 1 # normalize to (-1, 1)
+ args = {'align_corners': True} if int(torch.__version__[2]) > 2 else {}
+ descriptors = torch.nn.functional.grid_sample(
+ descriptors, keypoints.view(b, 1, -1, 2), mode='bilinear', **args)
+ descriptors = torch.nn.functional.normalize(
+ descriptors.reshape(b, c, -1), p=2, dim=1)
+ return descriptors
+
+
+class SuperPoint(nn.Module):
+ default_config = {
+ 'descriptor_dim': 256,
+ 'nms_radius': 4,
+ 'detection_threshold': 0.005,
+ 'max_keypoints': -1,
+ 'remove_borders': 4,
+ }
+
+ def __init__(self, config):
+ super().__init__()
+ self.config = {**self.default_config, **config}
+
+ self.relu = nn.ReLU(inplace=True)
+ self.pool = nn.MaxPool2d(kernel_size=2, stride=2)
+ c1, c2, c3, c4, c5 = 64, 64, 128, 128, 256
+
+ self.conv1a = nn.Conv2d(1, c1, kernel_size=3, stride=1, padding=1)
+ self.conv1b = nn.Conv2d(c1, c1, kernel_size=3, stride=1, padding=1)
+ self.conv2a = nn.Conv2d(c1, c2, kernel_size=3, stride=1, padding=1)
+ self.conv2b = nn.Conv2d(c2, c2, kernel_size=3, stride=1, padding=1)
+ self.conv3a = nn.Conv2d(c2, c3, kernel_size=3, stride=1, padding=1)
+ self.conv3b = nn.Conv2d(c3, c3, kernel_size=3, stride=1, padding=1)
+ self.conv4a = nn.Conv2d(c3, c4, kernel_size=3, stride=1, padding=1)
+ self.conv4b = nn.Conv2d(c4, c4, kernel_size=3, stride=1, padding=1)
+
+ self.convPa = nn.Conv2d(c4, c5, kernel_size=3, stride=1, padding=1)
+ self.convPb = nn.Conv2d(c5, 65, kernel_size=1, stride=1, padding=0)
+
+ self.convDa = nn.Conv2d(c4, c5, kernel_size=3, stride=1, padding=1)
+ self.convDb = nn.Conv2d(
+ c5, self.config['descriptor_dim'],
+ kernel_size=1, stride=1, padding=0)
+
+ path = Path(__file__).parent / 'weights/superpoint_v1.pth'
+ self.load_state_dict(torch.load(str(path)))
+
+ mk = self.config['max_keypoints']
+ if mk == 0 or mk < -1:
+ raise ValueError('\"max_keypoints\" must be positive or \"-1\"')
+
+ print('Loaded SuperPoint model')
+
+ def forward(self, data):
+ # Shared Encoder
+ x = self.relu(self.conv1a(data['image']))
+ x = self.relu(self.conv1b(x))
+ x = self.pool(x)
+ x = self.relu(self.conv2a(x))
+ x = self.relu(self.conv2b(x))
+ x = self.pool(x)
+ x = self.relu(self.conv3a(x))
+ x = self.relu(self.conv3b(x))
+ x = self.pool(x)
+ x = self.relu(self.conv4a(x))
+ x = self.relu(self.conv4b(x))
+
+ # Compute the dense keypoint scores
+ cPa = self.relu(self.convPa(x))
+ scores = self.convPb(cPa)
+ scores = torch.nn.functional.softmax(scores, 1)[:, :-1]
+ b, c, h, w = scores.shape
+ scores = scores.permute(0, 2, 3, 1).reshape(b, h, w, 8, 8)
+ scores = scores.permute(0, 1, 3, 2, 4).reshape(b, h*8, w*8)
+ scores = simple_nms(scores, self.config['nms_radius'])
+
+ # Extract keypoints
+ keypoints = [
+ torch.nonzero(s > self.config['detection_threshold'])
+ for s in scores]
+ scores = [s[tuple(k.t())] for s, k in zip(scores, keypoints)]
+
+ # Discard keypoints near the image borders
+ keypoints, scores = list(zip(*[
+ remove_borders(k, s, self.config['remove_borders'], h*8, w*8)
+ for k, s in zip(keypoints, scores)]))
+
+ # Keep the k keypoints with highest score
+ if self.config['max_keypoints'] >= 0:
+ keypoints, scores = list(zip(*[
+ top_k_keypoints(k, s, self.config['max_keypoints'])
+ for k, s in zip(keypoints, scores)]))
+
+ # Convert (h, w) to (x, y)
+ keypoints = [torch.flip(k, [1]).float() for k in keypoints]
+
+ # Compute the dense descriptors
+ cDa = self.relu(self.convDa(x))
+ descriptors = self.convDb(cDa)
+ descriptors = torch.nn.functional.normalize(descriptors, p=2, dim=1)
+
+ # Extract descriptors
+ descriptors = [sample_descriptors(k[None], d[None], 8)[0]
+ for k, d in zip(keypoints, descriptors)]
+
+ return {
+ 'keypoints': keypoints,
+ 'scores': scores,
+ 'descriptors': descriptors,
+ }
diff --git a/models/utils.py b/models/utils.py
new file mode 100644
index 00000000..c5d35353
--- /dev/null
+++ b/models/utils.py
@@ -0,0 +1,482 @@
+# %BANNER_BEGIN%
+# ---------------------------------------------------------------------
+# %COPYRIGHT_BEGIN%
+#
+# Magic Leap, Inc. ("COMPANY") CONFIDENTIAL
+#
+# Unpublished Copyright (c) 2020
+# Magic Leap, Inc., All Rights Reserved.
+#
+# NOTICE: All information contained herein is, and remains the property
+# of COMPANY. The intellectual and technical concepts contained herein
+# are proprietary to COMPANY and may be covered by U.S. and Foreign
+# Patents, patents in process, and are protected by trade secret or
+# copyright law. Dissemination of this information or reproduction of
+# this material is strictly forbidden unless prior written permission is
+# obtained from COMPANY. Access to the source code contained herein is
+# hereby forbidden to anyone except current COMPANY employees, managers
+# or contractors who have executed Confidentiality and Non-disclosure
+# agreements explicitly covering such access.
+#
+# The copyright notice above does not evidence any actual or intended
+# publication or disclosure of this source code, which includes
+# information that is confidential and/or proprietary, and is a trade
+# secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION,
+# PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS
+# SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS
+# STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND
+# INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE
+# CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS
+# TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE,
+# USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART.
+#
+# %COPYRIGHT_END%
+# ----------------------------------------------------------------------
+# %AUTHORS_BEGIN%
+#
+# Originating Authors: Paul-Edouard Sarlin
+# Daniel DeTone
+#
+# %AUTHORS_END%
+# --------------------------------------------------------------------*/
+# %BANNER_END%
+
+import torch
+import time
+from pathlib import Path
+import numpy as np
+import matplotlib.pyplot as plt
+from collections import OrderedDict
+import cv2
+import matplotlib
+matplotlib.use('Agg')
+
+
+class AverageTimer(object):
+ """ Class to help manage printing simple timing of code execution. """
+
+ def __init__(self, smoothing=0.3, newline=False):
+ self.smoothing = smoothing
+ self.newline = newline
+ self.times = OrderedDict()
+ self.will_print = OrderedDict()
+ self.reset()
+
+ def reset(self):
+ now = time.time()
+ self.start = now
+ self.last_time = now
+ for name in self.will_print:
+ self.will_print[name] = False
+
+ def update(self, name='default'):
+ now = time.time()
+ dt = now - self.last_time
+ if name in self.times:
+ dt = self.smoothing * dt + (1 - self.smoothing) * self.times[name]
+ self.times[name] = dt
+ self.will_print[name] = True
+ self.last_time = now
+
+ def print(self, text='Timer'):
+ total = 0.
+ print('[{}]'.format(text), end=' ')
+ for key in self.times:
+ val = self.times[key]
+ if self.will_print[key]:
+ print('%s=%.3f' % (key, val), end=' ')
+ total += val
+ print('total=%.3f sec {%.1f FPS}' % (total, 1./total), end=' ')
+ if self.newline:
+ print(flush=True)
+ else:
+ print(end='\r', flush=True)
+ self.reset()
+
+
+class VideoStreamer(object):
+ """ Class to help process image streams. Four types of possible inputs:"
+ 1.) USB Webcam.
+ 2.) An IP camera
+ 3.) A directory of images (files in directory matching 'img_glob').
+ 4.) A video file, such as an .mp4 or .avi file.
+ """
+
+ def __init__(self, basedir, resize, skip, img_glob, maxlen=1000000):
+ self.cap = []
+ self.camera = True
+ self.video_file = False
+ self.listing = []
+ self.resize = resize
+ self.interp = cv2.INTER_AREA
+ self.i = 0
+ self.skip = skip
+ self.maxlen = maxlen
+ if isinstance(basedir, int) or basedir.isdigit():
+ print('==> Processing USB webcam input: {}'.format(basedir))
+ self.cap = cv2.VideoCapture(int(basedir))
+ self.listing = range(0, self.maxlen)
+ elif basedir.startswith(('http', 'rtsp')):
+ print('==> Processing IP camera input: {}'.format(basedir))
+ self.cap = cv2.VideoCapture(basedir)
+ self.listing = range(0, self.maxlen)
+ elif Path(basedir).is_dir():
+ print('==> Processing image directory input: {}'.format(basedir))
+ self.listing = list(Path(basedir).glob(img_glob[0]))
+ for j in range(1, len(img_glob)):
+ l = list(Path(basedir).glob(img_glob[j]))
+ self.listing = self.listing + l
+ self.listing.sort()
+ self.listing = self.listing[::self.skip]
+ self.maxlen = len(self.listing)
+ if self.maxlen == 0:
+ raise IOError('No images found (maybe bad \'img_glob\' ?)')
+ self.camera = False
+ elif Path(basedir).exists():
+ print('==> Processing video input: {}'.format(basedir))
+ self.cap = cv2.VideoCapture(basedir)
+ self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
+ num_frames = int(self.cap.get(cv2.CAP_PROP_FRAME_COUNT))
+ self.listing = range(0, num_frames)
+ self.listing = self.listing[::self.skip]
+ self.video_file = True
+ self.maxlen = len(self.listing)
+ else:
+ raise ValueError('Input string not recognized: '.format(basedir))
+ if self.camera and not self.cap.isOpened():
+ raise IOError('Could not read camera')
+
+ def load_image(self, impath):
+ """ Read image as grayscale and resize to img_size.
+ Inputs
+ impath: Path to input image.
+ img_size: (W, H) tuple specifying resize size.
+ Returns
+ grayim: uint8 numpy array sized H x W.
+ """
+ grayim = cv2.imread(impath, 0)
+ if grayim is None:
+ raise Exception('Error reading image %s' % impath)
+ w, h = grayim.shape[1], grayim.shape[0]
+ w_new, h_new = process_resize(w, h, self.resize)
+ grayim = cv2.resize(
+ grayim, (w_new, h_new), interpolation=self.interp)
+ return grayim
+
+ def next_frame(self):
+ """ Return the next frame, and increment internal counter.
+ Returns
+ image: Next H x W image.
+ status: True or False depending whether image was loaded.
+ """
+
+ if self.i == self.maxlen:
+ return (None, False)
+ if self.camera:
+ ret, image = self.cap.read()
+ if ret is False:
+ print('VideoStreamer: Cannot get image from camera')
+ return (None, False)
+ w, h = image.shape[1], image.shape[0]
+ if self.video_file:
+ self.cap.set(cv2.CAP_PROP_POS_FRAMES, self.listing[self.i])
+
+ w_new, h_new = process_resize(w, h, self.resize)
+ image = cv2.resize(image, (w_new, h_new),
+ interpolation=self.interp)
+ image = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)
+ else:
+ image_file = str(self.listing[self.i])
+ image = self.load_image(image_file)
+ self.i = self.i + 1
+ return (image, True)
+
+
+# --- PREPROCESSING ---
+
+def process_resize(w, h, resize):
+ assert(len(resize) > 0 and len(resize) <= 2)
+ if len(resize) == 1 and resize[0] > -1:
+ scale = resize[0] / max(h, w)
+ w_new, h_new = int(round(w*scale)), int(round(h*scale))
+ elif len(resize) == 1 and resize[0] == -1:
+ w_new, h_new = w, h
+ else: # len(resize) == 2:
+ w_new, h_new = resize[0], resize[1]
+
+ # Issue warning if resolution is too small or too large.
+ if max(w_new, h_new) < 160:
+ print('Warning: input resolution is very small, results may vary')
+ elif max(w_new, h_new) > 2000:
+ print('Warning: input resolution is very large, results may vary')
+
+ return w_new, h_new
+
+
+def frame2tensor(frame, device):
+ return torch.from_numpy(frame/255.).float()[None, None].to(device)
+
+
+def read_image(path, device, resize, rotation, resize_float):
+ image = cv2.imread(str(path), cv2.IMREAD_GRAYSCALE)
+ if image is None:
+ return None, None, None
+ w, h = image.shape[1], image.shape[0]
+ w_new, h_new = process_resize(w, h, resize)
+ scales = (float(w) / float(w_new), float(h) / float(h_new))
+
+ if resize_float:
+ image = cv2.resize(image.astype('float32'), (w_new, h_new))
+ else:
+ image = cv2.resize(image, (w_new, h_new)).astype('float32')
+
+ if rotation != 0:
+ image = np.rot90(image, k=rotation)
+ if rotation % 2:
+ scales = scales[::-1]
+
+ inp = frame2tensor(image, device)
+ return image, inp, scales
+
+
+# --- GEOMETRY ---
+
+
+def estimate_pose(kpts0, kpts1, K0, K1, thresh, conf=0.99999):
+ if len(kpts0) < 5:
+ return None
+
+ f_mean = np.mean([K0[0, 0], K1[1, 1], K0[0, 0], K1[1, 1]])
+ norm_thresh = thresh / f_mean
+
+ kpts0 = (kpts0 - K0[[0, 1], [2, 2]][None]) / K0[[0, 1], [0, 1]][None]
+ kpts1 = (kpts1 - K1[[0, 1], [2, 2]][None]) / K1[[0, 1], [0, 1]][None]
+
+ E, mask = cv2.findEssentialMat(
+ kpts0, kpts1, np.eye(3), threshold=norm_thresh, prob=conf,
+ method=cv2.RANSAC)
+
+ assert(E is not None)
+
+ best_num_inliers = 0
+ ret = None
+ for _E in np.split(E, len(E) / 3):
+ n, R, t, mask_new = cv2.recoverPose(
+ _E, kpts0, kpts1, np.eye(3), 1e9, mask=mask)
+ if n > best_num_inliers:
+ best_num_inliers = n
+ ret = (R, t[:, 0], mask.ravel() > 0)
+ return ret
+
+
+def rotate_intrinsics(K, image_shape, rot):
+ """ image_shape is the shape of the image after rotattion
+ """
+ assert(rot <= 3)
+ h, w = image_shape[:2][::-1 if (rot % 2) else 1]
+ fx, fy, cx, cy = K[0, 0], K[1, 1], K[0, 2], K[1, 2]
+ rot = rot % 4
+ if rot == 1:
+ return np.array([[fy, 0., cy],
+ [0., fx, w-1-cx],
+ [0., 0., 1.]], dtype=K.dtype)
+ elif rot == 2:
+ return np.array([[fx, 0., w-1-cx],
+ [0., fy, h-1-cy],
+ [0., 0., 1.]], dtype=K.dtype)
+ else: # if rot == 3:
+ return np.array([[fy, 0., h-1-cy],
+ [0., fx, cx],
+ [0., 0., 1.]], dtype=K.dtype)
+
+
+def rotate_pose_inplane(i_T_w, rot):
+ rotation_matrices = [
+ np.array([[np.cos(r), -np.sin(r), 0., 0.],
+ [np.sin(r), np.cos(r), 0., 0.],
+ [0., 0., 1., 0.],
+ [0., 0., 0., 1.]], dtype=np.float32)
+ for r in [np.deg2rad(d) for d in (0, 270, 180, 90)]
+ ]
+ return np.dot(rotation_matrices[rot], i_T_w)
+
+
+def scale_intrinsics(K, scales):
+ scales = np.diag([1./scales[0], 1./scales[1], 1.])
+ return np.dot(scales, K)
+
+
+def to_homogeneous(points):
+ return np.concatenate([points, np.ones_like(points[:, :1])], axis=-1)
+
+
+def compute_epipolar_error(kpts0, kpts1, T_0to1, K0, K1):
+ kpts0 = (kpts0 - K0[[0, 1], [2, 2]][None]) / K0[[0, 1], [0, 1]][None]
+ kpts1 = (kpts1 - K1[[0, 1], [2, 2]][None]) / K1[[0, 1], [0, 1]][None]
+ kpts0 = to_homogeneous(kpts0)
+ kpts1 = to_homogeneous(kpts1)
+
+ t0, t1, t2 = T_0to1[:3, 3]
+ t_skew = np.array([
+ [0, -t2, t1],
+ [t2, 0, -t0],
+ [-t1, t0, 0]
+ ])
+ E = t_skew @ T_0to1[:3, :3]
+
+ Ep0 = kpts0 @ E.T # N x 3
+ p1Ep0 = np.sum(kpts1 * Ep0, -1) # N
+ Etp1 = kpts1 @ E # N x 3
+ d = p1Ep0**2 * (1.0 / (Ep0[:, 0]**2 + Ep0[:, 1]**2)
+ + 1.0 / (Etp1[:, 0]**2 + Etp1[:, 1]**2))
+ return d
+
+
+def angle_error_mat(R1, R2):
+ cos = (np.trace(np.dot(R1.T, R2)) - 1) / 2
+ cos = np.clip(cos, -1., 1.) # numercial errors can make it out of bounds
+ return np.rad2deg(np.abs(np.arccos(cos)))
+
+
+def angle_error_vec(v1, v2):
+ n = np.linalg.norm(v1) * np.linalg.norm(v2)
+ return np.rad2deg(np.arccos(np.clip(np.dot(v1, v2) / n, -1.0, 1.0)))
+
+
+def compute_pose_error(T_0to1, R, t):
+ R_gt = T_0to1[:3, :3]
+ t_gt = T_0to1[:3, 3]
+ error_t = angle_error_vec(t, t_gt)
+ error_t = np.minimum(error_t, 180 - error_t) # ambiguity of E estimation
+ error_R = angle_error_mat(R, R_gt)
+ return error_t, error_R
+
+
+def pose_auc(errors, thresholds):
+ sort_idx = np.argsort(errors)
+ errors = np.array(errors.copy())[sort_idx]
+ recall = (np.arange(len(errors)) + 1) / len(errors)
+ errors = np.r_[0., errors]
+ recall = np.r_[0., recall]
+ aucs = []
+ for t in thresholds:
+ last_index = np.searchsorted(errors, t)
+ r = np.r_[recall[:last_index], recall[last_index-1]]
+ e = np.r_[errors[:last_index], t]
+ aucs.append(np.trapz(r, x=e)/t)
+ return aucs
+
+
+# --- VISUALIZATION ---
+
+
+def plot_image_pair(imgs, dpi=100, size=6, pad=.5):
+ n = len(imgs)
+ assert n == 2, 'number of images must be two'
+ figsize = (size*n, size*3/4) if size is not None else None
+ fig, ax = plt.subplots(1, n, figsize=figsize, dpi=dpi)
+ for i in range(n):
+ ax[i].imshow(imgs[i], cmap=plt.get_cmap('gray'), vmin=0, vmax=255)
+ ax[i].get_yaxis().set_ticks([])
+ ax[i].get_xaxis().set_ticks([])
+ for spine in ax[i].spines.values(): # remove frame
+ spine.set_visible(False)
+ plt.tight_layout(pad=pad)
+
+
+def plot_keypoints(kpts0, kpts1, color='w', ps=2):
+ ax = plt.gcf().axes
+ ax[0].scatter(kpts0[:, 0], kpts0[:, 1], c=color, s=ps)
+ ax[1].scatter(kpts1[:, 0], kpts1[:, 1], c=color, s=ps)
+
+
+def plot_matches(kpts0, kpts1, color, lw=1.5, ps=4):
+ fig = plt.gcf()
+ ax = fig.axes
+ fig.canvas.draw()
+
+ transFigure = fig.transFigure.inverted()
+ fkpts0 = transFigure.transform(ax[0].transData.transform(kpts0))
+ fkpts1 = transFigure.transform(ax[1].transData.transform(kpts1))
+
+ fig.lines = [matplotlib.lines.Line2D(
+ (fkpts0[i, 0], fkpts1[i, 0]), (fkpts0[i, 1], fkpts1[i, 1]), zorder=1,
+ transform=fig.transFigure, c=color[i], linewidth=lw)
+ for i in range(len(kpts0))]
+ ax[0].scatter(kpts0[:, 0], kpts0[:, 1], c=color, s=ps)
+ ax[1].scatter(kpts1[:, 0], kpts1[:, 1], c=color, s=ps)
+
+
+def make_matching_plot(image0, image1, kpts0, kpts1, mkpts0, mkpts1,
+ color, text, path, name0, name1, add_keypoints=False):
+ plot_image_pair([image0, image1])
+ if add_keypoints:
+ plot_keypoints(kpts0, kpts1)
+ plot_matches(mkpts0, mkpts1, color)
+
+ fig = plt.gcf()
+ txt_color = 'k' if image0[:100, :150].mean() > 200 else 'w'
+ fig.text(
+ 0.01, 0.99, '\n'.join(text), transform=fig.axes[0].transAxes,
+ fontsize=15, va='top', ha='left', color=txt_color)
+
+ txt_color = 'k' if image0[-100:, :150].mean() > 200 else 'w'
+ fig.text(
+ 0.01, 0.01, name0, transform=fig.axes[0].transAxes,
+ fontsize=5, va='bottom', ha='left', color=txt_color)
+
+ txt_color = 'k' if image1[-100:, :150].mean() > 200 else 'w'
+ fig.text(
+ 0.01, 0.01, name1, transform=fig.axes[1].transAxes,
+ fontsize=5, va='bottom', ha='left', color=txt_color)
+
+ plt.savefig(str(path), bbox_inches='tight', pad_inches=0)
+ plt.close()
+
+
+def make_matching_plot_fast(image0, image1, kpts0, kpts1, mkpts0, mkpts1,
+ color, text, add_keypoints=False, margin=10):
+ H0, W0 = image0.shape
+ H1, W1 = image1.shape
+ H, W = max(H0, H1), W0 + W1 + margin
+
+ out = 255*np.ones((H, W), np.uint8)
+ out[:H0, :W0] = image0
+ out[:H1, W0+margin:] = image1
+ out = np.stack([out]*3, -1)
+
+ if add_keypoints:
+ kpts0, kpts1 = np.round(kpts0).astype(int), np.round(kpts1).astype(int)
+ kp_color = (255, 255, 255)
+ for x, y in kpts0:
+ cv2.circle(out, (x, y), 1, kp_color, -1, lineType=cv2.LINE_AA)
+ for x, y in kpts1:
+ cv2.circle(out, (x + margin + W0, y), 1, kp_color, -1,
+ lineType=cv2.LINE_AA)
+
+ mkpts0, mkpts1 = np.round(mkpts0).astype(int), np.round(mkpts1).astype(int)
+ color = (np.array(color[:, :3])*255).astype(int)[:, ::-1]
+ for (x0, y0), (x1, y1), c in zip(mkpts0, mkpts1, color):
+ c = c.tolist()
+ cv2.line(out, (x0, y0), (x1 + margin + W0, y1),
+ color=c, thickness=1, lineType=cv2.LINE_AA)
+ if add_keypoints:
+ cv2.circle(out, (x0, y0), 2, c, -1, lineType=cv2.LINE_AA)
+ cv2.circle(out, (x1 + margin + W0, y1), 2, c, -1,
+ lineType=cv2.LINE_AA)
+
+ Ht = int(H * 30 / 480) # text height
+ if image0[Ht*len(text), :150].mean() > 200:
+ txt_color = (0, 0, 0)
+ else:
+ txt_color = (255, 255, 255)
+ for i, t in enumerate(text):
+ cv2.putText(out, t, (10, Ht*(i+1)), cv2.FONT_HERSHEY_DUPLEX,
+ H*1.0/480, txt_color, 1, cv2.LINE_AA)
+
+ return out
+
+
+def error_colormap(x):
+ return np.clip(
+ np.stack([2-x*2, x*2, np.zeros_like(x), np.ones_like(x)], -1), 0, 1)
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