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| import torch | |
| import torch.nn.functional as F | |
| from raft_core_utils_utils import bilinear_sampler, coords_grid | |
| try: | |
| import alt_cuda_corr | |
| except: | |
| # alt_cuda_corr is not compiled | |
| pass | |
| class CorrBlock: | |
| def __init__(self, fmap1, fmap2, num_levels=4, radius=4): | |
| self.num_levels = num_levels | |
| self.radius = radius | |
| self.corr_pyramid = [] | |
| # all pairs correlation | |
| corr = CorrBlock.corr(fmap1, fmap2) | |
| batch, h1, w1, dim, h2, w2 = corr.shape | |
| corr = corr.reshape(batch*h1*w1, dim, h2, w2) | |
| self.corr_pyramid.append(corr) | |
| for i in range(self.num_levels-1): | |
| corr = F.avg_pool2d(corr, 2, stride=2) | |
| self.corr_pyramid.append(corr) | |
| def __call__(self, coords): | |
| r = self.radius | |
| coords = coords.permute(0, 2, 3, 1) | |
| batch, h1, w1, _ = coords.shape | |
| out_pyramid = [] | |
| for i in range(self.num_levels): | |
| corr = self.corr_pyramid[i] | |
| dx = torch.linspace(-r, r, 2*r+1, device=coords.device) | |
| dy = torch.linspace(-r, r, 2*r+1, device=coords.device) | |
| delta = torch.stack(torch.meshgrid(dy, dx), axis=-1) | |
| centroid_lvl = coords.reshape(batch*h1*w1, 1, 1, 2) / 2**i | |
| delta_lvl = delta.view(1, 2*r+1, 2*r+1, 2) | |
| coords_lvl = centroid_lvl + delta_lvl | |
| corr = bilinear_sampler(corr, coords_lvl) | |
| corr = corr.view(batch, h1, w1, -1) | |
| out_pyramid.append(corr) | |
| out = torch.cat(out_pyramid, dim=-1) | |
| return out.permute(0, 3, 1, 2).contiguous().float() | |
| def corr(fmap1, fmap2): | |
| batch, dim, ht, wd = fmap1.shape | |
| fmap1 = fmap1.view(batch, dim, ht*wd) | |
| fmap2 = fmap2.view(batch, dim, ht*wd) | |
| corr = torch.matmul(fmap1.transpose(1,2), fmap2) | |
| corr = corr.view(batch, ht, wd, 1, ht, wd) | |
| return corr / torch.sqrt(torch.tensor(dim).float()) | |
| class AlternateCorrBlock: | |
| def __init__(self, fmap1, fmap2, num_levels=4, radius=4): | |
| self.num_levels = num_levels | |
| self.radius = radius | |
| self.pyramid = [(fmap1, fmap2)] | |
| for i in range(self.num_levels): | |
| fmap1 = F.avg_pool2d(fmap1, 2, stride=2) | |
| fmap2 = F.avg_pool2d(fmap2, 2, stride=2) | |
| self.pyramid.append((fmap1, fmap2)) | |
| def __call__(self, coords): | |
| coords = coords.permute(0, 2, 3, 1) | |
| B, H, W, _ = coords.shape | |
| dim = self.pyramid[0][0].shape[1] | |
| corr_list = [] | |
| for i in range(self.num_levels): | |
| r = self.radius | |
| fmap1_i = self.pyramid[0][0].permute(0, 2, 3, 1).contiguous() | |
| fmap2_i = self.pyramid[i][1].permute(0, 2, 3, 1).contiguous() | |
| coords_i = (coords / 2**i).reshape(B, 1, H, W, 2).contiguous() | |
| corr, = alt_cuda_corr.forward(fmap1_i, fmap2_i, coords_i, r) | |
| corr_list.append(corr.squeeze(1)) | |
| corr = torch.stack(corr_list, dim=1) | |
| corr = corr.reshape(B, -1, H, W) | |
| return corr / torch.sqrt(torch.tensor(dim).float()) |