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| # Copyright 2020 Toyota Research Institute. All rights reserved. | |
| # Adapted from: https://github.com/rpautrat/SuperPoint/blob/master/superpoint/evaluations/descriptor_evaluation.py | |
| import random | |
| from glob import glob | |
| from os import path as osp | |
| import cv2 | |
| import numpy as np | |
| from ..lanet_utils import warp_keypoints | |
| def select_k_best(points, descriptors, k): | |
| """Select the k most probable points (and strip their probability). | |
| points has shape (num_points, 3) where the last coordinate is the probability. | |
| Parameters | |
| ---------- | |
| points: numpy.ndarray (N,3) | |
| Keypoint vector, consisting of (x,y,probability). | |
| descriptors: numpy.ndarray (N,256) | |
| Keypoint descriptors. | |
| k: int | |
| Number of keypoints to select, based on probability. | |
| Returns | |
| ------- | |
| selected_points: numpy.ndarray (k,2) | |
| k most probable keypoints. | |
| selected_descriptors: numpy.ndarray (k,256) | |
| Descriptors corresponding to the k most probable keypoints. | |
| """ | |
| sorted_prob = points[points[:, 2].argsort(), :2] | |
| sorted_desc = descriptors[points[:, 2].argsort(), :] | |
| start = min(k, points.shape[0]) | |
| selected_points = sorted_prob[-start:, :] | |
| selected_descriptors = sorted_desc[-start:, :] | |
| return selected_points, selected_descriptors | |
| def keep_shared_points(keypoints, descriptors, H, shape, keep_k_points=1000): | |
| """ | |
| Compute a list of keypoints from the map, filter the list of points by keeping | |
| only the points that once mapped by H are still inside the shape of the map | |
| and keep at most 'keep_k_points' keypoints in the image. | |
| Parameters | |
| ---------- | |
| keypoints: numpy.ndarray (N,3) | |
| Keypoint vector, consisting of (x,y,probability). | |
| descriptors: numpy.ndarray (N,256) | |
| Keypoint descriptors. | |
| H: numpy.ndarray (3,3) | |
| Homography. | |
| shape: tuple | |
| Image shape. | |
| keep_k_points: int | |
| Number of keypoints to select, based on probability. | |
| Returns | |
| ------- | |
| selected_points: numpy.ndarray (k,2) | |
| k most probable keypoints. | |
| selected_descriptors: numpy.ndarray (k,256) | |
| Descriptors corresponding to the k most probable keypoints. | |
| """ | |
| def keep_true_keypoints(points, descriptors, H, shape): | |
| """Keep only the points whose warped coordinates by H are still inside shape.""" | |
| warped_points = warp_keypoints(points[:, [1, 0]], H) | |
| warped_points[:, [0, 1]] = warped_points[:, [1, 0]] | |
| mask = ( | |
| (warped_points[:, 0] >= 0) | |
| & (warped_points[:, 0] < shape[0]) | |
| & (warped_points[:, 1] >= 0) | |
| & (warped_points[:, 1] < shape[1]) | |
| ) | |
| return points[mask, :], descriptors[mask, :] | |
| selected_keypoints, selected_descriptors = keep_true_keypoints( | |
| keypoints, descriptors, H, shape | |
| ) | |
| selected_keypoints, selected_descriptors = select_k_best( | |
| selected_keypoints, selected_descriptors, keep_k_points | |
| ) | |
| return selected_keypoints, selected_descriptors | |
| def compute_matching_score(data, keep_k_points=1000): | |
| """ | |
| Compute the matching score between two sets of keypoints with associated descriptors. | |
| Parameters | |
| ---------- | |
| data: dict | |
| Input dictionary containing: | |
| image_shape: tuple (H,W) | |
| Original image shape. | |
| homography: numpy.ndarray (3,3) | |
| Ground truth homography. | |
| prob: numpy.ndarray (N,3) | |
| Keypoint vector, consisting of (x,y,probability). | |
| warped_prob: numpy.ndarray (N,3) | |
| Warped keypoint vector, consisting of (x,y,probability). | |
| desc: numpy.ndarray (N,256) | |
| Keypoint descriptors. | |
| warped_desc: numpy.ndarray (N,256) | |
| Warped keypoint descriptors. | |
| keep_k_points: int | |
| Number of keypoints to select, based on probability. | |
| Returns | |
| ------- | |
| ms: float | |
| Matching score. | |
| """ | |
| shape = data["image_shape"] | |
| real_H = data["homography"] | |
| # Filter out predictions | |
| keypoints = data["prob"][:, :2].T | |
| keypoints = keypoints[::-1] | |
| prob = data["prob"][:, 2] | |
| keypoints = np.stack([keypoints[0], keypoints[1], prob], axis=-1) | |
| warped_keypoints = data["warped_prob"][:, :2].T | |
| warped_keypoints = warped_keypoints[::-1] | |
| warped_prob = data["warped_prob"][:, 2] | |
| warped_keypoints = np.stack( | |
| [warped_keypoints[0], warped_keypoints[1], warped_prob], axis=-1 | |
| ) | |
| desc = data["desc"] | |
| warped_desc = data["warped_desc"] | |
| # Keeps all points for the next frame. The matching for caculating M.Score shouldnt use only in view points. | |
| keypoints, desc = select_k_best(keypoints, desc, keep_k_points) | |
| warped_keypoints, warped_desc = select_k_best( | |
| warped_keypoints, warped_desc, keep_k_points | |
| ) | |
| # Match the keypoints with the warped_keypoints with nearest neighbor search | |
| # This part needs to be done with crossCheck=False. | |
| # All the matched pairs need to be evaluated without any selection. | |
| bf = cv2.BFMatcher(cv2.NORM_L2, crossCheck=False) | |
| matches = bf.match(desc, warped_desc) | |
| matches_idx = np.array([m.queryIdx for m in matches]) | |
| m_keypoints = keypoints[matches_idx, :] | |
| matches_idx = np.array([m.trainIdx for m in matches]) | |
| m_warped_keypoints = warped_keypoints[matches_idx, :] | |
| true_warped_keypoints = warp_keypoints( | |
| m_warped_keypoints[:, [1, 0]], np.linalg.inv(real_H) | |
| )[:, ::-1] | |
| vis_warped = np.all( | |
| (true_warped_keypoints >= 0) & (true_warped_keypoints <= (np.array(shape) - 1)), | |
| axis=-1, | |
| ) | |
| norm1 = np.linalg.norm(true_warped_keypoints - m_keypoints, axis=-1) | |
| correct1 = norm1 < 3 | |
| count1 = np.sum(correct1 * vis_warped) | |
| score1 = count1 / np.maximum(np.sum(vis_warped), 1.0) | |
| matches = bf.match(warped_desc, desc) | |
| matches_idx = np.array([m.queryIdx for m in matches]) | |
| m_warped_keypoints = warped_keypoints[matches_idx, :] | |
| matches_idx = np.array([m.trainIdx for m in matches]) | |
| m_keypoints = keypoints[matches_idx, :] | |
| true_keypoints = warp_keypoints(m_keypoints[:, [1, 0]], real_H)[:, ::-1] | |
| vis = np.all( | |
| (true_keypoints >= 0) & (true_keypoints <= (np.array(shape) - 1)), axis=-1 | |
| ) | |
| norm2 = np.linalg.norm(true_keypoints - m_warped_keypoints, axis=-1) | |
| correct2 = norm2 < 3 | |
| count2 = np.sum(correct2 * vis) | |
| score2 = count2 / np.maximum(np.sum(vis), 1.0) | |
| ms = (score1 + score2) / 2 | |
| return ms | |
| def compute_homography(data, keep_k_points=1000): | |
| """ | |
| Compute the homography between 2 sets of Keypoints and descriptors inside data. | |
| Use the homography to compute the correctness metrics (1,3,5). | |
| Parameters | |
| ---------- | |
| data: dict | |
| Input dictionary containing: | |
| image_shape: tuple (H,W) | |
| Original image shape. | |
| homography: numpy.ndarray (3,3) | |
| Ground truth homography. | |
| prob: numpy.ndarray (N,3) | |
| Keypoint vector, consisting of (x,y,probability). | |
| warped_prob: numpy.ndarray (N,3) | |
| Warped keypoint vector, consisting of (x,y,probability). | |
| desc: numpy.ndarray (N,256) | |
| Keypoint descriptors. | |
| warped_desc: numpy.ndarray (N,256) | |
| Warped keypoint descriptors. | |
| keep_k_points: int | |
| Number of keypoints to select, based on probability. | |
| Returns | |
| ------- | |
| correctness1: float | |
| correctness1 metric. | |
| correctness3: float | |
| correctness3 metric. | |
| correctness5: float | |
| correctness5 metric. | |
| """ | |
| shape = data["image_shape"] | |
| real_H = data["homography"] | |
| # Filter out predictions | |
| keypoints = data["prob"][:, :2].T | |
| keypoints = keypoints[::-1] | |
| prob = data["prob"][:, 2] | |
| keypoints = np.stack([keypoints[0], keypoints[1], prob], axis=-1) | |
| warped_keypoints = data["warped_prob"][:, :2].T | |
| warped_keypoints = warped_keypoints[::-1] | |
| warped_prob = data["warped_prob"][:, 2] | |
| warped_keypoints = np.stack( | |
| [warped_keypoints[0], warped_keypoints[1], warped_prob], axis=-1 | |
| ) | |
| desc = data["desc"] | |
| warped_desc = data["warped_desc"] | |
| # Keeps only the points shared between the two views | |
| keypoints, desc = keep_shared_points(keypoints, desc, real_H, shape, keep_k_points) | |
| warped_keypoints, warped_desc = keep_shared_points( | |
| warped_keypoints, warped_desc, np.linalg.inv(real_H), shape, keep_k_points | |
| ) | |
| bf = cv2.BFMatcher(cv2.NORM_L2, crossCheck=True) | |
| matches = bf.match(desc, warped_desc) | |
| matches_idx = np.array([m.queryIdx for m in matches]) | |
| m_keypoints = keypoints[matches_idx, :] | |
| matches_idx = np.array([m.trainIdx for m in matches]) | |
| m_warped_keypoints = warped_keypoints[matches_idx, :] | |
| # Estimate the homography between the matches using RANSAC | |
| H, _ = cv2.findHomography( | |
| m_keypoints[:, [1, 0]], | |
| m_warped_keypoints[:, [1, 0]], | |
| cv2.RANSAC, | |
| 3, | |
| maxIters=5000, | |
| ) | |
| if H is None: | |
| return 0, 0, 0 | |
| shape = shape[::-1] | |
| # Compute correctness | |
| corners = np.array( | |
| [ | |
| [0, 0, 1], | |
| [0, shape[1] - 1, 1], | |
| [shape[0] - 1, 0, 1], | |
| [shape[0] - 1, shape[1] - 1, 1], | |
| ] | |
| ) | |
| real_warped_corners = np.dot(corners, np.transpose(real_H)) | |
| real_warped_corners = real_warped_corners[:, :2] / real_warped_corners[:, 2:] | |
| warped_corners = np.dot(corners, np.transpose(H)) | |
| warped_corners = warped_corners[:, :2] / warped_corners[:, 2:] | |
| mean_dist = np.mean(np.linalg.norm(real_warped_corners - warped_corners, axis=1)) | |
| correctness1 = float(mean_dist <= 1) | |
| correctness3 = float(mean_dist <= 3) | |
| correctness5 = float(mean_dist <= 5) | |
| return correctness1, correctness3, correctness5 | |