def getAffineShape(self, final_resp, LAFs, final_pyr_idxs, final_level_idxs, num_features = 0):
pe_time = 0
affnet_time = 0
pyr_inv_idxs = get_inverted_pyr_index(self.scale_pyr, final_pyr_idxs, final_level_idxs)
t = time.time()
patches_small = extract_patches_from_pyramid_with_inv_index(self.scale_pyr, pyr_inv_idxs, LAFs, PS = self.AffNet.PS)
pe_time+=time.time() - t
t = time.time()
base_A = torch.eye(2).unsqueeze(0).expand(final_pyr_idxs.size(0),2,2)
if final_resp.is_cuda:
base_A = base_A.cuda()
base_A = Variable(base_A)
is_good = None
n_patches = patches_small.size(0)
for i in range(self.num_Baum_iters):
t = time.time()
A = batched_forward(self.AffNet, patches_small, 512)
is_good_current = 1
affnet_time += time.time() - t
if is_good is None:
is_good = is_good_current
else:
is_good = is_good * is_good_current
base_A = torch.bmm(A, base_A);
new_LAFs = torch.cat([torch.bmm(base_A,LAFs[:,:,0:2]), LAFs[:,:,2:] ], dim =2)
#print torch.sqrt(new_LAFs[0,0,0]*new_LAFs[0,1,1] - new_LAFs[0,1,0] *new_LAFs[0,0,1]) * scale_pyr[0][0].size(2)
if i != self.num_Baum_iters - 1:
pe_time+=time.time() - t
t = time.time()
patches_small = extract_patches_from_pyramid_with_inv_index(self.scale_pyr, pyr_inv_idxs, new_LAFs, PS = self.AffNet.PS)
pe_time+= time.time() - t
l1,l2 = batch_eig2x2(A)
ratio1 = torch.abs(l1 / (l2 + 1e-8))
converged_mask = (ratio1 <= 1.2) * (ratio1 >= (0.8))
l1,l2 = batch_eig2x2(base_A)
ratio = torch.abs(l1 / (l2 + 1e-8))
idxs_mask = ((ratio < 6.0) * (ratio > (1./6.)))# * converged_mask.float()) > 0
num_survived = idxs_mask.float().sum()
if (num_features > 0) and (num_survived.data[0] > num_features):
final_resp = final_resp * idxs_mask.float() #zero bad points
final_resp, idxs = torch.topk(final_resp, k = num_features);
else:
idxs = torch.nonzero(idxs_mask.data).view(-1).long()
final_resp = final_resp[idxs]
final_pyr_idxs = final_pyr_idxs[idxs]
final_level_idxs = final_level_idxs[idxs]
base_A = torch.index_select(base_A, 0, idxs)
LAFs = torch.index_select(LAFs, 0, idxs)
new_LAFs = torch.cat([torch.bmm(rectifyAffineTransformationUpIsUp(base_A), LAFs[:,:,0:2]),
LAFs[:,:,2:]], dim =2)
print 'affnet_time',affnet_time
print 'pe_time', pe_time
return final_resp, new_LAFs, final_pyr_idxs, final_level_idxs
def getAffineShape(self,scale_pyr, final_resp, LAFs, final_pyr_idxs, final_level_idxs, num_features = 0, n_iters = 1):
pyr_inv_idxs = get_inverted_pyr_index(scale_pyr, final_pyr_idxs, final_level_idxs)
patches_small = extract_patches_from_pyramid_with_inv_index(scale_pyr, pyr_inv_idxs, LAFs, PS = self.AffNet.PS)
base_A = torch.eye(2).unsqueeze(0).expand(final_pyr_idxs.size(0),2,2)
if final_resp.is_cuda:
base_A = base_A.cuda()
base_A = Variable(base_A)
is_good = None
for i in range(n_iters):
A, is_good_current = self.AffNet(patches_small)
if is_good is None:
is_good = is_good_current
else:
is_good = is_good * is_good_current
base_A = torch.bmm(A, base_A);
new_LAFs = torch.cat([torch.bmm(base_A,LAFs[:,:,0:2]), LAFs[:,:,2:] ], dim =2)
if i != self.num_Baum_iters - 1:
patches_small = extract_patches_from_pyramid_with_inv_index(scale_pyr, pyr_inv_idxs, new_LAFs, PS = self.AffNet.PS)
l1,l2 = batch_eig2x2(A)
ratio1 = torch.abs(l1 / (l2 + 1e-8))
converged_mask = (ratio1 <= 1.2) * (ratio1 >= (0.8))
l1,l2 = batch_eig2x2(base_A)
#print l1,l2
ratio = torch.abs(l1 / (l2 + 1e-8))
#print new_LAFs[0:2,:,:]
#print '***'
#print ((ratio < 6.0) * (ratio > (1./6.))).float().sum()
#print converged_mask.float().sum()
#print is_good.float().sum()
ratio = 1.0 + 0 * torch.abs(l1 / (l2 + 1e-8)) #CHANGE after training
#idxs_mask = (ratio < 6.0) * (ratio > (1./6.)) * (is_good > 0.5)# * converged_mask
idxs_mask = ((ratio < 6.0) * (ratio > (1./6.)))# * converged_mask.float()) > 0
num_survived = idxs_mask.float().sum()
#print num_survived
if (num_features > 0) and (num_survived.data[0] > num_features):
final_resp = final_resp * idxs_mask.float() #zero bad points
final_resp, idxs = torch.topk(final_resp, k = num_features);
else:
idxs = torch.nonzero(idxs_mask.data).view(-1).long()
if (len(idxs.size()) == 0) or (idxs.size(0) == idxs_mask.size(0)):
idxs = None
if idxs is not None:
final_resp = torch.index_select(final_resp, 0, idxs)
final_pyr_idxs = final_pyr_idxs[idxs]
final_level_idxs = final_level_idxs[idxs]
base_A = torch.index_select(base_A, 0, idxs)
LAFs = torch.index_select(LAFs, 0, idxs)
#new_LAFs = torch.cat([torch.bmm(rectifyAffineTransformationUpIsUp(base_A), LAFs[:,:,0:2]),
# LAFs[:,:,2:]], dim =2)
new_LAFs = torch.cat([torch.bmm(base_A, LAFs[:,:,0:2]),
LAFs[:,:,2:]], dim =2)
return final_resp, new_LAFs, final_pyr_idxs, final_level_idxs
def forward(self, x):
### Generate scale space
scale_pyr, sigmas, pix_dists = self.ScalePyrGen(x)
### Detect keypoints in scale space
aff_matrices = []
top_responces = []
pyr_idxs = []
level_idxs = []
for oct_idx in range(len(sigmas)):
print oct_idx
octave = scale_pyr[oct_idx]
sigmas_oct = sigmas[oct_idx]
pix_dists_oct = pix_dists[oct_idx]
for level_idx in range(1, len(octave) - 1):
low = float(sigmas_oct[level_idx - 1]**4) * self.Hes(
octave[level_idx - 1])
cur = float(sigmas_oct[level_idx]**4) * self.Hes(
octave[level_idx])
high = float(sigmas_oct[level_idx + 1]**4) * self.Hes(
octave[level_idx + 1])
nms_f = NMS3dAndComposeA(scales=sigmas_oct[level_idx -
1:level_idx + 2],
border=self.b,
mrSize=self.mrSize)
top_resp, aff_matrix = nms_f(low, cur, high, self.num)
if top_resp is None:
break
aff_matrices.append(aff_matrix), top_responces.append(top_resp)
pyr_id = Variable(oct_idx * torch.ones(aff_matrix.size(0)))
lev_id = Variable(level_idx * torch.ones(aff_matrix.size(0)))
if self.use_cuda:
pyr_id = pyr_id.cuda()
lev_id = lev_id.cuda()
pyr_idxs.append(pyr_id)
level_idxs.append(lev_id)
top_resp_scales = torch.cat(top_responces, dim=0)
aff_m_scales = torch.cat(aff_matrices, dim=0)
pyr_idxs_scales = torch.cat(pyr_idxs, dim=0)
level_idxs_scale = torch.cat(level_idxs, dim=0)
#print top_resp_scales
final_resp, idxs = torch.topk(top_resp_scales,
k=max(
1,
min(self.num,
top_resp_scales.size(0))))
final_aff_m = torch.index_select(aff_m_scales, 0, idxs)
final_pyr_idxs = torch.index_select(pyr_idxs_scales, 0, idxs)
final_level_idxs = torch.index_select(level_idxs_scale, 0, idxs)
pyr_inv_idxs = []
### Precompute octave inverted indexes
for i in range(len(scale_pyr)):
pyr_inv_idxs.append([])
cur_idxs = final_pyr_idxs == i #torch.nonzero((pyr_idxs == i).data)
for j in range(0, len(final_level_idxs)):
cur_lvl_idxs = torch.nonzero(
((final_level_idxs == j) * cur_idxs).data)
if len(cur_lvl_idxs.size()) == 0:
pyr_inv_idxs[-1].append(None)
else:
pyr_inv_idxs[-1].append(cur_lvl_idxs.squeeze(1))
###
#final_aff_m[:,0:2,0:2] = final_aff_m[:,0:2,0:2] / self.init_sigma
patches_small = self.extract_patches(scale_pyr,
final_aff_m,
final_pyr_idxs,
final_level_idxs,
PS=19,
pyr_inv_idxs=pyr_inv_idxs)
###
base_A = Variable(
torch.eye(2).unsqueeze(0).expand(final_pyr_idxs.size(0), 2, 2))
if self.use_cuda:
base_A = base_A.cuda()
### Estimate affine shape
for i in range(self.num_Baum_iters):
print i
A = self.AffShape(patches_small)
base_A = torch.bmm(A, base_A)
temp_final = torch.cat([
torch.bmm(base_A, final_aff_m[:, :, 0:2]), final_aff_m[:, :,
2:]
],
dim=2)
if i != self.num_Baum_iters - 1:
patches_small = self.extract_patches(scale_pyr,
temp_final,
final_pyr_idxs,
final_level_idxs,
PS=19,
pyr_inv_idxs=pyr_inv_idxs)
else:
l1, l2 = batch_eig2x2(base_A)
ratio = torch.abs(l1 / (l2 + 1e-8))
idxs_mask = (ratio <= 6.0) * (ratio >= 1. / 6.)
idxs_mask = torch.nonzero(idxs_mask.data).view(-1)
temp_final = temp_final[idxs_mask, :, :]
final_pyr_idxs = final_pyr_idxs[idxs_mask]
final_level_idxs = final_level_idxs[idxs_mask]
pyr_inv_idxs = []
### Precompute octave inverted indexes
for i in range(len(scale_pyr)):
pyr_inv_idxs.append([])
cur_idxs = final_pyr_idxs == i #torch.nonzero((pyr_idxs == i).data)
for j in range(0, len(final_level_idxs)):
cur_lvl_idxs = torch.nonzero(
((final_level_idxs == j) * cur_idxs).data)
if len(cur_lvl_idxs.size()) == 0:
pyr_inv_idxs[-1].append(None)
else:
pyr_inv_idxs[-1].append(cur_lvl_idxs.squeeze(1))
###
if self.num_Baum_iters > 0:
final_aff_m = temp_final
#####
final_aff_m[:, :, 0:2] = self.mrSize * final_aff_m[:, :, 0:2]
patches_small = self.extract_patches(scale_pyr,
final_aff_m,
final_pyr_idxs,
final_level_idxs,
PS=19,
pyr_inv_idxs=pyr_inv_idxs)
######
### Detect orientation
for i in range(0):
ori = self.OriDet(patches_small)
#print np.degrees(ori.data.cpu().numpy().ravel()[1])
#print final_aff_m[1,:,:]
#print '*****'
final_aff_m = self.rotateLAFs(final_aff_m, ori)
#print final_aff_m[0,:,:]
patches_small = self.extract_patches(scale_pyr,
final_aff_m,
final_pyr_idxs,
final_level_idxs,
PS=19,
pyr_inv_idxs=pyr_inv_idxs)
###
patches = self.extract_patches(scale_pyr,
final_aff_m,
final_pyr_idxs,
final_level_idxs,
PS=self.PS,
pyr_inv_idxs=pyr_inv_idxs)
return final_aff_m, patches, final_resp, scale_pyr
def forward(self, x):
### Generate scale space
scale_pyr, sigmas, pix_dists = self.ScalePyrGen(x)
### Detect keypoints in scale space
aff_matrices = []
top_responces = []
pyr_idxs = []
level_idxs = []
for oct_idx in range(len(sigmas)):
print oct_idx
octave = scale_pyr[oct_idx]
sigmas_oct = sigmas[oct_idx]
pix_dists_oct = pix_dists[oct_idx]
for level_idx in range(1, len(octave) - 1):
low = float(sigmas_oct[level_idx - 1]**4) * self.Hes(
octave[level_idx - 1])
cur = float(sigmas_oct[level_idx]**4) * self.Hes(
octave[level_idx])
high = float(sigmas_oct[level_idx + 1]**4) * self.Hes(
octave[level_idx + 1])
nms_f = NMS3dAndComposeA(scales=sigmas_oct[level_idx -
1:level_idx + 2],
mrSize=1.0,
border=self.b)
top_resp, aff_matrix = nms_f(low, cur, high, self.num / 2)
aff_matrices.append(aff_matrix), top_responces.append(top_resp)
pyr_id = Variable(oct_idx * torch.ones(aff_matrix.size(0)))
lev_id = Variable(level_idx * torch.ones(aff_matrix.size(0)))
if self.use_cuda:
pyr_id = pyr_id.cuda()
lev_id = lev_id.cuda()
pyr_idxs.append(pyr_id)
level_idxs.append(lev_id)
top_resp_scales = torch.cat(top_responces, dim=0)
aff_m_scales = torch.cat(aff_matrices, dim=0)
pyr_idxs_scales = torch.cat(pyr_idxs, dim=0)
level_idxs_scale = torch.cat(level_idxs, dim=0)
#print top_resp_scales
final_resp, idxs = torch.topk(top_resp_scales,
k=max(
1,
min(self.num,
top_resp_scales.size(0))))
final_aff_m = torch.index_select(aff_m_scales, 0, idxs)
final_pyr_idxs = torch.index_select(pyr_idxs_scales, 0, idxs)
final_level_idxs = torch.index_select(level_idxs_scale, 0, idxs)
###
#final_aff_m[:,:,0:2] = final_aff_m[:,:,0:2] / self.init_sigma
patches_small = self.extract_patches(scale_pyr,
final_aff_m,
final_pyr_idxs,
final_level_idxs,
PS=19,
gauss_mask=False)
###
base_A = Variable(
torch.eye(2).unsqueeze(0).expand(final_pyr_idxs.size(0), 2, 2))
if self.use_cuda:
base_A = base_A.cuda()
### Estimate affine shape
for i in range(self.num_Baum_iters):
print i
a, b, c, ratio_in_patch = self.AffShape(patches_small)
base_A_new = self.ApplyAffine(base_A, a, b, c)
l1, l2 = batch_eig2x2(base_A_new)
ratio = torch.abs(l1 / (l2 + 1e-8))
mask = (ratio <= 6.0) * (ratio >= 1. / 6.)
#print mask.sum()
mask = mask.unsqueeze(1).unsqueeze(1).float().expand(
mask.size(0), 2, 2)
base_A = base_A_new * mask + base_A * (1.0 - mask)
#idxs_mask = mask.data.nonzero().view(-1)
#base_A = base_A_new[idxs_mask,:,:]
#final_aff_m = final_aff_m[idxs_mask, :, :]
#final_pyr_idxs = final_pyr_idxs[idxs_mask]
temp_final = torch.cat([
torch.bmm(base_A, final_aff_m[:, :, :2]), final_aff_m[:, :, 2:]
],
dim=2)
if i != self.num_Baum_iters - 1:
patches_small = self.extract_patches(scale_pyr,
temp_final,
final_pyr_idxs,
final_level_idxs,
PS=19,
gauss_mask=False)
else:
idxs_mask = torch.nonzero(
((ratio <= 6.0) * (ratio >= 1. / 6.)).data).view(-1)
temp_final = temp_final[idxs_mask, :, :]
final_pyr_idxs = final_pyr_idxs[idxs_mask]
final_level_idxs = final_level_idxs[idxs_mask]
#
if self.num_Baum_iters > 0:
final_aff_m = temp_final
#####
#final_aff_m[:,:,0:2] = self.init_sigma * self.mrSize * final_aff_m[:,:,0:2]
final_aff_m[:, :, 0:2] = self.mrSize * final_aff_m[:, :, 0:2]
patches_small = self.extract_patches(scale_pyr,
final_aff_m,
final_pyr_idxs,
final_level_idxs,
PS=19,
gauss_mask=False)
######
### Detect orientation
for i in range(0):
ori = self.OriDet(patches_small)
#print np.degrees(ori.data.cpu().numpy().ravel()[1])
#print final_aff_m[1,:,:]
#print '*****'
final_aff_m = self.rotateLAFs(final_aff_m, ori)
#print final_aff_m[0,:,:]
patches_small = self.extract_patches(scale_pyr,
final_aff_m,
final_pyr_idxs,
final_level_idxs,
PS=19,
gauss_mask=False)
###
patches = self.extract_patches(scale_pyr,
final_aff_m,
final_pyr_idxs,
final_level_idxs,
PS=self.PS)
return final_aff_m, patches, final_resp, scale_pyr
