LightGlue/lightglue/dog_hardnet.py

import torch
from kornia.color import rgb_to_grayscale
from kornia.feature import HardNet, LAFDescriptor, laf_from_center_scale_ori

from .sift import SIFT


class DoGHardNet(SIFT):
    required_data_keys = ["image"]

    def __init__(self, **conf):
        super().__init__(**conf)
        self.laf_desc = LAFDescriptor(HardNet(True)).eval()

    def forward(self, data: dict) -> dict:
        image = data["image"]
        if image.shape[1] == 3:
            image = rgb_to_grayscale(image)
        device = image.device
        self.laf_desc = self.laf_desc.to(device)
        self.laf_desc.descriptor = self.laf_desc.descriptor.eval()
        pred = []
        if "image_size" in data.keys():
            im_size = data.get("image_size").long()
        else:
            im_size = None
        for k in range(len(image)):
            img = image[k]
            if im_size is not None:
                w, h = data["image_size"][k]
                img = img[:, : h.to(torch.int32), : w.to(torch.int32)]
            p = self.extract_single_image(img)
            lafs = laf_from_center_scale_ori(
                p["keypoints"].reshape(1, -1, 2),
                6.0 * p["scales"].reshape(1, -1, 1, 1),
                torch.rad2deg(p["oris"]).reshape(1, -1, 1),
            ).to(device)
            p["descriptors"] = self.laf_desc(img[None], lafs).reshape(-1, 128)
            pred.append(p)
        pred = {k: torch.stack([p[k] for p in pred], 0).to(device) for k in pred[0]}
        return pred