Skip to content

Scalar detection uncertainty #158

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Feb 17, 2022
Merged

Scalar detection uncertainty #158

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions hloc/extract_features.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -241,6 +241,8 @@ def main(conf: Dict,
size = np.array(data['image'].shape[-2:][::-1])
scales = (original_size / size).astype(np.float32)
pred['keypoints'] = (pred['keypoints'] + .5) * scales[None] - .5
# add keypoint uncertainties scaled to the original resolution
uncertainty = getattr(model, 'detection_noise', 1) * scales.mean()

if as_half:
for k in pred:
Expand All @@ -255,6 +257,8 @@ def main(conf: Dict,
grp = fd.create_group(name)
for k, v in pred.items():
grp.create_dataset(k, data=v)
if 'keypoints' in pred:
grp['keypoints'].attrs['uncertainty'] = uncertainty
except OSError as error:
if 'No space left on device' in error.args[0]:
logger.error(
Expand Down
1 change: 1 addition & 0 deletions hloc/extractors/sift.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ class SIFT(BaseModel):
'max_keypoints': -1
}
required_inputs = ['image']
detection_noise = 1.0

def _init(self, conf):
self.root = conf['root']
Expand Down
1 change: 1 addition & 0 deletions hloc/extractors/superpoint.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ class SuperPoint(BaseModel):
'fix_sampling': False,
}
required_inputs = ['image']
detection_noise = 2.0

def _init(self, conf):
if conf['fix_sampling']:
Expand Down