update: module path (#86)

api/client.py

@@ -1,17 +1,17 @@
-import os
 import argparse
+import os
 import pickle
 import time
 from typing import Dict
+
 import numpy as np
 import requests
-from loguru import logger
 
 URL = "http://127.0.0.1:8001"
 if "REMOTE_URL_RAILWAY" in os.environ:
     URL = os.environ["REMOTE_URL_RAILWAY"]
 
-logger.info(f"API URL: {URL}")
+print(f"API URL: {URL}")
 
 API_URL_MATCH = f"{URL}/v1/match"
 API_URL_EXTRACT = f"{URL}/v1/extract"
@@ -135,19 +135,19 @@ def send_generate_request2(image_path: str) -> Dict[str, np.ndarray]:
         t1 = time.time()
         preds = send_generate_request(args.image0, args.image1)
         t2 = time.time()
-        logger.info(f"Time cost1: {(t2 - t1)} seconds")
+        print(f"Time cost1: {(t2 - t1)} seconds")
 
     for i in range(10):
         t1 = time.time()
         preds = send_generate_request1(args.image0)
         t2 = time.time()
-        logger.info(f"Time cost2: {(t2 - t1)} seconds")
+        print(f"Time cost2: {(t2 - t1)} seconds")
 
     for i in range(10):
         t1 = time.time()
         preds = send_generate_request2(args.image0)
         t2 = time.time()
-        logger.info(f"Time cost2: {(t2 - t1)} seconds")
+        print(f"Time cost2: {(t2 - t1)} seconds")
 
     with open("preds.pkl", "wb") as f:
         pickle.dump(preds, f)

api/server.py

@@ -1,20 +1,27 @@
 # server.py
 import sys
+import warnings
 from pathlib import Path
-from typing import Union
+from typing import Any, Dict, Optional, Union
 
+import cv2
+import matplotlib.pyplot as plt
 import numpy as np
+import torch
 import uvicorn
 from fastapi import FastAPI, File, UploadFile
 from fastapi.responses import JSONResponse
 from PIL import Image
-
 from pydantic import BaseModel
 
-sys.path.append(str(Path(__file__).parent.parent))
+sys.path.append(str(Path(__file__).parents[1]))
+
+from hloc import DEVICE, extract_features, logger, match_dense, match_features
+from hloc.utils.viz import add_text, plot_keypoints
+from ui.utils import filter_matches, get_feature_model, get_model
+from ui.viz import display_matches, fig2im, plot_images
 
-from ui.api import ImageMatchingAPI
-from ui.utils import DEVICE
+warnings.simplefilter("ignore")
 
 
 class ImageInfo(BaseModel):
@@ -23,6 +30,295 @@ class ImageInfo(BaseModel):
     reference_points: list
 
 
+class ImageMatchingAPI(torch.nn.Module):
+    default_conf = {
+        "ransac": {
+            "enable": True,
+            "estimator": "poselib",
+            "geometry": "homography",
+            "method": "RANSAC",
+            "reproj_threshold": 3,
+            "confidence": 0.9999,
+            "max_iter": 10000,
+        },
+    }
+
+    def __init__(
+        self,
+        conf: dict = {},
+        device: str = "cpu",
+        detect_threshold: float = 0.015,
+        max_keypoints: int = 1024,
+        match_threshold: float = 0.2,
+    ) -> None:
+        """
+        Initializes an instance of the ImageMatchingAPI class.
+
+        Args:
+            conf (dict): A dictionary containing the configuration parameters.
+            device (str, optional): The device to use for computation. Defaults to "cpu".
+            detect_threshold (float, optional): The threshold for detecting keypoints. Defaults to 0.015.
+            max_keypoints (int, optional): The maximum number of keypoints to extract. Defaults to 1024.
+            match_threshold (float, optional): The threshold for matching keypoints. Defaults to 0.2.
+
+        Returns:
+            None
+        """
+        super().__init__()
+        self.device = device
+        self.conf = {**self.default_conf, **conf}
+        self._updata_config(detect_threshold, max_keypoints, match_threshold)
+        self._init_models()
+        if device == "cuda":
+            memory_allocated = torch.cuda.memory_allocated(device)
+            memory_reserved = torch.cuda.memory_reserved(device)
+            logger.info(
+                f"GPU memory allocated: {memory_allocated / 1024**2:.3f} MB"
+            )
+            logger.info(
+                f"GPU memory reserved: {memory_reserved / 1024**2:.3f} MB"
+            )
+        self.pred = None
+
+    def parse_match_config(self, conf):
+        if conf["dense"]:
+            return {
+                **conf,
+                "matcher": match_dense.confs.get(
+                    conf["matcher"]["model"]["name"]
+                ),
+                "dense": True,
+            }
+        else:
+            return {
+                **conf,
+                "feature": extract_features.confs.get(
+                    conf["feature"]["model"]["name"]
+                ),
+                "matcher": match_features.confs.get(
+                    conf["matcher"]["model"]["name"]
+                ),
+                "dense": False,
+            }
+
+    def _updata_config(
+        self,
+        detect_threshold: float = 0.015,
+        max_keypoints: int = 1024,
+        match_threshold: float = 0.2,
+    ):
+        self.dense = self.conf["dense"]
+        if self.conf["dense"]:
+            try:
+                self.conf["matcher"]["model"][
+                    "match_threshold"
+                ] = match_threshold
+            except TypeError as e:
+                logger.error(e)
+        else:
+            self.conf["feature"]["model"]["max_keypoints"] = max_keypoints
+            self.conf["feature"]["model"][
+                "keypoint_threshold"
+            ] = detect_threshold
+            self.extract_conf = self.conf["feature"]
+
+        self.match_conf = self.conf["matcher"]
+
+    def _init_models(self):
+        # initialize matcher
+        self.matcher = get_model(self.match_conf)
+        # initialize extractor
+        if self.dense:
+            self.extractor = None
+        else:
+            self.extractor = get_feature_model(self.conf["feature"])
+
+    def _forward(self, img0, img1):
+        if self.dense:
+            pred = match_dense.match_images(
+                self.matcher,
+                img0,
+                img1,
+                self.match_conf["preprocessing"],
+                device=self.device,
+            )
+            last_fixed = "{}".format(  # noqa: F841
+                self.match_conf["model"]["name"]
+            )
+        else:
+            pred0 = extract_features.extract(
+                self.extractor, img0, self.extract_conf["preprocessing"]
+            )
+            pred1 = extract_features.extract(
+                self.extractor, img1, self.extract_conf["preprocessing"]
+            )
+            pred = match_features.match_images(self.matcher, pred0, pred1)
+        return pred
+
+    @torch.inference_mode()
+    def extract(
+        self,
+        img0: np.ndarray,
+    ) -> Dict[str, np.ndarray]:
+        """Extract features from a single image.
+
+        Args:
+            img0 (np.ndarray): image
+
+        Returns:
+            Dict[str, np.ndarray]: feature dict
+        """
+
+        pred = extract_features.extract(
+            self.extractor, img0, self.extract_conf["preprocessing"]
+        )
+        pred = {
+            k: v.cpu().detach()[0].numpy() if isinstance(v, torch.Tensor) else v
+            for k, v in pred.items()
+        }
+        return pred
+
+    @torch.inference_mode()
+    def forward(
+        self,
+        img0: np.ndarray,
+        img1: np.ndarray,
+    ) -> Dict[str, np.ndarray]:
+        """
+        Forward pass of the image matching API.
+
+        Args:
+            img0: A 3D NumPy array of shape (H, W, C) representing the first image.
+                  Values are in the range [0, 1] and are in RGB mode.
+            img1: A 3D NumPy array of shape (H, W, C) representing the second image.
+                  Values are in the range [0, 1] and are in RGB mode.
+
+        Returns:
+            A dictionary containing the following keys:
+            - image0_orig: The original image 0.
+            - image1_orig: The original image 1.
+            - keypoints0_orig: The keypoints detected in image 0.
+            - keypoints1_orig: The keypoints detected in image 1.
+            - mkeypoints0_orig: The raw matches between image 0 and image 1.
+            - mkeypoints1_orig: The raw matches between image 1 and image 0.
+            - mmkeypoints0_orig: The RANSAC inliers in image 0.
+            - mmkeypoints1_orig: The RANSAC inliers in image 1.
+            - mconf: The confidence scores for the raw matches.
+            - mmconf: The confidence scores for the RANSAC inliers.
+        """
+        # Take as input a pair of images (not a batch)
+        assert isinstance(img0, np.ndarray)
+        assert isinstance(img1, np.ndarray)
+        self.pred = self._forward(img0, img1)
+        if self.conf["ransac"]["enable"]:
+            self.pred = self._geometry_check(self.pred)
+        return self.pred
+
+    def _geometry_check(
+        self,
+        pred: Dict[str, Any],
+    ) -> Dict[str, Any]:
+        """
+        Filter matches using RANSAC. If keypoints are available, filter by keypoints.
+        If lines are available, filter by lines. If both keypoints and lines are
+        available, filter by keypoints.
+
+        Args:
+            pred (Dict[str, Any]): dict of matches, including original keypoints.
+                                  See :func:`filter_matches` for the expected keys.
+
+        Returns:
+            Dict[str, Any]: filtered matches
+        """
+        pred = filter_matches(
+            pred,
+            ransac_method=self.conf["ransac"]["method"],
+            ransac_reproj_threshold=self.conf["ransac"]["reproj_threshold"],
+            ransac_confidence=self.conf["ransac"]["confidence"],
+            ransac_max_iter=self.conf["ransac"]["max_iter"],
+        )
+        return pred
+
+    def visualize(
+        self,
+        log_path: Optional[Path] = None,
+    ) -> None:
+        """
+        Visualize the matches.
+
+        Args:
+            log_path (Path, optional): The directory to save the images. Defaults to None.
+
+        Returns:
+            None
+        """
+        if self.conf["dense"]:
+            postfix = str(self.conf["matcher"]["model"]["name"])
+        else:
+            postfix = "{}_{}".format(
+                str(self.conf["feature"]["model"]["name"]),
+                str(self.conf["matcher"]["model"]["name"]),
+            )
+        titles = [
+            "Image 0 - Keypoints",
+            "Image 1 - Keypoints",
+        ]
+        pred: Dict[str, Any] = self.pred
+        image0: np.ndarray = pred["image0_orig"]
+        image1: np.ndarray = pred["image1_orig"]
+        output_keypoints: np.ndarray = plot_images(
+            [image0, image1], titles=titles, dpi=300
+        )
+        if (
+            "keypoints0_orig" in pred.keys()
+            and "keypoints1_orig" in pred.keys()
+        ):
+            plot_keypoints([pred["keypoints0_orig"], pred["keypoints1_orig"]])
+            text: str = (
+                f"# keypoints0: {len(pred['keypoints0_orig'])} \n"
+                + f"# keypoints1: {len(pred['keypoints1_orig'])}"
+            )
+            add_text(0, text, fs=15)
+        output_keypoints = fig2im(output_keypoints)
+        # plot images with raw matches
+        titles = [
+            "Image 0 - Raw matched keypoints",
+            "Image 1 - Raw matched keypoints",
+        ]
+        output_matches_raw, num_matches_raw = display_matches(
+            pred, titles=titles, tag="KPTS_RAW"
+        )
+        # plot images with ransac matches
+        titles = [
+            "Image 0 - Ransac matched keypoints",
+            "Image 1 - Ransac matched keypoints",
+        ]
+        output_matches_ransac, num_matches_ransac = display_matches(
+            pred, titles=titles, tag="KPTS_RANSAC"
+        )
+        if log_path is not None:
+            img_keypoints_path: Path = log_path / f"img_keypoints_{postfix}.png"
+            img_matches_raw_path: Path = (
+                log_path / f"img_matches_raw_{postfix}.png"
+            )
+            img_matches_ransac_path: Path = (
+                log_path / f"img_matches_ransac_{postfix}.png"
+            )
+            cv2.imwrite(
+                str(img_keypoints_path),
+                output_keypoints[:, :, ::-1].copy(),  # RGB -> BGR
+            )
+            cv2.imwrite(
+                str(img_matches_raw_path),
+                output_matches_raw[:, :, ::-1].copy(),  # RGB -> BGR
+            )
+            cv2.imwrite(
+                str(img_matches_ransac_path),
+                output_matches_ransac[:, :, ::-1].copy(),  # RGB -> BGR
+            )
+            plt.close("all")
+
+
 class ImageMatchingService:
     def __init__(self, conf: dict, device: str):
         self.api = ImageMatchingAPI(conf=conf, device=device)

app.py

@@ -1,5 +1,6 @@
 import argparse
 from pathlib import Path
+
 from ui.app_class import ImageMatchingApp
 
 if __name__ == "__main__":