World-UAV-ds/GeoLoc-UAV-main/utils/utils.py

import numpy as np
import torch

import cv2
import torch.nn.functional as F

def read_db_pose(txt):
    db_pose = {}
    with open(txt, 'r') as f:
        for line in f:
            name = line.split(' ')[0]
            pose = np.asarray(line.split(' ')[1:])
            db_pose[name] = pose
    return db_pose

def read_rerank_pose(txt):

    gt_rerank_pose = {}
    with open(txt, 'r') as f:
        for line in f:
            type_name = line.split(' ')[0].split('/')[2]
            if type_name not in gt_rerank_pose.keys():
                gt_rerank_pose[type_name] = {}
            name = line.split(' ')[0].split('/')[-1]
            left_top = [eval(line.split(' ')[4]), eval(line.split(' ')[5])]
            right_top = [eval(line.split(' ')[6]), eval(line.split(' ')[7])]
            right_bottom = [eval(line.split(' ')[8]), eval(line.split(' ')[9])]
            left_bottom = [eval(line.split(' ')[10]), eval(line.split(' ')[11])]
            gt_rerank_pose[type_name][name] = [left_top, right_top, right_bottom, left_bottom]
    return gt_rerank_pose

def dim_extend(data_list):
    results = []
    for i, tensor in enumerate(data_list):
        # 修改
        if tensor.device is not "cuda":
            tensor = tensor.cuda()
        results.append(tensor)#tensor[None,...])
    return results

def interpolate_feats(img,pts,feats):
    # compute location on the feature map (due to pooling)
    _, _, h, w = feats.shape
    pool_num = img.shape[-1] // feats.shape[-1]
    pts_warp=(pts+0.5)/pool_num-0.5
    pts_norm=normalize_coordinates(pts_warp,h,w)
    pts_norm=torch.unsqueeze(pts_norm, 1)  # b,1,n,2

    # interpolation
    pfeats=F.grid_sample(feats, pts_norm, 'bilinear',align_corners=False)[:, :, 0, :]  # b,f,n
    pfeats=pfeats.permute(0,2,1) # b,n,f
    return pfeats


def l2_normalize(x,ratio=1.0,axis=1):
    norm=torch.unsqueeze(torch.clamp(torch.norm(x,2,axis),min=1e-6),axis)
    x=x/norm*ratio
    return x

def normalize_coordinates(coords, h, w):
    h=h-1
    w=w-1
    coords=coords.clone().detach()
    coords[:, :, 0]-= w / 2
    coords[:, :, 1]-= h / 2
    coords[:, :, 0]/= w / 2
    coords[:, :, 1]/= h / 2
    return coords

def get_rot_m(angle):
    return np.asarray([[np.cos(angle), -np.sin(angle)], [np.sin(angle), np.cos(angle)]], np.float32)

def normalize_image(img, mask=None):
    if mask is not None: img[np.logical_not(mask.astype(np.bool))]=127
    img=(img.transpose([2,0,1]).astype(np.float32)-127.0)/128.0
    return torch.tensor(img,dtype=torch.float32)

class TransformerCV:
    def __init__(self, cfg):
        ssb = cfg['sample_scale_begin']
        ssi = cfg['sample_scale_inter']
        ssn = cfg['sample_scale_num']

        srb = cfg['sample_rotate_begin'] / 180 * np.pi
        sri = cfg['sample_rotate_inter'] / 180 * np.pi
        srn = cfg['sample_rotate_num']

        self.scales = [ssi ** (si + ssb) for si in range(ssn)]
        self.rotations = [sri * ri + srb for ri in range(srn)]

        self.ssi=ssi

        self.ssn=ssn
        self.srn=srn

        self.SRs=[]
        for scale in self.scales:
            Rs=[]
            for rotation in self.rotations:
                Rs.append(scale*get_rot_m(rotation))
            self.SRs.append(Rs)
    
    def transform(self, img, pts=None):
        '''

        :param img:
        :return: img_list
        '''
        h,w,_=img.shape
        pts0=np.asarray([[0,0],[0,h],[w,h],[w,0]],np.float32)
        center = np.mean(pts0, 0)        

        pts_warps, img_warps, grid_warps = [], [], []
        img_cur=img.copy()
        for si,Rs in enumerate(self.SRs):
            if si>0:
                if self.ssi<0.6:
                    img_cur=cv2.GaussianBlur(img_cur,(5,5),1.5)
                else:
                    img_cur=cv2.GaussianBlur(img_cur,(3,3),0.75)
            for M in Rs:
                pts1 = (pts0 - center[None, :]) @ M.transpose()
                min_pts1 = np.min(pts1, 0)
                tw, th = np.round(np.max(pts1 - min_pts1[None, :], 0)).astype(np.int32)

                # compute A
                offset = - M @ center - min_pts1
                A = np.concatenate([M, offset[:, None]], 1)
                # note!!!! the border type is constant 127!!!! because in the subsequent processing, we will subtract 127
                img_warp=cv2.warpAffine(img_cur,A,(tw,th),flags=cv2.INTER_LINEAR,borderMode=cv2.BORDER_CONSTANT,borderValue=(127,127,127))

                # for dino
                img_warp = cv2.resize(img_warp, (224,224))

                img_warps.append(img_warp[:,:,:3])
                if pts is not None:
                    pts_warp = pts @ M.transpose() + offset[None, :]
                    pts_warps.append(pts_warp)
                
        outputs={'img':img_warps}
        if pts is not None: outputs['pts']=pts_warps
        

        return outputs



    @staticmethod
    def postprocess_transformed_imgs(results):
        img_list,pts_list=[],[]
        for img_id, img in enumerate(results['img']):
            img_list.append(normalize_image(img))
            pts_list.append(torch.tensor(results['pts'][img_id],dtype=torch.float32))

        return img_list, pts_list