wheels/mast3r/datasets/utils/cropping.py

# Copyright (C) 2024-present Naver Corporation. All rights reserved.
# Licensed under CC BY-NC-SA 4.0 (non-commercial use only).
#
# --------------------------------------------------------
# cropping/match extraction
# --------------------------------------------------------
import numpy as np
import mast3r.utils.path_to_dust3r  # noqa
from dust3r.utils.device import to_numpy
from dust3r.utils.geometry import inv, geotrf


def reciprocal_1d(corres_1_to_2, corres_2_to_1, ret_recip=False):
    is_reciprocal1 = (corres_2_to_1[corres_1_to_2] == np.arange(len(corres_1_to_2)))
    pos1 = is_reciprocal1.nonzero()[0]
    pos2 = corres_1_to_2[pos1]
    if ret_recip:
        return is_reciprocal1, pos1, pos2
    return pos1, pos2


def extract_correspondences_from_pts3d(view1, view2, target_n_corres, rng=np.random, ret_xy=True, nneg=0):
    view1, view2 = to_numpy((view1, view2))
    # project pixels from image1 --> 3d points --> image2 pixels
    shape1, corres1_to_2 = reproject_view(view1['pts3d'], view2)
    shape2, corres2_to_1 = reproject_view(view2['pts3d'], view1)

    # compute reciprocal correspondences:
    # pos1 == valid pixels (correspondences) in image1
    is_reciprocal1, pos1, pos2 = reciprocal_1d(corres1_to_2, corres2_to_1, ret_recip=True)
    is_reciprocal2 = (corres1_to_2[corres2_to_1] == np.arange(len(corres2_to_1)))

    if target_n_corres is None:
        if ret_xy:
            pos1 = unravel_xy(pos1, shape1)
            pos2 = unravel_xy(pos2, shape2)
        return pos1, pos2

    available_negatives = min((~is_reciprocal1).sum(), (~is_reciprocal2).sum())
    target_n_positives = int(target_n_corres * (1 - nneg))
    n_positives = min(len(pos1), target_n_positives)
    n_negatives = min(target_n_corres - n_positives, available_negatives)

    if n_negatives + n_positives != target_n_corres:
        # should be really rare => when there are not enough negatives
        # in that case, break nneg and add a few more positives ?
        n_positives = target_n_corres - n_negatives
        assert n_positives <= len(pos1)

    assert n_positives <= len(pos1)
    assert n_positives <= len(pos2)
    assert n_negatives <= (~is_reciprocal1).sum()
    assert n_negatives <= (~is_reciprocal2).sum()
    assert n_positives + n_negatives == target_n_corres

    valid = np.ones(n_positives, dtype=bool)
    if n_positives < len(pos1):
        # random sub-sampling of valid correspondences
        perm = rng.permutation(len(pos1))[:n_positives]
        pos1 = pos1[perm]
        pos2 = pos2[perm]

    if n_negatives > 0:
        # add false correspondences if not enough
        def norm(p): return p / p.sum()
        pos1 = np.r_[pos1, rng.choice(shape1[0] * shape1[1], size=n_negatives, replace=False, p=norm(~is_reciprocal1))]
        pos2 = np.r_[pos2, rng.choice(shape2[0] * shape2[1], size=n_negatives, replace=False, p=norm(~is_reciprocal2))]
        valid = np.r_[valid, np.zeros(n_negatives, dtype=bool)]

    # convert (x+W*y) back to 2d (x,y) coordinates
    if ret_xy:
        pos1 = unravel_xy(pos1, shape1)
        pos2 = unravel_xy(pos2, shape2)
    return pos1, pos2, valid


def reproject_view(pts3d, view2):
    shape = view2['pts3d'].shape[:2]
    return reproject(pts3d, view2['camera_intrinsics'], inv(view2['camera_pose']), shape)


def reproject(pts3d, K, world2cam, shape):
    H, W, THREE = pts3d.shape
    assert THREE == 3

    # reproject in camera2 space
    with np.errstate(divide='ignore', invalid='ignore'):
        pos = geotrf(K @ world2cam[:3], pts3d, norm=1, ncol=2)

    # quantize to pixel positions
    return (H, W), ravel_xy(pos, shape)


def ravel_xy(pos, shape):
    H, W = shape
    with np.errstate(invalid='ignore'):
        qx, qy = pos.reshape(-1, 2).round().astype(np.int32).T
    quantized_pos = qx.clip(min=0, max=W - 1, out=qx) + W * qy.clip(min=0, max=H - 1, out=qy)
    return quantized_pos


def unravel_xy(pos, shape):
    # convert (x+W*y) back to 2d (x,y) coordinates
    return np.unravel_index(pos, shape)[0].base[:, ::-1].copy()


def _rotation_origin_to_pt(target):
    """ Align the origin (0,0,1) with the target point (x,y,1) in projective space.
    Method: rotate z to put target on (x'+,0,1), then rotate on Y to get (0,0,1) and un-rotate z.
    """
    from scipy.spatial.transform import Rotation
    x, y = target
    rot_z = np.arctan2(y, x)
    rot_y = np.arctan(np.linalg.norm(target))
    R = Rotation.from_euler('ZYZ', [rot_z, rot_y, -rot_z]).as_matrix()
    return R


def _dotmv(Trf, pts, ncol=None, norm=False):
    assert Trf.ndim >= 2
    ncol = ncol or pts.shape[-1]

    # adapt shape if necessary
    output_reshape = pts.shape[:-1]
    if Trf.ndim >= 3:
        n = Trf.ndim - 2
        assert Trf.shape[:n] == pts.shape[:n], 'batch size does not match'
        Trf = Trf.reshape(-1, Trf.shape[-2], Trf.shape[-1])

        if pts.ndim > Trf.ndim:
            # Trf == (B,d,d) & pts == (B,H,W,d) --> (B, H*W, d)
            pts = pts.reshape(Trf.shape[0], -1, pts.shape[-1])
        elif pts.ndim == 2:
            # Trf == (B,d,d) & pts == (B,d) --> (B, 1, d)
            pts = pts[:, None, :]

    if pts.shape[-1] + 1 == Trf.shape[-1]:
        Trf = Trf.swapaxes(-1, -2)  # transpose Trf
        pts = pts @ Trf[..., :-1, :] + Trf[..., -1:, :]

    elif pts.shape[-1] == Trf.shape[-1]:
        Trf = Trf.swapaxes(-1, -2)  # transpose Trf
        pts = pts @ Trf
    else:
        pts = Trf @ pts.T
        if pts.ndim >= 2:
            pts = pts.swapaxes(-1, -2)

    if norm:
        pts = pts / pts[..., -1:]  # DONT DO /= BECAUSE OF WEIRD PYTORCH BUG
        if norm != 1:
            pts *= norm

    res = pts[..., :ncol].reshape(*output_reshape, ncol)
    return res


def crop_to_homography(K, crop, target_size=None):
    """ Given an image and its intrinsics, 
        we want to replicate a rectangular crop with an homography, 
        so that the principal point of the new 'crop' is centered.
    """
    # build intrinsics for the crop
    crop = np.round(crop)
    crop_size = crop[2:] - crop[:2]
    K2 = K.copy()  # same focal
    K2[:2, 2] = crop_size / 2  # new principal point is perfectly centered

    # find which corner is the most far-away from current principal point
    # so that the final homography does not go over the image borders
    corners = crop.reshape(-1, 2)
    corner_idx = np.abs(corners - K[:2, 2]).argmax(0)
    corner = corners[corner_idx, [0, 1]]
    # align with the corresponding corner from the target view
    corner2 = np.c_[[0, 0], crop_size][[0, 1], corner_idx]

    old_pt = _dotmv(np.linalg.inv(K), corner, norm=1)
    new_pt = _dotmv(np.linalg.inv(K2), corner2, norm=1)
    R = _rotation_origin_to_pt(old_pt) @ np.linalg.inv(_rotation_origin_to_pt(new_pt))

    if target_size is not None:
        imsize = target_size
        target_size = np.asarray(target_size)
        scaling = min(target_size / crop_size)
        K2[:2] *= scaling
        K2[:2, 2] = target_size / 2
    else:
        imsize = tuple(np.int32(crop_size).tolist())

    return imsize, K2, R, K @ R @ np.linalg.inv(K2)


def gen_random_crops(imsize, n_crops, resolution, aug_crop, rng=np.random):
    """ Generate random crops of size=resolution, 
        for an input image upscaled to (imsize + randint(0 , aug_crop))
    """
    resolution_crop = np.array(resolution) * min(np.array(imsize) / resolution)

    # (virtually) upscale the input image
    # scaling = rng.uniform(1, 1+(aug_crop+1)/min(imsize))
    scaling = np.exp(rng.uniform(0, np.log(1 + aug_crop / min(imsize))))
    imsize2 = np.int32(np.array(imsize) * scaling)

    # generate some random crops
    topleft = rng.random((n_crops, 2)) * (imsize2 - resolution_crop)
    crops = np.c_[topleft, topleft + resolution_crop]
    # print(f"{scaling=}, {topleft=}")
    # reduce the resolution to come back to original size
    crops /= scaling
    return crops


def in2d_rect(corres, crops):
    # corres = (N,2)
    # crops = (M,4)
    # output = (N, M)
    is_sup = (corres[:, None] >= crops[None, :, 0:2])
    is_inf = (corres[:, None] < crops[None, :, 2:4])
    return (is_sup & is_inf).all(axis=-1)