limap.line2d.L2D2 package

Submodules

limap.line2d.L2D2.RAL_net_cov module

class limap.line2d.L2D2.RAL_net_cov.L2Net

Bases: Module

forward(input)

Defines the computation performed at every call.

Should be overridden by all subclasses.

Note

Although the recipe for forward pass needs to be defined within this function, one should call the Module instance afterwards instead of this since the former takes care of running the registered hooks while the latter silently ignores them.

input_norm(x)
training: bool
class limap.line2d.L2D2.RAL_net_cov.L2Norm

Bases: Module

forward(x)

Defines the computation performed at every call.

Should be overridden by all subclasses.

Note

Although the recipe for forward pass needs to be defined within this function, one should call the Module instance afterwards instead of this since the former takes care of running the registered hooks while the latter silently ignores them.

training: bool
limap.line2d.L2D2.RAL_net_cov.get_net()
limap.line2d.L2D2.RAL_net_cov.weights_init(m)

limap.line2d.L2D2.extractor module

class limap.line2d.L2D2.extractor.L2D2Extractor(options=BaseDetectorOptions(set_gray=True, max_num_2d_segs=3000, do_merge_lines=False, visualize=False, weight_path=None), device=None)

Bases: BaseDetector

compute_descinfo(img, segs)

A desc_info is composed of the following tuple / np arrays: - the line descriptors [N, 128]

download_model(path)
extract(camview, segs)

Virtual method (for extractor) - extract the features for the detected segments

Parameters:

  • view (limap.base.CameraView) – The limap.base.CameraView instance corresponding to the image

  • segs – np.array of shape (N, 5), line detections. Each row corresponds to x1, y1, x2, y2 and score. Computed from the detect method.

Returns:

The extracted feature

get_descinfo_fname(descinfo_folder, img_id)

Virtual method (for extractor) - Get the target filename of the extracted feature

Parameters:

  • descinfo_folder (str) – The output folder

  • img_id (int) – The image id

Returns:

target filename

Return type:

str

get_module_name()

Virtual method (need to be implemented) - return the name of the module

get_patch(img, line)

Extract a 48x32 patch around a line [2, 2].

read_descinfo(descinfo_folder, img_id)

Virtual method (for extractor) - Read in the extracted feature. Dual function for save_descinfo.

Parameters:

  • descinfo_folder (str) – The output folder

  • img_id (int) – The image id

Returns:

The extracted feature

save_descinfo(descinfo_folder, img_id, descinfo)

Virtual method (for extractor) - Save the extracted feature to the target folder

Parameters:

  • descinfo_folder (str) – The output folder

  • img_id (int) – The image id

  • descinfo – The features extracted from the function extract

limap.line2d.L2D2.matcher module

class limap.line2d.L2D2.matcher.L2D2Matcher(extractor, options=BaseMatcherOptions(topk=10, n_neighbors=20, n_jobs=1, weight_path=None))

Bases: BaseMatcher

check_compatibility(extractor)
get_module_name()
match_pair(descinfo1, descinfo2)
match_segs_with_descinfo(descinfo1, descinfo2)
match_segs_with_descinfo_topk(descinfo1, descinfo2, topk=10)

Module contents