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‎limap/__init__.py

+18-19
Original file line numberDiff line numberDiff line change
@@ -3,22 +3,21 @@
33
sys.path.append("build/limap/_limap")
44
from _limap import *
55

6-
from . import base
7-
from . import point2d
8-
from . import line2d
9-
from . import vplib
10-
from . import pointsfm
11-
from . import undistortion
12-
13-
from . import triangulation
14-
from . import merging
15-
from . import evaluation
16-
from . import fitting
17-
from . import util
18-
from . import visualize
19-
from . import structures
20-
21-
from . import features
22-
from . import optimize
23-
24-
from . import runners
6+
from . import (
7+
base,
8+
evaluation,
9+
features,
10+
fitting,
11+
line2d,
12+
merging,
13+
optimize,
14+
point2d,
15+
pointsfm,
16+
runners,
17+
structures,
18+
triangulation,
19+
undistortion,
20+
util,
21+
visualize,
22+
vplib,
23+
)

‎limap/base/__init__.py

+3-2
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,7 @@
11
from _limap._base import *
2-
from .functions import *
2+
33
from .align import *
4-
from .unit_test import *
54
from .depth_reader_base import *
5+
from .functions import *
66
from .p3d_reader_base import *
7+
from .unit_test import *

‎limap/base/align.py

+7-5
Original file line numberDiff line numberDiff line change
@@ -74,11 +74,13 @@ def align_imagecols_colmap(
7474
max_error=0.01,
7575
tmp_folder="tmp/model_convertion",
7676
):
77-
import os, shutil
77+
import os
78+
import subprocess
79+
7880
import numpy as np
79-
from limap.pointsfm import convert_imagecols_to_colmap
81+
8082
import limap.util.io as limapio
81-
import subprocess
83+
from limap.pointsfm import convert_imagecols_to_colmap
8284

8385
# assertion check
8486
assert imagecols_src.NumImages() == imagecols_dst.NumImages()
@@ -102,7 +104,7 @@ def align_imagecols_colmap(
102104
for img_id in imagecols_src.get_img_ids():
103105
imname = imagecols_src.image_name(img_id)
104106
pos = imagecols_dst.camview(img_id).pose.center()
105-
f.write("{0} {1} {2} {3}\n".format(imname, pos[0], pos[1], pos[2]))
107+
f.write(f"{imname} {pos[0]} {pos[1]} {pos[2]}\n")
106108

107109
# call comlap model aligner
108110
transform_path = os.path.join(tmp_folder, "transform.txt")
@@ -130,7 +132,7 @@ def align_imagecols_colmap(
130132

131133
# read in transformation
132134
def read_trans(fname):
133-
with open(fname, "r") as f:
135+
with open(fname) as f:
134136
lines = f.readlines()
135137
mat = []
136138
for idx in range(4):

‎limap/estimators/__init__.py

+1
Original file line numberDiff line numberDiff line change
@@ -1,2 +1,3 @@
11
from _limap._estimators import *
2+
23
from .absolute_pose import *

‎limap/estimators/absolute_pose/_pl_estimate_absolute_pose.py

+4-3
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,9 @@
1+
import numpy as np
12
from _limap import _ceresbase
2-
import limap.optimize as _optimize
3-
import limap.estimators as _estimators
3+
44
import limap.base as _base
5-
import numpy as np
5+
import limap.estimators as _estimators
6+
import limap.optimize as _optimize
67

78

89
def _pl_estimate_absolute_pose(

‎limap/features/__init__.py

+2-1
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,4 @@
11
from _limap._features import *
2-
from .extractors import *
2+
33
from .extract_line_patches import *
4+
from .extractors import *

‎limap/features/extract_line_patches.py

+5-9
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
1-
from _limap import _features
21
import numpy as np
2+
from _limap import _features
33

44

55
def write_patch(fname, patch, dtype="float16"):
@@ -17,7 +17,7 @@ def write_patch(fname, patch, dtype="float16"):
1717

1818
def load_patch(fname, dtype="float16"):
1919
# return a PatchInfo_f object
20-
patch_info_name = "PatchInfo_f{0}".format(dtype[-2:])
20+
patch_info_name = f"PatchInfo_f{dtype[-2:]}"
2121
with open(fname, "rb") as f:
2222
data = np.load(f, allow_pickle=True)
2323
patch = getattr(_features, patch_info_name)(
@@ -28,7 +28,7 @@ def load_patch(fname, dtype="float16"):
2828

2929
def get_extractor(cfg, channels):
3030
lpe_options = _features.LinePatchExtractorOptions(cfg)
31-
patch_extractor_name = "LinePatchExtractor_f64_c{0}".format(channels)
31+
patch_extractor_name = f"LinePatchExtractor_f64_c{channels}"
3232
extractor = getattr(_features, patch_extractor_name)(lpe_options)
3333
return extractor
3434

@@ -39,9 +39,7 @@ def extract_line_patch_oneimage(cfg, track, img_id, camview, feature):
3939
_features.PatchInfo_fx
4040
"""
4141
lpe_options = _features.LinePatchExtractorOptions(cfg)
42-
patch_extractor_name = "LinePatchExtractor_f64_c{0}".format(
43-
feature.shape[2]
44-
)
42+
patch_extractor_name = f"LinePatchExtractor_f64_c{feature.shape[2]}"
4543
extractor = getattr(_features, patch_extractor_name)(lpe_options)
4644
patch = extractor.ExtractOneImage(track, img_id, camview, feature)
4745
return patch
@@ -53,9 +51,7 @@ def extract_line_patches(cfg, track, p_camviews, p_features):
5351
list of _features.PatchInfo_fx
5452
"""
5553
lpe_options = _features.LinePatchExtractorOptions(cfg)
56-
patch_extractor_name = "LinePatchExtractor_f64_c{0}".format(
57-
p_features[0].shape[2]
58-
)
54+
patch_extractor_name = f"LinePatchExtractor_f64_c{p_features[0].shape[2]}"
5955
extractor = getattr(_features, patch_extractor_name)(lpe_options)
6056
patches = extractor.Extract(track, p_camviews, p_features)
6157
return patches

‎limap/features/extractors.py

+7-7
Original file line numberDiff line numberDiff line change
@@ -1,17 +1,17 @@
11
# [NOTE] modified from the pixel-perfect-sfm project
22

3-
import os, sys
4-
import torch
3+
import sys
4+
import time
5+
56
import numpy as np
67
import PIL
7-
8-
from .models.s2dnet import *
9-
from .models.vggnet import VGGNet
8+
import torch
109
import torchvision.transforms.functional as tvf
10+
from _limap import _features
1111
from torchvision import transforms
12-
import time
1312

14-
from _limap import _features
13+
from .models.s2dnet import *
14+
from .models.vggnet import VGGNet
1515

1616
RGB_mean = [0.485, 0.456, 0.406]
1717
RGB_std = [0.229, 0.224, 0.225]

‎limap/features/models/base_model.py

+3-2
Original file line numberDiff line numberDiff line change
@@ -4,9 +4,10 @@
44
"""
55

66
from abc import ABCMeta, abstractmethod
7+
from copy import copy
8+
79
from omegaconf import OmegaConf
810
from torch import nn
9-
from copy import copy
1011

1112

1213
class BaseModel(nn.Module, metaclass=ABCMeta):
@@ -77,7 +78,7 @@ def freeze_bn(module):
7778
def forward(self, data):
7879
"""Check the data and call the _forward method of the child model."""
7980
for key in self.required_data_keys:
80-
assert key in data, "Missing key {} in data".format(key)
81+
assert key in data, f"Missing key {key} in data"
8182
return self._forward(data)
8283

8384
@abstractmethod

‎limap/features/models/s2dnet.py

+7-15
Original file line numberDiff line numberDiff line change
@@ -1,22 +1,14 @@
1+
import logging
2+
import os
3+
from pathlib import Path
14
from typing import List
2-
import numpy
5+
6+
import numpy as np
37
import torch
48
import torch.nn as nn
59
from torchvision import models
6-
from pathlib import Path
7-
import logging
810

9-
from PIL import Image
1011
from .base_model import BaseModel
11-
import os, sys
12-
from torchvision import transforms
13-
import numpy as np
14-
import torch.nn.functional as F
15-
16-
import argparse
17-
import h5py
18-
19-
from time import time
2012

2113
type_dict = {
2214
"uint8_t": torch.cuda.ByteTensor,
@@ -90,12 +82,12 @@ def __init__(self, hypercolumn_layers: List[str], output_dim: int = 128):
9082
nn.BatchNorm2d(output_dim),
9183
)
9284
self.layers.append(layer)
93-
self.add_module("adap_layer_{}".format(i), layer)
85+
self.add_module(f"adap_layer_{i}", layer)
9486

9587
def forward(self, features: List[torch.tensor]):
9688
"""Apply adaptation layers."""
9789
for i, _ in enumerate(features):
98-
features[i] = getattr(self, "adap_layer_{}".format(i))(features[i])
90+
features[i] = getattr(self, f"adap_layer_{i}")(features[i])
9991
return features
10092

10193

‎limap/fitting/__init__.py

+1
Original file line numberDiff line numberDiff line change
@@ -1,2 +1,3 @@
11
from _limap._fitting import *
2+
23
from .fitting import *

‎limap/fitting/fitting.py

+1-2
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,5 @@
1-
from _limap import _base, _estimators, _fitting
2-
import os
31
import numpy as np
2+
from _limap import _estimators, _fitting
43
from bresenham import bresenham
54
from hloc.localize_inloc import interpolate_scan
65

‎limap/line2d/DeepLSD/deeplsd.py

+2
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,9 @@
11
import os
2+
23
import numpy as np
34
import torch
45
from deeplsd.models.deeplsd_inference import DeepLSD
6+
57
from ..base_detector import BaseDetector, BaseDetectorOptions
68

79

‎limap/line2d/GlueStick/extractor.py

+4-3
Original file line numberDiff line numberDiff line change
@@ -1,12 +1,13 @@
11
import os
2+
23
import numpy as np
3-
from sklearn.cluster import DBSCAN
44
import torch
5-
from omegaconf import OmegaConf
65
from gluestick.models.wireframe import lines_to_wireframe
6+
from omegaconf import OmegaConf
77

88
import limap.util.io as limapio
99
from limap.point2d.superpoint.superpoint import SuperPoint, sample_descriptors
10+
1011
from ..base_detector import BaseDetector, BaseDetectorOptions
1112

1213

@@ -28,7 +29,7 @@ def get_module_name(self):
2829
return "wireframe"
2930

3031
def get_descinfo_fname(self, descinfo_folder, img_id):
31-
fname = os.path.join(descinfo_folder, "descinfo_{0}.npz".format(img_id))
32+
fname = os.path.join(descinfo_folder, f"descinfo_{img_id}.npz")
3233
return fname
3334

3435
def save_descinfo(self, descinfo_folder, img_id, descinfo):

‎limap/line2d/GlueStick/matcher.py

+2
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,9 @@
11
import os
2+
23
import numpy as np
34
import torch
45
from gluestick.models.gluestick import GlueStick
6+
57
from ..base_matcher import BaseMatcher, BaseMatcherOptions
68

79

‎limap/line2d/HAWPv3/hawp.py

+2-2
Original file line numberDiff line numberDiff line change
@@ -1,13 +1,13 @@
11
import os
2-
from ..base_detector import BaseDetector, BaseDetectorOptions
32

43
import cv2
54
import numpy as np
65
import torch
7-
86
from hawp.fsl.config import cfg as model_config
97
from hawp.ssl.models import MODELS
108

9+
from ..base_detector import BaseDetector, BaseDetectorOptions
10+
1111

1212
class HAWPv3Detector(BaseDetector):
1313
def __init__(self, options=BaseDetectorOptions()):

‎limap/line2d/L2D2/RAL_net_cov.py

+1-2
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,6 @@
1-
from __future__ import division, print_function
21
import torch
3-
import torch.nn.init
42
import torch.nn as nn
3+
import torch.nn.init
54

65

76
class L2Norm(nn.Module):

‎limap/line2d/L2D2/extractor.py

+5-2
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,11 @@
11
import os
2-
import numpy as np
2+
33
import cv2
4+
import numpy as np
45
import torch
6+
57
import limap.util.io as limapio
8+
69
from ..base_detector import BaseDetector, BaseDetectorOptions
710

811

@@ -44,7 +47,7 @@ def get_module_name(self):
4447
return "l2d2"
4548

4649
def get_descinfo_fname(self, descinfo_folder, img_id):
47-
fname = os.path.join(descinfo_folder, "descinfo_{0}.npz".format(img_id))
50+
fname = os.path.join(descinfo_folder, f"descinfo_{img_id}.npz")
4851
return fname
4952

5053
def save_descinfo(self, descinfo_folder, img_id, descinfo):

‎limap/line2d/L2D2/matcher.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
1-
import os
21
import numpy as np
2+
33
from ..base_matcher import BaseMatcher, BaseMatcherOptions
44

55

‎limap/line2d/LBD/extractor.py

+6-3
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,12 @@
11
import os
2-
import numpy as np
2+
33
import cv2
4-
import pytlsd
4+
import numpy as np
55
import pytlbd
6+
import pytlsd
7+
68
import limap.util.io as limapio
9+
710
from ..base_detector import BaseDetector, BaseDetectorOptions
811

912

@@ -60,7 +63,7 @@ def get_module_name(self):
6063
return "lbd"
6164

6265
def get_descinfo_fname(self, descinfo_folder, img_id):
63-
fname = os.path.join(descinfo_folder, "descinfo_{0}.npz".format(img_id))
66+
fname = os.path.join(descinfo_folder, f"descinfo_{img_id}.npz")
6467
return fname
6568

6669
def save_descinfo(self, descinfo_folder, img_id, descinfo):

‎limap/line2d/LBD/matcher.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
1-
import os
21
import numpy as np
32
import pytlbd
3+
44
from ..base_matcher import BaseMatcher, BaseMatcherOptions
55

66

‎limap/line2d/LSD/lsd.py

+1-2
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,5 @@
1-
import os
21
import pytlsd
3-
import numpy as np
2+
43
from ..base_detector import BaseDetector, BaseDetectorOptions
54

65

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