vismatch 1.1.1__py3-none-any.whl

vismatch/third_party/DeDoDe/DeDoDe/utils.py

@@ -0,0 +1,717 @@
+import warnings
+import numpy as np
+import math
+import cv2
+import torch
+from torchvision import transforms
+from torchvision.transforms.functional import InterpolationMode
+import torch.nn.functional as F
+from PIL import Image
+from einops import rearrange
+import torch
+from time import perf_counter
+
+
+def get_best_device(verbose = False):
+    device = torch.device('cpu')
+    if torch.cuda.is_available():
+        device = torch.device('cuda')
+    elif torch.backends.mps.is_available():
+        device = torch.device('mps')
+    else:
+        device = torch.device('cpu')
+    if verbose: print (f"Fastest device found is: {device}")
+    return device
+
+
+def recover_pose(E, kpts0, kpts1, K0, K1, mask):
+    best_num_inliers = 0
+    K0inv = np.linalg.inv(K0[:2,:2])
+    K1inv = np.linalg.inv(K1[:2,:2])
+
+    kpts0_n = (K0inv @ (kpts0-K0[None,:2,2]).T).T 
+    kpts1_n = (K1inv @ (kpts1-K1[None,:2,2]).T).T
+
+    for _E in np.split(E, len(E) / 3):
+        n, R, t, _ = cv2.recoverPose(_E, kpts0_n, kpts1_n, np.eye(3), 1e9, mask=mask)
+        if n > best_num_inliers:
+            best_num_inliers = n
+            ret = (R, t, mask.ravel() > 0)
+    return ret
+
+
+
+# Code taken from https://github.com/PruneTruong/DenseMatching/blob/40c29a6b5c35e86b9509e65ab0cd12553d998e5f/validation/utils_pose_estimation.py
+# --- GEOMETRY ---
+def estimate_pose(kpts0, kpts1, K0, K1, norm_thresh, conf=0.99999):
+    if len(kpts0) < 5:
+        return None
+    K0inv = np.linalg.inv(K0[:2,:2])
+    K1inv = np.linalg.inv(K1[:2,:2])
+
+    kpts0 = (K0inv @ (kpts0-K0[None,:2,2]).T).T 
+    kpts1 = (K1inv @ (kpts1-K1[None,:2,2]).T).T
+    E, mask = cv2.findEssentialMat(
+        kpts0, kpts1, np.eye(3), threshold=norm_thresh, prob=conf
+    )
+
+    ret = None
+    if E is not None:
+        best_num_inliers = 0
+
+        for _E in np.split(E, len(E) / 3):
+            n, R, t, _ = cv2.recoverPose(_E, kpts0, kpts1, np.eye(3), 1e9, mask=mask)
+            if n > best_num_inliers:
+                best_num_inliers = n
+                ret = (R, t, mask.ravel() > 0)
+    return ret
+
+
+def get_grid(B,H,W, device = get_best_device()):
+    x1_n = torch.meshgrid(
+    *[
+        torch.linspace(
+            -1 + 1 / n, 1 - 1 / n, n, device=device
+        )
+        for n in (B, H, W)
+    ]
+    )
+    x1_n = torch.stack((x1_n[2], x1_n[1]), dim=-1).reshape(B, H * W, 2)
+    return x1_n
+
+@torch.no_grad()
+def finite_diff_hessian(f: tuple(["B", "H", "W"]), device = get_best_device()):
+    dxx = torch.tensor([[0,0,0],[1,-2,1],[0,0,0]], device = device)[None,None]/2
+    dxy = torch.tensor([[1,0,-1],[0,0,0],[-1,0,1]], device = device)[None,None]/4
+    dyy = dxx.mT
+    Hxx = F.conv2d(f[:,None], dxx, padding = 1)[:,0]
+    Hxy = F.conv2d(f[:,None], dxy, padding = 1)[:,0]
+    Hyy = F.conv2d(f[:,None], dyy, padding = 1)[:,0]
+    H = torch.stack((Hxx, Hxy, Hxy, Hyy), dim = -1).reshape(*f.shape,2,2)
+    return H
+
+def finite_diff_grad(f: tuple(["B", "H", "W"]), device = get_best_device()):
+    dx = torch.tensor([[0,0,0],[-1,0,1],[0,0,0]],device = device)[None,None]/2
+    dy = dx.mT
+    gx = F.conv2d(f[:,None], dx, padding = 1)
+    gy = F.conv2d(f[:,None], dy, padding = 1)
+    g = torch.cat((gx, gy), dim = 1)
+    return g
+
+def fast_inv_2x2(matrix: tuple[...,2,2], eps = 1e-10):
+    return 1/(torch.linalg.det(matrix)[...,None,None]+eps) * torch.stack((matrix[...,1,1],-matrix[...,0,1],
+                                                     -matrix[...,1,0],matrix[...,0,0]),dim=-1).reshape(*matrix.shape)
+
+def newton_step(f:tuple["B","H","W"], inds, device = get_best_device()):
+    B,H,W = f.shape
+    Hess = finite_diff_hessian(f).reshape(B,H*W,2,2)
+    Hess = torch.gather(Hess, dim = 1, index = inds[...,None].expand(B,-1,2,2))
+    grad = finite_diff_grad(f).reshape(B,H*W,2)
+    grad = torch.gather(grad, dim = 1, index = inds)
+    Hessinv = fast_inv_2x2(Hess-torch.eye(2, device = device)[None,None])
+    step = (Hessinv @ grad[...,None])
+    return step[...,0]
+
+@torch.no_grad()
+def sample_keypoints(scoremap, num_samples = 8192, device = get_best_device(), use_nms = True, 
+                     sample_topk = False, return_scoremap = False, sharpen = False, upsample = False,
+                     increase_coverage = False, remove_borders = False):
+    #scoremap = scoremap**2
+    log_scoremap = (scoremap+1e-10).log()
+    if upsample:
+        log_scoremap = F.interpolate(log_scoremap[:,None], scale_factor = 3, mode = "bicubic", align_corners = False)[:,0]#.clamp(min = 0)
+        scoremap = log_scoremap.exp()
+    B,H,W = scoremap.shape
+    if increase_coverage:
+        weights = (-torch.linspace(-2, 2, steps = 51, device = device)**2).exp()[None,None]
+        # 10000 is just some number for maybe numerical stability, who knows. :), result is invariant anyway
+        local_density_x = F.conv2d((scoremap[:,None]+1e-6)*10000,weights[...,None,:], padding = (0,51//2))
+        local_density = F.conv2d(local_density_x, weights[...,None], padding = (51//2,0))[:,0]
+        scoremap = scoremap * (local_density+1e-8)**(-1/2)
+    grid = get_grid(B,H,W, device=device).reshape(B,H*W,2)
+    if sharpen:
+        laplace_operator = torch.tensor([[[[0,1,0],[1,-4,1],[0,1,0]]]], device = device)/4
+        scoremap = scoremap[:,None] - 0.5 * F.conv2d(scoremap[:,None], weight = laplace_operator, padding = 1)
+        scoremap = scoremap[:,0].clamp(min = 0)
+    if use_nms:
+        scoremap = scoremap * (scoremap == F.max_pool2d(scoremap, (3, 3), stride = 1, padding = 1))
+    if remove_borders:
+        frame = torch.zeros_like(scoremap)
+        # we hardcode 4px, could do it nicer, but whatever
+        frame[...,4:-4, 4:-4] = 1
+        scoremap = scoremap * frame
+    if sample_topk:
+        inds = torch.topk(scoremap.reshape(B,H*W), k = num_samples).indices
+    else:
+        inds = torch.multinomial(scoremap.reshape(B,H*W), num_samples = num_samples, replacement=False)
+    kps = torch.gather(grid, dim = 1, index = inds[...,None].expand(B,num_samples,2))
+    if return_scoremap:
+        return kps, torch.gather(scoremap.reshape(B,H*W), dim = 1, index = inds)
+    return kps
+
+@torch.no_grad()
+def jacobi_determinant(warp, certainty, R = 3, device = get_best_device(), dtype = torch.float32):
+    t = perf_counter()
+    *dims, _ = warp.shape
+    warp = warp.to(dtype)
+    certainty = certainty.to(dtype)
+    
+    dtype = warp.dtype
+    match_regions = torch.zeros((*dims, 4, R, R), device = device).to(dtype)
+    match_regions[:,1:-1, 1:-1] = warp.unfold(1,R,1).unfold(2,R,1)
+    match_regions = rearrange(match_regions,"B H W D R1 R2 -> B H W (R1 R2) D") - warp[...,None,:]
+    
+    match_regions_cert = torch.zeros((*dims, R, R), device = device).to(dtype)
+    match_regions_cert[:,1:-1, 1:-1] = certainty.unfold(1,R,1).unfold(2,R,1)
+    match_regions_cert = rearrange(match_regions_cert,"B H W R1 R2 -> B H W (R1 R2)")[..., None]
+
+    #print("Time for unfold", perf_counter()-t)
+    #t = perf_counter()
+    *dims, N, D = match_regions.shape
+    # standardize:
+    mu, sigma = match_regions.mean(dim=(-2,-1), keepdim = True), match_regions.std(dim=(-2,-1),keepdim=True)
+    match_regions = (match_regions-mu)/(sigma+1e-6)
+    x_a, x_b = match_regions.chunk(2,-1)
+    
+
+    A = torch.zeros((*dims,2*x_a.shape[-2],4), device = device).to(dtype)
+    A[...,::2,:2] = x_a * match_regions_cert
+    A[...,1::2,2:] = x_a * match_regions_cert
+
+    a_block = A[...,::2,:2]
+    ata = a_block.mT @ a_block
+    #print("Time for ata", perf_counter()-t)
+    #t = perf_counter()
+
+    #atainv = torch.linalg.inv(ata+1e-5*torch.eye(2,device=device).to(dtype))
+    atainv = fast_inv_2x2(ata)
+    ATA_inv = torch.zeros((*dims, 4, 4), device = device, dtype = dtype)
+    ATA_inv[...,:2,:2] = atainv
+    ATA_inv[...,2:,2:] = atainv
+    atb = A.mT @ (match_regions_cert*x_b).reshape(*dims,N*2,1)
+    theta =  ATA_inv @ atb
+    #print("Time for theta", perf_counter()-t)
+    #t = perf_counter()
+
+    J = theta.reshape(*dims, 2, 2)
+    abs_J_det = torch.linalg.det(J+1e-8*torch.eye(2,2,device = device).expand(*dims,2,2)).abs() # Note: This should always be positive for correct warps, but still taking abs here
+    abs_J_logdet = (abs_J_det+1e-12).log()
+    B = certainty.shape[0]
+    # Handle outliers
+    robust_abs_J_logdet = abs_J_logdet.clamp(-3, 3) # Shouldn't be more that exp(3) \approx 8 times zoom
+    #print("Time for logdet", perf_counter()-t)
+    #t = perf_counter()
+
+    return robust_abs_J_logdet
+
+def get_gt_warp(depth1, depth2, T_1to2, K1, K2, depth_interpolation_mode = 'bilinear', relative_depth_error_threshold = 0.05, H = None, W = None):
+    
+    if H is None:
+        B,H,W = depth1.shape
+    else:
+        B = depth1.shape[0]
+    with torch.no_grad():
+        x1_n = torch.meshgrid(
+            *[
+                torch.linspace(
+                    -1 + 1 / n, 1 - 1 / n, n, device=depth1.device
+                )
+                for n in (B, H, W)
+            ]
+        )
+        x1_n = torch.stack((x1_n[2], x1_n[1]), dim=-1).reshape(B, H * W, 2)
+        mask, x2 = warp_kpts(
+            x1_n.double(),
+            depth1.double(),
+            depth2.double(),
+            T_1to2.double(),
+            K1.double(),
+            K2.double(),
+            depth_interpolation_mode = depth_interpolation_mode,
+            relative_depth_error_threshold = relative_depth_error_threshold,
+        )
+        prob = mask.float().reshape(B, H, W)
+        x2 = x2.reshape(B, H, W, 2)
+        return torch.cat((x1_n.reshape(B,H,W,2),x2),dim=-1), prob
+
+def unnormalize_coords(x_n,h,w):
+    x = torch.stack(
+        (w * (x_n[..., 0] + 1) / 2, h * (x_n[..., 1] + 1) / 2), dim=-1
+    )  # [-1+1/h, 1-1/h] -> [0.5, h-0.5]
+    return x
+
+
+def rotate_intrinsic(K, n):
+    base_rot = np.array([[0, 1, 0], [-1, 0, 0], [0, 0, 1]])
+    rot = np.linalg.matrix_power(base_rot, n)
+    return rot @ K
+
+
+def rotate_pose_inplane(i_T_w, rot):
+    rotation_matrices = [
+        np.array(
+            [
+                [np.cos(r), -np.sin(r), 0.0, 0.0],
+                [np.sin(r), np.cos(r), 0.0, 0.0],
+                [0.0, 0.0, 1.0, 0.0],
+                [0.0, 0.0, 0.0, 1.0],
+            ],
+            dtype=np.float32,
+        )
+        for r in [np.deg2rad(d) for d in (0, 270, 180, 90)]
+    ]
+    return np.dot(rotation_matrices[rot], i_T_w)
+
+
+def scale_intrinsics(K, scales):
+    scales = np.diag([1.0 / scales[0], 1.0 / scales[1], 1.0])
+    return np.dot(scales, K)
+
+def angle_error_mat(R1, R2):
+    cos = (np.trace(np.dot(R1.T, R2)) - 1) / 2
+    cos = np.clip(cos, -1.0, 1.0)  # numercial errors can make it out of bounds
+    return np.rad2deg(np.abs(np.arccos(cos)))
+
+
+def angle_error_vec(v1, v2):
+    n = np.linalg.norm(v1) * np.linalg.norm(v2)
+    return np.rad2deg(np.arccos(np.clip(np.dot(v1, v2) / n, -1.0, 1.0)))
+
+
+def compute_pose_error(T_0to1, R, t):
+    R_gt = T_0to1[:3, :3]
+    t_gt = T_0to1[:3, 3]
+    error_t = angle_error_vec(t.squeeze(), t_gt)
+    error_t = np.minimum(error_t, 180 - error_t)  # ambiguity of E estimation
+    error_R = angle_error_mat(R, R_gt)
+    return error_t, error_R
+
+
+def pose_auc(errors, thresholds):
+    sort_idx = np.argsort(errors)
+    errors = np.array(errors.copy())[sort_idx]
+    recall = (np.arange(len(errors)) + 1) / len(errors)
+    errors = np.r_[0.0, errors]
+    recall = np.r_[0.0, recall]
+    aucs = []
+    for t in thresholds:
+        last_index = np.searchsorted(errors, t)
+        r = np.r_[recall[:last_index], recall[last_index - 1]]
+        e = np.r_[errors[:last_index], t]
+        aucs.append(np.trapz(r, x=e) / t)
+    return aucs
+
+
+# From Patch2Pix https://github.com/GrumpyZhou/patch2pix
+def get_depth_tuple_transform_ops(resize=None, normalize=True, unscale=False):
+    ops = []
+    if resize:
+        ops.append(TupleResize(resize, mode=InterpolationMode.BILINEAR, antialias = False))
+    return TupleCompose(ops)
+
+
+def get_tuple_transform_ops(resize=None, normalize=True, unscale=False, clahe = False):
+    ops = []
+    if resize:
+        ops.append(TupleResize(resize, antialias = True))
+    if clahe:
+        ops.append(TupleClahe())
+    if normalize:
+        ops.append(TupleToTensorScaled())
+        ops.append(
+            TupleNormalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225])
+        )  # Imagenet mean/std
+    else:
+        if unscale:
+            ops.append(TupleToTensorUnscaled())
+        else:
+            ops.append(TupleToTensorScaled())
+    return TupleCompose(ops)
+
+class Clahe:
+    def __init__(self, cliplimit = 2, blocksize = 8) -> None:
+        self.clahe = cv2.createCLAHE(cliplimit,(blocksize,blocksize))
+    def __call__(self, im):
+        im_hsv = cv2.cvtColor(np.array(im),cv2.COLOR_RGB2HSV)
+        im_v = self.clahe.apply(im_hsv[:,:,2])
+        im_hsv[...,2] = im_v
+        im_clahe = cv2.cvtColor(im_hsv,cv2.COLOR_HSV2RGB)
+        return Image.fromarray(im_clahe)
+
+class TupleClahe:
+    def __init__(self, cliplimit = 8, blocksize = 8) -> None:
+        self.clahe = Clahe(cliplimit,blocksize)
+    def __call__(self, ims):
+        return [self.clahe(im) for im in ims]
+
+class ToTensorScaled(object):
+    """Convert a RGB PIL Image to a CHW ordered Tensor, scale the range to [0, 1]"""
+
+    def __call__(self, im):
+        if not isinstance(im, torch.Tensor):
+            im = np.array(im, dtype=np.float32).transpose((2, 0, 1))
+            im /= 255.0
+            return torch.from_numpy(im)
+        else:
+            return im
+
+    def __repr__(self):
+        return "ToTensorScaled(./255)"
+
+
+class TupleToTensorScaled(object):
+    def __init__(self):
+        self.to_tensor = ToTensorScaled()
+
+    def __call__(self, im_tuple):
+        return [self.to_tensor(im) for im in im_tuple]
+
+    def __repr__(self):
+        return "TupleToTensorScaled(./255)"
+
+
+class ToTensorUnscaled(object):
+    """Convert a RGB PIL Image to a CHW ordered Tensor"""
+
+    def __call__(self, im):
+        return torch.from_numpy(np.array(im, dtype=np.float32).transpose((2, 0, 1)))
+
+    def __repr__(self):
+        return "ToTensorUnscaled()"
+
+
+class TupleToTensorUnscaled(object):
+    """Convert a RGB PIL Image to a CHW ordered Tensor"""
+
+    def __init__(self):
+        self.to_tensor = ToTensorUnscaled()
+
+    def __call__(self, im_tuple):
+        return [self.to_tensor(im) for im in im_tuple]
+
+    def __repr__(self):
+        return "TupleToTensorUnscaled()"
+
+
+class TupleResize(object):
+    def __init__(self, size, mode=InterpolationMode.BICUBIC, antialias = None):
+        self.size = size
+        self.resize = transforms.Resize(size, mode, antialias = antialias)
+
+    def __call__(self, im_tuple):
+        return [self.resize(im) for im in im_tuple]
+
+    def __repr__(self):
+        return "TupleResize(size={})".format(self.size)
+
+class Normalize:
+    def __call__(self,im):
+        mean = im.mean(dim=(1,2), keepdims=True)
+        std = im.std(dim=(1,2), keepdims=True)
+        return (im-mean)/std
+
+
+class TupleNormalize(object):
+    def __init__(self, mean, std):
+        self.mean = mean
+        self.std = std
+        self.normalize = transforms.Normalize(mean=mean, std=std)
+
+    def __call__(self, im_tuple):
+        c,h,w = im_tuple[0].shape
+        if c > 3:
+            warnings.warn(f"Number of channels {c=} > 3, assuming first 3 are rgb")
+        return [self.normalize(im[:3]) for im in im_tuple]
+
+    def __repr__(self):
+        return "TupleNormalize(mean={}, std={})".format(self.mean, self.std)
+
+
+class TupleCompose(object):
+    def __init__(self, transforms):
+        self.transforms = transforms
+
+    def __call__(self, im_tuple):
+        for t in self.transforms:
+            im_tuple = t(im_tuple)
+        return im_tuple
+
+    def __repr__(self):
+        format_string = self.__class__.__name__ + "("
+        for t in self.transforms:
+            format_string += "\n"
+            format_string += "    {0}".format(t)
+        format_string += "\n)"
+        return format_string
+
+
+@torch.no_grad()
+def warp_kpts(kpts0, depth0, depth1, T_0to1, K0, K1, smooth_mask = False, return_relative_depth_error = False, depth_interpolation_mode = "bilinear", relative_depth_error_threshold = 0.05):
+    """Warp kpts0 from I0 to I1 with depth, K and Rt
+    Also check covisibility and depth consistency.
+    Depth is consistent if relative error < 0.2 (hard-coded).
+    # https://github.com/zju3dv/LoFTR/blob/94e98b695be18acb43d5d3250f52226a8e36f839/src/loftr/utils/geometry.py adapted from here
+    Args:
+        kpts0 (torch.Tensor): [N, L, 2] - <x, y>, should be normalized in (-1,1)
+        depth0 (torch.Tensor): [N, H, W],
+        depth1 (torch.Tensor): [N, H, W],
+        T_0to1 (torch.Tensor): [N, 3, 4],
+        K0 (torch.Tensor): [N, 3, 3],
+        K1 (torch.Tensor): [N, 3, 3],
+    Returns:
+        calculable_mask (torch.Tensor): [N, L]
+        warped_keypoints0 (torch.Tensor): [N, L, 2] <x0_hat, y1_hat>
+    """
+    (
+        n,
+        h,
+        w,
+    ) = depth0.shape
+    if depth_interpolation_mode == "combined":
+        # Inspired by approach in inloc, try to fill holes from bilinear interpolation by nearest neighbour interpolation
+        if smooth_mask:
+            raise NotImplementedError("Combined bilinear and NN warp not implemented")
+        valid_bilinear, warp_bilinear = warp_kpts(kpts0, depth0, depth1, T_0to1, K0, K1, 
+                  smooth_mask = smooth_mask, 
+                  return_relative_depth_error = return_relative_depth_error, 
+                  depth_interpolation_mode = "bilinear",
+                  relative_depth_error_threshold = relative_depth_error_threshold)
+        valid_nearest, warp_nearest = warp_kpts(kpts0, depth0, depth1, T_0to1, K0, K1, 
+                  smooth_mask = smooth_mask, 
+                  return_relative_depth_error = return_relative_depth_error, 
+                  depth_interpolation_mode = "nearest-exact",
+                  relative_depth_error_threshold = relative_depth_error_threshold)
+        nearest_valid_bilinear_invalid = (~valid_bilinear).logical_and(valid_nearest) 
+        warp = warp_bilinear.clone()
+        warp[nearest_valid_bilinear_invalid] = warp_nearest[nearest_valid_bilinear_invalid]
+        valid = valid_bilinear | valid_nearest
+        return valid, warp
+        
+        
+    kpts0_depth = F.grid_sample(depth0[:, None], kpts0[:, :, None], mode = depth_interpolation_mode, align_corners=False)[
+        :, 0, :, 0
+    ]
+    kpts0 = torch.stack(
+        (w * (kpts0[..., 0] + 1) / 2, h * (kpts0[..., 1] + 1) / 2), dim=-1
+    )  # [-1+1/h, 1-1/h] -> [0.5, h-0.5]
+    # Sample depth, get calculable_mask on depth != 0
+    nonzero_mask = kpts0_depth != 0
+
+    # Unproject
+    kpts0_h = (
+        torch.cat([kpts0, torch.ones_like(kpts0[:, :, [0]])], dim=-1)
+        * kpts0_depth[..., None]
+    )  # (N, L, 3)
+    kpts0_n = K0.inverse() @ kpts0_h.transpose(2, 1)  # (N, 3, L)
+    kpts0_cam = kpts0_n
+
+    # Rigid Transform
+    w_kpts0_cam = T_0to1[:, :3, :3] @ kpts0_cam + T_0to1[:, :3, [3]]  # (N, 3, L)
+    w_kpts0_depth_computed = w_kpts0_cam[:, 2, :]
+
+    # Project
+    w_kpts0_h = (K1 @ w_kpts0_cam).transpose(2, 1)  # (N, L, 3)
+    w_kpts0 = w_kpts0_h[:, :, :2] / (
+        w_kpts0_h[:, :, [2]] + 1e-4
+    )  # (N, L, 2), +1e-4 to avoid zero depth
+
+    # Covisible Check
+    h, w = depth1.shape[1:3]
+    covisible_mask = (
+        (w_kpts0[:, :, 0] > 0)
+        * (w_kpts0[:, :, 0] < w - 1)
+        * (w_kpts0[:, :, 1] > 0)
+        * (w_kpts0[:, :, 1] < h - 1)
+    )
+    w_kpts0 = torch.stack(
+        (2 * w_kpts0[..., 0] / w - 1, 2 * w_kpts0[..., 1] / h - 1), dim=-1
+    )  # from [0.5,h-0.5] -> [-1+1/h, 1-1/h]
+    # w_kpts0[~covisible_mask, :] = -5 # xd
+
+    w_kpts0_depth = F.grid_sample(
+        depth1[:, None], w_kpts0[:, :, None], mode=depth_interpolation_mode, align_corners=False
+    )[:, 0, :, 0]
+    
+    relative_depth_error = (
+        (w_kpts0_depth - w_kpts0_depth_computed) / w_kpts0_depth
+    ).abs()
+    if not smooth_mask:
+        consistent_mask = relative_depth_error < relative_depth_error_threshold
+    else:
+        consistent_mask = (-relative_depth_error/smooth_mask).exp()
+    valid_mask = nonzero_mask * covisible_mask * consistent_mask
+    if return_relative_depth_error:
+        return relative_depth_error, w_kpts0
+    else:
+        return valid_mask, w_kpts0
+
+imagenet_mean = torch.tensor([0.485, 0.456, 0.406])
+imagenet_std = torch.tensor([0.229, 0.224, 0.225])
+
+
+def numpy_to_pil(x: np.ndarray):
+    """
+    Args:
+        x: Assumed to be of shape (h,w,c)
+    """
+    if isinstance(x, torch.Tensor):
+        x = x.detach().cpu().numpy()
+    if x.max() <= 1.01:
+        x *= 255
+    x = x.astype(np.uint8)
+    return Image.fromarray(x)
+
+
+def tensor_to_pil(x, unnormalize=False, autoscale = False):
+    if unnormalize:
+        x = x * (imagenet_std[:, None, None].to(x.device)) + (imagenet_mean[:, None, None].to(x.device))
+    if autoscale:
+        if x.max() == x.min():
+            warnings.warn("x max == x min, cant autoscale")
+        else:
+            x = (x-x.min())/(x.max()-x.min())
+        
+    x = x.detach().permute(1, 2, 0).cpu().numpy()
+    x = np.clip(x, 0.0, 1.0)
+    return numpy_to_pil(x)
+
+
+def to_cuda(batch):
+    for key, value in batch.items():
+        if isinstance(value, torch.Tensor):
+            batch[key] = value.cuda()
+    return batch
+
+
+def to_best_device(batch, device=get_best_device()):
+    for key, value in batch.items():
+        if isinstance(value, torch.Tensor):
+            batch[key] = value.to(device)
+    return batch
+
+
+def to_cpu(batch):
+    for key, value in batch.items():
+        if isinstance(value, torch.Tensor):
+            batch[key] = value.cpu()
+    return batch
+
+
+def get_pose(calib):
+    w, h = np.array(calib["imsize"])[0]
+    return np.array(calib["K"]), np.array(calib["R"]), np.array(calib["T"]).T, h, w
+
+
+def compute_relative_pose(R1, t1, R2, t2):
+    rots = R2 @ (R1.T)
+    trans = -rots @ t1 + t2
+    return rots, trans
+
+def to_pixel_coords(flow, h1, w1):
+    flow = (
+        torch.stack(
+            (
+                w1 * (flow[..., 0] + 1) / 2,
+                h1 * (flow[..., 1] + 1) / 2,
+            ),
+            axis=-1,
+        )
+    )
+    return flow
+
+def to_normalized_coords(flow, h1, w1):
+    flow = (
+        torch.stack(
+            (
+                2 * (flow[..., 0]) / w1 - 1,
+                2 * (flow[..., 1]) / h1 - 1,
+            ),
+            axis=-1,
+        )
+    )
+    return flow
+
+
+def warp_to_pixel_coords(warp, h1, w1, h2, w2):
+    warp1 = warp[..., :2]
+    warp1 = (
+        torch.stack(
+            (
+                w1 * (warp1[..., 0] + 1) / 2,
+                h1 * (warp1[..., 1] + 1) / 2,
+            ),
+            axis=-1,
+        )
+    )
+    warp2 = warp[..., 2:]
+    warp2 = (
+        torch.stack(
+            (
+                w2 * (warp2[..., 0] + 1) / 2,
+                h2 * (warp2[..., 1] + 1) / 2,
+            ),
+            axis=-1,
+        )
+    )
+    return torch.cat((warp1,warp2), dim=-1)
+
+
+def to_homogeneous(x):
+    ones = torch.ones_like(x[...,-1:])
+    return torch.cat((x, ones), dim = -1)
+
+def from_homogeneous(xh, eps = 1e-12):
+    return xh[...,:-1] / (xh[...,-1:]+eps)
+
+def homog_transform(Homog, x):
+    xh = to_homogeneous(x)
+    yh = (Homog @ xh.mT).mT
+    y = from_homogeneous(yh)
+    return y
+
+def get_homog_warp(Homog, H, W, device = get_best_device()):
+    grid = torch.meshgrid(torch.linspace(-1+1/H,1-1/H,H, device = device), torch.linspace(-1+1/W,1-1/W,W, device = device))
+    
+    x_A = torch.stack((grid[1], grid[0]), dim = -1)[None]
+    x_A_to_B = homog_transform(Homog, x_A)
+    mask = ((x_A_to_B > -1) * (x_A_to_B < 1)).prod(dim=-1).float()
+    return torch.cat((x_A.expand(*x_A_to_B.shape), x_A_to_B),dim=-1), mask
+
+def dual_log_softmax_matcher(desc_A: tuple['B','N','C'], desc_B: tuple['B','M','C'], inv_temperature = 1, normalize = False):
+    B, N, C = desc_A.shape
+    if normalize:
+        desc_A = desc_A/desc_A.norm(dim=-1,keepdim=True)
+        desc_B = desc_B/desc_B.norm(dim=-1,keepdim=True)
+        corr = torch.einsum("b n c, b m c -> b n m", desc_A, desc_B) * inv_temperature
+    else:
+        corr = torch.einsum("b n c, b m c -> b n m", desc_A, desc_B) * inv_temperature
+    logP = corr.log_softmax(dim = -2) + corr.log_softmax(dim= -1)
+    return logP
+
+def dual_softmax_matcher(desc_A: tuple['B','N','C'], desc_B: tuple['B','M','C'], inv_temperature = 1, normalize = False):
+    if len(desc_A.shape) < 3:
+        desc_A, desc_B = desc_A[None], desc_B[None]
+    B, N, C = desc_A.shape
+    if normalize:
+        desc_A = desc_A/desc_A.norm(dim=-1,keepdim=True)
+        desc_B = desc_B/desc_B.norm(dim=-1,keepdim=True)
+        corr = torch.einsum("b n c, b m c -> b n m", desc_A, desc_B) * inv_temperature
+    else:
+        corr = torch.einsum("b n c, b m c -> b n m", desc_A, desc_B) * inv_temperature
+    P = corr.softmax(dim = -2) * corr.softmax(dim= -1)
+    return P
+
+def conditional_softmax_matcher(desc_A: tuple['B','N','C'], desc_B: tuple['B','M','C'], inv_temperature = 1, normalize = False):
+    if len(desc_A.shape) < 3:
+        desc_A, desc_B = desc_A[None], desc_B[None]
+    B, N, C = desc_A.shape
+    if normalize:
+        desc_A = desc_A/desc_A.norm(dim=-1,keepdim=True)
+        desc_B = desc_B/desc_B.norm(dim=-1,keepdim=True)
+        corr = torch.einsum("b n c, b m c -> b n m", desc_A, desc_B) * inv_temperature
+    else:
+        corr = torch.einsum("b n c, b m c -> b n m", desc_A, desc_B) * inv_temperature
+    P_B_cond_A = corr.softmax(dim = -1)
+    P_A_cond_B = corr.softmax(dim = -2)
+    
+    return P_A_cond_B, P_B_cond_A