Add ELF (Easy Local Features) Extractor

hloc/extract_features.py

@@ -125,6 +125,34 @@
             "resize_max": 1024,
         },
     },
+    "dad": {
+        "output": "feats-dad",
+        "model": {
+            "name": "elf-extractor",
+            "elf_detector": "dad",
+            "elf_detector_conf": {},
+            "elf_descriptor": "xfeat",
+            "elf_descriptor_conf": {},
+        },
+        "preprocessing": {
+            "grayscale": False,
+        },
+    },
+    "dedode": {
+        "output": "feats-dedode",
+        "model": {
+            "name": "elf-extractor",
+            "elf_detector": "dedode",
+            "elf_detector_conf": {
+                "detector_weights": "L-C4-v2",
+            },
+            "elf_descriptor": "xfeat",
+            "elf_descriptor_conf": {},
+        },
+        "preprocessing": {
+            "grayscale": False,
+        },
+    },
     # Global descriptors
     "dir": {
         "output": "global-feats-dir",
@@ -240,7 +268,7 @@ def main(
     overwrite: bool = False,
 ) -> Path:
     logger.info(
-        "Extracting local features with configuration:" f"\n{pprint.pformat(conf)}"
+        f"Extracting local features with configuration:\n{pprint.pformat(conf)}"
     )
 
     dataset = ImageDataset(image_dir, conf["preprocessing"], image_list)

hloc/extractors/elf-extractor.py

@@ -0,0 +1,42 @@
+import torch
+from easy_local_features import getExtractor
+
+from ..utils.base_model import BaseModel
+
+
+class ElfFeatures(BaseModel):
+    default_conf = {
+        "model": {
+            "name": "elf-detectors",
+            "elf_detector": "xfeat",
+            "elf_detector_conf": {
+                "top_k": 512,
+            },
+            "elf_descriptor": "xfeat",
+            "elf_descriptor_conf": {},
+        },
+    }
+
+    def _init(self, conf):
+        print(f"{conf=}")
+        self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+        self.detector = getExtractor(conf["elf_detector"], conf["elf_detector_conf"])
+        self.detector.to(self.device)
+
+        self.descriptor = getExtractor(
+            conf["elf_descriptor"], conf["elf_descriptor_conf"]
+        )
+        self.descriptor.to(self.device)
+
+    def _forward(self, data):
+        kps = self.detector.detect(data["image"])[0]
+
+        desc = self.descriptor.compute(data["image"], kps).detach().squeeze(0).T
+        return {
+            "keypoints": [
+                kps.cpu(),
+            ],
+            "descriptors": [
+                desc.cpu(),
+            ],
+        }

requirements.txt

@@ -11,3 +11,4 @@ pycolmap>=3.12.6
 kornia>=0.6.11
 gdown
 lightglue @ git+https://github.com/cvg/LightGlue
+easy-local-features  @ git+https://github.com/felipecadar/easy-local-features-baselines