Fix different input/output conventions for tiny RoMa

limap/line2d/dense/dense_matcher/base.py

@@ -29,7 +29,7 @@ def get_sample_thresh(self):
         """
         raise NotImplementedError
 
-    def get_warpping_symmetric(self, img1, img2):
+    def get_warping_symmetric(self, img1, img2):
         """
         return warp_1to2 ([-1, 1]), cert_1to2, warp_2to1([-1, 1]), cert_2to1
         """

limap/line2d/dense/dense_matcher/roma.py

@@ -9,24 +9,34 @@
 class RoMa(BaseDenseMatcher):
     def __init__(self, mode="outdoor", device="cuda"):
         super(RoMa).__init__()
+        self.output_res = 864
+        self.mode = mode
         if mode == "outdoor":
-            self.model = romatch.roma_outdoor(device=device, coarse_res=560)
+            self.model = romatch.roma_outdoor(
+                device=device, coarse_res=560, upsample_res=self.output_res
+            )
         elif mode == "indoor":
-            self.model = romatch.roma_indoor(device=device, coarse_res=560)
+            self.model = romatch.roma_indoor(
+                device=device, coarse_res=560, upsample_res=self.output_res
+            )
         elif mode == "tiny_outdoor":
             self.model = romatch.tiny_roma_v1_outdoor(device=device)
 
     def get_sample_thresh(self):
         return self.model.sample_thresh
 
-    def get_warpping_symmetric(self, img1, img2):
+    def get_warping_symmetric(self, img1, img2):
         warp, certainty = self.model.match(
-            Image.fromarray(img1), Image.fromarray(img2)
+            Image.fromarray(img1), Image.fromarray(img2), batched=False
         )
-        N = 864
+        if self.mode.startswith("tiny"):
+            warp2_to_1, certainty2_to_1 = self.model.match(
+                Image.fromarray(img2), Image.fromarray(img1), batched=False
+            )
+            return warp[:, :, 2:], certainty, warp2_to_1[:, :, 2:], certainty2_to_1
         return (
-            warp[:, :N, 2:],
-            certainty[:, :N],
-            warp[:, N:, :2],
-            certainty[:, N:],
+            warp[:, : self.output_res, 2:],
+            certainty[:, : self.output_res],
+            warp[:, self.output_res :, :2],
+            certainty[:, self.output_res :],
         )

limap/line2d/dense/matcher.py

@@ -158,7 +158,7 @@ def match_segs_with_descinfo(self, descinfo1, descinfo2):
             cert_1to2,
             warp_2to1,
             cert_2to1,
-        ) = self.dense_matcher.get_warpping_symmetric(img1, img2)
+        ) = self.dense_matcher.get_warping_symmetric(img1, img2)
 
         # compute distance and overlap
         dists_1to2, overlap_1to2 = self.compute_distance_one_direction(