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fixed a minor bug: assign values to a sliced tensor #17

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fixed a minor bug: assign values to a sliced tensor #17

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26 changes: 18 additions & 8 deletions models/gt_matches_generation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,14 +54,19 @@ def generate_gt_matches(data: Dict[str, Any],

symmetric_dist = 0.5 * (min_dist0[cross_check_consistent0] + min_dist1[cross_check_consistent1])

gt_matches0[cross_check_consistent0][symmetric_dist > positive_threshold] = IGNORE_INDEX
gt_matches0[cross_check_consistent0][symmetric_dist > negative_threshold] = UNMATCHED_INDEX
gt_matches0_cross = gt_matches0[cross_check_consistent0].clone()
gt_matches1_cross = gt_matches1[cross_check_consistent1].clone()
gt_matches0_uncross = gt_matches0[~cross_check_consistent0].clone()
gt_matches1_uncross = gt_matches1[~cross_check_consistent1].clone()

gt_matches1[cross_check_consistent1][symmetric_dist > positive_threshold] = IGNORE_INDEX
gt_matches1[cross_check_consistent1][symmetric_dist > negative_threshold] = UNMATCHED_INDEX
gt_matches0_cross[symmetric_dist > positive_threshold] = IGNORE_INDEX
gt_matches0_cross[symmetric_dist > negative_threshold] = UNMATCHED_INDEX

gt_matches0[~cross_check_consistent0][min_dist0[~cross_check_consistent0] <= negative_threshold] = IGNORE_INDEX
gt_matches1[~cross_check_consistent1][min_dist1[~cross_check_consistent1] <= negative_threshold] = IGNORE_INDEX
gt_matches1_cross[symmetric_dist > positive_threshold] = IGNORE_INDEX
gt_matches1_cross[symmetric_dist > negative_threshold] = UNMATCHED_INDEX

gt_matches0_uncross[min_dist0[~cross_check_consistent0] <= negative_threshold] = IGNORE_INDEX
gt_matches1_uncross[min_dist1[~cross_check_consistent1] <= negative_threshold] = IGNORE_INDEX

# mutual NN with sym_dist <= pos.th ==> MATCHED
# mutual NN with pos.th < sym_dist <= neg.th ==> IGNORED
Expand All @@ -74,8 +79,13 @@ def generate_gt_matches(data: Dict[str, Any],
gt_matches1[~mask1] = IGNORE_INDEX

# also ignore MATCHED point if its nearest neighbor is invalid
gt_matches0[cross_check_consistent0][~mask1.gather(1, nn_matches0)[cross_check_consistent0]] = IGNORE_INDEX
gt_matches1[cross_check_consistent1][~mask0.gather(1, nn_matches1)[cross_check_consistent1]] = IGNORE_INDEX
gt_matches0_cross[~mask1.gather(1, nn_matches0)[cross_check_consistent0]] = IGNORE_INDEX
gt_matches1_cross[~mask0.gather(1, nn_matches1)[cross_check_consistent1]] = IGNORE_INDEX

# update gt_matches0, gt_matches1
gt_matches0.masked_scatter_(cross_check_consistent0, gt_matches0_cross)
gt_matches1.masked_scatter_(cross_check_consistent1, gt_matches1_cross)


data = {
**data,
Expand Down