feat: gan integration

autopilot.py

@@ -8,6 +8,7 @@ import cv2
 import numpy as np
 from PIL import Image
 
+import gan
 import sian_similarity
 from timer import Timer
 
@@ -60,6 +61,7 @@ class AutoPilot(Pilot):
     reserved_pos: Position | None
     proccessing_time: float
     use_sian_similarity: bool
+    use_gan: bool
 
     def __init__(
         self,
@@ -68,6 +70,7 @@ class AutoPilot(Pilot):
         viz_manager=None,
         pixel_ratio: float = 1.,
         use_sian_similarity: bool = False,
+        use_gan: bool = False,
     ):
         self.prev_chunk = None
         self.pos = Position(0, 0, 1, 0, 0, 0)
@@ -77,6 +80,7 @@ class AutoPilot(Pilot):
         self.reserved_pos = None
         self.pixel_ratio = pixel_ratio
         self.use_sian_similarity = use_sian_similarity
+        self.use_gan = use_gan
 
         # Пороговые значения качества сопоставления/гомографии
         self.min_inliers: int = 12
@@ -191,6 +195,9 @@ class AutoPilot(Pilot):
         # Краевой случай: отсутствие чанков
         if landmark_chunk is None:
             return None
+
+        if self.use_gan:
+            landmark_chunk = gan.transform_chunk(landmark_chunk)
         
         landmark_timer.start()
         src_pts, dst_pts, matches, kp1, kp2 = landmark_chunk.detect_and_match_keypoints(current_chunk)