From 6b8f506591b2f57aa2b22edae3f73577a14f01bc Mon Sep 17 00:00:00 2001 From: Xiaoyang Guo Date: Sun, 14 Apr 2019 17:34:58 +0800 Subject: [PATCH] init commit --- .gitignore | 5 + datasets/__init__.py | 7 + datasets/data_io.py | 58 + datasets/kitti_dataset.py | 99 + datasets/sceneflow_dataset.py | 75 + filenames/kitti12_test.txt | 195 + filenames/kitti12_train.txt | 180 + filenames/kitti12_val.txt | 14 + filenames/kitti15_test.txt | 200 + filenames/kitti15_train.txt | 180 + filenames/kitti15_val.txt | 20 + filenames/sceneflow_test.txt | 4370 ++++ filenames/sceneflow_train.txt | 35454 ++++++++++++++++++++++++++++++++ kitti12.sh | 8 + kitti15.sh | 8 + main.py | 202 + models/__init__.py | 7 + models/gwcnet.py | 231 + models/loss.py | 9 + models/submodule.py | 90 + sceneflow.sh | 7 + utils/__init__.py | 3 + utils/experiment.py | 157 + utils/metrics.py | 65 + utils/visualization.py | 62 + 25 files changed, 41706 insertions(+) create mode 100644 .gitignore create mode 100644 datasets/__init__.py create mode 100644 datasets/data_io.py create mode 100644 datasets/kitti_dataset.py create mode 100644 datasets/sceneflow_dataset.py create mode 100644 filenames/kitti12_test.txt create mode 100644 filenames/kitti12_train.txt create mode 100644 filenames/kitti12_val.txt create mode 100644 filenames/kitti15_test.txt create mode 100644 filenames/kitti15_train.txt create mode 100644 filenames/kitti15_val.txt create mode 100644 filenames/sceneflow_test.txt create mode 100644 filenames/sceneflow_train.txt create mode 100755 kitti12.sh create mode 100755 kitti15.sh create mode 100644 main.py create mode 100644 models/__init__.py create mode 100644 models/gwcnet.py create mode 100644 models/loss.py create mode 100644 models/submodule.py create mode 100755 sceneflow.sh create mode 100644 utils/__init__.py create mode 100644 utils/experiment.py create mode 100644 utils/metrics.py create mode 100644 utils/visualization.py diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..8ef7151 --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +*.pyc +checkpoints +*.ckpt +events.out.* +.idea \ No newline at end of file diff --git a/datasets/__init__.py b/datasets/__init__.py new file mode 100644 index 0000000..768f38a --- /dev/null +++ b/datasets/__init__.py @@ -0,0 +1,7 @@ +from .kitti_dataset import KITTIDataset +from .sceneflow_dataset import SceneFlowDatset + +__datasets__ = { + "sceneflow": SceneFlowDatset, + "kitti": KITTIDataset +} diff --git a/datasets/data_io.py b/datasets/data_io.py new file mode 100644 index 0000000..e250c3d --- /dev/null +++ b/datasets/data_io.py @@ -0,0 +1,58 @@ +import numpy as np +import re +import torchvision.transforms as transforms + + +def get_transform(): + mean = [0.485, 0.456, 0.406] + std = [0.229, 0.224, 0.225] + + return transforms.Compose([ + transforms.ToTensor(), + transforms.Normalize(mean=mean, std=std), + ]) + + +# read all lines in a file +def read_all_lines(filename): + with open(filename) as f: + lines = [line.rstrip() for line in f.readlines()] + return lines + + +# read an .pfm file into numpy array, used to load SceneFlow disparity files +def pfm_imread(filename): + file = open(filename, 'rb') + color = None + width = None + height = None + scale = None + endian = None + + header = file.readline().decode('utf-8').rstrip() + if header == 'PF': + color = True + elif header == 'Pf': + color = False + else: + raise Exception('Not a PFM file.') + + dim_match = re.match(r'^(\d+)\s(\d+)\s$', file.readline().decode('utf-8')) + if dim_match: + width, height = map(int, dim_match.groups()) + else: + raise Exception('Malformed PFM header.') + + scale = float(file.readline().rstrip()) + if scale < 0: # little-endian + endian = '<' + scale = -scale + else: + endian = '>' # big-endian + + data = np.fromfile(file, endian + 'f') + shape = (height, width, 3) if color else (height, width) + + data = np.reshape(data, shape) + data = np.flipud(data) + return data, scale diff --git a/datasets/kitti_dataset.py b/datasets/kitti_dataset.py new file mode 100644 index 0000000..a174a98 --- /dev/null +++ b/datasets/kitti_dataset.py @@ -0,0 +1,99 @@ +import os +import random +from torch.utils.data import Dataset +from PIL import Image +import numpy as np +from datasets.data_io import get_transform, read_all_lines + + +class KITTIDataset(Dataset): + def __init__(self, datapath, list_filename, training): + self.datapath = datapath + self.left_filenames, self.right_filenames, self.disp_filenames = self.load_path(list_filename) + self.training = training + if self.training: + assert self.disp_filenames is not None + + def load_path(self, list_filename): + lines = read_all_lines(list_filename) + splits = [line.split() for line in lines] + left_images = [x[0] for x in splits] + right_images = [x[1] for x in splits] + if len(splits[0]) == 2: # ground truth not available + return left_images, right_images, None + else: + disp_images = [x[2] for x in splits] + return left_images, right_images, disp_images + + def load_image(self, filename): + return Image.open(filename).convert('RGB') + + def load_disp(self, filename): + data = Image.open(filename) + data = np.array(data, dtype=np.float32) / 256. + return data + + def __len__(self): + return len(self.left_filenames) + + def __getitem__(self, index): + left_img = self.load_image(os.path.join(self.datapath, self.left_filenames[index])) + right_img = self.load_image(os.path.join(self.datapath, self.right_filenames[index])) + + if self.disp_filenames: # has disparity ground truth + disparity = self.load_disp(os.path.join(self.datapath, self.disp_filenames[index])) + else: + disparity = None + + if self.training: + w, h = left_img.size + crop_w, crop_h = 512, 256 + + x1 = random.randint(0, w - crop_w) + y1 = random.randint(0, h - crop_h) + + # random crop + left_img = left_img.crop((x1, y1, x1 + crop_w, y1 + crop_h)) + right_img = right_img.crop((x1, y1, x1 + crop_w, y1 + crop_h)) + disparity = disparity[y1:y1 + crop_h, x1:x1 + crop_w] + + # to tensor, normalize + processed = get_transform() + left_img = processed(left_img) + right_img = processed(right_img) + + return {"left": left_img, + "right": right_img, + "disparity": disparity} + else: + w, h = left_img.size + + # normalize + processed = get_transform() + left_img = processed(left_img).numpy() + right_img = processed(right_img).numpy() + + # pad to size 1248x384 + top_pad = 384 - h + right_pad = 1248 - w + assert top_pad > 0 and right_pad > 0 + # pad images + left_img = np.lib.pad(left_img, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant', constant_values=0) + right_img = np.lib.pad(right_img, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant', + constant_values=0) + # pad disparity gt + if disparity is not None: + assert len(disparity.shape) == 2 + disparity = np.lib.pad(disparity, ((top_pad, 0), (0, right_pad)), mode='constant', constant_values=0) + + if disparity is not None: + return {"left": left_img, + "right": right_img, + "disparity": disparity, + "top_pad": top_pad, + "right_pad": right_pad} + else: + return {"left": left_img, + "right": right_img, + "top_pad": top_pad, + "right_pad": right_pad} diff --git a/datasets/sceneflow_dataset.py b/datasets/sceneflow_dataset.py new file mode 100644 index 0000000..ae84e82 --- /dev/null +++ b/datasets/sceneflow_dataset.py @@ -0,0 +1,75 @@ +import os +import random +from torch.utils.data import Dataset +from PIL import Image +import numpy as np +from datasets.data_io import get_transform, read_all_lines, pfm_imread + + +class SceneFlowDatset(Dataset): + def __init__(self, datapath, list_filename, training): + self.datapath = datapath + self.left_filenames, self.right_filenames, self.disp_filenames = self.load_path(list_filename) + self.training = training + + def load_path(self, list_filename): + lines = read_all_lines(list_filename) + splits = [line.split() for line in lines] + left_images = [x[0] for x in splits] + right_images = [x[1] for x in splits] + disp_images = [x[2] for x in splits] + return left_images, right_images, disp_images + + def load_image(self, filename): + return Image.open(filename).convert('RGB') + + def load_disp(self, filename): + data, scale = pfm_imread(filename) + data = np.ascontiguousarray(data, dtype=np.float32) + return data + + def __len__(self): + return len(self.left_filenames) + + def __getitem__(self, index): + left_img = self.load_image(os.path.join(self.datapath, self.left_filenames[index])) + right_img = self.load_image(os.path.join(self.datapath, self.right_filenames[index])) + disparity = self.load_disp(os.path.join(self.datapath, self.disp_filenames[index])) + + if self.training: + w, h = left_img.size + crop_w, crop_h = 512, 256 + + x1 = random.randint(0, w - crop_w) + y1 = random.randint(0, h - crop_h) + + # random crop + left_img = left_img.crop((x1, y1, x1 + crop_w, y1 + crop_h)) + right_img = right_img.crop((x1, y1, x1 + crop_w, y1 + crop_h)) + disparity = disparity[y1:y1 + crop_h, x1:x1 + crop_w] + + # to tensor, normalize + processed = get_transform() + left_img = processed(left_img) + right_img = processed(right_img) + + return {"left": left_img, + "right": right_img, + "disparity": disparity} + else: + w, h = left_img.size + crop_w, crop_h = 960, 512 + + left_img = left_img.crop((w - crop_w, h - crop_h, w, h)) + right_img = right_img.crop((w - crop_w, h - crop_h, w, h)) + disparity = disparity[h - crop_h:h, w - crop_w: w] + + processed = get_transform() + left_img = processed(left_img) + right_img = processed(right_img) + + return {"left": left_img, + "right": right_img, + "disparity": disparity, + "top_pad": 0, + "right_pad": 0} diff --git a/filenames/kitti12_test.txt b/filenames/kitti12_test.txt new file mode 100644 index 0000000..12b8f1f --- /dev/null +++ b/filenames/kitti12_test.txt @@ -0,0 +1,195 @@ +testing/colored_0/000000_10.png testing/colored_1/000000_10.png +testing/colored_0/000001_10.png testing/colored_1/000001_10.png 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frames_finalpass/TRAIN/B/0340/right/0010.png disparity/TRAIN/B/0340/left/0010.pfm diff --git a/kitti12.sh b/kitti12.sh new file mode 100755 index 0000000..b0a825b --- /dev/null +++ b/kitti12.sh @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +set -x +DATAPATH="/home/xyguo/data/kitti_2012/" +python main.py --dataset kitti \ + --datapath $DATAPATH --trainlist ./filenames/kitti12_train.txt --testlist ./filenames/kitti12_val.txt \ + --epochs 300 --lrepochs "200:10" \ + --model gwcnet-gc --logdir ./checkpoints/kitti12/gwcnet-gc --loadckpt ./checkpoints/sceneflow/gwcnet-gc/pretrained.ckpt \ + --test_batch_size 1 \ No newline at end of file diff --git a/kitti15.sh b/kitti15.sh new file mode 100755 index 0000000..a8f58cc --- /dev/null +++ b/kitti15.sh @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +set -x +DATAPATH="/home/xyguo/data/kitti_2015/" +python main.py --dataset kitti \ + --datapath $DATAPATH --trainlist ./filenames/kitti15_train.txt --testlist ./filenames/kitti15_val.txt \ + --epochs 300 --lrepochs "200:10" \ + --model gwcnet-g --logdir ./checkpoints/kitti15/gwcnet-g --loadckpt ./checkpoints/sceneflow/gwcnet-g/pretrained.ckpt \ + --test_batch_size 1 \ No newline at end of file diff --git a/main.py b/main.py new file mode 100644 index 0000000..3144215 --- /dev/null +++ b/main.py @@ -0,0 +1,202 @@ +from __future__ import print_function, division +import argparse +import os +import torch +import torch.nn as nn +import torch.nn.parallel +import torch.backends.cudnn as cudnn +import torch.optim as optim +import torch.utils.data +from torch.autograd import Variable +import torchvision.utils as vutils +import torch.nn.functional as F +import numpy as np +import time +from tensorboardX import SummaryWriter +from datasets import __datasets__ +from models import __models__ +from models import * +from utils import * +from torch.utils.data import DataLoader +import skimage +import gc +import datetime +import cv2 + +cudnn.benchmark = True + +parser = argparse.ArgumentParser(description='Group-wise Correlation Stereo Network (GwcNet)') +parser.add_argument('--model', default='gwcnet-g', help='select a model structure', choices=__models__.keys()) + +parser.add_argument('--dataset', required=True, help='dataset name', choices=__datasets__.keys()) +parser.add_argument('--datapath', required=True, help='data path') +parser.add_argument('--trainlist', required=True, help='training list') +parser.add_argument('--testlist', required=True, help='testing list') + +parser.add_argument('--lr', type=float, default=0.001, help='base learning rate') +parser.add_argument('--batch_size', type=int, default=16, help='training batch size') +parser.add_argument('--test_batch_size', type=int, default=8, help='testing batch size') +parser.add_argument('--maxdisp', type=int, default=192, help='maximum disparity') +parser.add_argument('--epochs', type=int, required=True, help='number of epochs to train') +parser.add_argument('--lrepochs', type=str, required=True, help='the epochs to decay lr: the downscale rate') + +parser.add_argument('--logdir', required=True, help='the directory to save logs and checkpoints') +parser.add_argument('--loadckpt', help='load the weights from a specific checkpoint') +parser.add_argument('--resume', action='store_true', help='continue training the model') +parser.add_argument('--seed', type=int, default=1, metavar='S', help='random seed (default: 1)') + +parser.add_argument('--summary_freq', type=int, default=20, help='the frequency of saving summary') +parser.add_argument('--save_freq', type=int, default=1, help='the frequency of saving checkpoint') + +# parse arguments, set seeds +args = parser.parse_args() +torch.manual_seed(args.seed) +torch.cuda.manual_seed(args.seed) +os.makedirs(args.logdir, exist_ok=True) + +# create summary logger +print("creating new summary file") +logger = SummaryWriter(args.logdir) + +# dataset, dataloader +StereoDataset = __datasets__[args.dataset] +train_dataset = StereoDataset(args.datapath, args.trainlist, True) +test_dataset = StereoDataset(args.datapath, args.testlist, False) +TrainImgLoader = DataLoader(train_dataset, args.batch_size, shuffle=True, num_workers=8, drop_last=True) +TestImgLoader = DataLoader(test_dataset, args.test_batch_size, shuffle=False, num_workers=4, drop_last=False) + +# model, optimizer +model = __models__[args.model](args.maxdisp) +model = nn.DataParallel(model) +model.cuda() +optimizer = optim.Adam(model.parameters(), lr=args.lr, betas=(0.9, 0.999)) + +# load parameters +start_epoch = 0 +if args.resume: + # find all checkpoints file and sort according to epoch id + all_saved_ckpts = [fn for fn in os.listdir(args.logdir) if fn.endswith(".ckpt")] + all_saved_ckpts = sorted(all_saved_ckpts, key=lambda x: int(x.split('_')[-1].split('.')[0])) + # use the latest checkpoint file + loadckpt = os.path.join(args.logdir, all_saved_ckpts[-1]) + print("loading the lastest model in logdir: {}".format(loadckpt)) + state_dict = torch.load(loadckpt) + model.load_state_dict(state_dict['model']) + optimizer.load_state_dict(state_dict['optimizer']) + start_epoch = state_dict['epoch'] + 1 +elif args.loadckpt: + # load the checkpoint file specified by args.loadckpt + print("loading model {}".format(args.loadckpt)) + state_dict = torch.load(args.loadckpt) + model.load_state_dict(state_dict['model']) +print("start at epoch {}".format(start_epoch)) + + +def train(): + for epoch_idx in range(start_epoch, args.epochs): + adjust_learning_rate(optimizer, epoch_idx, args.lr, args.lrepochs) + + # training + for batch_idx, sample in enumerate(TrainImgLoader): + global_step = len(TrainImgLoader) * epoch_idx + batch_idx + start_time = time.time() + do_summary = global_step % args.summary_freq == 0 + loss, scalar_outputs, image_outputs = train_sample(sample, compute_metrics=do_summary) + if do_summary: + save_scalars(logger, 'train', scalar_outputs, global_step) + save_images(logger, 'train', image_outputs, global_step) + del scalar_outputs, image_outputs + print('Epoch {}/{}, Iter {}/{}, train loss = {:.3f}, time = {:.3f}'.format(epoch_idx, args.epochs, + batch_idx, + len(TrainImgLoader), loss, + time.time() - start_time)) + # saving checkpoints + if (epoch_idx + 1) % args.save_freq == 0: + checkpoint_data = {'epoch': epoch_idx, 'model': model.state_dict(), 'optimizer': optimizer.state_dict()} + torch.save(checkpoint_data, "{}/checkpoint_{:0>6}.ckpt".format(args.logdir, epoch_idx)) + gc.collect() + + # testing + avg_test_scalars = AverageMeterDict() + for batch_idx, sample in enumerate(TestImgLoader): + global_step = len(TrainImgLoader) * epoch_idx + batch_idx + start_time = time.time() + do_summary = global_step % args.summary_freq == 0 + loss, scalar_outputs, image_outputs = test_sample(sample, compute_metrics=do_summary) + if do_summary: + save_scalars(logger, 'test', scalar_outputs, global_step) + save_images(logger, 'test', image_outputs, global_step) + avg_test_scalars.update(scalar_outputs) + del scalar_outputs, image_outputs + print('Epoch {}/{}, Iter {}/{}, test loss = {:.3f}, time = {:3f}'.format(epoch_idx, args.epochs, + batch_idx, + len(TestImgLoader), loss, + time.time() - start_time)) + avg_test_scalars = avg_test_scalars.mean() + save_scalars(logger, 'fulltest', avg_test_scalars, len(TrainImgLoader) * (epoch_idx + 1)) + print("avg_test_scalars", avg_test_scalars) + gc.collect() + + +# train one sample +def train_sample(sample, compute_metrics=False): + model.train() + + imgL, imgR, disp_gt = sample['left'], sample['right'], sample['disparity'] + imgL = imgL.cuda() + imgR = imgR.cuda() + disp_gt = disp_gt.cuda() + + optimizer.zero_grad() + + disp_ests = model(imgL, imgR) + mask = (disp_gt < args.maxdisp) & (disp_gt > 0) + loss = model_loss(disp_ests, disp_gt, mask) + + scalar_outputs = {"loss": loss} + image_outputs = {"disp_est": disp_ests, "disp_gt": disp_gt, "imgL": imgL, "imgR": imgR} + if compute_metrics: + with torch.no_grad(): + image_outputs["errormap"] = [disp_error_image_func()(disp_est, disp_gt) for disp_est in disp_ests] + scalar_outputs["EPE"] = [EPE_metric(disp_est, disp_gt, mask) for disp_est in disp_ests] + scalar_outputs["D1"] = [D1_metric(disp_est, disp_gt, mask) for disp_est in disp_ests] + scalar_outputs["Thres1"] = [Thres_metric(disp_est, disp_gt, mask, 1.0) for disp_est in disp_ests] + scalar_outputs["Thres2"] = [Thres_metric(disp_est, disp_gt, mask, 2.0) for disp_est in disp_ests] + scalar_outputs["Thres3"] = [Thres_metric(disp_est, disp_gt, mask, 3.0) for disp_est in disp_ests] + loss.backward() + optimizer.step() + + return tensor2float(loss), tensor2float(scalar_outputs), image_outputs + + +# test one sample +@make_nograd_func +def test_sample(sample, compute_metrics=True): + model.eval() + + imgL, imgR, disp_gt = sample['left'], sample['right'], sample['disparity'] + imgL = imgL.cuda() + imgR = imgR.cuda() + disp_gt = disp_gt.cuda() + + disp_ests = model(imgL, imgR) + mask = (disp_gt < args.maxdisp) & (disp_gt > 0) + loss = model_loss(disp_ests, disp_gt, mask) + + scalar_outputs = {"loss": loss} + image_outputs = {"disp_est": disp_ests, "disp_gt": disp_gt, "imgL": imgL, "imgR": imgR} + + scalar_outputs["D1"] = [D1_metric(disp_est, disp_gt, mask) for disp_est in disp_ests] + scalar_outputs["EPE"] = [EPE_metric(disp_est, disp_gt, mask) for disp_est in disp_ests] + scalar_outputs["Thres1"] = [Thres_metric(disp_est, disp_gt, mask, 1.0) for disp_est in disp_ests] + scalar_outputs["Thres2"] = [Thres_metric(disp_est, disp_gt, mask, 2.0) for disp_est in disp_ests] + scalar_outputs["Thres3"] = [Thres_metric(disp_est, disp_gt, mask, 3.0) for disp_est in disp_ests] + + if compute_metrics: + image_outputs["errormap"] = [disp_error_image_func()(disp_est, disp_gt) for disp_est in disp_ests] + + return tensor2float(loss), tensor2float(scalar_outputs), image_outputs + + +if __name__ == '__main__': + train() diff --git a/models/__init__.py b/models/__init__.py new file mode 100644 index 0000000..084dba3 --- /dev/null +++ b/models/__init__.py @@ -0,0 +1,7 @@ +from models.gwcnet import GwcNet_G, GwcNet_GC +from models.loss import model_loss + +__models__ = { + "gwcnet-g": GwcNet_G, + "gwcnet-gc": GwcNet_GC +} diff --git a/models/gwcnet.py b/models/gwcnet.py new file mode 100644 index 0000000..3622e1a --- /dev/null +++ b/models/gwcnet.py @@ -0,0 +1,231 @@ +from __future__ import print_function +import torch +import torch.nn as nn +import torch.utils.data +from torch.autograd import Variable +import torch.nn.functional as F +import math +from models.submodule import * + + +class feature_extraction(nn.Module): + def __init__(self, concat_feature=False, concat_feature_channel=12): + super(feature_extraction, self).__init__() + self.concat_feature = concat_feature + + self.inplanes = 32 + self.firstconv = nn.Sequential(convbn(3, 32, 3, 2, 1, 1), + nn.ReLU(inplace=True), + convbn(32, 32, 3, 1, 1, 1), + nn.ReLU(inplace=True), + convbn(32, 32, 3, 1, 1, 1), + nn.ReLU(inplace=True)) + + self.layer1 = self._make_layer(BasicBlock, 32, 3, 1, 1, 1) + self.layer2 = self._make_layer(BasicBlock, 64, 16, 2, 1, 1) + self.layer3 = self._make_layer(BasicBlock, 128, 3, 1, 1, 1) + self.layer4 = self._make_layer(BasicBlock, 128, 3, 1, 1, 2) + + if self.concat_feature: + self.lastconv = nn.Sequential(convbn(320, 128, 3, 1, 1, 1), + nn.ReLU(inplace=True), + nn.Conv2d(128, concat_feature_channel, kernel_size=1, padding=0, stride=1, + bias=False)) + + def _make_layer(self, block, planes, blocks, stride, pad, dilation): + downsample = None + if stride != 1 or self.inplanes != planes * block.expansion: + downsample = nn.Sequential( + nn.Conv2d(self.inplanes, planes * block.expansion, + kernel_size=1, stride=stride, bias=False), + nn.BatchNorm2d(planes * block.expansion), ) + + layers = [] + layers.append(block(self.inplanes, planes, stride, downsample, pad, dilation)) + self.inplanes = planes * block.expansion + for i in range(1, blocks): + layers.append(block(self.inplanes, planes, 1, None, pad, dilation)) + + return nn.Sequential(*layers) + + def forward(self, x): + x = self.firstconv(x) + x = self.layer1(x) + l2 = self.layer2(x) + l3 = self.layer3(l2) + l4 = self.layer4(l3) + + gwc_feature = torch.cat((l2, l3, l4), dim=1) + + if not self.concat_feature: + return {"gwc_feature": gwc_feature} + else: + concat_feature = self.lastconv(gwc_feature) + return {"gwc_feature": gwc_feature, "concat_feature": concat_feature} + + +class hourglass(nn.Module): + def __init__(self, in_channels): + super(hourglass, self).__init__() + + self.conv1 = nn.Sequential(convbn_3d(in_channels, in_channels * 2, 3, 2, 1), + nn.ReLU(inplace=True)) + + self.conv2 = nn.Sequential(convbn_3d(in_channels * 2, in_channels * 2, 3, 2, 1), + nn.ReLU(inplace=True)) + + self.conv3 = nn.Sequential(convbn_3d(in_channels * 2, in_channels * 4, 3, 2, 1), + nn.ReLU(inplace=True)) + + self.conv4 = nn.Sequential(convbn_3d(in_channels * 4, in_channels * 4, 3, 2, 1), + nn.ReLU(inplace=True)) + + self.conv5 = nn.Sequential( + nn.ConvTranspose3d(in_channels * 4, in_channels * 2, 3, padding=1, output_padding=1, stride=2, bias=False), + nn.BatchNorm3d(in_channels * 2)) + + self.conv6 = nn.Sequential( + nn.ConvTranspose3d(in_channels * 2, in_channels, 3, padding=1, output_padding=1, stride=2, bias=False), + nn.BatchNorm3d(in_channels)) + + self.redir1 = convbn_3d(in_channels, in_channels, kernel_size=1, stride=1, pad=0) + self.redir2 = convbn_3d(in_channels * 2, in_channels * 2, kernel_size=1, stride=1, pad=0) + + def forward(self, x): + conv1 = self.conv1(x) + conv2 = self.conv2(conv1) + + conv3 = self.conv3(conv2) + conv4 = self.conv4(conv3) + + conv5 = F.relu(self.conv5(conv4) + self.redir2(conv2), inplace=True) + conv6 = F.relu(self.conv6(conv5) + self.redir1(x), inplace=True) + + return conv6 + + +class GwcNet(nn.Module): + def __init__(self, maxdisp, use_concat_volume=False): + super(GwcNet, self).__init__() + self.maxdisp = maxdisp + self.use_concat_volume = use_concat_volume + + self.num_groups = 40 + + if self.use_concat_volume: + self.concat_channels = 12 + self.feature_extraction = feature_extraction(concat_feature=True, + concat_feature_channel=self.concat_channels) + else: + self.concat_channels = 0 + self.feature_extraction = feature_extraction(concat_feature=False) + + self.dres0 = nn.Sequential(convbn_3d(self.num_groups + self.concat_channels * 2, 32, 3, 1, 1), + nn.ReLU(inplace=True), + convbn_3d(32, 32, 3, 1, 1), + nn.ReLU(inplace=True)) + + self.dres1 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1), + nn.ReLU(inplace=True), + convbn_3d(32, 32, 3, 1, 1)) + + self.dres2 = hourglass(32) + + self.dres3 = hourglass(32) + + self.dres4 = hourglass(32) + + self.classif0 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1), + nn.ReLU(inplace=True), + nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False)) + + self.classif1 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1), + nn.ReLU(inplace=True), + nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False)) + + self.classif2 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1), + nn.ReLU(inplace=True), + nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False)) + + self.classif3 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1), + nn.ReLU(inplace=True), + nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False)) + + for m in self.modules(): + if isinstance(m, nn.Conv2d): + n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels + m.weight.data.normal_(0, math.sqrt(2. / n)) + elif isinstance(m, nn.Conv3d): + n = m.kernel_size[0] * m.kernel_size[1] * m.kernel_size[2] * m.out_channels + m.weight.data.normal_(0, math.sqrt(2. / n)) + elif isinstance(m, nn.BatchNorm2d): + m.weight.data.fill_(1) + m.bias.data.zero_() + elif isinstance(m, nn.BatchNorm3d): + m.weight.data.fill_(1) + m.bias.data.zero_() + elif isinstance(m, nn.Linear): + m.bias.data.zero_() + + def forward(self, left, right): + features_left = self.feature_extraction(left) + features_right = self.feature_extraction(right) + + gwc_volume = build_gwc_volume(features_left["gwc_feature"], features_right["gwc_feature"], self.maxdisp // 4, + self.num_groups) + if self.use_concat_volume: + concat_volume = build_concat_volume(features_left["concat_feature"], features_right["concat_feature"], + self.maxdisp // 4) + volume = torch.cat((gwc_volume, concat_volume), 1) + else: + volume = gwc_volume + + cost0 = self.dres0(volume) + cost0 = self.dres1(cost0) + cost0 + + out1 = self.dres2(cost0) + out2 = self.dres3(out1) + out3 = self.dres4(out2) + + if self.training: + cost0 = self.classif0(cost0) + cost1 = self.classif1(out1) + cost2 = self.classif2(out2) + cost3 = self.classif3(out3) + + cost0 = F.upsample(cost0, [self.maxdisp, left.size()[2], left.size()[3]], mode='trilinear') + cost0 = torch.squeeze(cost0, 1) + pred0 = F.softmax(cost0, dim=1) + pred0 = disparity_regression(pred0, self.maxdisp) + + cost1 = F.upsample(cost1, [self.maxdisp, left.size()[2], left.size()[3]], mode='trilinear') + cost1 = torch.squeeze(cost1, 1) + pred1 = F.softmax(cost1, dim=1) + pred1 = disparity_regression(pred1, self.maxdisp) + + cost2 = F.upsample(cost2, [self.maxdisp, left.size()[2], left.size()[3]], mode='trilinear') + cost2 = torch.squeeze(cost2, 1) + pred2 = F.softmax(cost2, dim=1) + pred2 = disparity_regression(pred2, self.maxdisp) + + cost3 = F.upsample(cost3, [self.maxdisp, left.size()[2], left.size()[3]], mode='trilinear') + cost3 = torch.squeeze(cost3, 1) + pred3 = F.softmax(cost3, dim=1) + pred3 = disparity_regression(pred3, self.maxdisp) + return [pred0, pred1, pred2, pred3] + + else: + cost3 = self.classif3(out3) + cost3 = F.upsample(cost3, [self.maxdisp, left.size()[2], left.size()[3]], mode='trilinear') + cost3 = torch.squeeze(cost3, 1) + pred3 = F.softmax(cost3, dim=1) + pred3 = disparity_regression(pred3, self.maxdisp) + return [pred3] + + +def GwcNet_G(d): + return GwcNet(d, use_concat_volume=False) + + +def GwcNet_GC(d): + return GwcNet(d, use_concat_volume=True) diff --git a/models/loss.py b/models/loss.py new file mode 100644 index 0000000..ab7de06 --- /dev/null +++ b/models/loss.py @@ -0,0 +1,9 @@ +import torch.nn.functional as F + + +def model_loss(disp_ests, disp_gt, mask): + weights = [0.5, 0.5, 0.7, 1.0] + all_losses = [] + for disp_est, weight in zip(disp_ests, weights): + all_losses.append(weight * F.smooth_l1_loss(disp_est[mask], disp_gt[mask], size_average=True)) + return sum(all_losses) diff --git a/models/submodule.py b/models/submodule.py new file mode 100644 index 0000000..7cd1b1e --- /dev/null +++ b/models/submodule.py @@ -0,0 +1,90 @@ +from __future__ import print_function +import torch +import torch.nn as nn +import torch.utils.data +from torch.autograd import Variable +from torch.autograd.function import Function +import torch.nn.functional as F +import math +import numpy as np + + +def convbn(in_channels, out_channels, kernel_size, stride, pad, dilation): + return nn.Sequential(nn.Conv2d(in_channels, out_channels, kernel_size=kernel_size, stride=stride, + padding=dilation if dilation > 1 else pad, dilation=dilation, bias=False), + nn.BatchNorm2d(out_channels)) + + +def convbn_3d(in_channels, out_channels, kernel_size, stride, pad): + return nn.Sequential(nn.Conv3d(in_channels, out_channels, kernel_size=kernel_size, stride=stride, + padding=pad, bias=False), + nn.BatchNorm3d(out_channels)) + + +def disparity_regression(x, maxdisp): + assert len(x.shape) == 4 + disp_values = torch.arange(0, maxdisp, dtype=x.dtype, device=x.device) + disp_values = disp_values.view(1, maxdisp, 1, 1) + return torch.sum(x * disp_values, 1, keepdim=False) + + +def build_concat_volume(refimg_fea, targetimg_fea, maxdisp): + B, C, H, W = refimg_fea.shape + volume = refimg_fea.new_zeros([B, 2 * C, maxdisp, H, W]) + for i in range(maxdisp): + if i > 0: + volume[:, :C, i, :, i:] = refimg_fea[:, :, :, i:] + volume[:, C:, i, :, i:] = targetimg_fea[:, :, :, :-i] + else: + volume[:, :C, i, :, :] = refimg_fea + volume[:, C:, i, :, :] = targetimg_fea + volume = volume.contiguous() + return volume + + +def groupwise_correlation(fea1, fea2, num_groups): + B, C, H, W = fea1.shape + assert C % num_groups == 0 + channels_per_group = C // num_groups + cost = (fea1 * fea2).view([B, num_groups, channels_per_group, H, W]).mean(dim=2) + assert cost.shape == (B, num_groups, H, W) + return cost + + +def build_gwc_volume(refimg_fea, targetimg_fea, maxdisp, num_groups): + B, C, H, W = refimg_fea.shape + volume = refimg_fea.new_zeros([B, num_groups, maxdisp, H, W]) + for i in range(maxdisp): + if i > 0: + volume[:, :, i, :, i:] = groupwise_correlation(refimg_fea[:, :, :, i:], targetimg_fea[:, :, :, :-i], + num_groups) + else: + volume[:, :, i, :, :] = groupwise_correlation(refimg_fea, targetimg_fea, num_groups) + volume = volume.contiguous() + return volume + + +class BasicBlock(nn.Module): + expansion = 1 + + def __init__(self, inplanes, planes, stride, downsample, pad, dilation): + super(BasicBlock, self).__init__() + + self.conv1 = nn.Sequential(convbn(inplanes, planes, 3, stride, pad, dilation), + nn.ReLU(inplace=True)) + + self.conv2 = convbn(planes, planes, 3, 1, pad, dilation) + + self.downsample = downsample + self.stride = stride + + def forward(self, x): + out = self.conv1(x) + out = self.conv2(out) + + if self.downsample is not None: + x = self.downsample(x) + + out += x + + return out diff --git a/sceneflow.sh b/sceneflow.sh new file mode 100755 index 0000000..f00b31c --- /dev/null +++ b/sceneflow.sh @@ -0,0 +1,7 @@ +#!/usr/bin/env bash +set -x +DATAPATH="/home/xyguo/data/scene_flow/" +python main.py --dataset sceneflow \ + --datapath $DATAPATH --trainlist ./filenames/sceneflow_train.txt --testlist ./filenames/sceneflow_test.txt \ + --epochs 16 --lrepochs "10,12,14,16:2" \ + --model gwcnet-gc --logdir ./checkpoints/sceneflow/gwcnet-gc \ No newline at end of file diff --git a/utils/__init__.py b/utils/__init__.py new file mode 100644 index 0000000..ad5d325 --- /dev/null +++ b/utils/__init__.py @@ -0,0 +1,3 @@ +from utils.experiment import * +from utils.visualization import * +from utils.metrics import D1_metric, Thres_metric, EPE_metric \ No newline at end of file diff --git a/utils/experiment.py b/utils/experiment.py new file mode 100644 index 0000000..f6e45d1 --- /dev/null +++ b/utils/experiment.py @@ -0,0 +1,157 @@ +from __future__ import print_function, division +import torch +import torch.nn as nn +import torch.nn.parallel +import torch.utils.data +from torch.autograd import Variable +import torchvision.utils as vutils +import torch.nn.functional as F +import numpy as np +import time +from datasets import * +from models import * +import copy +import yaml +import sys +import argparse + + +def make_iterative_func(func): + def wrapper(vars): + if isinstance(vars, list): + return [wrapper(x) for x in vars] + elif isinstance(vars, tuple): + return tuple([wrapper(x) for x in vars]) + elif isinstance(vars, dict): + return {k: wrapper(v) for k, v in vars.items()} + else: + return func(vars) + + return wrapper + + +def make_nograd_func(func): + def wrapper(*f_args, **f_kwargs): + with torch.no_grad(): + ret = func(*f_args, **f_kwargs) + return ret + + return wrapper + + +@make_iterative_func +def tensor2float(vars): + if isinstance(vars, float): + return vars + elif isinstance(vars, torch.Tensor): + return vars.data.item() + else: + raise NotImplementedError("invalid input type for tensor2float") + + +@make_iterative_func +def tensor2numpy(vars): + if isinstance(vars, np.ndarray): + return vars + elif isinstance(vars, torch.Tensor): + return vars.data.cpu().numpy() + else: + raise NotImplementedError("invalid input type for tensor2numpy") + + +@make_iterative_func +def check_allfloat(vars): + assert isinstance(vars, float) + + +def save_scalars(logger, mode_tag, scalar_dict, global_step): + scalar_dict = tensor2float(scalar_dict) + for tag, values in scalar_dict.items(): + if not isinstance(values, list) and not isinstance(values, tuple): + values = [values] + for idx, value in enumerate(values): + scalar_name = '{}/{}'.format(mode_tag, tag) + # if len(values) > 1: + scalar_name = scalar_name + "_" + str(idx) + logger.add_scalar(scalar_name, value, global_step) + + +def save_images(logger, mode_tag, images_dict, global_step): + images_dict = tensor2numpy(images_dict) + for tag, values in images_dict.items(): + if not isinstance(values, list) and not isinstance(values, tuple): + values = [values] + for idx, value in enumerate(values): + if len(value.shape) == 3: + value = value[:, np.newaxis, :, :] + value = value[:1] + value = torch.from_numpy(value) + + image_name = '{}/{}'.format(mode_tag, tag) + if len(values) > 1: + image_name = image_name + "_" + str(idx) + logger.add_image(image_name, vutils.make_grid(value, padding=0, nrow=1, normalize=True, scale_each=True), + global_step) + + +def adjust_learning_rate(optimizer, epoch, base_lr, lrepochs): + splits = lrepochs.split(':') + assert len(splits) == 2 + + # parse the epochs to downscale the learning rate (before :) + downscale_epochs = [int(eid_str) for eid_str in splits[0].split(',')] + # parse downscale rate (after :) + downscale_rate = float(splits[1]) + print("downscale epochs: {}, downscale rate: {}".format(downscale_epochs, downscale_rate)) + + lr = base_lr + for eid in downscale_epochs: + if epoch >= eid: + lr /= downscale_rate + else: + break + print("setting learning rate to {}".format(lr)) + for param_group in optimizer.param_groups: + param_group['lr'] = lr + + +class AverageMeter(object): + def __init__(self): + self.sum_value = 0. + self.count = 0 + + def update(self, x): + check_allfloat(x) + self.sum_value += x + self.count += 1 + + def mean(self): + return self.sum_value / self.count + + +class AverageMeterDict(object): + def __init__(self): + self.data = None + self.count = 0 + + def update(self, x): + check_allfloat(x) + self.count += 1 + if self.data is None: + self.data = copy.deepcopy(x) + else: + for k1, v1 in x.items(): + if isinstance(v1, float): + self.data[k1] += v1 + elif isinstance(v1, tuple) or isinstance(v1, list): + for idx, v2 in enumerate(v1): + self.data[k1][idx] += v2 + else: + assert NotImplementedError("error input type for update AvgMeterDict") + + def mean(self): + @make_iterative_func + def get_mean(v): + return v / float(self.count) + + return get_mean(self.data) diff --git a/utils/metrics.py b/utils/metrics.py new file mode 100644 index 0000000..dca72a5 --- /dev/null +++ b/utils/metrics.py @@ -0,0 +1,65 @@ +import torch +import torch.nn.functional as F +from utils.experiment import make_nograd_func +from torch.autograd import Variable +from torch import Tensor + + +# Update D1 from >3px to >=3px & >5% +# matlab code: +# E = abs(D_gt - D_est); +# n_err = length(find(D_gt > 0 & E > tau(1) & E. / abs(D_gt) > tau(2))); +# n_total = length(find(D_gt > 0)); +# d_err = n_err / n_total; + +def check_shape_for_metric_computation(*vars): + assert isinstance(vars, tuple) + for var in vars: + assert len(var.size()) == 3 + assert var.size() == vars[0].size() + +# a wrapper to compute metrics for each image individually +def compute_metric_for_each_image(metric_func): + def wrapper(D_ests, D_gts, masks, *nargs): + check_shape_for_metric_computation(D_ests, D_gts, masks) + bn = D_gts.shape[0] # batch size + results = [] # a list to store results for each image + # compute result one by one + for idx in range(bn): + # if tensor, then pick idx, else pass the same value + cur_nargs = [x[idx] if isinstance(x, (Tensor, Variable)) else x for x in nargs] + if masks[idx].float().mean() / (D_gts[idx] > 0).float().mean() < 0.1: + print("masks[idx].float().mean() too small, skip") + else: + ret = metric_func(D_ests[idx], D_gts[idx], masks[idx], *cur_nargs) + results.append(ret) + if len(results) == 0: + print("masks[idx].float().mean() too small for all images in this batch, return 0") + return torch.tensor(0, dtype=torch.float32, device=D_gts.device) + else: + return torch.stack(results).mean() + return wrapper + +@make_nograd_func +@compute_metric_for_each_image +def D1_metric(D_est, D_gt, mask): + D_est, D_gt = D_est[mask], D_gt[mask] + E = torch.abs(D_gt - D_est) + err_mask = (E > 3) & (E / D_gt.abs() > 0.05) + return torch.mean(err_mask.float()) + +@make_nograd_func +@compute_metric_for_each_image +def Thres_metric(D_est, D_gt, mask, thres): + assert isinstance(thres, (int, float)) + D_est, D_gt = D_est[mask], D_gt[mask] + E = torch.abs(D_gt - D_est) + err_mask = E > thres + return torch.mean(err_mask.float()) + +# NOTE: please do not use this to build up training loss +@make_nograd_func +@compute_metric_for_each_image +def EPE_metric(D_est, D_gt, mask): + D_est, D_gt = D_est[mask], D_gt[mask] + return F.l1_loss(D_est, D_gt, size_average=True) diff --git a/utils/visualization.py b/utils/visualization.py new file mode 100644 index 0000000..f898882 --- /dev/null +++ b/utils/visualization.py @@ -0,0 +1,62 @@ +from __future__ import print_function +import torch +import torch.nn as nn +import torch.utils.data +from torch.autograd import Variable, Function +import torch.nn.functional as F +import math +import numpy as np +import cv2 + +# disable multi-thread +cv2.setNumThreads(0) + + +def gen_error_colormap(): + cols = np.array( + [[0 / 3.0, 0.1875 / 3.0, 49, 54, 149], + [0.1875 / 3.0, 0.375 / 3.0, 69, 117, 180], + [0.375 / 3.0, 0.75 / 3.0, 116, 173, 209], + [0.75 / 3.0, 1.5 / 3.0, 171, 217, 233], + [1.5 / 3.0, 3 / 3.0, 224, 243, 248], + [3 / 3.0, 6 / 3.0, 254, 224, 144], + [6 / 3.0, 12 / 3.0, 253, 174, 97], + [12 / 3.0, 24 / 3.0, 244, 109, 67], + [24 / 3.0, 48 / 3.0, 215, 48, 39], + [48 / 3.0, np.inf, 165, 0, 38]], dtype=np.float32) + cols[:, 2: 5] /= 255. + return cols + + +error_colormap = gen_error_colormap() + + +class disp_error_image_func(Function): + def forward(self, D_est_tensor, D_gt_tensor, abs_thres=3., rel_thres=0.05, dilate_radius=1): + D_gt_np = D_gt_tensor.detach().cpu().numpy() + D_est_np = D_est_tensor.detach().cpu().numpy() + B, H, W = D_gt_np.shape + # valid mask + mask = D_gt_np > 0 + # error in percentage. When error <= 1, the pixel is valid since <= 3px & 5% + error = np.abs(D_gt_np - D_est_np) + error[np.logical_not(mask)] = 0 + error[mask] = np.minimum(error[mask] / abs_thres, (error[mask] / D_gt_np[mask]) / rel_thres) + # get colormap + cols = error_colormap + # create error image + error_image = np.zeros([B, H, W, 3], dtype=np.float32) + for i in range(cols.shape[0]): + error_image[np.logical_and(error >= cols[i][0], error < cols[i][1])] = cols[i, 2:] + # TODO: imdilate + # error_image = cv2.imdilate(D_err, strel('disk', dilate_radius)); + error_image[np.logical_not(mask)] = 0. + # show color tag in the top-left cornor of the image + for i in range(cols.shape[0]): + distance = 20 + error_image[:, :10, i * distance:(i + 1) * distance, :] = cols[i, 2:] + + return torch.from_numpy(np.ascontiguousarray(error_image.transpose([0, 3, 1, 2]))) + + def backward(self, grad_output): + return None