def __init__(self, checkpoint_path, device="cuda"):
self.device = device
checkpoint_net = IMIPLightning.load_from_checkpoint(
checkpoint_path, strict=False) # calls seed everything
checkpoint_net.freeze()
self.network = checkpoint_net.to(device=self.device)
import os
from argparse import ArgumentParser
from pytorch_lightning import Trainer, seed_everything
from pytorch_lightning.callbacks import ModelCheckpoint
from pytorch_lightning.loggers import TensorBoardLogger
from imipnet.lightning_module import IMIPLightning
parser = ArgumentParser()
parser = IMIPLightning.add_model_specific_args(parser)
args = parser.parse_args([
"--loss", "outlier-balanced-bce-bce-uml", "--n_top_patches", "1",
"--eval_set", "kitti-gray-0.5", "--preprocess", "harris"
])
imip_module = IMIPLightning(args)
name = imip_module.get_new_run_name()
logger = TensorBoardLogger("./runs", name)
checkpoint_dir = os.path.join(".", "checkpoints", "simple-conv", name)
os.makedirs(checkpoint_dir, exist_ok=True)
checkpoint_callback = ModelCheckpoint(
filepath=checkpoint_dir,
save_last=True,
verbose=True,
monitor="eval_true_inliers",
mode='max',
period=0 # don't wait for a new epoch to save a better model
)
def main():
parser = ArgumentParser()
parser.add_argument('--data_root', default="./data")
parser.add_argument("--output_dir", type=str, default="./example_matches")
params = parser.parse_args()
preprocessor = preprocess_registry["center"]()
os.makedirs(params.output_dir, exist_ok=True)
for model_key, dataset_constructor_list in model_dataset_map.items():
snapshot_dir = snapshots_dirs[model_key]
checkpoints = os.listdir(snapshot_dir)
checkpoint_path = os.path.join(snapshot_dir, [
x for x in checkpoints
if x.startswith("epoch=") and x.endswith(".ckpt")
][0])
checkpoint_net = IMIPLightning.load_from_checkpoint(
checkpoint_path, strict=False) # calls seed everything
checkpoint_net = checkpoint_net.to(device="cuda")
checkpoint_net.freeze()
for dataset_constructor in dataset_constructor_list:
dataset = dataset_constructor(params.data_root)
for i in range(100):
pair = dataset[np.random.randint(0, len(dataset))]
image_1_torch = preprocessor(
load_image_for_torch(pair.image_1, device="cuda"))
image_2_torch = preprocessor(
load_image_for_torch(pair.image_2, device="cuda"))
image_1_corrs = checkpoint_net.network.extract_keypoints(
image_1_torch)[0]
image_2_corrs = checkpoint_net.network.extract_keypoints(
image_2_torch)[0]
batched_corrs = torch.stack((image_1_corrs, image_2_corrs),
dim=0).cpu()
# Filter out invalid correspondences
ground_truth_corrs, tracked_idx = pair.correspondences(
batched_corrs[0].numpy(), inverse=False)
batched_corrs = batched_corrs[:, :, tracked_idx]
valid_idx = np.linalg.norm(
ground_truth_corrs - batched_corrs[1].numpy(),
ord=2,
axis=0) < 1
batched_corrs = batched_corrs[:, :, valid_idx]
batched_corrs = batched_corrs.round()
anchor_keypoints = [
cv2.KeyPoint(int(batched_corrs[0][0][i]),
int(batched_corrs[0][1][i]), 1)
for i in range(batched_corrs.shape[2])
]
corr_keypoints = [
cv2.KeyPoint(int(batched_corrs[1][0][i]),
int(batched_corrs[1][1][i]), 1)
for i in range(batched_corrs.shape[2])
]
matches = [
cv2.DMatch(i, i, 0.0) for i in range(len(anchor_keypoints))
]
image_1 = cv2.cvtColor(pair.image_1, cv2.COLOR_RGB2BGR)
image_2 = cv2.cvtColor(pair.image_2, cv2.COLOR_RGB2BGR)
match_img_1 = cv2.drawMatches(image_1, anchor_keypoints,
image_2, corr_keypoints, matches,
None)
pair_name = checkpoint_net.get_name(
) + "_" + pair.name.replace("/", "_") + ".png"
cv2.imwrite(os.path.join(params.output_dir, pair_name),
match_img_1)
print("Wrote {0}".format(
os.path.join(params.output_dir, pair_name)),
flush=True)
from pytorch_lightning.utilities import move_data_to_device
from imipnet.datasets.shuffle import ShuffledDataset
from imipnet.lightning_module import IMIPLightning, test_dataset_registry
parser = ArgumentParser()
parser.add_argument("checkpoint", type=str)
parser.add_argument('test_set', choices=test_dataset_registry.keys())
parser.add_argument('--data_root', default="./data")
parser.add_argument('--n_eval_samples', type=int, default=-1)
parser.add_argument("--output_dir", type=str, default="./test_results")
params = parser.parse_args()
run_name = os.path.basename(os.path.dirname(params.checkpoint))
checkpoint_net = IMIPLightning.load_from_checkpoint(
params.checkpoint, strict=False) # calls seed everything
checkpoint_net.freeze()
# override test set
if params.test_set is not None:
checkpoint_net.hparams.test_set = params.test_set
checkpoint_net.hparams.n_eval_samples = params.n_eval_samples
checkpoint_net.test_set = ShuffledDataset(
test_dataset_registry[params.test_set](params.data_root))
print("Evaluating {} on {}".format(checkpoint_net.get_name(),
checkpoint_net.hparams.test_set))
# TODO: load device from params
if checkpoint_net.hparams.n_eval_samples > 0:
print("Number of samples: {}".format(