def track(self, model: BaseModel, full_res=False, **kwargs):
""" Add current model predictions (usually the result of a batch) to the tracking
"""
super().track(model)
# Train mode or low res, nothing special to do
if self._stage == "train" or not full_res:
return
# Test mode, compute votes in order to get full res predictions
if self._test_area is None:
self._test_area = self._dataset.test_data.clone()
if self._test_area.y is None:
raise ValueError("It seems that the test area data does not have labels (attribute y).")
self._test_area.prediction_count = torch.zeros(self._test_area.y.shape[0], dtype=torch.int)
self._test_area.votes = torch.zeros((self._test_area.y.shape[0], self._num_classes), dtype=torch.float)
self._test_area.to(model.device)
# Gather input to the model and check that it fits with the test set
inputs = model.get_input()
if inputs[SaveOriginalPosId.KEY] is None or inputs[SaveOriginalPosId.KEY].max() >= self._test_area.pos.shape[0]:
raise ValueError(
"The inputs given to the model do not have a %s attribute or this attribute does\
not correspond to the number of points in the test area point cloud."
% SaveOriginalPosId.KEY
)
# Set predictions
outputs = model.get_output()
self._test_area.votes[inputs[SaveOriginalPosId.KEY]] += outputs
self._test_area.prediction_count[inputs[SaveOriginalPosId.KEY]] += 1
def run(model: BaseModel, dataset: BaseDataset, device, cfg):
dataset.create_dataloaders(
model,
1,
False,
cfg.training.num_workers,
False,
)
loader = dataset.test_dataloaders[0]
list_res = []
with Ctq(loader) as tq_test_loader:
for i, data in enumerate(tq_test_loader):
with torch.no_grad():
model.set_input(data, device)
model.forward()
name_scene, name_pair_source, name_pair_target = dataset.test_dataset[
0].get_name(i)
input, input_target = model.get_input()
xyz, xyz_target = input.pos, input_target.pos
ind, ind_target = input.ind, input_target.ind
matches_gt = torch.stack([ind, ind_target]).transpose(0, 1)
feat, feat_target = model.get_output()
rand = torch.randperm(len(feat))[:cfg.data.num_points]
rand_target = torch.randperm(
len(feat_target))[:cfg.data.num_points]
res = dict(name_scene=name_scene,
name_pair_source=name_pair_source,
name_pair_target=name_pair_target)
T_gt = estimate_transfo(xyz[matches_gt[:, 0]],
xyz_target[matches_gt[:, 1]])
metric = compute_metrics(
xyz[rand],
xyz_target[rand_target],
feat[rand],
feat_target[rand_target],
T_gt,
sym=cfg.data.sym,
tau_1=cfg.data.tau_1,
tau_2=cfg.data.tau_2,
rot_thresh=cfg.data.rot_thresh,
trans_thresh=cfg.data.trans_thresh,
use_ransac=cfg.data.use_ransac,
ransac_thresh=cfg.data.first_subsampling,
use_teaser=cfg.data.use_teaser,
noise_bound_teaser=cfg.data.noise_bound_teaser,
)
res = dict(**res, **metric)
list_res.append(res)
df = pd.DataFrame(list_res)
output_path = os.path.join(cfg.training.checkpoint_dir, cfg.data.name,
"matches")
if not os.path.exists(output_path):
os.makedirs(output_path, exist_ok=True)
df.to_csv(osp.join(output_path, "final_res.csv"))
print(df.groupby("name_scene").mean())
def run(model: BaseModel, dataset: BaseDataset, device, cfg):
reg_thresh = cfg.data.registration_recall_thresh
if reg_thresh is None:
reg_thresh = 0.2
print(time.strftime("%Y%m%d-%H%M%S"))
dataset.create_dataloaders(
model, 1, False, cfg.training.num_workers, False,
)
loader = dataset.test_dataloaders[0]
list_res = []
with Ctq(loader) as tq_test_loader:
for i, data in enumerate(tq_test_loader):
with torch.no_grad():
t0 = time.time()
model.set_input(data, device)
model.forward()
t1 = time.time()
name_scene, name_pair_source, name_pair_target = dataset.test_dataset[0].get_name(i)
input, input_target = model.get_input()
xyz, xyz_target = input.pos, input_target.pos
ind, ind_target = input.ind, input_target.ind
matches_gt = torch.stack([ind, ind_target]).transpose(0, 1)
feat, feat_target = model.get_output()
# rand = voxel_selection(xyz, grid_size=0.06, min_points=cfg.data.min_points)
# rand_target = voxel_selection(xyz_target, grid_size=0.06, min_points=cfg.data.min_points)
rand = torch.randperm(len(feat))[: cfg.data.num_points]
rand_target = torch.randperm(len(feat_target))[: cfg.data.num_points]
res = dict(name_scene=name_scene, name_pair_source=name_pair_source, name_pair_target=name_pair_target)
T_gt = estimate_transfo(xyz[matches_gt[:, 0]], xyz_target[matches_gt[:, 1]])
t2 = time.time()
metric = compute_metrics(
xyz[rand],
xyz_target[rand_target],
feat[rand],
feat_target[rand_target],
T_gt,
sym=cfg.data.sym,
tau_1=cfg.data.tau_1,
tau_2=cfg.data.tau_2,
rot_thresh=cfg.data.rot_thresh,
trans_thresh=cfg.data.trans_thresh,
use_ransac=cfg.data.use_ransac,
ransac_thresh=cfg.data.first_subsampling,
use_teaser=cfg.data.use_teaser,
noise_bound_teaser=cfg.data.noise_bound_teaser,
xyz_gt=xyz[matches_gt[:, 0]],
xyz_target_gt=xyz_target[matches_gt[:, 1]],
registration_recall_thresh=reg_thresh,
)
res = dict(**res, **metric)
res["time_feature"] = t1 - t0
res["time_feature_per_point"] = (t1 - t0) / (len(input.pos) + len(input_target.pos))
res["time_prep"] = t2 - t1
list_res.append(res)
df = pd.DataFrame(list_res)
output_path = os.path.join(cfg.training.checkpoint_dir, cfg.data.name, "matches")
if not os.path.exists(output_path):
os.makedirs(output_path, exist_ok=True)
df.to_csv(osp.join(output_path, "final_res_{}.csv".format(time.strftime("%Y%m%d-%H%M%S"))))
print(df.groupby("name_scene").mean())
def run(model: BaseModel, dataset: BaseDataset, device, cfg):
print(time.strftime("%Y%m%d-%H%M%S"))
dataset.create_dataloaders(
model,
1,
False,
cfg.training.num_workers,
False,
)
loader = dataset.test_dataset[0]
ind = 0
if cfg.ind is not None:
ind = cfg.ind
t = 5
if cfg.t is not None:
t = cfg.t
r = 0.1
if cfg.r is not None:
r = cfg.r
print(loader)
print(ind)
data = loader[ind]
data.batch = torch.zeros(len(data.pos)).long()
data.batch_target = torch.zeros(len(data.pos_target)).long()
print(data)
with torch.no_grad():
model.set_input(data, device)
model.forward()
name_scene, name_pair_source, name_pair_target = dataset.test_dataset[
0].get_name(ind)
print(name_scene, name_pair_source, name_pair_target)
input, input_target = model.get_input()
xyz, xyz_target = input.pos, input_target.pos
ind, ind_target = input.ind, input_target.ind
matches_gt = torch.stack([ind, ind_target]).transpose(0, 1)
feat, feat_target = model.get_output()
# rand = voxel_selection(xyz, grid_size=0.06, min_points=cfg.data.min_points)
# rand_target = voxel_selection(xyz_target, grid_size=0.06, min_points=cfg.data.min_points)
rand = torch.randperm(len(feat))[:cfg.data.num_points]
rand_target = torch.randperm(len(feat_target))[:cfg.data.num_points]
T_gt = estimate_transfo(xyz[matches_gt[:, 0]].clone(),
xyz_target[matches_gt[:, 1]].clone())
matches_pred = get_matches(feat[rand],
feat_target[rand_target],
sym=cfg.data.sym)
# For color
inliers = (torch.norm(
xyz[rand][matches_pred[:, 0]] @ T_gt[:3, :3].T + T_gt[:3, 3] -
xyz_target[rand_target][matches_pred[:, 1]],
dim=1,
) < cfg.data.tau_1)
# compute transformation
T_teaser = teaser_pp_registration(
xyz[rand][matches_pred[:, 0]],
xyz_target[rand_target][matches_pred[:, 1]],
noise_bound=cfg.data.tau_1)
pcd_source = torch2o3d(input, [1, 0.7, 0.1])
pcd_target = torch2o3d(input_target, [0, 0.15, 0.9])
open3d.visualization.draw_geometries([pcd_source, pcd_target])
pcd_source.transform(T_teaser.cpu().numpy())
open3d.visualization.draw_geometries([pcd_source, pcd_target])
pcd_source.transform(np.linalg.inv(T_teaser.cpu().numpy()))
rand_ind = torch.randperm(len(rand[matches_pred[:, 0]]))[:250]
pcd_source.transform(T_gt.cpu().numpy())
kp_s = torch2o3d(input, ind=rand[matches_pred[:, 0]][rand_ind])
kp_s.transform(T_gt.cpu().numpy())
kp_t = torch2o3d(input_target,
ind=rand_target[matches_pred[:, 1]][rand_ind])
match_visualizer(pcd_source,
kp_s,
pcd_target,
kp_t,
inliers[rand_ind].cpu().numpy(),
radius=r,
t=t)