def setup_depth_net(config, prepared, **kwargs):
"""
Create a depth network
Parameters
----------
config : CfgNode
Network configuration
prepared : bool
True if the network has been prepared before
kwargs : dict
Extra parameters for the network
Returns
-------
depth_net : nn.Module
Create depth network
"""
print0(pcolor("DepthNet: %s" % config.name, "yellow"))
depth_net = load_class_args_create(
config.name,
paths=[
"packnet_sfm.networks.depth",
],
args={
**config,
**kwargs
},
)
if not prepared and config.checkpoint_path is not "":
depth_net = load_network(depth_net, config.checkpoint_path,
["depth_net", "disp_network"])
return depth_net
def setup_model(config, prepared, **kwargs):
"""
Create a model
Parameters
----------
config : CfgNode
Model configuration (cf. configs/default_config.py)
prepared : bool
True if the model has been prepared before
kwargs : dict
Extra parameters for the model
Returns
-------
model : nn.Module
Created model
"""
print0(pcolor('Model: %s' % config.name, 'yellow'))
model = load_class(config.name, paths=['packnet_sfm.models',])(
**{**config.loss, **kwargs})
# Add depth network if required
if 'depth_net' in model.network_requirements:
model.add_depth_net(setup_depth_net(config.depth_net, prepared))
# Add pose network if required
if 'pose_net' in model.network_requirements:
model.add_pose_net(setup_pose_net(config.pose_net, prepared))
# If a checkpoint is provided, load pretrained model
if not prepared and config.checkpoint_path is not '':
model = load_network(model, config.checkpoint_path, 'model')
# Return model
return model
def setup_pose_net(config, prepared, **kwargs):
"""
Create a pose network
Parameters
----------
config : CfgNode
Network configuration
prepared : bool
True if the network has been prepared before
kwargs : dict
Extra parameters for the network
Returns
-------
pose_net : nn.Module
Created pose network
"""
print0(pcolor('PoseNet: %s' % config.name, 'yellow'))
pose_net = load_class_args_create(
config.name,
paths=[
'packnet_sfm.networks.pose',
],
args={
**config,
**kwargs
},
)
if not prepared and config.checkpoint_path is not '':
pose_net = load_network(pose_net, config.checkpoint_path,
['pose_net', 'pose_network'])
return pose_net
def main(args, N):
# Initialize horovod
hvd_init()
# Parse arguments
configs = []
state_dicts = []
for i in range(N):
config, state_dict = parse_test_file(args.checkpoints[i])
configs.append(config)
state_dicts.append(state_dict)
# If no image shape is provided, use the checkpoint one
image_shape = args.image_shape
if image_shape is None:
image_shape = configs[0].datasets.augmentation.image_shape
# Set debug if requested
set_debug(configs[0].debug)
model_wrappers = []
for i in range(N):
# Initialize model wrapper from checkpoint arguments
model_wrappers.append(ModelWrapper(configs[i], load_datasets=False))
# Restore monodepth_model state
model_wrappers[i].load_state_dict(state_dicts[i])
# change to half precision for evaluation if requested
dtype = torch.float16 if args.half else None
# Send model to GPU if available
if torch.cuda.is_available():
for i in range(N):
model_wrappers[i] = model_wrappers[i].to('cuda:{}'.format(rank()),
dtype=dtype)
# Set to eval mode
for i in range(N):
model_wrappers[i].eval()
if args.input_folders is None:
files = [[args.input_imgs[i]] for i in range(N)]
else:
files = [[] for i in range(N)]
for i in range(N):
for ext in ['png', 'jpg']:
files[i] = glob.glob((os.path.join(args.input_folders[i],
'*.{}'.format(ext))))
files[i].sort()
print0('Found {} files'.format(len(files[i])))
n_files = len(files[0])
# Process each file
infer_plot_and_save_3D_pcl(files, args.output, model_wrappers, image_shape,
args.half, args.save, bool(int(args.stop)))
def load_network(network, path, prefixes=''):
"""
Loads a pretrained network
Parameters
----------
network : nn.Module
Network that will receive the pretrained weights
path : str
File containing a 'state_dict' key with pretrained network weights
prefixes : str or list of str
Layer name prefixes to consider when loading the network
Returns
-------
network : nn.Module
Updated network with pretrained weights
"""
prefixes = make_list(prefixes)
# If path is a string
if is_str(path):
saved_state_dict = torch.load(path, map_location='cpu')['state_dict']
if path.endswith('.pth.tar'):
saved_state_dict = backwards_state_dict(saved_state_dict)
# If state dict is already provided
else:
saved_state_dict = path
# Get network state dict
network_state_dict = network.state_dict()
updated_state_dict = OrderedDict()
n, n_total = 0, len(network_state_dict.keys())
for key, val in saved_state_dict.items():
for prefix in prefixes:
prefix = prefix + '.'
if prefix in key:
idx = key.find(prefix) + len(prefix)
key = key[idx:]
if key in network_state_dict.keys() and \
same_shape(val.shape, network_state_dict[key].shape):
updated_state_dict[key] = val
n += 1
network.load_state_dict(updated_state_dict, strict=False)
base_color, attrs = 'cyan', ['bold', 'dark']
color = 'green' if n == n_total else 'yellow' if n > 0 else 'red'
print0(
pcolor('###### Pretrained {} loaded:'.format(prefixes[0]),
base_color,
attrs=attrs) +
pcolor(' {}/{} '.format(n, n_total), color, attrs=attrs) +
pcolor('tensors', base_color, attrs=attrs))
return network
def prepare_model(self, resume=None):
"""Prepare self.model (incl. loading previous state)"""
print0(pcolor('### Preparing Model', 'green'))
self.model = setup_model(self.config.model, self.config.prepared)
# Resume model if available
if resume:
print0(pcolor('### Resuming from {}'.format(
resume['file']), 'magenta', attrs=['bold']))
self.model = load_network(
self.model, resume['state_dict'], 'model')
if 'epoch' in resume:
self.current_epoch = resume['epoch']
def main(args, N):
# Initialize horovod
hvd_init()
# Parse arguments
configs = []
state_dicts = []
for i in range(N):
config, state_dict = parse_test_file(args.checkpoints[i])
configs.append(config)
state_dicts.append(state_dict)
# If no image shape is provided, use the checkpoint one
image_shape = args.image_shape
if image_shape is None:
image_shape = configs[0].datasets.augmentation.image_shape
# Set debug if requested
set_debug(configs[0].debug)
model_wrappers = []
for i in range(N):
# Initialize model wrapper from checkpoint arguments
model_wrappers.append(ModelWrapper(configs[i], load_datasets=False))
# Restore monodepth_model state
model_wrappers[i].load_state_dict(state_dicts[i])
# Send model to GPU if available
if torch.cuda.is_available():
for i in range(N):
model_wrappers[i] = model_wrappers[i].to('cuda:{}'.format(rank()))
# Set to eval mode
for i in range(N):
model_wrappers[i].eval()
if args.input_folder is None:
files = [[args.input_imgs[i]] for i in range(N)]
else:
files = [[] for _ in range(N)]
for i in range(N):
for ext in ['png', 'jpg']:
files[i] = glob(
(os.path.join(args.input_folder, 'cam_' + str(i) + '/',
'*.{}'.format(ext))))
files[i].sort()
files[i] = files[i][::args.every_n_files]
print0('Found {} files'.format(len(files[i])))
n_files = len(files[0])
# Process each file
infer_optimal_calib(files, model_wrappers, image_shape)
def infer(ckpt_file, input_file, output_file, image_shape):
"""
Monocular depth estimation test script.
Parameters
----------
ckpt_file : str
Checkpoint path for a pretrained model
input_file : str
File or folder with input images
output_file : str
File or folder with output images
image_shape : tuple
Input image shape (H,W)
"""
# Initialize horovod
hvd_init()
# Parse arguments
config, state_dict = parse_test_file(ckpt_file)
# If no image shape is provided, use the checkpoint one
if image_shape is None:
image_shape = config.datasets.augmentation.image_shape
# Set debug if requested
set_debug(config.debug)
# Initialize model wrapper from checkpoint arguments
model_wrapper = ModelWrapper(config, load_datasets=False)
# Restore monodepth_model state
model_wrapper.load_state_dict(state_dict)
# Send model to GPU if available
if torch.cuda.is_available():
model_wrapper = model_wrapper.to('cuda:{}'.format(rank()))
if os.path.isdir(input_file):
# If input file is a folder, search for image files
files = []
for ext in ['png', 'jpg']:
files.extend(glob((os.path.join(input_file, '*.{}'.format(ext)))))
files.sort()
print0('Found {} files'.format(len(files)))
else:
# Otherwise, use it as is
files = [input_file]
# Process each file
for file in files[rank()::world_size()]:
process(file, output_file, model_wrapper, image_shape)
def prepare_datasets(self):
"""Prepare datasets for training, validation and test."""
# Prepare datasets
print0(pcolor('### Preparing Datasets', 'green'))
augmentation = self.config.datasets.augmentation
self.train_dataset = setup_dataset(self.config.datasets.train, 'train',
self.model.requires_gt_depth,
**augmentation)
self.validation_dataset = setup_dataset(
self.config.datasets.validation, 'validation', **augmentation)
self.test_dataset = setup_dataset(self.config.datasets.test, 'test',
**augmentation)
def prepare_model(self, resume=None):
"""Prepare self.model (incl. loading previous state)"""
print0(pcolor("### Preparing Model", "green"))
self.model = setup_model(self.config.model, self.config.prepared)
# Resume model if available
if resume:
print0(
pcolor(
"### Resuming from {}".format(resume["file"]),
"magenta",
attrs=["bold"],
))
self.model = load_network(self.model, resume["state_dict"],
"model")
if "epoch" in resume:
self.current_epoch = resume["epoch"]
def prepare_datasets(self, validation_requirements, test_requirements):
"""Prepare datasets for training, validation and test."""
# Prepare datasets
print0(pcolor('### Preparing Datasets', 'green'))
augmentation = self.config.datasets.augmentation
# Setup train dataset (requirements are given by the model itself)
self.train_dataset = setup_dataset(self.config.datasets.train, 'train',
self.model.train_requirements,
**augmentation)
# Setup validation dataset
self.validation_dataset = setup_dataset(
self.config.datasets.validation, 'validation',
validation_requirements, **augmentation)
# Setup test dataset
self.test_dataset = setup_dataset(self.config.datasets.test, 'test',
test_requirements, **augmentation)
def main(args):
# Initialize horovod
hvd_init()
# Parse arguments
config, state_dict = parse_test_file(args.checkpoint)
# If no image shape is provided, use the checkpoint one
image_shape = args.image_shape
if image_shape is None:
image_shape = config.datasets.augmentation.image_shape
# Set debug if requested
set_debug(config.debug)
# Initialize model wrapper from checkpoint arguments
model_wrapper = ModelWrapper(config, load_datasets=False)
# Restore monodepth_model state
model_wrapper.load_state_dict(state_dict)
# change to half precision for evaluation if requested
dtype = torch.float16 if args.half else None
# Send model to GPU if available
if torch.cuda.is_available():
model_wrapper = model_wrapper.to('cuda:{}'.format(rank()), dtype=dtype)
# Set to eval mode
model_wrapper.eval()
if os.path.isdir(args.input):
# If input file is a folder, search for image files
files = []
for ext in ['png', 'jpg']:
files.extend(glob((os.path.join(args.input, '*.{}'.format(ext)))))
files.sort()
print0('Found {} files'.format(len(files)))
else:
# Otherwise, use it as is
files = [args.input]
# Process each file
for fn in files[rank()::world_size()]:
infer_plot_and_save_3D_pcl(fn, args.output, model_wrapper, image_shape,
args.half, args.save)
def setup_model(config, prepared, **kwargs):
"""
Create a model
Parameters
----------
config : CfgNode
Model configuration (cf. configs/default_config.py)
prepared : bool
True if the model has been prepared before
kwargs : dict
Extra parameters for the model
Returns
-------
model : nn.Module
Created model
"""
print0(pcolor('Model: %s' % config.name, 'yellow'))
# SfmModel, SelfSupModel, VelSupModel loaded
model = load_class(config.name, paths=['packnet_sfm.models',])(
**{**config.loss, **kwargs})
# Add depth network if required
if model.network_requirements['depth_net']:
model.add_depth_net(setup_depth_net(config.depth_net, prepared,
num_scales=config.loss.num_scales,
min_depth=config.params.min_depth,
max_depth=config.params.max_depth,
upsample_depth_maps=config.loss.upsample_depth_maps
))
# Add pose network if required
if model.network_requirements['pose_net']:
model.add_pose_net(
setup_pose_net(config.pose_net,
prepared,
rotation_mode=config.loss.rotation_mode,
**kwargs))
# If a checkpoint is provided, load pretrained model
if not prepared and config.checkpoint_path is not '':
model = load_network(model, config.checkpoint_path, 'model')
# Return model
return model
def prepare_datasets(self, validation_requirements, test_requirements):
"""Prepare datasets for training, validation and test."""
# Prepare datasets
print0(pcolor("### Preparing Datasets", "green"))
augmentation = self.config.datasets.augmentation
# Setup train dataset (requirements are given by the model itself)
self.train_dataset = setup_dataset(
self.config.datasets.train,
"train",
self.model.train_requirements,
**augmentation,
)
# Setup validation dataset
self.validation_dataset = setup_dataset(
self.config.datasets.validation,
"validation",
validation_requirements,
**augmentation,
)
# Setup test dataset
self.test_dataset = setup_dataset(self.config.datasets.test, "test",
test_requirements, **augmentation)
def setup_dataset(config, mode, requirements, **kwargs):
"""
Create a dataset class
Parameters
----------
config : CfgNode
Configuration (cf. configs/default_config.py)
mode : str {'train', 'validation', 'test'}
Mode from which we want the dataset
requirements : dict (string -> bool)
Different requirements for dataset loading (gt_depth, gt_pose, etc)
kwargs : dict
Extra parameters for dataset creation
Returns
-------
dataset : Dataset
Dataset class for that mode
"""
# If no dataset is given, return None
if len(config.path) == 0:
return None
print0(pcolor('###### Setup %s datasets' % mode, 'red'))
# Global shared dataset arguments
dataset_args = {
'back_context': config.back_context,
'forward_context': config.forward_context,
'with_geometric_context': config.with_geometric_context,
}
# Loop over all datasets
datasets = []
for i in range(len(config.split)):
path_split = os.path.join(config.path[i], config.split[i])
# Individual shared dataset arguments
if config.dataset[i] == 'ValeoMultifocal':
dataset_args_i = {
'depth_type':
config.depth_type[i] if requirements['gt_depth'] else None,
'with_pose':
requirements['gt_pose'],
'data_transform':
get_transforms_multifocal(mode, **kwargs),
'with_spatiotemp_context':
config.with_spatiotemp_context,
}
elif config.dataset[i] == 'KITTIValeoFisheye':
dataset_args_i = {
'depth_type':
config.depth_type[i] if requirements['gt_depth'] else None,
'with_pose':
requirements['gt_pose'],
'data_transform':
get_transforms_fisheye(mode, **kwargs),
'calibrations_suffix':
config.calibrations_suffix,
'depth_suffix':
config.depth_suffix,
'cam_convs':
config.cam_convs
}
elif config.dataset[i] == 'KITTIValeoDistorted':
dataset_args_i = {
'depth_type':
config.depth_type[i] if requirements['gt_depth'] else None,
'with_pose':
requirements['gt_pose'],
'data_transform':
get_transforms_distorted(mode, **kwargs)
}
elif config.dataset[i] == 'DGPvaleo':
dataset_args_i = {
'depth_type':
config.depth_type[i] if requirements['gt_depth'] else None,
'with_pose':
requirements['gt_pose'],
'data_transform':
get_transforms_dgp_valeo(mode, **kwargs)
}
elif config.dataset[i] == 'WoodscapeFisheye':
dataset_args_i = {
'depth_type':
config.depth_type[i] if requirements['gt_depth'] else None,
'with_pose':
requirements['gt_pose'],
'data_transform':
get_transforms_woodscape_fisheye(mode, **kwargs)
}
else:
dataset_args_i = {
'depth_type':
config.depth_type[i] if requirements['gt_depth'] else None,
'with_pose':
requirements['gt_pose'],
'data_transform':
get_transforms(mode, **kwargs)
}
if config.dataset[i] == 'ValeoMultifocal':
from packnet_sfm.datasets.kitti_based_valeo_dataset_multifocal import KITTIBasedValeoDatasetMultifocal
dataset = KITTIBasedValeoDatasetMultifocal(
config.path[i],
path_split,
**dataset_args,
**dataset_args_i,
cameras=config.cameras[i],
)
# KITTI dataset
elif config.dataset[i] == 'KITTI':
from packnet_sfm.datasets.kitti_dataset import KITTIDataset
dataset = KITTIDataset(
config.path[i],
path_split,
**dataset_args,
**dataset_args_i,
)
# DGP dataset
elif config.dataset[i] == 'DGP':
from packnet_sfm.datasets.dgp_dataset import DGPDataset
dataset = DGPDataset(
config.path[i],
config.split[i],
**dataset_args,
**dataset_args_i,
cameras=config.cameras[i],
)
# DGP dataset
elif config.dataset[i] == 'DGPvaleo':
from packnet_sfm.datasets.dgp_valeo_dataset import DGPvaleoDataset
dataset = DGPvaleoDataset(
config.path[i],
config.split[i],
**dataset_args,
**dataset_args_i,
cameras=config.cameras[i],
)
# Image dataset
elif config.dataset[i] == 'Image':
from packnet_sfm.datasets.image_dataset import ImageDataset
dataset = ImageDataset(
config.path[i],
config.split[i],
**dataset_args,
**dataset_args_i,
)
# KITTI-based Valeo dataset
elif config.dataset[i] == 'KITTIValeo':
from packnet_sfm.datasets.kitti_based_valeo_dataset import KITTIBasedValeoDataset
dataset = KITTIBasedValeoDataset(
config.path[i],
path_split,
**dataset_args,
**dataset_args_i,
cameras=config.cameras[i],
)
# KITTI-based Valeo dataset (fisheye)
elif config.dataset[i] == 'KITTIValeoFisheye':
from packnet_sfm.datasets.kitti_based_valeo_dataset_fisheye_singleView import \
KITTIBasedValeoDatasetFisheye_singleView
dataset = KITTIBasedValeoDatasetFisheye_singleView(
config.path[i],
path_split,
**dataset_args,
**dataset_args_i,
cameras=config.cameras[i],
)
elif config.dataset[i] == 'KITTIValeoDistorted':
from packnet_sfm.datasets.kitti_based_valeo_dataset_distorted_singleView import \
KITTIBasedValeoDatasetDistorted_singleView
dataset = KITTIBasedValeoDatasetDistorted_singleView(
config.path[i],
path_split,
**dataset_args,
**dataset_args_i,
cameras=config.cameras[i],
)
elif config.dataset[i] == 'WoodscapeFisheye':
from packnet_sfm.datasets.woodscape_fisheye import WoodscapeFisheye
dataset = WoodscapeFisheye(
config.path[i],
path_split,
**dataset_args,
**dataset_args_i,
cameras=config.cameras[i],
)
# Image-based Valeo dataset
elif config.dataset[i] == 'ImageValeo':
from packnet_sfm.datasets.image_based_valeo_dataset import ImageBasedValeoDataset
dataset = ImageBasedValeoDataset(
config.path[i],
config.split[i],
**dataset_args,
**dataset_args_i,
cameras=config.cameras[i],
)
else:
ValueError('Unknown dataset %d' % config.dataset[i])
# Repeat if needed
if 'repeat' in config and config.repeat[i] > 1:
dataset = ConcatDataset([dataset for _ in range(config.repeat[i])])
datasets.append(dataset)
# Display dataset information
bar = '######### {:>7}'.format(len(dataset))
if 'repeat' in config:
bar += ' (x{})'.format(config.repeat[i])
bar += ': {:<}'.format(path_split)
print0(pcolor(bar, 'yellow'))
# If training, concatenate all datasets into a single one
if mode == 'train':
datasets = [ConcatDataset(datasets)]
return datasets
def setup_dataset(config, mode, requirements, **kwargs):
"""
Create a dataset class
Parameters
----------
config : CfgNode
Configuration (cf. configs/default_config.py)
mode : str {'train', 'validation', 'test'}
Mode from which we want the dataset
requirements : dict (string -> bool)
Different requirements for dataset loading (gt_depth, gt_pose, etc)
kwargs : dict
Extra parameters for dataset creation
Returns
-------
dataset : Dataset
Dataset class for that mode
"""
# If no dataset is given, return None
if len(config.path) == 0:
return None
print0(pcolor("###### Setup %s datasets" % mode, "red"))
# Global shared dataset arguments
dataset_args = {
"back_context": config.back_context,
"forward_context": config.forward_context,
"data_transform": get_transforms(mode, **kwargs),
}
# Loop over all datasets
datasets = []
for i in range(len(config.split)):
path_split = os.path.join(config.path[i], config.split[i])
# Individual shared dataset arguments
dataset_args_i = {
"depth_type":
config.depth_type[i] if requirements["gt_depth"] else None,
"with_pose": requirements["gt_pose"],
}
# KITTI dataset
if config.dataset[i] == "KITTI":
from packnet_sfm.datasets.kitti_dataset import KITTIDataset
dataset = KITTIDataset(
config.path[i],
path_split,
**dataset_args,
**dataset_args_i,
)
# DGP dataset
elif config.dataset[i] == "DGP":
from packnet_sfm.datasets.dgp_dataset import DGPDataset
dataset = DGPDataset(
config.path[i],
config.split[i],
**dataset_args,
**dataset_args_i,
cameras=config.cameras[i],
)
# Image dataset
elif config.dataset[i] == "Image":
from packnet_sfm.datasets.image_dataset import ImageDataset
dataset = ImageDataset(
config.path[i],
config.split[i],
**dataset_args,
**dataset_args_i,
)
else:
ValueError("Unknown dataset %d" % config.dataset[i])
# Repeat if needed
if "repeat" in config and config.repeat[i] > 1:
dataset = ConcatDataset([dataset for _ in range(config.repeat[i])])
datasets.append(dataset)
# Display dataset information
bar = "######### {:>7}".format(len(dataset))
if "repeat" in config:
bar += " (x{})".format(config.repeat[i])
bar += ": {:<}".format(path_split)
print0(pcolor(bar, "yellow"))
# If training, concatenate all datasets into a single one
if mode == "train":
datasets = [ConcatDataset(datasets)]
return datasets
def main(args):
# Initialize horovod
hvd_init()
# Parse arguments
config1, state_dict1 = parse_test_file(args.checkpoint1)
config2, state_dict2 = parse_test_file(args.checkpoint2)
config3, state_dict3 = parse_test_file(args.checkpoint3)
config4, state_dict4 = parse_test_file(args.checkpoint4)
# If no image shape is provided, use the checkpoint one
image_shape = args.image_shape
if image_shape is None:
image_shape = config1.datasets.augmentation.image_shape
# Set debug if requested
set_debug(config1.debug)
# Initialize model wrapper from checkpoint arguments
model_wrapper1 = ModelWrapper(config1, load_datasets=False)
model_wrapper2 = ModelWrapper(config2, load_datasets=False)
model_wrapper3 = ModelWrapper(config3, load_datasets=False)
model_wrapper4 = ModelWrapper(config4, load_datasets=False)
# Restore monodepth_model state
model_wrapper1.load_state_dict(state_dict1)
model_wrapper2.load_state_dict(state_dict2)
model_wrapper3.load_state_dict(state_dict3)
model_wrapper4.load_state_dict(state_dict4)
# change to half precision for evaluation if requested
dtype = torch.float16 if args.half else None
# Send model to GPU if available
if torch.cuda.is_available():
model_wrapper1 = model_wrapper1.to('cuda:{}'.format(rank()),
dtype=dtype)
model_wrapper2 = model_wrapper2.to('cuda:{}'.format(rank()),
dtype=dtype)
model_wrapper3 = model_wrapper3.to('cuda:{}'.format(rank()),
dtype=dtype)
model_wrapper4 = model_wrapper4.to('cuda:{}'.format(rank()),
dtype=dtype)
# Set to eval mode
model_wrapper1.eval()
model_wrapper2.eval()
model_wrapper3.eval()
model_wrapper4.eval()
if os.path.isdir(args.input1):
# If input file is a folder, search for image files
files1 = []
for ext in ['png', 'jpg']:
files1.extend(glob((os.path.join(args.input1,
'*.{}'.format(ext)))))
files1.sort()
print0('Found {} files'.format(len(files1)))
else:
# Otherwise, use it as is
files1 = [args.input1]
if os.path.isdir(args.input2):
# If input file is a folder, search for image files
files2 = []
for ext in ['png', 'jpg']:
files2.extend(glob((os.path.join(args.input2,
'*.{}'.format(ext)))))
files2.sort()
print0('Found {} files'.format(len(files2)))
else:
# Otherwise, use it as is
files2 = [args.input2]
if os.path.isdir(args.input3):
# If input file is a folder, search for image files
files3 = []
for ext in ['png', 'jpg']:
files3.extend(glob((os.path.join(args.input3,
'*.{}'.format(ext)))))
files3.sort()
print0('Found {} files'.format(len(files3)))
else:
# Otherwise, use it as is
files3 = [args.input3]
if os.path.isdir(args.input4):
# If input file is a folder, search for image files
files4 = []
for ext in ['png', 'jpg']:
files4.extend(glob((os.path.join(args.input4,
'*.{}'.format(ext)))))
files4.sort()
print0('Found {} files'.format(len(files4)))
else:
# Otherwise, use it as is
files4 = [args.input4]
n_files = len(files1)
# Process each file
for fn1, fn2, fn3, fn4 in zip(files1[rank()::world_size()],
files2[rank()::world_size()],
files3[rank()::world_size()],
files4[rank()::world_size()]):
infer_plot_and_save_3D_pcl(fn1, fn2, fn3, fn4, args.output1,
args.output2, args.output3, args.output4,
model_wrapper1, model_wrapper2,
model_wrapper3, model_wrapper4,
bool(int(args.hasGTdepth1)),
bool(int(args.hasGTdepth2)),
bool(int(args.hasGTdepth3)),
bool(int(args.hasGTdepth4)), image_shape,
args.half, args.save)
def setup_dataset(config, mode, requirements, **kwargs):
"""
Create a dataset class
Parameters
----------
config : CfgNode
Configuration (cf. configs/default_config.py)
mode : str {'train', 'validation', 'test'}
Mode from which we want the dataset
requirements : dict (string -> bool)
Different requirements for dataset loading (gt_depth, gt_pose, etc)
kwargs : dict
Extra parameters for dataset creation
Returns
-------
dataset : Dataset
Dataset class for that mode
"""
# If no dataset is given, return None
if len(config.path) == 0:
return None
print0(pcolor('###### Setup %s datasets' % mode, 'red'))
# Global shared dataset arguments
dataset_args = {
'back_context': config.back_context,
'forward_context': config.forward_context,
'data_transform': get_transforms(mode, **kwargs)
}
# Loop over all datasets
datasets = []
for i in range(len(config.split)):
path_split = os.path.join(config.path[i], config.split[i])
# Individual shared dataset arguments
dataset_args_i = {
'depth_type': config.depth_type[i] if 'gt_depth' in requirements else None,
'input_depth_type': config.input_depth_type[i] if 'gt_depth' in requirements else None,
'with_pose': 'gt_pose' in requirements,
}
# KITTI dataset
if config.dataset[i] == 'KITTI':
from packnet_sfm.datasets.kitti_dataset import KITTIDataset
dataset = KITTIDataset(
config.path[i], path_split,
**dataset_args, **dataset_args_i,
)
# DGP dataset
elif config.dataset[i] == 'DGP':
from packnet_sfm.datasets.dgp_dataset import DGPDataset
dataset = DGPDataset(
config.path[i], config.split[i],
**dataset_args, **dataset_args_i,
cameras=config.cameras[i],
)
# Image dataset
elif config.dataset[i] == 'Image':
from packnet_sfm.datasets.image_dataset import ImageDataset
dataset = ImageDataset(
config.path[i], config.split[i],
**dataset_args, **dataset_args_i,
)
else:
ValueError('Unknown dataset %d' % config.dataset[i])
# Repeat if needed
if 'repeat' in config and config.repeat[i] > 1:
dataset = ConcatDataset([dataset for _ in range(config.repeat[i])])
datasets.append(dataset)
# Display dataset information
bar = '######### {:>7}'.format(len(dataset))
if 'repeat' in config:
bar += ' (x{})'.format(config.repeat[i])
bar += ': {:<}'.format(path_split)
print0(pcolor(bar, 'yellow'))
# If training, concatenate all datasets into a single one
if mode == 'train':
datasets = [ConcatDataset(datasets)]
return datasets
def main(args):
# Initialize horovod
hvd_init()
# Parse arguments
config, state_dict = parse_test_file(args.checkpoint)
# If no image shape is provided, use the checkpoint one
image_shape = args.image_shape
if image_shape is None:
image_shape = config.datasets.augmentation.image_shape
# Set debug if requested
set_debug(config.debug)
# Initialize model wrapper from checkpoint arguments
model_wrapper = ModelWrapper(config, load_datasets=False)
# Restore monodepth_model state
model_wrapper.load_state_dict(state_dict)
# change to half precision for evaluation if requested
dtype = torch.float16 if args.half else None
# Send model to GPU if available
if torch.cuda.is_available():
model_wrapper = model_wrapper.to('cuda:{}'.format(rank()), dtype=dtype)
# Set to eval mode
model_wrapper.eval()
if os.path.isdir(args.input):
# If input file is a folder, search for image files
files = []
for ext in ['png', 'jpg']:
files.extend(glob((os.path.join(args.input, '*.{}'.format(ext)))))
files.sort()
print0('Found {} files'.format(len(files)))
else:
raise RuntimeError("Input needs directory, not file")
if not os.path.isdir(args.output):
root, file_name = os.path.split(args.output)
os.makedirs(root, exist_ok=True)
else:
raise RuntimeError("Output needs to be a file")
# Process each file
list_of_files = list(zip(files[rank() :-2:world_size()],
files[rank()+1:-1:world_size()],
files[rank()+2: :world_size()]))
if args.offset:
list_of_files = list_of_files[args.offset:]
if args.limit:
list_of_files = list_of_files[:args.limit]
for fn1, fn2, fn3 in list_of_files:
infer_and_save_pose([fn1, fn3], fn2, model_wrapper, image_shape, args.half, args.save)
position = np.zeros(3)
orientation = np.eye(3)
f = open(args.output + ".txt", 'w')
for key in sorted(poses.keys()):
rot_matrix, translation = poses[key]
# print(rot_matrix, translation)
# print("orientation, position")
orientation = orientation.dot(rot_matrix.tolist())
position += orientation.dot(translation.tolist())
# print(torch.tensor(orientation))
q = transforms.matrix_to_quaternion(torch.tensor(orientation))
q = q.numpy()
# print(q[0])
# print(position)
f.write("%.10f %.10f %.10f %.10f %.10f %.10f %.10f\n" % (position[0], position[1], position[2], q[0][3], q[0][2], q[0][1], q[0][0]))
# f.write("{.10f} {.10f} {.10f} {.10f} {.10f} {.10f} {.10f}"
# .format(position[0], position[1], position[2], q[0][1], q[0][2], q[0][3], q[0][0]))
# poses[key] = {"rot": rot_matrix.tolist(),
# "trans": translation.tolist(),
# "pose": [*orientation[0], position[0],
# *orientation[1], position[1],
# *orientation[2], position[2],
# 0, 0, 0, 1]}
f.close()
# json.dump(poses, open(args.output, "w"), sort_keys=True)
print(f"Written pose of {len(list_of_files)} images to {args.output}")
