def create_data_loaders(args):
# Data loading code
print("=> creating data loaders ...")
traindir = os.path.join('data', args.data, 'train')
valdir = os.path.join('data', args.data, 'val')
train_loader = None
val_loader = None
# sparsifier is a class for generating random sparse depth input from the ground truth
sparsifier = None
max_depth = args.max_depth if args.max_depth >= 0.0 else np.inf
if args.sparsifier == UniformSampling.name:
sparsifier = UniformSampling(num_samples=args.num_samples, max_depth=max_depth)
elif args.sparsifier == SimulatedStereo.name:
sparsifier = SimulatedStereo(num_samples=args.num_samples, max_depth=max_depth)
'''
if args.data == 'nyudepthv2':
from dataloaders.nyu_dataloader import NYUDataset
if not args.evaluate:
train_dataset = NYUDataset(traindir, type='train',
modality=args.modality, sparsifier=sparsifier)
val_dataset = NYUDataset(valdir, type='val',
modality=args.modality, sparsifier=sparsifier)
'''
if args.data == 'nyudepthv2':
from dataloaders.nyu_dataloader import NYUDataset
if not args.evaluate:
train_dataset = NYUDataset('nyu_depth_v2_labeled.mat',type = 'train',
modality=args.modality, sparsifier=sparsifier, lists = train_lists)
val_dataset = NYUDataset('nyu_depth_v2_labeled.mat', type = 'val', modality = args.modality, sparsifier = sparsifier, lists = val_lists)
elif args.data == 'kitti':
from dataloaders.kitti_dataloader import KITTIDataset
if not args.evaluate:
train_dataset = KITTIDataset(traindir, type='train',
modality=args.modality, sparsifier=sparsifier)
val_dataset = KITTIDataset(valdir, type='val',
modality=args.modality, sparsifier=sparsifier)
else:
raise RuntimeError('Dataset not found.' +
'The dataset must be either of nyudepthv2 or kitti.')
# set batch size to be 1 for validation
val_loader = torch.utils.data.DataLoader(val_dataset,
batch_size=1, shuffle=False, num_workers=args.workers, pin_memory=True)
# put construction of train loader here, for those who are interested in testing only
if not args.evaluate:
train_loader = torch.utils.data.DataLoader(
train_dataset, batch_size=args.batch_size, shuffle=True,
num_workers=args.workers, pin_memory=True, sampler=None,
worker_init_fn=lambda work_id:np.random.seed(work_id))
# worker_init_fn ensures different sampling patterns for each data loading thread
print("=> data loaders created.")
return train_loader, val_loader
def main():
global args, best_result, output_directory, train_csv, test_csv
# Data loading code
print("=> creating data loaders...")
valdir = os.path.join('..', 'data', args.data, 'val')
if args.data == 'nyudepthv2':
from dataloaders.nyu import NYUDataset
val_dataset = NYUDataset(valdir, split='val', modality=args.modality)
elif args.data == 'kitti':
from dataloaders.kitti_dataloader import KITTIDataset
if not args.evaluate:
train_dataset = KITTIDataset(traindir,
type='train',
modality=args.modality,
sparsifier=sparsifier)
val_dataset = KITTIDataset(valdir,
type='val',
modality=args.modality,
sparsifier=sparsifier)
else:
raise RuntimeError('Dataset not found.')
# set batch size to be 1 for validation
val_loader = torch.utils.data.DataLoader(val_dataset,
batch_size=1,
shuffle=False,
num_workers=args.workers,
pin_memory=True)
print("=> data loaders created.")
assert os.path.isfile(args.evaluate), \
"=> no model found at '{}'".format(args.evaluate)
print("=> loading model '{}'".format(args.evaluate))
checkpoint = torch.load(args.evaluate)
if type(checkpoint) is dict:
args.start_epoch = checkpoint['epoch']
best_result = checkpoint['best_result']
model = checkpoint['model']
print("=> loaded best model (epoch {})".format(checkpoint['epoch']))
else:
model = checkpoint
args.start_epoch = 0
output_directory = os.path.dirname(args.evaluate)
demo(val_loader, model, args.start_epoch, write_to_file=False)
return
def main():
global args, best_result, output_directory, train_csv, test_csv
# create results folder, if not already exists
output_directory = utils.get_output_directory(args)
if not os.path.exists(output_directory):
os.makedirs(output_directory)
train_csv = os.path.join(output_directory, 'train.csv')
test_csv = os.path.join(output_directory, 'test.csv')
best_txt = os.path.join(output_directory, 'best.txt')
# define loss function (criterion) and optimizer
if args.criterion == 'l2':
criterion = criteria.MaskedMSELoss().cuda()
elif args.criterion == 'l1':
criterion = criteria.MaskedL1Loss().cuda()
# sparsifier is a class for generating random sparse depth input from the ground truth
sparsifier = None
max_depth = args.max_depth if args.max_depth >= 0.0 else np.inf
if args.sparsifier == UniformSampling.name:
sparsifier = UniformSampling(num_samples=args.num_samples,
max_depth=max_depth)
elif args.sparsifier == SimulatedStereo.name:
sparsifier = SimulatedStereo(num_samples=args.num_samples,
max_depth=max_depth)
# Data loading code
print("=> creating data loaders ...")
traindir = os.path.join('data', args.data, 'train')
valdir = os.path.join('data', args.data, 'val')
if args.data == 'nyudepthv2':
from dataloaders.nyu_dataloader import NYUDataset
train_dataset = NYUDataset(traindir,
type='train',
modality=args.modality,
sparsifier=sparsifier)
val_dataset = NYUDataset(valdir,
type='val',
modality=args.modality,
sparsifier=sparsifier)
elif args.data == 'kitti':
from dataloaders.kitti_dataloader import KITTIDataset
train_dataset = KITTIDataset(traindir,
type='train',
modality=args.modality,
sparsifier=sparsifier)
val_dataset = KITTIDataset(valdir,
type='val',
modality=args.modality,
sparsifier=sparsifier)
else:
raise RuntimeError(
'Dataset not found.' +
'The dataset must be either of nyudepthv2 or kitti.')
train_loader = torch.utils.data.DataLoader(train_dataset,
batch_size=args.batch_size,
shuffle=True,
num_workers=args.workers,
pin_memory=True,
sampler=None)
# set batch size to be 1 for validation
val_loader = torch.utils.data.DataLoader(val_dataset,
batch_size=1,
shuffle=False,
num_workers=args.workers,
pin_memory=True)
print("=> data loaders created.")
# evaluation mode
if args.evaluate:
best_model_filename = os.path.join(output_directory,
'model_best.pth.tar')
assert os.path.isfile(best_model_filename), \
"=> no best model found at '{}'".format(best_model_filename)
print("=> loading best model '{}'".format(best_model_filename))
checkpoint = torch.load(best_model_filename)
args.start_epoch = checkpoint['epoch']
best_result = checkpoint['best_result']
model = checkpoint['model']
print("=> loaded best model (epoch {})".format(checkpoint['epoch']))
validate(val_loader, model, checkpoint['epoch'], write_to_file=False)
return
# optionally resume from a checkpoint
elif args.resume:
assert os.path.isfile(args.resume), \
"=> no checkpoint found at '{}'".format(args.resume)
print("=> loading checkpoint '{}'".format(args.resume))
checkpoint = torch.load(args.resume)
args.start_epoch = checkpoint['epoch'] + 1
best_result = checkpoint['best_result']
model = checkpoint['model']
optimizer = checkpoint['optimizer']
print("=> loaded checkpoint (epoch {})".format(checkpoint['epoch']))
# create new model
else:
# define model
print("=> creating Model ({}-{}) ...".format(args.arch, args.decoder))
in_channels = len(args.modality)
if args.arch == 'resnet50':
model = ResNet(layers=50,
decoder=args.decoder,
output_size=train_dataset.output_size,
in_channels=in_channels,
pretrained=args.pretrained)
elif args.arch == 'resnet18':
model = ResNet(layers=18,
decoder=args.decoder,
output_size=train_dataset.output_size,
in_channels=in_channels,
pretrained=args.pretrained)
print("=> model created.")
optimizer = torch.optim.SGD(model.parameters(), args.lr, \
momentum=args.momentum, weight_decay=args.weight_decay)
# create new csv files with only header
with open(train_csv, 'w') as csvfile:
writer = csv.DictWriter(csvfile, fieldnames=fieldnames)
writer.writeheader()
with open(test_csv, 'w') as csvfile:
writer = csv.DictWriter(csvfile, fieldnames=fieldnames)
writer.writeheader()
# model = torch.nn.DataParallel(model).cuda() # for multi-gpu training
model = model.cuda()
# print(model)
print("=> model transferred to GPU.")
for epoch in range(args.start_epoch, args.epochs):
utils.adjust_learning_rate(optimizer, epoch, args.lr)
train(train_loader, model, criterion, optimizer,
epoch) # train for one epoch
result, img_merge = validate(val_loader, model,
epoch) # evaluate on validation set
# remember best rmse and save checkpoint
is_best = result.rmse < best_result.rmse
if is_best:
best_result = result
with open(best_txt, 'w') as txtfile:
txtfile.write(
"epoch={}\nmse={:.3f}\nrmse={:.3f}\nabsrel={:.3f}\nlg10={:.3f}\nmae={:.3f}\ndelta1={:.3f}\nt_gpu={:.4f}\n"
.format(epoch, result.mse, result.rmse, result.absrel,
result.lg10, result.mae, result.delta1,
result.gpu_time))
if img_merge is not None:
img_filename = output_directory + '/comparison_best.png'
utils.save_image(img_merge, img_filename)
utils.save_checkpoint(
{
'args': args,
'epoch': epoch,
'arch': args.arch,
'model': model,
'best_result': best_result,
'optimizer': optimizer,
}, is_best, epoch, output_directory)
from dataloaders.nyu_dataloader import NYUDataset
from dataloaders.kitti_dataloader import KITTIDataset
from dataloaders.dense_to_sparse import UniformSampling, SimulatedStereo
import numpy as np
import random
import torch
import cv2
if __name__ == '__main__':
train_opt = AdvanceOptions().parse(True)
# The SimulatedStereo class is also provided to subsample to stereo points
sparsifier = UniformSampling(train_opt.nP, max_depth=np.inf)
train_dataset = KITTIDataset(train_opt.train_path,
type='train',
modality='rgbdm',
sparsifier=sparsifier)
test_dataset = KITTIDataset(train_opt.test_path,
type='val',
modality='rgbdm',
sparsifier=sparsifier)
## Please use this dataloder if you want to use NYU
# train_dataset = NYUDataset(train_opt.train_path, type='train',
# modality='rgbdm', sparsifier=sparsifier)
## Please use this dataloder if you want to use NYU
# test_dataset = NYUDataset(train_opt.test_path, type='val',
# modality='rgbdm', sparsifier=sparsifier)
train_data_loader = torch.utils.data.DataLoader(
train_dataset,
batch_size=train_opt.batch_size,
def create_data_loaders(args):
# Data loading code
print("=> creating data loaders ...")
traindir = os.path.join('data', args.data, 'train')
valdir = os.path.join('data', args.data, 'val')
train_loader = None
val_loader = None
# sparsifier is a class for generating random sparse depth input from the ground truth
sparsifier = None
max_depth = args.max_depth if args.max_depth >= 0.0 else np.inf
if args.sparsifier == SimulatedCameraNoise.name:
sparsifier = SimulatedCameraNoise(args.sparsemodel, 100)
elif args.sparsifier == AlgorithmicNoise.name:
sparsifier = AlgorithmicNoise()
elif args.sparsifier == UniformSampling.name:
sparsifier = UniformSampling(num_samples=args.num_samples,
max_depth=max_depth)
elif args.sparsifier == SimulatedStereo.name:
sparsifier = SimulatedStereo(num_samples=args.num_samples,
max_depth=max_depth)
if args.data == 'nyudepthv2' or args.data == 'gt_nyudepthv2':
from dataloaders.DepthNoise_DataLoader import DepthNoiseDataset
if not args.evaluate:
train_dataset = DepthNoiseDataset(traindir, type='train',
sparsifier=sparsifier, num_augmented=args.numaugmented,
sample_cap=args.samplecap, scene_cap=args.scenecap,
sim_offline=args.simoffline)
val_dataset = DepthNoiseDataset(valdir, type='val',
sparsifier=None, num_augmented=0, sample_cap=1, scene_cap=-1)
elif args.data == 'kitti':
from dataloaders.kitti_dataloader import KITTIDataset
if not args.evaluate:
train_dataset = KITTIDataset(traindir, type='train',
modality=args.modality, sparsifier=sparsifier)
val_dataset = KITTIDataset(valdir, type='val',
modality=args.modality, sparsifier=sparsifier)
else:
print("Uknown dataset. Attempting to load as D415 or D435.")
from dataloaders.DepthNoise_DataLoader import DepthNoiseDataset
if not args.evaluate:
train_dataset = DepthNoiseDataset(traindir, type='train',
sparsifier=sparsifier, num_augmented=args.numaugmented,
sample_cap=args.samplecap, scene_cap=args.scenecap,
sim_offline=args.simoffline)
val_dataset = DepthNoiseDataset(valdir, type='val',
sparsifier=None, num_augmented=0, sample_cap=1, scene_cap=-1)
# set batch size to be 1 for validation
val_loader = torch.utils.data.DataLoader(val_dataset,
batch_size=1, shuffle=False, num_workers=args.workers, pin_memory=True)
# put construction of train loader here, for those who are interested in testing only
if not args.evaluate:
train_loader = torch.utils.data.DataLoader(
train_dataset, batch_size=args.batch_size, shuffle=True,
num_workers=args.workers, pin_memory=True, sampler=None,
worker_init_fn=lambda work_id:np.random.seed(work_id))
# worker_init_fn ensures different sampling patterns for each data loading thread
print("=> data loaders created.")
return train_loader, val_loader