def main():
import argparse
print('Parsing the arguments...')
parser = argparse.ArgumentParser()
# exp name #
parser.add_argument(
'--exp_name',
required=True,
type=str,
help='The name of the experiment. Used to naming the folders')
# about testing #
parser.add_argument('--img_name_pattern',
type=str,
default='*.png',
help='image name pattern')
parser.add_argument('--model_path',
type=str,
default='.',
help='The pre-trained model path for KV-net')
parser.add_argument('--split_file',
type=str,
default='.',
help='The split txt file')
parser.add_argument('--t_win',
type=int,
default=2,
help='The radius of the temporal window; default=2')
parser.add_argument('--d_min',
type=float,
default=0,
help='The minimal depth value; default=0')
parser.add_argument('--d_max',
type=float,
default=5,
help='The maximal depth value; default=15')
parser.add_argument('--ndepth',
type=int,
default=64,
help='The # of candidate depth values; default= 128')
parser.add_argument('--sigma_soft_max',
type=float,
default=10.,
help='sigma_soft_max, default = 500.')
parser.add_argument(
'--feature_dim',
type=int,
default=64,
help='The feature dimension for the feature extractor; default=64')
# about pose #
parser.add_argument('--intrin_path',
type=str,
required=True,
help='camera intrinic path, saved as .mat')
parser.add_argument(
'--dso_res_path',
type=str,
default='dso_res/result_dso.txt',
help=
'if use DSO pose, specify the path to the DSO results. Should be a .txt file'
)
parser.add_argument('--opt_next_frame', action='store_true', help='')
parser.add_argument('--use_gt_R', action='store_true', help='')
parser.add_argument('--use_gt_t', action='store_true', help='')
parser.add_argument('--use_dso_R', action='store_true', help='')
parser.add_argument('--use_dso_t', action='store_true', help='')
parser.add_argument('--min_frame_idx', type=int, help=' ', default=0)
parser.add_argument('--max_frame_idx', type=int, help=' ', default=10000)
parser.add_argument('--refresh_frames', type=int, help=' ', default=1000)
parser.add_argument('--LBA_max_iter', type=int, help=' ')
parser.add_argument('--opt_r', type=int, default=1, help=' ')
parser.add_argument('--opt_t', type=int, default=1, help=' ')
parser.add_argument('--LBA_step', type=float, help=' ')
parser.add_argument('--frame_interv', type=int, default=5, help=' ')
# about dataset #
parser.add_argument('--dataset',
type=str,
default='7scenes',
help='Dataset name: {scanNet, 7scenes}')
parser.add_argument('--dataset_path',
type=str,
default='.',
help='Path to the dataset')
# about output #
parser.add_argument('--output_pngs',
action='store_true',
help='if output pngs')
# para config. #
args = parser.parse_args()
exp_name = args.exp_name
dataset_name = args.dataset
t_win_r = args.t_win
nDepth = args.ndepth
d_candi = np.linspace(args.d_min, args.d_max, nDepth)
sigma_soft_max = args.sigma_soft_max #10.#500.
dnet_feature_dim = args.feature_dim
frame_interv = args.frame_interv
d_candi_dmap_ref = d_candi
nDepth_dmap_ref = nDepth
# Initialize data-loader, model and optimizer #
# ===== Dataset selection ======== #
dataset_path = args.dataset_path
if dataset_name == 'scanNet':
# deal with 1-frame scanNet data
import mdataloader.scanNet as dl_scanNet
dataset_init = dl_scanNet.ScanNet_dataset
split_txt = './mdataloader/scanNet_split/scannet_val.txt' if args.split_file == '.' else args.split_file
if not dataset_path == '.':
# if specify the path, we will assume we are using 1-frame-interval scanNet video #
fun_get_paths = lambda traj_indx: dl_scanNet.get_paths_1frame(
traj_indx,
database_path_base=dataset_path,
split_txt=split_txt)
dat_indx_step = 5 #pick this value to make sure the camera baseline is big enough
else:
fun_get_paths = lambda traj_indx: dl_scanNet.get_paths(
traj_indx, frame_interv=5, split_txt=split_txt)
dat_indx_step = 1
img_size = [384, 256]
# trajectory index for training #
n_scenes, _, _, _, _ = fun_get_paths(0)
traj_Indx = np.arange(0, n_scenes)
elif dataset_name == '7scenes':
# 7 scenes video #
import mdataloader.dl_7scenes as dl_7scenes
img_size = [384, 256]
dataset_init = dl_7scenes.SevenScenesDataset
dat_indx_step = 5 # pick this value to make sure the camera baseline is big enough
# trajectory index for training #
split_file = None if args.split_file == '.' else args.split_file
fun_get_paths = lambda traj_indx: dl_7scenes.get_paths_1frame(
traj_indx,
database_path_base=dataset_path,
split_txt=split_file,
)
elif dataset_name == 'single_folder':
# images in a single folder specified by the user #
import mdataloader.mdata as mdata
img_size = [384, 256]
dataset_init = mdata.mData
dat_indx_step = 5 # pick this value to make sure the camera baseline is big enough
fun_get_paths = lambda traj_indx: mdata.get_paths_1frame(
traj_indx, dataset_path, args.img_name_pattern)
traj_Indx = [0] #dummy
fldr_path, img_paths, dmap_paths, poses, intrin_path = fun_get_paths(
traj_Indx[0])
if dataset_name == 'single_folder':
intrin_path = args.intrin_path
dataset = dataset_init(
True,
img_paths,
dmap_paths,
poses,
intrin_path=intrin_path,
img_size=img_size,
digitize=True,
d_candi=d_candi_dmap_ref,
resize_dmap=.25,
)
dataset_Himgsize = dataset_init(
True,
img_paths,
dmap_paths,
poses,
intrin_path=intrin_path,
img_size=img_size,
digitize=True,
d_candi=d_candi_dmap_ref,
resize_dmap=.5,
)
dataset_imgsize = dataset_init(
True,
img_paths,
dmap_paths,
poses,
intrin_path=intrin_path,
img_size=img_size,
digitize=True,
d_candi=d_candi_dmap_ref,
resize_dmap=1,
)
# ================================ #
print('Initnializing the KV-Net')
model_KVnet = m_kvnet.KVNET(\
feature_dim = dnet_feature_dim,
cam_intrinsics = dataset.cam_intrinsics,
d_candi = d_candi, sigma_soft_max = sigma_soft_max,
KVNet_feature_dim = dnet_feature_dim,
d_upsample_ratio_KV_net = None,
t_win_r = t_win_r, if_refined = True)
model_KVnet = torch.nn.DataParallel(model_KVnet)
model_KVnet.cuda()
model_path_KV = args.model_path
print('loading KV_net at %s' % (model_path_KV))
utils_model.load_pretrained_model(model_KVnet, model_path_KV)
print('Done')
for traj_idx in traj_Indx:
scene_path_info = []
print('Getting the paths for traj_%d' % (traj_idx))
fldr_path, img_seq_paths, dmap_seq_paths, poses, intrin_path = fun_get_paths(
traj_idx)
res_fldr = '../results/%s/traj_%d' % (exp_name, traj_idx)
m_misc.m_makedir(res_fldr)
dataset.set_paths(img_seq_paths, dmap_seq_paths, poses)
if dataset_name == 'scanNet':
# the camera intrinsic may be slightly different for different trajectories in scanNet #
dataset.get_cam_intrinsics(intrin_path)
print('Done')
if args.min_frame_idx > 0:
frame_idxs = np.arange(args.min_frame_idx - t_win_r,
args.min_frame_idx + t_win_r)
dat_array = [dataset[idx] for idx in frame_idxs]
else:
dat_array = [dataset[idx] for idx in range(t_win_r * 2 + 1)]
DMaps_meas = []
dso_res_path = args.dso_res_path
print('init initial pose from DSO estimations ...')
traj_extMs = init_traj_extMs(traj_len=len(dataset),
dso_res_path=dso_res_path,
if_filter=True,
min_idx=args.min_frame_idx,
max_idx=args.max_frame_idx)
traj_extMs_init = copy_list(traj_extMs)
traj_length = min(len(dataset), len(traj_extMs))
first_frame = True
for frame_cnt, ref_indx in enumerate(
range(t_win_r * dat_indx_step + args.min_frame_idx,
traj_length - t_win_r * dat_indx_step - dat_indx_step)):
# ref_indx: the frame index for the reference frame #
# Read ref. and src. data in the local time window #
ref_dat, src_dats = m_misc.split_frame_list(dat_array, t_win_r)
src_frame_idx = [ idx for idx in range(
ref_indx - t_win_r * dat_indx_step, ref_indx, dat_indx_step) ] + \
[ idx for idx in range(
ref_indx + dat_indx_step, ref_indx + t_win_r*dat_indx_step+1, dat_indx_step) ]
valid_seq = dso_io.valid_poses(traj_extMs, src_frame_idx)
# only look at a subset of frames #
if ref_indx < args.min_frame_idx:
valid_seq = False
if ref_indx > args.max_frame_idx or ref_indx >= traj_length - t_win_r * dat_indx_step - dat_indx_step:
break
if frame_cnt == 0 or valid_seq is False:
BVs_predict = None
# refresh #
if ref_indx % args.refresh_frames == 0:
print('REFRESH !')
BVs_predict = None
BVs_predict_in = None
first_frame = True
traj_extMs = copy_list(traj_extMs_init)
if valid_seq: # if the sequence does not contain invalid pose estimation
# Get poses #
src_cam_extMs = [traj_extMs[i] for i in src_frame_idx]
ref_cam_extM = traj_extMs[ref_indx]
src_cam_poses = [
warp_homo.get_rel_extrinsicM(ref_cam_extM, src_cam_extM_)
for src_cam_extM_ in src_cam_extMs
]
src_cam_poses = [
torch.from_numpy(pose.astype(
np.float32)).cuda().unsqueeze(0)
for pose in src_cam_poses
]
# Load the gt pose if available #
if 'extM' in dataset[0]:
src_cam_extMs_ref = [
dataset[i]['extM'] for i in src_frame_idx
]
ref_cam_extM_ref = dataset[ref_indx]['extM']
src_cam_poses_ref = [ warp_homo.get_rel_extrinsicM(ref_cam_extM_ref, src_cam_extM_) \
for src_cam_extM_ in src_cam_extMs_ref ]
src_cam_poses_ref = [ torch.from_numpy(pose.astype(np.float32)).cuda().unsqueeze(0) \
for pose in src_cam_poses_ref ]
# -- Determine the scale, mapping from DSO scale to our working scale -- #
if frame_cnt == 0 or BVs_predict is None: # the first window for the traj.
_, t_norm_single = get_fb(src_cam_poses,
dataset.cam_intrinsics,
src_cam_pose_next=None)
# We need to heurisitcally determine scale_ without using GT pose #
t_norms = get_t_norms(traj_extMs, dat_indx_step)
scale_ = d_candi.max() / (
dataset.cam_intrinsics['focal_length'] *
np.array(t_norm_single).max() / 2)
scale_ = d_candi.max() / (
dataset.cam_intrinsics['focal_length'] *
np.array(t_norms).max())
scale_ = d_candi.max() / (
dataset.cam_intrinsics['focal_length'] *
np.array(t_norms).mean() / 2)
rescale_traj_t(traj_extMs, scale_)
traj_extMs_dso = copy_list(traj_extMs)
# Get poses #
src_cam_extMs = [traj_extMs[i] for i in src_frame_idx]
ref_cam_extM = traj_extMs[ref_indx]
src_cam_poses = [
warp_homo.get_rel_extrinsicM(ref_cam_extM,
src_cam_extM_)
for src_cam_extM_ in src_cam_extMs
]
src_cam_poses = [
torch.from_numpy(pose.astype(
np.float32)).cuda().unsqueeze(0)
for pose in src_cam_poses
]
# src_cam_poses size: N V 4 4 #
src_cam_poses = torch.cat(src_cam_poses, dim=0).unsqueeze(0)
src_frames = [m_misc.get_entries_list_dict(src_dats, 'img')]
cam_pose_next = traj_extMs[ref_indx + 1]
cam_pose_next = torch.FloatTensor(
warp_homo.get_rel_extrinsicM(traj_extMs[ref_indx],
cam_pose_next)).cuda()
BVs_predict_in = None if frame_cnt == 0 or BVs_predict is None \
else BVs_predict
BVs_measure, BVs_predict = test_KVNet.test(
model_KVnet,
d_candi,
Ref_Dats=[ref_dat],
Src_Dats=[src_dats],
Cam_Intrinsics=[dataset.cam_intrinsics],
t_win_r=t_win_r,
Src_CamPoses=src_cam_poses,
BV_predict=BVs_predict_in,
R_net=True,
cam_pose_next=cam_pose_next,
ref_indx=ref_indx)
# export_res.export_res_refineNet(ref_dat, BVs_measure, d_candi_dmap_ref,
# res_fldr, ref_indx,
# save_mat = True, output_pngs = args.output_pngs, output_dmap_ref=False)
export_res.export_res_img(ref_dat, BVs_measure,
d_candi_dmap_ref, res_fldr,
frame_cnt)
scene_path_info.append(
[frame_cnt, dataset[ref_indx]['img_path']])
# UPDATE dat_array #
if dat_indx_step > 1: # use one-interval video and the frame interval is larger than 5
print('updating array ...')
dat_array = update_dat_array(dat_array,
dataset,
data_interv=1,
frame_interv=5,
ref_indx=ref_indx,
t_win_r=t_win_r)
print('done')
else:
dat_array.pop(0)
new_dat = dataset[ref_indx + t_win_r + 1]
dat_array.append(new_dat)
# OPTMIZE POSES #
idx_ref_ = ref_indx + 1
cam_pose_nextframe = traj_extMs[idx_ref_]
cam_pose_nextframe = torch.FloatTensor(
warp_homo.get_rel_extrinsicM(traj_extMs[ref_indx],
cam_pose_nextframe)).cuda()
# get depth and confidence map #
BV_tmp_ = warp_homo.resample_vol_cuda(\
src_vol = BVs_measure, rel_extM = cam_pose_nextframe.inverse(),
cam_intrinsic = dataset_imgsize.cam_intrinsics,
d_candi = d_candi, d_candi_new = d_candi,
padding_value = math.log(1. / float(len(d_candi)))
).clamp(max=0, min=-1000.)
dmap_ref = m_misc.depth_val_regression(BVs_measure,
d_candi,
BV_log=True).squeeze()
conf_map_ref, _ = torch.max(BVs_measure.squeeze(), dim=0)
dmap_kf = m_misc.depth_val_regression(BV_tmp_.unsqueeze(0),
d_candi,
BV_log=True).squeeze()
conf_map_kf, _ = torch.max(BV_tmp_.squeeze(), dim=0)
# setup optimization #
cams_intrin = [
dataset.cam_intrinsics, dataset_Himgsize.cam_intrinsics,
dataset_imgsize.cam_intrinsics
]
dw_scales = [4, 2, 1]
LBA_max_iter = args.LBA_max_iter #10 # 20
LBA_step = args.LBA_step #.05 #.01
if LBA_max_iter <= 1: # do not do optimization
LBA_step = 0.
opt_vars = [args.opt_r, args.opt_t]
# initialization for the first time window #
if first_frame:
first_frame = False
# optimize the pose for all frames within the window #
if LBA_max_iter <= 1: # for debugging: using GT pose initialization #
rel_pose_inits_all_frame, srcs_idx_all_frame = m_misc.get_twin_rel_pose(
traj_extMs,
idx_ref_,
t_win_r * dat_indx_step,
1,
use_gt_R=True,
use_gt_t=True,
dataset=dataset,
add_noise_gt=False,
noise_sigmas=None)
else:
rel_pose_inits_all_frame, srcs_idx_all_frame = m_misc.get_twin_rel_pose(
traj_extMs,
ref_indx,
t_win_r * dat_indx_step,
1,
use_gt_R=False,
use_gt_t=False,
dataset=dataset,
)
# opt. #
img_ref = dataset[ref_indx]['img']
imgs_src = [dataset[i]['img'] for i in srcs_idx_all_frame]
conf_map_ref = torch.exp(conf_map_ref).squeeze()**2
rel_pose_opt = opt_pose_numerical.local_BA_direct(
img_ref,
imgs_src,
dmap_ref.unsqueeze(0).unsqueeze(0),
conf_map_ref.unsqueeze(0).unsqueeze(0),
cams_intrin,
dw_scales,
rel_pose_inits_all_frame,
max_iter=LBA_max_iter,
step=LBA_step,
opt_vars=opt_vars)
# update #
for idx, srcidx in enumerate(srcs_idx_all_frame):
traj_extMs[srcidx] = np.matmul(
rel_pose_opt[idx].cpu().numpy(),
traj_extMs[ref_indx])
# for next frame #
if LBA_max_iter <= 1: # for debugging: using GT pose init.
rel_pose_opt, srcs_idx = m_misc.get_twin_rel_pose(
traj_extMs,
idx_ref_,
t_win_r,
dat_indx_step,
use_gt_R=True,
use_gt_t=True,
dataset=dataset,
add_noise_gt=False,
noise_sigmas=None,
)
else:
rel_pose_inits, srcs_idx = m_misc.get_twin_rel_pose(
traj_extMs,
idx_ref_,
t_win_r,
dat_indx_step,
use_gt_R=args.use_gt_R,
use_dso_R=args.use_dso_R,
use_gt_t=args.use_gt_t,
use_dso_t=args.use_dso_t,
dataset=dataset,
traj_extMs_dso=traj_extMs_dso,
opt_next_frame=args.opt_next_frame)
img_ref = dataset[idx_ref_]['img']
_, src_dats_opt = m_misc.split_frame_list(
dat_array, t_win_r)
imgs_src = [dat_['img'] for dat_ in src_dats_opt]
img_ref = dataset[idx_ref_]['img']
imgs_src = [dataset[i] for i in srcs_idx]
imgs_src = [img_['img'] for img_ in imgs_src]
# opt. #
conf_map_kf = torch.exp(conf_map_kf).squeeze()**2
rel_pose_opt = \
opt_pose_numerical.local_BA_direct_parallel(
img_ref, imgs_src,
dmap_kf.unsqueeze(0).unsqueeze(0),
conf_map_kf.unsqueeze(0).unsqueeze(0), cams_intrin,
dw_scales, rel_pose_inits, max_iter = LBA_max_iter,
step = LBA_step, opt_vars = opt_vars)
# update #
print('idx_ref_: %d' % (idx_ref_))
print('srcs_idx : ')
print(srcs_idx)
print('updating pose ...')
for idx, srcidx in enumerate(srcs_idx):
traj_extMs[srcidx] = np.matmul(
rel_pose_opt[idx].cpu().numpy(), traj_extMs[idx_ref_])
print('done')
else: # if the sequence contains invalid pose estimation
BVs_predict = None
print('frame_cnt :%d, include invalid poses' % (frame_cnt))
# UPDATE dat_array #
if dat_indx_step > 1: # use one-interval video and the frame interval is larger than 5
print('updating array ...')
dat_array = update_dat_array(dat_array,
dataset,
data_interv=1,
frame_interv=5,
ref_indx=ref_indx,
t_win_r=t_win_r)
print('done')
else:
dat_array.pop(0)
new_dat = dataset[ref_indx + t_win_r + 1]
dat_array.append(new_dat)
m_misc.save_ScenePathInfo('%s/scene_path_info.txt' % (res_fldr),
scene_path_info)
def main():
import argparse
print('Parsing the arguments...')
parser = argparse.ArgumentParser()
# exp name #
parser.add_argument(
'--exp_name',
required=True,
type=str,
help='The name of the experiment. Used to naming the folders')
# about testing #
parser.add_argument('--model_path',
type=str,
required=True,
help='The pre-trained model path for KV-net')
parser.add_argument('--split_file',
type=str,
required=True,
help='The split txt file')
parser.add_argument('--frame_interv',
default=5,
type=int,
help='frame interval')
parser.add_argument('--t_win',
type=int,
default=2,
help='The radius of the temporal window; default=2')
parser.add_argument('--d_min',
type=float,
default=0,
help='The minimal depth value; default=0')
parser.add_argument('--d_max',
type=float,
default=5,
help='The maximal depth value; default=15')
parser.add_argument('--ndepth',
type=int,
default=64,
help='The # of candidate depth values; default= 128')
parser.add_argument('--sigma_soft_max',
type=float,
default=10.,
help='sigma_soft_max, default = 500.')
parser.add_argument(
'--feature_dim',
type=int,
default=64,
help='The feature dimension for the feature extractor; default=64')
# about dataset #
parser.add_argument('--dataset',
type=str,
default='scanNet',
help='Dataset name: {scanNet, 7scenes, kitti}')
parser.add_argument('--dataset_path',
type=str,
default='.',
help='Path to the dataset')
parser.add_argument(
'--change_aspect_ratio',
action='store_true',
default=False,
help=
'If we want to change the aspect ratio. This option is only useful for KITTI'
)
# parsing parameters #
args = parser.parse_args()
exp_name = args.exp_name
dataset_name = args.dataset
t_win_r = args.t_win
nDepth = args.ndepth
d_candi = np.linspace(args.d_min, args.d_max, nDepth)
sigma_soft_max = args.sigma_soft_max #10.#500.
dnet_feature_dim = args.feature_dim
frame_interv = args.frame_interv # should be multiple of 5 for scanNet dataset
d_upsample = None
d_candi_dmap_ref = d_candi
nDepth_dmap_ref = nDepth
# ===== Dataset selection ======== #
dataset_path = args.dataset_path
if dataset_name == 'scanNet':
import mdataloader.scanNet as dl_scanNet
dataset_init = dl_scanNet.ScanNet_dataset
fun_get_paths = lambda traj_indx: dl_scanNet.get_paths(
traj_indx,
frame_interv=5,
split_txt=split_file,
database_path_base=dataset_path)
img_size = [384, 256]
# trajectory index for testing #
n_scenes, _, _, _, _ = fun_get_paths(0)
traj_Indx = np.arange(0, n_scenes)
elif dataset_name == '7scenes':
# 7 scenes video #
import mdataloader.dl_7scenes as dl_7scenes
dataset_init = dl_7scenes.SevenScenesDataset
dat_indx_step = 3
split_file = None if args.split_file == '.' else args.split_file
fun_get_paths = lambda traj_indx: dl_7scenes.get_paths_1frame(\
traj_indx, database_path_base = dataset_path , split_txt = split_file,
dat_indx_step = dat_indx_step)
img_size = [384, 256]
n_scenes, _, _, _, _ = fun_get_paths(0)
traj_Indx = np.arange(0, n_scenes)
elif dataset_name == 'kitti':
import mdataloader.kitti as dl_kitti
dataset_init = dl_kitti.KITTI_dataset
fun_get_paths = lambda traj_indx: dl_kitti.get_paths(
traj_indx, split_txt=split_file, mode='val')
if not dataset_path == '.':
fun_get_paths = lambda traj_indx: dl_kitti.get_paths(
traj_indx,
split_txt=split_file,
mode='val',
database_path_base=dataset_path)
else: # use default database path
fun_get_paths = lambda traj_indx: dl_kitti.get_paths(
traj_indx, split_txt=split_file, mode='val')
if not args.change_aspect_ratio: # we will keep the aspect ratio and do cropping
img_size = [768, 256]
crop_w = None
else: # we will change the aspect ratio and NOT do cropping
img_size = [384, 256]
crop_w = None
n_scenes, _, _, _, _ = fun_get_paths(0)
traj_Indx = np.arange(0, n_scenes)
else:
raise Exception('dataset loader not implemented')
fldr_path, img_paths, dmap_paths, poses, intrin_path = fun_get_paths(0)
if dataset_name == 'kitti':
dataset = dataset_init(True,
img_paths,
dmap_paths,
poses,
intrin_path=intrin_path,
img_size=img_size,
digitize=True,
d_candi=d_candi_dmap_ref,
resize_dmap=.25,
crop_w=crop_w)
dataset_imgsize = dataset_init(True,
img_paths,
dmap_paths,
poses,
intrin_path=intrin_path,
img_size=img_size,
digitize=True,
d_candi=d_candi_dmap_ref,
resize_dmap=1)
else:
dataset = dataset_init(True,
img_paths,
dmap_paths,
poses,
intrin_path=intrin_path,
img_size=img_size,
digitize=True,
d_candi=d_candi_dmap_ref,
resize_dmap=.25)
dataset_imgsize = dataset_init(True,
img_paths,
dmap_paths,
poses,
intrin_path=intrin_path,
img_size=img_size,
digitize=True,
d_candi=d_candi_dmap_ref,
resize_dmap=1)
# ================================ #
print('Initnializing the KV-Net')
model_KVnet = m_kvnet.KVNET(feature_dim=dnet_feature_dim,
cam_intrinsics=dataset.cam_intrinsics,
d_candi=d_candi,
sigma_soft_max=sigma_soft_max,
KVNet_feature_dim=dnet_feature_dim,
d_upsample_ratio_KV_net=d_upsample,
t_win_r=t_win_r,
if_refined=True)
model_KVnet = torch.nn.DataParallel(model_KVnet)
model_KVnet.cuda()
model_path_KV = args.model_path
print('loading KV_net at %s' % (model_path_KV))
utils_model.load_pretrained_model(model_KVnet, model_path_KV)
print('Done')
for traj_idx in traj_Indx:
res_fldr = '../results/%s/traj_%d' % (exp_name, traj_idx)
m_misc.m_makedir(res_fldr)
scene_path_info = []
print('Getting the paths for traj_%d' % (traj_idx))
fldr_path, img_seq_paths, dmap_seq_paths, poses, intrin_path = fun_get_paths(
traj_idx)
dataset.set_paths(img_seq_paths, dmap_seq_paths, poses)
if dataset_name is 'scanNet':
# For each trajector in the dataset, we will update the intrinsic matrix #
dataset.get_cam_intrinsics(intrin_path)
print('Done')
dat_array = [dataset[idx] for idx in range(t_win_r * 2 + 1)]
DMaps_meas = []
traj_length = len(dataset)
print('trajectory length = %d' % (traj_length))
for frame_cnt, ref_indx in enumerate(
range(t_win_r, traj_length - t_win_r - 1)):
eff_iter = True
valid_seq = check_datArray_pose(dat_array)
# Read ref. and src. data in the local time window #
ref_dat, src_dats = m_misc.split_frame_list(dat_array, t_win_r)
if frame_cnt == 0:
BVs_predict = None
if valid_seq and eff_iter:
# Get poses #
src_cam_extMs = m_misc.get_entries_list_dict(src_dats, 'extM')
src_cam_poses = \
[warp_homo.get_rel_extrinsicM(ref_dat['extM'], src_cam_extM_) \
for src_cam_extM_ in src_cam_extMs ]
src_cam_poses = [
torch.from_numpy(pose.astype(
np.float32)).cuda().unsqueeze(0)
for pose in src_cam_poses
]
# src_cam_poses size: N V 4 4 #
src_cam_poses = torch.cat(src_cam_poses, dim=0).unsqueeze(0)
src_frames = [m_misc.get_entries_list_dict(src_dats, 'img')]
if frame_cnt == 0 or BVs_predict is None: # the first window for the traj.
BVs_predict_in = None
else:
BVs_predict_in = BVs_predict
print('testing on %d/%d frame in traj %d/%d ... '%\
(frame_cnt+1, traj_length - 2*t_win_r, traj_idx+1, len(traj_Indx)) )
# set trace for specific frame #
BVs_measure, BVs_predict = test_KVNet.test(
model_KVnet,
d_candi,
Ref_Dats=[ref_dat],
Src_Dats=[src_dats],
Cam_Intrinsics=[dataset.cam_intrinsics],
t_win_r=t_win_r,
Src_CamPoses=src_cam_poses,
BV_predict=BVs_predict_in,
R_net=True,
Cam_Intrinsics_imgsize=dataset_imgsize.cam_intrinsics,
ref_indx=ref_indx)
# export_res.export_res_refineNet(ref_dat, BVs_measure, d_candi_dmap_ref,
# res_fldr, ref_indx,
# save_mat = True, output_pngs = False, output_dmap_ref=False)
export_res.export_res_img(ref_dat, BVs_measure,
d_candi_dmap_ref, res_fldr,
frame_cnt)
scene_path_info.append(
[frame_cnt, dataset[ref_indx]['img_path']])
elif valid_seq is False: # if the sequence contains invalid pose estimation
BVs_predict = None
print('frame_cnt :%d, include invalid poses' % (frame_cnt))
elif eff_iter is False:
BVs_predict = None
# Update dat_array #
dat_array.pop(0)
dat_array.append(dataset[ref_indx + t_win_r + 1])
m_misc.save_ScenePathInfo('%s/scene_path_info.txt' % (res_fldr),
scene_path_info)
def main():
import argparse
print('Parsing the arguments...')
parser = argparse.ArgumentParser()
# exp name #
parser.add_argument(
'--exp_name',
required=True,
type=str,
help='The name of the experiment. Used to naming the folders')
# nepoch #
parser.add_argument('--nepoch',
required=True,
type=int,
help='# of epochs to run')
# if pretrain #
parser.add_argument('--pre_trained',
action='store_true',
default=False,
help='If use the pre-trained model; (False)')
# logging #
parser.add_argument('--TB_add_img_interv',
type=int,
default=50,
help='The inerval for log one training image')
parser.add_argument('--pre_trained_model_path',
type=str,
default='.',
help='The pre-trained model path for\
KV-net')
# model saving #
parser.add_argument(
'--save_model_interv',
type=int,
default=5000,
help='The interval of iters to save the model; default: 5000')
# tensorboard #
parser.add_argument(
'--TB_fldr',
type=str,
default='runs',
help='The tensorboard logging root folder; default: runs')
# about training #
parser.add_argument(
'--RNet',
action='store_true',
help='if use refinement net to improve the depth resolution',
default=True)
parser.add_argument('--weight_var',
default=.001,
type=float,
help='weight for the variance loss, if we use L1 loss')
parser.add_argument(
'--pose_noise_level',
default=0,
type=float,
help='Noise level for pose. Used for training with pose noise')
parser.add_argument('--frame_interv',
default=5,
type=int,
help='frame interval')
parser.add_argument('--LR', default=.001, type=float, help='Learning rate')
parser.add_argument('--t_win',
type=int,
default=2,
help='The radius of the temporal window; default=2')
parser.add_argument('--d_min',
type=float,
default=0,
help='The minimal depth value; default=0')
parser.add_argument('--d_max',
type=float,
default=15,
help='The maximal depth value; default=15')
parser.add_argument('--ndepth',
type=int,
default=128,
help='The # of candidate depth values; default= 128')
parser.add_argument('--grad_clip',
action='store_true',
help='if clip the gradient')
parser.add_argument('--grad_clip_max',
type=float,
default=2,
help='the maximal norm of the gradient')
parser.add_argument('--sigma_soft_max',
type=float,
default=500.,
help='sigma_soft_max, default = 500.')
parser.add_argument(
'--feature_dim',
type=int,
default=64,
help='The feature dimension for the feature extractor; default=64')
parser.add_argument(
'--batch_size',
type=int,
default=0,
help='The batch size for training; default=0, means batch_size=nGPU')
# about dataset #
parser.add_argument('--dataset',
type=str,
default='scanNet',
help='Dataset name: {scanNet, kitti,}')
parser.add_argument('--dataset_path',
type=str,
default='.',
help='Path to the dataset')
parser.add_argument(
'--change_aspect_ratio',
action='store_true',
default=False,
help=
'If we want to change the aspect ratio. This option is only useful for KITTI'
)
parser.add_argument('--ngpu', type=int, default=1., help='How many GPU')
# para config. #
args = parser.parse_args()
exp_name = args.exp_name
saved_model_path = './saved_models/%s' % (exp_name)
dataset_name = args.dataset
if args.batch_size == 0:
batch_size = torch.cuda.device_count()
else:
batch_size = args.batch_size
n_epoch = args.nepoch
TB_add_img_interv = args.TB_add_img_interv
pre_trained = args.pre_trained
t_win_r = args.t_win
nDepth = args.ndepth
d_candi = np.linspace(args.d_min, args.d_max, nDepth)
d_candi_up = np.linspace(args.d_min, args.d_max, nDepth * 4)
LR = args.LR
sigma_soft_max = args.sigma_soft_max #10.#500.
dnet_feature_dim = args.feature_dim
frame_interv = args.frame_interv # should be multiple of 5 for scanNet dataset
if_clip_gradient = args.grad_clip
grad_clip_max = args.grad_clip_max
d_candi_dmap_ref = d_candi
nDepth_dmap_ref = nDepth
ngpu = args.ngpu
# saving model config.#
m_misc.m_makedir(saved_model_path)
savemodel_interv = args.save_model_interv
# writer #
log_dir = '%s/%s' % (args.TB_fldr, exp_name)
writer = SummaryWriter(log_dir=log_dir, comment='%s' % (exp_name))
m_misc.save_args(args, '%s/tr_paras.txt' %
(log_dir)) # save the training parameters #
logfile = os.path.join(log_dir, 'log_' + str(time.time()) + '.txt')
stdout = Logger.Logger(logfile)
sys.stdout = stdout
# Initialize data-loader, model and optimizer #
# ===== Dataset selection ======== #
dataset_path = args.dataset_path
if dataset_name == 'scanNet':
dataset_init = dl_scanNet.ScanNet_dataset
if not dataset_path == '.':
fun_get_paths = lambda traj_indx: dl_scanNet.get_paths(
traj_indx,
frame_interv=5,
split_txt='./mdataloader/scanNet_split/scannet_train.txt',
database_path_base=dataset_path)
else:
fun_get_paths = lambda traj_indx: dl_scanNet.get_paths(
traj_indx,
frame_interv=5,
split_txt='./mdataloader/scanNet_split/scannet_train.txt')
img_size = [384, 256]
# trajectory index for training #
n_scenes, _, _, _, _ = fun_get_paths(0)
traj_Indx = np.arange(0, n_scenes)
elif dataset_name == 'kitti':
import mdataloader.kitti as dl_kitti
dataset_init = dl_kitti.KITTI_dataset
if not dataset_path == '.':
fun_get_paths = lambda traj_indx: dl_kitti.get_paths(
traj_indx,
split_txt='./mdataloader/kitti_split/training.txt',
mode='train',
database_path_base=dataset_path)
else: # use default database path
fun_get_paths = lambda traj_indx: dl_kitti.get_paths(
traj_indx,
split_txt='./mdataloader/kitti_split/training.txt',
mode='train')
# img_size = [1248, 380]
if not args.change_aspect_ratio: # we will keep the aspect ratio and do cropping
img_size = [768, 256]
crop_w = 384
else: # we will change the aspect ratio and NOT do cropping
img_size = [384, 256]
# img_size = [512, 256]
# img_size = [624, 256]
crop_w = None
n_scenes, _, _, _, _ = fun_get_paths(0)
traj_Indx = np.arange(0, n_scenes)
else:
raise Exception('dataset not implemented ')
fldr_path, img_paths, dmap_paths, poses, intrin_path = fun_get_paths(0)
if dataset_name == 'kitti':
dataset = dataset_init(True,
img_paths,
dmap_paths,
poses,
intrin_path=intrin_path,
img_size=img_size,
digitize=True,
d_candi=d_candi_dmap_ref,
d_candi_up=d_candi_up,
resize_dmap=.25,
crop_w=crop_w)
else:
raise Exception('dataset not implemented ')
# ================================ #
print('Initnializing the KV-Net')
model_KVnet = m_kvnet.KVNET(feature_dim=dnet_feature_dim,
cam_intrinsics=dataset.cam_intrinsics,
d_candi=d_candi,
sigma_soft_max=sigma_soft_max,
KVNet_feature_dim=dnet_feature_dim,
d_upsample_ratio_KV_net=None,
t_win_r=t_win_r,
if_refined=args.RNet)
model_KVnet = torch.nn.DataParallel(model_KVnet,
device_ids=range(ngpu),
dim=0)
model_KVnet.cuda(0)
optimizer_KV = optim.Adam(model_KVnet.parameters(),
lr=LR,
betas=(.9, .999))
model_path_KV = args.pre_trained_model_path
if model_path_KV is not '.' and pre_trained:
print('loading KV_net at %s' % (model_path_KV))
utils_model.load_pretrained_model(model_KVnet, model_path_KV,
optimizer_KV)
print('Done')
LOSS = []
total_iter = 0
d_candi_up = d_candi
for iepoch in range(n_epoch):
BatchScheduler = batch_loader.Batch_Loader(batch_size=batch_size,
fun_get_paths=fun_get_paths,
dataset_traj=dataset,
nTraj=len(traj_Indx),
dataset_name=dataset_name)
for batch_idx in range(len(BatchScheduler)):
for frame_count, ref_indx in enumerate(
range(BatchScheduler.traj_len)):
local_info = BatchScheduler.local_info_full()
n_valid_batch = local_info['is_valid'].sum()
if n_valid_batch > 0:
local_info_valid = batch_loader.get_valid_items(local_info)
ref_dats_in = []
for m in range(0, len(local_info_valid['ref_dats'])):
ref_dats_in.append(
local_info_valid['ref_dats'][m]["left_camera"])
src_dats_in = []
for m in range(0, len(local_info_valid['src_dats'])):
orig = []
for k in range(0,
len(local_info_valid['src_dats'][m])):
orig.append(local_info_valid['src_dats'][m][k]
["left_camera"])
src_dats_in.append(orig)
cam_intrin_in = local_info_valid['left_cam_intrins']
src_cam_poses_in = torch.cat(
local_info_valid['left_src_cam_poses'], dim=0)
if args.pose_noise_level > 0:
src_cam_poses_in = add_noise2pose(
src_cam_poses_in, args.pose_noise_level)
if frame_count == 0 or prev_invalid:
prev_invalid = False
BVs_predict_in = None
print('frame_count ==0 or invalid previous frame')
else:
BVs_predict_in = batch_loader.get_valid_BVs(
BVs_predict, local_info['is_valid'])
#print("HACK")
#BVs_predict_in = None
BVs_measure, BVs_predict, loss, dmap_log_l, dmap_log_h = train_KVNet.train(
n_valid_batch,
model_KVnet,
optimizer_KV,
t_win_r,
d_candi,
Ref_Dats=ref_dats_in,
Src_Dats=src_dats_in,
Src_CamPoses=src_cam_poses_in,
BVs_predict=BVs_predict_in,
Cam_Intrinsics=cam_intrin_in,
weight_var=args.weight_var,
loss_type='NLL',
mGPU=True)
BVs_measure = BVs_measure.detach()
loss_v = float(loss.data.cpu().numpy())
if n_valid_batch < BatchScheduler.batch_size:
BVs_predict = batch_loader.fill_BVs_predict(
BVs_predict, local_info['is_valid'])
else:
loss_v = LOSS[-1]
prev_invalid = True
# Update dat_array #
if frame_count < BatchScheduler.traj_len - 1:
BatchScheduler.proceed_frame()
total_iter += 1
# logging #
if frame_count > 0:
LOSS.append(loss_v)
print('video batch %d / %d, iter: %d, frame_count: %d; Epoch: %d / %d, loss = %.5f'\
%(batch_idx + 1, len(BatchScheduler), total_iter, frame_count, iepoch + 1, n_epoch, loss_v))
writer.add_scalar('data/train_error', float(loss_v),
total_iter)
if total_iter % savemodel_interv == 0:
# if training, save the model #
savefilename = saved_model_path + '/kvnet_checkpoint_iter_' + str(
total_iter) + '.tar'
torch.save(
{
'iter': total_iter,
'frame_count': frame_count,
'ref_indx': ref_indx,
'traj_idx': batch_idx,
'state_dict': model_KVnet.state_dict(),
'optimizer': optimizer_KV.state_dict(),
'loss': loss_v
}, savefilename)
if total_iter % TB_add_img_interv == 0:
# if training, logging #
th_dmaps_log = torch.FloatTensor(
dmap_log_l.astype(np.float32))
th_dmaps_log = th_dmaps_log.unsqueeze(0)
th_dmaps_log = (th_dmaps_log /
(d_candi_dmap_ref.max())).clamp(0, 1)
th_dmaps_log = th_dmaps_log.repeat([3, 1, 1])
input_img_log = ref_dats_in[0]['img'].clone()
input_img_log = (input_img_log - input_img_log.min()) / (
input_img_log.max() - input_img_log.min())
input_img_log = input_img_log.squeeze()
# assuming N=1 for BVs_measure #
confMap_log, _ = torch.max(BVs_measure[0, ...], dim=0)
confMap_log = torch.exp(confMap_log.squeeze().cpu())
confMap_log /= confMap_log.max()
confMap_log = confMap_log.repeat([3, 1, 1])
writer.add_image('%s/tr_dmaps' % (exp_name), th_dmaps_log,
total_iter)
writer.add_image('%s/tr_input' % (exp_name), input_img_log,
total_iter)
writer.add_image('%s/conf_map' % (exp_name), confMap_log,
total_iter)
# up-sample branch #
if dmap_log_h is not -1:
th_dmaps_up_log = torch.FloatTensor(
dmap_log_h.astype(np.float32))
th_dmaps_up_log = th_dmaps_up_log.unsqueeze(0)
th_dmaps_up_log = (th_dmaps_up_log /
(d_candi_dmap_ref.max())).clamp(
0, 1)
th_dmaps_up_log = th_dmaps_up_log.repeat([3, 1, 1])
writer.add_image('%s/tr_dmaps_up' % (exp_name),
th_dmaps_up_log, total_iter)
BatchScheduler.proceed_batch()
writer.close()
stdout.delink()