def _initialize_model(self, model: BaseModel, weight_name):
if not self._checkpoint.is_empty:
state_dict = self._checkpoint.get_state_dict(weight_name)
model.load_state_dict(state_dict)
if self._resume:
model.optimizer = self._checkpoint.get_optimizer(model)
model.schedulers = self._checkpoint.get_schedulers(model)
def test_epoch(
model: BaseModel,
dataset,
device,
tracker: BaseTracker,
checkpoint: ModelCheckpoint,
voting_runs=1,
tracker_options={},
):
loaders = dataset.test_dataloaders
for loader in loaders:
stage_name = loader.dataset.name
tracker.reset(stage_name)
for i in range(voting_runs):
with Ctq(loader) as tq_test_loader:
for data in tq_test_loader:
with torch.no_grad():
model.set_input(data, device)
model.forward()
tracker.track(model, **tracker_options)
tq_test_loader.set_postfix(**tracker.get_metrics(),
color=COLORS.TEST_COLOR)
tracker.finalise(**tracker_options)
tracker.print_summary()
def track(self, model: BaseModel, **kwargs):
""" Add current model predictions (usually the result of a batch) to the tracking
"""
super().track(model)
outputs = model.get_output()
targets = model.get_labels()
# Mask ignored label
mask = targets != self._ignore_label
outputs = outputs[mask]
targets = targets[mask]
outputs = SegmentationTracker.detach_tensor(outputs)
targets = SegmentationTracker.detach_tensor(targets)
if not torch.is_tensor(targets):
targets = torch.from_numpy(targets)
self._ap_meter.add(outputs,
F.one_hot(targets, self._num_classes).bool())
outputs = self._convert(outputs)
targets = self._convert(targets)
if len(targets) == 0:
return
assert outputs.shape[0] == len(targets)
self._confusion_matrix.count_predicted_batch(targets,
np.argmax(outputs, 1))
self._acc = 100 * self._confusion_matrix.get_overall_accuracy()
self._macc = 100 * self._confusion_matrix.get_mean_class_accuracy()
self._miou = 100 * self._confusion_matrix.get_average_intersection_union(
)
self._map = 100 * self._ap_meter.value().mean().item()
def track(self, model: BaseModel, **kwargs):
""" Add current model predictions (usually the result of a batch) to the tracking
"""
super().track(model)
outputs = model.get_output()
targets = model.get_labels()
# Mask ignored label
mask = targets != self._ignore_label
outputs = outputs[mask]
targets = targets[mask]
outputs = self._convert(outputs)
targets = self._convert(targets)
if len(targets) == 0:
return
assert outputs.shape[0] == len(targets)
self._confusion_matrix.count_predicted_batch(targets, np.argmax(outputs, 1))
self._acc = 100 * self._confusion_matrix.get_overall_accuracy()
self._macc = 100 * self._confusion_matrix.get_mean_class_accuracy()
self._miou = 100 * self._confusion_matrix.get_average_intersection_union()
def run(cfg, model: BaseModel, dataset: BaseDataset, device,
measurement_name: str):
measurements = {}
num_batches = getattr(cfg.debugging, "num_batches", np.inf)
run_epoch(model, dataset.train_dataloader, device, num_batches)
measurements["train"] = extract_histogram(model.get_spatial_ops(),
normalize=False)
if dataset.has_val_loader:
run_epoch(model, dataset.val_dataloader, device, num_batches)
measurements["val"] = extract_histogram(model.get_spatial_ops(),
normalize=False)
for loader in dataset.test_dataloaders:
run_epoch(model, dataset.test_dataloaders, device, num_batches)
measurements[loader.dataset.name] = extract_histogram(
model.get_spatial_ops(), normalize=False)
with open(
os.path.join(DIR,
"measurements/{}.pickle".format(measurement_name)),
"wb") as f:
pickle.dump(measurements, f)
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 __init__(self, option, model_type, dataset, modules):
BaseModel.__init__(self, option)
self.mode = option.loss_mode
self.normalize_feature = option.normalize_feature
self.loss_names = ["loss_reg", "loss"]
self.metric_loss_module, self.miner_module = BaseModel.get_metric_loss_and_miner(
getattr(option, "metric_loss", None), getattr(option, "miner", None)
)
# Last Layer
if option.mlp_cls is not None:
last_mlp_opt = option.mlp_cls
in_feat = last_mlp_opt.nn[0]
self.FC_layer = Seq()
for i in range(1, len(last_mlp_opt.nn)):
self.FC_layer.append(
str(i),
Sequential(
*[
Linear(in_feat, last_mlp_opt.nn[i], bias=False),
FastBatchNorm1d(last_mlp_opt.nn[i], momentum=last_mlp_opt.bn_momentum),
LeakyReLU(0.2),
]
),
)
in_feat = last_mlp_opt.nn[i]
if last_mlp_opt.dropout:
self.FC_layer.append(Dropout(p=last_mlp_opt.dropout))
self.FC_layer.append(Linear(in_feat, in_feat, bias=False))
else:
self.FC_layer = torch.nn.Identity()
def run_epoch(model: BaseModel, loader, device: str, num_batches: int):
model.eval()
with Ctq(loader) as tq_loader:
for batch_idx, data in enumerate(tq_loader):
if batch_idx < num_batches:
process(model, data, device)
else:
break
def track(self, model: BaseModel):
super().track(model)
if self._stage != "train":
batch_idx, batch_idx_target = model.get_batch_idx()
batch_xyz, batch_xyz_target = model.get_xyz()
batch_ind, batch_ind_target = model.get_ind()
batch_feat, batch_feat_target = model.get_outputs()
nb_batches = batch_idx.max() + 1
cum_sum = 0
cum_sum_target = 0
for b in range(nb_batches):
xyz = batch_xyz[batch_idx == b]
xyz_target = batch_xyz_target[batch_idx_target == b]
feat = batch_feat[batch_idx == b]
feat_target = batch_feat_target[batch_idx_target == b]
# as we have concatenated ind,
# we need to substract the cum_sum because we deal
# with each batch independently
ind = batch_ind[batch_idx == b] - cum_sum
ind_target = batch_ind_target[batch_idx_target ==
b] - cum_sum_target
cum_sum += len(xyz)
cum_sum_target += len(xyz_target)
rand = torch.randperm(len(feat))[:self.num_points]
rand_target = torch.randperm(
len(feat_target))[:self.num_points]
matches_gt = torch.stack([ind, ind_target]).T
T_gt = estimate_transfo(xyz[matches_gt[:, 0]],
xyz_target[matches_gt[:, 1]])
matches_pred = get_matches(feat[rand],
feat_target[rand_target])
T_pred = fast_global_registration(
xyz[rand][matches_pred[:, 0]],
xyz_target[rand_target][matches_pred[:, 1]])
hit_ratio = compute_hit_ratio(
xyz[rand][matches_pred[:, 0]],
xyz_target[rand_target][matches_pred[:,
1]], T_gt, self.tau_1)
trans_error, rot_error = compute_transfo_error(T_pred, T_gt)
self._hit_ratio.add(hit_ratio.item())
self._feat_match_ratio.add(
float(hit_ratio.item() > self.tau_2))
self._trans_error.add(trans_error.item())
self._rot_error.add(rot_error.item())
def run(model: BaseModel, dataset: BaseDataset, device, output_path, cfg):
# Set dataloaders
num_fragment = dataset.num_fragment
if cfg.data.is_patch:
for i in range(num_fragment):
dataset.set_patches(i)
dataset.create_dataloaders(
model,
cfg.batch_size,
False,
cfg.num_workers,
False,
)
loader = dataset.test_dataloaders()[0]
features = []
scene_name, pc_name = dataset.get_name(i)
with Ctq(loader) as tq_test_loader:
for data in tq_test_loader:
# pcd = open3d.geometry.PointCloud()
# pcd.points = open3d.utility.Vector3dVector(data.pos[0].numpy())
# open3d.visualization.draw_geometries([pcd])
with torch.no_grad():
model.set_input(data, device)
model.forward()
features.append(model.get_output().cpu())
features = torch.cat(features, 0).numpy()
log.info("save {} from {} in {}".format(pc_name, scene_name,
output_path))
save(output_path, scene_name, pc_name,
dataset.base_dataset[i].to("cpu"), features)
else:
dataset.create_dataloaders(
model,
1,
False,
cfg.num_workers,
False,
)
loader = dataset.test_dataloaders()[0]
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()
features = model.get_output()[0] # batch of 1
save(output_path, scene_name, pc_name, data.to("cpu"),
features)
def save_best_models_under_current_metrics(
self, model: BaseModel, metrics_holder: dict, metric_func: dict, **kwargs
):
"""[This function is responsible to save checkpoint under the current metrics and their associated DEFAULT_METRICS_FUNC]
Arguments:
model {[BaseModel]} -- [Model]
metrics_holder {[Dict]} -- [Need to contain stage, epoch, current_metrics]
"""
metrics = metrics_holder["current_metrics"]
stage = metrics_holder["stage"]
epoch = metrics_holder["epoch"]
stats = self._checkpoint.stats
state_dict = copy.deepcopy(model.state_dict())
current_stat = {}
current_stat["epoch"] = epoch
models_to_save = self._checkpoint.models
if stage not in stats:
stats[stage] = []
if stage == "train":
models_to_save[Checkpoint._LATEST] = state_dict
else:
if len(stats[stage]) > 0:
latest_stats = stats[stage][-1]
msg = ""
improved_metric = 0
for metric_name, current_metric_value in metrics.items():
current_stat[metric_name] = current_metric_value
metric_func = self.find_func_from_metric_name(metric_name, metric_func)
best_metric_from_stats = latest_stats.get("best_{}".format(metric_name), current_metric_value)
best_value = metric_func(best_metric_from_stats, current_metric_value)
current_stat["best_{}".format(metric_name)] = best_value
# This new value seems to be better under metric_func
if (self._selection_stage == stage) and (
current_metric_value == best_value
): # Update the model weights
models_to_save["best_{}".format(metric_name)] = state_dict
msg += "{}: {} -> {}, ".format(metric_name, best_metric_from_stats, best_value)
improved_metric += 1
if improved_metric > 0:
colored_print(COLORS.VAL_COLOR, msg[:-2])
else:
# stats[stage] is empty.
for metric_name, metric_value in metrics.items():
current_stat[metric_name] = metric_value
current_stat["best_{}".format(metric_name)] = metric_value
models_to_save["best_{}".format(metric_name)] = state_dict
self._checkpoint.stats[stage].append(current_stat)
self._checkpoint.save_objects(models_to_save, stage, current_stat, model.optimizer, model.schedulers, **kwargs)
def run(model: BaseModel, dataset: BaseDataset, device, output_path):
loaders = dataset.test_dataloaders
predicted = {}
for loader in loaders:
loader.dataset.name
with Ctq(loader) as tq_test_loader:
for data in tq_test_loader:
with torch.no_grad():
model.set_input(data, device)
model.forward()
predicted = {
**predicted,
**dataset.predict_original_samples(data, model.conv_type,
model.get_output())
}
save(output_path, predicted)
def track(self, model: BaseModel):
""" Add model predictions (accuracy)
"""
super().track(model)
outputs = self._convert(model.get_output())
N = len(outputs) // 2
self._acc = compute_accuracy(outputs[:N], outputs[N:])
def _init_from_compact_format(self, opt, model_type, dataset, modules_lib):
"""Create a unetbasedmodel from the compact options format - where the
same convolution is given for each layer, and arguments are given
in lists
"""
self.down_modules = nn.ModuleList()
self.inner_modules = nn.ModuleList()
self.up_modules = nn.ModuleList()
self.save_sampling_id = opt.down_conv.get('save_sampling_id')
# Factory for creating up and down modules
factory_module_cls = self._get_factory(model_type, modules_lib)
down_conv_cls_name = opt.down_conv.module_name
up_conv_cls_name = opt.up_conv.module_name if opt.get(
'up_conv') is not None else None
self._factory_module = factory_module_cls(
down_conv_cls_name, up_conv_cls_name,
modules_lib) # Create the factory object
# Loal module
contains_global = hasattr(opt,
"innermost") and opt.innermost is not None
if contains_global:
inners = self._create_inner_modules(opt.innermost, modules_lib)
for inner in inners:
self.inner_modules.append(inner)
else:
self.inner_modules.append(Identity())
# Down modules
for i in range(len(opt.down_conv.down_conv_nn)):
args = self._fetch_arguments(opt.down_conv, i, "DOWN")
conv_cls = self._get_from_kwargs(args, "conv_cls")
down_module = conv_cls(**args)
self._save_sampling_and_search(down_module)
self.down_modules.append(down_module)
# Up modules
if up_conv_cls_name:
for i in range(len(opt.up_conv.up_conv_nn)):
args = self._fetch_arguments(opt.up_conv, i, "UP")
conv_cls = self._get_from_kwargs(args, "conv_cls")
up_module = conv_cls(**args)
self._save_upsample(up_module)
self.up_modules.append(up_module)
self.metric_loss_module, self.miner_module = BaseModel.get_metric_loss_and_miner(
getattr(opt, "metric_loss", None), getattr(opt, "miner", None))
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 train_epoch(
epoch: int,
model: BaseModel,
dataset,
device: str,
tracker: BaseTracker,
checkpoint: ModelCheckpoint,
visualizer: Visualizer,
debugging,
):
early_break = getattr(debugging, "early_break", False)
profiling = getattr(debugging, "profiling", False)
model.train()
tracker.reset("train")
visualizer.reset(epoch, "train")
train_loader = dataset.train_dataloader
iter_data_time = time.time()
with Ctq(train_loader) as tq_train_loader:
for i, data in enumerate(tq_train_loader):
model.set_input(data, device)
t_data = time.time() - iter_data_time
iter_start_time = time.time()
model.optimize_parameters(epoch, dataset.batch_size)
if i % 10 == 0:
tracker.track(model)
tq_train_loader.set_postfix(**tracker.get_metrics(),
data_loading=float(t_data),
iteration=float(time.time() -
iter_start_time),
color=COLORS.TRAIN_COLOR)
if visualizer.is_active:
visualizer.save_visuals(model.get_current_visuals())
iter_data_time = time.time()
if early_break:
break
if profiling:
if i > getattr(debugging, "num_batches", 50):
return 0
metrics = tracker.publish(epoch)
checkpoint.save_best_models_under_current_metrics(model, metrics,
tracker.metric_func)
log.info("Learning rate = %f" % model.learning_rate)
def __init__(self, option, model_type, dataset, modules):
BaseModel.__init__(self, option)
option_unet = option.option_unet
self.normalize_feature = option.normalize_feature
self.grid_size = option_unet.grid_size
self.unet = UnetMSparseConv3d(
option_unet.backbone,
input_nc=option_unet.input_nc,
pointnet_nn=option_unet.pointnet_nn,
post_mlp_nn=option_unet.post_mlp_nn,
pre_mlp_nn=option_unet.pre_mlp_nn,
add_pos=option_unet.add_pos,
add_pre_x=option_unet.add_pre_x,
aggr=option_unet.aggr,
backend=option.backend,
)
if option.mlp_cls is not None:
last_mlp_opt = option.mlp_cls
self.FC_layer = Seq()
for i in range(1, len(last_mlp_opt.nn)):
self.FC_layer.append(
nn.Sequential(*[
nn.Linear(last_mlp_opt.nn[i - 1],
last_mlp_opt.nn[i],
bias=False),
FastBatchNorm1d(last_mlp_opt.nn[i],
momentum=last_mlp_opt.bn_momentum),
nn.LeakyReLU(0.2),
]))
if last_mlp_opt.dropout:
self.FC_layer.append(nn.Dropout(p=last_mlp_opt.dropout))
else:
self.FC_layer = torch.nn.Identity()
self.head = nn.Sequential(
nn.Linear(option.output_nc, dataset.num_classes))
self.loss_names = ["loss_seg"]
def eval_epoch(
model: BaseModel,
dataset,
device,
tracker: BaseTracker,
checkpoint: ModelCheckpoint,
voting_runs=1,
tracker_options={},
):
tracker.reset("val")
loader = dataset.val_dataloader
for i in range(voting_runs):
with Ctq(loader) as tq_val_loader:
for data in tq_val_loader:
with torch.no_grad():
model.set_input(data, device)
model.forward()
tracker.track(model, **tracker_options)
tq_val_loader.set_postfix(**tracker.get_metrics(),
color=COLORS.VAL_COLOR)
tracker.finalise(**tracker_options)
tracker.print_summary()
def _init_from_compact_format(self, opt, model_type, dataset, modules_lib):
"""Create a backbonebasedmodel from the compact options format - where the
same convolution is given for each layer, and arguments are given
in lists
"""
num_convs = len(opt.down_conv.down_conv_nn)
self.down_modules = nn.ModuleList()
factory_module_cls = self._get_factory(model_type, modules_lib)
down_conv_cls_name = opt.down_conv.module_name
self._factory_module = factory_module_cls(down_conv_cls_name, None,
modules_lib)
# Down modules
for i in range(num_convs):
args = self._fetch_arguments(opt.down_conv, i, "DOWN")
conv_cls = self._get_from_kwargs(args, "conv_cls")
down_module = conv_cls(**args)
self._save_sampling_and_search(down_module)
self.down_modules.append(down_module)
self.metric_loss_module, self.miner_module = BaseModel.get_metric_loss_and_miner(
getattr(opt, "metric_loss", None), getattr(opt, "miner", None))
def test_epoch(
epoch: int,
model: BaseModel,
dataset,
device,
tracker: BaseTracker,
checkpoint: ModelCheckpoint,
visualizer: Visualizer,
debugging,
):
early_break = getattr(debugging, "early_break", False)
model.eval()
loaders = dataset.test_dataloaders
for loader in loaders:
stage_name = loader.dataset.name
tracker.reset(stage_name)
visualizer.reset(epoch, stage_name)
with Ctq(loader) as tq_test_loader:
for data in tq_test_loader:
with torch.no_grad():
model.set_input(data, device)
model.forward()
tracker.track(model)
tq_test_loader.set_postfix(**tracker.get_metrics(),
color=COLORS.TEST_COLOR)
if visualizer.is_active:
visualizer.save_visuals(model.get_current_visuals())
if early_break:
break
tracker.finalise()
metrics = tracker.publish(epoch)
tracker.print_summary()
checkpoint.save_best_models_under_current_metrics(
model, metrics, tracker.metric_func)
def eval_epoch(
epoch: int,
model: BaseModel,
dataset,
device,
tracker: BaseTracker,
checkpoint: ModelCheckpoint,
visualizer: Visualizer,
debugging,
):
early_break = getattr(debugging, "early_break", False)
model.eval()
tracker.reset("val")
visualizer.reset(epoch, "val")
loader = dataset.val_dataloader
with Ctq(loader) as tq_val_loader:
for data in tq_val_loader:
with torch.no_grad():
model.set_input(data, device)
model.forward()
tracker.track(model)
tq_val_loader.set_postfix(**tracker.get_metrics(),
color=COLORS.VAL_COLOR)
if visualizer.is_active:
visualizer.save_visuals(model.get_current_visuals())
if early_break:
break
metrics = tracker.publish(epoch)
tracker.print_summary()
checkpoint.save_best_models_under_current_metrics(model, metrics,
tracker.metric_func)
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 __init__(self, option):
BaseModel.__init__(self, option)
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)
