def local_info_full(self):
'''
return local info, including { cam_intrins, ref_dats, src_dats, src_cam_poses, is_valid }
each is a list of variables
src_cam_poses[i] - 1 x n_src x 4 x 4
'''
is_valid = np.ones(self.batch_size, np.bool)
ref_dats = []
src_dats = []
left_cam_intrins = []
right_cam_intrins = []
left_src_cam_poses = []
right_src_cam_poses = []
T_left2right = None
for ibatch in range(self.batch_size):
dat_array_ = self.dat_arrays[ibatch]
ref_dat_, src_dat_ = m_misc.split_frame_list(dat_array_, self.t_win_r)
#src_dat_ = dat_array_
#ref_indx = int(len(dat_array_)/2)
#ref_dat_ = src_dat_[ref_indx]
is_valid_ = _check_datArray_pose(dat_array_)
is_valid[ibatch] = is_valid_
if is_valid_:
left_src_cam_extMs = m_misc.get_entries_list_dict_level(src_dat_, 'extM', "left_camera")
left_src_cam_pose_ = [ warp_homo.get_rel_extrinsicM(ref_dat_["left_camera"]['extM'], src_cam_extM_) for src_cam_extM_ in left_src_cam_extMs ]
left_src_cam_pose_ = [ torch.from_numpy(pose.astype(np.float32)).unsqueeze(0) for pose in left_src_cam_pose_ ]
left_src_cam_pose_ = torch.cat(left_src_cam_pose_, dim=0).unsqueeze(0) # size: N V 4 4
right_src_cam_extMs = m_misc.get_entries_list_dict_level(src_dat_, 'extM', "right_camera")
right_src_cam_pose_ = [warp_homo.get_rel_extrinsicM(ref_dat_["right_camera"]['extM'], src_cam_extM_) for src_cam_extM_ in right_src_cam_extMs]
right_src_cam_pose_ = [torch.from_numpy(pose.astype(np.float32)).unsqueeze(0) for pose in right_src_cam_pose_]
right_src_cam_pose_ = torch.cat(right_src_cam_pose_, dim=0).unsqueeze(0) # size: N V 4 4
T_left2right = torch.tensor(ref_dat_["T_left2right"].astype(np.float32))
else:
left_src_cam_pose_ = -1
right_src_cam_pose_ = -1
ref_dats.append(ref_dat_)
src_dats.append(src_dat_)
left_cam_intrins.append(self.dataset_batch[ibatch].left_cam_intrinsics)
right_cam_intrins.append(self.dataset_batch[ibatch].right_cam_intrinsics)
left_src_cam_poses.append(left_src_cam_pose_)
right_src_cam_poses.append(right_src_cam_pose_)
return {'is_valid': is_valid, 'left_cam_intrins': left_cam_intrins, 'right_cam_intrins': right_cam_intrins, 'ref_dats': ref_dats,
'src_dats': src_dats, 'left_src_cam_poses': left_src_cam_poses, 'right_src_cam_poses': right_src_cam_poses, "T_left2right": T_left2right}
def local_info(self):
'''
return local info, including { cam_intrins, ref_dats, src_dats, src_cam_poses, is_valid }
each is a list of variables
src_cam_poses[i] - 1 x n_src x 4 x 4
'''
is_valid = np.ones(self.batch_size, np.bool)
ref_dats = []
src_dats = []
cam_intrins = []
src_cam_poses = []
for ibatch in range(self.batch_size):
dat_array_ = self.dat_arrays[ibatch]
ref_dat_, src_dat_ = m_misc.split_frame_list(dat_array_, self.t_win_r)
is_valid_ = _check_datArray_pose(dat_array_)
is_valid[ibatch] = is_valid_
if is_valid_:
src_cam_extMs = m_misc.get_entries_list_dict(src_dat_, 'extM')
src_cam_pose_ = [ warp_homo.get_rel_extrinsicM(ref_dat_['extM'], src_cam_extM_) for src_cam_extM_ in src_cam_extMs ]
src_cam_pose_ = [ torch.from_numpy(pose.astype(np.float32)).unsqueeze(0) for pose in src_cam_pose_ ]
# src_cam_poses size: N V 4 4
src_cam_pose_ = torch.cat(src_cam_pose_, dim=0).unsqueeze(0)
else:
src_cam_pose_ = -1
ref_dats.append(ref_dat_)
src_dats.append(src_dat_)
cam_intrins.append(self.dataset_batch[ibatch].cam_intrinsics)
src_cam_poses.append(src_cam_pose_)
# print(is_valid)
return {'is_valid': is_valid, 'cam_intrins': cam_intrins, 'ref_dats': ref_dats,
'src_dats': src_dats, 'src_cam_poses': src_cam_poses }
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')
# 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,
default=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',
type=bool,
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
split_file = args.split_file
# ===== Dataset selection ======== #
dataset_path = args.dataset_path
if 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, 356]
crop_w = None
else: # we will change the aspect ratio and NOT do cropping
img_size = [768, 356]
crop_w = None
n_scenes, _, _, _, _ = fun_get_paths(0)
traj_Indx = np.arange(0, n_scenes)
elif dataset_name == 'dm':
import mdataloader.dm as dl_dm
dataset_init = dl_dm.DMdataset
split_file = './mdataloader/dm_split/dm_split.txt' if args.split_file == '.' else args.split_file
fun_get_paths = lambda traj_indx: dl_dm.get_paths(
traj_indx, split_txt=split_file, mode='val')
if not dataset_path == '.':
fun_get_paths = lambda traj_indx: dl_dm.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_dm.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 = [786, 256]
crop_w = None
else: # we will change the aspect ratio and NOT do cropping
img_size = [786, 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')
rmse, absrel, lg10, squarel, rmselog, D1, D2, D3 = 0, 0, 0, 0, 0, 0, 0, 0
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))
average_meter = export_res.AverageMeter()
### inference time
torch.cuda.synchronize()
start = time.time()
for frame_cnt, ref_indx in enumerate(
range(t_win_r, traj_length - t_win_r - 1)):
result = export_res.Result()
torch.cuda.synchronize()
data_time = time.time() - start
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)) )
torch.cuda.synchronize()
gpu_time = time.time() - start
# 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)
pred_depth, gt = export_res.do_evaluation(
ref_dat, BVs_measure, d_candi_dmap_ref)
# print(pred_depth.shape, gt.shape)
result.evaluate(pred_depth.data, gt.data)
average_meter.update(result, gpu_time, data_time,
(traj_length - 2 * t_win_r))
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])
avg = average_meter.average()
print('\n*\n'
'RMSE={average.rmse:.3f}\n'
'AbsRel={average.absrel:.3f}\n'
'Log10={average.lg10:.3f}\n'
'SquaRel={average.squarel:.3f}\n'
'rmselog={average.rmselog:.3f}\n'
'Delta1={average.delta1:.3f}\n'
'Delta2={average.delta2:.3f}\n'
'Delta3={average.delta3:.3f}\n'
't_GPU={time:.3f}\n'.format(average=avg, time=avg.gpu_time))
### inference time
torch.cuda.synchronize()
end = time.time()
rmse += avg.rmse
absrel += avg.absrel
lg10 += avg.lg10
squarel += avg.squarel
rmselog += avg.rmselog
D1 += avg.delta1
D2 += avg.delta2
D3 += avg.delta3
print('rmse={%.3f}\n' % (rmse / (traj_idx + 1)),
'absrel={%.3f}\n' % (absrel / (traj_idx + 1)),
'lg10={%.3f}\n' % (lg10 / (traj_idx + 1)),
'squarel={%.3f}\n' % (squarel / (traj_idx + 1)),
'rmselog={%.3f}\n' % (rmselog / (traj_idx + 1)),
'D1={%.3f}\n' % (D1 / (traj_idx + 1)),
'D2={%.3f}\n' % (D2 / (traj_idx + 1)),
'D3={%.3f}\n' % (D3 / (traj_idx + 1)))
print((end - start) / (traj_length - 2 * t_win_r))
m_misc.save_ScenePathInfo('%s/scene_path_info.txt' % (res_fldr),
scene_path_info)