Repository: G-1nOnly/Dens3R Branch: main Commit: a7349873e066 Files: 775 Total size: 126.6 MB Directory structure: gitextract_di20vn86/ ├── AutoReconForDens3R/ │ ├── .gitattributes │ ├── .github/ │ │ ├── ISSUE_TEMPLATE/ │ │ │ ├── bug-report.md │ │ │ └── feature_request.md │ │ └── workflows/ │ │ ├── core_code_checks.yml │ │ ├── publish.yml │ │ └── viewer_build_deploy.yml │ ├── .gitignore │ ├── .prettierrc.js │ ├── LICENSE │ ├── README.md │ ├── colab/ │ │ └── demo.ipynb │ ├── docs/ │ │ └── INSTALL.md │ ├── exps/ │ │ └── code-release/ │ │ ├── bmvs/ │ │ │ ├── scan1.sh │ │ │ ├── scan2.sh │ │ │ ├── scan3.sh │ │ │ ├── scan4.sh │ │ │ ├── scan5.sh │ │ │ └── scan6.sh │ │ ├── co3d_demo/ │ │ │ ├── scan1.sh │ │ │ ├── scan2.sh │ │ │ ├── scan3.sh │ │ │ ├── scan4.sh │ │ │ └── scan5.sh │ │ ├── run_dens3r_recon.sh │ │ └── run_pipeline_demo_low-res.sh │ ├── nerfstudio/ │ │ ├── __init__.py │ │ ├── cameras/ │ │ │ ├── __init__.py │ │ │ ├── camera_optimizers.py │ │ │ ├── camera_paths.py │ │ │ ├── camera_utils.py │ │ │ ├── cameras.py │ │ │ ├── lie_groups.py │ │ │ └── rays.py │ │ ├── configs/ │ │ │ ├── __init__.py │ │ │ ├── autorecon/ │ │ │ │ ├── __init__.py │ │ │ │ ├── baseline.py │ │ │ │ ├── common.py │ │ │ │ ├── distilled_neusfacto.py │ │ │ │ ├── feature_field.py │ │ │ │ ├── neusfacto_fast.py │ │ │ │ ├── regularization.py │ │ │ │ └── semantic_nerf.py │ │ │ ├── base_config.py │ │ │ ├── config_utils.py │ │ │ └── method_configs.py │ │ ├── engine/ │ │ │ ├── __init__.py │ │ │ ├── callbacks.py │ │ │ ├── optimizers.py │ │ │ ├── schedulers.py │ │ │ └── trainer.py │ │ ├── exporter/ │ │ │ ├── __init__.py │ │ │ ├── exporter_utils.py │ │ │ ├── mesh_culling_utils.py │ │ │ ├── texture_utils.py │ │ │ └── tsdf_utils.py │ │ ├── field_components/ │ │ │ ├── __init__.py │ │ │ ├── activations.py │ │ │ ├── base_field_component.py │ │ │ ├── embedding.py │ │ │ ├── encodings.py │ │ │ ├── field_heads.py │ │ │ ├── mlp.py │ │ │ ├── progressive_encoding.py │ │ │ ├── spatial_distortions.py │ │ │ └── temporal_distortions.py │ │ ├── fields/ │ │ │ ├── __init__.py │ │ │ ├── base_field.py │ │ │ ├── density_fields.py │ │ │ ├── feature_field.py │ │ │ ├── instant_ngp_field.py │ │ │ ├── nerfacto_field.py │ │ │ ├── nerfw_field.py │ │ │ ├── sdf_field.py │ │ │ ├── semantic_nerf_field.py │ │ │ ├── tensorf_field.py │ │ │ └── vanilla_nerf_field.py │ │ ├── model_components/ │ │ │ ├── __init__.py │ │ │ ├── losses.py │ │ │ ├── patch_warping.py │ │ │ ├── ray_generators.py │ │ │ ├── ray_samplers.py │ │ │ ├── renderers.py │ │ │ └── scene_colliders.py │ │ ├── models/ │ │ │ ├── __init__.py │ │ │ ├── base_model.py │ │ │ ├── base_surface_model.py │ │ │ ├── distilled_neus_facto.py │ │ │ ├── dto.py │ │ │ ├── instant_ngp.py │ │ │ ├── mipnerf.py │ │ │ ├── monosdf.py │ │ │ ├── nerfacto.py │ │ │ ├── neuralreconW.py │ │ │ ├── neus.py │ │ │ ├── neus_acc.py │ │ │ ├── neus_facto.py │ │ │ ├── neus_facto_dff.py │ │ │ ├── neus_facto_reg.py │ │ │ ├── semantic_nerfw.py │ │ │ ├── tensorf.py │ │ │ ├── unisurf.py │ │ │ ├── vanilla_nerf.py │ │ │ └── volsdf.py │ │ ├── pipelines/ │ │ │ ├── __init__.py │ │ │ ├── base_pipeline.py │ │ │ └── dynamic_batch.py │ │ ├── process_data/ │ │ │ ├── __init__.py │ │ │ ├── colmap_utils.py │ │ │ ├── hloc_utils.py │ │ │ ├── insta360_utils.py │ │ │ ├── metashape_utils.py │ │ │ ├── polycam_utils.py │ │ │ ├── process_data_utils.py │ │ │ └── record3d_utils.py │ │ ├── py.typed │ │ ├── utils/ │ │ │ ├── __init__.py │ │ │ ├── bilateral_solver.py │ │ │ ├── colormaps.py │ │ │ ├── colors.py │ │ │ ├── comms.py │ │ │ ├── decorators.py │ │ │ ├── eval_utils.py │ │ │ ├── func_utils.py │ │ │ ├── images.py │ │ │ ├── install_checks.py │ │ │ ├── io.py │ │ │ ├── marching_cubes.py │ │ │ ├── mask_utils.py │ │ │ ├── math.py │ │ │ ├── misc.py │ │ │ ├── plotly_utils.py │ │ │ ├── pointclouds.py │ │ │ ├── poses.py │ │ │ ├── printing.py │ │ │ ├── profiler.py │ │ │ ├── rich_utils.py │ │ │ ├── scheduler.py │ │ │ ├── scripts.py │ │ │ ├── tensor_dataclass.py │ │ │ ├── vis_utils.py │ │ │ └── writer.py │ │ └── viewer/ │ │ ├── __init__.py │ │ ├── app/ │ │ │ ├── .eslintrc.json │ │ │ ├── .gitignore │ │ │ ├── package.json │ │ │ ├── public/ │ │ │ │ ├── electron.js │ │ │ │ ├── index.html │ │ │ │ ├── manifest.json │ │ │ │ └── robots.txt │ │ │ ├── requirements.txt │ │ │ ├── run_deploy.py │ │ │ └── src/ │ │ │ ├── App.jsx │ │ │ ├── SceneNode.js │ │ │ ├── index.jsx │ │ │ ├── index.scss │ │ │ ├── modules/ │ │ │ │ ├── Banner/ │ │ │ │ │ ├── Banner.jsx │ │ │ │ │ └── index.jsx │ │ │ │ ├── ConfigPanel/ │ │ │ │ │ ├── ConfigPanel.jsx │ │ │ │ │ └── ConfigPanelSlice.js │ │ │ │ ├── LandingModal/ │ │ │ │ │ ├── LandingModal.jsx │ │ │ │ │ └── index.jsx │ │ │ │ ├── LogPanel/ │ │ │ │ │ └── LogPanel.jsx │ │ │ │ ├── RenderModal/ │ │ │ │ │ ├── RenderModal.jsx │ │ │ │ │ └── index.jsx │ │ │ │ ├── Scene/ │ │ │ │ │ ├── Scene.jsx │ │ │ │ │ └── drawing.js │ │ │ │ ├── SidePanel/ │ │ │ │ │ ├── CameraPanel/ │ │ │ │ │ │ ├── CameraHelper.js │ │ │ │ │ │ ├── CameraPanel.jsx │ │ │ │ │ │ ├── curve.js │ │ │ │ │ │ └── index.jsx │ │ │ │ │ ├── ExportPanel/ │ │ │ │ │ │ ├── ExportPanel.jsx │ │ │ │ │ │ ├── MeshSubPanel.jsx │ │ │ │ │ │ ├── PointcloudSubPanel.jsx │ │ │ │ │ │ └── index.jsx │ │ │ │ │ ├── ScenePanel/ │ │ │ │ │ │ ├── ScenePanel.jsx │ │ │ │ │ │ └── index.jsx │ │ │ │ │ ├── SidePanel.jsx │ │ │ │ │ └── StatusPanel/ │ │ │ │ │ ├── StatusPanel.jsx │ │ │ │ │ └── index.jsx │ │ │ │ ├── ViewerWindow/ │ │ │ │ │ ├── ViewerWindow.jsx │ │ │ │ │ └── ViewerWindowSlice.js │ │ │ │ ├── ViewportControlsModal/ │ │ │ │ │ ├── ViewportControlsModal.jsx │ │ │ │ │ └── index.jsx │ │ │ │ ├── WebRtcWindow/ │ │ │ │ │ └── WebRtcWindow.jsx │ │ │ │ ├── WebSocket/ │ │ │ │ │ └── WebSocket.jsx │ │ │ │ └── WebSocketUrlField.jsx │ │ │ ├── reducer.js │ │ │ ├── setupTests.js │ │ │ ├── store.js │ │ │ ├── subscriber.js │ │ │ ├── themes/ │ │ │ │ ├── leva_theme.json │ │ │ │ └── theme.ts │ │ │ └── utils.js │ │ └── server/ │ │ ├── README.md │ │ ├── __init__.py │ │ ├── path.py │ │ ├── server.py │ │ ├── state/ │ │ │ ├── node.py │ │ │ └── state_node.py │ │ ├── subprocess.py │ │ ├── utils.py │ │ ├── video_stream.py │ │ ├── viewer_utils.py │ │ └── visualizer.py │ ├── pyproject.toml │ ├── scripts/ │ │ ├── __init__.py │ │ ├── benchmarking/ │ │ │ ├── launch_eval_blender.sh │ │ │ └── launch_train_blender.sh │ │ ├── blender/ │ │ │ ├── render_mesh_blender.py │ │ │ └── render_pointcloud_blender.py │ │ ├── completions/ │ │ │ ├── .gitignore │ │ │ ├── __init__.py │ │ │ ├── install.py │ │ │ ├── setup.bash │ │ │ └── setup.zsh │ │ ├── datasets/ │ │ │ ├── extract_monocular_cues.py │ │ │ ├── process_nerfstudio_to_sdfstudio.py │ │ │ ├── process_neuralrgbd_to_sdfstudio.py │ │ │ ├── process_nuscenes_masks.py │ │ │ └── process_scannet_to_sdfstudio.py │ │ ├── docs/ │ │ │ ├── __init__.py │ │ │ ├── add_nb_tags.py │ │ │ └── build_docs.py │ │ ├── eval.py │ │ ├── eval_mask.py │ │ ├── exporter.py │ │ ├── extract_mesh.py │ │ ├── extract_volume.py │ │ ├── generate_kitti360_trainsplit.py │ │ ├── github/ │ │ │ ├── __init__.py │ │ │ └── run_actions.py │ │ ├── heritage_to_nerfstudio.py │ │ ├── licensing/ │ │ │ ├── copyright.txt │ │ │ └── license_headers.sh │ │ ├── preprocess/ │ │ │ └── preprocess_neus_pose.py │ │ ├── process_data.py │ │ ├── render.json │ │ ├── render.py │ │ ├── render_mesh.py │ │ ├── texture.py │ │ ├── train.py │ │ └── viewer/ │ │ └── view_dataset.py │ ├── setup.cfg │ ├── tests/ │ │ ├── cameras/ │ │ │ ├── test_cameras.py │ │ │ └── test_rays.py │ │ ├── field_components/ │ │ │ ├── test_embedding.py │ │ │ ├── test_encodings.py │ │ │ ├── test_field_outputs.py │ │ │ ├── test_fields.py │ │ │ ├── test_mlp.py │ │ │ └── test_temporal_distortions.py │ │ ├── model_components/ │ │ │ ├── test_ray_sampler.py │ │ │ └── test_renderers.py │ │ ├── test_train.py │ │ └── utils/ │ │ ├── test_poses.py │ │ ├── test_tensor_dataclass.py │ │ └── test_visualization.py │ └── third_party/ │ └── AutoDecomp/ │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── auto_decomp/ │ │ ├── __init__.py │ │ ├── cli/ │ │ │ └── inference_transformer.py │ │ ├── configs/ │ │ │ └── inference_transformer/ │ │ │ ├── config.yaml │ │ │ ├── cvpr.yaml │ │ │ ├── cvpr_idr.yaml │ │ │ ├── idr.yaml │ │ │ ├── low-res.yaml │ │ │ └── low-res_idr.yaml │ │ ├── decomp/ │ │ │ ├── preprocess.py │ │ │ └── transformer/ │ │ │ ├── __init__.py │ │ │ ├── dataset/ │ │ │ │ ├── __init__.py │ │ │ │ ├── ncut.py │ │ │ │ └── utils.py │ │ │ ├── lightning/ │ │ │ │ └── module.py │ │ │ ├── modeling/ │ │ │ │ ├── __init__.py │ │ │ │ ├── encoding.py │ │ │ │ ├── point_transformer.py │ │ │ │ ├── utils.py │ │ │ │ └── vision_transformer.py │ │ │ └── utils/ │ │ │ ├── postprocess.py │ │ │ └── saving.py │ │ ├── feature_extraction/ │ │ │ ├── __init__.py │ │ │ └── dino_vit/ │ │ │ ├── __init__.py │ │ │ ├── extract_features.py │ │ │ └── vit_extractor.py │ │ ├── sfm/ │ │ │ ├── __init__.py │ │ │ ├── colmap_from_co3d.py │ │ │ ├── colmap_from_idr.py │ │ │ ├── enums.py │ │ │ ├── pairs_from_sequential.py │ │ │ └── sfm.py │ │ └── utils/ │ │ ├── __init__.py │ │ ├── aggregation.py │ │ ├── cli.py │ │ ├── colmap.py │ │ ├── geometry/ │ │ │ ├── __init__.py │ │ │ ├── box3d.py │ │ │ ├── pointcloud/ │ │ │ │ ├── __init__.py │ │ │ │ ├── convert.py │ │ │ │ ├── misc.py │ │ │ │ ├── plane.py │ │ │ │ ├── pointcloud.py │ │ │ │ └── segmentation.py │ │ │ └── transform.py │ │ ├── misc.py │ │ ├── ray.py │ │ ├── tqdm.py │ │ └── viz_3d.py │ ├── ckpts/ │ │ └── no-chair.ckpt │ ├── docs/ │ │ └── INSTALL.md │ ├── requirements.txt │ ├── scripts/ │ │ ├── run_pipeline_demo.sh │ │ ├── run_pipeline_demo_low-res.sh │ │ ├── test_pipeline_bmvs/ │ │ │ ├── bmvs_scan1.sh │ │ │ ├── bmvs_scan2.sh │ │ │ ├── bmvs_scan3.sh │ │ │ ├── bmvs_scan4.sh │ │ │ ├── bmvs_scan5.sh │ │ │ ├── bmvs_scan6.sh │ │ │ ├── cvpr/ │ │ │ │ ├── README.md │ │ │ │ ├── bmvs_scan1.sh │ │ │ │ ├── bmvs_scan2.sh │ │ │ │ ├── bmvs_scan3.sh │ │ │ │ ├── bmvs_scan4.sh │ │ │ │ ├── bmvs_scan5.sh │ │ │ │ └── bmvs_scan6.sh │ │ │ └── low-res/ │ │ │ ├── README.md │ │ │ └── bmvs_scan1.sh │ │ └── test_pipeline_co3d_manual-poses/ │ │ ├── co3d_scan1.sh │ │ ├── co3d_scan2.sh │ │ ├── co3d_scan3.sh │ │ ├── co3d_scan4.sh │ │ ├── co3d_scan5.sh │ │ └── cvpr/ │ │ ├── co3d_scan1.sh │ │ ├── co3d_scan2.sh │ │ ├── co3d_scan3.sh │ │ ├── co3d_scan4.sh │ │ └── co3d_scan5.sh │ ├── setup.py │ └── third_party/ │ ├── Hierarchical-Localization/ │ │ ├── .gitattributes │ │ ├── .gitignore │ │ ├── .gitmodules │ │ ├── Dockerfile │ │ ├── LICENSE │ │ ├── README.md │ │ ├── datasets/ │ │ │ └── sacre_coeur/ │ │ │ └── README.md │ │ ├── demo.ipynb │ │ ├── hloc/ │ │ │ ├── __init__.py │ │ │ ├── colmap_from_nvm.py │ │ │ ├── extract_features.py │ │ │ ├── extractors/ │ │ │ │ ├── __init__.py │ │ │ │ ├── cosplace.py │ │ │ │ ├── d2net.py │ │ │ │ ├── dir.py │ │ │ │ ├── disk.py │ │ │ │ ├── dog.py │ │ │ │ ├── netvlad.py │ │ │ │ ├── openibl.py │ │ │ │ ├── r2d2.py │ │ │ │ └── superpoint.py │ │ │ ├── localize_inloc.py │ │ │ ├── localize_sfm.py │ │ │ ├── match_dense.py │ │ │ ├── match_features.py │ │ │ ├── matchers/ │ │ │ │ ├── __init__.py │ │ │ │ ├── adalam.py │ │ │ │ ├── loftr.py │ │ │ │ ├── nearest_neighbor.py │ │ │ │ └── superglue.py │ │ │ ├── pairs_from_covisibility.py │ │ │ ├── pairs_from_exhaustive.py │ │ │ ├── pairs_from_poses.py │ │ │ ├── pairs_from_retrieval.py │ │ │ ├── pipelines/ │ │ │ │ ├── 4Seasons/ │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── localize.py │ │ │ │ │ ├── prepare_reference.py │ │ │ │ │ └── utils.py │ │ │ │ ├── 7Scenes/ │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── create_gt_sfm.py │ │ │ │ │ ├── pipeline.py │ │ │ │ │ └── utils.py │ │ │ │ ├── Aachen/ │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── pipeline.py │ │ │ │ ├── Aachen_v1_1/ │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── pipeline.py │ │ │ │ │ └── pipeline_loftr.py │ │ │ │ ├── CMU/ │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── pipeline.py │ │ │ │ ├── Cambridge/ │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── pipeline.py │ │ │ │ │ └── utils.py │ │ │ │ ├── RobotCar/ │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── colmap_from_nvm.py │ │ │ │ │ └── pipeline.py │ │ │ │ └── __init__.py │ │ │ ├── reconstruction.py │ │ │ ├── triangulation.py │ │ │ ├── utils/ │ │ │ │ ├── __init__.py │ │ │ │ ├── base_model.py │ │ │ │ ├── database.py │ │ │ │ ├── geometry.py │ │ │ │ ├── io.py │ │ │ │ ├── parsers.py │ │ │ │ ├── read_write_model.py │ │ │ │ ├── viz.py │ │ │ │ └── viz_3d.py │ │ │ └── visualization.py │ │ ├── pairs/ │ │ │ ├── aachen/ │ │ │ │ ├── pairs-db-covis20.txt │ │ │ │ ├── pairs-query-netvlad20.txt │ │ │ │ ├── pairs-query-netvlad30.txt │ │ │ │ └── pairs-query-netvlad50.txt │ │ │ ├── aachen_v1.1/ │ │ │ │ ├── pairs-db-covis20.txt │ │ │ │ └── pairs-query-netvlad50.txt │ │ │ └── inloc/ │ │ │ ├── pairs-query-netvlad20.txt │ │ │ ├── pairs-query-netvlad30-temporal.txt │ │ │ ├── pairs-query-netvlad30.txt │ │ │ ├── pairs-query-netvlad40-temporal.txt │ │ │ └── pairs-query-netvlad40.txt │ │ ├── pipeline_Aachen.ipynb │ │ ├── pipeline_InLoc.ipynb │ │ ├── pipeline_SfM.ipynb │ │ ├── requirements.txt │ │ ├── setup.py │ │ └── third_party/ │ │ ├── SuperGluePretrainedNetwork/ │ │ │ ├── .gitignore │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── assets/ │ │ │ │ ├── megadepth_train_scenes.txt │ │ │ │ ├── megadepth_validation_scenes.txt │ │ │ │ ├── phototourism_sample_pairs.txt │ │ │ │ ├── phototourism_test_pairs.txt │ │ │ │ ├── phototourism_test_pairs_original.txt │ │ │ │ ├── scannet_sample_pairs_with_gt.txt │ │ │ │ ├── scannet_test_pairs_with_gt.txt │ │ │ │ ├── yfcc_test_pairs_with_gt.txt │ │ │ │ └── yfcc_test_pairs_with_gt_original.txt │ │ │ ├── demo_superglue.py │ │ │ ├── match_pairs.py │ │ │ ├── models/ │ │ │ │ ├── __init__.py │ │ │ │ ├── matching.py │ │ │ │ ├── superglue.py │ │ │ │ ├── superpoint.py │ │ │ │ ├── utils.py │ │ │ │ └── weights/ │ │ │ │ ├── superglue_indoor.pth │ │ │ │ ├── superglue_outdoor.pth │ │ │ │ └── superpoint_v1.pth │ │ │ └── requirements.txt │ │ ├── d2net/ │ │ │ ├── .gitignore │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── extract_features.py │ │ │ ├── extract_hesaff.m │ │ │ ├── hpatches_sequences/ │ │ │ │ ├── HPatches-Sequences-Matching-Benchmark.ipynb │ │ │ │ ├── README.md │ │ │ │ ├── convert_to_png.sh │ │ │ │ ├── download.sh │ │ │ │ └── download_cache.sh │ │ │ ├── image_list_hpatches_sequences.txt │ │ │ ├── image_list_qualitative.txt │ │ │ ├── inloc/ │ │ │ │ ├── README.md │ │ │ │ ├── custom_demo.m │ │ │ │ ├── functions/ │ │ │ │ │ └── wustl_function/ │ │ │ │ │ ├── Features_WUSTL.m │ │ │ │ │ └── parfor_sparseGV.m │ │ │ │ ├── generate_list.m │ │ │ │ └── merge_files.m │ │ │ ├── megadepth_utils/ │ │ │ │ ├── preprocess_scene.py │ │ │ │ ├── preprocess_undistorted_megadepth.sh │ │ │ │ ├── train_scenes.txt │ │ │ │ ├── undistort_reconstructions.py │ │ │ │ └── valid_scenes.txt │ │ │ ├── qualitative/ │ │ │ │ └── Qualitative-Matches.ipynb │ │ │ └── train.py │ │ ├── deep-image-retrieval/ │ │ │ ├── .gitignore │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ └── dirtorch/ │ │ │ ├── datasets/ │ │ │ │ ├── __init__.py │ │ │ │ ├── __main__.py │ │ │ │ ├── create.py │ │ │ │ ├── dataset.py │ │ │ │ ├── downloader.py │ │ │ │ ├── generic.py │ │ │ │ ├── generic_func.py │ │ │ │ ├── landmarks.py │ │ │ │ ├── landmarks18.py │ │ │ │ ├── oxford.py │ │ │ │ └── paris.py │ │ │ ├── extract_features.py │ │ │ ├── extract_kapture.py │ │ │ ├── loss.py │ │ │ ├── nets/ │ │ │ │ ├── __init__.py │ │ │ │ ├── __main__.py │ │ │ │ ├── backbones/ │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── resnet.py │ │ │ │ │ └── resnext101_features.py │ │ │ │ ├── layers/ │ │ │ │ │ └── pooling.py │ │ │ │ ├── rmac_resnet.py │ │ │ │ ├── rmac_resnet_fpn.py │ │ │ │ └── rmac_resnext.py │ │ │ ├── test_dir.py │ │ │ └── utils/ │ │ │ ├── common.py │ │ │ ├── convenient.py │ │ │ ├── evaluation.py │ │ │ ├── funcs.py │ │ │ ├── pytorch_loader.py │ │ │ ├── transforms.py │ │ │ └── transforms_tools.py │ │ ├── disk/ │ │ │ ├── .gitignore │ │ │ ├── .gitmodules │ │ │ ├── LICENSE.txt │ │ │ ├── README.md │ │ │ ├── colmap/ │ │ │ │ ├── colmap/ │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── database.py │ │ │ │ │ ├── license.txt │ │ │ │ │ ├── read_dense.py │ │ │ │ │ └── read_model.py │ │ │ │ ├── colmap2dataset.py │ │ │ │ ├── h5_to_db.py │ │ │ │ └── merge_datasets.py │ │ │ ├── compute_validation_auc.py │ │ │ ├── detect.py │ │ │ ├── disk/ │ │ │ │ ├── __init__.py │ │ │ │ ├── common/ │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── errors.py │ │ │ │ │ ├── image.py │ │ │ │ │ ├── logger.py │ │ │ │ │ ├── structs.py │ │ │ │ │ └── vis.py │ │ │ │ ├── geom/ │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── distance_matrix.py │ │ │ │ │ ├── epi.py │ │ │ │ │ └── pose.py │ │ │ │ ├── loss/ │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── discrete_metric.py │ │ │ │ │ ├── pose_metric.py │ │ │ │ │ ├── ransac.py │ │ │ │ │ ├── reinforce.py │ │ │ │ │ └── rewards.py │ │ │ │ └── model/ │ │ │ │ ├── __init__.py │ │ │ │ ├── consistent_matcher.py │ │ │ │ ├── cycle_matcher.py │ │ │ │ ├── detector.py │ │ │ │ ├── disk.py │ │ │ │ └── nms.py │ │ │ ├── download_dataset │ │ │ ├── match.py │ │ │ ├── requirements.txt │ │ │ ├── train.py │ │ │ └── view_h5.py │ │ └── r2d2/ │ │ ├── LICENSE │ │ ├── NOTICE │ │ ├── README.md │ │ ├── datasets/ │ │ │ ├── __init__.py │ │ │ ├── aachen.py │ │ │ ├── dataset.py │ │ │ ├── imgfolder.py │ │ │ ├── pair_dataset.py │ │ │ └── web_images.py │ │ ├── download_training_data.sh │ │ ├── extract.py │ │ ├── extract_kapture.py │ │ ├── models/ │ │ │ ├── r2d2_WAF_N16.pt │ │ │ ├── r2d2_WASF_N16.pt │ │ │ └── r2d2_WASF_N8_big.pt │ │ ├── nets/ │ │ │ ├── ap_loss.py │ │ │ ├── losses.py │ │ │ ├── patchnet.py │ │ │ ├── reliability_loss.py │ │ │ ├── repeatability_loss.py │ │ │ └── sampler.py │ │ ├── results/ │ │ │ ├── r2d2_WAF_N16.scale-0.3-1.npy │ │ │ ├── r2d2_WAF_N16.size-256-1024.npy │ │ │ ├── r2d2_WASF_N16.scale-0.3-1.npy │ │ │ ├── r2d2_WASF_N16.size-256-1024.npy │ │ │ └── r2d2_W_N16.scale-0.3-1.npy │ │ ├── tools/ │ │ │ ├── common.py │ │ │ ├── dataloader.py │ │ │ ├── trainer.py │ │ │ ├── transforms.py │ │ │ ├── transforms_tools.py │ │ │ └── viz.py │ │ ├── train.py │ │ └── viz_heatmaps.py │ └── LoFTR/ │ ├── .gitignore │ ├── .gitmodules │ ├── LICENSE │ ├── README.md │ ├── assets/ │ │ ├── megadepth_test_1500_scene_info/ │ │ │ ├── 0015_0.1_0.3.npz │ │ │ ├── 0015_0.3_0.5.npz │ │ │ ├── 0022_0.1_0.3.npz │ │ │ ├── 0022_0.3_0.5.npz │ │ │ ├── 0022_0.5_0.7.npz │ │ │ └── megadepth_test_1500.txt │ │ └── scannet_test_1500/ │ │ ├── intrinsics.npz │ │ ├── scannet_test.txt │ │ ├── statistics.json │ │ └── test.npz │ ├── configs/ │ │ └── loftr/ │ │ ├── indoor/ │ │ │ ├── buggy_pos_enc/ │ │ │ │ ├── loftr_ds.py │ │ │ │ ├── loftr_ds_dense.py │ │ │ │ ├── loftr_ot.py │ │ │ │ └── loftr_ot_dense.py │ │ │ ├── debug/ │ │ │ │ └── .gitignore │ │ │ ├── loftr_ds.py │ │ │ ├── loftr_ds_dense.py │ │ │ ├── loftr_ot.py │ │ │ ├── loftr_ot_dense.py │ │ │ └── scannet/ │ │ │ ├── loftr_ds_eval.py │ │ │ └── loftr_ds_eval_new.py │ │ └── outdoor/ │ │ ├── buggy_pos_enc/ │ │ │ ├── loftr_ds.py │ │ │ ├── loftr_ds_dense.py │ │ │ ├── loftr_ot.py │ │ │ └── loftr_ot_dense.py │ │ ├── debug/ │ │ │ └── .gitignore │ │ ├── loftr_ds.py │ │ ├── loftr_ds_dense.py │ │ ├── loftr_ot.py │ │ └── loftr_ot_dense.py │ ├── demo/ │ │ ├── demo_loftr.py │ │ └── run_demo.sh │ ├── docs/ │ │ └── TRAINING.md │ ├── environment.yaml │ ├── loftr/ │ │ ├── __init__.py │ │ ├── config/ │ │ │ └── default.py │ │ ├── datasets/ │ │ │ ├── megadepth.py │ │ │ ├── sampler.py │ │ │ └── scannet.py │ │ ├── lightning/ │ │ │ ├── data.py │ │ │ └── lightning_loftr.py │ │ ├── loftr/ │ │ │ ├── __init__.py │ │ │ ├── backbone/ │ │ │ │ ├── __init__.py │ │ │ │ └── resnet_fpn.py │ │ │ ├── loftr.py │ │ │ ├── loftr_module/ │ │ │ │ ├── __init__.py │ │ │ │ ├── fine_preprocess.py │ │ │ │ ├── linear_attention.py │ │ │ │ └── transformer.py │ │ │ └── utils/ │ │ │ ├── coarse_matching.py │ │ │ ├── cvpr_ds_config.py │ │ │ ├── fine_matching.py │ │ │ ├── geometry.py │ │ │ ├── position_encoding.py │ │ │ └── supervision.py │ │ ├── losses/ │ │ │ └── loftr_loss.py │ │ ├── optimizers/ │ │ │ └── __init__.py │ │ ├── tools/ │ │ │ └── hloc_match_features.py │ │ └── utils/ │ │ ├── augment.py │ │ ├── comm.py │ │ ├── dataloader.py │ │ ├── dataset.py │ │ ├── metrics.py │ │ ├── misc.py │ │ ├── plotting.py │ │ └── profiler.py │ ├── requirements.txt │ ├── scripts/ │ │ ├── reproduce_test/ │ │ │ ├── indoor_ds.sh │ │ │ ├── indoor_ds_new.sh │ │ │ ├── indoor_ot.sh │ │ │ ├── outdoor_ds.sh │ │ │ └── outdoor_ot.sh │ │ └── reproduce_train/ │ │ ├── debug/ │ │ │ └── .gitignore │ │ ├── indoor_ds.sh │ │ ├── indoor_ot.sh │ │ ├── outdoor_ds.sh │ │ └── outdoor_ot.sh │ ├── setup.py │ ├── test.py │ └── train.py ├── LICENSE ├── NOTICE ├── README.md ├── croco/ │ ├── .gitignore │ ├── LICENSE │ ├── NOTICE │ ├── README.MD │ ├── datasets/ │ │ ├── __init__.py │ │ ├── crops/ │ │ │ ├── README.MD │ │ │ └── extract_crops_from_images.py │ │ ├── habitat_sim/ │ │ │ ├── README.MD │ │ │ ├── __init__.py │ │ │ ├── generate_from_metadata.py │ │ │ ├── generate_from_metadata_files.py │ │ │ ├── generate_multiview_images.py │ │ │ ├── multiview_habitat_sim_generator.py │ │ │ ├── pack_metadata_files.py │ │ │ └── paths.py │ │ ├── pairs_dataset.py │ │ └── transforms.py │ ├── models/ │ │ ├── blocks.py │ │ ├── criterion.py │ │ ├── croco.py │ │ ├── croco_downstream.py │ │ ├── curope/ │ │ │ ├── __init__.py │ │ │ ├── curope.cpp │ │ │ ├── curope2d.py │ │ │ ├── kernels.cu │ │ │ └── setup.py │ │ ├── dpt_block.py │ │ ├── head_downstream.py │ │ ├── masking.py │ │ └── pos_embed.py │ ├── pretrain.py │ ├── stereoflow/ │ │ ├── README.MD │ │ ├── augmentor.py │ │ ├── criterion.py │ │ ├── datasets_flow.py │ │ ├── datasets_stereo.py │ │ ├── download_model.sh │ │ ├── engine.py │ │ ├── test.py │ │ └── train.py │ └── utils/ │ └── misc.py ├── dust3r/ │ ├── __init__.py │ ├── datasets/ │ │ ├── __init__.py │ │ ├── base/ │ │ │ ├── __init__.py │ │ │ ├── base_stereo_view_dataset.py │ │ │ ├── batched_sampler.py │ │ │ ├── easy_dataset.py │ │ │ └── mast3r_base_stereo_view_dataset.py │ │ └── utils/ │ │ ├── __init__.py │ │ ├── cropping.py │ │ ├── mast3r_cropping.py │ │ └── transforms.py │ ├── heads/ │ │ ├── __init__.py │ │ ├── dpt_head.py │ │ ├── linear_head.py │ │ └── postprocess.py │ ├── image_pairs.py │ ├── inference.py │ ├── losses.py │ ├── model.py │ ├── optim_factory.py │ ├── patch_embed.py │ ├── post_process.py │ ├── utils/ │ │ ├── __init__.py │ │ ├── device.py │ │ ├── geometry.py │ │ ├── image.py │ │ ├── misc.py │ │ ├── parallel.py │ │ ├── path_to_croco.py │ │ └── read_write_model.py │ └── viz.py ├── infer/ │ ├── demo_online.py │ ├── demo_utils.py │ ├── dens3r_recon.py │ ├── eval_scripts/ │ │ ├── eval_depth.py │ │ ├── eval_matching.py │ │ ├── eval_normal.py │ │ └── matching_metrics.py │ └── infer_normal_pts3d.py ├── mast3r/ │ ├── .gitignore │ ├── __init__.py │ ├── catmlp_dpt_head.py │ ├── colmap_utils/ │ │ ├── __init__.py │ │ ├── database.py │ │ └── database_utils.py │ ├── fast_nn.py │ ├── image_pairs.py │ ├── losses.py │ ├── model.py │ ├── retrieval/ │ │ ├── graph.py │ │ ├── model.py │ │ └── processor.py │ ├── ssim.py │ └── utils/ │ ├── __init__.py │ ├── coarse_to_fine.py │ ├── collate.py │ ├── misc.py │ └── path_to_dust3r.py └── requirements.txt ================================================ FILE CONTENTS ================================================ ================================================ FILE: AutoReconForDens3R/.gitattributes ================================================ *.ipynb linguist-documentation ================================================ FILE: AutoReconForDens3R/.github/ISSUE_TEMPLATE/bug-report.md ================================================ --- name: Bug report about: Create a report to help us improve title: '' labels: '' assignees: '' --- **Describe the bug** A clear and concise description of what the bug is. **To Reproduce** Steps to reproduce the behavior: 1. 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do # echo "$file was modified" # done - run: | python ./nerfstudio/viewer/app/run_deploy.py \ --branch-name ${{ env.BRANCH_NAME }} \ --ssh-key-string "$SSH_KEY" \ --local-folder ./nerfstudio/viewer/app/build \ --package-json-filename ./nerfstudio/viewer/app/package.json \ --increment-version "False" - run: cat ~/.ssh/config ================================================ FILE: AutoReconForDens3R/.gitignore ================================================ *_debug_* # Byte-compiled / optimized / DLL files __pycache__/ *.py[cod] *$py.class # C extensions *.so # Distribution / packaging .Python build/ develop-eggs/ dist/ downloads/ !scripts/downloads/ eggs/ .eggs/ lib/ lib64/ parts/ sdist/ var/ wheels/ share/python-wheels/ *.egg-info/ .installed.cfg *.egg MANIFEST # PyInstaller # Usually these files are written by a python script from a template # before PyInstaller builds the exe, so as to inject date/other infos into it. *.manifest *.spec # Installer logs pip-log.txt pip-delete-this-directory.txt # Unit test / coverage reports htmlcov/ .tox/ .nox/ .coverage .coverage.* .cache nosetests.xml coverage.xml *.cover *.py,cover .hypothesis/ .pytest_cache/ cover/ # Translations *.mo *.pot # Django stuff: *.log local_settings.py db.sqlite3 db.sqlite3-journal # Flask stuff: instance/ .webassets-cache # Scrapy stuff: .scrapy # Sphinx documentation docs/_build/ # PyBuilder .pybuilder/ target/ # Jupyter Notebook .ipynb_checkpoints # IPython profile_default/ ipython_config.py # pyenv # For a library or package, you might want to ignore these files since the code is # intended to run in multiple environments; 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We also recommend that a file or class name and description of purpose be included on the same "printed page" as the copyright notice for easier identification within third-party archives. Copyright [yyyy] [name of copyright owner] Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. ================================================ FILE: AutoReconForDens3R/README.md ================================================ # AutoRecon: Automated 3D Object Discovery and Reconstruction ### [Project Page](https://zju3dv.github.io/autorecon) | [Paper](https://zju3dv.github.io/autorecon/files/autorecon.pdf) ![teaser](assets/teaser_video.gif) > [AutoRecon: Automated 3D Object Discovery and Reconstruction](https://zju3dv.github.io/autorecon/files/autorecon.pdf) > Yuang Wang, Xingyi He, Sida Peng, Haotong Lin, Hujun Bao, Xiaowei Zhou > CVPR 2023 # About This is a refactored version of the [AutoRecon](https://zju3dv.github.io/autorecon) project based on the NeRFStudio and the SDFStudio codebase. We separate the project into two parts. The coarse decomposition part is implemented in the [AutoDecomp](https://github.com/zju3dv/AutoDecomp) repo, which can be used as a general tool for 3D object discovery and preprocessing casual captures for object reconstruction. The neural surface reconstruction part is implemented here. # Installation Please refer to the [installation guide](docs/INSTALL.md) for detailed instructions. # Run the pipeline ## Run the pipeline with your own data Here we take a demo data as an example. In this example, we assume only a sequential stream of images is available. You can easily adapt your data to use AutoRecon. 1. Download the demo data from [Google Drive](https://drive.google.com/drive/folders/1IFbK9b7gzqwh9QkZe6zoLmcSFr_zW3rJ?usp=drive_link) and put it under `data` (-> `data/custom_data_example/...`) 2. Run the pipeline with `exps/code-release/run_pipeline_demo_low-res.sh` > NOTE: In the demo script, we assume the images come from a sequential video stream and use sequential matching for SfM. If you have unordered images, the default setting might lead to inferior results and it is recommended to use exhaustive matching or vocab-tree instead. ## Run the pipeline with annotated data in the IDR format 1. Download the BlendedMVS data from [GoogleDrive](https://drive.google.com/drive/folders/1ZLQ0hap6o_Tjr7S6H_EAn17pz4_qFluW?usp=sharing) and put it under `data` (-> `data/BlendedMVS/...`) 2. Run one of the scripts in `exps/code-release/bmvs` ## Run the pipeline with CO3D data 1. Download the CO3D data from [GoogleDrive](https://drive.google.com/drive/folders/1u-ugNhwFVtV6TKZ2J29iwcdQY2iwVnoi?usp=sharing) and put it under `data` (-> `data/CO3D_DEMO/...`) 2. Run one of the scripts in `exps/code-release/co3d_demo` # Extract Mesh You can take the following script as a reference to extract mesh: ```bash # Extract mesh with MC LOG_DIR="path_to_log_dir" MC_RES=512 MESH_FN="extracted_mesh_res-${MC_RES}.ply" MESH_PATH="${LOG_DIR}/${MESH_FN}" ns-extract-mesh \ --load-config $LOG_DIR/config.yml \ --load-dir $LOG_DIR/sdfstudio_models \ --output-path $MESH_PATH \ --chunk_size 25000 --store_float16 True \ --resolution $MC_RES \ --use_train_scene_box True \ --seg_aware_sdf False \ --remove_internal_geometry None \ --remove_non_maximum_connected_components True \ --close_holes False --simplify_mesh_final False ``` > NOTE: We postprocess the extracted mesh before evaluation by removing possible internal geometries with ambient occlusion. The postprocessing code depends on pymeshlab which only works on some machines. You can remove possible internal geometries manually with ambient occlusion using MeshLab. # Citation If you find this code useful for your research, please use the following BibTeX entry. ```bibtex @inproceedings{wang2023autorecon, title={AutoRecon: Automated 3D Object Discovery and Reconstruction}, author={Wang, Yuang and He, Xingyi and Peng, Sida and Lin, Haotong and Bao, Hujun and Zhou, Xiaowei}, booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition}, pages={21382--21391}, year={2023} } ``` # Acknowledgement This code is built upon the awesome projects including [nerfstudio](https://github.com/nerfstudio-project/nerfstudio/), [sdfstudio](https://github.com/autonomousvision/sdfstudio/blob/master/README.md), [nerfacc](https://github.com/KAIR-BAIR/nerfacc), [tyro](https://github.com/brentyi/tyro) and more. Thanks for these great projects! ================================================ FILE: AutoReconForDens3R/colab/demo.ipynb ================================================ { "cells": [ { "cell_type": "markdown", "metadata": { "colab_type": "text", "id": "view-in-github" }, "source": [ "\"Open" ] }, { "cell_type": "markdown", "metadata": { "id": "SiiXJ7K_fePG" }, "source": [ "

\n", " \n", " \n", " \n", " \"nerfstudio\"\n", " \n", "

\n", "\n", "\n", "# Nerfstudio: A collaboration friendly studio for NeRFs\n", "\n", "\n", "![GitHub stars](https://img.shields.io/github/stars/nerfstudio-project/nerfstudio?color=gold&style=social)\n", "\n", "This colab shows how to train and view NeRFs from Nerfstudio both on pre-made datasets or from your own videos/images.\n", "\n", "\\\\\n", "\n", "Credit to [NeX](https://nex-mpi.github.io/) for Google Colab format." ] }, { "cell_type": "markdown", "metadata": { "id": "Yyx5h6kz5ga7" }, "source": [ "## Frequently Asked Questions\n", "\n", "* **Downloading custom data is stalling (no output):**\n", " * This is a bug in Colab. The data is processing, but may take a while to complete. You will know processing completed if `data/nerfstudio/custom_data/transforms.json` exists. Terminating the cell early will result in not being able to train.\n", "* **Processing custom data is taking a long time:**\n", " * The time it takes to process data depends on the number of images and its resolution. If processing is taking too long, try lowering the resolution of your custom data.\n", "* **Error: Data processing did not complete:**\n", " * This means that the data processing script did not fully complete. This could be because there were not enough images, or that the images were of low quality. We recommend images with little to no motion blur and lots of visual overlap of the scene to increase the chances of successful processing.\n", "* **Training is not showing progress**:\n", " * The lack of output is a bug in Colab. You can see the training progress from the viewer.\n", "* **Viewer Quality is bad / Low resolution**:\n", " * This may be because more GPU is being used on training that rendering the viewer. Try pausing training or decreasing training utilization.\n", "* **WARNING: Running pip as the 'root' user...:**:\n", " * This and other pip warnings or errors can be safely ignored.\n", "* **Other problems?**\n", " * Feel free to create an issue on our [GitHub repo](https://github.com/nerfstudio-project/nerfstudio).\n" ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "cellView": "form", "colab": { "base_uri": "https://localhost:8080/" }, "id": "RGr33zHaHak0", "outputId": "2641dce6-cd57-4d31-d8b1-860bc1adf17f" }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "⏬ Downloading https://github.com/jaimergp/miniforge/releases/latest/download/Mambaforge-colab-Linux-x86_64.sh...\n", "📦 Installing...\n", "📌 Adjusting configuration...\n", "🩹 Patching environment...\n", "⏲ Done in 0:00:27\n", "🔁 Restarting kernel...\n" ] } ], "source": [ "#@markdown

Install Conda (requires runtime restart)

\n", "\n", "!pip install -q condacolab\n", "import condacolab\n", "condacolab.install()" ] }, { "cell_type": "code", "execution_count": null, "metadata": { "cellView": "form", "id": "9oyLHl8QfYwP" }, "outputs": [], "source": [ "#@markdown

Install Nerfstudio and Dependencies (~10 min)

\n", "\n", "%cd /content/\n", "!pip install --upgrade pip\n", "!pip install torch==1.12.1+cu113 torchvision==0.13.1+cu113 -f https://download.pytorch.org/whl/torch_stable.html\n", "\n", "# Installing TinyCuda\n", "%cd /content/\n", "!gdown \"https://drive.google.com/u/1/uc?id=1q8fuc-Mqiev5GTBTRA5UPgCaQDzuqKqj\" \n", "!pip install tinycudann-1.6-cp37-cp37m-linux_x86_64.whl\n", "\n", "# Installing COLMAP\n", "%cd /content/\n", "!conda install -c conda-forge colmap\n", "\n", "# Install nerfstudio\n", "%cd /content/\n", "# !pip install nerfstudio\n", "!pip install git+https://github.com/nerfstudio-project/nerfstudio.git" ] }, { "cell_type": "code", "execution_count": null, "metadata": { "cellView": "form", "id": "msVLprI4gRA4" }, "outputs": [], "source": [ "#@markdown

Downloading and Processing Data

\n", "#@markdown

Pick the preset scene or upload your own images/video

\n", "import os\n", "import glob\n", "from google.colab import files\n", "from IPython.core.display import display, HTML\n", "\n", "scene = '\\uD83D\\uDDBC poster' #@param ['🖼 poster', '🚜 dozer', '🌄 desolation', '📤 upload your images' , '🎥 upload your own video', '🔺 upload Polycam data', '💽 upload your own Record3D data']\n", "scene = ' '.join(scene.split(' ')[1:])\n", "\n", "if scene == \"upload Polycam data\":\n", " %cd /content/\n", " !mkdir -p /content/data/nerfstudio/custom_data\n", " %cd /content/data/nerfstudio/custom_data/\n", " uploaded = files.upload()\n", " dir = os.getcwd()\n", " if len(uploaded.keys()) > 1:\n", " print(\"ERROR, upload a single .zip file when processing Polycam data\")\n", " dataset_dir = [os.path.join(dir, f) for f in uploaded.keys()][0]\n", " !ns-process-data polycam --data $dataset_dir --output-dir /content/data/nerfstudio/custom_data/\n", " scene = \"custom_data\"\n", "elif scene == 'upload your own Record3D data':\n", " display(HTML('

Zip your Record3D folder, and upload.

'))\n", " display(HTML('

More information on Record3D can be found here.

'))\n", " %cd /content/\n", " !mkdir -p /content/data/nerfstudio/custom_data\n", " %cd /content/data/nerfstudio/custom_data/\n", " uploaded = files.upload()\n", " dir = os.getcwd()\n", " preupload_datasets = [os.path.join(dir, f) for f in uploaded.keys()]\n", " record_3d_zipfile = preupload_datasets[0]\n", " !unzip $record_3d_zipfile -d /content/data/nerfstudio/custom_data\n", " custom_data_directory = glob.glob('/content/data/nerfstudio/custom_data/*')[0]\n", " !ns-process-data record3d --data $custom_data_directory --output-dir /content/data/nerfstudio/custom_data/\n", " scene = \"custom_data\"\n", "elif scene in ['upload your images', 'upload your own video']:\n", " display(HTML('

Select your custom data

'))\n", " display(HTML('

You can select multiple images by pressing ctrl, cmd or shift and click.

'))\n", " display(HTML('

Note: This may take time, especially on hires inputs, so we recommend to download dataset after creation.

'))\n", " !mkdir -p /content/data/nerfstudio/custom_data\n", " if scene == 'upload your images':\n", " !mkdir -p /content/data/nerfstudio/custom_data/raw_images\n", " %cd /content/data/nerfstudio/custom_data/raw_images\n", " uploaded = files.upload()\n", " dir = os.getcwd()\n", " else:\n", " %cd /content/data/nerfstudio/custom_data/\n", " uploaded = files.upload()\n", " dir = os.getcwd()\n", " preupload_datasets = [os.path.join(dir, f) for f in uploaded.keys()]\n", " del uploaded\n", " %cd /content/\n", "\n", " if scene == 'upload your images':\n", " !ns-process-data images --data /content/data/nerfstudio/custom_data/raw_images --output-dir /content/data/nerfstudio/custom_data/\n", " else:\n", " video_path = preupload_datasets[0]\n", " !ns-process-data video --data $video_path --output-dir /content/data/nerfstudio/custom_data/\n", "\n", " scene = \"custom_data\"\n", "else:\n", " %cd /content/\n", " !ns-download-data nerfstudio --capture-name=$scene\n", "\n", "print(\"Data Processing Succeeded!\")" ] }, { "cell_type": "code", "execution_count": 2, "metadata": { "cellView": "form", "colab": { "base_uri": "https://localhost:8080/", "height": 928 }, "id": "VoKDxqEcjmfC", "outputId": "d2919aa4-96dd-4e50-829f-289e4208882b" }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "/content\n", "\u001b[K\u001b[?25h/tools/node/bin/lt -> /tools/node/lib/node_modules/localtunnel/bin/lt.js\n", "\u001b[K\u001b[?25h+ localtunnel@2.0.2\n", "added 22 packages from 22 contributors in 2.07s\n", "https://viewer.nerf.studio/?websocket_url=wss://cyan-facts-matter-34-91-1-218.loca.lt\n", "You may need to click Refresh Page after you start training!\n" ] }, { "data": { "text/html": [ "\n", " \n", " " ], "text/plain": [ "" ] }, "execution_count": 2, "metadata": {}, "output_type": "execute_result" } ], "source": [ "#@markdown

Set up and Start Viewer

\n", "\n", "%cd /content\n", "\n", "# Install localtunnel\n", "# We are using localtunnel https://github.com/localtunnel/localtunnel but ngrok could also be used\n", "!npm install -g localtunnel\n", "\n", "# Tunnel port 7007, the default for\n", "!rm url.txt 2> /dev/null\n", "get_ipython().system_raw('lt --port 7007 >> url.txt 2>&1 &')\n", "\n", "import time\n", "time.sleep(3) # the previous command needs time to write to url.txt\n", "\n", "\n", "with open('url.txt') as f:\n", " lines = f.readlines()\n", "websocket_url = lines[0].split(\": \")[1].strip().replace(\"https\", \"wss\")\n", "# from nerfstudio.utils.io import load_from_json\n", "# from pathlib import Path\n", "# json_filename = \"nerfstudio/nerfstudio/viewer/app/package.json\"\n", "# version = load_from_json(Path(json_filename))[\"version\"]\n", "url = f\"https://viewer.nerf.studio/?websocket_url={websocket_url}\"\n", "print(url)\n", "print(\"You may need to click Refresh Page after you start training!\")\n", "from IPython import display\n", "display.IFrame(src=url, height=800, width=\"100%\")" ] }, { "cell_type": "code", "execution_count": null, "metadata": { "cellView": "form", "id": "m_N8_cLfjoXD" }, "outputs": [], "source": [ "#@markdown

Start Training

\n", "\n", "%cd /content\n", "if os.path.exists(f\"data/nerfstudio/{scene}/transforms.json\"):\n", " !ns-train nerfacto --viewer.websocket-port 7007 nerfstudio-data --data data/nerfstudio/$scene --downscale-factor 4\n", "else:\n", " display(HTML('

Error: Data processing did not complete

'))\n", " display(HTML('

Please re-run `Downloading and Processing Data`, or view the FAQ for more info.

'))" ] }, { "cell_type": "code", "execution_count": null, "metadata": { "cellView": "form", "colab": { "base_uri": "https://localhost:8080/" }, "id": "WGt8ukG6Htg3", "outputId": "fa946890-c7d8-4e46-a54e-7231bc5a2059" }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\u001b[2;36m[19:48:48]\u001b[0m\u001b[2;36m \u001b[0mSkipping \u001b[1;36m0\u001b[0m files in dataset split train. \u001b]8;id=527413;file:///content/nerfstudio/nerfstudio/data/dataparsers/nerfstudio_dataparser.py\u001b\\\u001b[2mnerfstudio_dataparser.py\u001b[0m\u001b]8;;\u001b\\\u001b[2m:\u001b[0m\u001b]8;id=243595;file:///content/nerfstudio/nerfstudio/data/dataparsers/nerfstudio_dataparser.py#91\u001b\\\u001b[2m91\u001b[0m\u001b]8;;\u001b\\\n", "\u001b[2;36m \u001b[0m\u001b[2;36m \u001b[0mSkipping \u001b[1;36m0\u001b[0m files in dataset split test. \u001b]8;id=109270;file:///content/nerfstudio/nerfstudio/data/dataparsers/nerfstudio_dataparser.py\u001b\\\u001b[2mnerfstudio_dataparser.py\u001b[0m\u001b]8;;\u001b\\\u001b[2m:\u001b[0m\u001b]8;id=464675;file:///content/nerfstudio/nerfstudio/data/dataparsers/nerfstudio_dataparser.py#91\u001b\\\u001b[2m91\u001b[0m\u001b]8;;\u001b\\\n", "\u001b[2KLoading data batch \u001b[90m━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━\u001b[0m \u001b[35m100%\u001b[0m \u001b[36m0:00:00\u001b[0m\n", "\u001b[?25h/usr/local/lib/python3.7/site-packages/torch/utils/data/dataloader.py:566: UserWarning: This DataLoader will create 4 worker processes in total. Our suggested max number of worker in current system is 2, which is smaller than what this DataLoader is going to create. Please be aware that excessive worker creation might get DataLoader running slow or even freeze, lower the worker number to avoid potential slowness/freeze if necessary.\n", " cpuset_checked))\n", "\u001b[2KLoading data batch \u001b[90m━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━\u001b[0m \u001b[35m100%\u001b[0m \u001b[36m0:00:00\u001b[0m\n", "\u001b[?25h/usr/local/lib/python3.7/site-packages/torchvision/models/_utils.py:209: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and will be removed in 0.15, please use 'weights' instead.\n", " f\"The parameter '{pretrained_param}' is deprecated since 0.13 and will be removed in 0.15, \"\n", "/usr/local/lib/python3.7/site-packages/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and will be removed in 0.15. The current behavior is equivalent to passing `weights=AlexNet_Weights.IMAGENET1K_V1`. You can also use `weights=AlexNet_Weights.DEFAULT` to get the most up-to-date weights.\n", " warnings.warn(msg)\n", "Loading latest checkpoint from load_dir\n", "✅ Done loading checkpoint from \n", "outputs/data-nerfstudio-poster/nerfacto/\u001b[1;36m2022\u001b[0m-\u001b[1;36m10\u001b[0m-29_192844/nerfstudio_models/step-\u001b[1;36m000014000.\u001b[0mckpt\n", "\u001b[1;32mCreating trajectory video\u001b[0m\n", "\u001b[2K🎥 Rendering 🎥 \u001b[90m━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━\u001b[0m \u001b[35m100%\u001b[0m \u001b[31m0.14 fps\u001b[0m \u001b[33m11:47\u001b[0m\n", "\u001b[2K\u001b[32m( ● )\u001b[0m \u001b[33mSaving video\u001b[0m\n", "\u001b[1A\u001b[2K\u001b[92m────────────────────────────────────────────── \u001b[0m\u001b[32m 🎉 🎉 🎉 Success 🎉 🎉 🎉\u001b[0m\u001b[92m ──────────────────────────────────────────────\u001b[0m\n", " \u001b[32mSaved video to renders/output.mp4\u001b[0m \n", "\u001b[0m" ] } ], "source": [ "#@title # Render Video { vertical-output: true }\n", "#@markdown

Export the camera path from within the viewer, then run this cell.

\n", "#@markdown
The rendered video should be at renders/output.mp4!
\n", "\n", "\n", "base_dir = \"/content/outputs/data-nerfstudio-\" + scene + \"/nerfacto/\"\n", "training_run_dir = base_dir + os.listdir(base_dir)[0]\n", "\n", "from IPython.core.display import display, HTML\n", "display(HTML('

Upload the camera path JSON.

'))\n", "%cd $training_run_dir\n", "uploaded = files.upload()\n", "uploaded_camera_path_filename = list(uploaded.keys())[0]\n", "\n", "config_filename = training_run_dir + \"/config.yml\"\n", "camera_path_filename = training_run_dir + \"/\" + uploaded_camera_path_filename\n", "camera_path_filename = camera_path_filename.replace(\" \", \"\\\\ \").replace(\"(\", \"\\\\(\").replace(\")\", \"\\\\)\")\n", "\n", "%cd /content/\n", "!ns-render --load-config $config_filename --traj filename --camera-path-filename $camera_path_filename --output-path renders/output.mp4" ] } ], "metadata": { "accelerator": "GPU", "colab": { "collapsed_sections": [], "include_colab_link": true, "provenance": [] }, "gpuClass": "standard", "kernelspec": { "display_name": "Python 3.8.13 ('nerfstudio')", "language": "python", "name": "python3" }, "language_info": { "name": "python", "version": "3.8.13" }, "vscode": { "interpreter": { "hash": "c59f626636933ef1dc834fb3684b382f705301c5306cf8436d2da634c2289783" } } }, "nbformat": 4, "nbformat_minor": 0 } ================================================ FILE: AutoReconForDens3R/docs/INSTALL.md ================================================ # Installation ## Create a conda environment ```bash conda create --name auto_recon -y python=3.9 conda activate auto_recon python -m pip install --upgrade pip setuptools ``` ## Clone the repo ```shell git clone --recurse-submodules git@github.com:zju3dv/AutoRecon.git ``` ## Install AutoDecomp ```bash cd third_party/AutoDecomp ``` Then, please install AutoDecomp based on its [installation guide](https://github.com/zju3dv/AutoDecomp/blob/main/docs/INSTALL.md). We expect that it is installed in `third_party/AutoDecomp`. ## Install other dependencies Install pytorch with CUDA (this repo has been tested with CUDA 11.7) and [tiny-cuda-nn](https://github.com/NVlabs/tiny-cuda-nn) ```bash pip install git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch ``` Install faiss following the [official guide](https://github.com/facebookresearch/faiss/blob/main/INSTALL.md) ```bash # for example conda install -c conda-forge faiss-gpu ``` ## Install AutoRecon ```bash cd path/to/AutoRecon pip install -e . # install tab completion ns-install-cli ``` ================================================ FILE: AutoReconForDens3R/exps/code-release/bmvs/scan1.sh ================================================ scan_name="scan1" DATA_ROOT=data INST_REL_DIR=BlendedMVS/$scan_name FORCE_RERUN=True # Coarse decomposition python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 # Reconstruction ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_bmvs-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_pairs-from-poses_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components True \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/bmvs/scan2.sh ================================================ scan_name="scan2" DATA_ROOT=data INST_REL_DIR=BlendedMVS/$scan_name FORCE_RERUN=True # Coarse decomposition python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 # Reconstruction ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_bmvs-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_pairs-from-poses_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components False \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/bmvs/scan3.sh ================================================ scan_name="scan3" DATA_ROOT=data INST_REL_DIR=BlendedMVS/$scan_name FORCE_RERUN=True # Coarse decomposition python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 # Reconstruction ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_bmvs-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_pairs-from-poses_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components False \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/bmvs/scan4.sh ================================================ scan_name="scan4" DATA_ROOT=data INST_REL_DIR=BlendedMVS/$scan_name FORCE_RERUN=True # Coarse decomposition python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 # Reconstruction ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_bmvs-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_pairs-from-poses_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components False \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/bmvs/scan5.sh ================================================ scan_name="scan5" DATA_ROOT=data INST_REL_DIR=BlendedMVS/$scan_name FORCE_RERUN=True # Coarse decomposition python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 # Reconstruction ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_bmvs-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_pairs-from-poses_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components False \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/bmvs/scan6.sh ================================================ scan_name="scan6" DATA_ROOT=data INST_REL_DIR=BlendedMVS/$scan_name FORCE_RERUN=True # Coarse decomposition python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 # Reconstruction ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_bmvs-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_pairs-from-poses_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components False \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/co3d_demo/scan1.sh ================================================ scan_name=scan1 DATA_ROOT=data INST_REL_DIR=CO3D_DEMO/$scan_name FORCE_RERUN=True python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_co3d-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_sequential_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components True \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/co3d_demo/scan2.sh ================================================ scan_name=scan2 DATA_ROOT=data INST_REL_DIR=CO3D_DEMO/$scan_name FORCE_RERUN=True python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_co3d-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_sequential_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components True \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/co3d_demo/scan3.sh ================================================ scan_name=scan3 DATA_ROOT=data INST_REL_DIR=CO3D_DEMO/$scan_name FORCE_RERUN=True python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_co3d-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_sequential_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components True \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/co3d_demo/scan4.sh ================================================ scan_name=scan4 DATA_ROOT=data INST_REL_DIR=CO3D_DEMO/$scan_name FORCE_RERUN=True python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_co3d-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_sequential_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components True \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/co3d_demo/scan5.sh ================================================ scan_name=scan5 DATA_ROOT=data INST_REL_DIR=CO3D_DEMO/$scan_name FORCE_RERUN=True python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_co3d-${scan_name}_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_sequential_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # LOG_DIR="outputs/" # MC_RES=512 # 1024 (default) # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components True \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/run_dens3r_recon.sh ================================================ #/bin/bash DATA_ROOT=/path/to/your/data INST_REL_DIR=rel_path/to/your/data DENS3R_MODEL_PATH=/path/to/pth/file/of/model N_IMAGES=40 NEUS_TRAIN_RESO_DOWN_FACTOR=0.5 FORCE_RERUN=True EXP_NAME=neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_demo_cvpr NERF_MODE=neus-facto-wbg-reg_sep-plane-nerf # reconstruct scene with dens3r # python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py \ # --config-name=cvpr \ # data_root=$DATA_ROOT \ # inst_rel_dir=$INST_REL_DIR \ # sparse_recon.n_images=$N_IMAGES \ # sparse_recon.force_rerun=$FORCE_RERUN \ # sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ # triangulation.force_rerun=$FORCE_RERUN \ # triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ # dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 \ # sfm_mode=dens3r \ # sparse_recon.dens3r_model_ckpt=$DENS3R_MODEL_PATH # reconstruct object with AutoRecon # python scripts/train.py \ # $NERF_MODE \ # --experiment-name $EXP_NAME \ # --vis tensorboard \ # --trainer.steps_per_eval_image 2500 \ # --trainer.steps_per_eval_batch 2500 \ # --trainer.max_num_iterations 60001 \ # --trainer.steps_per_save 60000 \ # --pipeline.model.cos_anneal_end 10000 \ # --pipeline.model.plane_height_ratio 0.3 \ # --optimizers.fields.scheduler.max_steps 60001 \ # --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ # --pipeline.datamanager.camera_res_scale_factor $NEUS_TRAIN_RESO_DOWN_FACTOR \ # --pipeline.model.sdf_field.hash_grid_progressive_training False \ # autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ # --anno_dirname 'dens3r_40_sequential/auto-deocomp_sfm-transformer_cvpr' \ # --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ # --object_filename objects_cameras_norm-obj-side-2.0.npz \ # --parse_images_from_camera_dict True \ # --image_dirname "images" --image_extension ".jpg" \ # --include_image_features False --include_coarse_features False \ # --use_accurate_scene_box True \ # --collider_type 'box_near_far' \ # --near_far 0.1 100.0 \ # --compute_fg_bbox_mask True \ # --force_recompute_fg_bbox_mask False \ # --decomposition_mode regularization \ # --downsample_ptcd -1 # Extract mesh with MC # LOG_DIR="outputs/$EXP_NAME/$NERF_MODE/data" # default is outputs/$EXP_NAME/$NERF_MODE/date # MC_RES=512 # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/sdfstudio_models/${MESH_FN}" # python scripts/extract_mesh.py \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components True \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/exps/code-release/run_pipeline_demo_low-res.sh ================================================ DATA_ROOT=data INST_REL_DIR=custom_data_example/co3d_chair FORCE_RERUN=True # Coarse decomposition python third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py --config-name=cvpr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 # reconstruction # TODO: parse anno_dirname & object_filename from cache ns-train neus-facto-wbg-reg_sep-plane-nerf \ --experiment-name neusfacto-wbg-reg_sep-plane-nerf_60k_plane-h-ratio-0.3_demo_cvpr \ --vis tensorboard \ --trainer.steps_per_eval_image 2500 \ --trainer.steps_per_eval_batch 2500 \ --trainer.max_num_iterations 60001 \ --trainer.steps_per_save 60000 \ --pipeline.model.cos_anneal_end 10000 \ --pipeline.model.plane_height_ratio 0.3 \ --optimizers.fields.scheduler.max_steps 60001 \ --pipeline.datamanager.eval_camera_res_scale_factor 0.25 \ --pipeline.model.sdf_field.hash_grid_progressive_training False \ autorecon-data --data $DATA_ROOT/$INST_REL_DIR \ --anno_dirname 'triangulate_loftr-720000_sequential_np-10/auto-deocomp_sfm-transformer_cvpr' \ --camera_filename cameras_cameras_norm-obj-side-2.0.npz \ --object_filename objects_cameras_norm-obj-side-2.0.npz \ --parse_images_from_camera_dict True \ --image_dirname "images" --image_extension ".jpg" \ --include_image_features False --include_coarse_features False \ --use_accurate_scene_box True \ --collider_type 'box_near_far' \ --near_far 0.1 100.0 \ --compute_fg_bbox_mask True \ --force_recompute_fg_bbox_mask False \ --decomposition_mode regularization \ --downsample_ptcd -1 # Extract mesh with MC # LOG_DIR="path_to_log_dir" # MC_RES=512 # MESH_FN="extracted_mesh_res-${MC_RES}.ply" # MESH_PATH="${LOG_DIR}/${MESH_FN}" # ns-extract-mesh \ # --load-config $LOG_DIR/config.yml \ # --load-dir $LOG_DIR/sdfstudio_models \ # --output-path $MESH_PATH \ # --chunk_size 25000 --store_float16 True \ # --resolution $MC_RES \ # --use_train_scene_box True \ # --seg_aware_sdf False \ # --remove_internal_geometry None \ # --remove_non_maximum_connected_components True \ # --close_holes False --simplify_mesh_final False ================================================ FILE: AutoReconForDens3R/nerfstudio/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/cameras/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/cameras/camera_optimizers.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Pose and Intrinsics Optimizers """ from __future__ import annotations import functools from dataclasses import dataclass, field from typing import Type, Union import torch import tyro from torch import nn from torchtyping import TensorType from typing_extensions import Literal, assert_never from nerfstudio.cameras.lie_groups import exp_map_SE3, exp_map_SO3xR3 from nerfstudio.configs import base_config as cfg from nerfstudio.engine.optimizers import AdamOptimizerConfig from nerfstudio.engine.schedulers import SchedulerConfig from nerfstudio.utils import poses as pose_utils @dataclass class CameraOptimizerConfig(cfg.InstantiateConfig): """Configuration of optimization for camera poses.""" _target: Type = field(default_factory=lambda: CameraOptimizer) mode: Literal["off", "SO3xR3", "SE3"] = "off" """Pose optimization strategy to use. If enabled, we recommend SO3xR3.""" position_noise_std: float = 0.0 """Noise to add to initial positions. Useful for debugging.""" orientation_noise_std: float = 0.0 """Noise to add to initial orientations. Useful for debugging.""" optimizer: AdamOptimizerConfig = AdamOptimizerConfig(lr=6e-4, eps=1e-15) """ADAM parameters for camera optimization.""" scheduler: SchedulerConfig = SchedulerConfig(max_steps=10000) """Learning rate scheduler for camera optimizer..""" param_group: tyro.conf.Suppress[str] = "camera_opt" """Name of the parameter group used for pose optimization. Can be any string that doesn't conflict with other groups.""" class CameraOptimizer(nn.Module): """Layer that modifies camera poses to be optimized as well as the field during training.""" config: CameraOptimizerConfig def __init__( self, config: CameraOptimizerConfig, num_cameras: int, device: Union[torch.device, str], **kwargs, # pylint: disable=unused-argument ) -> None: super().__init__() self.config = config self.num_cameras = num_cameras self.device = device # Initialize learnable parameters. if self.config.mode == "off": pass elif self.config.mode in ("SO3xR3", "SE3"): self.pose_adjustment = torch.nn.Parameter(torch.zeros((num_cameras, 6), device=device)) else: assert_never(self.config.mode) # Initialize pose noise; useful for debugging. if config.position_noise_std != 0.0 or config.orientation_noise_std != 0.0: assert config.position_noise_std >= 0.0 and config.orientation_noise_std >= 0.0 std_vector = torch.tensor( [config.position_noise_std] * 3 + [config.orientation_noise_std] * 3, device=device ) self.pose_noise = exp_map_SE3(torch.normal(torch.zeros((num_cameras, 6), device=device), std_vector)) else: self.pose_noise = None def forward( self, indices: TensorType["num_cameras"], ) -> TensorType["num_cameras", 3, 4]: """Indexing into camera adjustments. Args: indices: indices of Cameras to optimize. Returns: Tranformation matrices from optimized camera coordinates coordinates to given camera coordinates. """ outputs = [] # Apply learned transformation delta. if self.config.mode == "off": pass elif self.config.mode == "SO3xR3": outputs.append(exp_map_SO3xR3(self.pose_adjustment[indices, :])) elif self.config.mode == "SE3": outputs.append(exp_map_SE3(self.pose_adjustment[indices, :])) else: assert_never(self.config.mode) # Apply initial pose noise. if self.pose_noise is not None: outputs.append(self.pose_noise[indices, :, :]) # Return: identity if no transforms are needed, otherwise multiply transforms together. if len(outputs) == 0: # Note that using repeat() instead of tile() here would result in unnecessary copies. return torch.eye(4, device=self.device)[None, :3, :4].tile(indices.shape[0], 1, 1) return functools.reduce(pose_utils.multiply, outputs) ================================================ FILE: AutoReconForDens3R/nerfstudio/cameras/camera_paths.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Code for camera paths. """ from typing import Any, Dict, Optional, Tuple import torch import nerfstudio.utils.poses as pose_utils from nerfstudio.cameras import camera_utils from nerfstudio.cameras.camera_utils import get_interpolated_poses_many from nerfstudio.cameras.cameras import Cameras from nerfstudio.viewer.server.utils import three_js_perspective_camera_focal_length def get_interpolated_camera_path(cameras: Cameras, steps: int) -> Cameras: """Generate a camera path between two cameras. Args: cameras: Cameras object containing intrinsics of all cameras. steps: The number of steps to interpolate between the two cameras. Returns: A new set of cameras along a path. """ Ks = cameras.get_intrinsics_matrices().cpu().numpy() poses = cameras.camera_to_worlds().cpu().numpy() poses, Ks = get_interpolated_poses_many(poses, Ks, steps_per_transition=steps) cameras = Cameras(fx=Ks[:, 0, 0], fy=Ks[:, 1, 1], cx=Ks[0, 0, 2], cy=Ks[0, 1, 2], camera_to_worlds=poses) return cameras def get_spiral_path( camera: Cameras, steps: int = 30, radius: Optional[float] = None, radiuses: Optional[Tuple[float]] = None, rots: int = 2, zrate: float = 0.5, ) -> Cameras: """ Returns a list of camera in a sprial trajectory. Args: camera: The camera to start the spiral from. steps: The number of cameras in the generated path. radius: The radius of the spiral for all xyz directions. radiuses: The list of radii for the spiral in xyz directions. rots: The number of rotations to apply to the camera. zrate: How much to change the z position of the camera. Returns: A spiral camera path. """ assert radius is not None or radiuses is not None, "Either radius or radiuses must be specified." assert camera.ndim == 1, "We assume only one batch dim here" if radius is not None and radiuses is None: rad = torch.tensor([radius] * 3, device=camera.device) elif radiuses is not None and radius is None: rad = torch.tensor(radiuses, device=camera.device) else: raise ValueError("Only one of radius or radiuses must be specified.") camera = camera.flatten() up = camera.camera_to_worlds[0, :3, 2] # scene is z up focal = torch.min(camera.fx[0], camera.fy[0]) target = torch.tensor([0, 0, -focal], device=camera.device) # camera looking in -z direction c2w = camera.camera_to_worlds[0] c2wh_global = pose_utils.to4x4(c2w) local_c2whs = [] for theta in torch.linspace(0.0, 2.0 * torch.pi * rots, steps + 1)[:-1]: center = ( torch.tensor([torch.cos(theta), -torch.sin(theta), -torch.sin(theta * zrate)], device=camera.device) * rad ) lookat = center - target c2w = camera_utils.viewmatrix(lookat, up, center) c2wh = pose_utils.to4x4(c2w) local_c2whs.append(c2wh) new_c2ws = [] for local_c2wh in local_c2whs: c2wh = torch.matmul(c2wh_global, local_c2wh) new_c2ws.append(c2wh[:3, :4]) new_c2ws = torch.stack(new_c2ws, dim=0) return Cameras( fx=camera.fx[0], fy=camera.fy[0], cx=camera.cx[0], cy=camera.cy[0], camera_to_worlds=new_c2ws, ) def get_path_from_json(camera_path: Dict[str, Any]) -> Cameras: """Takes a camera path dictionary and returns a trajectory as a Camera instance. Args: camera_path: A dictionary of the camera path information coming from the viewer. Returns: A Cameras instance with the camera path. """ image_height = camera_path["render_height"] image_width = camera_path["render_width"] c2ws = [] fxs = [] fys = [] for camera in camera_path["camera_path"]: # pose c2w = torch.tensor(camera["camera_to_world"]).view(4, 4)[:3] c2ws.append(c2w) # field of view fov = camera["fov"] focal_length = three_js_perspective_camera_focal_length(fov, image_height) fxs.append(focal_length) fys.append(focal_length) camera_to_worlds = torch.stack(c2ws, dim=0) fx = torch.tensor(fxs) fy = torch.tensor(fys) return Cameras( fx=fx, fy=fy, cx=image_width / 2, cy=image_height / 2, camera_to_worlds=camera_to_worlds, ) def get_path_from_npz(camera_path: Dict[str, Any]) -> Cameras: image_height, image_width = int(camera_path["height"]), int(camera_path["width"]) K33_shared = torch.tensor(camera_path['K33'], dtype=torch.float32) T44_c2w_all = torch.tensor(camera_path['T44_c2w'], dtype=torch.float32) # (n, 4, 4) K33 = K33_shared[None].repeat(T44_c2w_all.shape[0], 1, 1) return Cameras( T44_c2w_all[:, :3], fx=K33[:, 0, 0], fy=K33[:, 1, 1], cx=K33[:, 0, 2], cy=K33[:, 1, 2], width=image_width, height=image_height, ) ================================================ FILE: AutoReconForDens3R/nerfstudio/cameras/camera_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Camera transformation helper code. """ import math from typing import List, Optional, Tuple import numpy as np import torch from torchtyping import TensorType from typing_extensions import Literal _EPS = np.finfo(float).eps * 4.0 def unit_vector(data, axis: Optional[int] = None) -> np.ndarray: """Return ndarray normalized by length, i.e. Euclidean norm, along axis. Args: axis: the axis along which to normalize into unit vector out: where to write out the data to. If None, returns a new np ndarray """ data = np.array(data, dtype=np.float64, copy=True) if data.ndim == 1: data /= math.sqrt(np.dot(data, data)) return data length = np.atleast_1d(np.sum(data * data, axis)) np.sqrt(length, length) if axis is not None: length = np.expand_dims(length, axis) data /= length return data def quaternion_from_matrix(matrix, isprecise: bool = False) -> np.ndarray: """Return quaternion from rotation matrix. Args: matrix: rotation matrix to obtain quaternion isprecise: if True, input matrix is assumed to be precise rotation matrix and a faster algorithm is used. """ M = np.array(matrix, dtype=np.float64, copy=False)[:4, :4] if isprecise: q = np.empty((4,)) t = np.trace(M) if t > M[3, 3]: q[0] = t q[3] = M[1, 0] - M[0, 1] q[2] = M[0, 2] - M[2, 0] q[1] = M[2, 1] - M[1, 2] else: i, j, k = 1, 2, 3 if M[1, 1] > M[0, 0]: i, j, k = 2, 3, 1 if M[2, 2] > M[i, i]: i, j, k = 3, 1, 2 t = M[i, i] - (M[j, j] + M[k, k]) + M[3, 3] q[i] = t q[j] = M[i, j] + M[j, i] q[k] = M[k, i] + M[i, k] q[3] = M[k, j] - M[j, k] q *= 0.5 / math.sqrt(t * M[3, 3]) else: m00 = M[0, 0] m01 = M[0, 1] m02 = M[0, 2] m10 = M[1, 0] m11 = M[1, 1] m12 = M[1, 2] m20 = M[2, 0] m21 = M[2, 1] m22 = M[2, 2] # symmetric matrix K K = np.array( [ [m00 - m11 - m22, 0.0, 0.0, 0.0], [m01 + m10, m11 - m00 - m22, 0.0, 0.0], [m02 + m20, m12 + m21, m22 - m00 - m11, 0.0], [m21 - m12, m02 - m20, m10 - m01, m00 + m11 + m22], ] ) K /= 3.0 # quaternion is eigenvector of K that corresponds to largest eigenvalue w, V = np.linalg.eigh(K) q = V[np.array([3, 0, 1, 2]), np.argmax(w)] if q[0] < 0.0: np.negative(q, q) return q def quaternion_slerp(quat0, quat1, fraction: float, spin: int = 0, shortestpath: bool = True) -> np.ndarray: """Return spherical linear interpolation between two quaternions. Args: quat0: first quaternion quat1: second quaternion fraction: how much to interpolate between quat0 vs quat1 (if 0, closer to quat0; if 1, closer to quat1) spin: how much of an additional spin to place on the interpolation shortestpath: whether to return the short or long path to rotation """ q0 = unit_vector(quat0[:4]) q1 = unit_vector(quat1[:4]) if q0 is None or q1 is None: raise ValueError("Input quaternions invalid.") if fraction == 0.0: return q0 if fraction == 1.0: return q1 d = np.dot(q0, q1) if abs(abs(d) - 1.0) < _EPS: return q0 if shortestpath and d < 0.0: # invert rotation d = -d np.negative(q1, q1) angle = math.acos(d) + spin * math.pi if abs(angle) < _EPS: return q0 isin = 1.0 / math.sin(angle) q0 *= math.sin((1.0 - fraction) * angle) * isin q1 *= math.sin(fraction * angle) * isin q0 += q1 return q0 def quaternion_matrix(quaternion) -> np.ndarray: """Return homogeneous rotation matrix from quaternion. Args: quaternion: value to convert to matrix """ q = np.array(quaternion, dtype=np.float64, copy=True) n = np.dot(q, q) if n < _EPS: return np.identity(4) q *= math.sqrt(2.0 / n) q = np.outer(q, q) return np.array( [ [1.0 - q[2, 2] - q[3, 3], q[1, 2] - q[3, 0], q[1, 3] + q[2, 0], 0.0], [q[1, 2] + q[3, 0], 1.0 - q[1, 1] - q[3, 3], q[2, 3] - q[1, 0], 0.0], [q[1, 3] - q[2, 0], q[2, 3] + q[1, 0], 1.0 - q[1, 1] - q[2, 2], 0.0], [0.0, 0.0, 0.0, 1.0], ] ) def get_interpolated_poses(pose_a, pose_b, steps: int = 10) -> List[float]: """Return interpolation of poses with specified number of steps. Args: poseA: first pose poseB: second pose steps: number of steps the interpolated pose path should contain """ quat_a = quaternion_from_matrix(pose_a[:3, :3]) quat_b = quaternion_from_matrix(pose_b[:3, :3]) ts = np.linspace(0, 1, steps) quats = [quaternion_slerp(quat_a, quat_b, t) for t in ts] trans = [(1 - t) * pose_a[:3, 3] + t * pose_b[:3, 3] for t in ts] poses_ab = [] for quat, tran in zip(quats, trans): pose = np.identity(4) pose[:3, :3] = quaternion_matrix(quat)[:3, :3] pose[:3, 3] = tran poses_ab.append(pose) return poses_ab def get_interpolated_k(k_a, k_b, steps: int = 10) -> TensorType[3, 4]: """ Returns interpolated path between two camera poses with specified number of steps. Args: KA: camera matrix 1 KB: camera matrix 2 steps: number of steps the interpolated pose path should contain """ Ks = [] ts = np.linspace(0, 1, steps) for t in ts: new_k = k_a * (1.0 - t) + k_b * t Ks.append(new_k) return Ks def get_interpolated_poses_many( poses: TensorType["num_poses", 3, 4], Ks: TensorType["num_poses", 3, 3], steps_per_transition=10, ) -> Tuple[TensorType["num_poses", 3, 4], TensorType["num_poses", 3, 3]]: """Return interpolated poses for many camera poses. Args: poses: list of camera poses Ks: list of camera intrinsics steps_per_transition: number of steps per transition Returns: tuple of new poses and intrinsics """ traj = [] Ks = [] for idx in range(poses.shape[0] - 1): pose_a = poses[idx] pose_b = poses[idx + 1] poses_ab = get_interpolated_poses(pose_a, pose_b, steps=steps_per_transition) traj += poses_ab Ks += get_interpolated_k(Ks[idx], Ks[idx + 1], steps_per_transition) return torch.stack(traj, dim=0), torch.stack(Ks, dim=0) def normalize(x) -> TensorType[...]: """Returns a normalized vector.""" return x / torch.linalg.norm(x) def viewmatrix(lookat, up, pos) -> TensorType[...]: """Returns a camera transformation matrix. Args: lookat: The direction the camera is looking. up: The upward direction of the camera. pos: The position of the camera. Returns: A camera transformation matrix. """ vec2 = normalize(lookat) vec1_avg = normalize(up) vec0 = normalize(torch.cross(vec1_avg, vec2)) vec1 = normalize(torch.cross(vec2, vec0)) m = torch.stack([vec0, vec1, vec2, pos], 1) return m def get_distortion_params( k1: float = 0.0, k2: float = 0.0, k3: float = 0.0, k4: float = 0.0, p1: float = 0.0, p2: float = 0.0, ) -> TensorType[...]: """Returns a distortion parameters matrix. Args: k1: The first radial distortion parameter. k2: The second radial distortion parameter. k3: The third radial distortion parameter. k4: The fourth radial distortion parameter. p1: The first tangential distortion parameter. p2: The second tangential distortion parameter. Returns: torch.Tensor: A distortion parameters matrix. """ return torch.Tensor([k1, k2, k3, k4, p1, p2]) @torch.jit.script def _compute_residual_and_jacobian( x: torch.Tensor, y: torch.Tensor, xd: torch.Tensor, yd: torch.Tensor, distortion_params: torch.Tensor, ) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor,]: """Auxiliary function of radial_and_tangential_undistort() that computes residuals and jacobians. Adapted from MultiNeRF: https://github.com/google-research/multinerf/blob/b02228160d3179300c7d499dca28cb9ca3677f32/internal/camera_utils.py#L427-L474 Args: x: The updated x coordinates. y: The updated y coordinates. xd: The distorted x coordinates. yd: The distorted y coordinates. distortion_params: The distortion parameters [k1, k2, k3, k4, p1, p2]. Returns: The residuals (fx, fy) and jacobians (fx_x, fx_y, fy_x, fy_y). """ k1 = distortion_params[..., 0] k2 = distortion_params[..., 1] k3 = distortion_params[..., 2] k4 = distortion_params[..., 3] p1 = distortion_params[..., 4] p2 = distortion_params[..., 5] # let r(x, y) = x^2 + y^2; # d(x, y) = 1 + k1 * r(x, y) + k2 * r(x, y) ^2 + k3 * r(x, y)^3 + # k4 * r(x, y)^4; r = x * x + y * y d = 1.0 + r * (k1 + r * (k2 + r * (k3 + r * k4))) # The perfect projection is: # xd = x * d(x, y) + 2 * p1 * x * y + p2 * (r(x, y) + 2 * x^2); # yd = y * d(x, y) + 2 * p2 * x * y + p1 * (r(x, y) + 2 * y^2); # # Let's define # # fx(x, y) = x * d(x, y) + 2 * p1 * x * y + p2 * (r(x, y) + 2 * x^2) - xd; # fy(x, y) = y * d(x, y) + 2 * p2 * x * y + p1 * (r(x, y) + 2 * y^2) - yd; # # We are looking for a solution that satisfies # fx(x, y) = fy(x, y) = 0; fx = d * x + 2 * p1 * x * y + p2 * (r + 2 * x * x) - xd fy = d * y + 2 * p2 * x * y + p1 * (r + 2 * y * y) - yd # Compute derivative of d over [x, y] d_r = k1 + r * (2.0 * k2 + r * (3.0 * k3 + r * 4.0 * k4)) d_x = 2.0 * x * d_r d_y = 2.0 * y * d_r # Compute derivative of fx over x and y. fx_x = d + d_x * x + 2.0 * p1 * y + 6.0 * p2 * x fx_y = d_y * x + 2.0 * p1 * x + 2.0 * p2 * y # Compute derivative of fy over x and y. fy_x = d_x * y + 2.0 * p2 * y + 2.0 * p1 * x fy_y = d + d_y * y + 2.0 * p2 * x + 6.0 * p1 * y return fx, fy, fx_x, fx_y, fy_x, fy_y @torch.jit.script def radial_and_tangential_undistort( coords: torch.Tensor, distortion_params: torch.Tensor, eps: float = 1e-3, max_iterations: int = 10, ) -> torch.Tensor: """Computes undistorted coords given opencv distortion parameters. Addapted from MultiNeRF https://github.com/google-research/multinerf/blob/b02228160d3179300c7d499dca28cb9ca3677f32/internal/camera_utils.py#L477-L509 Args: coords: The distorted coordinates. distortion_params: The distortion parameters [k1, k2, k3, k4, p1, p2]. eps: The epsilon for the convergence. max_iterations: The maximum number of iterations to perform. Returns: The undistorted coordinates. """ # Initialize from the distorted point. x = coords[..., 0] y = coords[..., 1] for _ in range(max_iterations): fx, fy, fx_x, fx_y, fy_x, fy_y = _compute_residual_and_jacobian( x=x, y=y, xd=coords[..., 0], yd=coords[..., 1], distortion_params=distortion_params ) denominator = fy_x * fx_y - fx_x * fy_y x_numerator = fx * fy_y - fy * fx_y y_numerator = fy * fx_x - fx * fy_x step_x = torch.where(torch.abs(denominator) > eps, x_numerator / denominator, torch.zeros_like(denominator)) step_y = torch.where(torch.abs(denominator) > eps, y_numerator / denominator, torch.zeros_like(denominator)) x = x + step_x y = y + step_y return torch.stack([x, y], dim=-1) def rotation_matrix(a: TensorType[3], b: TensorType[3]) -> TensorType[3, 3]: """Compute the rotation matrix that rotates vector a to vector b. Args: a: The vector to rotate. b: The vector to rotate to. Returns: The rotation matrix. """ a = a / torch.linalg.norm(a) b = b / torch.linalg.norm(b) v = torch.cross(a, b) c = torch.dot(a, b) # If vectors are exactly opposite, we add a little noise to one of them if c < -1 + 1e-8: eps = (torch.rand(3) - 0.5) * 0.01 return rotation_matrix(a + eps, b) s = torch.linalg.norm(v) skew_sym_mat = torch.Tensor( [ [0, -v[2], v[1]], [v[2], 0, -v[0]], [-v[1], v[0], 0], ] ) return torch.eye(3) + skew_sym_mat + skew_sym_mat @ skew_sym_mat * ((1 - c) / (s**2 + 1e-8)) def auto_orient_and_center_poses( poses: TensorType["num_poses":..., 4, 4], method: Literal["pca", "up", "none"] = "up", center_poses: bool = True ) -> TensorType["num_poses":..., 3, 4]: """Orients and centers the poses. We provide two methods for orientation: pca and up. pca: Orient the poses so that the principal component of the points is aligned with the axes. This method works well when all of the cameras are in the same plane. up: Orient the poses so that the average up vector is aligned with the z axis. This method works well when images are not at arbitrary angles. Args: poses: The poses to orient. method: The method to use for orientation. center_poses: If True, the poses are centered around the origin. Returns: The oriented poses. """ translation = poses[..., :3, 3] mean_translation = torch.mean(translation, dim=0) translation_diff = translation - mean_translation if center_poses: translation = mean_translation else: translation = torch.zeros_like(mean_translation) if method == "pca": _, eigvec = torch.linalg.eigh(translation_diff.T @ translation_diff) eigvec = torch.flip(eigvec, dims=(-1,)) if torch.linalg.det(eigvec) < 0: eigvec[:, 2] = -eigvec[:, 2] transform = torch.cat([eigvec, eigvec @ -translation[..., None]], dim=-1) oriented_poses = transform @ poses if oriented_poses.mean(axis=0)[2, 1] < 0: oriented_poses[:, 1:3] = -1 * oriented_poses[:, 1:3] elif method == "up": up = torch.mean(poses[:, :3, 1], dim=0) up = up / torch.linalg.norm(up) rotation = rotation_matrix(up, torch.Tensor([0, 0, 1])) transform = torch.cat([rotation, rotation @ -translation[..., None]], dim=-1) oriented_poses = transform @ poses elif method == "none": transform = torch.eye(4) transform[:3, 3] = -translation transform = transform[:3, :] oriented_poses = transform @ poses return oriented_poses, transform ================================================ FILE: AutoReconForDens3R/nerfstudio/cameras/cameras.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Camera Models """ import base64 import math from dataclasses import dataclass from enum import Enum, auto from typing import Dict, List, Optional, Tuple, Union import cv2 import torch import torchvision from torch.nn.functional import normalize from torchtyping import TensorType import nerfstudio.utils.poses as pose_utils from nerfstudio.cameras import camera_utils from nerfstudio.cameras.rays import RayBundle from nerfstudio.utils.tensor_dataclass import TensorDataclass class CameraType(Enum): """Supported camera types.""" PERSPECTIVE = auto() FISHEYE = auto() EQUIRECTANGULAR = auto() CAMERA_MODEL_TO_TYPE = { "SIMPLE_PINHOLE": CameraType.PERSPECTIVE, "PINHOLE": CameraType.PERSPECTIVE, "SIMPLE_RADIAL": CameraType.PERSPECTIVE, "RADIAL": CameraType.PERSPECTIVE, "OPENCV": CameraType.PERSPECTIVE, "OPENCV_FISHEYE": CameraType.FISHEYE, "EQUIRECTANGULAR": CameraType.EQUIRECTANGULAR, } @dataclass(init=False) class Cameras(TensorDataclass): """Dataparser outputs for the image dataset and the ray generator. Note: currently only supports cameras with the same principal points and types. The reason we type the focal lengths, principal points, and image sizes as tensors is to allow for batched cameras down the line in cases where your batches of camera data don't come from the same cameras. If a single value is provided, it is broadcasted to all cameras. Args: camera_to_worlds: Camera to world matrices. Tensor of per-image c2w matrices, in [R | t] format fx: Focal length x fy: Focal length y cx: Principal point x cy: Principal point y width: Image width height: Image height distortion_params: OpenCV 6 radial distortion coefficients camera_type: Type of camera model. This will be an int corresponding to the CameraType enum. times: Timestamps for each camera """ camera_to_worlds: TensorType["num_cameras":..., 3, 4] fx: TensorType["num_cameras":..., 1] fy: TensorType["num_cameras":..., 1] cx: TensorType["num_cameras":..., 1] cy: TensorType["num_cameras":..., 1] width: TensorType["num_cameras":..., 1] height: TensorType["num_cameras":..., 1] distortion_params: Optional[TensorType["num_cameras":..., 6]] camera_type: TensorType["num_cameras":..., 1] times: Optional[TensorType["num_cameras", 1]] def __init__( self, camera_to_worlds: TensorType["batch_c2ws":..., 3, 4], fx: Union[TensorType["batch_fxs":..., 1], float], fy: Union[TensorType["batch_fys":..., 1], float], cx: Union[TensorType["batch_cxs":..., 1], float], cy: Union[TensorType["batch_cys":..., 1], float], width: Optional[Union[TensorType["batch_ws":..., 1], int]] = None, height: Optional[Union[TensorType["batch_hs":..., 1], int]] = None, distortion_params: Optional[TensorType["batch_dist_params":..., 6]] = None, camera_type: Optional[ Union[ TensorType["batch_cam_types":..., 1], int, List[CameraType], CameraType, ] ] = CameraType.PERSPECTIVE, times: Optional[TensorType["num_cameras"]] = None, ): """Initializes the Cameras object. Note on Input Tensor Dimensions: All of these tensors have items of dimensions TensorType[3, 4] (in the case of the c2w matrices), TensorType[6] (in the case of distortion params), or TensorType[1] (in the case of the rest of the elements). The dimensions before that are considered the batch dimension of that tensor (batch_c2ws, batch_fxs, etc.). We will broadcast all the tensors to be the same batch dimension. This means you can use any combination of the input types in the function signature and it won't break. Your batch size for all tensors must be broadcastable to the same size, and the resulting number of batch dimensions will be the batch dimension with the largest number of dimensions. """ # This will notify the tensordataclass that we have a field with more than 1 dimension self._field_custom_dimensions = {"camera_to_worlds": 2} self.camera_to_worlds = camera_to_worlds # fx fy calculation self.fx = self._init_get_fc_xy(fx, "fx") # @dataclass's post_init will take care of broadcasting self.fy = self._init_get_fc_xy(fy, "fy") # @dataclass's post_init will take care of broadcasting # cx cy calculation self.cx = self._init_get_fc_xy(cx, "cx") # @dataclass's post_init will take care of broadcasting self.cy = self._init_get_fc_xy(cy, "cy") # @dataclass's post_init will take care of broadcasting # Distortion Params Calculation: self.distortion_params = distortion_params # @dataclass's post_init will take care of broadcasting # @dataclass's post_init will take care of broadcasting self.height = self._init_get_height_width(height, self.cy) self.width = self._init_get_height_width(width, self.cx) self.camera_type = self._init_get_camera_type(camera_type) self.times = self._init_get_times(times) self.__post_init__() # This will do the dataclass post_init and broadcast all the tensors def _init_get_fc_xy(self, fc_xy, name): """ Parses the input focal length / principle point x or y and returns a tensor of the correct shape Only needs to make sure that we a 1 in the last dimension if it is a tensor. If it is a float, we just need to make it into a tensor and it will be broadcasted later in the __post_init__ function. Args: fc_xy: The focal length / principle point x or y name: The name of the variable. Used for error messages """ if isinstance(fc_xy, float): fc_xy = torch.Tensor([fc_xy], device=self.device) elif isinstance(fc_xy, torch.Tensor): if fc_xy.ndim == 0 or fc_xy.shape[-1] != 1: fc_xy = fc_xy.unsqueeze(-1) fc_xy = fc_xy.to(self.device) else: raise ValueError(f"{name} must be a float or tensor, got {type(fc_xy)}") return fc_xy def _init_get_camera_type( self, camera_type: Union[ TensorType["batch_cam_types":..., 1], TensorType["batch_cam_types":...], int, List[CameraType], CameraType ], ) -> TensorType["num_cameras":..., 1]: """ Parses the __init__() argument camera_type Camera Type Calculation: If CameraType, convert to int and then to tensor, then broadcast to all cameras If List of CameraTypes, convert to ints and then to tensor, then broadcast to all cameras If int, first go to tensor and then broadcast to all cameras If tensor, broadcast to all cameras Args: camera_type: camera_type argument from __init__() """ if isinstance(camera_type, CameraType): camera_type = torch.tensor([camera_type.value], device=self.device) elif isinstance(camera_type, List) and isinstance(camera_type[0], CameraType): camera_type = torch.tensor([[c.value] for c in camera_type], device=self.device) elif isinstance(camera_type, int): camera_type = torch.tensor([camera_type], device=self.device) elif isinstance(camera_type, torch.Tensor): assert not torch.is_floating_point( camera_type ), f"camera_type tensor must be of type int, not: {camera_type.dtype}" camera_type = camera_type.to(self.device) if camera_type.ndim == 0 or camera_type.shape[-1] != 1: camera_type = camera_type.unsqueeze(-1) # assert torch.all( # camera_type.view(-1)[0] == camera_type # ), "Batched cameras of different camera_types will be allowed in the future." else: raise ValueError( 'Invalid camera_type. Must be CameraType, List[CameraType], int, or torch.Tensor["num_cameras"]. \ Received: ' + str(type(camera_type)) ) return camera_type def _init_get_height_width( self, h_w: Union[TensorType["batch_hws":..., 1], TensorType["batch_hws":...], int, None], c_x_y: TensorType["batch_cxys":...], ) -> TensorType["num_cameras":..., 1]: """ Parses the __init__() argument for height or width Height/Width Calculation: If int, first go to tensor and then broadcast to all cameras If tensor, broadcast to all cameras If none, use cx or cy * 2 Else raise error Args: h_w: height or width argument from __init__() c_x_y: cx or cy for when h_w == None """ if isinstance(h_w, int): h_w = torch.Tensor([h_w]).to(torch.int64).to(self.device) elif isinstance(h_w, torch.Tensor): assert not torch.is_floating_point(h_w), f"height and width tensor must be of type int, not: {h_w.dtype}" h_w = h_w.to(torch.int64).to(self.device) if h_w.ndim == 0 or h_w.shape[-1] != 1: h_w = h_w.unsqueeze(-1) # assert torch.all(h_w == h_w.view(-1)[0]), "Batched cameras of different h, w will be allowed in the future." elif h_w is None: h_w = torch.Tensor((c_x_y * 2).to(torch.int64).to(self.device)) else: raise ValueError("Height must be an int, tensor, or None, received: " + str(type(h_w))) return h_w def _init_get_times(self, times): if times is None: times = None elif isinstance(times, torch.Tensor): if times.ndim == 0 or times.shape[-1] != 1: times = times.unsqueeze(-1).to(self.device) else: raise ValueError(f"times must be None or a tensor, got {type(times)}") return times @property def device(self): """Returns the device that the camera is on.""" return self.camera_to_worlds.device @property def image_height(self) -> TensorType["num_cameras":..., 1]: """Returns the height of the images.""" return self.height @property def image_width(self) -> TensorType["num_cameras":..., 1]: """Returns the height of the images.""" return self.width @property def is_jagged(self): """ Returns whether or not the cameras are "jagged" (i.e. the height and widths are different, meaning that you cannot concatenate the image coordinate maps together) """ h_jagged = not torch.all(self.height == self.height.view(-1)[0]) w_jagged = not torch.all(self.width == self.width.view(-1)[0]) return h_jagged or w_jagged def get_image_coords( self, pixel_offset: float = 0.5, index: Optional[Tuple] = None ) -> TensorType["height", "width", 2]: """This gets the image coordinates of one of the cameras in this object. If no index is specified, it will return the maximum possible sized height / width image coordinate map, by looking at the maximum height and width of all the cameras in this object. Args: pixel_offset: Offset for each pixel. Defaults to center of pixel (0.5) index: Tuple of indices into the batch dimensions of the camera. Defaults to None, which returns the 0th flattened camera Returns: Grid of image coordinates. """ if index is None: image_height = torch.max(self.image_height.view(-1)) image_width = torch.max(self.image_width.view(-1)) image_coords = torch.meshgrid(torch.arange(image_height), torch.arange(image_width), indexing="ij") image_coords = torch.stack(image_coords, dim=-1) + pixel_offset # stored as (y, x) coordinates else: image_height = self.image_height[index].item() image_width = self.image_width[index].item() image_coords = torch.meshgrid(torch.arange(image_height), torch.arange(image_width), indexing="ij") image_coords = torch.stack(image_coords, dim=-1) + pixel_offset # stored as (y, x) coordinates return image_coords def generate_rays( # pylint: disable=too-many-statements self, camera_indices: Union[TensorType["num_rays":..., "num_cameras_batch_dims"], int], coords: Optional[TensorType["num_rays":..., 2]] = None, camera_opt_to_camera: Optional[TensorType["num_rays":..., 3, 4]] = None, distortion_params_delta: Optional[TensorType["num_rays":..., 6]] = None, keep_shape: Optional[bool] = None, disable_distortion: bool = False, ) -> RayBundle: """Generates rays for the given camera indices. This function will standardize the input arguments and then call the _generate_rays_from_coords function to generate the rays. Our goal is to parse the arguments and then get them into the right shape: - camera_indices: (num_rays:..., num_cameras_batch_dims) - coords: (num_rays:..., 2) - camera_opt_to_camera: (num_rays:..., 3, 4) or None - distortion_params_delta: (num_rays:..., 6) or None Read the docstring for _generate_rays_from_coords for more information on how we generate the rays after we have standardized the arguments. We are only concerned about different combinations of camera_indices and coords matrices, and the following are the 4 cases we have to deal with: 1. isinstance(camera_indices, int) and coords == None - In this case we broadcast our camera_indices / coords shape (h, w, 1 / 2 respectively) 2. isinstance(camera_indices, int) and coords != None - In this case, we broadcast camera_indices to the same batch dim as coords 3. not isinstance(camera_indices, int) and coords == None - In this case, we will need to set coords so that it is of shape (h, w, num_rays, 2), and broadcast all our other args to match the new definition of num_rays := (h, w) + num_rays 4. not isinstance(camera_indices, int) and coords != None - In this case, we have nothing to do, only check that the arguments are of the correct shape There is one more edge case we need to be careful with: when we have "jagged cameras" (ie: different heights and widths for each camera). This isn't problematic when we specify coords, since coords is already a tensor. When coords == None (ie: when we render out the whole image associated with this camera), we run into problems since there's no way to stack each coordinate map as all coordinate maps are all different shapes. In this case, we will need to flatten each individual coordinate map and concatenate them, giving us only one batch dimension, regaurdless of the number of prepended extra batch dimensions in the camera_indices tensor. Args: camera_indices: Camera indices of the flattened cameras object to generate rays for. coords: Coordinates of the pixels to generate rays for. If None, the full image will be rendered. camera_opt_to_camera: Optional transform for the camera to world matrices. distortion_params_delta: Optional delta for the distortion parameters. keep_shape: If None, then we default to the regular behavior of flattening if cameras is jagged, otherwise keeping dimensions. If False, we flatten at the end. If True, then we keep the shape of the camera_indices and coords tensors (if we can). disable_distortion: If True, disables distortion. Returns: Rays for the given camera indices and coords. """ # Check the argument types to make sure they're valid and all shaped correctly assert isinstance(camera_indices, (torch.Tensor, int)), "camera_indices must be a tensor or int" assert coords is None or isinstance(coords, torch.Tensor), "coords must be a tensor or None" assert camera_opt_to_camera is None or isinstance(camera_opt_to_camera, torch.Tensor) assert distortion_params_delta is None or isinstance(distortion_params_delta, torch.Tensor) if isinstance(camera_indices, torch.Tensor) and isinstance(coords, torch.Tensor): num_rays_shape = camera_indices.shape[:-1] errormsg = "Batch dims of inputs must match when inputs are all tensors" assert coords.shape[:-1] == num_rays_shape, errormsg assert camera_opt_to_camera is None or camera_opt_to_camera.shape[:-2] == num_rays_shape, errormsg assert distortion_params_delta is None or distortion_params_delta.shape[:-1] == num_rays_shape, errormsg # If zero dimensional, we need to unsqueeze to get a batch dimension and then squeeze later if not self.shape: cameras = self.reshape((1,)) assert torch.all( torch.tensor(camera_indices == 0) if isinstance(camera_indices, int) else camera_indices == 0 ), "Can only index into single camera with no batch dimensions if index is zero" else: cameras = self # If the camera indices are an int, then we need to make sure that the camera batch is 1D if isinstance(camera_indices, int): assert ( len(cameras.shape) == 1 ), "camera_indices must be a tensor if cameras are batched with more than 1 batch dimension" camera_indices = torch.tensor([camera_indices], device=cameras.device) assert camera_indices.shape[-1] == len( cameras.shape ), "camera_indices must have shape (num_rays:..., num_cameras_batch_dims)" # If keep_shape is True, then we need to make sure that the camera indices in question # are all the same height and width and can actually be batched while maintaining the image # shape if keep_shape is True: assert torch.all(cameras.height[camera_indices] == cameras.height[camera_indices[0]]) and torch.all( cameras.width[camera_indices] == cameras.width[camera_indices[0]] ), "Can only keep shape if all cameras have the same height and width" # If the cameras don't all have same height / width, if coords is not none, we will need to generate # a flat list of coords for each camera and then concatenate otherwise our rays will be jagged. # Camera indices, camera_opt, and distortion will also need to be broadcasted accordingly which is non-trivial if cameras.is_jagged and coords is None and (keep_shape is None or keep_shape is False): index_dim = camera_indices.shape[-1] camera_indices = camera_indices.reshape(-1, index_dim) _coords = [cameras.get_image_coords(index=tuple(index)).reshape(-1, 2) for index in camera_indices] camera_indices = torch.cat( [index.unsqueeze(0).repeat(coords.shape[0], 1) for index, coords in zip(camera_indices, _coords)], ) coords = torch.cat(_coords, dim=0) assert coords.shape[0] == camera_indices.shape[0] # Need to get the coords of each indexed camera and flatten all coordinate maps and concatenate them # The case where we aren't jagged && keep_shape (since otherwise coords is already set) and coords # is None. In this case we append (h, w) to the num_rays dimensions for all tensors. In this case, # each image in camera_indices has to have the same shape since otherwise we would have error'd when # we checked keep_shape is valid or we aren't jagged. if coords is None: index_dim = camera_indices.shape[-1] index = camera_indices.reshape(-1, index_dim)[0] coords: torch.Tensor = cameras.get_image_coords(index=tuple(index)) # (h, w, 2) coords = coords.reshape(coords.shape[:2] + (1,) * len(camera_indices.shape[:-1]) + (2,)) # (h, w, 1..., 2) coords = coords.expand(coords.shape[:2] + camera_indices.shape[:-1] + (2,)) # (h, w, num_rays, 2) camera_opt_to_camera = ( # (h, w, num_rays, 3, 4) or None camera_opt_to_camera.broadcast_to(coords.shape[:-1] + (3, 4)) if camera_opt_to_camera is not None else None ) distortion_params_delta = ( # (h, w, num_rays, 6) or None distortion_params_delta.broadcast_to(coords.shape[:-1] + (6,)) if distortion_params_delta is not None else None ) # If camera indices was an int or coords was none, we need to broadcast our indices along batch dims camera_indices = camera_indices.broadcast_to(coords.shape[:-1] + (len(cameras.shape),)).to(torch.long) # Checking our tensors have been standardized assert isinstance(coords, torch.Tensor) and isinstance(camera_indices, torch.Tensor) assert camera_indices.shape[-1] == len(cameras.shape) assert camera_opt_to_camera is None or camera_opt_to_camera.shape[:-2] == coords.shape[:-1] assert distortion_params_delta is None or distortion_params_delta.shape[:-1] == coords.shape[:-1] # This will do the actual work of generating the rays now that we have standardized the inputs # raybundle.shape == (num_rays) when done # pylint: disable=protected-access raybundle = cameras._generate_rays_from_coords( camera_indices, coords, camera_opt_to_camera, distortion_params_delta, disable_distortion=disable_distortion ) # If we have mandated that we don't keep the shape, then we flatten if keep_shape is False: raybundle = raybundle.flatten() # TODO: We should have to squeeze the last dimension here if we started with zero batch dims, but never have to, # so there might be a rogue squeeze happening somewhere, and this may cause some unintended behaviour # that we haven't caught yet with tests return raybundle # pylint: disable=too-many-statements def _generate_rays_from_coords( self, camera_indices: TensorType["num_rays":..., "num_cameras_batch_dims"], coords: TensorType["num_rays":..., 2], camera_opt_to_camera: Optional[TensorType["num_rays":..., 3, 4]] = None, distortion_params_delta: Optional[TensorType["num_rays":..., 6]] = None, disable_distortion: bool = False, ) -> RayBundle: """Generates rays for the given camera indices and coords where self isn't jagged This is a fairly complex function, so let's break this down slowly. Shapes involved: - num_rays: This is your output raybundle shape. It dictates the number and shape of the rays generated - num_cameras_batch_dims: This is the number of dimensions of our camera Args: camera_indices: Camera indices of the flattened cameras object to generate rays for. The shape of this is such that indexing into camera_indices["num_rays":...] will return the index into each batch dimension of the camera in order to get the correct camera specified by "num_rays". Example: >>> cameras = Cameras(...) >>> cameras.shape (2, 3, 4) >>> camera_indices = torch.tensor([0, 0, 0]) # We need an axis of length 3 since cameras.ndim == 3 >>> camera_indices.shape (3,) >>> coords = torch.tensor([1,1]) >>> coords.shape (2,) >>> out_rays = cameras.generate_rays(camera_indices=camera_indices, coords = coords) # This will generate a RayBundle with a single ray for the # camera at cameras[0,0,0] at image coordinates (1,1), so out_rays.shape == () >>> out_rays.shape () >>> camera_indices = torch.tensor([[0,0,0]]) >>> camera_indices.shape (1, 3) >>> coords = torch.tensor([[1,1]]) >>> coords.shape (1, 2) >>> out_rays = cameras.generate_rays(camera_indices=camera_indices, coords = coords) # This will generate a RayBundle with a single ray for the # camera at cameras[0,0,0] at point (1,1), so out_rays.shape == (1,) # since we added an extra dimension in front of camera_indices >>> out_rays.shape (1,) If you want more examples, check tests/cameras/test_cameras and the function check_generate_rays_shape The bottom line is that for camera_indices: (num_rays:..., num_cameras_batch_dims), num_rays is the output shape and if you index into the output RayBundle with some indices [i:...], if you index into camera_indices with camera_indices[i:...] as well, you will get a 1D tensor containing the batch indices into the original cameras object corresponding to that ray (ie: you will get the camera from our batched cameras corresponding to the ray at RayBundle[i:...]). coords: Coordinates of the pixels to generate rays for. If None, the full image will be rendered, meaning height and width get prepended to the num_rays dimensions. Indexing into coords with [i:...] will get you the image coordinates [x, y] of that specific ray located at output RayBundle[i:...]. camera_opt_to_camera: Optional transform for the camera to world matrices. In terms of shape, it follows the same rules as coords, but indexing into it with [i:...] gets you the 2D camera to world transform matrix for the camera optimization at RayBundle[i:...]. distortion_params_delta: Optional delta for the distortion parameters. In terms of shape, it follows the same rules as coords, but indexing into it with [i:...] gets you the 1D tensor with the 6 distortion parameters for the camera optimization at RayBundle[i:...]. disable_distortion: If True, disables distortion. Returns: Rays for the given camera indices and coords. RayBundle.shape == num_rays """ # Make sure we're on the right devices camera_indices = camera_indices.to(self.device) coords = coords.to(self.device) # Checking to make sure everything is of the right shape and type num_rays_shape = camera_indices.shape[:-1] assert camera_indices.shape == num_rays_shape + (self.ndim,) assert coords.shape == num_rays_shape + (2,) assert coords.shape[-1] == 2 assert camera_opt_to_camera is None or camera_opt_to_camera.shape == num_rays_shape + (3, 4) assert distortion_params_delta is None or distortion_params_delta.shape == num_rays_shape + (6,) # Here, we've broken our indices down along the num_cameras_batch_dims dimension allowing us to index by all # of our output rays at each dimension of our cameras object true_indices = [camera_indices[..., i] for i in range(camera_indices.shape[-1])] # Get all our focal lengths, principal points and make sure they are the right shapes y = coords[..., 0] # (num_rays,) get rid of the last dimension x = coords[..., 1] # (num_rays,) get rid of the last dimension fx, fy = self.fx[true_indices].squeeze(-1), self.fy[true_indices].squeeze(-1) # (num_rays,) cx, cy = self.cx[true_indices].squeeze(-1), self.cy[true_indices].squeeze(-1) # (num_rays,) assert ( y.shape == num_rays_shape and x.shape == num_rays_shape and fx.shape == num_rays_shape and fy.shape == num_rays_shape and cx.shape == num_rays_shape and cy.shape == num_rays_shape ), ( str(num_rays_shape) + str(y.shape) + str(x.shape) + str(fx.shape) + str(fy.shape) + str(cx.shape) + str(cy.shape) ) # Get our image coordinates and image coordinates offset by 1 (offsets used for dx, dy calculations) # Also make sure the shapes are correct coord = torch.stack([(x - cx) / fx, -(y - cy) / fy], -1) # (num_rays, 2) coord_x_offset = torch.stack([(x - cx + 1) / fx, -(y - cy) / fy], -1) # (num_rays, 2) coord_y_offset = torch.stack([(x - cx) / fx, -(y - cy + 1) / fy], -1) # (num_rays, 2) assert ( coord.shape == num_rays_shape + (2,) and coord_x_offset.shape == num_rays_shape + (2,) and coord_y_offset.shape == num_rays_shape + (2,) ) # Stack image coordinates and image coordinates offset by 1, check shapes too coord_stack = torch.stack([coord, coord_x_offset, coord_y_offset], dim=0) # (3, num_rays, 2) assert coord_stack.shape == (3,) + num_rays_shape + (2,) # Undistorts our images according to our distortion parameters if not disable_distortion: distortion_params = None if self.distortion_params is not None: distortion_params = self.distortion_params[true_indices] if distortion_params_delta is not None: distortion_params = distortion_params + distortion_params_delta elif distortion_params_delta is not None: distortion_params = distortion_params_delta # Do not apply distortion for equirectangular images if distortion_params is not None: mask = (self.camera_type[true_indices] != CameraType.EQUIRECTANGULAR.value).squeeze(-1) # (num_rays) coord_mask = torch.stack([mask, mask, mask], dim=0) if mask.any(): coord_stack[coord_mask, :] = camera_utils.radial_and_tangential_undistort( coord_stack[coord_mask, :].reshape(3, -1, 2), distortion_params[mask, :], ).reshape(-1, 2) # Make sure after we have undistorted our images, the shapes are still correct assert coord_stack.shape == (3,) + num_rays_shape + (2,) # Gets our directions for all our rays in camera coordinates and checks shapes at the end # Here, directions_stack is of shape (3, num_rays, 3) # directions_stack[0] is the direction for ray in camera coordinates # directions_stack[1] is the direction for ray in camera coordinates offset by 1 in x # directions_stack[2] is the direction for ray in camera coordinates offset by 1 in y cam_types = torch.unique(self.camera_type, sorted=False) directions_stack = torch.empty((3,) + num_rays_shape + (3,), device=self.device) if CameraType.PERSPECTIVE.value in cam_types: mask = (self.camera_type[true_indices] == CameraType.PERSPECTIVE.value).squeeze(-1) # (num_rays) mask = torch.stack([mask, mask, mask], dim=0) directions_stack[..., 0][mask] = torch.masked_select(coord_stack[..., 0], mask).float() directions_stack[..., 1][mask] = torch.masked_select(coord_stack[..., 1], mask).float() directions_stack[..., 2][mask] = -1.0 if CameraType.FISHEYE.value in cam_types: mask = (self.camera_type[true_indices] == CameraType.FISHEYE.value).squeeze(-1) # (num_rays) mask = torch.stack([mask, mask, mask], dim=0) theta = torch.sqrt(torch.sum(coord_stack**2, dim=-1)) theta = torch.clip(theta, 0.0, math.pi) sin_theta = torch.sin(theta) directions_stack[..., 0][mask] = torch.masked_select(coord_stack[..., 0] * sin_theta / theta, mask).float() directions_stack[..., 1][mask] = torch.masked_select(coord_stack[..., 1] * sin_theta / theta, mask).float() directions_stack[..., 2][mask] = -torch.masked_select(torch.cos(theta), mask) if CameraType.EQUIRECTANGULAR.value in cam_types: mask = (self.camera_type[true_indices] == CameraType.EQUIRECTANGULAR.value).squeeze(-1) # (num_rays) mask = torch.stack([mask, mask, mask], dim=0) # For equirect, fx = fy = height = width/2 # Then coord[..., 0] goes from -1 to 1 and coord[..., 1] goes from -1/2 to 1/2 theta = -torch.pi * coord_stack[..., 0] # minus sign for right-handed phi = torch.pi * (0.5 - coord_stack[..., 1]) # use spherical in local camera coordinates (+y up, x=0 and z<0 is theta=0) directions_stack[..., 0][mask] = torch.masked_select(-torch.sin(theta) * torch.sin(phi), mask).float() directions_stack[..., 1][mask] = torch.masked_select(torch.cos(phi), mask).float() directions_stack[..., 2][mask] = torch.masked_select(-torch.cos(theta) * torch.sin(phi), mask).float() for value in cam_types: if value not in [CameraType.PERSPECTIVE.value, CameraType.FISHEYE.value, CameraType.EQUIRECTANGULAR.value]: raise ValueError(f"Camera type {value} not supported.") assert directions_stack.shape == (3,) + num_rays_shape + (3,) c2w = self.camera_to_worlds[true_indices] assert c2w.shape == num_rays_shape + (3, 4) if camera_opt_to_camera is not None: c2w = pose_utils.multiply(c2w, camera_opt_to_camera) rotation = c2w[..., :3, :3] # (..., 3, 3) assert rotation.shape == num_rays_shape + (3, 3) directions_stack = torch.sum( directions_stack[..., None, :] * rotation, dim=-1 ) # (..., 1, 3) * (..., 3, 3) -> (..., 3) directions_norm = torch.norm(directions_stack, dim=-1, keepdim=True) directions_norm = directions_norm[0] directions_stack = normalize(directions_stack, dim=-1) assert directions_stack.shape == (3,) + num_rays_shape + (3,) origins = c2w[..., :3, 3] # (..., 3) assert origins.shape == num_rays_shape + (3,) directions = directions_stack[0] assert directions.shape == num_rays_shape + (3,) # norms of the vector going between adjacent coords, giving us dx and dy per output ray dx = torch.sqrt(torch.sum((directions - directions_stack[1]) ** 2, dim=-1)) # ("num_rays":...,) dy = torch.sqrt(torch.sum((directions - directions_stack[2]) ** 2, dim=-1)) # ("num_rays":...,) assert dx.shape == num_rays_shape and dy.shape == num_rays_shape pixel_area = (dx * dy)[..., None] # ("num_rays":..., 1) assert pixel_area.shape == num_rays_shape + (1,) times = self.times[camera_indices, 0] if self.times is not None else None return RayBundle( origins=origins, directions=directions, pixel_area=pixel_area, camera_indices=camera_indices, directions_norm=directions_norm, times=times, ) def to_json( self, camera_idx: int, image: Optional[TensorType["height", "width", 2]] = None, max_size: Optional[int] = None ) -> Dict: """Convert a camera to a json dictionary. Args: camera_idx: Index of the camera to convert. image: An image in range [0, 1] that is encoded to a base64 string. max_size: Max size to resize the image to if present. Returns: A JSON representation of the camera """ flattened = self.flatten() json_ = { "type": "PinholeCamera", "cx": flattened[camera_idx].cx.item(), "cy": flattened[camera_idx].cy.item(), "fx": flattened[camera_idx].fx.item(), "fy": flattened[camera_idx].fy.item(), "camera_to_world": self.camera_to_worlds[camera_idx].tolist(), "camera_index": camera_idx, "times": flattened[camera_idx].times.item() if self.times is not None else None, } if image is not None: image_uint8 = (image * 255).detach().type(torch.uint8) if max_size is not None: image_uint8 = image_uint8.permute(2, 0, 1) image_uint8 = torchvision.transforms.functional.resize(image_uint8, max_size) # type: ignore image_uint8 = image_uint8.permute(1, 2, 0) image_uint8 = image_uint8.cpu().numpy() data = cv2.imencode(".jpg", image_uint8)[1].tobytes() json_["image"] = str("data:image/jpeg;base64," + base64.b64encode(data).decode("ascii")) return json_ def get_intrinsics_matrices(self) -> TensorType["num_cameras":..., 3, 3]: """Returns the intrinsic matrices for each camera. Returns: Pinhole camera intrinsics matrices """ K = torch.zeros((*self.shape, 3, 3), dtype=torch.float32) K[..., 0, 0] = self.fx.squeeze(-1) K[..., 1, 1] = self.fy.squeeze(-1) K[..., 0, 2] = self.cx.squeeze(-1) K[..., 1, 2] = self.cy.squeeze(-1) K[..., 2, 2] = 1.0 return K def rescale_output_resolution( self, scaling_factor: Union[TensorType["num_cameras":...], TensorType["num_cameras":..., 1], float, int] ) -> None: """Rescale the output resolution of the cameras. Args: scaling_factor: Scaling factor to apply to the output resolution. """ if isinstance(scaling_factor, (float, int)): scaling_factor = torch.tensor([scaling_factor]).to(self.device).broadcast_to((self.cx.shape)) elif isinstance(scaling_factor, torch.Tensor) and scaling_factor.shape == self.shape: scaling_factor = scaling_factor.unsqueeze(-1) elif isinstance(scaling_factor, torch.Tensor) and scaling_factor.shape == (*self.shape, 1): pass else: raise ValueError( f"Scaling factor must be a float, int, or a tensor of shape {self.shape} or {(*self.shape, 1)}." ) self.fx = self.fx * scaling_factor self.fy = self.fy * scaling_factor self.cx = self.cx * scaling_factor self.cy = self.cy * scaling_factor self.height = (self.height * scaling_factor).to(torch.int64) self.width = (self.width * scaling_factor).to(torch.int64) ================================================ FILE: AutoReconForDens3R/nerfstudio/cameras/lie_groups.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Helper for Lie group operations. Currently only used for pose optimization. """ import torch from torchtyping import TensorType # We make an exception on snake case conventions because SO3 != so3. def exp_map_SO3xR3(tangent_vector: TensorType["b", 6]) -> TensorType["b", 3, 4]: # pylint: disable=invalid-name """Compute the exponential map of the direct product group `SO(3) x R^3`. This can be used for learning pose deltas on SE(3), and is generally faster than `exp_map_SE3`. Args: tangent_vector: Tangent vector; length-3 translations, followed by an `so(3)` tangent vector. Returns: [R|t] tranformation matrices. """ # code for SO3 map grabbed from pytorch3d and stripped down to bare-bones log_rot = tangent_vector[:, 3:] nrms = (log_rot * log_rot).sum(1) rot_angles = torch.clamp(nrms, 1e-4).sqrt() rot_angles_inv = 1.0 / rot_angles fac1 = rot_angles_inv * rot_angles.sin() fac2 = rot_angles_inv * rot_angles_inv * (1.0 - rot_angles.cos()) skews = torch.zeros((log_rot.shape[0], 3, 3), dtype=log_rot.dtype, device=log_rot.device) skews[:, 0, 1] = -log_rot[:, 2] skews[:, 0, 2] = log_rot[:, 1] skews[:, 1, 0] = log_rot[:, 2] skews[:, 1, 2] = -log_rot[:, 0] skews[:, 2, 0] = -log_rot[:, 1] skews[:, 2, 1] = log_rot[:, 0] skews_square = torch.bmm(skews, skews) ret = torch.zeros(tangent_vector.shape[0], 3, 4, dtype=tangent_vector.dtype, device=tangent_vector.device) ret[:, :3, :3] = ( fac1[:, None, None] * skews + fac2[:, None, None] * skews_square + torch.eye(3, dtype=log_rot.dtype, device=log_rot.device)[None] ) # Compute the translation ret[:, :3, 3] = tangent_vector[:, :3] return ret def exp_map_SE3(tangent_vector: TensorType["b", 6]) -> TensorType["b", 3, 4]: # pylint: disable=invalid-name """Compute the exponential map `se(3) -> SE(3)`. This can be used for learning pose deltas on `SE(3)`. Args: tangent_vector: A tangent vector from `se(3)`. Returns: [R|t] tranformation matrices. """ tangent_vector_lin = tangent_vector[:, :3].view(-1, 3, 1) tangent_vector_ang = tangent_vector[:, 3:].view(-1, 3, 1) theta = torch.linalg.norm(tangent_vector_ang, dim=1).unsqueeze(1) theta2 = theta**2 theta3 = theta**3 near_zero = theta < 1e-2 non_zero = torch.ones(1, dtype=tangent_vector.dtype, device=tangent_vector.device) theta_nz = torch.where(near_zero, non_zero, theta) theta2_nz = torch.where(near_zero, non_zero, theta2) theta3_nz = torch.where(near_zero, non_zero, theta3) # Compute the rotation sine = theta.sin() cosine = torch.where(near_zero, 8 / (4 + theta2) - 1, theta.cos()) sine_by_theta = torch.where(near_zero, 0.5 * cosine + 0.5, sine / theta_nz) one_minus_cosine_by_theta2 = torch.where(near_zero, 0.5 * sine_by_theta, (1 - cosine) / theta2_nz) ret = torch.zeros(tangent_vector.shape[0], 3, 4).to(dtype=tangent_vector.dtype, device=tangent_vector.device) ret[:, :3, :3] = one_minus_cosine_by_theta2 * tangent_vector_ang @ tangent_vector_ang.transpose(1, 2) ret[:, 0, 0] += cosine.view(-1) ret[:, 1, 1] += cosine.view(-1) ret[:, 2, 2] += cosine.view(-1) temp = sine_by_theta.view(-1, 1) * tangent_vector_ang.view(-1, 3) ret[:, 0, 1] -= temp[:, 2] ret[:, 1, 0] += temp[:, 2] ret[:, 0, 2] += temp[:, 1] ret[:, 2, 0] -= temp[:, 1] ret[:, 1, 2] -= temp[:, 0] ret[:, 2, 1] += temp[:, 0] # Compute the translation sine_by_theta = torch.where(near_zero, 1 - theta2 / 6, sine_by_theta) one_minus_cosine_by_theta2 = torch.where(near_zero, 0.5 - theta2 / 24, one_minus_cosine_by_theta2) theta_minus_sine_by_theta3_t = torch.where(near_zero, 1.0 / 6 - theta2 / 120, (theta - sine) / theta3_nz) ret[:, :, 3:] = sine_by_theta * tangent_vector_lin ret[:, :, 3:] += one_minus_cosine_by_theta2 * torch.cross(tangent_vector_ang, tangent_vector_lin, dim=1) ret[:, :, 3:] += theta_minus_sine_by_theta3_t * ( tangent_vector_ang @ (tangent_vector_ang.transpose(1, 2) @ tangent_vector_lin) ) return ret ================================================ FILE: AutoReconForDens3R/nerfstudio/cameras/rays.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Some ray datastructures. """ import random import warnings from dataclasses import dataclass from typing import Callable, Dict, Optional, Tuple import torch from torchtyping import TensorType from rich.console import Console from nerfstudio.utils.math import Gaussians, conical_frustum_to_gaussian from nerfstudio.utils.tensor_dataclass import TensorDataclass CONSOLE = Console(width=120) NEGATIVE_MIN_DELTA_WARNING = ("[bold yellow]RaySamples.deltas includes negative values, " "which might be caused by nears > fars / bad weights (e.g., all zeros) " "/ numerical issues caused by nears being too closed with fars. " "This will lead to negative weights and NaN interlevel loss.") _WARNED = False @dataclass class Frustums(TensorDataclass): """Describes region of space as a frustum.""" origins: TensorType["bs":..., 3] """xyz coordinate for ray origin.""" directions: TensorType["bs":..., 3] """Direction of ray.""" starts: TensorType["bs":..., 1] """Where the frustum starts along a ray.""" ends: TensorType["bs":..., 1] """Where the frustum ends along a ray.""" pixel_area: TensorType["bs":..., 1] """Projected area of pixel a distance 1 away from origin.""" offsets: Optional[TensorType["bs":..., 3]] = None """Offsets for each sample position""" def get_positions(self) -> TensorType[..., 3]: """Calulates "center" position of frustum. Not weighted by mass. Returns: xyz positions. """ pos = self.origins + self.directions * (self.starts + self.ends) / 2 if self.offsets is not None: pos = pos + self.offsets return pos def set_offsets(self, offsets): """Sets offsets for this frustum for computing positions""" self.offsets = offsets def get_start_positions(self) -> TensorType[..., 3]: """Calulates "start" position of frustum. We use start positions for MonoSDF because when we use error bounded sampling, we need to upsample many times. It's hard to merge two set of ray samples while keeping the mid points fixed. Every time we up sample the points the mid points will change and therefore we need to evaluate all points again which is 3 times slower. But we can skip the evaluation of sdf value if we use start position instead of mid position because after we merge the points, the starting point is the same and only the delta is changed. Returns: xyz positions. """ return self.origins + self.directions * self.starts def get_gaussian_blob(self) -> Gaussians: """Calculates guassian approximation of conical frustum. Resturns: Conical frustums approximated by gaussian distribution. """ # Cone radius is set such that the square pixel_area matches the cone area. cone_radius = torch.sqrt(self.pixel_area) / 1.7724538509055159 # r = sqrt(pixel_area / pi) if self.offsets is not None: raise NotImplementedError() return conical_frustum_to_gaussian( origins=self.origins, directions=self.directions, starts=self.starts, ends=self.ends, radius=cone_radius, ) @classmethod def get_mock_frustum(cls, device="cpu") -> "Frustums": """Helper function to generate a placeholder frustum. Returns: A size 1 frustum with meaningless values. """ return Frustums( origins=torch.ones((1, 3)).to(device), directions=torch.ones((1, 3)).to(device), starts=torch.ones((1, 1)).to(device), ends=torch.ones((1, 1)).to(device), pixel_area=torch.ones((1, 1)).to(device), ) @dataclass class RaySamples(TensorDataclass): """Samples along a ray""" frustums: Frustums """Frustums along ray.""" camera_indices: Optional[TensorType["bs":..., 1]] = None """Camera index.""" deltas: Optional[TensorType["bs":..., 1]] = None """"width" of each sample.""" spacing_starts: Optional[TensorType["bs":..., "num_samples", 1]] = None """Start of normalized bin edges along ray [0,1], before warping is applied, ie. linear in disparity sampling.""" spacing_ends: Optional[TensorType["bs":..., "num_samples", 1]] = None """Start of normalized bin edges along ray [0,1], before warping is applied, ie. linear in disparity sampling.""" spacing_to_euclidean_fn: Optional[Callable] = None """Function to convert bins to euclidean distance.""" metadata: Optional[Dict[str, TensorType["bs":..., "latent_dims"]]] = None """addtional information relevant to generating ray samples""" times: Optional[TensorType[..., 1]] = None """Times at which rays are sampled""" def __post_init__(self) -> None: super().__post_init__() if self.deltas is not None: negative_deltas_mask = self.deltas < 0 if negative_deltas_mask.any(): n_negative_deltas = negative_deltas_mask.sum() self.deltas[negative_deltas_mask] = 0. global _WARNED # TODO: use a context manager to count the number of time this warning is triggered if not _WARNED: _WARNED = True CONSOLE.print(NEGATIVE_MIN_DELTA_WARNING) CONSOLE.print(f"[bold yellow]Truncate negative deltas to 0! ({n_negative_deltas} in total)") def get_weights(self, densities: TensorType[..., "num_samples", 1]) -> TensorType[..., "num_samples", 1]: """Return weights based on predicted densities Args: densities: Predicted densities for samples along ray Returns: Weights for each sample """ delta_density = self.deltas * densities alphas = 1 - torch.exp(-delta_density) transmittance = torch.cumsum(delta_density[..., :-1, :], dim=-2) transmittance = torch.cat( [torch.zeros((*transmittance.shape[:1], 1, 1), device=densities.device), transmittance], dim=-2 ) transmittance = torch.exp(-transmittance) # [..., "num_samples"] weights = alphas * transmittance # [..., "num_samples"] weights = torch.nan_to_num(weights) # nan weights might be caused by inf densities if torch.isnan(weights).any(): __import__('ipdb').set_trace() return weights def get_weights_and_transmittance( self, densities: TensorType[..., "num_samples", 1] ) -> Tuple[TensorType[..., "num_samples", 1], TensorType[..., "num_samples", 1]]: """Return weights and transmittance based on predicted densities Args: densities: Predicted densities for samples along ray Returns: Weights and transmittance for each sample """ delta_density = self.deltas * densities alphas = 1 - torch.exp(-delta_density) transmittance = torch.cumsum(delta_density[..., :-1, :], dim=-2) transmittance = torch.cat( [torch.zeros((*transmittance.shape[:1], 1, 1), device=densities.device), transmittance], dim=-2 ) transmittance = torch.exp(-transmittance) # [..., "num_samples"] weights = alphas * transmittance # [..., "num_samples"] weights = torch.nan_to_num(weights) # nan weights might be caused by inf densities return weights, transmittance def get_weights_from_alphas(self, alphas: TensorType[..., "num_samples", 1]) -> TensorType[..., "num_samples", 1]: """Return weights based on predicted alphas Args: alphas: Predicted alphas (maybe from sdf) for samples along ray Returns: Weights for each sample """ transmittance = torch.cumprod( torch.cat([torch.ones((*alphas.shape[:1], 1, 1), device=alphas.device), 1.0 - alphas + 1e-7], 1), 1 ) # [..., "num_samples"] weights = alphas * transmittance[:, :-1, :] # [..., "num_samples"] weights = torch.nan_to_num(weights) return weights def get_weights_and_transmittance_from_alphas( self, alphas: TensorType[..., "num_samples", 1] ) -> TensorType[..., "num_samples", 1]: """Return weights based on predicted alphas Args: alphas: Predicted alphas (maybe from sdf) for samples along ray Returns: Weights for each sample """ transmittance = torch.cumprod( torch.cat([torch.ones((*alphas.shape[:1], 1, 1), device=alphas.device), 1.0 - alphas + 1e-7], 1), 1 ) # [..., "num_samples"] weights = alphas * transmittance[:, :-1, :] # [..., "num_samples"] weights = torch.nan_to_num(weights) if torch.isnan(weights).any(): __import__('ipdb').set_trace() return weights, transmittance @dataclass class RayBundle(TensorDataclass): """A bundle of ray parameters.""" # TODO(ethan): make sure the sizes with ... are correct origins: TensorType[..., 3] """Ray origins (XYZ)""" directions: TensorType[..., 3] """Unit ray direction vector""" pixel_area: TensorType[..., 1] """Projected area of pixel a distance 1 away from origin""" directions_norm: Optional[TensorType[..., 1]] = None """Norm of ray direction vector before normalization""" camera_indices: Optional[TensorType[..., 1]] = None """Camera indices""" nears: Optional[TensorType[..., 1]] = None """Distance along ray to start sampling""" fars: Optional[TensorType[..., 1]] = None """Rays Distance along ray to stop sampling""" # metadata: Optional[Dict[str, TensorType["num_rays", "latent_dims"]]] = None metadata: Optional[Dict[str, TensorType["bs":..., "latent_dims"]]] = None """Additional metadata or data needed for interpolation, will mimic shape of rays""" times: Optional[TensorType[..., 1]] = None """Times at which rays are sampled""" def set_camera_indices(self, camera_index: int) -> None: """Sets all of the the camera indices to a specific camera index. Args: camera_index: Camera index. """ self.camera_indices = torch.ones_like(self.origins[..., 0:1]).long() * camera_index def __len__(self): num_rays = torch.numel(self.origins) // self.origins.shape[-1] return num_rays def sample(self, num_rays: int) -> "RayBundle": """Returns a RayBundle as a subset of rays. Args: num_rays: Number of rays in output RayBundle Returns: RayBundle with subset of rays. """ assert num_rays <= len(self) indices = random.sample(range(len(self)), k=num_rays) return self[indices] def get_row_major_sliced_ray_bundle(self, start_idx: int, end_idx: int) -> "RayBundle": """Flattens RayBundle and extracts chunk given start and end indicies. Args: start_idx: Start index of RayBundle chunk. end_idx: End index of RayBundle chunk. Returns: Flattened RayBundle with end_idx-start_idx rays. """ return self.flatten()[start_idx:end_idx] def get_ray_samples( self, bin_starts: TensorType["bs":..., "num_samples", 1], bin_ends: TensorType["bs":..., "num_samples", 1], spacing_starts: Optional[TensorType["bs":..., "num_samples", 1]] = None, spacing_ends: Optional[TensorType["bs":..., "num_samples", 1]] = None, spacing_to_euclidean_fn: Optional[Callable] = None, ) -> RaySamples: """Produces samples for each ray by projection points along the ray direction. Currently samples uniformly. Args: bin_starts: Distance from origin to start of bin. bin_ends: Distance from origin to end of bin. Returns: Samples projected along ray. """ deltas = bin_ends - bin_starts # if deltas.min() < 0: # CONSOLE.log(NEGATIVE_MIN_DELTA_WARNING) # # if nears and fars are too close to each other (e.g., the ray is intersecting the edge region of an aabb), # # the spacing between ray samples might not be handled properly using float32. # __import__('ipdb').set_trace() if self.camera_indices is not None: camera_indices = self.camera_indices[..., None] else: camera_indices = None shaped_raybundle_fields = self[..., None] frustums = Frustums( origins=shaped_raybundle_fields.origins, # [..., 1, 3] directions=shaped_raybundle_fields.directions, # [..., 1, 3] starts=bin_starts, # [..., num_samples, 1] ends=bin_ends, # [..., num_samples, 1] pixel_area=shaped_raybundle_fields.pixel_area, # [..., 1, 1] ) ray_samples = RaySamples( frustums=frustums, camera_indices=camera_indices, # [..., 1, 1] deltas=deltas, # [..., num_samples, 1] spacing_starts=spacing_starts, # [..., num_samples, 1] spacing_ends=spacing_ends, # [..., num_samples, 1] spacing_to_euclidean_fn=spacing_to_euclidean_fn, metadata=shaped_raybundle_fields.metadata, times=None if self.times is None else self.times[..., None], # [..., 1, 1] ) return ray_samples ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/autorecon/__init__.py ================================================ from __future__ import annotations from typing import Dict, Sequence from functools import partial import tyro from sklearn.decomposition import PCA from nerfstudio.cameras.camera_optimizers import CameraOptimizerConfig from nerfstudio.configs.base_config import ( Config, SchedulerConfig, TrainerConfig, ViewerConfig, ) from nerfstudio.data.datamanagers.base_datamanager import ( FlexibleDataManagerConfig, VanillaDataManagerConfig, ) from nerfstudio.data.datamanagers.semantic_datamanager import SemanticDataManagerConfig from nerfstudio.data.datamanagers.autorecon_datamanager import AutoReconDataManagerConfig from nerfstudio.data.datamanagers.variable_res_datamanager import ( VariableResDataManagerConfig, ) from nerfstudio.data.dataparsers.blender_dataparser import BlenderDataParserConfig from nerfstudio.data.dataparsers.dnerf_dataparser import DNeRFDataParserConfig from nerfstudio.data.dataparsers.friends_dataparser import FriendsDataParserConfig from nerfstudio.data.dataparsers.nerfstudio_dataparser import NerfstudioDataParserConfig from nerfstudio.data.dataparsers.phototourism_dataparser import ( PhototourismDataParserConfig, ) from nerfstudio.data.dataparsers.sdfstudio_dataparser import SDFStudioDataParserConfig from nerfstudio.data.dataparsers.autorecon_dataparser import AutoReconDataParserConfig from nerfstudio.data.utils.nerfstudio_collate import nerfstudio_collate from nerfstudio.engine.optimizers import AdamOptimizerConfig, RAdamOptimizerConfig, AdamWOptimizerConfig from nerfstudio.engine.schedulers import ( ExponentialSchedulerConfig, MultiStepSchedulerConfig, NeuSSchedulerConfig, AutoReconSchedulerConfig ) from nerfstudio.field_components.temporal_distortions import TemporalDistortionKind from nerfstudio.fields.sdf_field import SDFFieldConfig from nerfstudio.fields.feature_field import FeatureFieldConfig, FeatureSegFieldConfig from nerfstudio.models.dto import DtoOModelConfig from nerfstudio.models.instant_ngp import InstantNGPModelConfig from nerfstudio.models.mipnerf import MipNerfModel from nerfstudio.models.nerfacto import NerfactoModelConfig from nerfstudio.models.neuralreconW import NeuralReconWModelConfig from nerfstudio.models.neus import NeuSModelConfig from nerfstudio.models.neus_acc import NeuSAccModelConfig from nerfstudio.models.neus_facto import NeuSFactoModelConfig from nerfstudio.models.neus_facto_dff import NeuSFactoDFFModelConfig from nerfstudio.models.neus_facto_reg import NeuSFactoRegModelConfig from nerfstudio.models.distilled_neus_facto import DistilledNeuSFactoModelConfig from nerfstudio.models.semantic_nerfw import SemanticNerfWModelConfig from nerfstudio.models.tensorf import TensoRFModelConfig from nerfstudio.models.unisurf import UniSurfModelConfig from nerfstudio.models.vanilla_nerf import NeRFModel, VanillaModelConfig from nerfstudio.models.volsdf import VolSDFModelConfig from nerfstudio.pipelines.base_pipeline import ( FlexibleInputPipelineConfig, VanillaPipelineConfig, ) from nerfstudio.pipelines.dynamic_batch import DynamicBatchPipelineConfig from nerfstudio.utils.func_utils import get_first_element from nerfstudio.utils.pointclouds import BasicPointClouds from .baseline import neus_wbg, neus_wbg_mlp from .common import ( neusfacto_autorecon, neus_facto_wbg, neus_facto_wbg_BgProbNet, neus_facto_wbg_medium, neus_facto_wbg_tiny, neus_facto_wbg_tiny_long_schedule ) from .distilled_neusfacto import distilled_neus_facto_wbg, debug_distilled_neus_facto_wbg from .feature_field import neus_facto_wbg_fast_dff, neus_facto_dff_wbg from .neusfacto_fast import neus_facto_wbg_fast from .regularization import neus_facto_wbg_reg, neus_facto_wbg_reg_sep_plane, neus_facto_wbg_reg_sep_plane_nerf from .semantic_nerf import autorecon_semantic_nerf method_configs: Dict[str, Config] = { "neus-wbg": neus_wbg, "neus-wbg_mlp": neus_wbg_mlp, "neus-facto-autorecon": neusfacto_autorecon, "neus-facto-wbg": neus_facto_wbg, "neus-facto-wbg_bg-prob-net": neus_facto_wbg_BgProbNet, "neus-facto-wbg_medium": neus_facto_wbg_medium, "neus-facto-wbg_tiny": neus_facto_wbg_tiny, "neus-facto-wbg_tiny_long-schedule": neus_facto_wbg_tiny_long_schedule, "distilled-neus-facto-wbg": distilled_neus_facto_wbg, "debug_distilled-neus-facto-wbg": debug_distilled_neus_facto_wbg, "neus-facto-wbg-fast_dff": neus_facto_wbg_fast_dff, "neus-facto-dff-wbg": neus_facto_dff_wbg, "neus-facto-wbg-fast": neus_facto_wbg_fast, "neus-facto-wbg-reg": neus_facto_wbg_reg, "neus-facto-wbg-reg_sep-plane": neus_facto_wbg_reg_sep_plane, "neus-facto-wbg-reg_sep-plane-nerf": neus_facto_wbg_reg_sep_plane_nerf, "autorecon_semantic-nerfw": autorecon_semantic_nerf } ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/autorecon/baseline.py ================================================ from . import * # TODO: neus w/o hash grid + NeRF++ scene parameterization # neus (MLP-based) w/ a BG Model (l2 scene contraction) neus_wbg_mlp = Config( method_name="neus-wbg_mlp", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=50000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=300000, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=512, eval_num_rays_per_batch=512, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NeuSModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=True, bias=0.2, beta_init=0.3, inside_outside=False, ), scene_contraction_order="none", bg_sampler_type="lin_disp", # TODO: ablate "uniform_lin_disp" background_model="mlp", use_fg_aware_scene_contraction=False, # TODO: True might lead to better results bg_use_appearance_embedding=False, use_average_appearance_embedding=False, eval_num_rays_per_chunk=1024 ), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) # (deprecated) neus with a BG Model neus_wbg = Config( method_name="neus-wbg", trainer=TrainerConfig( steps_per_eval_image=1000, steps_per_eval_batch=1000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=60001, # TODO: 20001 is enough? mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=1024, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NeuSModelConfig( sdf_field=SDFFieldConfig( use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.5, beta_init=0.3, use_appearance_embedding=False, # TODO: improve impl efficiency (currently zero embeddings are used -> disable completely!) inside_outside=False, # only consider object-centric scenes ), cos_anneal_end=10000, bg_use_appearance_embedding=False, use_average_appearance_embedding=False, background_model="grid", # TODO: check bg model size eval_num_rays_per_chunk=1024, ), ), optimizers={ # TODO: use higher lr for grid feature "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=1500, learning_rate_alpha=0.05, max_steps=60001), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=1500, learning_rate_alpha=0.05, max_steps=60001), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/autorecon/common.py ================================================ from . import * # assume the fg object is bounded by a unit cube, and the entire scene is # contracted to [-2, 2] as done in MipNeRF-360 neusfacto_autorecon = Config( method_name="neus-facto-autorecon", trainer=TrainerConfig( steps_per_eval_image=1000, steps_per_eval_batch=1000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=60001, # 20k iters is not enough for high quality reconstruction mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=AutoReconDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial(nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element}) ), model=NeuSFactoModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=True, use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.5, beta_init=0.3, direction_encoding_type="sh", use_appearance_embedding=False, inside_outside=False, spatial_normalization_region='full', # [-2, 2] -> [0, 1] for feature grid interpolation ), cos_anneal_end=10000, background_model="none", eval_num_rays_per_chunk=1024, proposal_use_uniform_sampler=False, proposal_net_spatial_normalization_region="full" # [-2, 2] -> [0, 1] for feature grid interpolation ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=60001), }, "fields": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=1500, learning_rate_alpha=0.05, max_steps=60001), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) # neus-facto with a BG Model # This model has inferior fg reconstructions comparing to the neus-facto model. neus_facto_wbg = Config( method_name="neus-facto-wbg", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=60000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=60001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( # TODO: set dataparser args dataparser=AutoReconDataParserConfig(), # NOTE: cannot set init args here, which would not be recognised. train_num_rays_per_batch=2048, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial(nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element}) ), model=NeuSFactoModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=True, use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.5, beta_init=0.3, direction_encoding_type="sh", use_appearance_embedding=False, # TODO: improve impl efficiency (currently zero embeddings are used -> disable completely!) inside_outside=False, # only consider object-centric scenes ), cos_anneal_end=10000, proposal_net_spatial_normalization_region="fg", eval_num_rays_per_chunk=1024, use_average_appearance_embedding=False, background_model="grid", bg_use_appearance_embedding=False, use_fg_aware_scene_contraction=True, fg_aware_scene_contraction_alpha=15.0, # TODO: 15.0 -> 5.0 bg_sampler_type="uniform_lin_disp", num_samples_outside=64, ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=60001), }, "fields": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=1500, learning_rate_alpha=0.05, max_steps=60001), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=1500, learning_rate_alpha=0.05, max_steps=60001), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) # neus-facto with a BG Model (w/ proposal-net sampler) # This model has inferior fg reconstructions comparing to the neus-facto model. neus_facto_wbg_BgProbNet = Config( method_name="neus-facto-wbg_bg-prop-net", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=60000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=60001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( # TODO: set dataparser args dataparser=AutoReconDataParserConfig(), # NOTE: cannot set init args here, which would not be recognised. train_num_rays_per_batch=2048, eval_num_rays_per_batch=2048, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial(nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element}) ), model=NeuSFactoModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=True, use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.1, # 0.5 -> 0.1 beta_init=0.3, direction_encoding_type="sh", use_appearance_embedding=False, # TODO: improve impl efficiency (currently zero embeddings are used -> disable completely!) inside_outside=False, # only consider object-centric scenes hash_grid_progressive_training=False, hash_grid_progressive_training_iters=0, # TODO: run ablation spatial_normalization_region="aabb", # to better utilize the feature grid weight_norm=False, # weight_norm might lead to NaNs during training ), cos_anneal_end=0, # FIXME: 5000 proposal_net_spatial_normalization_region="fg", eval_num_rays_per_chunk=1024, use_average_appearance_embedding=False, background_model="grid", bg_use_appearance_embedding=False, use_fg_aware_scene_contraction=True, fg_aware_scene_contraction_alpha=5.0, bg_sampler_type="proposal_network", num_samples_outside=16, # TODO: run ablation (use a smaller number to avoid the fg modeling affected by bg) num_bg_proposal_samples_per_ray=(96, 64) ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), # "scheduler": MultiStepSchedulerConfig(max_steps=60001), "scheduler": None, }, "proposal_networks_bg": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, # "scheduler": MultiStepSchedulerConfig(max_steps=30001), }, "fields": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15), # "scheduler": NeuSSchedulerConfig(warm_up_end=1500, learning_rate_alpha=0.05, max_steps=60001), "scheduler": MultiStepSchedulerConfig(max_steps=30001), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) # medium-sized model (deprecated) neus_facto_wbg_medium = Config( method_name="neus-facto-wbg_medium", trainer=TrainerConfig( steps_per_eval_image=2000, steps_per_eval_batch=2000, steps_per_save=40000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=40001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( # TODO: set dataparser args dataparser=AutoReconDataParserConfig(), # NOTE: cannot set init args here, which would not be recognised. train_num_rays_per_batch=2048, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial(nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element}) ), model=NeuSFactoModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=False, use_grid_feature=True, hash_grid_num_levels=16, num_layers=2, num_layers_color=2, hidden_dim=64, # 256 -> 64 geo_feat_dim=64, # 256 -> 64 direction_encoding_type="sh", hidden_dim_color=64, # 256 -> 64 color_network_include_sdf=False, bias=0.5, beta_init=0.3, use_appearance_embedding=False, # TODO: improve impl efficiency (currently zero embeddings are used -> disable completely!) inside_outside=False, # only consider object-centric scenes ), bg_use_appearance_embedding=False, use_average_appearance_embedding=False, background_model="grid", bg_hash_grid_num_levels=16, eval_num_rays_per_chunk=1024, proposal_net_spatial_normalization_region="fg" ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=40001), }, "fields": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=1000, learning_rate_alpha=0.05, max_steps=40001), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=1000, learning_rate_alpha=0.05, max_steps=40001), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) # tiny model (deprecated) - same model size as the one in NeuS2 neus_facto_wbg_tiny = Config( method_name="neus-facto-wbg_tiny", trainer=TrainerConfig( steps_per_eval_image=2000, steps_per_eval_batch=2000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=20001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( # TODO: set dataparser args dataparser=AutoReconDataParserConfig(), # NOTE: cannot set init args here, which would not be recognised. train_num_rays_per_batch=2048, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial(nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element}) ), model=NeuSFactoModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=False, use_grid_feature=True, hash_grid_num_levels=14, # NOTE: following NeuS2 num_layers=1, # NOTE: following NeuS2 num_layers_color=2, hidden_dim=64, # NOTE: following NeuS2 geo_feat_dim=15, # NOTE: following NeuS2 direction_encoding_type="sh", # NOTE: following NeuS2 hidden_dim_color=64, # NOTE: following NeuS2 color_network_include_sdf=False, # TODO: NeuS2 uses True bias=0.5, beta_init=0.3, use_appearance_embedding=False, # TODO: improve impl efficiency (currently zero embeddings are used -> disable completely!) inside_outside=False, # only consider object-centric scenes ), bg_use_appearance_embedding=False, use_average_appearance_embedding=False, background_model="grid", bg_hash_grid_num_levels=14, # NOTE: following NeuS2 eval_num_rays_per_chunk=1024, proposal_net_spatial_normalization_region="fg" ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=20001), }, "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=500, learning_rate_alpha=0.05, max_steps=20001), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=500, learning_rate_alpha=0.05, max_steps=20001), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) # tiny model (deprecated) - same model size as the one in NeuS2 with a longer training schedule neus_facto_wbg_tiny_long_schedule = Config( method_name="neus-facto-wbg_tiny_long-schedule", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=30000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=30001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=AutoReconDataParserConfig(), # NOTE: cannot set init args here, which would not be recognised. train_num_rays_per_batch=2048, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial(nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element}) ), model=NeuSFactoModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=True, use_grid_feature=True, hash_grid_num_levels=14, # NOTE: following NeuS2 num_layers=1, # NOTE: following NeuS2 num_layers_color=2, hidden_dim=64, # NOTE: following NeuS2 geo_feat_dim=15, # NOTE: following NeuS2 direction_encoding_type="sh", # NOTE: following NeuS2 hidden_dim_color=64, # NOTE: following NeuS2 color_network_include_sdf=False, # TODO: NeuS2 uses True bias=0.5, beta_init=0.3, use_appearance_embedding=False, # TODO: improve impl efficiency (currently zero embeddings are used -> disable completely!) inside_outside=False, # only consider object-centric scenes ), cos_anneal_end=5000, use_fg_aware_scene_contraction=True, fg_aware_scene_contraction_alpha=15.0, bg_sampler_type="uniform_lin_disp", # TODO: ablation: "proposal_network" num_samples_outside=64, bg_use_appearance_embedding=False, use_average_appearance_embedding=False, background_model="grid", bg_hash_grid_num_levels=14, # NOTE: following NeuS2 eval_num_rays_per_chunk=1024, proposal_net_spatial_normalization_region="fg" ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=30001), }, "fields": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=750, learning_rate_alpha=0.05, max_steps=30001), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=750, learning_rate_alpha=0.05, max_steps=30001), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/autorecon/distilled_neusfacto.py ================================================ from . import * # 2-stages training of neus-facto: # 1. train nerfacto; (nerfacto is very robust to the scene condition) # 2. replace fg nerfacto_field with fg sdf_field (optionally supervised by pre-trained nerfacto) distilled_neus_facto_wbg = Config( method_name="distilled-neus-facto-wbg", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=30000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=30001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=AutoReconDataParserConfig(), # NOTE: cannot set init args here, which would not be recognised. train_num_rays_per_batch=4096, # 2048, eval_num_rays_per_batch=4096, # 1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial(nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element}) ), model=DistilledNeuSFactoModelConfig( nerfacto_field_enabled=True, # for the 1st-stage training nerfacto_spatial_normalization_region="fg", # bg nerfacto always uses full proposal_net_use_separate_contraction=True, proposal_net_contraction_scale_factor=0.25, proposal_net_spatial_normalization_region="full", proposal_use_uniform_sampler=False, use_fg_aware_scene_contraction=True, fg_aware_scene_contraction_alpha=15.0, sdf_field=SDFFieldConfig( # NeuSFacto Medium use_position_encoding=True, use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=64, # 256 -> 64 geo_feat_dim=64, # 256 -> 64 -> 15 bias=0.5, beta_init=0.3, direction_encoding_type="sh", use_appearance_embedding=False, # TODO: improve impl efficiency (currently zero embeddings are used -> disable completely!) inside_outside=False, # only consider object-centric scenes ), cos_anneal_end=0, # TODO: set 5000 while training NeuS eval_num_rays_per_chunk=1024, use_average_appearance_embedding=False, background_model="grid", bg_use_appearance_embedding=False, bg_sampler_type="none", num_samples_outside=0, ), ), optimizers={ "proposal_networks": { # TODO: disable this optimizer during 2nd-stage training "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "fields": { # for NerfactoField / SDFField "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "field_background": { # TODO: disable this optimizer during 2nd-stage training "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) # try to replicate the result of nerfacto (using the nerfacto field in fg & bg) debug_distilled_neus_facto_wbg = Config( method_name="debug_distilled-neus-facto-wbg", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=30000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=30001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=AutoReconDataParserConfig(), # NOTE: cannot set init args here, which would not be recognised. train_num_rays_per_batch=4096, # 2048, eval_num_rays_per_batch=4096, # 1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial(nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element}) ), model=DistilledNeuSFactoModelConfig( nerfacto_field_enabled=True, # for the 1st-stage training nerfacto_spatial_normalization_region="full", # bg nerfacto always uses full single_field_fg_bg=True, proposal_net_use_separate_contraction=True, # proposal net scene contraction proposal_net_contraction_scale_factor=1.0, proposal_net_spatial_normalization_region="full", proposal_use_uniform_sampler=False, use_fg_aware_scene_contraction=False, # main field scene contraction scene_contraction_scale_factor=1.0, sdf_field=SDFFieldConfig( # NeuSFacto Medium use_position_encoding=True, use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=64, # 256 -> 64 geo_feat_dim=64, # 256 -> 64 -> 15 bias=0.5, beta_init=0.3, direction_encoding_type="sh", use_appearance_embedding=False, # TODO: improve impl efficiency (currently zero embeddings are used -> disable completely!) inside_outside=False, # only consider object-centric scenes ), cos_anneal_end=0, # TODO: set 5000 while training NeuS eval_num_rays_per_chunk=1024, use_average_appearance_embedding=False, background_model="grid", bg_use_appearance_embedding=False, bg_sampler_type="none", num_samples_outside=0, ), ), optimizers={ "proposal_networks": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "fields": { # for NerfactoField "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "field_background": { # NOTE: comment out this part if single_field_fg_bg is True "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/autorecon/feature_field.py ================================================ from . import * neus_facto_wbg_fast_dff = Config( method_name="neus-facto-wbg-fast_dff", trainer=TrainerConfig( steps_per_eval_image=1000, steps_per_eval_batch=1000, steps_per_save=5000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=5001, mixed_precision=True, load_pipeline_ckpt_only=True, load_pipeline_ckpt_strict=False ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=AutoReconDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial(nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element}), train_mask_sample_start=2000, # TODO: can be more aggresive e.g., 1 train_mask_sample_ratio=0.8 # quality of regions out of the fg bbox mask is bad, so learning good feature field on bad geometry is meaningless ), model=NeuSFactoDFFModelConfig( cos_anneal_end=0, # must set to 0, as the sdf_field is already trained! use_proposal_weight_anneal=False, # as the proposal net is already trained use_proposal_weight_anneal_bg=False, # as the proposal net is already trained sdf_field=SDFFieldConfig( use_position_encoding=True, use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.1, # 0.5 -> 0.1 beta_init=0.3, direction_encoding_type="sh", use_appearance_embedding=False, inside_outside=False, # only consider object-centric scenes hash_grid_progressive_training=True, hash_grid_progressive_training_iters=-1, # use weights=1 spatial_normalization_region="aabb", # to better utilize the feature grid weight_norm=False # weight_norm might lead to NaNs during training ), handle_bottom_intersection_rays=True, # this is vital to force the fg model to reconstruct the ground plane proposal_net_spatial_normalization_region="fg", eval_num_rays_per_chunk=1024, use_average_appearance_embedding=False, background_model="grid", bg_use_appearance_embedding=False, use_fg_aware_scene_contraction=True, fg_aware_scene_contraction_alpha=5.0, # NOTE: the reconstruction result is sensitive to this parameter, better set adaptively according to the coarse sfm reconstruction bg_sampler_type="proposal_network", num_samples_outside=16, num_bg_proposal_samples_per_ray=(96, 64), use_surface_rendering=True, feature_field=FeatureFieldConfig( hash_grid_max_res=128, use_position_encoding=True, # smooth encoding use_fused_encoding_mlp=True ), feature_field_scene_contraction_scale_factor=0.25, # TODO: tune scale factor feature_loss_mult=1.0, render_fg_seg=True, fg_seg_binary_thr=0.5, feature_seg_field=FeatureSegFieldConfig( knn=10, contrast_fg_bg=True ) ), ), optimizers={ "feature_field": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=8000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) # nesu-facto-wgb with Feature Field neus_facto_dff_wbg = Config( method_name="neus-facto-dff-wbg", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=10000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=20001, mixed_precision=True, load_pipeline_ckpt_only=True, load_pipeline_ckpt_strict=False ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=AutoReconDataParserConfig(), # NOTE: cannot set init args here, which would not be recognised. train_num_rays_per_batch=2048, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial(nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element}) ), model=NeuSFactoDFFModelConfig( sdf_field=SDFFieldConfig( # TODO: use SH instead of sine use_position_encoding=False, use_grid_feature=True, hash_grid_precision="float16", num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.5, beta_init=0.3, use_appearance_embedding=False, # TODO: improve impl efficiency (currently zero embeddings are used -> disable completely!) inside_outside=False, # only consider object-centric scenes ), bg_use_appearance_embedding=False, use_average_appearance_embedding=False, background_model="grid", eval_num_rays_per_chunk=1024, proposal_net_spatial_normalization_region="fg", feature_field=FeatureFieldConfig( hash_grid_max_res=128, use_position_encoding=True, # smooth encoding use_fused_encoding_mlp=True ), feature_loss_mult=1.0, render_fg_seg=True, fg_seg_binary_thr=0.5, feature_seg_field=FeatureSegFieldConfig( knn=10, contrast_fg_bg=True ) ), ), optimizers={ "feature_field": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15), "scheduler": None, } }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/autorecon/neusfacto_fast.py ================================================ from . import * neus_facto_wbg_fast = Config( method_name="neus-facto-wbg-fast", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=30000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=30001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=AutoReconDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=2048, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial( nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element} ), train_mask_sample_start=10000, train_mask_sample_ratio=0.8, ), model=NeuSFactoModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=True, use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.1, # 0.5 -> 0.1 beta_init=0.3, direction_encoding_type="sh", use_appearance_embedding=False, inside_outside=False, # only consider object-centric scenes hash_grid_progressive_training=True, hash_grid_progressive_training_iters=10000, spatial_normalization_region="aabb", # to better utilize the feature grid weight_norm=False, # weight_norm might lead to NaNs during training ), handle_bottom_intersection_rays=True, # this is vital to force the fg model to reconstruct the ground plane cos_anneal_end=5000, proposal_net_spatial_normalization_region="fg", eval_num_rays_per_chunk=1024, use_average_appearance_embedding=False, background_model="grid", bg_use_appearance_embedding=False, use_fg_aware_scene_contraction=True, fg_aware_scene_contraction_alpha=5.0, # NOTE: the reconstruction result is sensitive to this parameter, better set adaptively according to the coarse sfm reconstruction bg_sampler_type="proposal_network", num_samples_outside=16, num_bg_proposal_samples_per_ray=(96, 64), ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "proposal_networks_bg": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "fields": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15, weight_decay=1e-6), "scheduler": MultiStepSchedulerConfig(max_steps=30001), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/autorecon/regularization.py ================================================ from . import * # nesu-facto w/ explicit pointcloud regularization + separate plane nerf field modeling neus_facto_wbg_reg_sep_plane_nerf = Config( method_name="neus-facto-wbg-reg_sep-plane-nerf", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=30000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=30001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=AutoReconDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=2048, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial( nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element} ), train_mask_sample_start=10000, train_mask_sample_ratio=0.8, ), model=NeuSFactoRegModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=True, use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.1, # 0.5 -> 0.1 beta_init=0.3, direction_encoding_type="sh", use_appearance_embedding=False, inside_outside=False, # only consider object-centric scenes hash_grid_progressive_training=False, hash_grid_progressive_training_iters=0, spatial_normalization_region="aabb", # to better utilize the feature grid weight_norm=False, # weight_norm might lead to NaNs during training ), # plane_sdf_field plane_field_type="nerf", plane_height_ratio=0.3, num_samples_plane=16, ptcd_reg_plane_field_mult=0.0, # explicit regularization ptcd_reg_fg_mult=0.1, ptcd_reg_plane_mult=0.1, ptcd_reg_n_iters=15000, ptcd_reg_weight_anneal_fn="cosine", mask_beta_prior_mult=0.0, handle_bottom_intersection_rays=True, cos_anneal_end=5000, proposal_net_spatial_normalization_region="fg", eval_num_rays_per_chunk=1024, use_average_appearance_embedding=False, background_model="grid", bg_use_appearance_embedding=False, use_fg_aware_scene_contraction=True, fg_aware_scene_contraction_alpha=5.0, # NOTE: the reconstruction result is sensitive to this parameter, better set adaptively according to the coarse sfm reconstruction bg_sampler_type="proposal_network", num_samples_outside=16, num_bg_proposal_samples_per_ray=(96, 64), # additional eikonal samples eikonal_loss_mult=0.05, num_proposal_samples_per_ray_for_eikonal_loss=64, ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "proposal_networks_bg": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "fields": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15, weight_decay=1e-6), "scheduler": MultiStepSchedulerConfig(max_steps=30001), }, "field_plane": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "field_background": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) # nesu-facto w/ explicit pointcloud regularization + separate plane sdf field modeling neus_facto_wbg_reg_sep_plane = Config( method_name="neus-facto-wbg-reg_sep-plane", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=30000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=30001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=AutoReconDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=2048, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial( nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element} ), train_mask_sample_start=10000, train_mask_sample_ratio=0.8, ), model=NeuSFactoRegModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=True, use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.1, # 0.5 -> 0.1 beta_init=0.3, direction_encoding_type="sh", use_appearance_embedding=False, inside_outside=False, # only consider object-centric scenes hash_grid_progressive_training=False, hash_grid_progressive_training_iters=0, spatial_normalization_region="aabb", # to better utilize the feature grid weight_norm=False, # weight_norm might lead to NaNs during training ), # plane_sdf_field plane_height_ratio=0.4, num_samples_plane=16, ptcd_reg_plane_field_mult=0.0, # explicit regularization ptcd_reg_fg_mult=0.1, ptcd_reg_plane_mult=0.1, ptcd_reg_n_iters=15000, ptcd_reg_weight_anneal_fn="cosine", mask_beta_prior_mult=0.0, handle_bottom_intersection_rays=True, cos_anneal_end=0, proposal_net_spatial_normalization_region="fg", eval_num_rays_per_chunk=1024, use_average_appearance_embedding=False, background_model="grid", bg_use_appearance_embedding=False, use_fg_aware_scene_contraction=True, fg_aware_scene_contraction_alpha=5.0, # NOTE: the reconstruction result is sensitive to this parameter, better set adaptively according to the coarse sfm reconstruction bg_sampler_type="proposal_network", num_samples_outside=16, num_bg_proposal_samples_per_ray=(96, 64), ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "proposal_networks_bg": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "fields": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15, weight_decay=1e-6), "scheduler": MultiStepSchedulerConfig(max_steps=30001), }, "field_plane": { "optimizer": AdamOptimizerConfig(lr=5e-3, eps=1e-15, weight_decay=1e-6), "scheduler": MultiStepSchedulerConfig(max_steps=30001), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) # nesu-facto w/ explicit pointcloud regularization neus_facto_wbg_reg = Config( method_name="neus-facto-wbg-reg", trainer=TrainerConfig( steps_per_eval_image=2500, steps_per_eval_batch=2500, steps_per_save=30000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=30001, mixed_precision=True, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=AutoReconDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=2048, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), eval_camera_res_scale_factor=1.0, collate_fn=partial( nerfstudio_collate, extra_mappings={PCA: get_first_element, BasicPointClouds: get_first_element} ), train_mask_sample_start=10000, train_mask_sample_ratio=0.8, ), model=NeuSFactoModelConfig( sdf_field=SDFFieldConfig( use_position_encoding=True, use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.1, # 0.5 -> 0.1 beta_init=0.3, direction_encoding_type="sh", use_appearance_embedding=False, inside_outside=False, # only consider object-centric scenes hash_grid_progressive_training=True, hash_grid_progressive_training_iters=10000, spatial_normalization_region="aabb", # to better utilize the feature grid weight_norm=False, # weight_norm might lead to NaNs during training ), # explicit regularization ptcd_reg_fg_mult=0.1, ptcd_reg_plane_mult=0.1, ptcd_reg_n_iters=15000, ptcd_reg_weight_anneal_fn="cosine", mask_beta_prior_mult=0.0, handle_bottom_intersection_rays=False, cos_anneal_end=5000, proposal_net_spatial_normalization_region="fg", eval_num_rays_per_chunk=1024, use_average_appearance_embedding=False, background_model="grid", bg_use_appearance_embedding=False, use_fg_aware_scene_contraction=True, fg_aware_scene_contraction_alpha=5.0, bg_sampler_type="proposal_network", num_samples_outside=16, num_bg_proposal_samples_per_ray=(96, 64), ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "proposal_networks_bg": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "fields": { "optimizer": AdamOptimizerConfig(lr=2e-3, eps=1e-15, weight_decay=1e-6), "scheduler": MultiStepSchedulerConfig(max_steps=30001), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/autorecon/semantic_nerf.py ================================================ from . import * autorecon_semantic_nerf = Config( method_name="autorecon_semantic-nerfw", trainer=TrainerConfig( steps_per_eval_batch=500, steps_per_eval_image=500, steps_per_save=30000, max_num_iterations=30001, mixed_precision=True ), pipeline=VanillaPipelineConfig( datamanager=AutoReconDataManagerConfig( dataparser=AutoReconDataParserConfig(), train_num_rays_per_batch=4096, eval_num_rays_per_batch=4096 ), model=SemanticNerfWModelConfig( eval_num_rays_per_chunk=1 << 16, semantic_mult=1.0, use_transient_embedding=False, scene_contraction_scale_factor=0.25, ), ), optimizers={ "proposal_networks": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "fields": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 16), vis="viewer", ) ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/base_config.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Base Configs""" # pylint: disable=wrong-import-position from __future__ import annotations import warnings from dataclasses import dataclass from datetime import datetime from pathlib import Path from typing import Any, Dict, List, Optional, Tuple, Type import yaml from rich.console import Console from typing_extensions import Literal from nerfstudio.configs.config_utils import to_immutable_dict # model instances from nerfstudio.utils import writer warnings.filterwarnings("ignore", module="torchvision") CONSOLE = Console(width=120) CFG = None # global config accessible by all modules # Pretty printing class class PrintableConfig: # pylint: disable=too-few-public-methods """Printable Config defining str function""" def __str__(self): lines = [self.__class__.__name__ + ":"] for key, val in vars(self).items(): if isinstance(val, Tuple): flattened_val = "[" for item in val: flattened_val += str(item) + "\n" flattened_val = flattened_val.rstrip("\n") val = flattened_val + "]" lines += f"{key}: {str(val)}".split("\n") return "\n ".join(lines) # Base instantiate configs @dataclass class InstantiateConfig(PrintableConfig): # pylint: disable=too-few-public-methods """Config class for instantiating an the class specified in the _target attribute.""" _target: Type def setup(self, **kwargs) -> Any: """Returns the instantiated object using the config.""" return self._target(self, **kwargs) # Machine related configs @dataclass class MachineConfig(PrintableConfig): """Configuration of machine setup""" seed: int = 42 """random seed initilization""" num_gpus: int = 1 """total number of gpus available for train/eval""" num_machines: int = 1 """total number of distributed machines available (for DDP)""" machine_rank: int = 0 """current machine's rank (for DDP)""" dist_url: str = "auto" """distributed connection point (for DDP)""" @dataclass class LocalWriterConfig(InstantiateConfig): """Local Writer config""" _target: Type = writer.LocalWriter """target class to instantiate""" enable: bool = False """if True enables local logging, else disables""" stats_to_track: Tuple[writer.EventName, ...] = ( writer.EventName.ITER_TRAIN_TIME, writer.EventName.TRAIN_RAYS_PER_SEC, writer.EventName.CURR_TEST_PSNR, writer.EventName.VIS_RAYS_PER_SEC, writer.EventName.TEST_RAYS_PER_SEC, ) """specifies which stats will be logged/printed to terminal""" max_log_size: int = 10 """maximum number of rows to print before wrapping. if 0, will print everything.""" def setup(self, banner_messages: Optional[List[str]] = None, **kwargs) -> Any: """Instantiate local writer Args: banner_messages: List of strings that always print at the bottom of screen. """ return self._target(self, banner_messages=banner_messages, **kwargs) @dataclass class LoggingConfig(PrintableConfig): """Configuration of loggers and profilers""" relative_log_dir: Path = Path("./") """relative path to save all logged events""" steps_per_log: int = 10 """number of steps between logging stats""" max_buffer_size: int = 20 """maximum history size to keep for computing running averages of stats. e.g. if 20, averages will be computed over past 20 occurances.""" local_writer: LocalWriterConfig = LocalWriterConfig(enable=True) """if provided, will print stats locally. if None, will disable printing""" enable_profiler: bool = True """whether to enable profiling code; prints speed of functions at the end of a program. profiler logs run times of functions and prints at end of training""" # Trainer related configs @dataclass class TrainerConfig(PrintableConfig): """Configuration for training regimen""" steps_per_save: int = 1000 """Number of steps between saves.""" steps_per_eval_batch: int = 500 """Number of steps between randomly sampled batches of rays.""" steps_per_eval_image: int = 500 """Number of steps between single eval images.""" steps_per_eval_all_images: int = 25000 """Number of steps between eval all images.""" max_num_iterations: int = 1000000 """Maximum number of iterations to run.""" mixed_precision: bool = False """Whether or not to use mixed precision for training.""" relative_model_dir: Path = Path("sdfstudio_models/") """Relative path to save all checkpoints.""" save_only_latest_checkpoint: bool = True """Whether to only save the latest checkpoint or all checkpoints.""" # optional parameters if we want to resume training load_dir: Optional[Path] = None """Optionally specify a pre-trained model directory to load from.""" load_step: Optional[int] = None """Optionally specify model step to load from; if none, will find most recent model in load_dir.""" load_pipeline_ckpt_only: bool = False """Only load pipeline checkpoints. Ignore optimizer, grad_sacler, ...""" load_pipeline_ckpt_strict: bool = True """Whether or not to load pipeline ckpt strictly.""" load_config: Optional[Path] = None """Optionally specify model config to load from; if none, will use the default config?""" load_scheduler: bool = True """Whether to load the lr scheduler state_dict if exists""" # Viewer related configs @dataclass class ViewerConfig(PrintableConfig): """Configuration for viewer instantiation""" relative_log_filename: str = "viewer_log_filename.txt" """Filename to use for the log file.""" start_train: bool = True """whether to immediately start training upon loading viewer if False, will just visualize dataset but you can toggle training in viewer""" zmq_port: Optional[int] = None """The zmq port to connect to for communication. If None, find an available port.""" launch_bridge_server: bool = True """whether or not to launch the bridge server""" websocket_port: Optional[int] = 7007 """the default websocket port to connect to""" ip_address: str = "127.0.0.1" """the ip address where the bridge server is running""" num_rays_per_chunk: int = 32768 """number of rays per chunk to render with viewer""" max_num_display_images: int = 512 """Maximum number of training images to display in the viewer, to avoid lag. This does not change which images are actually used in training/evaluation. If -1, display all.""" quit_on_train_completion: bool = False """Whether to kill the training job when it has completed. Note this will stop rendering in the viewer.""" skip_openrelay: bool = False """Avoid using openrelay to communicate with the viewer. Try disabling if you have trouble connecting to the viewer""" from nerfstudio.engine.optimizers import OptimizerConfig from nerfstudio.engine.schedulers import SchedulerConfig from nerfstudio.pipelines.base_pipeline import VanillaPipelineConfig @dataclass class Config(PrintableConfig): """Full config contents""" output_dir: Path = Path("outputs") """relative or absolute output directory to save all checkpoints and logging""" method_name: Optional[str] = None """Method name. Required to set in python or via cli""" experiment_name: Optional[str] = None """Experiment name. If None, will automatically be set to dataset name""" timestamp: str = "{timestamp}" """Experiment timestamp.""" machine: MachineConfig = MachineConfig() """Machine configuration""" logging: LoggingConfig = LoggingConfig() """Logging configuration""" viewer: ViewerConfig = ViewerConfig() """Viewer configuration""" trainer: TrainerConfig = TrainerConfig() """Trainer configuration""" pipeline: VanillaPipelineConfig = VanillaPipelineConfig() """Pipeline configuration""" optimizers: Dict[str, Any] = to_immutable_dict( { "fields": { "optimizer": OptimizerConfig(), "scheduler": SchedulerConfig(), } } ) """Dictionary of optimizer groups and their schedulers""" vis: Literal["viewer", "wandb", "tensorboard"] = "wandb" """Which visualizer to use.""" data: Optional[Path] = None """Alias for --pipeline.datamanager.dataparser.data""" def set_global(self) -> None: """ Example: from nerfstudio.configs import base_config base_config.CFG.xxx() FIXME: this is useless if the original CFG is already imported by other module TODO: make the global config read-only """ global CFG CFG = self def is_viewer_enabled(self) -> bool: """Checks if a viewer is enabled.""" return "viewer" == self.vis def is_wandb_enabled(self) -> bool: """Checks if wandb is enabled.""" return "wandb" == self.vis def is_tensorboard_enabled(self) -> bool: """Checks if tensorboard is enabled.""" return "tensorboard" == self.vis def set_timestamp(self) -> None: """Dynamically set the experiment timestamp""" if self.timestamp == "{timestamp}": self.timestamp = datetime.now().strftime("%Y-%m-%d_%H%M%S") def set_experiment_name(self) -> None: """Dynamically set the experiment name""" if self.experiment_name is None: self.experiment_name = str(self.pipeline.datamanager.dataparser.data).replace("../", "").replace("/", "-") def get_base_dir(self) -> Path: """Retrieve the base directory to set relative paths""" # check the experiment and method names assert self.method_name is not None, "Please set method name in config or via the cli" self.set_experiment_name() return Path(f"{self.output_dir}/{self.experiment_name}/{self.method_name}/{self.timestamp}") def get_checkpoint_dir(self) -> Path: """Retrieve the checkpoint directory""" return Path(self.get_base_dir() / self.trainer.relative_model_dir) def print_to_terminal(self) -> None: """Helper to pretty print config to terminal""" CONSOLE.rule("Config") CONSOLE.print(self) CONSOLE.rule("") def save_config(self) -> None: """Save config to base directory""" base_dir = self.get_base_dir() assert base_dir is not None base_dir.mkdir(parents=True, exist_ok=True) config_yaml_path = base_dir / "config.yml" CONSOLE.log(f"Saving config to: {config_yaml_path}") config_yaml_path.write_text(yaml.dump(self), "utf8") ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/config_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Some utility code for configs. """ from __future__ import annotations from dataclasses import field from typing import Any, Dict from rich.console import Console CONSOLE = Console() # pylint: disable=import-outside-toplevel # cannot use mutable types directly within dataclass; abstracting default factory calls def to_immutable_dict(d: Dict[str, Any]): """Method to convert mutable dict to default factory dict Args: d: dictionary to convert into default factory dict for dataclass """ return field(default_factory=lambda: dict(d)) def convert_markup_to_ansi(markup_string: str) -> str: """Convert rich-style markup to ANSI sequences for command-line formatting. Args: markup_string: Text with rich-style markup. Returns: Text formatted via ANSI sequences. """ with CONSOLE.capture() as out: CONSOLE.print(markup_string, soft_wrap=True) return out.get() ================================================ FILE: AutoReconForDens3R/nerfstudio/configs/method_configs.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Put all the method implementations in one location. """ from __future__ import annotations from typing import Dict import tyro from nerfstudio.cameras.camera_optimizers import CameraOptimizerConfig from nerfstudio.configs.autorecon import method_configs as autorecon_method_configs from nerfstudio.configs.base_config import ( Config, SchedulerConfig, TrainerConfig, ViewerConfig, ) from nerfstudio.data.datamanagers.base_datamanager import ( FlexibleDataManagerConfig, VanillaDataManagerConfig, ) from nerfstudio.data.datamanagers.semantic_datamanager import SemanticDataManagerConfig from nerfstudio.data.datamanagers.variable_res_datamanager import ( VariableResDataManagerConfig, ) from nerfstudio.data.dataparsers.blender_dataparser import BlenderDataParserConfig from nerfstudio.data.dataparsers.dnerf_dataparser import DNeRFDataParserConfig from nerfstudio.data.dataparsers.friends_dataparser import FriendsDataParserConfig from nerfstudio.data.dataparsers.nerfstudio_dataparser import NerfstudioDataParserConfig from nerfstudio.data.dataparsers.phototourism_dataparser import ( PhototourismDataParserConfig, ) from nerfstudio.data.dataparsers.sdfstudio_dataparser import SDFStudioDataParserConfig from nerfstudio.engine.optimizers import AdamOptimizerConfig, RAdamOptimizerConfig from nerfstudio.engine.schedulers import ( ExponentialSchedulerConfig, MultiStepSchedulerConfig, NeuSSchedulerConfig, ) from nerfstudio.field_components.temporal_distortions import TemporalDistortionKind from nerfstudio.fields.sdf_field import SDFFieldConfig from nerfstudio.models.dto import DtoOModelConfig from nerfstudio.models.instant_ngp import InstantNGPModelConfig from nerfstudio.models.mipnerf import MipNerfModel from nerfstudio.models.nerfacto import NerfactoModelConfig from nerfstudio.models.neuralreconW import NeuralReconWModelConfig from nerfstudio.models.neus import NeuSModelConfig from nerfstudio.models.neus_acc import NeuSAccModelConfig from nerfstudio.models.neus_facto import NeuSFactoModelConfig from nerfstudio.models.semantic_nerfw import SemanticNerfWModelConfig from nerfstudio.models.tensorf import TensoRFModelConfig from nerfstudio.models.unisurf import UniSurfModelConfig from nerfstudio.models.vanilla_nerf import NeRFModel, VanillaModelConfig from nerfstudio.models.volsdf import VolSDFModelConfig from nerfstudio.pipelines.base_pipeline import ( FlexibleInputPipelineConfig, VanillaPipelineConfig, ) from nerfstudio.pipelines.dynamic_batch import DynamicBatchPipelineConfig method_configs: Dict[str, Config] = {} method_configs.update(autorecon_method_configs) descriptions = { "nerfacto": "Recommended real-time model tuned for real captures. This model will be continually updated.", "instant-ngp": "Implementation of Instant-NGP. Recommended real-time model for bounded synthetic data.", "mipnerf": "High quality model for bounded scenes. (slow)", "semantic-nerfw": "Predicts semantic segmentations and filters out transient objects.", "vanilla-nerf": "Original NeRF model. (slow)", "volsdf": "Implementation of VolSDF.", "monosdf": "Implementation of MonoSDF.", "geo-volsdf": "Implementation of patch warping from GeoNeuS with VolSDF.", "neus": "Implementation of NeuS.", "mono-neus": "Implementation of MonoSDF with NeuS rendering formulation.", "geo-neus": "Implementation of patch warping from GeoNeuS with NeuS.", "unisurf": "Implementation of UniSurf.", "mono-unisurf": "Implementation of MonoSDF with unisurf rendering formulation.", "geo-unisurf": "Implementation of patch warping from GeoNeuS with UniSurf.", "tensorf": "tensorf", "dnerf": "Dynamic-NeRF model. (slow)", "phototourism": "Uses the Phototourism data.", "dto": "Occupancy field with density guided sampling", "neusW": "Implementation of Neural Reconstruction in the wild", "neus-acc": "Implementation of NeuS with empty space skipping.", "neus-facto": "Implementation of NeuS similar to nerfacto where proposal sampler is used.", "neus-facto-bigmlp": "NeuS-facto with big MLP, it is used in training heritage data with 8 gpus", } # assume the entire scene is bounded by a unit cube method_configs["neus-facto"] = Config( method_name="neus-facto", trainer=TrainerConfig( steps_per_eval_image=5000, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=20001, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NeuSFactoModelConfig( sdf_field=SDFFieldConfig( use_grid_feature=True, num_layers=2, num_layers_color=2, hidden_dim=256, bias=0.5, beta_init=0.3, use_appearance_embedding=False, ), background_model="none", # FIXME eval_num_rays_per_chunk=1024, ), ), optimizers={ "proposal_networks": { # fixed gamma=0.3 and n_milestones=3 "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=20000), }, "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=500, learning_rate_alpha=0.05, max_steps=20000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=500, learning_rate_alpha=0.05, max_steps=20000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["neus-facto-bigmlp"] = Config( method_name="neus-facto-bigmlp", trainer=TrainerConfig( steps_per_eval_image=5000, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=100001, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NeuSFactoModelConfig( sdf_field=SDFFieldConfig(num_layers=8, hidden_dim=512, num_layers_color=4), eval_num_rays_per_chunk=1024 ), ), optimizers={ "proposal_networks": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=100000), }, "fields": { "optimizer": AdamOptimizerConfig(lr=1e-3, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=500, learning_rate_alpha=0.05, max_steps=100000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=500, learning_rate_alpha=0.05, max_steps=100000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["geo-volsdf"] = Config( method_name="geo-volsdf", trainer=TrainerConfig( steps_per_eval_image=5000, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=200001, mixed_precision=False, ), pipeline=FlexibleInputPipelineConfig( datamanager=FlexibleDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=1024, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=VolSDFModelConfig(patch_warp_loss_mult=0.1, eval_num_rays_per_chunk=1024), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": MultiStepSchedulerConfig( max_steps=1000000 ), # set max_steps to a large value so it never step and we will use the last_lr form the pretrained model }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": ExponentialSchedulerConfig(decay_rate=0.1, max_steps=200000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["monosdf"] = Config( method_name="monosdf", trainer=TrainerConfig( steps_per_eval_image=5000, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=200000, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=1024, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=VolSDFModelConfig(mono_depth_loss_mult=0.1, mono_normal_loss_mult=0.05, eval_num_rays_per_chunk=1024), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": ExponentialSchedulerConfig(decay_rate=0.1, max_steps=200000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": ExponentialSchedulerConfig(decay_rate=0.1, max_steps=200000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["volsdf"] = Config( method_name="volsdf", trainer=TrainerConfig( steps_per_eval_image=5000, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=100000, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=1024, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=VolSDFModelConfig(eval_num_rays_per_chunk=1024), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": ExponentialSchedulerConfig(decay_rate=0.1, max_steps=100000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": ExponentialSchedulerConfig(decay_rate=0.1, max_steps=100000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["geo-neus"] = Config( method_name="geo-neus", trainer=TrainerConfig( steps_per_eval_image=500, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=200000, mixed_precision=False, ), pipeline=FlexibleInputPipelineConfig( datamanager=FlexibleDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=1024, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NeuSModelConfig(patch_warp_loss_mult=0.1, eval_num_rays_per_chunk=1024), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["mono-neus"] = Config( method_name="mono-neus", trainer=TrainerConfig( steps_per_eval_image=500, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=100000, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=1024, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NeuSModelConfig(mono_depth_loss_mult=0.1, mono_normal_loss_mult=0.05, eval_num_rays_per_chunk=1024), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["neus"] = Config( method_name="neus", trainer=TrainerConfig( steps_per_eval_image=500, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=100000, # FIXME: 300000? mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=1024, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NeuSModelConfig(eval_num_rays_per_chunk=1024), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["unisurf"] = Config( method_name="unisurf", trainer=TrainerConfig( steps_per_eval_image=500, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=100000, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=1024, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=UniSurfModelConfig(eval_num_rays_per_chunk=1024), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["mono-unisurf"] = Config( method_name="mono-unisurf", trainer=TrainerConfig( steps_per_eval_image=500, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=100000, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=1024, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=UniSurfModelConfig(mono_depth_loss_mult=0.1, mono_normal_loss_mult=0.05, eval_num_rays_per_chunk=1024), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["geo-unisurf"] = Config( method_name="geo-unisurf", trainer=TrainerConfig( steps_per_eval_image=500, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=100000, mixed_precision=False, ), pipeline=FlexibleInputPipelineConfig( datamanager=FlexibleDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=1024, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=UniSurfModelConfig(patch_warp_loss_mult=0.1, eval_num_rays_per_chunk=1024), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=5000, learning_rate_alpha=0.05, max_steps=300000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["dto"] = Config( method_name="dto", trainer=TrainerConfig( steps_per_eval_image=2000, steps_per_eval_batch=5000, steps_per_save=5000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=100000, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=2048, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=DtoOModelConfig(eval_num_rays_per_chunk=1 << 10), ), optimizers={ "proposal_networks": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=300000), }, "fields": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=300000), }, "occupancy_field": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=500, learning_rate_alpha=0.05, max_steps=300000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["neusW"] = Config( method_name="neusW", trainer=TrainerConfig( steps_per_eval_image=5000, steps_per_eval_batch=5000, steps_per_save=5000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=100000, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=2048, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NeuralReconWModelConfig( background_model="grid", num_samples_outside=4, eikonal_loss_mult=0.0001, eval_num_rays_per_chunk=1 << 10 ), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=1e-3, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=500, learning_rate_alpha=0.05, max_steps=300000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=300000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="wandb", ) method_configs["neus-acc"] = Config( method_name="neus-acc", trainer=TrainerConfig( steps_per_eval_image=5000, steps_per_eval_batch=5000, steps_per_save=20000, steps_per_eval_all_images=1000000, # set to a very large model so we don't eval with all images max_num_iterations=20000, mixed_precision=False, ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=SDFStudioDataParserConfig(), train_num_rays_per_batch=2048, eval_num_rays_per_batch=1024, camera_optimizer=CameraOptimizerConfig( mode="off", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NeuSAccModelConfig(eval_num_rays_per_chunk=1024), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=500, learning_rate_alpha=0.05, max_steps=20000), }, "field_background": { "optimizer": AdamOptimizerConfig(lr=5e-4, eps=1e-15), "scheduler": NeuSSchedulerConfig(warm_up_end=500, learning_rate_alpha=0.05, max_steps=20000), }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["nerfacto"] = Config( method_name="nerfacto", trainer=TrainerConfig( steps_per_eval_batch=5000, steps_per_save=2000, max_num_iterations=30000, mixed_precision=True ), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=NerfstudioDataParserConfig(), train_num_rays_per_batch=4096, eval_num_rays_per_batch=4096, camera_optimizer=CameraOptimizerConfig( mode="SO3xR3", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NerfactoModelConfig(eval_num_rays_per_chunk=1 << 15), ), optimizers={ "proposal_networks": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=300000), # FIXME: 30000? }, "fields": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=300000), # FIXME: 30000? }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) method_configs["instant-ngp"] = Config( method_name="instant-ngp", trainer=TrainerConfig( steps_per_eval_batch=5000, steps_per_eval_image=5000, steps_per_save=20000, max_num_iterations=20001, mixed_precision=True, steps_per_eval_all_images=20000, ), pipeline=DynamicBatchPipelineConfig( datamanager=VanillaDataManagerConfig(dataparser=NerfstudioDataParserConfig(), train_num_rays_per_batch=8192), model=InstantNGPModelConfig(render_step_size=0.005, eval_num_rays_per_chunk=8192), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": MultiStepSchedulerConfig(max_steps=20000), } }, viewer=ViewerConfig(num_rays_per_chunk=64000), vis="viewer", ) method_configs["mipnerf"] = Config( method_name="mipnerf", pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig(dataparser=NerfstudioDataParserConfig(), train_num_rays_per_batch=1024), model=VanillaModelConfig( _target=MipNerfModel, loss_coefficients={"rgb_loss_coarse": 0.1, "rgb_loss_fine": 1.0}, num_coarse_samples=128, num_importance_samples=128, eval_num_rays_per_chunk=1024, ), ), optimizers={ "fields": { "optimizer": RAdamOptimizerConfig(lr=5e-4, eps=1e-08), "scheduler": None, } }, ) method_configs["semantic-nerfw"] = Config( method_name="semantic-nerfw", trainer=TrainerConfig( steps_per_eval_batch=500, steps_per_save=2000, max_num_iterations=30000, mixed_precision=True ), pipeline=VanillaPipelineConfig( datamanager=SemanticDataManagerConfig( dataparser=FriendsDataParserConfig(), train_num_rays_per_batch=4096, eval_num_rays_per_batch=8192 ), model=SemanticNerfWModelConfig(eval_num_rays_per_chunk=1 << 16), ), optimizers={ "proposal_networks": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "fields": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 16), vis="viewer", ) method_configs["vanilla-nerf"] = Config( method_name="vanilla-nerf", pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=BlenderDataParserConfig(), ), model=VanillaModelConfig(_target=NeRFModel), ), optimizers={ "fields": { "optimizer": RAdamOptimizerConfig(lr=5e-4, eps=1e-08), "scheduler": None, }, "temporal_distortion": { "optimizer": RAdamOptimizerConfig(lr=5e-4, eps=1e-08), "scheduler": None, }, }, ) method_configs["tensorf"] = Config( method_name="tensorf", trainer=TrainerConfig(mixed_precision=False), pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig( dataparser=BlenderDataParserConfig(), ), model=TensoRFModelConfig(), ), optimizers={ "fields": { "optimizer": AdamOptimizerConfig(lr=0.001), "scheduler": SchedulerConfig(lr_final=0.0001, max_steps=30000), }, "encodings": { "optimizer": AdamOptimizerConfig(lr=0.02), "scheduler": SchedulerConfig(lr_final=0.002, max_steps=30000), }, }, ) method_configs["dnerf"] = Config( method_name="dnerf", pipeline=VanillaPipelineConfig( datamanager=VanillaDataManagerConfig(dataparser=DNeRFDataParserConfig()), model=VanillaModelConfig( _target=NeRFModel, enable_temporal_distortion=True, temporal_distortion_params={"kind": TemporalDistortionKind.DNERF}, ), ), optimizers={ "fields": { "optimizer": RAdamOptimizerConfig(lr=5e-4, eps=1e-08), "scheduler": None, }, "temporal_distortion": { "optimizer": RAdamOptimizerConfig(lr=5e-4, eps=1e-08), "scheduler": None, }, }, ) method_configs["phototourism"] = Config( method_name="phototourism", trainer=TrainerConfig( steps_per_eval_batch=500, steps_per_save=2000, max_num_iterations=30000, mixed_precision=True ), pipeline=VanillaPipelineConfig( datamanager=VariableResDataManagerConfig( # NOTE: one of the only differences with nerfacto dataparser=PhototourismDataParserConfig(), # NOTE: one of the only differences with nerfacto train_num_rays_per_batch=4096, eval_num_rays_per_batch=4096, camera_optimizer=CameraOptimizerConfig( mode="SO3xR3", optimizer=AdamOptimizerConfig(lr=6e-4, eps=1e-8, weight_decay=1e-2) ), ), model=NerfactoModelConfig(eval_num_rays_per_chunk=1 << 15), ), optimizers={ "proposal_networks": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, "fields": { "optimizer": AdamOptimizerConfig(lr=1e-2, eps=1e-15), "scheduler": None, }, }, viewer=ViewerConfig(num_rays_per_chunk=1 << 15), vis="viewer", ) AnnotatedBaseConfigUnion = tyro.conf.SuppressFixed[ # Don't show unparseable (fixed) arguments in helptext. tyro.conf.FlagConversionOff[ tyro.extras.subcommand_type_from_defaults(defaults=method_configs, descriptions=descriptions) ] ] """Union[] type over config types, annotated with default instances for use with tyro.cli(). Allows the user to pick between one of several base configurations, and then override values in it.""" ================================================ FILE: AutoReconForDens3R/nerfstudio/engine/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/engine/callbacks.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Callback code used for training iterations """ from dataclasses import InitVar, dataclass from enum import Enum, auto from inspect import signature from typing import Callable, Dict, List, Optional, Tuple from nerfstudio.configs.base_config import TrainerConfig @dataclass class TrainingCallbackAttributes: """Attributes that can be used to configure training callbacks. The callbacks can be specified in the Dataloader or Model implementations. Instead of providing access to the entire Trainer object, we only provide these attributes. This should be least prone to errors and fairly clean from a user perspective.""" # TODO(ethan): type this without circular imports optimizers: Optional[InitVar] """optimizers for training""" grad_scaler: Optional[InitVar] """gradient scalers""" pipeline: Optional[InitVar] """reference to training pipeline""" config: TrainerConfig """the trainer config""" class TrainingCallbackLocation(Enum): """Enum for specifying where the training callback should be run.""" BEFORE_TRAIN_ITERATION = auto() AFTER_TRAIN_ITERATION = auto() class TrainingCallback: """Callback class used during training. The function 'func' with 'args' and 'kwargs' will be called every 'update_every_num_iters' training iterations, including at iteration 0. The function is called after the training iteration. Args: where_to_run: List of locations for when to run callbak (before/after iteration) func: The function that will be called. update_every_num_iters: How often to call the function `func`. iters: Tuple of iteration steps to perform callback args: args for the function 'func'. kwargs: kwargs for the function 'func'. """ def __init__( self, where_to_run: List[TrainingCallbackLocation], func: Callable, update_every_num_iters: Optional[int] = None, iters: Optional[Tuple[int, ...]] = None, args: Optional[List] = None, kwargs: Optional[Dict] = None, ): assert ( "step" in signature(func).parameters.keys() ), f"'step: int' must be an argument in the callback function 'func': {func.__name__}" self.where_to_run = where_to_run self.update_every_num_iters = update_every_num_iters self.iters = iters self.func = func self.args = args if args is not None else [] self.kwargs = kwargs if kwargs is not None else {} def run_callback(self, step: int): """Callback to run after training step Args: step: current iteration step """ if self.update_every_num_iters is not None: if step % self.update_every_num_iters == 0: self.func(*self.args, **self.kwargs, step=step) elif self.iters is not None: if step in self.iters: self.func(*self.args, **self.kwargs, step=step) def run_callback_at_location(self, step: int, location: TrainingCallbackLocation): """Runs the callback if it's supposed to be run at the given location. Args: step: current iteration step location: when to run callback (before/after iteration) """ if location in self.where_to_run: self.run_callback(step=step) ================================================ FILE: AutoReconForDens3R/nerfstudio/engine/optimizers.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Optimizers class. """ from __future__ import annotations from dataclasses import dataclass from typing import Any, Dict, List, Optional, Type from rich.console import Console import torch from torch.cuda.amp.grad_scaler import GradScaler from torch.nn.parameter import Parameter from nerfstudio.configs import base_config from nerfstudio.utils import writer CONSOLE = Console(width=128) # Optimizer related configs @dataclass class OptimizerConfig(base_config.PrintableConfig): """Basic optimizer config with RAdam""" _target: Type = torch.optim.Adam """The optimizer class to use.""" lr: float = 0.0005 """The learning rate to use.""" eps: float = 1e-08 """The epsilon value to use.""" max_norm: Optional[float] = None """The max norm to use for gradient clipping.""" # TODO: somehow make this more generic. i dont like the idea of overriding the setup function # but also not sure how to go about passing things into predefined torch objects. def setup(self, params) -> Any: """Returns the instantiated object using the config.""" kwargs = vars(self).copy() kwargs.pop("_target") kwargs.pop("max_norm") return self._target(params, **kwargs) @dataclass class AdamOptimizerConfig(OptimizerConfig): """Basic optimizer config with Adam""" _target: Type = torch.optim.Adam weight_decay: float = 0 @dataclass class RAdamOptimizerConfig(OptimizerConfig): """Basic optimizer config with RAdam""" _target: Type = torch.optim.RAdam @dataclass class AdamWOptimizerConfig(OptimizerConfig): """Basic optimizer config with AdamW""" _target: Type = torch.optim.AdamW weight_decay: float = 1e-2 def setup_optimizers(config: base_config.Config, param_groups: Dict[str, List[Parameter]]) -> "Optimizers": """Helper to set up the optimizers Args: config: The trainer configuration object. param_groups: A dictionary of parameter groups to optimize. Returns: The optimizers object. """ optimizer_config = config.optimizers.copy() # Add the camera optimizer if enabled. camera_optimizer_config = config.pipeline.datamanager.camera_optimizer if camera_optimizer_config.mode != "off": assert camera_optimizer_config.param_group not in optimizer_config optimizer_config[camera_optimizer_config.param_group] = { "optimizer": config.pipeline.datamanager.camera_optimizer.optimizer, "scheduler": config.pipeline.datamanager.camera_optimizer.scheduler, } return Optimizers(optimizer_config, param_groups) class Optimizers: """A set of optimizers. Args: config: The optimizer configuration object. param_groups: A dictionary of parameter groups to optimize. """ def __init__(self, config: Dict[str, Any], param_groups: Dict[str, List[Parameter]]): self.config = config self.optimizers = {} self.schedulers = {} self.parameters = {} for param_group_name, params in param_groups.items(): if param_group_name not in config: CONSOLE.log(f"[bold red] No optimizer config for param group: '{param_group_name}', params will not be optimized!") continue lr_init = config[param_group_name]["optimizer"].lr self.optimizers[param_group_name] = config[param_group_name]["optimizer"].setup(params=params) self.parameters[param_group_name] = params if config[param_group_name]["scheduler"]: self.schedulers[param_group_name] = config[param_group_name]["scheduler"].setup( optimizer=self.optimizers[param_group_name], lr_init=lr_init ) def optimizer_step(self, param_group_name: str) -> None: """Fetch and step corresponding optimizer. Args: param_group_name: name of optimizer to step forward """ self.optimizers[param_group_name].step() def scheduler_step(self, param_group_name: str) -> None: """Fetch and step corresponding scheduler. Args: param_group_name: name of scheduler to step forward """ if self.config.param_group_name.scheduler: # type: ignore self.schedulers[param_group_name].step() def zero_grad_all(self) -> None: """Zero the gradients for all optimizer parameters.""" for _, optimizer in self.optimizers.items(): optimizer.zero_grad() def optimizer_scaler_step_all(self, grad_scaler: GradScaler) -> None: """Take an optimizer step using a grad scaler. Args: grad_scaler: GradScaler to use """ for param_group, optimizer in self.optimizers.items(): has_grads = any( p.grad is not None for group in optimizer.param_groups for p in group["params"] ) if not has_grads: continue max_norm = self.config[param_group]["optimizer"].max_norm if max_norm is not None: grad_scaler.unscale_(optimizer) torch.nn.utils.clip_grad_norm_(self.parameters[param_group], max_norm) grad_scaler.step(optimizer) def optimizer_step_all(self): """Run step for all optimizers.""" for param_group, optimizer in self.optimizers.items(): # note that they key is the parameter name max_norm = self.config[param_group]["optimizer"].max_norm if max_norm is not None: torch.nn.utils.clip_grad_norm_(self.parameters[param_group], max_norm) optimizer.step() def scheduler_step_all(self, step: int) -> None: """Run step for all schedulers. Args: step: the current step """ for param_group_name, scheduler in self.schedulers.items(): scheduler.step() # TODO(ethan): clean this up. why is there indexing into a list? lr = scheduler.get_last_lr()[0] writer.put_scalar(name=f"learning_rate/{param_group_name}", scalar=lr, step=step) def load_optimizers(self, loaded_state: Dict[str, Any]) -> None: """Helper to load the optimizer state from previous checkpoint Args: loaded_state: the state from the previous checkpoint """ for k, v in loaded_state.items(): self.optimizers[k].load_state_dict(v) def load_schedulers(self, loaded_state: Dict[str, Any]) -> None: """Helper to load the schedulers state from previous checkpoint Args: loaded_state: the state from the previous checkpoint """ for k, v in loaded_state.items(): self.schedulers[k].load_state_dict(v) ================================================ FILE: AutoReconForDens3R/nerfstudio/engine/schedulers.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Scheduler Classes""" from dataclasses import dataclass, field from typing import Any, Optional, Type import numpy as np from torch.optim import Optimizer, lr_scheduler from nerfstudio.configs.base_config import InstantiateConfig @dataclass class SchedulerConfig(InstantiateConfig): """Basic scheduler config with self-defined exponential decay schedule""" _target: Type = field(default_factory=lambda: ExponentialDecaySchedule) lr_final: float = 0.000005 max_steps: int = 1000000 # TODO: somehow make this more generic. i dont like the idea of overriding the setup function # but also not sure how to go about passing things into predefined torch objects. def setup(self, optimizer=None, lr_init=None, **kwargs) -> Any: """Returns the instantiated object using the config.""" return self._target(optimizer, lr_init, self.lr_final, self.max_steps) class ExponentialDecaySchedule(lr_scheduler.LambdaLR): """Exponential learning rate decay function. See https://github.com/google-research/google-research/blob/ fd2cea8cdd86b3ed2c640cbe5561707639e682f3/jaxnerf/nerf/utils.py#L360 for details. Args: optimizer: The optimizer to update. lr_init: The initial learning rate. lr_final: The final learning rate. max_steps: The maximum number of steps. lr_delay_steps: The number of steps to delay the learning rate. lr_delay_mult: The multiplier for the learning rate after the delay. """ config: SchedulerConfig def __init__(self, optimizer, lr_init, lr_final, max_steps, lr_delay_steps=0, lr_delay_mult=1.0) -> None: def func(step): if lr_delay_steps > 0: delay_rate = lr_delay_mult + (1 - lr_delay_mult) * np.sin( 0.5 * np.pi * np.clip(step / lr_delay_steps, 0, 1) ) else: delay_rate = 1.0 t = np.clip(step / max_steps, 0, 1) log_lerp = np.exp(np.log(lr_init) * (1 - t) + np.log(lr_final) * t) multiplier = ( log_lerp / lr_init ) # divided by lr_init because the multiplier is with the initial learning rate return delay_rate * multiplier super().__init__(optimizer, lr_lambda=func) class DelayerScheduler(lr_scheduler.LambdaLR): """Starts with a flat lr schedule until it reaches N epochs then applies a given scheduler""" def __init__( self, optimizer: Optimizer, lr_init, # pylint: disable=unused-argument lr_final, # pylint: disable=unused-argument max_steps, # pylint: disable=unused-argument delay_epochs: int = 500, after_scheduler: Optional[lr_scheduler.LambdaLR] = None, ) -> None: def func(step): if step > delay_epochs: if after_scheduler is not None: multiplier = after_scheduler.lr_lambdas[0](step - delay_epochs) # type: ignore return multiplier return 1.0 return 0.0 super().__init__(optimizer, lr_lambda=func) class DelayedExponentialScheduler(DelayerScheduler): """Delayer Scheduler with an Exponential Scheduler initialized afterwards.""" def __init__( self, optimizer: Optimizer, lr_init, lr_final, max_steps, delay_epochs: int = 200, ): after_scheduler = ExponentialDecaySchedule( optimizer, lr_init, lr_final, max_steps, ) super().__init__(optimizer, lr_init, lr_final, max_steps, delay_epochs, after_scheduler=after_scheduler) @dataclass class MultiStepSchedulerConfig(InstantiateConfig): """Basic scheduler config with self-defined exponential decay schedule""" _target: Type = field(default_factory=lambda: lr_scheduler.MultiStepLR) max_steps: int = 1000000 def setup(self, optimizer=None, lr_init=None, **kwargs) -> Any: """Returns the instantiated object using the config.""" return self._target( optimizer, milestones=[self.max_steps // 2, self.max_steps * 3 // 4, self.max_steps * 9 // 10], gamma=0.33, ) @dataclass class ExponentialSchedulerConfig(InstantiateConfig): """Basic scheduler config with self-defined exponential decay schedule""" _target: Type = field(default_factory=lambda: lr_scheduler.ExponentialLR) decay_rate: float = 0.1 max_steps: int = 1000000 def setup(self, optimizer=None, lr_init=None, **kwargs) -> Any: """Returns the instantiated object using the config.""" return self._target( optimizer, self.decay_rate ** (1.0 / self.max_steps), ) @dataclass class NeuSSchedulerConfig(InstantiateConfig): """Basic scheduler config with self-defined exponential decay schedule""" _target: Type = field(default_factory=lambda: NeuSScheduler) warm_up_end: int = 5000 learning_rate_alpha: float = 0.05 max_steps: int = 300000 def setup(self, optimizer=None, lr_init=None, **kwargs) -> Any: """Returns the instantiated object using the config.""" return self._target( optimizer, self.warm_up_end, self.learning_rate_alpha, self.max_steps, ) class NeuSScheduler(lr_scheduler.LambdaLR): """Starts with a flat lr schedule until it reaches N epochs then applies a given scheduler""" def __init__(self, optimizer, warm_up_end, learning_rate_alpha, max_steps) -> None: def func(step): if step < warm_up_end: learning_factor = step / warm_up_end else: alpha = learning_rate_alpha progress = (step - warm_up_end) / (max_steps - warm_up_end) learning_factor = (np.cos(np.pi * progress) + 1.0) * 0.5 * (1 - alpha) + alpha return learning_factor super().__init__(optimizer, lr_lambda=func) @dataclass class AutoReconSchedulerConfig(InstantiateConfig): """Scheduler tuned for AutoRecon w/ progressive hash encoding training""" _target: Type = field(default_factory=lambda: AutoReconScheduler) warm_up_end: int = 250 # learning_rate_alpha: float = 0.05 # max_steps: int = 300000 def setup(self, optimizer=None, lr_init=None, **kwargs) -> Any: """Returns the instantiated object using the config.""" return self._target( optimizer, self.warm_up_end, ) class AutoReconScheduler(lr_scheduler.LambdaLR): """warm up then decay""" def __init__(self, optimizer, warm_up_end) -> None: def func(step): if step < warm_up_end: learning_factor = step / warm_up_end else: learning_factor = 1.0 return learning_factor super().__init__(optimizer, lr_lambda=func) ================================================ FILE: AutoReconForDens3R/nerfstudio/engine/trainer.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Code to train model. """ from __future__ import annotations import dataclasses import functools import os import time from typing import Dict, List, Tuple import torch from rich.console import Console from torch.cuda.amp.grad_scaler import GradScaler from typing_extensions import Literal from nerfstudio.configs import base_config as cfg from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.engine.optimizers import Optimizers, setup_optimizers from nerfstudio.pipelines.base_pipeline import VanillaPipeline from nerfstudio.utils import profiler, writer from nerfstudio.utils.decorators import ( check_eval_enabled, check_main_thread, check_viewer_enabled, ) from nerfstudio.utils.misc import step_check from nerfstudio.utils.writer import EventName, TimeWriter from nerfstudio.viewer.server import viewer_utils CONSOLE = Console(width=120) class Trainer: """Trainer class Args: config: The configuration object. local_rank: Local rank of the process. world_size: World size of the process. Attributes: config: The configuration object. local_rank: Local rank of the process. world_size: World size of the process. device: The device to run the training on. pipeline: The pipeline object. optimizers: The optimizers object. callbacks: The callbacks object. """ pipeline: VanillaPipeline optimizers: Optimizers callbacks: List[TrainingCallback] def __init__(self, config: cfg.Config, local_rank: int = 0, world_size: int = 1): self.config = config self.local_rank = local_rank self.world_size = world_size self.device = "cpu" if world_size == 0 else f"cuda:{local_rank}" self.mixed_precision = self.config.trainer.mixed_precision if self.device == "cpu": self.mixed_precision = False CONSOLE.print("Mixed precision is disabled for CPU training.") self._start_step = 0 # optimizers self.grad_scaler = GradScaler(enabled=self.mixed_precision) self.base_dir = config.get_base_dir() # directory to save checkpoints self.checkpoint_dir = config.get_checkpoint_dir() CONSOLE.log(f"Saving checkpoints to: {self.checkpoint_dir}") # set up viewer if enabled viewer_log_path = self.base_dir / config.viewer.relative_log_filename self.viewer_state, banner_messages = None, None if self.config.is_viewer_enabled() and local_rank == 0: self.viewer_state, banner_messages = viewer_utils.setup_viewer(config.viewer, log_filename=viewer_log_path) self._check_viewer_warnings() # set up writers/profilers if enabled writer_log_path = self.base_dir / config.logging.relative_log_dir writer.setup_event_writer(config, log_dir=writer_log_path) writer.setup_local_writer( config.logging, max_iter=config.trainer.max_num_iterations, banner_messages=banner_messages ) writer.put_config(name="config", config_dict=dataclasses.asdict(config), step=0) profiler.setup_profiler(config.logging) def setup(self, test_mode: Literal["test", "val", "inference"] = "val"): """Setup the Trainer by calling other setup functions. Args: test_mode: 'val': loads train/val datasets into memory 'test': loads train/test datset into memory 'inference': does not load any dataset into memory """ self.pipeline = self.config.pipeline.setup( device=self.device, test_mode=test_mode, world_size=self.world_size, local_rank=self.local_rank ) self.optimizers = setup_optimizers(self.config, self.pipeline.get_param_groups()) self._load_checkpoint() self.callbacks = self.pipeline.get_training_callbacks( TrainingCallbackAttributes( optimizers=self.optimizers, # type: ignore grad_scaler=self.grad_scaler, # type: ignore pipeline=self.pipeline, # type: ignore config=self.config.trainer, # type: ignore ) ) def train(self) -> None: """Train the model.""" assert self.pipeline.datamanager.train_dataset is not None, "Missing DatsetInputs" self._init_viewer_state() with TimeWriter(writer, EventName.TOTAL_TRAIN_TIME): num_iterations = self.config.trainer.max_num_iterations step = 0 for step in range(self._start_step, self._start_step + num_iterations): with TimeWriter(writer, EventName.ITER_TRAIN_TIME, step=step) as train_t: self.pipeline.train() # training callbacks before the training iteration for callback in self.callbacks: callback.run_callback_at_location( step, location=TrainingCallbackLocation.BEFORE_TRAIN_ITERATION ) # time the forward pass loss, loss_dict, metrics_dict = self.train_iteration(step) # training callbacks after the training iteration for callback in self.callbacks: callback.run_callback_at_location(step, location=TrainingCallbackLocation.AFTER_TRAIN_ITERATION) # Skip the first two steps to avoid skewed timings that break the viewer rendering speed estimate. if step > 1: writer.put_time( name=EventName.TRAIN_RAYS_PER_SEC, duration=self.config.pipeline.datamanager.train_num_rays_per_batch / train_t.duration, step=step, avg_over_steps=True, ) self._update_viewer_state(step) # a batch of train rays if step_check(step, self.config.logging.steps_per_log, run_at_zero=True): writer.put_scalar(name="Train Loss", scalar=loss, step=step) writer.put_dict(name="Train Loss Dict", scalar_dict=loss_dict, step=step) writer.put_dict(name="Train Metrics Dict", scalar_dict=metrics_dict, step=step) self.eval_iteration(step) if step_check(step, self.config.trainer.steps_per_save): self.save_checkpoint(step) writer.write_out_storage() # save checkpoint at the end of training self.save_checkpoint(step) CONSOLE.rule() CONSOLE.print("[bold green]:tada: :tada: :tada: Training Finished :tada: :tada: :tada:", justify="center") if not self.config.viewer.quit_on_train_completion: CONSOLE.print("Use ctrl+c to quit", justify="center") self._always_render(step) @check_main_thread def _always_render(self, step): if self.config.is_viewer_enabled(): while True: self.viewer_state.vis["renderingState/isTraining"].write(False) self._update_viewer_state(step) @check_main_thread def _check_viewer_warnings(self) -> None: """Helper to print out any warnings regarding the way the viewer/loggers are enabled""" if self.config.is_viewer_enabled(): string = ( "[NOTE] Not running eval iterations since only viewer is enabled." " Use [yellow]--vis wandb[/yellow] or [yellow]--vis tensorboard[/yellow] to run with eval instead." ) CONSOLE.print(f"{string}") @check_viewer_enabled def _init_viewer_state(self) -> None: """Initializes viewer scene with given train dataset""" assert self.viewer_state and self.pipeline.datamanager.train_dataset self.viewer_state.init_scene( dataset=self.pipeline.datamanager.train_dataset, start_train=self.config.viewer.start_train, ) if not self.config.viewer.start_train: self._always_render(self._start_step) @check_viewer_enabled def _update_viewer_state(self, step: int): """Updates the viewer state by rendering out scene with current pipeline Returns the time taken to render scene. Args: step: current train step """ assert self.viewer_state is not None with TimeWriter(writer, EventName.ITER_VIS_TIME, step=step) as _: num_rays_per_batch = self.config.pipeline.datamanager.train_num_rays_per_batch try: self.viewer_state.update_scene(self, step, self.pipeline.model, num_rays_per_batch) except RuntimeError: time.sleep(0.03) # sleep to allow buffer to reset assert self.viewer_state.vis is not None self.viewer_state.vis["renderingState/log_errors"].write( "Error: GPU out of memory. Reduce resolution to prevent viewer from crashing." ) @check_viewer_enabled def _update_viewer_rays_per_sec(self, train_t: TimeWriter, vis_t: TimeWriter, step: int): """Performs update on rays/sec calclation for training Args: train_t: timer object carrying time to execute total training iteration vis_t: timer object carrying time to execute visualization step step: current step """ train_num_rays_per_batch = self.config.pipeline.datamanager.train_num_rays_per_batch writer.put_time( name=EventName.TRAIN_RAYS_PER_SEC, duration=train_num_rays_per_batch / (train_t.duration - vis_t.duration), step=step, avg_over_steps=True, ) def _load_checkpoint(self) -> None: """Helper function to load pipeline and optimizer from prespecified checkpoint""" load_dir = self.config.trainer.load_dir if load_dir is not None: load_step = self.config.trainer.load_step if load_step is None: print("Loading latest checkpoint from load_dir") # NOTE: this is specific to the checkpoint name format load_step = sorted(int(x[x.find("-") + 1: x.find(".")]) for x in os.listdir(load_dir))[-1] load_path = load_dir / f"step-{load_step:09d}.ckpt" assert load_path.exists(), f"Checkpoint {load_path} does not exist" loaded_state = torch.load(load_path, map_location="cpu") # load pipeline ckpt self.pipeline.load_pipeline(loaded_state["pipeline"], strict=self.config.trainer.load_pipeline_ckpt_strict) if not self.config.trainer.load_pipeline_ckpt_strict: CONSOLE.print("[yellow] Pipeline checkpoint loaded with strict=False") # load ckpt for step, optimizer, scheduler, grad_scaler if not self.config.trainer.load_pipeline_ckpt_only: self._start_step = loaded_state["step"] + 1 self.optimizers.load_optimizers(loaded_state["optimizers"]) if "schedulers" in loaded_state and self.config.trainer.load_scheduler: self.optimizers.load_schedulers(loaded_state["schedulers"]) self.grad_scaler.load_state_dict(loaded_state["scalers"]) else: CONSOLE.print("[yellow] Only loading pipeline checkpoint, skipping optimizer and gradient scalar") CONSOLE.print(f"done loading checkpoint from {load_path}") else: CONSOLE.print("No checkpoints to load, training from scratch") @check_main_thread def save_checkpoint(self, step: int) -> None: """Save the model and optimizers Args: step: number of steps in training for given checkpoint """ # possibly make the checkpoint directory if not self.checkpoint_dir.exists(): self.checkpoint_dir.mkdir(parents=True, exist_ok=True) # save the checkpoint ckpt_path = self.checkpoint_dir / f"step-{step:09d}.ckpt" torch.save( { "step": step, "pipeline": self.pipeline.module.state_dict() # type: ignore if hasattr(self.pipeline, "module") else self.pipeline.state_dict(), "optimizers": {k: v.state_dict() for (k, v) in self.optimizers.optimizers.items()}, "schedulers": {k: v.state_dict() for (k, v) in self.optimizers.schedulers.items()}, "scalers": self.grad_scaler.state_dict(), }, ckpt_path, ) # possibly delete old checkpoints if self.config.trainer.save_only_latest_checkpoint: # delete everything else in the checkpoint folder for f in self.checkpoint_dir.glob("*"): if f != ckpt_path: f.unlink() @profiler.time_function def train_iteration(self, step: int) -> Tuple[torch.Tensor, Dict[str, torch.Tensor], Dict[str, torch.Tensor]]: """Run one iteration with a batch of inputs. Returns dictionary of model losses. Args: step: Current training step. """ self.optimizers.zero_grad_all() cpu_or_cuda_str = self.device.split(":")[0] with torch.autocast(device_type=cpu_or_cuda_str, enabled=self.mixed_precision): _, loss_dict, metrics_dict = self.pipeline.get_train_loss_dict(step=step) loss = functools.reduce(torch.add, loss_dict.values()) self.grad_scaler.scale(loss).backward() # type: ignore self.optimizers.optimizer_scaler_step_all(self.grad_scaler) self.grad_scaler.update() self.optimizers.scheduler_step_all(step) # Merging loss and metrics dict into a single output. return loss, loss_dict, metrics_dict @check_eval_enabled # only run this routine when using wandb / tensorboard @profiler.time_function def eval_iteration(self, step): """Run one iteration with different batch/image/all image evaluations depending on step size. Args: step: Current training step. """ # a batch of eval rays if step_check(step, self.config.trainer.steps_per_eval_batch): _, eval_loss_dict, eval_metrics_dict = self.pipeline.get_eval_loss_dict(step=step) eval_loss = functools.reduce(torch.add, eval_loss_dict.values()) writer.put_scalar(name="Eval Loss", scalar=eval_loss, step=step) writer.put_dict(name="Eval Loss Dict", scalar_dict=eval_loss_dict, step=step) writer.put_dict(name="Eval Metrics Dict", scalar_dict=eval_metrics_dict, step=step) # one eval image if step_check(step, self.config.trainer.steps_per_eval_image): with TimeWriter(writer, EventName.TEST_RAYS_PER_SEC, write=False) as test_t: metrics_dict, images_dict = self.pipeline.get_eval_image_metrics_and_images(step=step) writer.put_time( name=EventName.TEST_RAYS_PER_SEC, duration=metrics_dict["num_rays"] / test_t.duration, step=step, avg_over_steps=True, ) writer.put_dict(name="Eval Images Metrics", scalar_dict=metrics_dict, step=step) group = "Eval Images" for image_name, image in images_dict.items(): writer.put_image(name=group + "/" + image_name, image=image, step=step) # all eval images if step_check(step, self.config.trainer.steps_per_eval_all_images): metrics_dict = self.pipeline.get_average_eval_image_metrics(step=step) writer.put_dict(name="Eval Images Metrics Dict (all images)", scalar_dict=metrics_dict, step=step) ================================================ FILE: AutoReconForDens3R/nerfstudio/exporter/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/exporter/exporter_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Export utils such as structs, point cloud generation, and rendering code. """ # pylint: disable=no-member from __future__ import annotations import sys from dataclasses import dataclass from typing import List, Optional, Tuple import numpy as np import open3d as o3d import pymeshlab import torch from rich.console import Console from rich.progress import ( BarColumn, Progress, TaskProgressColumn, TextColumn, TimeRemainingColumn, ) from torchtyping import TensorType from nerfstudio.cameras.cameras import Cameras from nerfstudio.configs.base_config import Config # pylint: disable=unused-import from nerfstudio.pipelines.base_pipeline import Pipeline from nerfstudio.utils.rich_utils import ItersPerSecColumn CONSOLE = Console(width=120) @dataclass class Mesh: """Class for a mesh.""" vertices: TensorType["num_verts", 3] """Vertices of the mesh.""" faces: TensorType["num_faces", 3] """Faces of the mesh.""" normals: TensorType["num_verts", 3] """Normals of the mesh vertices.""" face_normals: TensorType["num_faces", 3] = None """Normals of the mesh faces.""" colors: Optional[TensorType["num_verts", 3]] = None """Colors of the mesh.""" def get_mesh_from_pymeshlab_mesh(mesh: pymeshlab.Mesh) -> Mesh: """Get a Mesh from a pymeshlab mesh. See https://pymeshlab.readthedocs.io/en/0.1.5/classes/mesh.html for details. """ return Mesh( vertices=torch.from_numpy(mesh.vertex_matrix()).float(), faces=torch.from_numpy(mesh.face_matrix()).long(), normals=torch.from_numpy(np.copy(mesh.vertex_normal_matrix())).float(), face_normals=torch.from_numpy(np.copy(mesh.face_normal_matrix())).float(), colors=torch.from_numpy(mesh.vertex_color_matrix()).float(), ) def get_mesh_from_filename(filename: str, target_num_faces: Optional[int] = None) -> Mesh: """Get a Mesh from a filename.""" ms = pymeshlab.MeshSet() ms.load_new_mesh(filename) if target_num_faces is not None: CONSOLE.print("Running meshing decimation with quadric edge collapse") ms.meshing_decimation_quadric_edge_collapse(targetfacenum=target_num_faces) mesh = ms.current_mesh() return get_mesh_from_pymeshlab_mesh(mesh) def generate_point_cloud( pipeline: Pipeline, num_points: int = 1000000, remove_outliers: bool = True, estimate_normals: bool = False, rgb_output_name: str = "rgb", depth_output_name: str = "depth", normal_output_name: Optional[str] = None, use_bounding_box: bool = True, bounding_box_min: Tuple[float, float, float] = (-1.0, -1.0, -1.0), bounding_box_max: Tuple[float, float, float] = (1.0, 1.0, 1.0), std_ratio: float = 10.0, ) -> o3d.geometry.PointCloud: """Generate a point cloud from a nerf. Args: pipeline: Pipeline to evaluate with. num_points: Number of points to generate. May result in less if outlier removal is used. remove_outliers: Whether to remove outliers. estimate_normals: Whether to estimate normals. rgb_output_name: Name of the RGB output. depth_output_name: Name of the depth output. normal_output_name: Name of the normal output. use_bounding_box: Whether to use a bounding box to sample points. bounding_box_min: Minimum of the bounding box. bounding_box_max: Maximum of the bounding box. std_ratio: Threshold based on STD of the average distances across the point cloud to remove outliers. Returns: Point cloud. """ # pylint: disable=too-many-statements progress = Progress( TextColumn(":cloud: Computing Point Cloud :cloud:"), BarColumn(), TaskProgressColumn(show_speed=True), TimeRemainingColumn(elapsed_when_finished=True, compact=True), ) points = [] rgbs = [] normals = [] with progress as progress_bar: task = progress_bar.add_task("Generating Point Cloud", total=num_points) while not progress_bar.finished: torch.cuda.empty_cache() with torch.no_grad(): ray_bundle, _ = pipeline.datamanager.next_train(0) outputs = pipeline.model(ray_bundle) if rgb_output_name not in outputs: CONSOLE.rule("Error", style="red") CONSOLE.print(f"Could not find {rgb_output_name} in the model outputs", justify="center") CONSOLE.print(f"Please set --rgb_output_name to one of: {outputs.keys()}", justify="center") sys.exit(1) if depth_output_name not in outputs: CONSOLE.rule("Error", style="red") CONSOLE.print(f"Could not find {depth_output_name} in the model outputs", justify="center") CONSOLE.print(f"Please set --depth_output_name to one of: {outputs.keys()}", justify="center") sys.exit(1) rgb = outputs[rgb_output_name] depth = outputs[depth_output_name] if normal_output_name is not None: if normal_output_name not in outputs: CONSOLE.rule("Error", style="red") CONSOLE.print(f"Could not find {normal_output_name} in the model outputs", justify="center") CONSOLE.print(f"Please set --normal_output_name to one of: {outputs.keys()}", justify="center") sys.exit(1) normal = outputs[normal_output_name] point = ray_bundle.origins + ray_bundle.directions * depth if use_bounding_box: comp_l = torch.tensor(bounding_box_min, device=point.device) comp_m = torch.tensor(bounding_box_max, device=point.device) assert torch.all( comp_l < comp_m ), f"Bounding box min {bounding_box_min} must be smaller than max {bounding_box_max}" mask = torch.all(torch.concat([point > comp_l, point < comp_m], dim=-1), dim=-1) point = point[mask] rgb = rgb[mask] if normal_output_name is not None: normal = normal[mask] points.append(point) rgbs.append(rgb) if normal_output_name is not None: normals.append(normal) progress.advance(task, point.shape[0]) points = torch.cat(points, dim=0) rgbs = torch.cat(rgbs, dim=0) pcd = o3d.geometry.PointCloud() pcd.points = o3d.utility.Vector3dVector(points.float().cpu().numpy()) pcd.colors = o3d.utility.Vector3dVector(rgbs.float().cpu().numpy()) ind = None if remove_outliers: CONSOLE.print("Cleaning Point Cloud") pcd, ind = pcd.remove_statistical_outlier(nb_neighbors=20, std_ratio=std_ratio) print("\033[A\033[A") CONSOLE.print("[bold green]:white_check_mark: Cleaning Point Cloud") # either estimate_normals or normal_output_name, not both if estimate_normals: if normal_output_name is not None: CONSOLE.rule("Error", style="red") CONSOLE.print("Cannot estimate normals and use normal_output_name at the same time", justify="center") sys.exit(1) CONSOLE.print("Estimating Point Cloud Normals") pcd.estimate_normals() print("\033[A\033[A") CONSOLE.print("[bold green]:white_check_mark: Estimating Point Cloud Normals") elif normal_output_name is not None: normals = torch.cat(normals, dim=0) if ind is not None: # mask out normals for points that were removed with remove_outliers normals = normals[ind] pcd.normals = o3d.utility.Vector3dVector(normals.float().cpu().numpy()) return pcd def render_trajectory( pipeline: Pipeline, cameras: Cameras, rgb_output_name: str, depth_output_name: str, rendered_resolution_scaling_factor: float = 1.0, disable_distortion: bool = False, ) -> Tuple[List[np.ndarray], List[np.ndarray]]: """Helper function to create a video of a trajectory. Args: pipeline: Pipeline to evaluate with. cameras: Cameras to render. rgb_output_name: Name of the RGB output. depth_output_name: Name of the depth output. rendered_resolution_scaling_factor: Scaling factor to apply to the camera image resolution. disable_distortion: Whether to disable distortion. Returns: List of rgb images, list of depth images. """ images = [] depths = [] cameras.rescale_output_resolution(rendered_resolution_scaling_factor) progress = Progress( TextColumn(":cloud: Computing rgb and depth images :cloud:"), BarColumn(), TaskProgressColumn(show_speed=True), ItersPerSecColumn(suffix="fps"), TimeRemainingColumn(elapsed_when_finished=True, compact=True), ) with progress: for camera_idx in progress.track(range(cameras.size), description=""): camera_ray_bundle = cameras.generate_rays( camera_indices=camera_idx, disable_distortion=disable_distortion ).to(pipeline.device) with torch.no_grad(): outputs = pipeline.model.get_outputs_for_camera_ray_bundle(camera_ray_bundle) if rgb_output_name not in outputs: CONSOLE.rule("Error", style="red") CONSOLE.print(f"Could not find {rgb_output_name} in the model outputs", justify="center") CONSOLE.print(f"Please set --rgb_output_name to one of: {outputs.keys()}", justify="center") sys.exit(1) if depth_output_name not in outputs: CONSOLE.rule("Error", style="red") CONSOLE.print(f"Could not find {depth_output_name} in the model outputs", justify="center") CONSOLE.print(f"Please set --depth_output_name to one of: {outputs.keys()}", justify="center") sys.exit(1) images.append(outputs[rgb_output_name].cpu().numpy()) depths.append(outputs[depth_output_name].cpu().numpy()) return images, depths ================================================ FILE: AutoReconForDens3R/nerfstudio/exporter/mesh_culling_utils.py ================================================ from __future__ import annotations from pathlib import Path from typing import Optional, Tuple, Type from typing_extensions import Literal from torchtyping import TensorType from dataclasses import dataclass, field from rich.console import Console import torch import trimesh import pymeshlab import numpy as np from torch.nn import functional as F from nerfstudio.cameras.rays import RayBundle from nerfstudio.exporter.exporter_utils import Mesh from nerfstudio.pipelines.base_pipeline import Pipeline from nerfstudio.model_components.ray_samplers import Sampler, UniformSampler, DummySampler from nerfstudio.utils.rich_utils import get_progress from nerfstudio.configs.base_config import InstantiateConfig CONSOLE = Console(width=120) @dataclass class MeshCullerConfig(InstantiateConfig): _target: Type = field(default_factory=lambda: MeshCuller) raylen_method: Literal["edge", "none"] = "edge" facewise_raylen: bool = False raylen_multiplier: float = 10.0 """e.g., raylen = face_edge_len * raylen_multiplier""" use_train_ray_sampler: bool = True ray_sampler: Literal["uniform", "dummy"] = "uniform" """type of the new ray_sampler for mesh culling""" num_ray_samples: Optional[int] = 10 # TODO: need to specify the RaySampler as well """number of ray samples""" segmentation_binarization_thr: float = 0.5 mesh_close_holes: bool = True """close holes on the mesh caused by incorrect mesh culling (bad segmentation query results)""" max_hole_size: int = 1000 """maximum hole size to be closed in terms of number of edges composing the hole boundary""" simplify_mesh: bool = False """simplify mesh with decimation_quadric_edge_collapse""" class MeshCuller: config: MeshCullerConfig def __init__(self, config: MeshCullerConfig): self.config = config self.ray_sampler = self._get_ray_sampler() @torch.no_grad() def main(self, mesh: Mesh, pipeline: Pipeline, output_path: Path): """Cull mesh by rendering the segmentation of each face.""" device = pipeline.device vertices = mesh.vertices.to(device) # (nv, 3) faces = mesh.faces.to(device) # (nf, 3) face_normals = mesh.face_normals.to(device) # (nf, 3) ray_bundle = self._build_ray_bundle(vertices, faces, face_normals) outputs = pipeline.model.get_outputs_for_mesh_culling(ray_bundle, ray_sampler=self.ray_sampler) # TODO: support only cull faces near to the ground plane # TODO: if a faces is not visible from any viewpoint (or only visible from a very few viewpoints) # we could just keep it, since its feature is not learned by feature field. fg_seg_prob = outputs["fg_seg_prob"] fg_faces_mask = (fg_seg_prob > self.config.segmentation_binarization_thr)[..., 0] CONSOLE.print(f"{len(fg_faces_mask) - fg_faces_mask.sum()}/{len(fg_faces_mask)} faces get culled!") faces = faces[fg_faces_mask] # (nf', 3) face_normals = face_normals[fg_faces_mask] # (nf', 3) culled_mesh = trimesh.Trimesh(vertices=vertices.cpu().numpy(), faces=faces.cpu().numpy(), face_normals=face_normals.cpu().numpy()) culled_mesh.export(output_path) CONSOLE.print(f'Culled mesh saved: {output_path}') if self.config.mesh_close_holes: hole_closed_path = output_path.parent / (output_path.stem + "_hole-closed" + output_path.suffix) ms = pymeshlab.MeshSet() ms.load_new_mesh(str(output_path)) CONSOLE.print('Running mesh hole closing...') ms.meshing_close_holes(maxholesize=self.config.max_hole_size) ms.save_current_mesh(str(hole_closed_path), save_face_color=False) CONSOLE.print(f'Hole-closed mesh saved: {hole_closed_path}') output_path = hole_closed_path if self.config.simplify_mesh: simplified_path = output_path.parent / (output_path.stem + "_simplified" + output_path.suffix) ms = pymeshlab.MeshSet() ms.load_new_mesh(str(output_path)) CONSOLE.print('Running remashing...') ms.meshing_decimation_quadric_edge_collapse(targetfacenum=2000000) ms.save_current_mesh(str(simplified_path), save_face_color=False) CONSOLE.print(f'Simplified mesh saved: {simplified_path}') output_path = simplified_path return output_path def _get_ray_sampler(self): if self.config.use_train_ray_sampler: return None ray_sampler_type = self.config.ray_sampler num_samples = self.config.num_ray_samples if ray_sampler_type == "uniform": _log_str = f"UniformSampler(num_samples={num_samples})" sampler = UniformSampler(num_samples=num_samples) elif ray_sampler_type == "dummy": _log_str = "DummySampler" sampler = DummySampler() else: raise ValueError(f"Unknown RaySampler type: {ray_sampler_type}") CONSOLE.print(f"Replace the original sampler with {_log_str}.") return sampler def _build_ray_bundle(self, vertices, faces, face_normals) -> RayBundle: face_vertices = vertices[faces] # (nf, 3, 3) raylen = self._get_ray_length(vertices, faces) # (nf, ) origins = face_vertices.mean(dim=1) # (nf, 3) directions = F.normalize(face_normals, dim=-1) if self.config.ray_sampler != "dummy": origins = origins - 0.5 * raylen * directions ray_bundle = RayBundle( origins=origins, directions=directions, pixel_area=torch.ones_like(origins[..., 0:1]), camera_indices=torch.zeros_like(origins[..., 0:1]), nears=torch.zeros_like(origins[..., 0:1]), fars=torch.ones_like(origins[..., 0:1]) * raylen ) return ray_bundle def _get_ray_length(self, vertices, faces): raylen_method = self.config.raylen_method facewise_raylen = self.config.facewise_raylen raylen_multiplier = self.config.raylen_multiplier if raylen_method == "edge": face_vertices = vertices[faces] # compute the length of the rays we want to render # we make a reasonable approximation by using the mean length of one edge per face raylen = raylen_multiplier * torch.norm(face_vertices[:, 1, :] - face_vertices[:, 0, :], dim=-1) # (nf, ) if not facewise_raylen: raylen = torch.full_like(raylen, float(torch.mean(raylen))) else: raise ValueError(f"Ray length method {raylen_method} not supported.") return raylen[..., None] ================================================ FILE: AutoReconForDens3R/nerfstudio/exporter/texture_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Texture utils. """ # pylint: disable=no-member from __future__ import annotations import math from pathlib import Path from typing import Optional, Tuple import mediapy as media import numpy as np import torch import xatlas from rich.console import Console from torchtyping import TensorType from typing_extensions import Literal from nerfstudio.cameras.rays import RayBundle from nerfstudio.exporter.exporter_utils import Mesh from nerfstudio.pipelines.base_pipeline import Pipeline from nerfstudio.utils.rich_utils import get_progress CONSOLE = Console(width=120) def get_parallelogram_area( p: TensorType["bs":..., 2], v0: TensorType["bs":..., 2], v1: TensorType["bs":..., 2] ) -> TensorType["bs":...]: """Given three 2D points, return the area defined by the parallelogram. I.e., 2x the triangle area. Args: p: The origin of the parallelogram. v0: The first vector of the parallelogram. v1: The second vector of the parallelogram. Returns: The area of the parallelogram. """ return (p[..., 0] - v0[..., 0]) * (v1[..., 1] - v0[..., 1]) - (p[..., 1] - v0[..., 1]) * (v1[..., 0] - v0[..., 0]) def get_texture_image(num_pixels_w, num_pixels_h, device): """Get a texture image.""" px_w = 1.0 / num_pixels_w px_h = 1.0 / num_pixels_h uv_indices = torch.stack( torch.meshgrid( torch.arange(num_pixels_w, device=device), torch.arange(num_pixels_h, device=device), indexing="xy" ), dim=-1, ) linspace_h = torch.linspace(px_h / 2, 1 - px_h / 2, num_pixels_h, device=device) linspace_w = torch.linspace(px_w / 2, 1 - px_w / 2, num_pixels_w, device=device) uv_coords = torch.stack( torch.meshgrid(linspace_w, linspace_h, indexing="xy"), dim=-1 ) # (num_pixels_h, num_pixels_w, 2) return uv_coords, uv_indices def unwrap_mesh_per_uv_triangle( vertices: TensorType["num_verts", 3], faces: TensorType["num_faces", 3], vertex_normals: TensorType["num_verts", 3], px_per_uv_triangle: int, ): """Unwrap a mesh to a UV texture. This is done by making a grid of rectangles in the UV texture map and then having two triangles per rectangle. Then the texture image is rasterized and uses barycentric interpolation to get the origins and directions, per pixel, that are needed to render the NeRF with. Args: vertices: The vertices of the mesh. faces: The faces of the mesh. vertex_normals: The vertex normals of the mesh. px_per_uv_triangle: The number of pixels per UV triangle. """ # pylint: disable=too-many-statements assert len(vertices) == len(vertex_normals), "Number of vertices and vertex normals must be equal" device = vertices.device # calculate the number of rectangles needed triangle_padding = 3 num_squares = math.ceil(len(faces) / 2) squares_per_side_w = math.ceil(math.sqrt(num_squares)) squares_per_side_h = math.ceil(num_squares / squares_per_side_w) px_per_square_w = px_per_uv_triangle + triangle_padding px_per_square_h = px_per_uv_triangle num_pixels_w = squares_per_side_w * px_per_square_w num_pixels_h = squares_per_side_h * px_per_square_h # Construct what one square would look like # The height is equal to px_per_uv_triangle pixels. # The width is equal to px_per_uv_triangle + 3 pixels. # v0---------------v1------------------------v2 # --Triangle 1--------------------------------- # -----------------3px gap--------------------- # --------------------------------Triangle 2--- # v2-----------------------v1----------------v0 lr_w = (px_per_uv_triangle + triangle_padding) / num_pixels_w lr_h = (px_per_uv_triangle) / num_pixels_h lr = torch.tensor([lr_w, lr_h], device=device) px_w = 1.0 / num_pixels_w px_h = 1.0 / num_pixels_h px = torch.tensor([px_w, px_h], device=device) edge_len_w = px_per_uv_triangle / num_pixels_w edge_len_h = px_per_uv_triangle / num_pixels_h scalar = (px_per_uv_triangle - 1) / px_per_uv_triangle # uv coords (upper left and lower right) uv_coords_upper_left = torch.tensor([[0, 0], [edge_len_w, 0], [0, edge_len_h]], device=device) # scale for bilinear interpolation reasons uv_coords_upper_left = uv_coords_upper_left * scalar + px / 2 lower_right = [lr_w, lr_h] uv_coords_lower_right = torch.tensor( [ lower_right, # lower right [3 * px_w, lr_h], # lower left [lr_w, 0], # upper right ], device=device, ) # scale for bilinear interpolation reasons uv_coords_lower_right = ( (uv_coords_lower_right - torch.tensor(lower_right, device=device)) * scalar + torch.tensor(lower_right, device=device) - px / 2 ) # Tile this pattern across the entire texture uv_coords_square = torch.stack([uv_coords_upper_left, uv_coords_lower_right], dim=0) # (2, 3, 2) uv_coords_square = uv_coords_square.reshape(1, 1, 6, 2) # (6, 2) square_offsets = ( torch.stack( torch.meshgrid( torch.arange(squares_per_side_w, device=device), torch.arange(squares_per_side_h, device=device), indexing="xy", ), dim=-1, ) * lr ) uv_coords_square = uv_coords_square + square_offsets.view( squares_per_side_h, squares_per_side_w, 1, 2 ) # (num_squares_h, num_squares_w, 6, 2) texture_coordinates = uv_coords_square.view(-1, 3, 2)[: len(faces)] # (num_faces, 3, 2) # Now find the triangle indices for every pixel and the barycentric coordinates # which can be used to interpolate the XYZ and normal values to then query with NeRF uv_coords, uv_indices = get_texture_image(num_pixels_w, num_pixels_h, device) u_index = torch.div(uv_indices[..., 0], px_per_square_w, rounding_mode="floor") v_index = torch.div(uv_indices[..., 1], px_per_square_h, rounding_mode="floor") square_index = v_index * squares_per_side_w + u_index u_offset = uv_indices[..., 0] % px_per_square_w v_offset = uv_indices[..., 1] % px_per_square_h lower_right = (u_offset + v_offset) >= (px_per_square_w - 2) triangle_index = square_index * 2 + lower_right triangle_index = torch.clamp(triangle_index, min=0, max=len(faces) - 1) nearby_uv_coords = texture_coordinates[triangle_index] # (num_pixels_h, num_pixels_w, 3, 2) nearby_vertices = vertices[faces[triangle_index]] # (num_pixels_h, num_pixels_w, 3, 3) nearby_normals = vertex_normals[faces[triangle_index]] # (num_pixels_h, num_pixels_w, 3, 3) # compute barycentric coordinates v0 = nearby_uv_coords[..., 0, :] # (num_pixels, num_pixels, 2) v1 = nearby_uv_coords[..., 1, :] # (num_pixels, num_pixels, 2) v2 = nearby_uv_coords[..., 2, :] # (num_pixels, num_pixels, 2) p = uv_coords # (num_pixels, num_pixels, 2) area = get_parallelogram_area(v2, v0, v1) # 2x face area. w0 = get_parallelogram_area(p, v1, v2) / area w1 = get_parallelogram_area(p, v2, v0) / area w2 = get_parallelogram_area(p, v0, v1) / area origins = ( nearby_vertices[..., 0, :] * w0[..., None] + nearby_vertices[..., 1, :] * w1[..., None] + nearby_vertices[..., 2, :] * w2[..., None] ).float() directions = -( nearby_normals[..., 0, :] * w0[..., None] + nearby_normals[..., 1, :] * w1[..., None] + nearby_normals[..., 2, :] * w2[..., None] ).float() # normalize the direction vector to make it a unit vector directions = torch.nn.functional.normalize(directions, dim=-1) return texture_coordinates, origins, directions def unwrap_mesh_with_xatlas( vertices: TensorType["num_verts", 3], faces: TensorType["num_faces", 3, torch.long], vertex_normals: TensorType["num_verts", 3], num_pixels_per_side=1024, num_faces_per_barycentric_chunk=10, ) -> Tuple[ TensorType["num_faces", 3, 2], TensorType["num_pixels", "num_pixels", 3], TensorType["num_pixels", "num_pixels", "num_pixels"], ]: """Unwrap a mesh using xatlas. We use xatlas to unwrap the mesh with UV coordinates. Then we rasterize the mesh with a square pattern. We interpolate the XYZ and normal values for every pixel in the texture image. We return the texture coordinates, the origins, and the directions for every pixel. Args: vertices: Tensor of mesh vertices. faces: Tensor of mesh faces. vertex_normals: Tensor of mesh vertex normals. num_pixels_per_side: Number of pixels per side of the texture image. We use a square. num_faces_per_barycentric_chunk: Number of faces to use for barycentric chunk computation. Returns: texture_coordinates: Tensor of texture coordinates for every face. origins: Tensor of origins for every pixel. directions: Tensor of directions for every pixel. """ # pylint: disable=unused-variable # pylint: disable=too-many-statements device = vertices.device # unwrap the mesh vertices_np = vertices.cpu().numpy() faces_np = faces.cpu().numpy() vertex_normals_np = vertex_normals.cpu().cpu().numpy() vmapping, indices, uvs = xatlas.parametrize( # pylint: disable=c-extension-no-member vertices_np, faces_np, vertex_normals_np ) # vertices texture coordinates vertices_tc = torch.from_numpy(uvs.astype(np.float32)).to(device) # render uv maps vertices_tc = vertices_tc * 2.0 - 1.0 # uvs to range [-1, 1] vertices_tc = torch.cat( (vertices_tc, torch.zeros_like(vertices_tc[..., :1]), torch.ones_like(vertices_tc[..., :1])), dim=-1 ) # [num_verts, 4] texture_coordinates = torch.from_numpy(uvs[indices]).to(device) # (num_faces, 3, 2) # Now find the triangle indices for every pixel and the barycentric coordinates # which can be used to interpolate the XYZ and normal values to then query with NeRF uv_coords, _ = get_texture_image(num_pixels_per_side, num_pixels_per_side, device) uv_coords_shape = uv_coords.shape p = uv_coords.reshape(1, -1, 2) # (1, N, 2) num_vertices = p.shape[1] num_faces = texture_coordinates.shape[0] triangle_distances = torch.ones_like(p[..., 0]) * torch.finfo(torch.float32).max # (1, N) triangle_indices = torch.zeros_like(p[..., 0]).long() # (1, N) triangle_w0 = torch.zeros_like(p[..., 0]) # (1, N) triangle_w1 = torch.zeros_like(p[..., 0]) # (1, N) triangle_w2 = torch.zeros_like(p[..., 0]) # (1, N) arange_list = torch.arange(num_vertices, device=device) progress = get_progress("Chunking faces for rasterization") with progress: for i in progress.track(range(num_faces // num_faces_per_barycentric_chunk)): s = i * num_faces_per_barycentric_chunk e = min((i + 1) * num_faces_per_barycentric_chunk, num_faces) v0 = texture_coordinates[s:e, 0:1, :] # (F, 1, 2) v1 = texture_coordinates[s:e, 1:2, :] # (F, 1, 2) v2 = texture_coordinates[s:e, 2:3, :] # (F, 1, 2) # NOTE: could try clockwise vs counter clockwise area = get_parallelogram_area(v2, v0, v1) # 2x face area. w0 = get_parallelogram_area(p, v1, v2) / area # (num_faces_per_barycentric_chunk, N) w1 = get_parallelogram_area(p, v2, v0) / area w2 = get_parallelogram_area(p, v0, v1) / area # get distance from center of triangle dist_to_center = torch.abs(w0) + torch.abs(w1) + torch.abs(w2) d_values, d_indices = torch.min(dist_to_center, dim=0, keepdim=True) d_indices_with_offset = d_indices + s # add offset condition = d_values < triangle_distances triangle_distances = torch.where(condition, d_values, triangle_distances) triangle_indices = torch.where(condition, d_indices_with_offset, triangle_indices) w0_selected = w0[d_indices[0], arange_list].unsqueeze(0) # (1, N) w1_selected = w1[d_indices[0], arange_list].unsqueeze(0) # (1, N) w2_selected = w2[d_indices[0], arange_list].unsqueeze(0) # (1, N) triangle_w0 = torch.where(condition, w0_selected, triangle_w0) triangle_w1 = torch.where(condition, w1_selected, triangle_w1) triangle_w2 = torch.where(condition, w2_selected, triangle_w2) nearby_vertices = vertices[faces[triangle_indices[0]]] # (N, 3, 3) nearby_normals = vertex_normals[faces[triangle_indices[0]]] # (N, 3, 3) origins = ( nearby_vertices[..., 0, :] * triangle_w0[0, :, None] + nearby_vertices[..., 1, :] * triangle_w1[0, :, None] + nearby_vertices[..., 2, :] * triangle_w2[0, :, None] ).float() directions = -( nearby_normals[..., 0, :] * triangle_w0[0, :, None] + nearby_normals[..., 1, :] * triangle_w1[0, :, None] + nearby_normals[..., 2, :] * triangle_w2[0, :, None] ).float() origins = origins.reshape(uv_coords_shape[0], uv_coords_shape[1], 3) directions = directions.reshape(uv_coords_shape[0], uv_coords_shape[1], 3) # normalize the direction vector to make it a unit vector directions = torch.nn.functional.normalize(directions, dim=-1) return texture_coordinates, origins, directions def export_textured_mesh( mesh: Mesh, pipeline: Pipeline, output_dir: Path, px_per_uv_triangle: Optional[int] = None, unwrap_method: Literal["xatlas", "custom"] = "xatlas", raylen_method: Literal["edge", "none"] = "edge", num_pixels_per_side=1024, ): """Textures a mesh using the radiance field from the Pipeline. The mesh is written to an OBJ file in the output directory, along with the corresponding material and texture files. Operations will occur on the same device as the Pipeline. Args: mesh: The mesh to texture. pipeline: The pipeline to use for texturing. output_dir: The directory to write the textured mesh to. px_per_uv_triangle: The number of pixels per side of UV triangle. unwrap_method: The method to use for unwrapping the mesh. offset_method: The method to use for computing the ray length to render. num_pixels_per_side: The number of pixels per side of the texture image. """ # pylint: disable=too-many-statements device = pipeline.device vertices = mesh.vertices.to(device) faces = mesh.faces.to(device) vertex_normals = mesh.normals.to(device) summary_log = [] summary_log.append(f"Unwrapped mesh using {unwrap_method} method.") summary_log.append(f"Mesh has {len(vertices)} vertices and {len(faces)} faces.") if unwrap_method == "xatlas": CONSOLE.print("Unwrapping mesh with xatlas method... this may take a while.") texture_coordinates, origins, directions = unwrap_mesh_with_xatlas( vertices, faces, vertex_normals, num_pixels_per_side=num_pixels_per_side ) print("\033[A\033[A") CONSOLE.print("[bold green]:white_check_mark: Unwrapped mesh with xatlas method") elif unwrap_method == "custom": CONSOLE.print("Unwrapping mesh with custom method...") texture_coordinates, origins, directions = unwrap_mesh_per_uv_triangle( vertices, faces, vertex_normals, px_per_uv_triangle ) print("\033[A\033[A") CONSOLE.print("[bold green]:white_check_mark: Unwrapped mesh with custom method") else: raise ValueError(f"Unwrap method {unwrap_method} not supported.") if raylen_method == "edge": face_vertices = vertices[faces] # compute the length of the rays we want to render # we make a reasonable approximation by using the mean length of one edge per face raylen = 2.0 * torch.mean(torch.norm(face_vertices[:, 1, :] - face_vertices[:, 0, :], dim=-1)).float() elif raylen_method == "none": raylen = 0.0 else: raise ValueError(f"Ray length method {raylen_method} not supported.") summary_log.append(f"Length of rendered rays to compute texture values: {raylen}") origins = origins - 0.5 * raylen * directions pixel_area = torch.ones_like(origins[..., 0:1]) camera_indices = torch.zeros_like(origins[..., 0:1]) nears = torch.zeros_like(origins[..., 0:1]) fars = torch.ones_like(origins[..., 0:1]) * raylen camera_ray_bundle = RayBundle( origins=origins, directions=directions, pixel_area=pixel_area, camera_indices=camera_indices, nears=nears, fars=fars, ) CONSOLE.print("Creating texture image by rendering with NeRF...") with torch.no_grad(): outputs = pipeline.model.get_outputs_for_camera_ray_bundle(camera_ray_bundle) # save the texture image texture_image = outputs["rgb"].cpu().numpy() media.write_image(str(output_dir / "material_0.png"), texture_image) CONSOLE.print("Writing relevant OBJ information to files...") # create the .mtl file lines_mtl = [ "# Generated with nerfstudio", "newmtl material_0", "Ka 1.000 1.000 1.000", "Kd 1.000 1.000 1.000", "Ks 0.000 0.000 0.000", "d 1.0", "illum 2", "Ns 1.00000000", "map_Kd material_0.png", ] lines_mtl = [line + "\n" for line in lines_mtl] file_mtl = open(output_dir / "material_0.mtl", "w", encoding="utf-8") # pylint: disable=consider-using-with file_mtl.writelines(lines_mtl) file_mtl.close() # create the .obj file lines_obj = ["# Generated with nerfstudio", "mtllib material_0.mtl", "usemtl material_0"] lines_obj = [line + "\n" for line in lines_obj] file_obj = open(output_dir / "mesh.obj", "w", encoding="utf-8") # pylint: disable=consider-using-with file_obj.writelines(lines_obj) # write the geometric vertices vertices = vertices.cpu().numpy() progress = get_progress("Writing vertices to file", suffix="lines-per-sec") with progress: for i in progress.track(range(len(vertices))): vertex = vertices[i] line = f"v {vertex[0]} {vertex[1]} {vertex[2]}\n" file_obj.write(line) # write the texture coordinates texture_coordinates = texture_coordinates.cpu().numpy() with progress: progress = get_progress("Writing texture coordinates to file", suffix="lines-per-sec") for i in progress.track(range(len(faces))): for uv in texture_coordinates[i]: line = f"vt {uv[0]} {1.0 - uv[1]}\n" file_obj.write(line) # write the vertex normals vertex_normals = vertex_normals.cpu().numpy() progress = get_progress("Writing vertex normals to file", suffix="lines-per-sec") with progress: for i in progress.track(range(len(vertex_normals))): normal = vertex_normals[i] line = f"vn {normal[0]} {normal[1]} {normal[2]}\n" file_obj.write(line) # write the faces faces = faces.cpu().numpy() progress = get_progress("Writing faces to file", suffix="lines-per-sec") with progress: for i in progress.track(range(len(faces))): face = faces[i] v1 = face[0] + 1 v2 = face[1] + 1 v3 = face[2] + 1 vt1 = i * 3 + 1 vt2 = i * 3 + 2 vt3 = i * 3 + 3 vn1 = v1 vn2 = v2 vn3 = v3 line = f"f {v1}/{vt1}/{vn1} {v2}/{vt2}/{vn2} {v3}/{vt3}/{vn3}\n" file_obj.write(line) file_obj.close() summary_log.append(f"OBJ file saved to {output_dir / 'mesh.obj'}") summary_log.append(f"MTL file saved to {output_dir / 'material_0.mtl'}") summary_log.append( f"Texture image saved to {output_dir / 'material_0.png'} " f"with resolution {texture_image.shape[1]}x{texture_image.shape[0]} (WxH)" ) CONSOLE.rule("[bold green]:tada: :tada: :tada: All DONE :tada: :tada: :tada:") for summary in summary_log: CONSOLE.print(summary, justify="center") CONSOLE.rule() ================================================ FILE: AutoReconForDens3R/nerfstudio/exporter/tsdf_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ TSDF utils. """ # pylint: disable=no-member from __future__ import annotations from dataclasses import dataclass, field from pathlib import Path from typing import List, Optional, Tuple, Union import numpy as np import pymeshlab import torch import torch.nn.functional as F from rich.console import Console from skimage import measure from torchtyping import TensorType from nerfstudio.exporter.exporter_utils import Mesh, render_trajectory from nerfstudio.pipelines.base_pipeline import Pipeline CONSOLE = Console(width=120) @dataclass class TSDF: """ Class for creating TSDFs. """ voxel_coords: TensorType[3, "xdim", "ydim", "zdim"] """Coordinates of each voxel in the TSDF.""" values: TensorType["xdim", "ydim", "zdim"] """TSDF values for each voxel.""" weights: TensorType["xdim", "ydim", "zdim"] """TSDF weights for each voxel.""" colors: TensorType["xdim", "ydim", "zdim", 3] """TSDF colors for each voxel.""" voxel_size: TensorType[3] """Size of each voxel in the TSDF. [x, y, z] size.""" origin: TensorType[3] """Origin of the TSDF [xmin, ymin, zmin].""" truncation_margin: float = 5.0 """Margin for truncation.""" def to(self, device: str): """Move the tensors to the specified device. Args: device: The device to move the tensors to. E.g., "cuda:0" or "cpu". """ self.voxel_coords = self.voxel_coords.to(device) self.values = self.values.to(device) self.weights = self.weights.to(device) self.colors = self.colors.to(device) self.voxel_size = self.voxel_size.to(device) self.origin = self.origin.to(device) return self @property def device(self): """Returns the device that voxel_coords is on.""" return self.voxel_coords.device @property def truncation(self): """Returns the truncation distance.""" # TODO: clean this up truncation = self.voxel_size[0] * self.truncation_margin return truncation @staticmethod def from_aabb(aabb: TensorType[2, 3], volume_dims: TensorType[3]): """Returns an instance of TSDF from an axis-aligned bounding box and volume dimensions. Args: aabb: The axis-aligned bounding box with shape [[xmin, ymin, zmin], [xmax, ymax, zmax]]. volume_dims: The volume dimensions with shape [xdim, ydim, zdim]. """ origin = aabb[0] voxel_size = (aabb[1] - aabb[0]) / volume_dims # create the voxel coordinates xdim = torch.arange(volume_dims[0]) ydim = torch.arange(volume_dims[1]) zdim = torch.arange(volume_dims[2]) grid = torch.stack(torch.meshgrid([xdim, ydim, zdim], indexing="ij"), dim=0) voxel_coords = origin.view(3, 1, 1, 1) + grid * voxel_size.view(3, 1, 1, 1) # initialize the values and weights values = -torch.ones(volume_dims.tolist()) weights = torch.zeros(volume_dims.tolist()) colors = torch.zeros(volume_dims.tolist() + [3]) # TODO: move to device return TSDF(voxel_coords, values, weights, colors, voxel_size, origin) def get_mesh(self) -> Mesh: """Extracts a mesh using marching cubes.""" device = self.values.device # run marching cubes on CPU tsdf_values_np = self.values.clamp(-1, 1).cpu().numpy() vertices, faces, normals, _ = measure.marching_cubes(tsdf_values_np, level=0, allow_degenerate=False) vertices_indices = np.round(vertices).astype(int) colors = self.colors[vertices_indices[:, 0], vertices_indices[:, 1], vertices_indices[:, 2]] # move back to original device vertices = torch.from_numpy(vertices.copy()).to(device) faces = torch.from_numpy(faces.copy()).to(device) normals = torch.from_numpy(normals.copy()).to(device) # move vertices back to world space vertices = self.origin.view(1, 3) + vertices * self.voxel_size.view(1, 3) return Mesh(vertices=vertices, faces=faces, normals=normals, colors=colors) @classmethod def export_mesh(cls, mesh: Mesh, filename: str): """Exports the mesh to a file. We use pymeshlab to export the mesh as a PLY file. Args: mesh: The mesh to export. filename: The filename to export the mesh to. """ vertex_matrix = mesh.vertices.cpu().numpy().astype("float64") face_matrix = mesh.faces.cpu().numpy().astype("int32") v_normals_matrix = mesh.normals.cpu().numpy().astype("float64") v_color_matrix = mesh.colors.cpu().numpy().astype("float64") # colors need an alpha channel v_color_matrix = np.concatenate([v_color_matrix, np.ones((v_color_matrix.shape[0], 1))], axis=-1) # create a new Mesh m = pymeshlab.Mesh( vertex_matrix=vertex_matrix, face_matrix=face_matrix, v_normals_matrix=v_normals_matrix, v_color_matrix=v_color_matrix, ) # create a new MeshSet ms = pymeshlab.MeshSet() # add the mesh to the MeshSet ms.add_mesh(m, "mesh") # save the current mesh ms.save_current_mesh(filename) def integrate_tsdf( self, c2w: TensorType["batch", 4, 4], K: TensorType["batch", 3, 3], depth_images: TensorType["batch", 1, "height", "width"], color_images: Optional[TensorType["batch", 3, "height", "width"]] = None, mask_images: Optional[TensorType["batch", 1, "height", "width"]] = None, ): """Integrates a batch of depth images into the TSDF. Args: c2w: The camera extrinsics. K: The camera intrinsics. depth_images: The depth images to integrate. color_images: The color images to integrate. mask_images: The mask images to integrate. """ if mask_images is not None: raise NotImplementedError("Mask images are not supported yet.") batch_size = c2w.shape[0] shape = self.voxel_coords.shape[1:] # Project voxel_coords into image space... image_size = torch.tensor( [depth_images.shape[-1], depth_images.shape[-2]], device=self.device ) # [width, height] # make voxel_coords homogeneous voxel_world_coords = self.voxel_coords.view(3, -1) voxel_world_coords = torch.cat( [voxel_world_coords, torch.ones(1, voxel_world_coords.shape[1], device=self.device)], dim=0 ) voxel_world_coords = voxel_world_coords.unsqueeze(0) # [1, 4, N] voxel_world_coords = voxel_world_coords.expand(batch_size, *voxel_world_coords.shape[1:]) # [batch, 4, N] voxel_cam_coords = torch.bmm(torch.inverse(c2w), voxel_world_coords) # [batch, 4, N] # flip the z axis voxel_cam_coords[:, 2, :] = -voxel_cam_coords[:, 2, :] # flip the y axis voxel_cam_coords[:, 1, :] = -voxel_cam_coords[:, 1, :] # we need the distance of the point to the camera, not the z coordinate voxel_depth = torch.sqrt(torch.sum(voxel_cam_coords[:, :3, :] ** 2, dim=-2, keepdim=True)) # [batch, 1, N] voxel_cam_coords_z = voxel_cam_coords[:, 2:3, :] voxel_cam_points = torch.bmm(K, voxel_cam_coords[:, 0:3, :] / voxel_cam_coords_z) # [batch, 3, N] voxel_pixel_coords = voxel_cam_points[:, :2, :] # [batch, 2, N] # Sample the depth images with grid sample... grid = voxel_pixel_coords.permute(0, 2, 1) # [batch, N, 2] # normalize grid to [-1, 1] grid = 2.0 * grid / image_size.view(1, 1, 2) - 1.0 # [batch, N, 2] grid = grid[:, None] # [batch, 1, N, 2] # depth sampled_depth = F.grid_sample( input=depth_images, grid=grid, mode="nearest", padding_mode="zeros", align_corners=False ) # [batch, N, 1] sampled_depth = sampled_depth.squeeze(2) # [batch, 1, N] # colors if color_images is not None: sampled_colors = F.grid_sample( input=color_images, grid=grid, mode="nearest", padding_mode="zeros", align_corners=False ) # [batch, N, 3] sampled_colors = sampled_colors.squeeze(2) # [batch, 3, N] dist = sampled_depth - voxel_depth # [batch, 1, N] tsdf_values = torch.clamp(dist / self.truncation, min=-1.0, max=1.0) # [batch, 1, N] valid_points = (voxel_depth > 0) & (sampled_depth > 0) & (dist > -self.truncation) # [batch, 1, N] # Sequentially update the TSDF... for i in range(batch_size): valid_points_i = valid_points[i] valid_points_i_shape = valid_points_i.view(*shape) # [xdim, ydim, zdim] # the old values old_tsdf_values_i = self.values[valid_points_i_shape] old_weights_i = self.weights[valid_points_i_shape] # the new values # TODO: let the new weight be configurable new_tsdf_values_i = tsdf_values[i][valid_points_i] new_weights_i = 1.0 total_weights = old_weights_i + new_weights_i self.values[valid_points_i_shape] = ( old_tsdf_values_i * old_weights_i + new_tsdf_values_i * new_weights_i ) / total_weights self.weights[valid_points_i_shape] = torch.clamp(total_weights, max=1.0) if color_images is not None: old_colors_i = self.colors[valid_points_i_shape] # [M, 3] new_colors_i = sampled_colors[i][:, valid_points_i.squeeze(0)].permute(1, 0) # [M, 3] self.colors[valid_points_i_shape] = ( old_colors_i * old_weights_i[:, None] + new_colors_i * new_weights_i ) / total_weights[:, None] def export_tsdf_mesh( pipeline: Pipeline, output_dir: Path, downscale_factor: int = 2, depth_output_name: str = "depth", rgb_output_name: str = "rgb", resolution: Union[int, List[int]] = field(default_factory=lambda: [256, 256, 256]), batch_size: int = 10, use_bounding_box: bool = True, bounding_box_min: Tuple[float, float, float] = (-1.0, -1.0, -1.0), bounding_box_max: Tuple[float, float, float] = (1.0, 1.0, 1.0), ): """Export a TSDF mesh from a pipeline. Args: pipeline: The pipeline to export the mesh from. output_dir: The directory to save the mesh to. downscale_factor: Downscale factor for the images. depth_output_name: Name of the depth output. rgb_output_name: Name of the RGB output. resolution: Resolution of the TSDF volume or [x, y, z] resolutions individually. batch_size: How many depth images to integrate per batch. use_bounding_box: Whether to use a bounding box for the TSDF volume. bounding_box_min: Minimum coordinates of the bounding box. bounding_box_max: Maximum coordinates of the bounding box. """ device = pipeline.device dataparser_outputs = pipeline.datamanager.train_dataset._dataparser_outputs # pylint: disable=protected-access # initialize the TSDF volume if not use_bounding_box: aabb = dataparser_outputs.scene_box.aabb else: aabb = torch.tensor([bounding_box_min, bounding_box_max]) if isinstance(resolution, int): volume_dims = torch.tensor([resolution] * 3) elif isinstance(resolution, List): volume_dims = torch.tensor(resolution) else: raise ValueError("Resolution must be an int or a list.") tsdf = TSDF.from_aabb(aabb, volume_dims=volume_dims) # move TSDF to device tsdf.to(device) cameras = dataparser_outputs.cameras # we turn off distortion when populating the TSDF color_images, depth_images = render_trajectory( pipeline, cameras, rgb_output_name=rgb_output_name, depth_output_name=depth_output_name, rendered_resolution_scaling_factor=1.0 / downscale_factor, disable_distortion=True, ) # camera extrinsics and intrinsics c2w: TensorType["N", 3, 4] = cameras.camera_to_worlds.to(device) # make c2w homogeneous c2w = torch.cat([c2w, torch.zeros(c2w.shape[0], 1, 4, device=device)], dim=1) c2w[:, 3, 3] = 1 K: TensorType["N", 3, 3] = cameras.get_intrinsics_matrices().to(device) color_images = torch.tensor(np.array(color_images), device=device).permute(0, 3, 1, 2) # shape (N, 3, H, W) depth_images = torch.tensor(np.array(depth_images), device=device).permute(0, 3, 1, 2) # shape (N, 1, H, W) CONSOLE.print("Integrating the TSDF") for i in range(0, len(c2w), batch_size): tsdf.integrate_tsdf( c2w[i : i + batch_size], K[i : i + batch_size], depth_images[i : i + batch_size], color_images=color_images[i : i + batch_size], ) CONSOLE.print("Computing Mesh") mesh = tsdf.get_mesh() CONSOLE.print("Saving TSDF Mesh") tsdf.export_mesh(mesh, filename=str(output_dir / "tsdf_mesh.ply")) ================================================ FILE: AutoReconForDens3R/nerfstudio/field_components/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """init field modules""" from .base_field_component import FieldComponent from .encodings import Encoding, ScalingAndOffset from .mlp import MLP ================================================ FILE: AutoReconForDens3R/nerfstudio/field_components/activations.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Special activation functions. """ import torch from torch.autograd import Function from torch.cuda.amp import custom_bwd, custom_fwd class _TruncExp(Function): # pylint: disable=abstract-method # Implementation from torch-ngp: # https://github.com/ashawkey/torch-ngp/blob/93b08a0d4ec1cc6e69d85df7f0acdfb99603b628/activation.py @staticmethod @custom_fwd(cast_inputs=torch.float32) def forward(ctx, x): # pylint: disable=arguments-differ ctx.save_for_backward(x) return torch.exp(x) @staticmethod @custom_bwd def backward(ctx, g): # pylint: disable=arguments-differ x = ctx.saved_tensors[0] return g * torch.exp(x.clamp(-15, 15)) trunc_exp = _TruncExp.apply """Same as torch.exp, but with the backward pass clipped to prevent vanishing/exploding gradients.""" ================================================ FILE: AutoReconForDens3R/nerfstudio/field_components/base_field_component.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ The field module baseclass. """ from abc import abstractmethod from typing import Optional from torch import nn from torchtyping import TensorType class FieldComponent(nn.Module): """Field modules that can be combined to store and compute the fields. Args: in_dim: Input dimension to module. out_dim: Ouput dimension to module. """ def __init__(self, in_dim: Optional[int] = None, out_dim: Optional[int] = None) -> None: super().__init__() self.in_dim = in_dim self.out_dim = out_dim def build_nn_modules(self) -> None: """Function instantiates any torch.nn members within the module. If none exist, do nothing.""" def set_in_dim(self, in_dim: int) -> None: """Sets input dimension of encoding Args: in_dim: input dimension """ if in_dim <= 0: raise ValueError("Input dimension should be greater than zero") self.in_dim = in_dim def get_out_dim(self) -> int: """Calculates output dimension of encoding.""" if self.out_dim is None: raise ValueError("Output dimension has not been set") return self.out_dim @abstractmethod def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: """ Returns processed tensor Args: in_tensor: Input tensor to process """ raise NotImplementedError ================================================ FILE: AutoReconForDens3R/nerfstudio/field_components/embedding.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Code for embeddings. """ import torch from torchtyping import TensorType from nerfstudio.field_components.base_field_component import FieldComponent class Embedding(FieldComponent): """Index into embeddings. # TODO: add different types of initializations Args: in_dim: Number of embeddings out_dim: Dimension of the embedding vectors """ def __init__(self, in_dim: int, out_dim: int) -> None: super().__init__() self.in_dim = in_dim self.out_dim = out_dim self.build_nn_modules() def build_nn_modules(self) -> None: self.embedding = torch.nn.Embedding(self.in_dim, self.out_dim) def mean(self, dim=0): """Return the mean of the embedding weights along a dim.""" return self.embedding.weight.mean(dim) def forward(self, in_tensor: TensorType[..., "input_dim"]) -> TensorType[..., "output_dim"]: """Call forward Args: in_tensor: input tensor to process """ return self.embedding(in_tensor) ================================================ FILE: AutoReconForDens3R/nerfstudio/field_components/encodings.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Encoding functions """ from abc import abstractmethod from typing import Optional import numpy as np import torch import torch.nn.functional as F from torch import nn from torchtyping import TensorType from typing_extensions import Literal from nerfstudio.field_components.base_field_component import FieldComponent from nerfstudio.utils.math import components_from_spherical_harmonics, expected_sin from nerfstudio.utils.printing import print_tcnn_speed_warning try: import tinycudann as tcnn TCNN_EXISTS = True except ImportError: TCNN_EXISTS = False class Encoding(FieldComponent): """Encode an input tensor. Intended to be subclassed Args: in_dim: Input dimension of tensor """ def __init__(self, in_dim: int) -> None: if in_dim <= 0: raise ValueError("Input dimension should be greater than zero") super().__init__(in_dim=in_dim) @abstractmethod def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: """Call forward and returns and processed tensor Args: in_tensor: the input tensor to process """ raise NotImplementedError class Identity(Encoding): """Identity encoding (Does not modify input)""" def get_out_dim(self) -> int: if self.in_dim is None: raise ValueError("Input dimension has not been set") return self.in_dim def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: return in_tensor class ScalingAndOffset(Encoding): """Simple scaling and offet to input Args: in_dim: Input dimension of tensor scaling: Scaling applied to tensor. offset: Offset applied to tensor. """ def __init__(self, in_dim: int, scaling: float = 1.0, offset: float = 0.0) -> None: super().__init__(in_dim) self.scaling = scaling self.offset = offset def get_out_dim(self) -> int: if self.in_dim is None: raise ValueError("Input dimension has not been set") return self.in_dim def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: return self.scaling * in_tensor + self.offset class NeRFEncoding(Encoding): """Multi-scale sinusoidal encodings. Support ``integrated positional encodings`` if covariances are provided. Each axis is encoded with frequencies ranging from 2^min_freq_exp to 2^max_freq_exp. Args: in_dim: Input dimension of tensor num_frequencies: Number of encoded frequencies per axis min_freq_exp: Minimum frequency exponent max_freq_exp: Maximum frequency exponent include_input: Append the input coordinate to the encoding """ def __init__( self, in_dim: int, num_frequencies: int, min_freq_exp: float, max_freq_exp: float, include_input: bool = False ) -> None: super().__init__(in_dim) self.num_frequencies = num_frequencies self.min_freq = min_freq_exp self.max_freq = max_freq_exp self.include_input = include_input def get_out_dim(self) -> int: if self.in_dim is None: raise ValueError("Input dimension has not been set") out_dim = self.in_dim * self.num_frequencies * 2 if self.include_input: out_dim += self.in_dim return out_dim def forward( self, in_tensor: TensorType["bs":..., "input_dim"], covs: Optional[TensorType["bs":..., "input_dim", "input_dim"]] = None, ) -> TensorType["bs":..., "output_dim"]: """Calculates NeRF encoding. If covariances are provided the encodings will be integrated as proposed in mip-NeRF. Args: in_tensor: For best performance, the input tensor should be between 0 and 1. covs: Covariances of input points. Returns: Output values will be between -1 and 1 """ in_tensor = 2 * torch.pi * in_tensor # scale to [0, 2pi] freqs = 2 ** torch.linspace(self.min_freq, self.max_freq, self.num_frequencies).to(in_tensor.device) scaled_inputs = in_tensor[..., None] * freqs # [..., "input_dim", "num_scales"] scaled_inputs = scaled_inputs.view(*scaled_inputs.shape[:-2], -1) # [..., "input_dim" * "num_scales"] if covs is None: encoded_inputs = torch.sin(torch.cat([scaled_inputs, scaled_inputs + torch.pi / 2.0], dim=-1)) else: input_var = torch.diagonal(covs, dim1=-2, dim2=-1)[..., :, None] * freqs[None, :] ** 2 input_var = input_var.reshape((*input_var.shape[:-2], -1)) encoded_inputs = expected_sin( torch.cat([scaled_inputs, scaled_inputs + torch.pi / 2.0], dim=-1), torch.cat(2 * [input_var], dim=-1) ) if self.include_input: encoded_inputs = torch.cat([encoded_inputs, in_tensor], dim=-1) return encoded_inputs class RFFEncoding(Encoding): """Random Fourier Feature encoding. Supports integrated encodings. Args: in_dim: Input dimension of tensor num_frequencies: Number of encoding frequencies scale: Std of Gaussian to sample frequencies. Must be greater than zero include_input: Append the input coordinate to the encoding """ def __init__(self, in_dim: int, num_frequencies: int, scale: float, include_input: bool = False) -> None: super().__init__(in_dim) self.num_frequencies = num_frequencies if not scale > 0: raise ValueError("RFF encoding scale should be greater than zero") self.scale = scale if self.in_dim is None: raise ValueError("Input dimension has not been set") b_matrix = torch.normal(mean=0, std=self.scale, size=(self.in_dim, self.num_frequencies)) self.register_buffer(name="b_matrix", tensor=b_matrix) self.include_input = include_input def get_out_dim(self) -> int: return self.num_frequencies * 2 def forward( self, in_tensor: TensorType["bs":..., "input_dim"], covs: Optional[TensorType["bs":..., "input_dim", "input_dim"]] = None, ) -> TensorType["bs":..., "output_dim"]: """Calculates RFF encoding. If covariances are provided the encodings will be integrated as proposed in mip-NeRF. Args: in_tensor: For best performance, the input tensor should be between 0 and 1. covs: Covariances of input points. Returns: Output values will be between -1 and 1 """ in_tensor = 2 * torch.pi * in_tensor # scale to [0, 2pi] scaled_inputs = in_tensor @ self.b_matrix # [..., "num_frequencies"] if covs is None: encoded_inputs = torch.sin(torch.cat([scaled_inputs, scaled_inputs + torch.pi / 2.0], dim=-1)) else: input_var = torch.sum((covs @ self.b_matrix) * self.b_matrix, -2) encoded_inputs = expected_sin( torch.cat([scaled_inputs, scaled_inputs + torch.pi / 2.0], dim=-1), torch.cat(2 * [input_var], dim=-1) ) if self.include_input: encoded_inputs = torch.cat([encoded_inputs, in_tensor], dim=-1) return encoded_inputs class HashEncoding(Encoding): """Hash encoding Args: num_levels: Number of feature grids. min_res: Resolution of smallest feature grid. max_res: Resolution of largest feature grid. log2_hashmap_size: Size of hash map is 2^log2_hashmap_size. features_per_level: Number of features per level. hash_init_scale: Value to initialize hash grid. implementation: Implementation of hash encoding. Fallback to torch if tcnn not available. interpolation: Interpolation override for tcnn hashgrid. Not supported for torch unless linear. """ def __init__( self, num_levels: int = 16, min_res: int = 16, max_res: int = 1024, log2_hashmap_size: int = 19, features_per_level: int = 2, hash_init_scale: float = 0.001, implementation: Literal["tcnn", "torch"] = "tcnn", interpolation: Optional[Literal["Nearest", "Linear", "Smoothstep"]] = None, ) -> None: super().__init__(in_dim=3) self.num_levels = num_levels self.features_per_level = features_per_level self.log2_hashmap_size = log2_hashmap_size self.hash_table_size = 2**log2_hashmap_size levels = torch.arange(num_levels) growth_factor = np.exp((np.log(max_res) - np.log(min_res)) / (num_levels - 1)) self.scalings = torch.floor(min_res * growth_factor**levels) self.hash_offset = levels * self.hash_table_size self.hash_table = torch.rand(size=(self.hash_table_size * num_levels, features_per_level)) * 2 - 1 self.hash_table *= hash_init_scale self.hash_table = nn.Parameter(self.hash_table) self.tcnn_encoding = None if not TCNN_EXISTS and implementation == "tcnn": print_tcnn_speed_warning("HashEncoding") elif implementation == "tcnn": encoding_config = { "otype": "HashGrid", "n_levels": self.num_levels, "n_features_per_level": self.features_per_level, "log2_hashmap_size": self.log2_hashmap_size, "base_resolution": min_res, "per_level_scale": growth_factor, } if interpolation is not None: encoding_config["interpolation"] = interpolation self.tcnn_encoding = tcnn.Encoding( n_input_dims=3, encoding_config=encoding_config, ) if not TCNN_EXISTS or self.tcnn_encoding is None: assert ( interpolation is None or interpolation == "Linear" ), f"interpolation '{interpolation}' is not supported for torch encoding backend" def get_out_dim(self) -> int: return self.num_levels * self.features_per_level def hash_fn(self, in_tensor: TensorType["bs":..., "num_levels", 3]) -> TensorType["bs":..., "num_levels"]: """Returns hash tensor using method described in Instant-NGP Args: in_tensor: Tensor to be hashed """ # min_val = torch.min(in_tensor) # max_val = torch.max(in_tensor) # assert min_val >= 0.0 # assert max_val <= 1.0 in_tensor = in_tensor * torch.tensor([1, 2654435761, 805459861]).to(in_tensor.device) x = torch.bitwise_xor(in_tensor[..., 0], in_tensor[..., 1]) x = torch.bitwise_xor(x, in_tensor[..., 2]) x %= self.hash_table_size x += self.hash_offset.to(x.device) return x def pytorch_fwd(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: """Forward pass using pytorch. Significantly slower than TCNN implementation.""" assert in_tensor.shape[-1] == 3 in_tensor = in_tensor[..., None, :] # [..., 1, 3] scaled = in_tensor * self.scalings.view(-1, 1).to(in_tensor.device) # [..., L, 3] scaled_c = torch.ceil(scaled).type(torch.int32) scaled_f = torch.floor(scaled).type(torch.int32) offset = scaled - scaled_f hashed_0 = self.hash_fn(scaled_c) # [..., num_levels] hashed_1 = self.hash_fn(torch.cat([scaled_c[..., 0:1], scaled_f[..., 1:2], scaled_c[..., 2:3]], dim=-1)) hashed_2 = self.hash_fn(torch.cat([scaled_f[..., 0:1], scaled_f[..., 1:2], scaled_c[..., 2:3]], dim=-1)) hashed_3 = self.hash_fn(torch.cat([scaled_f[..., 0:1], scaled_c[..., 1:2], scaled_c[..., 2:3]], dim=-1)) hashed_4 = self.hash_fn(torch.cat([scaled_c[..., 0:1], scaled_c[..., 1:2], scaled_f[..., 2:3]], dim=-1)) hashed_5 = self.hash_fn(torch.cat([scaled_c[..., 0:1], scaled_f[..., 1:2], scaled_f[..., 2:3]], dim=-1)) hashed_6 = self.hash_fn(scaled_f) hashed_7 = self.hash_fn(torch.cat([scaled_f[..., 0:1], scaled_c[..., 1:2], scaled_f[..., 2:3]], dim=-1)) f_0 = self.hash_table[hashed_0] # [..., num_levels, features_per_level] f_1 = self.hash_table[hashed_1] f_2 = self.hash_table[hashed_2] f_3 = self.hash_table[hashed_3] f_4 = self.hash_table[hashed_4] f_5 = self.hash_table[hashed_5] f_6 = self.hash_table[hashed_6] f_7 = self.hash_table[hashed_7] f_03 = f_0 * offset[..., 0:1] + f_3 * (1 - offset[..., 0:1]) f_12 = f_1 * offset[..., 0:1] + f_2 * (1 - offset[..., 0:1]) f_56 = f_5 * offset[..., 0:1] + f_6 * (1 - offset[..., 0:1]) f_47 = f_4 * offset[..., 0:1] + f_7 * (1 - offset[..., 0:1]) f0312 = f_03 * offset[..., 1:2] + f_12 * (1 - offset[..., 1:2]) f4756 = f_47 * offset[..., 1:2] + f_56 * (1 - offset[..., 1:2]) encoded_value = f0312 * offset[..., 2:3] + f4756 * ( 1 - offset[..., 2:3] ) # [..., num_levels, features_per_level] return torch.flatten(encoded_value, start_dim=-2, end_dim=-1) # [..., num_levels * features_per_level] def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: if TCNN_EXISTS and self.tcnn_encoding is not None: return self.tcnn_encoding(in_tensor) return self.pytorch_fwd(in_tensor) class TensorCPEncoding(Encoding): """Learned CANDECOMP/PARFAC (CP) decomposition encoding used in TensoRF Args: resolution: Resolution of grid. num_components: Number of components per dimension. init_scale: Initialization scale. """ def __init__(self, resolution: int = 256, num_components: int = 24, init_scale: float = 0.1) -> None: super().__init__(in_dim=3) self.resolution = resolution self.num_components = num_components # TODO Learning rates should be different for these self.line_coef = nn.Parameter(init_scale * torch.randn((3, num_components, resolution, 1))) def get_out_dim(self) -> int: return self.num_components def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: line_coord = torch.stack([in_tensor[..., 2], in_tensor[..., 1], in_tensor[..., 0]]) # [3, ...] line_coord = torch.stack([torch.zeros_like(line_coord), line_coord], dim=-1) # [3, ...., 2] # Stop gradients from going to sampler line_coord = line_coord.view(3, -1, 1, 2).detach() line_features = F.grid_sample(self.line_coef, line_coord, align_corners=True) # [3, Components, -1, 1] features = torch.prod(line_features, dim=0) features = torch.moveaxis(features.view(self.num_components, *in_tensor.shape[:-1]), 0, -1) return features # [..., Components] @torch.no_grad() def upsample_grid(self, resolution: int) -> None: """Upsamples underyling feature grid Args: resolution: Target resolution. """ self.line_coef.data = F.interpolate( self.line_coef.data, size=(resolution, 1), mode="bilinear", align_corners=True ) self.resolution = resolution class TensorVMEncoding(Encoding): """Learned vector-matrix encoding proposed by TensoRF Args: resolution: Resolution of grid. num_components: Number of components per dimension. init_scale: Initialization scale. """ plane_coef: TensorType[3, "num_components", "resolution", "resolution"] line_coef: TensorType[3, "num_components", "resolution", 1] def __init__( self, resolution: int = 128, num_components: int = 24, init_scale: float = 0.1, smoothstep: bool = False, ) -> None: super().__init__(in_dim=3) self.resolution = resolution self.num_components = num_components self.smoothstep = smoothstep self.plane_coef = nn.Parameter(init_scale * torch.randn((3 * resolution * resolution, num_components))) self.line_coef = nn.Parameter(init_scale * torch.randn((3 * resolution, num_components))) self.n_output_dims = self.get_out_dim() def get_out_dim(self) -> int: return self.num_components * 3 def index_fn(self, x: torch.Tensor, y: torch.Tensor, width: int, height: int): y.clamp_max_(height - 1) x.clamp_max_(width - 1) if y.max() >= height or x.max() >= width: breakpoint() index = y * width + x feature_offset = width * height * torch.arange(3) index += feature_offset.to(x.device)[:, None, None] return index.long() def grid_sample_2d(self, feature, coord, type="plane"): if type == "plane": height, width = self.resolution, self.resolution else: height, width = self.resolution, 1 scaled = coord * torch.tensor([width, height]).to(coord.device)[None, None] scaled_c = torch.ceil(scaled).type(torch.int32) scaled_f = torch.floor(scaled).type(torch.int32) offset = scaled - scaled_f # smooth version of offset if self.smoothstep: offset = offset * offset * (3.0 - 2.0 * offset) offset = offset[..., None, :] index_0 = self.index_fn(scaled_c[..., 0:1], scaled_c[..., 1:2], height, width) # [..., num_levels] index_2 = self.index_fn(scaled_f[..., 0:1], scaled_f[..., 1:2], height, width) if type == "plane": index_1 = self.index_fn(scaled_c[..., 0:1], scaled_f[..., 1:2], height, width) index_3 = self.index_fn(scaled_f[..., 0:1], scaled_c[..., 1:2], height, width) # breakpoint() if type == "plane": f_0 = feature[index_0] # [..., num_levels, features_per_level] f_1 = feature[index_1] f_2 = feature[index_2] f_3 = feature[index_3] f_03 = f_0 * offset[..., 0:1] + f_3 * (1 - offset[..., 0:1]) f_12 = f_1 * offset[..., 0:1] + f_2 * (1 - offset[..., 0:1]) f0312 = f_03 * offset[..., 1:2] + f_12 * (1 - offset[..., 1:2]) return f0312 else: f_0 = feature[index_0] # [..., num_levels, features_per_level] f_2 = feature[index_2] f_02 = f_0 * offset[..., 0:1] + f_2 * (1 - offset[..., 0:1]) return f_02 def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: """Compute encoding for each position in in_positions Args: in_tensor: position inside bounds in range [-1,1], Returns: Encoded position """ plane_coord = torch.stack([in_tensor[..., [0, 1]], in_tensor[..., [0, 2]], in_tensor[..., [1, 2]]]) # [3,...,2] line_coord = torch.stack([in_tensor[..., 2], in_tensor[..., 1], in_tensor[..., 0]]) # [3, ...] line_coord = torch.stack([line_coord, torch.zeros_like(line_coord)], dim=-1) # [3, ...., 2] # Stop gradients from going to sampler # plane_coord = plane_coord.view(3, -1, 1, 2).detach() # line_coord = line_coord.view(3, -1, 1, 2).detach() # plane_features = F.grid_sample(self.plane_coef, plane_coord, align_corners=True) # [3, Components, -1, 1] # line_features = F.grid_sample(self.line_coef, line_coord, align_corners=True) # [3, Components, -1, 1] # diff grid_sample plane_features = self.grid_sample_2d(self.plane_coef, plane_coord, type="plane") # [3, -1, 1, Components] # line_features = self.grid_sample_2d(self.line_coef, line_coord, type="line") # [3, -1, 1, Components] # features = plane_features * line_features # [3, -1, 1, components] features = plane_features features = torch.moveaxis(features, 0, 1).reshape(-1, 3 * self.num_components) # features = torch.moveaxis(features.view(3 * self.num_components, *in_tensor.shape[:-1]), 0, -1) return features # [..., 3 * Components] @torch.no_grad() def upsample_grid(self, resolution: int) -> None: """Upsamples underyling feature grid Args: resolution: Target resolution. """ plane_coef = F.interpolate( self.plane_coef.data, size=(resolution, resolution), mode="bilinear", align_corners=True ) line_coef = F.interpolate(self.line_coef.data, size=(resolution, 1), mode="bilinear", align_corners=True) # TODO(ethan): are these torch.nn.Parameters needed? self.plane_coef, self.line_coef = torch.nn.Parameter(plane_coef), torch.nn.Parameter(line_coef) self.resolution = resolution class SHEncoding(Encoding): """Spherical harmonic encoding Args: levels: Number of spherical hamonic levels to encode. """ def __init__(self, levels: int = 4) -> None: super().__init__(in_dim=3) if levels <= 0 or levels > 4: raise ValueError(f"Spherical harmonic encoding only suports 1 to 4 levels, requested {levels}") self.levels = levels def get_out_dim(self) -> int: return self.levels**2 @torch.no_grad() def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: return components_from_spherical_harmonics(levels=self.levels, directions=in_tensor) class PeriodicVolumeEncoding(Encoding): """Periodic Volume encoding Args: num_levels: Number of feature grids. min_res: Resolution of smallest feature grid. max_res: Resolution of largest feature grid. log2_hashmap_size: Size of hash map is 2^log2_hashmap_size. features_per_level: Number of features per level. hash_init_scale: Value to initialize hash grid. implementation: Implementation of hash encoding. Fallback to torch if tcnn not available. """ def __init__( self, num_levels: int = 16, min_res: int = 16, max_res: int = 1024, log2_hashmap_size: int = 19, features_per_level: int = 2, hash_init_scale: float = 0.001, smoothstep: bool = False, ) -> None: super().__init__(in_dim=3) self.num_levels = num_levels self.features_per_level = features_per_level self.log2_hashmap_size = log2_hashmap_size assert log2_hashmap_size % 3 == 0 self.hash_table_size = 2**log2_hashmap_size self.n_output_dims = num_levels * features_per_level self.smoothstep = smoothstep levels = torch.arange(num_levels) growth_factor = np.exp((np.log(max_res) - np.log(min_res)) / (num_levels - 1)) self.scalings = torch.floor(min_res * growth_factor**levels) self.periodic_volume_resolution = 2 ** (log2_hashmap_size // 3) # self.periodic_resolution = torch.minimum(torch.floor(self.scalings), periodic_volume_resolution) self.hash_offset = levels * self.hash_table_size self.hash_table = torch.rand(size=(self.hash_table_size * num_levels, features_per_level)) * 2 - 1 self.hash_table *= hash_init_scale self.hash_table = nn.Parameter(self.hash_table) # TODO weight loss by level? self.per_level_weights = 1.0 def get_out_dim(self) -> int: return self.num_levels * self.features_per_level def hash_fn(self, in_tensor: TensorType["bs":..., "num_levels", 3]) -> TensorType["bs":..., "num_levels"]: """Returns hash tensor using method described in Instant-NGP Args: in_tensor: Tensor to be hashed """ # round to make it perioidic x = in_tensor x %= self.periodic_volume_resolution # xyz to index x = ( x[..., 0] * (self.periodic_volume_resolution**2) + x[..., 1] * (self.periodic_volume_resolution) + x[..., 2] ) # offset by feature levels x += self.hash_offset.to(x.device) return x.long() def pytorch_fwd(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: """Forward pass using pytorch. Significantly slower than TCNN implementation.""" assert in_tensor.shape[-1] == 3 in_tensor = in_tensor[..., None, :] # [..., 1, 3] scaled = in_tensor * self.scalings.view(-1, 1).to(in_tensor.device) # [..., L, 3] scaled_c = torch.ceil(scaled).type(torch.int32) scaled_f = torch.floor(scaled).type(torch.int32) offset = scaled - scaled_f if self.smoothstep: offset = offset * offset * (3.0 - 2.0 * offset) hashed_0 = self.hash_fn(scaled_c) # [..., num_levels] hashed_1 = self.hash_fn(torch.cat([scaled_c[..., 0:1], scaled_f[..., 1:2], scaled_c[..., 2:3]], dim=-1)) hashed_2 = self.hash_fn(torch.cat([scaled_f[..., 0:1], scaled_f[..., 1:2], scaled_c[..., 2:3]], dim=-1)) hashed_3 = self.hash_fn(torch.cat([scaled_f[..., 0:1], scaled_c[..., 1:2], scaled_c[..., 2:3]], dim=-1)) hashed_4 = self.hash_fn(torch.cat([scaled_c[..., 0:1], scaled_c[..., 1:2], scaled_f[..., 2:3]], dim=-1)) hashed_5 = self.hash_fn(torch.cat([scaled_c[..., 0:1], scaled_f[..., 1:2], scaled_f[..., 2:3]], dim=-1)) hashed_6 = self.hash_fn(scaled_f) hashed_7 = self.hash_fn(torch.cat([scaled_f[..., 0:1], scaled_c[..., 1:2], scaled_f[..., 2:3]], dim=-1)) f_0 = self.hash_table[hashed_0] # [..., num_levels, features_per_level] f_1 = self.hash_table[hashed_1] f_2 = self.hash_table[hashed_2] f_3 = self.hash_table[hashed_3] f_4 = self.hash_table[hashed_4] f_5 = self.hash_table[hashed_5] f_6 = self.hash_table[hashed_6] f_7 = self.hash_table[hashed_7] f_03 = f_0 * offset[..., 0:1] + f_3 * (1 - offset[..., 0:1]) f_12 = f_1 * offset[..., 0:1] + f_2 * (1 - offset[..., 0:1]) f_56 = f_5 * offset[..., 0:1] + f_6 * (1 - offset[..., 0:1]) f_47 = f_4 * offset[..., 0:1] + f_7 * (1 - offset[..., 0:1]) f0312 = f_03 * offset[..., 1:2] + f_12 * (1 - offset[..., 1:2]) f4756 = f_47 * offset[..., 1:2] + f_56 * (1 - offset[..., 1:2]) encoded_value = f0312 * offset[..., 2:3] + f4756 * ( 1 - offset[..., 2:3] ) # [..., num_levels, features_per_level] return torch.flatten(encoded_value, start_dim=-2, end_dim=-1) # [..., num_levels * features_per_level] def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: return self.pytorch_fwd(in_tensor) def get_total_variation_loss(self): """Compute the total variation loss for the feature volume.""" feature_volume = self.hash_table.reshape( self.num_levels, self.periodic_volume_resolution, self.periodic_volume_resolution, self.periodic_volume_resolution, self.features_per_level, ) diffx = feature_volume[:, 1:, :, :, :] - feature_volume[:, :-1, :, :, :] diffy = feature_volume[:, :, 1:, :, :] - feature_volume[:, :, :-1, :, :] diffz = feature_volume[:, :, :, 1:, :] - feature_volume[:, :, :, :-1, :] # TODO how to sum here or should we use mask? resx = diffx.abs().mean(dim=(1, 2, 3, 4)) resy = diffy.abs().mean(dim=(1, 2, 3, 4)) resz = diffz.abs().mean(dim=(1, 2, 3, 4)) return ((resx + resy + resz) * self.per_level_weights).mean() ================================================ FILE: AutoReconForDens3R/nerfstudio/field_components/field_heads.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Collection of render heads """ from enum import Enum from typing import Callable, Optional, Union import torch from torch import nn from torchtyping import TensorType from nerfstudio.field_components.base_field_component import FieldComponent class FieldHeadNames(Enum): """Possible field outputs""" RGB = "rgb" SH = "sh" DENSITY = "density" NORMALS = "normals" PRED_NORMALS = "pred_normals" UNCERTAINTY = "uncertainty" TRANSIENT_RGB = "transient_rgb" TRANSIENT_DENSITY = "transient_density" SEMANTICS = "semantics" NORMAL = "normal" SDF = "sdf" ALPHA = "alpha" GRADIENT = "gradient" OCCUPANCY = "occupancy" FEATURE = "feature" FG_SEG = "fg_segmentation" class FieldHead(FieldComponent): """Base field output Args: out_dim: output dimension for renderer field_head_name: Field type in_dim: input dimension. If not defined in constructor, it must be set later. activation: output head activation """ def __init__( self, out_dim: int, field_head_name: FieldHeadNames, in_dim: Optional[int] = None, activation: Optional[Union[nn.Module, Callable]] = None, ) -> None: super().__init__() self.out_dim = out_dim self.activation = activation self.field_head_name = field_head_name self.net = None if in_dim is not None: self.in_dim = in_dim self._construct_net() def set_in_dim(self, in_dim: int) -> None: """Set input dimension of Field Head""" self.in_dim = in_dim self._construct_net() def _construct_net(self): self.net = nn.Linear(self.in_dim, self.out_dim) def forward(self, in_tensor: TensorType["bs":..., "in_dim"]) -> TensorType["bs":..., "out_dim"]: """Process network output for renderer Args: in_tensor: Network input Returns: Render head output """ if not self.net: raise SystemError("in_dim not set. Must be provided to construtor, or set_in_dim() should be called.") out_tensor = self.net(in_tensor) if self.activation: out_tensor = self.activation(out_tensor) return out_tensor class DensityFieldHead(FieldHead): """Density output Args: in_dim: input dimension. If not defined in constructor, it must be set later. activation: output head activation """ def __init__(self, in_dim: Optional[int] = None, activation: Optional[nn.Module] = nn.Softplus()) -> None: super().__init__(in_dim=in_dim, out_dim=1, field_head_name=FieldHeadNames.DENSITY, activation=activation) class RGBFieldHead(FieldHead): """RGB output Args: in_dim: input dimension. If not defined in constructor, it must be set later. activation: output head activation """ def __init__(self, in_dim: Optional[int] = None, activation: Optional[nn.Module] = nn.Sigmoid()) -> None: super().__init__(in_dim=in_dim, out_dim=3, field_head_name=FieldHeadNames.RGB, activation=activation) class SHFieldHead(FieldHead): """Spherical harmonics output Args: in_dim: input dimension. If not defined in constructor, it must be set later. levels: Number of spherical harmonics layers. channels: Number of channels. Defaults to 3 (ie RGB). activation: Output activation. """ def __init__( self, in_dim: Optional[int] = None, levels: int = 3, channels: int = 3, activation: Optional[nn.Module] = None ) -> None: out_dim = channels * levels**2 super().__init__(in_dim=in_dim, out_dim=out_dim, field_head_name=FieldHeadNames.SH, activation=activation) class UncertaintyFieldHead(FieldHead): """Uncertainty output Args: in_dim: input dimension. If not defined in constructor, it must be set later. activation: output head activation """ def __init__(self, in_dim: Optional[int] = None, activation: Optional[nn.Module] = nn.Softplus()) -> None: super().__init__(in_dim=in_dim, out_dim=1, field_head_name=FieldHeadNames.UNCERTAINTY, activation=activation) class TransientRGBFieldHead(FieldHead): """Transient RGB output Args: in_dim: input dimension. If not defined in constructor, it must be set later. activation: output head activation """ def __init__(self, in_dim: Optional[int] = None, activation: Optional[nn.Module] = nn.Sigmoid()) -> None: super().__init__(in_dim=in_dim, out_dim=3, field_head_name=FieldHeadNames.TRANSIENT_RGB, activation=activation) class TransientDensityFieldHead(FieldHead): """Transient density output Args: in_dim: input dimension. If not defined in constructor, it must be set later. activation: output head activation """ def __init__(self, in_dim: Optional[int] = None, activation: Optional[nn.Module] = nn.Softplus()) -> None: super().__init__( in_dim=in_dim, out_dim=1, field_head_name=FieldHeadNames.TRANSIENT_DENSITY, activation=activation ) class SemanticFieldHead(FieldHead): """Semantic output Args: num_classes: Number of semantic classes in_dim: input dimension. If not defined in constructor, it must be set later. activation: output head activation """ def __init__(self, num_classes: int, in_dim: Optional[int] = None) -> None: super().__init__(in_dim=in_dim, out_dim=num_classes, field_head_name=FieldHeadNames.SEMANTICS, activation=None) class PredNormalsFieldHead(FieldHead): """Predicted normals output. Args: in_dim: input dimension. If not defined in constructor, it must be set later. activation: output head activation """ def __init__(self, in_dim: Optional[int] = None, activation: Optional[nn.Module] = nn.Tanh()) -> None: super().__init__(in_dim=in_dim, out_dim=3, field_head_name=FieldHeadNames.PRED_NORMALS, activation=activation) def forward(self, in_tensor: TensorType["bs":..., "in_dim"]) -> TensorType["bs":..., "out_dim"]: """Needed to normalize the output into valid normals.""" out_tensor = super().forward(in_tensor) out_tensor = torch.nn.functional.normalize(out_tensor, dim=-1) return out_tensor ================================================ FILE: AutoReconForDens3R/nerfstudio/field_components/mlp.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Multi Layer Perceptron """ from typing import Optional, Set, Tuple import torch from torch import nn from torchtyping import TensorType from nerfstudio.field_components.base_field_component import FieldComponent class MLP(FieldComponent): """Multilayer perceptron Args: in_dim: Input layer dimension num_layers: Number of network layers layer_width: Width of each MLP layer out_dim: Ouput layer dimension. Uses layer_width if None. activation: intermediate layer activation function. out_activation: output activation function. """ def __init__( self, in_dim: int, num_layers: int, layer_width: int, out_dim: Optional[int] = None, skip_connections: Optional[Tuple[int]] = None, activation: Optional[nn.Module] = nn.ReLU(), out_activation: Optional[nn.Module] = None, ) -> None: super().__init__() self.in_dim = in_dim assert self.in_dim > 0 self.out_dim = out_dim if out_dim is not None else layer_width self.num_layers = num_layers self.layer_width = layer_width self.skip_connections = skip_connections self._skip_connections: Set[int] = set(skip_connections) if skip_connections else set() self.activation = activation self.out_activation = out_activation self.net = None self.build_nn_modules() def build_nn_modules(self) -> None: """Initialize multi-layer perceptron.""" layers = [] if self.num_layers == 1: layers.append(nn.Linear(self.in_dim, self.out_dim)) else: for i in range(self.num_layers - 1): if i == 0: assert i not in self._skip_connections, "Skip connection at layer 0 doesn't make sense." layers.append(nn.Linear(self.in_dim, self.layer_width)) elif i in self._skip_connections: layers.append(nn.Linear(self.layer_width + self.in_dim, self.layer_width)) else: layers.append(nn.Linear(self.layer_width, self.layer_width)) layers.append(nn.Linear(self.layer_width, self.out_dim)) self.layers = nn.ModuleList(layers) def forward(self, in_tensor: TensorType["bs":..., "in_dim"]) -> TensorType["bs":..., "out_dim"]: """Process input with a multilayer perceptron. Args: in_tensor: Network input Returns: MLP network output """ x = in_tensor for i, layer in enumerate(self.layers): # as checked in `build_nn_modules`, 0 should not be in `_skip_connections` if i in self._skip_connections: x = torch.cat([in_tensor, x], -1) x = layer(x) if self.activation is not None and i < len(self.layers) - 1: x = self.activation(x) if self.out_activation is not None: x = self.out_activation(x) return x ================================================ FILE: AutoReconForDens3R/nerfstudio/field_components/progressive_encoding.py ================================================ from rich.console import Console import torch import tinycudann as tcnn from torch import nn CONSOLE = Console(width=120) class ProgressiveEncoding(nn.Module): """Progressive multi-resolution encoding proposed in NeuS2.""" def __init__( self, encoding: tcnn.Encoding, n_levels: int = 16, # number of resolution levels n_levels_init: int = 1, # number of resolution levels to use in the beginning n_features_per_level: int = 2, n_scheduler_steps: int = 10000 # total number of steps of the scheduler ) -> None: super().__init__() self.encoding = encoding self.n_levels = n_levels if n_scheduler_steps == -1: # enable progressive encoding but set all weights to 1 self.n_levels_init = self.n_levels # useful for testing / using pretrained models else: self.n_levels_init = n_levels_init self.n_features_per_level = n_features_per_level self.n_output_dims = self.encoding.n_output_dims assert self.encoding.n_output_dims == n_levels * n_features_per_level self.n_scheduler_steps = n_scheduler_steps self.step_size = n_scheduler_steps // n_levels self.cur_iter = 0 # TODO: make ProgressiveEncoding stateless and pass in cur_iter as an argument self.cur_level: int = -1 # self.register_buffer("weights", self._get_init_weights(), persistent=False) # persistent=True / nn.Parameter self.weights = nn.Parameter(self._get_init_weights(), requires_grad=False) CONSOLE.print(f'[bold green]Using progressive hash encoding training (n_iters={n_scheduler_steps})') def _get_init_weights(self): weights = torch.zeros(self.n_levels, self.n_features_per_level, dtype=torch.float32) weights[:self.n_levels_init, :] = 1.0 return weights def forward(self, positions): if self.n_scheduler_steps == -1: return self.encoding(positions) cur_level = min(int(self.cur_iter // self.step_size) + self.n_levels_init - 1, self.n_levels - 1) if self.cur_level != cur_level: self.cur_level = cur_level self.weights[cur_level, :] = 1.0 encoding = self.encoding(positions) # (..., c) encoding = encoding * self.weights.view(-1) if self.training: self.cur_iter += 1 return encoding ================================================ FILE: AutoReconForDens3R/nerfstudio/field_components/spatial_distortions.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Space distortions.""" from typing import Optional, Union import torch from functorch import jacrev, vmap from torch import nn from torchtyping import TensorType from nerfstudio.utils.math import Gaussians class SpatialDistortion(nn.Module): """Apply spatial distortions""" def forward( self, positions: Union[TensorType["bs":..., 3], Gaussians] ) -> Union[TensorType["bs":..., 3], Gaussians]: """ Args: positions: Sample to distort Returns: Union: distorted sample """ class SceneContraction(SpatialDistortion): """Contract unbounded space using the contraction was proposed in MipNeRF-360. We use the following contraction equation: .. math:: f(x) = \\begin{cases} x & ||x|| \\leq 1 \\\\ (2 - \\frac{1}{||x||})(\\frac{x}{||x||}) & ||x|| > 1 \\end{cases} If the order is not specified, we use the Frobenius norm, this will contract the space to a sphere of radius 1. If the order is L_inf (order=float("inf")), we will contract the space to a cube of side length 2. If using voxel based encodings such as the Hash encoder, we recommend using the L_inf norm. Args: order: Order of the norm. Default to the Frobenius norm. Must be set to None for Gaussians. scale_factor: Scale positions by this factor before applying contraction, default to 1.0. This is useful when the [-1, 1] region (no contraction) is too small and only covers a small portion of the scene. """ def __init__( self, order: Optional[Union[float, int]] = None, scale_factor: float = 1.0 ) -> None: super().__init__() self.order = order self.scale_factor = scale_factor def forward(self, positions): def contract(x): x = x * self.scale_factor mag = torch.linalg.norm(x, ord=self.order, dim=-1) mask = mag >= 1 x_new = x.clone() x_new[mask] = (2 - (1 / mag[mask][..., None])) * (x[mask] / mag[mask][..., None]) return x_new if isinstance(positions, Gaussians): means = contract(positions.mean.clone()) if self.scale_factor != 1.0: raise NotImplementedError('Scaling of gaussian covariances is not implemented.') # FIXME: covariances are not handled for now! contract = lambda x: (2 - (1 / torch.linalg.norm(x, ord=self.order, dim=-1, keepdim=True))) * ( x / torch.linalg.norm(x, ord=self.order, dim=-1, keepdim=True) ) jc_means = vmap(jacrev(contract))(positions.mean.view(-1, positions.mean.shape[-1])) jc_means = jc_means.view(list(positions.mean.shape) + [positions.mean.shape[-1]]) # Only update covariances on positions outside the unit sphere mag = positions.mean.norm(dim=-1) mask = mag >= 1 cov = positions.cov.clone() cov[mask] = jc_means[mask] @ positions.cov[mask] @ torch.transpose(jc_means[mask], -2, -1) return Gaussians(mean=means, cov=cov) return contract(positions) class ForegroundAwareSceneContraction(SpatialDistortion): """Contract unbounded space using a modified version of the contraction proposed in MipNeRF-360. 1. Keep the "||x|| <= 1 / x in aabb" region unchanged, i.e., to [-1, 1] / [aabb[0], aabb[1]], which should be modeled by the foreground field. 2. Linearly contract the 1 < ||x|| <= alpha / x not in aabb but x <= alpha region to [[-1, -1/alpha], [1/alpha, 1]] (alpha>=1), which should be modeled with a separate background field. 3. Non-linearly contract the ||x|| > alpha region to [[-2, -1], [1, 2]], which should be modeled with the background field. # FIXME: covariances are not handled for now! """ def __init__( self, order: Optional[Union[float, int]] = None, aabb: Optional[torch.Tensor] = None, # (2, 3) alpha: float = 5.0, scale_factor: float = 1.0 ) -> None: super().__init__() self.order = order self.alpha = alpha self.scale_factor = scale_factor self.aabb = nn.Parameter(aabb, requires_grad=False) if aabb is not None else None if aabb is not None: assert aabb.abs().max() <= 1.0, f"Invalid aabb: aabb={aabb}" assert order == float("inf"), f"Must use inf norm with aabb: order={order}" assert self.scale_factor == 1.0 assert alpha >= 1.0, f"Invalid hparam setting: alpha={alpha}" def forward(self, positions): def _contract(x): mag = torch.linalg.norm(x, ord=self.order, dim=-1) mask = mag >= 1 x_new = x.clone() x_new[mask] = (2 - (1 / mag[mask][..., None])) * (x[mask] / mag[mask][..., None]) return x_new def contract(x): x = x * self.scale_factor if self.aabb is None: mag = torch.linalg.norm(x, ord=self.order, dim=-1) mask = mag >= 1 else: in_aabb_mask = ((x >= self.aabb[0]) & (x <= self.aabb[1])).all(-1) # whether including = ? mask = ~in_aabb_mask x_new = x.clone() x_new[mask] = x[mask] / self.alpha return _contract(x_new) if isinstance(positions, Gaussians): means = contract(positions.mean.clone()) # FIXME: covariances are not handled for now! if self.scale_factor != 1.0: raise NotImplementedError('Scaling of gaussian covariances is not implemented.') contract = lambda x: (2 - (1 / torch.linalg.norm(x, ord=self.order, dim=-1, keepdim=True))) * ( x / torch.linalg.norm(x, ord=self.order, dim=-1, keepdim=True) ) jc_means = vmap(jacrev(contract))(positions.mean.view(-1, positions.mean.shape[-1])) jc_means = jc_means.view(list(positions.mean.shape) + [positions.mean.shape[-1]]) # Only update covariances on positions outside the unit sphere mag = positions.mean.norm(dim=-1) mask = mag >= 1 cov = positions.cov.clone() cov[mask] = jc_means[mask] @ positions.cov[mask] @ torch.transpose(jc_means[mask], -2, -1) return Gaussians(mean=means, cov=cov) return contract(positions) ================================================ FILE: AutoReconForDens3R/nerfstudio/field_components/temporal_distortions.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Space distortions which occur as a function of time.""" from enum import Enum from typing import Any, Dict, Optional, Tuple import torch from torch import nn from torchtyping import TensorType from nerfstudio.field_components.encodings import Encoding, NeRFEncoding from nerfstudio.field_components.mlp import MLP class TemporalDistortion(nn.Module): """Apply spatial distortions as a function of time""" def forward(self, positions: TensorType["bs":..., 3], times: Optional[TensorType[1]]) -> TensorType["bs":..., 3]: """ Args: positions: Samples to translate as a function of time times: times for each sample Returns: Translated positions. """ class TemporalDistortionKind(Enum): """Possible temporal distortion names""" DNERF = "dnerf" def to_temporal_distortion(self, config: Dict[str, Any]) -> TemporalDistortion: """Converts this kind to a temporal distortion""" if self == TemporalDistortionKind.DNERF: return DNeRFDistortion(**config) raise NotImplementedError(f"Unknown temporal distortion kind {self}") class DNeRFDistortion(TemporalDistortion): """Optimizable temporal deformation using an MLP. Args: position_encoding: An encoding for the XYZ of distortion temporal_encoding: An encoding for the time of distortion mlp_num_layers: Number of layers in distortion MLP mlp_layer_width: Size of hidden layer for the MLP skip_connections: Number of layers for skip connections in the MLP """ def __init__( self, position_encoding: Encoding = NeRFEncoding( in_dim=3, num_frequencies=10, min_freq_exp=0.0, max_freq_exp=8.0, include_input=True ), temporal_encoding: Encoding = NeRFEncoding( in_dim=1, num_frequencies=10, min_freq_exp=0.0, max_freq_exp=8.0, include_input=True ), mlp_num_layers: int = 4, mlp_layer_width: int = 256, skip_connections: Tuple[int] = (4,), ) -> None: super().__init__() self.position_encoding = position_encoding self.temporal_encoding = temporal_encoding self.mlp_deform = MLP( in_dim=self.position_encoding.get_out_dim() + self.temporal_encoding.get_out_dim(), out_dim=3, num_layers=mlp_num_layers, layer_width=mlp_layer_width, skip_connections=skip_connections, ) def forward(self, positions, times=None): if times is None: return None p = self.position_encoding(positions) t = self.temporal_encoding(times) return self.mlp_deform(torch.cat([p, t], dim=-1)) ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/base_field.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Base class for the graphs. """ from abc import abstractmethod from typing import Dict, Optional, Tuple, Type from dataclasses import dataclass, field import torch from torch import nn from torchtyping import TensorType from nerfstudio.configs.base_config import InstantiateConfig from nerfstudio.cameras.rays import Frustums, RaySamples from nerfstudio.field_components.field_heads import FieldHeadNames # Field related configs @dataclass class FieldConfig(InstantiateConfig): """Configuration for model instantiation""" _target: Type = field(default_factory=lambda: Field) """target class to instantiate""" class Field(nn.Module): """Base class for fields.""" def __init__(self) -> None: super().__init__() self._sample_locations = None self._density_before_activation = None def density_fn(self, positions: TensorType["bs":..., 3]) -> TensorType["bs":..., 1]: """Returns only the density. Used primarily with the density grid. Args: positions: the origin of the samples/frustums """ # Need to figure out a better way to describe positions with a ray. ray_samples = RaySamples( frustums=Frustums( origins=positions, directions=torch.ones_like(positions), starts=torch.zeros_like(positions[..., :1]), ends=torch.zeros_like(positions[..., :1]), pixel_area=torch.ones_like(positions[..., :1]), ) ) density, _ = self.get_density(ray_samples) return density @abstractmethod def get_density(self, ray_samples: RaySamples) -> Tuple[TensorType[..., 1], TensorType[..., "num_features"]]: """Computes and returns the densities. Returns a tensor of densities and a tensor of features. Args: ray_samples: Samples locations to compute density. """ def get_normals(self) -> TensorType[..., 3]: """Computes and returns a tensor of normals. Args: density: Tensor of densities. """ assert self._sample_locations is not None, "Sample locations must be set before calling get_normals." assert self._density_before_activation is not None, "Density must be set before calling get_normals." assert ( self._sample_locations.shape[:-1] == self._density_before_activation.shape[:-1] ), "Sample locations and density must have the same shape besides the last dimension." self._density_before_activation.backward( gradient=torch.ones_like(self._density_before_activation), inputs=self._sample_locations, retain_graph=True ) normals = -torch.nn.functional.normalize(self._sample_locations.grad, dim=-1) return normals @abstractmethod def get_outputs( self, ray_samples: RaySamples, density_embedding: Optional[TensorType] = None ) -> Dict[FieldHeadNames, TensorType]: """Computes and returns the colors. Returns output field values. Args: ray_samples: Samples locations to compute outputs. density_embedding: Density embeddings to condition on. """ def forward(self, ray_samples: RaySamples, compute_normals: bool = False): """Evaluates the field at points along the ray. Args: ray_samples: Samples to evaluate field on. """ if compute_normals: with torch.enable_grad(): density, density_embedding = self.get_density(ray_samples) else: density, density_embedding = self.get_density(ray_samples) field_outputs = self.get_outputs(ray_samples, density_embedding=density_embedding) field_outputs[FieldHeadNames.DENSITY] = density # type: ignore if compute_normals: with torch.enable_grad(): normals = self.get_normals() field_outputs[FieldHeadNames.NORMALS] = normals # type: ignore return field_outputs ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/density_fields.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Proposal network field. """ from typing import Optional from typing_extensions import Literal import numpy as np import torch from torch.nn.parameter import Parameter from torchtyping import TensorType from nerfstudio.cameras.rays import RaySamples from nerfstudio.data.scene_box import SceneBox from nerfstudio.field_components.activations import trunc_exp from nerfstudio.field_components.spatial_distortions import SpatialDistortion from nerfstudio.fields.base_field import Field try: import tinycudann as tcnn except ImportError: # tinycudann module doesn't exist pass class HashMLPDensityField(Field): """A lightweight density field module. Args: aabb: parameters of scene aabb bounds num_layers: number of hidden layers hidden_dim: dimension of hidden layers spatial_distortion: spatial distortion module use_linear: whether to skip the MLP and use a single linear layer instead spatial_normalization_region: if 'full', normalize coorinates from [-2, 2] to [0, 1]; if 'fg', normalize coordinates from [-1, 1] to [0, 1] """ def __init__( self, aabb, num_layers: int = 2, hidden_dim: int = 64, spatial_distortion: Optional[SpatialDistortion] = None, use_linear=False, num_levels=8, max_res=1024, base_res=16, log2_hashmap_size=18, features_per_level=2, spatial_normalization_region: Literal['full', 'fg'] = 'full' ) -> None: super().__init__() self.aabb = Parameter(aabb, requires_grad=False) self.spatial_distortion = spatial_distortion self.use_linear = use_linear self.spatial_normalization_region = spatial_normalization_region growth_factor = np.exp((np.log(max_res) - np.log(base_res)) / (num_levels - 1)) config = { "encoding": { "otype": "HashGrid", "n_levels": num_levels, "n_features_per_level": features_per_level, "log2_hashmap_size": log2_hashmap_size, "base_resolution": base_res, "per_level_scale": growth_factor, }, "network": { "otype": "FullyFusedMLP", "activation": "ReLU", "output_activation": "None", "n_neurons": hidden_dim, "n_hidden_layers": num_layers - 1, }, } if not self.use_linear: self.mlp_base = tcnn.NetworkWithInputEncoding( n_input_dims=3, n_output_dims=1, encoding_config=config["encoding"], network_config=config["network"], ) else: self.encoding = tcnn.Encoding(n_input_dims=3, encoding_config=config["encoding"]) self.linear = torch.nn.Linear(self.encoding.n_output_dims, 1) def _get_normalized_positions(self, positions): if self.spatial_normalization_region == 'full': return (positions + 2.0) / 4.0 elif self.spatial_normalization_region == 'fg': return (positions + 1.0) / 2.0 else: raise ValueError(f"Unknown spatial normalization region: {self.spatial_normalization_region}") def get_density(self, ray_samples: RaySamples): if self.spatial_distortion is not None: positions = self.spatial_distortion(ray_samples.frustums.get_positions()) positions = self._get_normalized_positions(positions) else: positions = SceneBox.get_normalized_positions(ray_samples.frustums.get_positions(), self.aabb) positions_flat = positions.view(-1, 3) if not self.use_linear: density_before_activation = ( self.mlp_base(positions_flat).view(*ray_samples.frustums.shape, -1).to(positions) ) else: x = self.encoding(positions_flat).to(positions) density_before_activation = self.linear(x).view(*ray_samples.frustums.shape, -1) # Rectifying the density with an exponential is much more stable than a ReLU or # softplus, because it enables high post-activation (float32) density outputs # from smaller internal (float16) parameters. density = trunc_exp(density_before_activation) return density, None def get_outputs(self, ray_samples: RaySamples, density_embedding: Optional[TensorType] = None): return {} ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/feature_field.py ================================================ from dataclasses import dataclass, field from typing import Dict, Optional, Tuple, Type from rich.console import Console from torchtyping import TensorType from typing_extensions import Literal try: import faiss except ImportError as err: pass import numpy as np import torch from torch.nn import Parameter from torch.nn import functional as F from nerfstudio.cameras.rays import RaySamples from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.field_components.spatial_distortions import SpatialDistortion from nerfstudio.fields.base_field import Field, FieldConfig from nerfstudio.utils.pointclouds import BasicPointClouds try: import tinycudann as tcnn except ImportError: # tinycudann module doesn't exist pass CONSOLE = Console(width=128) @dataclass class FeatureFieldConfig(FieldConfig): """Feature Field Config""" _target: Type = field(default_factory=lambda: FeatureField) nc_position: int = 3 """Number of channels for positional inputs""" nc_feature: int = 384 nc_hidden: int = 128 n_hidden_layers: int = 2 use_viewdirs: bool = False use_grid_feature: bool = True """Whether to use multi-resolution feature grids (only support hash encoding for now)""" hash_grid_max_res: int = 128 """Maximum resolution of the feature grid (use a smaller default value since ViT features is of lower frequency)""" hash_grid_log2_hashmap_size: int = 19 # hash_grid_precision: Literal["float32", "float16"] = "float32" use_position_encoding: bool = True """Whether to include positional encodings beyond the grid features (for better smoothness)""" use_fused_encoding_mlp: bool = True """Whether to use TCNN fused encoding & mlp""" class FeatureField(Field): """A indivisual feature field without feature sharing with the main field.""" config: FeatureFieldConfig def __init__(self, config: FeatureFieldConfig, spatial_distortion: Optional[SpatialDistortion] = None) -> None: super().__init__() self.config = config self.spatial_distortion = spatial_distortion self.use_grid_feature = self.config.use_grid_feature self.use_viewdirs = self.config.use_viewdirs # feature field hash grid if self.config.use_viewdirs: raise NotImplementedError # if self.config.use_position_encoding: # raise NotImplementedError # tcnn nested positional encoding not working if self.config.use_grid_feature: self.build_ngp() else: self.build() def build_ngp(self): L, F, N_min = 16, 2, 16 log2_T = self.config.hash_grid_log2_hashmap_size N_max = self.config.hash_grid_max_res b = np.exp(np.log(N_max / N_min) / (L - 1)) # feature is of lower-frequency -> N_max=128 nc_pos = self.config.nc_position hash_encoding_config = { "otype": "Grid", "type": "Hash", "n_levels": L, "n_features_per_level": F, "log2_hashmap_size": log2_T, "base_resolution": N_min, "per_level_scale": b, "n_dims_to_encode": nc_pos, "interpolation": "Linear", # TODO: support "Smoothstep" } if self.config.use_fused_encoding_mlp: # tcnn encoding + mlp encoding_config = { "otype": "Composite", # Hash for the first nc_pos dims; Frequency for the later nc_pos dims "nested": [ hash_encoding_config, { "otype": "Frequency", "n_frequencies": 8, "n_dims_to_encode": nc_pos, }, ], } # when tinycudann is built w/ float16 support, it will use float16 automatically self.feature_encoder = tcnn.NetworkWithInputEncoding( n_input_dims=nc_pos * 2 if self.config.use_position_encoding else nc_pos, # 2 * nc_pos for smooth encoding n_output_dims=self.config.nc_feature, encoding_config=encoding_config, network_config={ "otype": "FullyFusedMLP", "activation": "ReLU", "output_activation": "None", "n_neurons": self.config.nc_hidden, "n_hidden_layers": self.config.n_hidden_layers, }, # dtype=torch.float32 if self.config.hash_grid_precision == "float32" else torch.float16 ) else: # tcnn encoding + torch MLP raise NotImplementedError # self.pos_encoder = tcnn.Encoding(n_input_dims=nc_pos, # encoding_config=hash_encoding_config) # pos_dim = self.pos_encoder.n_output_dims # self.mlp = nn.Sequential( # fc_block(pos_dim, self.config.nc_hidden), # *[fc_block(self.config.nc_hidden, self.config.nc_hidden) for _ in range(self.config.n_hidden_layers)], # nn.Linear(self.config.nc_hidden, self.config.nc_feature) # TODO: support output activation # ) def build(self): raise NotImplementedError def query_features( self, positions: TensorType["n_rays", "d_pos"], viewdirs: Optional[TensorType["n_rays", "d_dir"]] = None ) -> TensorType["n_rays", "d_feature"]: """Qeury the feature field""" x = self._get_input_positions(positions) if self.config.use_position_encoding: # FIXME: raise runtime_error after loading checkpoints to other fields. features = self.feature_encoder(torch.cat([x, x], dim=-1)) else: features = self.feature_encoder(x) return features def get_outputs(self, ray_samples: RaySamples) -> Dict[str, torch.Tensor]: outputs = {} inputs = ray_samples.frustums.get_start_positions() inputs = inputs.view(-1, 3) directions = ray_samples.frustums.directions directions_flat = directions.reshape(-1, 3) features = self.query_features(inputs, directions_flat) # NOTE: feautures.dtype = torch.float16 features = features.view(*ray_samples.frustums.directions.shape[:-1], -1) outputs = {FieldHeadNames.FEATURE: features} return outputs def forward(self, ray_samples: RaySamples): """Evaluates the field at the given ray samples""" field_outputs = self.get_outputs(ray_samples) return field_outputs def _get_input_positions(self, positions: torch.Tensor): """compute input positions (for positional encoding / feature encoding) from raw ray sample positions. NOTE: assume the whole scene is represented by a single feature field """ positions = self.spatial_distortion(positions) # [[-2, -1], [-1, 1], [1, 2]] positions = (positions + 2.0) / 4.0 # Full normalization: [-2, 2] -> [0, 1] # FIXME: handle positions out of [0, 1] after spatial_distortion & normalization return positions @dataclass class FeatureSegFieldConfig(FieldConfig): """FeatureSegField Config""" _target: Type = field(default_factory=lambda: FeatureSegField) knn: int = 10 # TOOD: seg fg & bg knn separately? """number of reference points to retrieve for each point to be segmented""" distance_weighted_average: bool = False """compute distance-weighted average of cosine similairties of the knn retrieved points""" in_fg_aabb_only: bool = True """if a point is not in the fg aabb, it is directly considered as background""" contrast_fg_bg: bool = True """whether to derive segmentation field by contrast between foreground and background points""" separate_bg_plane: bool = False """when computing segmentation probs, treat background and plane as two different classes""" class FeatureSegField(Field): """calculate segmentation field from feature field""" config: FeatureSegFieldConfig def __init__(self, config: FeatureFieldConfig, ptcd_data: BasicPointClouds, aabb: TensorType[2, 3]) -> None: super().__init__() self.config = config self.ptcd_data = ptcd_data self.aabb = Parameter(aabb, requires_grad=False) self.ref_feats_fg = ptcd_data.fg_feats self.ref_feats_bg = torch.cat([ptcd_data.bg_feats, ptcd_data.plane_feats], 0) self.ref_pts_fg = ptcd_data.fg_pts self.ref_pts_bg = torch.cat([ptcd_data.bg_pts, ptcd_data.plane_pts], 0) self.fg_nn_index = ptcd_data.fg_nn_index self.bg_nn_index = ptcd_data.bg_nn_index if self.config.separate_bg_plane: self.plane_nn_index = ptcd_data.plane_nn_index self.ref_feats_bg, self.ref_pts_bg = ptcd_data.bg_feats, ptcd_data.bg_pts self.ref_feats_plane, self.ref_pts_plane = ptcd_data.plane_feats, ptcd_data.plane_pts self._register_all_tensors_as_buffers() @torch.no_grad() def compute_seg_prob( self, points: Optional[TensorType["num_samples", 3]], # unnormalized, raw positions features: TensorType["num_samples", "nc_features"], ptcd_data: Optional[BasicPointClouds] = None, ) -> TensorType["num_samples", 1]: if ptcd_data is not None: # Override self.ptcd_data raise NotImplementedError features = features.detach() if points is not None: points = points.detach() if self.config.in_fg_aabb_only: assert points is not None in_fg_aabb_mask = ((points >= self.aabb[0]) & (points <= self.aabb[1])).all(-1) # (n, ) # TODO: for pts not in fg aabb, omit the seg_probs computation directly. feats_l2_normalized = F.normalize(features, p=2, dim=-1) knn_inds_fg, knn_feats_fg, knn_pts_fg = self.search_knn_fg(feats_l2_normalized) knn_cos_sims_avg_fg = self.compute_cos_sim(points, feats_l2_normalized, knn_feats_fg, knn_pts_fg) if not self.config.contrast_fg_bg: seg_probs = knn_cos_sims_avg_fg * 0.5 + 0.5 else: knn_inds_bg, knn_feats_bg, knn_pts_bg = self.search_knn_bg(features) knn_cos_sims_avg_bg = self.compute_cos_sim(points, feats_l2_normalized, knn_feats_bg, knn_pts_bg) # contrastive seg_probs if self.config.separate_bg_plane: knn_inds_plane, knn_feats_plane, knn_pts_plane = self.search_knn_plane(features) knn_cos_sims_avg_plane = self.compute_cos_sim( points, feats_l2_normalized, knn_feats_plane, knn_pts_plane ) # (n, 1) knn_cos_sims_avg_bg = torch.maximum(knn_cos_sims_avg_bg, knn_cos_sims_avg_plane) # TODO: tune temperature and offset cos_sims before applying softmax (since most cos_sims > -0.1) seg_probs = torch.softmax(torch.cat([knn_cos_sims_avg_fg, knn_cos_sims_avg_bg], -1), dim=-1) seg_probs = seg_probs[..., [0]] if self.config.in_fg_aabb_only: seg_probs[~in_fg_aabb_mask] = 0.0 return seg_probs def search_knn_fg(self, feats: TensorType["n", "c"]): return self._search_knn(feats, self.ref_feats_fg, self.ref_pts_fg, self.fg_nn_index) def search_knn_bg(self, feats: TensorType["n", "c"]): return self._search_knn(feats, self.ref_feats_bg, self.ref_pts_bg, self.bg_nn_index) def search_knn_plane(self, feats: TensorType["n", "c"]): return self._search_knn(feats, self.ref_feats_plane, self.ref_pts_plane, self.plane_nn_index) def _search_knn( self, feats: TensorType["n", "c"], ref_feats: TensorType["m", "c"], ref_pts: TensorType["m", 3], nn_index: faiss.Index, ) -> Tuple[TensorType["n", "k"], TensorType["n", "k", "c"], TensorType["n", "k", 3]]: feats = feats.to(torch.float32) knn_dists, knn_inds = nn_index.search(feats, self.config.knn) # (n, k) knn_feats = torch.index_select(ref_feats, 0, knn_inds.reshape(-1)).reshape(*knn_inds.shape, -1) # (n, k, c) knn_pts = torch.index_select(ref_pts, 0, knn_inds.reshape(-1)).reshape(*knn_inds.shape, -1) # (n, k, c) return knn_inds, knn_feats, knn_pts def compute_cos_sim( self, points: Optional[TensorType["n", 3]], feats: TensorType["n", "c"], knn_feats: TensorType["n", "k", "c"], knn_pts: TensorType["n", "k", 3], ) -> TensorType["n", 1]: knn_cos_sims = F.cosine_similarity(feats[:, None], knn_feats, dim=-1) # (n, k) if not self.config.distance_weighted_average: return knn_cos_sims.mean(-1, keepdim=True) knn_pts_dists = torch.linalg.norm(points[:, None] - knn_pts, ord=2, dim=-1) knn_pts_weights = torch.exp(-knn_pts_dists) # TODO: tune temperature knn_pts_weights = knn_pts_weights / knn_pts_weights.sum(-1, keepdim=True) # normalized weights # use unnormalized weights would down weight bg_cos_sims too much knn_weighed_cos_sims = (knn_cos_sims * knn_pts_weights).sum(-1, keepdim=True) return knn_weighed_cos_sims def _register_all_tensors_as_buffers(self): """register all Tensor attributes as buffers to automatically move them to the target device""" _attr_names = list(vars(self).keys()) for _name in _attr_names: _attr = getattr(self, _name) if not isinstance(_attr, torch.Tensor): continue delattr(self, _name) self.register_buffer(_name, _attr, persistent=False) @torch.no_grad() def forward( self, ray_samples: Optional[RaySamples], features: TensorType["bs":..., "num_samples", "nc_features"], ptcd_data: Optional[BasicPointClouds] = None, ) -> Dict[str, TensorType["bs":..., 1]]: """Calculate segmentation along the ray.""" prefix_dims, nc_feat = features.shape[:-1], features.shape[-1] features = features.view(-1, nc_feat) raw_positions = ray_samples.frustums.get_start_positions().view(-1, 3) if ray_samples is not None else None seg_probs = self.compute_seg_prob(raw_positions, features, ptcd_data=ptcd_data).reshape(*prefix_dims, 1) outputs = {FieldHeadNames.FG_SEG: seg_probs} return outputs ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/instant_ngp_field.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Instant-NGP field implementations using tiny-cuda-nn, torch, .... """ from typing import Optional import torch from nerfacc import ContractionType, contract from torch.nn.parameter import Parameter from torchtyping import TensorType from nerfstudio.cameras.rays import RaySamples from nerfstudio.data.scene_box import SceneBox from nerfstudio.field_components.activations import trunc_exp from nerfstudio.field_components.embedding import Embedding from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.fields.base_field import Field try: import tinycudann as tcnn except ImportError: # tinycudann module doesn't exist pass def get_normalized_directions(directions: TensorType["bs":..., 3]): """SH encoding must be in the range [0, 1] Args: directions: batch of directions """ return (directions + 1.0) / 2.0 class TCNNInstantNGPField(Field): """TCNN implementation of the Instant-NGP field. Args: aabb: parameters of scene aabb bounds num_layers: number of hidden layers hidden_dim: dimension of hidden layers geo_feat_dim: output geo feat dimensions num_layers_color: number of hidden layers for color network hidden_dim_color: dimension of hidden layers for color network use_appearance_embedding: whether to use appearance embedding num_images: number of images, requried if use_appearance_embedding is True appearance_embedding_dim: dimension of appearance embedding contraction_type: type of contraction """ def __init__( self, aabb, num_layers: int = 2, hidden_dim: int = 64, geo_feat_dim: int = 15, num_layers_color: int = 3, hidden_dim_color: int = 64, use_appearance_embedding: bool = False, num_images: Optional[int] = None, appearance_embedding_dim: int = 32, contraction_type: ContractionType = ContractionType.UN_BOUNDED_SPHERE, ) -> None: super().__init__() self.aabb = Parameter(aabb, requires_grad=False) self.geo_feat_dim = geo_feat_dim self.contraction_type = contraction_type self.use_appearance_embedding = use_appearance_embedding if use_appearance_embedding: assert num_images is not None self.appearance_embedding_dim = appearance_embedding_dim self.appearance_embedding = Embedding(num_images, appearance_embedding_dim) # TODO: set this properly based on the aabb per_level_scale = 1.4472692012786865 self.direction_encoding = tcnn.Encoding( n_input_dims=3, encoding_config={ "otype": "SphericalHarmonics", "degree": 4, }, ) self.mlp_base = tcnn.NetworkWithInputEncoding( n_input_dims=3, n_output_dims=1 + self.geo_feat_dim, encoding_config={ "otype": "HashGrid", "n_levels": 16, "n_features_per_level": 2, "log2_hashmap_size": 19, "base_resolution": 16, "per_level_scale": per_level_scale, }, network_config={ "otype": "FullyFusedMLP", "activation": "ReLU", "output_activation": "None", "n_neurons": hidden_dim, "n_hidden_layers": num_layers - 1, }, ) in_dim = self.direction_encoding.n_output_dims + self.geo_feat_dim if self.use_appearance_embedding: in_dim += self.appearance_embedding_dim self.mlp_head = tcnn.Network( n_input_dims=in_dim, n_output_dims=3, network_config={ "otype": "FullyFusedMLP", "activation": "ReLU", "output_activation": "Sigmoid", "n_neurons": hidden_dim_color, "n_hidden_layers": num_layers_color - 1, }, ) def get_density(self, ray_samples: RaySamples): positions = ray_samples.frustums.get_positions() positions_flat = positions.view(-1, 3) positions_flat = contract(x=positions_flat, roi=self.aabb, type=self.contraction_type) h = self.mlp_base(positions_flat).view(*ray_samples.frustums.shape, -1) density_before_activation, base_mlp_out = torch.split(h, [1, self.geo_feat_dim], dim=-1) # Rectifying the density with an exponential is much more stable than a ReLU or # softplus, because it enables high post-activation (float32) density outputs # from smaller internal (float16) parameters. density = trunc_exp(density_before_activation.to(positions)) return density, base_mlp_out def get_outputs(self, ray_samples: RaySamples, density_embedding: Optional[TensorType] = None): directions = get_normalized_directions(ray_samples.frustums.directions) directions_flat = directions.view(-1, 3) d = self.direction_encoding(directions_flat) if density_embedding is None: positions = SceneBox.get_normalized_positions(ray_samples.frustums.get_positions(), self.aabb) h = torch.cat([d, positions.view(-1, 3)], dim=-1) else: h = torch.cat([d, density_embedding.view(-1, self.geo_feat_dim)], dim=-1) if self.use_appearance_embedding: if ray_samples.camera_indices is None: raise AttributeError("Camera indices are not provided.") camera_indices = ray_samples.camera_indices.squeeze() if self.training: embedded_appearance = self.appearance_embedding(camera_indices) else: embedded_appearance = torch.zeros( (*directions.shape[:-1], self.appearance_embedding_dim), device=directions.device ) h = torch.cat([h, embedded_appearance.view(-1, self.appearance_embedding_dim)], dim=-1) rgb = self.mlp_head(h).view(*ray_samples.frustums.directions.shape[:-1], -1).to(directions) return {FieldHeadNames.RGB: rgb} def get_opacity(self, positions: TensorType["bs":..., 3], step_size) -> TensorType["bs":..., 1]: """Returns the opacity for a position. Used primarily by the occupancy grid. Args: positions: the positions to evaluate the opacity at. step_size: the step size to use for the opacity evaluation. """ density = self.density_fn(positions) ## TODO: We should scale step size based on the distortion. Currently it uses too much memory. # aabb_min, aabb_max = self.aabb[0], self.aabb[1] # if self.contraction_type is not ContractionType.AABB: # x = (positions - aabb_min) / (aabb_max - aabb_min) # x = x * 2 - 1 # aabb is at [-1, 1] # mag = x.norm(dim=-1, keepdim=True) # mask = mag.squeeze(-1) > 1 # dev = (2 * mag - 1) / mag**2 + 2 * x**2 * (1 / mag**3 - (2 * mag - 1) / mag**4) # dev[~mask] = 1.0 # dev = torch.clamp(dev, min=1e-6) # step_size = step_size / dev.norm(dim=-1, keepdim=True) # else: # step_size = step_size * (aabb_max - aabb_min) opacity = density * step_size return opacity ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/nerfacto_field.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Field for compound nerf model, adds scene contraction and image embeddings to instant ngp """ from typing import Dict, Optional, Tuple from typing_extensions import Literal import numpy as np import torch from torch import nn from torch.nn.parameter import Parameter from torchtyping import TensorType from nerfstudio.cameras.rays import RaySamples from nerfstudio.data.scene_box import SceneBox from nerfstudio.field_components.activations import trunc_exp from nerfstudio.field_components.embedding import Embedding from nerfstudio.field_components.encodings import Encoding, HashEncoding, SHEncoding from nerfstudio.field_components.field_heads import ( DensityFieldHead, FieldHead, FieldHeadNames, PredNormalsFieldHead, RGBFieldHead, SemanticFieldHead, TransientDensityFieldHead, TransientRGBFieldHead, UncertaintyFieldHead, ) from nerfstudio.field_components.mlp import MLP from nerfstudio.field_components.spatial_distortions import ( SceneContraction, SpatialDistortion, ) from nerfstudio.fields.base_field import Field try: import tinycudann as tcnn except ImportError: # tinycudann module doesn't exist pass def get_normalized_directions(directions: TensorType["bs":..., 3]): """SH encoding must be in the range [0, 1] Args: directions: batch of directions """ return (directions + 1.0) / 2.0 class TCNNNerfactoField(Field): """Compound Field that uses TCNN Args: aabb: parameters of scene aabb bounds num_layers: number of hidden layers hidden_dim: dimension of hidden layers geo_feat_dim: output geo feat dimensions num_levels: number of levels of the hashmap for the base mlp max_res: maximum resolution of the hashmap for the base mlp log2_hashmap_size: size of the hashmap for the base mlp num_layers_color: number of hidden layers for color network hidden_dim_color: dimension of hidden layers for color network appearance_embedding_dim: dimension of appearance embedding transient_embedding_dim: dimension of transient embedding use_average_appearance_embedding: whether to use average appearance embedding or zeros for inference spatial_distortion: spatial distortion to apply to the scene spatial_normalization_region: specify the reigion get normalized to the [[0, 0, 0], [1, 1, 1]] feature grid """ def __init__( self, aabb, num_images: int, num_layers: int = 2, hidden_dim: int = 64, geo_feat_dim: int = 15, num_levels: int = 16, max_res: int = 1024, log2_hashmap_size: int = 19, num_layers_color: int = 3, num_layers_transient: int = 2, hidden_dim_color: int = 64, hidden_dim_transient: int = 64, appearance_embedding_dim: int = 32, transient_embedding_dim: int = 16, use_transient_embedding: bool = False, use_semantics: bool = False, num_semantic_classes: int = 100, use_pred_normals: bool = False, use_appearance_embedding: bool = True, use_average_appearance_embedding: bool = False, spatial_distortion: Optional[SpatialDistortion] = None, spatial_normalization_region: Literal["full", "fg", "aabb"] = "full", ) -> None: super().__init__() self.aabb = Parameter(aabb, requires_grad=False) self.geo_feat_dim = geo_feat_dim self.spatial_distortion = spatial_distortion self.spatial_normalization_region = spatial_normalization_region self.num_images = num_images self.use_appearance_embedding = use_appearance_embedding self.appearance_embedding_dim = appearance_embedding_dim if use_appearance_embedding else 0 self.embedding_appearance = Embedding(self.num_images, self.appearance_embedding_dim) self.use_average_appearance_embedding = use_average_appearance_embedding self.use_transient_embedding = use_transient_embedding self.use_semantics = use_semantics self.use_pred_normals = use_pred_normals base_res = 16 features_per_level = 2 growth_factor = np.exp((np.log(max_res) - np.log(base_res)) / (num_levels - 1)) self.direction_encoding = tcnn.Encoding( n_input_dims=3, encoding_config={ "otype": "SphericalHarmonics", "degree": 4, }, ) self.position_encoding = tcnn.Encoding( n_input_dims=3, encoding_config={"otype": "Frequency", "n_frequencies": 2}, ) self.mlp_base = tcnn.NetworkWithInputEncoding( n_input_dims=3, n_output_dims=1 + self.geo_feat_dim, encoding_config={ "otype": "HashGrid", "n_levels": num_levels, "n_features_per_level": features_per_level, "log2_hashmap_size": log2_hashmap_size, "base_resolution": base_res, "per_level_scale": growth_factor, }, network_config={ "otype": "FullyFusedMLP", "activation": "ReLU", "output_activation": "None", "n_neurons": hidden_dim, "n_hidden_layers": num_layers - 1, }, ) # transients if self.use_transient_embedding: self.transient_embedding_dim = transient_embedding_dim self.embedding_transient = Embedding(self.num_images, self.transient_embedding_dim) self.mlp_transient = tcnn.Network( n_input_dims=self.geo_feat_dim + self.transient_embedding_dim, n_output_dims=hidden_dim_transient, network_config={ "otype": "FullyFusedMLP", "activation": "ReLU", "output_activation": "None", "n_neurons": hidden_dim_transient, "n_hidden_layers": num_layers_transient - 1, }, ) self.field_head_transient_uncertainty = UncertaintyFieldHead(in_dim=self.mlp_transient.n_output_dims) self.field_head_transient_rgb = TransientRGBFieldHead(in_dim=self.mlp_transient.n_output_dims) self.field_head_transient_density = TransientDensityFieldHead(in_dim=self.mlp_transient.n_output_dims) # semantics if self.use_semantics: self.mlp_semantics = tcnn.Network( n_input_dims=self.geo_feat_dim, n_output_dims=hidden_dim_transient, network_config={ "otype": "FullyFusedMLP", "activation": "ReLU", "output_activation": "None", "n_neurons": 64, "n_hidden_layers": 1, }, ) self.field_head_semantics = SemanticFieldHead( in_dim=self.mlp_semantics.n_output_dims, num_classes=num_semantic_classes ) # predicted normals if self.use_pred_normals: self.mlp_pred_normals = tcnn.Network( n_input_dims=self.geo_feat_dim + self.position_encoding.n_output_dims, n_output_dims=hidden_dim_transient, network_config={ "otype": "FullyFusedMLP", "activation": "ReLU", "output_activation": "None", "n_neurons": 64, "n_hidden_layers": 2, }, ) self.field_head_pred_normals = PredNormalsFieldHead(in_dim=self.mlp_pred_normals.n_output_dims) self.mlp_head = tcnn.Network( n_input_dims=self.direction_encoding.n_output_dims + self.geo_feat_dim + self.appearance_embedding_dim, n_output_dims=3, network_config={ "otype": "FullyFusedMLP", "activation": "ReLU", "output_activation": "Sigmoid", "n_neurons": hidden_dim_color, "n_hidden_layers": num_layers_color - 1, }, ) def get_density(self, ray_samples: RaySamples): """Computes and returns the densities.""" if self.spatial_distortion is not None: positions = ray_samples.frustums.get_positions() positions = self.spatial_distortion(positions) positions = self._get_normalized_positions(positions) else: positions = SceneBox.get_normalized_positions(ray_samples.frustums.get_positions(), self.aabb) self._sample_locations = positions if not self._sample_locations.requires_grad: self._sample_locations.requires_grad = True positions_flat = positions.view(-1, 3) h = self.mlp_base(positions_flat).view(*ray_samples.frustums.shape, -1) density_before_activation, base_mlp_out = torch.split(h, [1, self.geo_feat_dim], dim=-1) self._density_before_activation = density_before_activation # Rectifying the density with an exponential is much more stable than a ReLU or # softplus, because it enables high post-activation (float32) density outputs # from smaller internal (float16) parameters. density = trunc_exp(density_before_activation.to(positions)) return density, base_mlp_out def get_outputs(self, ray_samples: RaySamples, density_embedding: Optional[TensorType] = None): assert density_embedding is not None outputs = {} if ray_samples.camera_indices is None: raise AttributeError("Camera indices are not provided.") camera_indices = ray_samples.camera_indices.squeeze() directions = get_normalized_directions(ray_samples.frustums.directions) directions_flat = directions.view(-1, 3) d = self.direction_encoding(directions_flat) outputs_shape = ray_samples.frustums.directions.shape[:-1] # per-image appearance embedding embedded_appearance = self._get_appeanreance_embedding(camera_indices, directions) # transients if self.use_transient_embedding and self.training: embedded_transient = self.embedding_transient(camera_indices) transient_input = torch.cat( [ density_embedding.view(-1, self.geo_feat_dim), embedded_transient.view(-1, self.transient_embedding_dim), ], dim=-1, ) x = self.mlp_transient(transient_input).view(*outputs_shape, -1).to(directions) outputs[FieldHeadNames.UNCERTAINTY] = self.field_head_transient_uncertainty(x) outputs[FieldHeadNames.TRANSIENT_RGB] = self.field_head_transient_rgb(x) outputs[FieldHeadNames.TRANSIENT_DENSITY] = self.field_head_transient_density(x) # semantics if self.use_semantics: density_embedding_copy = density_embedding.clone().detach() semantics_input = torch.cat( [ density_embedding_copy.view(-1, self.geo_feat_dim), ], dim=-1, ) x = self.mlp_semantics(semantics_input).view(*outputs_shape, -1).to(directions) outputs[FieldHeadNames.SEMANTICS] = self.field_head_semantics(x) # predicted normals if self.use_pred_normals: positions = ray_samples.frustums.get_positions() positions_flat = self.position_encoding(positions.view(-1, 3)) pred_normals_inp = torch.cat([positions_flat, density_embedding.view(-1, self.geo_feat_dim)], dim=-1) x = self.mlp_pred_normals(pred_normals_inp).view(*outputs_shape, -1).to(directions) outputs[FieldHeadNames.PRED_NORMALS] = self.field_head_pred_normals(x) features = [d, density_embedding.view(-1, self.geo_feat_dim)] if self.appearance_embedding_dim > 0: features.append(embedded_appearance.view(-1, self.appearance_embedding_dim)) h = torch.cat(features, dim=-1) rgb = self.mlp_head(h).view(*outputs_shape, -1).to(directions) outputs.update({FieldHeadNames.RGB: rgb}) return outputs def _get_appeanreance_embedding(self, camera_indices: TensorType, directions: TensorType) -> TensorType: if self.training: if self.use_appearance_embedding: embedded_appearance = self.embedding_appearance(camera_indices) else: # empty embedding embedded_appearance = torch.zeros( (*directions.shape[:-1], 0), device=directions.device) else: # evaluation if self.use_appearance_embedding: if self.use_average_appearance_embedding: # average embedding embedded_appearance = torch.ones( (*directions.shape[:-1], self.appearance_embedding_dim), device=directions.device ) * self.embedding_appearance.mean(dim=0) else: # zero embedding embedded_appearance = torch.zeros( (*directions.shape[:-1], self.appearance_embedding_dim), device=directions.device ) else: # empty embedding embedded_appearance = torch.zeros( (*directions.shape[:-1], 0), device=directions.device) return embedded_appearance def _get_normalized_positions(self, positions): if self.spatial_normalization_region == 'full': return (positions + 2.0) / 4.0 elif self.spatial_normalization_region == 'fg': return (positions + 1.0) / 2.0 elif self.config.spatial_normalization_region == 'aabb': return (positions - self.aabb[0]) / (self.aabb[1] - self.aabb[0]) else: raise ValueError(f"Unknown spatial normalization region: {self.spatial_normalization_region}") class TorchNerfactoField(Field): """ PyTorch implementation of the compound field. """ def __init__( self, aabb, num_images: int, position_encoding: Encoding = HashEncoding(), direction_encoding: Encoding = SHEncoding(), base_mlp_num_layers: int = 3, base_mlp_layer_width: int = 64, head_mlp_num_layers: int = 2, head_mlp_layer_width: int = 32, appearance_embedding_dim: int = 40, skip_connections: Tuple = (4,), field_heads: Tuple[FieldHead] = (RGBFieldHead(),), spatial_distortion: SpatialDistortion = SceneContraction(), ) -> None: super().__init__() self.aabb = Parameter(aabb, requires_grad=False) self.spatial_distortion = spatial_distortion self.num_images = num_images # FIXME: align w/ TcnnNerfactoField: use_appearance_embedding self.appearance_embedding_dim = appearance_embedding_dim self.embedding_appearance = Embedding(self.num_images, self.appearance_embedding_dim) self.position_encoding = position_encoding self.direction_encoding = direction_encoding self.mlp_base = MLP( in_dim=self.position_encoding.get_out_dim(), num_layers=base_mlp_num_layers, layer_width=base_mlp_layer_width, skip_connections=skip_connections, out_activation=nn.ReLU(), ) self.mlp_head = MLP( in_dim=self.mlp_base.get_out_dim() + self.direction_encoding.get_out_dim() + self.appearance_embedding_dim, num_layers=head_mlp_num_layers, layer_width=head_mlp_layer_width, out_activation=nn.ReLU(), ) self.field_output_density = DensityFieldHead(in_dim=self.mlp_base.get_out_dim()) self.field_heads = nn.ModuleList(field_heads) for field_head in self.field_heads: field_head.set_in_dim(self.mlp_head.get_out_dim()) # type: ignore def get_density(self, ray_samples: RaySamples): if self.spatial_distortion is not None: positions = ray_samples.frustums.get_positions() positions = self.spatial_distortion(positions) else: positions = ray_samples.frustums.get_positions() encoded_xyz = self.position_encoding(positions) base_mlp_out = self.mlp_base(encoded_xyz) density = self.field_output_density(base_mlp_out) return density, base_mlp_out def get_outputs( self, ray_samples: RaySamples, density_embedding: Optional[TensorType] = None ) -> Dict[FieldHeadNames, TensorType]: outputs_shape = ray_samples.frustums.directions.shape[:-1] if ray_samples.camera_indices is None: raise AttributeError("Camera indices are not provided.") camera_indices = ray_samples.camera_indices.squeeze() if self.training: embedded_appearance = self.embedding_appearance(camera_indices) else: embedded_appearance = torch.zeros( (*outputs_shape, self.appearance_embedding_dim), device=ray_samples.frustums.directions.device, ) outputs = {} for field_head in self.field_heads: encoded_dir = self.direction_encoding(ray_samples.frustums.directions) features = [encoded_dir, density_embedding] # type: ignore if self.appearance_embedding_dim > 0: features.append(embedded_appearance.view(-1, self.appearance_embedding_dim)) # FIXME: mlp_out is computed repeatedly for each field head? mlp_out = self.mlp_head( torch.cat(features, dim=-1) ) outputs[field_head.field_head_name] = field_head(mlp_out) return outputs field_implementation_to_class = {"tcnn": TCNNNerfactoField, "torch": TorchNerfactoField} ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/nerfw_field.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Fields for nerf-w""" from typing import Dict, Optional, Tuple import torch from torch import nn from torchtyping import TensorType from nerfstudio.cameras.rays import RaySamples from nerfstudio.field_components.embedding import Embedding from nerfstudio.field_components.encodings import Encoding, Identity from nerfstudio.field_components.field_heads import ( DensityFieldHead, FieldHeadNames, RGBFieldHead, TransientDensityFieldHead, TransientRGBFieldHead, UncertaintyFieldHead, ) from nerfstudio.field_components.mlp import MLP from nerfstudio.fields.base_field import Field class VanillaNerfWField(Field): """The NeRF-W field which has appearance and transient conditioning. Args: num_images: How many images exist in the dataset. position_encoding: Position encoder. direction_encoding: Direction encoder. base_mlp_num_layers: Number of layers for base MLP. base_mlp_layer_width: Width of base MLP layers. head_mlp_num_layers: Number of layer for ourput head MLP. head_mlp_layer_width: Width of output head MLP layers. appearance_embedding_dim:: Dimension of appearance embedding. transient_embedding_dim:: Dimension of transient embedding. skip_connections: Where to add skip connection in base MLP. """ def __init__( self, num_images: int, position_encoding: Encoding = Identity(in_dim=3), direction_encoding: Encoding = Identity(in_dim=3), base_mlp_num_layers: int = 8, base_mlp_layer_width: int = 256, head_mlp_num_layers: int = 2, head_mlp_layer_width: int = 128, appearance_embedding_dim: int = 48, transient_embedding_dim: int = 16, skip_connections: Tuple[int] = (4,), ) -> None: super().__init__() self.num_images = num_images self.position_encoding = position_encoding self.direction_encoding = direction_encoding self.base_mlp_num_layers = base_mlp_num_layers self.base_mlp_layer_width = base_mlp_layer_width self.head_mlp_num_layers = head_mlp_num_layers self.head_mlp_layer_width = head_mlp_layer_width self.appearance_embedding_dim = appearance_embedding_dim self.transient_embedding_dim = transient_embedding_dim self.embedding_appearance = Embedding(self.num_images, self.appearance_embedding_dim) self.embedding_transient = Embedding(self.num_images, self.transient_embedding_dim) self.mlp_base = MLP( in_dim=self.position_encoding.get_out_dim(), num_layers=base_mlp_num_layers, layer_width=base_mlp_layer_width, skip_connections=skip_connections, out_activation=nn.ReLU(), ) self.mlp_transient = MLP( in_dim=self.mlp_base.get_out_dim() + self.embedding_transient.get_out_dim(), out_dim=base_mlp_layer_width // 2, num_layers=4, layer_width=base_mlp_layer_width, activation=nn.ReLU(), out_activation=nn.ReLU(), ) self.mlp_head = MLP( in_dim=self.mlp_base.get_out_dim() + self.direction_encoding.get_out_dim() + self.embedding_appearance.get_out_dim(), num_layers=head_mlp_num_layers, layer_width=head_mlp_layer_width, out_activation=nn.ReLU(), ) self.field_head_density = DensityFieldHead(in_dim=self.mlp_base.get_out_dim()) self.field_head_rgb = RGBFieldHead(in_dim=self.mlp_head.get_out_dim()) self.field_head_transient_uncertainty = UncertaintyFieldHead(in_dim=self.mlp_transient.get_out_dim()) self.field_head_transient_rgb = TransientRGBFieldHead(in_dim=self.mlp_transient.get_out_dim()) self.field_head_transient_density = TransientDensityFieldHead(in_dim=self.mlp_transient.get_out_dim()) def get_density(self, ray_samples: RaySamples): """Computes and returns the densities.""" encoded_xyz = self.position_encoding(ray_samples.frustums.get_positions()) encoded_xyz = self.position_encoding(ray_samples.frustums.get_positions()) base_mlp_out = self.mlp_base(encoded_xyz) density = self.field_head_density(base_mlp_out) return density, base_mlp_out def get_outputs( self, ray_samples: RaySamples, density_embedding: Optional[TensorType[..., "embedding_size"]] = None ) -> Dict[FieldHeadNames, TensorType]: """Returns the outputs of the NeRF-W field. Args: ray_samples (RaySamples): Ray samples. density_embedding (TensorType[..., "embedding_size"], optional): Density embedding. Returns: Dict[FieldHeadNames, TensorType]: Outputs of the NeRF-W field. """ outputs = {} encoded_dir = self.direction_encoding(ray_samples.frustums.directions) if ray_samples.camera_indices is None: raise AttributeError("Camera indices are not provided.") camera_indices = ray_samples.camera_indices.squeeze().to(ray_samples.frustums.origins.device) embedded_appearance = self.embedding_appearance(camera_indices) mlp_in = torch.cat([density_embedding, encoded_dir, embedded_appearance], dim=-1) # type: ignore mlp_head_out = self.mlp_head(mlp_in) outputs[self.field_head_rgb.field_head_name] = self.field_head_rgb(mlp_head_out) # static rgb embedded_transient = self.embedding_transient(camera_indices) transient_mlp_in = torch.cat([density_embedding, embedded_transient], dim=-1) # type: ignore transient_mlp_out = self.mlp_transient(transient_mlp_in) outputs[self.field_head_transient_uncertainty.field_head_name] = self.field_head_transient_uncertainty( transient_mlp_out ) # uncertainty outputs[self.field_head_transient_rgb.field_head_name] = self.field_head_transient_rgb( transient_mlp_out ) # transient rgb outputs[self.field_head_transient_density.field_head_name] = self.field_head_transient_density( transient_mlp_out ) # transient density return outputs ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/sdf_field.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Field for compound nerf model, adds scene contraction and image embeddings to instant ngp """ from dataclasses import dataclass, field from typing import Optional, Type, Union from typing_extensions import Literal import numpy as np import torch import torch.nn.functional as F from torch import nn from torch.nn.parameter import Parameter from torchtyping import TensorType from rich.console import Console from nerfstudio.cameras.rays import RaySamples from nerfstudio.field_components.embedding import Embedding from nerfstudio.field_components.encodings import ( Encoding, NeRFEncoding, PeriodicVolumeEncoding, TensorVMEncoding, SHEncoding ) from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.field_components.spatial_distortions import SpatialDistortion from nerfstudio.field_components.progressive_encoding import ProgressiveEncoding from nerfstudio.fields.base_field import Field, FieldConfig try: import tinycudann as tcnn except ImportError: # tinycudann module doesn't exist pass CONSOLE = Console(width=128) class LaplaceDensity(nn.Module): # alpha * Laplace(loc=0, scale=beta).cdf(-sdf) """Laplace density from VolSDF""" def __init__(self, init_val, beta_min=0.0001): super().__init__() self.register_parameter("beta_min", nn.Parameter(beta_min * torch.ones(1), requires_grad=False)) self.register_parameter("beta", nn.Parameter(init_val * torch.ones(1), requires_grad=True)) def forward( self, sdf: TensorType["bs":...], beta: Union[TensorType["bs":...], None] = None ) -> TensorType["bs":...]: """convert sdf value to density value with beta, if beta is missing, then use learable beta""" if beta is None: beta = self.get_beta() alpha = 1.0 / beta return alpha * (0.5 + 0.5 * sdf.sign() * torch.expm1(-sdf.abs() / beta)) def get_beta(self): """return current beta value""" beta = self.beta.abs() + self.beta_min return beta class SigmoidDensity(nn.Module): # alpha * Laplace(loc=0, scale=beta).cdf(-sdf) """Sigmoid density from VolSDF""" def __init__(self, init_val, beta_min=0.0001): super().__init__() self.register_parameter("beta_min", nn.Parameter(beta_min * torch.ones(1), requires_grad=False)) self.register_parameter("beta", nn.Parameter(init_val * torch.ones(1), requires_grad=True)) def forward( self, sdf: TensorType["bs":...], beta: Union[TensorType["bs":...], None] = None ) -> TensorType["bs":...]: """convert sdf value to density value with beta, if beta is missing, then use learable beta""" if beta is None: beta = self.get_beta() alpha = 1.0 / beta # negtive sdf will have large density return alpha * torch.sigmoid(-sdf * alpha) def get_beta(self): """return current beta value""" beta = self.beta.abs() + self.beta_min return beta class SingleVarianceNetwork(nn.Module): """Variance network in NeuS Args: nn (_type_): init value in NeuS variance network. smaller value leads to larger varaince and smoother initial surface (density field). Returns: inverse std value of logistic distribution ("s" in NeuS's S-density) """ def __init__(self, init_val): super(SingleVarianceNetwork, self).__init__() self.register_parameter("variance", nn.Parameter(init_val * torch.ones(1), requires_grad=True)) def forward(self, x): """Returns current variance value""" return torch.ones([len(x), 1], device=x.device) * torch.exp(self.variance * 10.0) def get_variance(self): """return current variance value""" return torch.exp(self.variance * 10.0).clip(1e-6, 1e6) @dataclass class SDFFieldConfig(FieldConfig): """Nerfacto Model Config""" _target: Type = field(default_factory=lambda: SDFField) num_layers: int = 8 """Number of layers for geometric network""" hidden_dim: int = 256 """Number of hidden dimension of geometric network""" geo_feat_dim: int = 256 """Dimension of geometric feature""" num_layers_color: int = 4 """Number of layers for color network""" hidden_dim_color: int = 256 """Number of hidden dimension of color network""" appearance_embedding_dim: int = 32 """Dimension of appearance embedding""" use_appearance_embedding: bool = False """Dimension of appearance embedding""" bias: float = 0.8 """sphere size of geometric initializaion""" geometric_init: bool = True """Whether to use geometric initialization""" dynamic_geometric_init: bool = False """whether to infer the best geometric init radius from the given aabb""" inside_outside: bool = True """whether to revert signed distance value, set to True for indoor scene""" weight_norm: bool = True """Whether to use weight norm for linear laer""" use_normalized_raw_coords: bool = False """if True, use normalized positions as raw coordinates of the network input, for geo-init to work properly""" use_grid_feature: bool = False """Whether to use multi-resolution feature grids""" # TODO: build a saperate config for hash grid hash_grid_precision: Literal["float16", "float32"] = "float16" """The floating point precision of the hash grid features (hash only) when using float16, the grid features are stored in float16, but would be transfored to flaot32 for inference """ hash_grid_num_levels: int = 16 hash_grid_max_res: int = 2048 hash_grid_log2_hashmap_size: int = 19 hash_grid_smoothstep: bool = True hash_grid_progressive_training: bool = False hash_grid_progressive_training_iters: int = 10000 hash_grid_progressive_training_n_levels_init: int = 1 use_position_encoding: bool = False """Whether to use positional encoding (even when using feature grids)""" pos_enc_n_freqs: int = 6 pos_enc_min_freq: int = 0 pos_enc_max_freq: int = 5 divide_factor: float = 1.0 """Normalization factor for multi-resolution grids""" beta_init: float = 0.1 """Init learnable beta value for transformation of sdf to density""" encoding_type: Literal["hash", "periodic", "tensorf_vm"] = "hash" """Encoding type for feature grids""" direction_encoding_type: Literal["nerf", "sh"] = "nerf" color_network_include_sdf: bool = False """Whether to include sdf value in inputs of the color network""" """Encoding type for direction""" spatial_normalization_region: Literal["full", "fg", "aabb"] = "fg" """specify the reigion get normalized to the [[0, 0, 0], [1, 1, 1]] feature grid, if set to "fg", normalize [-1, 1] to [0, 1]; if set to "full", normalize [-2, 2] to [0, 1]""" compute_grad_in_contraction_space: bool = False """compute gradients in the contraction space instead of the euclidean space. the gradients are used as inputs to the color network and computing eikonal loss. """ curvature_perturb_step: float = 1e-3 # TODO: tune """perturbation step along a random direction on the tangent plane when computing curvature loss, assuming the fg object is enclosed with a unit cube. """ class SDFField(Field): """_summary_ Args: Field (_type_): _description_ """ config: SDFFieldConfig def __init__( self, config: SDFFieldConfig, aabb, num_images: int, use_average_appearance_embedding: bool = False, spatial_distortion: Optional[SpatialDistortion] = None, compute_curvature_loss: bool = False, ) -> None: super().__init__() self.config = config aabb_enlarge = 0.01 # 0.01 is not enough for some instances, some query points might be outside the aabb a little (due to numerical issues?), # and the reflection padding would be used, causing incorrect sdf values near to the border self.aabb = Parameter(torch.stack([aabb[0] - aabb_enlarge, aabb[1] + aabb_enlarge], 0), requires_grad=False) # enlarge the aabb a little self.spatial_distortion = spatial_distortion self.num_images = num_images self.compute_curvature_loss = compute_curvature_loss self._build_geo_encodings() self._build_color_encodings(use_average_appearance_embedding) self._build_geo_networks() self._build_color_networks() # laplace function for transform sdf to density from VolSDF self.laplace_density = LaplaceDensity(init_val=self.config.beta_init) # self.laplace_density = SigmoidDensity(init_val=self.config.beta_init) # TODO use different name for beta_init for config # deviation_network to compute alpha from sdf from NeuS self.deviation_network = SingleVarianceNetwork(init_val=self.config.beta_init) self.softplus = nn.Softplus(beta=100) self.relu = nn.ReLU() self.sigmoid = torch.nn.Sigmoid() self._cos_anneal_ratio = 1.0 def _build_geo_encodings(self) -> None: self.divide_factor = self.config.divide_factor self.use_grid_feature = self.config.use_grid_feature num_levels = self.config.hash_grid_num_levels # default: 16 max_res = self.config.hash_grid_max_res # default: 2048 base_res = 16 log2_hashmap_size = self.config.hash_grid_log2_hashmap_size # default: 19 features_per_level = 2 use_hash = True smoothstep = self.config.hash_grid_smoothstep growth_factor = np.exp((np.log(max_res) - np.log(base_res)) / (num_levels - 1)) if self.config.encoding_type == "hash": # feature encoding self.encoding = tcnn.Encoding( n_input_dims=3, encoding_config={ "otype": "HashGrid" if use_hash else "DenseGrid", "n_levels": num_levels, "n_features_per_level": features_per_level, "log2_hashmap_size": log2_hashmap_size, "base_resolution": base_res, "per_level_scale": growth_factor, "interpolation": "Smoothstep" if smoothstep else "Linear", # why Smoothstep? for 2nd derivatives? }, dtype=torch.float32 if self.config.hash_grid_precision == "float32" else None, # cannot use torch.float16 here ) if self.config.hash_grid_progressive_training: self.encoding = ProgressiveEncoding( self.encoding, n_levels=num_levels, n_levels_init=self.config.hash_grid_progressive_training_n_levels_init, n_features_per_level=features_per_level, n_scheduler_steps=self.config.hash_grid_progressive_training_iters, ) elif self.config.encoding_type == "periodic": print("using periodic encoding") self.encoding = PeriodicVolumeEncoding( num_levels=num_levels, min_res=base_res, max_res=max_res, log2_hashmap_size=18, # 64 ** 3 = 2^18 features_per_level=features_per_level, smoothstep=smoothstep, ) elif self.config.encoding_type == "tensorf_vm": print("using tensor vm") self.encoding = TensorVMEncoding(128, 24, smoothstep=smoothstep) # we concat inputs position ourselves if self.config.use_position_encoding: self.position_encoding = NeRFEncoding( in_dim=3, num_frequencies=self.config.pos_enc_n_freqs, min_freq_exp=self.config.pos_enc_min_freq, max_freq_exp=self.config.pos_enc_max_freq, include_input=False ) def _build_geo_networks(self): dims = [self.config.hidden_dim for _ in range(self.config.num_layers)] in_dim = self._get_input_dims() dims = [in_dim] + dims + [1 + self.config.geo_feat_dim] self.num_layers = len(dims) self.skip_in = [4] # TODO: make configurable # build MLP with geometric initialization for l in range(0, self.num_layers - 1): if l + 1 in self.skip_in: out_dim = dims[l + 1] - dims[0] else: out_dim = dims[l + 1] lin = nn.Linear(dims[l], out_dim) if self.config.geometric_init: geo_init_radius = self._get_geometric_init_radius() if l == self.num_layers - 2: if not self.config.inside_outside: torch.nn.init.normal_(lin.weight, mean=np.sqrt(np.pi) / np.sqrt(dims[l]), std=0.0001) torch.nn.init.constant_(lin.bias, -geo_init_radius) else: torch.nn.init.normal_(lin.weight, mean=-np.sqrt(np.pi) / np.sqrt(dims[l]), std=0.0001) torch.nn.init.constant_(lin.bias, geo_init_radius) elif l == 0: torch.nn.init.constant_(lin.bias, 0.0) torch.nn.init.constant_(lin.weight[:, 3:], 0.0) torch.nn.init.normal_(lin.weight[:, :3], 0.0, np.sqrt(2) / np.sqrt(out_dim)) elif l in self.skip_in: torch.nn.init.constant_(lin.bias, 0.0) torch.nn.init.normal_(lin.weight, 0.0, np.sqrt(2) / np.sqrt(out_dim)) torch.nn.init.constant_(lin.weight[:, -(dims[0] - 3):], 0.0) else: torch.nn.init.constant_(lin.bias, 0.0) torch.nn.init.normal_(lin.weight, 0.0, np.sqrt(2) / np.sqrt(out_dim)) if self.config.weight_norm: lin = nn.utils.weight_norm(lin) # print("=======", lin.weight.shape) setattr(self, "glin" + str(l), lin) def _build_color_encodings(self, use_average_appearance_embedding): # per-frame appearance embedding self.appearance_embedding_dim = self.config.appearance_embedding_dim \ if self.config.use_appearance_embedding else 0 self.embedding_appearance = Embedding(self.num_images, self.appearance_embedding_dim) self.use_average_appearance_embedding = use_average_appearance_embedding # directional embedding self.direction_encoding = self._get_direction_encoding() def _build_color_networks(self): # call self._build_color_encodings() first! dims = [self.config.hidden_dim_color for _ in range(self.config.num_layers_color)] # point, view_direction, normal, feature, embedding in_dim = ( 3 + self.direction_encoding.get_out_dim() + 3 + self.config.geo_feat_dim + self.embedding_appearance.get_out_dim() ) if self.config.color_network_include_sdf: in_dim = in_dim + 1 dims = [in_dim] + dims + [3] self.num_layers_color = len(dims) for l in range(0, self.num_layers_color - 1): out_dim = dims[l + 1] lin = nn.Linear(dims[l], out_dim) if self.config.weight_norm: lin = nn.utils.weight_norm(lin) # print("=======", lin.weight.shape) setattr(self, "clin" + str(l), lin) def set_cos_anneal_ratio(self, anneal: float) -> None: """Set the anneal value for the proposal network.""" self._cos_anneal_ratio = anneal def forward_geonetwork(self, inputs): """forward the geonetwork""" positions = self._get_input_positions(inputs) # in range(0, 1) if self.use_grid_feature: feature = self.encoding(positions) coord_inputs = positions if self.config.use_normalized_raw_coords else inputs combined_inputs = [coord_inputs, ] # must contain raw coordinates for geo-init to work properly if self.config.use_position_encoding: combined_inputs.append(self.position_encoding(positions)) if self.use_grid_feature: combined_inputs.append(feature) combined_inputs = torch.cat(combined_inputs, dim=-1).to(torch.float32) x = combined_inputs for l in range(0, self.num_layers - 1): lin = getattr(self, "glin" + str(l)) if l in self.skip_in: x = torch.cat([x, combined_inputs], 1) / np.sqrt(2) x = lin(x) if l < self.num_layers - 2: x = self.softplus(x) return x def get_sdf(self, ray_samples: RaySamples): """predict the sdf value for ray samples""" positions = ray_samples.frustums.get_start_positions() positions_flat = positions.view(-1, 3) h = self.forward_geonetwork(positions_flat).view(*ray_samples.frustums.shape, -1) sdf, _ = torch.split(h, [1, self.config.geo_feat_dim], dim=-1) return sdf def get_gradient(self, ray_samples: RaySamples): positions = ray_samples.frustums.get_start_positions() positions_flat = positions.view(-1, 3) return self.gradient(positions_flat).view(*positions.shape) def gradient(self, x): """compute the gradient of the ray""" x.requires_grad_(True) y = self.forward_geonetwork(x)[:, :1] d_output = torch.ones_like(y, requires_grad=False, device=y.device) gradients = torch.autograd.grad( outputs=y, inputs=x, grad_outputs=d_output, create_graph=True, retain_graph=True, only_inputs=True )[0] return gradients def get_density(self, ray_samples: RaySamples): """Computes and returns the densities.""" positions = ray_samples.frustums.get_start_positions() positions_flat = positions.view(-1, 3) h = self.forward_geonetwork(positions_flat).view(*ray_samples.frustums.shape, -1) sdf, geo_feature = torch.split(h, [1, self.config.geo_feat_dim], dim=-1) density = self.laplace_density(sdf) return density, geo_feature def get_alpha(self, ray_samples: RaySamples, sdf=None, gradients=None): """compute alpha from sdf as in NeuS""" if sdf is None or gradients is None: inputs = ray_samples.frustums.get_start_positions() inputs.requires_grad_(True) with torch.enable_grad(): h = self.forward_geonetwork(inputs) sdf, _ = torch.split(h, [1, self.config.geo_feat_dim], dim=-1) d_output = torch.ones_like(sdf, requires_grad=False, device=sdf.device) gradients = torch.autograd.grad( outputs=sdf, inputs=inputs, grad_outputs=d_output, create_graph=True, retain_graph=True, only_inputs=True, )[0] # TODO: support manual scaling of inv_s inv_s = self.deviation_network.get_variance() # Single parameter true_cos = (ray_samples.frustums.directions * gradients).sum(-1, keepdim=True) # anneal as NeuS cos_anneal_ratio = self._cos_anneal_ratio # "cos_anneal_ratio" grows from 0 to 1 in the beginning training iterations. The anneal strategy below makes # the cos value "not dead" at the beginning training iterations, for better convergence. iter_cos = - ( F.relu(-true_cos * 0.5 + 0.5) * (1.0 - cos_anneal_ratio) + F.relu(-true_cos) * cos_anneal_ratio ) # always non-positive # Estimate signed distances at section points estimated_next_sdf = sdf + iter_cos * ray_samples.deltas * 0.5 estimated_prev_sdf = sdf - iter_cos * ray_samples.deltas * 0.5 prev_cdf = torch.sigmoid(estimated_prev_sdf * inv_s) next_cdf = torch.sigmoid(estimated_next_sdf * inv_s) p = prev_cdf - next_cdf c = prev_cdf alpha = ((p + 1e-5) / (c + 1e-5)).clip(0.0, 1.0) # HF-NeuS # # sigma # cdf = torch.sigmoid(sdf * inv_s) # e = inv_s * (1 - cdf) * (-iter_cos) * ray_samples.deltas # alpha = (1 - torch.exp(-e)).clip(0.0, 1.0) return alpha def get_occupancy(self, sdf): """compute occupancy as in UniSurf""" occupancy = self.sigmoid(-10.0 * sdf) return occupancy def get_colors(self, points, directions, normals, geo_features, camera_indices): """compute colors""" d = self.direction_encoding(directions) # per-image appearance embedding embedded_appearance = self._get_appeanreance_embedding(camera_indices, directions) features = [points, d, normals, geo_features] if self.appearance_embedding_dim > 0: features.append(embedded_appearance.view(-1, self.appearance_embedding_dim)) h = torch.cat(features, dim=-1) for l in range(0, self.num_layers_color - 1): lin = getattr(self, "clin" + str(l)) h = lin(h) if l < self.num_layers_color - 2: h = self.relu(h) rgb = self.sigmoid(h) # unisurf # rgb = self.tanh(h) * 0.5 + 0.5 return rgb def get_outputs(self, ray_samples: RaySamples, return_alphas=False, return_occupancy=False): """compute output of ray samples""" if ray_samples.camera_indices is None: raise AttributeError("Camera indices are not provided.") _prefix_dims = ray_samples.frustums.directions.shape[:-1] outputs = {} camera_indices = ray_samples.camera_indices.squeeze() inputs = ray_samples.frustums.get_start_positions() inputs = inputs.view(-1, 3) directions = ray_samples.frustums.directions directions_flat = directions.reshape(-1, 3) inputs.requires_grad_(True) with torch.enable_grad(): sdf_geo_feature = self.forward_geonetwork(inputs) sdf, geo_feature = torch.split(sdf_geo_feature, [1, self.config.geo_feat_dim], dim=-1) d_output = torch.ones_like(sdf, requires_grad=False, device=sdf.device) gradients = torch.autograd.grad( outputs=sdf, inputs=inputs, grad_outputs=d_output, create_graph=True, retain_graph=True, only_inputs=True )[0] rgb = self.get_colors(inputs, directions_flat, gradients, sdf_geo_feature if self.config.color_network_include_sdf else geo_feature, camera_indices) density = self.laplace_density(sdf) # density of VolSDF rgb = rgb.view(*_prefix_dims, -1) sdf = sdf.view(*_prefix_dims, -1) density = density.view(*_prefix_dims, -1) gradients = gradients.view(*_prefix_dims, -1) normals = F.normalize(gradients, p=2, dim=-1) outputs.update( { FieldHeadNames.RGB: rgb, FieldHeadNames.DENSITY: density, FieldHeadNames.SDF: sdf, FieldHeadNames.NORMAL: normals, FieldHeadNames.GRADIENT: gradients, } ) if return_alphas: # alpha of NeuS # TODO use mid point sdf for NeuS alphas = self.get_alpha(ray_samples, sdf, gradients) outputs.update({FieldHeadNames.ALPHA: alphas}) if return_occupancy: occupancy = self.get_occupancy(sdf) outputs.update({FieldHeadNames.OCCUPANCY: occupancy}) if self.compute_curvature_loss: curvature_losses = self._compute_curvature_loss(inputs, normals.view(-1, 3)) outputs.update({"curvature_losses": curvature_losses.view(*_prefix_dims, -1)}) return outputs def forward(self, ray_samples: RaySamples, return_alphas=False, return_occupancy=False): """Evaluates the field at points along the ray. Args: ray_samples: Samples to evaluate field on. """ field_outputs = self.get_outputs( ray_samples, return_alphas=return_alphas, return_occupancy=return_occupancy ) return field_outputs def _get_appeanreance_embedding(self, camera_indices: TensorType, directions: TensorType) -> TensorType: if self.training: if self.config.use_appearance_embedding: embedded_appearance = self.embedding_appearance(camera_indices) else: # empty embedding # NOTE: break previously trained models embedded_appearance = torch.zeros( (*directions.shape[:-1], 0), device=directions.device) else: # evaluation if self.config.use_appearance_embedding: if self.use_average_appearance_embedding: # average embedding embedded_appearance = torch.ones( (*directions.shape[:-1], self.appearance_embedding_dim), device=directions.device ) * self.embedding_appearance.mean(dim=0) else: # zero embedding embedded_appearance = torch.zeros( (*directions.shape[:-1], self.appearance_embedding_dim), device=directions.device ) else: # empty embedding embedded_appearance = torch.zeros( (*directions.shape[:-1], 0), device=directions.device) return embedded_appearance def _get_direction_encoding(self): if self.config.direction_encoding_type == "nerf": return NeRFEncoding( in_dim=3, num_frequencies=4, min_freq_exp=0.0, max_freq_exp=3.0, include_input=True ) elif self.config.direction_encoding_type == "sh": # TODO: use tcnn.encoding? return SHEncoding(levels=4) # nc=16 else: raise ValueError(f"Unknown direction encoding: {self.config.direction_encoding_type}") def _get_input_dims(self): n_input_dims = 3 # must contain raw coordinates if self.use_grid_feature: n_input_dims += self.encoding.n_output_dims if self.config.use_position_encoding: n_input_dims += self.position_encoding.get_out_dim() assert n_input_dims > 0 return n_input_dims def _get_geometric_init_radius(self): """compute the geometric initialization radius""" if not self.config.dynamic_geometric_init: CONSOLE.print(f"Using pre-defined geometric init radius: {self.config.bias:.3f}") return self.config.bias aabb_center = (self.aabb[0, :] + self.aabb[1, :]) / 2.0 assert (aabb_center == 0.0).all(), "The dynamic geometric initialization radius is only valid for the origin-centered AABB." aabb_side_lens = self.aabb[1, :] - self.aabb[0, :] radius = float(aabb_side_lens.min()) / 2.0 CONSOLE.print(f"Using dynamic geometric init radius: {radius:.3f}") return radius def _get_input_positions(self, inputs: torch.Tensor): """compute input positions (for positional encoding / feature encoding) from raw ray sample positions. """ # positions = inputs / self.divide_factor positions = self.spatial_distortion(inputs) # [[-2, -1], [-1, 1], [1, 2]] positions = self._get_normalized_positions(positions) # FIXME: handle positions out of [0, 1] after spatial_distortion & normalization return positions def _get_normalized_positions(self, positions): if self.config.spatial_normalization_region == 'full': return (positions + 2.0) / 4.0 elif self.config.spatial_normalization_region == 'fg': return (positions + 1.0) / 2.0 elif self.config.spatial_normalization_region == 'aabb': return (positions - self.aabb[0]) / (self.aabb[1] - self.aabb[0]) else: raise ValueError(f"Unknown spatial normalization region: {self.config.spatial_normalization_region}") def _compute_curvature_loss(self, inputs: TensorType["bs", 3], normals: TensorType["bs", 3]): """compute point-wise approximation of curvature loss used in HashSDF""" # sample locally around inputs perturb_step = self.config.curvature_perturb_step rand_dirs = F.normalize(torch.rand_like(inputs) - 0.5, p=2, dim=-1) tangent_dirs = F.normalize(torch.linalg.cross(normals, rand_dirs), p=2, dim=-1) new_inputs = (inputs + perturb_step * tangent_dirs) # .detach() # compute new normals new_inputs.requires_grad_(True) with torch.enable_grad(): sdf_geo_feature = self.forward_geonetwork(new_inputs) sdf, geo_feature = torch.split(sdf_geo_feature, [1, self.config.geo_feat_dim], dim=-1) d_output = torch.ones_like(sdf, requires_grad=False, device=sdf.device) gradients = torch.autograd.grad( outputs=sdf, inputs=new_inputs, grad_outputs=d_output, create_graph=True, retain_graph=True, only_inputs=True )[0] new_normals = F.normalize(gradients, p=2, dim=-1) losses = ((normals * new_normals).sum(dim=-1, keepdim=True) - 1) ** 2 return losses[..., None] ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/semantic_nerf_field.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Semantic NeRF field implementation. """ from typing import Dict, Optional, Tuple import torch from torch import nn from torchtyping import TensorType from nerfstudio.cameras.rays import RaySamples from nerfstudio.field_components.encodings import Encoding, Identity from nerfstudio.field_components.field_heads import ( DensityFieldHead, FieldHeadNames, RGBFieldHead, SemanticFieldHead, ) from nerfstudio.field_components.mlp import MLP from nerfstudio.fields.base_field import Field class SemanticNerfField(Field): """Semantic-NeRF field Args: num_semantic_classes: Number of distinct semantic classes. position_encoding: Position encoder. direction_encoding: Direction encoder. base_mlp_num_layers: Number of layers for base MLP. base_mlp_layer_width: Width of base MLP layers. head_mlp_num_layers: Number of layer for ourput head MLP. head_mlp_layer_width: Width of output head MLP layers. skip_connections: Where to add skip connection in base MLP. """ def __init__( self, num_semantic_classes: int, position_encoding: Encoding = Identity(in_dim=3), direction_encoding: Encoding = Identity(in_dim=3), base_mlp_num_layers: int = 8, base_mlp_layer_width: int = 256, head_mlp_num_layers: int = 2, head_mlp_layer_width: int = 128, skip_connections: Tuple[int] = (4,), ) -> None: super().__init__() self.num_semantic_classes = num_semantic_classes self.position_encoding = position_encoding self.direction_encoding = direction_encoding self.mlp_base = MLP( in_dim=self.position_encoding.get_out_dim(), num_layers=base_mlp_num_layers, layer_width=base_mlp_layer_width, skip_connections=skip_connections, out_activation=nn.ReLU(), ) self.mlp_head = MLP( in_dim=self.mlp_base.get_out_dim() + self.direction_encoding.get_out_dim(), num_layers=head_mlp_num_layers, layer_width=head_mlp_layer_width, out_activation=nn.ReLU(), ) self.mlp_semantic = MLP( in_dim=self.mlp_head.get_out_dim(), layer_width=self.mlp_head.layer_width // 2, num_layers=1, activation=nn.ReLU(), out_activation=nn.ReLU(), ) self.field_head_density = DensityFieldHead(in_dim=self.mlp_base.get_out_dim()) self.field_head_rgb = RGBFieldHead(in_dim=self.mlp_head.get_out_dim()) self.field_head_semantic = SemanticFieldHead( in_dim=self.mlp_semantic.get_out_dim(), num_classes=self.num_semantic_classes ) def get_density(self, ray_samples: RaySamples): encoded_xyz = self.position_encoding(ray_samples.frustums.get_positions()) base_mlp_out = self.mlp_base(encoded_xyz) density = self.field_head_density(base_mlp_out) return density, base_mlp_out def get_outputs( self, ray_samples: RaySamples, density_embedding: Optional[TensorType] = None ) -> Dict[FieldHeadNames, TensorType]: encoded_dir = self.direction_encoding(ray_samples.frustums.directions) mlp_out = self.mlp_head(torch.cat([encoded_dir, density_embedding], dim=-1)) # type: ignore outputs = {} # rgb outputs[self.field_head_rgb.field_head_name] = self.field_head_rgb(mlp_out) # semantic mlp_out_sem = self.mlp_semantic(mlp_out) outputs[self.field_head_semantic.field_head_name] = self.field_head_semantic(mlp_out_sem) return outputs ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/tensorf_field.py ================================================ # Copyright 2022 The Plenoptix Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """TensoRF Field""" from typing import Optional import torch from torch import nn from torch.nn.parameter import Parameter from torchtyping import TensorType from nerfstudio.cameras.rays import RaySamples from nerfstudio.data.scene_box import SceneBox from nerfstudio.field_components.encodings import Encoding, Identity, SHEncoding from nerfstudio.field_components.field_heads import FieldHeadNames, RGBFieldHead from nerfstudio.field_components.mlp import MLP from nerfstudio.fields.base_field import Field class TensoRFField(Field): """TensoRF Field""" def __init__( self, aabb, # the aabb bounding box of the dataset feature_encoding: Encoding = Identity(in_dim=3), # the encoding method used for appearance encoding outputs direction_encoding: Encoding = Identity(in_dim=3), # the encoding method used for ray direction density_encoding: Encoding = Identity(in_dim=3), # the tensor encoding method used for scene density color_encoding: Encoding = Identity(in_dim=3), # the tensor encoding method used for scene color appearance_dim: int = 27, # the number of dimensions for the appearance embedding head_mlp_num_layers: int = 2, # number of layers for the MLP head_mlp_layer_width: int = 128, # layer width for the MLP use_sh: bool = False, # whether to use spherical harmonics as the feature decoding function sh_levels: int = 2, # number of levels to use for spherical harmonics ) -> None: super().__init__() self.aabb = Parameter(aabb, requires_grad=False) self.feature_encoding = feature_encoding self.direction_encoding = direction_encoding self.density_encoding = density_encoding self.color_encoding = color_encoding self.mlp_head = MLP( in_dim=appearance_dim + 3 + self.direction_encoding.get_out_dim() + self.feature_encoding.get_out_dim(), num_layers=head_mlp_num_layers, layer_width=head_mlp_layer_width, activation=nn.ReLU(), out_activation=nn.ReLU(), ) self.use_sh = use_sh if self.use_sh: self.sh = SHEncoding(sh_levels) self.B = nn.Linear( in_features=self.color_encoding.get_out_dim(), out_features=3 * self.sh.get_out_dim(), bias=False ) else: self.B = nn.Linear(in_features=self.color_encoding.get_out_dim(), out_features=appearance_dim, bias=False) self.field_output_rgb = RGBFieldHead(in_dim=self.mlp_head.get_out_dim(), activation=nn.Sigmoid()) def get_density(self, ray_samples: RaySamples): positions = SceneBox.get_normalized_positions(ray_samples.frustums.get_positions(), self.aabb) positions = positions * 2 - 1 density = self.density_encoding(positions) density_enc = torch.sum(density, dim=-1)[:, :, None] relu = torch.nn.ReLU() density_enc = relu(density_enc) return density_enc def get_outputs(self, ray_samples: RaySamples, density_embedding: Optional[TensorType] = None) -> TensorType: d = ray_samples.frustums.directions positions = SceneBox.get_normalized_positions(ray_samples.frustums.get_positions(), self.aabb) positions = positions * 2 - 1 rgb_features = self.color_encoding(positions) rgb_features = self.B(rgb_features) d_encoded = self.direction_encoding(d) rgb_features_encoded = self.feature_encoding(rgb_features) if self.use_sh: sh_mult = self.sh(d)[:, :, None] rgb_sh = rgb_features.view(sh_mult.shape[0], sh_mult.shape[1], 3, sh_mult.shape[-1]) rgb = torch.relu(torch.sum(sh_mult * rgb_sh, dim=-1) + 0.5) else: out = self.mlp_head(torch.cat([rgb_features, d, rgb_features_encoded, d_encoded], dim=-1)) # type: ignore rgb = self.field_output_rgb(out) return rgb def forward( self, ray_samples: RaySamples, compute_normals: bool = False, mask: Optional[TensorType] = None, bg_color: Optional[TensorType] = None, ): if compute_normals is True: raise ValueError("Surface normals are not currently supported with TensoRF") if mask is not None and bg_color is not None: base_density = torch.zeros(ray_samples.shape)[:, :, None].to(mask.device) base_rgb = bg_color.repeat(ray_samples[:, :, None].shape) if mask.any(): input_rays = ray_samples[mask, :] density = self.get_density(input_rays) rgb = self.get_outputs(input_rays, None) base_density[mask] = density base_rgb[mask] = rgb base_density.requires_grad_() base_rgb.requires_grad_() density = base_density rgb = base_rgb else: density = self.get_density(ray_samples) rgb = self.get_outputs(ray_samples, None) return {FieldHeadNames.DENSITY: density, FieldHeadNames.RGB: rgb} ================================================ FILE: AutoReconForDens3R/nerfstudio/fields/vanilla_nerf_field.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Classic NeRF field""" from typing import Dict, Optional, Tuple from typing_extensions import Literal import torch from torch import nn from torchtyping import TensorType from nerfstudio.cameras.rays import RaySamples from nerfstudio.field_components.encodings import Encoding, Identity from nerfstudio.field_components.field_heads import ( DensityFieldHead, FieldHead, FieldHeadNames, RGBFieldHead, ) from nerfstudio.field_components.mlp import MLP from nerfstudio.field_components.spatial_distortions import SpatialDistortion from nerfstudio.fields.base_field import Field class NeRFField(Field): """NeRF Field Args: position_encoding: Position encoder. direction_encoding: Direction encoder. base_mlp_num_layers: Number of layers for base MLP. base_mlp_layer_width: Width of base MLP layers. head_mlp_num_layers: Number of layer for ourput head MLP. head_mlp_layer_width: Width of output head MLP layers. skip_connections: Where to add skip connection in base MLP. use_integrated_encoding: Used integrated samples as encoding input. spatial_distortion: Spatial distortion. spatial_normalization_region: normalization after spatial distortion. """ def __init__( self, position_encoding: Encoding = Identity(in_dim=3), direction_encoding: Encoding = Identity(in_dim=3), base_mlp_num_layers: int = 8, base_mlp_layer_width: int = 256, head_mlp_num_layers: int = 2, head_mlp_layer_width: int = 128, skip_connections: Tuple[int] = (4,), field_heads: Tuple[FieldHead] = (RGBFieldHead(),), use_integrated_encoding: bool = False, spatial_distortion: Optional[SpatialDistortion] = None, spatial_normalization_region: Literal["full", "fg", "none"] = "none", ) -> None: super().__init__() self.position_encoding = position_encoding self.direction_encoding = direction_encoding self.use_integrated_encoding = use_integrated_encoding self.spatial_distortion = spatial_distortion self.spatial_normalization_region = spatial_normalization_region if (use_integrated_encoding or spatial_distortion is None) and spatial_normalization_region != "none": raise NotImplementedError self.mlp_base = MLP( in_dim=self.position_encoding.get_out_dim(), num_layers=base_mlp_num_layers, layer_width=base_mlp_layer_width, skip_connections=skip_connections, out_activation=nn.ReLU(), ) self.mlp_head = MLP( in_dim=self.mlp_base.get_out_dim() + self.direction_encoding.get_out_dim(), num_layers=head_mlp_num_layers, layer_width=head_mlp_layer_width, out_activation=nn.ReLU(), ) self.field_output_density = DensityFieldHead(in_dim=self.mlp_base.get_out_dim()) self.field_heads = nn.ModuleList(field_heads) for field_head in self.field_heads: field_head.set_in_dim(self.mlp_head.get_out_dim()) # type: ignore def get_density(self, ray_samples: RaySamples): if self.use_integrated_encoding: gaussian_samples = ray_samples.frustums.get_gaussian_blob() if self.spatial_distortion is not None: gaussian_samples = self.spatial_distortion(gaussian_samples) encoded_xyz = self.position_encoding(gaussian_samples.mean, covs=gaussian_samples.cov) else: positions = ray_samples.frustums.get_positions() if self.spatial_distortion is not None: positions = self.spatial_distortion(positions) positions = self._get_normalized_positions(positions) encoded_xyz = self.position_encoding(positions) base_mlp_out = self.mlp_base(encoded_xyz) density = self.field_output_density(base_mlp_out) return density, base_mlp_out def get_outputs( self, ray_samples: RaySamples, density_embedding: Optional[TensorType] = None ) -> Dict[FieldHeadNames, TensorType]: outputs = {} for field_head in self.field_heads: encoded_dir = self.direction_encoding(ray_samples.frustums.directions) mlp_out = self.mlp_head(torch.cat([encoded_dir, density_embedding], dim=-1)) # type: ignore outputs[field_head.field_head_name] = field_head(mlp_out) return outputs def _get_normalized_positions(self, positions): if self.spatial_normalization_region == 'full': return (positions + 2.0) / 4.0 elif self.spatial_normalization_region == 'fg': return (positions + 1.0) / 2.0 elif self.config.spatial_normalization_region == 'none': return positions else: raise ValueError(f"Unknown spatial normalization region: {self.spatial_normalization_region}") ================================================ FILE: AutoReconForDens3R/nerfstudio/model_components/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/model_components/losses.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Collection of Losses. """ import torch import torch.nn.functional as F from torch import nn from torchtyping import TensorType from nerfstudio.cameras.rays import RaySamples from nerfstudio.field_components.field_heads import FieldHeadNames L1Loss = nn.L1Loss MSELoss = nn.MSELoss LOSSES = {"L1": L1Loss, "MSE": MSELoss} EPS = 1.0e-7 def outer( t0_starts: TensorType[..., "num_samples_0"], t0_ends: TensorType[..., "num_samples_0"], t1_starts: TensorType[..., "num_samples_1"], t1_ends: TensorType[..., "num_samples_1"], y1: TensorType[..., "num_samples_1"], ) -> TensorType[..., "num_samples_0"]: """Faster version of https://github.com/kakaobrain/NeRF-Factory/blob/f61bb8744a5cb4820a4d968fb3bfbed777550f4a/src/model/mipnerf360/helper.py#L117 https://github.com/google-research/multinerf/blob/b02228160d3179300c7d499dca28cb9ca3677f32/internal/stepfun.py#L64 Args: t0_starts: start of the interval edges t0_ends: end of the interval edges t1_starts: start of the interval edges t1_ends: end of the interval edges y1: weights """ cy1 = torch.cat([torch.zeros_like(y1[..., :1]), torch.cumsum(y1, dim=-1)], dim=-1) idx_lo = torch.searchsorted(t1_starts.contiguous(), t0_starts.contiguous(), side="right") - 1 idx_lo = torch.clamp(idx_lo, min=0, max=y1.shape[-1] - 1) idx_hi = torch.searchsorted(t1_ends.contiguous(), t0_ends.contiguous(), side="right") idx_hi = torch.clamp(idx_hi, min=0, max=y1.shape[-1] - 1) cy1_lo = torch.take_along_dim(cy1[..., :-1], idx_lo, dim=-1) cy1_hi = torch.take_along_dim(cy1[..., 1:], idx_hi, dim=-1) y0_outer = cy1_hi - cy1_lo return y0_outer def lossfun_outer( t: TensorType[..., "num_samples+1"], w: TensorType[..., "num_samples"], t_env: TensorType[..., "num_samples+1"], w_env: TensorType[..., "num_samples"], ): """ https://github.com/kakaobrain/NeRF-Factory/blob/f61bb8744a5cb4820a4d968fb3bfbed777550f4a/src/model/mipnerf360/helper.py#L136 https://github.com/google-research/multinerf/blob/b02228160d3179300c7d499dca28cb9ca3677f32/internal/stepfun.py#L80 Args: t: interval edges w: weights t_env: interval edges of the upper bound enveloping historgram w_env: weights that should upper bound the inner (t,w) histogram """ w_outer = outer(t[..., :-1], t[..., 1:], t_env[..., :-1], t_env[..., 1:], w_env) return torch.clip(w - w_outer, min=0) ** 2 / (w + EPS) def ray_samples_to_sdist(ray_samples): """Convert ray samples to s space""" starts = ray_samples.spacing_starts ends = ray_samples.spacing_ends sdist = torch.cat([starts[..., 0], ends[..., -1:, 0]], dim=-1) # (num_rays, num_samples + 1) return sdist def interlevel_loss(weights_list, ray_samples_list): """Calculates the proposal loss in the MipNeRF-360 paper. https://github.com/kakaobrain/NeRF-Factory/blob/f61bb8744a5cb4820a4d968fb3bfbed777550f4a/src/model/mipnerf360/model.py#L515 https://github.com/google-research/multinerf/blob/b02228160d3179300c7d499dca28cb9ca3677f32/internal/train_utils.py#L133 """ c = ray_samples_to_sdist(ray_samples_list[-1]).detach() w = weights_list[-1][..., 0].detach() loss_interlevel = 0.0 for ray_samples, weights in zip(ray_samples_list[:-1], weights_list[:-1]): sdist = ray_samples_to_sdist(ray_samples) cp = sdist # (num_rays, num_samples + 1) wp = weights[..., 0] # (num_rays, num_samples) loss_interlevel += torch.mean(lossfun_outer(c, w, cp, wp)) return loss_interlevel # Verified def lossfun_distortion(t, w): """ https://github.com/kakaobrain/NeRF-Factory/blob/f61bb8744a5cb4820a4d968fb3bfbed777550f4a/src/model/mipnerf360/helper.py#L142 https://github.com/google-research/multinerf/blob/b02228160d3179300c7d499dca28cb9ca3677f32/internal/stepfun.py#L266 """ ut = (t[..., 1:] + t[..., :-1]) / 2 dut = torch.abs(ut[..., :, None] - ut[..., None, :]) loss_inter = torch.sum(w * torch.sum(w[..., None, :] * dut, dim=-1), dim=-1) loss_intra = torch.sum(w**2 * (t[..., 1:] - t[..., :-1]), dim=-1) / 3 return loss_inter + loss_intra def distortion_loss(weights_list, ray_samples_list): """From mipnerf360""" c = ray_samples_to_sdist(ray_samples_list[-1]) w = weights_list[-1][..., 0] loss = torch.mean(lossfun_distortion(c, w)) return loss def nerfstudio_distortion_loss( ray_samples: RaySamples, densities: TensorType["bs":..., "num_samples", 1] = None, weights: TensorType["bs":..., "num_samples", 1] = None, ) -> TensorType["bs":..., 1]: """Ray based distortion loss proposed in MipNeRF-360. Returns distortion Loss. .. math:: \\mathcal{L}(\\mathbf{s}, \\mathbf{w}) =\\iint\\limits_{-\\infty}^{\\,\\,\\,\\infty} \\mathbf{w}_\\mathbf{s}(u)\\mathbf{w}_\\mathbf{s}(v)|u - v|\\,d_{u}\\,d_{v} where :math:`\\mathbf{w}_\\mathbf{s}(u)=\\sum_i w_i \\mathbb{1}_{[\\mathbf{s}_i, \\mathbf{s}_{i+1})}(u)` is the weight at location :math:`u` between bin locations :math:`s_i` and :math:`s_{i+1}`. Args: ray_samples: Ray samples to compute loss over densities: Predicted sample densities weights: Predicted weights from densities and sample locations """ if torch.is_tensor(densities): assert not torch.is_tensor(weights), "Cannot use both densities and weights" # Compute the weight at each sample location weights = ray_samples.get_weights(densities) if torch.is_tensor(weights): assert not torch.is_tensor(densities), "Cannot use both densities and weights" starts = ray_samples.spacing_starts ends = ray_samples.spacing_ends assert starts is not None and ends is not None, "Ray samples must have spacing starts and ends" midpoints = (starts + ends) / 2.0 # (..., num_samples, 1) loss = ( weights * weights[..., None, :, 0] * torch.abs(midpoints - midpoints[..., None, :, 0]) ) # (..., num_samples, num_samples) loss = torch.sum(loss, dim=(-1, -2))[..., None] # (..., num_samples) loss = loss + 1 / 3.0 * torch.sum(weights**2 * (ends - starts), dim=-2) return loss def orientation_loss( weights: TensorType["bs":..., "num_samples", 1], normals: TensorType["bs":..., "num_samples", 3], viewdirs: TensorType["bs":..., 3], ): """Orientation loss proposed in Ref-NeRF. Loss that encourages that all visible normals are facing towards the camera. """ w = weights n = normals v = viewdirs n_dot_v = (n * v[..., None, :]).sum(axis=-1) return (w[..., 0] * torch.fmin(torch.zeros_like(n_dot_v), n_dot_v) ** 2).sum(dim=-1) def pred_normal_loss( weights: TensorType["bs":..., "num_samples", 1], normals: TensorType["bs":..., "num_samples", 3], pred_normals: TensorType["bs":..., "num_samples", 3], ): """Loss between normals calculated from density and normals from prediction network.""" return (weights[..., 0] * (1.0 - torch.sum(normals * pred_normals, dim=-1))).sum(dim=-1) def monosdf_normal_loss(normal_pred: torch.Tensor, normal_gt: torch.Tensor): """normal consistency loss as monosdf Args: normal_pred (torch.Tensor): volume rendered normal normal_gt (torch.Tensor): monocular normal """ normal_gt = torch.nn.functional.normalize(normal_gt, p=2, dim=-1) normal_pred = torch.nn.functional.normalize(normal_pred, p=2, dim=-1) l1 = torch.abs(normal_pred - normal_gt).sum(dim=-1).mean() cos = (1.0 - torch.sum(normal_pred * normal_gt, dim=-1)).mean() return l1 + cos # copy from MiDaS def compute_scale_and_shift(prediction, target, mask): # system matrix: A = [[a_00, a_01], [a_10, a_11]] a_00 = torch.sum(mask * prediction * prediction, (1, 2)) a_01 = torch.sum(mask * prediction, (1, 2)) a_11 = torch.sum(mask, (1, 2)) # right hand side: b = [b_0, b_1] b_0 = torch.sum(mask * prediction * target, (1, 2)) b_1 = torch.sum(mask * target, (1, 2)) # solution: x = A^-1 . b = [[a_11, -a_01], [-a_10, a_00]] / (a_00 * a_11 - a_01 * a_10) . b x_0 = torch.zeros_like(b_0) x_1 = torch.zeros_like(b_1) det = a_00 * a_11 - a_01 * a_01 valid = det.nonzero() x_0[valid] = (a_11[valid] * b_0[valid] - a_01[valid] * b_1[valid]) / det[valid] x_1[valid] = (-a_01[valid] * b_0[valid] + a_00[valid] * b_1[valid]) / det[valid] return x_0, x_1 def reduction_batch_based(image_loss, M): # average of all valid pixels of the batch # avoid division by 0 (if sum(M) = sum(sum(mask)) = 0: sum(image_loss) = 0) divisor = torch.sum(M) if divisor == 0: return 0 else: return torch.sum(image_loss) / divisor def reduction_image_based(image_loss, M): # mean of average of valid pixels of an image # avoid division by 0 (if M = sum(mask) = 0: image_loss = 0) valid = M.nonzero() image_loss[valid] = image_loss[valid] / M[valid] return torch.mean(image_loss) def mse_loss(prediction, target, mask, reduction=reduction_batch_based): M = torch.sum(mask, (1, 2)) res = prediction - target image_loss = torch.sum(mask * res * res, (1, 2)) return reduction(image_loss, 2 * M) def gradient_loss(prediction, target, mask, reduction=reduction_batch_based): M = torch.sum(mask, (1, 2)) diff = prediction - target diff = torch.mul(mask, diff) grad_x = torch.abs(diff[:, :, 1:] - diff[:, :, :-1]) mask_x = torch.mul(mask[:, :, 1:], mask[:, :, :-1]) grad_x = torch.mul(mask_x, grad_x) grad_y = torch.abs(diff[:, 1:, :] - diff[:, :-1, :]) mask_y = torch.mul(mask[:, 1:, :], mask[:, :-1, :]) grad_y = torch.mul(mask_y, grad_y) image_loss = torch.sum(grad_x, (1, 2)) + torch.sum(grad_y, (1, 2)) return reduction(image_loss, M) class MiDaSMSELoss(nn.Module): def __init__(self, reduction="batch-based"): super().__init__() if reduction == "batch-based": self.__reduction = reduction_batch_based else: self.__reduction = reduction_image_based def forward(self, prediction, target, mask): return mse_loss(prediction, target, mask, reduction=self.__reduction) class GradientLoss(nn.Module): def __init__(self, scales=4, reduction="batch-based"): super().__init__() if reduction == "batch-based": self.__reduction = reduction_batch_based else: self.__reduction = reduction_image_based self.__scales = scales def forward(self, prediction, target, mask): total = 0 for scale in range(self.__scales): step = pow(2, scale) total += gradient_loss( prediction[:, ::step, ::step], target[:, ::step, ::step], mask[:, ::step, ::step], reduction=self.__reduction, ) return total class ScaleAndShiftInvariantLoss(nn.Module): def __init__(self, alpha=0.5, scales=4, reduction="batch-based"): super().__init__() self.__data_loss = MiDaSMSELoss(reduction=reduction) self.__regularization_loss = GradientLoss(scales=scales, reduction=reduction) self.__alpha = alpha self.__prediction_ssi = None def forward(self, prediction, target, mask): scale, shift = compute_scale_and_shift(prediction, target, mask) self.__prediction_ssi = scale.view(-1, 1, 1) * prediction + shift.view(-1, 1, 1) total = self.__data_loss(self.__prediction_ssi, target, mask) if self.__alpha > 0: total += self.__alpha * self.__regularization_loss(self.__prediction_ssi, target, mask) return total def __get_prediction_ssi(self): return self.__prediction_ssi prediction_ssi = property(__get_prediction_ssi) # end copy # copy from https://github.com/svip-lab/Indoor-SfMLearner/blob/0d682b7ce292484e5e3e2161fc9fc07e2f5ca8d1/layers.py#L218 class SSIM(nn.Module): """Layer to compute the SSIM loss between a pair of images""" def __init__(self, patch_size): super(SSIM, self).__init__() self.mu_x_pool = nn.AvgPool2d(patch_size, 1) self.mu_y_pool = nn.AvgPool2d(patch_size, 1) self.sig_x_pool = nn.AvgPool2d(patch_size, 1) self.sig_y_pool = nn.AvgPool2d(patch_size, 1) self.sig_xy_pool = nn.AvgPool2d(patch_size, 1) self.refl = nn.ReflectionPad2d(patch_size // 2) self.C1 = 0.01**2 self.C2 = 0.03**2 def forward(self, x, y): x = self.refl(x) y = self.refl(y) mu_x = self.mu_x_pool(x) mu_y = self.mu_y_pool(y) sigma_x = self.sig_x_pool(x**2) - mu_x**2 sigma_y = self.sig_y_pool(y**2) - mu_y**2 sigma_xy = self.sig_xy_pool(x * y) - mu_x * mu_y SSIM_n = (2 * mu_x * mu_y + self.C1) * (2 * sigma_xy + self.C2) SSIM_d = (mu_x**2 + mu_y**2 + self.C1) * (sigma_x + sigma_y + self.C2) return torch.clamp((1 - SSIM_n / SSIM_d) / 2, 0, 1) # TODO test different losses class NCC(nn.Module): """Layer to compute the normalization cross correlation (NCC) of patches""" def __init__(self, patch_size: int = 11, min_patch_variance: float = 0.01): super(NCC, self).__init__() self.patch_size = patch_size self.min_patch_variance = min_patch_variance def forward(self, x, y): # TODO if we use gray image we should do it right after loading the image to save computations # to gray image x = torch.mean(x, dim=1) y = torch.mean(y, dim=1) x_mean = torch.mean(x, dim=(1, 2), keepdim=True) y_mean = torch.mean(y, dim=(1, 2), keepdim=True) x_normalized = x - x_mean y_normalized = y - y_mean norm = torch.sum(x_normalized * y_normalized, dim=(1, 2)) var = torch.square(x_normalized).sum(dim=(1, 2)) * torch.square(y_normalized).sum(dim=(1, 2)) denom = torch.sqrt(var + 1e-6) ncc = norm / (denom + 1e-6) # ignore pathces with low variances not_valid = (torch.square(x_normalized).sum(dim=(1, 2)) < self.min_patch_variance) | ( torch.square(y_normalized).sum(dim=(1, 2)) < self.min_patch_variance ) ncc[not_valid] = 1.0 score = 1 - ncc.clip(-1.0, 1.0) # 0->2: smaller, better return score[:, None, None, None] class MultiViewLoss(nn.Module): """compute multi-view consistency loss""" def __init__(self, patch_size: int = 11, topk: int = 4, min_patch_variance: float = 0.01): super(MultiViewLoss, self).__init__() self.patch_size = patch_size self.topk = topk self.min_patch_variance = min_patch_variance # TODO make metric configurable # self.ssim = SSIM(patch_size=patch_size) # self.ncc = NCC(patch_size=patch_size) self.ssim = NCC(patch_size=patch_size, min_patch_variance=min_patch_variance) self.iter = 0 def forward(self, patches: torch.Tensor, valid: torch.Tensor): """take the mim Args: patches (torch.Tensor): _description_ valid (torch.Tensor): _description_ Returns: _type_: _description_ """ num_imgs, num_rays, _, num_channels = patches.shape if num_rays <= 0: return torch.tensor(0.0).to(patches.device) ref_patches = ( patches[:1, ...] .reshape(1, num_rays, self.patch_size, self.patch_size, num_channels) .expand(num_imgs - 1, num_rays, self.patch_size, self.patch_size, num_channels) .reshape(-1, self.patch_size, self.patch_size, num_channels) .permute(0, 3, 1, 2) ) # [N_src*N_rays, 3, patch_size, patch_size] src_patches = ( patches[1:, ...] .reshape(num_imgs - 1, num_rays, self.patch_size, self.patch_size, num_channels) .reshape(-1, self.patch_size, self.patch_size, num_channels) .permute(0, 3, 1, 2) ) # [N_src*N_rays, 3, patch_size, patch_size] # apply same reshape to the valid mask src_patches_valid = ( valid[1:, ...] .reshape(num_imgs - 1, num_rays, self.patch_size, self.patch_size, 1) .reshape(-1, self.patch_size, self.patch_size, 1) .permute(0, 3, 1, 2) ) # [N_src*N_rays, 1, patch_size, patch_size] ssim = self.ssim(ref_patches.detach(), src_patches) ssim = torch.mean(ssim, dim=(1, 2, 3)) ssim = ssim.reshape(num_imgs - 1, num_rays) # ignore invalid patch by setting ssim error to very large value ssim_valid = ( src_patches_valid.reshape(-1, self.patch_size * self.patch_size).all(dim=-1).reshape(num_imgs - 1, num_rays) ) # we should mask the error after we select the topk value, otherwise we might select far way patches that happens to be inside the image # ssim[torch.logical_not(ssim_valid)] = 1.1 # max ssim_error is 1 min_ssim, idx = torch.topk(ssim, k=self.topk, largest=False, dim=0, sorted=True) min_ssim_valid = ssim_valid[idx, torch.arange(num_rays)[None].expand_as(idx)] # TODO how to set this value for better visualization min_ssim[torch.logical_not(min_ssim_valid)] = 0.0 # max ssim_error is 1 if False: # visualization of topK error computations import cv2 import numpy as np vis_patch_num = num_rays K = min(100, vis_patch_num) image = ( patches[:, :vis_patch_num, :, :] .reshape(-1, vis_patch_num, self.patch_size, self.patch_size, 3) .permute(1, 2, 0, 3, 4) .reshape(vis_patch_num * self.patch_size, -1, 3) ) src_patches_reshaped = src_patches.reshape( num_imgs - 1, num_rays, 3, self.patch_size, self.patch_size ).permute(1, 0, 3, 4, 2) idx = idx.permute(1, 0) selected_patch = ( src_patches_reshaped[torch.arange(num_rays)[:, None].expand(idx.shape), idx] .permute(0, 2, 1, 3, 4) .reshape(num_rays, self.patch_size, self.topk * self.patch_size, 3)[:vis_patch_num] .reshape(-1, self.topk * self.patch_size, 3) ) # apply same reshape to the valid mask src_patches_valid_reshaped = src_patches_valid.reshape( num_imgs - 1, num_rays, 1, self.patch_size, self.patch_size ).permute(1, 0, 3, 4, 2) selected_patch_valid = ( src_patches_valid_reshaped[torch.arange(num_rays)[:, None].expand(idx.shape), idx] .permute(0, 2, 1, 3, 4) .reshape(num_rays, self.patch_size, self.topk * self.patch_size, 1)[:vis_patch_num] .reshape(-1, self.topk * self.patch_size, 1) ) # valid to image selected_patch_valid = selected_patch_valid.expand_as(selected_patch).float() # breakpoint() image = torch.cat([selected_patch_valid, selected_patch, image], dim=1) # select top rays with highest errors image = image.reshape(num_rays, self.patch_size, -1, 3) _, idx2 = torch.topk( torch.sum(min_ssim, dim=0) / (min_ssim_valid.float().sum(dim=0) + 1e-6), k=K, largest=True, dim=0, sorted=True, ) image = image[idx2].reshape(K * self.patch_size, -1, 3) cv2.imwrite(f"vis/{self.iter}.png", (image.detach().cpu().numpy() * 255).astype(np.uint8)[..., ::-1]) self.iter += 1 if self.iter == 9: breakpoint() return torch.sum(min_ssim) / (min_ssim_valid.float().sum() + 1e-6) # sensor depth loss, adapted from https://github.com/dazinovic/neural-rgbd-surface-reconstruction/blob/main/losses.py class SensorDepthLoss(nn.Module): """Sensor Depth loss""" def __init__(self, truncation: float): super(SensorDepthLoss, self).__init__() self.truncation = truncation # 0.05 * 0.3 5cm scaled def forward(self, batch, outputs): """take the mim Args: batch (Dict): inputs outputs (Dict): outputs data from surface model Returns: l1_loss: l1 loss freespace_loss: free space loss sdf_loss: sdf loss """ depth_pred = outputs["depth"] depth_gt = batch["sensor_depth"].to(depth_pred.device)[..., None] valid_gt_mask = depth_gt > 0.0 l1_loss = torch.sum(valid_gt_mask * torch.abs(depth_gt - depth_pred)) / (valid_gt_mask.sum() + 1e-6) # free space loss and sdf loss ray_samples = outputs["ray_samples"] filed_outputs = outputs["field_outputs"] pred_sdf = filed_outputs[FieldHeadNames.SDF][..., 0] directions_norm = outputs["directions_norm"] z_vals = ray_samples.frustums.starts[..., 0] / directions_norm truncation = self.truncation front_mask = valid_gt_mask & (z_vals < (depth_gt - truncation)) back_mask = valid_gt_mask & (z_vals > (depth_gt + truncation)) sdf_mask = valid_gt_mask & (~front_mask) & (~back_mask) num_fs_samples = front_mask.sum() num_sdf_samples = sdf_mask.sum() num_samples = num_fs_samples + num_sdf_samples + 1e-6 fs_weight = 1.0 - num_fs_samples / num_samples sdf_weight = 1.0 - num_sdf_samples / num_samples free_space_loss = torch.mean((F.relu(truncation - pred_sdf) * front_mask) ** 2) * fs_weight sdf_loss = torch.mean(((z_vals + pred_sdf) - depth_gt) ** 2 * sdf_mask) * sdf_weight return l1_loss, free_space_loss, sdf_loss ================================================ FILE: AutoReconForDens3R/nerfstudio/model_components/patch_warping.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of patch warping for multi-view consistency loss. """ import numpy as np import torch from torch import nn from nerfstudio.cameras.cameras import Cameras from nerfstudio.cameras.rays import RaySamples def get_intersection_points( ray_samples: RaySamples, sdf: torch.Tensor, normal: torch.Tensor, in_image_mask: torch.Tensor ): """compute intersection points Args: ray_samples (RaySamples): _description_ sdf (torch.Tensor): _description_ normal (torch.Tensor): _description_ in_image_mask (torch.Tensor): we only use the rays in the range of [half_patch:h-half_path, half_patch:w-half_path] Returns: _type_: _description_ """ # TODO we should support different ways to compute intersections # Calculate if sign change occurred and concat 1 (no sign change) in # last dimension n_rays, n_samples = ray_samples.shape starts = ray_samples.frustums.starts sign_matrix = torch.cat([torch.sign(sdf[:, :-1, 0] * sdf[:, 1:, 0]), torch.ones(n_rays, 1).to(sdf.device)], dim=-1) cost_matrix = sign_matrix * torch.arange(n_samples, 0, -1).float().to(sdf.device) # Get first sign change and mask for values where a.) a sign changed # occurred and b.) no a neg to pos sign change occurred (meaning from # inside surface to outside) values, indices = torch.min(cost_matrix, -1) mask_sign_change = values < 0 mask_pos_to_neg = sdf[torch.arange(n_rays), indices, 0] > 0 # Define mask where a valid depth value is found mask = mask_sign_change & mask_pos_to_neg & in_image_mask # Get depth values and function values for the interval d_low = starts[torch.arange(n_rays), indices, 0][mask] v_low = sdf[torch.arange(n_rays), indices, 0][mask] n_low = normal[torch.arange(n_rays), indices, :][mask] indices = torch.clamp(indices + 1, max=n_samples - 1) d_high = starts[torch.arange(n_rays), indices, 0][mask] v_high = sdf[torch.arange(n_rays), indices, 0][mask] n_high = normal[torch.arange(n_rays), indices, :][mask] # linear-interpolations or run secant method to refine depth z = (v_low * d_high - v_high * d_low) / (v_low - v_high) # make this simpler origins = ray_samples.frustums.origins[torch.arange(n_rays), indices, :][mask] directions = ray_samples.frustums.directions[torch.arange(n_rays), indices, :][mask] intersection_points = origins + directions * z[..., None] # interpolate normal for simplicity so we don't need to call the model again points_normal = (v_low[..., None] * n_high - v_high[..., None] * n_low) / (v_low[..., None] - v_high[..., None]) points_normal = torch.nn.functional.normalize(points_normal, dim=-1, p=2) # filter normals that are perpendicular to view directions valid = (points_normal * directions).sum(dim=-1).abs() > 0.1 intersection_points = intersection_points[valid] points_normal = points_normal[valid] new_mask = mask.clone() new_mask[mask] &= valid return intersection_points, points_normal, new_mask def get_homography( intersection_points: torch.Tensor, normal: torch.Tensor, cameras: Cameras, valid_angle_thres: float = 0.3 ): """get homography Args: intersection_points (torch.Tensor): _description_ normal (torch.Tensor): _description_ cameras (Cameras): _description_ """ device = intersection_points.device # construct homography c2w = cameras.camera_to_worlds.to(device) K = cameras.get_intrinsics_matrices().to(device) K_inv = torch.linalg.inv(K) # convert camera to opencv format c2w[:, :3, 1:3] *= -1 w2c_r = c2w[:, :3, :3].transpose(1, 2) w2c_t = -w2c_r @ c2w[:, :3, 3:] w2c = torch.cat([w2c_r, w2c_t], dim=-1) R_rel = w2c[:, :3, :3] @ c2w[:1, :3, :3] # [N, 3, 3] t_rel = w2c[:, :3, :3] @ c2w[:1, :3, 3:] + w2c[:1, :3, 3:] # [N, 3, 1] p_ref = w2c[0, :3, :3] @ intersection_points.transpose(1, 0) + w2c[0, :3, 3:] # [3, n_pts] n_ref = w2c[0, :3, :3] @ normal.transpose(1, 0) # [3, n_pts] d = torch.sum(n_ref * p_ref, dim=0, keepdims=True) # TODO make this clear H = R_rel[:, None, :, :] + t_rel[:, None, :, :] @ n_ref.transpose(1, 0)[None, :, None, :] / d[..., None, None] H = K[:, None] @ H @ K_inv[None, :1] # [n_cameras, n_pts, 3, 3] # compute valid mask for homograpy, we should filter normal that are prependicular to source viewing ray directions dir_src = torch.nn.functional.normalize(c2w[:, None, :, 3] - intersection_points[None], dim=-1) valid = (dir_src * normal[None]).sum(dim=-1) > valid_angle_thres # point should be in front of cameras p_src = w2c[:, :3, :3] @ intersection_points.transpose(1, 0) + w2c[:, :3, 3:] # [:, 3, n_pts] valid_2 = p_src[:, 2, :] > 0.01 return H, valid & valid_2 class PatchWarping(nn.Module): """Standard patch warping.""" def __init__(self, patch_size: int = 31, pixel_offset: float = 0.5, valid_angle_thres: float = 0.3): super().__init__() self.patch_size = patch_size half_size = patch_size // 2 self.valid_angle_thres = valid_angle_thres # generate pattern patch_coords = torch.meshgrid( torch.arange(-half_size, half_size + 1), torch.arange(-half_size, half_size + 1), indexing="xy" ) patch_coords = torch.stack(patch_coords, dim=-1) + pixel_offset # stored as (y, x) coordinates self.patch_coords = torch.cat([patch_coords, torch.zeros_like(patch_coords[..., :1])], dim=-1) def forward( self, ray_samples: RaySamples, sdf: torch.Tensor, normal: torch.Tensor, cameras: Cameras, images: torch.Tensor, pix_indices: torch.Tensor, ): device = sdf.device cameras = cameras.to(device) # filter out the patches that are outside the boarder of image in_image_mask = ( (pix_indices[:, 0] > self.patch_size // 2) & (pix_indices[:, 1] > self.patch_size // 2) & (pix_indices[:, 0] < (cameras.image_height[0] - self.patch_size // 2 - 1)) & (pix_indices[:, 1] < (cameras.image_width[0] - self.patch_size // 2 - 1)) ) # [n_imgs, n_rays_valid, patch_h*patch_w] # find intersection points and normals intersection_points, normal, mask = get_intersection_points(ray_samples, sdf, normal, in_image_mask) # Attention: we construct homography with OPENCV coordinate system H, H_valid_mask = get_homography(intersection_points, normal, cameras, self.valid_angle_thres) # Attention uv is (y, x) and we should change to (x, y) for homography pix_indices = torch.flip(pix_indices, dims=[-1])[mask].float() pix_indices = torch.cat([pix_indices, torch.ones(pix_indices.shape[0], 1).to(device)], dim=-1) # [n_pts, 3] pix_indices = pix_indices[:, None, None, :] + self.patch_coords[None].to(device) # [n_pts, patch_h, patch_w, 3] pix_indices = pix_indices.permute(0, 3, 1, 2).reshape( 1, -1, 3, self.patch_size**2 ) # [1, n_pts, 3, patch_h*patch_w] warped_indices = H @ pix_indices # patches after warping should have positive depth positive_depth_mask = warped_indices[:, :, 2, :] >= 0.2 warped_indices[:, :, 2, :] *= positive_depth_mask warped_indices = warped_indices[:, :, :2, :] / (warped_indices[:, :, 2:, :] + 1e-6) pix_coords = warped_indices.permute(0, 1, 3, 2).contiguous() # [..., :2] pix_coords[..., 0:1] /= cameras.image_width[:, None, None].to(device) - 1 pix_coords[..., 1:2] /= cameras.image_height[:, None, None].to(device) - 1 pix_coords = (pix_coords - 0.5) * 2 # valid valid = ( (pix_coords[..., 0] > -1.0) & (pix_coords[..., 0] < 1.0) & (pix_coords[..., 1] > -1.0) & (pix_coords[..., 1] < 1.0) ) # [n_imgs, n_rays_valid, patch_h*patch_w] # combine valid with H valid = valid & H_valid_mask[..., None] & positive_depth_mask rgb = torch.nn.functional.grid_sample( images.permute(0, 3, 1, 2).to(sdf.device), pix_coords, mode="bilinear", padding_mode="zeros", align_corners=True, ) rgb = rgb.permute(0, 2, 3, 1) # [n_imgs, n_rays_valid, patch_h*patch_w, 3] # save as visualization if False: import cv2 vis_patch_num = 60 image = ( rgb[:, :vis_patch_num, :, :] .reshape(-1, vis_patch_num, self.patch_size, self.patch_size, 3) .permute(1, 2, 0, 3, 4) .reshape(vis_patch_num * self.patch_size, -1, 3) ) cv2.imwrite("vis.png", (image.detach().cpu().numpy() * 255).astype(np.uint8)[..., ::-1]) return rgb, valid ================================================ FILE: AutoReconForDens3R/nerfstudio/model_components/ray_generators.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Ray generator. """ from torch import nn from torchtyping import TensorType from nerfstudio.cameras.camera_optimizers import CameraOptimizer from nerfstudio.cameras.cameras import Cameras from nerfstudio.cameras.rays import RayBundle class RayGenerator(nn.Module): """torch.nn Module for generating rays. This class is the interface between the scene's cameras/camera optimizer and the ray sampler. Args: cameras: Camera objects containing camera info. pose_optimizer: pose optimization module, for optimizing noisy camera intrisics/extrinsics. """ def __init__(self, cameras: Cameras, pose_optimizer: CameraOptimizer) -> None: super().__init__() self.cameras = cameras self.pose_optimizer = pose_optimizer self.image_coords = nn.Parameter(cameras.get_image_coords(), requires_grad=False) def forward(self, ray_indices: TensorType["num_rays", 3]) -> RayBundle: """Index into the cameras to generate the rays. Args: ray_indices: Contains camera, row, and col indicies for target rays. """ c = ray_indices[:, 0] # camera indices y = ray_indices[:, 1] # row indices x = ray_indices[:, 2] # col indices coords = self.image_coords[y, x] camera_opt_to_camera = self.pose_optimizer(c) ray_bundle = self.cameras.generate_rays( camera_indices=c.unsqueeze(-1), coords=coords, camera_opt_to_camera=camera_opt_to_camera, ) return ray_bundle ================================================ FILE: AutoReconForDens3R/nerfstudio/model_components/ray_samplers.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Collection of sampling strategies """ import math from abc import abstractmethod from typing import Callable, List, Optional, Tuple, Union from torchtyping import TensorType from rich.console import Console from copy import deepcopy import torch import nerfacc from torch import nn from nerfacc import OccupancyGrid from nerfstudio.cameras.rays import Frustums, RayBundle, RaySamples CONSOLE = Console(width=120) NEGATIVE_MIN_DELTA_WARNING = """[bold yellow]RaySamples.deltas.min() < 0, which might be caused by nears > fars / bad weights (e.g., all zeros) / numerical issues caused by nears being too closed with fars. This will lead to negative weights and NaN interlevel loss.""" class Sampler(nn.Module): """Generate Samples Args: num_samples: number of samples to take """ def __init__( self, num_samples: Optional[int] = None, ) -> None: super().__init__() self.num_samples = num_samples @abstractmethod def generate_ray_samples(self) -> RaySamples: """Generate Ray Samples""" def forward(self, *args, **kwargs) -> RaySamples: """Generate ray samples""" return self.generate_ray_samples(*args, **kwargs) class SpacedSampler(Sampler): """Sample points according to a function. Args: num_samples: Number of samples per ray spacing_fn: Function that dictates sample spacing (ie `lambda x : x` is uniform). spacing_fn_inv: The inverse of spacing_fn. train_stratified: Use stratified sampling during training. Defults to True single_jitter: Use a same random jitter for all samples along a ray. Defaults to False """ def __init__( self, spacing_fn: Callable, spacing_fn_inv: Callable, num_samples: Optional[int] = None, train_stratified=True, single_jitter=False, ) -> None: super().__init__(num_samples=num_samples) self.train_stratified = train_stratified self.single_jitter = single_jitter self.spacing_fn = spacing_fn self.spacing_fn_inv = spacing_fn_inv def generate_ray_samples( self, ray_bundle: Optional[RayBundle] = None, num_samples: Optional[int] = None, ) -> RaySamples: """Generates position samples accoring to spacing function. Args: ray_bundle: Rays to generate samples for num_samples: Number of samples per ray Returns: Positions and deltas for samples along a ray """ assert ray_bundle is not None assert ray_bundle.nears is not None assert ray_bundle.fars is not None num_samples = num_samples or self.num_samples assert num_samples is not None num_rays = ray_bundle.origins.shape[0] bins = torch.linspace(0.0, 1.0, num_samples + 1).to(ray_bundle.origins.device)[None, ...] # [1, num_samples+1] # TODO More complicated than it needs to be. if self.train_stratified and self.training: if self.single_jitter: t_rand = torch.rand((num_rays, 1), dtype=bins.dtype, device=bins.device) else: t_rand = torch.rand((num_rays, num_samples + 1), dtype=bins.dtype, device=bins.device) bin_centers = (bins[..., 1:] + bins[..., :-1]) / 2.0 bin_upper = torch.cat([bin_centers, bins[..., -1:]], -1) bin_lower = torch.cat([bins[..., :1], bin_centers], -1) bins = bin_lower + (bin_upper - bin_lower) * t_rand s_near, s_far = (self.spacing_fn(x) for x in (ray_bundle.nears.clone(), ray_bundle.fars.clone())) spacing_to_euclidean_fn = lambda x: self.spacing_fn_inv(x * s_far + (1 - x) * s_near) euclidean_bins = spacing_to_euclidean_fn(bins) # [num_rays, num_samples+1] # _deltas = euclidean_bins[..., 1:, None] - euclidean_bins[..., :-1, None] # if _deltas.min() < 0: # CONSOLE.log(NEGATIVE_MIN_DELTA_WARNING) # # if nears and fars are too close to each other (e.g., the ray is intersecting the edge region of an aabb), # # the spacing between ray samples might not be handled properly using float32. ray_samples = ray_bundle.get_ray_samples( bin_starts=euclidean_bins[..., :-1, None], bin_ends=euclidean_bins[..., 1:, None], spacing_starts=bins[..., :-1, None], spacing_ends=bins[..., 1:, None], spacing_to_euclidean_fn=spacing_to_euclidean_fn, ) return ray_samples class UniformSampler(SpacedSampler): """Sample uniformly along a ray Args: num_samples: Number of samples per ray train_stratified: Use stratified sampling during training. Defults to True single_jitter: Use a same random jitter for all samples along a ray. Defaults to False """ def __init__( self, num_samples: Optional[int] = None, train_stratified=True, single_jitter=False, ) -> None: super().__init__( num_samples=num_samples, spacing_fn=lambda x: x, spacing_fn_inv=lambda x: x, train_stratified=train_stratified, single_jitter=single_jitter, ) class LinearDisparitySampler(SpacedSampler): """Sample linearly in disparity along a ray Args: num_samples: Number of samples per ray train_stratified: Use stratified sampling during training. Defults to True single_jitter: Use a same random jitter for all samples along a ray. Defaults to False """ def __init__( self, num_samples: Optional[int] = None, train_stratified=True, single_jitter=False, ) -> None: super().__init__( num_samples=num_samples, spacing_fn=lambda x: 1 / x, spacing_fn_inv=lambda x: 1 / x, train_stratified=train_stratified, single_jitter=single_jitter, ) class SqrtSampler(SpacedSampler): """Square root sampler along a ray Args: num_samples: Number of samples per ray train_stratified: Use stratified sampling during training. Defults to True """ def __init__( self, num_samples: Optional[int] = None, train_stratified=True, single_jitter=False, ) -> None: super().__init__( num_samples=num_samples, spacing_fn=torch.sqrt, spacing_fn_inv=lambda x: x**2, train_stratified=train_stratified, single_jitter=single_jitter, ) class LogSampler(SpacedSampler): """Log sampler along a ray Args: num_samples: Number of samples per ray train_stratified: Use stratified sampling during training. Defults to True """ def __init__( self, num_samples: Optional[int] = None, train_stratified=True, single_jitter=False, ) -> None: super().__init__( num_samples=num_samples, spacing_fn=torch.log, spacing_fn_inv=torch.exp, train_stratified=train_stratified, single_jitter=single_jitter, ) class UniformLinDispPiecewiseSampler(SpacedSampler): """Piecewise sampler along a ray that allocates the first half of the samples uniformly and the second half using linearly in disparity spacing. Args: num_samples: Number of samples per ray train_stratified: Use stratified sampling during training. Defults to True single_jitter: Use a same random jitter for all samples along a ray. Defaults to False """ def __init__( self, num_samples: Optional[int] = None, train_stratified=True, single_jitter=False, ) -> None: super().__init__( num_samples=num_samples, spacing_fn=lambda x: torch.where(x < 1, x / 2, 1 - 1 / (2 * x)), spacing_fn_inv=lambda x: torch.where(x < 0.5, 2 * x, 1 / (2 - 2 * x)), train_stratified=train_stratified, single_jitter=single_jitter, ) class PDFSampler(Sampler): """Sample based on probability distribution Args: num_samples: Number of samples per ray train_stratified: Randomize location within each bin during training. single_jitter: Use a same random jitter for all samples along a ray. Defaults to False include_original: Add original samples to ray. histogram_padding: Amount to weights prior to computing PDF. """ def __init__( self, num_samples: Optional[int] = None, train_stratified: bool = True, single_jitter: bool = False, include_original: bool = True, histogram_padding: float = 0.01, ) -> None: super().__init__(num_samples=num_samples) self.train_stratified = train_stratified self.include_original = include_original self.histogram_padding = histogram_padding self.single_jitter = single_jitter def generate_ray_samples( self, ray_bundle: Optional[RayBundle] = None, ray_samples: Optional[RaySamples] = None, weights: TensorType[..., "num_samples", 1] = None, num_samples: Optional[int] = None, eps: float = 1e-5, ) -> RaySamples: """Generates position samples given a distribution. Args: ray_bundle: Rays to generate samples for ray_samples: Existing ray samples weights: Weights for each bin num_samples: Number of samples per ray eps: Small value to prevent numerical issues. Returns: Positions and deltas for samples along a ray """ if ray_samples is None or ray_bundle is None: raise ValueError("ray_samples and ray_bundle must be provided") num_samples = num_samples or self.num_samples assert num_samples is not None num_bins = num_samples + 1 weights = weights[..., 0] + self.histogram_padding # Add small offset to rays with zero weight to prevent NaNs weights_sum = torch.sum(weights, dim=-1, keepdim=True) padding = torch.relu(eps - weights_sum) weights = weights + padding / weights.shape[-1] weights_sum += padding pdf = weights / weights_sum cdf = torch.min(torch.ones_like(pdf), torch.cumsum(pdf, dim=-1)) cdf = torch.cat([torch.zeros_like(cdf[..., :1]), cdf], dim=-1) if self.train_stratified and self.training: # Stratified samples between 0 and 1 u = torch.linspace(0.0, 1.0 - (1.0 / num_bins), steps=num_bins, device=cdf.device) u = u.expand(size=(*cdf.shape[:-1], num_bins)) if self.single_jitter: rand = torch.rand((*cdf.shape[:-1], 1), device=cdf.device) / num_bins else: rand = torch.rand((*cdf.shape[:-1], num_samples + 1), device=cdf.device) / num_bins u = u + rand else: # Uniform samples between 0 and 1 u = torch.linspace(0.0, 1.0 - (1.0 / num_bins), steps=num_bins, device=cdf.device) u = u + 1.0 / (2 * num_bins) u = u.expand(size=(*cdf.shape[:-1], num_bins)) u = u.contiguous() assert ( ray_samples.spacing_starts is not None and ray_samples.spacing_ends is not None ), "ray_sample spacing_starts and spacing_ends must be provided" assert ray_samples.spacing_to_euclidean_fn is not None, "ray_samples.spacing_to_euclidean_fn must be provided" existing_bins = torch.cat( [ ray_samples.spacing_starts[..., 0], ray_samples.spacing_ends[..., -1:, 0], ], dim=-1, ) inds = torch.searchsorted(cdf, u, side="right") below = torch.clamp(inds - 1, 0, existing_bins.shape[-1] - 1) above = torch.clamp(inds, 0, existing_bins.shape[-1] - 1) cdf_g0 = torch.gather(cdf, -1, below) bins_g0 = torch.gather(existing_bins, -1, below) cdf_g1 = torch.gather(cdf, -1, above) bins_g1 = torch.gather(existing_bins, -1, above) t = torch.clip(torch.nan_to_num((u - cdf_g0) / (cdf_g1 - cdf_g0), 0), 0, 1) bins = bins_g0 + t * (bins_g1 - bins_g0) if self.include_original: bins, _ = torch.sort(torch.cat([existing_bins, bins], -1), -1) # Stop gradients bins = bins.detach() euclidean_bins = ray_samples.spacing_to_euclidean_fn(bins) # NOTE: numerical issues: deltas directly computed from bins are always positive, but deltas computed from euclidean_bins can be negative # spcaing_to_euclidean_fn = lambda x: x # _deltas = euclidean_bins[..., 1:, None] - euclidean_bins[..., :-1, None] # if _deltas.min() < 0: # if _deltas.min() < 0: # CONSOLE.log(NEGATIVE_MIN_DELTA_WARNING) # # if nears and fars are too close to each other (e.g., the ray is intersecting the edge region of an aabb), # # the spacing between ray samples might not be handled properly using float32. # __import__('ipdb').set_trace() ray_samples = ray_bundle.get_ray_samples( bin_starts=euclidean_bins[..., :-1, None], bin_ends=euclidean_bins[..., 1:, None], spacing_starts=bins[..., :-1, None], spacing_ends=bins[..., 1:, None], spacing_to_euclidean_fn=ray_samples.spacing_to_euclidean_fn, ) return ray_samples class VolumetricSampler(Sampler): """Sampler inspired by the one proposed in the Instant-NGP paper. Generates samples along a ray by sampling the occupancy field. Optionally removes occluded samples if the density_fn is provided. Args: occupancy_grid: Occupancy grid to sample from. density_fn: Function that evaluates density at a given point. scene_aabb: Axis-aligned bounding box of the scene, should be set to None if the scene is unbounded. """ def __init__( self, occupancy_grid: Optional[OccupancyGrid] = None, density_fn: Optional[Callable[[TensorType[..., 3]], TensorType[..., 1]]] = None, scene_aabb: Optional[TensorType[2, 3]] = None, ) -> None: super().__init__() self.scene_aabb = scene_aabb self.density_fn = density_fn self.occupancy_grid = occupancy_grid if self.scene_aabb is not None: self.scene_aabb = self.scene_aabb.to("cuda").flatten() print(self.scene_aabb) def get_sigma_fn(self, origins, directions) -> Optional[Callable]: """Returns a function that returns the density of a point. Args: origins: Origins of rays directions: Directions of rays Returns: Function that returns the density of a point or None if a density function is not provided. """ if self.density_fn is None or not self.training: return None density_fn = self.density_fn def sigma_fn(t_starts, t_ends, ray_indices): t_origins = origins[ray_indices] t_dirs = directions[ray_indices] positions = t_origins + t_dirs * (t_starts + t_ends) / 2.0 return density_fn(positions) return sigma_fn def generate_ray_samples(self) -> RaySamples: raise RuntimeError( "The VolumetricSampler fuses sample generation and density check together. Please call forward() directly." ) # pylint: disable=arguments-differ def forward( self, ray_bundle: RayBundle, render_step_size: float, near_plane: float = 0.0, far_plane: Optional[float] = None, cone_angle: float = 0.0, alpha_thre: float = 1e-2, ) -> Tuple[RaySamples, TensorType["total_samples", 3], TensorType["total_samples", 2]]: """Generate ray samples in a bounding box. Args: ray_bundle: Rays to generate samples for render_step_size: Minimum step size to use for rendering near_plane: Near plane for raymarching far_plane: Far plane for raymarching cone_angle: Cone angle for raymarching, set to 0 for uniform marching. Returns: a tuple of (ray_samples, packed_info, ray_indices) The ray_samples are packed, only storing the valid samples. The packed_info contains all the information to recover packed samples into unpacked mode for rendering. The ray_indices contains the indices of the rays that each sample belongs to. """ rays_o = ray_bundle.origins.contiguous() rays_d = ray_bundle.directions.contiguous() if ray_bundle.camera_indices is not None: camera_indices = ray_bundle.camera_indices.contiguous() else: camera_indices = None packed_info, starts, ends = nerfacc.ray_marching( rays_o=rays_o, rays_d=rays_d, scene_aabb=self.scene_aabb, grid=self.occupancy_grid, sigma_fn=self.get_sigma_fn(rays_o, rays_d), render_step_size=render_step_size, near_plane=near_plane, far_plane=far_plane, stratified=self.training, cone_angle=cone_angle, alpha_thre=alpha_thre, ) num_samples = starts.shape[0] if num_samples == 0: # create a single fake sample and update packed_info accordingly # this says the last ray in packed_info has 1 sample, which starts and ends at 1 packed_info[-1, 1] = 1 starts = torch.ones((1, 1), dtype=starts.dtype, device=rays_o.device) ends = torch.ones((1, 1), dtype=ends.dtype, device=rays_o.device) ray_indices = nerfacc.unpack_info(packed_info) origins = rays_o[ray_indices] dirs = rays_d[ray_indices] if camera_indices is not None: camera_indices = camera_indices[ray_indices] zeros = torch.zeros_like(origins[:, :1]) ray_samples = RaySamples( frustums=Frustums( origins=origins, directions=dirs, starts=starts, ends=ends, pixel_area=zeros, ), camera_indices=camera_indices, ) return ray_samples, packed_info, ray_indices class ProposalNetworkSampler(Sampler): """Sampler that uses a proposal network to generate samples.""" def __init__( self, num_proposal_samples_per_ray: Tuple[int] = (64,), num_nerf_samples_per_ray: int = 32, num_proposal_network_iterations: int = 2, use_uniform_sampler: bool = False, single_jitter: bool = False, update_sched: Callable = lambda x: 1, ) -> None: super().__init__() self.num_proposal_samples_per_ray = num_proposal_samples_per_ray self.num_nerf_samples_per_ray = num_nerf_samples_per_ray self.num_proposal_network_iterations = num_proposal_network_iterations self.update_sched = update_sched if self.num_proposal_network_iterations < 1: raise ValueError("num_proposal_network_iterations must be >= 1") if use_uniform_sampler: self.initial_sampler = UniformSampler(single_jitter=single_jitter) else: self.initial_sampler = UniformLinDispPiecewiseSampler(single_jitter=single_jitter) self.pdf_sampler = PDFSampler(include_original=False, single_jitter=single_jitter) self._anneal = 1.0 self._steps_since_update = 0 self._step = 0 def set_anneal(self, anneal: float) -> None: """Set the anneal value for the proposal network.""" self._anneal = anneal def step_cb(self, step): """Callback to register a training step has passed. This is used to keep track of the sampling schedule""" self._step = step self._steps_since_update += 1 def generate_ray_samples( self, ray_bundle: Optional[RayBundle] = None, density_fns: Optional[List[Callable]] = None, ) -> Tuple[RaySamples, List, List]: assert ray_bundle is not None assert density_fns is not None weights_list = [] ray_samples_list = [] n = self.num_proposal_network_iterations weights = None ray_samples = None updated = self._steps_since_update > self.update_sched(self._step) or self._step < 10 for i_level in range(n + 1): is_prop = i_level < n num_samples = self.num_proposal_samples_per_ray[i_level] if is_prop else self.num_nerf_samples_per_ray if i_level == 0: # Uniform sampling because we need to start with some samples ray_samples = self.initial_sampler(ray_bundle, num_samples=num_samples) else: # PDF sampling based on the last samples and their weights # Perform annealing to the weights. This will be a no-op if self._anneal is 1.0. assert weights is not None annealed_weights = torch.pow(weights, self._anneal) ray_samples = self.pdf_sampler(ray_bundle, ray_samples, annealed_weights, num_samples=num_samples) if is_prop: if updated: # always update on the first step or the inf check in grad scaling crashes density = density_fns[i_level](ray_samples.frustums.get_positions()) else: with torch.no_grad(): density = density_fns[i_level](ray_samples.frustums.get_positions()) weights = ray_samples.get_weights(density) weights_list.append(weights) # (num_rays, num_samples) ray_samples_list.append(ray_samples) if updated: self._steps_since_update = 0 assert ray_samples is not None return ray_samples, weights_list, ray_samples_list class ErrorBoundedSampler(Sampler): """VolSDF's error bounded sampler that uses a sdf network to generate samples.""" def __init__( self, num_samples: int = 64, num_samples_eval: int = 128, num_samples_extra: int = 32, eps: float = 0.1, beta_iters: int = 10, max_total_iters: int = 5, add_tiny: float = 1e-6, single_jitter: bool = False, ) -> None: super().__init__() self.num_samples = num_samples self.num_samples_eval = num_samples_eval self.num_samples_extra = num_samples_extra self.eps = eps self.beta_iters = beta_iters self.max_total_iters = max_total_iters self.add_tiny = add_tiny self.single_jitter = single_jitter # samplers self.uniform_sampler = UniformSampler(single_jitter=single_jitter) self.pdf_sampler = PDFSampler( include_original=False, single_jitter=single_jitter, histogram_padding=1e-5, ) def generate_ray_samples( self, ray_bundle: Optional[RayBundle] = None, density_fn: Optional[Callable] = None, sdf_fn: Optional[Callable] = None, return_eikonal_points: bool = True, ) -> Union[Tuple[RaySamples, torch.Tensor], RaySamples]: assert ray_bundle is not None assert density_fn is not None assert sdf_fn is not None beta0 = density_fn.get_beta().detach() # Start with uniform sampling ray_samples = self.uniform_sampler(ray_bundle, num_samples=self.num_samples_eval) # Get maximum beta from the upper bound (Lemma 2) deltas = ray_samples.deltas.squeeze(-1) bound = (1.0 / (4.0 * torch.log(torch.tensor(self.eps + 1.0)))) * (deltas**2.0).sum(-1) beta = torch.sqrt(bound) total_iters, not_converge = 0, True sorted_index = None new_samples = ray_samples # Algorithm 1 while not_converge and total_iters < self.max_total_iters: with torch.no_grad(): new_sdf = sdf_fn(new_samples) # merge sdf predictions if sorted_index is not None: sdf_merge = torch.cat([sdf.squeeze(-1), new_sdf.squeeze(-1)], -1) sdf = torch.gather(sdf_merge, 1, sorted_index).unsqueeze(-1) else: sdf = new_sdf # Calculating the bound d* (Theorem 1) d_star = self.get_dstar(sdf, ray_samples) # Updating beta using line search beta = self.get_updated_beta(beta0, beta, density_fn, sdf, d_star, ray_samples) # Upsample more points density = density_fn(sdf.reshape(ray_samples.shape), beta=beta.unsqueeze(-1)) weights, transmittance = ray_samples.get_weights_and_transmittance(density.unsqueeze(-1)) # Check if we are done and this is the last sampling total_iters += 1 not_converge = beta.max() > beta0 if not_converge and total_iters < self.max_total_iters: # Sample more points proportional to the current error bound deltas = ray_samples.deltas.squeeze(-1) error_per_section = ( torch.exp(-d_star / beta.unsqueeze(-1)) * (deltas**2.0) / (4 * beta.unsqueeze(-1) ** 2) ) error_integral = torch.cumsum(error_per_section, dim=-1) weights = (torch.clamp(torch.exp(error_integral), max=1.0e6) - 1.0) * transmittance[..., 0] new_samples = self.pdf_sampler( ray_bundle, ray_samples, weights.unsqueeze(-1), num_samples=self.num_samples_eval ) ray_samples, sorted_index = self.merge_ray_samples(ray_bundle, ray_samples, new_samples) else: # Sample the final sample set to be used in the volume rendering integral ray_samples = self.pdf_sampler(ray_bundle, ray_samples, weights, num_samples=self.num_samples) if return_eikonal_points: # sample some of the near surface points for eikonal loss sampled_points = ray_samples.frustums.get_positions().view(-1, 3) idx = torch.randint(sampled_points.shape[0], (ray_samples.shape[0] * 10,)).to(sampled_points.device) points = sampled_points[idx] # Add extra samples uniformly if self.num_samples_extra > 0: ray_samples_uniform = self.uniform_sampler(ray_bundle, num_samples=self.num_samples_extra) ray_samples, _ = self.merge_ray_samples(ray_bundle, ray_samples, ray_samples_uniform) if return_eikonal_points: return ray_samples, points return ray_samples def get_dstar(self, sdf, ray_samples: RaySamples): """Calculating the bound d* (Theorem 1) from VolSDF""" d = sdf.reshape(ray_samples.shape) dists = ray_samples.deltas.squeeze(-1) a, b, c = dists[:, :-1], d[:, :-1].abs(), d[:, 1:].abs() first_cond = a.pow(2) + b.pow(2) <= c.pow(2) second_cond = a.pow(2) + c.pow(2) <= b.pow(2) d_star = torch.zeros(ray_samples.shape[0], ray_samples.shape[1] - 1).to(d.device) d_star[first_cond] = b[first_cond] d_star[second_cond] = c[second_cond] s = (a + b + c) / 2.0 area_before_sqrt = s * (s - a) * (s - b) * (s - c) mask = ~first_cond & ~second_cond & (b + c - a > 0) d_star[mask] = (2.0 * torch.sqrt(area_before_sqrt[mask])) / (a[mask]) d_star = (d[:, 1:].sign() * d[:, :-1].sign() == 1) * d_star # Fixing the sign # padding to make the same shape as ray_samples # d_star_left = torch.cat((d_star[:, :1], d_star), dim=-1) # d_star_right = torch.cat((d_star, d_star[:, -1:]), dim=-1) # d_star = torch.minimum(d_star_left, d_star_right) d_star = torch.cat((d_star, d_star[:, -1:]), dim=-1) return d_star def get_updated_beta(self, beta0, beta, density_fn, sdf, d_star, ray_samples: RaySamples): curr_error = self.get_error_bound(beta0, density_fn, sdf, d_star, ray_samples) beta[curr_error <= self.eps] = beta0 beta_min, beta_max = beta0.repeat(ray_samples.shape[0]), beta for j in range(self.beta_iters): beta_mid = (beta_min + beta_max) / 2.0 curr_error = self.get_error_bound(beta_mid.unsqueeze(-1), density_fn, sdf, d_star, ray_samples) beta_max[curr_error <= self.eps] = beta_mid[curr_error <= self.eps] beta_min[curr_error > self.eps] = beta_mid[curr_error > self.eps] beta = beta_max return beta def get_error_bound(self, beta, density_fn, sdf, d_star, ray_samples): """Get error bound from VolSDF""" densities = density_fn(sdf.reshape(ray_samples.shape), beta=beta) deltas = ray_samples.deltas.squeeze(-1) delta_density = deltas * densities integral_estimation = torch.cumsum(delta_density[..., :-1], dim=-1) integral_estimation = torch.cat( [torch.zeros((*integral_estimation.shape[:1], 1), device=densities.device), integral_estimation], dim=-1 ) error_per_section = torch.exp(-d_star / beta) * (deltas**2.0) / (4 * beta**2) error_integral = torch.cumsum(error_per_section, dim=-1) bound_opacity = (torch.clamp(torch.exp(error_integral), max=1.0e6) - 1.0) * torch.exp(-integral_estimation) return bound_opacity.max(-1)[0] def merge_ray_samples(self, ray_bundle: RayBundle, ray_samples_1: RaySamples, ray_samples_2: RaySamples): """Merge two set of ray samples and return sorted index which can be used to merge sdf values Args: ray_samples_1 : ray_samples to merge ray_samples_2 : ray_samples to merge """ starts_1 = ray_samples_1.spacing_starts[..., 0] starts_2 = ray_samples_2.spacing_starts[..., 0] ends = torch.maximum(ray_samples_1.spacing_ends[..., -1:, 0], ray_samples_2.spacing_ends[..., -1:, 0]) bins, sorted_index = torch.sort(torch.cat([starts_1, starts_2], -1), -1) bins = torch.cat([bins, ends], dim=-1) # Stop gradients bins = bins.detach() euclidean_bins = ray_samples_1.spacing_to_euclidean_fn(bins) # _deltas = euclidean_bins[..., 1:, None] - euclidean_bins[..., :-1, None] # if _deltas.min() < 0: # CONSOLE.print("[bold yellow]Warning: RaySamples.deltas.min() < 0, which indicates nears > fars. This will lead to negative weights and NaN interlevel loss.") # # NOTE: "deltas.min() == 0" might be caused by the nears and fars being too close to each other, which cannot be handled using float32. # __import__('ipdb').set_trace() ray_samples = ray_bundle.get_ray_samples( bin_starts=euclidean_bins[..., :-1, None], bin_ends=euclidean_bins[..., 1:, None], spacing_starts=bins[..., :-1, None], spacing_ends=bins[..., 1:, None], spacing_to_euclidean_fn=ray_samples_1.spacing_to_euclidean_fn, ) return ray_samples, sorted_index def save_points(path_save, pts, colors=None, normals=None, BRG2RGB=False): """save points to point cloud using open3d""" assert len(pts) > 0 if colors is not None: assert colors.shape[1] == 3 assert pts.shape[1] == 3 import numpy as np import open3d as o3d cloud = o3d.geometry.PointCloud() cloud.points = o3d.utility.Vector3dVector(pts) if colors is not None: # Open3D assumes the color values are of float type and in range [0, 1] if np.max(colors) > 1: colors = colors / np.max(colors) if BRG2RGB: colors = np.stack([colors[:, 2], colors[:, 1], colors[:, 0]], axis=-1) cloud.colors = o3d.utility.Vector3dVector(colors) if normals is not None: cloud.normals = o3d.utility.Vector3dVector(normals) o3d.io.write_point_cloud(path_save, cloud) class NeuSSampler(Sampler): """NeuS sampler that uses a sdf network to generate samples with fixed variance value in each iterations.""" def __init__( self, num_samples: int = 64, num_samples_importance: int = 64, num_samples_outside: int = 32, num_upsample_steps: int = 4, base_variance: float = 64, single_jitter: bool = True, ) -> None: super().__init__() self.num_samples = num_samples self.num_samples_importance = num_samples_importance self.num_samples_outside = num_samples_outside self.num_upsample_steps = num_upsample_steps self.base_variance = base_variance self.single_jitter = single_jitter # samplers self.uniform_sampler = UniformSampler(single_jitter=single_jitter) self.pdf_sampler = PDFSampler( include_original=False, single_jitter=single_jitter, histogram_padding=1e-5, ) self.outside_sampler = LinearDisparitySampler() # TODO make it outside # for merge samples self.error_bounded_sampler = ErrorBoundedSampler() def generate_ray_samples( self, ray_bundle: Optional[RayBundle] = None, sdf_fn: Optional[Callable] = None, ray_samples: Optional[RaySamples] = None, ) -> Union[Tuple[RaySamples, torch.Tensor], RaySamples]: assert ray_bundle is not None assert sdf_fn is not None # Start with uniform sampling if ray_samples is None: ray_samples = self.uniform_sampler(ray_bundle, num_samples=self.num_samples) total_iters = 0 sorted_index = None new_samples = ray_samples base_variance = self.base_variance while total_iters < self.num_upsample_steps: with torch.no_grad(): new_sdf = sdf_fn(new_samples) # merge sdf predictions if sorted_index is not None: sdf_merge = torch.cat([sdf.squeeze(-1), new_sdf.squeeze(-1)], -1) sdf = torch.gather(sdf_merge, 1, sorted_index).unsqueeze(-1) else: sdf = new_sdf # compute with fix variances alphas = self.rendering_sdf_with_fixed_inv_s( ray_samples, sdf.reshape(ray_samples.shape), inv_s=base_variance * 2**total_iters ) weights = ray_samples.get_weights_from_alphas(alphas[..., None]) weights = torch.cat((weights, torch.zeros_like(weights[:, :1])), dim=1) new_samples = self.pdf_sampler( ray_bundle, ray_samples, weights, num_samples=self.num_samples_importance // self.num_upsample_steps, ) ray_samples, sorted_index = self.error_bounded_sampler.merge_ray_samples( ray_bundle, ray_samples, new_samples ) total_iters += 1 # save_points("p.ply", ray_samples.frustums.get_start_positions().detach().cpu().numpy().reshape(-1, 3)) # exit(-1) # TODO # sample more points outside surface # if self.num_samples_outside > 0: # ray_samples_uniform = self.outside_sampler(ray_bundle, num_samples=self.num_samples_outside) # ray_samples, _ = self.merge_ray_samples(ray_bundle, ray_samples, ray_samples_uniform) return ray_samples def rendering_sdf_with_fixed_inv_s(self, ray_samples: RaySamples, sdf: torch.Tensor, inv_s): """rendering given a fixed inv_s as NeuS""" batch_size = ray_samples.shape[0] prev_sdf, next_sdf = sdf[:, :-1], sdf[:, 1:] deltas = ray_samples.deltas[:, :-1, 0] mid_sdf = (prev_sdf + next_sdf) * 0.5 cos_val = (next_sdf - prev_sdf) / (deltas + 1e-5) # ---------------------------------------------------------------------------------------------------------- # Use min value of [ cos, prev_cos ] # Though it makes the sampling (not rendering) a little bit biased, this strategy can make the sampling more # robust when meeting situations like below: # # SDF # ^ # |\ -----x----... # | \ / # | x x # |---\----/-------------> 0 level # | \ / # | \/ # | # ---------------------------------------------------------------------------------------------------------- prev_cos_val = torch.cat([torch.zeros([batch_size, 1], device=sdf.device), cos_val[:, :-1]], dim=-1) cos_val = torch.stack([prev_cos_val, cos_val], dim=-1) cos_val, _ = torch.min(cos_val, dim=-1, keepdim=False) cos_val = cos_val.clip(-1e3, 0.0) dist = deltas prev_esti_sdf = mid_sdf - cos_val * dist * 0.5 next_esti_sdf = mid_sdf + cos_val * dist * 0.5 prev_cdf = torch.sigmoid(prev_esti_sdf * inv_s) next_cdf = torch.sigmoid(next_esti_sdf * inv_s) alpha = (prev_cdf - next_cdf + 1e-5) / (prev_cdf + 1e-5) return alpha class UniSurfSampler(Sampler): """NeuS sampler that uses a sdf network to generate samples with fixed variance value in each iterations.""" def __init__( self, num_samples_interval: int = 64, num_samples_outside: int = 32, num_samples_importance: int = 32, num_marching_steps: int = 256, num_secant_steps: int = 8, interval_start: float = 0.25, interval_end: float = 0.0125, interval_decay: float = 0.00005, # default value is 0.000015 and will reach the end value at 200K while 0.00005 will reach the end at 60K iter single_jitter: bool = False, ) -> None: super().__init__() self.num_samples_interval = num_samples_interval self.num_samples_outside = num_samples_outside self.num_samples_importance = num_samples_importance self.num_marching_steps = num_marching_steps self.num_secant_steps = num_secant_steps self.interval_start = interval_start self.interval_end = interval_end self.interval_decay = interval_decay self.single_jitter = single_jitter # samplers self.uniform_sampler = UniformSampler(single_jitter=single_jitter) self.outside_sampler = UniformSampler(single_jitter=single_jitter) self.pdf_sampler = PDFSampler( include_original=False, single_jitter=single_jitter, histogram_padding=1e-5, ) # for merge samples self.error_bounded_sampler = ErrorBoundedSampler() # step counter self._step = 0 self.delta = self.interval_start def step_cb(self, step): """Callback to register a training step has passed. This is used to keep track of the sampling schedule""" self._step = step self.delta = max(self.interval_start * math.exp(-1 * self.interval_decay * self._step), self.interval_end) def generate_ray_samples( self, ray_bundle: Optional[RayBundle] = None, occupancy_fn: Optional[RayBundle] = None, sdf_fn: Optional[Callable] = None, return_surface_points: bool = False, ) -> Union[Tuple[RaySamples, torch.Tensor], RaySamples]: assert ray_bundle is not None assert sdf_fn is not None # Start with uniform sampling ray_samples = self.uniform_sampler(ray_bundle, num_samples=self.num_marching_steps) with torch.no_grad(): sdf = sdf_fn(ray_samples) # importance sampling occupancy = occupancy_fn(sdf) weights = ray_samples.get_weights_from_alphas(occupancy) importance_samples = self.pdf_sampler( ray_bundle, ray_samples, weights, num_samples=self.num_samples_importance, ) # samples uniformly with near and far ray_samples_uniform_outside = self.outside_sampler(ray_bundle, num_samples=self.num_samples_outside) # merge ray_samples_uniform_importance, _ = self.error_bounded_sampler.merge_ray_samples( ray_bundle, importance_samples, ray_samples_uniform_outside ) # surface points # Calculate if sign change occurred and concat 1 (no sign change) in # last dimension n_rays, n_samples = ray_samples.shape starts = ray_samples.frustums.starts sign_matrix = torch.cat( [torch.sign(sdf[:, :-1, 0] * sdf[:, 1:, 0]), torch.ones(n_rays, 1).to(sdf.device)], dim=-1 ) cost_matrix = sign_matrix * torch.arange(n_samples, 0, -1).float().to(sdf.device) # Get first sign change and mask for values where a.) a sign changed # occurred and b.) no a neg to pos sign change occurred (meaning from # inside surface to outside) values, indices = torch.min(cost_matrix, -1) mask_sign_change = values < 0 mask_pos_to_neg = sdf[torch.arange(n_rays), indices, 0] > 0 # Define mask where a valid depth value is found mask = mask_sign_change & mask_pos_to_neg # Get depth values and function values for the interval d_low = starts[torch.arange(n_rays), indices, 0][mask] v_low = sdf[torch.arange(n_rays), indices, 0][mask] indices = torch.clamp(indices + 1, max=n_samples - 1) d_high = starts[torch.arange(n_rays), indices, 0][mask] v_high = sdf[torch.arange(n_rays), indices, 0][mask] # TODO secant method # linear-interpolations z = (v_low * d_high - v_high * d_low) / (v_low - v_high) # make this simpler origins = ray_samples.frustums.origins[torch.arange(n_rays), indices, :][mask] directions = ray_samples.frustums.directions[torch.arange(n_rays), indices, :][mask] surface_points = origins + directions * z[..., None] if surface_points.shape[0] <= 0: surface_points = torch.rand((1024, 3), device=sdf.device) - 0.5 # modify near and far values according current schedule nears, fars = ray_bundle.nears.clone(), ray_bundle.fars.clone() dists = fars - nears ray_bundle.nears[mask] = z[:, None] - dists[mask] * self.delta ray_bundle.fars[mask] = z[:, None] + dists[mask] * self.delta # min max bound ray_bundle.nears = torch.maximum(ray_bundle.nears, nears) ray_bundle.fars = torch.minimum(ray_bundle.fars, fars) # samples uniformly with new surface interval ray_samples_interval = self.uniform_sampler(ray_bundle, num_samples=self.num_samples_interval) # change back to original values ray_bundle.nears = nears ray_bundle.fars = fars # merge sampled points ray_samples = self.merge_ray_samples_in_eculidean( ray_bundle, ray_samples_interval, ray_samples_uniform_importance ) if return_surface_points: return ray_samples, surface_points return ray_samples def merge_ray_samples_in_eculidean( self, ray_bundle: RayBundle, ray_samples_1: RaySamples, ray_samples_2: RaySamples ): """Merge two set of ray samples and return sorted index which can be used to merge sdf values Args: ray_samples_1 : ray_samples to merge ray_samples_2 : ray_samples to merge """ starts_1 = ray_samples_1.spacing_to_euclidean_fn(ray_samples_1.spacing_starts[..., 0]) starts_2 = ray_samples_2.spacing_to_euclidean_fn(ray_samples_2.spacing_starts[..., 0]) end_1 = ray_samples_1.spacing_to_euclidean_fn(ray_samples_1.spacing_ends[:, -1:, 0]) end_2 = ray_samples_2.spacing_to_euclidean_fn(ray_samples_2.spacing_ends[:, -1:, 0]) end = torch.maximum(end_1, end_2) euclidean_bins, _ = torch.sort(torch.cat([starts_1, starts_2], -1), -1) euclidean_bins = torch.cat([euclidean_bins, end], dim=-1) # Stop gradients euclidean_bins = euclidean_bins.detach() # TODO convert euclidean bins to spacing bins bins = euclidean_bins ray_samples = ray_bundle.get_ray_samples( bin_starts=euclidean_bins[..., :-1, None], bin_ends=euclidean_bins[..., 1:, None], spacing_starts=bins[..., :-1, None], spacing_ends=bins[..., 1:, None], spacing_to_euclidean_fn=ray_samples_1.spacing_to_euclidean_fn, ) return ray_samples def secant_method( self, ray_bundle: Optional[RayBundle] = None, sdf_fn: Optional[Callable] = None, ): """run secant method to refine surface points""" raise NotImplementedError class NeuralReconWSampler(Sampler): """Voxel surface guided sampler in NeuralReconW.""" def __init__( self, aabb, coarse_binary_grid, coarse_resolution: int = 32, fine_resolution: int = 512, num_samples: int = 8, num_samples_importance: int = 16, num_samples_boundary: int = 10, steps_per_grid_update: int = 5000, local_rank: int = 0, single_jitter: bool = False, ) -> None: super().__init__() self.aabb = aabb self.coarse_resolution = coarse_resolution self.fine_resolution = fine_resolution self.num_samples = num_samples self.num_samples_importance = num_samples_importance self.num_samples_boundary = num_samples_boundary self.single_jitter = single_jitter self.steps_per_grid_update = steps_per_grid_update self.local_rank = local_rank # TODO remvoe 2.0 and create cube in the initialization self.grid_size = self.coarse_resolution self.voxel_size = 2.0 / self.grid_size self.fine_grid_size = self.fine_resolution // self.grid_size # for voxel guided sampling self.uniform_sampler = UniformSampler(single_jitter=False) # for surface guided sampling self.neus_sampler = NeuSSampler( num_samples=num_samples, num_samples_importance=num_samples_importance, num_samples_outside=0, num_upsample_steps=2, base_variance=512, ) # for merge samples self.unisurf_sampler = UniSurfSampler() self.grid = nerfacc.OccupancyGrid(aabb.reshape(-1), resolution=self.coarse_resolution) self._binary = coarse_binary_grid.reshape( self.coarse_resolution, self.coarse_resolution, self.coarse_resolution ).contiguous() self._binary_fine = None self.init_grid_coordinate() def init_grid_coordinate(self): # fine grid coordinates in each coarse voxel offset = torch.linspace(-1.0, 1.0, self.fine_grid_size * 2 + 1)[1::2] x, y, z = torch.meshgrid(offset, offset, offset, indexing="ij") fine_offset_cube = torch.stack([x, y, z], dim=-1).reshape(-1, 3) * self.voxel_size * 0.5 # coarse grid coordinates offset = torch.linspace(-1.0 + self.voxel_size / 2.0, 1.0 - self.voxel_size / 2.0, self.grid_size) x, y, z = torch.meshgrid(offset, offset, offset, indexing="ij") coarse_offset_cube = torch.stack([x, y, z], dim=-1).reshape(-1, 3) self.register_buffer("coarse_offset_cube", coarse_offset_cube) self.register_buffer("fine_offset_cube", fine_offset_cube) @torch.no_grad() def update_binary_grid(self, step, sdf_fn=None): assert sdf_fn is not None # bootstrap should needs longer if using only one gpus if step >= self.steps_per_grid_update and step % self.steps_per_grid_update == 0: device = self.coarse_offset_cube.device mask = torch.zeros((self.grid_size**3, self.fine_grid_size**3), dtype=torch.bool, device=device) occupied_voxel = self.coarse_offset_cube[self._binary.reshape(-1)] fine_voxel = occupied_voxel[:, None] + self.fine_offset_cube[None, :] fine_voxel = fine_voxel.reshape(-1, 3) # save_points("fine_voxel.ply", fine_voxel.cpu().numpy()) def evaluate(points): z = [] for _, pnts in enumerate(torch.split(points, 100000, dim=0)): z.append(sdf_fn(pnts)) z = torch.cat(z, axis=0) return z sdf = evaluate(fine_voxel) sdf = sdf.reshape(occupied_voxel.shape[0], self.fine_grid_size**3) sdf_mask = sdf <= 0.0 mask[self._binary.reshape(-1)] = sdf_mask self._binary_fine = ( mask.reshape([self.grid_size] * 3 + [self.fine_grid_size] * 3) .permute(0, 3, 1, 4, 2, 5) .reshape(self.fine_resolution, self.fine_resolution, self.fine_resolution) .contiguous() ) # offset = torch.linspace(-1.0, 1.0, self.fine_resolution * 2 + 1, device=device)[1::2] # x, y, z = torch.meshgrid(offset, offset, offset, indexing="ij") # grid_coord = torch.stack([x, y, z], dim=-1).reshape(-1, 3) # save_points("fine_voxel_valid.ply", grid_coord[self._binary_fine.reshape(-1)].cpu().numpy()) def generate_ray_samples( self, ray_bundle: Optional[RayBundle] = None, sdf_fn: Optional[Callable] = None, ) -> Union[Tuple[RaySamples, torch.Tensor], RaySamples]: assert ray_bundle is not None assert sdf_fn is not None # near and far from occupancy grids packed_info, _, t_starts, t_ends = nerfacc.cuda.ray_marching( ray_bundle.origins.contiguous(), ray_bundle.directions.contiguous(), ray_bundle.nears[:, 0].contiguous(), ray_bundle.fars[:, 0].contiguous(), self.grid.roi_aabb.contiguous(), self._binary.to(ray_bundle.origins.device), self.grid.contraction_type.to_cpp_version(), 1e-2, # large value for coarse voxels 0.0, ) tt_starts = nerfacc.unpack_data(packed_info, t_starts) tt_ends = nerfacc.unpack_data(packed_info, t_ends) hit_grid = (tt_starts > 0).any(dim=1)[:, 0] if hit_grid.float().sum() > 0: ray_bundle.nears[hit_grid] = tt_starts[hit_grid][:, 0] ray_bundle.fars[hit_grid] = tt_ends[hit_grid].max(dim=1)[0] # sample uniformly with currently nears and far voxel_samples = self.uniform_sampler(ray_bundle, num_samples=self.num_samples_boundary) if self._binary_fine is not None: # near from finer occupancy grids packed_info, _, t_starts, t_ends = nerfacc.cuda.ray_marching( ray_bundle.origins.contiguous(), ray_bundle.directions.contiguous(), ray_bundle.nears[:, 0].contiguous(), ray_bundle.fars[:, 0].contiguous(), self.grid.roi_aabb.contiguous(), self._binary_fine, self.grid.contraction_type.to_cpp_version(), 1e-3, # small value for fine voxels 0.0, ) tt_starts = nerfacc.unpack_data(packed_info, t_starts) # update with near and far hit_grid = (tt_starts > 0).any(dim=1)[:, 0] if hit_grid.float().sum() > 0: ray_bundle.nears[hit_grid] = tt_starts[hit_grid][:, 0] - 0.03 ray_bundle.fars[hit_grid] = tt_starts[hit_grid][:, 0] + 0.03 else: print("waring not intersection") print("sampling around surfaces") # surface guided sampling surface_samples = self.neus_sampler(ray_bundle, sdf_fn=sdf_fn) # merge samples ray_samples = self.unisurf_sampler.merge_ray_samples_in_eculidean(ray_bundle, surface_samples, voxel_samples) return ray_samples class NeuSAccSampler(Sampler): """Voxel surface guided sampler in NeuralReconW.""" def __init__( self, aabb, neus_sampler: NeuSSampler = None, resolution: int = 128, num_samples: int = 8, num_samples_importance: int = 16, num_samples_boundary: int = 10, steps_warpup: int = 2000, steps_per_grid_update: int = 1000, importance_sampling: bool = False, local_rank: int = 0, single_jitter: bool = False, ) -> None: super().__init__() self.aabb = aabb self.resolution = resolution self.num_samples = num_samples self.num_samples_importance = num_samples_importance self.num_samples_boundary = num_samples_boundary self.single_jitter = single_jitter self.importance_sampling = importance_sampling self.steps_warpup = steps_warpup self.steps_per_grid_update = steps_per_grid_update self.local_rank = local_rank self.step_size = 0.01 / 5.0 self.alpha_thres = 0.001 # only supports cubic bbox for now assert aabb[0, 0] == aabb[0, 1] and aabb[0, 0] == aabb[0, 2] assert aabb[1, 0] == aabb[1, 1] and aabb[1, 0] == aabb[1, 2] self.grid_size = self.resolution self.voxel_size = (aabb[1, 0] - aabb[0, 0]) / self.grid_size # nesu_sampler at the begining of training self.neus_sampler = neus_sampler self.grid = nerfacc.OccupancyGrid(aabb.reshape(-1), resolution=self.resolution) self.register_buffer("_binary", torch.ones((self.grid_size, self.grid_size, self.grid_size), dtype=torch.bool)) self.register_buffer("_update_counter", torch.zeros(1, dtype=torch.int32)) self.init_grid_coordinate() def init_grid_coordinate(self): # coarse grid coordinates aabb = self.aabb offset_x = torch.linspace( aabb[0, 0] + self.voxel_size / 2.0, aabb[1, 0] - self.voxel_size / 2.0, self.grid_size ) offset_y = torch.linspace( aabb[0, 1] + self.voxel_size / 2.0, aabb[1, 1] - self.voxel_size / 2.0, self.grid_size ) offset_z = torch.linspace( aabb[0, 2] + self.voxel_size / 2.0, aabb[1, 2] - self.voxel_size / 2.0, self.grid_size ) x, y, z = torch.meshgrid(offset_x, offset_y, offset_z, indexing="ij") cube_coordinate = torch.stack([x, y, z], dim=-1).reshape(-1, 3) self.register_buffer("cube_coordinate", cube_coordinate) def update_step_size(self, step, inv_s=None): assert inv_s is not None inv_s = inv_s().item() self.step_size = 14.0 / inv_s / 16 @torch.no_grad() def update_binary_grid(self, step, sdf_fn=None, inv_s=None): assert sdf_fn is not None assert inv_s is not None if step >= self.steps_warpup and step % self.steps_per_grid_update == 0: mask = self._binary.reshape(-1) # TODO voxels can't be recovered once it is pruned occupied_voxel = self.cube_coordinate[mask.reshape(-1)] # save_points("occupied_voxel.ply", occupied_voxel.cpu().numpy()) def evaluate(points): z = [] for _, pnts in enumerate(torch.split(points, 100000, dim=0)): z.append(sdf_fn(pnts)) z = torch.cat(z, axis=0) return z sdf = evaluate(occupied_voxel) # sdf_mask = sdf.abs() <= 0.04 # use maximum bound for sdf value bound = self.voxel_size * (3**0.5) / 2.0 sdf = sdf.abs() sdf = torch.maximum(sdf - bound, torch.zeros_like(sdf)) estimated_next_sdf = sdf - self.step_size * 0.5 estimated_prev_sdf = sdf + self.step_size * 0.5 inv_s = inv_s() prev_cdf = torch.sigmoid(estimated_prev_sdf * inv_s) next_cdf = torch.sigmoid(estimated_next_sdf * inv_s) p = prev_cdf - next_cdf c = prev_cdf alpha = ((p + 1e-5) / (c + 1e-5)).clip(0.0, 1.0) sdf_mask = alpha > self.alpha_thres mask[mask.reshape(-1).clone()] = sdf_mask self._binary = mask.reshape([self.grid_size] * 3).contiguous() # save_points("voxel_valid.ply", self.cube_coordinate[self._binary.reshape(-1)].cpu().numpy()) # TODO do we need dilation # F.max_pool3d(M.float(), kernel_size=3, padding=1, stride=1).bool() # save_points("voxel_valid_dilated.ply", self.cube_coordinate[self._binary.reshape(-1)].cpu().numpy()) self._update_counter += 1 def create_ray_samples_from_ray_indices(self, ray_bundle: RayBundle, ray_indices, t_starts, t_ends): rays_o = ray_bundle.origins[ray_indices] rays_d = ray_bundle.directions[ray_indices] camera_indices = ray_bundle.camera_indices[ray_indices] deltas = t_ends - t_starts frustums = Frustums( origins=rays_o, # [..., 1, 3] directions=rays_d, # [..., 1, 3] starts=t_starts, # [..., num_samples, 1] ends=t_ends, # [..., num_samples, 1] pixel_area=torch.ones_like(t_starts), # [..., 1, 1] ) ray_samples = RaySamples( frustums=frustums, camera_indices=camera_indices, # [..., 1, 1] deltas=deltas, # [..., num_samples, 1] ) return ray_samples @torch.no_grad() def generate_ray_samples( self, ray_bundle: Optional[RayBundle] = None, sdf_fn: Optional[Callable] = None, alpha_fn: Optional[Callable] = None, ) -> Union[Tuple[RaySamples, torch.Tensor], RaySamples]: assert ray_bundle is not None assert sdf_fn is not None # sampler with original neus Sampler? if self._update_counter.item() <= 0: return self.neus_sampler(ray_bundle, sdf_fn=sdf_fn) assert alpha_fn is not None # sampling from occupancy grids packed_info, ray_indices, t_starts, t_ends = nerfacc.cuda.ray_marching( ray_bundle.origins.contiguous(), ray_bundle.directions.contiguous(), ray_bundle.nears[:, 0].contiguous(), ray_bundle.fars[:, 0].contiguous(), self.grid.roi_aabb.contiguous(), self._binary, self.grid.contraction_type.to_cpp_version(), self.step_size, # TODO stepsize based on inv_s value? 0.0, ) # create ray_samples with the intersection ray_indices = ray_indices.long() ray_samples = self.create_ray_samples_from_ray_indices(ray_bundle, ray_indices, t_starts, t_ends) if self.importance_sampling and ray_samples.shape[0] > 0: # save_points("first.ply", ray_samples.frustums.get_start_positions().cpu().numpy().reshape(-1, 3)) alphas = alpha_fn(ray_samples) weights = nerfacc.render_weight_from_alpha(alphas, ray_indices=ray_indices, n_rays=ray_bundle.shape[0]) # TODO make it configurable # re sample packed_info, t_starts, t_ends = nerfacc.ray_resampling(packed_info, t_starts, t_ends, weights[:, 0], 16) ray_indices = nerfacc.unpack_info(packed_info, t_starts.shape[0]) ray_samples = self.create_ray_samples_from_ray_indices(ray_bundle, ray_indices, t_starts, t_ends) # save_points("second.ply", ray_samples.frustums.get_start_positions().cpu().numpy().reshape(-1, 3)) return ray_samples, ray_indices class RayTracingSampler(Sampler): """Find sample points with ray tracing. This sampler only finds the intersection points, assuming the SDFField is already trained, thus is not suitable for training. Handling of rays with non-convergent sphere-tracing results (e.g., in IDR) is ommitted. TODO: accelarate ray marching (lots of marching steps are too small) - performing 64 st steps for each ray is too slow - cuda implementation - when the convergence criterion is met, additionally check if the volrend weights at the intersection point is above a threshold, if not, keep marching forward NOTE: - the sdf learned with VolRend might not be a valid sdf everywhere, especially near to the border of the fg bbox - a ray might immediately converge near to the border of the fg bbox - if the step_sizes are too consevative, some rays hitting surfaces (e.g., the ground plane) might not converge """ def __init__( self, sdf_threshold: float = 1.0e-4, # TODO: tune the termination threshold mid_points_criteria: bool = True, mid_points_multiplier: float = 5.0, # multiply sdf_threshold with this scaler if using the center of two consecutive marching points as convergence criterion first_step_size: float = 1.0, conservative_step_size: float = 0.5, # use < 1.0 for conservative marching, since the sdf_field learnt with VolRend might not be a valid sdf everywhere line_search_step: float = 0.5, # IDR: backward stepping of overly-marched steps line_step_iters: int = 3, # IDR: backward stepping of overly-marched steps sphere_tracing_iters: int = 64, # TODO: tune maximum number of st iters conservative_iters: int = 32, # perform ray marching with convervative step size at the starting iters aabb: Optional[TensorType[2, 3]] = None, start_aabb_ratio: Optional[float] = 0.0075 # TODO: tune start marching from the ray-aabb-intersection-point + aabb_side_len * start_aabb_ratio to avoid bad sdf values near to the aabb boundary ) -> None: super().__init__() self.sdf_threshold = sdf_threshold self.mid_points_criteria = mid_points_criteria self.mid_pts_sdf_threshold = sdf_threshold * mid_points_multiplier self.first_step_size = first_step_size self.conservative_step_size = conservative_step_size self.line_search_step = line_search_step self.line_step_iters = line_step_iters self.sphere_tracing_iters = sphere_tracing_iters self.conservative_iters = conservative_iters self.aabb = nn.Parameter(aabb, requires_grad=False) if aabb is not None else None self.start_aabb_ratio = start_aabb_ratio if aabb is not None: # assert (aabb[0].abs() == aabb[1].abs()).all(), "only support symmetric aabb for now" extra_start_offset = (aabb[1] - aabb[0]) * start_aabb_ratio new_aabb = torch.stack([aabb[0] + extra_start_offset, aabb[1] - extra_start_offset], dim=0) self.extra_start_offset = nn.Parameter(extra_start_offset, requires_grad=False) self.new_aabb = nn.Parameter(new_aabb, requires_grad=False) self.axes = nn.Parameter(torch.eye(3, dtype=aabb.dtype), requires_grad=False) @torch.no_grad() def generate_ray_samples( self, ray_bundle: RayBundle, sdf_fn: Callable # (..., 3) -> (..., 1) ) -> Tuple[RaySamples, TensorType["bs": ..., 1, 1]]: ray_bundle = self.adjust_aabb_intersection(ray_bundle) # sphere tracing from near to far curr_pts, acc_dist, non_convergent_masks = self.sphere_tracing(ray_bundle, sdf_fn) # (..., c) # compute non-convergent masks (assign a arbitrary intersection point, use zeros for now) # donnot update the original no_intersect_mask since volrend depends on it # build RaySamples with a single point per ray (should we sample around the intersection point?) shaped_ray_bundle = ray_bundle[..., None] frustums = Frustums( origins=shaped_ray_bundle.origins, # [..., 1, 3] directions=shaped_ray_bundle.directions, # [..., 1, 3] starts=acc_dist[..., None, [0]], # [..., 1, 1] ends=acc_dist[..., None, [0]], # [..., 1, 1] pixel_area=shaped_ray_bundle.pixel_area, # [..., 1, 1] ) ray_samples = RaySamples( frustums=frustums, camera_indices=shaped_ray_bundle.camera_indices, metadata=shaped_ray_bundle.metadata, ) return ray_samples, non_convergent_masks[..., None] def adjust_aabb_intersection(self, ray_bundle: RayBundle) -> RayBundle: """#adjust the 1st ray-aabb intersection to avoid bad sdf around boundary""" if self.aabb is None: return ray_bundle aabb = self.aabb # (2, 3) assume symmetric assert (aabb[0].abs() == aabb[1].abs()).all(), "only support symmetric aabb for now" offset = self.extra_start_offset # (3, ) ray_bundle = deepcopy(ray_bundle) ray_o, ray_d = ray_bundle.origins, ray_bundle.directions near, far = ray_bundle.nears, ray_bundle.fars intersect_mask = ~ray_bundle.metadata["no_intersect_mask"][..., 0] ray_o, ray_d, near, far = map(lambda x: x[intersect_mask], [ray_o, ray_d, near, far]) # compute offset along ray p = torch.addcmul(ray_o, ray_d, near) intersect_axis_idx = (p.abs() - aabb[1]).abs().argmin(dim=-1) # (n, ) intersect_axis = self.axes[intersect_axis_idx] # (n, 3) _cos = ((ray_d * intersect_axis).sum(-1) / ray_d.norm(dim=-1)).abs() # (n, ) ray_dist_offset = offset[intersect_axis_idx] / (_cos + 1e-8) # (n, ) # some rays may not intersect with the new aabb new_p = torch.addcmul(ray_o, ray_d, near + ray_dist_offset[..., None]) # _new_non_intersect = (new_p.abs() - self.new_aabb[1] > 1e-4).any(-1) # this causes some rays hitting the intersection of two plane to be mistakenly discarded _new_non_intersect = (new_p.abs() - aabb[1] > 1e-4).any(-1) non_intersect_mask = ~intersect_mask.clone() non_intersect_mask[intersect_mask] = _new_non_intersect # update ray_bundle ray_bundle.nears[intersect_mask] += ray_dist_offset[..., None] ray_bundle.metadata["no_intersect_mask"] = non_intersect_mask[..., None] return ray_bundle def sphere_tracing(self, ray_bundle: RayBundle, sdf_fn: Callable): """Perform iterative sphere tracing. ref: kaolin-wisp Returns: intersection_points: (..., 3) intersection_ray_dists: (..., 3) non_convergent_masks: (..., 1) """ prefix_dims = ray_bundle.origins.shape[:-1] rays_o, rays_d = ray_bundle.origins.view(-1, 3), ray_bundle.directions.view(-1, 3) # (n, 3) nears, fars = ray_bundle.nears.view(-1, 1), ray_bundle.fars.view(-1, 1) # (n, 1) zeros = torch.zeros_like(nears) _dtype = torch.float32 # sdf_fn might return float16 # initialization if ray_bundle.metadata is not None and "no_intersect_mask" in ray_bundle.metadata: no_intersect_masks = ray_bundle.metadata["no_intersect_mask"].view(-1) else: # there might not be "no_intersect_mask" (e.g., during mesh extraction) no_intersect_masks = torch.zeros_like(nears, dtype=torch.bool).view(-1) mask = (~no_intersect_masks).clone()[..., None] # (n, 1) non-convergent rays: only trace rays intersecting with the fg box x = torch.addcmul(rays_o, rays_d, nears) # (n, 3) current positions hit = torch.zeros_like(nears, dtype=torch.bool) # mask of rays hitting the surface acc_dist = torch.where(mask, nears, fars) # fars: maximum acc_dist if not mask.any(): # e.g., all ray samples are from the background return x, acc_dist, ~mask dist = zeros.clone() # current marching distance # the first step size should be especially conservative, since sdf near to the ray-aabb intersection might be invalid and causes a overshoot. dist[mask[..., 0]] = sdf_fn(x[mask[..., 0]]).to(_dtype) * self.first_step_size dist_prev = dist.clone() # __import__('pudb').set_trace() # 查看是否有初始点的sdf很接近0 # iterative ray marching for i in range(self.sphere_tracing_iters): step_size = self.conservative_step_size if i < self.conservative_iters else 1.0 # update non-convergent masks acc_dist += dist x = torch.where(mask, torch.addcmul(rays_o, rays_d, acc_dist), x) # (n, 3) hit = torch.where(mask, dist.abs() <= self.sdf_threshold, hit) # criteria-1 if self.mid_points_criteria: hit |= torch.where(mask, ((dist + dist_prev) / 2).abs() <= self.mid_pts_sdf_threshold, hit) # criteria-2 # TODO: for rays satisfying criteria-2, compute the accurate intersection pt w/ secant method or LinInterp mask = torch.where(mask, acc_dist < fars, mask) # criteria-3 mask &= ~hit if not mask.any(): break dist_prev = torch.where(mask, dist, dist_prev) # marching forward dist[~mask] = 0 # TODO: handle criteria-2 rays dist[mask[..., 0]] = sdf_fn(x[mask[..., 0]]).to(_dtype) * step_size # mask |= no_intersect_masks[..., None] non_hit_mask = ~hit | no_intersect_masks[..., None] # reshape with prefix_dims x = x.reshape(*prefix_dims, 3) acc_dist = acc_dist.reshape(*prefix_dims, 1) non_hit_mask = non_hit_mask.reshape(*prefix_dims, 1) return x, acc_dist, non_hit_mask def _sphere_tracing_idr(self, ray_bundle: RayBundle, sdf_fn: Callable): """ non_convergent_masks definition: 1. sphere-tracing is not convergent / intersection points falling beyond the far plane 2. 1 & forward tracing dist < backward tracing dist (IDR) Returns: intersection_points: (..., 3) intersection_ray_dists: (..., 3) non_convergent_masks: (..., 1) """ # TODO: share torch.zeros_like() prefix_dims = ray_bundle.origins.shape[:-1] origins, directions = ray_bundle.origins.view(-1, 3), ray_bundle.directions.view(-1, 3) # (n, 3) nears, fars = ray_bundle.nears.view(-1, 1), ray_bundle.fars.view(-1, 1) # (n, ) forward_pts = origins + directions * nears # (n, 3) if ray_bundle.metadata is not None and "no_intersect_mask" in ray_bundle.metadata: no_intersect_masks = ray_bundle.metadata["no_intersect_mask"].view(-1) else: # there might not be "no_intersect_mask" (e.g., during mesh extraction) no_intersect_masks = torch.zeros_like(nears, dtype=torch.bool).view(-1) non_convergent_masks = (~no_intersect_masks).clone() # (..., ) only trace rays intersecting with the fg box # initialize start positions with the 1st ray-aabb intersection curr_forward_pts = torch.where(non_convergent_masks[..., None], forward_pts, torch.zeros_like(forward_pts)) # (n, 3) acc_forward_dist = torch.where(non_convergent_masks[..., None], nears, torch.zeros_like(nears)) # (n, 1) if not non_convergent_masks.any(): return curr_forward_pts, acc_forward_dist, non_convergent_masks # iterative sphere tracing i_sphere_tracing = 0 next_sdf_forward = torch.zeros_like(acc_forward_dist) _sdf_dtype = next_sdf_forward.dtype next_sdf_forward[non_convergent_masks] = sdf_fn(curr_forward_pts[non_convergent_masks]).to(_sdf_dtype) curr_sdf_forward = next_sdf_forward.clone() while True: # TODO: when using the mid-pt as criteria, compute the intersection pt w/ LinInterp / Secant method curr_sdf_forward = torch.where(non_convergent_masks[..., None], next_sdf_forward, torch.zeros_like(next_sdf_forward)) # update masks # non_convergent_masks = non_convergent_masks & (curr_sdf_forward > self.sdf_threshold)[..., 0] non_convergent_masks = non_convergent_masks & (curr_sdf_forward.abs() > self.sdf_threshold)[..., 0] # early stop if non_convergent_masks.sum() == 0 or i_sphere_tracing == self.sphere_tracing_iters: break i_sphere_tracing += 1 # perform ray marching acc_forward_dist = acc_forward_dist + curr_sdf_forward # FIXME: the last curr_sdf_forward is not correct (manually set to zero) curr_forward_pts = origins + directions * acc_forward_dist # correct overshooting marching steps (pts falling inside the surface) next_sdf_forward = torch.zeros_like(acc_forward_dist) next_sdf_forward[non_convergent_masks] = sdf_fn(curr_forward_pts[non_convergent_masks]).to(_sdf_dtype) uncorrected_forward = (next_sdf_forward < 0)[..., 0] i_correction = 0 # step backwards with increasing step size until the sdf is positive while uncorrected_forward.sum() > 0 and i_correction < self.line_step_iters: # step backward backward_step = ((1 - self.line_search_step) / (2**i_correction)) * curr_sdf_forward[uncorrected_forward] acc_forward_dist[uncorrected_forward] -= backward_step curr_forward_pts[uncorrected_forward] = (origins + directions * acc_forward_dist)[uncorrected_forward] # compute new sdf next_sdf_forward[uncorrected_forward] = sdf_fn(curr_forward_pts[uncorrected_forward]).to(_sdf_dtype) # update mask uncorrected_forward = (next_sdf_forward < 0)[..., 0] i_correction += 1 # non_convergent_masks = non_convergent_masks & (acc_forward_dist < acc_backward_dist)[..., 0] # (n, 1) non_convergent_masks = non_convergent_masks | no_intersect_masks non_convergent_masks[(acc_forward_dist > fars)[..., 0]] = True # reshape with prefix_dims curr_forward_pts = curr_forward_pts.reshape(*prefix_dims, 3) acc_forward_dist = acc_forward_dist.reshape(*prefix_dims, 1) non_convergent_masks = non_convergent_masks.reshape(*prefix_dims, ) return curr_forward_pts, acc_forward_dist, non_convergent_masks class DummySampler(Sampler): """A dummy sampler which just use the origins of ray_bundle as the ray samples """ def __init__(self): super().__init__() def generate_ray_samples(self, ray_bundle: RayBundle) -> RaySamples: shaped_ray_bundle = ray_bundle[..., None] origins = shaped_ray_bundle.origins # [..., 1, 3] zeros = torch.zeros_like(origins) # set zero starts and zero origins -> frustums.get_start_positions() = origins frustums = Frustums( origins=origins, # [..., 1, 3] directions=zeros, # [..., 1, 3] starts=zeros[..., [0]], # [..., 1, 1] ends=zeros[..., [0]], pixel_area=torch.ones_like(origins[..., [0]]) ) ray_samples = RaySamples( frustums=frustums, camera_indices=zeros[..., [0]], ) return ray_samples ================================================ FILE: AutoReconForDens3R/nerfstudio/model_components/renderers.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Collection of renderers Example: .. code-block:: python field_outputs = field(ray_sampler) weights = ray_sampler.get_weights(field_outputs[FieldHeadNames.DENSITY]) rgb_renderer = RGBRenderer() rgb = rgb_renderer(rgb=field_outputs[FieldHeadNames.RGB], weights=weights) """ import math from typing import Optional, Union, Type from dataclasses import dataclass, field import nerfacc import torch from torch import nn from torchtyping import TensorType from typing_extensions import Literal from torch.nn import functional as F from nerfstudio.configs.base_config import InstantiateConfig from nerfstudio.cameras.rays import RaySamples from nerfstudio.utils.math import components_from_spherical_harmonics from nerfstudio.utils.pointclouds import BasicPointClouds class RGBRenderer(nn.Module): """Standard volumetic rendering. Args: background_color: Background color as RGB. Uses random colors if None. """ def __init__( self, background_color: Union[Literal["random", "last_sample"], TensorType[3]] = "random" ) -> None: super().__init__() self.background_color = background_color @classmethod def combine_rgb( cls, rgb: TensorType["bs":..., "num_samples", 3], weights: TensorType["bs":..., "num_samples", 1], background_color: Union[Literal["random", "last_sample"], TensorType[3]] = "random", ray_indices: Optional[TensorType["num_samples"]] = None, num_rays: Optional[int] = None, ) -> TensorType["bs":..., 3]: """Composite samples along ray and render color image Args: rgb: RGB for each sample weights: Weights for each sample background_color: Background color as RGB. ray_indices: Ray index for each sample, used when samples are packed. num_rays: Number of rays, used when samples are packed. Returns: Outputs rgb values. """ if ray_indices is not None and num_rays is not None: # Necessary for packed samples from volumetric ray sampler if background_color == "last_sample": raise NotImplementedError( "Background color 'last_sample' not implemented for packed samples." ) comp_rgb = nerfacc.accumulate_along_rays(weights, ray_indices, rgb, num_rays) accumulated_weight = nerfacc.accumulate_along_rays(weights, ray_indices, None, num_rays) else: comp_rgb = torch.sum(weights * rgb, dim=-2) accumulated_weight = torch.sum(weights, dim=-2) if background_color == "last_sample": background_color = rgb[..., -1, :] if background_color == "random": background_color = torch.rand_like(comp_rgb).to(rgb.device) assert isinstance(background_color, torch.Tensor) comp_rgb = comp_rgb + background_color.to(weights.device) * (1.0 - accumulated_weight) return comp_rgb def forward( self, rgb: TensorType["bs":..., "num_samples", 3], weights: TensorType["bs":..., "num_samples", 1], ray_indices: Optional[TensorType["num_samples"]] = None, num_rays: Optional[int] = None, ) -> TensorType["bs":..., 3]: """Composite samples along ray and render color image Args: rgb: RGB for each sample weights: Weights for each sample ray_indices: Ray index for each sample, used when samples are packed. num_rays: Number of rays, used when samples are packed. Returns: Outputs of rgb values. """ rgb = self.combine_rgb( rgb, weights, background_color=self.background_color, ray_indices=ray_indices, num_rays=num_rays ) if not self.training: torch.clamp_(rgb, min=0.0, max=1.0) return rgb class SHRenderer(nn.Module): """Render RGB value from spherical harmonics. Args: background_color: Background color as RGB. Uses random colors if None activation: Output activation. """ def __init__( self, background_color: Union[Literal["random", "last_sample"], TensorType[3]] = "random", activation: Optional[nn.Module] = nn.Sigmoid(), ) -> None: super().__init__() self.background_color = background_color self.activation = activation def forward( self, sh: TensorType[..., "num_samples", "coeffs"], directions: TensorType[..., "num_samples", 3], weights: TensorType[..., "num_samples", 1], ) -> TensorType[..., 3]: """Composite samples along ray and render color image Args: sh: Spherical hamonics coefficients for each sample directions: Sample direction weights: Weights for each sample Returns: Outputs of rgb values. """ sh = sh.view(*sh.shape[:-1], 3, sh.shape[-1] // 3) levels = int(math.sqrt(sh.shape[-1])) components = components_from_spherical_harmonics(levels=levels, directions=directions) rgb = sh * components[..., None, :] # [..., num_samples, 3, sh_components] rgb = torch.sum(sh, dim=-1) + 0.5 # [..., num_samples, 3] if self.activation is not None: self.activation(rgb) rgb = RGBRenderer.combine_rgb(rgb, weights, background_color=self.background_color) return rgb class AccumulationRenderer(nn.Module): """Accumulated value along a ray.""" @classmethod def forward( cls, weights: TensorType["bs":..., "num_samples", 1], ray_indices: Optional[TensorType["num_samples"]] = None, num_rays: Optional[int] = None, ) -> TensorType["bs":..., 1]: """Composite samples along ray and calculate accumulation. Args: weights: Weights for each sample ray_indices: Ray index for each sample, used when samples are packed. num_rays: Number of rays, used when samples are packed. Returns: Outputs of accumulated values. """ if ray_indices is not None and num_rays is not None: # Necessary for packed samples from volumetric ray sampler accumulation = nerfacc.accumulate_along_rays(weights, ray_indices, None, num_rays) else: accumulation = torch.sum(weights, dim=-2) return accumulation class DepthRenderer(nn.Module): """Calculate depth along ray. Depth Method: - median: Depth is set to the distance where the accumulated weight reaches 0.5. - expected: Expected depth along ray. Same procedure as rendering rgb, but with depth. Args: method: Depth calculation method. """ def __init__(self, method: Literal["median", "expected"] = "median") -> None: super().__init__() self.method = method def forward( self, weights: TensorType[..., "num_samples", 1], ray_samples: RaySamples, ray_indices: Optional[TensorType["num_samples"]] = None, num_rays: Optional[int] = None, ) -> TensorType[..., 1]: """Composite samples along ray and calculate depths. Args: weights: Weights for each sample. ray_samples: Set of ray samples. ray_indices: Ray index for each sample, used when samples are packed. num_rays: Number of rays, used when samples are packed. Returns: Outputs of depth values. """ if self.method == "median": steps = (ray_samples.frustums.starts + ray_samples.frustums.ends) / 2 if ray_indices is not None and num_rays is not None: raise NotImplementedError( "Median depth calculation is not implemented for packed samples." ) cumulative_weights = torch.cumsum(weights[..., 0], dim=-1) # [..., num_samples] split = torch.ones((*weights.shape[:-2], 1), device=weights.device) * 0.5 # [..., 1] median_index = torch.searchsorted(cumulative_weights, split, side="left") # [..., 1] median_index = torch.clamp(median_index, 0, steps.shape[-2] - 1) # [..., 1] median_depth = torch.gather(steps[..., 0], dim=-1, index=median_index) # [..., 1] return median_depth if self.method == "expected": eps = 1e-10 steps = (ray_samples.frustums.starts + ray_samples.frustums.ends) / 2 if ray_indices is not None and num_rays is not None: # Necessary for packed samples from volumetric ray sampler depth = nerfacc.accumulate_along_rays(weights, ray_indices, steps, num_rays) accumulation = nerfacc.accumulate_along_rays(weights, ray_indices, None, num_rays) depth = depth / (accumulation + eps) else: depth = torch.sum(weights * steps, dim=-2) / (torch.sum(weights, -2) + eps) depth = torch.clip(depth, steps.min(), steps.max()) return depth raise NotImplementedError(f"Method {self.method} not implemented") class UncertaintyRenderer(nn.Module): """Calculate uncertainty along the ray.""" @classmethod def forward( cls, betas: TensorType["bs":..., "num_samples", 1], weights: TensorType["bs":..., "num_samples", 1] ) -> TensorType["bs":..., 1]: """Calculate uncertainty along the ray. Args: betas: Uncertainty betas for each sample. weights: Weights of each sample. Returns: Rendering of uncertainty. """ uncertainty = torch.sum(weights * betas, dim=-2) return uncertainty class SemanticRenderer(nn.Module): """Calculate semantics along the ray.""" @classmethod def forward( cls, semantics: TensorType["bs":..., "num_samples", "num_classes"], weights: TensorType["bs":..., "num_samples", 1], ) -> TensorType["bs":..., "num_classes"]: """Calculate semantics along the ray.""" sem = torch.sum(weights * semantics, dim=-2) return sem class NormalsRenderer(nn.Module): """Calculate normals along the ray.""" @classmethod def forward( cls, normals: TensorType["bs":..., "num_samples", 3], weights: TensorType["bs":..., "num_samples", 1], ) -> TensorType["bs":..., 3]: """Calculate normals along the ray.""" n = torch.sum(weights * normals, dim=-2) return n class FeatureRenderer(nn.Module): """Calculate feature along the ray.""" @classmethod def forward( cls, features: TensorType["bs":..., "num_samples", "nc_features"], weights: TensorType["bs":..., "num_samples", 1], ) -> TensorType["bs":..., "nc_features"]: """Calculate features along the ray.""" feat = torch.sum(weights * features, dim=-2) return feat ================================================ FILE: AutoReconForDens3R/nerfstudio/model_components/scene_colliders.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Scene Colliders """ from __future__ import annotations import torch from torch import nn from torchtyping import TensorType from nerfstudio.cameras.rays import RayBundle from nerfstudio.data.scene_box import SceneBox from nerfstudio.utils import profiler class SceneCollider(nn.Module): """Module for setting near and far values for rays.""" def __init__(self, **kwargs) -> None: self.kwargs = kwargs super().__init__() def set_nears_and_fars(self, ray_bundle) -> RayBundle: """To be implemented.""" raise NotImplementedError def forward(self, ray_bundle: RayBundle) -> RayBundle: """Sets the nears and fars if they are not set already.""" if ray_bundle.nears is not None and ray_bundle.fars is not None: return ray_bundle return self.set_nears_and_fars(ray_bundle) class AABBBoxCollider(SceneCollider): """Module for colliding rays with the scene box to compute near and far values. Args: scene_box: scene box to apply to dataset """ def __init__(self, scene_box: SceneBox, near_plane: float = 0.0, **kwargs) -> None: super().__init__(**kwargs) self.scene_box = scene_box self.near_plane = near_plane def _intersect_with_aabb( self, rays_o: TensorType["num_rays", 3], rays_d: TensorType["num_rays", 3], aabb: TensorType[2, 3] ): """Returns collection of valid rays within a specified near/far bounding box along with a mask specifying which rays are valid Args: rays_o: (num_rays, 3) ray origins rays_d: (num_rays, 3) ray directions aabb: (2, 3) This is [min point (x,y,z), max point (x,y,z)] """ # avoid divide by zero dir_fraction = 1.0 / (rays_d + 1e-6) # x t1 = (aabb[0, 0] - rays_o[:, 0:1]) * dir_fraction[:, 0:1] t2 = (aabb[1, 0] - rays_o[:, 0:1]) * dir_fraction[:, 0:1] # y t3 = (aabb[0, 1] - rays_o[:, 1:2]) * dir_fraction[:, 1:2] t4 = (aabb[1, 1] - rays_o[:, 1:2]) * dir_fraction[:, 1:2] # z t5 = (aabb[0, 2] - rays_o[:, 2:3]) * dir_fraction[:, 2:3] t6 = (aabb[1, 2] - rays_o[:, 2:3]) * dir_fraction[:, 2:3] nears = torch.max( torch.cat([torch.minimum(t1, t2), torch.minimum(t3, t4), torch.minimum(t5, t6)], dim=1), dim=1 ).values fars = torch.min( torch.cat([torch.maximum(t1, t2), torch.maximum(t3, t4), torch.maximum(t5, t6)], dim=1), dim=1 ).values # clamp to near plane near_plane = self.near_plane if self.training else 0 nears = torch.clamp(nears, min=near_plane) fars = torch.maximum(fars, nears + 1e-6) # NOTE: this would cause numerical issue when sample along the ray return nears, fars def set_nears_and_fars(self, ray_bundle: RayBundle) -> RayBundle: """Intersects the rays with the scene box and updates the near and far values. Populates nears and fars fields and returns the ray_bundle. Args: ray_bundle: specified ray bundle to operate on """ aabb = self.scene_box.aabb nears, fars = self._intersect_with_aabb(ray_bundle.origins, ray_bundle.directions, aabb) ray_bundle.nears = nears[..., None] ray_bundle.fars = fars[..., None] return ray_bundle class NearFarCollider(SceneCollider): """Sets the nears and fars with fixed values. Args: near_plane: distance to near plane far_plane: distance to far plane """ def __init__(self, near_plane: float, far_plane: float, **kwargs) -> None: self.near_plane = near_plane self.far_plane = far_plane super().__init__(**kwargs) def set_nears_and_fars(self, ray_bundle: RayBundle) -> RayBundle: ones = torch.ones_like(ray_bundle.origins[..., 0:1]) near_plane = self.near_plane if self.training else 0 ray_bundle.nears = ones * near_plane ray_bundle.fars = ones * self.far_plane return ray_bundle class SphereCollider(SceneCollider): """Sets the nears and fars with ray-sphere intersection. """ def __init__(self, radius: float = 1., near_plane: float = 0.1, far_plane: float = 1000.0, **kwargs) -> None: super().__init__(**kwargs) self.radius = radius self.near_plane = near_plane self.far_plane = far_plane def forward(self, ray_bundle: RayBundle) -> RayBundle: rr = self.radius ** 2 ray_cam_dot = (ray_bundle.directions * ray_bundle.origins).sum(dim=-1, keepdims=True) # negative no_intersect_mask = ray_cam_dot >= 0 dd = ray_bundle.origins.norm(p=2, dim=-1, keepdim=True) ** 2 - ray_cam_dot ** 2 no_intersect_mask |= (dd >= rr) half_len_squared = rr - dd intersections = torch.sqrt(half_len_squared) * dd.new_tensor([-1, 1]) - ray_cam_dot nears, fars = intersections[:, [0]], intersections[:, [1]] nears = torch.where(no_intersect_mask, torch.full_like(nears, self.near_plane), nears) fars = torch.where(no_intersect_mask, torch.full_like(fars, self.far_plane), fars) ray_bundle.nears = nears ray_bundle.fars = fars if isinstance(ray_bundle.metadata, dict): ray_bundle.metadata["no_intersect_mask"] = no_intersect_mask else: ray_bundle.metadata = {"no_intersect_mask": no_intersect_mask} return ray_bundle class AABBBoxNearFarCollider(SceneCollider): """Use AABBBoxCollider for rays intersecting the scene box and NearFarCollider otherwise. NOTE: the distance nears and fars inferred from ray-aabb intersection can be near, which cannot be handled properly using float32. """ def __init__(self, scene_box: SceneBox, near_plane: float = 0.1, far_plane: float = 1000.0, **kwargs) -> None: super().__init__(**kwargs) self.scene_box = scene_box self.near_plane = near_plane self.far_plane = far_plane def _intersect_with_aabb( self, rays_o: TensorType["num_rays", 3], rays_d: TensorType["num_rays", 3], aabb: TensorType[2, 3] ): """Compute nears and fars for all rays. """ # avoid divide by zero dir_fraction = 1.0 / (rays_d + 1e-6) # x t1 = (aabb[0, 0] - rays_o[:, 0:1]) * dir_fraction[:, 0:1] t2 = (aabb[1, 0] - rays_o[:, 0:1]) * dir_fraction[:, 0:1] # y t3 = (aabb[0, 1] - rays_o[:, 1:2]) * dir_fraction[:, 1:2] t4 = (aabb[1, 1] - rays_o[:, 1:2]) * dir_fraction[:, 1:2] # z t5 = (aabb[0, 2] - rays_o[:, 2:3]) * dir_fraction[:, 2:3] t6 = (aabb[1, 2] - rays_o[:, 2:3]) * dir_fraction[:, 2:3] tx_min, tx_max = torch.minimum(t1, t2), torch.maximum(t1, t2) ty_min, ty_max = torch.minimum(t3, t4), torch.maximum(t3, t4) tz_min, tz_max = torch.minimum(t5, t6), torch.maximum(t5, t6) # no_intersect_mask = torch.logical_or( # torch.logical_or(tx_min > ty_max, tx_min > tz_max), # torch.logical_or(ty_min > tx_max, tz_min > tx_max) # )[..., 0] nears = torch.max(torch.cat([tx_min, ty_min, tz_min], dim=1), dim=1).values fars = torch.min(torch.cat([tx_max, ty_max, tz_max], dim=1), dim=1).values no_intersect_mask = torch.logical_or(nears - fars >= -1e-3, fars <= 0) # use nears >= fars might cause the nears and fars being too close, which finally leads to negative weights due to numerical issues. bottom_intersect_mask = (~no_intersect_mask) & (fars == t4[..., 0]) # fars == t4 & t4 == ty_max nears = torch.where(no_intersect_mask, torch.full_like(nears, self.near_plane), nears) # type: ignore fars = torch.where(no_intersect_mask, torch.full_like(fars, self.far_plane), fars) # type: ignore return nears, fars, no_intersect_mask, bottom_intersect_mask def set_nears_and_fars(self, ray_bundle: RayBundle) -> RayBundle: """Intersects the rays with the scene box and updates the near and far values. Populates nears and fars fields and returns the ray_bundle. Args: ray_bundle: specified ray bundle to operate on """ # TODO: use NearFarCollider if not intersection found aabb = self.scene_box.aabb nears, fars, no_intersect_mask, bottom_intersect_mask = self._intersect_with_aabb( ray_bundle.origins, ray_bundle.directions, aabb ) ray_bundle.nears = nears[..., None] ray_bundle.fars = fars[..., None] if isinstance(ray_bundle.metadata, dict): ray_bundle.metadata["no_intersect_mask"] = no_intersect_mask[..., None] ray_bundle.metadata["bottom_intersect_mask"] = bottom_intersect_mask[..., None] else: ray_bundle.metadata = { "no_intersect_mask": no_intersect_mask[..., None], "bottom_intersect_mask": bottom_intersect_mask[..., None], } return ray_bundle ================================================ FILE: AutoReconForDens3R/nerfstudio/models/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/models/base_model.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Base Model implementation which takes in RayBundles """ from __future__ import annotations from abc import abstractmethod from collections import defaultdict from dataclasses import dataclass, field from typing import Any, Dict, List, Optional, Tuple, Type from tqdm import tqdm from rich.console import Console import torch from torch import nn from torch.nn import Parameter from nerfstudio.cameras.rays import RayBundle from nerfstudio.configs.base_config import InstantiateConfig from nerfstudio.configs.config_utils import to_immutable_dict from nerfstudio.data.scene_box import SceneBox from nerfstudio.engine.callbacks import TrainingCallback, TrainingCallbackAttributes from nerfstudio.model_components.scene_colliders import NearFarCollider CONSOLE = Console(width=120) # Model related configs @dataclass class ModelConfig(InstantiateConfig): """Configuration for model instantiation""" _target: Type = field(default_factory=lambda: Model) """target class to instantiate""" enable_collider: bool = True """Whether to create a scene collider to filter rays.""" collider_params: Optional[Dict[str, float]] = to_immutable_dict({"near_plane": 2.0, "far_plane": 6.0}) """parameters to instantiate scene collider with""" loss_coefficients: Dict[str, float] = to_immutable_dict({"rgb_loss_coarse": 1.0, "rgb_loss_fine": 1.0}) """parameters to instantiate density field with""" eval_num_rays_per_chunk: int = 4096 """specifies number of rays per chunk during eval""" class Model(nn.Module): """Model class Where everything (Fields, Optimizers, Samplers, Visualization, etc) is linked together. This should be subclassed for custom NeRF model. Args: config: configuration for instantiating model scene_box: dataset scene box """ config: ModelConfig def __init__( self, config: ModelConfig, scene_box: SceneBox, num_train_data: int, world_size: int = 1, local_rank: int = 0, **kwargs, ) -> None: super().__init__() self.config = config self.scene_box = scene_box self.num_train_data = num_train_data self.kwargs = kwargs self.collider = None self.world_size = world_size self.local_rank = local_rank self.populate_modules() # populate the modules self.callbacks = None # to keep track of which device the nn.Module is on self.device_indicator_param = nn.Parameter(torch.empty(0)) @property def device(self): """Returns the device that the model is on.""" return self.device_indicator_param.device def get_training_callbacks( # pylint:disable=no-self-use self, training_callback_attributes: TrainingCallbackAttributes # pylint: disable=unused-argument ) -> List[TrainingCallback]: """Returns a list of callbacks that run functions at the specified training iterations.""" return [] def populate_modules(self): """Set the necessary modules to get the network working.""" # default instantiates optional modules that are common among many networks # NOTE: call `super().populate_modules()` in subclasses if self.config.enable_collider: self.collider = NearFarCollider( near_plane=self.config.collider_params["near_plane"], far_plane=self.config.collider_params["far_plane"] ) @abstractmethod def get_param_groups(self) -> Dict[str, List[Parameter]]: """Obtain the parameter groups for the optimizers Returns: Mapping of different parameter groups """ @abstractmethod def get_outputs(self, ray_bundle: RayBundle) -> Dict[str, torch.Tensor]: """Takes in a Ray Bundle and returns a dictionary of outputs. Args: ray_bundle: Input bundle of rays. This raybundle should have all the needed information to compute the outputs. Returns: Outputs of model. (ie. rendered colors) """ def forward(self, ray_bundle: RayBundle) -> Dict[str, torch.Tensor]: """Run forward starting with a ray bundle. This outputs different things depending on the configuration of the model and whether or not the batch is provided (whether or not we are training basically) Args: ray_bundle: containing all the information needed to render that ray latents included """ if self.collider is not None: ray_bundle = self.collider(ray_bundle) return self.get_outputs(ray_bundle) def get_metrics_dict(self, outputs, batch) -> Dict[str, torch.Tensor]: """Compute and returns metrics. Args: outputs: the output to compute loss dict to batch: ground truth batch corresponding to outputs """ # pylint: disable=unused-argument # pylint: disable=no-self-use return {} @abstractmethod def get_loss_dict(self, outputs, batch, metrics_dict=None, **kwargs) -> Dict[str, torch.Tensor]: """Computes and returns the losses dict. Args: outputs: the output to compute loss dict to batch: ground truth batch corresponding to outputs metrics_dict: dictionary of metrics, some of which we can use for loss """ @torch.no_grad() def get_outputs_for_camera_ray_bundle(self, camera_ray_bundle: RayBundle) -> Dict[str, torch.Tensor]: """Takes in camera parameters and computes the output of the model. Args: camera_ray_bundle: ray bundle to calculate outputs over """ num_rays_per_chunk = self.config.eval_num_rays_per_chunk image_height, image_width = camera_ray_bundle.origins.shape[:2] num_rays = len(camera_ray_bundle) outputs_lists = defaultdict(list) for i in tqdm(range(0, num_rays, num_rays_per_chunk), desc='Rendering ray chunks'): # TODO: ignore some keys / only store specific keys start_idx = i end_idx = i + num_rays_per_chunk ray_bundle = camera_ray_bundle.get_row_major_sliced_ray_bundle(start_idx, end_idx) outputs = self.forward(ray_bundle=ray_bundle) for output_name, output in outputs.items(): # type: ignore outputs_lists[output_name].append(output) outputs = {} for output_name, outputs_list in outputs_lists.items(): if not torch.is_tensor(outputs_list[0]): # TODO: handle lists of tensors as well continue try: outputs[output_name] = torch.cat(outputs_list).view(image_height, image_width, -1) # type: ignore except RuntimeError as err: CONSOLE.print(f"[bold red] Incompatible output shape: {output_name}: {torch.cat(outputs_list).shape}") raise err return outputs @abstractmethod def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: """Writes the test image outputs. TODO: This shouldn't return a loss Args: image_idx: Index of the image. step: Current step. batch: Batch of data. outputs: Outputs of the model. Returns: A dictionary of metrics. """ def load_model(self, loaded_state: Dict[str, Any]) -> None: """Load the checkpoint from the given path Args: loaded_state: dictionary of pre-trained model states """ state = {key.replace("module.", ""): value for key, value in loaded_state["model"].items()} self.load_state_dict(state) # type: ignore ================================================ FILE: AutoReconForDens3R/nerfstudio/models/base_surface_model.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of Base surface model. """ from __future__ import annotations from abc import abstractmethod from dataclasses import dataclass, field from functools import partial from typing import Any, Dict, List, Optional, Tuple, Type import numpy as np import torch import torch.nn.functional as F from einops import repeat from rich.console import Console from torch.nn import ModuleList, Parameter from torchmetrics import PeakSignalNoiseRatio from torchmetrics.functional import structural_similarity_index_measure from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity from torchtyping import TensorType from typing_extensions import Literal from nerfstudio.cameras.rays import RayBundle from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.field_components.encodings import NeRFEncoding from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.field_components.spatial_distortions import ( ForegroundAwareSceneContraction, SceneContraction, ) from nerfstudio.fields.density_fields import HashMLPDensityField from nerfstudio.fields.nerfacto_field import TCNNNerfactoField from nerfstudio.fields.sdf_field import SDFFieldConfig from nerfstudio.fields.vanilla_nerf_field import NeRFField from nerfstudio.model_components.losses import ( L1Loss, MSELoss, MultiViewLoss, ScaleAndShiftInvariantLoss, SensorDepthLoss, compute_scale_and_shift, interlevel_loss, monosdf_normal_loss, ) from nerfstudio.model_components.patch_warping import PatchWarping from nerfstudio.model_components.ray_samplers import ( LinearDisparitySampler, ProposalNetworkSampler, UniformLinDispPiecewiseSampler, ) from nerfstudio.model_components.renderers import ( AccumulationRenderer, DepthRenderer, RGBRenderer, SemanticRenderer, ) from nerfstudio.model_components.scene_colliders import ( AABBBoxCollider, AABBBoxNearFarCollider, NearFarCollider, SphereCollider, ) from nerfstudio.models.base_model import Model, ModelConfig from nerfstudio.utils import colormaps, profiler, scheduler, writer from nerfstudio.utils.colors import get_color from nerfstudio.utils.pointclouds import BasicPointClouds CONSOLE = Console(width=120) def map_range_val(input_val, input_start, input_end, output_start, output_end, type='linear', factor=1.): input_clamped=max(input_start, min(input_end, input_val)) input_relative = (input_clamped - input_start) / (input_end - input_start) if type == 'linear': return output_start + (output_end - output_start) * input_relative elif type == 'exp': return output_start + (output_end - output_start) * (np.exp(factor*input_relative) - 1) / (np.exp(factor) - 1) elif type == 'log': return output_start + (output_end - output_start) * np.log1p(factor*input_relative) / np.log(1+factor) # log base 2 else: raise NotImplementedError @dataclass class SurfaceModelConfig(ModelConfig): """Nerfacto Model Config""" _target: Type = field(default_factory=lambda: SurfaceModel) near_plane: float = 0.05 """How far along the ray to start sampling.""" far_plane: float = 4.0 """How far along the ray to stop sampling.""" far_plane_bg: float = 1000.0 """How far along the ray to stop sampling of the background model.""" background_color: Literal["random", "last_sample", "white", "black"] = "black" """Whether to randomize the background color.""" # fg_use_appearance_embedding: bool = False # NOTE: directly set "sdf_field.use_appearance_embedding" instead # """Whether to use per-image appearance embedding in the fg model.""" bg_use_appearance_embedding: bool = True """Whether to use per-image appearance embedding in the bg model.""" bg_sampler_type: Literal["uniform_lin_disp", "lin_disp", "proposal_network", "none"] = "lin_disp" use_proposal_weight_anneal_bg: bool = True use_average_appearance_embedding: bool = ( True # FIXME: False use zero appearance embedding during inference, which leads to bad bg rendering. ) """Whether to use average appearance embedding or zeros for inference.""" eikonal_loss_mult: float = 0.1 """Monocular normal consistency loss multiplier.""" fg_mask_loss_mult: float = 0.01 """Foreground mask loss multiplier.""" mono_normal_loss_mult: float = 0.002 """Monocular normal consistency loss multiplier.""" mono_depth_loss_mult: float = 0.0 """Monocular depth consistency loss multiplier.""" patch_warp_loss_mult: float = 0.0 """Multi-view consistency warping loss multiplier.""" patch_size: int = 11 """Multi-view consistency warping loss patch size.""" patch_warp_angle_thres: float = 0.3 """Threshold for valid homograph of multi-view consistency warping loss""" min_patch_variance: float = 0.01 """Threshold for minimal patch variance""" topk: int = 4 """Number of minimal patch consistency selected for training""" sensor_depth_truncation: float = 0.015 """Sensor depth trunction, default value is 0.015 which means 5cm with a rough scale value 0.3 (0.015 = 0.05 * 0.3)""" sensor_depth_l1_loss_mult: float = 0.0 """Sensor depth L1 loss multiplier.""" sensor_depth_freespace_loss_mult: float = 0.0 """Sensor depth free space loss multiplier.""" sensor_depth_sdf_loss_mult: float = 0.0 """Sensor depth sdf loss multiplier.""" sparse_points_sdf_loss_mult: float = 0.0 """sparse point sdf loss multiplier""" sdf_field: SDFFieldConfig = SDFFieldConfig() """Config for SDF Field""" background_model: Literal["grid", "mlp", "none"] = "mlp" """background models""" render_background: bool = True """optionally disable bg rendering during testing""" bg_hash_grid_num_levels: int = 16 """num_levels for background hash grid""" num_samples_outside: int = 32 """Number of samples outside the bounding sphere for backgound""" num_bg_proposal_samples_per_ray: Tuple[int, int] = (128, 64) handle_no_intersection_rays: bool = True """whether to separately handle rays not intersecting the scene, usefull only when using AABBBoxNearFarCollider""" handle_bottom_intersection_rays: bool = False """if a ray intersects the bottom plane of the fg aabb, ignore the querying of the bg model""" periodic_tvl_mult: float = 0.0 """Total variational loss mutliplier""" overwrite_near_far_plane: bool = False """whether to use near and far collider from command line""" scene_contraction_order: Literal["none", "inf"] = "inf" """norm of the scene contraction, use l2-norm if none""" scene_contraction_scale_factor: float = 1.0 """Scale positions by this factor before applying contraction. This is useful when the [-1, 1] region (no contraction) is too small and only covers a small portion of the scene. """ use_fg_aware_scene_contraction: bool = False """Use ForegroundAwareSceneContraction, which makes better use of the bg feature grid""" fg_aware_scene_contraction_alpha: float = 5.0 """map 1 < ||x|| <= alpha region to [[-1, -1/alpha], [1/alpha, 1]], bigger alpha leaves more space linearly uncontracted""" curvature_loss_mult: float = 0.0 """curvature loss in HashSDF""" curvature_loss_n_iters: Optional[int] = None """number of iterations to apply curvature loss""" ptcd_reg_fg_mult: float = 0.0 """regularization with fg pointclouds""" ptcd_reg_fg_n_pts_per_iter: int = 5000 ptcd_reg_plane_mult: float = 0.0 """regularization with plane pointclouds""" ptcd_reg_plane_n_pts_per_iter: int = 5000 ptcd_reg_n_iters: Optional[int] = None # if None, apply ptcd_reg for the entire training ptcd_reg_weight_anneal_fn: Literal["cosine", "exponential", "constant"] = "cosine" mask_beta_prior_mult: float = 0.0 """beta prior regularization for the fg accumulation""" mask_beta_prior_n_iters: Optional[int] = None mask_beta_prior_anneal_fn: Literal["sine", "cosine", "exponential", "constant"] = "sine" depth_renderer_mode: Literal["expected", "median"] = "expected" mask_depth_with_acc: bool = False mono_normal_loss_warmup_steps: int = 5000 mono_normal_loss_steps: int = 20000 """ normal warmup steps """ # init_normal_cos_thresh: float = 0.1 normal_loss_final_scale: float = 5 # normal_decay_weight: float = 0.99995 """ adaptive normal loss """ class SurfaceModel(Model): """Base surface model Args: config: Base surface model configuration to instantiate model """ config: SurfaceModelConfig def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) self.handle_no_intersect_rays = self.config.handle_no_intersection_rays and isinstance( self.collider, (AABBBoxNearFarCollider, SphereCollider) ) self.handle_bottom_intersect_rays = self.config.handle_bottom_intersection_rays and isinstance( self.collider, AABBBoxNearFarCollider ) self._step = 0 self.ptcd_reg_anneal_fn = self._build_anneal_fn( self.config.ptcd_reg_weight_anneal_fn, self.config.ptcd_reg_n_iters ) if self.config.ptcd_reg_plane_mult > 0 and self.config.ptcd_reg_fg_mult == 0: CONSOLE.print( "[bold red]Using plane-ptcd-reg w/o fg-ptcd-reg, this could degenerate fg reconstruction!" ) # due to imbalanced pt sampling # TODO: build separate loss classes intergrating loss computation & weight scheduling def populate_modules(self): """Set the fields and modules.""" super().populate_modules() self._build_scene_contraction() self.field = self.config.sdf_field.setup( aabb=self.scene_box.aabb, spatial_distortion=self.scene_contraction, num_images=self.num_train_data, use_average_appearance_embedding=self.config.use_average_appearance_embedding, compute_curvature_loss=self.config.curvature_loss_mult > 0, ) self._build_collider() self._build_bg_model_and_sampler() self._build_renderers() # patch warping self.patch_warping = PatchWarping( patch_size=self.config.patch_size, valid_angle_thres=self.config.patch_warp_angle_thres ) # ptcd regularization if self.config.ptcd_reg_fg_mult > 0 or self.config.ptcd_reg_plane_mult > 0: self.ptcd_data: BasicPointClouds = self.kwargs["metadata"]["ptcd_data"] # losses self.rgb_loss = L1Loss() self.eikonal_loss = MSELoss() self.depth_loss = ScaleAndShiftInvariantLoss(alpha=0.5, scales=1) self.patch_loss = MultiViewLoss( patch_size=self.config.patch_size, topk=self.config.topk, min_patch_variance=self.config.min_patch_variance ) self.sensor_depth_loss = SensorDepthLoss(truncation=self.config.sensor_depth_truncation) # metrics self.psnr = PeakSignalNoiseRatio(data_range=1.0) self.ssim = structural_similarity_index_measure self.lpips = LearnedPerceptualImagePatchSimilarity() def step_cb(self, step): self._step = step def _build_scene_contraction(self): if not self.config.use_fg_aware_scene_contraction: self.scene_contraction = SceneContraction( order=float("inf") if self.config.scene_contraction_order == "inf" else None, scale_factor=self.config.scene_contraction_scale_factor, ) else: alpha = self.config.fg_aware_scene_contraction_alpha CONSOLE.print(f"[bold yellow]Using ForegroundAwareSceneContraction({alpha=})") # pyright: ignore self.scene_contraction = ForegroundAwareSceneContraction( order=float("inf") if self.config.scene_contraction_order == "inf" else None, alpha=alpha, aabb=self.scene_box.aabb, scale_factor=self.config.scene_contraction_scale_factor, ) def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = {} param_groups["fields"] = list(self.field.parameters()) if self.config.background_model != "none": param_groups["field_background"] = list(self.field_background.parameters()) else: param_groups["field_background"] = list(self.field_background) if self.config.bg_sampler_type == "proposal_network": param_groups["proposal_networks_bg"] = list(self.proposal_networks_bg.parameters()) return param_groups def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: callbacks = super().get_training_callbacks(training_callback_attributes) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.AFTER_TRAIN_ITERATION], update_every_num_iters=1, func=self.step_cb, ) ) if self.config.bg_sampler_type == "proposal_network" and self.config.use_proposal_weight_anneal_bg: # anneal the weights of the proposal network before doing PDF sampling N = 1000 # TODO：make configurable and tune proposal_weights_anneal_slope = 10.0 def set_anneal(step): # https://arxiv.org/pdf/2111.12077.pdf eq. 18 train_frac = np.clip(step / N, 0, 1) bias = lambda x, b: (b * x) / ((b - 1) * x + 1) anneal = bias(train_frac, proposal_weights_anneal_slope) self.proposal_sampler_bg.set_anneal(anneal) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.BEFORE_TRAIN_ITERATION], update_every_num_iters=1, func=set_anneal, ) ) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.AFTER_TRAIN_ITERATION], update_every_num_iters=1, func=self.proposal_sampler_bg.step_cb, ) ) return callbacks def _build_collider(self) -> None: # Collider if self.scene_box.collider_type == "near_far": self.collider = NearFarCollider(near_plane=self.scene_box.near, far_plane=self.scene_box.far) elif self.scene_box.collider_type == "box": self.collider = AABBBoxCollider(self.scene_box, near_plane=self.scene_box.near) elif self.scene_box.collider_type == "box_near_far": self.collider = AABBBoxNearFarCollider( self.scene_box, near_plane=self.scene_box.near, far_plane=self.scene_box.far ) elif self.scene_box.collider_type == "sphere": self.collider = SphereCollider(radius=1.0, near_plane=self.scene_box.near, far_plane=self.scene_box.far) else: raise NotImplementedError # command line near and far has highest priority if self.config.overwrite_near_far_plane: self.collider = NearFarCollider(near_plane=self.config.near_plane, far_plane=self.config.far_plane) def _build_bg_model_and_sampler(self) -> None: # background model if self.config.background_model == "grid": self.field_background = TCNNNerfactoField( self.scene_box.aabb, spatial_distortion=self.scene_contraction, num_images=self.num_train_data, use_appearance_embedding=self.config.bg_use_appearance_embedding, use_average_appearance_embedding=self.config.use_average_appearance_embedding, num_levels=self.config.bg_hash_grid_num_levels, ) elif self.config.background_model == "mlp": position_encoding = NeRFEncoding( in_dim=3, num_frequencies=10, min_freq_exp=0.0, max_freq_exp=9.0, include_input=True ) direction_encoding = NeRFEncoding( in_dim=3, num_frequencies=4, min_freq_exp=0.0, max_freq_exp=3.0, include_input=True ) self.field_background = NeRFField( position_encoding=position_encoding, direction_encoding=direction_encoding, spatial_distortion=self.scene_contraction, spatial_normalization_region="full", ) else: # dummy background model self.field_background = Parameter(torch.ones(1), requires_grad=False) # background sampler if self.config.bg_sampler_type == "lin_disp": self.sampler_bg = LinearDisparitySampler(num_samples=self.config.num_samples_outside) elif self.config.bg_sampler_type == "uniform_lin_disp": self.sampler_bg = UniformLinDispPiecewiseSampler(num_samples=self.config.num_samples_outside) elif self.config.bg_sampler_type == "proposal_network": assert isinstance( self.scene_contraction, ForegroundAwareSceneContraction ) # otherwise, setup a separate contraction for bg proposal nets self.density_fns_bg = [] self.proposal_networks_bg = ModuleList() # assume using two proposal network with fixed hparams prop_net_args = [ {"hidden_dim": 16, "log2_hashmap_size": 17, "num_levels": 5, "max_res": 64}, {"hidden_dim": 16, "log2_hashmap_size": 17, "num_levels": 5, "max_res": 256}, ] proposal_warmup, proposal_update_every = 5000, 5 num_proposal_samples_per_ray = self.config.num_bg_proposal_samples_per_ray for _args in prop_net_args: network = HashMLPDensityField( self.scene_box.aabb, # incorrect aabb as placeholder spatial_distortion=self.scene_contraction, spatial_normalization_region="full", **_args, ) self.proposal_networks_bg.append(network) self.density_fns_bg.append(network.density_fn) update_schedule = lambda step: np.clip( np.interp(step, [0, proposal_warmup], [0, proposal_update_every]), 1, self.config.proposal_update_every, ) self.proposal_sampler_bg = ProposalNetworkSampler( num_nerf_samples_per_ray=self.config.num_samples_outside, num_proposal_samples_per_ray=num_proposal_samples_per_ray, num_proposal_network_iterations=2, use_uniform_sampler=False, # use UniformLinDispPiecewiseSampler single_jitter=True, update_sched=update_schedule, ) elif self.config.bg_sampler_type == "none": # share sampler with fg self.sampler_bg = None else: raise ValueError(f"Unknown background sampler: {self.config.bg_sampler_type}") def _build_renderers(self) -> None: background_color = ( get_color(self.config.background_color) if self.config.background_color in set(["white", "black"]) else self.config.background_color ) self.renderer_rgb = RGBRenderer(background_color=background_color) self.renderer_accumulation = AccumulationRenderer() self.renderer_depth = DepthRenderer(method=self.config.depth_renderer_mode) self.renderer_normal = SemanticRenderer() @abstractmethod def sample_and_forward_field(self, ray_bundle: RayBundle) -> Dict: """_summary_ ray points sampling and field inference of the foreground field. Args: ray_bundle (RayBundle): _description_ return_samples (bool, optional): _description_. Defaults to False. """ # @profiler.time_function def get_outputs(self, ray_bundle: RayBundle) -> Dict: outputs, samples_and_field_outputs = self.fg_fields_query_and_render(ray_bundle) outputs, samples_and_field_outputs_bg = self.bg_fields_query_and_render( ray_bundle, samples_and_field_outputs, outputs ) self._update_outptus_for_vis(outputs, samples_and_field_outputs, samples_and_field_outputs_bg) # for auxilary field rendering (used by .get_output() methods of child classes) outputs.update( { "samples_and_field_outputs": samples_and_field_outputs, "samples_and_field_outputs_bg": samples_and_field_outputs_bg, } ) return outputs def forward(self, ray_bundle: RayBundle) -> Dict[str, torch.Tensor]: """Run forward starting with a ray bundle. This outputs different things depending on the configuration of the model and whether or not the batch is provided (whether or not we are training basically) Args: ray_bundle: containing all the information needed to render that ray latents included """ if self.collider is not None: ray_bundle = self.collider(ray_bundle) outputs = self.get_outputs(ray_bundle) # remove unnecessary items to avoid memory leak for del_k in ["samples_and_field_outputs", "samples_and_field_outputs_bg"]: if del_k in outputs: del outputs[del_k] return outputs def fg_fields_query_and_render(self, ray_bundle: RayBundle) -> Dict[str, Any]: """query foreground fields and rendering""" samples_and_field_outputs = self.sample_and_forward_field(ray_bundle=ray_bundle) if self.handle_no_intersect_rays: samples_and_field_outputs = self._handle_no_intersect_rays_fg(ray_bundle, samples_and_field_outputs) field_outputs = samples_and_field_outputs["field_outputs"] ray_samples = samples_and_field_outputs["ray_samples"] weights = samples_and_field_outputs["weights"] bg_transmittance = samples_and_field_outputs["bg_transmittance"] rgb = self.renderer_rgb(rgb=field_outputs[FieldHeadNames.RGB], weights=weights) ray_dist = self.renderer_depth(weights=weights, ray_samples=ray_samples) depth = ray_dist / ray_bundle.directions_norm accumulation = self.renderer_accumulation(weights=weights) if self.config.mask_depth_with_acc: depth[accumulation < 0.5] = 0.0 # for tsdf fusion to work properly outputs = { "rgb": rgb, "accumulation": accumulation, "depth": depth, "weights": weights, "directions_norm": ray_bundle.directions_norm, # used to scale z_vals for free space and sdf loss "bg_transmittance": bg_transmittance, } sample_normals = field_outputs.get(FieldHeadNames.NORMAL, None) if sample_normals is not None: normal = self.renderer_normal(semantics=sample_normals, weights=weights) outputs.update({"normal": normal}) self._update_outputs_for_loss(ray_bundle, outputs, samples_and_field_outputs) return outputs, samples_and_field_outputs def bg_fields_query_and_render( self, ray_bundle: RayBundle, samples_and_field_outputs_fg: Dict[str, Any], outputs: Dict[str, Any] ) -> Dict[str, Any]: if self.config.background_model == "none" or not self.config.render_background: return outputs, {} ray_bundle = self._reset_near_far_for_background(ray_bundle) # bg field inference samples_and_field_outputs_bg = self.sample_and_forward_field_bg( ray_bundle, samples_and_field_outputs_fg, outputs ) if self.handle_bottom_intersect_rays: # TODO: ignore bg inference of rays intersecting the bottom plane self._handle_bottom_intersect_rays_bg(ray_bundle, samples_and_field_outputs_bg) weights_bg = samples_and_field_outputs_bg["weights"] ray_samples_bg = samples_and_field_outputs_bg["ray_samples"] # render background rgb_bg = self.renderer_rgb(rgb=samples_and_field_outputs_bg[FieldHeadNames.RGB], weights=weights_bg) depth_bg = self.renderer_depth(weights=weights_bg, ray_samples=ray_samples_bg) accumulation_bg = self.renderer_accumulation(weights=weights_bg) # merge background color to foregound color rgb = outputs["rgb"] + outputs["bg_transmittance"] * rgb_bg # TODO: update depth with background depth outputs.update( { "rgb": rgb, "bg_rgb": rgb_bg, "bg_accumulation": accumulation_bg, "bg_depth": depth_bg, "bg_weights": weights_bg, } ) return outputs, samples_and_field_outputs_bg def sample_and_forward_field_bg( self, ray_bundle: RayBundle, samples_and_field_outputs_fg: Dict[str, Any], outputs: Dict[str, Any] ): if self.config.bg_sampler_type == "proposal_network": return self._sample_and_forward_field_bg_proposal(ray_bundle, samples_and_field_outputs_fg, outputs) ray_samples_bg = self.sampler_bg(ray_bundle) field_outputs_bg = self.field_background(ray_samples_bg) weights_bg = ray_samples_bg.get_weights(field_outputs_bg[FieldHeadNames.DENSITY]) samples_and_field_outputs_bg = {"ray_samples": ray_samples_bg, "weights": weights_bg, **field_outputs_bg} return samples_and_field_outputs_bg def _sample_and_forward_field_bg_proposal( self, ray_bundle: RayBundle, samples_and_field_outputs_fg: Dict[str, Any], outputs: Dict[str, Any] ): ray_samples_bg, weights_list_bg, ray_samples_list_bg = self.proposal_sampler_bg( ray_bundle, density_fns=self.density_fns_bg ) field_outputs_bg = self.field_background(ray_samples_bg) weights_bg = ray_samples_bg.get_weights(field_outputs_bg[FieldHeadNames.DENSITY]) # NOTE: weights_bg doesn't take bg_transmittance into account (i.e., weights_bg *= bg_transmittance) # since the proposal_network_bg is unaware of the bg_transmittance weights_list_bg.append(weights_bg.clone()) ray_samples_list_bg.append(ray_samples_bg) samples_and_field_outputs_bg = { "ray_samples": ray_samples_bg, "weights": weights_bg, "weights_list": weights_list_bg, "ray_samples_list": ray_samples_list_bg, **field_outputs_bg, } outputs.update( { "weights_list_bg": weights_list_bg, "ray_samples_list_bg": ray_samples_list_bg, } ) return samples_and_field_outputs_bg def _update_outputs_for_loss(self, ray_bundle: RayBundle, outputs: Dict, samples_and_field_outputs: Dict): """update outputs for loss computation""" if self.training: # compute gradients for eikonal loss field_outputs = samples_and_field_outputs["field_outputs"] if FieldHeadNames.GRADIENT in field_outputs: grad_points = field_outputs[FieldHeadNames.GRADIENT] outputs.update({"eik_grad": grad_points}) # TODO volsdf use different point set for eikonal loss # grad_points = self.field.gradient(eik_points) # outputs.update({"eik_grad": grad_points}) outputs.update({"curvature_losses": field_outputs.get("curvature_losses", None)}) outputs.update(samples_and_field_outputs) if self.handle_no_intersect_rays: # ignore loss computation of no-intersection rays no_intersect_mask = ray_bundle.metadata["no_intersect_mask"] # [..., 1] outputs.update({"no_intersect_mask": no_intersect_mask}) if self.handle_bottom_intersect_rays: # ignore loss computation of rays intersecting the bottom plane outputs.update({"bottom_intersect_mask": ray_bundle.metadata["bottom_intersect_mask"]}) def _update_outptus_for_vis( self, outputs: Dict, samples_and_field_outputs: Dict, samples_and_field_outputs_bg: Dict ) -> None: # proposal network depths self._compute_prop_net_depths(outputs, samples_and_field_outputs) self._compute_prop_net_depths(outputs, samples_and_field_outputs_bg, ouptut_key_prefix="prop_depth_bg") # accumulation -> mask outputs["mask"] = outputs["accumulation"] > 0.5 def _compute_prop_net_depths( self, outputs: Dict, samples_and_field_outputs: Dict, ouptut_key_prefix: str = "prop_depth" ) -> None: """compute depths of proposal networks for visualization""" # TODO how can we move it to neus_facto without out of memory if "weights_list" not in samples_and_field_outputs: return weights_list = samples_and_field_outputs["weights_list"] ray_samples_list = samples_and_field_outputs["ray_samples_list"] for i in range(len(weights_list) - 1): outputs[f"{ouptut_key_prefix}_{i}"] = self.renderer_depth( weights=weights_list[i], ray_samples=ray_samples_list[i] ) def _handle_no_intersect_rays_fg(self, ray_bundle: RayBundle, samples_and_field_outputs: Dict) -> Dict: """Handle rays not intersecting the foreground AABB. Assign 0 weights for all fg queries and 1 for bg_transmittance to these rays. Returns: samples_and_field_outputs: with zero weights for the rays not intersecting the foreground AABB. """ weights = samples_and_field_outputs["weights"] # [..., num_samples, 1] bg_transmittance = samples_and_field_outputs["bg_transmittance"] # [..., 1] # ray_samples_list = samples_and_field_outputs["ray_samples_list"] num_samples = weights.shape[-2] no_intersect_mask = ray_bundle.metadata["no_intersect_mask"] # [..., 1] bg_transmittance = torch.where(no_intersect_mask, torch.ones_like(bg_transmittance), bg_transmittance) no_intersect_mask = repeat(no_intersect_mask, "... m -> ... n m", n=num_samples) weights = torch.where(no_intersect_mask, torch.zeros_like(weights), weights) new_outputs = {"weights": weights, "bg_transmittance": bg_transmittance} if "weights_list" in samples_and_field_outputs: # TODO: delete this block since this might be meaningless, bacause rays without intersection are ignored # when computing the proposal loss weights_list = samples_and_field_outputs["weights_list"] weights_list.pop() weights_list.append(weights) new_outputs["weights_list"] = weights_list samples_and_field_outputs.update(new_outputs) return samples_and_field_outputs def _handle_bottom_intersect_rays_bg(self, ray_bundle: RayBundle, samples_and_field_outputs: Dict) -> Dict: """ignore ray samples in bg regions if the ray intersects the bottom plane.""" weights = samples_and_field_outputs["weights"] num_samples = weights.shape[-2] bottom_intersect_mask = ray_bundle.metadata["bottom_intersect_mask"] bottom_intersect_mask = repeat(bottom_intersect_mask, "... m -> ... n m", n=num_samples) weights = torch.where(bottom_intersect_mask, torch.zeros_like(weights), weights) samples_and_field_outputs.update({"weights": weights}) def _reset_near_far_for_background(self, ray_bundle: RayBundle) -> RayBundle: if self.handle_no_intersect_rays: # NOTE: self.config.far_plane_bg is not used, in favor of self.collider.far_plane _nears, _fars = ray_bundle.nears, ray_bundle.fars no_intersect_mask = ray_bundle.metadata["no_intersect_mask"] nears = torch.where(no_intersect_mask, _nears, _fars) fars = torch.where(no_intersect_mask, _fars, torch.full_like(_fars, self.collider.far_plane)) ray_bundle.nears = nears ray_bundle.fars = fars else: ray_bundle.nears = ray_bundle.fars ray_bundle.fars = torch.ones_like(ray_bundle.fars) * self.config.far_plane_bg return ray_bundle def get_outputs_flexible(self, ray_bundle: RayBundle, additional_inputs: Dict[str, TensorType]) -> Dict: """run the model with additional inputs such as warping or rendering from unseen rays Args: ray_bundle: containing all the information needed to render that ray latents included additional_inputs: addtional inputs such as images, src_idx, src_cameras Returns: dict: information needed for compute gradients """ if self.collider is not None: ray_bundle = self.collider(ray_bundle) outputs = self.get_outputs(ray_bundle) ray_samples = outputs["ray_samples"] field_outputs = outputs["field_outputs"] if self.config.patch_warp_loss_mult > 0: # patch warping warped_patches, valid_mask = self.patch_warping( ray_samples, field_outputs[FieldHeadNames.SDF], field_outputs[FieldHeadNames.NORMAL], additional_inputs["src_cameras"], additional_inputs["src_imgs"], pix_indices=additional_inputs["uv"], ) outputs.update({"patches": warped_patches, "patches_valid_mask": valid_mask}) return outputs # @profiler.time_function def get_loss_dict(self, outputs, batch, metrics_dict=None, step=None) -> Dict: loss_dict = {} image = batch["image"].to(self.device) loss_dict["rgb_loss"] = self.rgb_loss(image, outputs["rgb"]) if self.training: # eikonal loss # TODO: additionally sample random points in the fg aabb and apply eikonal regularization # especially near to the border of the fg aabb. if "eik_grad" in outputs: grad_theta = outputs["eik_grad"] # handle out-of-box points if self.handle_no_intersect_rays: no_intersect_mask = outputs["no_intersect_mask"].to(grad_theta.dtype) n_intersect_pts = (no_intersect_mask.nelement() - no_intersect_mask.sum()) * np.prod( grad_theta.shape[1:-1] ) eikonal_loss = ( ((grad_theta.norm(2, dim=-1) - 1) ** 2) * (1 - no_intersect_mask) ).sum() / n_intersect_pts loss_dict["eikonal_loss"] = eikonal_loss * self.config.eikonal_loss_mult else: loss_dict["eikonal_loss"] = ( (grad_theta.norm(2, dim=-1) - 1) ** 2 ).mean() * self.config.eikonal_loss_mult # foreground mask loss if "fg_mask" in batch and self.config.fg_mask_loss_mult > 0.0: fg_label = batch["fg_mask"].float().to(self.device) weights_sum = outputs["weights"].sum(dim=1).clip(1e-3, 1.0 - 1e-3) loss_dict["fg_mask_loss"] = ( F.binary_cross_entropy(weights_sum, fg_label) * self.config.fg_mask_loss_mult ) # monocular normal loss if "normal" in batch and self.config.mono_normal_loss_mult > 0.0: if self._step > self.config.mono_normal_loss_warmup_steps: normal_gt = batch["normal"].to(self.device) normal_pred = outputs["normal"] normal_mask = (outputs["accumulation"].detach().squeeze() > 0.95).float() normal_loss_scale = map_range_val(self._step, self.config.mono_normal_loss_warmup_steps, self.config.mono_normal_loss_steps, 1, self.config.normal_loss_final_scale, type='log', factor=1.) normal_loss = monosdf_normal_loss(normal_pred * normal_mask[...,None], normal_gt * normal_mask[...,None]) loss_dict["normal_loss"] = normal_loss * self.config.mono_normal_loss_mult * normal_loss_scale # monocular depth loss if "depth" in batch and self.config.mono_depth_loss_mult > 0.0: # TODO check it's true that's we sample from only a single image # TODO only supervised pixel that hit the surface and remove hard-coded scaling for depth depth_gt = batch["depth"].to(self.device)[..., None] depth_pred = outputs["depth"] mask = torch.ones_like(depth_gt).reshape(1, 32, -1).bool() loss_dict["depth_loss"] = ( self.depth_loss(depth_pred.reshape(1, 32, -1), (depth_gt * 50 + 0.5).reshape(1, 32, -1), mask) * self.config.mono_depth_loss_mult ) # sensor depth loss if "sensor_depth" in batch and ( self.config.sensor_depth_l1_loss_mult > 0.0 or self.config.sensor_depth_freespace_loss_mult > 0.0 or self.config.sensor_depth_sdf_loss_mult > 0.0 ): l1_loss, free_space_loss, sdf_loss = self.sensor_depth_loss(batch, outputs) loss_dict["sensor_l1_loss"] = l1_loss * self.config.sensor_depth_l1_loss_mult loss_dict["sensor_freespace_loss"] = free_space_loss * self.config.sensor_depth_freespace_loss_mult loss_dict["sensor_sdf_loss"] = sdf_loss * self.config.sensor_depth_sdf_loss_mult # multi-view photoconsistency loss as Geo-NeuS if "patches" in outputs and self.config.patch_warp_loss_mult > 0.0: patches = outputs["patches"] patches_valid_mask = outputs["patches_valid_mask"] loss_dict["patch_loss"] = ( self.patch_loss(patches, patches_valid_mask) * self.config.patch_warp_loss_mult ) # sparse points sdf loss if "sparse_sfm_points" in batch and self.config.sparse_points_sdf_loss_mult > 0.0: sparse_sfm_points = batch["sparse_sfm_points"].to(self.device) sparse_sfm_points_sdf = self.field.forward_geonetwork(sparse_sfm_points)[:, 0].contiguous() loss_dict["sparse_sfm_points_sdf_loss"] = ( torch.mean(torch.abs(sparse_sfm_points_sdf)) * self.config.sparse_points_sdf_loss_mult ) # total variational loss for multi-resolution periodic feature volume if self.config.periodic_tvl_mult > 0.0: assert self.field.config.encoding_type == "periodic" loss_dict["tvl_loss"] = self.field.encoding.get_total_variation_loss() * self.config.periodic_tvl_mult self._compute_curvature_loss(outputs, loss_dict) self._compute_interlevel_loss_bg(outputs, loss_dict) self._compute_ptcd_reg_fg(outputs, loss_dict) self._compute_ptcd_reg_plane(outputs, loss_dict) return loss_dict # @profiler.time_function def get_metrics_dict(self, outputs, batch) -> Dict: metrics_dict = {} image = batch["image"].to(self.device) metrics_dict["psnr"] = self.psnr(outputs["rgb"], image) return metrics_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: images_dict = {} image = batch["image"].to(self.device) rgb = outputs["rgb"] acc = colormaps.apply_colormap(outputs["accumulation"]) combined_rgb = torch.cat([image, rgb], dim=1) combined_acc = torch.cat([acc], dim=1) if "depth" in batch: depth_gt = batch["depth"].to(self.device) depth_pred = outputs["depth"] # align to predicted depth and normalize scale, shift = compute_scale_and_shift( depth_pred[None, ..., 0], depth_gt[None, ...], depth_gt[None, ...] > 0.0 ) depth_pred = depth_pred * scale + shift combined_depth = torch.cat([depth_gt[..., None], depth_pred], dim=1) combined_depth = colormaps.apply_depth_colormap(combined_depth) else: # TODO: set depth[accumulation < 0.1] = depth[accumulation >= 0.1].min() depth = colormaps.apply_depth_colormap( outputs["depth"], accumulation=outputs["accumulation"], ) combined_depth = torch.cat([depth], dim=1) images_dict = {"img": combined_rgb, "accumulation": combined_acc, "depth": combined_depth} if "normal" in outputs: normal = outputs["normal"] # don't need to normalize here # normal = torch.nn.functional.normalize(normal, p=2, dim=-1) normal = (normal + 1.0) / 2.0 if "normal" in batch: normal_gt = (batch["normal"].to(self.device) + 1.0) / 2.0 combined_normal = torch.cat([normal_gt, normal], dim=1) else: combined_normal = torch.cat([normal], dim=1) images_dict.update({"normal": combined_normal}) if "sensor_depth" in batch: sensor_depth = batch["sensor_depth"] depth_pred = outputs["depth"] combined_sensor_depth = torch.cat([sensor_depth[..., None], depth_pred], dim=1) combined_sensor_depth = colormaps.apply_depth_colormap(combined_sensor_depth) images_dict["sensor_depth"] = combined_sensor_depth if self.handle_no_intersect_rays: self._get_no_intersection_ray_mask(outputs, images_dict) if self.config.bg_sampler_type == "proposal_network": for i in range(self.config.num_proposal_iterations): key = f"prop_depth_bg_{i}" # TODO: set depth[accumulation < 0.1] = depth[accumulation >= 0.1].min() prop_depth_i = colormaps.apply_depth_colormap(outputs[key]) images_dict[key] = prop_depth_i # Switch images from [H, W, C] to [1, C, H, W] for metrics computations image = torch.moveaxis(image, -1, 0)[None, ...] rgb = torch.moveaxis(rgb, -1, 0)[None, ...] psnr = self.psnr(image, rgb) ssim = self.ssim(image, rgb) lpips = self.lpips(image, rgb) # all of these metrics will be logged as scalars metrics_dict = {"psnr": float(psnr.item()), "ssim": float(ssim)} # type: ignore metrics_dict["lpips"] = float(lpips) return metrics_dict, images_dict def _get_no_intersection_ray_mask(self, outputs: Dict[str, torch.Tensor], images_dict: Dict[str, torch.Tensor]): """visualizing ray-box intersection results""" no_intersect_mask = outputs["no_intersect_mask"].to(torch.float32) # (h, w, 1) images_dict["no_intersect_mask"] = no_intersect_mask def _compute_curvature_loss(self, outputs: Dict[str, torch.Tensor], loss_dict: Dict[str, torch.Tensor]): """compute curvature loss""" if ( self.config.curvature_loss_mult == 0.0 or self.config.curvature_loss_n_iters is not None and self._step > self.config.curvature_loss_n_iters ): return curvature_losses = outputs["curvature_losses"] # (n_rays, n_pts, 1) if self.handle_no_intersect_rays: no_intersect_mask = outputs["no_intersect_mask"].to(curvature_losses.dtype) n_intersect_pts = (no_intersect_mask.nelement() - no_intersect_mask.sum()) * np.prod( curvature_losses.shape[1:-1] ) curvature_loss = (curvature_losses * (1 - no_intersect_mask[:, None])).sum() / n_intersect_pts else: curvature_loss = torch.mean(curvature_losses) loss_dict["curvature_loss"] = curvature_loss * self.config.curvature_loss_mult return def _compute_interlevel_loss_bg(self, outputs: Dict[str, torch.Tensor], loss_dict: Dict[str, torch.Tensor]): """compute proposal network loss for bg sampler""" if not self.training or self.config.bg_sampler_type != "proposal_network": return bg_interlevel_loss_mult = 1.0 weights_list, ray_samples_list = self._get_interlevel_loss_inputs_bg(outputs) interlevel_loss_val = interlevel_loss(weights_list, ray_samples_list) if torch.isnan(interlevel_loss_val): __import__("ipdb").set_trace() loss_dict["bg_interlevel_loss"] = bg_interlevel_loss_mult * interlevel_loss_val def _get_interlevel_loss_inputs_bg(self, outputs: Dict[str, torch.Tensor]): weights_list = outputs["weights_list_bg"] # (n_rays, n_samples, 1) ray_samples_list = outputs["ray_samples_list_bg"] # (n_rays, n_samples) if not self.handle_bottom_intersect_rays: return weights_list, ray_samples_list # ignore supervision of rays intersecting the bottom plane of the fg aabb # we can optionally supervise the underneath region with zero weights bottom_intersect_mask = outputs["bottom_intersect_mask"][..., 0] # (n_rays, ) weights_list = [weights[~bottom_intersect_mask] for weights in weights_list] ray_samples_list = [ray_samples[~bottom_intersect_mask] for ray_samples in ray_samples_list] return weights_list, ray_samples_list def _build_anneal_fn(self, anneal_fn_name, max_step): if max_step is None: ptcd_reg_disabled = self.config.ptcd_reg_plane_mult == 0.0 and self.config.ptcd_reg_fg_mult == 0.0 assert ptcd_reg_disabled or anneal_fn_name == "constant" return lambda x: 1.0 if anneal_fn_name == "cosine": anneal_fn = scheduler.cosine_annealing elif anneal_fn_name == "exponential": anneal_fn = scheduler.exp_annealing elif anneal_fn_name == "constant": anneal_fn = scheduler.constant else: raise ValueError(f"Unknown anneal fn: {anneal_fn_name}") return partial(anneal_fn, max_step=max_step, min_val=0.0, max_val=1.0) def _compute_ptcd_reg_fg(self, outputs: Dict[str, torch.Tensor], loss_dict: Dict[str, torch.Tensor]): """compute foreground point cloud regularization loss use point-wise threshold by default. """ if self.config.ptcd_reg_fg_mult == 0.0 or self._step > self.config.ptcd_reg_n_iters: return anneal_weight = self.ptcd_reg_anneal_fn(self._step) writer.put_scalar(name="ptcd_reg_fg_anneal_weight", scalar=anneal_weight, step=self._step) fg_pts, fg_sdf_thrs = self.ptcd_data.sample_fg_points(self.config.ptcd_reg_fg_n_pts_per_iter, replace=True) fg_pts_sdf = self.field.forward_geonetwork(fg_pts)[:, 0].contiguous() # only support point-wise threshold for now fg_sdf_loss = -torch.min(fg_sdf_thrs - torch.abs(fg_pts_sdf), torch.zeros_like(fg_pts[:, 0])).mean() loss_dict["ptcd_reg_fg"] = fg_sdf_loss * self.config.ptcd_reg_fg_mult * anneal_weight def _compute_ptcd_reg_plane(self, outputs: Dict[str, torch.Tensor], loss_dict: Dict[str, torch.Tensor]): """compute plane point cloud regularization loss""" if ( self.config.ptcd_reg_plane_mult == 0.0 or self._step > self.config.ptcd_reg_n_iters or len(self.ptcd_data.plane_pts) == 0 # some sequence might not have plane pts ): return anneal_weight = self.ptcd_reg_anneal_fn(self._step) writer.put_scalar(name="ptcd_reg_plane_anneal_weight", scalar=anneal_weight, step=self._step) # sample plane pts (optionally sample half by random sampling from parametric plane) plane_pts, udf_plane_to_fg, _ = self.ptcd_data.sample_plane_points( self.config.ptcd_reg_plane_n_pts_per_iter, replace=True ) plane_pts_sdf = self.field.forward_geonetwork(plane_pts)[:, 0].contiguous() plane_sdf_loss = torch.max(udf_plane_to_fg - torch.abs(plane_pts_sdf), torch.zeros_like(udf_plane_to_fg)).mean() loss_dict["ptcd_reg_plane"] = plane_sdf_loss * self.config.ptcd_reg_plane_mult * anneal_weight def _compute_mask_beta_prior(self, outputs: Dict[str, torch.Tensor], loss_dict: Dict[str, torch.Tensor]): """compute mask beta prior regularization""" raise NotImplementedError ================================================ FILE: AutoReconForDens3R/nerfstudio/models/distilled_neus_facto.py ================================================ """ Two-stages training of NeuSFacto: 1. use NeRF in both fg and bg; 2. replace NeRF with NeuSFacto in fg. """ from __future__ import annotations from dataclasses import dataclass, field from typing import List, Type, Tuple, Dict, Any from typing_extensions import Literal import numpy as np import torch from torch import nn from nerfstudio.cameras.rays import RayBundle, RaySamples from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.fields.density_fields import HashMLPDensityField from nerfstudio.fields.nerfacto_field import TCNNNerfactoField from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.field_components.spatial_distortions import SceneContraction from nerfstudio.models.neus_facto import NeuSFactoModelConfig, NeuSFactoModel from nerfstudio.model_components.losses import interlevel_loss from nerfstudio.model_components.ray_samplers import ProposalNetworkSampler from nerfstudio.model_components.scene_colliders import NearFarCollider from nerfstudio.utils import colormaps @dataclass class DistilledNeuSFactoModelConfig(NeuSFactoModelConfig): """Distilled NeuSFactoModel config""" _target: Type = field(default_factory=lambda: DistilledNeuSFactoModel) nerfacto_field_enabled: bool = True """if True, use nerfacto field in fg; otherwise, use sdf_field in fg""" nerfacto_hash_grid_num_levels: int = 16 nerfacto_hash_grid_max_res: int = 2048 nerfacto_hash_grid_log2_hashmap_size: int = 19 nerfacto_predict_normals: bool = False nerfacto_use_appearance_embedding: bool = False nerfacto_spatial_normalization_region: Literal["full", "fg"] = "fg", single_field_fg_bg: bool = False """if True, use a single nerfactor field for fg and bg""" ignore_pre_intersection_points: bool = True """ignore samples between the camera origin and the first ray-aabb intersection point in background modeling.""" class DistilledNeuSFactoModel(NeuSFactoModel): config: DistilledNeuSFactoModelConfig def populate_modules(self): super().populate_modules() self.aabb = nn.Parameter(self.scene_box.aabb, requires_grad=False) # init nerfacto field (override the original sdf_field) if self.config.nerfacto_field_enabled: self.field = TCNNNerfactoField( self.scene_box.aabb, num_levels=self.config.nerfacto_hash_grid_num_levels, max_res=self.config.nerfacto_hash_grid_max_res, log2_hashmap_size=self.config.nerfacto_hash_grid_log2_hashmap_size, spatial_distortion=self.scene_contraction, num_images=self.num_train_data, use_pred_normals=self.config.nerfacto_predict_normals, use_appearance_embedding=self.config.nerfacto_use_appearance_embedding, use_average_appearance_embedding=self.config.use_average_appearance_embedding, spatial_normalization_region=self.config.nerfacto_spatial_normalization_region, ) if self.config.single_field_fg_bg and self.config.background_model != "none": # override the original bg field self.field_background = self.field assert isinstance(self.collider, NearFarCollider), "DistilledNeuSFactoModel only supports NearFarCollider" def sample_and_forward_field(self, ray_bundle: RayBundle): ray_samples, weights_list, ray_samples_list = self.proposal_sampler( ray_bundle, density_fns=self.density_fns ) # split ray_samples into fg and bg samples and update ray_samples.metadata self._mask_ray_samples_with_aabb(ray_bundle, ray_samples) # TODO: masked inference in foreground and background fields weights, transmittance, field_outputs = self.forward_field(ray_samples) bg_transmittance = transmittance[:, -1, :] weights_list.append(weights) ray_samples_list.append(ray_samples) samples_and_field_outputs = { "ray_samples": ray_samples, "field_outputs": field_outputs, "weights": weights, "bg_transmittance": bg_transmittance, "weights_list": weights_list, "ray_samples_list": ray_samples_list, } return samples_and_field_outputs def sample_and_forward_field_bg( self, ray_bundle: RayBundle, samples_and_field_outputs_fg: Dict[str, Any], outputs: Dict[str, Any], ): ray_samples = samples_and_field_outputs_fg["ray_samples"] # fg & bg share the same set of ray samples bg_transmittance = samples_and_field_outputs_fg["bg_transmittance"] ray_samples_bg_mask = ray_samples.metadata["bg_mask"] # forward the bg field and mask out weights of invalid positions field_outputs_bg = self.field_background(ray_samples) densities = field_outputs_bg[FieldHeadNames.DENSITY] densities = densities * ray_samples_bg_mask.to(densities.dtype) # densities = torch.where(ray_samples_bg_mask, densities, torch.zeros_like(densities)) weights_bg = ray_samples.get_weights(densities) * bg_transmittance[:, None] weights_fg = samples_and_field_outputs_fg["weights_list"][-1] weights_fg_bg = torch.where(ray_samples_bg_mask, weights_bg, weights_fg) samples_and_field_outputs_fg["weights_list"][-1] = weights_fg_bg field_outputs_bg.update({FieldHeadNames.DENSITY: densities}) samples_and_field_outputs_bg = { "ray_samples": ray_samples, "weights": weights_bg, **field_outputs_bg } return samples_and_field_outputs_bg def forward_field(self, ray_samples): """Forward the fg field and mask out weights of points outside the fg aabb. """ if self.config.nerfacto_field_enabled: return self._forward_field_nerfacto(ray_samples) else: return self._forward_field_sdf(ray_samples) def _forward_field_sdf(self, ray_samples): field_outputs = self.field(ray_samples, return_alphas=True) alphas = field_outputs[FieldHeadNames.ALPHA] if ray_samples.metadata is not None and "fg_mask" in ray_samples.metadata: alphas = alphas * ray_samples.metadata["fg_mask"].to(alphas.dtype) weights, transmittance = ray_samples.get_weights_and_transmittance_from_alphas(alphas) field_outputs.update({FieldHeadNames.ALPHA: alphas}) return weights, transmittance, field_outputs def _forward_field_nerfacto(self, ray_samples): field_outputs = self.field(ray_samples, compute_normals=self.config.nerfacto_predict_normals) densities = field_outputs[FieldHeadNames.DENSITY] if ray_samples.metadata is not None and "fg_mask" in ray_samples.metadata: densities = densities * ray_samples.metadata["fg_mask"].to(densities.dtype) weights, transmittance = ray_samples.get_weights_and_transmittance(densities) field_outputs.update({FieldHeadNames.DENSITY: densities}) return weights, transmittance, field_outputs def _mask_ray_samples_with_aabb(self, ray_bundle: RayBundle, ray_samples: RaySamples) -> None: """Compute per ray_sample fg masks and bg masks""" if self.config.background_model == "none": return aabb = self.aabb # (2, 3) positions = ray_samples.frustums.get_positions() # (n_rays, n_pts, 3) in_aabb_mask = ((positions >= aabb[[0], None]) & (positions <= aabb[[1], None])).all(-1, keepdim=True) out_aabb_mask = ~in_aabb_mask if self.config.ignore_pre_intersection_points: # TODO: support the modeling of regions b/w camera near & the 1st aabb intersection (currently ignored) nears = self._compute_aabb_intersections(ray_bundle)[:, None, None] # (n_rays, 1, 1) ray_dists = (ray_samples.frustums.starts + ray_samples.frustums.ends) / 2 out_ignore_mask = ray_dists <= nears # (n_rays, n_pts, 1) out_aabb_mask[out_ignore_mask] = False else: raise NotImplementedError # three part composition # # additionally consider pre-intersection points # nears = self._compute_aabb_intersections(ray_bundle)[:, None, None] # (n_rays, 1, 1) # ray_dists = (ray_samples.frustums.starts + ray_samples.frustums.ends) / 2 # in_additional_mask = ray_dists <= nears # (n_rays, n_pts, 1) # in_aabb_mask[in_additional_mask] = True # out_aabb_mask = ~in_aabb_mask if ray_samples.metadata is None: ray_samples.metadata = {} ray_samples.metadata["fg_mask"] = in_aabb_mask ray_samples.metadata["bg_mask"] = out_aabb_mask def _compute_aabb_intersections(self, ray_bundle: RayBundle): aabb = self.aabb rays_o, rays_d = ray_bundle.origins, ray_bundle.directions dir_fraction = 1.0 / (rays_d + 1e-6) # x t1 = (aabb[0, 0] - rays_o[:, 0:1]) * dir_fraction[:, 0:1] t2 = (aabb[1, 0] - rays_o[:, 0:1]) * dir_fraction[:, 0:1] # y t3 = (aabb[0, 1] - rays_o[:, 1:2]) * dir_fraction[:, 1:2] t4 = (aabb[1, 1] - rays_o[:, 1:2]) * dir_fraction[:, 1:2] # z t5 = (aabb[0, 2] - rays_o[:, 2:3]) * dir_fraction[:, 2:3] t6 = (aabb[1, 2] - rays_o[:, 2:3]) * dir_fraction[:, 2:3] tx_min, tx_max = torch.minimum(t1, t2), torch.maximum(t1, t2) ty_min, ty_max = torch.minimum(t3, t4), torch.maximum(t3, t4) tz_min, tz_max = torch.minimum(t5, t6), torch.maximum(t5, t6) nears = torch.max(torch.cat([tx_min, ty_min, tz_min], dim=1), dim=1).values fars = torch.min(torch.cat([tx_max, ty_max, tz_max], dim=1), dim=1).values nears[nears > fars] = -1.0 # no intersection with the first plane -> nears < 0 return nears ================================================ FILE: AutoReconForDens3R/nerfstudio/models/dto.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of VolSDF. """ from __future__ import annotations from dataclasses import dataclass, field from typing import Dict, List, Tuple, Type import nerfacc import torch import torch.nn.functional as F from torch.nn import Parameter from torchtyping import TensorType from nerfstudio.cameras.rays import RayBundle from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.field_components.spatial_distortions import SceneContraction from nerfstudio.fields.sdf_field import SDFFieldConfig from nerfstudio.model_components.losses import L1Loss from nerfstudio.model_components.ray_samplers import ( ErrorBoundedSampler, LinearDisparitySampler, NeuSSampler, PDFSampler, UniformSampler, UniSurfSampler, save_points, ) from nerfstudio.model_components.renderers import DepthRenderer, SemanticRenderer from nerfstudio.model_components.scene_colliders import SphereCollider from nerfstudio.models.nerfacto import NerfactoModel, NerfactoModelConfig from nerfstudio.utils import colormaps from nerfstudio.utils.colors import get_color from nerfstudio.utils.marching_cubes import get_surface_occupancy @dataclass class DtoOModelConfig(NerfactoModelConfig): """UniSurf Model Config""" _target: Type = field(default_factory=lambda: DtoOModel) smooth_loss_multi: float = 0.005 """smoothness loss on surface points in unisurf""" sdf_field: SDFFieldConfig = SDFFieldConfig() """Config for SDF Field""" class DtoOModel(NerfactoModel): """VolSDF model Args: config: MonoSDF configuration to instantiate model """ config: DtoOModelConfig def populate_modules(self): """Set the fields and modules.""" super().populate_modules() scene_contraction = SceneContraction(order=float("inf")) # create occupancy grid from scene_bbox aabb_scale = 1.0 aabb = [[-aabb_scale, -aabb_scale, -aabb_scale], [aabb_scale, aabb_scale, aabb_scale]] aabb = torch.tensor(aabb, dtype=torch.float32) self.grid = nerfacc.OccupancyGrid(aabb.reshape(-1), resolution=32) self._binary = self.scene_box.coarse_binary_gird.reshape(32, 32, 32).contiguous() self._binary_fine = None # self.rank = torch.distributed.get_rank() print("self", self.local_rank) # Occupancy self.occupancy_field = self.config.sdf_field.setup( aabb=aabb, spatial_distortion=scene_contraction, num_images=self.num_train_data, use_average_appearance_embedding=self.config.use_average_appearance_embedding, ) self.pdf_sampler = PDFSampler( include_original=True, single_jitter=self.config.use_single_jitter, histogram_padding=1e-5, ) self.surface_sampler = PDFSampler(include_original=False, single_jitter=False, histogram_padding=1e-5) self.uniform_sampler = UniformSampler(single_jitter=False) self.neus_sampler = NeuSSampler( num_samples=8, num_samples_importance=16, num_samples_outside=0, num_upsample_steps=2, base_variance=512 ) self.renderer_normal = SemanticRenderer() self.renderer_depth = DepthRenderer("expected") # for merge samples self.unisurf_sampler = UniSurfSampler() # self.error_bounded_sampler = ErrorBoundedSampler() self.error_bounded_sampler = ErrorBoundedSampler( num_samples=64, num_samples_eval=128, num_samples_extra=32, ) # sphere collider self.sphere_collider = SphereCollider(radius=1.0) # background model self.bg_sampler = LinearDisparitySampler(num_samples=4) self.step_counter = 0 self.anneal_end = 20000 self.use_nerfacto = False self.method = "neus" self.rgb_loss = L1Loss() def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: if self.use_nerfacto: callbacks = super().get_training_callbacks(training_callback_attributes) else: callbacks = [] # anneal for cos in NeuS if self.anneal_end > 0: def set_anneal(step): anneal = min([1.0, step / self.anneal_end]) self.occupancy_field.set_cos_anneal_ratio(anneal) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.BEFORE_TRAIN_ITERATION], update_every_num_iters=1, func=set_anneal, ) ) return callbacks def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = super().get_param_groups() param_groups["occupancy_field"] = list(self.occupancy_field.parameters()) return param_groups def get_outputs(self, ray_bundle: RayBundle): # compute near and far from from sphere with radius 1.0 ray_bundle = self.sphere_collider(ray_bundle) # near and far from occupancy grids packed_info, ray_indices, t_starts, t_ends = nerfacc.cuda.ray_marching( ray_bundle.origins.contiguous(), ray_bundle.directions.contiguous(), ray_bundle.nears[:, 0].contiguous(), ray_bundle.fars[:, 0].contiguous(), self.grid.roi_aabb.contiguous(), self._binary.to(ray_bundle.origins.device), self.grid.contraction_type.to_cpp_version(), 1e-2, # large value for coarse voxels 0.0, ) tt_starts = nerfacc.unpack_data(packed_info, t_starts) # tt_ends = nerfacc.unpack_data(packed_info, t_ends) hit_grid = (tt_starts > 0).any(dim=1)[:, 0] if hit_grid.float().sum() > 0: ray_bundle.nears[hit_grid] = tt_starts[hit_grid][:, 0] ray_bundle.fars[hit_grid] = tt_starts[hit_grid].max(dim=1)[0] # sample uniformly with currently nears and far voxel_samples = self.uniform_sampler(ray_bundle, num_samples=10) nears = ray_bundle.nears.clone() fars = ray_bundle.fars.clone() # bootstrap should needs longer if using only one gpus if self.training and self.step_counter > 5000 and self.step_counter % 5000 == 1: grid_size = 32 voxel_size = 2.0 / 32 fine_grid_size = 16 offset = torch.linspace(-1.0, 1.0, fine_grid_size * 2 + 1, device=self.device)[1::2] x, y, z = torch.meshgrid(offset, offset, offset, indexing="ij") fine_offset_cube = torch.stack([x, y, z], dim=-1).reshape(-1, 3) * voxel_size * 0.5 # coarse grid coordinates offset = torch.linspace(-1.0 + voxel_size / 2.0, 1.0 - voxel_size / 2.0, grid_size, device=self.device) x, y, z = torch.meshgrid(offset, offset, offset, indexing="ij") coarse_offset_cube = torch.stack([x, y, z], dim=-1).reshape(-1, 3) # xyz mask = torch.zeros((grid_size**3, fine_grid_size**3), dtype=torch.bool, device=self.device) occupied_voxel = coarse_offset_cube[self._binary.reshape(-1)] fine_voxel = occupied_voxel[:, None] + fine_offset_cube[None, :] print(fine_voxel.shape) fine_voxel = fine_voxel.reshape(-1, 3) # save_points("fine_voxel.ply", fine_voxel.cpu().numpy()) @torch.no_grad() def evaluate(points): z = [] for _, pnts in enumerate(torch.split(points, 100000, dim=0)): z.append(self.occupancy_field.forward_geonetwork(pnts)[:, 0].contiguous()) z = torch.cat(z, axis=0) return z sdf = evaluate(fine_voxel) sdf = sdf.reshape(occupied_voxel.shape[0], fine_grid_size**3) sdf_mask = sdf <= 0.0 mask[self._binary.reshape(-1)] = sdf_mask self._binary_fine = ( mask.reshape(grid_size, grid_size, grid_size, fine_grid_size, fine_grid_size, fine_grid_size) .permute(0, 3, 1, 4, 2, 5) .reshape(grid_size * fine_grid_size, grid_size * fine_grid_size, grid_size * fine_grid_size) .contiguous() ) offset = torch.linspace(-1.0, 1.0, fine_grid_size * grid_size * 2 + 1, device=self.device)[1::2] x, y, z = torch.meshgrid(offset, offset, offset, indexing="ij") grid_coord = torch.stack([x, y, z], dim=-1).reshape(-1, 3) if self.local_rank == 0: save_points("fine_voxel_valid.ply", grid_coord[self._binary_fine.reshape(-1)].cpu().numpy()) # breakpoint() if self._binary_fine is not None: # near and far from occupancy grids packed_info, ray_indices, t_starts, t_ends = nerfacc.cuda.ray_marching( ray_bundle.origins.contiguous(), ray_bundle.directions.contiguous(), ray_bundle.nears[:, 0].contiguous(), ray_bundle.fars[:, 0].contiguous(), self.grid.roi_aabb.contiguous(), self._binary_fine, self.grid.contraction_type.to_cpp_version(), 1e-3, # small value for fine voxels 0.0, ) tt_starts = nerfacc.unpack_data(packed_info, t_starts) # tt_ends = nerfacc.unpack_data(packed_info, t_ends, n_samples=1024) # update with near and far hit_grid = (tt_starts > 0).any(dim=1)[:, 0] if hit_grid.float().sum() > 0: ray_bundle.nears[hit_grid] = tt_starts[hit_grid][:, 0] - 0.03 ray_bundle.fars[hit_grid] = tt_starts[hit_grid][:, 0] + 0.03 else: print("waring not intersection") print("sampling around surfaces") if self.use_nerfacto: outputs = super().get_outputs(ray_bundle) # weights and ray samples from nerfacto base_weights = outputs["weights_list"][-1].detach() base_ray_samples = outputs["ray_samples_list"][-1] # TODO maybe interative sampling to sample more points on the surface? # importance samples and merge # occupancy_samples = self.pdf_sampler(ray_bundle, base_ray_samples, base_weights, num_samples=64) occupancy_samples = self.neus_sampler( ray_bundle, sdf_fn=self.occupancy_field.get_sdf, ray_samples=base_ray_samples ) else: outputs = {} if self.method == "neus": occupancy_samples = self.neus_sampler(ray_bundle, sdf_fn=self.occupancy_field.get_sdf) elif self.method == "volsdf": # VolSDF occupancy_samples, _ = self.error_bounded_sampler( ray_bundle, density_fn=self.occupancy_field.laplace_density, sdf_fn=self.occupancy_field.get_sdf ) # save_points("p2.ply", occupancy_samples.frustums.get_positions().detach().cpu().numpy().reshape(-1, 3)) # merge samples occupancy_samples = self.unisurf_sampler.merge_ray_samples_in_eculidean( ray_bundle, occupancy_samples, voxel_samples ) # save_points("p1.ply", voxel_samples.frustums.get_positions().detach().cpu().numpy().reshape(-1, 3)) # save_points("p3.ply", occupancy_samples.frustums.get_positions().detach().cpu().numpy().reshape(-1, 3)) # breakpoint() # save_points("p4.ply", importance_samples.frustums.get_positions().detach().cpu().numpy().reshape(-1, 3)) # if self._step > 0: # exit(-1) # save_points("merged.ply", merged_samples.frustums.get_start_positions().reshape(-1, 3).detach().cpu().numpy()) # breakpoint() # occupancy unisurf # field_outputs = self.occupancy_field(occupancy_samples, return_occupancy=True) # weights, transmittance = occupancy_samples.get_weights_and_transmittance_from_alphas( # field_outputs[FieldHeadNames.OCCUPANCY] # ) # save_points("o.ply", occupancy_samples.frustums.get_positions().reshape(-1, 3).detach().cpu().numpy()) if self.method == "neus": field_outputs = self.occupancy_field(occupancy_samples, return_alphas=True) weights, transmittance = occupancy_samples.get_weights_and_transmittance_from_alphas( field_outputs[FieldHeadNames.ALPHA] ) elif self.method == "volsdf": field_outputs = self.occupancy_field(occupancy_samples) weights, transmittance = occupancy_samples.get_weights_and_transmitance( field_outputs[FieldHeadNames.DENSITY] ) # save_points("a.ply", occupancy_samples.frustums.get_positions().reshape(-1, 3).detach().cpu().numpy()) if self.training: # we should sample here before we change the near-far plane for ray_bundle # sample surface points according to distribution # surface_samples = self.surface_sampler(ray_bundle, occupancy_samples, weights, num_samples=8) self.step_counter += 1 if self.step_counter % 5000 == 0 and self.local_rank == 0: save_points("a.ply", occupancy_samples.frustums.get_positions().reshape(-1, 3).detach().cpu().numpy()) get_surface_occupancy( occupancy_fn=lambda x: self.occupancy_field.forward_geonetwork(x)[:, 0], device=self.device ) # breakpoint() bg_transmittance = transmittance[:, -1, :] rgb = self.renderer_rgb(rgb=field_outputs[FieldHeadNames.RGB], weights=weights) depth = self.renderer_depth(weights=weights, ray_samples=occupancy_samples) # the rendered depth is point-to-point distance and we should convert to depth depth = depth / ray_bundle.directions_norm normal = self.renderer_normal(semantics=field_outputs[FieldHeadNames.NORMAL], weights=weights) accumulation = self.renderer_accumulation(weights=weights) # save rendered points for visualization pts = self.renderer_normal(semantics=occupancy_samples.frustums.get_positions(), weights=weights) hit_mask = (field_outputs[FieldHeadNames.SDF] > 0.0).any(dim=1) & (field_outputs[FieldHeadNames.SDF] < 0.0).any( dim=1 ) pts = pts[hit_mask[:, 0]] # save_points("a.ply", pts.reshape(-1, 3).detach().cpu().numpy()) # breakpoint() if pts.shape[0] > 0: surface_sdf = self.occupancy_field.forward_geonetwork(pts)[:, 0] else: surface_sdf = None # sample inversely from far to 100 and points and forwart the bg model ray_bundle.nears = ray_bundle.fars ray_bundle.fars = torch.ones_like(ray_bundle.fars) * 1000.0 bg_ray_samples = self.bg_sampler(ray_bundle) # use the same background model for both density field and occupancy field field_outputs_bg = self.field(bg_ray_samples) bg_weights = bg_ray_samples.get_weights(field_outputs_bg[FieldHeadNames.DENSITY]) bg_rgb = self.renderer_rgb(rgb=field_outputs_bg[FieldHeadNames.RGB], weights=bg_weights) bg_depth = self.renderer_depth(weights=bg_weights, ray_samples=bg_ray_samples) bg_accumulation = self.renderer_accumulation(weights=bg_weights) bg_outputs = { "bg_rgb": bg_rgb, "bg_accumulation": bg_accumulation, "bg_depth": bg_depth, "bg_weights": bg_weights, } # merge background color to forgound color rgb = rgb + bg_transmittance * bg_rgb outputs_occupancy = { "orgb": rgb, "oaccumulation": accumulation, "odepth": depth, "onormal": normal, "oweights": weights, } # hitting information start_points = occupancy_samples.frustums.get_positions()[:, 0] end_points = occupancy_samples.frustums.get_positions()[:, -1] outputs_occupancy.update({"start_points": start_points, "end_points": end_points}) if self.training: outputs_occupancy.update({"surface_sdf": surface_sdf}) if self.use_nerfacto: # merge background color to forgound color of density field outputs["rgb"] = outputs["rgb"] + outputs["transmittance"][:, -1, :] * bg_rgb if self.training: # surface_points = surface_samples.frustums.get_positions().reshape(-1, 3) # surface_points_neig = surface_points + (torch.rand_like(surface_points) - 0.5) * 0.001 # pp = torch.cat([surface_points, surface_points_neig], dim=0) # surface_grad = self.occupancy_field.gradient(pp) # surface_points_normal = torch.nn.functional.normalize(surface_grad, p=2, dim=-1) # outputs_occupancy.update({"surface_points_normal": surface_points_normal, "surface_grad": surface_grad}) outputs_occupancy.update({"surface_grad": field_outputs[FieldHeadNames.GRADIENT]}) outputs.update(outputs_occupancy) outputs.update(bg_outputs) return outputs def get_metrics_dict(self, outputs, batch): if self.use_nerfacto: metrics_dict = super().get_metrics_dict(outputs, batch) else: metrics_dict = {} image = batch["image"].to(self.device) metrics_dict["opsnr"] = self.psnr(outputs["orgb"], image) if self.training: # training statics metrics_dict["s_val"] = self.occupancy_field.deviation_network.get_variance().item() metrics_dict["inv_s"] = 1.0 / self.occupancy_field.deviation_network.get_variance().item() # training statics for volsdf metrics_dict["beta"] = self.occupancy_field.laplace_density.get_beta().item() metrics_dict["alpha"] = 1.0 / self.occupancy_field.laplace_density.get_beta().item() return metrics_dict def get_loss_dict(self, outputs, batch, metrics_dict=None): if self.use_nerfacto: loss_dict = super().get_loss_dict(outputs, batch, metrics_dict) else: loss_dict = {} image = batch["image"].to(self.device) loss_dict["orgb_loss"] = self.rgb_loss(image, outputs["orgb"]) if self.training and "sky" in batch: sky_label = 1.0 - batch["sky"].float().to(self.device) if self.use_nerfacto: density_field_weights = outputs["weights_list"][-1] loss_dict["sky_loss"] = ( F.binary_cross_entropy(density_field_weights.sum(dim=1).clip(1e-3, 1.0 - 1e-3), sky_label) * 0.01 ) occupancy_field_weights = outputs["oweights"] loss_dict["osky_loss"] = ( F.binary_cross_entropy(occupancy_field_weights.sum(dim=1).clip(1e-3, 1.0 - 1e-3), sky_label) * 0.01 ) if self.training: # surface_points_normal = outputs["surface_points_normal"] # N = surface_points_normal.shape[0] // 2 # diff_norm = torch.norm(surface_points_normal[:N] - surface_points_normal[N:], dim=-1) # loss_dict["normal_smoothness_loss"] = torch.mean(diff_norm) * 0.0001 # eikonal loss surface_points_grad = outputs["surface_grad"] loss_dict["eikonal_loss"] = ((surface_points_grad.norm(2, dim=-1) - 1) ** 2).mean() * 0.0001 # surface points loss surface_points_sdf = outputs["surface_sdf"] if surface_points_sdf is not None: loss_dict["surface_sdf_loss"] = torch.abs(surface_points_sdf).mean() * 0.0 sparse_pts = batch["sparse_pts"].to(self.device) sparse_pts, pts_weights = sparse_pts[:, :3], sparse_pts[:, 3:] # filter norm in_sphere = torch.norm(sparse_pts, dim=-1) < 1.0 sparse_pts = sparse_pts[in_sphere] pts_weights = pts_weights[in_sphere] pts_weights = torch.ones_like(pts_weights) # print(in_sphere.float().mean()) # save_points("sa.ply", sparse_pts.cpu().numpy()) # breakpoint() if sparse_pts.shape[0] > 0: sparse_pts_sdf = self.occupancy_field.forward_geonetwork(sparse_pts)[:, 0] loss_dict["sparse_pts_loss"] = (torch.abs(sparse_pts_sdf) * pts_weights).mean() * 0.0 return loss_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: if self.use_nerfacto: metrics_dict, images_dict = super().get_image_metrics_and_images(outputs, batch) else: metrics_dict, images_dict = {}, {} image = batch["image"].to(self.device) rgb = outputs["orgb"] acc = colormaps.apply_colormap(outputs["oaccumulation"]) depth = colormaps.apply_depth_colormap( outputs["odepth"], accumulation=outputs["oaccumulation"], ) normal = outputs["onormal"] # don't need to normalize here # normal = torch.nn.functional.normalize(normal, p=2, dim=-1) normal = (normal + 1.0) / 2.0 combined_normal = torch.cat([normal], dim=1) combined_rgb = torch.cat([image, rgb], dim=1) combined_acc = torch.cat([acc], dim=1) combined_depth = torch.cat([depth], dim=1) # Switch images from [H, W, C] to [1, C, H, W] for metrics computations image = torch.moveaxis(image, -1, 0)[None, ...] rgb = torch.moveaxis(rgb, -1, 0)[None, ...] psnr = self.psnr(image, rgb) ssim = self.ssim(image, rgb) lpips = self.lpips(image, rgb) # all of these metrics will be logged as scalars metrics_dict.update({"opsnr": float(psnr.item()), "ossim": float(ssim)}) # type: ignore metrics_dict["olpips"] = float(lpips) images_dict.update( {"oimg": combined_rgb, "oaccumulation": combined_acc, "odepth": combined_depth, "onormal": combined_normal} ) # save hitting if "start_points" in outputs: start_points = outputs["start_points"] end_points = outputs["end_points"] save_points("starts.ply", start_points.cpu().numpy().reshape(-1, 3)) save_points("ends.ply", end_points.cpu().numpy().reshape(-1, 3)) return metrics_dict, images_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/models/instant_ngp.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of Instant NGP. """ from __future__ import annotations from dataclasses import dataclass, field from typing import Dict, List, Optional, Tuple, Type import nerfacc import torch from nerfacc import ContractionType from torch.nn import Parameter from torchmetrics import PeakSignalNoiseRatio from torchmetrics.functional import structural_similarity_index_measure from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity from nerfstudio.cameras.rays import RayBundle from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.fields.instant_ngp_field import TCNNInstantNGPField from nerfstudio.model_components.losses import MSELoss from nerfstudio.model_components.ray_samplers import VolumetricSampler from nerfstudio.model_components.renderers import ( AccumulationRenderer, DepthRenderer, RGBRenderer, ) from nerfstudio.models.base_model import Model, ModelConfig from nerfstudio.utils import colormaps, colors @dataclass class InstantNGPModelConfig(ModelConfig): """Instant NGP Model Config""" _target: Type = field( default_factory=lambda: NGPModel ) # We can't write `NGPModel` directly, because `NGPModel` doesn't exist yet """target class to instantiate""" enable_collider: bool = False """Whether to create a scene collider to filter rays.""" collider_params: Optional[Dict[str, float]] = None """Instant NGP doesn't use a collider.""" max_num_samples_per_ray: int = 24 """Number of samples in field evaluation.""" grid_resolution: int = 128 """Resolution of the grid used for the field.""" contraction_type: ContractionType = ContractionType.UN_BOUNDED_SPHERE """Resolution of the grid used for the field.""" cone_angle: float = 0.004 """Should be set to 0.0 for blender scenes but 1./256 for real scenes.""" render_step_size: float = 0.01 """Minimum step size for rendering.""" near_plane: float = 0.05 """How far along ray to start sampling.""" far_plane: float = 1e3 """How far along ray to stop sampling.""" use_appearance_embedding: bool = False """Whether to use an appearance embedding.""" randomize_background: bool = True """Whether to randomize the background color.""" alpha_thre: float = 1e-2 """alpha thres for visibility pruning in nerfacc, should set to 0 for the nerf-synthetic dataset""" class NGPModel(Model): """Instant NGP model Args: config: instant NGP configuration to instantiate model """ config: InstantNGPModelConfig field: TCNNInstantNGPField def __init__(self, config: InstantNGPModelConfig, **kwargs) -> None: super().__init__(config=config, **kwargs) def populate_modules(self): """Set the fields and modules.""" super().populate_modules() self.field = TCNNInstantNGPField( aabb=self.scene_box.aabb, contraction_type=self.config.contraction_type, use_appearance_embedding=self.config.use_appearance_embedding, num_images=self.num_train_data, ) self.scene_aabb = Parameter(self.scene_box.aabb.flatten(), requires_grad=False) # Occupancy Grid self.occupancy_grid = nerfacc.OccupancyGrid( roi_aabb=self.scene_aabb, resolution=self.config.grid_resolution, contraction_type=self.config.contraction_type, ) # Sampler vol_sampler_aabb = self.scene_box.aabb if self.config.contraction_type == ContractionType.AABB else None self.sampler = VolumetricSampler( scene_aabb=vol_sampler_aabb, occupancy_grid=self.occupancy_grid, density_fn=self.field.density_fn, ) # renderers background_color = "random" if self.config.randomize_background else colors.WHITE self.renderer_rgb = RGBRenderer(background_color=background_color) self.renderer_accumulation = AccumulationRenderer() self.renderer_depth = DepthRenderer(method="expected") # losses self.rgb_loss = MSELoss() # metrics self.psnr = PeakSignalNoiseRatio(data_range=1.0) self.ssim = structural_similarity_index_measure self.lpips = LearnedPerceptualImagePatchSimilarity() def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: def update_occupancy_grid(step: int): # TODO: needs to get access to the sampler, on how the step size is determinated at each x. See # https://github.com/KAIR-BAIR/nerfacc/blob/127223b11401125a9fce5ce269bb0546ee4de6e8/examples/train_ngp_nerf.py#L190-L213 self.occupancy_grid.every_n_step( step=step, occ_eval_fn=lambda x: self.field.get_opacity(x, self.config.render_step_size), ) return [ TrainingCallback( where_to_run=[TrainingCallbackLocation.BEFORE_TRAIN_ITERATION], update_every_num_iters=1, func=update_occupancy_grid, ), ] def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = {} if self.field is None: raise ValueError("populate_fields() must be called before get_param_groups") param_groups["fields"] = list(self.field.parameters()) return param_groups def get_outputs(self, ray_bundle: RayBundle): assert self.field is not None num_rays = len(ray_bundle) with torch.no_grad(): ray_samples, packed_info, ray_indices = self.sampler( ray_bundle=ray_bundle, near_plane=self.config.near_plane, far_plane=self.config.far_plane, render_step_size=self.config.render_step_size, cone_angle=self.config.cone_angle, alpha_thre=self.config.alpha_thre, ) field_outputs = self.field(ray_samples) # accumulation weights = nerfacc.render_weight_from_density( packed_info=packed_info, sigmas=field_outputs[FieldHeadNames.DENSITY], t_starts=ray_samples.frustums.starts, t_ends=ray_samples.frustums.ends, ) rgb = self.renderer_rgb( rgb=field_outputs[FieldHeadNames.RGB], weights=weights, ray_indices=ray_indices, num_rays=num_rays, ) depth = self.renderer_depth( weights=weights, ray_samples=ray_samples, ray_indices=ray_indices, num_rays=num_rays ) accumulation = self.renderer_accumulation(weights=weights, ray_indices=ray_indices, num_rays=num_rays) alive_ray_mask = accumulation.squeeze(-1) > 0 outputs = { "rgb": rgb, "accumulation": accumulation, "depth": depth, "alive_ray_mask": alive_ray_mask, # the rays we kept from sampler "num_samples_per_ray": packed_info[:, 1], } return outputs def get_metrics_dict(self, outputs, batch): image = batch["image"].to(self.device) metrics_dict = {} metrics_dict["psnr"] = self.psnr(outputs["rgb"], image) metrics_dict["num_samples_per_batch"] = outputs["num_samples_per_ray"].sum() return metrics_dict def get_loss_dict(self, outputs, batch, metrics_dict=None): image = batch["image"].to(self.device) mask = outputs["alive_ray_mask"] rgb_loss = self.rgb_loss(image[mask], outputs["rgb"][mask]) loss_dict = {"rgb_loss": rgb_loss} return loss_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: image = batch["image"].to(self.device) rgb = outputs["rgb"] acc = colormaps.apply_colormap(outputs["accumulation"]) depth = colormaps.apply_depth_colormap( outputs["depth"], accumulation=outputs["accumulation"], ) alive_ray_mask = colormaps.apply_colormap(outputs["alive_ray_mask"]) combined_rgb = torch.cat([image, rgb], dim=1) combined_acc = torch.cat([acc], dim=1) combined_depth = torch.cat([depth], dim=1) combined_alive_ray_mask = torch.cat([alive_ray_mask], dim=1) # Switch images from [H, W, C] to [1, C, H, W] for metrics computations image = torch.moveaxis(image, -1, 0)[None, ...] rgb = torch.moveaxis(rgb, -1, 0)[None, ...] psnr = self.psnr(image, rgb) ssim = self.ssim(image, rgb) lpips = self.lpips(image, rgb) # all of these metrics will be logged as scalars metrics_dict = {"psnr": float(psnr.item()), "ssim": float(ssim), "lpips": float(lpips)} # type: ignore # TODO(ethan): return an image dictionary images_dict = { "img": combined_rgb, "accumulation": combined_acc, "depth": combined_depth, "alive_ray_mask": combined_alive_ray_mask, } return metrics_dict, images_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/models/mipnerf.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of mip-NeRF. """ from __future__ import annotations from typing import Dict, List, Tuple import torch from torch.nn import Parameter from torchmetrics import PeakSignalNoiseRatio from torchmetrics.functional import structural_similarity_index_measure from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity from nerfstudio.cameras.rays import RayBundle from nerfstudio.field_components.encodings import NeRFEncoding from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.fields.vanilla_nerf_field import NeRFField from nerfstudio.model_components.losses import MSELoss from nerfstudio.model_components.ray_samplers import PDFSampler, UniformSampler from nerfstudio.model_components.renderers import ( AccumulationRenderer, DepthRenderer, RGBRenderer, ) from nerfstudio.models.base_model import Model, ModelConfig from nerfstudio.utils import colormaps, colors, misc class MipNerfModel(Model): """mip-NeRF model Args: config: MipNerf configuration to instantiate model """ def __init__( self, config: ModelConfig, **kwargs, ) -> None: self.field = None super().__init__(config=config, **kwargs) def populate_modules(self): """Set the fields and modules""" super().populate_modules() # setting up fields position_encoding = NeRFEncoding( in_dim=3, num_frequencies=16, min_freq_exp=0.0, max_freq_exp=16.0, include_input=True ) direction_encoding = NeRFEncoding( in_dim=3, num_frequencies=4, min_freq_exp=0.0, max_freq_exp=4.0, include_input=True ) self.field = NeRFField( position_encoding=position_encoding, direction_encoding=direction_encoding, use_integrated_encoding=True ) # samplers self.sampler_uniform = UniformSampler(num_samples=self.config.num_coarse_samples) self.sampler_pdf = PDFSampler(num_samples=self.config.num_importance_samples, include_original=False) # renderers self.renderer_rgb = RGBRenderer(background_color=colors.WHITE) self.renderer_accumulation = AccumulationRenderer() self.renderer_depth = DepthRenderer() # losses self.rgb_loss = MSELoss() # metrics self.psnr = PeakSignalNoiseRatio(data_range=1.0) self.ssim = structural_similarity_index_measure self.lpips = LearnedPerceptualImagePatchSimilarity() def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = {} if self.field is None: raise ValueError("populate_fields() must be called before get_param_groups") param_groups["fields"] = list(self.field.parameters()) return param_groups def get_outputs(self, ray_bundle: RayBundle): if self.field is None: raise ValueError("populate_fields() must be called before get_outputs") # uniform sampling ray_samples_uniform = self.sampler_uniform(ray_bundle) # First pass: field_outputs_coarse = self.field.forward(ray_samples_uniform) weights_coarse = ray_samples_uniform.get_weights(field_outputs_coarse[FieldHeadNames.DENSITY]) rgb_coarse = self.renderer_rgb( rgb=field_outputs_coarse[FieldHeadNames.RGB], weights=weights_coarse, ) accumulation_coarse = self.renderer_accumulation(weights_coarse) depth_coarse = self.renderer_depth(weights_coarse, ray_samples_uniform) # pdf sampling ray_samples_pdf = self.sampler_pdf(ray_bundle, ray_samples_uniform, weights_coarse) # Second pass: field_outputs_fine = self.field.forward(ray_samples_pdf) weights_fine = ray_samples_pdf.get_weights(field_outputs_fine[FieldHeadNames.DENSITY]) rgb_fine = self.renderer_rgb( rgb=field_outputs_fine[FieldHeadNames.RGB], weights=weights_fine, ) accumulation_fine = self.renderer_accumulation(weights_fine) depth_fine = self.renderer_depth(weights_fine, ray_samples_pdf) outputs = { "rgb_coarse": rgb_coarse, "rgb_fine": rgb_fine, "accumulation_coarse": accumulation_coarse, "accumulation_fine": accumulation_fine, "depth_coarse": depth_coarse, "depth_fine": depth_fine, } return outputs def get_loss_dict(self, outputs, batch, metrics_dict=None): image = batch["image"].to(self.device) rgb_loss_coarse = self.rgb_loss(image, outputs["rgb_coarse"]) rgb_loss_fine = self.rgb_loss(image, outputs["rgb_fine"]) loss_dict = {"rgb_loss_coarse": rgb_loss_coarse, "rgb_loss_fine": rgb_loss_fine} loss_dict = misc.scale_dict(loss_dict, self.config.loss_coefficients) return loss_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: image = batch["image"].to(outputs["rgb_coarse"].device) rgb_coarse = outputs["rgb_coarse"] rgb_fine = outputs["rgb_fine"] acc_coarse = colormaps.apply_colormap(outputs["accumulation_coarse"]) acc_fine = colormaps.apply_colormap(outputs["accumulation_fine"]) depth_coarse = colormaps.apply_depth_colormap( outputs["depth_coarse"], accumulation=outputs["accumulation_coarse"], near_plane=self.config.collider_params["near_plane"], far_plane=self.config.collider_params["far_plane"], ) depth_fine = colormaps.apply_depth_colormap( outputs["depth_fine"], accumulation=outputs["accumulation_fine"], near_plane=self.config.collider_params["near_plane"], far_plane=self.config.collider_params["far_plane"], ) combined_rgb = torch.cat([image, rgb_coarse, rgb_fine], dim=1) combined_acc = torch.cat([acc_coarse, acc_fine], dim=1) combined_depth = torch.cat([depth_coarse, depth_fine], dim=1) # Switch images from [H, W, C] to [1, C, H, W] for metrics computations image = torch.moveaxis(image, -1, 0)[None, ...] rgb_coarse = torch.moveaxis(rgb_coarse, -1, 0)[None, ...] rgb_fine = torch.moveaxis(rgb_fine, -1, 0)[None, ...] rgb_coarse = torch.clip(rgb_coarse, min=-1, max=1) rgb_fine = torch.clip(rgb_fine, min=-1, max=1) coarse_psnr = self.psnr(image, rgb_coarse) fine_psnr = self.psnr(image, rgb_fine) fine_ssim = self.ssim(image, rgb_fine) fine_lpips = self.lpips(image, rgb_fine) metrics_dict = { "psnr": float(fine_psnr.item()), "coarse_psnr": float(coarse_psnr.item()), "fine_psnr": float(fine_psnr.item()), "fine_ssim": float(fine_ssim.item()), "fine_lpips": float(fine_lpips.item()), } images_dict = {"img": combined_rgb, "accumulation": combined_acc, "depth": combined_depth} return metrics_dict, images_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/models/monosdf.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of MonoSDF. """ from __future__ import annotations from dataclasses import dataclass, field from typing import Type from nerfstudio.models.volsdf import VolSDFModel, VolSDFModelConfig @dataclass class MonoSDFModelConfig(VolSDFModelConfig): """Nerfacto Model Config""" _target: Type = field(default_factory=lambda: MonoSDFModel) mono_normal_loss_mult: float = 0.1 """Monocular normal consistency loss multiplier.""" mono_depth_loss_mult: float = 0.05 """Monocular depth consistency loss multiplier.""" class MonoSDFModel(VolSDFModel): """MonoSDF model Args: config: MonoSDF configuration to instantiate model """ config: MonoSDFModelConfig ================================================ FILE: AutoReconForDens3R/nerfstudio/models/nerfacto.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ NeRF implementation that combines many recent advancements. """ from __future__ import annotations from dataclasses import dataclass, field from typing import Dict, List, Tuple, Type import numpy as np import torch from torch.nn import Parameter from torchmetrics import PeakSignalNoiseRatio from torchmetrics.functional import structural_similarity_index_measure from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity from typing_extensions import Literal from nerfstudio.cameras.rays import RayBundle from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.field_components.spatial_distortions import SceneContraction from nerfstudio.fields.density_fields import HashMLPDensityField from nerfstudio.fields.nerfacto_field import TCNNNerfactoField from nerfstudio.model_components.losses import ( MSELoss, distortion_loss, interlevel_loss, orientation_loss, pred_normal_loss, ) from nerfstudio.model_components.ray_samplers import ProposalNetworkSampler from nerfstudio.model_components.renderers import ( AccumulationRenderer, DepthRenderer, NormalsRenderer, RGBRenderer, ) from nerfstudio.model_components.scene_colliders import NearFarCollider from nerfstudio.models.base_model import Model, ModelConfig from nerfstudio.utils import colormaps from nerfstudio.utils.colors import get_color @dataclass class NerfactoModelConfig(ModelConfig): """Nerfacto Model Config""" _target: Type = field(default_factory=lambda: NerfactoModel) near_plane: float = 0.05 """How far along the ray to start sampling.""" far_plane: float = 1000.0 """How far along the ray to stop sampling.""" background_color: Literal["random", "last_sample", "white", "black"] = "last_sample" """Whether to randomize the background color.""" num_levels: int = 16 """Number of levels of the hashmap for the base mlp.""" max_res: int = 1024 """Maximum resolution of the hashmap for the base mlp.""" log2_hashmap_size: int = 19 """Size of the hashmap for the base mlp""" num_proposal_samples_per_ray: Tuple[int, ...] = (256, 96) """Number of samples per ray for the proposal network.""" num_nerf_samples_per_ray: int = 48 """Number of samples per ray for the nerf network.""" proposal_update_every: int = 5 """Sample every n steps after the warmup""" proposal_warmup: int = 5000 """Scales n from 1 to proposal_update_every over this many steps""" num_proposal_iterations: int = 2 """Number of proposal network iterations.""" use_same_proposal_network: bool = False """Use the same proposal network. Otherwise use different ones.""" proposal_net_args_list: List[Dict] = field( default_factory=lambda: [ {"hidden_dim": 16, "log2_hashmap_size": 17, "num_levels": 5, "max_res": 64}, {"hidden_dim": 16, "log2_hashmap_size": 17, "num_levels": 5, "max_res": 256}, ] ) """Arguments for the proposal density fields.""" interlevel_loss_mult: float = 1.0 """Proposal loss multiplier.""" distortion_loss_mult: float = 0.002 """Distortion loss multiplier.""" orientation_loss_mult: float = 0.0001 """Orientation loss multipier on computed noramls.""" pred_normal_loss_mult: float = 0.001 """Predicted normal loss multiplier.""" use_proposal_weight_anneal: bool = True """Whether to use proposal weight annealing.""" use_appearance_embedding: bool = True """Whether to use per-frame appearance embedding.""" use_average_appearance_embedding: bool = True """Whether to use average appearance embedding or zeros for inference.""" proposal_weights_anneal_slope: float = 10.0 """Slope of the annealing function for the proposal weights.""" proposal_weights_anneal_max_num_iters: int = 1000 """Max num iterations for the annealing function.""" use_single_jitter: bool = True """Whether use single jitter or not for the proposal networks.""" predict_normals: bool = False """Whether to predict normals or not.""" class NerfactoModel(Model): """Nerfacto model Args: config: Nerfacto configuration to instantiate model """ config: NerfactoModelConfig def populate_modules(self): """Set the fields and modules.""" super().populate_modules() scene_contraction = SceneContraction(order=float("inf")) # Fields self.field = TCNNNerfactoField( self.scene_box.aabb, num_levels=self.config.num_levels, max_res=self.config.max_res, log2_hashmap_size=self.config.log2_hashmap_size, spatial_distortion=scene_contraction, num_images=self.num_train_data, use_pred_normals=self.config.predict_normals, use_appearance_embedding=self.config.use_appearance_embedding, use_average_appearance_embedding=self.config.use_average_appearance_embedding, ) self.density_fns = [] num_prop_nets = self.config.num_proposal_iterations # Build the proposal network(s) self.proposal_networks = torch.nn.ModuleList() if self.config.use_same_proposal_network: assert len(self.config.proposal_net_args_list) == 1, "Only one proposal network is allowed." prop_net_args = self.config.proposal_net_args_list[0] network = HashMLPDensityField(self.scene_box.aabb, spatial_distortion=scene_contraction, **prop_net_args) self.proposal_networks.append(network) self.density_fns.extend([network.density_fn for _ in range(num_prop_nets)]) else: for i in range(num_prop_nets): prop_net_args = self.config.proposal_net_args_list[min(i, len(self.config.proposal_net_args_list) - 1)] network = HashMLPDensityField( self.scene_box.aabb, spatial_distortion=scene_contraction, **prop_net_args, ) self.proposal_networks.append(network) self.density_fns.extend([network.density_fn for network in self.proposal_networks]) # Samplers update_schedule = lambda step: np.clip( np.interp(step, [0, self.config.proposal_warmup], [0, self.config.proposal_update_every]), 1, self.config.proposal_update_every, ) self.proposal_sampler = ProposalNetworkSampler( num_nerf_samples_per_ray=self.config.num_nerf_samples_per_ray, num_proposal_samples_per_ray=self.config.num_proposal_samples_per_ray, num_proposal_network_iterations=self.config.num_proposal_iterations, single_jitter=self.config.use_single_jitter, update_sched=update_schedule, ) # Collider self.collider = NearFarCollider(near_plane=self.config.near_plane, far_plane=self.config.far_plane) # renderers background_color = ( get_color(self.config.background_color) if self.config.background_color in set(["white", "black"]) else self.config.background_color ) self.renderer_rgb = RGBRenderer(background_color=background_color) self.renderer_accumulation = AccumulationRenderer() self.renderer_depth = DepthRenderer() self.renderer_normals = NormalsRenderer() # losses self.rgb_loss = MSELoss() # metrics self.psnr = PeakSignalNoiseRatio(data_range=1.0) self.ssim = structural_similarity_index_measure self.lpips = LearnedPerceptualImagePatchSimilarity() def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = {} param_groups["proposal_networks"] = list(self.proposal_networks.parameters()) param_groups["fields"] = list(self.field.parameters()) return param_groups def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: callbacks = [] if self.config.use_proposal_weight_anneal: # anneal the weights of the proposal network before doing PDF sampling N = self.config.proposal_weights_anneal_max_num_iters def set_anneal(step): # https://arxiv.org/pdf/2111.12077.pdf eq. 18 train_frac = np.clip(step / N, 0, 1) bias = lambda x, b: (b * x) / ((b - 1) * x + 1) anneal = bias(train_frac, self.config.proposal_weights_anneal_slope) self.proposal_sampler.set_anneal(anneal) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.BEFORE_TRAIN_ITERATION], update_every_num_iters=1, func=set_anneal, ) ) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.AFTER_TRAIN_ITERATION], update_every_num_iters=1, func=self.proposal_sampler.step_cb, ) ) return callbacks def get_outputs(self, ray_bundle: RayBundle): ray_samples, weights_list, ray_samples_list = self.proposal_sampler(ray_bundle, density_fns=self.density_fns) field_outputs = self.field(ray_samples, compute_normals=self.config.predict_normals) weights = ray_samples.get_weights(field_outputs[FieldHeadNames.DENSITY]) weights_list.append(weights) ray_samples_list.append(ray_samples) rgb = self.renderer_rgb(rgb=field_outputs[FieldHeadNames.RGB], weights=weights) depth = self.renderer_depth(weights=weights, ray_samples=ray_samples) accumulation = self.renderer_accumulation(weights=weights) outputs = { "rgb": rgb, "accumulation": accumulation, "depth": depth, } if self.config.predict_normals: outputs["normals"] = self.renderer_normals(normals=field_outputs[FieldHeadNames.NORMALS], weights=weights) outputs["pred_normals"] = self.renderer_normals(field_outputs[FieldHeadNames.PRED_NORMALS], weights=weights) # These use a lot of GPU memory, so we avoid storing them for eval. if True or self.training: outputs["weights_list"] = weights_list outputs["ray_samples_list"] = ray_samples_list if self.training and self.config.predict_normals: outputs["rendered_orientation_loss"] = orientation_loss( weights.detach(), field_outputs[FieldHeadNames.NORMALS], ray_bundle.directions ) outputs["rendered_pred_normal_loss"] = pred_normal_loss( weights.detach(), field_outputs[FieldHeadNames.NORMALS].detach(), field_outputs[FieldHeadNames.PRED_NORMALS], ) for i in range(self.config.num_proposal_iterations): outputs[f"prop_depth_{i}"] = self.renderer_depth(weights=weights_list[i], ray_samples=ray_samples_list[i]) return outputs def get_metrics_dict(self, outputs, batch): metrics_dict = {} image = batch["image"].to(self.device) metrics_dict["psnr"] = self.psnr(outputs["rgb"], image) if self.training: metrics_dict["distortion"] = distortion_loss(outputs["weights_list"], outputs["ray_samples_list"]) return metrics_dict def get_loss_dict(self, outputs, batch, metrics_dict=None): loss_dict = {} image = batch["image"].to(self.device) loss_dict["rgb_loss"] = self.rgb_loss(image, outputs["rgb"]) if self.training: loss_dict["interlevel_loss"] = self.config.interlevel_loss_mult * interlevel_loss( outputs["weights_list"], outputs["ray_samples_list"] ) assert metrics_dict is not None and "distortion" in metrics_dict loss_dict["distortion_loss"] = self.config.distortion_loss_mult * metrics_dict["distortion"] if self.config.predict_normals: # orientation loss for computed normals loss_dict["orientation_loss"] = self.config.orientation_loss_mult * torch.mean( outputs["rendered_orientation_loss"] ) # ground truth supervision for normals loss_dict["pred_normal_loss"] = self.config.pred_normal_loss_mult * torch.mean( outputs["rendered_pred_normal_loss"] ) return loss_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: image = batch["image"].to(self.device) rgb = outputs["rgb"] acc = colormaps.apply_colormap(outputs["accumulation"]) depth = colormaps.apply_depth_colormap( outputs["depth"], accumulation=outputs["accumulation"], ) combined_rgb = torch.cat([image, rgb], dim=1) combined_acc = torch.cat([acc], dim=1) combined_depth = torch.cat([depth], dim=1) # Switch images from [H, W, C] to [1, C, H, W] for metrics computations image = torch.moveaxis(image, -1, 0)[None, ...] rgb = torch.moveaxis(rgb, -1, 0)[None, ...] psnr = self.psnr(image, rgb) ssim = self.ssim(image, rgb) lpips = self.lpips(image, rgb) # all of these metrics will be logged as scalars metrics_dict = {"psnr": float(psnr.item()), "ssim": float(ssim)} # type: ignore metrics_dict["lpips"] = float(lpips) images_dict = {"img": combined_rgb, "accumulation": combined_acc, "depth": combined_depth} # normals to RGB for visualization. TODO: use a colormap if "normals" in outputs: images_dict["normals"] = (outputs["normals"] + 1.0) / 2.0 if "pred_normals" in outputs: images_dict["pred_normals"] = (outputs["pred_normals"] + 1.0) / 2.0 for i in range(self.config.num_proposal_iterations): key = f"prop_depth_{i}" prop_depth_i = colormaps.apply_depth_colormap( outputs[key], accumulation=outputs["accumulation"], ) images_dict[key] = prop_depth_i return metrics_dict, images_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/models/neuralreconW.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of VolSDF. """ from __future__ import annotations from dataclasses import dataclass, field from typing import List, Type from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.model_components.ray_samplers import NeuralReconWSampler from nerfstudio.model_components.scene_colliders import SphereCollider from nerfstudio.models.neus import NeuSModel, NeuSModelConfig @dataclass class NeuralReconWModelConfig(NeuSModelConfig): """UniSurf Model Config""" _target: Type = field(default_factory=lambda: NeuralReconWModel) class NeuralReconWModel(NeuSModel): """VolSDF model Args: config: MonoSDF configuration to instantiate model """ config: NeuralReconWModelConfig def populate_modules(self): """Set the fields and modules.""" super().populate_modules() # voxel surface bybrid sampler from NeuralReconW self.sampler = NeuralReconWSampler( aabb=self.scene_box.aabb, coarse_binary_grid=self.scene_box.coarse_binary_gird ) # Neural Reconstruction in the wild use sphere collider so we overwrite it here self.collider = SphereCollider(radius=1.0, soft_intersection=False) def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: callbacks = super().get_training_callbacks(training_callback_attributes) # add sampler call backs sdf_fn = lambda x: self.field.forward_geonetwork(x)[:, 0].contiguous() callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.AFTER_TRAIN_ITERATION], update_every_num_iters=1, func=self.sampler.update_binary_grid, kwargs={"sdf_fn": sdf_fn}, ) ) return callbacks ================================================ FILE: AutoReconForDens3R/nerfstudio/models/neus.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of NeuS. """ from __future__ import annotations from dataclasses import dataclass, field from typing import Dict, List, Type from nerfstudio.cameras.rays import RayBundle from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.fields.sdf_field import SDFField from nerfstudio.model_components.ray_samplers import NeuSSampler from nerfstudio.models.base_surface_model import SurfaceModel, SurfaceModelConfig @dataclass class NeuSModelConfig(SurfaceModelConfig): """NeuS Model Config""" _target: Type = field(default_factory=lambda: NeuSModel) num_samples: int = 64 """Number of uniform samples""" num_samples_importance: int = 64 """Number of importance samples""" num_up_sample_steps: int = 4 """number of up sample step, 1 for simple coarse-to-fine sampling""" base_variance: float = 64 """fixed base variance in NeuS sampler, the inv_s will be base * 2 ** iter during upsample""" perturb: bool = True """use to use perturb for the sampled points""" cos_anneal_end: int = 50000 """iterations to apply cosine annealing when computing alpha values (avoid vanishing gradient and get a coarse surface in the beginning.) """ class NeuSModel(SurfaceModel): """NeuS model Args: config: NeuS configuration to instantiate model """ config: NeuSModelConfig def populate_modules(self): """Set the fields and modules.""" super().populate_modules() self.sampler = NeuSSampler( num_samples=self.config.num_samples, num_samples_importance=self.config.num_samples_importance, num_samples_outside=self.config.num_samples_outside, num_upsample_steps=self.config.num_up_sample_steps, base_variance=self.config.base_variance, ) self.anneal_end = self.config.cos_anneal_end # 50000 def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: callbacks = super().get_training_callbacks(training_callback_attributes) # anneal for cos in NeuS if self.anneal_end > 0: def set_anneal(step): anneal = min([1.0, step / self.anneal_end]) self.field.set_cos_anneal_ratio(anneal) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.BEFORE_TRAIN_ITERATION], update_every_num_iters=1, func=set_anneal, ) ) return callbacks def sample_and_forward_field(self, ray_bundle: RayBundle) -> Dict: ray_samples = self.sampler(ray_bundle, sdf_fn=self.field.get_sdf) # save_points("a.ply", ray_samples.frustums.get_start_positions().reshape(-1, 3).detach().cpu().numpy()) field_outputs = self.field(ray_samples, return_alphas=True) weights, transmittance = ray_samples.get_weights_and_transmittance_from_alphas( field_outputs[FieldHeadNames.ALPHA] ) bg_transmittance = transmittance[:, -1, :] # the last fg transmittance -> the first bg transmittance samples_and_field_outputs = { "ray_samples": ray_samples, "field_outputs": field_outputs, "weights": weights, "bg_transmittance": bg_transmittance, } return samples_and_field_outputs def get_metrics_dict(self, outputs, batch) -> Dict: metrics_dict = super().get_metrics_dict(outputs, batch) if self.training and isinstance(self.field, SDFField): # training statics metrics_dict["s_val"] = self.field.deviation_network.get_variance().item() metrics_dict["inv_s"] = 1.0 / self.field.deviation_network.get_variance().item() return metrics_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/models/neus_acc.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of VolSDF. """ from __future__ import annotations from dataclasses import dataclass, field from typing import List, Type import nerfacc import torch from nerfstudio.cameras.rays import RayBundle from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.model_components.ray_samplers import NeuSAccSampler from nerfstudio.models.neus import NeuSModel, NeuSModelConfig @dataclass class NeuSAccModelConfig(NeuSModelConfig): """UniSurf Model Config""" _target: Type = field(default_factory=lambda: NeuSAccModel) sky_loss_mult: float = 0.01 """Sky segmentation normal consistency loss multiplier.""" class NeuSAccModel(NeuSModel): """VolSDF model Args: config: MonoSDF configuration to instantiate model """ config: NeuSAccModelConfig def populate_modules(self): """Set the fields and modules.""" super().populate_modules() # voxel surface bybrid sampler from NeuralReconW self.sampler = NeuSAccSampler(aabb=self.scene_box.aabb, neus_sampler=self.sampler) def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: callbacks = super().get_training_callbacks(training_callback_attributes) # add sampler call backs sdf_fn = lambda x: self.field.forward_geonetwork(x)[:, 0].contiguous() inv_s = self.field.deviation_network.get_variance callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.AFTER_TRAIN_ITERATION], update_every_num_iters=1, func=self.sampler.update_binary_grid, kwargs={"sdf_fn": sdf_fn, "inv_s": inv_s}, ) ) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.BEFORE_TRAIN_ITERATION], update_every_num_iters=1, func=self.sampler.update_step_size, kwargs={"inv_s": inv_s}, ) ) return callbacks def get_outputs(self, ray_bundle: RayBundle): # bootstrap with original Neus if self.sampler._update_counter.item() <= 0: return super().get_outputs(ray_bundle) ray_samples, ray_indices = self.sampler(ray_bundle, sdf_fn=self.field.get_sdf, alpha_fn=self.field.get_alpha) if ray_samples.shape[0] > 0: field_outputs = self.field(ray_samples, return_alphas=True) n_rays = ray_bundle.shape[0] weights = nerfacc.render_weight_from_alpha( field_outputs[FieldHeadNames.ALPHA], ray_indices=ray_indices, n_rays=n_rays, ) rgb = nerfacc.accumulate_along_rays( weights, ray_indices, values=field_outputs[FieldHeadNames.RGB], n_rays=n_rays ) normal = nerfacc.accumulate_along_rays( weights, ray_indices, values=field_outputs[FieldHeadNames.NORMAL], n_rays=n_rays ) accumulation = nerfacc.accumulate_along_rays(weights, ray_indices, values=None, n_rays=n_rays) depth = nerfacc.accumulate_along_rays( weights, ray_indices, values=(ray_samples.frustums.starts + ray_samples.frustums.ends) / 2, n_rays=n_rays, ) outputs = { "rgb": rgb, "accumulation": accumulation, "depth": depth, "normal": normal, } if self.training: grad_points = field_outputs[FieldHeadNames.GRADIENT] outputs.update({"eik_grad": grad_points}) else: zeros = torch.zeros((ray_bundle.shape[0], 3), dtype=torch.float32, device=self.device) outputs = {"rgb": zeros, "accumulation": zeros[:, :1], "depth": zeros[:, :1], "normal": zeros} if self.training: outputs.update({"eik_grad": zeros}) return outputs def get_metrics_dict(self, outputs, batch): metrics = super().get_metrics_dict(outputs, batch) metrics["acc_step_size"] = self.sampler.step_size return metrics ================================================ FILE: AutoReconForDens3R/nerfstudio/models/neus_facto.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of VolSDF. """ from __future__ import annotations from dataclasses import dataclass, field from typing import List, Type, Tuple, Dict from typing_extensions import Literal import numpy as np import torch from torch.nn import Parameter from nerfstudio.cameras.rays import RayBundle from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.field_components.spatial_distortions import SceneContraction from nerfstudio.models.neus import NeuSModel, NeuSModelConfig from nerfstudio.fields.density_fields import HashMLPDensityField from nerfstudio.model_components.losses import interlevel_loss from nerfstudio.model_components.ray_samplers import ProposalNetworkSampler from nerfstudio.utils import colormaps @dataclass class NeuSFactoModelConfig(NeuSModelConfig): """UniSurf Model Config""" _target: Type = field(default_factory=lambda: NeuSFactoModel) num_proposal_samples_per_ray: Tuple[int, ...] = (256, 96) """Number of samples per ray for the proposal network.""" num_neus_samples_per_ray: int = 48 """Number of samples per ray for the nerf network.""" proposal_update_every: int = 5 """Sample every n steps after the warmup""" proposal_warmup: int = 5000 # FIXME: not used """Scales n from 1 to proposal_update_every over this many steps""" num_proposal_iterations: int = 2 """Number of proposal network iterations.""" use_same_proposal_network: bool = False """Use the same proposal network. Otherwise use different ones.""" proposal_net_args_list: List[Dict] = field( default_factory=lambda: [ {"hidden_dim": 16, "log2_hashmap_size": 17, "num_levels": 5, "max_res": 64}, {"hidden_dim": 16, "log2_hashmap_size": 17, "num_levels": 5, "max_res": 256}, ] ) """Arguments for the proposal density fields.""" interlevel_loss_mult: float = 1.0 """Proposal loss multiplier.""" use_proposal_weight_anneal: bool = True """Whether to use proposal weight annealing.""" proposal_weights_anneal_slope: float = 10.0 """Slope of the annealing function for the proposal weights.""" proposal_weights_anneal_max_num_iters: int = 1000 """Max num iterations for the annealing function.""" use_single_jitter: bool = True """Whether use single jitter or not for the proposal networks.""" proposal_net_spatial_normalization_region: Literal["full", "fg"] = "full" """if "full", normalize [-2, 2] into [0, 1], otherwise, normalize [-1, 1] into [0, 1].""" proposal_use_uniform_sampler: bool = True """whether to use UniformSampler as the initial sampler for the proposal network. It's better to use UniformSampler if the region for the proposal network to model is bounded and small (e.g., inside a object bbox). UniformLinDispPiecewiseSampler is more appropriate, if the proposal network needs to model a big or unbounded region. """ proposal_net_use_separate_contraction: bool = False """use a separate contraction for the proposal network (modeling both fg & bg regions).""" proposal_net_contraction_scale_factor: float = 1.0 """scale_factor for the separate SceneContraction of the proposal network.""" num_proposal_samples_per_ray_for_eikonal_loss: int = 0 class NeuSFactoModel(NeuSModel): """NeuS facto model Args: config: NeuS configuration to instantiate model """ config: NeuSFactoModelConfig def populate_modules(self): """Set the fields and modules.""" super().populate_modules() self.density_fns = [] num_prop_nets = self.config.num_proposal_iterations # Build the proposal network(s) if self.config.proposal_net_use_separate_contraction: proposal_contraction = SceneContraction( order=float("inf"), scale_factor=self.config.proposal_net_contraction_scale_factor ) else: proposal_contraction = self.scene_contraction self.proposal_networks = torch.nn.ModuleList() if self.config.use_same_proposal_network: assert len(self.config.proposal_net_args_list) == 1, "Only one proposal network is allowed." prop_net_args = self.config.proposal_net_args_list[0] network = HashMLPDensityField( self.scene_box.aabb, spatial_distortion=proposal_contraction, **prop_net_args, spatial_normalization_region=self.config.proposal_net_spatial_normalization_region, ) self.proposal_networks.append(network) self.density_fns.extend([network.density_fn for _ in range(num_prop_nets)]) else: for i in range(num_prop_nets): prop_net_args = self.config.proposal_net_args_list[ min(i, len(self.config.proposal_net_args_list) - 1)] network = HashMLPDensityField( self.scene_box.aabb, spatial_distortion=proposal_contraction, **prop_net_args, spatial_normalization_region=self.config.proposal_net_spatial_normalization_region, ) self.proposal_networks.append(network) self.density_fns.extend([network.density_fn for network in self.proposal_networks]) # proposal network scheduler # TODO: previously trained NeuSFacto models use update_scheduler=-1 -> might lead to performance change update_schedule = lambda step: np.clip( np.interp(step, [0, self.config.proposal_warmup], [0, self.config.proposal_update_every]), 1, self.config.proposal_update_every, ) self.proposal_sampler = ProposalNetworkSampler( num_nerf_samples_per_ray=self.config.num_neus_samples_per_ray, num_proposal_samples_per_ray=self.config.num_proposal_samples_per_ray, num_proposal_network_iterations=self.config.num_proposal_iterations, use_uniform_sampler=self.config.proposal_use_uniform_sampler, single_jitter=self.config.use_single_jitter, update_sched=update_schedule, ) def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = super().get_param_groups() param_groups["proposal_networks"] = list(self.proposal_networks.parameters()) return param_groups def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: callbacks = super().get_training_callbacks(training_callback_attributes) if self.config.use_proposal_weight_anneal: # anneal the weights of the proposal network before doing PDF sampling N = self.config.proposal_weights_anneal_max_num_iters def set_anneal(step): # https://arxiv.org/pdf/2111.12077.pdf eq. 18 train_frac = np.clip(step / N, 0, 1) bias = lambda x, b: (b * x) / ((b - 1) * x + 1) anneal = bias(train_frac, self.config.proposal_weights_anneal_slope) self.proposal_sampler.set_anneal(anneal) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.BEFORE_TRAIN_ITERATION], update_every_num_iters=1, func=set_anneal, ) ) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.AFTER_TRAIN_ITERATION], update_every_num_iters=1, func=self.proposal_sampler.step_cb, ) ) return callbacks def sample_and_forward_field(self, ray_bundle: RayBundle): ray_samples, weights_list, ray_samples_list = self.proposal_sampler( ray_bundle, density_fns=self.density_fns ) field_outputs = self.field(ray_samples, return_alphas=True) weights, transmittance = ray_samples.get_weights_and_transmittance_from_alphas( field_outputs[FieldHeadNames.ALPHA] ) bg_transmittance = transmittance[:, -1, :] weights_list.append(weights) ray_samples_list.append(ray_samples) samples_and_field_outputs = { "ray_samples": ray_samples, "field_outputs": field_outputs, "weights": weights, "bg_transmittance": bg_transmittance, "weights_list": weights_list, "ray_samples_list": ray_samples_list, } return samples_and_field_outputs def get_loss_dict(self, outputs, batch, metrics_dict=None): loss_dict = super().get_loss_dict(outputs, batch, metrics_dict) if self.training: self._compute_interlevel_loss(outputs, loss_dict) self._compute_proposal_eikonal_loss(outputs, loss_dict) return loss_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: metrics_dict, images_dict = super().get_image_metrics_and_images(outputs, batch) for i in range(self.config.num_proposal_iterations): key = f"prop_depth_{i}" # TODO: set depth[accumulation < 0.1] = depth[accumulation >= 0.1].min() prop_depth_i = colormaps.apply_depth_colormap( outputs[key], accumulation=outputs["accumulation"], # NOTE: this would remove bg depths ) images_dict[key] = prop_depth_i return metrics_dict, images_dict def _compute_interlevel_loss(self, outputs: Dict[str, torch.Tensor], loss_dict: Dict[str, torch.Tensor]): weights_list, ray_samples_list = self._get_interlevel_loss_inputs(outputs) interlevel_loss_val = interlevel_loss(weights_list, ray_samples_list) loss_dict["interlevel_loss"] = self.config.interlevel_loss_mult * interlevel_loss_val def _get_interlevel_loss_inputs(self, outputs): weights_list = outputs["weights_list"] # (n_rays, n_samples, 1) ray_samples_list = outputs["ray_samples_list"] # (n_rays, n_samples) if not self.handle_no_intersect_rays: return weights_list, ray_samples_list # ignore rays not intersecting the fg aabb no_intersect_mask = outputs["no_intersect_mask"][..., 0] # (n_rays, ) weights_list = [weights[~no_intersect_mask] for weights in weights_list] ray_samples_list = [ray_samples[~no_intersect_mask] for ray_samples in ray_samples_list] return weights_list, ray_samples_list def _compute_proposal_eikonal_loss( self, outputs: Dict[str, torch.Tensor], loss_dict: Dict[str, torch.Tensor] ): """sample additional ray samples from the proposal samples and compute the eikonal loss. this aims to regularize the internal geometry of the reconstruction. """ n_eikonal_samples = self.config.num_proposal_samples_per_ray_for_eikonal_loss if n_eikonal_samples <= 0: return _, ray_samples_list = self._get_interlevel_loss_inputs(outputs) # TODO: called twice per iter, should cache results ray_samples_list = [s.frustums.get_start_positions() for s in ray_samples_list[:-1]] # TODO: maybe it's better to just sample from the uniform samples? ray_samples = torch.cat(ray_samples_list, dim=1) # (n_rays, n_samples, 3) n_rays, n_samples = ray_samples.shape[:2] if n_eikonal_samples < n_samples: # sample with replacement for speed _inds = torch.randint(n_samples, (n_rays, n_eikonal_samples), device=ray_samples.device) ray_samples = ray_samples.gather(1, _inds[..., None].expand(-1, -1, 3)) eik_grads = self.field.gradient(ray_samples.view(-1, 3)) # (*, 3) loss_dict["proposal_eikonal_loss"] = ((eik_grads.norm(2, dim=-1) - 1) ** 2).mean() * self.config.eikonal_loss_mult ================================================ FILE: AutoReconForDens3R/nerfstudio/models/neus_facto_dff.py ================================================ """ NeuSFacto + DistilledFeatureField """ from __future__ import annotations from dataclasses import dataclass, field from typing import List, Type, Tuple, Dict, Optional from torchtyping import TensorType from collections import defaultdict from tqdm import tqdm import torch from rich.console import Console from torch.nn import Parameter, MSELoss from torch.nn import functional as F from sklearn.decomposition import PCA from einops import rearrange, repeat from nerfstudio.cameras.rays import RayBundle, RaySamples from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.field_components.spatial_distortions import SceneContraction from nerfstudio.fields.feature_field import FeatureFieldConfig, FeatureSegFieldConfig from nerfstudio.model_components.renderers import FeatureRenderer, SemanticRenderer from nerfstudio.model_components.ray_samplers import RayTracingSampler from nerfstudio.models.neus_facto import NeuSFactoModel, NeuSFactoModelConfig from nerfstudio.model_components.ray_samplers import Sampler, SpacedSampler, DummySampler from nerfstudio.model_components.renderers import DepthRenderer from nerfstudio.utils.pointclouds import BasicPointClouds from nerfstudio.utils.colormaps import apply_colormap, apply_depth_colormap from nerfstudio.utils.mask_utils import overlay_mask_on_image CONSOLE = Console(width=120) @dataclass class NeuSFactoDFFModelConfig(NeuSFactoModelConfig): """NeusFactoDFF Model Config""" _target: Type = field(default_factory=lambda: NeuSFactoDFFModel) feature_field: FeatureFieldConfig = FeatureFieldConfig() feature_field_scene_contraction_scale_factor: float = 1.0 """use a separate scene contraction for feature field, since the feature field use a simple field to represent the whole scene, including both fg and bg. """ feature_loss_mult: float = 0.1 # NOTE: this multiplier is meaningless if all other parts are frozen render_fg_seg: bool = True """rendering foreground segmentation masks during evaluation""" feature_seg_field: FeatureSegFieldConfig = FeatureSegFieldConfig() """segmentation field config""" fg_seg_binary_thr: float = 0.5 """binarization threshold for 2d segmentation masks""" fg_3d_seg_binary_thr: float = 0.5 """binarization threshold for 3d segmentation masks""" sdf_rectification_value: float = 10.0 """rectify absolute SDF values of positions where the segmentation field equals 0 to this value""" use_surface_rendering: bool = False """learn the feature field with surface rendering""" # TODO: RayTracingSampler configs ignore_false_positive_sphere_tracing_with_accumulation: bool = True """sphere tracing might produce some incorrect intersections near to the border of fg bboxes because sdf here are invalid, optionally filter out theses incorrect intersections whose accumulation is less than 0.5 """ complement_false_negative_sphere_tracing_with_volrend: bool = True """sphere tracing might fail to find some intersections, use depth of volume rendering as pseudo intersections. """ class NeuSFactoDFFModel(NeuSFactoModel): """NeuS facto model Args: config: NeuSFactoDFFModel configuration to instantiate model """ config: NeuSFactoDFFModelConfig def populate_modules(self): """Set feature fields for foreground and background""" super().populate_modules() self.ptcd_data: BasicPointClouds = self.kwargs["metadata"]["ptcd_data"] self.ptcd_data.build_nn_search_index(self.config.feature_seg_field.separate_bg_plane) self.feature_field_scene_contraction = SceneContraction( order=float("inf"), scale_factor=self.config.feature_field_scene_contraction_scale_factor ) self.feature_field = self.config.feature_field.setup( spatial_distortion=self.feature_field_scene_contraction ) self.feature_seg_field = self.config.feature_seg_field.setup(ptcd_data=self.ptcd_data, aabb=self.scene_box.aabb) self.renderer_depth_median = DepthRenderer("median") self.renderer_feature = FeatureRenderer() self.renderer_fg_seg = SemanticRenderer() self.feature_loss = MSELoss() if self.config.use_surface_rendering: self.ray_tracing_sampler = RayTracingSampler(aabb=self.scene_box.aabb) def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = super().get_param_groups() for param_group in param_groups.values(): for param in param_group: param.requires_grad_(False) CONSOLE.print("All parameters except for feature field have been frozen.") param_groups["feature_field"] = list(self.feature_field.parameters()) return param_groups def sample_and_forward_field(self, ray_bundle: RayBundle): # if not (self.training and self.config.use_surface_rendering): # samples_and_field_outputs = super().sample_and_forward_field(ray_bundle) # ray_samples = samples_and_field_outputs["ray_samples"] # else: # # TODO: not working yet (need to udpate SurfaceModel to ignore fg rendering) # # during training, we can avoid the ``super().sample_and_forward_field(ray_bundle)`` call # # to speed up inference, since we only need to render the feature field # samples_and_field_outputs = {} # ray_samples = None samples_and_field_outputs = super().sample_and_forward_field(ray_bundle) volrend_ray_samples = samples_and_field_outputs["ray_samples"] volrend_weights = samples_and_field_outputs["weights"] if self.config.use_surface_rendering: samples_and_field_outputs_rt = self._sample_and_forward_field_ray_tracing( ray_bundle, volrend_ray_samples, volrend_weights ) samples_and_field_outputs.update(samples_and_field_outputs_rt) # "{xxx}_st" ray_samples = samples_and_field_outputs_rt["ray_samples_rt"] else: ray_samples = volrend_ray_samples feature_field_outputs = self.feature_field(ray_samples) samples_and_field_outputs.update(feature_field_outputs) if not self.training and self.config.render_fg_seg: feature_field_seg_outptus = self.feature_seg_field( ray_samples, feature_field_outputs[FieldHeadNames.FEATURE] ) samples_and_field_outputs.update(feature_field_seg_outptus) return samples_and_field_outputs def _sample_and_forward_field_ray_tracing( self, ray_bundle: RayBundle, volrend_ray_samples: RaySamples, volrend_weights: TensorType["bs": ..., 1], ): sdf_fn = lambda x: self.field.forward_geonetwork(x)[..., [0]] # (..., 3) -> (..., 1) ray_samples, non_convergent_masks = self.ray_tracing_sampler(ray_bundle, sdf_fn) # (..., 1, 3), (..., 1, 1) non_convergent_masks_raw = non_convergent_masks.clone() if ( self.config.ignore_false_positive_sphere_tracing_with_accumulation or self.config.complement_false_negative_sphere_tracing_with_volrend ): if ray_bundle.metadata.get("no_intersect_mask", None) is not None: no_intersect_mask = ray_bundle.metadata["no_intersect_mask"] no_intersect_mask = repeat(no_intersect_mask, "... m -> ... n m", n=volrend_weights.shape[-2]) volrend_weights = torch.where(no_intersect_mask, torch.zeros_like(volrend_weights), volrend_weights) volrend_acc = self.renderer_accumulation(weights=volrend_weights) acc_bg_mask = volrend_acc < 0.5 if self.config.ignore_false_positive_sphere_tracing_with_accumulation: non_convergent_masks |= acc_bg_mask[..., None] if self.config.complement_false_negative_sphere_tracing_with_volrend: volrend_ray_dist = self.renderer_depth_median( weights=volrend_weights, ray_samples=volrend_ray_samples )[..., None] false_negative_mask = non_convergent_masks & ~acc_bg_mask[..., None] non_convergent_masks[false_negative_mask] = False ray_samples.frustums.starts[false_negative_mask] = volrend_ray_dist[false_negative_mask] ray_samples.frustums.ends[false_negative_mask] = volrend_ray_dist[false_negative_mask] # assign weight = 1.0 for the single ray sample (intersection pt) # equivalent w/ self._handle_no_intersect_rays() weights = torch.where(non_convergent_masks, torch.zeros_like(ray_samples.frustums.starts), torch.ones_like(ray_samples.frustums.starts)) # (..., 1, 1) bg_transmittance = torch.where(non_convergent_masks[..., 0, [0]], torch.ones_like(weights[..., 0, [0]]), torch.zeros_like(weights[..., 0, [0]])) # (..., 1) # ray tracing depth depth = ray_samples.frustums.starts[..., 0, :] / ray_bundle.directions_norm # starts = ends samples_and_field_outputs = { "non_convergent_mask_rt": non_convergent_masks, "non_convergent_mask_rt_raw": non_convergent_masks_raw, # w/o postprocessing "ray_samples_rt": ray_samples, "weights_rt": weights, "bg_transmittance_rt": bg_transmittance, "depth_rt": depth } return samples_and_field_outputs def get_outputs(self, ray_bundle: RayBundle) -> Dict: outputs = super().get_outputs(ray_bundle) samples_and_field_outputs = outputs["samples_and_field_outputs"] _weights_key = "weights" if not self.config.use_surface_rendering else "weights_rt" _trans_key = "bg_transmittance" if not self.config.use_surface_rendering else "bg_transmittance_rt" weights = samples_and_field_outputs[_weights_key] bg_transmittance = samples_and_field_outputs[_trans_key] # fg rendering (field query is done in sample_and_forward_field) feature = self.renderer_feature( features=samples_and_field_outputs[FieldHeadNames.FEATURE], weights=weights ) if not self.training and self.config.render_fg_seg: with torch.no_grad(): fg_seg_prob = self.renderer_fg_seg( samples_and_field_outputs[FieldHeadNames.FG_SEG].detach(), weights=weights.detach() ) outputs["fg_seg_prob"] = fg_seg_prob # bg field qeury and rendering if self.config.background_model != "none": samples_and_field_outputs_bg = outputs["samples_and_field_outputs_bg"] ray_samples_bg = samples_and_field_outputs_bg["ray_samples"] weights_bg = samples_and_field_outputs_bg["weights"] feature_field_outputs_bg = self.feature_field(ray_samples_bg) feature_bg = self.renderer_feature( features=feature_field_outputs_bg[FieldHeadNames.FEATURE], weights=weights_bg ) # composition feature = feature + bg_transmittance * feature_bg outputs["feature"] = feature if self.config.use_surface_rendering: outputs["non_convergent_mask_rt"] = samples_and_field_outputs["non_convergent_mask_rt"] outputs["non_convergent_mask_rt_raw"] = samples_and_field_outputs["non_convergent_mask_rt_raw"] outputs["depth_rt"] = samples_and_field_outputs["depth_rt"] return outputs def get_loss_dict(self, outputs, batch, metrics_dict=None): loss_dict = super().get_loss_dict(outputs, batch, metrics_dict) if self.training and self.config.feature_loss_mult > 0.: loss_dict["feature_loss"] = ( self.feature_loss(batch["feature"], outputs["feature"]) * self.config.feature_loss_mult ) return loss_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: metrics_dict, images_dict = super().get_image_metrics_and_images(outputs, batch) self._get_pca_feature_rendering(outputs, batch, images_dict) self._get_fg_seg_rendering(outputs, batch, images_dict) self._get_ray_tracing_mask(outputs, batch, images_dict) self._get_ray_tracing_depth(outputs, batch, images_dict) return metrics_dict, images_dict def query_seg_field(self, inputs: TensorType["bs": ..., 3]) -> TensorType["bs": ..., 1]: """query segmentation field""" feat = self.feature_field.query_features(inputs, None) seg = self.feature_seg_field.compute_seg_prob(inputs, feat) return seg def seg_aware_sdf(self, inputs: TensorType["bs": ..., 3]) -> TensorType["bs": ..., 1]: """extract segmentation-awared sdf values""" sdf = self.field.forward_geonetwork(inputs)[..., [0]] seg = self.query_seg_field(inputs) # rectify sdf with seg rectified_sdf = self._rectify_sdf(sdf, seg) return rectified_sdf def _rectify_sdf(self, sdf: TensorType["bs": ..., 1], seg: TensorType["bs": ..., 1]): binary_seg = (seg > self.config.fg_3d_seg_binary_thr)[..., 0] bg_sdf = sdf[~binary_seg] min_bg_udf = self.config.sdf_rectification_value # sdf[~binary_seg] = torch.sign(bg_sdf) * torch.clamp(bg_sdf.abs(), min=min_bg_udf) # Bad results, the ground plane is kept sdf[~binary_seg] = torch.clamp(bg_sdf.abs(), min=min_bg_udf) # This might cause noises inside the fg region # TODO: visualize raw sdf (sdf viewer) return sdf def _get_pca_feature_rendering( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor], images_dict: Dict[str, torch.Tensor] ): feature = outputs["feature"] # (h, w, c) feature_gt = batch["feature"] # (c, h_gt, w_gt) - low res feature_gt_pca = batch["feature_pca"] # (h_gt, w_gt, 3) all_gt_pca: PCA = batch["gt_features_pca"] h, w = feature.shape[:2] h_gt, w_gt = feature.shape[1:] min_val, max_val = batch["feature_pca_min"], batch["feature_pca_max"] # joint visualization of pred & gt (use PCA params fitted on gt features from all frames) feature_pca = all_gt_pca.transform(rearrange(feature.cpu().numpy(), 'h w c -> (h w) c')) feature_pca = rearrange(feature.new_tensor(feature_pca), '(h w) c -> h w c', h=h, w=w) feature_gt_pca = F.interpolate( feature_gt_pca.permute(2, 0, 1)[None], size=(h, w), mode="bilinear" )[0].permute(1, 2, 0) # (h, w, 3) feature_pca_gt_pred = torch.cat([feature_gt_pca, feature_pca], dim=1) feature_pca_gt_pred = (feature_pca_gt_pred - min_val) / (max_val - min_val) images_dict["feature_pca_gt_pred"] = feature_pca_gt_pred # TODO: separate visualization of pred (use PCA params fitted on pred only) # pre-exp: compute a segmentation mask with feature_gt and self.ptcd_data # self._get_pseudo_gt_seg_mask(batch["image"].to(self.device), feature_gt, images_dict) def _get_fg_seg_rendering( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor], images_dict: Dict[str, torch.Tensor] ): # plot soft fg seg fg_seg_prob = outputs['fg_seg_prob'] # (h, w, 1) soft_fg_seg = apply_colormap(fg_seg_prob, cmap="viridis") # plot binary fg seg fg_seg_binary = (fg_seg_prob >= self.config.fg_seg_binary_thr).float() binary_fg_seg = fg_seg_binary.repeat(1, 1, 3) # overlay fg seg rendering on gt image image = batch["image"].to(self.device) # fg_seg_overlay = overlay_mask_on_image(soft_fg_seg, image, fg_seg_prob) fg_seg_overlay = overlay_mask_on_image(binary_fg_seg, image, fg_seg_prob) images_dict.update({ "fg_seg_prob": soft_fg_seg, "fg_seg": binary_fg_seg, "fg_seg_overlay": fg_seg_overlay }) def _get_pseudo_gt_seg_mask(self, image_gt: TensorType["h", "w", 3], feature_gt: TensorType["c", "h_gt", "w_gt"], images_dict: Dict[str, torch.Tensor]): nc_feat, h_feat, w_feat = feature_gt.shape h, w = image_gt.shape[:2] feature_gt = rearrange(feature_gt, 'c h w -> (h w) c') assert not self.feature_seg_field.config.distance_weighted_average soft_psuedo_gt_mask = rearrange( self.feature_seg_field.compute_seg_prob(None, feature_gt), '(h w) 1 -> h w 1', h=h_feat, w=w_feat ) soft_psuedo_gt_mask_hr = F.interpolate( soft_psuedo_gt_mask.permute(2, 0, 1)[None], size=(h, w), mode="bilinear" )[0].permute(1, 2, 0) # (h, w, 1) binary_pseudo_gt_mask_hr = (soft_psuedo_gt_mask_hr > self.config.fg_seg_binary_thr).float() seg_overlay = overlay_mask_on_image(binary_pseudo_gt_mask_hr, image_gt, soft_psuedo_gt_mask_hr) images_dict["pseudo_gt_seg_overlay"] = seg_overlay def _get_ray_tracing_mask( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor], images_dict: Dict[str, torch.Tensor] ) -> None: if not self.config.use_surface_rendering: return image = batch["image"].to(self.device) # postprocessed non_convergent_mask convergent_masks = (~outputs["non_convergent_mask_rt"]).float() # (h, w, 1) binary_rt_mask = convergent_masks.repeat(1, 1, 3) rt_mask_overlay = overlay_mask_on_image(binary_rt_mask, image, convergent_masks) # raw non_convergent_mask non_convergent_masks_raw = (~outputs["non_convergent_mask_rt_raw"]).float() # (h, w, 1) binary_rt_mask = non_convergent_masks_raw.repeat(1, 1, 3) rt_mask_raw_overlay = overlay_mask_on_image(binary_rt_mask, image, non_convergent_masks_raw) # update images_dict images_dict.update({ "rt_convergence_overlay": rt_mask_overlay, "rt_convergence_raw_overlay": rt_mask_raw_overlay, }) def _get_ray_tracing_depth( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor], images_dict: Dict[str, torch.Tensor] ) -> None: if not self.config.use_surface_rendering: return depth = outputs["depth_rt"] convergent_mask = (~outputs["non_convergent_mask_rt"]) min_depth = depth[convergent_mask].min() depth[~convergent_mask] = min_depth depth = apply_depth_colormap(depth, convergent_mask.float()) images_dict["depth_rt"] = depth @torch.no_grad() def get_outputs_for_mesh_culling( self, ray_bundle: RayBundle, ray_sampler: Optional[Sampler] = None ) -> Dict[str, torch.Tensor]: """Render segmentation with foreground model for mesh culling.""" self.handle_no_intersect_rays = False num_rays_per_chunk = self.config.eval_num_rays_per_chunk num_rays = len(ray_bundle) outputs_lists = defaultdict(list) # chunked inference for i in tqdm(range(0, num_rays, num_rays_per_chunk), desc="Chunked inference for mesh culling"): start_idx = i end_idx = i + num_rays_per_chunk ray_bundle_chunk = ray_bundle.get_row_major_sliced_ray_bundle(start_idx, end_idx) outputs = self.render_fg_seg_for_mesh_culling(ray_bundle_chunk, ray_sampler=ray_sampler) for output_name, output in outputs.items(): # type: ignore outputs_lists[output_name].append(output) # merge chunks outputs = {} for output_name, outputs_list in outputs_lists.items(): if not torch.is_tensor(outputs_list[0]): # TODO: handle lists of non-tensors as well continue outputs[output_name] = torch.cat(outputs_list) return outputs @torch.no_grad() def render_fg_seg_for_mesh_culling( self, ray_bundle: RayBundle, ray_sampler: Optional[Sampler] = None ) -> Dict[str, torch.Tensor]: # query seg_probs & weights if ray_sampler is None: # use the same sampler as for training samples_and_field_outputs = self.sample_and_forward_field(ray_bundle=ray_bundle) _weights_key = "weights" if not self.config.use_surface_rendering else "weights_rt" weights = samples_and_field_outputs[_weights_key].detach() fg_seg_probs = samples_and_field_outputs[FieldHeadNames.FG_SEG].detach() else: if self.config.use_surface_rendering: assert isinstance(ray_sampler, DummySampler) ray_samples = ray_sampler(ray_bundle) weights = torch.ones_like(ray_samples.frustums.starts) else: assert isinstance(ray_sampler, SpacedSampler) ray_samples = ray_sampler(ray_bundle, num_samples=ray_sampler.num_samples) field_outputs = self.field(ray_samples, return_alphas=True) weights = ray_samples.get_weights_from_alphas(field_outputs[FieldHeadNames.ALPHA]) feature_field_outputs = self.feature_field(ray_samples) feature_field_seg_outptus = self.feature_seg_field( ray_samples, feature_field_outputs[FieldHeadNames.FEATURE] ) fg_seg_probs = feature_field_seg_outptus[FieldHeadNames.FG_SEG].detach() # rendering fg_seg_prob_rendering = self.renderer_fg_seg(fg_seg_probs, weights=weights.detach()) outputs = { "fg_seg_prob": fg_seg_prob_rendering, "fg_seg_probs": fg_seg_probs, "weights": weights } return outputs ================================================ FILE: AutoReconForDens3R/nerfstudio/models/neus_facto_reg.py ================================================ """ NeuSFacto w/ explicit point cloud regularization for scene decomposition. """ from __future__ import annotations from copy import deepcopy from dataclasses import dataclass, field from typing import Any, Dict, List, Literal, Optional, Tuple, Type import numpy as np import torch from rich.console import Console from torch.nn import Parameter from torch.nn import functional as F from torchtyping import TensorType from nerfstudio.cameras.rays import RayBundle, RaySamples from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.fields.nerfacto_field import TCNNNerfactoField from nerfstudio.fields.sdf_field import SDFField, SDFFieldConfig from nerfstudio.model_components.ray_samplers import NeuSSampler, UniformSampler from nerfstudio.models.neus_facto import NeuSFactoModel, NeuSFactoModelConfig from nerfstudio.utils import colormaps, writer CONSOLE = Console(width=120) @dataclass class NeuSFactoRegModelConfig(NeuSFactoModelConfig): """NeusFactoReg Model Config""" _target: Type = field(default_factory=lambda: NeuSFactoRegModel) plane_field_type: Literal["nerf", "sdf"] = "nerf" plane_sdf_field: SDFFieldConfig = SDFFieldConfig( spatial_normalization_region="aabb", use_normalized_raw_coords=False, # False might cause bad geo-init, all initial sdf are large and leads to low weights use_position_encoding=False, use_grid_feature=True, hash_grid_num_levels=14, # 5 hash_grid_log2_hashmap_size=17, hash_grid_max_res=2048, num_layers=1, num_layers_color=2, hidden_dim=64, # 32 geo_feat_dim=15, direction_encoding_type="sh", hidden_dim_color=64, # 32 color_network_include_sdf=False, bias=0.5, # 0.5 -> 0.1 TODO: initialize sdf_field as a plane beta_init=0.3, use_appearance_embedding=False, inside_outside=False, weight_norm=False, ) plane_height_ratio: float = 0.1 """ratio of the scene box height to use as the height of plane aabb""" num_samples_plane: int = 16 plane_hierarchical_sampling: bool = False """number of samples to use for plane sdf field""" ptcd_reg_plane_field_mult: float = 0.0 ptcd_reg_plane_field_n_pts_per_iter: int = 5000 class NeuSFactoRegModel(NeuSFactoModel): """NeusFacto w/ explicit point cloud regularization and separate modeling of the ground plane for scene decomposition.""" config: NeuSFactoRegModelConfig def populate_modules(self): super().populate_modules() # build aabb for plane region scene_box_height = (self.scene_box.aabb[1, 1] - self.scene_box.aabb[0, 1]).abs() self.plane_box_height = scene_box_height * self.config.plane_height_ratio plane_aabb = self.scene_box.aabb.clone() plane_aabb[0, 1] = plane_aabb[1, 1] - self.plane_box_height # assume +y points downward # TODO: use the exact plane center and smaller plane bbox extent # build plane field if self.config.plane_field_type == "sdf": self.field_plane = self.config.plane_sdf_field.setup( aabb=plane_aabb, spatial_distortion=self.scene_contraction, num_images=self.num_train_data, use_average_appearance_embedding=self.config.use_average_appearance_embedding, compute_curvature_loss=self.config.curvature_loss_mult > 0, ) elif self.config.plane_field_type == "nerf": self.field_plane = TCNNNerfactoField( plane_aabb, spatial_distortion=self.scene_contraction, num_images=self.num_train_data, use_appearance_embedding=self.config.bg_use_appearance_embedding, use_average_appearance_embedding=self.config.use_average_appearance_embedding, num_levels=16, max_res=256, log2_hashmap_size=17, hidden_dim=32, num_layers_color=3, hidden_dim_color=32, ) else: raise ValueError(f"Unknown plane field type: {self.config.plane_field_type}") # build plane ray sampler if not self.config.plane_hierarchical_sampling: self.sampler_plane = UniformSampler(num_samples=self.config.num_samples_plane) else: assert self.config.plane_field_type == "sdf" self.sampler_plane = NeuSSampler( num_samples=self.config.num_samples_plane * 2, num_samples_importance=self.config.num_samples_plane, num_upsample_steps=4, ) def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = super().get_param_groups() param_groups["field_plane"] = list(self.field_plane.parameters()) return param_groups def sample_and_forward_field(self, ray_bundle: RayBundle): samples_and_field_outputs = super().sample_and_forward_field(ray_bundle) # sample additional points on top of the bottom plane mask = ray_bundle.metadata["bottom_intersect_mask"][..., 0] # (n,) if not mask.any(): return samples_and_field_outputs ray_bundle_plane = deepcopy(ray_bundle)[mask] ray_d, far, near = ray_bundle_plane.directions, ray_bundle_plane.fars, ray_bundle_plane.nears # (n, *) y_dir = ray_d.new_tensor([[0.0, 1.0, 0.0]]) _cos = (ray_d * y_dir).sum(-1) / ray_d.norm(dim=-1) ray_dist_offset = self.plane_box_height / _cos[..., None] # (n, 1) new_near = far - ray_dist_offset ray_bundle_plane.nears = torch.max(new_near, near) plane_field_outputs = {} if self.config.plane_hierarchical_sampling: ray_samples_plane = self.sampler_plane(ray_bundle_plane, self.field_plane.get_sdf) else: ray_samples_plane = self.sampler_plane(ray_bundle_plane) if self.config.plane_field_type == "sdf": field_outputs = self.field_plane(ray_samples_plane, return_alphas=True) weights, transmittance = ray_samples_plane.get_weights_and_transmittance_from_alphas( field_outputs[FieldHeadNames.ALPHA] ) # (n_bottom, n_samples_plane, 1) plane_field_outputs.update( { "plane_normals": field_outputs[FieldHeadNames.NORMAL], "plane_eik_grad": field_outputs[FieldHeadNames.GRADIENT], } ) else: # nerf field_outputs = self.field_plane(ray_samples_plane) densities = field_outputs[FieldHeadNames.DENSITY] weights, transmittance = ray_samples_plane.get_weights_and_transmittance(densities) samples_and_field_outputs.update( { **plane_field_outputs, "plane_ray_samples": ray_samples_plane, "plane_weights": weights, "plane_transmittance": transmittance[:, -1, :], "plane_rgbs": field_outputs[FieldHeadNames.RGB], } ) return samples_and_field_outputs def fg_fields_query_and_render(self, ray_bundle: RayBundle) -> Dict[str, Any]: outputs, samples_and_field_outputs = super().fg_fields_query_and_render(ray_bundle) if not self.config.render_background: return outputs, samples_and_field_outputs # render plane field mask = ray_bundle.metadata["bottom_intersect_mask"][..., 0] # (n,) normal = torch.zeros_like(outputs["normal"]) # vis depth = torch.zeros_like(outputs["depth"]) # vis acc = torch.zeros_like(outputs["accumulation"]) plane_rgb = torch.ones_like(outputs["rgb"]) if not mask.any(): outputs.update( {"plane_normal": normal, "plane_depth": depth, "plane_accumulation": acc, "plane_rgb": plane_rgb} ) return outputs, samples_and_field_outputs # rendering the plane field plane_weights, plane_trans, plane_rgbs = map( lambda x: samples_and_field_outputs.get(x), ["plane_weights", "plane_transmittance", "plane_rgbs"] ) _plane_rgb = self.renderer_rgb(rgb=plane_rgbs, weights=plane_weights) # composite with the fg rendering fg_rgb, fg_trans = outputs["rgb"][mask], outputs["bg_transmittance"][mask] _fg_rgb = fg_rgb + fg_trans * _plane_rgb _bg_trans = fg_trans * plane_trans bg_trans = torch.ones_like(outputs["bg_transmittance"]) fg_rgb = torch.zeros_like(outputs["rgb"]) bg_trans[mask] = _bg_trans fg_rgb[mask] = _fg_rgb # plane normals (& depths) rendering if self.config.plane_field_type == "sdf": plane_normals = samples_and_field_outputs["plane_normals"] _normal = self.renderer_normal(semantics=plane_normals, weights=plane_weights) normal[mask] = _normal plane_ray_samples = samples_and_field_outputs["plane_ray_samples"] _depth = self.renderer_depth(weights=plane_weights, ray_samples=plane_ray_samples) _accumulation = self.renderer_accumulation(weights=plane_weights) depth[mask], acc[mask], plane_rgb[mask] = _depth, _accumulation, _plane_rgb outputs.update( {"plane_normal": normal, "plane_depth": depth, "plane_accumulation": acc, "plane_rgb": plane_rgb} ) # update if self.training and self.config.plane_field_type == "sdf": _plane_eik_grad = samples_and_field_outputs["plane_eik_grad"] plane_eik_grad = _plane_eik_grad.new_zeros((normal.shape[0], _plane_eik_grad.shape[-2], 3)) plane_eik_grad[mask] = _plane_eik_grad outputs["plane_eik_grad"] = plane_eik_grad outputs["plane_mask"] = mask # for loss computation outputs["bg_transmittance"] = torch.where(mask[..., None], bg_trans, outputs["bg_transmittance"]) outputs["rgb"] = torch.where(mask[..., None].repeat(1, 3), fg_rgb, outputs["rgb"]) return outputs, samples_and_field_outputs def get_loss_dict(self, outputs, batch, metrics_dict=None, step=None): loss_dict = super().get_loss_dict(outputs, batch, metrics_dict) # eikonal loss for plane sdf field if "plane_eik_grad" in outputs: grad_theta = outputs["plane_eik_grad"] plane_mask = outputs["plane_mask"][..., None].to(grad_theta.dtype) n_pts = plane_mask.sum() * np.prod(grad_theta.shape[1:-1]) eikonal_loss = (((grad_theta.norm(2, dim=-1) - 1) ** 2) * plane_mask).sum() / n_pts loss_dict["plane_eikonal_loss"] = ( eikonal_loss * self.config.eikonal_loss_mult ) # donnot use a separate weight for plane eikonal loss self._compute_ptcd_reg_plane_field(outputs, loss_dict) return loss_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: metrics_dict, images_dict = super().get_image_metrics_and_images(outputs, batch) # plane normal if "plane_normal" in outputs: images_dict.update({"plane_normal": (outputs["plane_normal"] + 1.0) / 2.0}) if "plane_depth" in outputs: depth = colormaps.apply_depth_colormap( outputs["plane_depth"], accumulation=outputs["plane_accumulation"], ) acc = colormaps.apply_colormap(outputs["plane_accumulation"]) images_dict.update({"plane_depth": depth, "plane_accumulation": acc}) return metrics_dict, images_dict def _compute_ptcd_reg_plane_field(self, outputs: Dict[str, torch.Tensor], loss_dict: Dict[str, torch.Tensor]): """compute point cloud regularization loss on the plane sdf field""" if self.config.ptcd_reg_plane_field_mult == 0.0 or self._step > self.config.ptcd_reg_n_iters: return anneal_weight = self.ptcd_reg_anneal_fn(self._step) writer.put_scalar(name="ptcd_reg_plane_field_anneal_weight", scalar=anneal_weight, step=self._step) plane_pts, _, plane_sdf_thrs = self.ptcd_data.sample_plane_points( self.config.ptcd_reg_plane_field_n_pts_per_iter, replace=True ) plane_pts_sdf = self.field_plane.forward_geonetwork(plane_pts)[:, 0].contiguous() # only support point-wise threshold for now plane_sdf_loss = -torch.min(plane_sdf_thrs - torch.abs(plane_pts_sdf), torch.zeros_like(plane_pts[:, 0])).mean() loss_dict["ptcd_reg_plane_field"] = plane_sdf_loss * self.config.ptcd_reg_plane_field_mult * anneal_weight def get_metrics_dict(self, outputs, batch) -> Dict: metrics_dict = super().get_metrics_dict(outputs, batch) if self.training and isinstance(self.field_plane, SDFField): # training statics metrics_dict["s_val_plane"] = self.field_plane.deviation_network.get_variance().item() metrics_dict["inv_s_plane"] = 1.0 / self.field_plane.deviation_network.get_variance().item() return metrics_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/models/semantic_nerfw.py ================================================ # Copyright 2022 The nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Semantic NeRF-W implementation which should be fast enough to view in the viewer. """ from __future__ import annotations from dataclasses import dataclass, field from typing import Dict, List, Tuple, Type import numpy as np import torch from torch.nn import Parameter from torchmetrics import PeakSignalNoiseRatio from torchmetrics.functional import structural_similarity_index_measure from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity from nerfstudio.cameras.rays import RayBundle from nerfstudio.data.dataparsers.base_dataparser import Semantics from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.field_components.spatial_distortions import SceneContraction from nerfstudio.fields.density_fields import HashMLPDensityField from nerfstudio.fields.nerfacto_field import TCNNNerfactoField from nerfstudio.model_components.losses import MSELoss, distortion_loss, interlevel_loss from nerfstudio.model_components.ray_samplers import ProposalNetworkSampler from nerfstudio.model_components.renderers import ( AccumulationRenderer, DepthRenderer, RGBRenderer, SemanticRenderer, UncertaintyRenderer, ) from nerfstudio.model_components.scene_colliders import NearFarCollider from nerfstudio.models.base_model import Model from nerfstudio.models.nerfacto import NerfactoModelConfig from nerfstudio.utils import colormaps @dataclass class SemanticNerfWModelConfig(NerfactoModelConfig): """Nerfacto Model Config""" _target: Type = field(default_factory=lambda: SemanticNerfWModel) semantic_mult: float = 1.0 use_transient_embedding: bool = False """Whether to use transient embedding.""" scene_contraction_scale_factor: float = 1.0 """Scale positions by this factor before applying contraction. This is useful when the [-1, 1] region (no contraction) is too small and only covers a small portion of the scene. """ class SemanticNerfWModel(Model): """Nerfacto model Args: config: Nerfacto configuration to instantiate model """ config: SemanticNerfWModelConfig def __init__(self, config: SemanticNerfWModelConfig, metadata: Dict, **kwargs) -> None: assert "semantics" in metadata.keys() and isinstance(metadata["semantics"], Semantics) self.semantics = metadata["semantics"] super().__init__(config=config, **kwargs) def populate_modules(self): """Set the fields and modules.""" super().populate_modules() scene_contraction = SceneContraction(order=float("inf"), scale_factor=self.config.scene_contraction_scale_factor) if self.config.use_transient_embedding: raise ValueError("Transient embedding is not fully working for semantic nerf-w.") # Fields self.field = TCNNNerfactoField( self.scene_box.aabb, num_levels=self.config.num_levels, max_res=self.config.max_res, log2_hashmap_size=self.config.log2_hashmap_size, spatial_distortion=scene_contraction, num_images=self.num_train_data, use_average_appearance_embedding=self.config.use_average_appearance_embedding, use_transient_embedding=self.config.use_transient_embedding, use_semantics=True, num_semantic_classes=len(self.semantics.classes), ) # Build the proposal network(s) self.proposal_networks = torch.nn.ModuleList() if self.config.use_same_proposal_network: network = HashMLPDensityField(self.scene_box.aabb, spatial_distortion=scene_contraction) self.proposal_networks.append(network) self.density_fns = [network.density_fn for _ in range(self.config.num_proposal_iterations)] else: for _ in range(self.config.num_proposal_iterations): network = HashMLPDensityField(self.scene_box.aabb, spatial_distortion=scene_contraction) self.proposal_networks.append(network) self.density_fns = [network.density_fn for network in self.proposal_networks] # Collider self.collider = NearFarCollider(near_plane=self.config.near_plane, far_plane=self.config.far_plane) # Samplers self.proposal_sampler = ProposalNetworkSampler( num_nerf_samples_per_ray=self.config.num_nerf_samples_per_ray, num_proposal_samples_per_ray=self.config.num_proposal_samples_per_ray, num_proposal_network_iterations=self.config.num_proposal_iterations, single_jitter=self.config.use_single_jitter, ) # renderers self.renderer_rgb = RGBRenderer(background_color=self.config.background_color) self.renderer_accumulation = AccumulationRenderer() self.renderer_depth = DepthRenderer() self.renderer_uncertainty = UncertaintyRenderer() self.renderer_semantics = SemanticRenderer() # losses self.rgb_loss = MSELoss() self.cross_entropy_loss = torch.nn.CrossEntropyLoss(reduction="mean") # metrics self.psnr = PeakSignalNoiseRatio(data_range=1.0) self.ssim = structural_similarity_index_measure self.lpips = LearnedPerceptualImagePatchSimilarity() def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = {} param_groups["proposal_networks"] = list(self.proposal_networks.parameters()) param_groups["fields"] = list(self.field.parameters()) return param_groups def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: callbacks = [] if self.config.use_proposal_weight_anneal: # anneal the weights of the proposal network before doing PDF sampling N = self.config.proposal_weights_anneal_max_num_iters def set_anneal(step): # https://arxiv.org/pdf/2111.12077.pdf eq. 18 train_frac = np.clip(step / N, 0, 1) bias = lambda x, b: (b * x) / ((b - 1) * x + 1) anneal = bias(train_frac, self.config.proposal_weights_anneal_slope) self.proposal_sampler.set_anneal(anneal) callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.BEFORE_TRAIN_ITERATION], update_every_num_iters=1, func=set_anneal, ) ) return callbacks def get_outputs(self, ray_bundle: RayBundle): ray_samples, weights_list, ray_samples_list = self.proposal_sampler(ray_bundle, density_fns=self.density_fns) field_outputs = self.field(ray_samples) if self.training and self.config.use_transient_embedding: density = field_outputs[FieldHeadNames.DENSITY] + field_outputs[FieldHeadNames.TRANSIENT_DENSITY] weights = ray_samples.get_weights(density) weights_static = ray_samples.get_weights(field_outputs[FieldHeadNames.DENSITY]) rgb_static_component = self.renderer_rgb(rgb=field_outputs[FieldHeadNames.RGB], weights=weights) rgb_transient_component = self.renderer_rgb( rgb=field_outputs[FieldHeadNames.TRANSIENT_RGB], weights=weights ) rgb = rgb_static_component + rgb_transient_component else: weights_static = ray_samples.get_weights(field_outputs[FieldHeadNames.DENSITY]) weights = weights_static rgb = self.renderer_rgb(rgb=field_outputs[FieldHeadNames.RGB], weights=weights) weights_list.append(weights_static) ray_samples_list.append(ray_samples) depth = self.renderer_depth(weights=weights_static, ray_samples=ray_samples) accumulation = self.renderer_accumulation(weights=weights_static) outputs = {"rgb": rgb, "accumulation": accumulation, "depth": depth} if self.training: outputs["weights_list"] = weights_list outputs["ray_samples_list"] = ray_samples_list for i in range(self.config.num_proposal_iterations): outputs[f"prop_depth_{i}"] = self.renderer_depth(weights=weights_list[i], ray_samples=ray_samples_list[i]) # transients if self.training and self.config.use_transient_embedding: weights_transient = ray_samples.get_weights(field_outputs[FieldHeadNames.TRANSIENT_DENSITY]) uncertainty = self.renderer_uncertainty(field_outputs[FieldHeadNames.UNCERTAINTY], weights_transient) outputs["uncertainty"] = uncertainty + 0.03 # NOTE(ethan): this is the uncertainty min outputs["density_transient"] = field_outputs[FieldHeadNames.TRANSIENT_DENSITY] # semantics outputs["semantics"] = self.renderer_semantics( field_outputs[FieldHeadNames.SEMANTICS], weights=weights_static.detach() ) # semantics colormaps semantic_labels = torch.argmax(torch.nn.functional.softmax(outputs["semantics"], dim=-1), dim=-1) # outputs["semantics_colormap"] = self.semantics.colors[semantic_labels] return outputs def get_metrics_dict(self, outputs, batch): metrics_dict = {} image = batch["image"].to(self.device) metrics_dict["psnr"] = self.psnr(outputs["rgb"], image) if self.training: metrics_dict["distortion"] = distortion_loss(outputs["weights_list"], outputs["ray_samples_list"]) return metrics_dict def get_loss_dict(self, outputs, batch, metrics_dict=None): loss_dict = {} image = batch["image"].to(self.device) loss_dict["rgb_loss"] = self.rgb_loss(image, outputs["rgb"]) if self.training: loss_dict["interlevel_loss"] = self.config.interlevel_loss_mult * interlevel_loss( outputs["weights_list"], outputs["ray_samples_list"] ) assert metrics_dict is not None and "distortion" in metrics_dict loss_dict["distortion_loss"] = self.config.distortion_loss_mult * metrics_dict["distortion"] if self.config.use_transient_embedding: betas = outputs["uncertainty"] loss_dict["uncertainty_loss"] = 3 + torch.log(betas).mean() loss_dict["density_loss"] = 0.01 * outputs["density_transient"].mean() loss_dict["rgb_loss"] = (((image - outputs["rgb"]) ** 2).sum(-1) / (betas[..., 0] ** 2)).mean() # semantic loss loss_dict["semantics_loss"] = self.config.semantic_mult * self.cross_entropy_loss(outputs["semantics"], batch["semantics"][..., 0].long()) return loss_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: image = batch["image"].to(self.device) rgb = outputs["rgb"] rgb = torch.clamp(rgb, min=0, max=1) acc = colormaps.apply_colormap(outputs["accumulation"]) depth = colormaps.apply_depth_colormap( outputs["depth"], accumulation=outputs["accumulation"], ) combined_rgb = torch.cat([image, rgb], dim=1) combined_acc = torch.cat([acc], dim=1) combined_depth = torch.cat([depth], dim=1) # Switch images from [H, W, C] to [1, C, H, W] for metrics computations image = torch.moveaxis(image, -1, 0)[None, ...] rgb = torch.moveaxis(rgb, -1, 0)[None, ...] psnr = self.psnr(image, rgb) ssim = self.ssim(image, rgb) lpips = self.lpips(image, rgb) # all of these metrics will be logged as scalars metrics_dict = {"psnr": float(psnr.item()), "ssim": float(ssim)} # type: ignore metrics_dict["lpips"] = float(lpips) images_dict = {"img": combined_rgb, "accumulation": combined_acc, "depth": combined_depth} for i in range(self.config.num_proposal_iterations): key = f"prop_depth_{i}" prop_depth_i = colormaps.apply_depth_colormap( outputs[key], accumulation=outputs["accumulation"], ) images_dict[key] = prop_depth_i # semantics semantic_labels = torch.argmax(torch.nn.functional.softmax(outputs["semantics"], dim=-1), dim=-1) images_dict["semantics_colormap"] = self.semantics.colors.to(self.device)[semantic_labels] # valid mask if "mask" in batch: images_dict["mask"] = batch["mask"].repeat(1, 1, 3) return metrics_dict, images_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/models/tensorf.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ TensorRF implementation. """ from __future__ import annotations from dataclasses import dataclass, field from typing import Dict, List, Tuple, Type import numpy as np import torch from torch.nn import Parameter from torchmetrics import PeakSignalNoiseRatio from torchmetrics.functional import structural_similarity_index_measure from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity from nerfstudio.cameras.rays import RayBundle from nerfstudio.configs.config_utils import to_immutable_dict from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.field_components.encodings import NeRFEncoding, TensorVMEncoding from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.fields.tensorf_field import TensoRFField from nerfstudio.model_components.losses import MSELoss from nerfstudio.model_components.ray_samplers import PDFSampler, UniformSampler from nerfstudio.model_components.renderers import ( AccumulationRenderer, DepthRenderer, RGBRenderer, ) from nerfstudio.model_components.scene_colliders import AABBBoxCollider from nerfstudio.models.base_model import Model, ModelConfig from nerfstudio.utils import colormaps, colors, misc @dataclass class TensoRFModelConfig(ModelConfig): """TensoRF model config""" _target: Type = field(default_factory=lambda: TensoRFModel) """target class to instantiate""" init_resolution: int = 128 """initial render resolution""" final_resolution: int = 300 """final render resolution""" upsampling_iters: Tuple[int, ...] = (2000, 3000, 4000, 5500, 7000) """specifies a list of iteration step numbers to perform upsampling""" loss_coefficients: Dict[str, float] = to_immutable_dict({"rgb_loss": 1.0}) """Loss specific weights.""" num_samples: int = 256 """Number of samples in field evaluation""" num_den_components: int = 16 """Number of components in density encoding""" num_color_components: int = 48 """Number of components in color encoding""" appearance_dim: int = 27 """Number of channels for color encoding""" class TensoRFModel(Model): """TensoRF Model Args: config: TensoRF configuration to instantiate model """ def __init__( self, config: TensoRFModelConfig, **kwargs, ) -> None: self.init_resolution = config.init_resolution self.upsampling_iters = config.upsampling_iters self.num_den_components = config.num_den_components self.num_color_components = config.num_color_components self.appearance_dim = config.appearance_dim self.upsampling_steps = ( np.round( np.exp( np.linspace( np.log(config.init_resolution), np.log(config.final_resolution), len(config.upsampling_iters) + 1, ) ) ) .astype("int") .tolist()[1:] ) super().__init__(config=config, **kwargs) def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: # the callback that we want to run every X iterations after the training iteration def reinitialize_optimizer( self, training_callback_attributes: TrainingCallbackAttributes, step: int # pylint: disable=unused-argument ): resolution = self.upsampling_steps.pop(0) # upsample the position and direction grids self.field.density_encoding.upsample_grid(resolution) self.field.color_encoding.upsample_grid(resolution) # reinitialize the encodings optimizer optimizers_config = training_callback_attributes.optimizers.config enc = training_callback_attributes.pipeline.get_param_groups()["encodings"] lr_init = optimizers_config["encodings"]["optimizer"].lr training_callback_attributes.optimizers.optimizers["encodings"] = optimizers_config["encodings"][ "optimizer" ].setup(params=enc) if optimizers_config["encodings"]["scheduler"]: training_callback_attributes.optimizers.schedulers["encodings"] = optimizers_config["encodings"][ "scheduler" ].setup(optimizer=training_callback_attributes.optimizers.optimizers["encodings"], lr_init=lr_init) callbacks = [ TrainingCallback( where_to_run=[TrainingCallbackLocation.AFTER_TRAIN_ITERATION], iters=self.upsampling_iters, func=reinitialize_optimizer, args=[self, training_callback_attributes], ) ] return callbacks def populate_modules(self): """Set the fields and modules""" super().populate_modules() # setting up fields density_encoding = TensorVMEncoding( resolution=self.init_resolution, num_components=self.num_den_components, ) color_encoding = TensorVMEncoding( resolution=self.init_resolution, num_components=self.num_color_components, ) feature_encoding = NeRFEncoding(in_dim=self.appearance_dim, num_frequencies=2, min_freq_exp=0, max_freq_exp=2) direction_encoding = NeRFEncoding(in_dim=3, num_frequencies=2, min_freq_exp=0, max_freq_exp=2) self.field = TensoRFField( self.scene_box.aabb, feature_encoding=feature_encoding, direction_encoding=direction_encoding, density_encoding=density_encoding, color_encoding=color_encoding, appearance_dim=self.appearance_dim, head_mlp_num_layers=2, head_mlp_layer_width=128, use_sh=False, ) # samplers self.sampler_uniform = UniformSampler(num_samples=self.config.num_samples, single_jitter=True) self.sampler_pdf = PDFSampler(num_samples=self.config.num_samples // 2, single_jitter=True) # renderers self.renderer_rgb = RGBRenderer(background_color=colors.WHITE) self.renderer_accumulation = AccumulationRenderer() self.renderer_depth = DepthRenderer() # losses self.rgb_loss = MSELoss() # metrics self.psnr = PeakSignalNoiseRatio(data_range=1.0) self.ssim = structural_similarity_index_measure self.lpips = LearnedPerceptualImagePatchSimilarity() # colliders if self.config.enable_collider: self.collider = AABBBoxCollider(scene_box=self.scene_box) def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = {} param_groups["fields"] = ( list(self.field.mlp_head.parameters()) + list(self.field.B.parameters()) + list(self.field.field_output_rgb.parameters()) ) param_groups["encodings"] = list(self.field.color_encoding.parameters()) + list( self.field.density_encoding.parameters() ) return param_groups def get_outputs(self, ray_bundle: RayBundle): # uniform sampling ray_samples_uniform = self.sampler_uniform(ray_bundle) dens = self.field.get_density(ray_samples_uniform) weights = ray_samples_uniform.get_weights(dens) coarse_accumulation = self.renderer_accumulation(weights) acc_mask = torch.where(coarse_accumulation < 0.0001, False, True).reshape(-1) # pdf sampling ray_samples_pdf = self.sampler_pdf(ray_bundle, ray_samples_uniform, weights) # fine field: field_outputs_fine = self.field.forward( ray_samples_pdf, mask=acc_mask, bg_color=colors.WHITE.to(weights.device) ) weights_fine = ray_samples_pdf.get_weights(field_outputs_fine[FieldHeadNames.DENSITY]) accumulation = self.renderer_accumulation(weights_fine) depth = self.renderer_depth(weights_fine, ray_samples_pdf) rgb = self.renderer_rgb( rgb=field_outputs_fine[FieldHeadNames.RGB], weights=weights_fine, ) rgb = torch.where(accumulation < 0, colors.WHITE.to(rgb.device), rgb) accumulation = torch.clamp(accumulation, min=0) outputs = {"rgb": rgb, "accumulation": accumulation, "depth": depth} return outputs def get_loss_dict(self, outputs, batch, metrics_dict=None) -> Dict[str, torch.Tensor]: # Scaling metrics by coefficients to create the losses. device = outputs["rgb"].device image = batch["image"].to(device) rgb_loss = self.rgb_loss(image, outputs["rgb"]) loss_dict = {"rgb_loss": rgb_loss} loss_dict = misc.scale_dict(loss_dict, self.config.loss_coefficients) return loss_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: image = batch["image"].to(outputs["rgb"].device) rgb = outputs["rgb"] acc = colormaps.apply_colormap(outputs["accumulation"]) depth = colormaps.apply_depth_colormap( outputs["depth"], accumulation=outputs["accumulation"], near_plane=self.config.collider_params["near_plane"], far_plane=self.config.collider_params["far_plane"], ) combined_rgb = torch.cat([image, rgb], dim=1) # Switch images from [H, W, C] to [1, C, H, W] for metrics computations image = torch.moveaxis(image, -1, 0)[None, ...] rgb = torch.moveaxis(rgb, -1, 0)[None, ...] psnr = self.psnr(image, rgb) ssim = self.ssim(image, rgb) lpips = self.lpips(image, rgb) metrics_dict = { "psnr": float(psnr.item()), "ssim": float(ssim.item()), "lpips": float(lpips.item()), } images_dict = {"img": combined_rgb, "accumulation": acc, "depth": depth} return metrics_dict, images_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/models/unisurf.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of VolSDF. """ from __future__ import annotations from dataclasses import dataclass, field from typing import Dict, List, Type import torch from nerfstudio.engine.callbacks import ( TrainingCallback, TrainingCallbackAttributes, TrainingCallbackLocation, ) from nerfstudio.cameras.rays import RayBundle from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.model_components.ray_samplers import UniSurfSampler from nerfstudio.models.base_surface_model import SurfaceModel, SurfaceModelConfig @dataclass class UniSurfModelConfig(SurfaceModelConfig): """UniSurf Model Config""" _target: Type = field(default_factory=lambda: UniSurfModel) eikonal_loss_mult: float = 0.0 """overwirte eikonal loss because it's not need for unisurf""" smooth_loss_multi: float = 0.005 """smoothness loss on surface points in unisurf""" num_samples_interval: int = 64 """Number of uniform samples""" num_samples_importance: int = 32 """Number of important samples""" num_marching_steps: int = 256 """number of up sample step, 1 for simple coarse-to-fine sampling""" perturb: bool = True """use to use perturb for the sampled points""" class UniSurfModel(SurfaceModel): """VolSDF model Args: config: MonoSDF configuration to instantiate model """ config: UniSurfModelConfig def populate_modules(self): """Set the fields and modules.""" super().populate_modules() # can't use eikonal loss in Unisurf? or we could use learnable paramter to transform sdf to occupancy assert self.config.eikonal_loss_mult == 0.0 self.sampler = UniSurfSampler( num_samples_interval=self.config.num_samples_interval, num_samples_outside=self.config.num_samples_outside, num_samples_importance=self.config.num_samples_importance, num_marching_steps=self.config.num_marching_steps, ) def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: callbacks = [] callbacks.append( TrainingCallback( where_to_run=[TrainingCallbackLocation.AFTER_TRAIN_ITERATION], update_every_num_iters=1, func=self.sampler.step_cb, ) ) return callbacks def sample_and_forward_field(self, ray_bundle: RayBundle) -> Dict: ray_samples, surface_points = self.sampler( ray_bundle, occupancy_fn=self.field.get_occupancy, sdf_fn=self.field.get_sdf, return_surface_points=True ) field_outputs = self.field(ray_samples, return_occupancy=True) weights, transmittance = ray_samples.get_weights_and_transmittance_from_alphas( field_outputs[FieldHeadNames.OCCUPANCY] ) bg_transmittance = transmittance[:, -1, :] samples_and_field_outputs = { "ray_samples": ray_samples, "surface_points": surface_points, "field_outputs": field_outputs, "weights": weights, "bg_transmittance": bg_transmittance, } return samples_and_field_outputs def get_metrics_dict(self, outputs, batch) -> Dict: metrics_dict = super().get_metrics_dict(outputs, batch) if self.training: # training statics metrics_dict["delta"] = self.sampler.delta return metrics_dict def get_loss_dict(self, outputs, batch, metrics_dict=None) -> Dict: loss_dict = super().get_loss_dict(outputs, batch, metrics_dict) # TODO move to base model as other model could also use it? if self.training and self.config.smooth_loss_multi > 0.0: surface_points = outputs["surface_points"] surface_points_neig = surface_points + (torch.rand_like(surface_points) - 0.5) * 0.01 pp = torch.cat([surface_points, surface_points_neig], dim=0) surface_grad = self.field.gradient(pp) surface_points_normal = torch.nn.functional.normalize(surface_grad, p=2, dim=-1) N = surface_points_normal.shape[0] // 2 diff_norm = torch.norm(surface_points_normal[:N] - surface_points_normal[N:], dim=-1) loss_dict["normal_smoothness_loss"] = torch.mean(diff_norm) * self.config.smooth_loss_multi return loss_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/models/vanilla_nerf.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of vanilla nerf. """ from __future__ import annotations from dataclasses import dataclass, field from typing import Any, Dict, List, Tuple, Type import torch from torch.nn import Parameter from torchmetrics import PeakSignalNoiseRatio from torchmetrics.functional import structural_similarity_index_measure from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity from nerfstudio.cameras.rays import RayBundle from nerfstudio.configs.config_utils import to_immutable_dict from nerfstudio.field_components.encodings import NeRFEncoding from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.field_components.temporal_distortions import TemporalDistortionKind from nerfstudio.fields.vanilla_nerf_field import NeRFField from nerfstudio.model_components.losses import MSELoss from nerfstudio.model_components.ray_samplers import PDFSampler, UniformSampler from nerfstudio.model_components.renderers import ( AccumulationRenderer, DepthRenderer, RGBRenderer, ) from nerfstudio.models.base_model import Model, ModelConfig from nerfstudio.utils import colormaps, colors, misc @dataclass class VanillaModelConfig(ModelConfig): """Vanilla Model Config""" _target: Type = field(default_factory=lambda: NeRFModel) num_coarse_samples: int = 64 """Number of samples in coarse field evaluation""" num_importance_samples: int = 128 """Number of samples in fine field evaluation""" enable_temporal_distortion: bool = False """Specifies whether or not to include ray warping based on time.""" temporal_distortion_params: Dict[str, Any] = to_immutable_dict({"kind": TemporalDistortionKind.DNERF}) """Parameters to instantiate temporal distortion with""" class NeRFModel(Model): """Vanilla NeRF model Args: config: Basic NeRF configuration to instantiate model """ def __init__( self, config: VanillaModelConfig, **kwargs, ) -> None: self.field_coarse = None self.field_fine = None self.temporal_distortion = None super().__init__( config=config, **kwargs, ) def populate_modules(self): """Set the fields and modules""" super().populate_modules() # fields position_encoding = NeRFEncoding( in_dim=3, num_frequencies=10, min_freq_exp=0.0, max_freq_exp=8.0, include_input=True ) direction_encoding = NeRFEncoding( in_dim=3, num_frequencies=4, min_freq_exp=0.0, max_freq_exp=4.0, include_input=True ) self.field_coarse = NeRFField( position_encoding=position_encoding, direction_encoding=direction_encoding, ) self.field_fine = NeRFField( position_encoding=position_encoding, direction_encoding=direction_encoding, ) # samplers self.sampler_uniform = UniformSampler(num_samples=self.config.num_coarse_samples) self.sampler_pdf = PDFSampler(num_samples=self.config.num_importance_samples) # renderers self.renderer_rgb = RGBRenderer(background_color=colors.WHITE) self.renderer_accumulation = AccumulationRenderer() self.renderer_depth = DepthRenderer() # losses self.rgb_loss = MSELoss() # metrics self.psnr = PeakSignalNoiseRatio(data_range=1.0) self.ssim = structural_similarity_index_measure self.lpips = LearnedPerceptualImagePatchSimilarity() if getattr(self.config, "enable_temporal_distortion", False): params = self.config.temporal_distortion_params kind = params.pop("kind") self.temporal_distortion = kind.to_temporal_distortion(params) def get_param_groups(self) -> Dict[str, List[Parameter]]: param_groups = {} if self.field_coarse is None or self.field_fine is None: raise ValueError("populate_fields() must be called before get_param_groups") param_groups["fields"] = list(self.field_coarse.parameters()) + list(self.field_fine.parameters()) if self.temporal_distortion is not None: param_groups["temporal_distortion"] = list(self.temporal_distortion.parameters()) return param_groups def get_outputs(self, ray_bundle: RayBundle): if self.field_coarse is None or self.field_fine is None: raise ValueError("populate_fields() must be called before get_outputs") # uniform sampling ray_samples_uniform = self.sampler_uniform(ray_bundle) if self.temporal_distortion is not None: offsets = self.temporal_distortion(ray_samples_uniform.frustums.get_positions(), ray_samples_uniform.times) ray_samples_uniform.frustums.set_offsets(offsets) # coarse field: field_outputs_coarse = self.field_coarse.forward(ray_samples_uniform) weights_coarse = ray_samples_uniform.get_weights(field_outputs_coarse[FieldHeadNames.DENSITY]) rgb_coarse = self.renderer_rgb( rgb=field_outputs_coarse[FieldHeadNames.RGB], weights=weights_coarse, ) accumulation_coarse = self.renderer_accumulation(weights_coarse) depth_coarse = self.renderer_depth(weights_coarse, ray_samples_uniform) # pdf sampling ray_samples_pdf = self.sampler_pdf(ray_bundle, ray_samples_uniform, weights_coarse) if self.temporal_distortion is not None: offsets = self.temporal_distortion(ray_samples_pdf.frustums.get_positions(), ray_samples_pdf.times) ray_samples_pdf.frustums.set_offsets(offsets) # fine field: field_outputs_fine = self.field_fine.forward(ray_samples_pdf) weights_fine = ray_samples_pdf.get_weights(field_outputs_fine[FieldHeadNames.DENSITY]) rgb_fine = self.renderer_rgb( rgb=field_outputs_fine[FieldHeadNames.RGB], weights=weights_fine, ) accumulation_fine = self.renderer_accumulation(weights_fine) depth_fine = self.renderer_depth(weights_fine, ray_samples_pdf) outputs = { "rgb_coarse": rgb_coarse, "rgb_fine": rgb_fine, "accumulation_coarse": accumulation_coarse, "accumulation_fine": accumulation_fine, "depth_coarse": depth_coarse, "depth_fine": depth_fine, } return outputs def get_loss_dict(self, outputs, batch, metrics_dict=None) -> Dict[str, torch.Tensor]: # Scaling metrics by coefficients to create the losses. device = outputs["rgb_coarse"].device image = batch["image"].to(device) rgb_loss_coarse = self.rgb_loss(image, outputs["rgb_coarse"]) rgb_loss_fine = self.rgb_loss(image, outputs["rgb_fine"]) loss_dict = {"rgb_loss_coarse": rgb_loss_coarse, "rgb_loss_fine": rgb_loss_fine} loss_dict = misc.scale_dict(loss_dict, self.config.loss_coefficients) return loss_dict def get_image_metrics_and_images( self, outputs: Dict[str, torch.Tensor], batch: Dict[str, torch.Tensor] ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]: image = batch["image"].to(outputs["rgb_coarse"].device) rgb_coarse = outputs["rgb_coarse"] rgb_fine = outputs["rgb_fine"] acc_coarse = colormaps.apply_colormap(outputs["accumulation_coarse"]) acc_fine = colormaps.apply_colormap(outputs["accumulation_fine"]) depth_coarse = colormaps.apply_depth_colormap( outputs["depth_coarse"], accumulation=outputs["accumulation_coarse"], near_plane=self.config.collider_params["near_plane"], far_plane=self.config.collider_params["far_plane"], ) depth_fine = colormaps.apply_depth_colormap( outputs["depth_fine"], accumulation=outputs["accumulation_fine"], near_plane=self.config.collider_params["near_plane"], far_plane=self.config.collider_params["far_plane"], ) combined_rgb = torch.cat([image, rgb_coarse, rgb_fine], dim=1) combined_acc = torch.cat([acc_coarse, acc_fine], dim=1) combined_depth = torch.cat([depth_coarse, depth_fine], dim=1) # Switch images from [H, W, C] to [1, C, H, W] for metrics computations image = torch.moveaxis(image, -1, 0)[None, ...] rgb_coarse = torch.moveaxis(rgb_coarse, -1, 0)[None, ...] rgb_fine = torch.moveaxis(rgb_fine, -1, 0)[None, ...] coarse_psnr = self.psnr(image, rgb_coarse) fine_psnr = self.psnr(image, rgb_fine) fine_ssim = self.ssim(image, rgb_fine) fine_lpips = self.lpips(image, rgb_fine) metrics_dict = { "psnr": float(fine_psnr.item()), "coarse_psnr": float(coarse_psnr), "fine_psnr": float(fine_psnr), "fine_ssim": float(fine_ssim), "fine_lpips": float(fine_lpips), } images_dict = {"img": combined_rgb, "accumulation": combined_acc, "depth": combined_depth} return metrics_dict, images_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/models/volsdf.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Implementation of VolSDF. """ from __future__ import annotations from dataclasses import dataclass, field from typing import Dict, Type from nerfstudio.cameras.rays import RayBundle from nerfstudio.field_components.field_heads import FieldHeadNames from nerfstudio.model_components.ray_samplers import ErrorBoundedSampler from nerfstudio.models.base_surface_model import SurfaceModel, SurfaceModelConfig @dataclass class VolSDFModelConfig(SurfaceModelConfig): """VolSDF Model Config""" _target: Type = field(default_factory=lambda: VolSDFModel) num_samples: int = 64 """Number of samples after error bounded sampling""" num_samples_eval: int = 128 """Number of samples per iteration used in error bounded sampling""" num_samples_extra: int = 32 """Number of uniformly sampled points for training""" class VolSDFModel(SurfaceModel): """VolSDF model Args: config: VolSDF configuration to instantiate model """ config: VolSDFModelConfig def populate_modules(self): """Set the fields and modules.""" super().populate_modules() self.sampler = ErrorBoundedSampler( num_samples=self.config.num_samples, num_samples_eval=self.config.num_samples_eval, num_samples_extra=self.config.num_samples_extra, ) def sample_and_forward_field(self, ray_bundle: RayBundle) -> Dict: ray_samples, eik_points = self.sampler( ray_bundle, density_fn=self.field.laplace_density, sdf_fn=self.field.get_sdf ) field_outputs = self.field(ray_samples) weights, transmittance = ray_samples.get_weights_and_transmittance(field_outputs[FieldHeadNames.DENSITY]) bg_transmittance = transmittance[:, -1, :] samples_and_field_outputs = { "ray_samples": ray_samples, "eik_points": eik_points, "field_outputs": field_outputs, "weights": weights, "bg_transmittance": bg_transmittance, } return samples_and_field_outputs def get_metrics_dict(self, outputs, batch) -> Dict: metrics_dict = super().get_metrics_dict(outputs, batch) if self.training: # training statics metrics_dict["beta"] = self.field.laplace_density.get_beta().item() metrics_dict["alpha"] = 1.0 / self.field.laplace_density.get_beta().item() return metrics_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/pipelines/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/pipelines/base_pipeline.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Abstracts for the Pipeline class. """ from __future__ import annotations import typing from abc import abstractmethod from dataclasses import dataclass, field from time import time from typing import Any, Dict, List, Optional, Type, Union, cast import torch import torch.distributed as dist from rich.progress import ( BarColumn, MofNCompleteColumn, Progress, TextColumn, TimeElapsedColumn, ) from torch import nn from torch.nn import Parameter from torch.nn.parallel import DistributedDataParallel as DDP from torchinfo import summary from typing_extensions import Literal from nerfstudio.configs import base_config as cfg from nerfstudio.data.datamanagers.base_datamanager import ( DataManager, FlexibleDataManager, FlexibleDataManagerConfig, VanillaDataManager, VanillaDataManagerConfig, ) from nerfstudio.engine.callbacks import TrainingCallback, TrainingCallbackAttributes from nerfstudio.models.base_model import Model, ModelConfig from nerfstudio.utils import profiler from nerfstudio.utils.images import BasicImages def module_wrapper(ddp_or_model: Union[DDP, Model]) -> Model: """ If DDP, then return the .module. Otherwise, return the model. """ if isinstance(ddp_or_model, DDP): return cast(Model, ddp_or_model.module) return ddp_or_model class Pipeline(nn.Module): """The intent of this class is to provide a higher level interface for the Model that will be easy to use for our Trainer class. This class will contain high level functions for the model like getting the loss dictionaries and visualization code. It should have ways to get the next iterations training loss, evaluation loss, and generate whole images for visualization. Each model class should be 1:1 with a pipeline that can act as a standardized interface and hide differences in how each model takes in and outputs data. This class's function is to hide the data manager and model classes from the trainer, worrying about: 1) Fetching data with the data manager 2) Feeding the model the data and fetching the loss Hopefully this provides a higher level interface for the trainer to use, and simplifying the model classes, which each may have different forward() methods and so on. Args: config: configuration to instantiate pipeline device: location to place model and data test_mode: 'train': loads train/eval datasets into memory 'test': loads train/test datset into memory 'inference': does not load any dataset into memory world_size: total number of machines available local_rank: rank of current machine Attributes: datamanager: The data manager that will be used model: The model that will be used """ # pylint: disable=abstract-method datamanager: DataManager _model: Model @property def model(self): """Returns the unwrapped model if in ddp""" return module_wrapper(self._model) @property def device(self): """Returns the device that the model is on.""" return self.model.device @profiler.time_function def get_train_loss_dict(self, step: int): """This function gets your training loss dict. This will be responsible for getting the next batch of data from the DataManager and interfacing with the Model class, feeding the data to the model's forward function. Args: step: current iteration step to update sampler if using DDP (distributed) """ if self.world_size > 1 and step: assert self.datamanager.train_sampler is not None self.datamanager.train_sampler.set_epoch(step) ray_bundle, batch = self.datamanager.next_train(step) model_outputs = self.model(ray_bundle, batch) metrics_dict = self.model.get_metrics_dict(model_outputs, batch) loss_dict = self.model.get_loss_dict(model_outputs, batch, metrics_dict) return model_outputs, loss_dict, metrics_dict @profiler.time_function def get_eval_loss_dict(self, step: int): """This function gets your evaluation loss dict. It needs to get the data from the DataManager and feed it to the model's forward function Args: step: current iteration step """ self.eval() if self.world_size > 1: assert self.datamanager.eval_sampler is not None self.datamanager.eval_sampler.set_epoch(step) ray_bundle, batch = self.datamanager.next_eval(step) model_outputs = self.model(ray_bundle, batch) metrics_dict = self.model.get_metrics_dict(model_outputs, batch) loss_dict = self.model.get_loss_dict(model_outputs, batch, metrics_dict) self.train() return model_outputs, loss_dict, metrics_dict @abstractmethod @profiler.time_function def get_eval_image_metrics_and_images(self, step: int): """This function gets your evaluation loss dict. It needs to get the data from the DataManager and feed it to the model's forward function Args: step: current iteration step """ @abstractmethod @profiler.time_function def get_average_eval_image_metrics(self, step: Optional[int] = None): """Iterate over all the images in the eval dataset and get the average.""" def load_pipeline(self, loaded_state: Dict[str, Any]) -> None: """Load the checkpoint from the given path Args: loaded_state: pre-trained model state dict """ def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: """Returns the training callbacks from both the Dataloader and the Model.""" def get_param_groups(self) -> Dict[str, List[Parameter]]: """Get the param groups for the pipeline. Returns: A list of dictionaries containing the pipeline's param groups. """ @dataclass class VanillaPipelineConfig(cfg.InstantiateConfig): """Configuration for pipeline instantiation""" _target: Type = field(default_factory=lambda: VanillaPipeline) """target class to instantiate""" datamanager: VanillaDataManagerConfig = VanillaDataManagerConfig() """specifies the datamanager config""" model: ModelConfig = ModelConfig() """specifies the model config""" class VanillaPipeline(Pipeline): """The pipeline class for the vanilla nerf setup of multiple cameras for one or a few scenes. config: configuration to instantiate pipeline device: location to place model and data test_mode: 'val': loads train/val datasets into memory 'test': loads train/test datset into memory 'inference': does not load any dataset into memory world_size: total number of machines available local_rank: rank of current machine Attributes: datamanager: The data manager that will be used model: The model that will be used """ def __init__( self, config: VanillaPipelineConfig, device: str, test_mode: Literal["test", "val", "inference"] = "val", world_size: int = 1, local_rank: int = 0, ): super().__init__() self.config = config self.test_mode = test_mode self.datamanager: VanillaDataManager = config.datamanager.setup( device=device, test_mode=test_mode, world_size=world_size, local_rank=local_rank ) self.datamanager.to(device) # TODO(ethan): get rid of scene_bounds from the model assert self.datamanager.train_dataset is not None, "Missing input dataset" self._model = config.model.setup( scene_box=self.datamanager.train_dataset.scene_box, num_train_data=len(self.datamanager.train_dataset), metadata=self.datamanager.train_dataset.metadata, world_size=world_size, local_rank=local_rank, ) # print(self._model) # model_stats = summary(self._model, col_names=["kernel_size", "num_params"]) # TODO: write model_stats to file (pass in the exp dir from trainer) self.model.to(device) self.world_size = world_size if world_size > 1: self._model = typing.cast(Model, DDP(self._model, device_ids=[local_rank], find_unused_parameters=True)) dist.barrier(device_ids=[local_rank]) @property def device(self): """Returns the device that the model is on.""" return self.model.device @profiler.time_function def get_train_loss_dict(self, step: int): """This function gets your training loss dict. This will be responsible for getting the next batch of data from the DataManager and interfacing with the Model class, feeding the data to the model's forward function. Args: step: current iteration step to update sampler if using DDP (distributed) """ ray_bundle, batch = self.datamanager.next_train(step) model_outputs = self._model(ray_bundle) metrics_dict = self.model.get_metrics_dict(model_outputs, batch) camera_opt_param_group = self.config.datamanager.camera_optimizer.param_group if camera_opt_param_group in self.datamanager.get_param_groups(): # Report the camera optimization metrics metrics_dict["camera_opt_translation"] = ( self.datamanager.get_param_groups()[camera_opt_param_group][0].data[:, :3].norm() ) metrics_dict["camera_opt_rotation"] = ( self.datamanager.get_param_groups()[camera_opt_param_group][0].data[:, 3:].norm() ) loss_dict = self.model.get_loss_dict(model_outputs, batch, metrics_dict, step=step) # FIXME: donnot use step here return model_outputs, loss_dict, metrics_dict def forward(self): """Blank forward method This is an nn.Module, and so requires a forward() method normally, although in our case we do not need a forward() method""" raise NotImplementedError @profiler.time_function def get_eval_loss_dict(self, step: int): """This function gets your evaluation loss dict. It needs to get the data from the DataManager and feed it to the model's forward function Args: step: current iteration step """ self.eval() ray_bundle, batch = self.datamanager.next_eval(step) model_outputs = self.model(ray_bundle) metrics_dict = self.model.get_metrics_dict(model_outputs, batch) loss_dict = self.model.get_loss_dict(model_outputs, batch, metrics_dict) self.train() return model_outputs, loss_dict, metrics_dict @profiler.time_function def get_eval_image_metrics_and_images(self, step: int): """This function gets your evaluation loss dict. It needs to get the data from the DataManager and feed it to the model's forward function Args: step: current iteration step """ self.eval() image_idx, camera_ray_bundle, batch = self.datamanager.next_eval_image(step) outputs = self.model.get_outputs_for_camera_ray_bundle(camera_ray_bundle) # (h, w, c) metrics_dict, images_dict = self.model.get_image_metrics_and_images(outputs, batch) assert "image_idx" not in metrics_dict metrics_dict["image_idx"] = image_idx assert "num_rays" not in metrics_dict metrics_dict["num_rays"] = len(camera_ray_bundle) self.train() return metrics_dict, images_dict @profiler.time_function def get_average_eval_image_metrics(self, step: Optional[int] = None): """Iterate over all the images in the eval dataset and get the average. Returns: metrics_dict: dictionary of metrics """ self.eval() metrics_dict_list = [] num_images = len(self.datamanager.fixed_indices_eval_dataloader) with Progress( TextColumn("[progress.description]{task.description}"), BarColumn(), TimeElapsedColumn(), MofNCompleteColumn(), transient=True, ) as progress: task = progress.add_task("[green]Evaluating all eval images...", total=num_images) for camera_ray_bundle, batch in self.datamanager.fixed_indices_eval_dataloader: isbasicimages = False if isinstance( batch["image"], BasicImages ): # If this is a generalized dataset, we need to get image tensor isbasicimages = True batch["image"] = batch["image"].images[0] camera_ray_bundle = camera_ray_bundle.reshape((*batch["image"].shape[:-1],)) # time this the following line inner_start = time() height, width = camera_ray_bundle.shape num_rays = height * width outputs = self.model.get_outputs_for_camera_ray_bundle(camera_ray_bundle) metrics_dict, _ = self.model.get_image_metrics_and_images(outputs, batch) assert "num_rays_per_sec" not in metrics_dict metrics_dict["num_rays_per_sec"] = num_rays / (time() - inner_start) fps_str = "fps" assert fps_str not in metrics_dict metrics_dict[fps_str] = metrics_dict["num_rays_per_sec"] / (height * width) metrics_dict_list.append(metrics_dict) progress.advance(task) # average the metrics list metrics_dict = {} for key in metrics_dict_list[0].keys(): metrics_dict[key] = float( torch.mean(torch.tensor([metrics_dict[key] for metrics_dict in metrics_dict_list])) ) self.train() return metrics_dict def load_pipeline(self, loaded_state: Dict[str, Any], strict=True) -> None: """Load the checkpoint from the given path Args: loaded_state: pre-trained model state dict """ state = {key.replace("module.", ""): value for key, value in loaded_state.items()} if self.test_mode == "inference": state.pop("datamanager.train_camera_optimizer.pose_adjustment", None) state.pop("datamanager.train_ray_generator.image_coords", None) state.pop("datamanager.train_ray_generator.pose_optimizer.pose_adjustment", None) state.pop("datamanager.eval_ray_generator.image_coords", None) state.pop("datamanager.eval_ray_generator.pose_optimizer.pose_adjustment", None) elif not strict: # TODO: is it ok? why do we save image_coords anyway? state.pop("datamanager.train_ray_generator.image_coords", None) state.pop("datamanager.eval_ray_generator.image_coords", None) # TODO: print unloaded state_dict keys self.load_state_dict(state, strict=strict) # type: ignore def get_training_callbacks( self, training_callback_attributes: TrainingCallbackAttributes ) -> List[TrainingCallback]: """Returns the training callbacks from both the Dataloader and the Model.""" datamanager_callbacks = self.datamanager.get_training_callbacks(training_callback_attributes) model_callbacks = self.model.get_training_callbacks(training_callback_attributes) callbacks = datamanager_callbacks + model_callbacks return callbacks def get_param_groups(self) -> Dict[str, List[Parameter]]: """Get the param groups for the pipeline. Returns: A list of dictionaries containing the pipeline's param groups. """ datamanager_params = self.datamanager.get_param_groups() model_params = self.model.get_param_groups() # TODO(ethan): assert that key names don't overlap return {**datamanager_params, **model_params} @dataclass class FlexibleInputPipelineConfig(VanillaPipelineConfig): """Configuration for pipeline instantiation""" _target: Type = field(default_factory=lambda: FlexibleInputPipeline) """target class to instantiate""" datamanager: FlexibleDataManagerConfig = FlexibleDataManagerConfig() """specifies the datamanager config""" model: ModelConfig = ModelConfig() """specifies the model config""" class FlexibleInputPipeline(VanillaPipeline): @profiler.time_function def get_train_loss_dict(self, step: int): """This function gets your training loss dict. This will be responsible for getting the next batch of data from the DataManager and interfacing with the Model class, feeding the data to the model's forward function. Args: step: current iteration step to update sampler if using DDP (distributed) """ ray_bundle, batch, additional_input = self.datamanager.next_train(step) model_outputs = self.model.get_outputs_flexible(ray_bundle, additional_input) # TODO: add additional_input to model get_metrics_dict or get_loss_dict? metrics_dict = self.model.get_metrics_dict(model_outputs, batch) camera_opt_param_group = self.config.datamanager.camera_optimizer.param_group if camera_opt_param_group in self.datamanager.get_param_groups(): # Report the camera optimization metrics metrics_dict["camera_opt_translation"] = ( self.datamanager.get_param_groups()[camera_opt_param_group][0].data[:, :3].norm() ) metrics_dict["camera_opt_rotation"] = ( self.datamanager.get_param_groups()[camera_opt_param_group][0].data[:, 3:].norm() ) loss_dict = self.model.get_loss_dict(model_outputs, batch, metrics_dict) return model_outputs, loss_dict, metrics_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/pipelines/dynamic_batch.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ A pipeline that dynamically chooses the number of rays to sample. """ from dataclasses import dataclass, field from typing import Type import torch from typing_extensions import Literal from nerfstudio.data.datamanagers.base_datamanager import VanillaDataManager from nerfstudio.pipelines.base_pipeline import VanillaPipeline, VanillaPipelineConfig @dataclass class DynamicBatchPipelineConfig(VanillaPipelineConfig): """Dynamic Batch Pipeline Config""" _target: Type = field(default_factory=lambda: DynamicBatchPipeline) target_num_samples: int = 262144 # 1 << 18 """The target number of samples to use for an entire batch of rays.""" max_num_samples_per_ray: int = 1024 # 1 << 10 """The maximum number of samples to be placed along a ray.""" class DynamicBatchPipeline(VanillaPipeline): """Pipeline with logic for changing the number of rays per batch.""" # pylint: disable=abstract-method config: DynamicBatchPipelineConfig datamanager: VanillaDataManager dynamic_num_rays_per_batch: int def __init__( self, config: DynamicBatchPipelineConfig, device: str, test_mode: Literal["test", "val", "inference"] = "val", world_size: int = 1, local_rank: int = 0, ): super().__init__(config, device, test_mode, world_size, local_rank) assert isinstance( self.datamanager, VanillaDataManager ), "DynamicBatchPipeline only works with VanillaDataManager." self.dynamic_num_rays_per_batch = self.config.target_num_samples // self.config.max_num_samples_per_ray self._update_pixel_samplers() def _update_pixel_samplers(self): """Update the pixel samplers for train and eval with the dynamic number of rays per batch.""" self.datamanager.train_pixel_sampler.set_num_rays_per_batch(self.dynamic_num_rays_per_batch) self.datamanager.eval_pixel_sampler.set_num_rays_per_batch(self.dynamic_num_rays_per_batch) def _update_dynamic_num_rays_per_batch(self, num_samples_per_batch: int): """Updates the dynamic number of rays per batch variable, based on the total number of samples in the last batch of rays.""" self.dynamic_num_rays_per_batch = int( self.dynamic_num_rays_per_batch * (self.config.target_num_samples / num_samples_per_batch) ) def get_train_loss_dict(self, step: int): model_outputs, loss_dict, metrics_dict = super().get_train_loss_dict(step) # update the number of rays for the next step if "num_samples_per_batch" not in metrics_dict: raise ValueError( "'num_samples_per_batch' is not in metrics_dict." "Please return 'num_samples_per_batch' in the models get_metrics_dict function to use this method." ) self._update_dynamic_num_rays_per_batch(metrics_dict["num_samples_per_batch"]) self._update_pixel_samplers() # add the number of rays assert "num_rays_per_batch" not in metrics_dict metrics_dict["num_rays_per_batch"] = torch.tensor(self.datamanager.train_pixel_sampler.num_rays_per_batch) return model_outputs, loss_dict, metrics_dict def get_eval_loss_dict(self, step: int): model_outputs, loss_dict, metrics_dict = super().get_eval_loss_dict(step) # add the number of rays assert "num_rays_per_batch" not in metrics_dict metrics_dict["num_rays_per_batch"] = torch.tensor(self.datamanager.eval_pixel_sampler.num_rays_per_batch) return model_outputs, loss_dict, metrics_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/process_data/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/process_data/colmap_utils.py ================================================ """ Here we have modified code taken from COLMAP for parsing data in the COLMAP format. Original file at: https://github.com/colmap/colmap/blob/1a4d0bad2e90aa65ce997c9d1779518eaed998d5/scripts/python/read_write_model.py. """ # Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # # * Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. # # * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of # its contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) import json import os import struct from dataclasses import dataclass from io import BufferedReader from pathlib import Path from typing import Dict, Optional, Tuple import appdirs import numpy as np import requests from rich.console import Console from rich.progress import track from typing_extensions import Literal from nerfstudio.process_data.process_data_utils import CameraModel from nerfstudio.utils.rich_utils import status from nerfstudio.utils.scripts import run_command CONSOLE = Console(width=120) @dataclass class ColmapCameraModel: """Camera model""" model_id: int """Model identifier""" model_name: str """Model name""" num_params: int """Number of parameters""" @dataclass class Camera: """Camera""" id: int """Camera identifier""" model: str """Camera model""" width: int """Image width""" height: int """Image height""" params: np.ndarray """Camera parameters""" @dataclass class Image: """Data the corresponds to a single image""" id: int """Image identifier""" qvec: np.ndarray """Quaternion vector""" tvec: np.ndarray """Translation vector""" camera_id: int """Camera identifier""" name: str """Image name""" xys: np.ndarray """2D points""" point3d_ids: np.ndarray """Point3D identifiers""" @dataclass class Point3D: """Data that corresponds to a single 3D point""" id: int """Point3D identifier""" xyz: np.ndarray """3D point""" rgb: np.ndarray """Color""" error: float """Reconstruction error""" image_ids: np.ndarray """Image identifiers""" point2d_idxs: np.ndarray """Point2D indices""" COLMAP_CAMERA_MODELS = [ ColmapCameraModel(model_id=0, model_name="SIMPLE_PINHOLE", num_params=3), ColmapCameraModel(model_id=1, model_name="PINHOLE", num_params=4), ColmapCameraModel(model_id=2, model_name="SIMPLE_RADIAL", num_params=4), ColmapCameraModel(model_id=3, model_name="RADIAL", num_params=5), ColmapCameraModel(model_id=4, model_name="OPENCV", num_params=8), ColmapCameraModel(model_id=5, model_name="OPENCV_FISHEYE", num_params=8), ColmapCameraModel(model_id=6, model_name="FULL_OPENCV", num_params=12), ColmapCameraModel(model_id=7, model_name="FOV", num_params=5), ColmapCameraModel(model_id=8, model_name="SIMPLE_RADIAL_FISHEYE", num_params=4), ColmapCameraModel(model_id=9, model_name="RADIAL_FISHEYE", num_params=5), ColmapCameraModel(model_id=10, model_name="THIN_PRISM_FISHEYE", num_params=12), ] COLMAP_CAMERA_MODEL_IDS = {camera_model.model_id: camera_model for camera_model in COLMAP_CAMERA_MODELS} COLMAP_CAMERA_MODEL_NAMES = {camera_model.model_name: camera_model for camera_model in COLMAP_CAMERA_MODELS} def get_colmap_version(colmap_cmd: str, default_version=3.8) -> float: """Returns the version of COLMAP. This code assumes that colmap returns a version string of the form "COLMAP 3.8 ..." which may not be true for all versions of COLMAP. Args: default_version: Default version to return if COLMAP version can't be determined. Returns: The version of COLMAP. """ output = run_command(colmap_cmd, verbose=False) assert output is not None for line in output.split("\n"): if line.startswith("COLMAP"): return float(line.split(" ")[1]) CONSOLE.print(f"[bold red]Could not find COLMAP version. Using default {default_version}") return default_version def read_next_bytes(fid: BufferedReader, num_bytes: int, format_char_sequence, endian_character: str = "<"): """Read and unpack the next bytes from a binary file. Args: fid: Open file num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc. format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}. endian_character: Any of {@, =, <, >, !} Tuple of read and unpacked values. """ data = fid.read(num_bytes) return struct.unpack(endian_character + format_char_sequence, data) def read_cameras_text(path: Path) -> Dict[int, Camera]: """Parse COLMAP cameras.txt file into a dictionary of Camera objects. Args: path: Path to cameras.txt file. Returns: Dictionary of Camera objects. """ cameras = {} with open(path, encoding="utf-8") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() camera_id = int(elems[0]) model = elems[1] width = int(elems[2]) height = int(elems[3]) params = np.array(tuple(map(float, elems[4:]))) cameras[camera_id] = Camera(id=camera_id, model=model, width=width, height=height, params=params) return cameras def read_cameras_binary(path_to_model_file: Path) -> Dict[int, Camera]: """Parse COLMAP cameras.bin file into a dictionary of Camera objects. Args: path_to_model_file: Path to cameras.bin file. Returns: Dictionary of Camera objects. """ cameras = {} with open(path_to_model_file, "rb") as fid: num_cameras = read_next_bytes(fid, 8, "Q")[0] for _ in range(num_cameras): camera_properties = read_next_bytes(fid, num_bytes=24, format_char_sequence="iiQQ") camera_id = camera_properties[0] model_id = camera_properties[1] model_name = COLMAP_CAMERA_MODEL_IDS[camera_properties[1]].model_name width = camera_properties[2] height = camera_properties[3] num_params = COLMAP_CAMERA_MODEL_IDS[model_id].num_params params = read_next_bytes(fid, num_bytes=8 * num_params, format_char_sequence="d" * num_params) cameras[camera_id] = Camera( id=camera_id, model=model_name, width=width, height=height, params=np.array(params) ) assert len(cameras) == num_cameras return cameras def read_images_text(path: Path) -> Dict[int, Image]: """Parse COLMAP images.txt file into a dictionary of Image objects. Args: path: Path to images.txt file. Returns: Dictionary of Image objects. """ images = {} with open(path, encoding="utf-8") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() image_id = int(elems[0]) qvec = np.array(tuple(map(float, elems[1:5]))) tvec = np.array(tuple(map(float, elems[5:8]))) camera_id = int(elems[8]) image_name = elems[9] elems = fid.readline().split() xys = np.column_stack([tuple(map(float, elems[0::3])), tuple(map(float, elems[1::3]))]) point3d_ids = np.array(tuple(map(int, elems[2::3]))) images[image_id] = Image( id=image_id, qvec=qvec, tvec=tvec, camera_id=camera_id, name=image_name, xys=xys, point3d_ids=point3d_ids, ) return images def read_images_binary(path_to_model_file: Path) -> Dict[int, Image]: """Parse COLMAP images.bin file into a dictionary of Image objects. Args: path_to_model_file: Path to images.bin file. Returns: Dictionary of Image objects. """ images = {} with open(path_to_model_file, "rb") as fid: num_reg_images = read_next_bytes(fid, 8, "Q")[0] for _ in range(num_reg_images): binary_image_properties = read_next_bytes(fid, num_bytes=64, format_char_sequence="idddddddi") image_id = binary_image_properties[0] qvec = np.array(binary_image_properties[1:5]) tvec = np.array(binary_image_properties[5:8]) camera_id = binary_image_properties[8] image_name = "" current_char = read_next_bytes(fid, 1, "c")[0] while current_char != b"\x00": # look for the ASCII 0 entry image_name += current_char.decode("utf-8") current_char = read_next_bytes(fid, 1, "c")[0] num_points2d = read_next_bytes(fid, num_bytes=8, format_char_sequence="Q")[0] x_y_id_s = read_next_bytes(fid, num_bytes=24 * num_points2d, format_char_sequence="ddq" * num_points2d) xys = np.column_stack([tuple(map(float, x_y_id_s[0::3])), tuple(map(float, x_y_id_s[1::3]))]) point3d_ids = np.array(tuple(map(int, x_y_id_s[2::3]))) images[image_id] = Image( id=image_id, qvec=qvec, tvec=tvec, camera_id=camera_id, name=image_name, xys=xys, point3d_ids=point3d_ids, ) return images def read_points3d_text(path) -> Dict[int, Point3D]: """Parse COLMAP points3D.txt file into a dictionary of Point3D objects. Args: path: Path to points3D.txt file. Returns: Dictionary of Point3D objects. """ points3d = {} with open(path, encoding="utf-8") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() point3d_id = int(elems[0]) xyz = np.array(tuple(map(float, elems[1:4]))) rgb = np.array(tuple(map(int, elems[4:7]))) error = float(elems[7]) image_ids = np.array(tuple(map(int, elems[8::2]))) point2d_idxs = np.array(tuple(map(int, elems[9::2]))) points3d[point3d_id] = Point3D( id=point3d_id, xyz=xyz, rgb=rgb, error=error, image_ids=image_ids, point2d_idxs=point2d_idxs ) return points3d def read_points3d_binary(path_to_model_file: Path) -> Dict[int, Point3D]: """Parse COLMAP points3D.bin file into a dictionary of Point3D objects. Args: path_to_model_file: Path to points3D.bin file. Returns: Dictionary of Point3D objects. """ points3d = {} with open(path_to_model_file, "rb") as fid: num_points = read_next_bytes(fid, 8, "Q")[0] for _ in range(num_points): binary_point_line_properties = read_next_bytes(fid, num_bytes=43, format_char_sequence="QdddBBBd") point3d_id = binary_point_line_properties[0] xyz = np.array(binary_point_line_properties[1:4]) rgb = np.array(binary_point_line_properties[4:7]) error = np.array(binary_point_line_properties[7]) track_length = read_next_bytes(fid, num_bytes=8, format_char_sequence="Q")[0] track_elems = read_next_bytes(fid, num_bytes=8 * track_length, format_char_sequence="ii" * track_length) image_ids = np.array(tuple(map(int, track_elems[0::2]))) point2d_idxs = np.array(tuple(map(int, track_elems[1::2]))) points3d[point3d_id] = Point3D( id=point3d_id, xyz=xyz, rgb=rgb, error=float(error), image_ids=image_ids, point2d_idxs=point2d_idxs ) return points3d def detect_model_format(path: Path, ext: str) -> bool: """Detect the format of the model file. Args: path: Path to the model file. ext: Extension to test. Returns: True if the model file is the tested extenstion, False otherwise. """ if ( os.path.isfile(path / f"cameras{ext}") and os.path.isfile(path / f"images{ext}") and os.path.isfile(path / f"points3D{ext}") ): print("Detected model format: '" + ext + "'") return True return False def read_model(path: Path, ext: Optional[str] = None) -> Tuple[Dict[int, Camera], Dict[int, Image], Dict[int, Point3D]]: """Read a COLMAP model from a directory. Args: path: Path to the model directory. ext: Extension of the model files. If None, the function will try to detect the format. Returns: Tuple of dictionaries of Camera, Image, and Point3D objects. """ # try to detect the extension automatically if ext is None: if detect_model_format(path, ".bin"): ext = ".bin" elif detect_model_format(path, ".txt"): ext = ".txt" else: raise ValueError("Provide model format: '.bin' or '.txt'") if ext == ".txt": cameras = read_cameras_text(path / f"cameras{ext}") images = read_images_text(path / f"images{ext}") points3d = read_points3d_text(path / f"points3D{ext}") else: cameras = read_cameras_binary(path / f"cameras{ext}") images = read_images_binary(path / f"images{ext}") points3d = read_points3d_binary(path / f"points3D{ext}") return cameras, images, points3d def qvec2rotmat(qvec) -> np.ndarray: """Convert quaternion to rotation matrix. Args: qvec: Quaternion vector of shape (4,). Returns: Rotation matrix of shape (3, 3). """ return np.array( [ [ 1 - 2 * qvec[2] ** 2 - 2 * qvec[3] ** 2, 2 * qvec[1] * qvec[2] - 2 * qvec[0] * qvec[3], 2 * qvec[3] * qvec[1] + 2 * qvec[0] * qvec[2], ], [ 2 * qvec[1] * qvec[2] + 2 * qvec[0] * qvec[3], 1 - 2 * qvec[1] ** 2 - 2 * qvec[3] ** 2, 2 * qvec[2] * qvec[3] - 2 * qvec[0] * qvec[1], ], [ 2 * qvec[3] * qvec[1] - 2 * qvec[0] * qvec[2], 2 * qvec[2] * qvec[3] + 2 * qvec[0] * qvec[1], 1 - 2 * qvec[1] ** 2 - 2 * qvec[2] ** 2, ], ] ) def rotmat2qvec(R): """Convert rotation matrix to quaternion. Args: R: Rotation matrix of shape (3, 3). Returns: Quaternion vector of shape (4,). """ rxx, ryx, rzx, rxy, ryy, rzy, rxz, ryz, rzz = R.flat K = ( np.array( [ [rxx - ryy - rzz, 0, 0, 0], [ryx + rxy, ryy - rxx - rzz, 0, 0], [rzx + rxz, rzy + ryz, rzz - rxx - ryy, 0], [ryz - rzy, rzx - rxz, rxy - ryx, rxx + ryy + rzz], ] ) / 3.0 ) eigvals, eigvecs = np.linalg.eigh(K) qvec = eigvecs[np.array([3, 0, 1, 2]), np.argmax(eigvals)] if qvec[0] < 0: qvec *= -1 return qvec def get_vocab_tree() -> Path: """Return path to vocab tree. Downloads vocab tree if it doesn't exist. Returns: The path to the vocab tree. """ vocab_tree_filename = Path(appdirs.user_data_dir("nerfstudio")) / "vocab_tree.fbow" if not vocab_tree_filename.exists(): r = requests.get("https://demuc.de/colmap/vocab_tree_flickr100K_words32K.bin", stream=True) vocab_tree_filename.parent.mkdir(parents=True, exist_ok=True) with open(vocab_tree_filename, "wb") as f: total_length = r.headers.get("content-length") assert total_length is not None for chunk in track( r.iter_content(chunk_size=1024), total=int(total_length) / 1024 + 1, description="Downloading vocab tree...", ): if chunk: f.write(chunk) f.flush() return vocab_tree_filename def run_colmap( image_dir: Path, colmap_dir: Path, camera_model: CameraModel, gpu: bool = True, verbose: bool = False, matching_method: Literal["vocab_tree", "exhaustive", "sequential"] = "vocab_tree", colmap_cmd: str = "colmap", ) -> None: """Runs COLMAP on the images. Args: image_dir: Path to the directory containing the images. colmap_dir: Path to the output directory. camera_model: Camera model to use. gpu: If True, use GPU. verbose: If True, logs the output of the command. """ colmap_version = get_colmap_version(colmap_cmd) colmap_database_path = colmap_dir / "database.db" if colmap_database_path.exists(): # Can't use missing_ok argument because of Python 3.7 compatibility. colmap_database_path.unlink() # Feature extraction feature_extractor_cmd = [ f"{colmap_cmd} feature_extractor", f"--database_path {colmap_dir / 'database.db'}", f"--image_path {image_dir}", "--ImageReader.single_camera 1", f"--ImageReader.camera_model {camera_model.value}", f"--SiftExtraction.use_gpu {int(gpu)}", ] feature_extractor_cmd = " ".join(feature_extractor_cmd) with status(msg="[bold yellow]Running COLMAP feature extractor...", spinner="moon", verbose=verbose): run_command(feature_extractor_cmd, verbose=verbose) CONSOLE.log("[bold green]:tada: Done extracting COLMAP features.") # Feature matching feature_matcher_cmd = [ f"{colmap_cmd} {matching_method}_matcher", f"--database_path {colmap_dir / 'database.db'}", f"--SiftMatching.use_gpu {int(gpu)}", ] if matching_method == "vocab_tree": vocab_tree_filename = get_vocab_tree() feature_matcher_cmd.append(f"--VocabTreeMatching.vocab_tree_path {vocab_tree_filename}") feature_matcher_cmd = " ".join(feature_matcher_cmd) with status(msg="[bold yellow]Running COLMAP feature matcher...", spinner="runner", verbose=verbose): run_command(feature_matcher_cmd, verbose=verbose) CONSOLE.log("[bold green]:tada: Done matching COLMAP features.") # Bundle adjustment sparse_dir = colmap_dir / "sparse" sparse_dir.mkdir(parents=True, exist_ok=True) mapper_cmd = [ f"{colmap_cmd} mapper", f"--database_path {colmap_dir / 'database.db'}", f"--image_path {image_dir}", f"--output_path {sparse_dir}", ] if colmap_version >= 3.7: mapper_cmd.append("--Mapper.ba_global_function_tolerance 1e-6") mapper_cmd = " ".join(mapper_cmd) with status( msg="[bold yellow]Running COLMAP bundle adjustment... (This may take a while)", spinner="circle", verbose=verbose, ): run_command(mapper_cmd, verbose=verbose) CONSOLE.log("[bold green]:tada: Done COLMAP bundle adjustment.") with status(msg="[bold yellow]Refine intrinsics...", spinner="dqpb", verbose=verbose): bundle_adjuster_cmd = [ f"{colmap_cmd} bundle_adjuster", f"--input_path {sparse_dir}/0", f"--output_path {sparse_dir}/0", "--BundleAdjustment.refine_principal_point 1", ] run_command(" ".join(bundle_adjuster_cmd), verbose=verbose) CONSOLE.log("[bold green]:tada: Done refining intrinsics.") def colmap_to_json(cameras_path: Path, images_path: Path, output_dir: Path, camera_model: CameraModel) -> int: """Converts COLMAP's cameras.bin and images.bin to a JSON file. Args: cameras_path: Path to the cameras.bin file. images_path: Path to the images.bin file. output_dir: Path to the output directory. camera_model: Camera model used. Returns: The number of registered images. """ cameras = read_cameras_binary(cameras_path) images = read_images_binary(images_path) # Only supports one camera camera_params = cameras[1].params frames = [] for _, im_data in images.items(): rotation = qvec2rotmat(im_data.qvec) translation = im_data.tvec.reshape(3, 1) w2c = np.concatenate([rotation, translation], 1) w2c = np.concatenate([w2c, np.array([[0, 0, 0, 1]])], 0) c2w = np.linalg.inv(w2c) # Convert from COLMAP's camera coordinate system to ours c2w[0:3, 1:3] *= -1 c2w = c2w[np.array([1, 0, 2, 3]), :] c2w[2, :] *= -1 name = Path(f"./images/{im_data.name}") frame = { "file_path": name.as_posix(), "transform_matrix": c2w.tolist(), } frames.append(frame) out = { "fl_x": float(camera_params[0]), "fl_y": float(camera_params[1]), "cx": float(camera_params[2]), "cy": float(camera_params[3]), "w": cameras[1].width, "h": cameras[1].height, "camera_model": camera_model.value, } if camera_model == CameraModel.OPENCV: out.update( { "k1": float(camera_params[4]), "k2": float(camera_params[5]), "p1": float(camera_params[6]), "p2": float(camera_params[7]), } ) if camera_model == CameraModel.OPENCV_FISHEYE: out.update( { "k1": float(camera_params[4]), "k2": float(camera_params[5]), "k3": float(camera_params[6]), "k4": float(camera_params[7]), } ) out["frames"] = frames with open(output_dir / "transforms.json", "w", encoding="utf-8") as f: json.dump(out, f, indent=4) return len(frames) def get_matching_summary(num_intial_frames: int, num_matched_frames: int) -> str: """Returns a summary of the matching results. Args: num_intial_frames: The number of initial frames. num_matched_frames: The number of matched frames. Returns: A summary of the matching results. """ match_ratio = num_matched_frames / num_intial_frames if match_ratio == 1: return "[bold green]COLAMP found poses for all images, CONGRATS!" if match_ratio < 0.4: result = f"[bold red]COLMAP only found poses for {num_matched_frames / num_intial_frames * 100:.2f}%" result += " of the images. This is low.\nThis can be caused by a variety of reasons," result += " such poor scene coverage, blurry images, or large exposure changes." return result if match_ratio < 0.8: result = f"[bold yellow]COLMAP only found poses for {num_matched_frames / num_intial_frames * 100:.2f}%" result += " of the images.\nThis isn't great, but may be ok." result += "\nMissing poses can be caused by a variety of reasons, such poor scene coverage, blurry images," result += " or large exposure changes." return result return f"[bold green]COLMAP found poses for {num_matched_frames / num_intial_frames * 100:.2f}% of the images." ================================================ FILE: AutoReconForDens3R/nerfstudio/process_data/hloc_utils.py ================================================ """ Code that uses the hierarchical localization toolbox (hloc) to extract and match image features, estimate camera poses, and do sparse reconstruction. Requires hloc module from : https://github.com/cvg/Hierarchical-Localization """ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. import sys from pathlib import Path from rich.console import Console from typing_extensions import Literal from nerfstudio.process_data.process_data_utils import CameraModel try: import pycolmap from hloc import ( extract_features, match_features, pairs_from_exhaustive, pairs_from_retrieval, reconstruction, ) except ImportError: _HAS_HLOC = False else: _HAS_HLOC = True CONSOLE = Console(width=120) def run_hloc( image_dir: Path, colmap_dir: Path, camera_model: CameraModel, verbose: bool = False, matching_method: Literal["vocab_tree", "exhaustive", "sequential"] = "vocab_tree", feature_type: Literal[ "sift", "superpoint_aachen", "superpoint_max", "superpoint_inloc", "r2d2", "d2net-ss", "sosnet", "disk" ] = "superpoint_aachen", matcher_type: Literal[ "superglue", "superglue-fast", "NN-superpoint", "NN-ratio", "NN-mutual", "adalam" ] = "superglue", num_matched: int = 50, ) -> None: """Runs hloc on the images. Args: image_dir: Path to the directory containing the images. colmap_dir: Path to the output directory. camera_model: Camera model to use. gpu: If True, use GPU. verbose: If True, logs the output of the command. """ if not _HAS_HLOC: CONSOLE.print( f"[bold red]Error: To use this set of parameters ({feature_type}/{matcher_type}/hloc), " "you must install hloc toolbox!!" ) sys.exit(1) outputs = colmap_dir sfm_pairs = outputs / "pairs-netvlad.txt" sfm_dir = outputs / "sparse" / "0" features = outputs / "features.h5" matches = outputs / "matches.h5" retrieval_conf = extract_features.confs["netvlad"] feature_conf = extract_features.confs[feature_type] matcher_conf = match_features.confs[matcher_type] references = [p.relative_to(image_dir).as_posix() for p in image_dir.iterdir()] extract_features.main(feature_conf, image_dir, image_list=references, feature_path=features) if matching_method == "exhaustive": pairs_from_exhaustive.main(sfm_pairs, image_list=references) else: retrieval_path = extract_features.main(retrieval_conf, image_dir, outputs) if num_matched >= len(references): num_matched = len(references) pairs_from_retrieval.main(retrieval_path, sfm_pairs, num_matched=num_matched) match_features.main(matcher_conf, sfm_pairs, features=features, matches=matches) image_options = pycolmap.ImageReaderOptions(camera_model=camera_model.value) reconstruction.main( sfm_dir, image_dir, sfm_pairs, features, matches, camera_mode=pycolmap.CameraMode.SINGLE, image_options=image_options, verbose=verbose, ) ================================================ FILE: AutoReconForDens3R/nerfstudio/process_data/insta360_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Helper utils for processing insta360 data.""" import sys from pathlib import Path from typing import List, Tuple from rich.console import Console from nerfstudio.process_data.process_data_utils import get_num_frames_in_video from nerfstudio.utils.rich_utils import status from nerfstudio.utils.scripts import run_command CONSOLE = Console(width=120) def get_insta360_filenames(data: Path) -> Tuple[Path, Path]: """Returns the filenames of the Insta360 videos from a single video file. Example input name: VID_20220212_070353_00_003.insv Args: data: Path to a Insta360 file. Returns: The filenames of the Insta360 videios. """ if data.suffix != ".insv": raise ValueError("The input file must be an .insv file.") file_parts = data.stem.split("_") stem_back = f"VID_{file_parts[1]}_{file_parts[2]}_00_{file_parts[4]}.insv" stem_front = f"VID_{file_parts[1]}_{file_parts[2]}_10_{file_parts[4]}.insv" filename_back = data.parent / stem_back filename_front = data.parent / stem_front return filename_back, filename_front def convert_insta360_to_images( video_front: Path, video_back: Path, image_dir: Path, num_frames_target: int, crop_percentage: float = 0.7, verbose: bool = False, ) -> Tuple[List[str], int]: """Converts a video into a sequence of images. Args: video_front: Path to the front video. video_back: Path to the back video. output_dir: Path to the output directory. num_frames_target: Number of frames to extract. crop_percentage: Percentage used to calculate the cropped dimentions of extracted frames. Currently used to crop out the curved portions of the fish-eye lens. verbose: If True, logs the output of the command. Returns: A tuple containing summary of the conversion and the number of extracted frames. """ with status(msg="Converting video to images...", spinner="bouncingBall", verbose=verbose): # delete existing images in folder for img in image_dir.glob("*.png"): if verbose: CONSOLE.log(f"Deleting {img}") img.unlink() num_frames_front = get_num_frames_in_video(video_front) num_frames_back = get_num_frames_in_video(video_back) if num_frames_front == 0: CONSOLE.print(f"[bold red]Error: Video has no frames: {video_front}") sys.exit(1) if num_frames_back == 0: CONSOLE.print(f"[bold red]Error: Video has no frames: {video_front}") sys.exit(1) spacing = num_frames_front // (num_frames_target // 2) vf_cmds = [] if spacing > 1: vf_cmds = [f"thumbnail={spacing}", "setpts=N/TB"] else: CONSOLE.print("[bold red]Can't satify requested number of frames. Extracting all frames.") vf_cmds.append(f"crop=iw*{crop_percentage}:ih*{crop_percentage}") front_vf_cmds = vf_cmds + ["transpose=2"] back_vf_cmds = vf_cmds + ["transpose=1"] front_ffmpeg_cmd = f"ffmpeg -i {video_front} -vf {','.join(front_vf_cmds)} -r 1 {image_dir / 'frame_%05d.png'}" back_ffmpeg_cmd = ( f"ffmpeg -i {video_back} -vf {','.join(back_vf_cmds)} -r 1 {image_dir / 'back_frame_%05d.png'}" ) run_command(front_ffmpeg_cmd, verbose=verbose) run_command(back_ffmpeg_cmd, verbose=verbose) num_extracted_front_frames = len(list(image_dir.glob("frame*.png"))) for i, img in enumerate(image_dir.glob("back_frame_*.png")): img.rename(image_dir / f"frame_{i+1+num_extracted_front_frames:05d}.png") num_final_frames = len(list(image_dir.glob("*.png"))) summary_log = [] summary_log.append(f"Starting with {num_frames_front + num_frames_back} video frames") summary_log.append(f"We extracted {num_final_frames} images") CONSOLE.log("[bold green]:tada: Done converting insta360 to images.") return summary_log, num_final_frames def convert_insta360_single_file_to_images( video: Path, image_dir: Path, num_frames_target: int, crop_percentage: float = 0.7, verbose: bool = False, ) -> Tuple[List[str], int]: """Converts a video into a sequence of images. Args: video: Path to the video. output_dir: Path to the output directory. num_frames_target: Number of frames to extract. crop_percentage: Percentage used to calculate the cropped dimentions of extracted frames. Currently used to crop out the curved portions of the fish-eye lens. verbose: If True, logs the output of the command. Returns: A tuple containing summary of the conversion and the number of extracted frames. """ with status(msg="Converting video to images...", spinner="bouncingBall", verbose=verbose): # delete existing images in folder for img in image_dir.glob("*.png"): if verbose: CONSOLE.log(f"Deleting {img}") img.unlink() num_frames = get_num_frames_in_video(video) if num_frames == 0: CONSOLE.print(f"[bold red]Error: Video has no frames: {video}") sys.exit(1) spacing = num_frames // (num_frames_target // 2) vf_cmds = [] if spacing > 1: vf_cmds = [f"thumbnail={spacing}", "setpts=N/TB"] else: CONSOLE.print("[bold red]Can't satify requested number of frames. Extracting all frames.") vf_cmds_back = vf_cmds.copy() vf_cmds_front = vf_cmds.copy() vf_cmds_back.append( f"crop=ih*{crop_percentage}:ih*{crop_percentage}:ih*({crop_percentage}/4):ih*({crop_percentage}/4)" ) vf_cmds_front.append( f"crop=ih*{crop_percentage}:ih*{crop_percentage}:iw/2+ih*{crop_percentage/4}:ih*{crop_percentage/4}" ) front_ffmpeg_cmd = f"ffmpeg -i {video} -vf {','.join(vf_cmds_front)} -r 1 {image_dir / 'frame_%05d.png'}" back_ffmpeg_cmd = f"ffmpeg -i {video} -vf {','.join(vf_cmds_back)} -r 1 {image_dir / 'back_frame_%05d.png'}" run_command(back_ffmpeg_cmd, verbose=verbose) run_command(front_ffmpeg_cmd, verbose=verbose) num_extracted_frames = len(list(image_dir.glob("frame*.png"))) for i, img in enumerate(image_dir.glob("back_frame_*.png")): img.rename(image_dir / f"frame_{i+1+num_extracted_frames:05d}.png") num_final_frames = len(list(image_dir.glob("*.png"))) summary_log = [] summary_log.append(f"Starting with {num_frames} video frames") summary_log.append(f"We extracted {num_final_frames} images") CONSOLE.log("[bold green]:tada: Done converting insta360 to images.") return summary_log, num_final_frames ================================================ FILE: AutoReconForDens3R/nerfstudio/process_data/metashape_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Helper utils for processing metashape data into the nerfstudio format.""" import json import xml.etree.ElementTree as ET from pathlib import Path from typing import Dict, List import numpy as np from rich.console import Console from nerfstudio.process_data.process_data_utils import CAMERA_MODELS CONSOLE = Console(width=120) def _find_distortion_param(calib_xml: ET.Element, param_name: str): param = calib_xml.find(param_name) if param is not None: return float(param.text) # type: ignore return 0.0 def metashape_to_json( # pylint: disable=too-many-statements image_filename_map: Dict[str, Path], xml_filename: Path, output_dir: Path, verbose: bool = False, ) -> List[str]: """Convert Metashape data into a nerfstudio dataset. Args: image_filename_map: Mapping of original image filenames to their saved locations. xml_filename: Path to the metashap cameras xml file. output_dir: Path to the output directory. verbose: Whether to print verbose output. Returns: Summary of the conversion. """ xml_tree = ET.parse(xml_filename) root = xml_tree.getroot() chunk = root[0] sensors = chunk.find("sensors") # TODO Add support for per-frame intrinsics if sensors is None or len(sensors) != 1: raise ValueError("Only one sensor is supported for now") sensor = sensors.find("sensor") data = {} assert sensor is not None, "Sensor not found in Metashape XML" resolution = sensor.find("resolution") assert resolution is not None, "Resolution not found in Metashape xml" data["w"] = int(resolution.get("width")) # type: ignore data["h"] = int(resolution.get("height")) # type: ignore calib = sensor.find("calibration") assert calib is not None, "Calibration not found in Metashape xml" data["fl_x"] = float(calib.find("f").text) # type: ignore data["fl_y"] = float(calib.find("f").text) # type: ignore data["cx"] = float(calib.find("cx").text) + data["w"] / 2.0 # type: ignore data["cy"] = float(calib.find("cy").text) + data["h"] / 2.0 # type: ignore data["k1"] = _find_distortion_param(calib, "k1") data["k2"] = _find_distortion_param(calib, "k2") data["k3"] = _find_distortion_param(calib, "k3") data["k4"] = _find_distortion_param(calib, "k4") data["p1"] = _find_distortion_param(calib, "p1") data["p2"] = _find_distortion_param(calib, "p2") data["camera_model"] = CAMERA_MODELS["perspective"].value frames = [] cameras = chunk.find("cameras") assert cameras is not None, "Cameras not found in Metashape xml" num_skipped = 0 for camera in cameras: frame = {} # Labels sometimes have a file extension. We remove it for consistency. camera_label = camera.get("label").split(".")[0] # type: ignore if camera_label not in image_filename_map: continue frame["file_path"] = image_filename_map[camera_label].as_posix() if camera.find("transform") is None: if verbose: CONSOLE.print(f"Missing transforms data for {camera.get('label')}, Skipping") num_skipped += 1 continue t = [float(x) for x in camera.find("transform").text.split()] # type: ignore transform = np.array( [ [t[8], -t[9], -t[10], t[11]], [t[0], -t[1], -t[2], t[3]], [t[4], -t[5], -t[6], t[7]], [t[12], -t[13], -t[14], t[15]], ] ) frame["transform_matrix"] = transform.tolist() frames.append(frame) data["frames"] = frames with open(output_dir / "transforms.json", "w", encoding="utf-8") as f: json.dump(data, f, indent=4) summary = [] if num_skipped == 1: summary.append(f"{num_skipped} image skipped because it was missing its camera pose.") if num_skipped > 1: summary.append(f"{num_skipped} images were skipped because they were missing camera poses.") summary.append(f"Final dataset is {len(data['frames'])} frames.") return summary ================================================ FILE: AutoReconForDens3R/nerfstudio/process_data/polycam_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Helper utils for processing polycam data into the nerfstudio format.""" import json import sys from pathlib import Path from typing import List from rich.console import Console from nerfstudio.process_data.process_data_utils import CAMERA_MODELS from nerfstudio.utils import io CONSOLE = Console(width=120) def polycam_to_json( image_filenames: List[Path], cameras_dir: Path, output_dir: Path, min_blur_score: float = 0.0, crop_border_pixels: int = 0, ) -> List[str]: """Convert Polycam data into a nerfstudio dataset. Args: image_filenames: List of paths to the original images. cameras_dir: Path to the polycam cameras directory. output_dir: Path to the output directory. min_blur_score: Minimum blur score to use an image. Images below this value will be skipped. crop_border_pixels: Number of pixels to crop from each border of the image. Returns: Summary of the conversion. """ data = {} data["camera_model"] = CAMERA_MODELS["perspective"].value # Needs to be a string for camera_utils.auto_orient_and_center_poses data["orientation_override"] = "none" frames = [] skipped_frames = 0 for i, image_filename in enumerate(image_filenames): json_filename = cameras_dir / f"{image_filename.stem}.json" frame_json = io.load_from_json(json_filename) if "blur_score" in frame_json and frame_json["blur_score"] < min_blur_score: skipped_frames += 1 continue frame = {} frame["fl_x"] = frame_json["fx"] frame["fl_y"] = frame_json["fy"] frame["cx"] = frame_json["cx"] - crop_border_pixels frame["cy"] = frame_json["cy"] - crop_border_pixels frame["w"] = frame_json["width"] - crop_border_pixels * 2 frame["h"] = frame_json["height"] - crop_border_pixels * 2 frame["file_path"] = f"./images/frame_{i+1:05d}{image_filename.suffix}" # Transform matrix to nerfstudio format. Please refer to the documentation for coordinate system conventions. frame["transform_matrix"] = [ [frame_json["t_20"], frame_json["t_21"], frame_json["t_22"], frame_json["t_23"]], [frame_json["t_00"], frame_json["t_01"], frame_json["t_02"], frame_json["t_03"]], [frame_json["t_10"], frame_json["t_11"], frame_json["t_12"], frame_json["t_13"]], [0.0, 0.0, 0.0, 1.0], ] frames.append(frame) data["frames"] = frames with open(output_dir / "transforms.json", "w", encoding="utf-8") as f: json.dump(data, f, indent=4) summary = [] if skipped_frames > 0: summary.append(f"Skipped {skipped_frames} frames due to low blur score.") summary.append(f"Final dataset is {len(image_filenames) - skipped_frames} frames.") if len(image_filenames) - skipped_frames == 0: CONSOLE.print("[bold red]No images remain after filtering, exiting") sys.exit(1) return summary ================================================ FILE: AutoReconForDens3R/nerfstudio/process_data/process_data_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Helper utils for processing data into the nerfstudio format.""" import shutil import sys from enum import Enum from pathlib import Path from typing import List, Optional, Tuple from rich.console import Console from typing_extensions import Literal from nerfstudio.utils.rich_utils import status from nerfstudio.utils.scripts import run_command CONSOLE = Console(width=120) class CameraModel(Enum): """Enum for camera types.""" OPENCV = "OPENCV" OPENCV_FISHEYE = "OPENCV_FISHEYE" CAMERA_MODELS = { "perspective": CameraModel.OPENCV, "fisheye": CameraModel.OPENCV_FISHEYE, } def get_num_frames_in_video(video: Path) -> int: """Returns the number of frames in a video. Args: video: Path to a video. Returns: The number of frames in a video. """ cmd = f"ffprobe -v error -select_streams v:0 -count_packets \ -show_entries stream=nb_read_packets -of csv=p=0 {video}" output = run_command(cmd) assert output is not None output = output.strip(" ,\t\n\r") return int(output) def convert_video_to_images( video_path: Path, image_dir: Path, num_frames_target: int, verbose: bool = False ) -> Tuple[List[str], int]: """Converts a video into a sequence of images. Args: video_path: Path to the video. output_dir: Path to the output directory. num_frames_target: Number of frames to extract. verbose: If True, logs the output of the command. Returns: A tuple containing summary of the conversion and the number of extracted frames. """ with status(msg="Converting video to images...", spinner="bouncingBall", verbose=verbose): # delete existing images in folder for img in image_dir.glob("*.png"): if verbose: CONSOLE.log(f"Deleting {img}") img.unlink() num_frames = get_num_frames_in_video(video_path) if num_frames == 0: CONSOLE.print(f"[bold red]Error: Video has no frames: {video_path}") sys.exit(1) print("Number of frames in video:", num_frames) out_filename = image_dir / "frame_%05d.png" ffmpeg_cmd = f"ffmpeg -i {video_path}" spacing = num_frames // num_frames_target if spacing > 1: ffmpeg_cmd += f" -vf thumbnail={spacing},setpts=N/TB -r 1" else: CONSOLE.print("[bold red]Can't satify requested number of frames. Extracting all frames.") ffmpeg_cmd += f" {out_filename}" run_command(ffmpeg_cmd, verbose=verbose) num_final_frames = len(list(image_dir.glob("*.png"))) summary_log = [] summary_log.append(f"Starting with {num_frames} video frames") summary_log.append(f"We extracted {num_final_frames} images") CONSOLE.log("[bold green]:tada: Done converting video to images.") return summary_log, num_final_frames def copy_images_list( image_paths: List[Path], image_dir: Path, crop_border_pixels: Optional[int] = None, verbose: bool = False ) -> List[Path]: """Copy all images in a list of Paths. Useful for filtering from a directory. Args: image_paths: List of Paths of images to copy to a new directory. image_dir: Path to the output directory. crop_border_pixels: If not None, crops each edge by the specified number of pixels. verbose: If True, print extra logging. Returns: A list of the copied image Paths. """ # Remove original directory only if we provide a proper image folder path if image_dir.is_dir() and len(image_paths): shutil.rmtree(image_dir, ignore_errors=True) image_dir.mkdir(exist_ok=True, parents=True) copied_image_paths = [] # Images should be 1-indexed for the rest of the pipeline. for idx, image_path in enumerate(image_paths): if verbose: CONSOLE.log(f"Copying image {idx + 1} of {len(image_paths)}...") copied_image_path = image_dir / f"frame_{idx + 1:05d}{image_path.suffix}" shutil.copy(image_path, copied_image_path) copied_image_paths.append(copied_image_path) if crop_border_pixels is not None: file_type = image_paths[0].suffix filename = f"frame_%05d{file_type}" crop = f"crop=iw-{crop_border_pixels*2}:ih-{crop_border_pixels*2}" ffmpeg_cmd = f"ffmpeg -y -i {image_dir / filename} -q:v 2 -vf {crop} {image_dir / filename}" run_command(ffmpeg_cmd, verbose=verbose) num_frames = len(image_paths) if num_frames == 0: CONSOLE.log("[bold red]:skull: No usable images in the data folder.") else: CONSOLE.log("[bold green]:tada: Done copying images.") return copied_image_paths def copy_images(data: Path, image_dir: Path, verbose) -> int: """Copy images from a directory to a new directory. Args: data: Path to the directory of images. image_dir: Path to the output directory. verbose: If True, print extra logging. Returns: The number of images copied. """ with status(msg="[bold yellow]Copying images...", spinner="bouncingBall", verbose=verbose): allowed_exts = [".jpg", ".jpeg", ".png", ".tif", ".tiff"] image_paths = sorted([p for p in data.glob("[!.]*") if p.suffix.lower() in allowed_exts]) num_frames = len(copy_images_list(image_paths, image_dir, verbose)) return num_frames def downscale_images(image_dir: Path, num_downscales: int, verbose: bool = False) -> str: """Downscales the images in the directory. Uses FFMPEG. Assumes images are named frame_00001.png, frame_00002.png, etc. Args: image_dir: Path to the directory containing the images. num_downscales: Number of times to downscale the images. Downscales by 2 each time. verbose: If True, logs the output of the command. Returns: Summary of downscaling. """ if num_downscales == 0: return "No downscaling performed." with status(msg="[bold yellow]Downscaling images...", spinner="growVertical", verbose=verbose): downscale_factors = [2**i for i in range(num_downscales + 1)[1:]] for downscale_factor in downscale_factors: assert downscale_factor > 1 assert isinstance(downscale_factor, int) downscale_dir = image_dir.parent / f"images_{downscale_factor}" downscale_dir.mkdir(parents=True, exist_ok=True) file_type = image_dir.glob("frame_*").__next__().suffix filename = f"frame_%05d{file_type}" ffmpeg_cmd = [ f"ffmpeg -i {image_dir / filename} ", f"-q:v 2 -vf scale=iw/{downscale_factor}:ih/{downscale_factor} ", f"{downscale_dir / filename}", ] ffmpeg_cmd = " ".join(ffmpeg_cmd) run_command(ffmpeg_cmd, verbose=verbose) CONSOLE.log("[bold green]:tada: Done downscaling images.") downscale_text = [f"[bold blue]{2**(i+1)}x[/bold blue]" for i in range(num_downscales)] downscale_text = ", ".join(downscale_text[:-1]) + " and " + downscale_text[-1] return f"We downsampled the images by {downscale_text}" def find_tool_feature_matcher_combination( sfm_tool: Literal["any", "colmap", "hloc"], feature_type: Literal[ "any", "sift", "superpoint", "superpoint_aachen", "superpoint_max", "superpoint_inloc", "r2d2", "d2net-ss", "sosnet", "disk", ], matcher_type: Literal[ "any", "NN", "superglue", "superglue-fast", "NN-superpoint", "NN-ratio", "NN-mutual", "adalam" ], ): """Find a valid combination of sfm tool, feature type, and matcher type. Basically, replace the default parameters 'any' by usable value Args: sfm_tool: Sfm tool name (any, colmap, hloc) feature_type: Type of image features (any, sift, superpoint, ...) matcher_type: Type of matching algorithm (any, NN, superglue,...) Returns: Tuple of sfm tool, feature type, and matcher type. Returns (None,None,None) if no valid combination can be found """ if sfm_tool == "any": if (feature_type in ("any", "sift")) and (matcher_type in ("any", "NN")): sfm_tool = "colmap" else: sfm_tool = "hloc" if sfm_tool == "colmap": if (feature_type not in ("any", "sift")) or (matcher_type not in ("any", "NN")): return (None, None, None) return ("colmap", "sift", "NN") if sfm_tool == "hloc": if feature_type in ("any", "superpoint"): feature_type = "superpoint_aachen" if matcher_type == "any": matcher_type = "superglue" elif matcher_type == "NN": matcher_type = "NN-mutual" return (sfm_tool, feature_type, matcher_type) return (None, None, None) ================================================ FILE: AutoReconForDens3R/nerfstudio/process_data/record3d_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Helper functions for processing record3d data.""" import json from pathlib import Path from typing import List import numpy as np from rich.console import Console from scipy.spatial.transform import Rotation from nerfstudio.process_data.process_data_utils import CAMERA_MODELS from nerfstudio.utils import io CONSOLE = Console(width=120) def record3d_to_json(images_paths: List[Path], metadata_path: Path, output_dir: Path, indices: np.ndarray) -> int: """Converts Record3D's metadata and image paths to a JSON file. Args: images_paths: list if image paths. metadata_path: Path to the Record3D metadata JSON file. output_dir: Path to the output directory. indices: Indices to sample the metadata_path. Should be the same length as images_paths. Returns: The number of registered images. """ assert len(images_paths) == len(indices) metadata_dict = io.load_from_json(metadata_path) poses_data = np.array(metadata_dict["poses"]) # (N, 3, 4) camera_to_worlds = np.concatenate( [Rotation.from_quat(poses_data[:, :4]).as_matrix(), poses_data[:, 4:, None]], axis=-1, ).astype(np.float32) camera_to_worlds = camera_to_worlds[indices] homogeneous_coord = np.zeros_like(camera_to_worlds[..., :1, :]) homogeneous_coord[..., :, 3] = 1 camera_to_worlds = np.concatenate([camera_to_worlds, homogeneous_coord], -2) frames = [] for i, im_path in enumerate(images_paths): c2w = camera_to_worlds[i] frame = { "file_path": im_path.as_posix(), "transform_matrix": c2w.tolist(), } frames.append(frame) # Camera intrinsics K = np.array(metadata_dict["K"]).reshape((3, 3)).T focal_length = K[0, 0] H = metadata_dict["h"] W = metadata_dict["w"] # TODO(akristoffersen): The metadata dict comes with principle points, # but caused errors in image coord indexing. Should update once that is fixed. cx, cy = W / 2, H / 2 out = { "fl_x": focal_length, "fl_y": focal_length, "cx": cx, "cy": cy, "w": W, "h": H, "camera_model": CAMERA_MODELS["perspective"].name, } out["frames"] = frames with open(output_dir / "transforms.json", "w", encoding="utf-8") as f: json.dump(out, f, indent=4) return len(frames) ================================================ FILE: AutoReconForDens3R/nerfstudio/py.typed ================================================ ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/bilateral_solver.py ================================================ import numpy as np from scipy import ndimage from scipy.sparse import diags from scipy.sparse.linalg import cg from scipy.sparse import csr_matrix RGB_TO_YUV = np.array( [[0.299, 0.587, 0.114], [-0.168736, -0.331264, 0.5], [0.5, -0.418688, -0.081312]] ) YUV_TO_RGB = np.array([[1.0, 0.0, 1.402], [1.0, -0.34414, -0.71414], [1.0, 1.772, 0.0]]) YUV_OFFSET = np.array([0, 128.0, 128.0]).reshape(1, 1, -1) MAX_VAL = 255.0 def rgb2yuv(im): return np.tensordot(im, RGB_TO_YUV, ([2], [1])) + YUV_OFFSET def yuv2rgb(im): return np.tensordot(im.astype(float) - YUV_OFFSET, YUV_TO_RGB, ([2], [1])) def get_valid_idx(valid, candidates): """Find which values are present in a list and where they are located""" locs = np.searchsorted(valid, candidates) # Handle edge case where the candidate is larger than all valid values locs = np.clip(locs, 0, len(valid) - 1) # Identify which values are actually present valid_idx = np.flatnonzero(valid[locs] == candidates) locs = locs[valid_idx] return valid_idx, locs class BilateralGrid(object): def __init__(self, im, sigma_spatial=32, sigma_luma=8, sigma_chroma=8): im_yuv = rgb2yuv(im) # Compute 5-dimensional XYLUV bilateral-space coordinates Iy, Ix = np.mgrid[:im.shape[0], :im.shape[1]] x_coords = (Ix / sigma_spatial).astype(int) y_coords = (Iy / sigma_spatial).astype(int) luma_coords = (im_yuv[..., 0] / sigma_luma).astype(int) chroma_coords = (im_yuv[..., 1:] / sigma_chroma).astype(int) coords = np.dstack((x_coords, y_coords, luma_coords, chroma_coords)) coords_flat = coords.reshape(-1, coords.shape[-1]) self.npixels, self.dim = coords_flat.shape # Hacky "hash vector" for coordinates, # Requires all scaled coordinates be < MAX_VAL self.hash_vec = (MAX_VAL**np.arange(self.dim)) # Construct S and B matrix self._compute_factorization(coords_flat) def _compute_factorization(self, coords_flat): # Hash each coordinate in grid to a unique value hashed_coords = self._hash_coords(coords_flat) unique_hashes, unique_idx, idx = \ np.unique(hashed_coords, return_index=True, return_inverse=True) # Identify unique set of vertices unique_coords = coords_flat[unique_idx] self.nvertices = len(unique_coords) # Construct sparse splat matrix that maps from pixels to vertices self.S = csr_matrix((np.ones(self.npixels), (idx, np.arange(self.npixels)))) # Construct sparse blur matrices. # Note that these represent [1 0 1] blurs, excluding the central element self.blurs = [] for d in range(self.dim): blur = 0.0 for offset in (-1, 1): offset_vec = np.zeros((1, self.dim)) offset_vec[:, d] = offset neighbor_hash = self._hash_coords(unique_coords + offset_vec) valid_coord, idx = get_valid_idx(unique_hashes, neighbor_hash) blur = blur + csr_matrix( (np.ones((len(valid_coord), )), (valid_coord, idx)), shape=(self.nvertices, self.nvertices) ) self.blurs.append(blur) def _hash_coords(self, coord): """Hacky function to turn a coordinate into a unique value""" return np.dot(coord.reshape(-1, self.dim), self.hash_vec) def splat(self, x): return self.S.dot(x) def slice(self, y): return self.S.T.dot(y) def blur(self, x): """Blur a bilateral-space vector with a 1 2 1 kernel in each dimension""" assert x.shape[0] == self.nvertices out = 2 * self.dim * x for blur in self.blurs: out = out + blur.dot(x) return out def filter(self, x): """Apply bilateral filter to an input x""" return self.slice(self.blur(self.splat(x))) / \ self.slice(self.blur(self.splat(np.ones_like(x)))) def bistochastize(grid, maxiter=10): """Compute diagonal matrices to bistochastize a bilateral grid""" m = grid.splat(np.ones(grid.npixels)) n = np.ones(grid.nvertices) for i in range(maxiter): n = np.sqrt(n * m / grid.blur(n)) # Correct m to satisfy the assumption of bistochastization regardless # of how many iterations have been run. m = n * grid.blur(n) Dm = diags(m, 0) Dn = diags(n, 0) return Dn, Dm class BilateralSolver(object): def __init__(self, grid, params): self.grid = grid self.params = params self.Dn, self.Dm = bistochastize(grid) def solve(self, x, w): # Check that w is a vector or a nx1 matrix if w.ndim == 2: assert (w.shape[1] == 1) elif w.dim == 1: w = w.reshape(w.shape[0], 1) A_smooth = (self.Dm - self.Dn.dot(self.grid.blur(self.Dn))) w_splat = self.grid.splat(w) A_data = diags(w_splat[:, 0], 0) A = self.params["lam"] * A_smooth + A_data xw = x * w b = self.grid.splat(xw) # Use simple Jacobi preconditioner A_diag = np.maximum(A.diagonal(), self.params["A_diag_min"]) M = diags(1 / A_diag, 0) # Flat initialization y0 = self.grid.splat(xw) / w_splat yhat = np.empty_like(y0) for d in range(x.shape[-1]): yhat[..., d], info = cg( A, b[..., d], x0=y0[..., d], M=M, maxiter=self.params["cg_maxiter"], tol=self.params["cg_tol"] ) xhat = self.grid.slice(yhat) return xhat def bilateral_refine(image, mask, sigma_spatial=24, sigma_luma=4, sigma_chroma=4, soft_mask=False, binary_thresh=0.5, confidence=0.999): reference = image h, w = mask.shape if not soft_mask: confidence = np.ones((h, w)) * confidence else: assert mask.max() <= 1.0 confidence = mask.clone() mask = (mask > binary_thresh).astype(np.float64) grid_params = { 'sigma_luma': sigma_luma, # Brightness bandwidth 'sigma_chroma': sigma_chroma, # Color bandwidth 'sigma_spatial': sigma_spatial # Spatial bandwidth } bs_params = { 'lam': 256, # The strength of the smoothness parameter 'A_diag_min': 1e-5, # Clamp the diagonal of the A diagonal in the Jacobi preconditioner. 'cg_tol': 1e-5, # The tolerance on the convergence in PCG 'cg_maxiter': 25 # The number of PCG iterations } grid = BilateralGrid(reference, **grid_params) t = mask.reshape(-1, 1).astype(np.double) c = confidence.reshape(-1, 1).astype(np.double) # output solver, which is a soft value output_solver = BilateralSolver(grid, bs_params).solve(t, c).reshape((h, w)) binary_solver = ndimage.binary_fill_holes(output_solver > 0.5) labeled, nr_objects = ndimage.label(binary_solver) nb_pixel = [np.sum(labeled == i) for i in range(nr_objects + 1)] pixel_order = np.argsort(nb_pixel) try: # take the second-largest components (assume the largest component is bg) binary_solver = labeled == pixel_order[-2] except: binary_solver = np.ones((h, w), dtype=bool) return output_solver, binary_solver ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/colormaps.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Helper functions for visualizing outputs """ from typing import Optional import torch from matplotlib import cm from torchtyping import TensorType from nerfstudio.utils import colors def apply_colormap(image: TensorType["bs":..., 1], cmap="viridis") -> TensorType["bs":..., "rgb":3]: """Convert single channel to a color image. Args: image: Single channel image. cmap: Colormap for image. Returns: TensorType: Colored image """ # TODO: support more colormaps colormap = cm.get_cmap(cmap) colormap = torch.tensor(colormap.colors).to(image.device) # type: ignore image_long = (image * 255).long() image_long_min = torch.min(image_long) image_long_max = torch.max(image_long) assert image_long_min >= 0, f"the min value is {image_long_min}" assert image_long_max <= 255, f"the max value is {image_long_max}" return colormap[image_long[..., 0]] def apply_depth_colormap( depth: TensorType["bs":..., 1], accumulation: Optional[TensorType["bs":..., 1]] = None, near_plane: Optional[float] = None, far_plane: Optional[float] = None, cmap="turbo", ) -> TensorType["bs":..., "rgb":3]: """Converts a depth image to color for easier analysis. Args: depth: Depth image. accumulation: Ray accumulation used for masking vis. near_plane: Closest depth to consider. If None, use min image value. far_plane: Furthest depth to consider. If None, use max image value. cmap: Colormap to apply. Returns: Colored depth image """ near_plane = near_plane or float(torch.min(depth)) far_plane = far_plane or float(torch.max(depth)) depth = (depth - near_plane) / (far_plane - near_plane + 1e-10) depth = torch.clip(depth, 0, 1) # depth = torch.nan_to_num(depth, nan=0.0) # TODO(ethan): remove this colored_image = apply_colormap(depth, cmap=cmap) if accumulation is not None: colored_image = colored_image * accumulation + (1 - accumulation) return colored_image def apply_boolean_colormap( image: TensorType["bs":..., 1, bool], true_color: TensorType["bs":..., "rgb":3] = colors.WHITE, false_color: TensorType["bs":..., "rgb":3] = colors.BLACK, ) -> TensorType["bs":..., "rgb":3]: """Converts a depth image to color for easier analysis. Args: image: Boolean image. true_color: Color to use for True. false_color: Color to use for False. Returns: Colored boolean image """ colored_image = torch.ones(image.shape[:-1] + (3,)) colored_image[image[..., 0], :] = true_color colored_image[~image[..., 0], :] = false_color return colored_image ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/colors.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Common Colors""" from typing import Union import torch from torchtyping import TensorType WHITE = torch.tensor([1.0, 1.0, 1.0]) BLACK = torch.tensor([0.0, 0.0, 0.0]) RED = torch.tensor([1.0, 0.0, 0.0]) GREEN = torch.tensor([0.0, 1.0, 0.0]) BLUE = torch.tensor([0.0, 0.0, 1.0]) COLORS_DICT = { "white": WHITE, "black": BLACK, "red": RED, "green": GREEN, "blue": BLUE, } def get_color(color: Union[str, list]) -> TensorType[3]: """ Args: color (Union[str, list]): Color as a string or a rgb list Returns: TensorType[3]: Parsed color """ if isinstance(color, str): color = color.lower() if color not in COLORS_DICT: raise ValueError(f"{color} is not a valid preset color") return COLORS_DICT[color] if isinstance(color, list): if len(color) != 3: raise ValueError(f"Color should be 3 values (RGB) instead got {color}") return torch.tensor(color) raise ValueError(f"Color should be an RGB list or string, instead got {type(color)}") ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/comms.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """functionality to handle multiprocessing syncing and communicating""" import torch.distributed as dist LOCAL_PROCESS_GROUP = None def is_dist_avail_and_initialized() -> bool: """Returns True if distributed is available and initialized.""" return dist.is_available() and dist.is_initialized() def get_world_size() -> int: """Get total number of available gpus""" if not is_dist_avail_and_initialized(): return 1 return dist.get_world_size() def get_rank() -> int: """Get global rank of current thread""" if not is_dist_avail_and_initialized(): return 0 return dist.get_rank() def get_local_rank() -> int: """The rank of the current process within the local (per-machine) process group.""" if not is_dist_avail_and_initialized(): return 0 assert ( LOCAL_PROCESS_GROUP is not None ), "Local process group is not created! Please use launch() to spawn processes!" return dist.get_rank(group=LOCAL_PROCESS_GROUP) def get_local_size() -> int: """ The size of the per-machine process group, i.e. the number of processes per machine. """ if not is_dist_avail_and_initialized(): return 1 return dist.get_world_size(group=LOCAL_PROCESS_GROUP) def is_main_process() -> bool: """check to see if you are currently on the main process""" return get_rank() == 0 def synchronize(): """ Helper function to synchronize (barrier) among all processes when using distributed training """ if dist.get_world_size() == 1: return if dist.get_backend() == dist.Backend.NCCL: # This argument is needed to avoid warnings. # It's valid only for NCCL backend. dist.barrier(device_ids=[get_local_rank()]) else: dist.barrier() ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/decorators.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Decorator definitions """ from typing import Callable, List from nerfstudio.utils import comms def decorate_all(decorators: List[Callable]) -> Callable: """A decorator to decorate all member functions of a class Args: decorators: list of decorators to add to all functions in the class """ def decorate(cls): for attr in cls.__dict__: if callable(getattr(cls, attr)) and attr != "__init__": for decorator in decorators: setattr(cls, attr, decorator(getattr(cls, attr))) return cls return decorate def check_profiler_enabled(func: Callable) -> Callable: """Decorator: check if profiler is enabled""" def wrapper(self, *args, **kwargs): ret = None if self.config.enable_profiler: ret = func(self, *args, **kwargs) return ret return wrapper def check_viewer_enabled(func: Callable) -> Callable: """Decorator: check if viewer is enabled and only run on main process""" def wrapper(self, *args, **kwargs): ret = None if self.config.is_viewer_enabled() and comms.is_main_process(): ret = func(self, *args, **kwargs) return ret return wrapper def check_eval_enabled(func: Callable) -> Callable: """Decorator: check if evaluation step is enabled""" def wrapper(self, *args, **kwargs): ret = None if self.config.is_wandb_enabled() or self.config.is_tensorboard_enabled(): ret = func(self, *args, **kwargs) return ret return wrapper def check_main_thread(func: Callable) -> Callable: """Decorator: check if you are on main thread""" def wrapper(*args, **kwargs): ret = None if comms.is_main_process(): ret = func(*args, **kwargs) return ret return wrapper ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/eval_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Evaluation utils """ from __future__ import annotations import os import sys from pathlib import Path from typing import Optional, Tuple, Callable import torch import yaml from rich.console import Console from typing_extensions import Literal from nerfstudio.configs import base_config as cfg from nerfstudio.pipelines.base_pipeline import Pipeline CONSOLE = Console(width=120) def eval_load_checkpoint(config: cfg.TrainerConfig, pipeline: Pipeline) -> Path: ## TODO: ideally eventually want to get this to be the same as whatever is used to load train checkpoint too """Helper function to load checkpointed pipeline Args: config (DictConfig): Configuration of pipeline to load pipeline (Pipeline): Pipeline instance of which to load weights """ assert config.load_dir is not None if config.load_step is None: CONSOLE.print("Loading latest checkpoint from load_dir") # NOTE: this is specific to the checkpoint name format if not os.path.exists(config.load_dir): CONSOLE.rule("Error", style="red") CONSOLE.print(f"No checkpoint directory found at {config.load_dir}, ", justify="center") CONSOLE.print( "Please make sure the checkpoint exists, they should be generated periodically during training", justify="center", ) sys.exit(1) load_step = sorted(int(x[x.find("-") + 1 : x.find(".")]) for x in os.listdir(config.load_dir))[-1] else: load_step = config.load_step load_path = config.load_dir / f"step-{load_step:09d}.ckpt" assert load_path.exists(), f"Checkpoint {load_path} does not exist" loaded_state = torch.load(load_path, map_location="cpu") if getattr(config, "load_pipeline_ckpt_strict", True): pipeline.load_pipeline(loaded_state["pipeline"]) else: pipeline.load_pipeline(loaded_state["pipeline"], strict=False) CONSOLE.print("[bold yellow]Pipeline checkpoint loaded with strict=False") CONSOLE.print(f":white_check_mark: Done loading checkpoint from {load_path}") return load_path def eval_setup( config_path: Path, eval_num_rays_per_chunk: Optional[int] = None, test_mode: Literal["test", "val", "inference"] = "test", cache_images: bool = True, config_override_fn: Optional[Callable] = None ) -> Tuple[cfg.Config, Pipeline, Path]: """Shared setup for loading a saved pipeline for evaluation. Args: config_path: Path to config YAML file. eval_num_rays_per_chunk: Number of rays per forward pass test_mode: 'val': loads train/val datasets into memory 'test': loads train/test datset into memory 'inference': does not load any dataset into memory Returns: Loaded config, pipeline module, and corresponding checkpoint. """ # load save config config = yaml.load(config_path.read_text(), Loader=yaml.Loader) assert isinstance(config, cfg.Config) if eval_num_rays_per_chunk: config.pipeline.model.eval_num_rays_per_chunk = eval_num_rays_per_chunk # load checkpoints from wherever they were saved # TODO: expose the ability to choose an arbitrary checkpoint config.trainer.load_dir = config.get_checkpoint_dir() config.pipeline.datamanager.eval_image_indices = None if not cache_images: config.pipeline.datamanager.train_num_images_to_sample_from = 0 config.pipeline.datamanager.eval_num_images_to_sample_from = 0 if config_override_fn is not None: CONSOLE.print(f"Overriding config with {config_override_fn}") config_override_fn(config) # setup pipeline (which includes the DataManager) device = torch.device("cuda" if torch.cuda.is_available() else "cpu") pipeline = config.pipeline.setup(device=device, test_mode=test_mode) assert isinstance(pipeline, Pipeline) pipeline.eval() # load checkpointed information checkpoint_path = eval_load_checkpoint(config.trainer, pipeline) return config, pipeline, checkpoint_path ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/func_utils.py ================================================ from typing import Sequence def get_first_element(elems: Sequence): return elems[0] ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/images.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Defines an image that can be batched with the default nerfstudio collate fn, even if the images aren't of the same height and width. """ from typing import List import torch # pylint: disable=too-few-public-methods class BasicImages: """This is a very primitive struct for holding images, especially for when these images are of different heights / widths. The purpose of this is to have a special struct wrapping around a list so that the nerfstudio_collate fn and other parts of the code recognise this as a struct to leave alone instead of reshaping or concatenating into a single tensor (since this will likely be used for cases where we have images of different sizes and shapes). This only has one batch dimension and will likely be replaced down the line with some TensorDataclass alternative that supports arbitrary batches. """ def __init__(self, images: List): assert isinstance(images, List) assert not images or isinstance( images[0], torch.Tensor ), f"Input should be a list of tensors, not {type(images[0]) if isinstance(images, List) else type(images)}" self.images = images def to(self, device): """Move the images to the given device.""" assert isinstance(device, (torch.device, str)) return BasicImages([image.to(device) for image in self.images]) ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/install_checks.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Helpers for checking if programs are installed""" import shutil import sys from rich.console import Console CONSOLE = Console(width=120) def check_ffmpeg_installed(): """Checks if ffmpeg is installed.""" ffmpeg_path = shutil.which("ffmpeg") if ffmpeg_path is None: CONSOLE.print("[bold red]Could not find ffmpeg. Please install ffmpeg.") print("See https://ffmpeg.org/download.html for installation instructions.") print("ffmpeg is only necessary if using videos as input.") sys.exit(1) def check_colmap_installed(): """Checks if colmap is installed.""" colmap_path = shutil.which("colmap") if colmap_path is None: CONSOLE.print("[bold red]Could not find COLMAP. Please install COLMAP.") print("See https://colmap.github.io/install.html for installation instructions.") sys.exit(1) ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/io.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Input/output utils. """ import json from pathlib import Path def load_from_json(filename: Path): """Load a dictionary from a JSON filename. Args: filename: The filename to load from. """ assert filename.suffix == ".json" with open(filename, encoding="UTF-8") as file: return json.load(file) def write_to_json(filename: Path, content: dict): """Write data to a JSON file. Args: filename: The filename to write to. content: The dictionary data to write. """ assert filename.suffix == ".json" with open(filename, "w", encoding="UTF-8") as file: json.dump(content, file) ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/marching_cubes.py ================================================ from pathlib import Path from rich import console import numpy as np import pymeshlab import torch import trimesh from skimage import measure CONSOLE = console.Console(width=120) avg_pool_3d = torch.nn.AvgPool3d(2, stride=2) upsample = torch.nn.Upsample(scale_factor=2, mode="nearest") @torch.no_grad() def get_surface_sliding( sdf, resolution=512, bounding_box_min=(-1.0, -1.0, -1.0), bounding_box_max=(1.0, 1.0, 1.0), return_mesh=False, level=0, coarse_mask=None, output_path: Path = Path("test.ply"), simplify_mesh=True, chunk_size=100000, store_float16=False, # store intermediate results with float16 to save VRAM ): dtype = torch.float32 if not store_float16 else torch.float16 if coarse_mask is not None: # we need to permute here as pytorch's grid_sample use (z, y, x) coarse_mask = coarse_mask.permute(2, 1, 0)[None, None].cuda().float() resN = resolution cropN = min(resN, 512) level = 0 N = resN // cropN grid_min = bounding_box_min grid_max = bounding_box_max xs = np.linspace(grid_min[0], grid_max[0], N + 1) ys = np.linspace(grid_min[1], grid_max[1], N + 1) zs = np.linspace(grid_min[2], grid_max[2], N + 1) meshes = [] # TODO: add a status bar for i in range(N): for j in range(N): for k in range(N): # print(i, j, k) x_min, x_max = xs[i], xs[i + 1] y_min, y_max = ys[j], ys[j + 1] z_min, z_max = zs[k], zs[k + 1] x = np.linspace(x_min, x_max, cropN) y = np.linspace(y_min, y_max, cropN) z = np.linspace(z_min, z_max, cropN) xx, yy, zz = np.meshgrid(x, y, z, indexing="ij") points = torch.tensor(np.vstack([xx.ravel(), yy.ravel(), zz.ravel()]).T, dtype=torch.float).cuda() def evaluate(points): z = [] for _, pnts in enumerate(torch.split(points, chunk_size, dim=0)): z.append(sdf(pnts)) z = torch.cat(z, axis=0) sdf_val = z.to(dtype) del z torch.cuda.empty_cache() return sdf_val # construct point pyramids points = points.reshape(cropN, cropN, cropN, 3).permute(3, 0, 1, 2) if coarse_mask is not None: # breakpoint() points_tmp = points.permute(1, 2, 3, 0)[None].cuda() current_mask = torch.nn.functional.grid_sample(coarse_mask, points_tmp) current_mask = (current_mask > 0.0).cpu().numpy()[0, 0] else: current_mask = None points_pyramid = [points] for _ in range(3): points = avg_pool_3d(points[None])[0] points_pyramid.append(points) points_pyramid = points_pyramid[::-1] # evalute pyramid with mask mask = None threshold = 2 * (x_max - x_min) / cropN * 8 for pid, pts in enumerate(points_pyramid): coarse_N = pts.shape[-1] pts = pts.reshape(3, -1).permute(1, 0).contiguous() if mask is None: # only evaluate if coarse_mask is not None: pts_sdf = torch.ones_like(pts[:, 1], dtpye=dtype) valid_mask = ( torch.nn.functional.grid_sample(coarse_mask, pts[None, None, None])[0, 0, 0, 0] > 0 ) if valid_mask.any(): pts_sdf[valid_mask] = evaluate(pts[valid_mask].contiguous()) else: pts_sdf = evaluate(pts) else: mask = mask.reshape(-1) pts_to_eval = pts[mask] if pts_to_eval.shape[0] > 0: pts_sdf_eval = evaluate(pts_to_eval.contiguous()) pts_sdf[mask] = pts_sdf_eval # print("ratio", pts_to_eval.shape[0] / pts.shape[0]) if pid < 3: # update mask mask = torch.abs(pts_sdf) < threshold mask = mask.reshape(coarse_N, coarse_N, coarse_N)[None, None] mask = upsample(mask.float()).bool() pts_sdf = pts_sdf.reshape(coarse_N, coarse_N, coarse_N)[None, None] pts_sdf = upsample(pts_sdf) pts_sdf = pts_sdf.reshape(-1) threshold /= 2.0 z = pts_sdf.detach().cpu().numpy() # skip if no surface found if current_mask is not None: valid_z = z.reshape(cropN, cropN, cropN)[current_mask] if valid_z.shape[0] <= 0 or (np.min(valid_z) > level or np.max(valid_z) < level): continue if not (np.min(z) > level or np.max(z) < level): z = z.astype(np.float32) verts, faces, vertex_normals, _ = measure.marching_cubes( volume=z.reshape(cropN, cropN, cropN), # .transpose([1, 0, 2]), level=level, spacing=( (x_max - x_min) / (cropN - 1), (y_max - y_min) / (cropN - 1), (z_max - z_min) / (cropN - 1), ), mask=current_mask, ) # print(nzp.array([x_min, y_min, z_min])) # print(verts.min(), verts.max()) verts = verts + np.array([x_min, y_min, z_min]) # print(verts.min(), verts.max()) meshcrop = trimesh.Trimesh(verts, faces, vertex_normals=vertex_normals) # meshcrop.export(f"{i}_{j}_{k}.ply") meshes.append(meshcrop) combined = trimesh.util.concatenate(meshes) if return_mesh: return combined else: filename = str(output_path) filename_simplify = str(output_path).replace(".ply", "-simplify.ply") combined.export(filename) CONSOLE.print(f"Marching cube mesh saved: {filename}") if simplify_mesh: ms = pymeshlab.MeshSet() ms.load_new_mesh(filename) print("simply mesh") ms.meshing_decimation_quadric_edge_collapse(targetfacenum=2000000) ms.save_current_mesh(filename_simplify, save_face_color=False) CONSOLE.print(f"Simplified mesh saved: {filename_simplify}") @torch.no_grad() def get_surface_occupancy( occupancy_fn, resolution=512, bounding_box_min=(-1.0, -1.0, -1.0), bounding_box_max=(1.0, 1.0, 1.0), return_mesh=False, level=0.5, device=None, output_path: Path = Path("test.ply"), chunk_size=100000, ): grid_min = bounding_box_min grid_max = bounding_box_max N = resolution xs = np.linspace(grid_min[0], grid_max[0], N) ys = np.linspace(grid_min[1], grid_max[1], N) zs = np.linspace(grid_min[2], grid_max[2], N) xx, yy, zz = np.meshgrid(xs, ys, zs, indexing="ij") points = torch.tensor(np.vstack([xx.ravel(), yy.ravel(), zz.ravel()]).T, dtype=torch.float).to(device=device) def evaluate(points): z = [] for _, pnts in enumerate(torch.split(points, chunk_size, dim=0)): z.append(occupancy_fn(pnts.contiguous()).contiguous()) z = torch.cat(z, axis=0) return z z = evaluate(points).detach().cpu().numpy() if not (np.min(z) > level or np.max(z) < level): verts, faces, normals, _ = measure.marching_cubes( volume=z.reshape(resolution, resolution, resolution), level=level, spacing=( (grid_max[0] - grid_min[0]) / (N - 1), (grid_max[1] - grid_min[1]) / (N - 1), (grid_max[2] - grid_min[2]) / (N - 1), ), ) verts = verts + np.array(grid_min) output_path.parent.mkdir(parents=True, exist_ok=True) meshexport = trimesh.Trimesh(verts, faces, normals) meshexport.export(str(output_path)) else: print("=================================================no surface skip") ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/mask_utils.py ================================================ from typing import Dict, Any import torch from torchtyping import TensorType def alpha_composite(rgb0: torch.Tensor, rgb1: torch.Tensor, alpha0: torch.Tensor, alpha1: torch.Tensor): """Alpha composite two RGB images.""" alpha = alpha0 + alpha1 * (1 - alpha0) rgb = (rgb0 * alpha0 + rgb1 * alpha1 * (1 - alpha0)) / alpha rgba = torch.cat([rgb, alpha], -1) return rgba def overlay_mask_on_image(mask_rgb: TensorType["h", "w", 3], img_rgb: TensorType["h", "w", 3], mask_prob: TensorType["h", "w", 1]): mask_alpha = mask_prob img_alpha = torch.ones_like(mask_alpha) return alpha_composite(mask_rgb, img_rgb, mask_alpha, img_alpha) def compute_mask_indices(collated_batch: Dict[str, Any]) -> Dict[str, Any]: """precompute zero and non-zero mask indices for fast sampling from masked & non-masked regions""" if "mask" not in collated_batch: return collated_batch if not isinstance(collated_batch["mask"], torch.Tensor): raise NotImplementedError # e.g., handling ``BasicImages`` mask = collated_batch["mask"][..., 0] # (n_frames, h, w) assert mask.ndim == 3 nonzero_indices = torch.nonzero(mask, as_tuple=False).to(torch.int16) zero_indices = torch.nonzero(~mask, as_tuple=False).to(torch.int16) collated_batch.update({ "mask_nonzero_indices": nonzero_indices, "mask_zero_indices": zero_indices }) return collated_batch ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/math.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Math Helper Functions """ from dataclasses import dataclass import torch from torchtyping import TensorType def components_from_spherical_harmonics(levels: int, directions: TensorType[..., 3]) -> TensorType[..., "components"]: """ Returns value for each component of spherical harmonics. Args: levels: Number of spherical harmonic levels to compute. directions: Spherical hamonic coefficients """ num_components = levels**2 components = torch.zeros((*directions.shape[:-1], num_components), device=directions.device) assert 1 <= levels <= 5, f"SH levels must be in [1,4], got {levels}" assert directions.shape[-1] == 3, f"Direction input should have three dimensions. Got {directions.shape[-1]}" x = directions[..., 0] y = directions[..., 1] z = directions[..., 2] xx = x**2 yy = y**2 zz = z**2 # l0 components[..., 0] = 0.28209479177387814 # l1 if levels > 1: components[..., 1] = 0.4886025119029199 * y components[..., 2] = 0.4886025119029199 * z components[..., 3] = 0.4886025119029199 * x # l2 if levels > 2: components[..., 4] = 1.0925484305920792 * x * y components[..., 5] = 1.0925484305920792 * y * z components[..., 6] = 0.9461746957575601 * zz - 0.31539156525251999 components[..., 7] = 1.0925484305920792 * x * z components[..., 8] = 0.5462742152960396 * (xx - yy) # l3 if levels > 3: components[..., 9] = 0.5900435899266435 * y * (3 * xx - yy) components[..., 10] = 2.890611442640554 * x * y * z components[..., 11] = 0.4570457994644658 * y * (5 * zz - 1) components[..., 12] = 0.3731763325901154 * z * (5 * zz - 3) components[..., 13] = 0.4570457994644658 * x * (5 * zz - 1) components[..., 14] = 1.445305721320277 * z * (xx - yy) components[..., 15] = 0.5900435899266435 * x * (xx - 3 * yy) # l4 if levels > 4: components[..., 16] = 2.5033429417967046 * x * y * (xx - yy) components[..., 17] = 1.7701307697799304 * y * z * (3 * xx - yy) components[..., 18] = 0.9461746957575601 * x * y * (7 * zz - 1) components[..., 19] = 0.6690465435572892 * y * (7 * zz - 3) components[..., 20] = 0.10578554691520431 * (35 * zz * zz - 30 * zz + 3) components[..., 21] = 0.6690465435572892 * x * z * (7 * zz - 3) components[..., 22] = 0.47308734787878004 * (xx - yy) * (7 * zz - 1) components[..., 23] = 1.7701307697799304 * x * z * (xx - 3 * yy) components[..., 24] = 0.4425326924449826 * (xx * (xx - 3 * yy) - yy * (3 * xx - yy)) return components @dataclass class Gaussians: """Stores Gaussians Args: mean: Mean of multivariate Gaussian cov: Covariance of multivariate Gaussian. """ mean: TensorType[..., "dim"] cov: TensorType[..., "dim", "dim"] def compute_3d_gaussian( directions: TensorType[..., 3], means: TensorType[..., 3], dir_variance: TensorType[..., 1], radius_variance: TensorType[..., 1], ) -> Gaussians: """Compute guassian along ray. Args: directions: Axis of Gaussian. means: Mean of Gaussian. dir_variance: Variance along direction axis. radius_variance: Variance tangent to direction axis. Returns: Gaussians: Oriented 3D gaussian. """ dir_outer_product = directions[..., :, None] * directions[..., None, :] eye = torch.eye(directions.shape[-1], device=directions.device) dir_mag_sq = torch.clamp(torch.sum(directions**2, dim=-1, keepdim=True), min=1e-10) null_outer_product = eye - directions[..., :, None] * (directions / dir_mag_sq)[..., None, :] dir_cov_diag = dir_variance[..., None] * dir_outer_product[..., :, :] radius_cov_diag = radius_variance[..., None] * null_outer_product[..., :, :] cov = dir_cov_diag + radius_cov_diag return Gaussians(mean=means, cov=cov) def cylinder_to_gaussian( origins: TensorType[..., 3], directions: TensorType[..., 3], starts: TensorType[..., 1], ends: TensorType[..., 1], radius: TensorType[..., 1], ) -> Gaussians: """Approximates cylinders with a Gaussian distributions. Args: origins: Origins of cylinders. directions: Direction (axis) of cylinders. starts: Start of cylinders. ends: End of cylinders. radius: Radii of cylinders. Returns: Gaussians: Approximation of cylinders """ means = origins + directions * ((starts + ends) / 2.0) dir_variance = (ends - starts) ** 2 / 12 radius_variance = radius**2 / 4.0 return compute_3d_gaussian(directions, means, dir_variance, radius_variance) def conical_frustum_to_gaussian( origins: TensorType[..., 3], directions: TensorType[..., 3], starts: TensorType[..., 1], ends: TensorType[..., 1], radius: TensorType[..., 1], ) -> Gaussians: """Approximates conical frustums with a Gaussian distributions. Uses stable parameterization described in mip-NeRF publication. Args: origins: Origins of cones. directions: Direction (axis) of frustums. starts: Start of conical frustums. ends: End of conical frustums. radius: Radii of cone a distance of 1 from the origin. Returns: Gaussians: Approximation of conical frustums """ mu = (starts + ends) / 2.0 hw = (ends - starts) / 2.0 means = origins + directions * (mu + (2.0 * mu * hw**2.0) / (3.0 * mu**2.0 + hw**2.0)) dir_variance = (hw**2) / 3 - (4 / 15) * ((hw**4 * (12 * mu**2 - hw**2)) / (3 * mu**2 + hw**2) ** 2) radius_variance = radius**2 * ((mu**2) / 4 + (5 / 12) * hw**2 - 4 / 15 * (hw**4) / (3 * mu**2 + hw**2)) return compute_3d_gaussian(directions, means, dir_variance, radius_variance) def expected_sin(x_means: torch.Tensor, x_vars: torch.Tensor) -> torch.Tensor: """Computes the expected value of sin(y) where y ~ N(x_means, x_vars) Args: x_means: Mean values. x_vars: Variance of values. Returns: torch.Tensor: The expected value of sin. """ return torch.exp(-0.5 * x_vars) * torch.sin(x_means) ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/misc.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Miscellaneous helper code. """ from typing import Any, Callable, Dict, List, Optional, Union import torch from nerfstudio.utils.pointclouds import BasicPointClouds def get_dict_to_torch(stuff: Any, device: Union[torch.device, str] = "cpu", exclude: Optional[List[str]] = None): """Set everything in the dict to the specified torch device. Args: stuff: things to convert to torch device: machine to put the "stuff" on exclude: list of keys to skip over transferring to device """ if isinstance(stuff, dict): for k, v in stuff.items(): if exclude and k in exclude: stuff[k] = v else: stuff[k] = get_dict_to_torch(v, device) return stuff if isinstance(stuff, (torch.Tensor, BasicPointClouds)): # TODO: add BasicImages? return stuff.to(device) return stuff def get_dict_to_cpu(stuff: Any): """Set everything in the dict to CPU. Args: stuff: things to place onto cpu """ if isinstance(stuff, dict): for k, v in stuff.items(): stuff[k] = get_dict_to_cpu(v) return stuff if isinstance(stuff, torch.Tensor): return stuff.detach().cpu() return stuff def get_masked_dict(d, mask): """Return a masked dictionary. TODO(ethan): add more asserts/checks so this doesn't have unpredictable behavior. Args: d: dict to process mask: mask to apply to values in dictionary """ masked_dict = {} for key, value in d.items(): masked_dict[key] = value[mask] return masked_dict class IterableWrapper: # pylint: disable=too-few-public-methods """A helper that will allow an instance of a class to return multiple kinds of iterables bound to different functions of that class. To use this, take an instance of a class. From that class, pass in the . and . to the IterableWrapper constructor. By passing in the instance's functions instead of just the class's functions, the self argument should automatically be accounted for. Args: new_iter: function that will be called instead as the __iter__() function new_next: function that will be called instead as the __next__() function length: length of the iterable. If -1, the iterable will be infinite. Attributes: new_iter: object's pointer to the function we are calling for __iter__() new_next: object's pointer to the function we are calling for __next__() length: length of the iterable. If -1, the iterable will be infinite. i: current index of the iterable. """ i: int def __init__(self, new_iter: Callable, new_next: Callable, length: int = -1): self.new_iter = new_iter self.new_next = new_next self.length = length def __next__(self): if self.length != -1 and self.i >= self.length: raise StopIteration self.i += 1 return self.new_next() def __iter__(self): self.new_iter() self.i = 0 return self def scale_dict(dictionary: Dict[Any, Any], coefficients: Dict[str, float]) -> Dict[Any, Any]: """Scale a dictionary in-place given a coefficients dictionary. Args: dictionary: input dict to be scaled. coefficients: scalar dict config for holding coefficients. Returns: Input dict scaled by coefficients. """ for key in dictionary: if key in coefficients: dictionary[key] *= coefficients[key] return dictionary def step_check(step, step_size, run_at_zero=False) -> bool: """Returns true based on current step and step interval.""" if step_size == 0: return False return (run_at_zero or step != 0) and step % step_size == 0 def update_avg(prev_avg: float, new_val: float, step: int) -> float: """helper to calculate the running average Args: prev_avg (float): previous average value new_val (float): new value to update the average with step (int): current step number Returns: float: new updated average """ return (step * prev_avg + new_val) / (step + 1) ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/plotly_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Visualization code for plotly. The function use prefix conventions in the following way: - 'get_*' functions (e.g., 'get_camera_frustums') return data that can be ploted with plotly - 'vis_*' functions (e.g., 'vis_camera_rays') return 'go.Figure' objects which are the plots. Go Figure! :') """ from typing import Any, List, Optional, Union import numpy as np import plotly.graph_objects as go import torch import torch.nn.functional as F from plotly import express as ex from torchtyping import TensorType from nerfstudio.cameras.cameras import Cameras from nerfstudio.cameras.rays import Frustums, RayBundle from nerfstudio.utils.math import Gaussians def color_str(color): """Plotly color string. Args: color: list [r, g, b] in [0, 1] range Returns: str: plotly-formatted color string """ color = list((np.array(color) * 255.0).astype("int")) return f"""rgb({color[0]}, {color[1]}, {color[2]})""" def get_line_segments_from_lines( lines: TensorType["num_rays", 2, 3], color: str = color_str((1, 0, 0)), marker_color: str = color_str((1, 0, 0)), colors: Optional[List[str]] = None, draw_marker: bool = True, draw_line: bool = True, marker_size: float = 4, line_width: float = 10, ) -> List[Any]: """Returns a list of Scatter3D objects for creating lines with plotly. # TODO(ethan): make this function more efficient instead of having a list of objects. Args: lines: Tensor of lines. color: Color of the lines. Defaults to red. marker_color: Color of the markers. Defaults to red. colors: List of colors for each line. Defaults to None. draw_marker: Whether to draw markers. Defaults to True. draw_line: Whether to draw lines. Defaults to True. marker_size: Size of the markers. Defaults to 4. line_width: Width of the lines. Defaults to 10. Returns: Scatter3D object on lines. """ data = [] for idx, line in enumerate(lines): thiscolor = color if draw_line else "rgba(0, 0, 0, 0)" if colors is not None: marker_color = colors[idx] thiscolor = colors[idx] data.append( go.Scatter3d( x=line[:, 0], y=line[:, 1], z=line[:, 2], showlegend=False, marker=dict( size=marker_size, color=marker_color, colorscale="Viridis", ) if draw_marker else dict(color="rgba(0, 0, 0, 0)"), line=dict(color=thiscolor, width=line_width), ) ) return data def vis_dataset(camera_origins: TensorType["num_cameras", 3], ray_bundle: RayBundle) -> go.FigureWidget: # type: ignore """Visualize a dataset with plotly using our cameras and generated rays. Args: camera_origins: Tensor of camera origins. ray_bundle: Ray bundle. Returns: plotly figure. """ skip = 1 size = 8 assert len(ray_bundle) < 500, "Let's not break plotly by plotting too many rays!" data = [] data += [ go.Scatter3d( x=camera_origins[::skip, 0], y=camera_origins[::skip, 1], z=camera_origins[::skip, 2], mode="markers", name="camera origins", marker=dict(color="rgba(0, 0, 0, 1)", size=size), ) ] length = 2.0 lines = torch.stack( [ray_bundle.origins, ray_bundle.origins + ray_bundle.directions * length], dim=1 ) # (num_rays, 2, 3) data += get_line_segments_from_lines(lines) layout = go.Layout( autosize=False, width=1000, height=1000, margin=go.layout.Margin(l=50, r=50, b=100, t=100, pad=4), # type: ignore scene=go.layout.Scene( # type: ignore aspectmode="data", camera=dict(up=dict(x=0, y=0, z=1), center=dict(x=0, y=0, z=0), eye=dict(x=1.25, y=1.25, z=1.25)), ), ) fig = go.Figure(data=data, layout=layout) return fig def get_random_color(colormap: Optional[List[str]] = None, idx: Optional[int] = None) -> str: """Get a random color from a colormap. Args: colormap: List of colors. Defaults to Plotly colors. idx: Index of color to return. Defaults to None. Returns: random color string """ if colormap is None: colormap = ex.colors.qualitative.Plotly if idx is None: return colormap[np.random.randint(0, len(colormap))] return colormap[idx % len(colormap)] def get_sphere( radius: float, center: TensorType[3] = None, color: str = "black", opacity: float = 1.0, resolution: int = 32 ) -> go.Mesh3d: # type: ignore """Returns a sphere object for plotting with plotly. Args: radius: radius of sphere. center: center of sphere. Defaults to origin. color: color of sphere. Defaults to "black". opacity: opacity of sphere. Defaults to 1.0. resolution: resolution of sphere. Defaults to 32. Returns: sphere object. """ phi = torch.linspace(0, 2 * torch.pi, resolution) theta = torch.linspace(-torch.pi / 2, torch.pi / 2, resolution) phi, theta = torch.meshgrid(phi, theta, indexing="ij") x = torch.cos(theta) * torch.sin(phi) y = torch.cos(theta) * torch.cos(phi) z = torch.sin(theta) pts = torch.stack((x, y, z), dim=-1) pts *= radius if center is not None: pts += center return go.Mesh3d( { "x": pts[:, :, 0].flatten(), "y": pts[:, :, 1].flatten(), "z": pts[:, :, 2].flatten(), "alphahull": 0, "opacity": opacity, "color": color, } ) def get_cube( side_length: float, center: TensorType[3] = None, color: str = "black", opacity: float = 1.0, ) -> go.Mesh3d: # type: ignore """Returns a cube object for plotting with plotly. Args: side_length: side_length of cube. center: center of cube. color: color of cube. opacity: opacity of cube. Returns: cube object. """ x = np.array([-1.0, -1.0, 1.0, 1.0, -1.0, -1.0, 1.0, 1.0]) y = np.array([-1.0, 1.0, 1.0, -1.0, -1.0, 1.0, 1.0, -1.0]) z = np.array([-1.0, -1.0, -1.0, -1.0, 1.0, 1.0, 1.0, 1.0]) pts = np.stack((x, y, z), axis=0) pts *= side_length / 2.0 if center is not None: pts += center return go.Mesh3d( { "x": pts[0], "y": pts[1], "z": pts[2], "alphahull": 0, "opacity": opacity, "color": color, } ) def get_gaussian_ellipsiod( mean: TensorType[3], cov: TensorType[3, 3], n_std: int = 2, color="lightblue", opacity: float = 0.5, resolution: int = 20, name: str = "ellipse", ) -> go.Mesh3d: # type: ignore """Get a plotly ellipsoid for a Gaussian. Args: mean: mean of the Gaussian. cov: covariance of the Gaussian. n_std: Standard devation to visualize. Defaults to 2 (95% confidence). color: Color of the ellipsoid. Defaults to None. opacity: Opacity of the ellipsoid. Defaults to 0.5. resolution: Resolution of the ellipsoid. Defaults to 20. name: Name of the ellipsoid. Defaults to "ellipse". Returns: ellipsoid object. """ phi = torch.linspace(0, 2 * torch.pi, resolution) theta = torch.linspace(-torch.pi / 2, torch.pi / 2, resolution) phi, theta = torch.meshgrid(phi, theta, indexing="ij") x = torch.cos(theta) * torch.sin(phi) y = torch.cos(theta) * torch.cos(phi) z = torch.sin(theta) pts = torch.stack((x, y, z), dim=-1) eigenvals, eigenvecs = torch.linalg.eigh(cov) idx = torch.sum(cov, dim=0).argsort() idx = eigenvals[idx].argsort() eigenvals = eigenvals[idx] eigenvecs = eigenvecs[:, idx] scaling = torch.sqrt(eigenvals) * n_std pts = pts * scaling pts = pts @ eigenvecs.t() pts += mean return go.Mesh3d( { "x": pts[:, :, 0].flatten(), "y": pts[:, :, 1].flatten(), "z": pts[:, :, 2].flatten(), "alphahull": 0, "opacity": opacity, "color": color, "name": name, } ) def get_gaussian_ellipsoids_list( gaussians: Gaussians, opacity: float = 0.5, color: str = "random", resolution: int = 20 ) -> List[Union[go.Mesh3d, go.Scatter3d]]: # type: ignore """Get a list of plotly meshes for frustums. Args: gaussians (Gaussians): Gaussians to visualize. opacity (float, optional): Opacity of the mesh. Defaults to 0.3. color (str, optional): Color of the mesh. Defaults to "random". resolution: Resolution of the mesh. Defaults to 20. Returns: List of plotly meshes """ data = [] vis_means = go.Scatter3d( x=gaussians.mean[:, 0], y=gaussians.mean[:, 1], z=gaussians.mean[:, 2], mode="markers", marker=dict(size=2, color="black"), name="Means", ) data.append(vis_means) for i in range(gaussians.mean.shape[0]): if color == "random": c = get_random_color() else: c = color ellipse = get_gaussian_ellipsiod( gaussians.mean[i], cov=gaussians.cov[i], color=c, opacity=opacity, resolution=resolution, ) data.append(ellipse) return data def get_frustum_mesh( frustum: Frustums, opacity: float = 0.3, color: str = "#DC203C", resolution: int = 20 ) -> go.Mesh3d: # type: ignore """Get a plotly mesh for a single frustum. Args: frustum: Single frustum opacity: Opacity of the mesh. Defaults to 0.3. color: Color of the mesh. Defaults to "#DC203C". resolution: Resolution of the mesh. Defaults to 20. Returns: Plotly mesh """ if frustum.ndim > 1: raise ValueError("Frustum must be a single Frustum object.") base_radius = torch.sqrt(frustum.pixel_area / torch.pi) f_radius = frustum.starts * base_radius b_radius = frustum.ends * base_radius x = torch.cat([torch.ones(resolution) * frustum.starts, torch.ones(resolution) * frustum.ends]) pts = torch.linspace(0, 2 * torch.pi, resolution) y = torch.sin(pts) z = torch.cos(pts) y = torch.cat([y * f_radius, y * b_radius]) z = torch.cat([z * f_radius, z * b_radius]) pts = torch.stack([x, y, z], dim=-1) forward = frustum.directions up = F.normalize(torch.cross(forward, torch.tensor([0.0, 0, 1])), dim=-1) # type: ignore right = F.normalize(torch.cross(forward, up), dim=-1) # type: ignore rotation = torch.stack([forward, up, right], dim=1) pts = torch.einsum("kj,ij->ki", pts, rotation) pts += frustum.origins return go.Mesh3d( x=pts[..., 0], y=pts[..., 1], z=pts[..., 2], opacity=opacity, alphahull=0, color=color, flatshading=True, name="Frustums", ) def get_frustums_mesh_list( frustums: Frustums, opacity: float = 1.0, color: str = "random", resolution: int = 20 ) -> List[go.Mesh3d]: # type: ignore """Get a list of plotly meshes for a list of frustums. Args: frustums: List of frustums opacity: Opacity of the mesh. Defaults to 0.3. color: Color of the mesh. Defaults to "random". resolution: Resolution of the mesh. Defaults to 20. Returns: List of plotly meshes """ data = [] for i, frustum in enumerate(frustums.flatten()): # type: ignore if color == "random": c = get_random_color(idx=i) else: c = color data.append(get_frustum_mesh(frustum, opacity=opacity, color=c, resolution=resolution)) return data def get_frustum_points( frustum: Frustums, opacity: float = 1.0, color: str = "forestgreen", size: float = 5 ) -> go.Scatter3d: # type: ignore """Get a set plotly points for frustums centers. Args: frustum: Frustums to visualize. opacity: Opacity of the points. Defaults to 0.3. color: Color of the poinst. Defaults to "forestgreen". size: Size of points. Defaults to 10. Returns: Plotly points """ frustum = frustum.flatten() pts = frustum.get_positions() return go.Scatter3d( x=pts[..., 0], y=pts[..., 1], z=pts[..., 2], mode="markers", marker=dict( size=size, color=color, opacity=opacity, ), name="Frustums -> Positions", ) def get_ray_bundle_lines( ray_bundle: RayBundle, length: float = 1.0, color: str = "#DC203C", width: float = 1 ) -> go.Scatter3d: # type: ignore """Get a plotly line for a ray bundle. Args: ray_bundle: Ray bundle length: Length of the line. Defaults to 1.0. color: Color of the line. width: Width of the line. Defaults to 1. Returns: Plotly lines """ origins = ray_bundle.origins.view(-1, 3) directions = ray_bundle.directions.view(-1, 3) lines = torch.empty((origins.shape[0] * 2, 3)) lines[0::2] = origins lines[1::2] = origins + directions * length return go.Scatter3d( x=lines[..., 0], y=lines[..., 1], z=lines[..., 2], mode="lines", name="Ray Bundle", line=dict(color=color, width=width), ) def vis_camera_rays(cameras: Cameras) -> go.Figure: # type: ignore """Visualize camera rays. Args: camera: Camera to visualize. Returns: Plotly lines """ coords = cameras.get_image_coords() coords[..., 0] /= cameras.image_height[0] # All the cameras have the same image height for now coords[..., 1] /= cameras.image_width[0] # All the cameras have the same image width for now coords = torch.cat([coords, torch.ones((*coords.shape[:-1], 1))], dim=-1) ray_bundle = cameras.generate_rays(camera_indices=0) origins = ray_bundle.origins.view(-1, 3) directions = ray_bundle.directions.view(-1, 3) coords = coords.view(-1, 3) lines = torch.empty((origins.shape[0] * 2, 3)) lines[0::2] = origins lines[1::2] = origins + directions colors = torch.empty((coords.shape[0] * 2, 3)) colors[0::2] = coords colors[1::2] = coords fig = go.Figure( data=go.Scatter3d( x=lines[:, 0], y=lines[:, 2], z=lines[:, 1], marker=dict( size=4, color=colors, ), line=dict(color="lightblue", width=1), ) ) fig.update_layout( scene=dict( xaxis=dict(title="x", showspikes=False), yaxis=dict(title="z", showspikes=False), zaxis=dict(title="y", showspikes=False), ), margin=dict(r=0, b=10, l=0, t=10), hovermode=False, ) return fig def get_camera_frustums(cameras: Cameras): """Returns the camera frustums for the cameras that we are using. Args: cameras: The cameras that we want to plot. Returns: A plotly scatter that can be plotted. """ for camera_idx in range(cameras.size): json_ = cameras.to_json(camera_idx=camera_idx) print(json_) raise NotImplementedError ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/pointclouds.py ================================================ from copy import deepcopy from dataclasses import dataclass, fields from typing import Optional import torch from rich.console import Console try: import faiss import faiss.contrib.torch_utils except ImportError as err: pass from torch import nn from torch.nn import functional as F CONSOLE = Console(width=120) class BasicPointClouds(nn.Module): """A primitive struct for holding pointcloud related data (e.g., points, colors, features, etc.) The purpose of this is to have a special struct wrapping around a list so that the nerfstudio_collate fn and other parts of the code recognise this as a struct to leave alone instead of reshaping or concatenating into a single tensor (since this will likely be used for cases where we have images of different sizes and shapes). We assume that all images share the same pointcloud, thus only the first element of the list of pointclouds will be kept by the nerfstudio_collate. """ # TOOD: make {fg,bg,plane}_pts non-optional def __init__( self, fg_pts: Optional[torch.Tensor] = None, bg_pts: Optional[torch.Tensor] = None, plane_pts: Optional[torch.Tensor] = None, fg_feats: Optional[torch.Tensor] = None, bg_feats: Optional[torch.Tensor] = None, plane_feats: Optional[torch.Tensor] = None, # data for ptcd regularization udf_plane_to_fg: Optional[torch.Tensor] = None, plane_sdf_deviation_thr_ptwise: Optional[torch.Tensor] = None, fg_sdf_deviation_thr_global: Optional[torch.Tensor] = None, fg_sdf_deviation_thr_ptwise: Optional[torch.Tensor] = None, # data for feature-field based segmentation fg_nn_index: Optional[faiss.GpuIndexFlatL2] = None, bg_nn_index: Optional[faiss.GpuIndexFlatL2] = None, plane_nn_index: Optional[faiss.GpuIndexFlatL2] = None, ): super().__init__() self.fg_pts = fg_pts self.bg_pts = bg_pts self.plane_pts = plane_pts self.fg_feats = fg_feats self.bg_feats = bg_feats self.plane_feats = plane_feats self.udf_plane_to_fg = udf_plane_to_fg self.fg_sdf_deviation_thr_global = fg_sdf_deviation_thr_global self.fg_sdf_deviation_thr_ptwise = fg_sdf_deviation_thr_ptwise self.plane_sdf_deviation_thr_ptwise = plane_sdf_deviation_thr_ptwise self.fg_nn_index = fg_nn_index self.bg_nn_index = bg_nn_index self.plane_nn_index = plane_nn_index self._register_all_tensors_as_buffers() def build_nn_search_index(self, separate_bg_plane: bool = False): """Build faiss gpu index for fast nn search""" for f in ["fg_feats", "bg_feats", "plane_feats"]: assert getattr(self, f, None) is not None, f"BasicPointClouds.{f} is None" nc_feat = self.fg_feats.shape[-1] res = faiss.StandardGpuResources() cfg = faiss.GpuIndexFlatConfig() cfg.useFloat16 = True # build fg inex self.fg_nn_index = faiss.GpuIndexFlatL2(res, nc_feat, cfg) self.fg_nn_index.add(F.normalize(self.fg_feats, p=2, dim=-1)) CONSOLE.print(f"Using GpuIndexFlatL2 for fg NN search. (#fg: {len(self.fg_feats)})") # build bg index if not separate_bg_plane: self.bg_nn_index = faiss.GpuIndexFlatL2(res, nc_feat, cfg) self.bg_nn_index.add(F.normalize(torch.cat([self.bg_feats, self.plane_feats], 0), p=2, dim=-1)) CONSOLE.print( f"Using GpuIndexFlatL2 for (bg, plane) NN search." f"(#bg: {len(self.bg_feats)} | #plane: {len(self.plane_pts)}))" ) # TODO: build a mapper to distinguish bg and plane pts # TODO: tune the number of fg, bg and plane pts else: self.bg_nn_index = faiss.GpuIndexFlatL2(res, nc_feat, cfg) self.bg_nn_index.add(F.normalize(self.bg_feats, p=2, dim=-1)) CONSOLE.print(f"Using GpuIndexFlatL2 for bg NN search. (#bg: {len(self.bg_feats)})") self.plane_nn_index = faiss.GpuIndexFlatL2(res, nc_feat, cfg) self.plane_nn_index.add(F.normalize(self.plane_feats, p=2, dim=-1)) CONSOLE.print(f"Using GpuIndexFlatL2 for bg NN search. (#bg: {len(self.plane_feats)})") def sample_fg_points(self, n_pts: int, replace: bool = True): if len(self.fg_pts) <= n_pts: return self.fg_pts, self.fg_sdf_deviation_thr_ptwise rand_inds = ( torch.randint(0, len(self.fg_pts), (n_pts,), device=self.device) if replace else torch.randperm(len(self.fg_pts), device=self.device)[:n_pts] ) fg_pts = self.fg_pts[rand_inds] fg_sdf_thrs = self.fg_sdf_deviation_thr_ptwise[rand_inds] return fg_pts, fg_sdf_thrs def sample_plane_points(self, n_pts: int, replace: bool = True, rand_sample_half: bool = False): if rand_sample_half: raise NotImplementedError if len(self.plane_pts) <= n_pts: return self.plane_pts, self.udf_plane_to_fg, self.plane_sdf_deviation_thr_ptwise rand_inds = ( torch.randint(0, len(self.plane_pts), (n_pts,), device=self.device) if replace else torch.randperm(len(self.plane_pts), device=self.device)[:n_pts] ) plane_pts = self.plane_pts[rand_inds] udf_plane_to_fg = self.udf_plane_to_fg[rand_inds] plane_sdf_thrs = self.plane_sdf_deviation_thr_ptwise[rand_inds] return plane_pts, udf_plane_to_fg, plane_sdf_thrs @property def device(self): return self.fg_pts.device def _register_all_tensors_as_buffers(self): """register all Tensor attributes as buffers to automatically move them to the target device""" _attr_names = list(vars(self).keys()) for _name in _attr_names: _attr = getattr(self, _name) if not isinstance(_attr, torch.Tensor): continue delattr(self, _name) self.register_buffer(_name, _attr, persistent=False) ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/poses.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Common 3D pose methods """ import torch from torchtyping import TensorType def to4x4(pose: TensorType[..., 3, 4]) -> TensorType[..., 4, 4]: """Convert 3x4 pose matrices to a 4x4 with the addition of a homogeneous coordinate. Args: pose: Camera pose without homogenous coordinate. Returns: Camera poses with additional homogenous coordinate added. """ constants = torch.zeros_like(pose[..., :1, :], device=pose.device) constants[..., :, 3] = 1 return torch.cat([pose, constants], dim=-2) def inverse(pose: TensorType[..., 3, 4]) -> TensorType[..., 3, 4]: """Invert provided pose matrix. Args: pose: Camera pose without homogenous coordinate. Returns: Inverse of pose. """ R = pose[..., :3, :3] t = pose[..., :3, 3:] R_inverse = R.transpose(-2, -1) # pylint: disable=invalid-name t_inverse = -R_inverse.matmul(t) return torch.cat([R_inverse, t_inverse], dim=-1) def multiply(pose_a: TensorType[..., 3, 4], pose_b: TensorType[..., 3, 4]) -> TensorType[..., 3, 4]: """Multiply two pose matrices, A @ B. Args: pose_a: Left pose matrix, usually a transformation applied to the right. pose_b: Right pose matrix, usually a camera pose that will be tranformed by pose_a. Returns: Camera pose matrix where pose_a was applied to pose_b. """ R1, t1 = pose_a[..., :3, :3], pose_a[..., :3, 3:] R2, t2 = pose_b[..., :3, :3], pose_b[..., :3, 3:] R = R1.matmul(R2) t = t1 + R1.matmul(t2) return torch.cat([R, t], dim=-1) def normalize(poses: TensorType[..., 3, 4]) -> TensorType[..., 3, 4]: """Normalize the XYZs of poses to fit within a unit cube ([-1, 1]). Note: This operation is not in-place. Args: poses: A collection of poses to be normalized. Returns; Normalized collection of poses. """ pose_copy = torch.clone(poses) pose_copy[..., :3, 3] /= torch.max(torch.abs(poses[..., :3, 3])) return pose_copy ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/printing.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """A collection of common strings and print statements used throughout the codebase.""" from math import floor, log from rich.console import Console CONSOLE = Console(width=120) def print_tcnn_speed_warning(method_name: str): """Prints a warning about the speed of the TCNN.""" CONSOLE.line() CONSOLE.print(f"[bold yellow]WARNING: Using a slow implementation of {method_name}. ") CONSOLE.print( "[bold yellow]:person_running: :person_running: " + "Install tcnn for speedups :person_running: :person_running:" ) CONSOLE.print("[yellow]pip install git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch") CONSOLE.line() def human_format(num): """Format a number in a more human readable way Args: num: number to format """ units = ["", "K", "M", "B", "T", "P"] k = 1000.0 magnitude = int(floor(log(num, k))) return f"{(num / k**magnitude):.2f} {units[magnitude]}" ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/profiler.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Profiler base class and functionality """ from __future__ import annotations import time from typing import Callable from rich.console import Console import torch from nerfstudio.configs import base_config as cfg from nerfstudio.utils import comms from nerfstudio.utils.decorators import ( check_main_thread, check_profiler_enabled, decorate_all, ) CONSOLE = Console(width=120) PROFILER = [] def time_function(func: Callable) -> Callable: """Decorator: time a function call""" def wrapper(*args, **kwargs): if PROFILER: # torch.cuda.synchronize() start = time.time() ret = func(*args, **kwargs) if PROFILER: # torch.cuda.synchronize() class_str = func.__qualname__ PROFILER[0].update_time(class_str, start, time.time()) return ret return wrapper def time_function_cuda(func: Callable) -> Callable: """Decorator: time a function call""" def wrapper(*args, **kwargs): if PROFILER: torch.cuda.synchronize() start = time.time() ret = func(*args, **kwargs) if PROFILER: torch.cuda.synchronize() class_str = func.__qualname__ PROFILER[0].update_time(class_str, start, time.time()) return ret return wrapper def flush_profiler(config: cfg.LoggingConfig): """Method that checks if profiler is enabled before flushing""" if config.enable_profiler and PROFILER: PROFILER[0].print_profile() def setup_profiler(config: cfg.LoggingConfig): """Initialization of profilers""" if comms.is_main_process(): PROFILER.append(Profiler(config)) @decorate_all([check_profiler_enabled, check_main_thread]) class Profiler: """Profiler class""" def __init__(self, config: cfg.LoggingConfig): self.config = config self.profiler_dict = {} def update_time(self, func_name: str, start_time: float, end_time: float): """update the profiler dictionary with running averages of durations Args: func_name: the function name that is being profiled start_time: the start time when function is called end_time: the end time when function terminated """ val = end_time - start_time func_dict = self.profiler_dict.get(func_name, {"val": 0, "step": 0}) prev_val = func_dict["val"] prev_step = func_dict["step"] self.profiler_dict[func_name] = {"val": (prev_val * prev_step + val) / (prev_step + 1), "step": prev_step + 1} def print_profile(self): """helper to print out the profiler stats""" CONSOLE.print("Printing profiling stats, from longest to shortest duration in seconds") sorted_keys = sorted( self.profiler_dict.keys(), key=lambda k: self.profiler_dict[k]["val"], reverse=True, ) for k in sorted_keys: val = f"{self.profiler_dict[k]['val']:0.4f}" CONSOLE.print(f"{k:<20}: {val:<20}") ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/rich_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Additional rich ui components""" from contextlib import nullcontext from typing import Optional from rich.console import Console from rich.progress import ( BarColumn, Progress, ProgressColumn, TaskProgressColumn, TextColumn, TimeRemainingColumn, ) from rich.text import Text CONSOLE = Console(width=120) class ItersPerSecColumn(ProgressColumn): """Renders the iterations per second for a progress bar.""" def __init__(self, suffix="it/s") -> None: super().__init__() self.suffix = suffix def render(self, task: "Task") -> Text: """Show data transfer speed.""" speed = task.finished_speed or task.speed if speed is None: return Text("?", style="progress.data.speed") return Text(f"{speed:.2f} {self.suffix}", style="progress.data.speed") def status(msg: str, spinner: str = "bouncingBall", verbose: bool = False): """A context manager that does nothing is verbose is True. Otherwise it hides logs under a message. Args: msg: The message to log. spinner: The spinner to use. verbose: If True, print all logs, else hide them. """ if verbose: return nullcontext() return CONSOLE.status(msg, spinner=spinner) def get_progress(description: str, suffix: Optional[str] = None): """Helper function to return a rich Progress object.""" progress_list = [TextColumn(description), BarColumn(), TaskProgressColumn(show_speed=True)] progress_list += [ItersPerSecColumn(suffix=suffix)] if suffix else [] progress_list += [TimeRemainingColumn(elapsed_when_finished=True, compact=True)] progress = Progress(*progress_list) return progress ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/scheduler.py ================================================ """Scheduler for arbitrary weights""" import math import numpy as np from functools import lru_cache def cosine_annealing(cur_step, max_step=None, min_val=0.0, max_val=1.0): cur_val = min_val + (max_val - min_val) \ * (1 + math.cos(cur_step * math.pi / max_step)) / 2 return cur_val @lru_cache(maxsize=128) def _compute_exp_anneal_gamma(max_step, min_val, max_val): return np.power(min_val / max_val, 1 / max_step) def exp_annealing(cur_step, max_step=None, min_val=0.0, max_val=1.0): gamma = _compute_exp_anneal_gamma(max_step, min_val, max_val) return max_val * np.power(gamma, cur_step) def constant(cur_step, max_step=None, min_val=0.0, max_val=1.0): return max_val # TODO: sine scheduler ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/scripts.py ================================================ """Helpers for running script commands.""" # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. import subprocess import sys from typing import Optional from rich.console import Console CONSOLE = Console(width=120) def run_command(cmd: str, verbose=False) -> Optional[str]: """Runs a command and returns the output. Args: cmd: Command to run. verbose: If True, logs the output of the command. Returns: The output of the command if return_output is True, otherwise None. """ out = subprocess.run(cmd, capture_output=not verbose, shell=True, check=False) if out.returncode != 0: CONSOLE.rule("[bold red] :skull: :skull: :skull: ERROR :skull: :skull: :skull: ", style="red") CONSOLE.print(f"[bold red]Error running command: {cmd}") CONSOLE.rule(style="red") CONSOLE.print(out.stderr.decode("utf-8")) sys.exit(1) if out.stdout is not None: return out.stdout.decode("utf-8") return out ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/tensor_dataclass.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Tensor dataclass""" import dataclasses from copy import deepcopy from typing import Callable, Dict, List, NoReturn, Optional, Tuple, TypeVar, Union import numpy as np import torch TensorDataclassT = TypeVar("TensorDataclassT", bound="TensorDataclass") class TensorDataclass: """@dataclass of tensors with the same size batch. Allows indexing and standard tensor ops. Fields that are not Tensors will not be batched unless they are also a TensorDataclass. Any fields that are dictionaries will have their Tensors or TensorDataclasses batched, and dictionaries will have their tensors or TensorDataclasses considered in the initial broadcast. Tensor fields must have at least 1 dimension, meaning that you must convert a field like torch.Tensor(1) to torch.Tensor([1]) Example: .. code-block:: python @dataclass class TestTensorDataclass(TensorDataclass): a: torch.Tensor b: torch.Tensor c: torch.Tensor = None # Create a new tensor dataclass with batch size of [2,3,4] test = TestTensorDataclass(a=torch.ones((2, 3, 4, 2)), b=torch.ones((4, 3))) test.shape # [2, 3, 4] test.a.shape # [2, 3, 4, 2] test.b.shape # [2, 3, 4, 3] test.reshape((6,4)).shape # [6, 4] test.flatten().shape # [24,] test[..., 0].shape # [2, 3] test[:, 0, :].shape # [2, 4] """ _shape: tuple # A mapping from field-name (str): n (int) # Any field OR any key in a dictionary field with this name (field-name) and a corresponding # torch.Tensor will be assumed to have n dimensions after the batch dims. These n final dimensions # will remain the same shape when doing reshapes, broadcasting, etc on the tensordataclass _field_custom_dimensions: Dict[str, int] = {} def __post_init__(self) -> None: """Finishes setting up the TensorDataclass This will 1) find the broadcasted shape and 2) broadcast all fields to this shape 3) set _shape to be the broadcasted shape. """ if self._field_custom_dimensions is not None: for k, v in self._field_custom_dimensions.items(): assert ( isinstance(v, int) and v > 1 ), f"Custom dimensions must be an integer greater than 1, since 1 is the default, received {k}: {v}" if not dataclasses.is_dataclass(self): raise TypeError("TensorDataclass must be a dataclass") batch_shapes = self._get_dict_batch_shapes( {f.name: self.__getattribute__(f.name) for f in dataclasses.fields(self)} ) if len(batch_shapes) == 0: raise ValueError("TensorDataclass must have at least one tensor") batch_shape = torch.broadcast_shapes(*batch_shapes) broadcasted_fields = self._broadcast_dict_fields( {f.name: self.__getattribute__(f.name) for f in dataclasses.fields(self)}, batch_shape ) for f, v in broadcasted_fields.items(): self.__setattr__(f, v) self.__setattr__("_shape", batch_shape) def _get_dict_batch_shapes(self, dict_: Dict) -> List: """Returns batch shapes of all tensors in a dictionary Args: dict_: The dictionary to get the batch shapes of. Returns: The batch shapes of all tensors in the dictionary. """ batch_shapes = [] for k, v in dict_.items(): if isinstance(v, torch.Tensor): if isinstance(self._field_custom_dimensions, dict) and k in self._field_custom_dimensions: # pylint: disable=unsubscriptable-object batch_shapes.append(v.shape[: -self._field_custom_dimensions[k]]) else: batch_shapes.append(v.shape[:-1]) elif isinstance(v, TensorDataclass): batch_shapes.append(v.shape) elif isinstance(v, Dict): batch_shapes.extend(self._get_dict_batch_shapes(v)) return batch_shapes def _broadcast_dict_fields(self, dict_: Dict, batch_shape) -> Dict: """Broadcasts all tensors in a dictionary according to batch_shape Args: dict_: The dictionary to broadcast. Returns: The broadcasted dictionary. """ new_dict = {} for k, v in dict_.items(): if isinstance(v, torch.Tensor): # If custom dimension key, then we need to if isinstance(self._field_custom_dimensions, dict) and k in self._field_custom_dimensions: # pylint: disable=unsubscriptable-object new_dict[k] = v.broadcast_to( ( *batch_shape, *v.shape[-self._field_custom_dimensions[k] :], ) ) else: new_dict[k] = v.broadcast_to((*batch_shape, v.shape[-1])) elif isinstance(v, TensorDataclass): new_dict[k] = v.broadcast_to(batch_shape) elif isinstance(v, Dict): new_dict[k] = self._broadcast_dict_fields(v, batch_shape) return new_dict def __getitem__(self: TensorDataclassT, indices) -> TensorDataclassT: if isinstance(indices, (torch.Tensor)): return self._apply_fn_to_fields(lambda x: x[indices]) if isinstance(indices, (int, slice, type(Ellipsis))): indices = (indices,) assert isinstance(indices, tuple) tensor_fn = lambda x: x[indices + (slice(None),)] dataclass_fn = lambda x: x[indices] def custom_tensor_dims_fn(k, v): custom_dims = self._field_custom_dimensions[k] # pylint: disable=unsubscriptable-object return v[indices + ((slice(None),) * custom_dims)] return self._apply_fn_to_fields(tensor_fn, dataclass_fn, custom_tensor_dims_fn=custom_tensor_dims_fn) def __setitem__(self, indices, value) -> NoReturn: raise RuntimeError("Index assignment is not supported for TensorDataclass") def __len__(self) -> int: if len(self._shape) == 0: raise TypeError("len() of a 0-d tensor") return self.shape[0] def __bool__(self) -> bool: if len(self) == 0: raise ValueError( f"The truth value of {self.__class__.__name__} when `len(x) == 0` " "is ambiguous. Use `len(x)` or `x is not None`." ) return True @property def shape(self) -> Tuple[int, ...]: """Returns the batch shape of the tensor dataclass.""" return self._shape @property def size(self) -> int: """Returns the number of elements in the tensor dataclass batch dimension.""" if len(self._shape) == 0: return 1 return int(np.prod(self._shape)) @property def ndim(self) -> int: """Returns the number of dimensions of the tensor dataclass.""" return len(self._shape) def reshape(self: TensorDataclassT, shape: Tuple[int, ...]) -> TensorDataclassT: """Returns a new TensorDataclass with the same data but with a new shape. This should deepcopy as well. Args: shape: The new shape of the tensor dataclass. Returns: A new TensorDataclass with the same data but with a new shape. """ if isinstance(shape, int): shape = (shape,) tensor_fn = lambda x: x.reshape((*shape, x.shape[-1])) dataclass_fn = lambda x: x.reshape(shape) def custom_tensor_dims_fn(k, v): custom_dims = self._field_custom_dimensions[k] # pylint: disable=unsubscriptable-object return v.reshape((*shape, *v.shape[-custom_dims:])) return self._apply_fn_to_fields(tensor_fn, dataclass_fn, custom_tensor_dims_fn=custom_tensor_dims_fn) def flatten(self: TensorDataclassT) -> TensorDataclassT: """Returns a new TensorDataclass with flattened batch dimensions Returns: TensorDataclass: A new TensorDataclass with the same data but with a new shape. """ return self.reshape((-1,)) def broadcast_to(self: TensorDataclassT, shape: Union[torch.Size, Tuple[int, ...]]) -> TensorDataclassT: """Returns a new TensorDataclass broadcast to new shape. Changes to the original tensor dataclass should effect the returned tensor dataclass, meaning it is NOT a deepcopy, and they are still linked. Args: shape: The new shape of the tensor dataclass. Returns: A new TensorDataclass with the same data but with a new shape. """ def custom_tensor_dims_fn(k, v): custom_dims = self._field_custom_dimensions[k] # pylint: disable=unsubscriptable-object return v.broadcast_to((*shape, *v.shape[-custom_dims:])) return self._apply_fn_to_fields( lambda x: x.broadcast_to((*shape, x.shape[-1])), custom_tensor_dims_fn=custom_tensor_dims_fn ) def to(self: TensorDataclassT, device) -> TensorDataclassT: """Returns a new TensorDataclass with the same data but on the specified device. Args: device: The device to place the tensor dataclass. Returns: A new TensorDataclass with the same data but on the specified device. """ return self._apply_fn_to_fields(lambda x: x.to(device)) def _apply_fn_to_fields( self: TensorDataclassT, fn: Callable, dataclass_fn: Optional[Callable] = None, custom_tensor_dims_fn: Optional[Callable] = None, ) -> TensorDataclassT: """Applies a function to all fields of the tensor dataclass. TODO: Someone needs to make a high level design choice for whether not not we want this to apply the function to any fields in arbitray superclasses. This is an edge case until we upgrade to python 3.10 and dataclasses can actually be subclassed with vanilla python and no janking, but if people try to jank some subclasses that are grandchildren of TensorDataclass (imagine if someone tries to subclass the RayBundle) this will matter even before upgrading to 3.10 . Currently we aren't going to be able to work properly for grandchildren, but you want to use self.__dict__ if you want to apply this to grandchildren instead of our dictionary from dataclasses.fields(self) as we do below and in other places. Args: fn: The function to apply to tensor fields. dataclass_fn: The function to apply to TensorDataclass fields. Returns: A new TensorDataclass with the same data but with a new shape. """ new_fields = self._apply_fn_to_dict( {f.name: self.__getattribute__(f.name) for f in dataclasses.fields(self)}, fn, dataclass_fn, custom_tensor_dims_fn, ) return dataclasses.replace(self, **new_fields) def _apply_fn_to_dict( self, dict_: Dict, fn: Callable, dataclass_fn: Optional[Callable] = None, custom_tensor_dims_fn: Optional[Callable] = None, ) -> Dict: """A helper function for _apply_fn_to_fields, applying a function to all fields of dict_ Args: dict_: The dictionary to apply the function to. fn: The function to apply to tensor fields. dataclass_fn: The function to apply to TensorDataclass fields. Returns: A new dictionary with the same data but with a new shape. Will deep copy""" field_names = dict_.keys() new_dict = {} for f in field_names: v = dict_[f] if v is not None: if isinstance(v, TensorDataclass) and dataclass_fn is not None: new_dict[f] = dataclass_fn(v) # This is the case when we have a custom dimensions tensor elif ( isinstance(v, torch.Tensor) and isinstance(self._field_custom_dimensions, dict) and f in self._field_custom_dimensions and custom_tensor_dims_fn is not None ): new_dict[f] = custom_tensor_dims_fn(f, v) elif isinstance(v, (torch.Tensor, TensorDataclass)): new_dict[f] = fn(v) elif isinstance(v, Dict): new_dict[f] = self._apply_fn_to_dict(v, fn, dataclass_fn) else: new_dict[f] = deepcopy(v) return new_dict ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/vis_utils.py ================================================ import cv2 import numpy as np import torch from rich.console import Console from scipy.interpolate import interp1d from scipy.spatial.transform import Rotation, Slerp from nerfstudio.cameras.cameras import Cameras CONSOLE = Console(width=120) def interpolate_trajectory(cameras: Cameras, num_views: int = 300): """calculate interpolate path""" c2ws = np.stack(cameras.camera_to_worlds.cpu().numpy()) key_rots = Rotation.from_matrix(c2ws[:, :3, :3]) key_times = list(range(len(c2ws))) slerp = Slerp(key_times, key_rots) interp = interp1d(key_times, c2ws[:, :3, 3], axis=0) if num_views == -1: render_c2ws = torch.from_numpy(c2ws) else: render_c2ws = [] for i in range(num_views): time = float(i) / num_views * (len(c2ws) - 1) cam_location = interp(time) cam_rot = slerp(time).as_matrix() c2w = np.eye(4) c2w[:3, :3] = cam_rot c2w[:3, 3] = cam_location render_c2ws.append(c2w) render_c2ws = torch.from_numpy(np.stack(render_c2ws, axis=0)) # use intrinsic of first camera camera_path = Cameras( fx=cameras[0].fx, fy=cameras[0].fy, cx=cameras[0].cx, cy=cameras[0].cy, height=cameras[0].height, width=cameras[0].width, camera_to_worlds=render_c2ws[:, :3, :4], camera_type=cameras[0].camera_type, ) return camera_path ================================================ FILE: AutoReconForDens3R/nerfstudio/utils/writer.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Generic Writer class """ from __future__ import annotations import enum from abc import abstractmethod from pathlib import Path from time import time from typing import Any, Dict, List, Optional, Union import torch import wandb from rich.console import Console from torch.utils.tensorboard import SummaryWriter from torchtyping import TensorType from nerfstudio.configs import base_config as cfg from nerfstudio.utils.decorators import check_main_thread, decorate_all from nerfstudio.utils.printing import human_format CONSOLE = Console(width=120, soft_wrap=True) to8b = lambda x: (255 * torch.clamp(x, min=0, max=1)).to(torch.uint8) EVENT_WRITERS = [] EVENT_STORAGE = [] GLOBAL_BUFFER = {} class EventName(enum.Enum): """Names of possible events that can be logged via Local Writer for convenience. see config/logging/default_logging.yaml""" ITER_TRAIN_TIME = "Train Iter (time)" TOTAL_TRAIN_TIME = "Train Total (time)" ITER_VIS_TIME = "Viewer Rendering (time)" ETA = "ETA (time)" TRAIN_RAYS_PER_SEC = "Train Rays / Sec" TEST_RAYS_PER_SEC = "Test Rays / Sec" VIS_RAYS_PER_SEC = "Vis Rays / Sec" CURR_TEST_PSNR = "Test PSNR" class EventType(enum.Enum): """Possible Event types and their associated write function""" IMAGE = "write_image" SCALAR = "write_scalar" DICT = "write_scalar_dict" CONFIG = "write_config" @check_main_thread def put_image(name, image: TensorType["H", "W", "C"], step: int): """Setter function to place images into the queue to be written out Args: image: image to write out step: step associated with image """ if isinstance(name, EventName): name = name.value EVENT_STORAGE.append({"name": name, "write_type": EventType.IMAGE, "event": image.detach().cpu(), "step": step}) @check_main_thread def put_scalar(name: str, scalar: Any, step: int): """Setter function to place scalars into the queue to be written out Args: name: name of scalar scalar: value step: step associated with scalar """ if isinstance(name, EventName): name = name.value EVENT_STORAGE.append({"name": name, "write_type": EventType.SCALAR, "event": scalar, "step": step}) @check_main_thread def put_dict(name: str, scalar_dict: Dict[str, Any], step: int): """Setter function to place a dictionary of scalars into the queue to be written out Args: name: name of scalar dictionary scalar_dict: values to write out step: step associated with dict """ EVENT_STORAGE.append({"name": name, "write_type": EventType.DICT, "event": scalar_dict, "step": step}) @check_main_thread def put_config(name: str, config_dict: Dict[str, Any], step: int): """Setter function to place a dictionary of scalars into the queue to be written out Args: name: name of scalar dictionary scalar_dict: values to write out step: step associated with dict """ EVENT_STORAGE.append({"name": name, "write_type": EventType.CONFIG, "event": config_dict, "step": step}) @check_main_thread def put_time(name: str, duration: float, step: int, avg_over_steps: bool = True, update_eta: bool = False): """Setter function to place a time element into the queue to be written out. Processes the time info according to the options. Args: name: name of time item duration: value step: step associated with value avg_over_steps: if True, calculate and record a running average of the times update_eta: if True, update the ETA. should only be set for the training iterations/s """ if isinstance(name, EventName): name = name.value if avg_over_steps: GLOBAL_BUFFER["step"] = step curr_event = GLOBAL_BUFFER["events"].get(name, {"buffer": [], "avg": 0}) curr_buffer = curr_event["buffer"] if len(curr_buffer) >= GLOBAL_BUFFER["max_buffer_size"]: curr_buffer.pop(0) curr_buffer.append(duration) curr_avg = sum(curr_buffer) / len(curr_buffer) put_scalar(name, curr_avg, step) GLOBAL_BUFFER["events"][name] = {"buffer": curr_buffer, "avg": curr_avg} else: put_scalar(name, duration, step) if update_eta: ## NOTE: eta should be called with avg train iteration time remain_iter = GLOBAL_BUFFER["max_iter"] - step remain_time = remain_iter * GLOBAL_BUFFER["events"][name]["avg"] put_scalar(EventName.ETA, remain_time, step) GLOBAL_BUFFER["events"][EventName.ETA.value] = _format_time(remain_time) @check_main_thread def write_out_storage(): """Function that writes all the events in storage to all the writer locations""" for writer in EVENT_WRITERS: if isinstance(writer, LocalWriter) and len(EVENT_STORAGE) > 0: writer.write_stats_log(EVENT_STORAGE[0]["step"]) continue for event in EVENT_STORAGE: write_func = getattr(writer, event["write_type"].value) write_func(event["name"], event["event"], event["step"]) EVENT_STORAGE.clear() def setup_local_writer(config: cfg.LoggingConfig, max_iter: int, banner_messages: Optional[List[str]] = None) -> None: """Initialization of all event writers specified in config Args: config: configuration to instantiate loggers max_iter: maximum number of train iterations banner_messages: list of messages to always display at bottom of screen """ if config.local_writer.enable: curr_writer = config.local_writer.setup(banner_messages=banner_messages) EVENT_WRITERS.append(curr_writer) else: CONSOLE.log("disabled local writer") ## configure all the global buffer basic information GLOBAL_BUFFER["max_iter"] = max_iter GLOBAL_BUFFER["max_buffer_size"] = config.max_buffer_size GLOBAL_BUFFER["steps_per_log"] = config.steps_per_log GLOBAL_BUFFER["events"] = {} @check_main_thread def setup_event_writer(config: cfg.Config, log_dir: Path) -> None: """Initialization of all event writers specified in config Args: config: configuration to instantiate loggers max_iter: maximum number of train iterations banner_messages: list of messages to always display at bottom of screen """ using_event_writer = False if config.is_wandb_enabled(): curr_writer = WandbWriter(log_dir=log_dir, experiment_name=config.experiment_name) EVENT_WRITERS.append(curr_writer) using_event_writer = True if config.is_tensorboard_enabled(): curr_writer = TensorboardWriter(log_dir=log_dir) EVENT_WRITERS.append(curr_writer) using_event_writer = True if using_event_writer: string = f"logging events to: {log_dir}" else: string = "Disabled tensorboard/wandb event writers" CONSOLE.print(f"[bold yellow]{string}") class Writer: """Writer class""" @abstractmethod def write_image(self, name: str, image: TensorType["H", "W", "C"], step: int) -> None: """method to write out image Args: name: data identifier image: rendered image to write step: the time step to log """ raise NotImplementedError @abstractmethod def write_scalar(self, name: str, scalar: Union[float, torch.Tensor], step: int) -> None: """Required method to write a single scalar value to the logger Args: name: data identifier scalar: value to write out step: the time step to log """ raise NotImplementedError @check_main_thread def write_scalar_dict(self, name: str, scalar_dict: Dict[str, Any], step: int) -> None: """Function that writes out all scalars from a given dictionary to the logger Args: scalar_dict: dictionary containing all scalar values with key names and quantities step: the time step to log """ for key, scalar in scalar_dict.items(): self.write_scalar(name + "/" + key, float(scalar), step) class TimeWriter: """Timer context manager that calculates duration around wrapped functions""" def __init__(self, writer, name, step=None, write=True): self.writer = writer self.name = name self.step = step self.write = write self.start: float = 0.0 self.duration: float = 0.0 def __enter__(self): torch.cuda.synchronize() self.start = time() return self def __exit__(self, *args): torch.cuda.synchronize() self.duration = time() - self.start update_step = self.step is not None if self.write: self.writer.put_time( name=self.name, duration=self.duration, step=self.step if update_step else GLOBAL_BUFFER["max_iter"], avg_over_steps=update_step, update_eta=self.name == EventName.ITER_TRAIN_TIME, ) @decorate_all([check_main_thread]) class WandbWriter(Writer): """WandDB Writer Class""" def __init__(self, log_dir: Path, experiment_name: str): wandb.init(project="sdfstudio", name=experiment_name, dir=str(log_dir), reinit=True) def write_image(self, name: str, image: TensorType["H", "W", "C"], step: int) -> None: image = torch.permute(image, (2, 0, 1)) wandb.log({name: wandb.Image(image)}, step=step) def write_scalar(self, name: str, scalar: Union[float, torch.Tensor], step: int) -> None: wandb.log({name: scalar}, step=step) def write_config(self, name: str, config_dict: Dict[str, Any], step: int): # pylint: disable=unused-argument # pylint: disable=no-self-use """Function that writes out the config to wandb Args: config: config dictionary to write out """ wandb.config.update(config_dict) @decorate_all([check_main_thread]) class TensorboardWriter(Writer): """Tensorboard Writer Class""" def __init__(self, log_dir: Path): self.tb_writer = SummaryWriter(log_dir=log_dir) def write_image(self, name: str, image: TensorType["H", "W", "C"], step: int) -> None: image = to8b(image) self.tb_writer.add_image(name, image, step, dataformats="HWC") def write_scalar(self, name: str, scalar: Union[float, torch.Tensor], step: int) -> None: self.tb_writer.add_scalar(name, scalar, step) def write_config(self, name: str, config_dict: Dict[str, Any], step: int): # pylint: disable=unused-argument """Function that writes out the config to tensorboard Args: config: config dictionary to write out """ self.tb_writer.add_text("config", str(config_dict)) def _cursorup(x: int): """utility tool to move the cursor up on the terminal Args: x: amount of lines to move cursor upward """ print(f"\r\033[{x}A", end="\x1b[1K\r") def _format_time(seconds): """utility tool to format time in human readable form given seconds""" ms = seconds % 1 ms = ms * 1e3 seconds = int(seconds) days, seconds = divmod(seconds, 86400) hours, seconds = divmod(seconds, 3600) minutes, seconds = divmod(seconds, 60) if days > 0: return f"{days} d, {hours} h, {minutes} m, {seconds} s" if hours > 0: return f"{hours} h, {minutes} m, {seconds} s" if minutes > 0: return f"{minutes} m, {seconds} s" if seconds > 0: return f"{seconds} s, {ms:0.3f} ms" return f"{ms:0.3f} ms" @decorate_all([check_main_thread]) class LocalWriter: """Local Writer Class TODO: migrate to prettyprint Args: config: configuration to instatiate class banner_messages: list of messages to always display at bottom of screen """ def __init__(self, config: cfg.LocalWriterConfig, banner_messages: Optional[List[str]] = None): self.config = config self.stats_to_track = [name.value for name in config.stats_to_track] self.keys = set() self.past_mssgs = ["", ""] self.banner_len = 0 if banner_messages is None else len(banner_messages) + 1 if banner_messages: self.past_mssgs.extend(["-" * 100]) self.past_mssgs.extend(banner_messages) self.has_printed = False def write_stats_log(self, step: int) -> None: """Function to write out scalars to terminal Args: step: current train step """ valid_step = step > 0 and step % GLOBAL_BUFFER["steps_per_log"] == 0 if valid_step: if not self.has_printed and self.config.max_log_size: CONSOLE.log( f"Printing max of {self.config.max_log_size} lines. " "Set flag çççç[yellow]--logging.local-writer.max-log-size=0[/yellow] " "to disable line wrapping." ) latest_map, new_key = self._consolidate_events() self._update_header(latest_map, new_key) self._print_stats(latest_map) def write_config(self, name: str, config_dict: Dict[str, Any], step: int): """Function that writes out the config to local Args: config: config dictionary to write out """ # TODO: implement this def _consolidate_events(self): latest_map = {} new_key = False for event in EVENT_STORAGE: name = event["name"] if name not in self.keys: self.keys.add(name) new_key = True latest_map[name] = event["event"] return latest_map, new_key def _update_header(self, latest_map, new_key): """helper to handle the printing of the header labels Args: latest_map: the most recent dictionary of stats that have been recorded new_key: indicator whether or not there is a new key added to logger """ full_log_cond = not self.config.max_log_size and GLOBAL_BUFFER["step"] <= GLOBAL_BUFFER["steps_per_log"] capped_log_cond = self.config.max_log_size and (len(self.past_mssgs) - self.banner_len <= 2 or new_key) if full_log_cond or capped_log_cond: mssg = f"{'Step (% Done)':<20}" for name, _ in latest_map.items(): if name in self.stats_to_track: mssg += f"{name:<20} " self.past_mssgs[0] = mssg self.past_mssgs[1] = "-" * len(mssg) if full_log_cond or not self.has_printed: print(mssg) print("-" * len(mssg)) def _print_stats(self, latest_map, padding=" "): """helper to print out the stats in a readable format Args: latest_map: the most recent dictionary of stats that have been recorded padding: type of characters to print to pad open space """ step = GLOBAL_BUFFER["step"] fraction_done = step / GLOBAL_BUFFER["max_iter"] curr_mssg = f"{step} ({fraction_done*100:.02f}%)" curr_mssg = f"{curr_mssg:<20}" for name, v in latest_map.items(): if name in self.stats_to_track: if "(time)" in name: v = _format_time(v) elif "Rays" in name: v = human_format(v) else: v = f"{v:0.4f}" curr_mssg += f"{v:<20} " # update the history buffer if self.config.max_log_size: if not self.has_printed: cursor_idx = len(self.past_mssgs) - self.banner_len self.has_printed = True else: cursor_idx = len(self.past_mssgs) if len(self.past_mssgs[2:]) - self.banner_len >= self.config.max_log_size: self.past_mssgs.pop(2) self.past_mssgs.insert(len(self.past_mssgs) - self.banner_len, curr_mssg) _cursorup(cursor_idx) for i, mssg in enumerate(self.past_mssgs): pad_len = len(max(self.past_mssgs, key=len)) style = "\x1b[6;30;42m" if self.banner_len and i >= len(self.past_mssgs) - self.banner_len + 1 else "" print(f"{style}{mssg:{padding}<{pad_len}} \x1b[0m") else: print(curr_mssg) ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/.eslintrc.json ================================================ { "env": { "browser": true, "es2021": true }, "extends": [ "eslint:recommended", "plugin:react/recommended", "airbnb", "prettier" ], "parser": "@typescript-eslint/parser", "parserOptions": { "ecmaFeatures": { "jsx": true }, "ecmaVersion": "latest", "sourceType": "module" }, "plugins": ["react", "@typescript-eslint", "unused-imports"], "rules": { "arrow-body-style": "off", "camelcase": "off", "import/prefer-default-export": "off", "no-alert": "off", "no-console": "off", "prefer-destructuring": "off", "react/destructuring-assignment": "off", "react/prop-types": 0, "unused-imports/no-unused-imports-ts": 2 } } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/.gitignore ================================================ .idea/ .vscode/ node_modules/ build/ .DS_Store *.tgz my-app* template/src/__tests__/__snapshots__/ lerna-debug.log npm-debug.log* yarn-debug.log* yarn-error.log* /.changelog .npm/ ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/package.json ================================================ { "name": "viewer", "homepage": ".", "version": "22-12-02-0", "private": true, "dependencies": { "@emotion/react": "^11.10.4", "@emotion/styled": "^11.10.4", "@mui/icons-material": "^5.10.3", "@mui/lab": "^5.0.0-alpha.98", "@mui/material": "^5.10.3", "@mui/system": "^5.10.6", "@mui/x-date-pickers": "^5.0.0", "@reduxjs/toolkit": "^1.8.3", "@testing-library/jest-dom": "^5.16.4", "@testing-library/react": "^13.3.0", "@testing-library/user-event": "^14.2.0", "camera-controls": "^1.37.2", "classnames": "^2.3.1", "dat.gui": "^0.7.9", "dayjs": "^1.11.5", "eslint-config-prettier": "^8.5.0", "eslint-plugin-unused-imports": "^2.0.0", "leva": "^0.9.29", "meshline": "^2.0.4", "msgpack-lite": "^0.1.26", "prop-types": "^15.8.1", "re-resizable": "^6.9.9", "react": "^18.1.0", "react-dom": "^18.1.0", "react-icons": "^4.4.0", "react-pro-sidebar": "^0.7.1", "react-redux": "^8.0.2", "redux": "^4.2.0", "sass": "^1.54.8", "socket.io-client": "^4.5.1", "three": "^0.142.0", "three-wtm": "^1.0", "websocket": "^1.0.34", "wwobjloader2": "^4.0" }, "scripts": { "start": "react-scripts start", "build": "react-scripts build", "test": "react-scripts test", "eject": "react-scripts eject", "electron": "electron .", "lint": "eslint --ext .js,.jsx .", "lint:fix": "eslint --fix --ext .js,.jsx ." }, "eslintConfig": { "extends": "react-app" }, "browserslist": { "production": [ ">0.2%", "not dead", "not op_mini all" ], "development": [ "last 1 chrome version", "last 1 firefox version", "last 1 safari version" ] }, "main": "public/electron.js", "author": "", "license": "ISC", "description": "", "devDependencies": { "concurrently": "^7.2.1", "eslint": "^8.2.0", "eslint-config-airbnb": "19.0.4", "eslint-plugin-import": "^2.25.3", "eslint-plugin-jsx-a11y": "^6.5.1", "eslint-plugin-react": "^7.28.0", "eslint-plugin-react-hooks": "^4.3.0", "prettier": "2.7.1", "react-scripts": "^5.0.1", "typescript": "^4.7.3", "wait-on": "^6.0.1" }, "resolutions": { "nth-check": "^2.0.1" } } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/public/electron.js ================================================ const path = require('path'); const { app, BrowserWindow } = require('electron'); const isDev = require('electron-is-dev'); function createWindow() { // Create the browser window. const win = new BrowserWindow({ width: 800, height: 600, webPreferences: { nodeIntegration: true, }, }); // and load the index.html of the app. // win.loadFile("index.html"); win.loadURL( isDev ? 'http://localhost:3000' : `file://${path.join(__dirname, '../build/index.html')}`, ); // Open the DevTools. if (isDev) { win.webContents.openDevTools({ mode: 'detach' }); } } // This method will be called when Electron has finished // initialization and is ready to create browser windows. // Some APIs can only be used after this event occurs. app.whenReady().then(createWindow); // Quit when all windows are closed, except on macOS. There, it's common // for applications and their menu bar to stay active until the user quits // explicitly with Cmd + Q. app.on('window-all-closed', () => { if (process.platform !== 'darwin') { app.quit(); } }); app.on('activate', () => { if (BrowserWindow.getAllWindows().length === 0) { createWindow(); } }); ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/public/index.html ================================================ nerfstudio
================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/public/manifest.json ================================================ { "short_name": "nerfstudio viewer", "name": "Interactive NeRF viewer", "start_url": ".", "display": "standalone", "theme_color": "#000000", "background_color": "#ffffff" } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/public/robots.txt ================================================ # https://www.robotstxt.org/robotstxt.html User-agent: * Disallow: ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/requirements.txt ================================================ tyro>=0.3.22 sshconf==0.2.5 ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/run_deploy.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Code for deploying the built viewer folder to a server and handing versioning. We use the library sshconf (https://github.com/sorend/sshconf) for working with the ssh config file. """ import json import os import subprocess from os.path import expanduser from pathlib import Path from typing import Optional import tyro from sshconf import empty_ssh_config_file, read_ssh_config def run_cmd(cmd: str): """Run a command in the terminal.""" print("cmd:", cmd) print("output:") subprocess.Popen(cmd, shell=True).wait() def main( branch_name: str = "", ssh_key_string: Optional[str] = None, ssh_key_filename: str = " ~/.ssh/github_actions_user_key_filename", hostname_or_ip_address: str = "34.102.68.79", local_folder: str = "/home/eweb0124/build", remote_folder: str = "/home/eweb0124/viewer", host: str = "viewer_deploy_host", user: str = "eweb0124", package_json_filename: str = "package.json", increment_version: str = "False", ): """Copy a local folder to a remote machine and handle versioning. Args: ssh_key: The private ssh key needed to ssh. hostname_or_ip_address: The hostname or ip_address of the remote machine. """ print() print("branch_name", branch_name) print("ssh_key_string", ssh_key_string) print("ssh_key_filename", ssh_key_filename) print("hostname_or_ip_address", hostname_or_ip_address) print("local_folder", local_folder) print("remote_folder", remote_folder) print("host", host) print("user", user) print("package_json_filename", package_json_filename) print("increment_version", increment_version) print() # save the ssh key to a file run_cmd("mkdir ~/.ssh") if ssh_key_string: run_cmd(f"""rm -f {ssh_key_filename}""") run_cmd(f"""echo "{ssh_key_string}" >> {ssh_key_filename}""") run_cmd(f"chmod 400 {ssh_key_filename}") # setup the config in ~/.ssh/config config_filename = expanduser("~/.ssh/config") Path(config_filename).parent.mkdir(exist_ok=True) try: config = read_ssh_config(config_filename) except FileNotFoundError: config = empty_ssh_config_file() config.write(config_filename) config = read_ssh_config(config_filename) # add the host if it doesn't exist if not config.host(host): config.add(host) config.set( host, Hostname=hostname_or_ip_address, User=user, IdentityFile=ssh_key_filename, StrictHostKeyChecking="No", ) # show that the config is correct run_cmd("cat ~/.ssh/config") # save the config file config.save() # get the version with open(package_json_filename, "r", encoding="utf-8") as f: package_json = json.load(f) # TODO: add logic to increment the version number if increment_version == "True": raise NotImplementedError() else: version = package_json["version"] print(f"\nusing version: {version}") # write to the /home/eweb0124/build folder run_cmd(f"""ssh {host} 'rm -rf /home/eweb0124/build'""") run_cmd(f"""scp -r {local_folder} {host}:/home/eweb0124/build""") # update the symlink of latest if branch_name == "main": # move the build folder to the correct location run_cmd(f"""ssh {host} 'rm -rf {remote_folder}/{version}'""") run_cmd(f"""ssh {host} 'cp -R /home/eweb0124/build {remote_folder}/{version}'""") run_cmd(f"""ssh {host} 'rm {remote_folder}/latest'""") run_cmd(f"""ssh {host} 'ln -s {remote_folder}/{version} {remote_folder}/latest'""") # otherwise just move to some branch folder else: updated_branch_name = branch_name.replace("/", "-") run_cmd(f"""ssh {host} 'rm -rf {remote_folder}/branch/{updated_branch_name}'""") run_cmd(f"""ssh {host} 'cp -R /home/eweb0124/build {remote_folder}/branch/{updated_branch_name}'""") if __name__ == "__main__": tyro.extras.set_accent_color("bright_yellow") tyro.cli(main) ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/App.jsx ================================================ import { CssBaseline, ThemeProvider } from '@mui/material'; import React from 'react'; import { SceneTreeWebSocketListener, get_scene_tree, } from './modules/Scene/Scene'; import Banner from './modules/Banner'; import { BasicTabs } from './modules/SidePanel/SidePanel'; import ViewerWindow from './modules/ViewerWindow/ViewerWindow'; import { appTheme } from './themes/theme.ts'; export default function App() { // The scene tree won't rerender but it will listen to changes // from the redux store and draw three.js objects. // In particular, it listens to changes to 'sceneState' coming over the websocket. const sceneTree = get_scene_tree(); return (
{/* Listens for websocket 'write' messages and updates the redux store. */} {/* The banner at the top of the page. */}
{/* Order matters here. The viewer window must be rendered first. */}
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/SceneNode.js ================================================ /* eslint-disable no-underscore-dangle */ /* eslint-disable no-restricted-syntax */ import * as THREE from 'three'; function dispose(object) { if (!object) { return; } if (object.geometry) { object.geometry.dispose(); } if (object.material) { if (Array.isArray(object.material)) { for (const material of object.material) { if (material.map) { material.map.dispose(); } material.dispose(); } } else { if (object.material.map) { object.material.map.dispose(); } object.material.dispose(); } } } export default class SceneNode { constructor(object, scene_state) { this.metadata = {}; // relevant metadata for the object this.object = object; // three.js objects this.children = {}; this.scene_state = scene_state; for (const c of this.object.children) { this.add_child(c); } } get_scene_state() { return this.scene_state; } add_child(object) { const node = new SceneNode(object); this.children[object.name] = node; return node; } create_child(name) { const obj = new THREE.Group(); obj.name = name; this.object.add(obj); return this.add_child(obj); } find(path) { if (path.length === 0) { return this; } const name = path[0]; let child = this.children[name]; if (child === undefined) { child = this.create_child(name); } return child.find(path.slice(1)); } find_object(path) { return this.find(path.concat([''])).object; } find_no_create(path) { if (path.length === 0) { return this; } const name = path[0]; const child = this.children[name]; if (child === undefined) { return null; } return child.find(path.slice(1)); } find_object_no_create(path) { return this.find_no_create(path.concat([''])).object; } set_property(property, value) { if (property === 'position') { this.object.position.set(value[0], value[1], value[2]); } else if (property === 'quaternion') { this.object.quaternion.set(value[0], value[1], value[2], value[3]); } else if (property === 'scale') { this.object.scale.set(value[0], value[1], value[2]); } else { this.object[property] = value; } this.vis_controller.updateDisplay(); } set_transform(matrix) { const mat = new THREE.Matrix4(); mat.fromArray(matrix); mat.decompose( this.object.position, this.object.quaternion, this.object.scale, ); } set_object_from_path(path, object) { this.find(path.concat([''])).set_object(object); } set_object(object) { const parent = this.object.parent; this.dispose_recursive(); this.object.parent.remove(this.object); this.object = object; parent.add(object); } dispose_recursive() { for (const name of Object.keys(this.children)) { this.children[name].dispose_recursive(); } dispose(this.object); } delete(path) { if (path.length === 0) { console.error("Can't delete an empty path."); } else { const parent = this.find(path.slice(0, path.length - 1)); const name = path[path.length - 1]; const child = parent.children[name]; if (child !== undefined) { child.dispose_recursive(); parent.object.remove(child.object); delete parent.children[name]; } } } } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/index.jsx ================================================ import './index.scss'; import React from 'react'; import ReactDOM from 'react-dom'; import { Provider } from 'react-redux'; import App from './App'; import WebSocketProvider from './modules/WebSocket/WebSocket'; import store from './store'; const root = ReactDOM.createRoot(document.getElementById('root')); root.render( , ); ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/index.scss ================================================ body { margin: 0; font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', 'Roboto', 'Oxygen', 'Ubuntu', 'Cantarell', 'Fira Sans', 'Droid Sans', 'Helvetica Neue', sans-serif; -webkit-font-smoothing: antialiased; -moz-osx-font-smoothing: grayscale; height: 100%; overflow: hidden; } code { font-family: source-code-pro, Menlo, Monaco, Consolas, 'Courier New', monospace; } .App { position: relative; height: 100vh; } $base-color1: #292d39; $base-color2: #222831; $base-color3: #393e46; $accent-color1: #db5200; $accent-color2: #ff8600; $accent-color3: #ffd369; $highlight-color1: #606980; $highlight-color2: #eeeeee; $highlight-color3: #ffffff; .banner { position: absolute; top: 0; left: 0; right: 0; height: 50px; width: 100%; z-index: 1000; background-color: $base-color2; .banner-button { margin: 10px; float: left; } .banner-logo { margin: 10px; margin-right: 120px; float: right; } } .App-body { position: absolute; top: 50px; left: 0; right: 0; bottom: 0; } $SidePanel-width: 400px; $custom-border: solid 1px $base-color1; .SidePanel { position: absolute; background-color: $base-color2; color: $highlight-color2; top: 0; width: $SidePanel-width; right: 0; bottom: 0; border: $custom-border; z-index: 999; text-align: center; overflow-y: scroll; } .Leva-container > div { position: relative; margin: auto; width: 100%; padding: 10px; } .simple-tabpanel-0 { padding: 100px; } .Scene-container { height: 500px; } // Your variable overrides $sidebar-color: $accent-color3 !default; $sidebar-width: 100% !default; @import '~react-pro-sidebar/dist/scss/styles.scss'; // Scrollbar /* width */ ::-webkit-scrollbar { width: 8px; height: 6px; } /* Track */ ::-webkit-scrollbar-track { background: #454651; } /* Handle */ ::-webkit-scrollbar-thumb { background: $accent-color3; } /* Handle on hover */ ::-webkit-scrollbar-thumb:hover { background: $highlight-color2; } // ------------------------------------ // Status Panel styling .StatusPanel { display: block; background-color: $base-color1; // height: 170px; } .StatusPanel .StatusPanel-play-button { width: 100%; padding: 10px; } .StatusPanel .StatusPanel-button-group { margin: 10px; } .StatusPanel .StatusPanel-hide-scene-button { margin: 12px; } .StatusPanel .WebSocketUrlField { // display: block; // float: left; margin: 10px; } .StatusPanel-metrics { background-color: $base-color2; margin: 5px; padding: 10px; } .StatusPanel-metrics div { position: relative; font-size: 14px; display: block; text-align: left; margin-top: 3px; margin-left: 5px; } // ------------------------------------ // Landing Modal styling .LandingModal-box { position: absolute; top: 50%; left: 50%; transform: translate(-50%, -50%); width: 600px; // 400 background-color: $base-color2; border: 2px solid #000; // box-shadow: 24px 24px; padding: 32px; overflow-y: auto; height: auto; max-height: 90%; } .LandingModal-box .WebSocketUrlField { width: 100%; } .LandingModal-box .LandingModal-button { margin: 3px; } // ------------------------------------ // Viewport Controls Modal styling .ViewportConstrolsModal-box { position: absolute; top: 50%; left: 50%; transform: translate(-50%, -50%); width: 800px; // 400 background-color: $base-color2; border: 2px solid #000; // box-shadow: 24px 24px; padding: 32px; overflow-y: auto; height: auto; } // ------------------------------------ // Render Modal styling .RenderModal-box { position: absolute; top: 50%; left: 50%; transform: translate(-50%, -50%); width: 600px; // 400 background-color: $base-color2; border: 2px solid #000; // box-shadow: 24px 24px; padding: 32px; } .RenderModal-code { padding: 10px; background-color: $base-color3; overflow-x: scroll; font-family: monospace; white-space: pre; margin-top: 16px; } .RenderModal-inline-code { font-size: 0.9rem; color: $accent-color3; } .RenderModal-box .RenderModal-button { width: 50%; padding: 5px; margin-top: 20px; } // ------------------------------------ // Camera Pane .CameraPanel { } .CameraPanel-top-button { display: inline-block; margin: 4px; margin-top: 8px; } .CameraPanel-render-button { display: inline-block; width: 70%; margin: 4px; margin-top: 8px; } .CameraPanel-slider-container { margin-left: auto; margin-right: auto; width: 70%; } .CameraPanel-slider-button-container { margin-bottom: 10px; button { margin: 4px; } } .CameraList-container { position: relative; padding: 2px; } .CameraList-row { background: $base-color1; padding: 4px; border: solid 1px $highlight-color1; text-align: left; } .CameraList-row-buttons { display: inline-block; float: right; } .CameraList-row-time-interval > div { display: inline-block; text-align: center; margin: 10px; width: 100px; } .CameraList-row-animation-properties > div { display: inline-block; text-align: center; margin: 10px; width: 100px; } // ------------------------------------ // Viewer Window .canvas-container-main, .WebRTCVideo, .ViewerWindow-render-crop-container { position: absolute; top: 0px; right: $SidePanel-width; bottom: 0px; left: 0px; border: $custom-border; } .WebRTCVideo { z-index: 1; } .ViewerWindow-render-crop-container { z-index: 2; display: flex; justify-content: center; align-items: center; } .canvas-container-main { z-index: 3; } .WebRTCVideo-video { width: 100%; height: 100%; object-fit: fill; } .ViewerWindow-render-crop { display: flex; box-shadow: rgb(0 0 0 / 70%) 0px 0px 0px 1600px; z-index: 1; vertical-align: middle; } $viewer_button_size: 50px; .ViewerWindow-camera-toggle { position: absolute; margin: auto; text-align: center; margin-top: 10px; z-index: 1000; left: 0; right: 0; } .ViewerWindow-buttons { position: absolute; margin: 10px; top: 0px; right: $SidePanel-width; z-index: 1000; width: $viewer_button_size; } .ViewerWindow-iconbutton { margin-top: 5px; } // ------------------------------------ // Export panel styling .ExportModal-code { padding: 10px; background-color: $base-color3; overflow-x: scroll; font-family: monospace; white-space: pre; margin-top: 16px; font-size: 0.9em; } .ExportModal-text { text-align: left; margin-top: 20px; font-size: 0.9em; } .ExportModal-button { // margin: 15px; padding: 20px; } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/Banner/Banner.jsx ================================================ import React from 'react'; import { useDispatch } from 'react-redux'; import Button from '@mui/material/Button'; import GitHubIcon from '@mui/icons-material/GitHub'; import DescriptionRoundedIcon from '@mui/icons-material/DescriptionRounded'; import LandingModal from '../LandingModal'; import ViewportControlsModal from '../ViewportControlsModal'; function getParam(param_name) { // https://stackoverflow.com/questions/831030/how-to-get-get-request-parameters-in-javascript const params = new RegExp( `[?&]${encodeURIComponent(param_name)}=([^&]*)`, ).exec(window.location.href); if (params === null) { return undefined; } return decodeURIComponent(params[1]); } export default function Banner() { const dispatch = useDispatch(); let open_modal = true; // possibly set the websocket url const websocket_url_from_argument = getParam('websocket_url'); if (websocket_url_from_argument !== undefined) { open_modal = false; dispatch({ type: 'write', path: 'websocketState/websocket_url', data: websocket_url_from_argument, }); } return (
The favicon.
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/Banner/index.jsx ================================================ import Banner from './Banner'; export default Banner; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/ConfigPanel/ConfigPanel.jsx ================================================ import { buttonGroup, useControls } from 'leva'; import { useContext, useEffect, useState } from 'react'; import { useDispatch, useSelector } from 'react-redux'; import { WebSocketContext } from '../WebSocket/WebSocket'; const msgpack = require('msgpack-lite'); export function RenderControls() { // connection status indicators const websocket = useContext(WebSocketContext).socket; const outputOptions = useSelector( (state) => state.renderingState.output_options, ); const outputChoice = useSelector( (state) => state.renderingState.output_choice, ); const colormapOptions = useSelector( (state) => state.renderingState.colormap_options, ); const colormapChoice = useSelector( (state) => state.renderingState.colormap_choice, ); const max_resolution = useSelector( (state) => state.renderingState.maxResolution, ); const target_train_util = useSelector( (state) => state.renderingState.targetTrainUtil, ); const render_time = useSelector( (state) => state.renderingState.renderTime, ); const dispatch = useDispatch(); const set_max_resolution = (value) => { if (websocket.readyState === WebSocket.OPEN) { dispatch({ type: 'write', path: 'renderingState/maxResolution', data: value, }); const cmd = 'write'; const path = 'renderingState/maxResolution'; const data = { type: cmd, path, data: value, }; const message = msgpack.encode(data); websocket.send(message); } }; const set_target_train_util = (value) => { if (websocket.readyState === WebSocket.OPEN) { dispatch({ type: 'write', path: 'renderingState/targetTrainUtil', data: value, }); const cmd = 'write'; const path = 'renderingState/targetTrainUtil'; const data = { type: cmd, path, data: value, }; const message = msgpack.encode(data); websocket.send(message); } }; const set_output_choice = (value) => { if (websocket.readyState === WebSocket.OPEN) { dispatch({ type: 'write', path: 'renderingState/output_choice', data: value, }); const cmd = 'write'; const path = 'renderingState/output_choice'; const data = { type: cmd, path, data: value, }; const message = msgpack.encode(data); websocket.send(message); } }; const set_colormap_choice = (value) => { if (websocket.readyState === WebSocket.OPEN) { dispatch({ type: 'write', path: 'renderingState/colormap_choice', data: value, }); const cmd = 'write'; const path = 'renderingState/colormap_choice'; const data = { type: cmd, path, data: value, }; const message = msgpack.encode(data); websocket.send(message); } }; const [display_render_time, set_display_render_time] = useState(false); const receive_temporal_dist = e => { const msg = msgpack.decode(new Uint8Array(e.data)); if (msg.path === "/model/has_temporal_distortion") { set_display_render_time(msg.data === "true"); websocket.removeEventListener("message", receive_temporal_dist); } } websocket.addEventListener('message', receive_temporal_dist); const set_render_time = (value) => { if (websocket.readyState === WebSocket.OPEN) { const path = 'renderingState/render_time'; dispatch({ type: 'write', path, data: value, }); const cmd = 'write'; const data = { type: cmd, path, data: value, }; const message = msgpack.encode(data); websocket.send(message); } }; const [, setControls] = useControls( () => ({ // training speed 'Train Speed': buttonGroup({ Fast: () => setControls({ target_train_util: 0.9, max_resolution: 512 }), Balanced: () => setControls({ target_train_util: 0.7, max_resolution: 1024 }), Slow: () => setControls({ target_train_util: 0.1, max_resolution: 2048 }), }), // output_options output_options: { label: 'Output Render', options: [...new Set(outputOptions)], value: outputChoice, onChange: (v) => { set_output_choice(v); }, }, // colormap_options colormap_options: { label: 'Colormap', options: colormapOptions, value: colormapChoice, onChange: (v) => { set_colormap_choice(v); }, disabled: colormapOptions.length === 1, }, // Dynamic Resolution target_train_util: { label: 'Train Util.', value: target_train_util, min: 0, max: 1, step: 0.05, onChange: (v) => { set_target_train_util(v); }, }, // resolution max_resolution: { label: 'Max Res.', value: max_resolution, min: 256, max: 2048, step: 1, onChange: (v) => { set_max_resolution(v); }, }, ' ': buttonGroup({ '256px': () => setControls({ max_resolution: 256 }), '512px': () => setControls({ max_resolution: 512 }), '1024px': () => setControls({ max_resolution: 1024 }), '2048px': () => setControls({ max_resolution: 2048 }), }), // Dynamic NeRF rendering time ...(display_render_time ? {render_time: { label: 'Render Timestep', value: render_time, min: 0, max: 1, step: 0.01, onChange: (v) => { set_render_time(v); }, }} : {}), }), [ outputOptions, outputChoice, colormapOptions, colormapChoice, max_resolution, target_train_util, render_time, display_render_time, websocket, // need to re-render when websocket changes to use the new websocket ], ); useEffect(() => { setControls({ max_resolution }); setControls({ output_options: outputChoice }); setControls({ colormap_options: colormapChoice }); }, [ setControls, outputOptions, outputChoice, colormapOptions, colormapChoice, max_resolution, target_train_util, render_time, display_render_time, ]); return null; } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/ConfigPanel/ConfigPanelSlice.js ================================================ // The function below is called a selector and allows us to select a value from // the state. Selectors can also be defined inline where they're used instead of // in the slice file. For example: `useSelector((state) => state.counter.value)` export const selectTrainingState = (state) => state.shared.rendering.training_state; export const selectOutputOptions = (state) => state.shared.output_options; export const selectColormapOptions = (state) => state.shared.colormap_options; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/LandingModal/LandingModal.jsx ================================================ /* eslint-disable react/jsx-props-no-spreading */ import * as React from 'react'; import { Box, Button, Modal, Typography, Tabs, Tab, Chip, Link, } from '@mui/material'; import ContentCopyRoundedIcon from '@mui/icons-material/ContentCopyRounded'; import WebSocketUrlField from '../WebSocketUrlField'; interface LandingModalProps { initial_state: object; } interface TabPanelProps { children: React.ReactNode; index: number; value: number; } function TabPanel(props: TabPanelProps) { const { children, value, index, ...other } = props; return ( ); } function a11yProps(index: number) { return { id: `simple-tab-${index}`, 'aria-controls': `simple-tabpanel-${index}`, }; } export default function LandingModel(props: LandingModalProps) { const [open, setOpen] = React.useState(props.initial_state); const handleOpen = () => setOpen(true); const handleClose = () => setOpen(false); const text_intro = `To use our viewer, you need to connect to the WebSocket server where your training job is running. Enter your WebSocket URL below and click the link to connect to your training job.`; const command = `ssh -L :localhost: USER@REMOTE.SERVER.IP`; const platform = window.navigator.platform.toLowerCase(); let initial_tab = 0; if (platform.includes('mac')) { initial_tab = 0; } else if (platform.includes('linux')) { initial_tab = 1; } else if (platform.includes('win')) { initial_tab = 2; } const [tabValue, setTabValue] = React.useState(initial_tab); const handleTabChange = (event: React.SyntheticEvent, newValue: number) => { setTabValue(newValue); }; const handleCopy = () => { navigator.clipboard.writeText(command); }; return (
The favicon.

Getting Started

{text_intro}

Remote Server

If you are using a remote server, make sure to forward the port. This can be accomplished by running the following command on this machine.

SSH must be set up on the remote machine. Then run the following on this machine:

} />

SSH must be set up on the remote machine. Then run the following on this machine:

} />

SSH must be set up on the remote machine. Then run the following on this machine in PowerShell:

} />

If OpenSSH is not installed, refer to this{' '} guide .

); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/LandingModal/index.jsx ================================================ import LandingModel from './LandingModal'; export default LandingModel; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/LogPanel/LogPanel.jsx ================================================ import { useContext, useEffect } from 'react'; import { useDispatch, useSelector } from 'react-redux'; import { WebSocketContext } from '../WebSocket/WebSocket'; const msgpack = require('msgpack-lite'); export function LogPanel() { const websocket = useContext(WebSocketContext).socket; const dispatch = useDispatch(); const gpu_oom_error_msg = 'GPU out of memory'; const resolved_msg = 'resolved'; let local_error = resolved_msg; // connection status indicators const set_max_train_util = () => { if (websocket.readyState === WebSocket.OPEN) { dispatch({ type: 'write', path: 'renderingState/targetTrainUtil', data: 0.9, }); const cmd = 'write'; const path = 'renderingState/targetTrainUtil'; const data = { type: cmd, path, data: 0.9, }; const message = msgpack.encode(data); websocket.send(message); } }; const set_small_resolution = () => { if (websocket.readyState === WebSocket.OPEN) { dispatch({ type: 'write', path: 'renderingState/maxResolution', data: 512, }); const cmd = 'write'; const path = 'renderingState/maxResolution'; const data = { type: cmd, path, data: 512, }; const message = msgpack.encode(data); websocket.send(message); } }; const set_log_message = () => { if (websocket.readyState === WebSocket.OPEN) { dispatch({ type: 'write', path: 'renderingState/log_errors', data: resolved_msg, }); const cmd = 'write'; const path = 'renderingState/log_errors'; const data = { type: cmd, path, data: resolved_msg, }; const message = msgpack.encode(data); websocket.send(message); } }; const check_error = useSelector((state) => { local_error = state.renderingState.log_errors; if (local_error.includes(gpu_oom_error_msg)) { console.log(local_error); set_log_message(); set_small_resolution(); set_max_train_util(); } }); useEffect(() => {}, [check_error, local_error]); return null; } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/RenderModal/RenderModal.jsx ================================================ /* eslint-disable react/jsx-props-no-spreading */ import * as React from 'react'; import { Box, Button, Modal, TextField, Typography } from '@mui/material'; import { useSelector } from 'react-redux'; import ContentCopyRoundedIcon from '@mui/icons-material/ContentCopyRounded'; interface RenderModalProps { open: object; setOpen: object; } export default function RenderModal(props: RenderModalProps) { const open = props.open; const setOpen = props.setOpen; // redux store state const config_base_dir = useSelector( (state) => state.renderingState.config_base_dir, ); // react state const [filename, setFilename] = React.useState('render_output'); const handleClose = () => setOpen(false); // Copy the text inside the text field const config_filename = `${config_base_dir}/config.yml`; const camera_path_filename = `${config_base_dir}/camera_path.json`; const cmd = `ns-render --load-config ${config_filename} --traj filename --camera-path-filename ${camera_path_filename} --output-path renders/${filename}.mp4`; const text_intro = `To render a full resolution video, run the following command in a terminal.`; const handleCopy = () => { navigator.clipboard.writeText(cmd); }; return (

Rendering

{text_intro}
The video will be saved to{' '} ./renders/{filename}.mp4 .

{ setFilename(e.target.value); }} value={filename} variant="standard" />
{cmd}
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/RenderModal/index.jsx ================================================ import RenderModal from './RenderModal'; export default RenderModal; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/Scene/Scene.jsx ================================================ /* eslint-disable no-restricted-syntax */ import * as THREE from 'three'; import { useContext, useEffect } from 'react'; import CameraControls from 'camera-controls'; import { CSS2DRenderer } from 'three/examples/jsm/renderers/CSS2DRenderer'; import { TransformControls } from 'three/examples/jsm/controls/TransformControls'; import { useDispatch } from 'react-redux'; import { drawCamera, drawSceneBox } from './drawing'; import { CameraHelper } from '../SidePanel/CameraPanel/CameraHelper'; import SceneNode from '../../SceneNode'; import { WebSocketContext } from '../WebSocket/WebSocket'; import { subscribe_to_changes } from '../../subscriber'; import { snap_to_camera } from '../SidePanel/SidePanel'; const msgpack = require('msgpack-lite'); const SCENE_BOX_NAME = 'Scene Box'; const CAMERAS_NAME = 'Training Cameras'; export function get_scene_tree() { const scene = new THREE.Scene(); const scene_state = { value: new Map(), callbacks: [], addCallback(callback, key) { this.callbacks.push([callback, key]); }, setValue(key, value) { this.value.set(key, value); this.callbacks.forEach((cbk) => { const i = cbk[1]; const callback = cbk[0]; return callback(this.value.get(i)); }); }, }; const sceneTree = new SceneNode(scene, scene_state); const dispatch = useDispatch(); const BANNER_HEIGHT = 50; // Main camera const main_camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000); const start_position = new THREE.Vector3(0.7, -0.7, 0.3); main_camera.position.set( start_position.x, start_position.y, start_position.z, ); main_camera.up = new THREE.Vector3(0, 0, 1); sceneTree.set_object_from_path(['Cameras', 'Main Camera'], main_camera); sceneTree.metadata.camera = main_camera; // Render camera const render_camera = main_camera.clone(); const render_camera_helper = new CameraHelper(render_camera, '#4eb570'); render_camera_helper.set_visibility(false); sceneTree.set_object_from_path(['Cameras', 'Render Camera'], render_camera); sceneTree.set_object_from_path( ['Cameras', 'Render Camera', 'Helper'], render_camera_helper, ); // Renderer const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true, }); renderer.setPixelRatio(window.devicePixelRatio); sceneTree.metadata.renderer = renderer; const labelRenderer = new CSS2DRenderer(); labelRenderer.setSize(window.innerWidth, window.innerHeight); labelRenderer.domElement.style.position = 'absolute'; labelRenderer.domElement.style.top = '0px'; document.body.appendChild(labelRenderer.domElement); sceneTree.metadata.labelRenderer = labelRenderer; // Camera Controls CameraControls.install({ THREE }); const camera_controls = new CameraControls(main_camera, renderer.domElement); camera_controls.azimuthRotateSpeed = 0.3; camera_controls.polarRotateSpeed = 0.3; camera_controls.dollySpeed = 0.1; camera_controls.infinityDolly = true; camera_controls.saveState(); const keyMap = []; const moveSpeed = 0.008; const rotSpeed = 0.015; const EPS = 0.01; function rotate() { if ( keyMap.ArrowLeft || keyMap.ArrowRight || keyMap.ArrowUp || keyMap.ArrowDown ) { const curTar = camera_controls.getTarget(); const curPos = camera_controls.getPosition(); const diff = curTar.sub(curPos).clampLength(0, EPS); camera_controls.setTarget( curPos.x + diff.x, curPos.y + diff.y, curPos.z + diff.z, ); if (keyMap.ArrowLeft === true) { camera_controls.rotate(rotSpeed, 0, true); } if (keyMap.ArrowRight === true) { camera_controls.rotate(-rotSpeed, 0, true); } if (keyMap.ArrowUp === true) { camera_controls.rotate(0, rotSpeed / 1.5, true); } if (keyMap.ArrowDown === true) { camera_controls.rotate(0, -rotSpeed / 1.5, true); } } } function translate() { if (keyMap.KeyD === true) { camera_controls.truck(moveSpeed, 0, true); } if (keyMap.KeyA === true) { camera_controls.truck(-moveSpeed, 0, true); } if (keyMap.KeyW === true) { const curPos = camera_controls.getPosition(); const newTar = camera_controls.getTarget(); const newDiff = newTar .sub(curPos) .normalize() .multiplyScalar(curPos.length()); camera_controls.setTarget( curPos.x + newDiff.x, curPos.y + newDiff.y, curPos.z + newDiff.z, ); camera_controls.dolly(moveSpeed, true); } if (keyMap.KeyS === true) { camera_controls.dolly(-moveSpeed, true); } if (keyMap.KeyQ === true) { camera_controls.truck(0, moveSpeed, true); } if (keyMap.KeyE === true) { camera_controls.truck(0, -moveSpeed, true); } } function moveCamera() { if (!scene_state.value.get('mouse_in_scene')) { return; } translate(); rotate(); } function onKeyUp(event) { const keyCode = event.code; keyMap[keyCode] = false; } function onKeyDown(event) { const keyCode = event.code; keyMap[keyCode] = true; } function checkVisibility(camera) { let curr = camera; while (curr !== null) { if (!curr.visible) return false; curr = curr.parent; } return true; } window.addEventListener('keydown', onKeyDown, true); window.addEventListener('keyup', onKeyUp, true); window.addEventListener('keydown', (event) => { if (event.code === 'Space') { camera_controls.setLookAt(0.7, -0.7, 0.3, 0, 0, 0); } }); sceneTree.metadata.camera_controls = camera_controls; sceneTree.metadata.moveCamera = moveCamera; // Transform Controls const transform_controls = new TransformControls( main_camera, renderer.domElement, ); sceneTree.set_object_from_path(['Transform Controls'], transform_controls); transform_controls.addEventListener('dragging-changed', (event) => { // turn off the camera controls while transforming an object camera_controls.enabled = !event.value; }); // if you drag the screen when the render camera is shown, // then snap back to the main camera // eslint-disable-next-line no-unused-vars camera_controls.addEventListener('change', (event) => { if (sceneTree.metadata.camera === render_camera) { dispatch({ type: 'write', path: 'renderingState/camera_choice', data: 'Main Camera', }); } // transform_controls.detach(); }); // Axes const axes = new THREE.AxesHelper(5); sceneTree.set_object_from_path(['Axes'], axes); // Grid const grid = new THREE.GridHelper(20, 20); grid.rotateX(Math.PI / 2); // rotated to xy plane sceneTree.set_object_from_path(['Grid'], grid); // Lights const color = 0xffffff; const intensity = 1; const light = new THREE.AmbientLight(color, intensity); sceneTree.set_object_from_path(['Light'], light); // draw scene box const selector_fn_scene_box = (state) => { return state.sceneState.sceneBox; }; const fn_value_scene_box = (previous, current) => { if (current !== null) { const line = drawSceneBox(current); sceneTree.set_object_from_path([SCENE_BOX_NAME], line); } else { sceneTree.delete([SCENE_BOX_NAME]); } }; subscribe_to_changes(selector_fn_scene_box, fn_value_scene_box); // draw camera // NOTE: this has some issues right now! it won't // update the camera on an individual change w/o deleting first const selector_fn_cameras = (state) => { return state.sceneState.cameras; }; const fn_value_cameras = (previous, current) => { if (current !== null) { let prev = new Set(); if (previous !== null) { prev = new Set(Object.keys(previous)); } const curr = new Set(Object.keys(current)); // valid if in current but not previous // invalid if in previous but not current for (const key of curr) { // valid so draw if (!prev.has(key)) { // keys_valid.push(key); const json = current[key]; const camera = drawCamera(json, key); sceneTree.set_object_from_path([CAMERAS_NAME, key], camera); } } for (const key of prev) { // invalid so delete if (!curr.has(key) || current[key] === null) { // keys_invalid.push(key); sceneTree.delete([CAMERAS_NAME, key]); } } } else { sceneTree.delete([CAMERAS_NAME]); } }; subscribe_to_changes(selector_fn_cameras, fn_value_cameras); // Check for clicks on training cameras const mouseVector = new THREE.Vector2(); const raycaster = new THREE.Raycaster(); const size = new THREE.Vector2(); let selectedCam = null; let drag = false; const onMouseDown = () => { drag = false; const curPos = camera_controls.getPosition(); const newTar = camera_controls.getTarget(); const newDiff = newTar .sub(curPos) .normalize() .multiplyScalar(curPos.length()); camera_controls.setTarget( curPos.x + newDiff.x, curPos.y + newDiff.y, curPos.z + newDiff.z, ); }; const onMouseMove = (e) => { drag = true; sceneTree.metadata.renderer.getSize(size); mouseVector.x = 2 * (e.clientX / size.x) - 1; mouseVector.y = 1 - 2 * ((e.clientY - BANNER_HEIGHT) / size.y); const mouse_in_scene = !( mouseVector.x > 1 || mouseVector.x < -1 || mouseVector.y > 1 || mouseVector.y < -1 ); scene_state.setValue('mouse_x', mouseVector.x); scene_state.setValue('mouse_y', mouseVector.y); scene_state.setValue('mouse_in_scene', mouse_in_scene); const camerasParent = sceneTree.find_no_create([CAMERAS_NAME]); if (camerasParent === null) { return; } const cameras = Object.values(camerasParent.children).map( (obj) => obj.object.children[0].children[1], ); if ( mouseVector.x > 1 || mouseVector.x < -1 || mouseVector.y > 1 || mouseVector.y < -1 ) { if (selectedCam !== null) { selectedCam.material.color = new THREE.Color(1, 1, 1); selectedCam = null; } return; } raycaster.setFromCamera(mouseVector, sceneTree.metadata.camera); const intersections = raycaster.intersectObjects(cameras, true); if (selectedCam !== null) { selectedCam.material.color = new THREE.Color(1, 1, 1); selectedCam = null; } const filtered_intersections = intersections.filter((isect) => checkVisibility(isect.object), ); if (filtered_intersections.length > 0) { selectedCam = filtered_intersections[0].object; selectedCam.material.color = new THREE.Color(0xfab300); } }; const onMouseUp = () => { if (drag === true || !scene_state.value.get('mouse_in_scene')) { return; } if (selectedCam !== null) { const clickedCam = sceneTree.find_object_no_create([ CAMERAS_NAME, selectedCam.name, ]); snap_to_camera(sceneTree, sceneTree.metadata.camera, clickedCam.matrix); } }; window.addEventListener('mousedown', onMouseDown, false); window.addEventListener('mousemove', onMouseMove, false); window.addEventListener('mouseup', onMouseUp, false); return sceneTree; } // manages setting up the scene and other logic for keeping state in sync with the server export function SceneTreeWebSocketListener() { const socket = useContext(WebSocketContext).socket; const dispatch = useDispatch(); useEffect(() => { socket.addEventListener('message', (originalCmd) => { // set the remote description when the offer is received const cmd = msgpack.decode(new Uint8Array(originalCmd.data)); if (cmd.type === 'write') { // write to the store dispatch({ type: 'write', path: cmd.path, data: cmd.data, }); } }); }, [socket]); // dependency to call this whenever the websocket changes } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/Scene/drawing.js ================================================ /* eslint-disable no-restricted-syntax */ // ---- code for drawing with three.js ---- import * as THREE from 'three'; export function drawSceneBox(sceneBox): THREE.Object3D { console.assert(sceneBox.type === 'aabb', 'The scene box must be an AABB'); const box = sceneBox; const w = 1.0; const aaa = new THREE.Vector3(w, w, w); const aab = new THREE.Vector3(w, w, -w); const aba = new THREE.Vector3(w, -w, w); const baa = new THREE.Vector3(-w, w, w); const abb = new THREE.Vector3(w, -w, -w); const bba = new THREE.Vector3(-w, -w, w); const bab = new THREE.Vector3(-w, w, -w); const bbb = new THREE.Vector3(-w, -w, -w); let points = [aaa, aab, aaa, aba, aab, abb, aba, abb]; points = points.concat([baa, bab, baa, bba, bab, bbb, bba, bbb]); points = points.concat([aaa, baa, aab, bab, aba, bba, abb, bbb]); const maxPoint = new THREE.Vector3(...box.max_point); const minPoint = new THREE.Vector3(...box.min_point); const lengths = maxPoint.clone(); lengths.sub(minPoint); const scalar = lengths.clone(); scalar.divide(new THREE.Vector3(2.0, 2.0, 2.0)); const offset = minPoint.clone(); offset.add(scalar); for (let i = 0; i < points.length; i += 1) { points[i] = points[i].clone(); points[i].multiply(scalar).add(offset); } const geometry = new THREE.BufferGeometry().setFromPoints(points); const material = new THREE.LineBasicMaterial({ color: 0x000000, linewidth: 1, }); const lines = new THREE.LineSegments(geometry, material); return lines; } export function getCameraWireframe( scale = 0.3, focalLength = 4, w = 1.5, h = 2, ) { // Returns a wireframe of a 3D line-plot of a camera symbol. // A wireframe is a frustum. // https://github.com/hangg7/mvs_visual/blob/275d382a824733a3187a8e3147be184dd6f14795/mvs_visual.py#L54. // scale: scale of rendering // focalLength: this is the focal length // w: width // h: height const f = focalLength; const ul = new THREE.Vector3(-w, h, -f); const ur = new THREE.Vector3(w, h, -f); const ll = new THREE.Vector3(-w, -h, -f); const lr = new THREE.Vector3(w, -h, -f); const C = new THREE.Vector3(0, 0, 0); const points = [ C, ul, C, ur, C, ll, C, lr, C, ul, ur, ul, lr, ur, lr, ll, ll, ul, ]; const scalar = new THREE.Vector3(scale, scale, scale); for (let i = 0; i < points.length; i += 1) { points[i].multiply(scalar); } const geometry = new THREE.BufferGeometry().setFromPoints(points); const material = new THREE.LineBasicMaterial({ color: 0x000000, linewidth: 1, }); const lines = new THREE.LineSegments(geometry, material); return lines; } export function drawCameraImagePlane(width, height, imageString, name) { // imageString is the texture as a base64 string const geometry = new THREE.PlaneGeometry(width, height); const material = new THREE.MeshBasicMaterial({ side: THREE.DoubleSide, }); const texture = new THREE.TextureLoader().load(imageString); material.map = texture; const plane = new THREE.Mesh(geometry, material); plane.name = name; return plane; } function transpose(matrix) { return matrix[0].map((col, i) => matrix.map((row) => row[i])); } export function drawCamera(camera, name): THREE.Object3D { const group = new THREE.Group(); console.assert( camera.type === 'PinholeCamera', 'The camera should be a PinholeCamera', ); const height = 0.05; const displayedFocalLength = height; const width = (height * camera.cx) / camera.cy; const cameraWireframeObject = getCameraWireframe( 1.0, displayedFocalLength, width, height, ); cameraWireframeObject.translateZ(displayedFocalLength); // move the wireframe frustum back group.add(cameraWireframeObject); const cameraImagePlaneObject = drawCameraImagePlane( width * 2, height * 2, camera.image, name, ); group.add(cameraImagePlaneObject); // make homogeneous coordinates and then // transpose and flatten the matrix into an array let c2w = JSON.parse(JSON.stringify(camera.camera_to_world)); c2w.push([0, 0, 0, 1]); c2w = transpose(c2w).flat(); const mat = new THREE.Matrix4(); mat.fromArray(c2w); mat.decompose(group.position, group.quaternion, group.scale); return group; } export function drawCameras(cameras): Record { const cameraObjects = {}; for (const [key, camera] of Object.entries(cameras)) { cameraObjects[key] = drawCamera(camera); } return cameraObjects; } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/CameraPanel/CameraHelper.js ================================================ import * as THREE from 'three'; import { MeshLine, MeshLineMaterial } from 'meshline'; // eslint-disable-next-line no-underscore-dangle const _vector = new THREE.Vector3(); // eslint-disable-next-line no-underscore-dangle const _camera = new THREE.Camera(); function setPoint(point, pointMap, geometry, camera, x, y, z) { _vector.set(x, y, z).unproject(camera); const points = pointMap[point]; if (points !== undefined) { const position = geometry.getAttribute('position'); for (let i = 0, l = points.length; i < l; i += 1) { position.setXYZ(points[i], _vector.x, _vector.y, _vector.z); } } } /** * - Modified version of THREE.CameraHelper */ class CameraHelper extends THREE.Mesh { constructor(camera, color = 0x000000) { const line_geometry = new THREE.BufferGeometry(); const geometry = new THREE.BufferGeometry(); const material = new MeshLineMaterial({ color, lineWidth: 0.01, sizeAttenuation: false, }); const vertices = []; const pointMap = {}; function addPoint(id) { vertices.push(0, 0, 0); if (pointMap[id] === undefined) { pointMap[id] = []; } pointMap[id].push(vertices.length / 3 - 1); } function addLine(a, b) { addPoint(a); addPoint(b); } // near addLine('n1', 'n2'); addLine('n2', 'n4'); addLine('n4', 'n3'); addLine('n3', 'n1'); // cone addLine('p', 'n1'); addLine('p', 'n2'); addLine('p', 'n3'); addLine('p', 'n4'); // up addLine('u1', 'u2'); addLine('u2', 'u3'); addLine('u3', 'u1'); line_geometry.setAttribute( 'position', new THREE.Float32BufferAttribute(vertices, 3), ); super(geometry, material); this.type = 'CameraHelper'; this.camera = camera; if (this.camera.updateProjectionMatrix) this.camera.updateProjectionMatrix(); this.matrix = camera.matrixWorld; this.matrixAutoUpdate = false; this.pointMap = pointMap; this.line_geometry = line_geometry; this.update(); } update() { if (!this.visible) { const camera_vis = new MeshLine(); this.geometry = camera_vis.geometry; return; } const geometry = this.line_geometry; const pointMap = this.pointMap; const w = 0.6; const h = 0.6; const z = 0.01; // we need just camera projection matrix inverse // world matrix must be identity _camera.projectionMatrixInverse.copy(this.camera.projectionMatrixInverse); // near setPoint('n1', pointMap, geometry, _camera, -w, -h, -z); setPoint('n2', pointMap, geometry, _camera, w, -h, -z); setPoint('n3', pointMap, geometry, _camera, -w, h, -z); setPoint('n4', pointMap, geometry, _camera, w, h, -z); // up setPoint('u1', pointMap, geometry, _camera, w * 0.7, h * 1.1, -z); setPoint('u2', pointMap, geometry, _camera, -w * 0.7, h * 1.1, -z); setPoint('u3', pointMap, geometry, _camera, 0, h * 2, -z); geometry.getAttribute('position').needsUpdate = true; const camera_vis = new MeshLine(); camera_vis.setGeometry(geometry); this.geometry = camera_vis.geometry; } set_visibility(visible) { this.visible = visible; this.update(); } dispose() { this.geometry.dispose(); this.material.dispose(); } } export { CameraHelper }; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/CameraPanel/CameraPanel.jsx ================================================ import * as React from 'react'; import * as THREE from 'three'; import { ArrowBackIosNew, ArrowForwardIos, AllInclusiveOutlined, ChangeHistory, ClearAll, Delete, ExpandMore, FirstPage, GestureOutlined, KeyboardArrowUp, KeyboardArrowDown, LastPage, Pause, PlayArrow, RadioButtonUnchecked, Replay, Visibility, Edit, Animation, } from '@mui/icons-material'; import { Accordion, AccordionDetails, AccordionSummary, Button, InputAdornment, Slider, } from '@mui/material'; import { MeshLine, MeshLineMaterial } from 'meshline'; import { useContext, useEffect } from 'react'; import { useDispatch, useSelector } from 'react-redux'; import { CSS2DObject } from 'three/examples/jsm/renderers/CSS2DRenderer'; import AddAPhotoIcon from '@mui/icons-material/AddAPhoto'; import FileDownloadOutlinedIcon from '@mui/icons-material/FileDownloadOutlined'; import FileUploadOutlinedIcon from '@mui/icons-material/FileUploadOutlined'; import { Stack } from '@mui/system'; import TextField from '@mui/material/TextField'; import Tooltip from '@mui/material/Tooltip'; import VideoCameraBackIcon from '@mui/icons-material/VideoCameraBack'; import { CameraHelper } from './CameraHelper'; import { get_curve_object_from_cameras, get_transform_matrix } from './curve'; import { WebSocketContext } from '../../WebSocket/WebSocket'; import RenderModal from '../../RenderModal'; const msgpack = require('msgpack-lite'); const FOV_LABELS = { FOV: '°', MM: 'mm', }; function set_camera_position(camera, matrix) { const mat = new THREE.Matrix4(); mat.fromArray(matrix.elements); mat.decompose(camera.position, camera.quaternion, camera.scale); } function FovSelector(props) { const fovLabel = props.fovLabel; const setFovLabel = props.setFovLabel; const camera = props.camera; const dispatch = props.dispatch; const changeMain = props.changeMain; const disabled = props.disabled; const applyAll = props.applyAll; const setAllCameraFOV = props.setAllCameraFOV; const isGlobal = props.isGlobal; const globalFov = props.globalFov; const setGlobalFov = props.setGlobalFov; const getFovLabel = () => { if (!isGlobal) { const label = Math.round( fovLabel === FOV_LABELS.FOV ? camera.getEffectiveFOV() : camera.getFocalLength() * camera.aspect, ); return label; } const old_fov = camera.fov; camera.fov = globalFov; const new_focal_len = camera.getFocalLength(); camera.fov = old_fov; const label = Math.round( fovLabel === FOV_LABELS.FOV ? globalFov : new_focal_len * camera.aspect, ); return label; }; const [UIFieldOfView, setUIFieldOfView] = React.useState( isGlobal ? globalFov : getFovLabel(), ); useEffect( () => setUIFieldOfView(getFovLabel()), [camera, fovLabel, globalFov], ); const setFOV = (val) => { if (!isGlobal) { if (fovLabel === FOV_LABELS.FOV) { camera.fov = val; } else { camera.setFocalLength(val / camera.aspect); } } else if (fovLabel === FOV_LABELS.FOV) { setGlobalFov(val); } else { const old_fov = camera.fov; camera.setFocalLength(val / camera.aspect); const new_fov = camera.getEffectiveFOV(); camera.fov = old_fov; setGlobalFov(new_fov); } if (applyAll) { setAllCameraFOV(val); } if (changeMain) { dispatch({ type: 'write', path: 'renderingState/field_of_view', data: camera.getEffectiveFOV(), }); } }; const toggleFovLabel = () => { if (fovLabel === FOV_LABELS.FOV) { setFovLabel(FOV_LABELS.MM); } else { setFovLabel(FOV_LABELS.FOV); } }; return ( {fovLabel === FOV_LABELS.FOV ? '°' : 'mm'} ), }} onChange={(e) => { if (e.target.validity.valid) { setUIFieldOfView(e.target.value); } }} onBlur={(e) => { if (e.target.validity.valid) { if (e.target.value !== '') { setFOV(parseInt(e.target.value, 10)); } else { setUIFieldOfView(getFovLabel()); } } }} sx={{ input: { '-webkit-text-fill-color': `${ disabled ? '#24B6FF' : '#EBEBEB' } !important`, color: `${disabled ? '#24B6FF' : '#EBEBEB'} !important`, }, }} value={UIFieldOfView} error={camera.fov <= 0} helperText={camera.fov <= 0 ? 'Required' : ''} variant="standard" /> ); } function CameraList(props) { const sceneTree = props.sceneTree; const cameras = props.cameras; const camera_main = props.camera_main; const transform_controls = props.transform_controls; const setCameras = props.setCameras; const swapCameras = props.swapCameras; const fovLabel = props.fovLabel; const setFovLabel = props.setFovLabel; const cameraProperties = props.cameraProperties; const setCameraProperties = props.setCameraProperties; const isAnimated = props.isAnimated; const dispatch = props.dispatch; // eslint-disable-next-line no-unused-vars const [slider_value, set_slider_value] = React.useState(0); const [expanded, setExpanded] = React.useState(null); const handleChange = (cameraUUID: string) => (event: React.SyntheticEvent, isExpanded: boolean) => { setExpanded(isExpanded ? cameraUUID : false); }; const set_transform_controls = (index) => { // camera helper object so grab the camera inside const camera = sceneTree.find_object_no_create([ 'Camera Path', 'Cameras', index.toString(), 'Camera', ]); if (camera !== null) { const viewer_buttons = document.getElementsByClassName( 'ViewerWindow-buttons', )[0]; if (camera === transform_controls.object) { // double click to remove controls from object transform_controls.detach(); viewer_buttons.style.display = 'none'; } else { transform_controls.detach(); transform_controls.attach(camera); viewer_buttons.style.display = 'block'; } } }; const reset_slider_render_on_change = () => { // set slider and render camera back to 0 const slider_min = 0; const camera_render = sceneTree.find_object_no_create([ 'Cameras', 'Render Camera', ]); const camera_render_helper = sceneTree.find_object_no_create([ 'Cameras', 'Render Camera', 'Helper', ]); if (cameras.length >= 1) { let first_camera = sceneTree.find_object_no_create([ 'Camera Path', 'Cameras', 0, 'Camera', ]); if (first_camera.type !== 'PerspectiveCamera' && cameras.length > 1) { first_camera = sceneTree.find_object_no_create([ 'Camera Path', 'Cameras', 1, 'Camera', ]); } set_camera_position(camera_render, first_camera.matrix); camera_render_helper.set_visibility(true); camera_render.fov = first_camera.fov; } set_slider_value(slider_min); }; const delete_camera = (index) => { const camera_render_helper = sceneTree.find_object_no_create([ 'Cameras', 'Render Camera', 'Helper', ]); console.log('TODO: deleting camera: ', index); sceneTree.delete(['Camera Path', 'Cameras', index.toString(), 'Camera']); sceneTree.delete([ 'Camera Path', 'Cameras', index.toString(), 'Camera Helper', ]); setCameras([...cameras.slice(0, index), ...cameras.slice(index + 1)]); // detach and hide transform controls transform_controls.detach(); const viewer_buttons = document.getElementsByClassName( 'ViewerWindow-buttons', )[0]; viewer_buttons.style.display = 'none'; if (cameras.length < 1) { camera_render_helper.set_visibility(false); } reset_slider_render_on_change(); }; // TODO: Add pencil for editing? const cameraList = cameras.map((camera, index) => { return ( } aria-controls="panel1bh-content" id="panel1bh-header" > {isAnimated('FOV') && ( )} {!isAnimated('FOV') && (

Animated camera properties will show up here!

)} ); }); return
{cameraList}
; } export default function CameraPanel(props) { // unpack relevant information const sceneTree = props.sceneTree; const camera_main = sceneTree.find_object_no_create([ 'Cameras', 'Main Camera', ]); const camera_render = sceneTree.find_object_no_create([ 'Cameras', 'Render Camera', ]); const camera_render_helper = sceneTree.find_object_no_create([ 'Cameras', 'Render Camera', 'Helper', ]); const transform_controls = sceneTree.find_object_no_create([ 'Transform Controls', ]); // redux store state const config_base_dir = useSelector( (state) => state.renderingState.config_base_dir, ); const websocket = useContext(WebSocketContext).socket; const DEFAULT_FOV = 50; // react state const [cameras, setCameras] = React.useState([]); // Mapping of camera id to each camera's properties const [cameraProperties, setCameraProperties] = React.useState(new Map()); const [slider_value, set_slider_value] = React.useState(0); const [smoothness_value, set_smoothness_value] = React.useState(0.5); const [is_playing, setIsPlaying] = React.useState(false); const [is_cycle, setIsCycle] = React.useState(false); const [seconds, setSeconds] = React.useState(4); const [fps, setFps] = React.useState(24); const [render_modal_open, setRenderModalOpen] = React.useState(false); const [animate, setAnimate] = React.useState(new Set()); const [globalFov, setGlobalFov] = React.useState(DEFAULT_FOV); const scene_state = sceneTree.get_scene_state(); // Template for sharing state between Vanilla JS Three.js and React components // eslint-disable-next-line no-unused-vars const [mouseInScene, setMouseInScene] = React.useState(false); React.useEffect(() => { scene_state.addCallback( (value) => setMouseInScene(value), 'mouse_in_scene', ); }, []); const dispatch = useDispatch(); const render_height = useSelector( (state) => state.renderingState.render_height, ); const render_width = useSelector( (state) => state.renderingState.render_width, ); const setRenderHeight = (value) => { dispatch({ type: 'write', path: 'renderingState/render_height', data: value, }); }; const setRenderWidth = (value) => { dispatch({ type: 'write', path: 'renderingState/render_width', data: value, }); }; // ui state const [ui_render_height, setUIRenderHeight] = React.useState(render_height); const [ui_render_width, setUIRenderWidth] = React.useState(render_width); const [ui_seconds, setUISeconds] = React.useState(seconds); const [ui_fps, setUIfps] = React.useState(fps); const [fovLabel, setFovLabel] = React.useState(FOV_LABELS.FOV); // nonlinear render option const slider_min = 0; const slider_max = 1; // animation constants const total_num_steps = seconds * fps; const step_size = slider_max / total_num_steps; const reset_slider_render_on_add = (new_camera_list) => { // set slider and render camera back to 0 if (new_camera_list.length >= 1) { set_camera_position(camera_render, new_camera_list[0].matrix); camera_render.fov = new_camera_list[0].fov; set_slider_value(slider_min); } }; const add_camera = () => { const camera_main_copy = camera_main.clone(); camera_main_copy.aspect = 1.0; camera_main_copy.fov = globalFov; const new_camera_properties = new Map(); camera_main_copy.properties = new_camera_properties; new_camera_properties.set('FOV', globalFov); new_camera_properties.set('NAME', `Camera ${cameras.length}`); // TIME VALUES ARE 0-1 if (cameras.length === 0) { new_camera_properties.set('TIME', 0.0); } else { new_camera_properties.set('TIME', 1.0); } const ratio = (cameras.length - 1) / cameras.length; const new_properties = new Map(cameraProperties); new_properties.forEach((properties) => { properties.set('TIME', properties.get('TIME') * ratio); }); new_properties.set(camera_main_copy.uuid, new_camera_properties); setCameraProperties(new_properties); const new_camera_list = cameras.concat(camera_main_copy); setCameras(new_camera_list); reset_slider_render_on_add(new_camera_list); }; const setCameraProperty = (property, value, index) => { const activeCamera = cameras[index]; const activeProperties = new Map(activeCamera.properties); activeProperties.set(property, value); const newProperties = new Map(cameraProperties); newProperties.set(activeCamera.uuid, activeProperties); activeCamera.properties = activeProperties; setCameraProperties(newProperties); }; const swapCameras = (index, new_index) => { if ( Math.min(index, new_index) < 0 || Math.max(index, new_index) >= cameras.length ) return; const swapCameraTime = cameras[index].properties.get('TIME'); setCameraProperty('TIME', cameras[new_index].properties.get('TIME'), index); setCameraProperty('TIME', swapCameraTime, new_index); const new_cameras = [ ...cameras.slice(0, index), ...cameras.slice(index + 1), ]; setCameras([ ...new_cameras.slice(0, new_index), cameras[index], ...new_cameras.slice(new_index), ]); // reset_slider_render_on_change(); }; // force a rerender if the cameras are dragged around let update_cameras_interval = null; // eslint-disable-next-line no-unused-vars transform_controls.addEventListener('mouseDown', (event) => { // prevent multiple loops if (update_cameras_interval === null) { // hardcoded for 100 ms per udpate update_cameras_interval = setInterval(() => {}, 100); } }); // eslint-disable-next-line no-unused-vars transform_controls.addEventListener('mouseUp', (event) => { if (update_cameras_interval !== null) { clearInterval(update_cameras_interval); update_cameras_interval = null; setCameras(cameras); } }); // draw cameras and curve to the scene useEffect(() => { // draw the cameras const labels = Array.from(document.getElementsByClassName('label')); labels.forEach((label) => { label.remove(); }); sceneTree.delete(['Camera Path', 'Cameras']); // delete old cameras, which is important if (cameras.length < 1) { dispatch({ type: 'write', path: 'renderingState/camera_choice', data: 'Main Camera', }); camera_render_helper.set_visibility(false); } else { camera_render_helper.set_visibility(true); } for (let i = 0; i < cameras.length; i += 1) { const camera = cameras[i]; // camera.aspect = render_width / render_height; const camera_helper = new CameraHelper(camera, 0x393e46); const labelDiv = document.createElement('div'); labelDiv.className = 'label'; labelDiv.textContent = camera.properties.get('NAME'); labelDiv.style.color = 'black'; labelDiv.style.backgroundColor = 'rgba(255, 255, 255, 0.61)'; labelDiv.style.backdropFilter = 'blur(5px)'; labelDiv.style.padding = '6px'; labelDiv.style.borderRadius = '6px'; labelDiv.style.visibility = 'visible'; const camera_label = new CSS2DObject(labelDiv); camera_label.name = 'CAMERA_LABEL'; camera_label.position.set(0, -0.1, -0.1); camera_helper.add(camera_label); camera_label.layers.set(0); // camera sceneTree.set_object_from_path( ['Camera Path', 'Cameras', i.toString(), 'Camera'], camera, ); // camera helper sceneTree.set_object_from_path( ['Camera Path', 'Cameras', i.toString(), 'Camera Helper'], camera_helper, ); } }, [cameras, cameraProperties, render_width, render_height]); // update the camera curve const curve_object = get_curve_object_from_cameras( cameras, is_cycle, smoothness_value, ); const getKeyframePoint = (progress: Number) => { const times = []; const ratio = (cameras.length - 1) / cameras.length; cameras.forEach((camera) => { const time = camera.properties.get('TIME'); times.push(is_cycle ? time * ratio : time); }); if (is_cycle) { times.push(1.0); } let new_point = 0.0; if (progress <= times[0]) { new_point = 0.0; } else if (progress >= times[times.length - 1]) { new_point = 1.0; } else { let i = 0; while ( i < times.length - 1 && !(progress >= times[i] && progress < times[i + 1]) ) { i += 1; } const percentage = (progress - times[i]) / (times[i + 1] - times[i]); new_point = (i + percentage) / (times.length - 1); } return new_point; }; if (cameras.length > 1) { const num_points = fps * seconds; const points = curve_object.curve_positions.getPoints(num_points); const geometry = new THREE.BufferGeometry().setFromPoints(points); const spline = new MeshLine(); spline.setGeometry(geometry); const material = new MeshLineMaterial({ lineWidth: 0.01, color: 0xff5024 }); const spline_mesh = new THREE.Mesh(spline.geometry, material); sceneTree.set_object_from_path(['Camera Path', 'Curve'], spline_mesh); // set the camera const point = getKeyframePoint(slider_value); let position = null; let lookat = null; let up = null; let fov = null; position = curve_object.curve_positions.getPoint(point); lookat = curve_object.curve_lookats.getPoint(point); up = curve_object.curve_ups.getPoint(point); fov = curve_object.curve_fovs.getPoint(point).z; const mat = get_transform_matrix(position, lookat, up); set_camera_position(camera_render, mat); camera_render.fov = fov; } else { sceneTree.delete(['Camera Path', 'Curve']); } const marks = []; for (let i = 0; i <= 1; i += 0.25) { marks.push({ value: i, label: `${(seconds * i).toFixed(1).toString()}s` }); } const values = []; cameras.forEach((camera) => { const time = camera.properties.get('TIME'); const ratio = (cameras.length - 1) / cameras.length; values.push(is_cycle ? time * ratio : time); }); if (is_cycle && cameras.length !== 0) { values.push(1.0); } const handleKeyframeSlider = ( event: Event, newValue: number | number[], activeThumb: number, ) => { if (activeThumb === cameras.length) return; const ratio = (cameras.length - 1) / cameras.length; const val = newValue[activeThumb]; setCameraProperty( 'TIME', is_cycle ? Math.min(val / ratio, 1.0) : val, activeThumb, ); }; // when the slider changes, update the main camera position useEffect(() => { if (cameras.length > 1) { const point = getKeyframePoint(slider_value); let position = null; let lookat = null; let up = null; let fov = null; position = curve_object.curve_positions.getPoint(point); lookat = curve_object.curve_lookats.getPoint(point); up = curve_object.curve_ups.getPoint(point); fov = curve_object.curve_fovs.getPoint(point).z; const mat = get_transform_matrix(position, lookat, up); set_camera_position(camera_render, mat); camera_render.fov = fov; setGlobalFov(fov); } }, [slider_value, render_height, render_width]); // call this function whenever slider state changes useEffect(() => { if (is_playing && cameras.length > 1) { const interval = setInterval(() => { set_slider_value((prev) => prev + step_size); }, 1000 / fps); return () => clearInterval(interval); } return () => {}; }, [is_playing]); // make sure to pause if the slider reaches the end useEffect(() => { if (slider_value >= slider_max) { set_slider_value(slider_max); setIsPlaying(false); } }, [slider_value]); const get_camera_path = () => { // NOTE: currently assuming these are ints const num_points = fps * seconds; const camera_path = []; for (let i = 0; i < num_points; i += 1) { const pt = getKeyframePoint(i / num_points); const position = curve_object.curve_positions.getPoint(pt); const lookat = curve_object.curve_lookats.getPoint(pt); const up = curve_object.curve_ups.getPoint(pt); const fov = curve_object.curve_fovs.getPoint(pt).z; const mat = get_transform_matrix(position, lookat, up); camera_path.push({ camera_to_world: mat.transpose().elements, // convert from col-major to row-major matrix fov, aspect: camera_render.aspect, }); } const keyframes = []; for (let i = 0; i < cameras.length; i += 1) { const camera = cameras[i]; keyframes.push({ matrix: JSON.stringify(camera.matrix.toArray()), fov: camera.fov, aspect: camera_render.aspect, properties: JSON.stringify(Array.from(camera.properties.entries())), }); } // const myData const camera_path_object = { keyframes, render_height, render_width, camera_path, fps, seconds, smoothness_value, is_cycle, }; return camera_path_object; }; const export_camera_path = () => { // export the camera path // inspired by: // https://stackoverflow.com/questions/55613438/reactwrite-to-json-file-or-export-download-no-server const camera_path_object = get_camera_path(); console.log(camera_render.toJSON()); // create file in browser const json = JSON.stringify(camera_path_object, null, 2); const blob = new Blob([json], { type: 'application/json' }); const href = URL.createObjectURL(blob); // create "a" HTLM element with href to file const link = document.createElement('a'); link.href = href; const filename = 'camera_path.json'; link.download = filename; document.body.appendChild(link); link.click(); // clean up "a" element & remove ObjectURL document.body.removeChild(link); URL.revokeObjectURL(href); }; const load_camera_path = (camera_path_object) => { const new_camera_list = []; const new_properties = new Map(cameraProperties); setRenderHeight(camera_path_object.render_height); setUIRenderHeight(camera_path_object.render_height); setRenderWidth(camera_path_object.render_width); setUIRenderWidth(camera_path_object.render_width); setFps(camera_path_object.fps); setUIfps(camera_path_object.fps); setSeconds(camera_path_object.seconds); setUISeconds(camera_path_object.seconds); set_smoothness_value(camera_path_object.smoothness_value); setIsCycle(camera_path_object.is_cycle); for (let i = 0; i < camera_path_object.keyframes.length; i += 1) { const keyframe = camera_path_object.keyframes[i]; const camera = new THREE.PerspectiveCamera( keyframe.fov, keyframe.aspect, 0.1, 1000, ); // properties camera.properties = new Map(JSON.parse(keyframe.properties)); new_properties.set(camera.uuid, camera.properties); const mat = new THREE.Matrix4(); mat.fromArray(JSON.parse(keyframe.matrix)); set_camera_position(camera, mat); new_camera_list.push(camera); } setCameraProperties(new_properties); setCameras(new_camera_list); reset_slider_render_on_add(new_camera_list); }; const uploadCameraPath = (e) => { const fileUpload = e.target.files[0]; const fr = new FileReader(); fr.onload = (res) => { const camera_path_object = JSON.parse(res.target.result); load_camera_path(camera_path_object); }; fr.readAsText(fileUpload); }; const open_render_modal = () => { setRenderModalOpen(true); const camera_path_object = get_camera_path(); const camera_path_filename = `${config_base_dir}/camera_path.json`; const camera_path_payload = { camera_path_filename, camera_path: camera_path_object, }; // send a command of the websocket to save the trajectory somewhere! if (websocket.readyState === WebSocket.OPEN) { const data = { type: 'write', path: 'camera_path_payload', data: camera_path_payload, }; const message = msgpack.encode(data); websocket.send(message); } }; const isAnimated = (property) => animate.has(property); const toggleAnimate = (property) => { const new_animate = new Set(animate); if (animate.has(property)) { new_animate.delete(property); setAnimate(new_animate); } else { new_animate.add(property); setAnimate(new_animate); } }; const setAllCameraFOV = (val) => { if (fovLabel === FOV_LABELS.FOV) { for (let i = 0; i < cameras.length; i += 1) { cameras[i].fov = val; } } else { for (let i = 0; i < cameras.length; i += 1) { cameras[i].setFocalLength(val / cameras[i].aspect); } } }; return (

{ if (e.target.validity.valid) { setUIRenderHeight(e.target.value); } }} onBlur={(e) => { if (e.target.validity.valid) { if (e.target.value !== '') { setRenderHeight(parseInt(e.target.value, 10)); } else { setUIRenderHeight(render_height); } } }} value={ui_render_height} error={ui_render_height <= 0} helperText={ui_render_height <= 0 ? 'Required' : ''} variant="standard" /> { if (e.target.validity.valid) { setUIRenderWidth(e.target.value); } }} onBlur={(e) => { if (e.target.validity.valid) { if (e.target.value !== '') { setRenderWidth(parseInt(e.target.value, 10)); } else { setUIRenderWidth(render_width); } } }} value={ui_render_width} error={ui_render_width <= 0} helperText={ui_render_width <= 0 ? 'Required' : ''} variant="standard" />
{ if (e.target.validity.valid) { setUISeconds(e.target.value); } }} onBlur={(e) => { if (e.target.validity.valid) { if (e.target.value !== '') { setSeconds(parseInt(e.target.value, 10)); } else { setUISeconds(seconds); } } }} value={ui_seconds} error={ui_seconds <= 0} helperText={ui_seconds <= 0 ? 'Required' : ''} variant="standard" /> { if (e.target.validity.valid) { setUIfps(e.target.value); } }} onBlur={(e) => { if (e.target.validity.valid) { if (e.target.value !== '') { setFps(parseInt(e.target.value, 10)); } else { setUIfps(fps); } } }} value={ui_fps} error={ui_fps <= 0} helperText={ui_fps <= 0 ? 'Required' : ''} variant="standard" />
{!is_cycle ? ( ) : ( )}

Smoothness

{ set_smoothness_value(value); }} />
Camera Keyframes { if (cameras.length === 0) { return ''; } if (i === cameras.length && is_cycle) { return `${cameras[0].properties.get('NAME')} @ ${parseFloat( (value * seconds).toFixed(2), )}s`; } return `${cameras[i].properties.get('NAME')} @ ${parseFloat( (value * seconds).toFixed(2), )}s`; }} marks={marks} min={slider_min} max={slider_max} disabled={cameras.length < 2} track={false} onChange={handleKeyframeSlider} sx={{ '& .MuiSlider-thumb': { borderRadius: '6px', width: `${24.0 / Math.max(Math.sqrt(cameras.length), 2)}px`, }, }} disableSwap /> Playback { set_slider_value(value); }} />
{/* eslint-disable-next-line no-nested-ternary */} {!is_playing && slider_max === slider_value ? ( ) : !is_playing ? ( ) : ( )}
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/CameraPanel/curve.js ================================================ // Code for creating a curve from a set of points import * as THREE from 'three'; function get_catmull_rom_curve(list_of_3d_vectors, is_cycle, smoothness_value) { // TODO: add some hyperparameters to this function const curve = new THREE.CatmullRomCurve3( list_of_3d_vectors, is_cycle, // 'centripetal' 'catmullrom', smoothness_value, ); return curve; } export function get_curve_object_from_cameras( cameras, is_cycle, smoothness_value, ) { if (cameras.length === 0) { return null; } // interpolate positions, lookat directions, and ups // similar to // https://github.com/google-research/multinerf/blob/1c8b1c552133cdb2de1c1f3c871b2813f6662265/internal/camera_utils.py#L281 const positions = []; const lookats = []; const ups = []; const fovs = []; for (let i = 0; i < cameras.length; i += 1) { const camera = cameras[i]; const up = new THREE.Vector3(0, 1, 0); // y is up in local space const lookat = new THREE.Vector3(0, 0, 1); // z is forward in local space up.applyQuaternion(camera.quaternion); lookat.applyQuaternion(camera.quaternion); positions.push(camera.position); ups.push(up); lookats.push(lookat); // Reuse catmullromcurve3 for 1d values. TODO fix this fovs.push(new THREE.Vector3(0, 0, camera.fov)); } let curve_positions = null; let curve_lookats = null; let curve_ups = null; let curve_fovs = null; curve_positions = get_catmull_rom_curve(positions, is_cycle, smoothness_value); curve_lookats = get_catmull_rom_curve(lookats, is_cycle, smoothness_value); curve_ups = get_catmull_rom_curve(ups, is_cycle, smoothness_value); curve_fovs = get_catmull_rom_curve(fovs, is_cycle, smoothness_value / 10); const curve_object = { curve_positions, curve_lookats, curve_ups, curve_fovs, }; return curve_object; } export function get_transform_matrix(position, lookat, up) { // normalize the vectors lookat.normalize(); // make up orthogonal to lookat const up_proj = lookat.clone().multiplyScalar(up.dot(lookat)); up.sub(up_proj); up.normalize(); // create a copy of the vector up const up_copy = up.clone(); const cross = up_copy.cross(lookat); cross.normalize(); // create the camera transform matrix const mat = new THREE.Matrix4(); mat.set( cross.x, up.x, lookat.x, position.x, cross.y, up.y, lookat.y, position.y, cross.z, up.z, lookat.z, position.z, 0, 0, 0, 1, ); return mat; } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/CameraPanel/index.jsx ================================================ import CameraPanel from './CameraPanel'; export default CameraPanel; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/ExportPanel/ExportPanel.jsx ================================================ /* eslint-disable react/jsx-props-no-spreading */ import * as React from 'react'; import * as THREE from 'three'; import { useSelector } from 'react-redux'; import { Box, Typography, Tab, Tabs } from '@mui/material'; import { LevaPanel, LevaStoreProvider, useCreateStore } from 'leva'; import BlurOnIcon from '@mui/icons-material/BlurOn'; import CategoryIcon from '@mui/icons-material/Category'; import PointcloudSubPanel from './PointcloudSubPanel'; import MeshSubPanel from './MeshSubPanel'; import LevaTheme from '../../../themes/leva_theme.json'; interface TabPanelProps { children: React.ReactNode; index: number; value: number; } function TabPanel(props: TabPanelProps) { const { children, value, index, ...other } = props; return ( ); } function a11yProps(index: number) { return { id: `simple-tab-${index}`, 'aria-controls': `simple-tabpanel-${index}`, }; } const CLIPPING_BOX_NAME = 'Clipping Box'; export default function ExportPanel(props) { // unpack relevant information const sceneTree = props.sceneTree; const showExportBox = props.showExportBox; const [type_value, setTypeValue] = React.useState(0); const handleTypeChange = (event: React.SyntheticEvent, newValue: number) => { setTypeValue(newValue); }; // create the clipping box const clippingEnabled = useSelector( (state) => state.renderingState.clipping_enabled, ); const geometry = new THREE.BoxGeometry(1, 1, 1); const material = new THREE.MeshBasicMaterial({ color: 0xffd369, transparent: true, opacity: 0.3, side: THREE.DoubleSide, }); const cube = new THREE.Mesh(geometry, material); sceneTree.set_object_from_path([CLIPPING_BOX_NAME], cube); cube.visible = showExportBox && clippingEnabled; const update_box_center = (value) => { const box = sceneTree.find_object_no_create([CLIPPING_BOX_NAME]); box.position.set(value[0], value[1], value[2]); }; const update_box_scale = (value) => { const box = sceneTree.find_object_no_create([CLIPPING_BOX_NAME]); box.scale.set(value[0], value[1], value[2]); }; const pointcloudStore = useCreateStore(); const meshStore = useCreateStore(); return (
} iconPosition="start" label="Point Cloud" disableRipple {...a11yProps(0)} /> } iconPosition="start" label="Mesh" disableRipple {...a11yProps(1)} />
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/ExportPanel/MeshSubPanel.jsx ================================================ import * as React from 'react'; import { useControls, useStoreContext } from 'leva'; import { useEffect } from 'react'; import { useDispatch, useSelector } from 'react-redux'; import ContentCopyRoundedIcon from '@mui/icons-material/ContentCopyRounded'; import { Button } from '@mui/material'; function get_normal_outputs(output_options) { // Get a list of normal outputs from the Model let normal_options = []; if (output_options) { // check which outputs have normals for (let i = 0; i < output_options.length; i += 1) { const output_name = output_options[i]; if (output_name.includes('normals')) { normal_options.push(output_name); } } } if (normal_options.length === 0) { normal_options = ['none']; } return normal_options; } export default function MeshSubPanel(props) { const update_box_center = props.update_box_center; const update_box_scale = props.update_box_scale; const store = useStoreContext(); const dispatch = useDispatch(); // redux store state const config_base_dir = useSelector( (state) => state.renderingState.config_base_dir, ); const clippingEnabled = useSelector( (state) => state.renderingState.clipping_enabled, ); const clippingCenter = useSelector( (state) => state.renderingState.clipping_center, ); const clippingScale = useSelector( (state) => state.renderingState.clipping_box_scale, ); const output_options = useSelector( (state) => state.renderingState.output_options, ); const normal_options = get_normal_outputs(output_options); const mesh_method_options = ['poisson', 'tsdf']; const config_filename = `${config_base_dir}/config.yml`; const controlValues = useControls( { mesh_method_options: { label: 'Mesh Method Options', options: { 'Poisson (best)': 'poisson', TSDF: 'tsdf', }, value: mesh_method_options[0], }, normal_options: { label: 'Normal Options', options: [...new Set(normal_options)], value: normal_options[0], render: (get) => get('mesh_method_options') === 'poisson', }, numFaces: { label: 'Number of Faces', value: 50000, min: 1 }, textureResolution: { label: 'Texture Resolution', value: 2048, min: 1 }, numPoints: { label: 'Number of Points', value: 1000000, min: 1, render: (get) => get('mesh_method_options') === 'poisson', }, removeOutliers: { label: 'Remove Outliers', value: true, render: (get) => get('mesh_method_options') === 'poisson', }, useBoundingBox: { label: 'Crop', value: clippingEnabled, onChange: (value) => { dispatch({ type: 'write', path: 'renderingState/clipping_enabled', data: value, }); }, }, center: { label: '| Center', value: clippingCenter, render: (get) => get('useBoundingBox'), onChange: (value) => { update_box_center(value); }, onEditEnd: (value) => { dispatch({ type: 'write', path: 'renderingState/clipping_center', data: value, }); }, }, scale: { label: '| Scale', value: clippingScale, min: 0.01, render: (get) => get('useBoundingBox'), onChange: (value) => { update_box_scale(value); }, onEditEnd: (value) => { dispatch({ type: 'write', path: 'renderingState/clipping_box_scale', data: value, }); }, }, outputDir: { label: 'Output Directory', value: 'exports/mesh/' }, }, { store }, ); const getPythonBool = (boolean) => { return boolean ? 'True' : 'False'; }; console.log(controlValues.outputDir); console.log(getPythonBool(controlValues.removeOutliers)); const bbox_min = [ clippingCenter[0] - clippingScale[0] / 2, clippingCenter[1] - clippingScale[1] / 2, clippingCenter[2] - clippingScale[2] / 2, ]; const bbox_max = [ clippingCenter[0] + clippingScale[0] / 2, clippingCenter[1] + clippingScale[1] / 2, clippingCenter[2] + clippingScale[2] / 2, ]; const mesh_method_choice = controlValues.mesh_method_options; console.log(mesh_method_choice); let cmd = ''; if (mesh_method_choice === 'tsdf') { cmd = `ns-export ${mesh_method_choice}` + ` --load-config ${config_filename}` + ` --output-dir ${controlValues.outputDir}` + ` --target-num-faces ${controlValues.numFaces}` + ` --num-pixels-per-side ${controlValues.textureResolution}` + ` --use-bounding-box ${getPythonBool(clippingEnabled)}` + ` --bounding-box-min ${bbox_min[0]} ${bbox_min[1]} ${bbox_min[2]}` + ` --bounding-box-max ${bbox_max[0]} ${bbox_max[1]} ${bbox_max[2]}`; } else if (mesh_method_choice === 'poisson') { cmd = `ns-export ${mesh_method_choice}` + ` --load-config ${config_filename}` + ` --output-dir ${controlValues.outputDir}` + ` --target-num-faces ${controlValues.numFaces}` + ` --num-pixels-per-side ${controlValues.textureResolution}` + ` --normal-output-name ${controlValues.normal_options}` + ` --num-points ${controlValues.numPoints}` + ` --remove-outliers ${getPythonBool(controlValues.removeOutliers)}` + ` --use-bounding-box ${getPythonBool(clippingEnabled)}` + ` --bounding-box-min ${bbox_min[0]} ${bbox_min[1]} ${bbox_min[2]}` + ` --bounding-box-max ${bbox_max[0]} ${bbox_max[1]} ${bbox_max[2]}`; } const handleCopy = () => { navigator.clipboard.writeText(cmd); }; useEffect(() => { update_box_center(clippingCenter); update_box_scale(clippingScale); }); let inner_html; if ( mesh_method_choice === 'poisson' && controlValues.normal_options === 'none' ) { // check if normals aren't available when using poisson meshing inner_html = (
You need to train a model with normals to use poisson meshing. Try tsdf or retrain the model with normals. You can use nerfacto with
--pipeline.model.predict-normals True
); } else { // if valid, provide the command needed for creating the mesh inner_html = ( <>
Run the following command in a terminal to export the mesh:
{cmd}
); } return
{inner_html}
; } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/ExportPanel/PointcloudSubPanel.jsx ================================================ import * as React from 'react'; import { useControls, useStoreContext } from 'leva'; import { useEffect } from 'react'; import { useDispatch, useSelector } from 'react-redux'; import ContentCopyRoundedIcon from '@mui/icons-material/ContentCopyRounded'; import { Button } from '@mui/material'; export default function PointcloudSubPanel(props) { const update_box_center = props.update_box_center; const update_box_scale = props.update_box_scale; const store = useStoreContext(); const dispatch = useDispatch(); // redux store state const config_base_dir = useSelector( (state) => state.renderingState.config_base_dir, ); const clippingEnabled = useSelector( (state) => state.renderingState.clipping_enabled, ); const clippingCenter = useSelector( (state) => state.renderingState.clipping_center, ); const clippingScale = useSelector( (state) => state.renderingState.clipping_box_scale, ); const config_filename = `${config_base_dir}/config.yml`; const controlValues = useControls( { numPoints: { label: 'Number of Points', value: 1000000, min: 1 }, removeOutliers: { label: 'Remove Outliers', value: true }, estimateNormals: { label: 'Estimate Normals', value: false }, useBoundingBox: { label: 'Crop', value: clippingEnabled, onChange: (value) => { dispatch({ type: 'write', path: 'renderingState/clipping_enabled', data: value, }); }, }, center: { label: '| Center', value: clippingCenter, render: (get) => get('useBoundingBox'), onChange: (value) => { update_box_center(value); }, onEditEnd: (value) => { dispatch({ type: 'write', path: 'renderingState/clipping_center', data: value, }); }, }, scale: { label: '| Scale', value: clippingScale, min: 0.01, render: (get) => get('useBoundingBox'), onChange: (value) => { update_box_scale(value); }, onEditEnd: (value) => { dispatch({ type: 'write', path: 'renderingState/clipping_box_scale', data: value, }); }, }, outputDir: { label: 'Output Directory', value: 'exports/pcd/' }, }, { store }, ); const getPythonBool = (boolean) => { return boolean ? 'True' : 'False'; }; const bbox_min = [ clippingCenter[0] - clippingScale[0] / 2, clippingCenter[1] - clippingScale[1] / 2, clippingCenter[2] - clippingScale[2] / 2, ]; const bbox_max = [ clippingCenter[0] + clippingScale[0] / 2, clippingCenter[1] + clippingScale[1] / 2, clippingCenter[2] + clippingScale[2] / 2, ]; const cmd = `ns-export pointcloud` + ` --load-config ${config_filename}` + ` --output-dir ${controlValues.outputDir}` + ` --num-points ${controlValues.numPoints}` + ` --remove-outliers ${getPythonBool(controlValues.removeOutliers)}` + ` --estimate-normals ${getPythonBool(controlValues.estimateNormals)}` + ` --use-bounding-box ${getPythonBool(clippingEnabled)}` + ` --bounding-box-min ${bbox_min[0]} ${bbox_min[1]} ${bbox_min[2]}` + ` --bounding-box-max ${bbox_max[0]} ${bbox_max[1]} ${bbox_max[2]}`; const handleCopy = () => { navigator.clipboard.writeText(cmd); }; useEffect(() => { update_box_center(clippingCenter); update_box_scale(clippingScale); }); return (
Run the following command in a terminal to export the pointcloud:
{cmd}
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/ExportPanel/index.jsx ================================================ import ExportPanel from './ExportPanel'; export default ExportPanel; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/ScenePanel/ScenePanel.jsx ================================================ import * as React from 'react'; import * as THREE from 'three'; import { FaTractor } from 'react-icons/fa'; import { Button, Collapse, IconButton } from '@mui/material'; import List from '@mui/material/List'; import ListItemButton from '@mui/material/ListItemButton'; import ListItemText from '@mui/material/ListItemText'; import ListItemIcon from '@mui/material/ListItemIcon'; import ArrowCircleUpIcon from '@mui/icons-material/ArrowCircleUp'; import { ExpandLess, ExpandMore, Videocam, Visibility, VisibilityOff, } from '@mui/icons-material/'; import SceneNode from '../../../SceneNode'; import LevaTheme from '../../../themes/leva_theme.json'; export const snap_to_camera = (sceneTree, camera, matrix) => { const mat = new THREE.Matrix4(); mat.fromArray(matrix.elements); mat.decompose(camera.position, camera.quaternion, camera.scale); const unit = new THREE.Vector3(0, 0, -1); const viewDirection = unit.applyMatrix4(mat); sceneTree.metadata.camera_controls.setLookAt( camera.position.x, camera.position.y, camera.position.z, viewDirection.x, viewDirection.y, viewDirection.z, ); }; interface ListItemProps { name: String; sceneTree: SceneNode; scene_node: SceneNode; level: Number; groupVisible: Boolean; canSnap: Boolean; } function MenuItems(props: ListItemProps) { const name = props.name; const sceneTree = props.sceneTree; const scene_node = props.scene_node; const level = props.level; const groupVisible = props.groupVisible; const canSnap = props.canSnap; // TODO: sort the keys by string const terminal = Object.keys(scene_node.children).includes(''); const getCamera = (node) => { return node.object.children[0]; }; const num_children = Object.keys(scene_node.children).length; if (num_children === 0) { return null; } const [open, setOpen] = React.useState(true); const toggleOpen = () => { setOpen(!open); }; const [visible, setVisible] = React.useState(groupVisible); if (terminal) { scene_node.object.visible = visible; } const toggleVisible = (e) => { e.stopPropagation(); setVisible(!visible); scene_node.object.traverse( (obj) => { if (obj.name === 'CAMERA_LABEL') { // eslint-disable-next-line no-param-reassign obj.visible = !visible; } } ); }; React.useEffect(() => { setVisible(groupVisible); }, [groupVisible]); return ( <> {canSnap && ( snap_to_camera( sceneTree, sceneTree.metadata.camera, getCamera(scene_node).matrix, ) } sx={{ mr: 1 }} > )} {visible ? : } {terminal ? null : (() => { if (open) { return ; } return ; })()} {terminal ? null : ( {Object.keys(scene_node.children) .filter((key) => { if (key === 'Camera') { return false; // skip } return true; }) .map((key) => ( ))} )} ); } interface ClickableListProps { sceneTree: object; } function ClickableList(props: ClickableListProps) { const sceneTree = props.sceneTree; return ( ); } export default function ScenePanel(props) { const sceneTree = props.sceneTree; const camera_main = sceneTree.find_object_no_create([ 'Cameras', 'Main Camera', ]); const setUp = () => { const rot = camera_main.rotation; const unitY = new THREE.Vector3(0, 1, 0); const upVec = unitY.applyEuler(rot); const grid = sceneTree.find_object_no_create(['Grid']); grid.setRotationFromEuler(rot); const pos = new THREE.Vector3(); camera_main.getWorldPosition(pos); camera_main.up.set(upVec.x, upVec.y, upVec.z); sceneTree.metadata.camera_controls.updateCameraUp(); sceneTree.metadata.camera_controls.setLookAt(pos.x, pos.y, pos.z, 0, 0, 0); const points = [new THREE.Vector3(0, 0, 0), upVec.multiplyScalar(2)]; const geometry = new THREE.BufferGeometry().setFromPoints(points); const material = new THREE.LineBasicMaterial({ color: 0xaa46fc, linewidth: 1, }); const line = new THREE.LineSegments(geometry, material); sceneTree.set_object_from_path(['Viewer Up Vector'], line); }; return (
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/ScenePanel/index.jsx ================================================ import ScenePanel from './ScenePanel'; export default ScenePanel; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/SidePanel.jsx ================================================ /* eslint-disable react/jsx-props-no-spreading */ import * as React from 'react'; import * as THREE from 'three'; import Box from '@mui/material/Box'; import Divider from '@mui/material/Divider'; import { Leva } from 'leva'; import Tab from '@mui/material/Tab'; import Tabs from '@mui/material/Tabs'; import Typography from '@mui/material/Typography'; import { CameraAltRounded, TuneRounded, WidgetsRounded, ImportExportRounded, } from '@mui/icons-material/'; import StatusPanel from './StatusPanel'; import LevaTheme from '../../themes/leva_theme.json'; import CameraPanel from './CameraPanel'; import ScenePanel from './ScenePanel'; import { RenderControls } from '../ConfigPanel/ConfigPanel'; import ExportPanel from './ExportPanel'; export const snap_to_camera = (sceneTree, camera, matrix) => { const mat = new THREE.Matrix4(); mat.fromArray(matrix.elements); mat.decompose(camera.position, camera.quaternion, camera.scale); const unit = new THREE.Vector3(0, 0, -1); const viewDirection = unit.applyMatrix4(mat); sceneTree.metadata.camera_controls.setLookAt( camera.position.x, camera.position.y, camera.position.z, viewDirection.x, viewDirection.y, viewDirection.z, ); }; interface TabPanelProps { children: React.ReactNode; index: number; value: number; } function TabPanel(props: TabPanelProps) { const { children, value, index, ...other } = props; return ( ); } function a11yProps(index: number) { return { id: `simple-tab-${index}`, 'aria-controls': `simple-tabpanel-${index}`, }; } interface BasicTabsProps { sceneTree: object; } export function BasicTabs(props: BasicTabsProps) { const sceneTree = props.sceneTree; const [value, setValue] = React.useState(0); const [showExportBox, setShowExportBox] = React.useState(false); const handleChange = (event: React.SyntheticEvent, newValue: number) => { setValue(newValue); setShowExportBox(newValue === 3); }; return (
} label="Controls" {...a11yProps(0)} /> } label="Render" {...a11yProps(1)} /> } label="Scene" {...a11yProps(2)} /> } label="Export" {...a11yProps(3)} />
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/StatusPanel/StatusPanel.jsx ================================================ import * as React from 'react'; import Button from '@mui/material/Button'; import { ButtonGroup } from '@mui/material'; import { useDispatch, useSelector } from 'react-redux'; import PauseIcon from '@mui/icons-material/Pause'; import PlayArrowIcon from '@mui/icons-material/PlayArrow'; import ViewInArIcon from '@mui/icons-material/ViewInAr'; import { WebSocketContext } from '../../WebSocket/WebSocket'; const msgpack = require('msgpack-lite'); interface StatusPanelProps { sceneTree: object; } export default function StatusPanel(props: StatusPanelProps) { const dispatch = useDispatch(); const websocket = React.useContext(WebSocketContext).socket; const isTraining = useSelector((state) => state.renderingState.isTraining); const sceneTree = props.sceneTree; const isWebsocketConnected = useSelector( (state) => state.websocketState.isConnected, ); const isWebrtcConnected = useSelector( (state) => state.webrtcState.isConnected, ); const eval_res = useSelector((state) => state.renderingState.eval_res); const vis_train_ratio = useSelector( (state) => state.renderingState.vis_train_ratio, ); // logic for toggling visibility of the entire scene and just the training images const [is_scene_visible, set_is_scene_visible] = React.useState(1); const [is_images_visible, set_is_images_visible] = React.useState(1); const scene_button = is_scene_visible ? 'Hide Scene' : 'Show Scene'; const cameras_button = is_images_visible ? 'Hide Images' : 'Show Images'; sceneTree.object.visible = is_scene_visible; if (sceneTree.find_no_create(['Training Cameras']) !== null) { sceneTree.find_no_create(['Training Cameras']).object.visible = is_images_visible; } React.useEffect(() => { sceneTree.object.traverse( (obj) => { if (obj.name === 'CAMERA_LABEL') { // eslint-disable-next-line no-param-reassign obj.visible = is_scene_visible; } } ); }, [is_scene_visible]); const handlePlayChange = () => { dispatch({ type: 'write', path: 'renderingState/isTraining', data: !isTraining, }); // write to server const cmd = 'write'; const path = 'renderingState/isTraining'; const data = { type: cmd, path, data: !isTraining, }; const message = msgpack.encode(data); websocket.send(message); }; const is_training_text = isTraining ? 'Pause Training' : 'Resume Training'; const training_icon = isTraining ? : ; const websocket_connected_text = isWebsocketConnected ? 'Server Connected' : 'Server Disconnected'; const webrtc_connected_text = isWebrtcConnected ? 'Render Connected' : 'Render Disconnected'; const websocket_connected_color = isWebsocketConnected ? 'success' : 'error'; const webrtc_connected_color = isWebrtcConnected ? 'success' : 'error'; return (
Resolution: {eval_res}
Time Allocation: {vis_train_ratio}
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/SidePanel/StatusPanel/index.jsx ================================================ import StatusPanel from './StatusPanel'; export default StatusPanel; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/ViewerWindow/ViewerWindow.jsx ================================================ import * as THREE from 'three'; import React, { useContext, useEffect, useRef } from 'react'; import { SelectChangeEvent } from '@mui/material/Select'; import { useDispatch, useSelector } from 'react-redux'; import { IconButton, ToggleButtonGroup, ToggleButton } from '@mui/material'; import OpenWithIcon from '@mui/icons-material/OpenWith'; import PublicOffSharpIcon from '@mui/icons-material/PublicOffSharp'; import PublicSharpIcon from '@mui/icons-material/PublicSharp'; import SyncOutlinedIcon from '@mui/icons-material/SyncOutlined'; import WebRtcWindow from '../WebRtcWindow/WebRtcWindow'; import { WebSocketContext } from '../WebSocket/WebSocket'; const msgpack = require('msgpack-lite'); function CameraToggle() { const dispatch = useDispatch(); const camera_choice = useSelector( (state) => state.renderingState.camera_choice, ); const set_camera_choice = (event: SelectChangeEvent) => { const value = event.target.value; dispatch({ type: 'write', path: 'renderingState/camera_choice', data: value, }); }; return ( Viewport Render View ); } function TransformIcons(props) { const sceneTree = props.sceneTree; const transform_controls = sceneTree.find_object(['Transform Controls']); // NOTE(ethan): I'm not sure why this is necessary, but it is // toggle back and forth between local and global transform const [world, setWorld] = React.useState(true); const toggleLocal = () => { transform_controls.setSpace(world ? 'local' : 'world'); setWorld(!world); }; return (
{ transform_controls.setMode('translate'); }} > {/* translate */}
{ transform_controls.setMode('rotate'); }} > {/* rotate */}
{world ? : }
); } // manages a camera and the web rtc stream... export default function ViewerWindow(props) { const sceneTree = props.sceneTree; const scene = sceneTree.object; const renderer = sceneTree.metadata.renderer; const labelRenderer = sceneTree.metadata.labelRenderer; const myRef = useRef(null); const websocket = useContext(WebSocketContext).socket; const field_of_view = useSelector( (state) => state.renderingState.field_of_view, ); const camera_choice = useSelector( (state) => state.renderingState.camera_choice, ); // listen to the viewport width const size = new THREE.Vector2(); renderer.getSize(size); const [viewport_size, setDimensions] = React.useState({ height: size.x, width: size.y, }); const viewport_width = viewport_size.width; const viewport_height = viewport_size.height; // on change, update the camera and controls sceneTree.metadata.camera = sceneTree.find_object(['Cameras', camera_choice]); const get_window_width = () => { const width = myRef.current.clientWidth; return width - (width % 2); }; const get_window_height = () => { return myRef.current.clientHeight; }; const handleResize = () => { const viewportWidth = get_window_width(); const viewportHeight = get_window_height(); sceneTree.metadata.camera.aspect = viewportWidth / viewportHeight; sceneTree.metadata.camera.updateProjectionMatrix(); renderer.setSize(viewportWidth, viewportHeight); labelRenderer.setSize(viewportWidth, viewportHeight); }; // update the camera information in the python server const sendCamera = () => { if (websocket.readyState === WebSocket.OPEN) { const cmd = 'write'; const path = 'renderingState/camera'; const data_packet = sceneTree.metadata.camera.toJSON(); data_packet.object.timestamp = +new Date(); const data = { type: cmd, path, data: data_packet, }; const message = msgpack.encode(data); websocket.send(message); } }; useEffect(() => { function update_dimensions() { setDimensions({ height: get_window_height(), width: get_window_width(), }); } window.addEventListener('resize', update_dimensions); // force a rerender setDimensions({ height: get_window_height(), width: get_window_width(), }); return () => { window.removeEventListener('resize', update_dimensions); }; }, []); // keep sending the camera often // rerun this when the websocket changes useEffect(() => { const fps = 24; const interval = 1000 / fps; const refreshIntervalId = setInterval(sendCamera, interval); return () => { clearInterval(refreshIntervalId); }; }, [websocket]); const render = () => { const fps = 24; const interval = 1000 / fps; handleResize(); sceneTree.metadata.camera.updateProjectionMatrix(); sceneTree.metadata.moveCamera(); sceneTree.metadata.camera_controls.update(interval); requestAnimationFrame(render); renderer.render(scene, sceneTree.metadata.camera); labelRenderer.render(scene, sceneTree.metadata.camera); }; // start the three.js rendering loop // when the DOM is ready useEffect(() => { myRef.current.append(renderer.domElement); render(); }, []); // updates the current camera with the field of view useEffect(() => { sceneTree.metadata.camera.fov = field_of_view; }, [field_of_view]); const render_height = useSelector( (state) => state.renderingState.render_height, ); const render_width = useSelector( (state) => state.renderingState.render_width, ); let crop_w; let crop_h; const render_aspect = render_width / render_height; const viewport_aspect = viewport_width / viewport_height; let render_viewport_apsect_ratio = null; if (render_aspect > viewport_aspect) { // render width is the limiting factor crop_w = viewport_width; crop_h = viewport_width / render_aspect; render_viewport_apsect_ratio = viewport_aspect / render_aspect; } else { // render height is the limiting factor crop_w = viewport_height * render_aspect; crop_h = viewport_height; render_viewport_apsect_ratio = 1.0; } let display = null; if (camera_choice === 'Main Camera') { display = 'none'; } else { display = 'flex'; } const crop_style = { display, width: crop_w, height: crop_h, }; // set the threejs field of view // such that the rendered video will match correctly if (camera_choice !== 'Main Camera') { const fl = 1.0 / Math.tan((field_of_view * Math.PI) / 360); const fl_new = fl * render_viewport_apsect_ratio; const fov = Math.atan(1 / fl_new) / (Math.PI / 360); sceneTree.metadata.camera.fov = fov; } return ( <> {/* the webrtc viewer needs to know the camera pose */}
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/ViewerWindow/ViewerWindowSlice.js ================================================ ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/ViewportControlsModal/ViewportControlsModal.jsx ================================================ /* eslint-disable react/jsx-props-no-spreading */ import * as React from 'react'; import { Box, Button, Modal } from '@mui/material'; import KeyboardIcon from '@mui/icons-material/Keyboard'; export default function ControlsModal() { const [open, setOpen] = React.useState(false); const handleOpen = () => setOpen(true); const handleClose = () => setOpen(false); return (
The favicon. Controls diagram
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/ViewportControlsModal/index.jsx ================================================ import ViewportControlsModal from './ViewportControlsModal'; export default ViewportControlsModal; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/WebRtcWindow/WebRtcWindow.jsx ================================================ import React, { createContext, useContext, useEffect, useRef } from 'react'; import { useDispatch } from 'react-redux'; import { WebSocketContext } from '../WebSocket/WebSocket'; const WebRtcContext = createContext(null); const msgpack = require('msgpack-lite'); export { WebRtcContext }; export default function WebRtcWindow() { const websocket = useContext(WebSocketContext).socket; const pcRef = useRef(null); const localVideoRef = useRef(null); const dispatch = useDispatch(); const getRTCPeerConnection = () => { const pc = new RTCPeerConnection({ iceServers: [ { urls: 'stun:stun.l.google.com:19302' }, { urls: 'stun:openrelay.metered.ca:80', }, { urls: 'turn:openrelay.metered.ca:80', username: 'openrelayproject', credential: 'openrelayproject', }, { urls: 'turn:openrelay.metered.ca:443', username: 'openrelayproject', credential: 'openrelayproject', }, { urls: 'turn:openrelay.metered.ca:443?transport=tcp', username: 'openrelayproject', credential: 'openrelayproject', }, ], }); // connect video pc.addEventListener('track', (evt) => { if (evt.track.kind === 'video') { [localVideoRef.current.srcObject] = evt.streams; // uses array destructuring } }); pc.addTransceiver('video', { direction: 'recvonly' }); // for updating the status of the peer connection pc.oniceconnectionstatechange = () => { // https://developer.mozilla.org/en-US/docs/Web/API/RTCPeerConnection/connectionState console.log(`[webrtc] connectionState: ${pc.connectionState}`); if ( pc.connectionState === 'connecting' || pc.connectionState === 'connected' ) { console.log('[webrtc] connected'); dispatch({ type: 'write', path: 'webrtcState/isConnected', data: true, }); } else { dispatch({ type: 'write', path: 'webrtcState/isConnected', data: false, }); } }; pc.onclose = () => { dispatch({ type: 'write', path: 'webrtcState/isConnected', data: false, }); }; return pc; }; const sendOffer = () => { pcRef.current .createOffer() .then((offer) => { console.log('[webrtc] created offer'); console.log(offer); return pcRef.current.setLocalDescription(offer); }) .then(() => { // wait for ICE gathering to complete console.log('[webrtc] set local description'); return new Promise((resolve) => { if (pcRef.current.iceGatheringState === 'complete') { console.log('[webrtc] ICE gathering complete'); resolve(); } else { const checkState = () => { console.log( `[webrtc] iceGatheringState: ${pcRef.current.iceGatheringState}`, ); if (pcRef.current.iceGatheringState === 'complete') { pcRef.current.removeEventListener( 'icegatheringstatechange', checkState, ); resolve(); } }; console.log( '[webrtc] adding listener for `icegatheringstatechange`', ); pcRef.current.addEventListener( 'icegatheringstatechange', checkState, ); } }); }) .then(() => { // send the offer console.log('[webrtc] sending offer'); const offer = pcRef.current.localDescription; const cmd = 'write'; const path = 'webrtc/offer'; const data = { type: cmd, path, data: { sdp: offer.sdp, type: offer.type, }, }; const message = msgpack.encode(data); websocket.send(message); }); }; useEffect(() => { websocket.addEventListener('message', (originalCmd) => { // set the remote description when the offer is received const cmd = msgpack.decode(new Uint8Array(originalCmd.data)); if (cmd.path === '/webrtc/answer') { console.log('[webrtc] received answer'); const answer = cmd.data; console.log(answer); if (answer !== null) { pcRef.current.setRemoteDescription(answer); } } }); websocket.addEventListener('open', () => { // connect webrtc when the websocket is connected pcRef.current = getRTCPeerConnection(); console.log('[webrtc] starting process'); sendOffer(); }); // kill the webrtc connection on dismount return () => { if (pcRef.current !== null) { dispatch({ type: 'write', path: 'webrtcState/isConnected', data: false, }); pcRef.current.close(); } }; }, [websocket]); // dependency to call this whenever the websocket changes return (
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/WebSocket/WebSocket.jsx ================================================ // Much of this code comes from or is inspired by: // https://www.pluralsight.com/guides/using-web-sockets-in-your-reactredux-app import React, { createContext, useEffect } from 'react'; import { useDispatch, useSelector } from 'react-redux'; import PropTypes from 'prop-types'; const WebSocketContext = createContext(null); export { WebSocketContext }; export default function WebSocketContextFunction({ children }) { const dispatch = useDispatch(); let ws = null; let socket = null; // this code will rerender anytime the websocket url changes const websocket_url = useSelector( (state) => state.websocketState.websocket_url, ); const connect = () => { // of the form wss://ip_address:port console.log(websocket_url); try { socket = new WebSocket(websocket_url); } catch (error) { socket = new WebSocket('ws://localhost:7007'); } socket.binaryType = 'arraybuffer'; socket.onopen = () => { dispatch({ type: 'write', path: 'websocketState/isConnected', data: true, }); }; socket.onclose = () => { // when closed, the websocket will try to reconnect every second dispatch({ type: 'write', path: 'websocketState/isConnected', data: false, }); }; socket.onerror = (err) => { console.error( 'Socket encountered error: ', err.message, 'Closing socket', ); socket.close(); }; return socket; }; useEffect(() => { // cleanup function to close the websocket on rerender return () => { if (socket !== null) { socket.close(); } }; }, [websocket_url]); connect(); ws = { socket, }; return ( {children} ); } WebSocketContextFunction.propTypes = { children: PropTypes.node.isRequired, }; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/modules/WebSocketUrlField.jsx ================================================ import * as React from 'react'; import { TextField, Link } from '@mui/material'; import { useDispatch, useSelector } from 'react-redux'; export default function WebSocketUrlField() { const dispatch = useDispatch(); // websocket url const websocket_url = useSelector( (state) => state.websocketState.websocket_url, ); const websocket_url_onchange = (event) => { const value = event.target.value; dispatch({ type: 'write', path: 'websocketState/websocket_url', data: value, }); }; const testWebSocket = (url) => { try { // eslint-disable-next-line no-new new WebSocket(url); return false; } catch (error) { return true; } }; return (
viewer.nerf.studio?websocket_url={websocket_url}
); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/reducer.js ================================================ import { split_path } from './utils'; const initialState = { // the websocket connection state websocketState: { isConnected: false, websocket_url: 'ws://localhost:7007', }, // the webrtc connection state webrtcState: { isConnected: false, }, // for sending actual commands to the client camera_path_payload: null, // the rendering state renderingState: { // cameras camera_choice: 'Main Camera', // the camera being used to render the scene // camera path information config_base_dir: 'config_base_dir', // the base directory of the config file render_height: 1080, render_width: 1920, field_of_view: 50, isTraining: true, output_options: ['rgb'], // populated by the possible Graph outputs output_choice: 'rgb', // the selected output colormap_options: ['default'], // populated by the output choice colormap_choice: 'default', // the selected colormap maxResolution: 1024, targetTrainUtil: 0.9, eval_res: '?', train_eta: 'Paused', vis_train_ratio: 'Paused', log_errors: '', renderTime: 0.0, // export options clipping_enabled: true, clipping_center: [0.0, 0.0, 0.0], clipping_box_scale: [2.0, 2.0, 2.0], }, // the scene state sceneState: { sceneBox: null, cameras: null, }, // ------------------------------------------------------------------------ // which of the state keys to synchronize with the bridge server sync_keys: ['renderingState', 'sceneState'], }; function setData(newState, state, path, data) { if (path === 'colormap_options') { newState.colormap_choice = 'default'; // eslint-disable-line no-param-reassign } if (path.length === 1) { newState[path[0]] = data; // eslint-disable-line no-param-reassign } else { newState[path[0]] = { ...state[path[0]] }; // eslint-disable-line no-param-reassign setData(newState[path[0]], state[path[0]], path.slice(1), data); } } // Use the initialState as a default value // eslint-disable-next-line default-param-last export default function rootReducer(state = initialState, action) { // The reducer normally looks at the action type field to decide what happens switch (action.type) { case 'write': { const path = split_path(action.path); // convert string with "/"s to a list const data = action.data; const newState = { ...state }; setData(newState, state, path, data); return newState; } default: // If this reducer doesn't recognize the action type, or doesn't // care about this specific action, return the existing state unchanged return state; } } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/setupTests.js ================================================ // jest-dom adds custom jest matchers for asserting on DOM nodes. // allows you to do things like: // expect(element).toHaveTextContent(/react/i) // learn more: https://github.com/testing-library/jest-dom import '@testing-library/jest-dom/extend-expect'; ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/store.js ================================================ import { configureStore } from '@reduxjs/toolkit'; import rootReducer from './reducer'; export default configureStore({ reducer: rootReducer }); ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/subscriber.js ================================================ import { useContext } from 'react'; import { ReactReduxContext } from 'react-redux'; export function subscribe_to_changes(selector_fn, fn) { // selector_fn: returns a value from the redux state // fn_valid: function to run on a valid input // fn_null: function to run on a null input const { store } = useContext(ReactReduxContext); let current; const handleChange = () => { const previous = current; current = selector_fn(store.getState()); if (previous !== current) { fn(previous, current); } }; store.subscribe(handleChange); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/themes/leva_theme.json ================================================ { "colors": { "elevation1": "#292d39", "elevation2": "#222831", "elevation3": "#393E46", "accent1": "#ffc640", "accent2": "#FFD369", "accent3": "#ffd65c", "highlight1": "#d1d4db", "highlight2": "#EEEEEE", "highlight3": "#222831", "disabled": "#595959", "vivid1": "#ffcc00" }, "radii": { "xs": "2px", "sm": "4px", "lg": "10px" }, "space": { "sm": "6px", "md": "5px", "rowGap": "6px", "colGap": "7px" }, "fontSizes": { "root": "11px" }, "sizes": { "rootWidth": "310px", "controlWidth": "170px", "scrubberWidth": "8px", "scrubberHeight": "16px", "rowHeight": "24px", "folderHeight": "20px", "checkboxSize": "16px", "joystickWidth": "100px", "joystickHeight": "100px", "colorPickerWidth": "160px", "colorPickerHeight": "100px", "monitorHeight": "60px", "titleBarHeight": "39px" }, "borderWidths": { "root": "0px", "input": "1px", "focus": "1px", "hover": "1px", "active": "1px", "folder": "1px" }, "fontWeights": { "label": "normal", "folder": "normal", "button": "normal" } } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/themes/theme.ts ================================================ import { createTheme } from '@mui/material/styles'; export const appTheme = createTheme({ palette: { primary: { main: '#EEEEEE' }, secondary: { main: '#FFD369' }, text: { primary: '#EEEEEE', secondary: '#FFD369', disabled: '#555555', }, }, components: { MuiPaper: { styleOverrides: { root: { backgroundColor: '#222831', }, }, }, MuiIcon: { styleOverrides: { root: { color: '#eeeeee', }, }, }, MuiTextField: { styleOverrides: { root: { '& label': { color: '#999999', }, '& label.Mui-focused': { color: '#FFD369', }, '& .MuiOutlinedInput-root': { '& fieldset': { borderColor: '#555555', }, '&:hover fieldset': { borderColor: '#dddddd', }, '&.Mui-focused fieldset': { borderColor: '#FFD369', }, }, }, }, }, MuiButton: { defaultProps: { disableRipple: true, }, styleOverrides: { root: { '&.Mui-disabled': { color: '#999999', backgroundColor: '#393e46', }, }, }, }, MuiIconButton: { styleOverrides: { root: { color: '#eeeeee', backgroundColor: '#393e46', '&:hover': { color: '#FFD369', backgroundColor: '#555555', }, }, }, }, MuiTab: { styleOverrides: { root: { fontSize: '.8rem', }, }, }, MuiDivider: { styleOverrides: { root: { backgroundColor: '#555555', }, }, }, MuiFilledInput: { styleOverrides: { root: { backgroundColor: '#393e46', '&:hover': { backgroundColor: '#555555', }, }, }, }, MuiInput: { styleOverrides: { root: { '&:before': { borderBottom: '2px solid #555555', }, '&:after': { borderBottom: '2px solid #FFD369', }, }, }, }, MuiToggleButtonGroup: { styleOverrides: { root: { color: '#eeeeee', backgroundColor: '#393e46', '&.Mui-disabled': { color: '#999999', backgroundColor: '#393e46', }, }, }, }, MuiToggleButton: { styleOverrides: { root: { color: '#eeeeee', backgroundColor: '#393e46', '&.Mui-selected': { color: '#FFD369', backgroundColor: '#555555', }, '&.Mui-disabled': { color: '#999999', backgroundColor: '#393e46', }, }, }, }, MuiList: { styleOverrides: { padding: { paddingTop: 4, paddingBottom: 4, }, }, }, MuiAccordionSummary: { styleOverrides: { root: { '& .MuiAccordionSummary-content': { margin: '0px', }, '& .MuiAccordionSummary-content.Mui-expanded': { margin: '0px', }, }, }, }, MuiAccordionDetails: { styleOverrides: { root: { paddingTop: '4px', paddingBottom: '8px', }, }, }, }, }); ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/app/src/utils.js ================================================ export function split_path(path_str) { return path_str.split('/').filter((x) => x.length > 0); } ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/README.md ================================================ # Python Kernel and Client Viewer App communication > The purpose of this document is to explain how to communicate from Python with the Client Viewer app. We will eventually move this into the read the docs. - Python Kernel (nerfstudio code) - Bridge Server - Client Viewer App We have two types of components that we want to keep state updated in both locations. - Widgets - The widgets are used to keep track of the - SceneNode - The scene nodes are used to represent the three.js objects. The properties relevant to these objects are the following: `"object", "transform", "properties"`. # Checklist - [ ] Currently using request-reply (REQ, REP with zmq). I.e., Python Kernel -> Bridge Server <-> Client Viewer App. We want a way to update the Python Kernel when the Bridge Server is updated. This requries some form of binding with callbacks. When the Bridge Server is updated, we want to update the binded Python variable. We can take inspiration from [ipywidgets](https://ipywidgets.readthedocs.io/en/stable/examples/Widget%20Basics.html). - [ ] ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/__init__.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/path.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Path class """ from typing import Tuple UNICODE = str class Path: """Path class Args: entries: component parts of the path """ __slots__ = ["entries"] def __init__(self, entries: Tuple = tuple()): self.entries = entries def append(self, other: str) -> "Path": """Methodthat appends a new component and returns new Path Args: other: _description_ """ new_path = self.entries for element in other.split("/"): if len(element) == 0: new_path = tuple() else: new_path = new_path + (element,) return Path(new_path) def lower(self): """Convert path object to serializable format""" return UNICODE("/" + "/".join(self.entries)) def __hash__(self): return hash(self.entries) def __eq__(self, other): return self.entries == other.entries ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/server.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Server bridge to faciliate interactions between python backend and javascript front end""" import sys from typing import List, Optional, Tuple import tornado.gen import tornado.ioloop import tornado.web import tornado.websocket import tyro import umsgpack import zmq import zmq.eventloop.ioloop from pyngrok import ngrok from zmq.eventloop.zmqstream import ZMQStream from nerfstudio.viewer.server.state.node import find_node, get_tree, walk from nerfstudio.viewer.server.state.state_node import StateNode class WebSocketHandler(tornado.websocket.WebSocketHandler): # pylint: disable=abstract-method """Tornado websocket handler for receiving and sending commands from/to the viewer.""" def __init__(self, *args, **kwargs): self.bridge = kwargs.pop("bridge") super().__init__(*args, **kwargs) def check_origin(self, origin): """This disables CORS.""" return True def open(self, *args: str, **kwargs: str): """open websocket bridge""" self.bridge.websocket_pool.add(self) print("opened:", self, file=sys.stderr) self.bridge.send_scene(self) async def on_message(self, message: bytearray): # pylint: disable=invalid-overridden-method """On reception of message from the websocket, parses the message and calls the appropriate function based on the type of command Args: message: byte message to parse """ data = message m = umsgpack.unpackb(message) type_ = m["type"] path = list(filter(lambda x: len(x) > 0, m["path"].split("/"))) if type_ == "write": # writes the data coming from the websocket find_node(self.bridge.state_tree, path).data = m["data"] if m["path"] != "renderingState/camera" and m["path"] != "webrtc/offer": # dispatch to the websockets if not a camera update! # TODO(ethan): handle the camera properly! # TODO: but don't update the current websocket command = {"type": "write", "path": m["path"], "data": m["data"]} packed_data = umsgpack.packb(command) frames = ["write".encode("utf-8"), m["path"].encode("utf-8"), packed_data] self.bridge.forward_to_websockets(frames, websocket_to_skip=self) elif type_ == "read": # reads and returns the data data = find_node(self.bridge.state_tree, path).data self.write_message(data, binary=True) else: cmd_data = { "type": "error", "path": "", "data": {"error": "Unknown command type: " + type_}, } data = umsgpack.packb(cmd_data) self.write_message(data, binary=True) def on_close(self): self.bridge.websocket_pool.remove(self) print("closed:", self, file=sys.stderr) class ZMQWebSocketBridge: """ZMQ web socket bridge class Args: zmq_port: zmq port to connect to. Defaults to None. websocket_port: websocket port to connect to. Defaults to None. """ context = zmq.Context() def __init__(self, zmq_port: int, websocket_port: int, ip_address: str): self.zmq_port = zmq_port self.websocket_pool = set() self.app = self.make_app() self.ioloop = tornado.ioloop.IOLoop.current() # zmq zmq_url = f"tcp://{ip_address}:{self.zmq_port:d}" self.zmq_socket, self.zmq_stream, self.zmq_url = self.setup_zmq(zmq_url) # websocket listen_kwargs = {"address": "0.0.0.0"} self.app.listen(websocket_port, **listen_kwargs) self.websocket_port = websocket_port self.websocket_url = f"0.0.0.0:{self.websocket_port}" # state tree self.state_tree = get_tree(StateNode) def __str__(self) -> str: class_name = self.__class__.__name__ return f'{class_name} using zmq_port="{self.zmq_port}" and websocket_port="{self.websocket_port}"' def make_app(self): """Create a tornado application for the websocket server.""" return tornado.web.Application([(r"/", WebSocketHandler, {"bridge": self})]) def handle_zmq(self, frames: List[bytes]): """Switch function that places commands in tree based on websocket command Args: frames: the list containing command + object to be placed in tree """ if len(frames) != 3: self.zmq_socket.send(b"error: expected 3 frames") return type_ = frames[0].decode("utf-8") path = list(filter(lambda x: len(x) > 0, frames[1].decode("utf-8").split("/"))) data = frames[2] if type_ == "write": # TODO: use state_tree name unpacked_data = umsgpack.unpackb(data) find_node(self.state_tree, path).data = unpacked_data["data"] self.forward_to_websockets(frames) self.zmq_socket.send(umsgpack.packb(b"ok")) elif type_ == "read": # walk the node from the specified to get the full state dictionary # TODO(ethan): handle the "data" key... read_data = find_node(self.state_tree, path).data self.zmq_socket.send(umsgpack.packb(read_data)) else: self.zmq_socket.send(umsgpack.packb(b"error: unknown command")) def forward_to_websockets( self, frames: Tuple[str, str, bytes], websocket_to_skip: Optional[WebSocketHandler] = None ): """Forward a zmq message to all websockets. Args: frames: byte messages to be sent over """ _, _, data = frames # cmd, path, data for websocket in self.websocket_pool: if websocket_to_skip and websocket == websocket_to_skip: pass else: websocket.write_message(data, binary=True) def setup_zmq(self, url: str): """Setup a zmq socket and connect it to the given url. Args: url: point of connection """ zmq_socket = self.context.socket(zmq.REP) # pylint: disable=no-member zmq_socket.bind(url) zmq_stream = ZMQStream(zmq_socket) zmq_stream.on_recv(self.handle_zmq) return zmq_socket, zmq_stream, url def send_scene(self, websocket: WebSocketHandler): """Sends entire tree of information over the specified websocket Args: websocket: websocket to send information over """ print("Sending entire scene state due to websocket connection established.") for path, node in walk("", self.state_tree): if node.data is not None: command = {"type": "write", "path": path, "data": node.data} websocket.write_message(umsgpack.packb(command), binary=True) def run(self): """starts and runs the websocket bridge""" self.ioloop.start() def run_viewer_bridge_server( zmq_port: int = 6000, websocket_port: int = 7007, ip_address: str = "127.0.0.1", use_ngrok: bool = False ): """Run the viewer bridge server. Args: zmq_port: port to use for zmq websocket_port: port to use for websocket ip_address: host to connect to use_ngrok: whether to use ngrok to expose the zmq port """ # whether to launch pyngrok or not if use_ngrok: # Open a HTTP tunnel on the default port 80 # .ngrok.io" -> "http://localhost:80"> http_tunnel = ngrok.connect(addr=str(zmq_port), proto="tcp") print(http_tunnel) bridge = ZMQWebSocketBridge(zmq_port=zmq_port, websocket_port=websocket_port, ip_address=ip_address) print(bridge) try: bridge.run() except KeyboardInterrupt: pass def entrypoint(): """The main entrypoint.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(run_viewer_bridge_server) if __name__ == "__main__": entrypoint() ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/state/node.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ For tree logic code. """ from collections import defaultdict from typing import Callable class Node(defaultdict): """ The base class Node. """ def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) def get_tree(node_class: Callable) -> Callable: """ Get a tree from a node class. This allows one to do tree["path"]["to"]["node"] and it will return a new node if it doesn't exist or the current node if it does. """ assert isinstance(node_class(), Node) tree = lambda: node_class(tree) return tree() def find_node(tree, path): if len(path) == 0: return tree else: return find_node(tree[path[0]], path[1:]) def set_node_value(tree, path, value): if len(path) == 0: tree.data = value else: set_node_value(tree[path[0]], path[1:], value) def walk(path, tree): """Walk the entire tree and return the values Args: tree: the root of the tree to start search """ yield path, tree for k, v in tree.items(): yield from walk(path + "/" + k, v) ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/state/state_node.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. from typing import List from nerfstudio.viewer.server.state.node import Node class StateNode(Node): """Node that holds a hierarchy of state nodes""" __slots__ = ["data"] def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) self.path = None self.data = None ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/subprocess.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Code to use the viewer as a subprocess. """ import atexit import os import signal import socket import subprocess import sys import threading import time from typing import Optional, Union from rich.console import Console from nerfstudio.viewer.server import server CONSOLE = Console() def run_viewer_bridge_server_as_subprocess( websocket_port: int, zmq_port: Optional[int] = None, ip_address: str = "127.0.0.1", log_filename: Union[str, None] = None, ): """Runs the viewer bridge server as a subprocess. Args: zmq_port: Port to use for the ZMQ server. websocket_port: Port to use for the websocket server. ip_address: host to connect to log_filename: Filename to use for the log file. If None, no log file is created. Returns: None """ args = [sys.executable, "-u", "-m", server.__name__] # find an available port for zmq if zmq_port is None: sock = socket.socket() sock.bind(("", 0)) zmq_port = sock.getsockname()[1] string = f"Using ZMQ port: {zmq_port}" CONSOLE.print(f"[bold yellow]{string}") args.append("--zmq-port") args.append(str(zmq_port)) args.append("--websocket-port") args.append(str(websocket_port)) args.append("--ip-address") args.append(str(ip_address)) # supress output if no log filename is specified logfile = open( # pylint: disable=consider-using-with log_filename if log_filename else os.devnull, "w", encoding="utf8" ) process = subprocess.Popen( # pylint: disable=consider-using-with args, stdout=logfile, stderr=logfile, start_new_session=True ) def cleanup(process): process.kill() process.wait() def poll_process(): """ Continually check to see if the viewer bridge server process is still running and has not failed. If it fails, alert the user and exit the entire program. """ while process.poll() is None: time.sleep(0.5) string = f"\nThe viewer bridge server subprocess failed. Please check the log file {log_filename}.\n" string += ( "You likely have to modify --viewer.zmq-port and/or --viewer.websocket-port in the " "config to avoid conflicting ports.\n" ) string += "Try modifying --viewer.websocket-port 7007\n" CONSOLE.print(f"[bold red]{string}") cleanup(process) # This exists the entire program. sys.exit() will only kill the thread that this runs in. os.kill(os.getpid(), signal.SIGKILL) # continually check to see if the process stopped t1 = threading.Thread(target=poll_process) t1.daemon = True t1.start() atexit.register(cleanup, process) return zmq_port ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Generic utility functions """ import sys from typing import Any, Callable, Dict, List, Optional, Tuple import numpy as np import torch import zmq from aiortc import RTCPeerConnection from aiortc.rtcrtpsender import RTCRtpSender def get_chunks( lst: List[float], num_chunks: Optional[int] = None, size_of_chunk: Optional[int] = None ) -> List[List[float]]: """Returns list of n elements, constaining a sublist. Args: lst: List to be chunked up num_chunks: number of chunks to split list into size_of_chunk: size of each chunk """ if num_chunks: assert not size_of_chunk size = len(lst) // num_chunks if size_of_chunk: assert not num_chunks size = size_of_chunk chunks = [] for i in range(0, len(lst), size): chunks.append(lst[i : i + size]) return chunks def three_js_perspective_camera_focal_length(fov: float, image_height: int): """Returns the focal length of a three.js perspective camera. Args: fov: the field of view of the camera in degrees. image_height: the height of the image in pixels. """ if fov is None: print("Warning: fov is None, using default value") return 50 pp_h = image_height / 2.0 focal_length = pp_h / np.tan(fov * (np.pi / 180.0) / 2.0) return focal_length def get_intrinsics_matrix_and_camera_to_world_h( camera_object: Dict[str, Any], image_height: int ) -> Tuple[torch.Tensor, torch.Tensor]: """Returns the camera intrinsics matrix and the camera to world homogeneous matrix. Args: camera_object: a Camera object. image_size: the size of the image (height, width) """ # intrinsics fov = camera_object["fov"] aspect = camera_object["aspect"] image_width = aspect * image_height pp_w = image_width / 2.0 pp_h = image_height / 2.0 focal_length = three_js_perspective_camera_focal_length(fov, image_height) intrinsics_matrix = torch.tensor([[focal_length, 0, pp_w], [0, focal_length, pp_h], [0, 0, 1]]).float() # extrinsics camera_to_world_h = torch.tensor(get_chunks(camera_object["matrix"], size_of_chunk=4)).T.float() camera_to_world_h = torch.stack( [ camera_to_world_h[0, :], camera_to_world_h[2, :], camera_to_world_h[1, :], camera_to_world_h[3, :], ], dim=0, ) return intrinsics_matrix, camera_to_world_h def find_available_port(func: Callable, default_port: int, max_attempts: int = 1000, **kwargs) -> None: """Finds and attempts to connect to a port Args: func: function used on connecting to port default_port: the default port max_attempts: max number of attempts to try connection. Defaults to MAX_ATTEMPTS. """ for i in range(max_attempts): port = default_port + i try: return func(port, **kwargs), port except (OSError, zmq.error.ZMQError): print(f"Port: {port:d} in use, trying another...", file=sys.stderr) except Exception as e: print(type(e)) raise raise ( Exception(f"Could not find an available port in the range: [{default_port:d}, {max_attempts + default_port:d})") ) def force_codec(pc: RTCPeerConnection, sender: RTCRtpSender, forced_codec: str) -> None: """Sets the codec preferences on a connection between sender and reciever Args: pc: peer connection point sender: sender that will send to connection point forced_codec: codec to set """ kind = forced_codec.split("/")[0] codecs = RTCRtpSender.getCapabilities(kind).codecs transceiver = next(t for t in pc.getTransceivers() if t.sender == sender) transceiver.setCodecPreferences([codec for codec in codecs if codec.mimeType == forced_codec]) ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/video_stream.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Video Stream objects for WebRTC""" import numpy as np from aiortc import VideoStreamTrack from av import VideoFrame class SingleFrameStreamTrack(VideoStreamTrack): """Single Frame stream class: pushes single frames to a stream""" def __init__(self): super().__init__() self.background_frame = np.ones((480, 640, 3), dtype="uint8") * 100 # gray background self.frame = None self.put_frame(self.background_frame) def put_frame(self, frame: np.ndarray) -> None: """Sets the current viewing frame Args: frame: image to be viewed """ self.frame = VideoFrame.from_ndarray(frame) async def recv(self): """Async method to grab and wait on frame""" pts, time_base = await self.next_timestamp() frame = self.frame frame.pts = pts frame.time_base = time_base return frame ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/viewer_utils.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Code to interface with the `vis/` (the JS viewer). """ from __future__ import annotations import asyncio import enum import os import sys import threading import time import warnings from pathlib import Path from typing import Any, Dict, Optional, Tuple import numpy as np import torch from aiortc import ( RTCConfiguration, RTCIceServer, RTCPeerConnection, RTCSessionDescription, ) from cryptography.utils import CryptographyDeprecationWarning from rich.console import Console from nerfstudio.cameras.cameras import Cameras from nerfstudio.cameras.rays import RayBundle from nerfstudio.configs import base_config as cfg from nerfstudio.data.datasets.base_dataset import InputDataset from nerfstudio.models.base_model import Model from nerfstudio.utils import colormaps, profiler, writer from nerfstudio.utils.decorators import check_main_thread, decorate_all from nerfstudio.utils.images import BasicImages from nerfstudio.utils.io import load_from_json, write_to_json from nerfstudio.utils.misc import get_dict_to_torch from nerfstudio.utils.writer import GLOBAL_BUFFER, EventName, TimeWriter from nerfstudio.viewer.server.subprocess import run_viewer_bridge_server_as_subprocess from nerfstudio.viewer.server.utils import ( force_codec, get_intrinsics_matrix_and_camera_to_world_h, ) from nerfstudio.viewer.server.video_stream import SingleFrameStreamTrack from nerfstudio.viewer.server.visualizer import Viewer warnings.filterwarnings("ignore", category=CryptographyDeprecationWarning) CONSOLE = Console(width=120) def get_viewer_version() -> str: """Get the version of the viewer.""" json_filename = os.path.join(os.path.dirname(__file__), "../app/package.json") version = load_from_json(Path(json_filename))["version"] return version @check_main_thread def setup_viewer(config: cfg.ViewerConfig, log_filename: Path): """Sets up the viewer if enabled Args: config: the configuration to instantiate viewer """ viewer_state = ViewerState(config, log_filename=log_filename) banner_messages = [f"Viewer at: {viewer_state.viewer_url}"] return viewer_state, banner_messages class OutputTypes(str, enum.Enum): """Noncomprehsnive list of output render types""" INIT = "init" RGB = "rgb" RGB_FINE = "rgb_fine" ACCUMULATION = "accumulation" ACCUMULATION_FINE = "accumulation_fine" class ColormapTypes(str, enum.Enum): """Noncomprehsnive list of colormap render types""" INIT = "init" DEFAULT = "default" TURBO = "turbo" DEPTH = "depth" SEMANTIC = "semantic" BOOLEAN = "boolean" class IOChangeException(Exception): """Basic camera exception to interrupt viewer""" class SetTrace: """Basic trace function""" def __init__(self, func): self.func = func def __enter__(self): sys.settrace(self.func) return self def __exit__(self, ext_type, exc_value, traceback): sys.settrace(None) class RenderThread(threading.Thread): """Thread that does all the rendering calls while listening for interrupts Args: state: current viewer state object graph: current checkpoint of model camera_ray_bundle: input rays to pass through the graph to render out """ def __init__(self, state: "ViewerState", graph: Model, camera_ray_bundle: RayBundle): threading.Thread.__init__(self) self.state = state self.graph = graph self.camera_ray_bundle = camera_ray_bundle self.exc = None self.vis_outputs = None def run(self): """run function that renders out images given the current graph and ray bundles. Interlaced with a trace function that checks to see if any I/O changes were registered. Exits and continues program if IOChangeException thrown. """ outputs = None try: with SetTrace(self.state.check_interrupt): with torch.no_grad(): outputs = self.graph.get_outputs_for_camera_ray_bundle(self.camera_ray_bundle) except Exception as e: # pylint: disable=broad-except self.exc = e if outputs: outputs = get_dict_to_torch(outputs) self.vis_outputs = outputs self.state.check_done_render = True self.state.check_interrupt_vis = False def join(self, timeout=None): threading.Thread.join(self) if self.exc: raise self.exc class CheckThread(threading.Thread): """Thread the constantly checks for io changes and sets a flag indicating interrupt Args: state: current viewer state object """ def __init__(self, state): threading.Thread.__init__(self) self.state = state def run(self): """Run function that checks to see if any of the existing state has changed (e.g. camera pose/output type/resolutions). Sets the viewer state flag to true to signal to render thread that an interrupt was registered. """ self.state.check_done_render = False while not self.state.check_done_render: # check camera data = self.state.vis["renderingState/camera"].read() if data is not None: camera_object = data["object"] if self.state.prev_camera_matrix is None or ( not np.allclose(camera_object["matrix"], self.state.prev_camera_matrix) and not self.state.prev_moving ): self.state.check_interrupt_vis = True self.state.prev_moving = True return self.state.prev_moving = False # check output type output_type = self.state.vis["renderingState/output_choice"].read() if output_type is None: output_type = OutputTypes.INIT if self.state.prev_output_type != output_type: self.state.check_interrupt_vis = True return # check colormap type colormap_type = self.state.vis["renderingState/colormap_choice"].read() if colormap_type is None: colormap_type = ColormapTypes.INIT if self.state.prev_colormap_type != colormap_type: self.state.check_interrupt_vis = True return # check max render max_resolution = self.state.vis["renderingState/maxResolution"].read() if max_resolution is not None: if self.state.max_resolution != max_resolution: self.state.check_interrupt_vis = True return @decorate_all([check_main_thread]) class ViewerState: """Class to hold state for viewer variables Args: config: viewer setup configuration """ def __init__(self, config: cfg.ViewerConfig, log_filename: Path): self.config = config self.vis = None self.viewer_url = None self.log_filename = log_filename if self.config.launch_bridge_server: # start the viewer bridge server assert self.config.websocket_port is not None self.log_filename.parent.mkdir(exist_ok=True) zmq_port = run_viewer_bridge_server_as_subprocess( self.config.websocket_port, zmq_port=self.config.zmq_port, ip_address=self.config.ip_address, log_filename=str(self.log_filename), ) # TODO(ethan): log the output of the viewer bridge server in a file where the training logs go CONSOLE.line() version = get_viewer_version() websocket_url = f"ws://localhost:{self.config.websocket_port}" self.viewer_url = f"https://viewer.nerf.studio/versions/{version}/?websocket_url={websocket_url}" CONSOLE.rule(characters="=") CONSOLE.print(f"[Public] Open the viewer at {self.viewer_url}") CONSOLE.rule(characters="=") CONSOLE.line() self.vis = Viewer(zmq_port=zmq_port, ip_address=self.config.ip_address) self.vis_webrtc_thread = Viewer(zmq_port=zmq_port, ip_address=self.config.ip_address) else: assert self.config.zmq_port is not None self.vis = Viewer(zmq_port=self.config.zmq_port, ip_address=self.config.ip_address) self.vis_webrtc_thread = Viewer(zmq_port=self.config.zmq_port, ip_address=self.config.ip_address) # viewer specific variables self.prev_camera_matrix = None self.prev_output_type = OutputTypes.INIT self.prev_colormap_type = ColormapTypes.INIT self.prev_moving = False self.output_type_changed = True self.max_resolution = 1000 self.check_interrupt_vis = False self.check_done_render = True self.step = 0 self.static_fps = 1 self.moving_fps = 24 self.camera_moving = False self.prev_camera_timestamp = 0 self.output_list = None # webrtc self.pcs = set() self.video_tracks = set() self.webrtc_thread = None self.kill_webrtc_signal = False def _pick_drawn_image_idxs(self, total_num: int) -> list[int]: """Determine indicies of images to display in viewer. Args: total_num: total number of training images. Returns: List of indices from [0, total_num-1]. """ if self.config.max_num_display_images < 0: num_display_images = total_num else: num_display_images = min(self.config.max_num_display_images, total_num) # draw indices, roughly evenly spaced return np.linspace(0, total_num - 1, num_display_images, dtype=np.int32).tolist() def init_scene(self, dataset: InputDataset, start_train=True) -> None: """Draw some images and the scene aabb in the viewer. Args: dataset: dataset to render in the scene start_train: whether to start train when viewer init; if False, only displays dataset until resume train is toggled """ # set the config base dir self.vis["renderingState/config_base_dir"].write(str(self.log_filename.parents[0])) # clear the current scene self.vis["sceneState/sceneBox"].delete() self.vis["sceneState/cameras"].delete() # draw the training cameras and images image_indices = self._pick_drawn_image_idxs(len(dataset)) for idx in image_indices: image = dataset[idx]["image"] if isinstance(image, BasicImages): bgr = image.images[0][..., [2, 1, 0]] else: bgr = image[..., [2, 1, 0]] camera_json = dataset.cameras.to_json(camera_idx=idx, image=bgr, max_size=100) self.vis[f"sceneState/cameras/{idx:06d}"].write(camera_json) # draw the scene box (i.e., the bounding box) json_ = dataset.scene_box.to_json() self.vis["sceneState/sceneBox"].write(json_) # set the initial state whether to train or not self.vis["renderingState/isTraining"].write(start_train) # self.vis["renderingState/render_time"].write(str(0)) # set the properties of the camera # self.vis["renderingState/camera"].write(json_) # set the main camera intrinsics to one from the dataset # K = camera.get_intrinsics_matrix() # set_persp_intrinsics_matrix(self.vis, K.double().numpy()) def _check_camera_path_payload(self, trainer, step: int): """Check to see if the camera path export button was pressed.""" # check if we should interrupt from a button press? camera_path_payload = self.vis["camera_path_payload"].read() if camera_path_payload: # save a model checkpoint trainer.save_checkpoint(step) # write to json file camera_path_filename = camera_path_payload["camera_path_filename"] camera_path = camera_path_payload["camera_path"] write_to_json(Path(camera_path_filename), camera_path) self.vis["camera_path_payload"].delete() def _check_webrtc_offer(self): """Check if there is a webrtc offer to respond to.""" data = self.vis["webrtc/offer"].read() if data: if self.webrtc_thread and self.webrtc_thread.is_alive(): # kill the previous thread if the webpage refreshes self.kill_webrtc_signal = True return def loop_in_thread(loop): asyncio.set_event_loop(loop) loop.run_until_complete(self.send_webrtc_answer(data)) loop = asyncio.get_event_loop() self.webrtc_thread = threading.Thread(target=loop_in_thread, args=(loop,)) self.webrtc_thread.daemon = True self.webrtc_thread.start() # remove the offer from the state tree self.vis["webrtc/offer"].delete() def update_scene(self, trainer, step: int, graph: Model, num_rays_per_batch: int) -> None: """updates the scene based on the graph weights Args: step: iteration step of training graph: the current checkpoint of the model """ has_temporal_distortion = getattr(graph, "temporal_distortion", None) is not None self.vis["model/has_temporal_distortion"].write(str(has_temporal_distortion).lower()) is_training = self.vis["renderingState/isTraining"].read() self.step = step self._check_camera_path_payload(trainer, step) self._check_webrtc_offer() camera_object = self._get_camera_object() if camera_object is None: return if is_training is None or is_training: # in training mode if self.camera_moving: # if the camera is moving, then we pause training and update camera continuously while self.camera_moving: self._render_image_in_viewer(camera_object, graph, is_training) camera_object = self._get_camera_object() else: # if the camera is not moving, then we approximate how many training steps need to be taken # to render at a FPS defined by self.static_fps. if EventName.TRAIN_RAYS_PER_SEC.value in GLOBAL_BUFFER["events"]: train_rays_per_sec = GLOBAL_BUFFER["events"][EventName.TRAIN_RAYS_PER_SEC.value]["avg"] target_train_util = self.vis["renderingState/targetTrainUtil"].read() if target_train_util is None: target_train_util = 0.9 batches_per_sec = train_rays_per_sec / num_rays_per_batch num_steps = max(int(1 / self.static_fps * batches_per_sec), 1) else: num_steps = 1 if step % num_steps == 0: self._render_image_in_viewer(camera_object, graph, is_training) else: # in pause training mode, enter render loop with set graph local_step = step run_loop = not is_training while run_loop: # if self._is_render_step(local_step) and step > 0: if step > 0: self._render_image_in_viewer(camera_object, graph, is_training) camera_object = self._get_camera_object() is_training = self.vis["renderingState/isTraining"].read() self._check_camera_path_payload(trainer, step) self._check_webrtc_offer() run_loop = not is_training local_step += 1 def check_interrupt(self, frame, event, arg): # pylint: disable=unused-argument """Raises interrupt when flag has been set and not already on lowest resolution. Used in conjunction with SetTrace. """ if event == "line": if self.check_interrupt_vis and not self.camera_moving: raise IOChangeException return self.check_interrupt def _get_camera_object(self): """Gets the camera object from the viewer and updates the movement state if it has changed.""" data = self.vis["renderingState/camera"].read() if data is None: return None camera_object = data["object"] if self.prev_camera_matrix is not None and np.allclose(camera_object["matrix"], self.prev_camera_matrix): self.camera_moving = False else: self.prev_camera_matrix = camera_object["matrix"] self.camera_moving = True return camera_object def _apply_colormap(self, outputs: Dict[str, Any], colors: torch.Tensor = None, eps=1e-6): """Determines which colormap to use based on set colormap type Args: outputs: the output tensors for which to apply colormaps on colors: is only set if colormap is for semantics. Defaults to None. eps: epsilon to handle floating point comparisons """ if self.output_list: reformatted_output = self._process_invalid_output(self.prev_output_type) # default for rgb images if self.prev_colormap_type == ColormapTypes.DEFAULT and outputs[reformatted_output].shape[-1] == 3: return outputs[reformatted_output] # rendering depth outputs if self.prev_colormap_type == ColormapTypes.DEPTH or ( self.prev_colormap_type == ColormapTypes.DEFAULT and outputs[reformatted_output].dtype == torch.float and (torch.max(outputs[reformatted_output]) - 1.0) > eps # handle floating point arithmetic ): accumulation_str = ( OutputTypes.ACCUMULATION if OutputTypes.ACCUMULATION in self.output_list else OutputTypes.ACCUMULATION_FINE ) return colormaps.apply_depth_colormap(outputs[reformatted_output], accumulation=outputs[accumulation_str]) # rendering accumulation outputs if self.prev_colormap_type == ColormapTypes.TURBO or ( self.prev_colormap_type == ColormapTypes.DEFAULT and outputs[reformatted_output].dtype == torch.float ): return colormaps.apply_colormap(outputs[reformatted_output]) # rendering semantic outputs if self.prev_colormap_type == ColormapTypes.SEMANTIC or ( self.prev_colormap_type == ColormapTypes.DEFAULT and outputs[reformatted_output].dtype == torch.int ): logits = outputs[reformatted_output] labels = torch.argmax(torch.nn.functional.softmax(logits, dim=-1), dim=-1) # type: ignore assert colors is not None return colors[labels] # rendering boolean outputs if self.prev_colormap_type == ColormapTypes.BOOLEAN or ( self.prev_colormap_type == ColormapTypes.DEFAULT and outputs[reformatted_output].dtype == torch.bool ): return colormaps.apply_boolean_colormap(outputs[reformatted_output]) raise NotImplementedError async def send_webrtc_answer(self, data): """Setup the webrtc connection.""" # returns the description to for WebRTC to the specific websocket connection offer = RTCSessionDescription(data["sdp"], data["type"]) if self.config.skip_openrelay: ice_servers = [ RTCIceServer(urls="stun:stun.l.google.com:19302"), ] else: ice_servers = [ RTCIceServer(urls="stun:stun.l.google.com:19302"), RTCIceServer(urls="stun:openrelay.metered.ca:80"), RTCIceServer( urls="turn:openrelay.metered.ca:80", username="openrelayproject", credential="openrelayproject" ), RTCIceServer( urls="turn:openrelay.metered.ca:443", username="openrelayproject", credential="openrelayproject" ), RTCIceServer( urls="turn:openrelay.metered.ca:443?transport=tcp", username="openrelayproject", credential="openrelayproject", ), ] pc = RTCPeerConnection(configuration=RTCConfiguration(iceServers=ice_servers)) self.pcs.add(pc) video = SingleFrameStreamTrack() self.video_tracks.add(video) video_sender = pc.addTrack(video) force_codec(pc, video_sender, "video/VP8") await pc.setRemoteDescription(offer) answer = await pc.createAnswer() await pc.setLocalDescription(answer) self.vis_webrtc_thread["webrtc/answer"].write( {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type} ) self.vis_webrtc_thread["webrtc/answer"].delete() # continually exchange media while True: await asyncio.sleep(1) if self.kill_webrtc_signal: self.kill_webrtc_signal = False return def set_image(self, image): """Write the image over webrtc.""" for video_track in self.video_tracks: video_track.put_frame(image) def _send_output_to_viewer(self, outputs: Dict[str, Any], colors: torch.Tensor = None, eps=1e-6): """Chooses the correct output and sends it to the viewer Args: outputs: the dictionary of outputs to choose from, from the graph colors: is only set if colormap is for semantics. Defaults to None. eps: epsilon to handle floating point comparisons """ if self.output_list is None: self.output_list = list(outputs.keys()) viewer_output_list = list(np.copy(self.output_list)) # remapping rgb_fine -> rgb for all cases just so that we dont have 2 of them in the options if OutputTypes.RGB_FINE in self.output_list: viewer_output_list.remove(OutputTypes.RGB_FINE) viewer_output_list.insert(0, OutputTypes.RGB) self.vis["renderingState/output_options"].write(viewer_output_list) reformatted_output = self._process_invalid_output(self.prev_output_type) # re-register colormaps and send to viewer if self.output_type_changed or self.prev_colormap_type == ColormapTypes.INIT: self.prev_colormap_type = ColormapTypes.DEFAULT colormap_options = [ColormapTypes.DEFAULT] if ( outputs[reformatted_output].shape[-1] != 3 and outputs[reformatted_output].dtype == torch.float and (torch.max(outputs[reformatted_output]) - 1.0) <= eps # handle floating point arithmetic ): # accumulation can also include depth colormap_options.extend(["depth"]) self.output_type_changed = False self.vis["renderingState/colormap_choice"].write(self.prev_colormap_type) self.vis["renderingState/colormap_options"].write(colormap_options) selected_output = (self._apply_colormap(outputs, colors) * 255).type(torch.uint8) image = selected_output.cpu().numpy() self.set_image(image) def _update_viewer_stats(self, render_time: float, num_rays: int, image_height: int, image_width: int) -> None: """Function that calculates and populates all the rendering statistics accordingly Args: render_time: total time spent rendering current view num_rays: number of rays rendered image_height: resolution of the current view image_width: resolution of the current view """ writer.put_time( name=EventName.VIS_RAYS_PER_SEC, duration=num_rays / render_time, step=self.step, avg_over_steps=True ) is_training = self.vis["renderingState/isTraining"].read() self.vis["renderingState/eval_res"].write(f"{image_height}x{image_width}px") if is_training is None or is_training: # process remaining training ETA self.vis["renderingState/train_eta"].write(GLOBAL_BUFFER["events"].get(EventName.ETA.value, "Starting")) # process ratio time spent on vis vs train if ( EventName.ITER_VIS_TIME.value in GLOBAL_BUFFER["events"] and EventName.ITER_TRAIN_TIME.value in GLOBAL_BUFFER["events"] ): vis_time = GLOBAL_BUFFER["events"][EventName.ITER_VIS_TIME.value]["avg"] train_time = GLOBAL_BUFFER["events"][EventName.ITER_TRAIN_TIME.value]["avg"] vis_train_ratio = f"{int(vis_time / train_time * 100)}% spent on viewer" self.vis["renderingState/vis_train_ratio"].write(vis_train_ratio) else: self.vis["renderingState/vis_train_ratio"].write("Starting") else: self.vis["renderingState/train_eta"].write("Paused") self.vis["renderingState/vis_train_ratio"].write("100% spent on viewer") def _calculate_image_res(self, camera_object, is_training: bool) -> Optional[Tuple[int, int]]: """Calculate the maximum image height that can be rendered in the time budget Args: camera_object: the camera object to use for rendering is_training: whether or not we are training Returns: image_height: the maximum image height that can be rendered in the time budget image_width: the maximum image width that can be rendered in the time budget """ max_resolution = self.vis["renderingState/maxResolution"].read() if max_resolution: self.max_resolution = max_resolution if self.camera_moving or not is_training: target_train_util = 0 else: target_train_util = self.vis["renderingState/targetTrainUtil"].read() if target_train_util is None: target_train_util = 0.9 if EventName.TRAIN_RAYS_PER_SEC.value in GLOBAL_BUFFER["events"]: train_rays_per_sec = GLOBAL_BUFFER["events"][EventName.TRAIN_RAYS_PER_SEC.value]["avg"] elif not is_training: train_rays_per_sec = ( 80000 # TODO(eventually find a way to not hardcode. case where there are no prior training steps) ) else: return None, None if EventName.VIS_RAYS_PER_SEC.value in GLOBAL_BUFFER["events"]: vis_rays_per_sec = GLOBAL_BUFFER["events"][EventName.VIS_RAYS_PER_SEC.value]["avg"] else: vis_rays_per_sec = train_rays_per_sec current_fps = self.moving_fps if self.camera_moving else self.static_fps # calculate number of rays that can be rendered given the target fps num_vis_rays = vis_rays_per_sec / current_fps * (1 - target_train_util) aspect_ratio = camera_object["aspect"] if not self.camera_moving and not is_training: image_height = self.max_resolution else: image_height = (num_vis_rays / aspect_ratio) ** 0.5 image_height = int(round(image_height, -1)) image_height = min(self.max_resolution, image_height) image_width = int(image_height * aspect_ratio) if image_width > self.max_resolution: image_width = self.max_resolution image_height = int(image_width / aspect_ratio) return image_height, image_width def _process_invalid_output(self, output_type: str) -> str: """Check to see whether we are in the corner case of RGB; if still invalid, throw error Returns correct string mapping given improperly formatted output_type. Args: output_type: reformatted output type """ if output_type == OutputTypes.INIT: output_type = OutputTypes.RGB # check if rgb or rgb_fine should be the case TODO: add other checks here attempted_output_type = output_type if output_type not in self.output_list and output_type == OutputTypes.RGB: output_type = OutputTypes.RGB_FINE # check if output_type is not in list if output_type not in self.output_list: assert ( NotImplementedError ), f"Output {attempted_output_type} not in list. Tried to reformat as {output_type} but still not found." return output_type @profiler.time_function def _render_image_in_viewer(self, camera_object, graph: Model, is_training: bool) -> None: # pylint: disable=too-many-statements """ Draw an image using the current camera pose from the viewer. The image is sent of a TCP connection and then uses WebRTC to send it to the viewer. Args: graph: current checkpoint of model """ # Check that timestamp is newer than the last one if int(camera_object["timestamp"]) < self.prev_camera_timestamp: return self.prev_camera_timestamp = int(camera_object["timestamp"]) # check and perform output type updates output_type = self.vis["renderingState/output_choice"].read() output_type = OutputTypes.INIT if output_type is None else output_type self.output_type_changed = self.prev_output_type != output_type self.prev_output_type = output_type # check and perform colormap type updates colormap_type = self.vis["renderingState/colormap_choice"].read() colormap_type = ColormapTypes.INIT if colormap_type is None else colormap_type self.prev_colormap_type = colormap_type # Calculate camera pose and intrinsics try: image_height, image_width = self._calculate_image_res(camera_object, is_training) except ZeroDivisionError as e: self.vis["renderingState/log_errors"].write("Error: Screen too small; no rays intersecting scene.") time.sleep(0.03) # sleep to allow buffer to reset print(f"Error: {e}") return if image_height is None: return intrinsics_matrix, camera_to_world_h = get_intrinsics_matrix_and_camera_to_world_h( camera_object, image_height=image_height ) camera_to_world = camera_to_world_h[:3, :] camera_to_world = torch.stack( [ camera_to_world[0, :], camera_to_world[2, :], camera_to_world[1, :], ], dim=0, ) times = self.vis["renderingState/render_time"].read() if times is not None: times = torch.tensor([float(times)]) camera = Cameras( fx=intrinsics_matrix[0, 0], fy=intrinsics_matrix[1, 1], cx=intrinsics_matrix[0, 2], cy=intrinsics_matrix[1, 2], camera_to_worlds=camera_to_world[None, ...], times=times, ) camera = camera.to(graph.device) camera_ray_bundle = camera.generate_rays(camera_indices=0) graph.eval() check_thread = CheckThread(state=self) render_thread = RenderThread(state=self, graph=graph, camera_ray_bundle=camera_ray_bundle) check_thread.daemon = True render_thread.daemon = True with TimeWriter(None, None, write=False) as vis_t: check_thread.start() render_thread.start() try: render_thread.join() check_thread.join() except IOChangeException: del camera_ray_bundle torch.cuda.empty_cache() except RuntimeError as e: self.vis["renderingState/log_errors"].write( "Error: GPU out of memory. Reduce resolution to prevent viewer from crashing." ) print(f"Error: {e}") del camera_ray_bundle torch.cuda.empty_cache() time.sleep(0.5) # sleep to allow buffer to reset graph.train() outputs = render_thread.vis_outputs if outputs is not None: colors = graph.colors if hasattr(graph, "colors") else None self._send_output_to_viewer(outputs, colors=colors) self._update_viewer_stats( vis_t.duration, num_rays=len(camera_ray_bundle), image_height=image_height, image_width=image_width ) ================================================ FILE: AutoReconForDens3R/nerfstudio/viewer/server/visualizer.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """Code to connect and send commands to the viewer. """ import sys from threading import Thread from typing import Dict, Optional, Union import umsgpack import zmq from rich.console import Console from nerfstudio.viewer.server.path import Path CONSOLE = Console(width=120) class ViewerWindow: """The viewer window has the ZMQ connection to the viewer bridge server. Args: zmq_port: Where to connect with ZMQ. ip_address: The ip address of the bridge server. """ context = zmq.Context() def __init__(self, zmq_port, ip_address="127.0.0.1"): self.zmq_port = zmq_port self.client = self.context.socket(zmq.REQ) zmq_url = f"tcp://{ip_address}:{self.zmq_port}" self.client.connect(zmq_url) self.assert_connected() def send(self, command): """Sends a command to the viewer bridge server.""" self.client.send_multipart( [ command["type"].encode("utf-8"), command["path"].encode("utf-8"), umsgpack.packb(command), ] ) return umsgpack.unpackb(self.client.recv()) def send_ping(self): """Tries to contact the viewer bridge server.""" type_ = "ping" path = "" data = umsgpack.packb({"type": type_, "path": path}) self.client.send_multipart( [ type_.encode("utf-8"), path.encode("utf-8"), data, ] ) return umsgpack.unpackb(self.client.recv()) def timeout_ping(self, timeout_in_sec: int = 15): """Timeout if ping fails to complete in timeout_in_secs seconds""" res = [Exception(f"Couldn't connect to the viewer Bridge Server in {timeout_in_sec} seconds. Exiting.")] def wrapper_func(): res[0] = self.send_ping() t = Thread(target=wrapper_func) t.daemon = True try: t.start() t.join(timeout_in_sec) except Exception as je: CONSOLE.log("Error starting thread") raise je ret = res[0] if isinstance(ret, BaseException): raise ret return ret def assert_connected(self, timeout_in_sec: int = 15): """Check if the connection was established properly within some time. Args: timeout_in_sec (int): The maximum time to wait for the connection to be established. """ try: CONSOLE.print("Sending ping to the viewer Bridge Server...") _ = self.timeout_ping(timeout_in_sec) CONSOLE.print("Successfully connected.") except Exception as e: # pylint: disable=broad-except CONSOLE.log(e) sys.exit() class Viewer: """Viewer class for connecting to the bridge server. Args: zmq_port: Where to connect with ZMQ. window: An already existing ViewerWindow. ip_address: The ip address of the bridge server. """ def __init__( self, zmq_port: Optional[int] = None, window: Optional[ViewerWindow] = None, ip_address: str = "127.0.0.1" ): if zmq_port is None and window is None: raise ValueError("Must specify either zmq_port or window.") if window is None: self.window = ViewerWindow(zmq_port=zmq_port, ip_address=ip_address) else: self.window = window self.path = Path(()) @staticmethod def view_into(window: ViewerWindow, path: Path): """Returns a new Viewer but keeping the same ViewerWindow.""" vis = Viewer(window=window) vis.path = path return vis def __getitem__(self, path): return Viewer.view_into(self.window, self.path.append(path)) def __repr__(self): return f"" def write(self, data: Union[Dict, str, None] = None): """Write data.""" path = self.path.lower() return self.window.send({"type": "write", "path": path, "data": data}) def read(self): """Read data.""" path = self.path.lower() return self.window.send({"type": "read", "path": path}) def delete(self): """Delete data.""" return self.write(data=None) ================================================ FILE: AutoReconForDens3R/pyproject.toml ================================================ [build-system] requires = ["setuptools>=61.0"] build-backend = "setuptools.build_meta" [project] name = "AutoRecon" version = "0.1.1" description = "Automated 3D Object Discovery and Reconstruction" readme = "README.md" license = { text="Apache 2.0"} requires-python = ">=3.9.12" classifiers = [ "Development Status :: 3 - Alpha", "Programming Language :: Python", ] dependencies = [ "aiohttp>=3.8.1", "aiortc>=1.3.2", "appdirs>=1.4", "av>=9.2.0", "tyro>=0.3.31", "gdown>=4.5.1", "ninja>=1.10.2.3", "h5py>=2.9.0", "imageio>=2.21.1", "ipywidgets>=7.6", "jupyterlab>=3.3.4", "matplotlib>=3.5.3", "mediapy>=1.1.0", "msgpack>=1.0.4", "msgpack_numpy>=0.4.8", "nerfacc==0.2.1", "open3d>=0.16.0", "opencv-python>=4.6.0.66", "plotly>=5.7.0", "protobuf>=3.20.0", "pymeshlab>=2022.2.post2", "pyngrok>=5.1.0", "python-socketio>=5.7.1", "requests", "rich>=12.5.1", "scikit-image>=0.19.3", "tensorboard>=2.9.0", "torchtyping>=0.1.4", "torchmetrics[image]>=0.9.3", "u-msgpack-python>=2.4.1", "nuscenes-devkit>=1.1.1", "wandb>=0.13.3", "xatlas", "trimesh", "torchinfo>=1.7.2", "einops>=0.6.0", "mrcfile", "libigl", "torch-cluster" ] [project.urls] "Homepage" = "https://zju3dv.github.io/autorecon" "Source" = "https://github.com/zju3dv/AutoRecon" [project.optional-dependencies] # Development packages dev = [ "black[jupyter]==22.3.0", "pylint==2.13.4", "pytest==7.1.2", "pytest-xdist==2.5.0", "typeguard>=2.13.3", ] [project.scripts] # Note, add entrypoint name to scripts/completions/install.py to include CLI completion ns-install-cli = "scripts.completions.install:entrypoint" ns-process-data = "scripts.process_data:entrypoint" ns-download-data = "scripts.downloads.download_data:entrypoint" ns-train = "scripts.train:entrypoint" ns-eval = "scripts.eval:entrypoint" ns-render = "scripts.render:entrypoint" ns-export = "scripts.exporter:entrypoint" ns-dev-test = "scripts.github.run_actions:entrypoint" ns-bridge-server = "nerfstudio.viewer.server.server:entrypoint" ns-extract-mesh = "scripts.extract_mesh:entrypoint" ns-render-mesh = "scripts.render_mesh:entrypoint" ns-extract-volume = "scripts.extract_volume:entrypoint" [options] # equivalent to using --extra-index-url with pip, which is needed for specifying the CUDA version torch and torchvision dependency_links = [ "https://download.pytorch.org/whl/cu117" ] [tool.setuptools.packages.find] include = ["nerfstudio*","scripts*"] [tool.setuptools.package-data] "*" = ["*.json", "py.typed", "setup.bash", "setup.zsh"] # black [tool.black] line-length = 120 # pylint [tool.pylint.messages_control] max-line-length = 120 generated-members = ["numpy.*", "torch.*", "cv2.*", "cv.*"] good-names-rgxs = "^[_a-zA-Z][_a-z0-9]?$" ignore-paths = ["scripts/colmap2nerf.py"] jobs = 0 ignored-classes = ["TensorDataclass"] disable = [ "duplicate-code", "fixme", "logging-fstring-interpolation", "too-many-arguments", "too-many-branches", "too-many-instance-attributes", "too-many-locals", "unnecessary-ellipsis", ] #pytest [tool.pytest.ini_options] addopts = "-n=4 --typeguard-packages=nerfstudio --torchtyping-patch-typeguard --disable-warnings" testpaths = [ "tests", ] # pyright [tool.pyright] include = ["nerfstudio"] exclude = ["**/node_modules", "**/__pycache__", ] ignore = ["nerfstudio/viewer"] defineConstant = { DEBUG = true } reportMissingImports = true reportMissingTypeStubs = false reportPrivateImportUsage = false reportUndefinedVariable = false pythonVersion = "3.9" pythonPlatform = "Linux" ================================================ FILE: AutoReconForDens3R/scripts/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/scripts/benchmarking/launch_eval_blender.sh ================================================ #!/bin/bash helpFunction_launch_eval() { echo "Usage: $0 -m -o -t [-s] []" echo -e "\t-m name of method to benchmark (e.g. nerfacto, instant-ngp)" echo -e "\t-o base directory for where all the benchmarks are stored (e.g. outputs/)" echo -e "\t-t : if using launch_train_blender.sh will be of format %Y-%m-%d_%H%M%S" echo -e "\t-s: Launch a single evaluation job per gpu." echo -e "\t [OPTIONAL] list of space-separated gpu numbers to launch train on (e.g. 0 2 4 5)" exit 1 # Exit program after printing help } single=false while getopts "m:o:t:s" opt; do case "$opt" in m ) method_name="$OPTARG" ;; o ) output_dir="$OPTARG" ;; t ) timestamp="$OPTARG" ;; s ) single=true ;; ? ) helpFunction_launch_eval ;; esac done if [ -z "$method_name" ]; then echo "Missing method name" helpFunction_launch_eval fi if [ -z "$output_dir" ]; then echo "Missing output directory location" helpFunction_launch_eval fi if [ -z "$timestamp" ]; then echo "Missing timestamp specification" helpFunction_launch_eval fi shift $((OPTIND-1)) # Deal with gpu's. If passed in, use those. GPU_IDX=("$@") if [ -z "${GPU_IDX[0]+x}" ]; then echo "no gpus set... finding available gpus" # Find available devices num_device=$(nvidia-smi --query-gpu=name --format=csv,noheader | wc -l) START=0 END=${num_device}-1 GPU_IDX=() for (( id=START; id<=END; id++ )); do free_mem=$(nvidia-smi --query-gpu=memory.free --format=csv -i $id | grep -Eo '[0-9]+') if [[ $free_mem -gt 10000 ]]; then GPU_IDX+=( "$id" ) fi done fi echo "available gpus... ${GPU_IDX[*]}" DATASETS=("mic" "ficus" "chair" "hotdog" "materials" "drums" "ship" "lego") idx=0 len=${#GPU_IDX[@]} GPU_PID=() # kill all the background jobs if terminated: trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT for dataset in "${DATASETS[@]}"; do if "$single" && [ -n "${GPU_PID[$idx]+x}" ]; then wait "${GPU_PID[$idx]}" fi export CUDA_VISIBLE_DEVICES=${GPU_IDX[$idx]} config_path="${output_dir}/blender_${dataset}_${timestamp::-7}/${method_name}/${timestamp}/config.yml" ns-eval --load-config="${config_path}" \ --output-path="${output_dir}/${method_name}/blender_${dataset}_${timestamp}.json" & GPU_PID[$idx]=$! echo "Launched ${config_path} on gpu ${GPU_IDX[$idx]}" # update gpu ((idx=(idx+1)%len)) done wait echo "Done." ================================================ FILE: AutoReconForDens3R/scripts/benchmarking/launch_train_blender.sh ================================================ #!/bin/bash helpFunction_launch_train() { echo "Usage: $0 -m [-v ] [-s] []" echo -e "\t-m name of config to benchmark (e.g. mipnerf, instant_ngp)" echo -e "\t-v : Visualization method. can be wandb or tensorboard. Default is wandb." echo -e "\t-s: Launch a single training job per gpu." echo -e "\t [OPTIONAL] list of space-separated gpu numbers to launch train on (e.g. 0 2 4 5)" exit 1 # Exit program after printing help } vis="wandb" single=false while getopts "m:v:s" opt; do case "$opt" in m ) method_name="$OPTARG" ;; v ) vis="$OPTARG" ;; s ) single=true ;; ? ) helpFunction ;; esac done if [ -z "${method_name+x}" ]; then echo "Missing method name" helpFunction_launch_train fi method_opts=() if [ "$method_name" = "nerfacto" ]; then # https://github.com/nerfstudio-project/nerfstudio/issues/806#issuecomment-1284327844 method_opts=(--pipeline.model.near-plane 2. --pipeline.model.far-plane 6. --pipeline.datamanager.camera-optimizer.mode off --pipeline.model.use-average-appearance-embedding False) fi shift $((OPTIND-1)) # Deal with gpu's. If passed in, use those. GPU_IDX=("$@") if [ -z "${GPU_IDX[0]+x}" ]; then echo "no gpus set... finding available gpus" # Find available devices num_device=$(nvidia-smi --query-gpu=name --format=csv,noheader | wc -l) START=0 END=${num_device}-1 GPU_IDX=() for (( id=START; id<=END; id++ )); do free_mem=$(nvidia-smi --query-gpu=memory.free --format=csv -i $id | grep -Eo '[0-9]+') if [[ $free_mem -gt 10000 ]]; then GPU_IDX+=( "$id" ) fi done fi echo "available gpus... ${GPU_IDX[*]}" DATASETS=("mic" "ficus" "chair" "hotdog" "materials" "drums" "ship" "lego") date tag=$(date +'%Y-%m-%d') idx=0 len=${#GPU_IDX[@]} GPU_PID=() timestamp=$(date "+%Y-%m-%d_%H%M%S") # kill all the background jobs if terminated: trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT for dataset in "${DATASETS[@]}"; do if "$single" && [ -n "${GPU_PID[$idx]+x}" ]; then echo "Waiting for GPU ${GPU_IDX[$idx]}" wait "${GPU_PID[$idx]}" echo "GPU ${GPU_IDX[$idx]} is available" fi export CUDA_VISIBLE_DEVICES="${GPU_IDX[$idx]}" ns-train "${method_name}" "${method_opts[@]}" \ --data="data/blender/${dataset}" \ --experiment-name="blender_${dataset}_${tag}" \ --trainer.relative-model-dir=nerfstudio_models/ \ --trainer.steps-per-save=1000 \ --trainer.max-num-iterations=16500 \ --logging.local-writer.enable=False \ --logging.enable-profiler=False \ --vis "${vis}" \ --timestamp "$timestamp" \ blender-data & GPU_PID[$idx]=$! echo "Launched ${method_name} ${dataset} on gpu ${GPU_IDX[$idx]}, ${tag}" # update gpu ((idx=(idx+1)%len)) done wait echo "Done." echo "Launch eval with:" s="" $single && s="-s" echo "$(dirname "$0")/launch_eval_blender.sh -m $method_name -o outputs/ -t $timestamp $s" ================================================ FILE: AutoReconForDens3R/scripts/blender/render_mesh_blender.py ================================================ import blenderproc as bproc import sys import bpy from pathlib import Path sys.path.append(str(Path.home() / 'dev/blender/BlenderToolbox')) import BlenderToolBox as bt import argparse import imagesize from pathlib import Path from loguru import logger # from blcore.world import set_background_color import cv2 import numpy as np from PIL import Image def load_K_Rt_from_P(filename, P=None): if P is None: lines = open(filename).read().splitlines() if len(lines) == 4: lines = lines[1:] lines = [[x[0], x[1], x[2], x[3]] for x in (x.split(" ") for x in lines)] P = np.asarray(lines).astype(np.float32).squeeze() out = cv2.decomposeProjectionMatrix(P) K = out[0] R = out[1] t = out[2] K = K / K[2, 2] intrinsics = np.eye(4) intrinsics[:3, :3] = K pose = np.eye(4, dtype=np.float32) pose[:3, :3] = R.transpose() pose[:3, 3] = (t[:3] / t[3])[:, 0] return intrinsics, pose # T44_c2w def load_all_poses(cam_path, img_dir): img_paths = parse_images_from_camera_dict(cam_path, img_dir) camera_dict = np.load(cam_path) world_mats = [camera_dict[f"world_mat_{idx}"].astype(np.float32) for idx in range(len(img_paths))] scale_mats = [camera_dict[f"scale_mat_{idx}"].astype(np.float32) for idx in range(len(img_paths))] all_poses = {} for img_path, world_mat, scale_mat in zip(img_paths, world_mats, scale_mats): P = world_mat @ scale_mat P = P[:3, :4] K44, T44_c2w = load_K_Rt_from_P(None, P) # (4, 4) all_poses[img_path.stem] = {'K33': K44[:3, :3], 'T44_c2w': T44_c2w} return all_poses def parse_images_from_camera_dict(camera_path, image_dir): """Parse images from camera dict, which is useful when there are too many frames. TODO: images not in the camera dict can be used during validation. """ camera_dict = np.load(camera_path) suffix = next(image_dir.iterdir()).suffix _sorted_img_keys = sorted([k for k in camera_dict.keys() if 'image_name' in k], key=lambda x: int(x.split('_')[-1])) image_paths = [(image_dir / camera_dict[k]).with_suffix(suffix) for k in _sorted_img_keys] assert all(map(lambda x: x.exists(), image_paths)), 'Some images are missing!' return image_paths def load_object_aabb(object_anno_path, camera_anno_path) -> np.ndarray: obj_scale_mat = np.load(object_anno_path)["scale_mat_0"].astype(np.float32) cam_scale_mat = np.load(camera_anno_path)["scale_mat_0"].astype(np.float32) obj_bbox_min = np.array([-1.0, -1.0, -1.0, 1.0]) obj_bbox_max = np.array([1.0, 1.0, 1.0, 1.0]) obj_bbox_min = np.linalg.inv(cam_scale_mat) @ obj_scale_mat @ obj_bbox_min[:, None] obj_bbox_max = np.linalg.inv(cam_scale_mat) @ obj_scale_mat @ obj_bbox_max[:, None] obj_aabb = np.stack([obj_bbox_min[:3, 0], obj_bbox_max[:3, 0]], 0) return obj_aabb def set_background_color(color): assert len(color) == 4 world = bpy.context.scene.world world.node_tree.nodes["Background"].inputs[0].default_value = color # avoid world color affecting foreground color world.cycles_visibility.camera = True world.cycles_visibility.diffuse = False world.cycles_visibility.glossy = False world.cycles_visibility.transmission = False world.cycles_visibility.scatter = False def parse_args(): parser = argparse.ArgumentParser() parser.add_argument('--data_dir', type=Path, default='data/auto_recon/CO3D_V2/chair/380_45214_90438') parser.add_argument('--exp_dir', type=Path, default='outputs/neusfacto-wbg-reg_sep-plane-nerf_co3d-chair-380-45214-90438/neus-facto-wbg-reg_sep-plane-nerf/2023-03-10_005316') parser.add_argument('--mesh_relpath', type=str, default='extracted_mesh_res-512_max-component.ply') parser.add_argument('--camera_relpath', type=str, default='sfm-transfer_sdfstudio-dff_extend-0.15/cameras_sfm-transfer_norm-obj-side-2.0.npz') parser.add_argument('--object_relpath', type=str, default='sfm-transfer_sdfstudio-dff_extend-0.15/objects_sfm-transfer_norm-obj-side-2.0.npz') parser.add_argument('--image_reldir', type=str, default='images') parser.add_argument('--render_image_name', type=str, default='frame000136.jpg') parser.add_argument('--light_mode', choices=['sun', '3point'], default='sun') parser.add_argument('--sun_light_angle', type=float, nargs=3, default=[137, -197, 51]) parser.add_argument('--sun_light_strength', type=float, default=2) parser.add_argument('--ambient_light', type=float, nargs=3, default=[0.1, 0.1, 0.1]) parser.add_argument('--mesh_rgb', type=int, nargs=3, default=[144, 210, 236]) parser.add_argument('--scale_aabb_to_unit_sphere', action='store_true') # for NeuS # 380: [137, -197, 51] args = parser.parse_args() return args def compute_ground_poision(obj_aabb): y = float(obj_aabb[1, 1]) x = float(obj_aabb[:, 0].mean()) z = float(obj_aabb[:, 2].mean()) return (x, y, z) def scale_aabb_to_unit_sphere(all_poses, obj_aabb): obj_diag_len = np.linalg.norm(obj_aabb[1] - obj_aabb[0]) scale_factor = 2 / obj_diag_len for key in all_poses.keys(): all_poses[key]['T44_c2w'][:3, 3] *= scale_factor obj_aabb *= scale_factor def main(): # TODO: rotate the world frame to match the blender world (such that default settings work properly) args = parse_args() mesh_path = args.exp_dir / args.mesh_relpath camera_path = args.data_dir / args.camera_relpath object_anno_path = args.data_dir / args.object_relpath image_dir = args.data_dir / args.image_reldir image_paths = sorted(image_dir.iterdir()) render_image_name = args.render_image_name.split('.')[0] save_path = args.exp_dir / f'{render_image_name}.png' all_poses = load_all_poses(camera_path, image_dir) obj_aabb = load_object_aabb(object_anno_path, camera_path) if args.scale_aabb_to_unit_sphere: logger.info('Scale object AABB to unit sphere...') scale_aabb_to_unit_sphere(all_poses, obj_aabb) print(obj_aabb) image_width, image_height = imagesize.get(str(image_paths[0])) bproc.init() bproc.renderer.set_max_amount_of_samples(300) bproc.renderer.set_output_format(enable_transparency=True) # bt.blenderInit(image_width, image_height, 300, 1.5, True) # bpy.context.scene.render.film_transparent = True # load object mesh obj = bproc.loader.load_obj(str(mesh_path))[0] # set white bg # bt.set_background([1., 1., 1., 1.], is_transparent=False) # set_background_color([16.3, 16.3, 16.3, 1.0]) # set material RGBA = np.array([*args.mesh_rgb, 255.0]) / 255.0 # RGBA = (144.0 / 255, 210.0 / 255, 236.0 / 255, 1) meshColor = bt.colorObj(RGBA, 0.5, 1.0, 1.0, 0.0, 2.0) bt.setMat_plastic(obj.blender_obj, meshColor) # set invisible plane (shadow catcher) ground_position = compute_ground_poision(obj_aabb) logger.info(f'Ground position: {ground_position}') bt.invisibleGround(location=ground_position, rotation=(90, 0, 0), shadowBrightness=0.9) # set light if args.light_mode == 'sun': ## Option2: simple sun light lightAngle = args.sun_light_angle strength = args.sun_light_strength shadowSoftness = 0.3 sun = bt.setLight_sun(lightAngle, strength, shadowSoftness) elif args.light_mode == '3point': ## Option1: Three Point Light System bt.setLight_threePoints(radius=4, height=10, intensity=1700, softness=6, keyLoc='left') ## set ambient light bt.setLight_ambient(color=(*args.ambient_light, 1)) ## set gray shadow to completely white with a threshold (optional but recommended) bt.shadowThreshold(alphaThreshold=0.05, interpolationMode='CARDINAL') # set cameras for each frame (assume all cameras share the same K) K_33 = next(iter(all_poses.values()))['K33'] K_33[0, 1] = 0.0 # blender doesn't support non-zero skew, but load_K_Rt_from_P leads to a tiny skew bproc.camera.set_intrinsics_from_K_matrix(K_33, int(image_width), int(image_height)) pose = all_poses[render_image_name] T44_c2w_gl = bproc.math.change_source_coordinate_frame_of_transformation_matrix( pose['T44_c2w'], ['X', '-Y', '-Z']) bproc.camera.add_camera_pose(T44_c2w_gl) # render data = bproc.renderer.render() colors = data['colors'] Image.fromarray(colors[0]).save(save_path) logger.info(f'Saved rendered image to {save_path}') # save blende file for debug blend_path = args.exp_dir / 'debug.blend' bpy.ops.wm.save_mainfile(filepath=str(blend_path.absolute())) logger.info(f'Saved blend file to {blend_path}') if __name__ == "__main__": main() ================================================ FILE: AutoReconForDens3R/scripts/blender/render_pointcloud_blender.py ================================================ ================================================ FILE: AutoReconForDens3R/scripts/completions/.gitignore ================================================ bash/ zsh/ ================================================ FILE: AutoReconForDens3R/scripts/completions/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/scripts/completions/install.py ================================================ #!/usr/bin/env python """Configuration script for setting up tab completion for nerfstudio in bash and zsh.""" import concurrent.futures import itertools import os import pathlib import random import shutil import stat import subprocess import sys from typing import List, Union import tyro from rich.console import Console from rich.prompt import Confirm from typing_extensions import Literal, assert_never ConfigureMode = Literal["install", "uninstall"] ShellType = Literal["zsh", "bash"] CONSOLE = Console(width=120) ENTRYPOINTS = [ "ns-install-cli", "ns-process-data", "ns-download-data", "ns-train", "ns-eval", "ns-render", "ns-dev-test", "ns-extract-mesh", "ns-render-mesh", ] def _check_tyro_cli(script_path: pathlib.Path) -> bool: """Check if a path points to a script containing a tyro.cli() call. Also checks for any permissions/shebang issues. Args: script_path: Path to prospective CLI. Returns: True if a completion is can be generated. """ assert script_path.suffix == ".py" script_src = script_path.read_text() if '\nif __name__ == "__main__":\n' in script_src: # Check script for execute permissions. For consistency, note that we apply this # and the shebang check even if tyro isn't used. execute_flags = stat.S_IXUSR | stat.S_IXGRP | stat.S_IXOTH if not script_path.stat().st_mode & execute_flags and Confirm.ask( f"[yellow]:warning: {script_path} is not marked as executable. Fix?[/yellow]", default=True, ): script_path.chmod(script_path.stat().st_mode | execute_flags) # Check that script has a shebang. if not script_src.startswith("#!/") and Confirm.ask( f"[yellow]:warning: {script_path} is missing a shebang. Fix?[/yellow]", default=True, ): script_path.write_text("#!/usr/bin/env python\n" + script_src) # Return True only if compatible with tyro. return "import tyro" in script_src and "tyro.cli" in script_src return False def _generate_completion( path_or_entrypoint: Union[pathlib.Path, str], shell: ShellType, completions_dir: pathlib.Path ) -> pathlib.Path: """Given a path to a tyro CLI, write a completion script to a target directory. Args: script_path: Path to Python CLI to generate completion script for. shell: Shell to generate completion script for. completions_dir: Directory to write completion script to. Returns: Success flag. """ if isinstance(path_or_entrypoint, pathlib.Path): # Scripts. target_name = "_" + path_or_entrypoint.name.replace(".", "_") args = [sys.executable, str(path_or_entrypoint), "--tyro-print-completion", shell] elif isinstance(path_or_entrypoint, str): # Entry points. target_name = "_" + path_or_entrypoint args = [path_or_entrypoint, "--tyro-print-completion", shell] else: assert_never(path_or_entrypoint) target_path = completions_dir / shell / target_name # Generate and write the new completion. try: new = subprocess.run( args=args, stdout=subprocess.PIPE, stderr=subprocess.PIPE, encoding="utf8", check=True, ).stdout except subprocess.CalledProcessError as e: CONSOLE.log(f":x: Completion script generation failed: {args}") if e.stdout is not None and len(e.stdout) > 0: CONSOLE.log(e.stdout) if e.stderr is not None and len(e.stderr) > 0: CONSOLE.log(e.stderr) raise e target_path.parent.mkdir(parents=True, exist_ok=True) if not target_path.exists(): target_path.write_text(new) CONSOLE.log(f":heavy_check_mark: Wrote new completion to {target_path}!") elif target_path.read_text().strip() != new.strip(): target_path.write_text(new) CONSOLE.log(f":heavy_check_mark: Updated completion at {target_path}!") else: CONSOLE.log(f"[dim]:heavy_check_mark: Nothing to do for {target_path}[/dim].") return target_path def _exclamation() -> str: return random.choice(["Cool", "Nice", "Neat", "Great", "Exciting", "Excellent", "Ok"]) + "!" def _update_rc( completions_dir: pathlib.Path, mode: ConfigureMode, shell: ShellType, ) -> None: """Try to add a `source /.../completions/setup.{shell}` line automatically to a user's zshrc or bashrc. Args: completions_dir: Path to location of this script. shell: Shell to install completion scripts for. mode: Install or uninstall completions. """ # Install or uninstall `source_line`. header_line = "# Source nerfstudio autocompletions." if shell == "zsh": source_lines = "\n".join( [ "", header_line, "if ! command -v compdef &> /dev/null; then", " autoload -Uz compinit", " compinit", "fi", f"source {completions_dir / 'setup.zsh'}", ] ) elif shell == "bash": source_lines = "\n".join( [ "", header_line, f"source {completions_dir / 'setup.bash'}", ] ) else: assert_never(shell) rc_path = pathlib.Path(os.environ["HOME"]) / f".{shell}rc" # Always try to uninstall previous completions. rc_source = rc_path.read_text() while header_line in rc_source: before_install, _, after_install = rc_source.partition(header_line) source_file, _, after_install = after_install.partition("\nsource ")[2].partition("\n") assert source_file.endswith(f"/completions/setup.{shell}") rc_source = before_install + after_install rc_path.write_text(rc_source) CONSOLE.log(f":broom: Existing completions uninstalled from {rc_path}.") # Install completions. if mode == "install": assert source_lines not in rc_source rc_path.write_text(rc_source.rstrip() + "\n" + source_lines) CONSOLE.log( f":person_gesturing_ok: Completions installed to {rc_path}. {_exclamation()} Open a new shell to try them" " out." ) else: assert mode == "uninstall" def main(mode: ConfigureMode = "install") -> None: """Main script. Args: mode: Choose between installing or uninstalling completions. shells: Shell(s) to install or uninstall. """ if "HOME" not in os.environ: CONSOLE.log("[bold red]$HOME is not set. Exiting.") return # Try to locate the user's bashrc or zshrc. shells_supported: List[ShellType] = ["zsh", "bash"] shells_found: List[ShellType] = [] for shell in shells_supported: rc_path = pathlib.Path(os.environ["HOME"]) / f".{shell}rc" if not rc_path.exists(): CONSOLE.log(f":person_shrugging: {rc_path.name} not found, skipping.") else: CONSOLE.log(f":mag: Found {rc_path.name}!") shells_found.append(shell) # Get scripts/ directory. completions_dir = pathlib.Path(__file__).absolute().parent scripts_dir = completions_dir.parent assert completions_dir.name == "completions" assert scripts_dir.name == "scripts" # Install mode: Generate completion for each tyro script. if mode == "uninstall": for shell in shells_supported: # Reset target directory for each shell type. target_dir = completions_dir / shell if target_dir.exists(): assert target_dir.is_dir() shutil.rmtree(target_dir, ignore_errors=True) CONSOLE.log(f":broom: Deleted existing completion directory: {target_dir}.") else: CONSOLE.log(f":heavy_check_mark: No existing completions at: {target_dir}.") elif mode == "install": # Set to True to install completions for scripts as well. include_scripts = False # Find tyro CLIs. script_paths = list(filter(_check_tyro_cli, scripts_dir.glob("**/*.py"))) if include_scripts else [] script_names = tuple(p.name for p in script_paths) assert len(set(script_names)) == len(script_names) # Get existing completion files. existing_completions = set() for shell in shells_supported: target_dir = completions_dir / shell if target_dir.exists(): existing_completions |= set(target_dir.glob("*")) # Run generation jobs. concurrent_executor = concurrent.futures.ThreadPoolExecutor() with CONSOLE.status("[bold]:writing_hand: Generating completions...", spinner="bouncingBall"): completion_paths = list( concurrent_executor.map( lambda path_or_entrypoint_and_shell: _generate_completion( path_or_entrypoint_and_shell[0], path_or_entrypoint_and_shell[1], completions_dir ), itertools.product(script_paths + ENTRYPOINTS, shells_found), ) ) # Delete obsolete completion files. for unexpected_path in set(p.absolute() for p in existing_completions) - set( p.absolute() for p in completion_paths ): if unexpected_path.is_dir(): shutil.rmtree(unexpected_path) elif unexpected_path.exists(): unexpected_path.unlink() CONSOLE.log(f":broom: Deleted {unexpected_path}.") else: assert_never(mode) # Install or uninstall from bashrc/zshrc. for shell in shells_found: _update_rc(completions_dir, mode, shell) CONSOLE.print("[bold]All done![/bold]") def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(main, description=__doc__) if __name__ == "__main__": entrypoint() ================================================ FILE: AutoReconForDens3R/scripts/completions/setup.bash ================================================ # nerfstudio completions for bash. # # This should generally be installed automatically by `configure.py`. completions_dir="$(dirname "$BASH_SOURCE")"/bash if [ ! -d "${completions_dir}" ]; then echo "$0: Completions are missing!" echo "Please generate them with nerfstudio/scripts/completions/generate.py!" return 1 fi # Source each completion script. for completion_path in ${completions_dir}/* do source $completion_path done ================================================ FILE: AutoReconForDens3R/scripts/completions/setup.zsh ================================================ # nerfstudio completions for zsh. # # This should generally be installed automatically by `configure.py`. completions_dir="${0:a:h}"/zsh if [ ! -d "${completions_dir}" ]; then echo "$0: Completions are missing!" echo "Please generate them with nerfstudio/scripts/completions/generate.py!" return 1 fi # Manually load and define each completion. # # Adding the completions directory to our fpath and re-initializing would work # as well: # fpath+=${completions_dir} # autoload -Uz compinit; compinit # But would be several orders of magnitude slower. for completion_path in ${completions_dir}/* do # /some/path/to/_our_completion_py => _our_completion_py completion_name=${completion_path##*/} if [[ $name == *_py ]]; then # _our_completion_py => our_completion.py script_name="${completion_name:1:-3}.py" else # _entry-point => entry-point script_name="${completion_name:1}" fi autoload -Uz $completion_path compdef $completion_name $script_name done ================================================ FILE: AutoReconForDens3R/scripts/datasets/extract_monocular_cues.py ================================================ # adapted from https://github.com/EPFL-VILAB/omnidata import argparse import glob import os.path import sys from pathlib import Path import matplotlib.pyplot as plt import numpy as np import PIL import torch import torch.nn.functional as F from PIL import Image from torchvision import transforms from tqdm import tqdm parser = argparse.ArgumentParser(description="Visualize output for depth or surface normals") parser.add_argument("--omnidata_path", dest="omnidata_path", help="path to omnidata model") parser.set_defaults(omnidata_path="/home/yuzh/Projects/omnidata/omnidata_tools/torch/") parser.add_argument("--pretrained_models", dest="pretrained_models", help="path to pretrained models") parser.set_defaults(pretrained_models="/home/yuzh/Projects/omnidata/omnidata_tools/torch/pretrained_models/") parser.add_argument("--task", dest="task", help="normal or depth") parser.set_defaults(task="NONE") parser.add_argument("--img_path", dest="img_path", help="path to rgb image") parser.set_defaults(im_name="NONE") parser.add_argument("--output_path", dest="output_path", help="path to where output image should be stored") parser.set_defaults(store_name="NONE") args = parser.parse_args() root_dir = args.pretrained_models omnidata_path = args.omnidata_path sys.path.append(args.omnidata_path) print(sys.path) from data.transforms import get_transform from modules.midas.dpt_depth import DPTDepthModel from modules.unet import UNet trans_topil = transforms.ToPILImage() os.system(f"mkdir -p {args.output_path}") map_location = (lambda storage, loc: storage.cuda()) if torch.cuda.is_available() else torch.device("cpu") device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") # get target task and model if args.task == "normal": image_size = 384 ## Version 1 model # pretrained_weights_path = root_dir + 'omnidata_unet_normal_v1.pth' # model = UNet(in_channels=3, out_channels=3) # checkpoint = torch.load(pretrained_weights_path, map_location=map_location) # if 'state_dict' in checkpoint: # state_dict = {} # for k, v in checkpoint['state_dict'].items(): # state_dict[k.replace('model.', '')] = v # else: # state_dict = checkpoint pretrained_weights_path = root_dir + "omnidata_dpt_normal_v2.ckpt" model = DPTDepthModel(backbone="vitb_rn50_384", num_channels=3) # DPT Hybrid checkpoint = torch.load(pretrained_weights_path, map_location=map_location) if "state_dict" in checkpoint: state_dict = {} for k, v in checkpoint["state_dict"].items(): state_dict[k[6:]] = v else: state_dict = checkpoint model.load_state_dict(state_dict) model.to(device) trans_totensor = transforms.Compose( [ transforms.Resize(image_size, interpolation=PIL.Image.BILINEAR), transforms.CenterCrop(image_size), get_transform("rgb", image_size=None), ] ) elif args.task == "depth": image_size = 384 pretrained_weights_path = root_dir + "omnidata_dpt_depth_v2.ckpt" # 'omnidata_dpt_depth_v1.ckpt' # model = DPTDepthModel(backbone='vitl16_384') # DPT Large model = DPTDepthModel(backbone="vitb_rn50_384") # DPT Hybrid checkpoint = torch.load(pretrained_weights_path, map_location=map_location) if "state_dict" in checkpoint: state_dict = {} for k, v in checkpoint["state_dict"].items(): state_dict[k[6:]] = v else: state_dict = checkpoint model.load_state_dict(state_dict) model.to(device) trans_totensor = transforms.Compose( [ transforms.Resize(image_size, interpolation=PIL.Image.BILINEAR), transforms.CenterCrop(image_size), transforms.ToTensor(), transforms.Normalize(mean=0.5, std=0.5), ] ) else: print("task should be one of the following: normal, depth") sys.exit() trans_rgb = transforms.Compose( [ transforms.Resize(image_size, interpolation=PIL.Image.BILINEAR), transforms.CenterCrop(image_size), ] ) def standardize_depth_map(img, mask_valid=None, trunc_value=0.1): if mask_valid is not None: img[~mask_valid] = torch.nan sorted_img = torch.sort(torch.flatten(img))[0] # Remove nan, nan at the end of sort num_nan = sorted_img.isnan().sum() if num_nan > 0: sorted_img = sorted_img[:-num_nan] # Remove outliers trunc_img = sorted_img[int(trunc_value * len(sorted_img)) : int((1 - trunc_value) * len(sorted_img))] trunc_mean = trunc_img.mean() trunc_var = trunc_img.var() eps = 1e-6 # Replace nan by mean img = torch.nan_to_num(img, nan=trunc_mean) # Standardize img = (img - trunc_mean) / torch.sqrt(trunc_var + eps) return img def save_outputs(img_path, output_file_name): with torch.no_grad(): save_path = os.path.join(args.output_path, output_file_name.replace("_rgb", f"_{args.task}") + ".png") # print(f"Reading input {img_path} ...") img = Image.open(img_path) H, W = img.size[1], img.size[0] assert H == W, "Image should be square" assert H % 384 == 0, "Image size should be divisible by 384" scale_factor = H // 384 img_tensor = trans_totensor(img)[:3].unsqueeze(0).to(device) if img_tensor.shape[1] == 1: img_tensor = img_tensor.repeat_interleave(3, 1) output = model(img_tensor).clamp(min=0, max=1) if args.task == "depth": if scale_factor > 1: output = F.interpolate(output.unsqueeze(0), scale_factor=scale_factor, mode="nearest").squeeze(0) output = output.clamp(0, 1) np.save(save_path.replace(".png", ".npy"), output.detach().cpu().numpy()[0]) plt.imsave(save_path, output.detach().cpu().squeeze(), cmap="viridis") else: if scale_factor > 1: output = torch.nn.functional.interpolate(output, scale_factor=scale_factor, mode="nearest") np.save(save_path.replace(".png", ".npy"), output.detach().cpu().numpy()[0]) trans_topil(output[0]).save(save_path) # print(f"Writing output {save_path} ...") img_path = Path(args.img_path) if img_path.is_file(): save_outputs(args.img_path, os.path.splitext(os.path.basename(args.img_path))[0]) elif img_path.is_dir(): for f in tqdm(glob.glob(args.img_path + "/*_rgb.png")): save_outputs(f, os.path.splitext(os.path.basename(f))[0]) else: print("invalid file path!") sys.exit() ================================================ FILE: AutoReconForDens3R/scripts/datasets/process_nerfstudio_to_sdfstudio.py ================================================ import argparse import json import os from pathlib import Path import cv2 import matplotlib.pyplot as plt import numpy as np import PIL from PIL import Image from torchvision import transforms from tqdm import tqdm def main(): """ given data that follows the nerfstduio format such as the output from colmap or polycam, convert to a format that sdfstudio will ingest """ parser = argparse.ArgumentParser(description="preprocess scannet dataset to sdfstudio dataset") parser.add_argument("--data", dest="input_path", help="path to polycam/colmap data directory") parser.set_defaults(input_path="NONE") parser.add_argument("--output-dir", dest="output_path", help="path to output directory") parser.set_defaults(output_path="NONE") parser.add_argument("--type", dest="type", required=True, choices=["colmap", "polycam"]) parser.add_argument("--geo-type", dest="geo_type", default="mono_prior", choices=["mono_prior", "sensor_depth"]) parser.add_argument("--indoor", action="store_true") parser.add_argument("--crop-mult", dest="crop_mult", type=int, default=1) parser.add_argument("--omnidata_path", dest="omnidata_path", help="path to omnidata model") parser.set_defaults(omnidata_path="/home/yuzh/Projects/omnidata/omnidata_tools/torch") parser.add_argument("--pretrained_models", dest="pretrained_models", help="path to pretrained models") parser.set_defaults(pretrained_models="/home/yuzh/Projects/omnidata/omnidata_tools/torch/pretrained_models/") args = parser.parse_args() output_path = Path(args.output_path) input_path = Path(args.input_path) POLYCAM = True if args.type == "polycam" else False output_path.mkdir(parents=True, exist_ok=True) # load transformation json with images/intrinsics/extrinsics camera_parameters_path = input_path / "transforms.json" camera_parameters = json.load(open(camera_parameters_path)) # extract intrinsic parameters if not POLYCAM: cx = camera_parameters["cx"] cy = camera_parameters["cy"] fl_x = camera_parameters["fl_x"] fl_y = camera_parameters["fl_y"] else: cx = [] cy = [] fl_x = [] fl_y = [] camera_parameters = camera_parameters["frames"] num_frames = len(camera_parameters) # load poses poses = [] image_paths = [] depth_paths = [] # only load images with corresponding pose info # currently in random order??, probably need to sort for camera in camera_parameters: if POLYCAM: # average frames into single intrinsic cx.append(camera["cx"]) cy.append(camera["cy"]) fl_x.append(camera["fl_x"]) fl_y.append(camera["fl_y"]) # OpenGL/Blender convention, needs to change to COLMAP/OpenCV convention # https://docs.nerf.studio/en/latest/quickstart/data_conventions.html ## IGNORED for now c2w = np.array(camera["transform_matrix"]).reshape(4, 4) c2w[0:3, 1:3] *= -1 poses.append(c2w) file_path = Path(camera["file_path"]) img_path = input_path / "images" / file_path.name assert img_path.exists() image_paths.append(img_path) # include sensor depths if args.geo_type == "sensor_depth": depth_path = input_path / "depths" / f"{file_path.stem}.png" assert depth_path.exists(), f"depth path {depth_path} does not exist. Only available for polycam data." depth_paths.append(depth_path) poses = np.array(poses) if POLYCAM: # intrinsics camera_intrinsics = [] for idx in range(len(cx)): camera_intrinsics.append(np.array([[fl_x[idx], 0, cx[idx]], [0, fl_y[idx], cy[idx]], [0, 0, 1]])) else: camera_intrinsics = np.array([[fl_x, 0, cx], [0, fl_y, cy], [0, 0, 1]]) # deal with invalid poses valid_poses = np.isfinite(poses).all(axis=2).all(axis=1) min_vertices = poses[:, :3, 3][valid_poses].min(axis=0) max_vertices = poses[:, :3, 3][valid_poses].max(axis=0) # camera pose normalization only used for indoor scenes if args.indoor: center = (min_vertices + max_vertices) / 2.0 scale = 2.0 / (np.max(max_vertices - min_vertices) + 3.0) # we should normalize pose to unit cube poses[:, :3, 3] -= center poses[:, :3, 3] *= scale # inverse normalization scale_mat = np.eye(4).astype(np.float32) scale_mat[:3, 3] -= center scale_mat[:3] *= scale scale_mat = np.linalg.inv(scale_mat) else: scale_mat = np.eye(4).astype(np.float32) # copy image sample_img = cv2.imread(str(image_paths[0])) H, W, _ = sample_img.shape # 1080 x 1920 # get smallest side to generate square crop target_crop = min(H, W) target_size = 384 * args.crop_mult trans_totensor = transforms.Compose( [ transforms.CenterCrop(target_crop), transforms.Resize(target_size, interpolation=PIL.Image.BILINEAR), ] ) depth_trans_totensor = transforms.Compose( [ transforms.Resize([H, W], interpolation=PIL.Image.NEAREST), transforms.CenterCrop(target_crop), transforms.Resize(target_size, interpolation=PIL.Image.NEAREST), ] ) # center crop by min_dim offset_x = (W - target_crop) * 0.5 offset_y = (H - target_crop) * 0.5 if POLYCAM: for idx in range(len(camera_intrinsics)): camera_intrinsics[idx][0, 2] -= offset_x camera_intrinsics[idx][1, 2] -= offset_y resize_factor = target_size / target_crop camera_intrinsics[idx][:2, :] *= resize_factor else: camera_intrinsics[0, 2] -= offset_x camera_intrinsics[1, 2] -= offset_y # resize from min_dim x min_dim -> to 384 x 384 resize_factor = target_size / target_crop camera_intrinsics[:2, :] *= resize_factor K = camera_intrinsics frames = [] out_index = 0 for idx, (valid, pose, image_path) in enumerate(tqdm(zip(valid_poses, poses, image_paths))): if not valid: continue # save rgb image target_image = output_path / f"{out_index:06d}_rgb.png" img = Image.open(image_path) img_tensor = trans_totensor(img) img_tensor.save(target_image) rgb_path = str(target_image.relative_to(output_path)) if args.geo_type == "sensor_depth": # load depth depth_path = depth_paths[idx] target_depth_image = output_path / f"{out_index:06d}_sensor_depth.png" depth = cv2.imread(str(depth_path), -1).astype(np.float32) / 1000.0 depth_PIL = Image.fromarray(depth) new_depth = depth_trans_totensor(depth_PIL) new_depth = np.asarray(new_depth) # scale depth as we normalize the scene to unit box new_depth = np.copy(new_depth) * scale plt.imsave(target_depth_image, new_depth, cmap="viridis") np.save(str(target_depth_image).replace(".png", ".npy"), new_depth) frame = { "rgb_path": rgb_path, "camtoworld": pose.tolist(), "intrinsics": K[idx].tolist() if isinstance(K, list) else K.tolist(), "mono_depth_path": rgb_path.replace("_rgb.png", "_depth.npy"), "mono_normal_path": rgb_path.replace("_rgb.png", "_normal.npy"), "sensor_depth_path": rgb_path.replace("_rgb.png", "_sensor_depth.npy"), } frames.append(frame) out_index += 1 # scene bbox for the scannet scene scene_box = { "aabb": [[-1, -1, -1], [1, 1, 1]], "near": 0.05, "far": 2.5, "radius": 1.0, "collider_type": "box", } # meta data output_data = { "camera_model": "OPENCV", "height": target_size, "width": target_size, "has_mono_prior": args.geo_type == "mono_prior", "has_sensor_depth": args.geo_type == "sensor_depth", "pairs": None, "worldtogt": scale_mat.tolist(), "scene_box": scene_box, } output_data["frames"] = frames # save as json with open(output_path / "meta_data.json", "w", encoding="utf-8") as f: json.dump(output_data, f, indent=4) if args.geo_type == "mono_prior": assert os.path.exists(args.pretrained_models), "Pretrained model path not found" assert os.path.exists(args.omnidata_path), "omnidata l path not found" # generate mono depth and normal print("Generating mono depth") os.system( f"python scripts/datasets/extract_monocular_cues.py \ --omnidata_path {args.omnidata_path} \ --pretrained_model {args.pretrained_models} \ --img_path {output_path} --output_path {output_path} \ --task depth" ) print("Generating mono normal") os.system( f"python scripts/datasets/extract_monocular_cues.py \ --omnidata_path {args.omnidata_path} \ --pretrained_model {args.pretrained_models} \ --img_path {output_path} --output_path {output_path} \ --task normal" ) print("Done!") if __name__ == "__main__": main() ================================================ FILE: AutoReconForDens3R/scripts/datasets/process_neuralrgbd_to_sdfstudio.py ================================================ import argparse import glob import json import os import re import shutil from pathlib import Path import cv2 import matplotlib.pyplot as plt import numpy as np import PIL from PIL import Image from torchvision import transforms parser = argparse.ArgumentParser(description="preprocess neural rgbd dataset to sdfstudio dataset") parser.add_argument("--input_path", dest="input_path", help="path to scannet scene") parser.add_argument("--output_path", dest="output_path", help="path to output") parser.add_argument( "--type", dest="type", default="mono_prior", choices=["mono_prior", "sensor_depth"], help="mono_prior to use monocular prior, sensor_depth to use depth captured with a depth sensor (gt depth)", ) args = parser.parse_args() def alphanum_key(s): """Turn a string into a list of string and number chunks. "z23a" -> ["z", 23, "a"] """ return [int(x) if x.isdigit() else x for x in re.split("([0-9]+)", s)] def load_poses(posefile): file = open(posefile, "r") lines = file.readlines() file.close() poses = [] valid = [] lines_per_matrix = 4 for i in range(0, len(lines), lines_per_matrix): if "nan" in lines[i]: valid.append(False) poses.append(np.eye(4, 4, dtype=np.float32).tolist()) else: valid.append(True) pose_floats = [[float(x) for x in line.split()] for line in lines[i : i + lines_per_matrix]] poses.append(pose_floats) return poses, valid output_path = Path(args.output_path) # "data/neural_rgbd/breakfast_room/" input_path = Path(args.input_path) # "data/neural_rgbd_data/breakfast_room/" output_path.mkdir(parents=True, exist_ok=True) # load color color_path = input_path / "images" color_paths = sorted(glob.glob(os.path.join(color_path, "*.png")), key=alphanum_key) # load depth depth_path = input_path / "depth_filtered" depth_paths = sorted(glob.glob(os.path.join(depth_path, "*.png")), key=alphanum_key) H, W = cv2.imread(depth_paths[0]).shape[:2] print(H, W) # load intrinsic intrinsic_path = input_path / "focal.txt" focal_length = np.loadtxt(intrinsic_path) camera_intrinsic = np.eye(4) camera_intrinsic[0, 0] = focal_length camera_intrinsic[1, 1] = focal_length camera_intrinsic[0, 2] = W * 0.5 camera_intrinsic[1, 2] = H * 0.5 print(camera_intrinsic) # load pose pose_path = input_path / "poses.txt" poses, valid_poses = load_poses(pose_path) poses = np.array(poses) print(poses.shape) # OpenGL/Blender convention, needs to change to COLMAP/OpenCV convention # https://docs.nerf.studio/en/latest/quickstart/data_conventions.html poses[:, 0:3, 1:3] *= -1 # deal with invalid poses min_vertices = poses[:, :3, 3][valid_poses].min(axis=0) max_vertices = poses[:, :3, 3][valid_poses].max(axis=0) center = (min_vertices + max_vertices) / 2.0 scale = 2.0 / (np.max(max_vertices - min_vertices) + 3.0) print(center, scale) # we should normalize pose to unit cube poses[:, :3, 3] -= center poses[:, :3, 3] *= scale # inverse normalization scale_mat = np.eye(4).astype(np.float32) scale_mat[:3, 3] -= center scale_mat[:3] *= scale scale_mat = np.linalg.inv(scale_mat) if args.type == "mono_prior": # center copy image if use monocular prior because omnidata use 384x384 as inputs # get smallest side to generate square crop target_crop = min(H, W) target_size = 384 trans_totensor = transforms.Compose( [ transforms.CenterCrop(target_crop), transforms.Resize(target_size, interpolation=PIL.Image.BILINEAR), ] ) # center crop by min_dim offset_x = (W - target_crop) * 0.5 offset_y = (H - target_crop) * 0.5 camera_intrinsic[0, 2] -= offset_x camera_intrinsic[1, 2] -= offset_y # resize from min_dim x min_dim -> to 384 x 384 resize_factor = target_size / target_crop camera_intrinsic[:2, :] *= resize_factor # new H, W after center crop H, W = target_size, target_size K = camera_intrinsic frames = [] out_index = 0 for idx, (valid, pose, image_path, depth_path) in enumerate(zip(valid_poses, poses, color_paths, depth_paths)): if idx % 10 != 0: continue if not valid: continue target_image = output_path / f"{out_index:06d}_rgb.png" print(target_image) if args.type == "mono_prior": img = Image.open(image_path) img_tensor = trans_totensor(img) img_tensor.save(target_image) else: shutil.copyfile(image_path, target_image) rgb_path = str(target_image.relative_to(output_path)) frame = { "rgb_path": rgb_path, "camtoworld": pose.tolist(), "intrinsics": K.tolist(), } if args.type == "mono_prior": frame.update( { "mono_depth_path": rgb_path.replace("_rgb.png", "_depth.npy"), "mono_normal_path": rgb_path.replace("_rgb.png", "_normal.npy"), } ) else: frame["sensor_depth_path"] = rgb_path.replace("_rgb.png", "_depth.npy") depth_map = cv2.imread(depth_path, -1) # Convert depth to meters, then to "network units" depth_shift = 1000.0 depth_maps = (np.array(depth_map) / depth_shift).astype(np.float32) depth_maps *= scale np.save(output_path / frame["sensor_depth_path"], depth_maps) # color map gt depth for visualization plt.imsave(output_path / frame["sensor_depth_path"].replace(".npy", ".png"), depth_maps, cmap="viridis") frames.append(frame) out_index += 1 # scene bbox for the scannet scene scene_box = { "aabb": [[-1, -1, -1], [1, 1, 1]], "near": 0.05, "far": 2.5, "radius": 1.0, "collider_type": "box", } # meta data output_data = { "camera_model": "OPENCV", "height": H, "width": W, "has_mono_prior": args.type == "mono_prior", "has_sensor_depth": args.type == "sensor_depth", "pairs": None, "worldtogt": scale_mat.tolist(), "scene_box": scene_box, } output_data["frames"] = frames # save as json with open(output_path / "meta_data.json", "w", encoding="utf-8") as f: json.dump(output_data, f, indent=4) ================================================ FILE: AutoReconForDens3R/scripts/datasets/process_nuscenes_masks.py ================================================ import os from dataclasses import dataclass from pathlib import Path from typing import Tuple import cv2 import numpy as np import tyro from nuscenes.nuscenes import NuScenes as NuScenesDatabase from nuscenes.utils.data_classes import Box from nuscenes.utils.geometry_utils import BoxVisibility, view_points from tqdm import tqdm from typing_extensions import Literal @dataclass class ProcessNuScenesMasks: """Use cuboid detections to render masks for dynamic objects.""" data_dir: Path """Path to NuScenes dataset.""" output_dir: Path """Path to the output directory.""" version: Literal["v1.0-mini", "v1.0-trainval"] = "v1.0-mini" """Which version of the dataset to process.""" velocity_thresh: float = 0.75 """Minimum speed for object to be considered dynamic.""" cameras: Tuple[Literal["FRONT", "FRONT_LEFT", "FRONT_RIGHT", "BACK", "BACK_LEFT", "BACK_RIGHT"], ...] = ( "FRONT", "FRONT_LEFT", "FRONT_RIGHT", "BACK", "BACK_LEFT", "BACK_RIGHT", ) """Which cameras to use.""" verbose: bool = False """If True, print extra logging and visualize images on screen.""" def main(self) -> None: """Generate NuScenes dynamic object masks.""" nusc = NuScenesDatabase(version=self.version, dataroot=self.data_dir, verbose=self.verbose) cameras = ["CAM_" + camera for camera in self.cameras] for camera in cameras: (self.output_dir / "masks" / camera).mkdir(parents=True, exist_ok=True) # get samples for scene samples = [samp for samp in nusc.sample] # sort by timestamp (only to make chronological viz easier) samples.sort(key=lambda x: (x["scene_token"], x["timestamp"])) # get which instances are moving in any frame (these are what we mask) instances = nusc.instance for instance in instances: is_dynamic = False ann_token = instance["first_annotation_token"] while ann_token: velocity = nusc.box_velocity(ann_token) if not np.linalg.norm(velocity) < self.velocity_thresh: is_dynamic = True break ann_token = nusc.get("sample_annotation", ann_token)["next"] instance["is_dynamic"] = is_dynamic instances_is_dynamic = {instance["token"]: instance["is_dynamic"] for instance in instances} for sample in tqdm(samples): viz = [] for camera in cameras: camera_data = nusc.get("sample_data", sample["data"][camera]) calibrated_sensor = nusc.get("calibrated_sensor", camera_data["calibrated_sensor_token"]) intrinsics = np.array(calibrated_sensor["camera_intrinsic"]) _, boxes, _ = nusc.get_sample_data(sample["data"][camera], box_vis_level=BoxVisibility.ANY) # TODO: BoxVisibility.ANY misses boxes that are partially behind the camera leading to missed masks # Instead use BoxVisibility.NONE and make sure to rasterize box faces correctly mask = np.ones((900, 1600), dtype=np.uint8) for box in boxes: # Dont mask out static objects (static in all frames) instance_token = nusc.get("sample_annotation", box.token)["instance_token"] if not instances_is_dynamic[instance_token]: continue # project box to image plane and rasterize each face corners_3d = box.corners() corners = view_points(corners_3d, intrinsics, normalize=True)[:2, :] corners = np.round(corners).astype(int).T cv2.fillPoly(mask, [corners[[0, 1, 2, 3]]], 0) # front cv2.fillPoly(mask, [corners[[4, 5, 6, 7]]], 0) # back cv2.fillPoly(mask, [corners[[0, 1, 5, 4]]], 0) # top cv2.fillPoly(mask, [corners[[2, 3, 7, 6]]], 0) # bottom cv2.fillPoly(mask, [corners[[0, 3, 7, 4]]], 0) # left cv2.fillPoly(mask, [corners[[1, 2, 6, 5]]], 0) # right maskname = os.path.split(camera_data["filename"])[1].replace("jpg", "png") cv2.imwrite(str(self.output_dir / "masks" / camera / maskname), mask * 255) if self.verbose: img = cv2.imread(str(self.data_dir / camera_data["filename"])) mask = ~mask.astype(bool) img[mask, :] -= np.minimum(img[mask, :], 100) viz.append(img) if self.verbose: if len(viz) == 6: viz = np.vstack((np.hstack(viz[:3]), np.hstack(viz[3:]))) viz = cv2.resize(viz, (int(1600 * 3 / 3), int(900 * 2 / 3))) elif len(viz) == 3: viz = np.hstack(viz[:3]) viz = cv2.resize(viz, (int(1600 * 3 / 3), int(900 / 3))) elif len(viz) == 1: viz = viz[0] else: raise ValueError("Only support 1 or 3 or 6 cameras for viz") cv2.imshow("", viz) cv2.waitKey(1) def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(ProcessNuScenesMasks).main() if __name__ == "__main__": entrypoint() ================================================ FILE: AutoReconForDens3R/scripts/datasets/process_scannet_to_sdfstudio.py ================================================ import argparse import glob import json import os from pathlib import Path import cv2 import matplotlib.pyplot as plt import numpy as np import PIL from PIL import Image from torchvision import transforms parser = argparse.ArgumentParser(description="preprocess scannet dataset to sdfstudio dataset") parser.add_argument("--input_path", dest="input_path", help="path to scannet scene") parser.set_defaults(im_name="NONE") parser.add_argument("--output_path", dest="output_path", help="path to output") parser.set_defaults(store_name="NONE") parser.add_argument( "--type", dest="type", default="mono_prior", choices=["mono_prior", "sensor_depth"], help="mono_prior to use monocular prior, sensor_depth to use depth captured with a depth sensor (gt depth)", ) args = parser.parse_args() image_size = 384 trans_totensor = transforms.Compose( [ transforms.CenterCrop(image_size * 2), transforms.Resize(image_size, interpolation=PIL.Image.BILINEAR), ] ) depth_trans_totensor = transforms.Compose( [ transforms.Resize([968, 1296], interpolation=PIL.Image.NEAREST), transforms.CenterCrop(image_size * 2), transforms.Resize(image_size, interpolation=PIL.Image.NEAREST), ] ) output_path = Path(args.output_path) # "data/custom/scannet_scene0050_00" input_path = Path(args.input_path) # "/home/yuzh/Projects/datasets/scannet/scene0050_00" output_path.mkdir(parents=True, exist_ok=True) # load color color_path = input_path / "frames" / "color" color_paths = sorted(glob.glob(os.path.join(color_path, "*.jpg")), key=lambda x: int(os.path.basename(x)[:-4])) # load depth depth_path = input_path / "frames" / "depth" depth_paths = sorted(glob.glob(os.path.join(depth_path, "*.png")), key=lambda x: int(os.path.basename(x)[:-4])) # load intrinsic intrinsic_path = input_path / "frames" / "intrinsic" / "intrinsic_color.txt" camera_intrinsic = np.loadtxt(intrinsic_path) # load pose pose_path = input_path / "frames" / "pose" poses = [] pose_paths = sorted(glob.glob(os.path.join(pose_path, "*.txt")), key=lambda x: int(os.path.basename(x)[:-4])) for pose_path in pose_paths: c2w = np.loadtxt(pose_path) poses.append(c2w) poses = np.array(poses) # deal with invalid poses valid_poses = np.isfinite(poses).all(axis=2).all(axis=1) min_vertices = poses[:, :3, 3][valid_poses].min(axis=0) max_vertices = poses[:, :3, 3][valid_poses].max(axis=0) center = (min_vertices + max_vertices) / 2.0 scale = 2.0 / (np.max(max_vertices - min_vertices) + 3.0) print(center, scale) # we should normalize pose to unit cube poses[:, :3, 3] -= center poses[:, :3, 3] *= scale # inverse normalization scale_mat = np.eye(4).astype(np.float32) scale_mat[:3, 3] -= center scale_mat[:3] *= scale scale_mat = np.linalg.inv(scale_mat) # copy image H, W = 968, 1296 # center crop by 2 * image_size offset_x = (W - image_size * 2) * 0.5 offset_y = (H - image_size * 2) * 0.5 camera_intrinsic[0, 2] -= offset_x camera_intrinsic[1, 2] -= offset_y # resize from 384*2 to 384 resize_factor = 0.5 camera_intrinsic[:2, :] *= resize_factor K = camera_intrinsic frames = [] out_index = 0 for idx, (valid, pose, image_path, depth_path) in enumerate(zip(valid_poses, poses, color_paths, depth_paths)): if idx % 10 != 0: continue if not valid: continue target_image = output_path / f"{out_index:06d}_rgb.png" print(target_image) img = Image.open(image_path) img_tensor = trans_totensor(img) img_tensor.save(target_image) # load depth target_depth_image = output_path / f"{out_index:06d}_sensor_depth.png" depth = cv2.imread(depth_path, -1).astype(np.float32) / 1000.0 depth_PIL = Image.fromarray(depth) new_depth = depth_trans_totensor(depth_PIL) new_depth = np.asarray(new_depth) # scale depth as we normalize the scene to unit box new_depth *= scale plt.imsave(target_depth_image, new_depth, cmap="viridis") np.save(str(target_depth_image).replace(".png", ".npy"), new_depth) rgb_path = str(target_image.relative_to(output_path)) frame = { "rgb_path": rgb_path, "camtoworld": pose.tolist(), "intrinsics": K.tolist(), "mono_depth_path": rgb_path.replace("_rgb.png", "_depth.npy"), "mono_normal_path": rgb_path.replace("_rgb.png", "_normal.npy"), "sensor_depth_path": rgb_path.replace("_rgb.png", "_sensor_depth.npy"), } frames.append(frame) out_index += 1 # scene bbox for the scannet scene scene_box = { "aabb": [[-1, -1, -1], [1, 1, 1]], "near": 0.05, "far": 2.5, "radius": 1.0, "collider_type": "box", } # meta data output_data = { "camera_model": "OPENCV", "height": image_size, "width": image_size, "has_mono_prior": True, "has_sensor_depth": True, "pairs": None, "worldtogt": scale_mat.tolist(), "scene_box": scene_box, } output_data["frames"] = frames # save as json with open(output_path / "meta_data.json", "w", encoding="utf-8") as f: json.dump(output_data, f, indent=4) ================================================ FILE: AutoReconForDens3R/scripts/docs/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/scripts/docs/add_nb_tags.py ================================================ """Helper that add tags to notebooks based on cell comments.""" import sys from glob import glob import nbformat as nbf import tyro from rich.console import Console CONSOLE = Console(width=120) def main(check: bool = False): """Add tags to notebooks based on cell comments. In notebook cells, you can add the folling tags to the notebook by adding a comment: "# HIDDEN" - This cell will be hidden from the notebook. "# OUTPUT_ONLY" - This cell will only show the output. "# COLLAPSED" - Hide the code and include a button to show the code. Args: check: check will not modify the notebooks. """ # Collect a list of all notebooks in the content folder notebooks = glob("./docs/**/*.ipynb", recursive=True) # Text to look for in adding tags text_search_dict = { "# HIDDEN": "remove-cell", # Remove the whole cell "# OUTPUT_ONLY": "remove-input", # Remove only the input "# COLLAPSED": "hide-input", # Hide the input w/ a button to show } # Search through each notebook and look for the text, add a tag if necessary any_missing = False for ipath in notebooks: ntbk = nbf.read(ipath, nbf.NO_CONVERT) incorrect_metadata = False for cell in ntbk.cells: cell_tags = cell.get("metadata", {}).get("tags", []) found_keys = [] found_tags = [] for key, val in text_search_dict.items(): if key in cell.source: found_keys.append(key) found_tags.append(val) if len(found_keys) > 1: CONSOLE.print(f"[bold yellow]Found multiple tags {found_keys} for {ipath}") sys.exit(1) if len(cell_tags) != len(found_tags): incorrect_metadata = True elif len(cell_tags) == 1 and len(found_keys) == 1: if found_tags[0] != cell_tags[0]: incorrect_metadata = True cell["metadata"]["tags"] = found_tags if incorrect_metadata: if check: CONSOLE.print( f"[bold yellow]{ipath} has incorrect metadata. Call `python scripts.docs.add_nb_tags.py` to add it." ) any_missing = True else: print(f"Adding metadata to {ipath}") nbf.write(ntbk, ipath) if not any_missing: CONSOLE.print("[green]All notebooks have correct metadata.") if check and any_missing: sys.exit(1) if __name__ == "__main__": tyro.extras.set_accent_color("bright_yellow") tyro.cli(main) ================================================ FILE: AutoReconForDens3R/scripts/docs/build_docs.py ================================================ #!/usr/bin/env python """Simple yaml debugger""" import subprocess import sys import tyro from rich.console import Console from rich.style import Style CONSOLE = Console(width=120) LOCAL_TESTS = ["Run license checks", "Run Black", "Python Pylint", "Test with pytest"] def run_command(command: str) -> None: """Run a command kill actions if it fails Args: command: command to run """ ret_code = subprocess.call(command, shell=True) if ret_code != 0: CONSOLE.print(f"[bold red]Error: `{command}` failed. Exiting...") sys.exit(1) def main(clean_cache: bool = False): """Run the github actions locally. Args: clean_cache: whether to clean the cache before building docs. """ CONSOLE.print("[green]Adding notebook documentation metadata") run_command("python scripts/docs/add_nb_tags.py") # Add checks for building documentation CONSOLE.print("[green]Building Documentation") if clean_cache: run_command("cd docs/; make clean; make html SPHINXOPTS='-W;'") else: run_command("cd docs/; make html SPHINXOPTS='-W;'") CONSOLE.line() CONSOLE.rule(characters="=", style=Style(color="green")) CONSOLE.print("[bold green]Done") CONSOLE.rule(characters="=", style=Style(color="green")) if __name__ == "__main__": tyro.extras.set_accent_color("bright_yellow") tyro.cli(main) ================================================ FILE: AutoReconForDens3R/scripts/eval.py ================================================ #!/usr/bin/env python """ eval.py """ from __future__ import annotations import json from dataclasses import dataclass from pathlib import Path import tyro from rich.console import Console from nerfstudio.utils.eval_utils import eval_setup CONSOLE = Console(width=120) @dataclass class ComputePSNR: """Load a checkpoint, compute some PSNR metrics, and save it to a JSON file.""" # Path to config YAML file. load_config: Path # Name of the output file. output_path: Path = Path("output.json") def main(self) -> None: """Main function.""" config, pipeline, checkpoint_path = eval_setup(self.load_config) assert self.output_path.suffix == ".json" metrics_dict = pipeline.get_average_eval_image_metrics() self.output_path.parent.mkdir(parents=True, exist_ok=True) # Get the output and define the names to save to benchmark_info = { "experiment_name": config.experiment_name, "method_name": config.method_name, "checkpoint": str(checkpoint_path), "results": metrics_dict, } # Save output to output file self.output_path.write_text(json.dumps(benchmark_info, indent=2), "utf8") CONSOLE.print(f"Saved results to: {self.output_path}") def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(ComputePSNR).main() if __name__ == "__main__": entrypoint() # For sphinx docs get_parser_fn = lambda: tyro.extras.get_parser(ComputePSNR) # noqa ================================================ FILE: AutoReconForDens3R/scripts/eval_mask.py ================================================ """Evaluate mask rendeings with IoU""" from dataclasses import dataclass from typing import Optional from pathlib import Path from typing_extensions import assert_type from tqdm import tqdm from einops import repeat import cv2 import tyro import numpy as np from rich.console import Console from rich.pretty import pprint from nerfstudio.utils import bilateral_solver CONSOLE = Console(width=120) # --------------- preprocess utils -------------- # def evenly_sample_elems(elems, n_samples): """ evenly sample n_samples from elems and keep the start & last elements. """ n_total = len(elems) if n_samples is None or n_samples >= n_total: return elems idx = np.round(np.linspace(0, n_total - 1, n_samples)).astype(int) elems = [elems[i] for i in idx] return elems def read_mask(mask_path): gt_mask = cv2.imread(str(mask_path)) if gt_mask is None: raise FileNotFoundError(mask_path) if gt_mask.ndim == 3: gt_mask = (gt_mask[..., 0] > 0).astype(np.uint8) * 255 return gt_mask def resize_mask(gt_mask, pred_mask, max_side_length=None): """Resize the mask to the same lower-res size""" h_gt, w_gt = gt_mask.shape[:2] h_pred, w_pred = pred_mask.shape[:2] if max_side_length is not None: # return larger side to this size def _compute_size(mask): h, w = mask.shape[:2] s = max([h, w]) scale = max_side_length / s h, w = int(h * scale), int(w * scale) return (w, h) gt_mask = cv2.resize(gt_mask, _compute_size(gt_mask), interpolation=cv2.INTER_NEAREST) pred_mask = cv2.resize(pred_mask, _compute_size(pred_mask), interpolation=cv2.INTER_NEAREST) return gt_mask, pred_mask if h_gt > h_pred: gt_mask = cv2.resize(gt_mask, (w_pred, h_pred), interpolation=cv2.INTER_NEAREST) CONSOLE.print(f'GT mask resized: {(h_gt, w_gt)} -> {(h_pred, w_pred)}') elif h_gt < h_pred: pred_mask = cv2.resize(pred_mask, (w_gt, h_gt), interpolation=cv2.INTER_NEAREST) CONSOLE.print(f'Pred mask resized: {(h_pred, w_pred)} -> {(h_gt, w_gt)}') else: assert w_gt == w_pred return gt_mask, pred_mask # --------------- metric utils -------------- # def mask_to_boundary(mask, dilation_ratio=0.02): """ Convert binary mask to boundary mask. https://openaccess.thecvf.com/content/CVPR2021/papers/Cheng_Boundary_IoU_Improving_Object-Centric_Image_Segmentation_Evaluation_CVPR_2021_paper.pdf :param mask (numpy array, uint8): binary mask :param dilation_ratio (float): ratio to calculate dilation = dilation_ratio * image_diagonal :return: boundary mask (numpy array) """ h, w = mask.shape img_diag = np.sqrt(h ** 2 + w ** 2) dilation = int(round(dilation_ratio * img_diag)) if dilation < 1: dilation = 1 # Pad image so mask truncated by the image border is also considered as boundary. new_mask = cv2.copyMakeBorder(mask, 1, 1, 1, 1, cv2.BORDER_CONSTANT, value=0) kernel = np.ones((3, 3), dtype=np.uint8) new_mask_erode = cv2.erode(new_mask, kernel, iterations=dilation) mask_erode = new_mask_erode[1: h + 1, 1: w + 1] # G_d intersects G in the paper. return mask - mask_erode def boundary_iou(gt, dt, dilation_ratio=0.02, vis_path=None, img_path=None): """ Compute boundary iou between two binary masks. :param gt (numpy array, uint8): binary mask :param dt (numpy array, uint8): binary mask :param dilation_ratio (float): ratio to calculate dilation = dilation_ratio * image_diagonal :return: boundary iou (float) """ gt_boundary = mask_to_boundary(gt, dilation_ratio) dt_boundary = mask_to_boundary(dt, dilation_ratio) intersection = ((gt_boundary * dt_boundary) > 0).sum() union = ((gt_boundary + dt_boundary) > 0).sum() boundary_iou = intersection / union return boundary_iou def mask_iou(gt, dt, vis_path=None, img_path=None): """ Compute mask iou between two binary masks. :param gt (numpy array, uint8): binary mask :param dt (numpy array, uint8): binary mask :return: boundary iou (float) """ intersection = ((gt * dt) > 0).sum() union = ((gt + dt) > 0).sum() iou = intersection / union if vis_path is not None: assert img_path is not None _gt = np.zeros((*gt.shape, 3), dtype=np.uint8) _dt = _gt.copy() _gt[gt > 0] = [0, 0, 255] # red _dt[dt > 0] = [0, 255, 0] # green # _gt = repeat(gt, 'h w -> h w 3').astype(np.uint8) * 255 # _dt = repeat(dt, 'h w -> h w 3').astype(np.uint8) * 255 img = cv2.cvtColor(cv2.imread(str(img_path)), cv2.COLOR_BGR2RGB) img = cv2.addWeighted(img, 0.5, _gt, 0.5, 0) img = cv2.addWeighted(img, 0.5, _dt, 0.5, 0) cv2.imwrite(str(vis_path), img) return iou # --------------- main -------------- # @dataclass class EvalMask: pred_mask_dir: Path gt_mask_dir: Path n_eval_frames: Optional[int] = None binarization_threshold: float = 0.5 bilateral_refine: bool = False bilateral_mask_confidence: float = 0.999 max_side_length: Optional[int] = None # since tokencut results have a max length of 980 vis: bool = False gt_image_dir: Optional[Path] = None def main(self) -> None: gt_mask_paths = sorted(self.gt_mask_dir.iterdir()) pred_mask_paths = sorted(self.pred_mask_dir.iterdir()) if self.vis or self.bilateral_refine: assert self.gt_image_dir is not None self.gt_img_suffix = self.gt_image_dir.iterdir().__next__().suffix if self.vis: self.vis_dir = self.pred_mask_dir.parent / "eval_vis" self.vis_dir.mkdir(exist_ok=True, parents=True) CONSOLE.print(f'Mask vis dir: {self.vis_dir}') gt_filenames = [p.stem for p in gt_mask_paths] self.gt_mask_suffix = gt_mask_paths[0].suffix self.pred_mask_suffix = pred_mask_paths[0].suffix eval_filenames, eval_to_pred_fn_mapper = self.parse_filenames( gt_filenames, [p.stem for p in pred_mask_paths] ) self.eval_to_pred_fn_mapper = eval_to_pred_fn_mapper # 1. use all frames w/ gt; 2. use evenly sampled frames if self.n_eval_frames is not None: eval_filenames = evenly_sample_elems(eval_filenames, self.n_eval_frames) # evalute all_metrics = {} for fn in tqdm(eval_filenames, desc="Evaluate mask metrics"): metrics = self.eval_frame(fn) all_metrics[fn] = metrics # gather results results = self.gather_results(all_metrics) def parse_filenames(self, gt_filenames, pred_filenames): if set(gt_filenames) <= set(pred_filenames): return gt_filenames, {fn: fn for fn in gt_filenames} else: # for DTU, the gt filenames for eval & rendering might be different print(f'Not all gt masks have pred: {set(gt_filenames) - set(pred_filenames)}') if len(gt_filenames) != len(pred_filenames): raise RuntimeError(f'Number of gt & pred masks are different') gt_filenames = sorted(gt_filenames) pred_filenames = sorted(pred_filenames) # assume the filenames only contain numbers (TODO: grab number w/ re) assert all([int(gt_fn) == int(pred_fn) for gt_fn, pred_fn in zip(gt_filenames, pred_filenames)]) gt_to_pred_fn = {gt_fn: pred_fn for gt_fn, pred_fn in zip(gt_filenames, pred_filenames)} return gt_filenames, gt_to_pred_fn def eval_frame(self, fn): gt_mask_path = (self.gt_mask_dir / fn).with_suffix(self.gt_mask_suffix) pred_fn = self.eval_to_pred_fn_mapper[fn] pred_mask_path = (self.pred_mask_dir / pred_fn).with_suffix(self.pred_mask_suffix) gt_mask, pred_mask = map(read_mask, [gt_mask_path, pred_mask_path]) if self.gt_image_dir is not None: img_path = (self.gt_image_dir / f'{fn}').with_suffix(self.gt_img_suffix) if self.bilateral_refine: gt_img = cv2.cvtColor(cv2.imread(str(img_path)), cv2.COLOR_BGR2RGB) pred_mask = cv2.GaussianBlur(pred_mask, (31, 31), 0) pred_mask = ((pred_mask.astype(np.float32) / 255) > 0.5).astype(np.float32) pred_mask, _ = bilateral_solver.bilateral_refine( gt_img, pred_mask, soft_mask=False, confidence=self.bilateral_mask_confidence ) pred_mask = pred_mask * 255 gt_mask, pred_mask = resize_mask(gt_mask, pred_mask, max_side_length=self.max_side_length) gt_mask, pred_mask = map(lambda x: x.astype(float) / 255, [gt_mask, pred_mask]) # binarization gt_mask, pred_mask = map(lambda x: (x > self.binarization_threshold).astype(np.uint8), [gt_mask, pred_mask]) # compute metrics if self.vis: mask_vis_path = self.vis_dir / f'{fn}_mask_vis.png' boundary_vis_path = self.vis_dir / f'{fn}_boundary_vis.png' else: mask_vis_path, boundary_vis_path, img_path = None, None, None _mask_iou = mask_iou(gt_mask, pred_mask, vis_path=mask_vis_path, img_path=img_path) _boundary_iou = boundary_iou(gt_mask, pred_mask, vis_path=boundary_vis_path, img_path=img_path) return {'mask_iou': _mask_iou, 'boundary_iou': _boundary_iou} def gather_results(self, all_metrics): inst, cat = self.gt_mask_dir.parent.stem, self.gt_mask_dir.parents[1].stem cat_inst = f'{cat}/{inst} (n_frames={self.n_eval_frames})' frame_names = list(all_metrics.keys()) all_mask_iou = [m['mask_iou'] for m in all_metrics.values()] all_boundary_iou = [m['boundary_iou'] for m in all_metrics.values()] mean_mask_iou = np.mean(all_mask_iou) mean_boundary_iou = np.mean(all_boundary_iou) min_mask_iou_idx, max_mask_iou_idx = np.argmin(all_mask_iou), np.argmax(all_mask_iou) min_boundary_iou_idx, max_boundary_iou_idx = np.argmin(all_boundary_iou), np.argmax(all_boundary_iou) results = { 'cat_inst': cat_inst, 'mean_mask_iou': mean_mask_iou, 'mean_boundary_iou': mean_boundary_iou, 'min_mask_iou_frame': f'{frame_names[min_mask_iou_idx]}({all_mask_iou[min_mask_iou_idx]:.3f})', 'max_mask_iou_frame': f'{frame_names[max_mask_iou_idx]}({all_mask_iou[max_mask_iou_idx]:.3f})', 'min_boundary_iou_frame': f'{frame_names[min_boundary_iou_idx]}({all_boundary_iou[min_boundary_iou_idx]:.3f})', 'max_boundary_iou_frame': f'{frame_names[max_boundary_iou_idx]}({all_boundary_iou[max_boundary_iou_idx]:.3f})', } # print(tabulate(results, headers='keys', tablefmt='psql')) pprint(results) return results def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(tyro.conf.FlagConversionOff[EvalMask]).main() if __name__ == "__main__": entrypoint() ================================================ FILE: AutoReconForDens3R/scripts/exporter.py ================================================ """ Script for exporting NeRF into other formats. """ from __future__ import annotations import sys from dataclasses import dataclass, field from pathlib import Path from typing import List, Optional, Tuple, Union import numpy as np import open3d as o3d import torch import tyro from rich.console import Console from typing_extensions import Annotated, Literal from nerfstudio.cameras.rays import RayBundle from nerfstudio.exporter import texture_utils, tsdf_utils from nerfstudio.exporter.exporter_utils import ( generate_point_cloud, get_mesh_from_filename, ) from nerfstudio.pipelines.base_pipeline import Pipeline from nerfstudio.utils.eval_utils import eval_setup CONSOLE = Console(width=120) @dataclass class Exporter: """Export the mesh from a YML config to a folder.""" load_config: Path """Path to the config YAML file.""" output_dir: Path """Path to the output directory.""" @dataclass class ExportPointCloud(Exporter): """Export NeRF as a point cloud.""" num_points: int = 1000000 """Number of points to generate. May result in less if outlier removal is used.""" remove_outliers: bool = True """Remove outliers from the point cloud.""" estimate_normals: bool = False """Estimate normals for the point cloud.""" depth_output_name: str = "depth" """Name of the depth output.""" rgb_output_name: str = "rgb" """Name of the RGB output.""" use_bounding_box: bool = True """Only query points within the bounding box""" bounding_box_min: Tuple[float, float, float] = (-1, -1, -1) """Minimum of the bounding box, used if use_bounding_box is True.""" bounding_box_max: Tuple[float, float, float] = (1, 1, 1) """Minimum of the bounding box, used if use_bounding_box is True.""" num_rays_per_batch: int = 32768 """Number of rays to evaluate per batch. Decrease if you run out of memory.""" std_ratio: float = 10.0 """Threshold based on STD of the average distances across the point cloud to remove outliers.""" def main(self) -> None: """Export point cloud.""" if not self.output_dir.exists(): self.output_dir.mkdir(parents=True) _, pipeline, _ = eval_setup(self.load_config) # Increase the batchsize to speed up the evaluation. pipeline.datamanager.train_pixel_sampler.num_rays_per_batch = self.num_rays_per_batch pcd = generate_point_cloud( pipeline=pipeline, num_points=self.num_points, remove_outliers=self.remove_outliers, estimate_normals=self.estimate_normals, rgb_output_name=self.rgb_output_name, depth_output_name=self.depth_output_name, normal_output_name=None, use_bounding_box=self.use_bounding_box, bounding_box_min=self.bounding_box_min, bounding_box_max=self.bounding_box_max, std_ratio=self.std_ratio, ) torch.cuda.empty_cache() CONSOLE.print(f"[bold green]:white_check_mark: Generated {pcd}") CONSOLE.print("Saving Point Cloud...") o3d.io.write_point_cloud(str(self.output_dir / "point_cloud.ply"), pcd) print("\033[A\033[A") CONSOLE.print("[bold green]:white_check_mark: Saving Point Cloud") @dataclass class ExportTSDFMesh(Exporter): """ Export a mesh using TSDF processing. """ downscale_factor: int = 2 """Downscale the images starting from the resolution used for training.""" depth_output_name: str = "depth" """Name of the depth output.""" rgb_output_name: str = "rgb" """Name of the RGB output.""" resolution: Union[int, List[int]] = field(default_factory=lambda: [128, 128, 128]) """Resolution of the TSDF volume or [x, y, z] resolutions individually.""" batch_size: int = 10 """How many depth images to integrate per batch.""" use_bounding_box: bool = True """Whether to use a bounding box for the TSDF volume.""" bounding_box_min: Tuple[float, float, float] = (-1, -1, -1) """Minimum of the bounding box, used if use_bounding_box is True.""" bounding_box_max: Tuple[float, float, float] = (1, 1, 1) """Minimum of the bounding box, used if use_bounding_box is True.""" use_train_scene_box: bool = False """use the tight scene box for training""" object_bounds_extend_ratio: float = -0.05 # to avoid artifact near to fg bbox texture_method: Literal["tsdf", "nerf"] = "nerf" """Method to texture the mesh with. Either 'tsdf' or 'nerf'.""" target_num_faces: Optional[int] = 50000 """Target number of faces for the mesh to texture.""" px_per_uv_triangle: int = 4 """Number of pixels per UV triangle.""" unwrap_method: Literal["xatlas", "custom"] = "xatlas" """The method to use for unwrapping the mesh.""" num_pixels_per_side: int = 2048 """If using xatlas for unwrapping, the pixels per side of the texture image.""" foreground_only: bool = True """only render depth & rgb of the foreground field""" num_rays_per_chunk: int = 4096 background_color: Literal["random", "last_sample", "white", "black"] = "white" mask_depth_with_acc: bool = True depth_renderer_mode: Literal["expected", "median"] = "median" def main(self) -> None: """Export mesh""" if not self.output_dir.exists(): self.output_dir.mkdir(parents=True) _, pipeline, _ = eval_setup( self.load_config, eval_num_rays_per_chunk=self.num_rays_per_chunk, config_override_fn=self._config_override_fn ) if self.use_train_scene_box: self.use_bounding_box = True aabb = pipeline.datamanager.train_dataset.scene_box.aabb self.bounding_box_min = aabb[0].cpu().numpy() self.bounding_box_max = aabb[1].cpu().numpy() _bbox_str = str( np.stack([self.bounding_box_min, self.bounding_box_max], 0).round(2) ) CONSOLE.print(f"Using training SceneBox for mesh extraction: {_bbox_str}") tsdf_utils.export_tsdf_mesh( pipeline, self.output_dir, self.downscale_factor, self.depth_output_name, self.rgb_output_name, self.resolution, self.batch_size, use_bounding_box=self.use_bounding_box, bounding_box_min=self.bounding_box_min, bounding_box_max=self.bounding_box_max, ) # possibly # texture the mesh with NeRF and export to a mesh.obj file # and a material and texture file if self.texture_method == "nerf": # load the mesh from the tsdf export mesh = get_mesh_from_filename( str(self.output_dir / "tsdf_mesh.ply"), target_num_faces=self.target_num_faces ) CONSOLE.print("Texturing mesh with NeRF") texture_utils.export_textured_mesh( mesh, pipeline, self.output_dir, px_per_uv_triangle=self.px_per_uv_triangle if self.unwrap_method == "custom" else None, unwrap_method=self.unwrap_method, num_pixels_per_side=self.num_pixels_per_side, ) def _config_override_fn(self, config): if self.foreground_only: config.pipeline.model.render_background = False config.pipeline.datamanager.eval_num_rays_per_batch = self.num_rays_per_chunk config.pipeline.model.eval_num_rays_per_chunk = self.num_rays_per_chunk config.pipeline.model.background_color = self.background_color config.pipeline.model.mask_depth_with_acc = self.mask_depth_with_acc config.pipeline.model.depth_renderer_mode = self.depth_renderer_mode config.pipeline.datamanager.dataparser.object_bounds_extend_ratio = self.object_bounds_extend_ratio return config @dataclass class ExportPoissonMesh(Exporter): """ Export a mesh using poisson surface reconstruction. """ num_points: int = 1000000 # TODO: support only sample from the bbox mask """Number of points to generate. May result in less if outlier removal is used.""" remove_outliers: bool = True """Remove outliers from the point cloud.""" depth_output_name: str = "depth" """Name of the depth output.""" rgb_output_name: str = "rgb" """Name of the RGB output.""" normal_method: Literal["open3d", "model_output"] = "model_output" """Method to estimate normals with.""" normal_output_name: str = "normals" """Name of the normal output.""" save_point_cloud: bool = False """Whether to save the point cloud.""" use_bounding_box: bool = True """Only query points within the bounding box""" bounding_box_min: Tuple[float, float, float] = (-1, -1, -1) """Minimum of the bounding box, used if use_bounding_box is True.""" bounding_box_max: Tuple[float, float, float] = (1, 1, 1) """Minimum of the bounding box, used if use_bounding_box is True.""" use_train_scene_box: bool = False """use the tight scene box for training""" object_bounds_extend_ratio: float = -0.05 # to avoid artifact near to fg bbox num_rays_per_batch: int = 32768 """Number of rays to evaluate per batch. Decrease if you run out of memory.""" texture_method: Literal["point_cloud", "nerf"] = "nerf" """Method to texture the mesh with. Either 'point_cloud' or 'nerf'.""" px_per_uv_triangle: int = 4 """Number of pixels per UV triangle.""" unwrap_method: Literal["xatlas", "custom"] = "xatlas" """The method to use for unwrapping the mesh.""" num_pixels_per_side: int = 2048 """If using xatlas for unwrapping, the pixels per side of the texture image.""" target_num_faces: Optional[int] = 50000 """Target number of faces for the mesh to texture.""" std_ratio: float = 10.0 """Threshold based on STD of the average distances across the point cloud to remove outliers.""" foreground_only: bool = True """only render depth & rgb of the foreground field""" def validate_pipeline(self, pipeline: Pipeline) -> None: """Check that the pipeline is valid for this exporter.""" if self.normal_method == "model_output": CONSOLE.print("Checking that the pipeline has a normal output.") origins = torch.zeros((1, 3), device=pipeline.device) directions = torch.ones_like(origins) pixel_area = torch.ones_like(origins[..., :1]) camera_indices = torch.zeros_like(origins[..., :1]) ray_bundle = RayBundle( origins=origins, directions=directions, pixel_area=pixel_area, camera_indices=camera_indices ) outputs = pipeline.model(ray_bundle) if self.normal_output_name not in outputs: CONSOLE.print( f"[bold yellow]Warning: Normal output '{self.normal_output_name}' not found in pipeline outputs." ) CONSOLE.print(f"Available outputs: {list(outputs.keys())}") CONSOLE.print( "[bold yellow]Warning: Please train a model with normals " "(e.g., nerfacto with predicted normals turned on)." ) CONSOLE.print("[bold yellow]Warning: Or change --normal-method") CONSOLE.print("[bold yellow]Exiting early.") sys.exit(1) def main(self) -> None: """Export mesh""" if not self.output_dir.exists(): self.output_dir.mkdir(parents=True) _, pipeline, _ = eval_setup(self.load_config, config_override_fn=self._config_override_fn) self.validate_pipeline(pipeline) if self.use_train_scene_box: self.use_bounding_box = True aabb = pipeline.datamanager.train_dataset.scene_box.aabb self.bounding_box_min = aabb[0].cpu().numpy() self.bounding_box_max = aabb[1].cpu().numpy() _bbox_str = str( np.stack([self.bounding_box_min, self.bounding_box_max], 0).round(2) ) CONSOLE.print(f"Using training SceneBox for mesh extraction: {_bbox_str}") # Increase the batchsize to speed up the evaluation. pipeline.datamanager.train_pixel_sampler.num_rays_per_batch = self.num_rays_per_batch # Whether the normals should be estimated based on the point cloud. estimate_normals = self.normal_method == "open3d" pcd = generate_point_cloud( pipeline=pipeline, num_points=self.num_points, remove_outliers=self.remove_outliers, estimate_normals=estimate_normals, rgb_output_name=self.rgb_output_name, depth_output_name=self.depth_output_name, normal_output_name=self.normal_output_name if self.normal_method == "model_output" else None, use_bounding_box=self.use_bounding_box, bounding_box_min=self.bounding_box_min, bounding_box_max=self.bounding_box_max, std_ratio=self.std_ratio, ) torch.cuda.empty_cache() CONSOLE.print(f"[bold green]:white_check_mark: Generated {pcd}") if self.save_point_cloud: CONSOLE.print("Saving Point Cloud...") o3d.io.write_point_cloud(str(self.output_dir / "point_cloud.ply"), pcd) print("\033[A\033[A") CONSOLE.print("[bold green]:white_check_mark: Saving Point Cloud") CONSOLE.print("Computing Mesh... this may take a while.") mesh, densities = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(pcd, depth=9) vertices_to_remove = densities < np.quantile(densities, 0.1) mesh.remove_vertices_by_mask(vertices_to_remove) print("\033[A\033[A") CONSOLE.print("[bold green]:white_check_mark: Computing Mesh") CONSOLE.print("Saving Mesh...") o3d.io.write_triangle_mesh(str(self.output_dir / "poisson_mesh.ply"), mesh) print("\033[A\033[A") CONSOLE.print("[bold green]:white_check_mark: Saving Mesh") # This will texture the mesh with NeRF and export to a mesh.obj file # and a material and texture file if self.texture_method == "nerf": # load the mesh from the poisson reconstruction mesh = get_mesh_from_filename( str(self.output_dir / "poisson_mesh.ply"), target_num_faces=self.target_num_faces ) CONSOLE.print("Texturing mesh with NeRF") texture_utils.export_textured_mesh( mesh, pipeline, self.output_dir, px_per_uv_triangle=self.px_per_uv_triangle if self.unwrap_method == "custom" else None, unwrap_method=self.unwrap_method, num_pixels_per_side=self.num_pixels_per_side, ) def _config_override_fn(self, config): if self.foreground_only: config.pipeline.model.render_background = False config.pipeline.datamanager.dataparser.object_bounds_extend_ratio = self.object_bounds_extend_ratio return config @dataclass class ExportMarchingCubesMesh(Exporter): """ NOT YET IMPLEMENTED Export a mesh using marching cubes. """ def main(self) -> None: """Export mesh""" raise NotImplementedError("Marching cubes not implemented yet.") Commands = Union[ Annotated[ExportPointCloud, tyro.conf.subcommand(name="pointcloud")], Annotated[ExportTSDFMesh, tyro.conf.subcommand(name="tsdf")], Annotated[ExportPoissonMesh, tyro.conf.subcommand(name="poisson")], Annotated[ExportMarchingCubesMesh, tyro.conf.subcommand(name="marching-cubes")], ] def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(tyro.conf.FlagConversionOff[Commands]).main() if __name__ == "__main__": entrypoint() # For sphinx docs get_parser_fn = lambda: tyro.extras.get_parser(Commands) # noqa ================================================ FILE: AutoReconForDens3R/scripts/extract_mesh.py ================================================ #!/usr/bin/env python """ eval.py """ from __future__ import annotations from copy import deepcopy from dataclasses import dataclass, field from functools import partial from pathlib import Path from typing import Literal, Optional, Tuple import igl import numpy as np import open3d as o3d import pymeshlab import torch import tyro from rich.console import Console from scipy import cluster import os import sys sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) from nerfstudio.exporter import texture_utils from nerfstudio.exporter.exporter_utils import get_mesh_from_filename from nerfstudio.exporter.mesh_culling_utils import MeshCuller, MeshCullerConfig from nerfstudio.utils.eval_utils import eval_setup from nerfstudio.utils.marching_cubes import get_surface_occupancy, get_surface_sliding CONSOLE = Console(width=120) @dataclass class ExtractMesh: """Load a checkpoint, run marching cubes, extract mesh, and save it to a ply file.""" load_config: Path """Path to config YAML file.""" resolution: int = 1024 """Marching cube resolution.""" output_path: Path = Path("output.ply") """Name of the output file.""" simplify_mesh: bool = False """Whether to simplify the mesh.""" is_occupancy: bool = False """extract the mesh using occupancy field (unisurf) or SDF, default sdf""" chunk_size: int = 100000 """sdf query chunk size""" store_float16: bool = False """store intermediate results in float16""" use_train_scene_box: bool = False """read DataParser's SceneBox as bonding box""" train_scene_box_extend_ratio: float = 0.0 """override dataparser config""" train_scene_box_extend_ground_plane_only: bool = False """override dataparser config""" bounding_box_min: Tuple[float, float, float] = (-1.0, -1.0, -1.0) """Minimum of the bounding box.""" bounding_box_max: Tuple[float, float, float] = (1.0, 1.0, 1.0) """Maximum of the bounding box.""" seg_aware_sdf: bool = False """Rectify raw sdf values based on the corresponding segmentation results""" mesh_culling_enabled: bool = False """joint segementation rendering and mesh culling""" mesh_culling: MeshCullerConfig = field(default_factory=MeshCullerConfig) """config for mesh culling""" remove_non_maximum_connected_components: bool = False """delete non-maximum connected components in the produces mesh""" remove_internal_geometry: Optional[Literal["meshlab", "igl"]] = None """remove internal mesh geometry with ambient occlusion""" close_holes: bool = False max_hole_size: int = 1000 simplify_mesh_final: bool = False target_face_num: int = 1000000 extract_texture: bool = False """extract texture with NeRF""" target_num_faces: Optional[int] = None """Target number of faces for the mesh to texture.""" px_per_uv_triangle: int = 4 """Number of pixels per UV triangle.""" unwrap_method: Literal["xatlas", "custom"] = "xatlas" """The method to use for unwrapping the mesh.""" num_pixels_per_side: int = 2048 """If using xatlas for unwrapping, the pixels per side of the texture image.""" # override original config fields load_dir: Optional[Path] = None downsample_ptcd: int = 1000 feature_seg_knn: int = 10 feature_seg_dist_weighted_avg: bool = False feature_seg_separate_bg_plane: bool = False def main(self) -> None: """Main function.""" assert str(self.output_path)[-4:] == ".ply" self.output_path.parent.mkdir(parents=True, exist_ok=True) output_path = self.output_path _, pipeline, _ = eval_setup(self.load_config, cache_images=False, config_override_fn=self._config_override_fn) if self.use_train_scene_box: aabb = pipeline.datamanager.train_dataset.scene_box.aabb self.bounding_box_min = aabb[0].cpu().numpy() self.bounding_box_max = aabb[1].cpu().numpy() _bbox_str = str(np.stack([self.bounding_box_min, self.bounding_box_max], 0).round(2)) CONSOLE.print(f"Using training SceneBox for mesh extraction: {_bbox_str}") CONSOLE.print("Extract mesh with marching cubes and may take a while") if self.is_occupancy: assert not self.seg_aware_sdf # for unisurf get_surface_occupancy( occupancy_fn=lambda x: torch.sigmoid( 10 * pipeline.model.field.forward_geonetwork(x)[:, 0].contiguous() ), resolution=self.resolution, bounding_box_min=self.bounding_box_min, bounding_box_max=self.bounding_box_max, level=0.5, device=pipeline.model.device, output_path=self.output_path, chunk_size=self.chunk_size, ) else: # assert self.resolution % 256 == 0 # for sdf we can multi-scale extraction. get_surface_sliding( sdf=partial(self.extract_sdf, pipeline), resolution=self.resolution, bounding_box_min=self.bounding_box_min, bounding_box_max=self.bounding_box_max, coarse_mask=pipeline.model.scene_box.coarse_binary_gird, output_path=self.output_path, simplify_mesh=self.simplify_mesh, chunk_size=self.chunk_size, store_float16=self.store_float16, ) if self.mesh_culling_enabled: mesh_culler: MeshCuller = self.mesh_culling.setup() mesh = get_mesh_from_filename(str(self.output_path), target_num_faces=None) output_path = self.output_path.parent / (self.output_path.stem + "_culled" + self.output_path.suffix) output_path = mesh_culler.main(mesh, pipeline, output_path) output_path = self._remove_internal_geometry(output_path) output_path = self._remove_isolated_components(output_path) output_path = self._fix_mesh(output_path) if self.extract_texture: textured_mesh_dir = self._extract_texture(pipeline, output_path) def extract_sdf(self, pipeline, x): if self.seg_aware_sdf: sdf_val = pipeline.model.seg_aware_sdf(x) else: sdf_val = pipeline.model.field.forward_geonetwork(x) return sdf_val[:, 0].contiguous() def _remove_internal_geometry(self, output_path: Path) -> Path: if self.remove_internal_geometry is None: return output_path elif self.remove_internal_geometry == "meshlab": return self._remove_internal_geometry_meshlab(output_path) elif self.remove_internal_geometry == "igl": return self._remove_internal_geometry_igl(output_path) else: raise ValueError(f"Unknown method: {self.remove_internal_geometry}") def _remove_internal_geometry_igl( self, output_path: Path, n_samples: int = 512, min_visible_ratio: float = 0.01 ) -> Path: new_output_path = output_path.parent / (output_path.stem + "_internal-removed" + output_path.suffix) v, f = igl.read_triangle_mesh(str(output_path)) n = igl.per_vertex_normals(v, f) ao = igl.ambient_occlusion(v, f, v, n, n_samples) face_ao = np.sum(ao[f], axis=1) / 3.0 # 1.0 if fully occluded, 0.0 if fully visible face_vis_ratio = 1.0 - face_ao nv, nf = v, f[face_vis_ratio >= min_visible_ratio] n_faces_removed = len(f) - len(nf) CONSOLE.print( f"Mesh internal geometry removed w. igl (AO, #faces_removed={n_faces_removed}) and saved: {new_output_path}" ) igl.write_triangle_mesh(str(new_output_path), nv, nf, force_ascii=False) def _remove_internal_geometry_meshlab(self, output_path: Path) -> Path: new_output_path = output_path.parent / (output_path.stem + "_internal-removed" + output_path.suffix) ms = pymeshlab.MeshSet() ms.load_new_mesh(str(output_path)) ms.compute_scalar_ambient_occlusion( occmode="per-Vertex", dirbias=0, reqviews=1024, usegpu=True, depthtexsize=512 ) ms.compute_selection_by_condition_per_vertex(condselect="(q < 0.01)") ms.meshing_remove_selected_vertices() ms.meshing_remove_null_faces() ms.save_current_mesh(str(new_output_path), save_face_color=False) CONSOLE.print(f"Mesh internal geometry removed w. meshlab (AO) and saved: {new_output_path}") return new_output_path def _remove_isolated_components(self, output_path: Path) -> Path: """remove internal isolated geometries caused by hash encoding and insufficent regularization of internal regions. """ if not self.remove_non_maximum_connected_components: return output_path CONSOLE.print("Extracting maximumally-connected components...") isolation_removed_path = output_path.parent / (output_path.stem + "_max-component" + output_path.suffix) # ms = pymeshlab.MeshSet() # ms.load_new_mesh(str(output_path)) # CONSOLE.print('Removing non-maximumally-connected components...') # ms = ms.generate_splitting_by_connected_components()[0] # This is too slow mesh = o3d.io.read_triangle_mesh(str(output_path)) with o3d.utility.VerbosityContextManager(o3d.utility.VerbosityLevel.Debug) as cm: triangle_clusters, cluster_n_triangles, cluster_area = mesh.cluster_connected_triangles() triangle_clusters = np.asarray(triangle_clusters) # (n_triangles, ) cluster_n_triangles = np.asarray(cluster_n_triangles) # (n_clusters, ) triangles_to_remove = triangle_clusters != cluster_n_triangles.argmax() mesh.remove_triangles_by_mask(triangles_to_remove) o3d.io.write_triangle_mesh(str(isolation_removed_path), mesh) CONSOLE.print(f"Maximally-connected mesh saved: {isolation_removed_path}") return isolation_removed_path def _fix_mesh(self, output_path: Path) -> Path: if not (self.close_holes or self.simplify_mesh): return output_path ms = pymeshlab.MeshSet() ms.load_new_mesh(str(output_path)) # close holes if self.close_holes: output_path = output_path.parent / (output_path.stem + "_hole-closed" + output_path.suffix) ms.meshing_close_holes(maxholesize=self.max_hole_size) CONSOLE.print(f"Mesh Hole-closed w/ max hole size = {self.max_hole_size}") # simplify mesh if self.simplify_mesh_final: output_path = output_path.parent / (output_path.stem + "_simplified" + output_path.suffix) ms.meshing_decimation_quadric_edge_collapse(targetfacenum=self.target_face_num) CONSOLE.print(f"Remeshing donw w/ targetfacenum = {self.target_face_num}") ms.save_current_mesh(str(output_path), save_face_color=False) CONSOLE.print(f"Fixed mesh saved: {output_path}") return output_path def _extract_texture(self, pipeline, mesh_path: Path) -> Path: mesh = get_mesh_from_filename(str(mesh_path), target_num_faces=None) CONSOLE.print("Texturing mesh with NeRF") output_dir = mesh_path.parent / (mesh_path.stem + "_textured") texture_utils.export_textured_mesh( mesh, pipeline, output_dir, px_per_uv_triangle=self.px_per_uv_triangle if self.unwrap_method == "custom" else None, unwrap_method=self.unwrap_method, num_pixels_per_side=self.num_pixels_per_side, ) return output_dir def _config_override_fn(self, config): # TODO: make optional """override config fields manually""" if self.load_dir is not None: config.trainer.load_dir = self.load_dir if self.use_train_scene_box: config.pipeline.datamanager.dataparser.object_bounds_extend_ratio = self.train_scene_box_extend_ratio config.pipeline.datamanager.dataparser.extend_ground_plane_only = ( self.train_scene_box_extend_ground_plane_only ) if hasattr(config.pipeline.model, "feature_seg_field"): config.pipeline.model.feature_seg_field.knn = self.feature_seg_knn config.pipeline.model.feature_seg_field.distance_weighted_average = self.feature_seg_dist_weighted_avg config.pipeline.model.feature_seg_field.separate_bg_plane = self.feature_seg_separate_bg_plane config.pipeline.datamanager.dataparser.downsample_ptcd = self.downsample_ptcd return config def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(tyro.conf.FlagConversionOff[ExtractMesh]).main() if __name__ == "__main__": entrypoint() # For sphinx docs get_parser_fn = lambda: tyro.extras.get_parser(ExtractMesh) # noqa ================================================ FILE: AutoReconForDens3R/scripts/extract_volume.py ================================================ #!/usr/bin/env python """ Extract volumes and save them as .mrc files. """ from dataclasses import dataclass from functools import partial from pathlib import Path from typing import Optional, Tuple import mrcfile import numpy as np import torch import tyro from rich.console import Console from tqdm import tqdm from typing_extensions import Literal from nerfstudio.utils.eval_utils import eval_setup CONSOLE = Console(width=120) @dataclass class ExtractVolume: """Load a checkpoint, extract volume data, and save it to a mrc file.""" load_config: Path """Path to config YAML file.""" resolution: int = 512 dynamic_resolution: bool = True output_path: Path = Path("volume_data.mrc") side_chunk_size: int = 128 volume_type: Literal["sdf", "density", "segmentation"] = "sdf" # TODO: support feature volume extraction (after PCA) use_train_scene_box: bool = True bounding_box_min: Tuple[float, float, float] = (-1.0, -1.0, -1.0) bounding_box_max: Tuple[float, float, float] = (1.0, 1.0, 1.0) seg_aware_sdf: bool = True # TODO: support config override (manually override for now) downsample_ptcd: int = 1000 feature_seg_knn: int = 10 feature_seg_dist_weighted_avg: bool = False feature_seg_separate_bg_plane: bool = False def main(self) -> None: assert self.output_path.suffix == ".mrc" self.output_path.parent.mkdir(parents=True, exist_ok=True) _, pipeline, _ = eval_setup(self.load_config, cache_images=False, config_override_fn=self._config_override_fn) if self.use_train_scene_box: aabb = pipeline.datamanager.train_dataset.scene_box.aabb self.bounding_box_min = aabb[0].cpu().numpy() self.bounding_box_max = aabb[1].cpu().numpy() _bbox_str = str(np.stack([self.bounding_box_min, self.bounding_box_max], 0).round(2)) CONSOLE.print(f"Using training SceneBox for mesh extraction: {_bbox_str}") CONSOLE.print("Extract mesh with marching cubes and may take a while") volume_extractor = partial( extract_volume, resolution=self.resolution, dynamic_resolution=self.dynamic_resolution, bounding_box_min=self.bounding_box_min, bounding_box_max=self.bounding_box_max, output_path=self.output_path, side_chunk_size=self.side_chunk_size, ) if self.volume_type == "density": raise NotImplementedError elif self.volume_type == "sdf": self.extract_sdf_volume(pipeline, volume_extractor) elif self.volume_type == "segmentation": self.extract_seg_volume(pipeline, volume_extractor) else: raise ValueError(f"Unknown volume_type: {self.volume_type}") def _config_override_fn(self, config): """override config fields manually""" if hasattr(config.pipeline.model, "feature_seg_field"): config.pipeline.model.feature_seg_field.knn = self.feature_seg_knn config.pipeline.model.feature_seg_field.distance_weighted_average = self.feature_seg_dist_weighted_avg config.pipeline.model.feature_seg_field.separate_bg_plane = self.feature_seg_separate_bg_plane config.pipeline.datamanager.dataparser.downsample_ptcd = self.downsample_ptcd return config def extract_seg_volume(self, pipeline, volume_extractor): seg_fn = pipeline.model.query_seg_field return volume_extractor(seg_fn, volume_type="segmentation") def extract_sdf_volume(self, pipeline, volume_extractor): if self.seg_aware_sdf: sdf_fn = pipeline.model.seg_aware_sdf else: def sdf_fn(x): return pipeline.model.field.forward_geonetwork(x)[:, [0]] return volume_extractor(sdf_fn, volume_type="sdf") @torch.no_grad() def extract_volume( field_fn, # fn: (n, 3) -> (n, 1) resolution=512, # resolution of the longest side dynamic_resolution=False, bounding_box_min=(-1.0, -1.0, -1.0), bounding_box_max=(1.0, 1.0, 1.0), output_path: Optional[Path] = None, side_chunk_size: int = 128, volume_type: Literal["sdf", "density", "segmentation"] = "sdf", ): N = side_chunk_size grid_min, grid_max = bounding_box_min, bounding_box_max # dynamically scale resolution of each dimension w.r.t. bb size side_lengths = grid_max - grid_min if dynamic_resolution: resolutions = np.round(side_lengths / side_lengths.max() * resolution).astype(int) else: resolutions = [ resolution, ] * 3 X = torch.linspace(grid_min[0], grid_max[0], resolutions[0]).cuda().split(N) Y = torch.linspace(grid_min[1], grid_max[1], resolutions[1]).cuda().split(N) Z = torch.linspace(grid_min[2], grid_max[2], resolutions[2]).cuda().split(N) n_chunks = len(X) * len(Y) * len(Z) volume = np.zeros(resolutions, dtype=np.float32) # FIXME: the generated coords are incorrect? (compare the dumped volume with MC mesh) with tqdm(total=n_chunks, desc="Chunked volume extraction") as pbar: for xi, xs in enumerate(X): for yi, ys in enumerate(Y): for zi, zs in enumerate(Z): xx, yy, zz = torch.meshgrid(xs, ys, zs, indexing="ij") pts = torch.cat([xx.reshape(-1, 1), yy.reshape(-1, 1), zz.reshape(-1, 1)], dim=-1) # val = query_func(pts).reshape(len(xs), len(ys), len(zs)).detach().cpu().numpy() field_val = field_fn(pts).detach().cpu().numpy() field_val = field_val.reshape(len(xs), len(ys), len(zs)) volume[xi * N : xi * N + len(xs), yi * N : yi * N + len(ys), zi * N : zi * N + len(zs)] = field_val pbar.update(1) # Save volume as .mrc # pad the border of the extracted volume mrc_volume = postprocess_volume_for_mrc(volume, volume_type) if output_path is not None: with mrcfile.new_mmap(str(output_path), overwrite=True, shape=mrc_volume.shape, mrc_mode=2) as mrc: mrc.data[:] = mrc_volume CONSOLE.print(f".mrc volume saved: {output_path}") return volume def postprocess_volume_for_mrc(volume, volume_type): resolutions = volume.shape pads, resos = [int(10 * r / 256) for r in resolutions], resolutions volume, pad_val = compute_volume_and_pad_val(volume, volume_type) padded_volume_sizes = [r + 2 * pad for r, pad in zip(resos, pads)] padded_volume = np.full(padded_volume_sizes, pad_val, dtype=float) padded_volume[pads[0] : -pads[0], pads[1] : -pads[1], pads[2] : -pads[2]] = volume return padded_volume def compute_volume_and_pad_val(volume: np.ndarray, volume_type: str): if volume_type == "sdf": # chimerax donnot support sdf, so we transform it into "density-alike" pad_val = -np.abs(volume).max() * 2 volume = -volume elif volume_type == "density": pad_val = np.abs(volume).max() * 2 volume = volume elif volume_type == "segmentation": # assume fg:1 | bg:0 pad_val = 0 volume = volume else: raise ValueError(f"Unknown volume_type: {volume_type}") return volume, pad_val def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(tyro.conf.FlagConversionOff[ExtractVolume]).main() if __name__ == "__main__": entrypoint() ================================================ FILE: AutoReconForDens3R/scripts/generate_kitti360_trainsplit.py ================================================ """ generate kitti360 train split """ import os from pathlib import Path import numpy as np train_split = [ # seq, start, end (0, 347, 450), (0, 3540, 3665), (0, 3820, 3937), (0, 6190, 6290), (0, 7840, 7940), (2, 5950, 6050), (2, 7490, 7595), (2, 8065, 8165), (4, 135, 212), (4, 382, 482), (4, 1385, 1486), (4, 1741, 1843), (5, 1130, 1240), (5, 1928, 2035), ] distance_interval_min = 0.8 out_dir = Path("tmp_data/kitti360_trainsplit/") out_dir.mkdir(exist_ok=True, parents=True) all_distances = [] for scene_id, (seq, first_frame, last_frame) in enumerate(train_split): pose_file = Path( f"/home/yuzh/mnt/mlcloud/Projects/download/KITTI-360/data_poses/2013_05_28_drive_{seq:04d}_sync/poses.txt" ) poses = np.loadtxt(pose_file) pose_prev = None acc_dis = 0 test_frame_dis_pre = None distances = [0] frames = [] # go through all frames of this window for frame in range(first_frame, last_frame + 1): if not frame in list(poses[:, 0]): continue frames.append(frame) pose_i = poses[poses[:, 0] == frame, 1:].reshape(3, 4) if frame == first_frame: pose_prev = pose_i else: dis = np.linalg.norm(pose_i[:3, 3] - pose_prev[:3, 3]) distances.append(dis) all_distances.append(dis) pose_prev = pose_i acc_dis += dis # if car drives faster than average speed distance_interval = max(distance_interval_min, np.mean(distances) - 0.5) buffer_distances = distance_interval * 10 cum_distances = np.cumsum(distances) acc_dis_k = 0 test_frames = [] train_frames = [] selected_frames = [] selected_distances = [] for k, frame in enumerate(frames): acc_dis_k += distances[k] # if acc_dis_k>10 and acc_dis_k 20 and selected_distances[l] < acc_dis - 20 ] train_frames = [f for l, f in enumerate(selected_frames) if l % 2 == 0] print("Train:", train_frames) print("Test:", test_frames) train_image_dir = out_dir / Path(f"train_{scene_id:02d}") train_image_dir.mkdir(exist_ok=True) test_image_dir = out_dir / Path(f"test_{scene_id:02d}") test_image_dir.mkdir(exist_ok=True) train_list_file = out_dir / Path(f"train_{scene_id:02d}.txt") test_list_file = out_dir / Path(f"test_{scene_id:02d}.txt") for image_dir, list_file, frames in [ (train_image_dir, train_list_file, train_frames), (test_image_dir, test_list_file, test_frames), ]: with open(list_file, "w", encoding="utf8") as f: for frame in frames: f.write(f"2013_05_28_drive_{seq:04d}_sync/image_00/data_rect/{frame:010d}.png\n") image_dir_i = image_dir / f"2013_05_28_drive_{seq:04d}_sync" / "image_00" / "data_rect" image_dir_i.mkdir(exist_ok=True, parents=True) cmd = f"cp /home/yuzh/mnt/mlcloud/Projects/download/KITTI-360/KITTI-360/data_2d_raw/2013_05_28_drive_{seq:04d}_sync/image_00/data_rect/{frame:010d}.png {image_dir_i}" print(cmd) os.system(cmd) image_dir_i = image_dir / f"2013_05_28_drive_{seq:04d}_sync" / "image_01" / "data_rect" image_dir_i.mkdir(exist_ok=True, parents=True) cmd = f"cp /home/yuzh/mnt/mlcloud/Projects/download/KITTI-360/KITTI-360/data_2d_raw/2013_05_28_drive_{seq:04d}_sync/image_01/data_rect/{frame:010d}.png {image_dir_i}" print(cmd) os.system(cmd) print("Average distance %f" % np.mean(all_distances)) ================================================ FILE: AutoReconForDens3R/scripts/github/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/scripts/github/run_actions.py ================================================ #!/usr/bin/env python """Simple yaml debugger""" import subprocess import sys import tyro import yaml from rich.console import Console from rich.style import Style CONSOLE = Console(width=120) LOCAL_TESTS = ["Run license checks", "Run isort", "Run Black", "Python Pylint", "Test with pytest"] def run_command(command: str, continue_on_fail: bool = False) -> bool: """Run a command kill actions if it fails Args: command: command to run continue_on_fail: whether to continue running commands if the current one fails. """ ret_code = subprocess.call(command, shell=True) if ret_code != 0: CONSOLE.print(f"[bold red]Error: `{command}` failed.") if not continue_on_fail: sys.exit(1) return ret_code == 0 def run_github_actions_file(filename: str, continue_on_fail: bool = False): """Run a github actions file locally. Args: filename: Which yml github actions file to run. continue_on_fail: Whether or not to continue running actions commands if the current one fails """ with open(filename, "rb") as f: my_dict = yaml.safe_load(f) steps = my_dict["jobs"]["build"]["steps"] success = True for step in steps: if "name" in step and step["name"] in LOCAL_TESTS: compressed = step["run"].replace("\n", ";").replace("\\", "") compressed = compressed.replace("--check", "") curr_command = f"{compressed}" CONSOLE.line() CONSOLE.rule(f"[bold green]Running: {curr_command}") success = success and run_command(curr_command, continue_on_fail=continue_on_fail) else: skip_name = step["name"] if "name" in step else step["uses"] CONSOLE.print(f"Skipping {skip_name}") # Add checks for building documentation CONSOLE.line() CONSOLE.rule("[bold green]Adding notebook documentation metadata") success = success and run_command("python scripts/docs/add_nb_tags.py", continue_on_fail=continue_on_fail) CONSOLE.line() CONSOLE.rule("[bold green]Building Documentation") success = success and run_command("cd docs/; make html SPHINXOPTS='-W;'", continue_on_fail=continue_on_fail) if success: CONSOLE.line() CONSOLE.rule(characters="=") CONSOLE.print("[bold green]:TADA: :TADA: :TADA: ALL CHECKS PASSED :TADA: :TADA: :TADA:", justify="center") CONSOLE.rule(characters="=") else: CONSOLE.line() CONSOLE.rule(characters="=", style=Style(color="red")) CONSOLE.print("[bold red]:skull: :skull: :skull: ERRORS FOUND :skull: :skull: :skull:", justify="center") CONSOLE.rule(characters="=", style=Style(color="red")) def run_code_checks(continue_on_fail: bool = False): """Run a github actions file locally. Args: continue_on_fail: Whether or not to continue running actions commands if the current one fails """ # core code checks run_github_actions_file(filename=".github/workflows/core_code_checks.yml", continue_on_fail=continue_on_fail) # viewer build and deployment # run_github_actions_file(filename=".github/workflows/viewer_build_deploy.yml", continue_on_fail=continue_on_fail) def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(run_code_checks) if __name__ == "__main__": entrypoint() ================================================ FILE: AutoReconForDens3R/scripts/heritage_to_nerfstudio.py ================================================ #!/usr/bin/env python """Convert ETH3D to NerfStudio data format""" import json import os from enum import Enum from pathlib import Path import cv2 import numpy as np import pyrender import torch import trimesh import yaml from tqdm import tqdm # from nerfstudio.utils import colmap_utils from nerfstudio.data.utils import colmap_utils from nerfstudio.model_components.ray_samplers import save_points os.environ["PYOPENGL_PLATFORM"] = "egl" class CameraModel(Enum): """Enum for camera types.""" OPENCV = "OPENCV" OPENCV_FISHEYE = "OPENCV_FISHEYE" CAMERA_MODELS = { "perspective": CameraModel.OPENCV, "fisheye": CameraModel.OPENCV_FISHEYE, } palette = np.random.randint(0, 255, size=(200, 3)) # palette = np.arange(0, 200).reshape(-1, 1) # .expand((200, 3)) palette = np.array(palette) def show_result(seg): color_seg = np.zeros((seg.shape[0], seg.shape[1], 3), dtype=np.uint8) for label, color in enumerate(palette): color_seg[seg == label, :] = color # convert to BGR color_seg = color_seg[..., ::-1] return color_seg class Renderer: def __init__(self, height=480, width=640): self.renderer = pyrender.OffscreenRenderer(width, height) self.scene = pyrender.Scene() self.render_flags = pyrender.RenderFlags.SKIP_CULL_FACES def __call__(self, height, width, intrinsics, pose, mesh): self.renderer.viewport_height = height self.renderer.viewport_width = width self.scene.clear() self.scene.add(mesh) cam = pyrender.IntrinsicsCamera( cx=intrinsics[0, 2], cy=intrinsics[1, 2], fx=intrinsics[0, 0], fy=intrinsics[1, 1] ) self.scene.add(cam, pose=self.fix_pose(pose)) # flags = pyrender.constants.RenderFlags.OFFSCREEN return self.renderer.render(self.scene, flags=self.render_flags) def fix_pose(self, pose): # 3D Rotation about the x-axis. t = np.pi c = np.cos(t) s = np.sin(t) R = np.array([[1, 0, 0], [0, c, -s], [0, s, c]]) axis_transform = np.eye(4) axis_transform[:3, :3] = R return pose @ axis_transform def mesh_opengl(self, mesh): return pyrender.Mesh.from_trimesh(mesh) def delete(self): self.renderer.delete() def colmap_to_json( scene_path: Path, sfm: Path, camera_model: CameraModel, ) -> int: """Converts COLMAP's cameras.bin and images.bin to a JSON file. Args: cameras_path: Path to the cameras.bin file. images_path: Path to the images.bin file. output_dir: Path to the output directory. camera_model: Camera model used. Returns: The number of registered images. """ cameras_path = scene_path / sfm / "cameras.bin" images_path = scene_path / sfm / "images.bin" points_path = scene_path / sfm / "points3D.bin" config_path = scene_path / "config.yaml" with open(config_path, "r") as yamlfile: scene_config = yaml.load(yamlfile, Loader=yaml.FullLoader) radius = scene_config["radius"] origin = np.array(scene_config["origin"]).reshape(1, 3) cams = colmap_utils.read_cameras_binary(cameras_path) imgs = colmap_utils.read_images_binary(images_path) pts3d = colmap_utils.read_points3d_binary(points_path) # pts3d_array = np.array([pts3d[p_id].xyz for p_id in pts3d]) # error_array = np.array([pts3d[p_id].error for p_id in pts3d]) # key point depth pts3d_array = torch.ones(max(pts3d.keys()) + 1, 4) error_array = torch.ones(max(pts3d.keys()) + 1, 1) for pts_id, pts in tqdm(pts3d.items()): pts3d_array[pts_id, :3] = torch.from_numpy(pts.xyz) error_array[pts_id, 0] = torch.from_numpy(pts.error) points_ori = [] min_track_length = scene_config["min_track_length"] for id, p in pts3d.items(): if p.point2D_idxs.shape[0] > min_track_length: points_ori.append(p.xyz) points_ori = np.array(points_ori) save_points("nori_3.ply", points_ori) points_ori -= origin print(points_ori.shape) # expand and quantify points_ori = torch.from_numpy(points_ori) offset = torch.linspace(-1, 1.0, 3) offset_cube = torch.meshgrid(offset, offset, offset) offset_cube = torch.stack(offset_cube, dim=-1).reshape(-1, 3) voxel_size = scene_config["voxel_size"] offset_cube *= voxel_size # voxel size expand_points = points_ori[:, None, :] + offset_cube[None] expand_points = expand_points.reshape(-1, 3) save_points("expand_points.ply", expand_points.numpy()) # filter # filter out points out of [-1, 1] mask = torch.prod((expand_points > -radius), axis=-1, dtype=torch.bool) & torch.prod( (expand_points < radius), axis=-1, dtype=torch.bool ) filtered_points = expand_points[mask] save_points("filtered_points.ply", filtered_points.numpy()) grid_size = 32 voxel_size = 2 * radius / grid_size quantified_points = torch.floor(((filtered_points / radius) + 1.0) * grid_size // 2) index = quantified_points[:, 0] + quantified_points[:, 1] * grid_size + quantified_points[:, 2] * grid_size**2 offset = torch.linspace(-radius + voxel_size / 2.0, radius - voxel_size / 2.0, grid_size) z, y, x = torch.meshgrid(offset, offset, offset, indexing="xy") offset_cube = torch.stack([x, z, y], dim=-1).reshape(-1, 3) mask = torch.zeros(grid_size**3, dtype=torch.bool) mask[index.long()] = True points_valid = offset_cube[mask] save_points("quantified_points.ply", points_valid.numpy()) # breakpoint() """ xyz_world = np.array([pts3d[p_id].xyz for p_id in pts3d]) xyz_world_error = np.array([pts3d[p_id].error for p_id in pts3d]) xyz_world = xyz_world[xyz_world_error < 0.2] sfm2gt = np.array(scene_config["sfm2gt"]) xyz_world = xyz_world @ sfm2gt[:3, :3].T + sfm2gt[:3, 3:].T save_points("pp.ply", xyz_world) """ mesh = trimesh.creation.icosphere(5, radius=radius) mesh.vertices = mesh.vertices + np.array(scene_config["origin"]).reshape(1, 3) meshes = [] for p in points_valid: box = trimesh.creation.box(extents=(voxel_size, voxel_size, voxel_size)) box.vertices = box.vertices + origin + p.numpy().reshape(-1, 3) meshes.append(box) mesh = trimesh.util.concatenate(meshes) mesh.export("box.ply") """ vertices = mesh.vertices @ sfm2gt[:3, :3].T + sfm2gt[:3, 3:].T save_points("sphere.ply", vertices) """ # print(cameras) poses = [] fxs = [] fys = [] cxs = [] cys = [] image_filenames = [] mask_filenames = [] masks = [] data = scene_path for _id, cam in cams.items(): img = imgs[_id] assert cam.model == "PINHOLE", "Only pinhole (perspective) camera model is supported at the moment" pose = torch.cat([torch.tensor(img.qvec2rotmat()), torch.tensor(img.tvec.reshape(3, 1))], dim=1) pose = torch.cat([pose, torch.tensor([[0.0, 0.0, 0.0, 1.0]])], dim=0) poses.append(torch.linalg.inv(pose)) fxs.append(torch.tensor(cam.params[0])) fys.append(torch.tensor(cam.params[1])) cxs.append(torch.tensor(cam.params[2])) cys.append(torch.tensor(cam.params[3])) image_filenames.append(data / "dense/images" / img.name) mask_filenames.append(data / "semantic_maps" / img.name.replace(".jpg", ".npz")) # visualize pts3d for each image valid_3d_mask = img.point3D_ids != -1 point3d_ids = img.point3D_ids[valid_3d_mask] img_p3d = pts3d_array[point3d_ids] img_err = error_array[point3d_ids] # img_p3d = img_p3d[img_err[:, 0] < torch.median(img_err)] save_points(f"W/{_id}_nof.ply", img_p3d.cpu().numpy()[:, :3]) # render bounding sphere mask renderer = Renderer() mesh_opengl = renderer.mesh_opengl(mesh) intrinsic = np.eye(4) intrinsic[0, 0] = cam.params[0] intrinsic[1, 1] = cam.params[1] intrinsic[0, 2] = cam.params[2] intrinsic[1, 2] = cam.params[3] H = cam.height W = cam.width pose = poses[-1].cpu().numpy() _, depth_pred = renderer(H, W, intrinsic, pose, mesh_opengl) print(intrinsic) print(pose) print(depth_pred.min(), depth_pred.max()) renderer.delete() mask = np.load(mask_filenames[-1])["arr_0"] semantic_image = show_result(mask) # ['person', 'car', 'bicycle', 'minibike'] with id [12, 20,127,116] # ['sky'] = 2 # new mask [80, 83, 43, 41, 115, 110] semantic_ids_to_skip = [12, 20, 127, 116] # + [80, 83, 43, 41, 115, 110] # + [2] mask = np.stack([mask != semantic_id for semantic_id in semantic_ids_to_skip]) # + mask2 mask = mask.all(axis=0) rgb_img = cv2.imread(str(image_filenames[-1])) print(rgb_img.shape, mask.shape, H, W) if rgb_img.shape[0] != H and rgb_img.shape[1] != W: print("warning") continue rgb_img_masked_semantic = rgb_img * mask[..., None] depth_mask = depth_pred > 0.0001 rgb_img_masked = rgb_img * depth_mask[..., None] mask = depth_mask & mask rgb_img = rgb_img * mask[..., None] image = np.concatenate((rgb_img, rgb_img_masked_semantic, semantic_image, rgb_img_masked), axis=1) # cv2.imshow("ssdf", image) # cv2.waitKey(0) # write mask (scene_path / "masks").mkdir(exist_ok=True, parents=False) np.save(scene_path / "masks" / img.name.replace(".jpg", ".npy"), mask) scene_path = Path("data/Heritage-Recon/brandenburg_gate/") scene_path = Path("data/Heritage-Recon/lincoln_memorial/") scene_path = Path("data/Heritage-Recon/pantheon_exterior/") # scene_path = Path("data/Heritage-Recon/palacio_de_bellas_artes/") # sfm = "neuralsfm" sfm = "dense/sparse" colmap_to_json( scene_path=scene_path, sfm=sfm, camera_model=CameraModel.OPENCV, ) ================================================ FILE: AutoReconForDens3R/scripts/licensing/copyright.txt ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ================================================ FILE: AutoReconForDens3R/scripts/licensing/license_headers.sh ================================================ #!/bin/bash VALID_ARGS=$(getopt -o c --long check -- "$@") eval set -- "$VALID_ARGS" check=false while [ : ]; do case "$1" in -c | --check) check=true shift ;; --) shift; break ;; esac done check_failed=false added_headers=false for i in $(find nerfstudio/ -name '*.py'); do if ! grep -q Copyright $i then if [ "$check" = true ]; then echo "$i missing copyright header" check_failed=true else cat scripts/licensing/copyright.txt $i >$i.new && mv $i.new $i echo "Adding license header to $i." fi added_headers=true fi done if [ "$check_failed" = true ]; then echo "Run '.scripts/licensing/license_headers.sh to add missing headers.'" exit 1 fi if [ "$added_headers" = false ]; then echo "No missing license headers found." fi exit 0 ================================================ FILE: AutoReconForDens3R/scripts/preprocess/preprocess_neus_pose.py ================================================ from typing import Literal, Optional from dataclasses import dataclass from pathlib import Path from typing import Tuple from functools import partial from copy import deepcopy from scipy import cluster import torch import tyro import pymeshlab import numpy as np import open3d as o3d from rich.console import Console CONSOLE = Console() @dataclass class PreprocessNeusPose: data_root: Path # e.g., /data/haotong/0013_01_0075 camera_filename: str = "cameras_sphere.npz" image_dirname: str = "image" fg_aabb_extend_ratio: float = 0.15 def main(self): """ transform neus poses w/ additional fg bbox annotation to the autorecon format """ self.camera_path = self.data_root / self.camera_filename self.save_camera_path = self.data_root / "cameras_norm-obj-side-2.0.npz" self.save_object_path = self.data_root / "objects_norm-obj-side-2.0.npz" self.image_dir = self.data_root / self.image_dirname image_paths = list((self.data_root / self.image_dirname).iterdir()) _suffix = image_paths[0].suffix assert all([p.suffix == _suffix for p in image_paths]) self.n_images = len(image_paths) # load camera dict camera_dict = self.load_camera_dict() # renormalize scene # save camera dict & object dict def load_camera_dict(self): camera_dict = np.load(self.camera_path) scale_mats = [camera_dict[f"scale_mat_{idx}"].astype(np.float32) for idx in range(self.n_images)] world_mats = [camera_dict[f"world_mat_{idx}"].astype(np.float32) for idx in range(self.n_images)] fg_aabb = camera_dict["bbox"] # (2, 3), [min, max] return { 'scale_mats': scale_mats, 'world_mats': world_mats, 'fg_aabb': fg_aabb } def renormalize_scene(self, camera_dict): """ extend the fg_aabb w/ a ratio and normalize it into a unit-cube the fg aabb is inaccurate whatsoever... """ pass def _parse_images_from_camera_dict(self): """Parse images from camera dict, which is useful when there are too many frames. """ camera_dict = np.load(self.camera_path) suffix = next(self.image_dir.iterdir()).suffix _sorted_img_keys = sorted([k for k in camera_dict.keys() if 'image_name' in k], key=lambda x: int(x.split('_')[-1])) image_paths = [(self.image_dir / camera_dict[k]).with_suffix(suffix) for k in _sorted_img_keys] assert all(map(lambda x: x.exists(), image_paths)), 'Some images are missing!' return image_paths ================================================ FILE: AutoReconForDens3R/scripts/process_data.py ================================================ #!/usr/bin/env python """Processes a video or image sequence to a nerfstudio compatible dataset.""" import json import sys import zipfile from dataclasses import dataclass from pathlib import Path from typing import Union import numpy as np import tyro from rich.console import Console from typing_extensions import Annotated, Literal from nerfstudio.process_data import ( colmap_utils, hloc_utils, insta360_utils, metashape_utils, polycam_utils, process_data_utils, record3d_utils, ) from nerfstudio.process_data.process_data_utils import CAMERA_MODELS from nerfstudio.utils import install_checks CONSOLE = Console(width=120) @dataclass class ProcessImages: """Process images into a nerfstudio dataset. This script does the following: 1. Scales images to a specified size. 2. Calculates the camera poses for each image using `COLMAP `_. """ data: Path """Path the data, either a video file or a directory of images.""" output_dir: Path """Path to the output directory.""" camera_type: Literal["perspective", "fisheye"] = "perspective" """Camera model to use.""" matching_method: Literal["exhaustive", "sequential", "vocab_tree"] = "vocab_tree" """Feature matching method to use. Vocab tree is recommended for a balance of speed and accuracy. Exhaustive is slower but more accurate. Sequential is faster but should only be used for videos.""" sfm_tool: Literal["any", "colmap", "hloc"] = "any" """Structure from motion tool to use. Colmap will use sift features, hloc can use many modern methods such as superpoint features and superglue matcher""" feature_type: Literal[ "any", "sift", "superpoint", "superpoint_aachen", "superpoint_max", "superpoint_inloc", "r2d2", "d2net-ss", "sosnet", "disk", ] = "any" """Type of feature to use.""" matcher_type: Literal[ "any", "NN", "superglue", "superglue-fast", "NN-superpoint", "NN-ratio", "NN-mutual", "adalam" ] = "any" """Matching algorithm.""" num_downscales: int = 3 """Number of times to downscale the images. Downscales by 2 each time. For example a value of 3 will downscale the images by 2x, 4x, and 8x.""" skip_colmap: bool = False """If True, skips COLMAP and generates transforms.json if possible.""" colmap_cmd: str = "colmap" """How to call the COLMAP executable.""" gpu: bool = True """If True, use GPU.""" verbose: bool = False """If True, print extra logging.""" def main(self) -> None: """Process images into a nerfstudio dataset.""" install_checks.check_ffmpeg_installed() install_checks.check_colmap_installed() self.output_dir.mkdir(parents=True, exist_ok=True) image_dir = self.output_dir / "images" image_dir.mkdir(parents=True, exist_ok=True) summary_log = [] # Copy images to output directory num_frames = process_data_utils.copy_images(self.data, image_dir=image_dir, verbose=self.verbose) summary_log.append(f"Starting with {num_frames} images") # Downscale images summary_log.append(process_data_utils.downscale_images(image_dir, self.num_downscales, verbose=self.verbose)) # Run COLMAP colmap_dir = self.output_dir / "colmap" if not self.skip_colmap: colmap_dir.mkdir(parents=True, exist_ok=True) (sfm_tool, feature_type, matcher_type) = process_data_utils.find_tool_feature_matcher_combination( self.sfm_tool, self.feature_type, self.matcher_type ) if sfm_tool == "colmap": colmap_utils.run_colmap( image_dir=image_dir, colmap_dir=colmap_dir, camera_model=CAMERA_MODELS[self.camera_type], gpu=self.gpu, verbose=self.verbose, matching_method=self.matching_method, colmap_cmd=self.colmap_cmd, ) elif sfm_tool == "hloc": hloc_utils.run_hloc( image_dir=image_dir, colmap_dir=colmap_dir, camera_model=CAMERA_MODELS[self.camera_type], verbose=self.verbose, matching_method=self.matching_method, feature_type=feature_type, matcher_type=matcher_type, ) else: CONSOLE.log("[bold red]Invalid combination of sfm_tool, feature_type, and matcher_type, exiting") sys.exit(1) # Save transforms.json if (colmap_dir / "sparse" / "0" / "cameras.bin").exists(): with CONSOLE.status("[bold yellow]Saving results to transforms.json", spinner="balloon"): num_matched_frames = colmap_utils.colmap_to_json( cameras_path=colmap_dir / "sparse" / "0" / "cameras.bin", images_path=colmap_dir / "sparse" / "0" / "images.bin", output_dir=self.output_dir, camera_model=CAMERA_MODELS[self.camera_type], ) summary_log.append(f"Colmap matched {num_matched_frames} images") summary_log.append(colmap_utils.get_matching_summary(num_frames, num_matched_frames)) else: CONSOLE.log("[bold yellow]Warning: could not find existing COLMAP results. Not generating transforms.json") CONSOLE.rule("[bold green]:tada: :tada: :tada: All DONE :tada: :tada: :tada:") for summary in summary_log: CONSOLE.print(summary, justify="center") CONSOLE.rule() @dataclass class ProcessVideo: """Process videos into a nerfstudio dataset. This script does the following: 1. Converts the video into images. 2. Scales images to a specified size. 3. Calculates the camera poses for each image using `COLMAP `_. """ data: Path """Path the data, either a video file or a directory of images.""" output_dir: Path """Path to the output directory.""" num_frames_target: int = 300 """Target number of frames to use for the dataset, results may not be exact.""" camera_type: Literal["perspective", "fisheye"] = "perspective" """Camera model to use.""" matching_method: Literal["exhaustive", "sequential", "vocab_tree"] = "vocab_tree" """Feature matching method to use. Vocab tree is recommended for a balance of speed and accuracy. Exhaustive is slower but more accurate. Sequential is faster but should only be used for videos.""" sfm_tool: Literal["any", "colmap", "hloc"] = "any" """Structure from motion tool to use. Colmap will use sift features, hloc can use many modern methods such as superpoint features and superglue matcher""" feature_type: Literal[ "any", "sift", "superpoint", "superpoint_aachen", "superpoint_max", "superpoint_inloc", "r2d2", "d2net-ss", "sosnet", "disk", ] = "any" """Type of feature to use.""" matcher_type: Literal[ "any", "NN", "superglue", "superglue-fast", "NN-superpoint", "NN-ratio", "NN-mutual", "adalam" ] = "any" """Matching algorithm.""" num_downscales: int = 3 """Number of times to downscale the images. Downscales by 2 each time. For example a value of 3 will downscale the images by 2x, 4x, and 8x.""" skip_colmap: bool = False """If True, skips COLMAP and generates transforms.json if possible.""" colmap_cmd: str = "colmap" """How to call the COLMAP executable.""" gpu: bool = True """If True, use GPU.""" verbose: bool = False """If True, print extra logging.""" def main(self) -> None: """Process video into a nerfstudio dataset.""" install_checks.check_ffmpeg_installed() install_checks.check_colmap_installed() self.output_dir.mkdir(parents=True, exist_ok=True) image_dir = self.output_dir / "images" image_dir.mkdir(parents=True, exist_ok=True) # Convert video to images summary_log, num_extracted_frames = process_data_utils.convert_video_to_images( self.data, image_dir=image_dir, num_frames_target=self.num_frames_target, verbose=self.verbose ) # Downscale images summary_log.append(process_data_utils.downscale_images(image_dir, self.num_downscales, verbose=self.verbose)) # Run Colmap colmap_dir = self.output_dir / "colmap" if not self.skip_colmap: colmap_dir.mkdir(parents=True, exist_ok=True) (sfm_tool, feature_type, matcher_type) = process_data_utils.find_tool_feature_matcher_combination( self.sfm_tool, self.feature_type, self.matcher_type ) if sfm_tool == "colmap": colmap_utils.run_colmap( image_dir=image_dir, colmap_dir=colmap_dir, camera_model=CAMERA_MODELS[self.camera_type], gpu=self.gpu, verbose=self.verbose, matching_method=self.matching_method, colmap_cmd=self.colmap_cmd, ) elif sfm_tool == "hloc": hloc_utils.run_hloc( image_dir=image_dir, colmap_dir=colmap_dir, camera_model=CAMERA_MODELS[self.camera_type], verbose=self.verbose, matching_method=self.matching_method, feature_type=feature_type, matcher_type=matcher_type, ) else: CONSOLE.log("[bold red]Invalid combination of sfm_tool, feature_type, and matcher_type, exiting") sys.exit(1) # Save transforms.json if (colmap_dir / "sparse" / "0" / "cameras.bin").exists(): with CONSOLE.status("[bold yellow]Saving results to transforms.json", spinner="balloon"): num_matched_frames = colmap_utils.colmap_to_json( cameras_path=colmap_dir / "sparse" / "0" / "cameras.bin", images_path=colmap_dir / "sparse" / "0" / "images.bin", output_dir=self.output_dir, camera_model=CAMERA_MODELS[self.camera_type], ) summary_log.append(f"Colmap matched {num_matched_frames} images") summary_log.append(colmap_utils.get_matching_summary(num_extracted_frames, num_matched_frames)) else: CONSOLE.log("[bold yellow]Warning: could not find existing COLMAP results. Not generating transforms.json") CONSOLE.rule("[bold green]:tada: :tada: :tada: All DONE :tada: :tada: :tada:") for summary in summary_log: CONSOLE.print(summary, justify="center") CONSOLE.rule() @dataclass class ProcessInsta360: """Process Insta360 videos into a nerfstudio dataset. Currently this uses a center crop of the raw data so data at the extreme edges of the video will be lost. Expects data from a 2 camera Insta360, single or >2 camera models will not work. (tested with Insta360 One X2) This script does the following: 1. Converts the videos into images. 2. Scales images to a specified size. 3. Calculates the camera poses for each image using `COLMAP `_. """ data: Path """Path the data, It should be one of the 3 .insv files saved with each capture (Any work).""" output_dir: Path """Path to the output directory.""" num_frames_target: int = 400 """Target number of frames to use for the dataset, results may not be exact.""" matching_method: Literal["exhaustive", "sequential", "vocab_tree"] = "vocab_tree" """Feature matching method to use. Vocab tree is recommended for a balance of speed and accuracy. Exhaustive is slower but more accurate. Sequential is faster but should only be used for videos.""" num_downscales: int = 3 """Number of times to downscale the images. Downscales by 2 each time. For example a value of 3 will downscale the images by 2x, 4x, and 8x.""" skip_colmap: bool = False """If True, skips COLMAP and generates transforms.json if possible.""" colmap_cmd: str = "colmap" """How to call the COLMAP executable.""" gpu: bool = True """If True, use GPU.""" verbose: bool = False """If True, print extra logging.""" def main(self) -> None: """Process video into a nerfstudio dataset.""" install_checks.check_ffmpeg_installed() install_checks.check_colmap_installed() self.output_dir.mkdir(parents=True, exist_ok=True) image_dir = self.output_dir / "images" image_dir.mkdir(parents=True, exist_ok=True) filename_back, filename_front = insta360_utils.get_insta360_filenames(self.data) if not filename_back.exists(): raise FileNotFoundError(f"Could not find {filename_back}") ffprobe_cmd = f"ffprobe -v quiet -print_format json -show_streams -select_streams v:0 {filename_back}" ffprobe_output = process_data_utils.run_command(ffprobe_cmd) assert ffprobe_output is not None ffprobe_decoded = json.loads(ffprobe_output) width, height = ffprobe_decoded["streams"][0]["width"], ffprobe_decoded["streams"][0]["height"] summary_log, num_extracted_frames = [], 0 if width / height == 1: if not filename_front.exists(): raise FileNotFoundError(f"Could not find {filename_front}") # Convert video to images summary_log, num_extracted_frames = insta360_utils.convert_insta360_to_images( video_front=filename_front, video_back=filename_back, image_dir=image_dir, num_frames_target=self.num_frames_target, verbose=self.verbose, ) else: summary_log, num_extracted_frames = insta360_utils.convert_insta360_single_file_to_images( video=filename_back, image_dir=image_dir, num_frames_target=self.num_frames_target, verbose=self.verbose, ) # Downscale images summary_log.append(process_data_utils.downscale_images(image_dir, self.num_downscales, verbose=self.verbose)) # Run Colmap colmap_dir = self.output_dir / "colmap" if not self.skip_colmap: colmap_dir.mkdir(parents=True, exist_ok=True) colmap_utils.run_colmap( image_dir=image_dir, colmap_dir=colmap_dir, camera_model=CAMERA_MODELS["fisheye"], gpu=self.gpu, verbose=self.verbose, matching_method=self.matching_method, colmap_cmd=self.colmap_cmd, ) # Save transforms.json if (colmap_dir / "sparse" / "0" / "cameras.bin").exists(): with CONSOLE.status("[bold yellow]Saving results to transforms.json", spinner="balloon"): num_matched_frames = colmap_utils.colmap_to_json( cameras_path=colmap_dir / "sparse" / "0" / "cameras.bin", images_path=colmap_dir / "sparse" / "0" / "images.bin", output_dir=self.output_dir, camera_model=CAMERA_MODELS["fisheye"], ) summary_log.append(f"Colmap matched {num_matched_frames} images") summary_log.append(colmap_utils.get_matching_summary(num_extracted_frames, num_matched_frames)) else: CONSOLE.log("[bold yellow]Warning: could not find existing COLMAP results. Not generating transforms.json") CONSOLE.rule("[bold green]:tada: :tada: :tada: All DONE :tada: :tada: :tada:") for summary in summary_log: CONSOLE.print(summary, justify="center") CONSOLE.rule() @dataclass class ProcessRecord3D: """Process Record3D data into a nerfstudio dataset. This script does the following: 1. Scales images to a specified size. 2. Converts Record3D poses into the nerfstudio format. """ data: Path """Path to the record3D data.""" output_dir: Path """Path to the output directory.""" num_downscales: int = 3 """Number of times to downscale the images. Downscales by 2 each time. For example a value of 3 will downscale the images by 2x, 4x, and 8x.""" max_dataset_size: int = 300 """Max number of images to train on. If the dataset has more, images will be sampled approximately evenly. If -1, use all images.""" verbose: bool = False """If True, print extra logging.""" def main(self) -> None: """Process images into a nerfstudio dataset.""" self.output_dir.mkdir(parents=True, exist_ok=True) image_dir = self.output_dir / "images" image_dir.mkdir(parents=True, exist_ok=True) summary_log = [] record3d_image_dir = self.data / "rgb" if not record3d_image_dir.exists(): raise ValueError(f"Image directory {record3d_image_dir} doesn't exist") record3d_image_filenames = [] for f in record3d_image_dir.iterdir(): if f.stem.isdigit(): # removes possible duplicate images (for example, 123(3).jpg) if f.suffix.lower() in [".jpg", ".jpeg", ".png", ".tif", ".tiff"]: record3d_image_filenames.append(f) record3d_image_filenames = sorted(record3d_image_filenames, key=lambda fn: int(fn.stem)) num_images = len(record3d_image_filenames) idx = np.arange(num_images) if self.max_dataset_size != -1 and num_images > self.max_dataset_size: idx = np.round(np.linspace(0, num_images - 1, self.max_dataset_size)).astype(int) record3d_image_filenames = list(np.array(record3d_image_filenames)[idx]) # Copy images to output directory copied_image_paths = process_data_utils.copy_images_list( record3d_image_filenames, image_dir=image_dir, verbose=self.verbose ) num_frames = len(copied_image_paths) copied_image_paths = [Path("images/" + copied_image_path.name) for copied_image_path in copied_image_paths] summary_log.append(f"Used {num_frames} images out of {num_images} total") if self.max_dataset_size > 0: summary_log.append( "To change the size of the dataset add the argument --max_dataset_size to larger than the " f"current value ({self.max_dataset_size}), or -1 to use all images." ) # Downscale images summary_log.append(process_data_utils.downscale_images(image_dir, self.num_downscales, verbose=self.verbose)) metadata_path = self.data / "metadata.json" record3d_utils.record3d_to_json(copied_image_paths, metadata_path, self.output_dir, indices=idx) CONSOLE.rule("[bold green]:tada: :tada: :tada: All DONE :tada: :tada: :tada:") for summary in summary_log: CONSOLE.print(summary, justify="center") CONSOLE.rule() @dataclass class ProcessPolycam: """Process Polycam data into a nerfstudio dataset. To capture data, use the Polycam app on an iPhone or iPad with LiDAR. The capture must be in LiDAR or ROOM mode. Developer mode must be enabled in the app settings, this will enable a raw data export option in the export menus. The exported data folder is used as the input to this script. This script does the following: 1. Scales images to a specified size. 2. Converts Polycam poses into the nerfstudio format. """ data: Path """Path the polycam export data folder. Can be .zip file or folder.""" output_dir: Path """Path to the output directory.""" num_downscales: int = 3 """Number of times to downscale the images. Downscales by 2 each time. For example a value of 3 will downscale the images by 2x, 4x, and 8x.""" use_uncorrected_images: bool = False """If True, use the raw images from the polycam export. If False, use the corrected images.""" max_dataset_size: int = 600 """Max number of images to train on. If the dataset has more, images will be sampled approximately evenly. If -1, use all images.""" min_blur_score: float = 25 """Minimum blur score to use an image. If the blur score is below this value, the image will be skipped.""" crop_border_pixels: int = 15 """Number of pixels to crop from each border of the image. Useful as borders may be black due to undistortion.""" use_depth: bool = False verbose: bool = False """If True, print extra logging.""" def main(self) -> None: """Process images into a nerfstudio dataset.""" self.output_dir.mkdir(parents=True, exist_ok=True) image_dir = self.output_dir / "images" image_dir.mkdir(parents=True, exist_ok=True) if self.use_depth: depth_dir = self.output_dir / "depths" depth_dir.mkdir(parents=True, exist_ok=True) summary_log = [] if self.data.suffix == ".zip": with zipfile.ZipFile(self.data, "r") as zip_ref: zip_ref.extractall(self.output_dir) extracted_folder = zip_ref.namelist()[0].split("/")[0] self.data = self.output_dir / extracted_folder if (self.data / "keyframes" / "corrected_images").exists() and not self.use_uncorrected_images: polycam_image_dir = self.data / "keyframes" / "corrected_images" polycam_cameras_dir = self.data / "keyframes" / "corrected_cameras" else: polycam_image_dir = self.data / "keyframes" / "images" polycam_cameras_dir = self.data / "keyframes" / "cameras" self.crop_border_pixels = 0 if not self.use_uncorrected_images: CONSOLE.print("[bold yellow]Corrected images not found, using raw images.") if not polycam_image_dir.exists(): raise ValueError(f"Image directory {polycam_image_dir} doesn't exist") # Copy images to output directory polycam_image_filenames = [] for f in polycam_image_dir.iterdir(): if f.suffix.lower() in [".jpg", ".jpeg", ".png", ".tif", ".tiff"]: polycam_image_filenames.append(f) polycam_image_filenames = sorted(polycam_image_filenames, key=lambda fn: int(fn.stem)) num_images = len(polycam_image_filenames) idx = np.arange(num_images) if self.max_dataset_size != -1 and num_images > self.max_dataset_size: idx = np.round(np.linspace(0, num_images - 1, self.max_dataset_size)).astype(int) polycam_image_filenames = list(np.array(polycam_image_filenames)[idx]) # Copy images to output directory copied_image_paths = process_data_utils.copy_images_list( polycam_image_filenames, image_dir=image_dir, crop_border_pixels=self.crop_border_pixels, verbose=self.verbose, ) # Copy depth images to output directory if self.use_depth: polycam_depth_filenames = [] polycam_depth_dir = self.data / "keyframes" / "depth" for f in polycam_depth_dir.iterdir(): if f.suffix.lower() in [".jpg", ".jpeg", ".png", ".tif", ".tiff"]: polycam_depth_filenames.append(f) polycam_depth_filenames = sorted(polycam_depth_filenames, key=lambda fn: int(fn.stem)) polycam_depth_filenames = list(np.array(polycam_depth_filenames)[idx]) copied_depth_paths = process_data_utils.copy_images_list( polycam_depth_filenames, image_dir=depth_dir, verbose=self.verbose, ) num_frames = len(copied_image_paths) copied_image_paths = [Path("images/" + copied_image_path.name) for copied_image_path in copied_image_paths] if self.max_dataset_size > 0 and num_frames != num_images: summary_log.append(f"Started with {num_frames} images out of {num_images} total") summary_log.append( "To change the size of the dataset add the argument --max_dataset_size to larger than the " f"current value ({self.max_dataset_size}), or -1 to use all images." ) else: summary_log.append(f"Started with {num_frames} images") # Downscale images summary_log.append(process_data_utils.downscale_images(image_dir, self.num_downscales, verbose=self.verbose)) # Save json if num_frames == 0: CONSOLE.print("[bold red]No images found, exiting") sys.exit(1) summary_log.extend( polycam_utils.polycam_to_json( image_filenames=polycam_image_filenames, cameras_dir=polycam_cameras_dir, output_dir=self.output_dir, min_blur_score=self.min_blur_score, crop_border_pixels=self.crop_border_pixels, ) ) CONSOLE.rule("[bold green]:tada: :tada: :tada: All DONE :tada: :tada: :tada:") for summary in summary_log: CONSOLE.print(summary, justify="center") CONSOLE.rule() @dataclass class ProcessMetashape: """Process Metashape data into a nerfstudio dataset. This script assumes that cameras have been aligned using Metashape. After alignment, it is necessary to export the camera poses as a `.xml` file. This option can be found under `File > Export > Export Cameras`. This script does the following: 1. Scales images to a specified size. 2. Converts Metashape poses into the nerfstudio format. """ data: Path """Path to a folder of images.""" xml: Path """Path to the Metashape xml file.""" output_dir: Path """Path to the output directory.""" num_downscales: int = 3 """Number of times to downscale the images. Downscales by 2 each time. For example a value of 3 will downscale the images by 2x, 4x, and 8x.""" max_dataset_size: int = 600 """Max number of images to train on. If the dataset has more, images will be sampled approximately evenly. If -1, use all images.""" verbose: bool = False """If True, print extra logging.""" def main(self) -> None: """Process images into a nerfstudio dataset.""" if self.xml.suffix != ".xml": raise ValueError(f"XML file {self.xml} must have a .xml extension") if not self.xml.exists: raise ValueError(f"XML file {self.xml} doesn't exist") self.output_dir.mkdir(parents=True, exist_ok=True) image_dir = self.output_dir / "images" image_dir.mkdir(parents=True, exist_ok=True) summary_log = [] # Copy images to output directory image_filenames = [] for f in self.data.iterdir(): if f.suffix.lower() in [".jpg", ".jpeg", ".png", ".tif", ".tiff"]: image_filenames.append(f) image_filenames = sorted(image_filenames, key=lambda fn: fn.stem) num_images = len(image_filenames) idx = np.arange(num_images) if self.max_dataset_size != -1 and num_images > self.max_dataset_size: idx = np.round(np.linspace(0, num_images - 1, self.max_dataset_size)).astype(int) image_filenames = list(np.array(image_filenames)[idx]) # Copy images to output directory copied_image_paths = process_data_utils.copy_images_list( image_filenames, image_dir=image_dir, verbose=self.verbose, ) num_frames = len(copied_image_paths) copied_image_paths = [Path("images/" + copied_image_path.name) for copied_image_path in copied_image_paths] original_names = [image_path.stem for image_path in image_filenames] image_filename_map = dict(zip(original_names, copied_image_paths)) if self.max_dataset_size > 0 and num_frames != num_images: summary_log.append(f"Started with {num_frames} images out of {num_images} total") summary_log.append( "To change the size of the dataset add the argument --max_dataset_size to larger than the " f"current value ({self.max_dataset_size}), or -1 to use all images." ) else: summary_log.append(f"Started with {num_frames} images") # Downscale images summary_log.append(process_data_utils.downscale_images(image_dir, self.num_downscales, verbose=self.verbose)) # Save json if num_frames == 0: CONSOLE.print("[bold red]No images found, exiting") sys.exit(1) summary_log.extend( metashape_utils.metashape_to_json( image_filename_map=image_filename_map, xml_filename=self.xml, output_dir=self.output_dir, verbose=self.verbose, ) ) CONSOLE.rule("[bold green]:tada: :tada: :tada: All DONE :tada: :tada: :tada:") for summary in summary_log: CONSOLE.print(summary, justify="center") CONSOLE.rule() Commands = Union[ Annotated[ProcessImages, tyro.conf.subcommand(name="images")], Annotated[ProcessVideo, tyro.conf.subcommand(name="video")], Annotated[ProcessPolycam, tyro.conf.subcommand(name="polycam")], Annotated[ProcessMetashape, tyro.conf.subcommand(name="metashape")], Annotated[ProcessInsta360, tyro.conf.subcommand(name="insta360")], Annotated[ProcessRecord3D, tyro.conf.subcommand(name="record3d")], ] def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(Commands).main() if __name__ == "__main__": entrypoint() # For sphinx docs get_parser_fn = lambda: tyro.extras.get_parser(Commands) # type: ignore ================================================ FILE: AutoReconForDens3R/scripts/render.json ================================================ { "background_color" : [ 1.0, 1.0, 1.0 ], "class_name" : "RenderOption", "default_mesh_color" : [ 0.69999999999999996, 0.69999999999999996, 0.69999999999999996 ], "image_max_depth" : 3000, "image_stretch_option" : 1, "interpolation_option" : 0, "light0_color" : [ 0.69999999999999996, 0.69999999999999996, 0.69999999999999996 ], "light0_diffuse_power" : 0.66000000000000014, "light0_position" : [ 0.0, 0.0, 2.0 ], "light0_specular_power" : 0.20000000000000001, "light0_specular_shininess" : 10.0, "light1_color" : [ 0.69999999999999996, 0.69999999999999996, 0.69999999999999996 ], "light1_diffuse_power" : 0.66000000000000014, "light1_position" : [ 0.0, 0.0, -2.0 ], "light1_specular_power" : 0.20000000000000001, "light1_specular_shininess" : 10.0, "light2_color" : [ 0.69999999999999996, 0.69999999999999996, 0.69999999999999996 ], "light2_diffuse_power" : 0.36000000000000015, "light2_position" : [ 2.0, 2.0, 0.0 ], "light2_specular_power" : 1.0000000000000001e-17, "light2_specular_shininess" : 10.0, "light3_color" : [ 0.69999999999999996, 0.69999999999999996, 0.69999999999999996 ], "light3_diffuse_power" : 0.10000000000000014, "light3_position" : [ -2.0, -2.0, 0.0 ], "light3_specular_power" : 9.9999999999999998e-17, "light3_specular_shininess" : 0.10000000000000001, "light_ambient_color" : [ 0.29999999999999999, 0.29999999999999999, 0.29999999999999999 ], "light_on" : true, "line_width" : 1.0, "mesh_color_option" : 1, "mesh_shade_option" : 10, "mesh_show_back_face" : false, "mesh_show_wireframe" : false, "point_color_option" : 0, "point_show_normal" : false, "point_size" : 5.0, "show_coordinate_frame" : false, "version_major" : 1, "version_minor" : 0 } ================================================ FILE: AutoReconForDens3R/scripts/render.py ================================================ #!/usr/bin/env python """ render.py """ from __future__ import annotations import shutil from collections import defaultdict from tqdm import tqdm import cv2 import json import sys from dataclasses import dataclass, field from pathlib import Path from typing import List, Optional, Dict from PIL import Image import mediapy as media import numpy as np import torch import tyro from einops import repeat from rich.console import Console from rich.progress import ( BarColumn, Progress, TaskProgressColumn, TextColumn, TimeRemainingColumn, ) from typing_extensions import Literal, assert_never from nerfstudio.cameras.camera_paths import get_path_from_json, get_spiral_path, get_path_from_npz from nerfstudio.cameras.cameras import Cameras from nerfstudio.configs.base_config import Config # pylint: disable=unused-import from nerfstudio.pipelines.base_pipeline import Pipeline from nerfstudio.utils import install_checks, vis_utils from nerfstudio.utils.eval_utils import eval_setup from nerfstudio.utils.rich_utils import ItersPerSecColumn CONSOLE = Console(width=120) def _save_gt_video( pipeline: Pipeline, output_filename: Path, rendered_resolution_scaling_factor: float = 1.0, seconds: float = 5.0, output_format: Literal["images", "video"] = "video", ): CONSOLE.print("[bold green]Creating GT video") outputs = pipeline.datamanager.train_dataset._dataparser_outputs images = [np.array(Image.open(p)) for p in outputs.image_filenames] # images = pipeline.datamanager.train_dataset.image_cache # {idx: (h, w, 3)} # images = [(img.cpu().numpy() * 255).astype(np.uint8) for img in images] h, w = images[0].shape[:-1] output_image_dir = output_filename.parent / f'{output_filename.stem}_gt' output_filename = (output_filename.parent / f'{output_filename.stem}_gt').with_suffix(output_filename.suffix) if rendered_resolution_scaling_factor != 1.0: tgt_h, tgt_w = map(lambda x: int(round(x * rendered_resolution_scaling_factor)), [h, w]) images = [cv2.resize(img, (tgt_w, tgt_h), interpolation=cv2.INTER_AREA) for img in images] if output_format == "images": output_image_dir.mkdir(parents=True, exist_ok=True) for idx, gt_img in enumerate(images): media.write_image(output_image_dir / f"{idx:05d}.png", gt_img) elif output_format == "video": # TODO: save image for preview fps = len(images) / seconds output_filename.parent.mkdir(parents=False, exist_ok=True) with CONSOLE.status("[yellow]Saving GT video", spinner="bouncingBall"): media.write_video(output_filename, images, fps=fps) CONSOLE.rule("[green] :tada: :tada: :tada: Success :tada: :tada: :tada:") CONSOLE.print(f"[green]Saved video to {output_filename}", justify="center") def _render_trajectory_video( pipeline: Pipeline, cameras: Cameras, output_filename: Path, rendered_output_names: List[str], rendered_resolution_scaling_factor: float = 1.0, seconds: float = 5.0, output_format: Literal["images", "video"] = "video", save_gt: bool = False, save_mode: Literal["concat", "separate", "half"] = "concat", save_with_gt_filename: bool = False, ): """Helper function to create a video of the spiral trajectory. Args: pipeline: Pipeline to evaluate with. cameras: Cameras to render. output_filename: Name of the output file. rendered_output_names: List of outputs to visualise. rendered_resolution_scaling_factor: Scaling factor to apply to the camera image resolution. seconds: Length of output video. output_format: How to save output data. save_gt: save gt images at the same time """ CONSOLE.print("[bold green]Creating trajectory video") # save gt images / videos at the same time if save_gt: _save_gt_video(pipeline, output_filename, rendered_resolution_scaling_factor, seconds=seconds, output_format=output_format) images = defaultdict(list) cameras.rescale_output_resolution(rendered_resolution_scaling_factor) cameras = cameras.to(pipeline.device) if save_with_gt_filename: gt_image_filenames = [ Path(p).stem for p in pipeline.datamanager.train_dataset._dataparser_outputs.image_filenames ] assert len(gt_image_filenames) == cameras.size progress = Progress( TextColumn(":movie_camera: Rendering :movie_camera:"), BarColumn(), TaskProgressColumn(show_speed=True), ItersPerSecColumn(suffix="fps"), TimeRemainingColumn(elapsed_when_finished=True, compact=True), ) output_image_dir = output_filename.parent / output_filename.stem output_image_dir.mkdir(parents=True, exist_ok=True) with progress: for camera_idx in progress.track(range(cameras.size), description=""): # for camera_idx in tqdm(range(cameras.size), desc="Rendering"): camera_ray_bundle = cameras.generate_rays(camera_indices=camera_idx) with torch.no_grad(): outputs = pipeline.model.get_outputs_for_camera_ray_bundle(camera_ray_bundle) # FIXME: some of the outputs are not postprocessed for vis (e.g., normal, depth) render_image = {} for rendered_output_name in rendered_output_names: if rendered_output_name not in outputs: CONSOLE.rule("Error", style="red") CONSOLE.print(f"Could not find {rendered_output_name} in the model outputs", justify="center") CONSOLE.print(f"Please set --rendered_output_name to one of: {outputs.keys()}", justify="center") sys.exit(1) # FIXME: outputs["rgb"] does not contain bg even when self.foreground_only is False output_image = outputs[rendered_output_name].cpu().numpy() render_image[rendered_output_name] = output_image save_frame(render_image, output_image_dir, camera_idx, save_mode=save_mode, gt_filename=gt_image_filenames[camera_idx] if save_with_gt_filename else None) if output_format == "video": for _name, _img in render_image.items(): images[_name].append(_img) if output_format == "video": save_video(images, output_image_dir, output_filename, seconds=seconds, save_mode=save_mode) CONSOLE.rule("[green] :tada: :tada: :tada: Success :tada: :tada: :tada:") CONSOLE.print(f"[green]Saved video to {output_filename}", justify="center") def save_frame( render_results: Dict[str, np.ndarray], output_image_dir: Path, camera_idx: int, save_mode: Literal["concat", "separate", "half"] = "concat", gt_filename: Optional[str] = None, ): filename = f"{camera_idx:05d}" if gt_filename is None else gt_filename if save_mode == "concat": render_image = np.concatenate(list(render_results.values()), axis=0) media.write_image(output_image_dir / f"{filename}.png", render_image) render_results["concat"] = render_image elif save_mode == "separate": for output_name, render_image in render_results.items(): output_dir = output_image_dir / output_name output_dir.mkdir(parents=True, exist_ok=True) if render_image.shape[-1] == 1: render_image = repeat(render_image, "h w 1 -> h w 3") media.write_image(output_dir / f"{filename}.png", render_image) elif save_mode == "half": assert len(render_results) == 2 raise NotImplementedError else: raise ValueError(f"Unknown save mode: {save_mode}") def save_video( render_results: Dict[str, List[np.ndarray]], output_image_dir: Path, output_path: Path, seconds: float = 5.0, save_mode: Literal["concat", "separate", "half"] = "concat" ): n_frames = len(next(iter(render_results.values()))) fps = n_frames / seconds if save_mode == "concat": images = render_results["concat"] output_path.parent.mkdir(parents=True, exist_ok=True) with CONSOLE.status("[yellow]Saving video", spinner="bouncingBall"): media.write_video(output_path, images, fps=fps) elif save_mode == "separate": save_dir, save_fn, save_suffix = output_path.parent, output_path.stem, output_path.suffix save_dir.mkdir(exist_ok=True, parents=False) for output_name, images in render_results.items(): _save_path = (save_dir / f'{save_fn}_{output_name}').with_suffix(save_suffix) with CONSOLE.status("[yellow]Saving video", spinner="bouncingBall"): media.write_video(_save_path, images, fps=fps) elif save_mode == "half": raise NotImplementedError else: raise ValueError(f"Unknown save mode: {save_mode}") shutil.rmtree(output_image_dir) @dataclass class RenderTrajectory: """Load a checkpoint, render a trajectory, and save to a video file.""" # Path to config YAML file. load_config: Path # override ckpt directory load_dir: Optional[Path] = None # Name of the renderer outputs to use. rgb, depth, etc. concatenates them along y axis rendered_output_names: List[str] = field(default_factory=lambda: ["rgb"]) # Trajectory to render. traj: Literal["spiral", "filename", "interpolate"] = "spiral" # type of trajectory file traj_file_type: Literal["viewer", "blender"] = "viewer" # Scaling factor to apply to the camera image resolution. downscale_factor: int = 1 # Filename of the camera path to render. camera_path_filename: Path = Path("camera_path.json") # Name of the output file. output_path: Path = Path("renders/output.mp4") # How long the video should be. seconds: float = 5.0 # How to save output data. output_format: Literal["images", "video"] = "video" # Specifies number of rays per chunk during eval. eval_num_rays_per_chunk: Optional[int] = None # Total number of frames to interpolate num_interpolate_views: int = -1 # render foreground only foreground_only: bool = True # save gt images / videos at the same time save_gt: bool = False # num_rays_per_batch num_rays_per_chunk: int = 4096 background_color: Literal["random", "last_sample", "white", "black"] = "white" object_bounds_extend_ratio: float = -0.05 # to avoid artifact near to fg bbox plane_height_ratio: Optional[float] = None # adjust PlaneNeRF height save_mode: Literal["concat", "separate", "half"] = "concat" save_with_gt_filename: bool = False def main(self) -> None: """Main function.""" _, pipeline, _ = eval_setup( self.load_config, eval_num_rays_per_chunk=self.eval_num_rays_per_chunk, test_mode="test" if self.traj == "spiral" else "inference", # test_mode="inference" if self.traj == "filename" else "test", config_override_fn=self._config_override_fn ) install_checks.check_ffmpeg_installed() seconds = self.seconds # TODO(ethan): use camera information from parsing args if self.traj == "spiral": camera_start = pipeline.datamanager.eval_dataloader.get_camera(image_idx=0).flatten() # TODO(ethan): pass in the up direction of the camera camera_path = get_spiral_path(camera_start, steps=30, radius=0.1) elif self.traj == "filename": if self.traj_file_type == 'viewer': with open(self.camera_path_filename, "r", encoding="utf-8") as f: camera_path = json.load(f) seconds = camera_path["seconds"] camera_path = get_path_from_json(camera_path) elif self.traj_file_type == 'blender': camera_path = np.load(self.camera_path_filename) seconds = camera_path["seconds"] if self.output_format == 'video' else 1 camera_path = get_path_from_npz(camera_path) else: raise ValueError(f"Unknown traj file type: {self.traj_file_type}") elif self.traj == "interpolate": # load training data and interpolate path outputs = pipeline.datamanager.train_dataset._dataparser_outputs camera_path = vis_utils.interpolate_trajectory(cameras=outputs.cameras, num_views=self.num_interpolate_views) seconds = camera_path.size / 24 else: assert_never(self.traj) _render_trajectory_video( pipeline, camera_path, output_filename=self.output_path, rendered_output_names=self.rendered_output_names, rendered_resolution_scaling_factor=1.0 / self.downscale_factor, seconds=seconds, output_format=self.output_format, save_gt=self.save_gt, save_mode=self.save_mode, save_with_gt_filename=self.save_with_gt_filename ) def _config_override_fn(self, config): if self.load_dir is not None: config.trainer.load_dir = self.load_dir if self.foreground_only: config.pipeline.model.render_background = False if self.plane_height_ratio is not None: config.pipeline.model.plane_height_ratio = self.plane_height_ratio config.pipeline.datamanager.eval_num_rays_per_batch = self.num_rays_per_chunk config.pipeline.model.eval_num_rays_per_chunk = self.num_rays_per_chunk config.pipeline.model.background_color = self.background_color config.pipeline.datamanager.dataparser.object_bounds_extend_ratio = self.object_bounds_extend_ratio return config def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(tyro.conf.FlagConversionOff[RenderTrajectory]).main() if __name__ == "__main__": entrypoint() # For sphinx docs get_parser_fn = lambda: tyro.extras.get_parser(RenderTrajectory) # noqa ================================================ FILE: AutoReconForDens3R/scripts/render_mesh.py ================================================ #!/usr/bin/env python """ render.py """ from __future__ import annotations import json from dataclasses import dataclass, field from pathlib import Path from typing import List, Optional import cv2 import mediapy as media import numpy as np import open3d as o3d import torch import tyro from rich.console import Console from scipy.interpolate import interp1d from scipy.spatial.transform import Rotation, Slerp from typing_extensions import Literal, assert_never from nerfstudio.cameras.camera_paths import get_path_from_json, get_path_from_npz, get_spiral_path from nerfstudio.cameras.cameras import Cameras from nerfstudio.configs.base_config import Config # pylint: disable=unused-import from nerfstudio.data.dataparsers.sdfstudio_dataparser import SDFStudioDataParserConfig from nerfstudio.utils import install_checks, vis_utils from nerfstudio.utils.eval_utils import eval_setup CONSOLE = Console(width=120) def _render_trajectory_video( meshfile: Path, cameras: Cameras, output_filename: Path, rendered_output_names: List[str], rendered_resolution_scaling_factor: float = 1.0, seconds: float = 5.0, output_format: Literal["images", "video"] = "video", merge_type: Literal["half", "concat", "separate"] = "half", ) -> None: """Helper function to create a video of the spiral trajectory. Args: pipeline: Pipeline to evaluate with. cameras: Cameras to render. output_filename: Name of the output file. rendered_output_names: List of outputs to visualise. rendered_resolution_scaling_factor: Scaling factor to apply to the camera image resolution. seconds: Length of output video. output_format: How to save output data. """ CONSOLE.print("[bold green]Creating trajectory video") images = [] cameras.rescale_output_resolution(rendered_resolution_scaling_factor) # cameras = cameras.to(pipeline.device) width = cameras[0].width[0].item() height = cameras[0].height[0].item() ply = o3d.io.read_triangle_mesh(str(meshfile)) ply.compute_vertex_normals() ply.paint_uniform_color([1, 1, 1]) vis = o3d.visualization.VisualizerWithKeyCallback() # pyright: ignore vis.create_window("rendering", width=width, height=height) vis.add_geometry(ply) vis.get_render_option().load_from_json("scripts/render.json") output_image_dir = output_filename.parent / output_filename.stem for render_name in rendered_output_names: output_image_dir_cur = output_image_dir / render_name output_image_dir_cur.mkdir(parents=True, exist_ok=True) num_frames = cameras.size index = -1 rendered_images, rendered_normals = [], [] def move_forward(vis): # This function is called within the o3d.visualization.Visualizer::run() loop # The run loop calls the function, then re-render # So the sequence in this function is to: # 1. Capture frame # 2. index++, check ending criteria # 3. Set camera # 4. (Re-render) ctr = vis.get_view_control() nonlocal index nonlocal cameras nonlocal rendered_images nonlocal rendered_normals if index >= 0: images = [] for render_name in rendered_output_names: output_image_dir_cur = output_image_dir / render_name if render_name == "normal": vis.get_render_option().mesh_color_option = o3d.visualization.MeshColorOption.Normal elif render_name == "rgb": vis.get_render_option().mesh_color_option = o3d.visualization.MeshColorOption.Color vis.capture_screen_image(str(output_image_dir_cur / f"{index:05d}.png"), True) images.append(cv2.imread(str(output_image_dir_cur / f"{index:05d}.png"))[:, :, ::-1]) if merge_type == "concat": images = np.concatenate(images, axis=1) elif merge_type == "half": mask = np.zeros_like(images[0]) mask[:, : mask.shape[1] // 2, :] = 1 images = images[0] * mask + images[1] * (1 - mask) rendered_images.append(images) index = index + 1 if index < num_frames: param = ctr.convert_to_pinhole_camera_parameters() camera = cameras[index] width = camera.width[0].item() height = camera.height[0].item() fx = camera.fx[0].item() fy = camera.fy[0].item() cx = camera.cx[0].item() cy = camera.cy[0].item() camera = cameras[index] param.intrinsic.set_intrinsics(width=width, height=height, fx=fx, fy=fy, cx=cx, cy=cy) extrinsic = np.eye(4) extrinsic[:3, :] = camera.camera_to_worlds.cpu().numpy() extrinsic[:3, 1:3] *= -1 param.extrinsic = np.linalg.inv(extrinsic) ctr.convert_from_pinhole_camera_parameters(param, allow_arbitrary=True) else: vis.register_animation_callback(None) vis.destroy_window() return False vis.register_animation_callback(move_forward) vis.run() if output_format == "video": fps = len(rendered_images) / seconds rendered_images = rendered_images # + rendered_images[::-1] media.write_video(output_filename, rendered_images, fps=fps) @dataclass class RenderTrajectory: """Load a checkpoint, render a trajectory, and save to a video file.""" # Path to config YAML file. meshfile: Path # Name of the renderer outputs to use. rgb, depth, etc. concatenates them along y axis rendered_output_names: List[str] = field(default_factory=lambda: ["rgb", "normal"]) # Trajectory to render. traj: Literal["spiral", "filename", "interpolate"] = "spiral" # type of trajectory file traj_file_type: Literal["viewer", "blender"] = "viewer" # Scaling factor to apply to the camera image resolution. downscale_factor: int = 1 # Filename of the camera path to render. camera_path_filename: Path = Path("camera_path.json") # Name of the output file. output_path: Path = Path("renders/output.mp4") # How long the video should be. seconds: float = 5.0 # How to save output data. output_format: Literal["images", "video"] = "video" merge_type: Literal["half", "concat", "separate"] = "concat" load_config: Optional[Path] = None data: SDFStudioDataParserConfig = SDFStudioDataParserConfig() num_interpolate_views: int = 300 def main(self) -> None: """Main function.""" install_checks.check_ffmpeg_installed() seconds = self.seconds if self.output_format == "video": assert str(self.output_path)[-4:] == ".mp4" if self.traj == "filename": if self.traj_file_type == 'viewer': with open(self.camera_path_filename, "r", encoding="utf-8") as f: camera_path = json.load(f) seconds = camera_path["seconds"] camera_path = get_path_from_json(camera_path) elif self.traj_file_type == 'blender': camera_path = np.load(self.camera_path_filename) seconds = camera_path["seconds"] camera_path = get_path_from_npz(camera_path) else: raise ValueError(f"Unknown traj file type: {self.traj_file_type}") elif self.traj == "interpolate": # load training data and interpolate path if self.load_config is None: outputs = self.data.setup()._generate_dataparser_outputs() else: _, pipeline, _ = eval_setup( self.load_config, test_mode="test" if self.traj == "spiral" else "inference", ) outputs = pipeline.datamanager.train_dataset._dataparser_outputs camera_path = vis_utils.interpolate_trajectory(cameras=outputs.cameras, num_views=self.num_interpolate_views) seconds = camera_path.size / 24 elif self.traj == "spiral": outputs = self.data.setup()._generate_dataparser_outputs() camera_path = get_spiral_path(camera=outputs.cameras, steps=self.num_interpolate_views, radius=1.0) seconds = camera_path.size / 24 else: assert_never(self.traj) _render_trajectory_video( self.meshfile, camera_path, output_filename=self.output_path, rendered_output_names=self.rendered_output_names, rendered_resolution_scaling_factor=1.0 / self.downscale_factor, seconds=seconds, output_format=self.output_format, merge_type=self.merge_type, ) def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(RenderTrajectory).main() if __name__ == "__main__": entrypoint() # For sphinx docs get_parser_fn = lambda: tyro.extras.get_parser(RenderTrajectory) # noqa ================================================ FILE: AutoReconForDens3R/scripts/texture.py ================================================ """ Script to texture an existing mesh file. """ from __future__ import annotations from dataclasses import dataclass from pathlib import Path from typing import Optional import tyro from rich.console import Console from typing_extensions import Literal from nerfstudio.exporter import texture_utils from nerfstudio.exporter.exporter_utils import get_mesh_from_filename from nerfstudio.utils.eval_utils import eval_setup CONSOLE = Console(width=120) @dataclass class TextureMesh: """ Export a textured mesh with color computed from the NeRF. """ load_config: Path """Path to the config YAML file.""" output_dir: Path """Path to the output directory.""" input_mesh_filename: Path """Mesh filename to texture.""" px_per_uv_triangle: int = 4 """Number of pixels per UV square.""" unwrap_method: Literal["xatlas", "custom"] = "xatlas" """The method to use for unwrapping the mesh.""" num_pixels_per_side: int = 2048 """If using xatlas for unwrapping, the pixels per side of the texture image.""" target_num_faces: Optional[int] = 50000 """Target number of faces for the mesh to texture.""" def main(self) -> None: """Export textured mesh""" # pylint: disable=too-many-statements if not self.output_dir.exists(): self.output_dir.mkdir(parents=True) # load the Mesh mesh = get_mesh_from_filename(str(self.input_mesh_filename), target_num_faces=self.target_num_faces) # load the Pipeline _, pipeline, _ = eval_setup(self.load_config, test_mode="inference") # texture the mesh with NeRF and export to a mesh.obj file # and a material and texture file texture_utils.export_textured_mesh( mesh, pipeline, self.px_per_uv_triangle, self.output_dir, unwrap_method=self.unwrap_method, num_pixels_per_side=self.num_pixels_per_side, ) def entrypoint(): """Entrypoint for use with pyproject scripts.""" tyro.extras.set_accent_color("bright_yellow") tyro.cli(tyro.conf.FlagConversionOff[TextureMesh]).main() if __name__ == "__main__": entrypoint() # For sphinx docs get_parser_fn = lambda: tyro.extras.get_parser(TextureMesh) # noqa ================================================ FILE: AutoReconForDens3R/scripts/train.py ================================================ #!/usr/bin/env python """Train a radiance field with nerfstudio. For real captures, we recommend using the [bright_yellow]nerfacto[/bright_yellow] model. Nerfstudio allows for customizing your training and eval configs from the CLI in a powerful way, but there are some things to understand. The most demonstrative and helpful example of the CLI structure is the difference in output between the following commands: ns-train -h ns-train nerfacto -h nerfstudio-data ns-train nerfacto nerfstudio-data -h In each of these examples, the -h applies to the previous subcommand (ns-train, nerfacto, and nerfstudio-data). In the first example, we get the help menu for the ns-train script. In the second example, we get the help menu for the nerfacto model. In the third example, we get the help menu for the nerfstudio-data dataparser. With our scripts, your arguments will apply to the preceding subcommand in your command, and thus where you put your arguments matters! Any optional arguments you discover from running ns-train nerfacto -h nerfstudio-data need to come directly after the nerfacto subcommand, since these optional arguments only belong to the nerfacto subcommand: ns-train nerfacto {nerfacto optional args} nerfstudio-data """ from __future__ import annotations import random import socket import traceback from datetime import timedelta from typing import Any, Callable, Optional import numpy as np import torch import torch.distributed as dist import torch.multiprocessing as mp import tyro import yaml from rich.console import Console import os import sys sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) from nerfstudio.configs import base_config as cfg from nerfstudio.configs.config_utils import convert_markup_to_ansi from nerfstudio.configs.method_configs import AnnotatedBaseConfigUnion from nerfstudio.engine.trainer import Trainer from nerfstudio.utils import comms, profiler CONSOLE = Console(width=120, soft_wrap=True) DEFAULT_TIMEOUT = timedelta(minutes=30) # speedup for when input size to model doesn't change (much) torch.backends.cudnn.benchmark = True # type: ignore # torch.autograd.set_detect_anomaly(True) def _find_free_port() -> str: """Finds a free port.""" sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) sock.bind(("", 0)) port = sock.getsockname()[1] sock.close() return port def _set_random_seed(seed) -> None: """Set randomness seed in torch and numpy""" random.seed(seed) np.random.seed(seed) torch.manual_seed(seed) def train_loop(local_rank: int, world_size: int, config: cfg.Config, global_rank: int = 0): """Main training function that sets up and runs the trainer per process Args: local_rank: current rank of process world_size: total number of gpus available config: config file specifying training regimen """ _set_random_seed(config.machine.seed + global_rank) trainer = Trainer(config, local_rank, world_size) trainer.setup() trainer.train() def _distributed_worker( local_rank: int, main_func: Callable, world_size: int, num_gpus_per_machine: int, machine_rank: int, dist_url: str, config: cfg.Config, timeout: timedelta = DEFAULT_TIMEOUT, ) -> Any: """Spawned distributed worker that handles the initialization of process group and handles the training process on multiple processes. Args: local_rank: Current rank of process. main_func: Function that will be called by the distributed workers. world_size: Total number of gpus available. num_gpus_per_machine: Number of GPUs per machine. machine_rank: Rank of this machine. dist_url: URL to connect to for distributed jobs, including protocol E.g., "tcp://127.0.0.1:8686". It can be set to "auto" to automatically select a free port on localhost. config: Config specifying training regimen. timeout: Timeout of the distributed workers. Raises: e: Exception in initializing the process group Returns: Any: TODO: determine the return type """ assert torch.cuda.is_available(), "cuda is not available. Please check your installation." global_rank = machine_rank * num_gpus_per_machine + local_rank dist.init_process_group( backend="nccl", init_method=dist_url, world_size=world_size, rank=global_rank, timeout=timeout, ) assert comms.LOCAL_PROCESS_GROUP is None num_machines = world_size // num_gpus_per_machine for i in range(num_machines): ranks_on_i = list(range(i * num_gpus_per_machine, (i + 1) * num_gpus_per_machine)) pg = dist.new_group(ranks_on_i) if i == machine_rank: comms.LOCAL_PROCESS_GROUP = pg assert num_gpus_per_machine <= torch.cuda.device_count() output = main_func(local_rank, world_size, config, global_rank) comms.synchronize() dist.destroy_process_group() return output def launch( main_func: Callable, num_gpus_per_machine: int, num_machines: int = 1, machine_rank: int = 0, dist_url: str = "auto", config: Optional[cfg.Config] = None, timeout: timedelta = DEFAULT_TIMEOUT, ) -> None: """Function that spawns muliple processes to call on main_func Args: main_func (Callable): function that will be called by the distributed workers num_gpus_per_machine (int): number of GPUs per machine num_machines (int, optional): total number of machines machine_rank (int, optional): rank of this machine. dist_url (str, optional): url to connect to for distributed jobs. config (Config, optional): config file specifying training regimen. timeout (timedelta, optional): timeout of the distributed workers. """ assert config is not None world_size = num_machines * num_gpus_per_machine if world_size <= 1: # world_size=0 uses one CPU in one process. # world_size=1 uses one GPU in one process. try: main_func(local_rank=0, world_size=world_size, config=config) except KeyboardInterrupt: # print the stack trace CONSOLE.print(traceback.format_exc()) finally: profiler.flush_profiler(config.logging) elif world_size > 1: # Using multiple gpus with multiple processes. if dist_url == "auto": assert num_machines == 1, "dist_url=auto is not supported for multi-machine jobs." port = _find_free_port() dist_url = f"tcp://127.0.0.1:{port}" if num_machines > 1 and dist_url.startswith("file://"): CONSOLE.log("file:// is not a reliable init_method in multi-machine jobs. Prefer tcp://") process_context = mp.spawn( _distributed_worker, nprocs=num_gpus_per_machine, join=False, args=( main_func, world_size, num_gpus_per_machine, machine_rank, dist_url, config, timeout, ), ) # process_context won't be None because join=False, so it's okay to assert this # for Pylance reasons assert process_context is not None try: process_context.join() except KeyboardInterrupt: for i, process in enumerate(process_context.processes): if process.is_alive(): CONSOLE.log(f"Terminating process {i}...") process.terminate() process.join() CONSOLE.log(f"Process {i} finished.") finally: profiler.flush_profiler(config.logging) def main(config: cfg.Config) -> None: """Main function.""" config.set_timestamp() if config.data: CONSOLE.log("Using --data alias for --data.pipeline.datamanager.dataparser.data") config.pipeline.datamanager.dataparser.data = config.data if config.trainer.load_config: CONSOLE.log(f"Loading pre-set config from: {config.trainer.load_config}") config = yaml.load(config.trainer.load_config.read_text(), Loader=yaml.Loader) # print and save config config.print_to_terminal() config.save_config() config.set_global() launch( main_func=train_loop, num_gpus_per_machine=config.machine.num_gpus, num_machines=config.machine.num_machines, machine_rank=config.machine.machine_rank, dist_url=config.machine.dist_url, config=config, ) def entrypoint(): """Entrypoint for use with pyproject scripts.""" # Choose a base configuration and override values. tyro.extras.set_accent_color("bright_yellow") main( tyro.cli( AnnotatedBaseConfigUnion, description=convert_markup_to_ansi(__doc__), ) ) if __name__ == "__main__": entrypoint() ================================================ FILE: AutoReconForDens3R/scripts/viewer/view_dataset.py ================================================ #!/usr/bin/env python """ view_dataset.py """ from rich.console import Console CONSOLE = Console(width=120) import time from datetime import timedelta from pathlib import Path import torch import tyro from nerfstudio.configs.base_config import ViewerConfig from nerfstudio.data.datamanagers import AnnotatedDataParserUnion from nerfstudio.data.datasets.base_dataset import InputDataset from nerfstudio.viewer.server import viewer_utils DEFAULT_TIMEOUT = timedelta(minutes=30) # speedup for when input size to model doesn't change (much) torch.backends.cudnn.benchmark = True # type: ignore def main( dataparser: AnnotatedDataParserUnion, viewer: ViewerConfig, log_base_dir: Path = Path("/tmp/nerfstudio_viewer_logs"), ) -> None: """Main function.""" viewer_state = viewer_utils.ViewerState( viewer, log_filename=log_base_dir / viewer.relative_log_filename, ) dataset = InputDataset(dataparser.setup().get_dataparser_outputs(split="train")) viewer_state.init_scene(dataset=dataset, start_train=False) CONSOLE.log("Please refresh and load page at: %s", viewer_state.viewer_url) time.sleep(30) # allowing time to refresh page if __name__ == "__main__": tyro.extras.set_accent_color("bright_yellow") tyro.cli(main) ================================================ FILE: AutoReconForDens3R/setup.cfg ================================================ ================================================ FILE: AutoReconForDens3R/tests/cameras/test_cameras.py ================================================ """ Test the camera classes. """ import dataclasses from itertools import product import torch from nerfstudio.cameras.cameras import Cameras, CameraType from nerfstudio.cameras.rays import RayBundle BATCH_SIZE = 2 H_W = 800 FX_Y = 10.0 CX_Y = H_W / 2.0 # pylint: disable=unnecessary-comprehension C2W_FLAT = torch.eye(4)[:3, :] CAMERA_TO_WORLDS = [ C2W_FLAT, torch.stack([C2W_FLAT] * BATCH_SIZE), torch.stack([torch.stack([C2W_FLAT] * BATCH_SIZE)] * BATCH_SIZE), ] FX_YS = [ FX_Y, torch.tensor([1]).float() * FX_Y, torch.ones(BATCH_SIZE, 1) * FX_Y, torch.ones((BATCH_SIZE, BATCH_SIZE, 1)) * FX_Y, ] H_WS = [ None, H_W, torch.tensor([1]) * H_W, torch.ones(BATCH_SIZE, 1).int() * H_W, torch.ones((BATCH_SIZE, BATCH_SIZE, 1)).int() * H_W, ] CX_YS = [ CX_Y, torch.tensor([1]).float() * CX_Y, torch.ones(BATCH_SIZE, 1) * CX_Y, torch.ones((BATCH_SIZE, BATCH_SIZE, 1)) * CX_Y, ] DISTORTION_PARAMS = [None, torch.zeros(6), torch.zeros((BATCH_SIZE, 6)), torch.zeros((BATCH_SIZE, BATCH_SIZE, 6))] camera_types = [ 1, torch.tensor([1]), torch.ones(BATCH_SIZE, 1).int(), torch.ones((BATCH_SIZE, BATCH_SIZE, 1)).int(), ] C = Cameras( CAMERA_TO_WORLDS[1], FX_YS[0], FX_YS[0], CX_YS[0], CX_YS[0], H_WS[0], H_WS[0], DISTORTION_PARAMS[0], camera_types[0], ) C0 = Cameras( CAMERA_TO_WORLDS[0], FX_YS[0], FX_YS[0], CX_YS[0], CX_YS[0], H_WS[0], H_WS[0], DISTORTION_PARAMS[0], camera_types[0], ) C1 = Cameras( CAMERA_TO_WORLDS[1], FX_YS[0], FX_YS[0], CX_YS[0], CX_YS[0], H_WS[0], H_WS[0], DISTORTION_PARAMS[0], camera_types[0], ) C2 = Cameras( CAMERA_TO_WORLDS[2], FX_YS[0], FX_YS[0], CX_YS[0], CX_YS[0], H_WS[0], H_WS[0], DISTORTION_PARAMS[0], camera_types[0], ) C2_DIST = Cameras( CAMERA_TO_WORLDS[2], FX_YS[0], FX_YS[0], CX_YS[0], CX_YS[0], H_WS[0], H_WS[0], DISTORTION_PARAMS[1], camera_types[0], ) def test_pinhole_camera(): """Test that the pinhole camera model works.""" c2w = torch.eye(4)[None, :3, :] pinhole_camera = Cameras(cx=400.0, cy=400.0, fx=10.0, fy=10.0, camera_to_worlds=c2w) camera_ray_bundle = pinhole_camera.generate_rays(camera_indices=0) assert isinstance(camera_ray_bundle, RayBundle) assert torch.allclose(camera_ray_bundle.origins[0], torch.tensor([0.0, 0.0, 0.0])) # Test generate rays on 1D input num_rays = 10 coords = torch.ones(num_rays, 2) pinhole_camera.generate_rays(camera_indices=0, coords=coords) def test_equirectangular_camera(): """Test that the equirectangular camera model works.""" height = 100 # width is twice the height c2w = torch.eye(4)[None, :3, :] equirectangular_camera = Cameras( cx=float(height), cy=0.5 * float(height), fx=float(height), fy=float(height), camera_to_worlds=c2w, camera_type=CameraType.EQUIRECTANGULAR, ) camera_ray_bundle = equirectangular_camera.generate_rays(camera_indices=0) assert isinstance(camera_ray_bundle, RayBundle) assert torch.allclose(camera_ray_bundle.origins[0], torch.tensor([0.0, 0.0, 0.0])) # Check that the directions are mostly correct in local camera coordinates (+y is up, -z is forward) directions = camera_ray_bundle.directions threshold = 0.9 x = torch.tensor([1.0, 0.0, 0.0]) y = torch.tensor([0.0, 1.0, 0.0]) z = torch.tensor([0.0, 0.0, 1.0]) # top pixels point up assert directions[0, 0] @ y > threshold assert directions[0, height] @ y > threshold assert directions[0, -1] @ y > threshold # middle pixels point horizontally; middle of image is camera forwards assert directions[height // 2, 0] @ z > threshold assert directions[height // 2, height // 2] @ -x > threshold assert directions[height // 2, height] @ -z > threshold assert directions[height // 2, 3 * height // 2] @ x > threshold assert directions[height // 2, -1] @ z > threshold # bottom pixels point down assert directions[-1, 0] @ -y > threshold assert directions[-1, height] @ -y > threshold assert directions[-1, -1] @ -y > threshold def test_camera_as_tensordataclass(): """Test that the camera class move to Tensordataclass works.""" _ = C2_DIST[torch.tensor([0]), torch.tensor([0])] assert C0.shape == () assert C1[...].shape == torch.Size([BATCH_SIZE]) assert _check_cam_shapes(C0, ()) assert _check_cam_shapes(C1, (2,)) assert _check_cam_shapes(C2_DIST, (2, 2)) assert C0.generate_rays(0).shape == (H_W, H_W) assert C0.generate_rays(0, coords=torch.ones(10, 2)).shape == (10,) C1.generate_rays(0) C1.generate_rays(torch.tensor([0, 1]).unsqueeze(-1)) # Make sure rays generated are same when distortion params are identity (all zeros) and None assert C2.shape == C2_DIST.shape c2_rays = C2.generate_rays(torch.tensor([0, 0])) c_dist_rays = C2_DIST.generate_rays(torch.tensor([0, 0])) assert _check_dataclass_allclose(c2_rays, c_dist_rays) assert c2_rays.shape == (H_W, H_W) assert c_dist_rays.shape == (H_W, H_W) camera_indices = torch.tensor([[0, 0]]) assert C2.generate_rays(camera_indices).shape == (H_W, H_W, 1) for args in product( CAMERA_TO_WORLDS, FX_YS, FX_YS[:1], CX_YS, CX_YS[:1], H_WS, H_WS[:1], DISTORTION_PARAMS[:-1], camera_types[:-1], ): _ = Cameras(*args) def check_generate_rays_shape(): """Checking the output shapes from Cameras.generate_rays""" coord = torch.tensor([1, 1]) combos = [ (0, None, torch.Size((800, 800))), # First camera, all pixels ( 0, coord, torch.Size(()), ), # First camera, selected pixels in coords, output zero dimensional since no extra batch dim in coord ( torch.zeros(1, 1), coord.broadcast_to(1, 2), torch.Size((1,)), ), # [0]th camera and selected coords, output is [1] dimensional ( 0, coord.broadcast_to(1, 2), torch.Size((1,)), ), # First camera and selected coords, output is [1] dimensional since one extra batch dim in coords ( torch.zeros(1), None, torch.Size((800, 800)), ), # [0]th camera, all pixels, output is [HxW] dimensional since no extra output batch dim ( torch.zeros(5, 1), coord.broadcast_to(5, 2), torch.Size((5,)), ), # [0]th camera and selected coords, output is [5] dimensional since extra batch dim is provided in inputs (0, coord.broadcast_to(5, 2), torch.Size((5,))), # First camera and selected coords, output is [5] dimensional ( torch.zeros(5, 1), None, torch.Size((800, 800, 5)), ), # [0]th camera and all pixels, HxWx5 since coords is none and our extra batch dim in our inputs is [5] ( torch.zeros(11, 5, 1), coord.broadcast_to(11, 5, 2), torch.Size((11, 5)), ), # [0]th camera and selected coords since inputs have 2 extra batch dims of [11,5] ( 0, coord.broadcast_to(11, 5, 2), torch.Size((11, 5)), ), # [0]th camera and selected coords since coords have 2 extra batch dims of [11, 5] ( torch.zeros(11, 5, 1), None, torch.Size((800, 800, 11, 5)), ), # [0]th camera and all pixels since coords is none but we still have 2 extra batch dims of [11, 5] in coords ] for camera_indices, coords, output_size in combos: shape = C0.generate_rays(camera_indices=camera_indices, coords=coords).shape assert shape == output_size assert C1.shape == (2,) for camera_indices, coords, output_size in combos: shape = C1.generate_rays(camera_indices=camera_indices, coords=coords).shape assert shape == output_size # camera_indices can't be an int anymore since our cameras object have 2 batch dimensions # camera_indices last dim needs to be (..., 2) since len(cameras.shape) == 2 combos = [ (torch.zeros(2), coord, ()), (torch.zeros(1, 2), coord.broadcast_to(1, 2), (1,)), (torch.zeros(2), None, (800, 800)), (torch.zeros(5, 2), coord.broadcast_to(5, 2), (5,)), (torch.zeros(5, 2), None, (800, 800, 5)), (torch.zeros(11, 5, 2), coord.broadcast_to(11, 5, 2), (11, 5)), (torch.zeros(11, 5, 2), None, (800, 800, 11, 5)), ] for camera_indices, coords, output_size in combos: shape = C2.generate_rays(camera_indices=camera_indices, coords=coords).shape assert shape == output_size def _check_dataclass_allclose(ipt, other): for field in dataclasses.fields(ipt): if getattr(ipt, field.name) is not None: assert torch.allclose(getattr(ipt, field.name), getattr(other, field.name)) return True def _check_cam_shapes(cam: Cameras, _batch_size): if _batch_size: assert len(cam) == _batch_size[0] assert cam.shape == (*_batch_size,) assert cam.camera_to_worlds.shape == (*_batch_size, 3, 4) assert cam.fx.shape == (*_batch_size, 1) assert cam.fy.shape == (*_batch_size, 1) assert cam.cx.shape == (*_batch_size, 1) assert cam.cy.shape == (*_batch_size, 1) assert cam.height.shape == (*_batch_size, 1) assert cam.width.shape == (*_batch_size, 1) assert cam.distortion_params is None or cam.distortion_params.shape == (*_batch_size, 6) assert cam.camera_type.shape == (*_batch_size, 1) return True if __name__ == "__main__": test_pinhole_camera() test_equirectangular_camera() test_camera_as_tensordataclass() ================================================ FILE: AutoReconForDens3R/tests/cameras/test_rays.py ================================================ """ Test the ray classes. """ import pytest import torch from nerfstudio.cameras.rays import Frustums def test_frustum_get_position(): """Test position calculation""" origin = torch.Tensor([0, 1, 2])[None, ...] direction = torch.Tensor([0, 1, 0])[None, ...] frustum_start = torch.Tensor([2])[None, ...] frustum_end = torch.Tensor([3])[None, ...] target_position = torch.Tensor([0, 3.5, 2])[None, ...] frustum = Frustums( origins=origin, directions=direction, starts=frustum_start, ends=frustum_end, pixel_area=torch.ones((1, 1)), ) positions = frustum.get_positions() assert positions == pytest.approx(target_position, abs=1e-6) def test_frustum_get_gaussian_blob(): """Test gaussian blob calculation""" frustum = Frustums( origins=torch.ones((5, 3)), directions=torch.ones((5, 3)), starts=torch.ones((5, 1)), ends=torch.ones((5, 1)), pixel_area=torch.ones((5, 1)), ) gaussian_blob = frustum.get_gaussian_blob() assert gaussian_blob.mean.shape == (5, 3) assert gaussian_blob.cov.shape == (5, 3, 3) def test_frustum_apply_masks(): """Test masking frustum""" frustum = Frustums( origins=torch.ones((5, 3)), directions=torch.ones((5, 3)), starts=torch.ones((5, 1)), ends=torch.ones((5, 1)), pixel_area=torch.ones((5, 1)), ) mask = torch.tensor([False, True, False, True, True], dtype=torch.bool) frustum = frustum[mask] assert frustum.origins.shape == (3, 3) assert frustum.directions.shape == (3, 3) assert frustum.starts.shape == (3, 1) assert frustum.ends.shape == (3, 1) assert frustum.pixel_area.shape == (3, 1) def test_get_mock_frustum(): """Test creation of mock frustum""" Frustums.get_mock_frustum() if __name__ == "__main__": test_frustum_get_gaussian_blob() ================================================ FILE: AutoReconForDens3R/tests/field_components/test_embedding.py ================================================ """ Embedding tests """ from nerfstudio.field_components.embedding import Embedding def test_indexing(): """Test embedding indexing""" in_dim = 100 out_dim = 64 embedding = Embedding(in_dim, out_dim) assert embedding # TODO ================================================ FILE: AutoReconForDens3R/tests/field_components/test_encodings.py ================================================ """ Encoding Tests """ import pytest import torch from nerfstudio.field_components import encodings def test_scaling_and_offset(): """Test scaling and offset encoder""" in_dim = 4 in_tensor = torch.ones((2, 3, in_dim)) scaling = 2.0 offset = 4.5 encoder = encodings.ScalingAndOffset(in_dim=in_dim, scaling=scaling, offset=offset) assert encoder.get_out_dim() == in_dim encoded = encoder(in_tensor) assert encoded.shape[-1] == in_dim assert in_tensor * 6.5 == pytest.approx(encoded) with pytest.raises(ValueError): encodings.ScalingAndOffset(in_dim=-1) def test_nerf_encoder(): """Test NeRF encoder""" in_dim = 4 out_dim = 24 in_tensor = torch.ones((2, 3, in_dim)) num_frequencies = 3 min_freq_exp = 0 max_freq_exp = 3 encoder = encodings.NeRFEncoding( in_dim=in_dim, num_frequencies=num_frequencies, min_freq_exp=min_freq_exp, max_freq_exp=max_freq_exp ) assert encoder.get_out_dim() == out_dim in_tensor = torch.ones((2, 3, in_dim)) encoded = encoder(in_tensor) assert encoded.shape[-1] == out_dim assert torch.max(encoded) == 1 in_tensor = torch.zeros((2, 3, in_dim)) encoded = encoder(in_tensor) assert encoded.shape[-1] == out_dim assert torch.min(encoded) == 0 # Test integrated posenc covs = torch.ones((2, 3, in_dim, in_dim)) encoded = encoder(in_tensor, covs=covs) def test_rff_encoder(): """Test RFF encoder""" in_dim = 3 out_dim = 24 in_tensor = torch.ones((2, 3, in_dim)) num_frequencies = 12 scale = 5 encoder = encodings.RFFEncoding(in_dim=in_dim, num_frequencies=num_frequencies, scale=scale) assert encoder.get_out_dim() == out_dim in_tensor = torch.ones((2, 3, in_dim)) encoded = encoder(in_tensor) assert encoded.shape[-1] == out_dim # Test integrated encoding covs = torch.ones((2, 3, in_dim, in_dim)) encoded = encoder(in_tensor, covs=covs) def test_tensor_vm_encoder(): """Test TensorVM encoder""" num_components = 24 resolution = 32 in_dim = 3 out_dim = 3 * num_components encoder = encodings.TensorVMEncoding(num_components=num_components, resolution=resolution) assert encoder.get_out_dim() == out_dim in_tensor = torch.ones((3, in_dim)) encoded = encoder(in_tensor) assert encoded.shape == (3, out_dim) in_tensor = torch.ones((6, 3, in_dim)) encoded = encoder(in_tensor) assert encoded.shape == (6, 3, out_dim) encoder.upsample_grid(resolution=64) encoder.upsample_grid(resolution=128) def test_tensor_cp_encoder(): """Test TensorCP encoder""" num_components = 24 resolution = 32 in_dim = 3 out_dim = num_components encoder = encodings.TensorCPEncoding(num_components=num_components, resolution=resolution) assert encoder.get_out_dim() == out_dim in_tensor = torch.ones((3, in_dim)) encoded = encoder(in_tensor) assert encoded.shape == (3, out_dim) in_tensor = torch.ones((6, 3, in_dim)) encoded = encoder(in_tensor) assert encoded.shape == (6, 3, out_dim) encoder.upsample_grid(resolution=64) def test_tensor_sh_encoder(): """Test Spherical Harmonic encoder""" levels = 4 out_dim = levels**2 with pytest.raises(ValueError): encoder = encodings.SHEncoding(levels=5) encoder = encodings.SHEncoding(levels=levels) assert encoder.get_out_dim() == out_dim in_tensor = torch.zeros((10, 3)) in_tensor[..., 1] = 1 encoded = encoder(in_tensor) assert encoded.shape == (10, out_dim) def test_tensor_hash_encoder(): """Test Spherical Harmonic encoder""" num_levels = 4 features_per_level = 4 out_dim = num_levels * features_per_level encoder = encodings.HashEncoding( num_levels=num_levels, features_per_level=features_per_level, log2_hashmap_size=5, implementation="torch", ) assert encoder.get_out_dim() == out_dim in_tensor = torch.zeros((10, 3)) in_tensor[..., 1] = 1 encoded = encoder(in_tensor) assert encoded.shape == (10, out_dim) encoder = encodings.HashEncoding( num_levels=num_levels, features_per_level=features_per_level, log2_hashmap_size=5, implementation="tcnn", ) in_tensor = torch.zeros((10, 3)) in_tensor[..., 1] = 1 encoded = encoder(in_tensor) assert encoded.shape == (10, out_dim) if __name__ == "__main__": test_scaling_and_offset() test_nerf_encoder() test_rff_encoder() test_tensor_vm_encoder() test_tensor_cp_encoder() test_tensor_sh_encoder() test_tensor_hash_encoder() ================================================ FILE: AutoReconForDens3R/tests/field_components/test_field_outputs.py ================================================ """ Field output tests """ import pytest import torch from torch import nn from nerfstudio.field_components.field_heads import ( DensityFieldHead, FieldHead, FieldHeadNames, RGBFieldHead, SHFieldHead, ) def test_field_output(): """Test render output""" in_dim = 6 out_dim = 4 activation = nn.ReLU() render_head = FieldHead(in_dim=in_dim, out_dim=out_dim, field_head_name=FieldHeadNames.RGB, activation=activation) assert render_head.get_out_dim() == out_dim x = torch.ones((9, in_dim)) render_head(x) # Test in_dim not provided at construction render_head = FieldHead(out_dim=out_dim, field_head_name=FieldHeadNames.RGB, activation=activation) with pytest.raises(SystemError): render_head(x) render_head.set_in_dim(in_dim) render_head(x) def test_density_output(): """Test rgb output""" in_dim = 6 density_head = DensityFieldHead(in_dim) assert density_head.get_out_dim() == 1 x = torch.ones((9, in_dim)) density_head(x) def test_rgb_output(): """Test rgb output""" in_dim = 6 rgb_head = RGBFieldHead(in_dim) assert rgb_head.get_out_dim() == 3 x = torch.ones((9, in_dim)) rgb_head(x) def test_sh_output(): """Test sh output""" in_dim = 6 levels = 4 channels = 3 rgb_head = SHFieldHead(in_dim, levels=levels, channels=channels) assert rgb_head.get_out_dim() == channels * levels**2 x = torch.ones((9, in_dim)) rgb_head(x) if __name__ == "__main__": test_field_output() test_density_output() test_rgb_output() test_sh_output() ================================================ FILE: AutoReconForDens3R/tests/field_components/test_fields.py ================================================ """ Test the fields """ import torch from nerfstudio.cameras.rays import Frustums, RaySamples from nerfstudio.fields.instant_ngp_field import TCNNInstantNGPField def test_tcnn_instant_ngp_field(): """Test the tiny-cuda-nn field""" # pylint: disable=import-outside-toplevel # pylint: disable=unused-import try: import tinycudann as tcnn except ImportError as e: # tinycudann module doesn't exist print(e) return device = torch.device("cuda" if torch.cuda.is_available() else "cpu") aabb_scale = 1.0 aabb = torch.tensor( [[-aabb_scale, -aabb_scale, -aabb_scale], [aabb_scale, aabb_scale, aabb_scale]], dtype=torch.float32 ).to(device) field = TCNNInstantNGPField(aabb) num_rays = 1024 num_samples = 256 positions = torch.rand((num_rays, num_samples, 3), dtype=torch.float32, device=device) directions = torch.rand_like(positions) frustums = Frustums( origins=positions, directions=directions, starts=torch.zeros((*directions.shape[:-1], 1), device=device), ends=torch.zeros((*directions.shape[:-1], 1), device=device), pixel_area=torch.ones((*directions.shape[:-1], 1), device=device), ) ray_samples = RaySamples(frustums=frustums) field.forward(ray_samples) if __name__ == "__main__": test_tcnn_instant_ngp_field() ================================================ FILE: AutoReconForDens3R/tests/field_components/test_mlp.py ================================================ """ MLP Test """ import torch from torch import nn from nerfstudio.field_components import MLP def test_mlp(): """Test mlp""" in_dim = 6 out_dim = 10 num_layers = 2 layer_width = 32 out_activation = nn.ReLU() mlp = MLP( in_dim=in_dim, out_dim=out_dim, num_layers=num_layers, layer_width=layer_width, out_activation=out_activation ) assert mlp.get_out_dim() == out_dim x = torch.ones((9, in_dim)) mlp.build_nn_modules() y = mlp(x) assert y.shape[-1] == out_dim if __name__ == "__main__": test_mlp() ================================================ FILE: AutoReconForDens3R/tests/field_components/test_temporal_distortions.py ================================================ """ Test if temporal distortions run properly """ import torch from nerfstudio.field_components.temporal_distortions import DNeRFDistortion def test_dnerf_distortion(): """Test dnerf distortion""" # pylint: disable=import-outside-toplevel # pylint: disable=unused-import device = torch.device("cuda" if torch.cuda.is_available() else "cpu") distortion = DNeRFDistortion().to(device) num_rays = 1024 num_samples = 256 positions = torch.rand((num_rays, num_samples, 3), dtype=torch.float32, device=device) assert distortion.forward(positions, None) is None times = torch.rand_like(positions[..., :1]) assert distortion.forward(positions, times).shape == positions.shape if __name__ == "__main__": test_dnerf_distortion() ================================================ FILE: AutoReconForDens3R/tests/model_components/test_ray_sampler.py ================================================ """ Test samplers """ import torch from nerfstudio.cameras.rays import RayBundle from nerfstudio.model_components.ray_samplers import ( LinearDisparitySampler, LogSampler, PDFSampler, SqrtSampler, UniformSampler, ) from nerfstudio.model_components.scene_colliders import NearFarCollider def test_uniform_sampler(): """Test uniform sampler""" num_samples = 15 sampler = UniformSampler(num_samples=num_samples) origins = torch.zeros((10, 3)) directions = torch.ones_like(origins) radius = torch.ones((10, 1)) ray_bundle = RayBundle(origins=origins, directions=directions, pixel_area=radius) collider = NearFarCollider(near_plane=2, far_plane=4) ray_bundle = collider(ray_bundle) ray_samples = sampler(ray_bundle) assert ray_samples.frustums.get_positions().shape[-2] == num_samples # TODO Tancik: Add more precise tests def test_lin_disp_sampler(): """Test linear in disparity sampler""" num_samples = 15 sampler = LinearDisparitySampler(num_samples=num_samples) origins = torch.zeros((10, 3)) directions = torch.ones_like(origins) radius = torch.ones((10, 1)) ray_bundle = RayBundle(origins=origins, directions=directions, pixel_area=radius) collider = NearFarCollider(near_plane=2, far_plane=4) ray_bundle = collider(ray_bundle) ray_samples = sampler(ray_bundle) assert ray_samples.frustums.get_positions().shape[-2] == num_samples def test_sqrt_sampler(): """Test square root sampler""" num_samples = 15 sampler = SqrtSampler(num_samples=num_samples) origins = torch.zeros((10, 3)) directions = torch.ones_like(origins) radius = torch.ones((10, 1)) ray_bundle = RayBundle(origins=origins, directions=directions, pixel_area=radius) collider = NearFarCollider(near_plane=2, far_plane=4) ray_bundle = collider(ray_bundle) ray_samples = sampler(ray_bundle) assert ray_samples.frustums.get_positions().shape[-2] == num_samples def test_log_sampler(): """Test log sampler""" num_samples = 15 sampler = LogSampler(num_samples=num_samples) origins = torch.zeros((10, 3)) directions = torch.ones_like(origins) radius = torch.ones((10, 1)) ray_bundle = RayBundle(origins=origins, directions=directions, pixel_area=radius) collider = NearFarCollider(near_plane=2, far_plane=4) ray_bundle = collider(ray_bundle) ray_samples = sampler(ray_bundle) assert ray_samples.frustums.get_positions().shape[-2] == num_samples def test_pdf_sampler(): """Test pdf sampler""" num_samples = 15 origins = torch.zeros((10, 3)) directions = torch.ones_like(origins) radius = torch.ones((10, 1)) ray_bundle = RayBundle(origins=origins, directions=directions, pixel_area=radius) collider = NearFarCollider(near_plane=2, far_plane=4) ray_bundle = collider(ray_bundle) uniform_sampler = UniformSampler(num_samples=num_samples) coarse_ray_samples = uniform_sampler(ray_bundle) weights = torch.ones((10, num_samples, 1)) # Just check that it doesn't crash. Need to add some actual tests. pdf_sampler = PDFSampler(num_samples) pdf_sampler(ray_bundle, coarse_ray_samples, weights, num_samples) # TODO Tancik: Add more precise tests if __name__ == "__main__": test_uniform_sampler() test_pdf_sampler() ================================================ FILE: AutoReconForDens3R/tests/model_components/test_renderers.py ================================================ """ Test renderers """ import pytest import torch from nerfstudio.cameras.rays import Frustums, RaySamples from nerfstudio.model_components import renderers def test_rgb_renderer(): """Test RGB volumetric rendering""" num_samples = 10 rgb_samples = torch.ones((3, num_samples, 3)) weights = torch.ones((3, num_samples, 1)) weights /= torch.sum(weights, dim=-2, keepdim=True) rgb_renderer = renderers.RGBRenderer() rgb = rgb_renderer(rgb=rgb_samples, weights=weights) assert torch.max(rgb) > 0.9 rgb = rgb_renderer(rgb=rgb_samples * 0, weights=weights) assert torch.max(rgb) == pytest.approx(0, abs=1e-6) def test_sh_renderer(): """Test SH volumetric rendering""" levels = 4 num_samples = 10 sh = torch.ones((3, num_samples, 3 * levels**2)) weights = torch.ones((3, num_samples, 1)) weights /= torch.sum(weights, dim=-2, keepdim=True) directions = torch.zeros((3, num_samples, 3)) directions[..., 0] = 1 sh_renderer = renderers.SHRenderer() rgb = sh_renderer(sh=sh, directions=directions, weights=weights) assert torch.max(rgb) > 0.9 def test_acc_renderer(): """Test accumulation rendering""" num_samples = 10 weights = torch.ones((3, num_samples, 1)) weights /= torch.sum(weights, dim=-2, keepdim=True) acc_renderer = renderers.AccumulationRenderer() accumulation = acc_renderer(weights=weights) assert torch.max(accumulation) > 0.9 def test_depth_renderer(): """Test depth rendering""" num_samples = 10 weights = torch.ones((num_samples, 1)) weights /= torch.sum(weights, dim=-2, keepdim=True) frustums = Frustums.get_mock_frustum() frustums.starts = torch.linspace(0, 100, num_samples)[..., None] frustums.ends = torch.linspace(1, 101, num_samples)[..., None] ray_samples = RaySamples( frustums=frustums, camera_indices=torch.ones((num_samples, 1)), deltas=torch.ones((num_samples, 1)), ) depth_renderer = renderers.DepthRenderer(method="median") depth = depth_renderer(weights=weights, ray_samples=ray_samples) assert torch.min(depth) > 0 depth_renderer = renderers.DepthRenderer(method="expected") depth = depth_renderer(weights=weights, ray_samples=ray_samples) assert torch.min(depth) > 0 if __name__ == "__main__": test_rgb_renderer() test_sh_renderer() test_acc_renderer() test_depth_renderer() ================================================ FILE: AutoReconForDens3R/tests/test_train.py ================================================ # pylint: disable=protected-access """ Default test to make sure train runs """ from __future__ import annotations from pathlib import Path import pytest from nerfstudio.configs.base_config import Config from nerfstudio.configs.method_configs import method_configs from nerfstudio.data.dataparsers.blender_dataparser import BlenderDataParserConfig from scripts.train import train_loop BLACKLIST = ["base", "semantic-nerfw", "instant-ngp", "nerfacto", "phototourism"] def set_reduced_config(config: Config): """Reducing the config settings to speedup test""" config.machine.num_gpus = 0 config.trainer.max_num_iterations = 2 # reduce dataset factors; set dataset to test config.pipeline.datamanager.dataparser = BlenderDataParserConfig(data=Path("tests/data/lego_test")) config.pipeline.datamanager.train_num_images_to_sample_from = 1 config.pipeline.datamanager.train_num_rays_per_batch = 4 # use tensorboard logging instead of wandb config.vis = "tensorboard" config.logging.relative_log_dir = Path("/tmp/") # reduce model factors if hasattr(config.pipeline.model, "num_coarse_samples"): config.pipeline.model.num_coarse_samples = 4 if hasattr(config.pipeline.model, "num_importance_samples"): config.pipeline.model.num_importance_samples = 4 # remove viewer config.viewer.enable = False # model specific config settings if config.method_name == "instant-ngp": config.pipeline.model.field_implementation = "torch" return config @pytest.mark.filterwarnings("ignore::DeprecationWarning") def test_train(): """test run train script works properly""" all_config_names = method_configs.keys() for config_name in all_config_names: if config_name in BLACKLIST: print("skipping", config_name) continue print(f"testing run for: {config_name}") config = method_configs[config_name] config = set_reduced_config(config) train_loop(local_rank=0, world_size=0, config=config) if __name__ == "__main__": test_train() ================================================ FILE: AutoReconForDens3R/tests/utils/test_poses.py ================================================ """ Test pose utils """ import torch from nerfstudio.utils import poses def test_to4x4(): """Test addition of homogeneous coordinate to 3D pose.""" pose = torch.rand((10, 3, 4)) pose_4x4 = poses.to4x4(pose) assert pose_4x4.shape == (10, 4, 4) assert torch.equal( pose_4x4[:, 3, 3], torch.ones( 10, ), ) def test_multiply(): """Test 3D pose multiplication.""" pose = torch.tensor( [ [ [1.0, 0.0, 0.0, 1.0], [0.0, 1.0, 0.0, 2.0], [0.0, 0.0, 1.0, 3.0], ] ] ) translation_pose = poses.multiply(pose, pose) assert translation_pose.shape == pose.shape assert torch.equal(translation_pose[..., :, 3], torch.tensor([[2.0, 4.0, 6.0]])) pose_a = pose.clone() pose_a[:, :3, :3] = torch.tensor( [ [1.0, 0.0, 0.0], [0.0, 0.0, -1.0], [0.0, 1.0, 0.0], ] ) pose_b = pose.clone() pose_b[:, :3, :3] = torch.tensor( [ [0.0, -1.0, 0.0], [0.0, 0.0, -1.0], [1.0, 0.0, 0.0], ] ) translation_rotation_pose = poses.multiply(pose_a, pose_b) assert torch.allclose(translation_rotation_pose, (poses.to4x4(pose_a) @ poses.to4x4(pose_b))[:, :3, :4]) def test_inverse(): """Test 3D pose inversion.""" pose = torch.rand((10, 3, 4)) pose[:, :3, :3] = torch.tensor( [ [1.0, 0.0, 0.0], [0.0, 0.0, -1.0], [0.0, 1.0, 0.0], ] ) pose_inv = poses.inverse(pose) assert pose_inv.shape == pose.shape unit_pose = torch.zeros_like(pose) unit_pose[:, :3, :3] = torch.eye(3) assert torch.allclose( poses.multiply(pose, pose_inv), unit_pose, ) def test_normalize(): """Test 3D pose normalization""" pose = torch.ones((2, 3, 4)) pose[:, :3, :3] = torch.eye(3) pose[0, :3, 3] = torch.tensor([2.0, 0.0, -2.0]) pose[1, :3, 3] = torch.tensor([1.0, 1.0, 1.0]) pose_scaled = poses.normalize(pose) assert pose_scaled.shape == pose.shape assert torch.max(pose_scaled[:, :3, 3]) <= 1.0 assert torch.equal(pose_scaled[0, :3, 3], torch.tensor([1.0, 0.0, -1.0])) assert torch.equal(pose_scaled[1, :3, 3], torch.tensor([0.5, 0.5, 0.5])) ================================================ FILE: AutoReconForDens3R/tests/utils/test_tensor_dataclass.py ================================================ """ Test tensor dataclass """ from dataclasses import dataclass from typing import Dict import pytest import torch from nerfstudio.utils.tensor_dataclass import TensorDataclass @dataclass class DummyNestedClass(TensorDataclass): """Dummy dataclass""" x: torch.Tensor @dataclass class DummyTensorDataclass(TensorDataclass): """Dummy dataclass""" a: torch.Tensor b: torch.Tensor c: DummyNestedClass = None d: Dict = None def test_init(): """Test that dataclass is properly initialized""" @dataclass class Dummy(TensorDataclass): """Dummy dataclass""" dummy_vals: torch.Tensor = None dummy = Dummy(dummy_vals=torch.ones(1)) with pytest.raises(ValueError): dummy = Dummy() def test_broadcasting(): """Test broadcasting during init""" a = torch.ones((4, 6, 3)) b = torch.ones((6, 2)) tensor_dataclass = DummyTensorDataclass(a=a, b=b) assert tensor_dataclass.b.shape == (4, 6, 2) a = torch.ones((4, 6, 3)) b = torch.ones(2) tensor_dataclass = DummyTensorDataclass(a=a, b=b) assert tensor_dataclass.b.shape == (4, 6, 2) # Invalid broadcasting a = torch.ones((4, 6, 3)) b = torch.ones((3, 2)) with pytest.raises(RuntimeError): tensor_dataclass = DummyTensorDataclass(a=a, b=b) def test_tensor_ops(): # pylint: disable=(too-many-statements) """Test tensor operations""" a = torch.ones((4, 6, 3)) b = torch.ones((6, 2)) d = {"t1": torch.ones((4, 6, 3)), "t2": {"t3": torch.ones((6, 4))}} tensor_dataclass = DummyTensorDataclass(a=a, b=b, d=d) assert tensor_dataclass.shape == (4, 6) assert tensor_dataclass.a.shape == (4, 6, 3) assert tensor_dataclass.b.shape == (4, 6, 2) assert tensor_dataclass.d["t1"].shape == (4, 6, 3) assert tensor_dataclass.d["t2"]["t3"].shape == (4, 6, 4) assert tensor_dataclass.size == 24 assert tensor_dataclass.ndim == 2 assert len(tensor_dataclass) == 4 reshaped = tensor_dataclass.reshape((2, 12)) assert reshaped.shape == (2, 12) assert reshaped.a.shape == (2, 12, 3) assert reshaped.b.shape == (2, 12, 2) assert reshaped.d["t1"].shape == (2, 12, 3) assert reshaped.d["t2"]["t3"].shape == (2, 12, 4) flattened = tensor_dataclass.flatten() assert flattened.shape == (24,) assert flattened.a.shape == (24, 3) assert flattened.b.shape == (24, 2) assert flattened.d["t1"].shape == (24, 3) assert flattened.d["t2"]["t3"].shape == (24, 4) assert flattened[0:4].shape == (4,) # Test indexing operations assert tensor_dataclass[:, 1].shape == (4,) assert tensor_dataclass[:, 1].a.shape == (4, 3) assert tensor_dataclass[:, 1].d["t1"].shape == (4, 3) assert tensor_dataclass[:, 1].d["t2"]["t3"].shape == (4, 4) assert tensor_dataclass[:, 0:2].shape == (4, 2) assert tensor_dataclass[:, 0:2].a.shape == (4, 2, 3) assert tensor_dataclass[:, 0:2].d["t1"].shape == (4, 2, 3) assert tensor_dataclass[:, 0:2].d["t2"]["t3"].shape == (4, 2, 4) assert tensor_dataclass[..., 1].shape == (4,) assert tensor_dataclass[..., 1].a.shape == (4, 3) assert tensor_dataclass[0].shape == (6,) assert tensor_dataclass[0].a.shape == (6, 3) assert tensor_dataclass[0].d["t1"].shape == (6, 3) assert tensor_dataclass[0].d["t2"]["t3"].shape == (6, 4) assert tensor_dataclass[0, ...].shape == (6,) assert tensor_dataclass[0, ...].a.shape == (6, 3) tensor_dataclass = DummyTensorDataclass( a=torch.ones((2, 3, 4, 5)), b=torch.ones((4, 5)), d={"t1": torch.ones((2, 3, 4, 5)), "t2": {"t3": torch.ones((4, 5))}}, ) assert tensor_dataclass[0, ...].shape == (3, 4) assert tensor_dataclass[0, ...].a.shape == (3, 4, 5) assert tensor_dataclass[0, ...].d["t1"].shape == (3, 4, 5) assert tensor_dataclass[0, ...].d["t2"]["t3"].shape == (3, 4, 5) assert tensor_dataclass[0, ..., 0].shape == (3,) assert tensor_dataclass[0, ..., 0].a.shape == (3, 5) assert tensor_dataclass[0, ..., 0].d["t1"].shape == (3, 5) assert tensor_dataclass[0, ..., 0].d["t2"]["t3"].shape == (3, 5) assert tensor_dataclass[..., 0].shape == (2, 3) assert tensor_dataclass[..., 0].a.shape == (2, 3, 5) assert tensor_dataclass[..., 0].d["t1"].shape == (2, 3, 5) assert tensor_dataclass[..., 0].d["t2"]["t3"].shape == (2, 3, 5) mask = torch.rand(size=(2, 3)) > 0.5 assert tensor_dataclass[mask].ndim == 2 def test_nested_class(): """Test nested TensorDataclasses""" a = torch.ones((4, 6, 3)) b = torch.ones((6, 2)) c = DummyNestedClass(x=torch.ones(6, 5)) tensor_dataclass = DummyTensorDataclass(a=a, b=b, c=c) assert tensor_dataclass.shape == (4, 6) assert tensor_dataclass.a.shape == (4, 6, 3) assert tensor_dataclass.b.shape == (4, 6, 2) assert tensor_dataclass.c.shape == (4, 6) assert tensor_dataclass.c.x.shape == (4, 6, 5) assert tensor_dataclass.size == 24 assert tensor_dataclass.c.size == 24 reshaped = tensor_dataclass.reshape((2, 12)) assert reshaped.shape == (2, 12) assert reshaped.c.shape == (2, 12) assert reshaped.c.x.shape == (2, 12, 5) flattened = tensor_dataclass.flatten() assert flattened.c.shape == (24,) assert flattened.c.x.shape == (24, 5) # Test indexing operations assert tensor_dataclass[:, 1].c.shape == (4,) assert tensor_dataclass[:, 1].c.x.shape == (4, 5) mask = torch.rand(size=(4,)) > 0.5 assert tensor_dataclass[mask].c.ndim == 2 def test_iter(): """Test iterating over tensor dataclass""" tensor_dataclass = DummyTensorDataclass(a=torch.ones((3, 4, 5)), b=torch.ones((3, 4, 5))) for batch in tensor_dataclass: assert batch.shape == (4,) assert batch.a.shape == (4, 5) assert batch.b.shape == (4, 5) if __name__ == "__main__": test_init() test_broadcasting() test_tensor_ops() test_iter() test_nested_class() ================================================ FILE: AutoReconForDens3R/tests/utils/test_visualization.py ================================================ """ Test colormaps """ import torch from nerfstudio.utils import colormaps def test_apply_colormap(): """Test adding a colormap to data""" data = torch.rand((10, 20, 1)) colored_data = colormaps.apply_colormap(data) assert colored_data.shape == (10, 20, 3) assert torch.min(colored_data) >= 0 assert torch.max(colored_data) <= 1 def test_apply_depth_colormap(): """Test adding a colormap to depth data""" data = torch.rand((10, 20, 1)) accum = torch.rand((10, 20, 1)) accum = accum / torch.max(accum) colored_data = colormaps.apply_depth_colormap(depth=data, accumulation=accum) assert colored_data.shape == (10, 20, 3) assert torch.min(colored_data) >= 0 assert torch.max(colored_data) <= 1 def test_apply_boolean_colormap(): """Test adding a colormap to boolean data""" data = torch.rand((10, 20, 1)) data = data > 0.5 colored_data = colormaps.apply_boolean_colormap(data) assert colored_data.shape == (10, 20, 3) assert torch.min(colored_data) >= 0 assert torch.max(colored_data) <= 1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/.gitignore ================================================ # 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See the License for the specific language governing permissions and limitations under the License. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/README.md ================================================ # AutoDecomp: 3D object discovery from casual object captures This is the coarse decomposition part of the method proposed in [AutoRecon: Automated 3D Object Discovery and Reconstruction](https://zju3dv.github.io/autorecon/files/autorecon.pdf). It can be used to preprocess a casual capture (object-centric multi-view images or a video) which estimate the camera poses with SfM and localize the salient foreground object for further reconstruction. ## Install Please install AutoDecomp following [INSTALL.md](docs/INSTALL.md). ## Inference ### Inference with demo data Here we takes `assets/custom_data_example/co3d_chair` as an example. You can run automatic foreground scene decomposition with: `scripts/run_pipeline_demo_low-res.sh`. You should get a similar visualization as in `assets/custom_data_example/co3d_chair/vis_decomposition.html`. You can take the data structure and the script as a reference to run the pipeline on your own data. ### Inference with CO3D data 1. Download the demo data from [Google Drive](https://drive.google.com/drive/folders/1wgtV2WycT2zXVPCMQYm05q-0SIH2ZpER?usp=drive_link) and put them under `data/`. 2. Run one of the script in `scripts/test_pipeline_co3d_manual-poses/cvpr` (use low-res images for feature matching and DINO features) or `scripts/test_pipeline_co3d_manual-poses` (use high-res images for feature matching and DINO features) to run the inference pipeline. 3. We save camera poses, decomposition results and visualization to `path_to_the_instance/auto-deocomp_sfm-transformer`. ### Inference with annotated data in the IDR format We also support import camera poses saved in the IDR format and localize the foreground object. You can run one of the script in `scripts/test_pipeline_bmvs/cvpr` or `scripts/test_pipeline_bmvs` for reference. ## Citation If you find this code useful for your research, please use the following BibTeX entry. ```bibtex @inproceedings{wang2023autorecon, title={AutoRecon: Automated 3D Object Discovery and Reconstruction}, author={Wang, Yuang and He, Xingyi and Peng, Sida and Lin, Haotong and Bao, Hujun and Zhou, Xiaowei}, booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition}, pages={21382--21391}, year={2023} } ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/__init__.py ================================================ __version__ = '0.1' ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/cli/inference_transformer.py ================================================ """ (sfm -> extract dino features) -> preprocess sfm -> decompose w/ transformer """ from dataclasses import dataclass, field from enum import Enum from pathlib import Path from typing import Any, Dict, List import hydra import torch from hydra.core.config_store import ConfigStore from hydra_zen import MISSING from loguru import logger from omegaconf import OmegaConf import os import sys # sys.path.append("/home/meta3d/Desktop/code_4070ti/dust3r/AutoRecon/third_party/AutoDecomp") sys.path.append(str(Path(os.path.abspath(__file__)).resolve().parents[2])) from auto_decomp.decomp.preprocess import SfMPreprocess, SfMPreprocessConfig from auto_decomp.decomp.transformer.dataset.utils import build_inference_batch from auto_decomp.decomp.transformer.lightning.module import ( SfMTransformer, SfMTransformerConfig, ) from auto_decomp.feature_extraction.dino_vit import extract_features as dino_extractor from auto_decomp.sfm import colmap_from_idr, sfm SfmMode = Enum("SfmMode", ["sparse_recon", "idr2colmap", "dens3r"]) @dataclass class Config: defaults: List[Any] = field( default_factory=lambda: [ {"sparse_recon": "sequential"}, {"idr2colmap": "base"}, {"triangulation": "sequential"}, {"dino_feature": "base"}, {"decomp/sfm_preprocess": "base"}, {"decomp/transformer": "base"}, ] ) data_root: Path = Path("data/") inst_rel_dir: str = MISSING sfm_mode: SfmMode = SfmMode.sparse_recon sparse_recon: sfm.SfMConfig = MISSING idr2colmap: colmap_from_idr.IDR2COLMAPConfig = MISSING triangulation: sfm.SfMConfig = MISSING dino_feature: dino_extractor.DINOExtractionConfig = MISSING ckpt_path: str = "ckpts/no-chair.ckpt" save_dirname: str = "auto-decomp_transformer" cs = ConfigStore.instance() cs.store(name="base_config", node=Config) def _update_config(cfg): inst_rel_dir = cfg.inst_rel_dir for k in ["sparse_recon", "idr2colmap", "triangulation", "dino_feature", "decomp.sfm_preprocess"]: OmegaConf.update(cfg, f"{k}.data_root", cfg.data_root) OmegaConf.update(cfg, f"{k}.inst_rel_dir", inst_rel_dir) def main(config: Config): cfg = config _update_config(cfg) sfm_preprocess = SfMPreprocess(cfg.decomp.sfm_preprocess) sfm_transformer = SfMTransformer(cfg.decomp.transformer) if Path(cfg.ckpt_path).exists(): ckpt_path = cfg.ckpt_path else: ckpt_path = Path(__file__).parents[2] / cfg.ckpt_path state_dict = torch.load(ckpt_path, map_location="cpu")["state_dict"] sfm_transformer.load_state_dict(state_dict, strict=True) sfm_transformer.to("cuda") if cfg.sfm_mode == SfmMode.sparse_recon: logger.info("Running sfm w/ sparse features") sfm.main(cfg.sparse_recon) logger.info("Triangulating LoFTR matches") sfm.main(cfg.triangulation) elif cfg.sfm_mode == SfmMode.idr2colmap: logger.info("Converting annotation in the IDR format to a COLMAP model") colmap_from_idr.main(cfg.idr2colmap) logger.info("Triangulating LoFTR matches") sfm.main(cfg.triangulation) elif cfg.sfm_mode == SfmMode.dens3r: logger.info("Running sfm w/ dens3r") sfm_dir_name = sfm.dens3r_recon(cfg.sparse_recon) sfm.postprocess_dens3r(cfg.triangulation, sfm_dir_name) else: raise ValueError(f"Unknown sfm mode: {cfg.sfm_mode}") logger.info("Extracting DINO features") dino_extractor.main(cfg.dino_feature) logger.info("Preprocessing LoFTR triangulation") data: Dict[str, Any] = sfm_preprocess() logger.info("Decomposing sfm point cloud w/ sfm_transformer") sfm_preprocess_cfg = cfg.decomp.sfm_preprocess inst_dir = sfm_preprocess_cfg.data_root / sfm_preprocess_cfg.inst_rel_dir data["inst_dir"] = inst_dir batch = build_inference_batch(data, facet="key", device="cuda") sfm_transformer.inference(batch) torch.cuda.empty_cache() if __name__ == "__main__": hydra.main(config_name="base_config", config_path="../configs/inference_transformer", version_base=None)(main)() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/configs/inference_transformer/config.yaml ================================================ defaults: - base_config - _self_ decomp: sfm_preprocess: use_cache: True online: True visualize: True ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/configs/inference_transformer/cvpr.yaml ================================================ defaults: - base_config - override triangulation: sequential_low-res - override dino_feature: low-res - override decomp/transformer/postprocess_test: inference_cvpr - override decomp/transformer/saving: test_autorecon_cvpr - _self_ decomp: sfm_preprocess: use_cache: True online: True visualize: True transformer: saving: save_dirname: auto-deocomp_sfm-transformer_cvpr ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/configs/inference_transformer/cvpr_idr.yaml ================================================ defaults: - base_config - override triangulation: pairs_from_poses_low-res - override dino_feature: low-res - override decomp/transformer/postprocess_test: inference_cvpr - override decomp/transformer/saving: test_autorecon_cvpr - _self_ sfm_mode: idr2colmap idr2colmap: save_dirname: sfm_from_idr triangulation: reference_sfm_reldir: sfm_from_idr decomp: sfm_preprocess: use_cache: True online: True visualize: True transformer: saving: save_dirname: auto-deocomp_sfm-transformer_cvpr ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/configs/inference_transformer/idr.yaml ================================================ defaults: - base_config - override triangulation: pairs_from_poses - _self_ sfm_mode: idr2colmap idr2colmap: save_dirname: sfm_from_idr triangulation: reference_sfm_reldir: sfm_from_idr decomp: sfm_preprocess: use_cache: True online: True visualize: True ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/configs/inference_transformer/low-res.yaml ================================================ defaults: - base_config - override triangulation: sequential_low-res - override dino_feature: low-res - _self_ decomp: sfm_preprocess: use_cache: True online: True visualize: True ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/configs/inference_transformer/low-res_idr.yaml ================================================ defaults: - base_config - override triangulation: pairs_from_poses_low-res - override dino_feature: low-res - _self_ sfm_mode: idr2colmap idr2colmap: save_dirname: sfm_from_idr triangulation: reference_sfm_reldir: sfm_from_idr decomp: sfm_preprocess: use_cache: True online: True visualize: True ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/preprocess.py ================================================ """ Preprocess the SfM point cloud""" import copy import json import sys import traceback from dataclasses import dataclass from enum import Enum from pathlib import Path from typing import Any, Dict, Optional, Tuple import hydra import numpy as np import pycolmap import ray import torch from hydra.core.config_store import ConfigStore from hydra_zen import store from loguru import logger from omegaconf import DictConfig, OmegaConf from rich.traceback import install from auto_decomp.utils import colmap as colmap_utils from auto_decomp.utils.geometry.pointcloud.pointcloud import NeuralPointCloud from auto_decomp.utils.misc import EarlyTermination from auto_decomp.utils.viz_3d import PlotlySaveMode install(show_locals=False) PreprocessMode = Enum("PreprocessMode", ["transformer", "ncut"]) @dataclass class SfMPreprocessConfig: mode: PreprocessMode = PreprocessMode.transformer """whether preprocess for transformer or ncut""" online: bool = False """whether preprocess online (return preprocessed data) of offline (save preprocessed data )""" data_root: Path = Path("data/") inst_rel_dir: Optional[str] = None inst_list_path: Optional[Path] = None """path to the file containing a list of instances""" image_dirname: str = "images" feat_dirname: str = "dino_feats_307200" feat_dtype: str = "float16" exp_dirname: str = "sfm_preprocess" n_workers: int = 1 force_rerun: bool = True sfm_dirname: str = "triangulate_loftr-1920000_sequential_np-10" load_all_features: bool = True """load all features from the provided feature files""" cache_name: str = ".cache.json" use_cache: bool = True """read the latest-produced sfm directory from cache""" visualize: bool = True """visualize intermediate point clouds during preprocessing""" vis_save_mode: PlotlySaveMode = PlotlySaveMode.html # filtering configs max_reproj_error: Optional[float] = None """if None, compute filtering threshold adaptively""" min_track_length: Optional[float] = None """if None, compute filtering threshold adaptively""" stat_outlier_n_neighbors: int = 30 """statistical outlier removal""" stat_outlier_std_ratio: float = 0.5 """statistical outlier removal""" # TODO: update other preprocess configs for NCut preprocessing sfm_preprocess_store = store(group="decomp/sfm_preprocess") sfm_preprocess_store = sfm_preprocess_store(SfMPreprocessConfig, name="base") store.add_to_hydra_store() class SfMPreprocessWorker: def __init__(self, cfg: DictConfig, inst_rel_dir: str, device: str = "cuda"): """Preprocess a single SfM point cloud.""" self.cfg = cfg self.device = device self._init_paths(inst_rel_dir) self.rec = pycolmap.Reconstruction(self.sfm_dir) self._sanity_check() early_stop = self._handle_resume() if early_stop: return logger.info(f"Processing instance: {self.inst_rel_dir}") self.update_thresholds() def _init_paths(self, inst_rel_dir: str): cfg = self.cfg self.inst_rel_dir = inst_rel_dir inst_root = cfg.data_root / self.inst_rel_dir cfg.cache_path = inst_root / cfg.cache_name # caches storing the sfm paths (.cache.json) if cfg.use_cache: with open(cfg.cache_path, "r") as f: cache = json.load(f) sfm_dir = Path(cache["sfm_dir"]) sfm_root = inst_root / sfm_dir.parent.relative_to(inst_root) feat_dirname = cache["feat_dirname"] logger.info( f"Reading directories from cache: SfM:{sfm_dir.relative_to(inst_root)} | Feature:{feat_dirname}" ) else: sfm_root = inst_root / cfg.sfm_dirname sfm_dir = sfm_root / "sfm" feat_dirname = cfg.feat_dirname manhattan_sfm_dir = sfm_root / "manhattan" if (manhattan_sfm_dir / "points3D.bin").exists(): sfm_dir = manhattan_sfm_dir self.sfm_root, self.sfm_dir = sfm_root, sfm_dir self.images_dir = inst_root / cfg.image_dirname self.exp_dir = self.sfm_root / cfg.exp_dirname self.feat_dir = inst_root / feat_dirname self.vis_dir = self.exp_dir / "vis_plots" # mkdir self.exp_dir.mkdir(exist_ok=True) self.vis_dir.mkdir(exist_ok=True) def _handle_resume(self) -> bool: early_stop = False if not self.cfg.force_rerun: # TODO: check if this instance is already processed. raise NotImplementedError else: early_stop = False return early_stop def _sanity_check(self) -> None: # check sfm model _required_fns = ["cameras.bin", "images.bin", "points3D.bin"] if not all([(self.sfm_dir / fn).exists() for fn in _required_fns]): raise EarlyTermination( f"Incomplete SfM model ({self.sfm_dir}), " f'at least one of ({" ".join(_required_fns)}) is missing!' ) # check vit features if not self.feat_dir.exists(): raise EarlyTermination(f"feat_dir does not exist: {self.feat_dir}") else: # check if features are extracted for all registered images for img_id in self.rec.reg_image_ids(): img_name = self.rec.images[img_id].name feat_path = (self.feat_dir / img_name).with_suffix(".npz") if not feat_path.exists(): # logger.error(f'Cannot find the required feature file: {str(feat_path)} (for image "{img_name}")') raise EarlyTermination( f'Cannot find the required feature file: {str(feat_path)} (for image "{img_name}")' ) def update_thresholds(self): """Update preprocessing thresholds adaptively""" # max_reproj_error & min_track_length of the SfM point cloud if self.cfg.max_reproj_error is None or self.cfg.min_track_length is None: # NOTE: the distri. of min_track_lengths is left-skewed (mostly a Pareto distri.) # the distri. of reproj_errors is approximately gaussian bbs = self.rec.compute_bounding_box(0.001, 0.999) # filtering extreme outliers p3Ds = { p3D_id: p3D for p3D_id, p3D in self.rec.points3D.items() if (p3D.xyz >= bbs[0]).all() and (p3D.xyz <= bbs[1]).all() } reproj_errors = [p3D.error for p3D in p3Ds.values()] track_lengths = [p3D.track.length() for p3D in p3Ds.values()] min_track_length = np.median(track_lengths) # TODO: use a more statistically sound indicator _reproj_error_std_ratio = 3.0 max_reproj_error = np.mean(reproj_errors) + np.std(reproj_errors) * _reproj_error_std_ratio if self.cfg.max_reproj_error is None: self.cfg.max_reproj_error = float(max_reproj_error) if self.cfg.min_track_length is None: self.cfg.min_track_length = float(min_track_length) logger.info(f"Using adaptive thresholds: {max_reproj_error=} | {min_track_length=}") def __call__(self) -> Optional[Dict[str, Any]]: """Perform a series of pre-processing on the SfM Point Cloud. 1. filtering w/ reproj-error & track-length 2. statistical outlier removal -> SfM Segmentation Transformer 3. downsampling w/ voxelization 4. filtering points behind most of the cameras 5. filtering part of the ground points -> NCut Segmentation """ data = {"inst_name": self.inst_rel_dir.replace("/", "_")} self.parse_poses(data) self.build_neural_ptcd(data) self.stat_outlier_removal(data) if self.cfg.mode == PreprocessMode.transformer: if self.cfg.online: return data # "poses", "neural_ptcd" else: self.save_transformer_inference() self.voxel_downsample(data) self.filter_pts_behind_cameras(data) self.filter_ground_plane_pts(data) if self.cfg.online: return data else: self.save_ncut_inference() def parse_poses(self, data): data.update({"poses": colmap_utils.parse_poses(self.rec)}) def build_neural_ptcd(self, data): """Build neural point cloud with basic preprocessing based on track-length and reproj-error""" neural_ptcd = NeuralPointCloud.from_pycolmap_rec( self.rec, self.images_dir, self.feat_dir, self.cfg.max_reproj_error, self.cfg.min_track_length, self.device, feature_dtype=self.cfg.feat_dtype, load_all_features=self.cfg.load_all_features, vis_dir=self.vis_dir, plotly_save_mode=self.cfg.vis_save_mode, ) if self.cfg.visualize: neural_ptcd.visualize_ptcd("step-1") data.update({"neural_ptcd": neural_ptcd}) def stat_outlier_removal(self, data): data["neural_ptcd"].statistical_outlier_removal( self.cfg.stat_outlier_n_neighbors, self.cfg.stat_outlier_std_ratio ) # TODO: vis & logging def voxel_downsample(self, data): raise NotImplementedError def filter_pts_behind_cameras(self, data): raise NotImplementedError def filter_ground_plane_pts(self, data): raise NotImplementedError def save_transformer_inference(self): """Save preprocessed data for transformer inference""" # TODO: tensor -> ndarray # TODO: save feature with neural_ptcd.feature_dtype raise NotImplementedError def save_ncut_inference(self): """Save preprocessed data for transformer inference""" # TODO: save feature with neural_ptcd.feature_dtype raise NotImplementedError # TODO: Use a reusable Actor @ray.remote(num_cpus=1, num_gpus=1) def ray_wrapper(cfg, task_id=None, **kwargs) -> Tuple[bool, str, Optional[str]]: torch.cuda.empty_cache() gpu_id = ray.get_gpu_ids()[0] inst_rel_dir = kwargs["inst_rel_dir"] logger.configure(extra={"gpu_id": gpu_id, "task_id": task_id, "inst": inst_rel_dir}) try: SfMPreprocessWorker(cfg, **kwargs)() logger.info("SfM preprocessing done!") return True, inst_rel_dir, None except (EarlyTermination, RuntimeError, AssertionError) as err: err_str = traceback.format_exc() logger.error(f"SfM preprocessing failed: {err_str}") return False, inst_rel_dir, err_str class SfMPreprocess: def __init__(self, cfg: DictConfig): self.cfg = cfg OmegaConf.set_struct(cfg, False) self.setup_logger() if self.cfg.n_workers > 1: ray.init(num_cpus=self.cfg.n_workers, num_gpus=self.cfg.n_workers) def __call__(self) -> Optional[Dict[str, Any]]: assert np.array([i is not None for i in [self.cfg.inst_rel_dir, self.cfg.inst_list_path]]).sum() == 1 # Run SfM preprocessing if self.cfg.inst_rel_dir is not None: assert self.cfg.n_workers == 1 torch.cuda.empty_cache() logger.configure(extra={"gpu_id": 0, "task_id": 0, "inst": self.cfg.inst_rel_dir}) return SfMPreprocessWorker(self.cfg, self.cfg.inst_rel_dir, device="cuda")() else: assert not self.cfg.online, "Online mode is not supported for multiple sequences!" with open(self.cfg.inst_list_path, "r") as f: inst_rel_dirs = f.read().strip().split() obj_refs = [ ray_wrapper.remote(copy.deepcopy(self.cfg), task_id=task_id, inst_rel_dir=inst_rel_dir) # type: ignore for task_id, inst_rel_dir in enumerate(inst_rel_dirs) ] logger.info(f"{len(obj_refs)} sequences to be processed!") ret_vals = ray.get(obj_refs) # Log results ret_states = np.array([s for s, _, _ in ret_vals], dtype=int) insts = np.array([i for _, i, _ in ret_vals]) errors = np.array([e for _, _, e in ret_vals]) n_success = ret_states.sum() failed_insts = insts[~(ret_states.astype(bool))] failed_errors = errors[~(ret_states.astype(bool))] logger.info(f"Successfully executed tasks: {n_success} / {len(ret_states)}") if n_success != len(ret_states): err_str = "\n".join([f"{_id}: {_err}" for _id, _err in zip(failed_insts, failed_errors)]) logger.error(f"Failed instances: \n{err_str}") def setup_logger(self): logger_format = ( "{time:YYYY-MM-DD HH:mm:ss.SSS} | " "{level: <8} | " "{name}:{function}:{line} | " "- {message}" ) logger.remove() logger.add(sys.stderr, format=logger_format) if __name__ == "__main__": cs = ConfigStore.instance() cs.store(name="config", node=SfMPreprocessConfig) hydra.main(config_name="config", version_base=None)(lambda cfg: SfMPreprocess(cfg)())() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/dataset/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/dataset/ncut.py ================================================ """Load the dataset built with NCut""" ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/dataset/utils.py ================================================ from typing import Any, Dict, Tuple, Union import numpy as np import torch from einops import repeat from torch import Tensor from torch.utils.data import default_collate from auto_decomp.utils.geometry.box3d import convert_box_format from auto_decomp.utils.geometry.pointcloud import NeuralPointCloud BBOX_KEYS = ["bbox", "extended_bbox", "box_pseudo_gt_pca", "box_pseudo_gt_aabb"] def normalize_pointcloud(data): # normalize pointcloud to a [-1, 1]^3 bbox (PointNet normalize ptcd into a unit-sphere) xyz = data["xyz"] _max, _min = xyz.max(0), xyz.min(0) scale = 1 / ((_max - _min).max() + 1e-7) xyz = (xyz - _min) * scale * 2 - 1 assert xyz.min() >= -1 and xyz.max() <= 1 data["xyz"] = xyz if "avg_cam_loc" in data: # for testing only, no other augmentation allowed data["avg_cam_loc"] = (data["avg_cam_loc"] - _min) * scale * 2 - 1 data["normalize_min"] = _min data["normalize_scale"] = scale # for de-noramlization for k in ["bbox", "extended_bbox"]: if k in data: # FIXME: normalize_pointcloud is called twice and data[k].shape == (8, 3) for the 2nd call. # assert data[k].shape == (2, 3) # (center, extent) if data[k].shape == (2, 3): data[k] = convert_box_format(data[k], "center_extent", "vertices") for k in BBOX_KEYS: if k in data: data[k] = (data[k] - _min) * scale * 2 - 1 # if k != 'extended_bbox': # assert data[k].min() >= -1 and data[k].max() <= 1, f'{k} not in [-1, 1]\n: {data[k]}' return data def to_numpy(obj): if isinstance(obj, Tensor): obj = obj.cpu().numpy() if obj.dtype == np.float64: obj = obj.astype(np.float32) return obj elif isinstance(obj, np.ndarray): if obj.dtype == np.float64: obj = obj.astype(np.float32) return obj elif isinstance(obj, dict): res = {} for k, v in obj.items(): res[k] = to_numpy(v) return res elif isinstance(obj, list): res = [] for v in obj: res.append(to_numpy(v)) return res else: return obj def move_to(obj, device): if torch.is_tensor(obj): return obj.to(device) elif isinstance(obj, dict): res = {} for k, v in obj.items(): res[k] = move_to(v, device) return res elif isinstance(obj, list): res = [] for v in obj: res.append(move_to(v, device)) return res elif isinstance(obj, str): return obj else: raise TypeError(f"Invalid type for move_to: {type(obj)}") def build_inference_batch( data: Dict[str, Any], facet: str = "key", device: str = "cuda", normalize_ptcd: bool = True ) -> Dict[str, torch.Tensor]: """Build a batch for transformer inference. Args: data (Dict[str, Any]): the preprocessed sfm data { "inst_name": str "poses": Dict: {image_name: {'T44_w2c': np.ndarray, 'K33': np.ndarray}} "neural_ptcd": NeuralPointCloud } """ batch = {} inst_name, inst_dir, poses, neural_ptcd = data["inst_name"], data["inst_dir"], data["poses"], data["neural_ptcd"] xyz = neural_ptcd.p3Ds # (n_p, 3) feat = neural_ptcd.pointwise_features[NeuralPointCloud.MAIN_FEATURE_KEY] # (n_p, nc) cls_feat = neural_ptcd.imagewise_features[f"cls_{facet}"] # (nc,) avg_cam_loc = compute_average_camera_position(poses) batch = { "xyz": xyz, "feat": feat, "cls_feat": cls_feat, "poses": poses, "avg_cam_loc": avg_cam_loc, "inst_name": inst_name, "inst_dir": str(inst_dir) } if normalize_ptcd: batch = normalize_pointcloud(to_numpy(batch)) batch = default_collate([batch]) batch = move_to(batch, device) return batch def compute_average_camera_position(poses: Dict[str, Dict[str, np.ndarray]]) -> np.ndarray: all_T44_w2c = np.stack([v["T44_w2c"] for v in poses.values()], 0) all_T44_c2w = repeat(np.eye(4), "a b -> c a b", c=len(all_T44_w2c)) all_T44_c2w[:, :3, :3] = all_T44_w2c[:, :3, :3].transpose(0, 2, 1) all_T44_c2w[:, :3, [-1]] = -all_T44_c2w[:, :3, :3] @ all_T44_w2c[:, :3, [-1]] avg_cam_loc = all_T44_c2w[:, :3, -1].mean(0) # (3, ) return avg_cam_loc ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/lightning/module.py ================================================ from dataclasses import dataclass, field from typing import Any, List, Literal import pytorch_lightning as pl from hydra_zen import MISSING, instantiate, make_custom_builds_fn, store from hydra_zen.typing import Partial from loguru import logger from torch.optim import Adam, Optimizer from torch.optim.lr_scheduler import MultiStepLR from auto_decomp.decomp.transformer.modeling import ( PointTransformer, SegHeadConfig, TokenSegHead, TransformerConfig, ) from auto_decomp.decomp.transformer.utils.postprocess import ( Postprocess, PostprocessConfig, ) from auto_decomp.decomp.transformer.utils.saving import ( SaveResults, SfMTransformerSaveConfig, ) pbuilds = make_custom_builds_fn(zen_partial=True, populate_full_signature=True) def if_none_then_true(x): return x is None @dataclass class SfMTransformerConfig: defaults: List[Any] = field( default_factory=lambda: [ {"backbone": "base"}, {"seg_head": "base"}, {"postprocess_train": "base"}, {"postprocess_test": "inference"}, {"saving": "test_autorecon"}, ] ) # model backbone: TransformerConfig = MISSING seg_head: SegHeadConfig = MISSING # training optimizer: Partial[Optimizer] = pbuilds(Adam, lr=1e-3) scheduler: Partial[MultiStepLR] = pbuilds(MultiStepLR, milestones=[5, 10, 15, 20, 25], gamma=0.1) # postprocess & decomposition buiding postprocess_train: PostprocessConfig = MISSING postprocess_test: PostprocessConfig = MISSING # either eval / inference # saving saving: SfMTransformerSaveConfig = MISSING # TODO: vis configs sfm_trans_store = store(group="decomp/transformer") sfm_trans_store(SfMTransformerConfig, name="base") store.add_to_hydra_store() class SfMTransformer(pl.LightningModule): def __init__(self, cfg: SfMTransformerConfig): super().__init__() self.cfg = cfg self.transformer: PointTransformer = instantiate(cfg.backbone) self.seg_head: TokenSegHead = instantiate(cfg.seg_head) self.postprocess_train = Postprocess(cfg.postprocess_train) self.postprocess_test = Postprocess(cfg.postprocess_test) self.save_results = SaveResults(cfg.saving) def forward(self, data): xyz, feat, cls_feat = map(data.get, ["xyz", "feat", "cls_feat"]) tokens = self.transformer(xyz, feat, cls_token=cls_feat) # (B, 1+N, C) probs = self.seg_head(tokens[:, 1:], tokens[:, [0]]) # (B, N, 1) return probs def inference(self, batch): return self.test_val_step(batch, -1, mode="test") def test_val_step(self, batch, batch_idx, mode="test"): assert mode in ["val", "test"] # TODO: check whether "val" is correctly handled # is_sanity_check = self.trainer.state.stage == "sanity_check" aux_data = self.build_aux_attrs(batch, mode) probs = self.forward(batch) fg_aabb_verts_no_postprocess, fg_aabb_verts, decomp_results = self.postprocess_test( batch["xyz"], probs, avg_cam_loc=batch.get("avg_cam_loc", None), aux_data=aux_data, rot_mat=batch.get("rot_mat", None), instance_names=batch["inst_name"], ) # save annotations if mode == "test": self.save_results.save_annotations(batch, decomp_results) # TODO: compute losses & metrics # TODO: visualization (random, fixed) # TODO: return losses & metrics return {} def validation_step(self, batch, batch_idx): return self.test_val_step(batch, batch_idx, mode="val") def test_step(self, batch, batch_idx): return self.test_val_step(batch, batch_idx, mode="test") def build_aux_attrs(self, batch, mode: Literal["train", "test", "val"]): """Build auxiliary point-wise attributs.""" if mode == "test": # TODO: build a enum shared with the dataset class try: aux_keys = ["rgb_all", "pca_rgb_all", "feat"] # NOTE: augmentations are not applied on these fields aux_data = {k: batch[k] for k in aux_keys} except KeyError: logger.warning("Missing auxiliary point-wise attributs, ignored!") aux_data = None else: aux_data = None return aux_data ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/modeling/__init__.py ================================================ from hydra_zen import builds, store from .point_transformer import PointTransformer, TokenSegHead TransformerConfig = builds(PointTransformer, populate_full_signature=True) base_transformer = TransformerConfig( depth=2, embed_dim=96, linear_attention=True, pos_enc_type="discrete_sine", pos_enc_merge="sum" ) transformer_backbone_store = store(group="decomp/transformer/backbone") transformer_backbone_store(base_transformer, name="base") SegHeadConfig = builds(TokenSegHead, populate_full_signature=True) base_seg_head = SegHeadConfig(use_softmax=False, num_classes=2, temperature=1.0) seg_head_store = store(group="decomp/transformer/seg_head") seg_head_store(base_seg_head, name="base") store.add_to_hydra_store() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/modeling/encoding.py ================================================ # Copyright 2022 The Nerfstudio Team. All rights reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Modified from Nerfstudio. """ from abc import abstractmethod from typing import Optional import torch from torch import nn from torchtyping import TensorType def expected_sin(x_means: torch.Tensor, x_vars: torch.Tensor) -> torch.Tensor: """Computes the expected value of sin(y) where y ~ N(x_means, x_vars) Args: x_means: Mean values. x_vars: Variance of values. Returns: torch.Tensor: The expected value of sin. """ return torch.exp(-0.5 * x_vars) * torch.sin(x_means) class FieldComponent(nn.Module): """Field modules that can be combined to store and compute the fields. Args: in_dim: Input dimension to module. out_dim: Ouput dimension to module. """ def __init__(self, in_dim: Optional[int] = None, out_dim: Optional[int] = None) -> None: super().__init__() self.in_dim = in_dim self.out_dim = out_dim def build_nn_modules(self) -> None: """Function instantiates any torch.nn members within the module. If none exist, do nothing.""" def set_in_dim(self, in_dim: int) -> None: """Sets input dimension of encoding Args: in_dim: input dimension """ if in_dim <= 0: raise ValueError("Input dimension should be greater than zero") self.in_dim = in_dim def get_out_dim(self) -> int: """Calculates output dimension of encoding.""" if self.out_dim is None: raise ValueError("Output dimension has not been set") return self.out_dim @abstractmethod def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: """ Returns processed tensor Args: in_tensor: Input tensor to process """ raise NotImplementedError class Encoding(FieldComponent): """Encode an input tensor. Intended to be subclassed Args: in_dim: Input dimension of tensor """ def __init__(self, in_dim: int) -> None: if in_dim <= 0: raise ValueError("Input dimension should be greater than zero") super().__init__(in_dim=in_dim) @abstractmethod def forward(self, in_tensor: TensorType["bs":..., "input_dim"]) -> TensorType["bs":..., "output_dim"]: """Call forward and returns and processed tensor Args: in_tensor: the input tensor to process """ raise NotImplementedError class NeRFEncoding(Encoding): """Multi-scale sinousoidal encodings. Support ``integrated positional encodings`` if covariances are provided. Each axis is encoded with frequencies ranging from 2^min_freq_exp to 2^max_freq_exp. Args: in_dim: Input dimension of tensor num_frequencies: Number of encoded frequencies per axis min_freq_exp: Minimum frequency exponent (i.e., logscale) max_freq_exp: Maximum frequency exponent (i.e., logscale) include_input: Append the input coordinate to the encoding """ def __init__( self, in_dim: int, num_frequencies: int, min_freq_exp: float, max_freq_exp: float, include_input: bool = False ) -> None: super().__init__(in_dim) self.num_frequencies = num_frequencies self.min_freq = min_freq_exp self.max_freq = max_freq_exp self.include_input = include_input def get_out_dim(self) -> int: if self.in_dim is None: raise ValueError("Input dimension has not been set") out_dim = self.in_dim * self.num_frequencies * 2 if self.include_input: out_dim += self.in_dim return out_dim def forward( self, in_tensor: TensorType["bs":..., "input_dim"], covs: Optional[TensorType["bs":..., "input_dim", "input_dim"]] = None, ) -> TensorType["bs":..., "output_dim"]: """Calculates NeRF encoding. If covariances are provided the encodings will be integrated as proposed in mip-NeRF. Args: in_tensor: For best performance, the input tensor should be between 0 and 1. covs: Covariances of input points. Returns: Output values will be between -1 and 1 """ in_tensor = 2 * torch.pi * in_tensor # scale to [0, 2pi] freqs = 2 ** torch.linspace(self.min_freq, self.max_freq, self.num_frequencies).to(in_tensor.device) scaled_inputs = in_tensor[..., None] * freqs # [..., "input_dim", "num_scales"] scaled_inputs = scaled_inputs.view(*scaled_inputs.shape[:-2], -1) # [..., "input_dim" * "num_scales"] if covs is None: encoded_inputs = torch.sin(torch.cat([scaled_inputs, scaled_inputs + torch.pi / 2.0], dim=-1)) else: input_var = torch.diagonal(covs, dim1=-2, dim2=-1)[..., :, None] * freqs[None, :] ** 2 input_var = input_var.reshape((*input_var.shape[:-2], -1)) encoded_inputs = expected_sin( torch.cat([scaled_inputs, scaled_inputs + torch.pi / 2.0], dim=-1), torch.cat(2 * [input_var], dim=-1) ) if self.include_input: encoded_inputs = torch.cat([encoded_inputs, in_tensor], dim=-1) return encoded_inputs class RFFEncoding(Encoding): """Random Fourier Feature encoding. Supports integrated encodings. Args: in_dim: Input dimension of tensor num_frequencies: Number of encoding frequencies scale: Std of Gaussian to sample frequencies. Must be greater than zero include_input: Append the input coordinate to the encoding """ def __init__(self, in_dim: int, num_frequencies: int, scale: float, include_input: bool = False) -> None: super().__init__(in_dim) self.num_frequencies = num_frequencies if not scale > 0: raise ValueError("RFF encoding scale should be greater than zero") self.scale = scale if self.in_dim is None: raise ValueError("Input dimension has not been set") b_matrix = torch.normal(mean=0, std=self.scale, size=(self.in_dim, self.num_frequencies)) self.register_buffer(name="b_matrix", tensor=b_matrix) self.include_input = include_input def get_out_dim(self) -> int: return self.num_frequencies * 2 def forward( self, in_tensor: TensorType["bs":..., "input_dim"], covs: Optional[TensorType["bs":..., "input_dim", "input_dim"]] = None, ) -> TensorType["bs":..., "output_dim"]: """Calculates RFF encoding. If covariances are provided the encodings will be integrated as proposed in mip-NeRF. Args: in_tensor: For best performance, the input tensor should be between 0 and 1. covs: Covariances of input points. Returns: Output values will be between -1 and 1 """ in_tensor = 2 * torch.pi * in_tensor # scale to [0, 2pi] scaled_inputs = in_tensor @ self.b_matrix # [..., "num_frequencies"] if covs is None: encoded_inputs = torch.sin(torch.cat([scaled_inputs, scaled_inputs + torch.pi / 2.0], dim=-1)) else: input_var = torch.sum((covs @ self.b_matrix) * self.b_matrix, -2) encoded_inputs = expected_sin( torch.cat([scaled_inputs, scaled_inputs + torch.pi / 2.0], dim=-1), torch.cat(2 * [input_var], dim=-1) ) if self.include_input: encoded_inputs = torch.cat([encoded_inputs, in_tensor], dim=-1) return encoded_inputs ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/modeling/point_transformer.py ================================================ from typing import Optional import torch from einops import rearrange from positional_encodings.torch_encodings import PositionalEncoding3D from torch import Tensor, nn from torch.nn import functional as F from .encoding import NeRFEncoding from .utils import trunc_normal_ from .vision_transformer import Block, Mlp class PointTransformer(nn.Module): def __init__( self, voxel_resolution=128, in_chans=384, num_classes=2, embed_dim=384, depth=2, num_heads=6, mlp_ratio=4.0, pos_enc_type="discrete_learned", pos_enc_merge="sum", qkv_bias=False, qk_scale=None, drop_rate=0.0, attn_drop_rate=0.0, drop_path_rate=0.0, norm_layer=nn.LayerNorm, linear_attention=False, **kwargs, ): super().__init__() self.voxel_resolution = voxel_resolution self.num_features = self.embed_dim = embed_dim self.voxel_embed = VoxelEmbedding(voxel_resolution=voxel_resolution, in_chans=in_chans, embed_dim=embed_dim) max_n_voxels = self.voxel_embed.max_n_voxels assert num_classes == 2 # otherwise, create more cls_tokens (DETR-style set-prediction) self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) # optional: if not provided trunc_normal_(self.cls_token, std=0.02) # positional embedding # -- pos.enc type self.pos_enc_type = pos_enc_type if pos_enc_type == "discrete_learned": self.pos_embed = nn.Parameter(torch.zeros(1, max_n_voxels + 1, embed_dim)) trunc_normal_(self.pos_embed, std=0.02) elif pos_enc_type == "discrete_sine": # FIXME: the ranges of sine pos.enc is incompatible w/ DINO features? self.register_buffer( "pos_embed", torch.cat( [ torch.zeros(1, 1, embed_dim), # for [cls] token PositionalEncoding3D(embed_dim)( torch.zeros( 1, *( [ voxel_resolution, ] * 3 ), embed_dim, ) ).reshape(1, -1, embed_dim), ], dim=1, ), persistent=False, ) elif pos_enc_type == "continuous_sine": # use: https://github.com/nerfstudio-project/nerfstudio/blob/b8f85fb603e426309697f7590db3e2c34b9a0d66/nerfstudio/field_components/encodings.py#L1 # with min_freq & max_freq from logscale: https://github.com/kwea123/nerf_pl/blob/b7e44f661b9c391cf10760bf19b9243c019cfbe8/models/nerf.py assert embed_dim % 6 == 0 n_freqs = int(embed_dim / 6) min_freq_exp, max_freq_exp = 0, n_freqs - 1 self.pos_embed = NeRFEncoding(3, n_freqs, min_freq_exp, max_freq_exp, include_input=False) elif pos_enc_type == "RFF": raise NotImplementedError elif pos_enc_type is None: self.pos_embed = None else: raise NotImplementedError(f"Unknown pos.enc: {pos_enc_type}") # -- pos.enc merge self.pos_enc_merge = pos_enc_merge if pos_enc_merge == "sum": self.pos_feat_merger = lambda x, y: x + y elif pos_enc_merge == "mlp": # TODO: donot down-project pretrained DINO feature before merging self.pos_feat_merger = PosFeatMerger(embed_dim, embed_dim, int(embed_dim * mlp_ratio), embed_dim) else: raise ValueError(f"Unknown pos_enc_merge: {pos_enc_merge}") self.pos_drop = nn.Dropout(p=drop_rate) dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule self.blocks = nn.ModuleList( [ Block( dim=embed_dim, num_heads=num_heads, mlp_ratio=mlp_ratio, qkv_bias=qkv_bias, qk_scale=qk_scale, drop=drop_rate, attn_drop=attn_drop_rate, drop_path=dpr[i], norm_layer=norm_layer, linear_attention=linear_attention, ) for i in range(depth) ] ) self.norm = norm_layer(embed_dim) # (optional) segmentation head # self.head = nn.Linear(embed_dim, num_classes) # num_classes - 1 for sigmoid self.apply(self._init_weights) def _init_weights(self, m): if isinstance(m, nn.Linear): trunc_normal_(m.weight, std=0.02) if isinstance(m, nn.Linear) and m.bias is not None: nn.init.constant_(m.bias, 0) elif isinstance(m, nn.LayerNorm): nn.init.constant_(m.bias, 0) nn.init.constant_(m.weight, 1.0) def interpolate_pos_encoding(self, x: Tensor): """Interpolate discrete (multi-scale) pos_enc volume w/ continuous point coordiantes. Args: x: (B, N, 3) input point cloud normalized to [-1, 1]^3 Returns: pos_enc: (B, N+1, C) """ assert x.min() >= -1 and x.max() <= 1 vol_res = self.voxel_resolution class_pos_embed = self.pos_embed[:, 0] # (1, C) patch_pos_embed = self.pos_embed[:, 1:] # volume_pos_embed = patch_pos_embed.reshape(1, vol_res, vol_res, vol_res, self.embed_dim) volume_pos_embed = rearrange( patch_pos_embed, "b (n0 n1 n2) c -> b c n0 n1 n2", n0=vol_res, n1=vol_res, n2=vol_res ) point_pos_embed = F.grid_sample(volume_pos_embed, x[:, :, None, None, :], mode="nearest", align_corners=True)[ ..., 0, 0 ].permute( 0, 2, 1 ) # (B, N, C) return torch.cat((class_pos_embed.unsqueeze(0), point_pos_embed), dim=1) def prepare_tokens(self, xyz: Tensor, feat: Tensor, cls_token: Optional[Tensor] = None): """ Args: xyz: (B, N, 3) point coordinates normalized to [-1, 1]^3 feat: (B, N, C) point features cls_token: (B, C) instance-wise [cls] token Returns: token: (B, 1+N, C) """ B, n_pts, nc = feat.shape feat = self.voxel_embed(xyz, feat) # patch linear embedding # add the [CLS] token to the embed patch tokens if cls_token is not None: cls_token = self.voxel_embed(None, cls_token[:, None]) else: cls_token = self.cls_token.expand(B, -1, -1) feat = torch.cat((cls_token, feat), dim=1) # (B, 1+N, C) # compute positional encoding if self.pos_enc_type in ["discrete_learned", "discrete_sine"]: pos_embed = self.interpolate_pos_encoding(xyz) # (B, 1+N, C) feat = self.pos_feat_merger(pos_embed, feat) # feat = feat + pos_embed elif self.pos_enc_type in ["continuous_sine"]: pos_embed = torch.cat( [xyz.new_zeros((B, 1, self.embed_dim)), self.pos_embed(xyz)], dim=1 # [cls] # pyright: ignore ) feat = self.pos_feat_merger(pos_embed, feat) # feat = feat + pos_embed return self.pos_drop(feat) def forward(self, xyz: Tensor, feat: Tensor, cls_token: Optional[Tensor] = None) -> Tensor: tokens = self.prepare_tokens(xyz, feat, cls_token) # (B, 1+N, C) for blk in self.blocks: tokens = blk(tokens) tokens = self.norm(tokens) return tokens # tokens[:, 0] class VoxelEmbedding(nn.Module): def __init__(self, voxel_resolution=128, in_chans=384, embed_dim=384): super().__init__() self.voxel_resolution = voxel_resolution self.voxel_embed = nn.Linear(in_chans, embed_dim) self.max_n_voxels = int(voxel_resolution**3) def forward(self, xyz: Tensor, feat: Tensor): # TODO: voxel-wise embedding feat = self.voxel_embed(feat) return feat class PosFeatMerger(nn.Module): def __init__(self, pos_dim, feat_dim, hidden_dim, out_dim, act_layer=nn.GELU, drop=0.0): super().__init__() self.mlp = Mlp( pos_dim + feat_dim, hidden_features=hidden_dim, out_features=out_dim, act_layer=act_layer, drop=drop ) def forward(self, pos, feat): return self.mlp(torch.cat([pos, feat], dim=-1)) class TokenSegHead(nn.Module): def __init__(self, use_softmax=False, temperature=1.0, num_classes=2): super().__init__() self.use_softmax = use_softmax self.temperature = temperature self.num_classes = num_classes def forward(self, tokens: Tensor, cls_tokens: Tensor) -> Tensor: """ Args: tokens: (B, N, C) cls_tokens: (B, n_cls, C) Returns: probs: (B, N, n_cls) """ dot_prods = torch.einsum("bik,bjk->bij", tokens, cls_tokens) dot_prods *= self.temperature if self.use_softmax: assert dot_prods.shape[-1] == self.num_classes probs = torch.softmax(dot_prods, -1) else: # element-wise sigmoid assert dot_prods.shape[-1] == self.num_classes - 1 probs = torch.sigmoid(dot_prods) return probs ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/modeling/utils.py ================================================ import math import warnings import torch from torch import Tensor, nn from torch.nn import functional as F def _no_grad_trunc_normal_(tensor, mean, std, a, b): # Cut & paste from PyTorch official master until it's in a few official releases - RW # Method based on https://people.sc.fsu.edu/~jburkardt/presentations/truncated_normal.pdf def norm_cdf(x): # Computes standard normal cumulative distribution function return (1. + math.erf(x / math.sqrt(2.))) / 2. if (mean < a - 2 * std) or (mean > b + 2 * std): warnings.warn("mean is more than 2 std from [a, b] in nn.init.trunc_normal_. " "The distribution of values may be incorrect.", stacklevel=2) with torch.no_grad(): # Values are generated by using a truncated uniform distribution and # then using the inverse CDF for the normal distribution. # Get upper and lower cdf values l = norm_cdf((a - mean) / std) u = norm_cdf((b - mean) / std) # Uniformly fill tensor with values from [l, u], then translate to # [2l-1, 2u-1]. tensor.uniform_(2 * l - 1, 2 * u - 1) # Use inverse cdf transform for normal distribution to get truncated # standard normal tensor.erfinv_() # Transform to proper mean, std tensor.mul_(std * math.sqrt(2.)) tensor.add_(mean) # Clamp to ensure it's in the proper range tensor.clamp_(min=a, max=b) return tensor def trunc_normal_(tensor, mean=0., std=1., a=-2., b=2.): # type: (Tensor, float, float, float, float) -> Tensor return _no_grad_trunc_normal_(tensor, mean, std, a, b) def elu_feature_map(x): return F.elu(x) + 1 class LinearAttention(nn.Module): def __init__(self, eps=1e-6): super().__init__() self.feature_map = elu_feature_map self.eps = eps def forward(self, queries, keys, values): """ Multi-Head linear attention proposed in "Transformers are RNNs" Args: queries: [N, H, L, D] keys: [N, H, S, D] values: [N, H, S, D] Returns: queried_values: (N, H, L, D) """ Q = self.feature_map(queries) K = self.feature_map(keys) v_length = values.size(2) values = values / v_length # prevent fp16 overflow KV = torch.einsum("nhsd,nhsv->nhdv", K, values) # (S,D)' @ S,V Z = 1 / (torch.einsum("nhld,nhd->nhl", Q, K.sum(dim=2)) + self.eps) queried_values = torch.einsum("nhld,nhdv,nhl->nhlv", Q, KV, Z) * v_length return queried_values.contiguous() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/modeling/vision_transformer.py ================================================ # Copyright (c) Facebook, Inc. and its affiliates. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. """ Mostly copy-paste from timm library. https://github.com/rwightman/pytorch-image-models/blob/master/timm/models/vision_transformer.py """ import math from functools import partial import torch import torch.nn as nn from .utils import LinearAttention, trunc_normal_ def drop_path(x, drop_prob: float = 0.0, training: bool = False): if drop_prob == 0.0 or not training: return x keep_prob = 1 - drop_prob shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets random_tensor = keep_prob + torch.rand(shape, dtype=x.dtype, device=x.device) random_tensor.floor_() # binarize output = x.div(keep_prob) * random_tensor return output class DropPath(nn.Module): """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" def __init__(self, drop_prob=None): super(DropPath, self).__init__() self.drop_prob = drop_prob def forward(self, x): return drop_path(x, self.drop_prob, self.training) class Mlp(nn.Module): def __init__(self, in_features, hidden_features=None, out_features=None, act_layer=nn.GELU, drop=0.0): super().__init__() out_features = out_features or in_features hidden_features = hidden_features or in_features self.fc1 = nn.Linear(in_features, hidden_features) self.act = act_layer() self.fc2 = nn.Linear(hidden_features, out_features) self.drop = nn.Dropout(drop) def forward(self, x): x = self.fc1(x) x = self.act(x) x = self.drop(x) x = self.fc2(x) x = self.drop(x) return x class Attention(nn.Module): def __init__( self, dim, num_heads=8, qkv_bias=False, qk_scale=None, attn_drop=0.0, proj_drop=0.0, linear_attention=False ): super().__init__() self.num_heads = num_heads head_dim = dim // num_heads self.scale = qk_scale or head_dim**-0.5 self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) self.attn_drop = nn.Dropout(attn_drop) self.proj = nn.Linear(dim, dim) self.proj_drop = nn.Dropout(proj_drop) self.linear_attention = linear_attention if linear_attention: self.lin_attn = LinearAttention(eps=1e-6) def forward(self, x): B, N, C = x.shape qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) q, k, v = qkv[0], qkv[1], qkv[2] # (B, N_heads, N, C) if self.linear_attention: x = self.lin_attn(q, k, v).transpose(1, 2).reshape(B, N, C) attn = None else: attn = (q @ k.transpose(-2, -1)) * self.scale # (B, N_heads, N, N) attn = attn.softmax(dim=-1) attn = self.attn_drop(attn) # (b, h, n, c) => (b, n, h, c) => (b, n, (h, c)) x = (attn @ v).transpose(1, 2).reshape(B, N, C) x = self.proj(x) x = self.proj_drop(x) return x, attn class Block(nn.Module): def __init__( self, dim, num_heads, mlp_ratio=4.0, qkv_bias=False, qk_scale=None, drop=0.0, attn_drop=0.0, drop_path=0.0, act_layer=nn.GELU, norm_layer=nn.LayerNorm, linear_attention=False, ): super().__init__() self.norm1 = norm_layer(dim) self.attn = Attention( dim, num_heads=num_heads, qkv_bias=qkv_bias, qk_scale=qk_scale, attn_drop=attn_drop, proj_drop=drop, linear_attention=linear_attention, ) self.drop_path = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() self.norm2 = norm_layer(dim) mlp_hidden_dim = int(dim * mlp_ratio) self.mlp = Mlp(in_features=dim, hidden_features=mlp_hidden_dim, act_layer=act_layer, drop=drop) def forward(self, x, return_attention=False): y, attn = self.attn(self.norm1(x)) if return_attention: return attn x = x + self.drop_path(y) x = x + self.drop_path(self.mlp(self.norm2(x))) return x class PatchEmbed(nn.Module): """Image to Patch Embedding""" def __init__(self, img_size=224, patch_size=16, in_chans=3, embed_dim=768): super().__init__() num_patches = (img_size // patch_size) * (img_size // patch_size) self.img_size = img_size self.patch_size = patch_size self.num_patches = num_patches self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_size, stride=patch_size) def forward(self, x): B, C, H, W = x.shape x = self.proj(x).flatten(2).transpose(1, 2) return x class VisionTransformer(nn.Module): """Vision Transformer""" def __init__( self, img_size=[224], patch_size=16, in_chans=3, num_classes=0, embed_dim=768, depth=12, num_heads=12, mlp_ratio=4.0, qkv_bias=False, qk_scale=None, drop_rate=0.0, attn_drop_rate=0.0, drop_path_rate=0.0, norm_layer=nn.LayerNorm, **kwargs ): super().__init__() self.num_features = self.embed_dim = embed_dim self.patch_embed = PatchEmbed( img_size=img_size[0], patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim ) num_patches = self.patch_embed.num_patches self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + 1, embed_dim)) self.pos_drop = nn.Dropout(p=drop_rate) dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule self.blocks = nn.ModuleList( [ Block( dim=embed_dim, num_heads=num_heads, mlp_ratio=mlp_ratio, qkv_bias=qkv_bias, qk_scale=qk_scale, drop=drop_rate, attn_drop=attn_drop_rate, drop_path=dpr[i], norm_layer=norm_layer, ) for i in range(depth) ] ) self.norm = norm_layer(embed_dim) # Classifier head self.head = nn.Linear(embed_dim, num_classes) if num_classes > 0 else nn.Identity() trunc_normal_(self.pos_embed, std=0.02) trunc_normal_(self.cls_token, std=0.02) self.apply(self._init_weights) def _init_weights(self, m): if isinstance(m, nn.Linear): trunc_normal_(m.weight, std=0.02) if isinstance(m, nn.Linear) and m.bias is not None: nn.init.constant_(m.bias, 0) elif isinstance(m, nn.LayerNorm): nn.init.constant_(m.bias, 0) nn.init.constant_(m.weight, 1.0) def interpolate_pos_encoding(self, x, w, h): npatch = x.shape[1] - 1 N = self.pos_embed.shape[1] - 1 if npatch == N and w == h: return self.pos_embed class_pos_embed = self.pos_embed[:, 0] patch_pos_embed = self.pos_embed[:, 1:] dim = x.shape[-1] w0 = w // self.patch_embed.patch_size h0 = h // self.patch_embed.patch_size # we add a small number to avoid floating point error in the interpolation # see discussion at https://github.com/facebookresearch/dino/issues/8 w0, h0 = w0 + 0.1, h0 + 0.1 patch_pos_embed = nn.functional.interpolate( patch_pos_embed.reshape(1, int(math.sqrt(N)), int(math.sqrt(N)), dim).permute(0, 3, 1, 2), scale_factor=(w0 / math.sqrt(N), h0 / math.sqrt(N)), mode="bicubic", ) assert int(w0) == patch_pos_embed.shape[-2] and int(h0) == patch_pos_embed.shape[-1] patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1) def prepare_tokens(self, x): B, nc, w, h = x.shape x = self.patch_embed(x) # patch linear embedding # add the [CLS] token to the embed patch tokens cls_tokens = self.cls_token.expand(B, -1, -1) x = torch.cat((cls_tokens, x), dim=1) # add positional encoding to each token x = x + self.interpolate_pos_encoding(x, w, h) return self.pos_drop(x) def forward(self, x): x = self.prepare_tokens(x) for blk in self.blocks: x = blk(x) x = self.norm(x) return x[:, 0] def get_last_selfattention(self, x): x = self.prepare_tokens(x) for i, blk in enumerate(self.blocks): if i < len(self.blocks) - 1: x = blk(x) else: # return attention of the last block return blk(x, return_attention=True) def get_intermediate_layers(self, x, n=1): x = self.prepare_tokens(x) # we return the output tokens from the `n` last blocks output = [] for i, blk in enumerate(self.blocks): x = blk(x) if len(self.blocks) - i <= n: output.append(self.norm(x)) return output def vit_tiny(patch_size=16, **kwargs): model = VisionTransformer( patch_size=patch_size, embed_dim=192, depth=12, num_heads=3, mlp_ratio=4, qkv_bias=True, norm_layer=partial(nn.LayerNorm, eps=1e-6), **kwargs ) return model def vit_small(patch_size=16, **kwargs): model = VisionTransformer( patch_size=patch_size, embed_dim=384, depth=12, num_heads=6, mlp_ratio=4, qkv_bias=True, norm_layer=partial(nn.LayerNorm, eps=1e-6), **kwargs ) return model def vit_base(patch_size=16, **kwargs): model = VisionTransformer( patch_size=patch_size, embed_dim=768, depth=12, num_heads=12, mlp_ratio=4, qkv_bias=True, norm_layer=partial(nn.LayerNorm, eps=1e-6), **kwargs ) return model class DINOHead(nn.Module): def __init__( self, in_dim, out_dim, use_bn=False, norm_last_layer=True, nlayers=3, hidden_dim=2048, bottleneck_dim=256 ): super().__init__() nlayers = max(nlayers, 1) if nlayers == 1: self.mlp = nn.Linear(in_dim, bottleneck_dim) else: layers = [nn.Linear(in_dim, hidden_dim)] if use_bn: layers.append(nn.BatchNorm1d(hidden_dim)) layers.append(nn.GELU()) for _ in range(nlayers - 2): layers.append(nn.Linear(hidden_dim, hidden_dim)) if use_bn: layers.append(nn.BatchNorm1d(hidden_dim)) layers.append(nn.GELU()) layers.append(nn.Linear(hidden_dim, bottleneck_dim)) self.mlp = nn.Sequential(*layers) self.apply(self._init_weights) self.last_layer = nn.utils.weight_norm(nn.Linear(bottleneck_dim, out_dim, bias=False)) self.last_layer.weight_g.data.fill_(1) if norm_last_layer: self.last_layer.weight_g.requires_grad = False def _init_weights(self, m): if isinstance(m, nn.Linear): trunc_normal_(m.weight, std=0.02) if isinstance(m, nn.Linear) and m.bias is not None: nn.init.constant_(m.bias, 0) def forward(self, x): x = self.mlp(x) x = nn.functional.normalize(x, dim=-1, p=2) x = self.last_layer(x) return x ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/utils/postprocess.py ================================================ from dataclasses import dataclass from pathlib import Path from typing import Any, Dict, List, Literal, Optional, Tuple, Union import numpy as np import open3d as o3d import torch from einops import repeat from hydra_zen import builds, store from jaxtyping import Float from loguru import logger from pytorch3d.ops import knn_points from torch import Tensor from auto_decomp.utils.geometry.box3d import ( extend_aabb, min_max_to_vertices, min_max_to_vertices_torch, ) from auto_decomp.utils.geometry.pointcloud import ( compute_world_to_object_transformation, # TODO: compute_oriented_aabb -> . ) from auto_decomp.utils.geometry.pointcloud import ( Plane, compute_knn_distance_threshold, euclidean_clustering, ground_plane_alignment, open3d_ptcd_from_numpy, point_to_plane_dist, ) from auto_decomp.utils.geometry.pointcloud import segment_planes as segment_all_planes # --------------- helper functions -------------- # def _to_numpy(x: Union[np.ndarray, Tensor]) -> Tuple[np.ndarray, Any]: if isinstance(x, Tensor): device = x.device # pyright: ignore _x = x.cpu().numpy() else: device = None _x = x return _x, device def _to_tensor(x: Union[np.ndarray, Tensor], device: str) -> Tensor: return torch.tensor(x, device=device) if isinstance(x, np.ndarray) else x def extract_max_cluster( x: Tensor, n_neighbors: int = 10, std_ratio: float = 2.0, return_ndarray: bool = False, return_inds: bool = True, ): # TODO: implement a native torch version _x = x.cpu().numpy() # type: np.ndarray clusters, radius = euclidean_clustering(_x, n_neighbors=n_neighbors, std_ratio=std_ratio) max_cluster_idx = int(np.argmax([len(c) for c in clusters])) cluster = clusters[max_cluster_idx] # ndarray _x = _x[cluster] ret_x = x.new_tensor(_x) if not return_ndarray else _x ret_vals = [ ret_x, ] if return_inds: ret_inds = x.new_tensor(cluster, dtype=torch.int32) if not return_ndarray else cluster ret_vals.append(ret_inds) return ret_vals if len(ret_vals) > 0 else ret_vals[0] def remove_outliers( x: Union[np.ndarray, torch.Tensor], n_neighbors: int = 10, std_ratio: float = 2.0, return_ndarray: bool = False, return_inds: bool = True, device: Optional[str] = None, ): _x, device = _to_numpy(x) pcd = open3d_ptcd_from_numpy(_x) _, inlier_idxs = pcd.remove_statistical_outlier(nb_neighbors=n_neighbors, std_ratio=std_ratio) _x = _x[inlier_idxs] ret_x = _x if return_ndarray else torch.tensor(_x, device=device) ret_vals = [ ret_x, ] if return_inds: ret_inds = torch.tensor(inlier_idxs, device=device, dtype=torch.int32) ret_vals.append(ret_inds) return ret_vals if len(ret_vals) > 0 else ret_vals[0] def segment_fg_supporting_plane( fg_pts: Union[np.ndarray, torch.Tensor], # (N0, 3) bg_pts: Union[np.ndarray, torch.Tensor], # (N1, 3) device: Optional[str] = None, n_point_samples: int = 6, # number of samples for ransac n_ransac_iters: int = 10000, n_neighbors: int = 10, std_ratio: float = 1.0, # FIXME: the segmented plane might truncate the fg object min_stop_points_ratio: float = 0.1, min_n_consensus: Optional[int] = None, avg_top_k_ratio: float = 0.01, min_fg_plane_points_ratio: float = 0.05, max_points_to_plane_dist_ratio: float = 0.2, max_n_underground_points_ratio: float = 0.1, max_bg_pt_dist_ratio: float = 1.0, # ignore bg pts whose min distance to fg pts > ratio * fg extent enable_euclidean_clustering: bool = True, plane_ls_refinement: Literal["TLS", "OLS"] = "TLS", ): """Segment the plane supporting the fg pointcloud (if existed). TODO: - encapsulate into a class - estimate gravity direction w/ camera poses. - increase min_stop_points_ratio! (for faster computation) - increase n_point_samples - set min_n_consensus """ # build separate fg ptcd & bg ptcd if len(bg_pts) == 0 or len(fg_pts) == 0: logger.warning(f"Invalid number of bg / fg points: #bg={len(bg_pts)} | #fg={len(fg_pts)}") return None bg_pts_ori_inds = np.arange(len(bg_pts)) # (optional) filter bg_pts filter_bg_pts = max_bg_pt_dist_ratio is not None if filter_bg_pts: # filter out bg_pts far away from the fg object fg_pts, bg_pts = map(lambda x: _to_tensor(x, device), (fg_pts, bg_pts)) fg_extent = fg_pts.max(0).values - fg_pts.min(0).values _dist_thr = fg_extent.max() * max_bg_pt_dist_ratio min_bg_to_fg_dists = torch.sqrt(knn_points(bg_pts[None], fg_pts[None], K=1).dists[0, :, 0]) # (N1, ) _bg_kept_mask = min_bg_to_fg_dists <= _dist_thr bg_pts = bg_pts[_bg_kept_mask] bg_pts_ori_inds = bg_pts_ori_inds[_bg_kept_mask.cpu().numpy()] logger.debug(f"#bg_pts kept: {_bg_kept_mask.sum()}/{len(_bg_kept_mask)}") if len(bg_pts) < n_point_samples: logger.warning(f"Not enough bg_pts left after filtering: {len(bg_pts)}/{n_point_samples}") return None fg_pts, _device = _to_numpy(fg_pts) bg_pts, _device = _to_numpy(bg_pts) # segment all planes from the bg ptcd # TODO: use LO-RANSAC (since distance threshold varies in different positions) distance_thr_fg, distance_thr_bg = map( lambda x: compute_knn_distance_threshold(x, n_neighbors=n_neighbors, std_ratio=std_ratio), (fg_pts, bg_pts), ) planes = segment_all_planes( points=bg_pts, n_ransac_samples=n_point_samples, n_ransac_iters=n_ransac_iters, distance_threshold=distance_thr_bg if filter_bg_pts else distance_thr_fg, min_points_ratio=min_stop_points_ratio, min_n_consensus=min_n_consensus, enable_euclidean_clustering=enable_euclidean_clustering, least_square=plane_ls_refinement, device=_device, ) # select the supporting ground plane with heuristics # -- 1. ground should be near to fg pts # -- 2. ground plane shoud locate on one side of the fg pts # -- 3. keep the plane w/ maximum number of pts n_fg_pts = len(fg_pts) max_n_underground_points = n_fg_pts * max_n_underground_points_ratio _top_k_avg = int(n_fg_pts * avg_top_k_ratio) min_n_plane_pts = int(n_fg_pts * min_fg_plane_points_ratio) fg_max_extent = (np.max(fg_pts, 0) - np.min(fg_pts, 0)).max() max_pt_to_plane_dist = fg_max_extent * max_points_to_plane_dist_ratio fg_to_plane_dists, n_plane_pts, min_n_pts_both_sides = [], [], [] for plane in planes: # TODO: make parallel _normal = np.array(plane.params)[None, :3] pts_to_plane_dists = point_to_plane_dist(fg_pts, np.array(plane.params), signed=True) # bipartite points to two sides of the plane vec_plane_to_pts = pts_to_plane_dists[:, None] * _normal on_side_one = (vec_plane_to_pts * _normal).sum(-1) > 0 n_on_side_one = on_side_one.sum() min_both_side = min(n_on_side_one, len(on_side_one) - n_on_side_one) min_n_pts_both_sides.append(min_both_side) # mean points-to-plane distances abs_pts_to_plane_dists = np.abs(pts_to_plane_dists) topk_inds = np.argpartition(abs_pts_to_plane_dists, _top_k_avg, axis=0)[:_top_k_avg] avg_min_dist = abs_pts_to_plane_dists[topk_inds].mean(0) fg_to_plane_dists.append(avg_min_dist) n_plane_pts.append(len(plane.indices)) fg_to_plane_dists, n_plane_pts = np.array(fg_to_plane_dists), np.array(n_plane_pts) min_n_pts_both_sides = np.array(min_n_pts_both_sides) plane_inds = np.arange(len(planes)) _kept_mask = ( (n_plane_pts >= min_n_plane_pts) & (fg_to_plane_dists <= max_pt_to_plane_dist) & (min_n_pts_both_sides <= max_n_underground_points) ) if not _kept_mask.any(): # if no plane is detected at all, keep one plane at least logger.warning("No valid plane detected! Try keeping the plane with maximum number of points.") if len(plane_inds) > 0: plane = planes[0] plane = Plane(params=plane.params, indices=bg_pts_ori_inds[plane.indices]) return plane else: # return None raise RuntimeError("No valid plane detected!") plane_ind = int(plane_inds[_kept_mask][0]) plane = planes[plane_ind] plane = Plane(params=plane.params, indices=bg_pts_ori_inds[plane.indices]) return plane def extract_object_centric_fg_aabb( pts: Float[Tensor, "n_pts 3"], T44_w2o: Float[Tensor, "4 4"], support_plane: Plane, align_with_plane: bool = True, extend_ratio: float = 0.05, extend_bottom: bool = False, ) -> Tuple[Float[Tensor, "2 3"], Plane]: """Extract the foreground axis-aligned bounding box in the object-centric frame. NOTE: we assume pts coordinate frame is already aligned with support_plane. """ if len(pts) == 0: return pts.new_zeros((2, 3)) # apply transformation to (ground-aligned) object-centric frame pts = pts @ T44_w2o[:3, :3].T + T44_w2o[:3, -1] aabb_min_max = torch.stack([pts.min(0).values, pts.max(0).values], 0) # extend aabb to align with the estimated ground plane if align_with_plane: old_aabb = o3d.geometry.AxisAlignedBoundingBox( min_bound=aabb_min_max[0].cpu().numpy(), max_bound=aabb_min_max[1].cpu().numpy() ) # also apply transformation to the plane # only translate the plane (since we assume pts coordinates are already aligned with support_plane) plane_params = np.array(support_plane.params) plane_params[-1] -= T44_w2o[1, -1] support_plane = Plane(support_plane.indices, plane_params) new_aabb = extend_aabb( old_aabb, support_plane, ground_dir=np.array([0.0, 1.0, 0.0]), ratio=extend_ratio, extend_bottom=extend_bottom, ) new_center, new_half_extent = new_aabb.get_center(), new_aabb.get_half_extent() new_min, new_max = new_center - new_half_extent, new_center + new_half_extent aabb_min_max = aabb_min_max.new_tensor(np.stack([new_min, new_max], 0)) return aabb_min_max, support_plane # --------------- postprocessing -------------- # @dataclass class PostprocessConfig: threshold: float = 0.5 # fg ptcd euclidean clustering params enable_euc_cluster: bool = False euc_cluster_n_neighbors: int = 20 euc_cluster_std_ratio: float = 2.0 # fg ptcd outlier removal params enable_outlier_removal: bool = False outlier_removal_n_neighbors: int = 10 outlier_removal_std_ratio: float = 2.0 # fg bbox extraction params enable_plane_alignment: bool = False """Estimate parameters the fg object's supporting plane, which can be used for plane-aligned PCA for fg pts reorientaion.""" extend_bbox_ratio: float = 0.10 extend_bbox_bottom_plane: bool = False align_bbox_with_plane: bool = False reorient_bbox_with_pca: bool = False # TODO: rename: enable_object_centric_transform return_full_decomposition: bool = False """compute and return full decomposition results (besides the fg bbox)""" postprocess_store_train = store(group="decomp/transformer/postprocess_train") postprocess_store_train(PostprocessConfig, name="base") postprocess_store_test = store(group="decomp/transformer/postprocess_test") postprocess_store_test(PostprocessConfig, name="eval") # TODO: used for evaluation, consistent with GT postprocess_store_test( PostprocessConfig, name="inference", enable_euc_cluster=True, enable_outlier_removal=True, enable_plane_alignment=True, extend_bbox_bottom_plane=True, align_bbox_with_plane=True, reorient_bbox_with_pca=True, return_full_decomposition=True, ) postprocess_store_test( PostprocessConfig, name="inference_cvpr", enable_euc_cluster=True, enable_outlier_removal=True, enable_plane_alignment=True, extend_bbox_bottom_plane=True, align_bbox_with_plane=True, reorient_bbox_with_pca=True, return_full_decomposition=True, extend_bbox_ratio=0.15 ) store.add_to_hydra_store() class Postprocess: def __init__(self, cfg: PostprocessConfig): """Postprocess the raw sfm segmentation results, extract the oriented aabb and compute object-centric transformation. """ self.cfg = cfg def __call__( self, x: Float[Tensor, "batch n_pts 3"], prob: Float[Tensor, "batch n_pts 1"], avg_cam_loc: Optional[Float[Tensor, "3"]] = None, aux_data: Optional[Dict[str, Tensor]] = None, rot_mat: Optional[Float[Tensor, "batch 3 3"]] = None, instance_names: Optional[Tensor] = None, ) -> Tuple[Float[Tensor, "batch n_pts 3"], Float[Tensor, "batch n_pts 3"], Dict[str, Dict[str, Any]]]: """Run postprocessing, extract aabb and build decomposition results for regularizing neus training. Args: x: the SfM pointcloud prob: fg segmentation probabilities avg_cam_loc: The average camera location in world space, used for determing the up-direction of the plane. # FIXME: only support in testing with batch_size = 1 for now. rot_mat: the random rotation matrix applied during training as random augmentation. This is used for transforming fg pts to the input object-centric frame for aabb extraction. aux_data: auxiliary attributes associated with points (e.g., point-wise features) Returns: fg_aabb_verts_no_postprocess: Float[Tensor, "batch n_pts 3"] fg_aabb_verts: Float[Tensor, "batch n_pts 3"] full_decomp_results: Dict[str, Dict[str, Any]] """ # preparation _b, _dtype, _device = x.shape[0], x.dtype, x.device x, prob = x.detach(), prob.detach() if aux_data is not None: aux_data: Dict[str, Float[Tensor, "batch n_pts n_f"]] = {k: v.detach() for k, v in aux_data.items()} if ( rot_mat is not None ): # transform to object-centric frame (assume the input world frame during training is object-centric) x = torch.einsum("bac,bnc->bna", rot_mat.transpose(1, 2), x) if avg_cam_loc is not None: assert _b == 1 avg_cam_loc = avg_cam_loc.cpu().numpy() if instance_names is not None: instance_names = [str(n) for n in instance_names] # type: ignore fg_mask = (prob >= self.cfg.threshold)[..., 0] # (B, N) fg_inds = [torch.nonzero(m)[:, 0].cpu().numpy() for m in fg_mask] # [B, (N, )] fg_x = [x[m] for x, m in zip(x, fg_mask)] # [B, (N, 3)] bg_x = [x[~m] for x, m in zip(x, fg_mask)] # [B, (N, 3)] bg_inds = [torch.nonzero(~m)[:, 0].cpu().numpy() for m in fg_mask] # [B, (N, )] plane_inds = [x.copy() for x in bg_inds] # [B, (N, )] # register attributes self.B, self.dtype, self.device = _b, _dtype, _device self.x, self.prob, self.fg_x, self.bg_x = x, prob, fg_x, bg_x self.fg_inds, self.bg_inds, self.plane_inds = fg_inds, bg_inds, plane_inds # List[np.ndarray] self.rot_mat, self.avg_cam_loc, self.instance_names = rot_mat, avg_cam_loc, instance_names self.aux_data = aux_data # option-1: extract bbox w/o postprocessing all_fg_aabb_verts_no_postprocess = self.extract_bbox_no_postprocess(fg_x, rot_mat=rot_mat) if not (self.cfg.enable_euc_cluster or self.cfg.enable_outlier_removal): if self.reorient_bbox_with_pca: raise NotImplementedError() return all_fg_aabb_verts_no_postprocess, None, None # option-2: extract bbox w/ postprocessing # 1. euclidean clustering self.run_euclidean_clustering() # 2. outlier_removal self.run_outlier_removal() # 3. plane_alignment self.run_plane_alignment() # 4. re-orient bbox with pca self.compute_object_centric_transformation() self.fg_x = [torch.tensor(_x, dtype=_dtype, device=_device) for _x in self.fg_x] # 5. extract aabb self.build_fg_aabb() # 6. compute alignment results for further ues all_decomp_results = self.compute_full_decomposition() return all_fg_aabb_verts_no_postprocess, self.all_fg_aabb_verts, all_decomp_results def run_euclidean_clustering(self): if not self.cfg.enable_euc_cluster: return if self.B > 1: raise NotImplementedError # TODO: Joblib # TODO: add a wrapper for sequential processing fg_x = [ extract_max_cluster( _x, n_neighbors=self.cfg.euc_cluster_n_neighbors, std_ratio=self.cfg.euc_cluster_std_ratio, return_ndarray=True, return_inds=True, ) if len(_x) > 0 else _x for _x in self.fg_x ] # List[List[np.ndarray, np.ndarray]] _fg_inds = [_inds for _, _inds in fg_x] self.fg_inds = [old_inds[new_inds] for old_inds, new_inds in zip(self.fg_inds, _fg_inds)] self.fg_x = [_x for _x, _ in fg_x] def run_outlier_removal(self): if not self.cfg.enable_outlier_removal: return if self.B > 1: raise NotImplementedError # TODO: Joblib fg_x = [ remove_outliers( _x, n_neighbors=self.cfg.outlier_removal_n_neighbors, std_ratio=self.cfg.outlier_removal_std_ratio, return_ndarray=self.cfg.enable_plane_alignment, return_inds=True, device=self.device, ) if len(_x) > 0 else _x for _x in self.fg_x ] # List[Union[torch.Tensor, np.ndarray]] _fg_inds = [_inds for _x, _inds in fg_x] self.fg_inds = [old_inds[new_inds] for old_inds, new_inds in zip(self.fg_inds, _fg_inds)] self.fg_x = [_x for _x, _inds in fg_x] def run_plane_alignment(self): if not self.cfg.enable_plane_alignment: self.fg_x_gnd_aligned = [None for _ in self.fg_x] self.planes = [None for _ in self.fg_x] self.all_R44_up = [np.eye(4) for _ in self.fg_x] # useless return if self.B > 1: raise NotImplementedError # TODO: Joblib self._segment_support_plane() self._align_world_with_plane() def _segment_support_plane(self): planes = [ segment_fg_supporting_plane( _fg_pts, _bg_pts, device=self.device, # instance_name=self.instance_names[_b_id] # if self.instance_names is not None # else None, # pyright: ignore ) for _b_id, (_fg_pts, _bg_pts) in enumerate(zip(self.fg_x, self.bg_x)) ] self.planes = planes def _align_world_with_plane(self): """Align the up-dir of world with the ground plane normal.""" all_R44_up, planes = map( list, zip( *[ ground_plane_alignment(plane, rec=None, avg_camera_loc=self.avg_cam_loc) if plane is not None else (np.eye(4), None) for _b_id, plane in enumerate(self.planes) ] ), ) fg_x_gnd_aligned = [fg_pts @ R_up[:3, :3].T for R_up, fg_pts in zip(all_R44_up, self.fg_x)] # type: ignore self.all_R44_up = all_R44_up self.fg_x_gnd_aligned = fg_x_gnd_aligned self.planes = planes # planes in the new world frame def compute_object_centric_transformation(self): """Transform fg point cloud to the object-centric coordinate system with object intrinsic orientation estimated by PCA. """ if not self.cfg.reorient_bbox_with_pca: self.all_T44_w2o = repeat(torch.eye(4, dtype=self.dtype, device=self.device), "r w -> b r w", b=self.B) return if not self.cfg.enable_plane_alignment: # in this case, we should pass ground_dir & forward_dir to computer_world_to_object_transformation raise NotImplementedError all_fg_pts = self.fg_x_gnd_aligned if self.cfg.enable_plane_alignment else self.fg_x all_pca_dirs, all_T44_w2o, _ = list( zip( *[ compute_world_to_object_transformation(points=fg_pts) if len(fg_pts) > 3 else (None, np.eye(4), None) for fg_pts in all_fg_pts ] ) ) all_T44_w2o = [T44_w2o @ R44_up for R44_up, T44_w2o in zip(self.all_R44_up, all_T44_w2o)] self.all_T44_w2o = torch.tensor(np.stack(all_T44_w2o, 0), dtype=self.dtype, device=self.device) # (B, 4, 4) def build_fg_aabb(self): """Transform fg points to (plane-aligned) object-centric frame and take the fg aabb, then transform the fg aabb back to the world frame. """ if not self.cfg.enable_plane_alignment: # currently, we assume the fg points are already aligned with the supporting plane raise NotImplementedError # extract fg aabb (aligned with the supporting plane) all_fg_aabb_min_max, all_fg_aabb_verts, planes_obj = self._extract_object_centric_fg_aabb() self.all_fg_aabb_min_max = all_fg_aabb_min_max # fg aabb in object-centric frame # object frame -> world frame all_R33_w2o, all_t31_w2o = self.all_T44_w2o[:, :3, :3], self.all_T44_w2o[:, :3, [-1]] all_R33_o2w = all_R33_w2o.transpose(1, 2) all_t31_o2w = -all_R33_o2w @ all_t31_w2o all_fg_aabb_verts = torch.einsum("bac,bnc->bna", all_R33_o2w, all_fg_aabb_verts) + all_t31_o2w.transpose(1, 2) # world frame -> augmented world frame (random aug during training) if self.rot_mat is not None: # transform back to augmented world frame all_fg_aabb_verts = torch.einsum("bac,bnc->bna", self.rot_mat, all_fg_aabb_verts) self.all_fg_aabb_verts = all_fg_aabb_verts def _extract_object_centric_fg_aabb(self) -> Float[Tensor, "batch 8 3"]: """Transform fg points to (plane-aligned) object-centric frame and take the fg aabb.""" all_fg_aabb_min_max, planes_obj = [], [] for _b_id, _pts in enumerate(self.fg_x): aabb_min_max, plane_obj = extract_object_centric_fg_aabb( _pts, self.all_T44_w2o[_b_id], self.planes[_b_id], align_with_plane=self.cfg.enable_plane_alignment, extend_ratio=self.cfg.extend_bbox_ratio, extend_bottom=self.cfg.extend_bbox_bottom_plane, ) all_fg_aabb_min_max.append(aabb_min_max) planes_obj.append(plane_obj) # object-centric plane all_fg_aabb_verts = min_max_to_vertices_torch(torch.stack(all_fg_aabb_min_max, 0)) # (B, 8, 3) return all_fg_aabb_min_max, all_fg_aabb_verts, planes_obj def extract_bbox_no_postprocess( self, fg_x: List[Float[Tensor, "n_pts 3"]], rot_mat: Optional[Float[Tensor, "batch 3 3"]] = None ) -> Tuple[Float[Tensor, "batch n_pts 3"], None, None]: fg_bbox_min_max = [] for _pts in fg_x: if len(_pts) == 0: _pts = self.x.new_zeros((2, 3)) fg_bbox_min_max.append(torch.stack([_pts.min(0).values, _pts.max(0).values], 0)) fg_bbox_verts = min_max_to_vertices_torch(torch.stack(fg_bbox_min_max, 0)) if rot_mat is not None: # transform back to the augmented frame (random aug) fg_bbox_verts = torch.einsum("bac,bnc->bna", rot_mat, fg_bbox_verts) return fg_bbox_verts, None, None def compute_full_decomposition(self) -> Dict[str, Dict[str, Any]]: """Compute decomposition results for neus supervision. Returns: Dict[str, Dict[str, Any]]: { "{instance-name-1}": { "T44_w2o": (4, 4), normalized-world => ground-aligned object-centric frame "aabb_min_max": (2, 3) "fg_pts": (n_fg, 3) "bg_pts": (n_bg, 3) "plane_pts": (n_plane, 3) "udf_plane_to_fg": (n_plane,) "plane_params": (4,) "aux_fg": Dict[str, (n_fg, ...)] "aux_bg": Dict[str, (n_bg, ...)] "aux_plane": Dict[str, (n_plane, ...)] } } """ # sanity check assert self.cfg.enable_plane_alignment # augmented_world -> original_world (cannot handle random aug during training) assert self.rot_mat is None or (self.rot_mat.cpu().numpy() == np.eye(3)[None]).all() assert self.instance_names is not None all_decomp_results = {} for b_id in range(self.B): decomp_results = {} # instance-name -> decomp results # build decomposition results for supervising neus self._build_decomposed_pts(b_id, decomp_results) # decompose auxiliary attributes (e.g., point-wise features) self._build_decomposed_aux_attrs(b_id, decomp_results) all_decomp_results[self.instance_names[b_id]] = decomp_results return all_decomp_results def set_bg_in_bbox_to_fg(self, fg_pts, bg_pts, fg_aabb_min_max_info): ''' fg_aabb_min_max_info: (2, 3) fg_pts: N, 3 bg_pts: M, 3 ''' aabb_min = fg_aabb_min_max_info.min(dim=0).values.to(bg_pts.device) aabb_max = fg_aabb_min_max_info.max(dim=0).values.to(bg_pts.device) eps = 1e-6 ge_min = bg_pts >= (aabb_min - eps) le_max = bg_pts <= (aabb_max + eps) inside_mask = (ge_min & le_max).all(dim=-1) # (M,) bg_in = bg_pts[inside_mask] fg_pts_updated = torch.cat([fg_pts, bg_in], dim=0) if (~inside_mask).sum() > 0: bg_pts_update = bg_pts[~inside_mask] else: bg_pts_update = bg_pts.new_zeros((0, 3)) return fg_pts_updated, bg_pts_update def _build_decomposed_pts(self, b_id: int, decomp_results: Dict[str, Any]): """Build decomposed pointcloud for neus supervision.""" # 1. extract pts for neus supervision (fg_pts, bg_pts, plane_pts, plane_params) fg_pts, bg_pts = self.fg_x[b_id], self.bg_x[b_id] # world-frame pts if self.planes[b_id] is not None: # NOTE: plane normal is already in object-centric frame (if world frame is plane-aligned), but translation hasn't yet plane_params = np.array(self.planes[b_id].params) # type: ignore _plane_inds = bg_pts.new_tensor(self.planes[b_id].indices, dtype=torch.long) # type: ignore _bg_kept_mask = bg_pts.new_ones((len(bg_pts),), dtype=torch.bool) _bg_kept_mask[_plane_inds] = 0 plane_pts = bg_pts[_plane_inds] bg_pts = bg_pts[_bg_kept_mask] # the plane is noisy, some pts around it are kept in bg_pts self.plane_inds[b_id] = self.plane_inds[b_id][_plane_inds.cpu().numpy()] self.bg_inds[b_id] = self.bg_inds[b_id][_bg_kept_mask.cpu().numpy()] else: plane_params, plane_pts = None, bg_pts.new_zeros((0, 3)) self.plane_inds[b_id] = np.zeros((0,), dtype=int) # set bg_pts in bbox to fg_pts bbox_x = self.all_fg_aabb_verts[b_id][:, 0] # [N] bbox_y = self.all_fg_aabb_verts[b_id][:, 1] bbox_z = self.all_fg_aabb_verts[b_id][:, 2] aabb_tmp = torch.tensor([[bbox_x.min(), bbox_y.min(), bbox_z.min()], [bbox_x.max(), bbox_y.max(), bbox_z.max()]]) fg_pts, bg_pts = self.set_bg_in_bbox_to_fg(fg_pts, bg_pts, aabb_tmp) logger.debug( f"Decomposition results: #fg_pts={len(fg_pts)} | #bg_pts={len(bg_pts)} | #plane_pts={len(plane_pts)}" ) # 2. transform all pts to object-centric frame T44_w2o: Float[Tensor, "4 4"] = self.all_T44_w2o[b_id] fg_pts, bg_pts, plane_pts = map( lambda pts: pts @ T44_w2o[:3, :3].T + T44_w2o[:3, -1], [fg_pts, bg_pts, plane_pts] ) T44_w2o = T44_w2o.cpu().numpy() if plane_params is not None: plane_params[-1] -= T44_w2o[1, -1] # 3. compute approximate SDF for plane_pts if len(plane_pts) > 0: # TODO: consider more fg_pts for better approximation udf_plane_to_fg = torch.sqrt( knn_points(plane_pts[None], fg_pts[None], K=1).dists[0, :, 0] ) # (n_plane_pts, ) else: udf_plane_to_fg = bg_pts.new_zeros((0,)) decomp_results.update( { "T44_w2o": T44_w2o, # (4, 4), normalized-world => ground-aligned object-centric frame "aabb_min_max": self.all_fg_aabb_min_max[b_id].cpu().numpy(), # (2, 3) "fg_pts": fg_pts.cpu().numpy(), # (n_fg, 3) "bg_pts": bg_pts.cpu().numpy(), # (n_bg, 3) "plane_pts": plane_pts.cpu().numpy(), # (n_plane, 3) "udf_plane_to_fg": udf_plane_to_fg.cpu().numpy(), # (n_plane,) "plane_params": plane_params, # (4,) } ) def _build_decomposed_aux_attrs(self, b_id: int, decomp_results: Dict[str, Any]): """Decompose auxiliary attributes associated with points (e.g., point-wise features)""" if self.aux_data is None: return aux_data: Dict[str, Float[Tensor, "batch n_pts n_f"]] = self.aux_data fg_inds, bg_inds, plane_inds = self.fg_inds[b_id], self.bg_inds[b_id], self.plane_inds[b_id] assert len(fg_inds) == len(decomp_results["fg_pts"]) aux_data_fg: Dict[str, Float[Tensor, "n_pts n_f"]] = { k: v[b_id].cpu().numpy()[fg_inds] for k, v in aux_data.items() } aux_data_bg = {k: v[b_id].cpu().numpy()[bg_inds] for k, v in aux_data.items()} aux_data_plane = {k: v[b_id].cpu().numpy()[plane_inds] for k, v in aux_data.items()} decomp_results.update({"aux_fg": aux_data_fg, "aux_bg": aux_data_bg, "aux_plane": aux_data_plane}) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/decomp/transformer/utils/saving.py ================================================ import json from dataclasses import dataclass from pathlib import Path from typing import Any, Dict, Optional, Tuple import numpy as np from hydra_zen import store from jaxtyping import Float from loguru import logger from natsort import natsorted from auto_decomp.utils import viz_3d from auto_decomp.utils.geometry import box3d @dataclass class SfMTransformerSaveConfig: enabled: bool = False # only for testing save_features: bool = False # save per-pt features for fine-decomposition save_dirname: str = "auto-deocomp_sfm-transformer" sfm_dirname: str = "triangulate_loftr-1920000_sequential_np-10" use_cache: bool = True """infer sfm_dirname from cache""" cache_name: str = ".cache.json" bbox_normalize_mode: str = "side" """'diag' (for NeRF++) / 'side' (for MipNeRF-360 Scene Contraction w/ inf-norm)""" bbox_diag_len: Optional[float] = 1.9 """rescale the object bbox s.t., its diagonal length equals to bbox_diag_len""" bbox_side_len: Optional[float] = 1.9 """rescale the object bbox s.t., its maximum side length equals to bbox_diag_len""" saving_store = store(group="decomp/transformer/saving") saving_store(SfMTransformerSaveConfig, name="train") saving_store(SfMTransformerSaveConfig, name="test_autorecon", enabled=True, save_features=False) saving_store(SfMTransformerSaveConfig, name="test_autorecon_cvpr", enabled=True, save_features=False, bbox_side_len=2.0) saving_store(SfMTransformerSaveConfig, name="test_autorecon++", enabled=True, save_features=True) store.add_to_hydra_store() class SaveResults: def __init__(self, cfg: SfMTransformerSaveConfig): self.cfg = cfg self._sanity_check() def _sanity_check(self): if self.cfg.bbox_diag_len is not None and self.cfg.bbox_diag_len > 2.0: raise ValueError( f"Invalid normalization (bbox_diag_len={self.cfg.bbox_diag_len})," "we assume the foreground object is normalized into a unit sphere." ) if self.cfg.bbox_side_len is not None and self.cfg.bbox_side_len > 2.0: raise ValueError( f"Invalid normalization (bbox_side_len={self.cfg.bbox_side_len})," "we assume the foreground object is normalized into a unit cube." ) def save_annotations(self, batch: Dict[str, Any], all_decomp_results: Dict[str, Dict[str, Any]]): """Save annotations for reconstruction & decomposition, including camera poses, decomposed points clouds, etc. """ if not self.cfg.enabled: return bs = len(batch["xyz"]) if bs != 1: raise NotImplementedError for b_id in range(bs): inst_name = batch["inst_name"][b_id] decomp_results = all_decomp_results[inst_name] inst_dir = Path(str(batch["inst_dir"][b_id])) if self.cfg.use_cache: cache_path = inst_dir / self.cfg.cache_name with open(cache_path, "r") as f: cache = json.load(f) sfm_dirname = Path(cache["sfm_dir"]).parent.stem logger.info(f"Parsing sfm_dirname from cache: {sfm_dirname}") else: sfm_dirname = self.cfg.sfm_dirname assert (inst_dir / sfm_dirname).exists() save_dir = inst_dir / sfm_dirname / self.cfg.save_dirname save_dir.mkdir(exist_ok=True) norm_len = self.cfg.bbox_diag_len if self.cfg.bbox_normalize_mode == "diag" else self.cfg.bbox_side_len save_name_suffix = f"cameras_norm-obj-{self.cfg.bbox_normalize_mode}-{norm_len}" translation_oo2on, scale_oo2on = self._compute_transform_new_object_frame(decomp_results["aabb_min_max"]) object_anno = self._build_object_anno(translation_oo2on, scale_oo2on, decomp_results) pose_anno = self._build_pose_anno( # build camera poses (IDR format) translation_oo2on, scale_oo2on, batch["normalize_min"][b_id].cpu().numpy(), batch["normalize_scale"][b_id].cpu().numpy(), decomp_results["T44_w2o"], dict(natsorted(batch["poses"].items(), key=lambda item: item[0])), # FIXME: only support bs=1 for now ) # visualize self.visualize_object_anno(object_anno, save_dir / "vis_decomposition") # save annotations np.savez(save_dir / f"cameras_{save_name_suffix}.npz", **pose_anno) np.savez(save_dir / f"objects_{save_name_suffix}.npz", **object_anno) logger.info(f"Annotations saved: {save_dir}") def _compute_transform_new_object_frame( self, aabb_min_max: Float[np.ndarray, "4 4"] ) -> Tuple[Float[np.ndarray, "3"], float]: """Compute transformation: object-centric frame (plane-aligned-pca) -> centered & rescaled object-centric frame Retruns: translation_oo2on: old object-centric frame -> new object-centric frame # NOTE: not a euclidean transformation """ object_center = (aabb_min_max[1] + aabb_min_max[0]) / 2 object_extent = aabb_min_max[1] - aabb_min_max[0] if self.cfg.bbox_normalize_mode == "diag": aabb_diag_len = np.linalg.norm(object_extent) scale_oo2on = self.cfg.bbox_diag_len / aabb_diag_len # type: ignore else: assert self.cfg.bbox_normalize_mode == "side" scale_oo2on = self.cfg.bbox_side_len / np.max(object_extent) translation_oo2on = -object_center * scale_oo2on return translation_oo2on, scale_oo2on def _build_object_anno( self, translation_oo2on: Float[np.ndarray, "3"], scale_oo2on: float, decomp_results: Dict[str, Any] ) -> Dict[str, Any]: """Transform decomposition results into the new object-centric frame.""" fg_pts, bg_pts, plane_pts = map( lambda k: scale_oo2on * decomp_results[k] + translation_oo2on, ["fg_pts", "bg_pts", "plane_pts"], ) udf_plane_to_fg = decomp_results["udf_plane_to_fg"] * scale_oo2on plane_params = decomp_results.get("plane_params", None) if plane_params is not None: # FIXME: debug plane_params[-1] = plane_params[-1] * scale_oo2on - translation_oo2on[1] aabb_min_max = decomp_results["aabb_min_max"] object_extent = (aabb_min_max[1] - aabb_min_max[0]) * scale_oo2on # build decomposition results # NOTE: different from camera poses, which decompose pose to (w->c & o->w), we save o->c directly here # TODO: factor out the normalization matrix object_scale_mat = object_scale_mat_acc = np.diag([*(object_extent / 2), 1]).astype(np.float32) object_anno = { "scale_mat_0": object_scale_mat, "scale_mat_accurate_0": object_scale_mat_acc, "fg_pts": fg_pts, "bg_pts": bg_pts, "plane_pts": plane_pts, "udf_plane_to_fg": udf_plane_to_fg, "plane_params": plane_params, } if self.cfg.save_features: object_anno.update({f"{k}_feats": decomp_results[f"aux_{k}"]["feat"] for k in ["fg", "bg", "plane"]}) return object_anno def _build_pose_anno( self, translation_oo2on: Float[np.ndarray, "3"], scale_oo2on: float, normalize_min: Float[np.ndarray, "3"], normalize_scale: Float[np.ndarray, "1"], T44_wn2oo: Float[np.ndarray, "4 4"], camera_poses: Dict[str, Dict[str, Any]], ) -> Dict[str, Any]: """ NOTE: we normalize the pointcloud to (-1, 1) for Transformer inference with: x' = (x - min) * scale * 2 - 1, so we need to normalize the camera poses accordingly. TODO: normalize the camera poses at the same time during data loading. """ # build transformation (IDR normalization matrix) # (world (w) -> normalized world (wn) -> plane-aligned-pca world (oo) -> object-centric world (on)) T44_w2wn, T44_oo2on = np.eye(4), np.eye(4) T44_w2wn[:3, :3] *= 2 * normalize_scale T44_w2wn[:3, -1] = -(2 * normalize_scale * normalize_min + 1) T44_oo2on[:3, -1] = translation_oo2on T44_oo2on[:3, :3] *= scale_oo2on T44_w2on = T44_oo2on @ T44_wn2oo @ T44_w2wn # NOTE: not euclidean matrices T44_on2w = np.linalg.inv(T44_w2on) # build pose annotation pose_anno = {} for f_id, (img_name, cam_pose) in enumerate(camera_poses.items()): K33, T44_w2c = cam_pose["K33"][0].cpu().numpy(), cam_pose["T44_w2c"][0].cpu().numpy() K44 = np.eye(4) K44[:3, :3] = K33 pose_anno[f"image_name_{f_id}"] = img_name pose_anno[f"scale_mat_{f_id}"] = T44_on2w pose_anno[f"scale_mat_inv_{f_id}"] = T44_w2on pose_anno[f"world_mat_{f_id}"] = K44 @ T44_w2c # KRT return pose_anno def visualize_object_anno(self, object_anno: Dict[str, Any], save_path: Path): """Visualize object annotation.""" fig = viz_3d.init_figure() # 1. visualize fg, bg, plane segmentation fg_pts, bg_pts, plane_pts = map(object_anno.get, ["fg_pts", "bg_pts", "plane_pts"]) viz_3d.plot_points(fig, fg_pts, color="#ffb6c1", ps=2, name="fg") # lpink viz_3d.plot_points(fig, bg_pts, color="#ffff9e", ps=2, name="bg") # lyellow viz_3d.plot_points(fig, plane_pts, color="#90ee90", ps=2, name="plane") # lgreen # TODO: visualize the fitted plane # 2. visualize bbox obj_scale_mat = object_anno["scale_mat_0"].astype(np.float32) obj_bbox_min = np.array([-1.0, -1.0, -1.0, 1.0]) obj_bbox_max = np.array([1.0, 1.0, 1.0, 1.0]) obj_bbox_min = obj_scale_mat @ obj_bbox_min[:, None] obj_bbox_max = obj_scale_mat @ obj_bbox_max[:, None] obj_aabb = np.stack([obj_bbox_min[:3, 0], obj_bbox_max[:3, 0]], 0) obj_bbox_verts = box3d.min_max_to_vertices(obj_aabb) viz_3d.plot_cube( fig, vertices=obj_bbox_verts, color="lightskyblue", opacity=0.3, name="fg aabb", show_legend=True, ) # 3. save result (html & json) viz_3d.save_fig(fig, save_path.parent, save_path.stem, mode="both") logger.info(f"Object anno visualization saved: {save_path}") def save_decomp_visualization(self): """Save decomposition results for visualization.""" pass ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/feature_extraction/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/feature_extraction/dino_vit/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/feature_extraction/dino_vit/extract_features.py ================================================ import argparse import copy import json import shutil import subprocess import time from dataclasses import dataclass, field from itertools import chain from pathlib import Path from typing import List, Optional import cv2 import hydra import numpy as np import pycolmap import ray import torch from hydra.core.config_store import ConfigStore from hydra_zen import store from loguru import logger from omegaconf import DictConfig, OmegaConf from tqdm import tqdm @dataclass class DINOExtractionConfig: task: str = "feature_extraction" """options: 'pca', 'feature_extraction'""" # TODO: use enum facet: List[str] = field(default_factory=lambda: ["key"]) """options: 'key', 'value', 'query', 'token'""" n_workers: int = 1 """number of workers for parallely feature extraction of multiple instances""" data_root: Path = Path("data") image_dirname: Path = Path("images") inst_rel_dir: Optional[str] = None """relative directory to the specific instance""" subsets_relpath: Optional[str] = None """path of the file listing all inst_rel_dir to be processed""" max_area: int = 640 * 480 # takes about 24GB VRAM registered_only: bool = True """only extract features for registered images""" force_extract: bool = False fp16: bool = True """store features in fp16""" sfm_relpath: Optional[str] = None cache_name: str = ".cache.json" use_cache: bool = True """read the sfm_relpath from cache""" def __post_init__(self): self.save_fn_stem = "dino_feats" self.facet = " ".join(self.facet) # type: ignore if self.registered_only: if self.task == "pca": raise NotImplementedError() assert self.sfm_relpath is not None or self.use_cache if self.fp16: logger.info("Saving features w/ fp16") feature_store = store(group="dino_feature") feature_store(DINOExtractionConfig, name="base") feature_store(DINOExtractionConfig, max_area=480 * 360, name="low-res") store.add_to_hydra_store() def resize_max_area(h, w, max_area): area = h * w scale = np.sqrt(max_area / area) new_h, new_w = h * scale, w * scale new_h, new_w = map(lambda x: int(np.floor(x)), [new_h, new_w]) return new_h, new_w def get_sfm_dir(args, inst_rel_dir): assert np.sum([args.sfm_relpath is not None, args.use_cache]) == 1 sfm_dir = None if args.use_cache: with open(args.data_root / inst_rel_dir / args.cache_name, "r") as f: cache = json.load(f) sfm_dir = Path(cache["sfm_dir"]) else: sfm_dir = args.data_root / inst_rel_dir / args.sfm_relpath if not sfm_dir.exists(): raise FileNotFoundError(f"sfm_dir not found! ({sfm_dir})") return sfm_dir def _save_feat_dirname_to_cache(args, inst_rel_dir, feat_dirname): if args.task != "feature_extraction": return inst_dir = args.data_root / inst_rel_dir with open(inst_dir / args.cache_name, "r") as f: cache = json.load(f) cache["feat_dirname"] = feat_dirname with open(inst_dir / args.cache_name, "w") as f: json.dump(cache, f) def extract_single(args, inst_rel_dir): task = args.task max_area = args.max_area cat = args.data_root.stem image_dir = args.data_root / inst_rel_dir / args.image_dirname if not args.registered_only: image_names = [p.stem for p in image_dir.iterdir()] n_images = len(image_names) else: # only extract features for registered images sfm_dir = get_sfm_dir(args, inst_rel_dir) if not sfm_dir.exists(): # TODO: add to a pending list, and wait until {sfm_dir} is created. (reconstruction done) raise FileNotFoundError(f"sfm_dir not found! ({sfm_dir})") rec = pycolmap.Reconstruction(sfm_dir) image_paths = [image_dir / rec.images[img_id].name for img_id in rec.reg_image_ids()] image_names = [p.stem for p in image_paths] n_images = len(image_names) logger.info(f"Extracting features for registered {n_images} images by SfM: {sfm_dir}") image_paths_str = "\n".join(map(str, image_paths)) tmp_filename = f"{inst_rel_dir.replace('/', '-')}_reg-img-paths_{time.strftime('%Y%m%d_%H%M%S')}.txt" tmp_image_list_path = args.data_root / inst_rel_dir / tmp_filename with open(tmp_image_list_path, "w") as f: f.write(image_paths_str) output_dirname = f"{args.save_fn_stem}_{max_area}" if task == "feature_extraction" else f"dino_pca_{max_area}" output_path = args.data_root / inst_rel_dir / output_dirname _save_feat_dirname_to_cache(args, inst_rel_dir, output_dirname) _extracted = ( output_path.exists() and n_images <= len(list(output_path.iterdir())) and set(image_names).issubset(set([p.stem for p in output_path.iterdir()])) ) if _extracted: if not args.force_extract: logger.info(f"Instance {cat}/{inst_rel_dir} already processed!") return else: shutil.rmtree(output_path) logger.info(f"Instance {cat}/{inst_rel_dir} deleted & rerun") # compute dynamic load_size image_path = next(iter(image_dir.iterdir())) h, w, _ = cv2.imread(str(image_path)).shape new_h, new_w = resize_max_area(h, w, max_area) load_size = min(new_h, new_w) if task == "feature_extraction": cmd = f"python {Path(__file__).parent}/vit_extractor.py \ --image_path {str(image_dir) if not args.registered_only else str(tmp_image_list_path)} \ --output_path {str(output_path)} \ --load_size {load_size} \ --facet {args.facet} \ --unflatten --save_npz" cmd = cmd.split() if args.fp16: cmd.append("--fp16") else: raise ValueError() subprocess.run(cmd) @ray.remote(num_cpus=1, num_gpus=1) # pyright: ignore def ray_wrapper(*args, worker=None, task_id=None, **kwargs): assert not (worker is None or task_id is None) torch.cuda.empty_cache() # gpu_id = ray.get_gpu_ids()[0] # inst_rel_dir = kwargs['inst_rel_dir'] try: worker(*args, **kwargs) except Exception as ex: return False, ex return True, None def main(dino_extraction: DictConfig): args: DINOExtractionConfig = OmegaConf.to_object(dino_extraction) # run __post_init__ for validation assert np.array([i is not None for i in [args.inst_rel_dir, args.subsets_relpath]], dtype=int).sum() == 1 if args.inst_rel_dir is not None: if args.n_workers > 1: raise ValueError("n_workers > 1 is not supported for single instance extraction") extract_single(args, args.inst_rel_dir) elif args.subsets_relpath is not None: subsets_path = args.data_root / args.subsets_relpath ray.init(num_cpus=1 * args.n_workers, num_gpus=args.n_workers) with open(subsets_path, "r") as f: subsets = json.load(f) cat_insts = list(chain(*subsets.values())) n_inst = len(cat_insts) logger.info(f"{n_inst} sequences to be extracted!") obj_refs = [] for task_id, cat_inst in tqdm(enumerate(cat_insts), "Creating ray tasks"): cat, inst_rel_dir = cat_inst.split("/") cat_dir = args.data_root / cat _args = copy.copy(args) _args.data_root = cat_dir obj_refs.append( ray_wrapper.remote(_args, inst_rel_dir=inst_rel_dir, worker=extract_single, task_id=task_id) ) task_rets = ray.get(obj_refs) failed_errs = [str(ex) for success, ex in task_rets if not success] failed_errs_str = "\n".join(failed_errs) logger.warning(f"#failed_tasks={len(failed_errs)}:\n{failed_errs_str}") if __name__ == "__main__": cs = ConfigStore.instance() cs.store(name="config", node=DINOExtractionConfig) hydra.main(config_name="config", version_base=None)(main)() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/feature_extraction/dino_vit/vit_extractor.py ================================================ """ Source: https://github.com/ShirAmir/dino-vit-features """ import argparse import copy import math import shutil import types from collections import defaultdict from pathlib import Path from typing import Dict, List, Tuple, Union import numpy as np import timm import torch from einops import rearrange, repeat from loguru import logger from PIL import Image from torch import nn from torch.nn.modules import utils as nn_utils from torchvision import transforms from tqdm import tqdm class ViTExtractor: """This class facilitates extraction of features, descriptors, and saliency maps from a ViT. We use the following notation in the documentation of the module's methods: B - batch size h - number of heads. usually takes place of the channel dimension in pytorch's convention BxCxHxW p - patch size of the ViT. either 8 or 16. t - number of tokens. equals the number of patches + 1, e.g. HW / p**2 + 1. Where H and W are the height and width of the input image. d - the embedding dimension in the ViT. """ def __init__( self, model_type: str = "dino_vits8", stride: int = 4, model: nn.Module = None, device: str = "cuda", ): """ :param model_type: A string specifying the type of model to extract from. [dino_vits8 | dino_vits16 | dino_vitb8 | dino_vitb16 | vit_small_patch8_224 | vit_small_patch16_224 | vit_base_patch8_224 | vit_base_patch16_224] :param stride: stride of first convolution layer. small stride -> higher resolution. :param model: Optional parameter. The nn.Module to extract from instead of creating a new one in ViTExtractor. should be compatible with model_type. """ self.model_type = model_type self.device = device if model is not None: self.model = model else: self.model = ViTExtractor.create_model(model_type) self.model = ViTExtractor.patch_vit_resolution(self.model, stride=stride) self.model.eval() self.model.to(self.device) self.p = self.model.patch_embed.patch_size self.stride = self.model.patch_embed.proj.stride self.mean = (0.485, 0.456, 0.406) if "dino" in self.model_type else (0.5, 0.5, 0.5) self.std = (0.229, 0.224, 0.225) if "dino" in self.model_type else (0.5, 0.5, 0.5) self._feats = [] self.hook_handlers = [] self.load_size = None self.num_patches = None # (h, w) @staticmethod def create_model(model_type: str) -> nn.Module: """ :param model_type: a string specifying which model to load. [dino_vits8 | dino_vits16 | dino_vitb8 | dino_vitb16 | vit_small_patch8_224 | vit_small_patch16_224 | vit_base_patch8_224 | vit_base_patch16_224] :return: the model """ if "dino" in model_type: model = torch.hub.load("facebookresearch/dino:main", model_type) else: # model from timm -- load weights from timm to dino model (enables working on arbitrary size images). temp_model = timm.create_model(model_type, pretrained=True) model_type_dict = { "vit_small_patch16_224": "dino_vits16", "vit_small_patch8_224": "dino_vits8", "vit_base_patch16_224": "dino_vitb16", "vit_base_patch8_224": "dino_vitb8", } model = torch.hub.load("facebookresearch/dino:main", model_type_dict[model_type]) temp_state_dict = temp_model.state_dict() del temp_state_dict["head.weight"] del temp_state_dict["head.bias"] model.load_state_dict(temp_state_dict) return model @staticmethod def _fix_pos_enc(patch_size: int, stride_hw: Tuple[int, int]): """ Creates a method for position encoding interpolation. :param patch_size: patch size of the model. :param stride_hw: A tuple containing the new height and width stride respectively. :return: the interpolation method """ def interpolate_pos_encoding(self, x: torch.Tensor, w: int, h: int) -> torch.Tensor: npatch = x.shape[1] - 1 N = self.pos_embed.shape[1] - 1 if npatch == N and w == h: return self.pos_embed class_pos_embed = self.pos_embed[:, 0] patch_pos_embed = self.pos_embed[:, 1:] dim = x.shape[-1] # compute number of tokens taking stride into account w0 = 1 + (w - patch_size) // stride_hw[1] h0 = 1 + (h - patch_size) // stride_hw[0] assert ( w0 * h0 == npatch ), f"""got wrong grid size for {h}x{w} with patch_size {patch_size} and stride {stride_hw} got {h0}x{w0}={h0 * w0} expecting {npatch}""" # we add a small number to avoid floating point error in the interpolation # see discussion at https://github.com/facebookresearch/dino/issues/8 w0, h0 = w0 + 0.1, h0 + 0.1 patch_pos_embed = nn.functional.interpolate( patch_pos_embed.reshape(1, int(math.sqrt(N)), int(math.sqrt(N)), dim).permute(0, 3, 1, 2), scale_factor=(w0 / math.sqrt(N), h0 / math.sqrt(N)), mode="bicubic", align_corners=False, recompute_scale_factor=False, ) assert int(w0) == patch_pos_embed.shape[-2] and int(h0) == patch_pos_embed.shape[-1] patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1) return interpolate_pos_encoding @staticmethod def patch_vit_resolution(model: nn.Module, stride: int) -> nn.Module: """ change resolution of model output by changing the stride of the patch extraction. :param model: the model to change resolution for. :param stride: the new stride parameter. :return: the adjusted model """ patch_size = model.patch_embed.patch_size if stride == patch_size: # nothing to do return model stride = nn_utils._pair(stride) assert all( [(patch_size // s_) * s_ == patch_size for s_ in stride] ), f"stride {stride} should divide patch_size {patch_size}" # fix the stride model.patch_embed.proj.stride = stride # fix the positional encoding code model.interpolate_pos_encoding = types.MethodType(ViTExtractor._fix_pos_enc(patch_size, stride), model) return model def preprocess( self, image_path: Union[str, Path], load_size: Union[int, Tuple[int, int]] = None ) -> Tuple[torch.Tensor, Image.Image]: """ Preprocesses an image before extraction. :param image_path: path to image to be extracted. :param load_size: optional. Size to resize image before the rest of preprocessing. :return: a tuple containing: (1) the preprocessed image as a tensor to insert the model of shape BxCxHxW. (2) the pil image in relevant dimensions """ pil_image = Image.open(image_path).convert("RGB") if load_size is not None: pil_image = transforms.Resize(load_size, interpolation=transforms.InterpolationMode.LANCZOS)(pil_image) prep = transforms.Compose([transforms.ToTensor(), transforms.Normalize(mean=self.mean, std=self.std)]) prep_img = prep(pil_image)[None, ...] return prep_img, pil_image def _get_hook(self, facet: str): """ generate a hook method for a specific block and facet. """ facet_mapper = {"query": 0, "key": 1, "value": 2} hook = None if facet in ["attn", "token"]: def _hook(model, input, output): self._feats[facet].append(output) hook = _hook # return _hook elif facet in ["query", "key", "value"]: facet_idx = facet_mapper[facet] def _inner_hook(module, input, output): input = input[0] B, N, C = input.shape qkv = module.qkv(input).reshape(B, N, 3, module.num_heads, C // module.num_heads).permute(2, 0, 3, 1, 4) self._feats[facet].append(qkv[facet_idx]) # (b, n_heads, n, c) hook = _inner_hook else: raise TypeError(f"{facet} is not a supported facet.") return hook def _register_hooks(self, layers: List[int], facet: str) -> None: """ register hook to extract features. :param layers: layers from which to extract features. :param facet: facet to extract. One of the following options: ['key' | 'query' | 'value' | 'token' | 'attn'] """ for block_idx, block in enumerate(self.model.blocks): if block_idx in layers: if facet in ["token", "cls_token"]: self.hook_handlers.append(block.register_forward_hook(self._get_hook(facet))) elif facet == "attn": self.hook_handlers.append(block.attn.attn_drop.register_forward_hook(self._get_hook(facet))) elif facet in ["key", "query", "value"]: self.hook_handlers.append(block.attn.register_forward_hook(self._get_hook(facet))) else: raise TypeError(f"{facet} is not a supported facet.") def _unregister_hooks(self) -> None: """ unregisters the hooks. should be called after feature extraction. """ for handle in self.hook_handlers: handle.remove() self.hook_handlers = [] def _extract_features( self, batch: torch.Tensor, layers: Union[int, List[int]] = 11, facets: Union[str, List[str]] = "key", ) -> Dict[str, List[torch.Tensor]]: """ extract features from the model :param batch: batch to extract features for. Has shape BxCxHxW. :param layers: layer to extract. A number between 0 to 11. :param facet: facet to extract. One of the following options: ['key' | 'query' | 'value' | 'token' | 'attn'] :return : tensor of features. if facet is 'key' | 'query' | 'value' has shape Bxhxtxd if facet is 'attn' has shape Bxhxtxt if facet is 'token' has shape Bxtxd """ B, C, H, W = batch.shape self._feats = defaultdict(list) # [] if isinstance(facets, str): facets = [facets] for facet in facets: self._register_hooks(layers, facet) _ = self.model(batch) self._unregister_hooks() self.load_size = (H, W) self.num_patches = (1 + (H - self.p) // self.stride[0], 1 + (W - self.p) // self.stride[1]) return self._feats def _log_bin(self, x: torch.Tensor, hierarchy: int = 2) -> torch.Tensor: """ create a log-binned descriptor. :param x: tensor of features. Has shape Bµxhxtxd. :param hierarchy: how many bin hierarchies to use. """ B = x.shape[0] num_bins = 1 + 8 * hierarchy bin_x = x.permute(0, 2, 3, 1).flatten(start_dim=-2, end_dim=-1) # Bx(t-1)x(dxh) bin_x = bin_x.permute(0, 2, 1) bin_x = bin_x.reshape(B, bin_x.shape[1], self.num_patches[0], self.num_patches[1]) # Bx(dxh)xnum_patches[0]xnum_patches[1] sub_desc_dim = bin_x.shape[1] avg_pools = [] # compute bins of all sizes for all spatial locations. for k in range(0, hierarchy): # avg pooling with kernel 3**kx3**k win_size = 3**k avg_pool = torch.nn.AvgPool2d(win_size, stride=1, padding=win_size // 2, count_include_pad=False) avg_pools.append(avg_pool(bin_x)) bin_x = torch.zeros((B, sub_desc_dim * num_bins, self.num_patches[0], self.num_patches[1])).to(self.device) for y in range(self.num_patches[0]): for x in range(self.num_patches[1]): part_idx = 0 # fill all bins for a spatial location (y, x) for k in range(0, hierarchy): kernel_size = 3**k for i in range(y - kernel_size, y + kernel_size + 1, kernel_size): for j in range(x - kernel_size, x + kernel_size + 1, kernel_size): if i == y and j == x and k != 0: continue if 0 <= i < self.num_patches[0] and 0 <= j < self.num_patches[1]: bin_x[:, part_idx * sub_desc_dim : (part_idx + 1) * sub_desc_dim, y, x] = avg_pools[k][ :, :, i, j ] else: # handle padding in a more delicate way than zero padding temp_i = max(0, min(i, self.num_patches[0] - 1)) temp_j = max(0, min(j, self.num_patches[1] - 1)) bin_x[:, part_idx * sub_desc_dim : (part_idx + 1) * sub_desc_dim, y, x] = avg_pools[k][ :, :, temp_i, temp_j ] part_idx += 1 bin_x = bin_x.flatten(start_dim=-2, end_dim=-1).permute(0, 2, 1).unsqueeze(dim=1) # Bx1x(t-1)x(dxh) return bin_x def extract_descriptors( self, batch: torch.Tensor, layer: int = 11, facet: Union[str, List[str]] = "key", bin: bool = False, include_cls: bool = True, ) -> Dict[str, torch.Tensor]: """ extract descriptors from the model :param batch: batch to extract descriptors for. Has shape BxCxHxW. :param layers: layer to extract. A number between 0 to 11. :param facet: facet to extract. One of the following options: ['key' | 'query' | 'value' | 'token' | 'cls_token'] :param bin: apply log binning to the descriptor. default is False. :return: tensor of descriptors. Bx1xtxd' where d' is the dimension of the descriptors. """ if isinstance(facet, str): facet = [facet] for _facet in facet: assert _facet in [ "key", "query", "value", "token", "attn", ], f"""{_facet} is not a supported facet for descriptors. choose from ['key' | 'query' | 'value' | 'token' | 'attn'] """ self._extract_features(batch, [layer], facet) descs = {} for _facet in facet: x = self._feats[_facet][0] if _facet == "attn": # (B, h, t, t) # save multi-head cls attention maps cls_mh_attn_map = x[:, :, 0, 1:] # (B, h, t-1) descs["cls_mh_attn_map"] = repeat(cls_mh_attn_map, "b h t -> b c t h", c=1) # (B, 1, t-1, h) # save saliency map head_idxs = [0, 2, 4, 5] # https://github.com/ShirAmir/dino-vit-features/issues/1 cls_mh_attn_map = x[:, head_idxs, 0, 1:] cls_attn_map = cls_mh_attn_map.mean(dim=1) # (B, t-1) _min, _max = cls_attn_map.min(dim=1)[0], cls_attn_map.max(dim=1)[0] cls_attn_map = (cls_attn_map - _min) / (_max - _min) descs["saliency_map"] = cls_attn_map[:, None, :, None] # (B, 1, t-1, 1) else: if _facet == "token": x.unsqueeze_(dim=1) # Bx1xtxd descs["cls_token"] = x[:, :, [0], :] # (B, 1, 1, d) the cls token x_cls, x = x[:, :, [0], :], x[:, :, 1:, :] # (b, h, 1, d), (b, h, n, d) if include_cls: # assert not bin, "bin = True and include_cls = True are not supported together, set one of them False." descs[f"cls_{_facet}"] = rearrange(x_cls, "b h n d -> b 1 n (d h)") # (B, 1, n, (d, h)) if not bin: # b, h, n, c => b, n, c, h => b, 1, n, (c, h) desc = x.permute(0, 2, 3, 1).flatten(start_dim=-2, end_dim=-1).unsqueeze(dim=1) # (b, 1, n, (d, h)) else: desc = self._log_bin(x) descs[_facet] = desc return descs def extract_saliency_maps(self, batch: torch.Tensor) -> torch.Tensor: """ extract saliency maps. The saliency maps are extracted by averaging several attention heads from the last layer in of the CLS token. All values are then normalized to range between 0 and 1. :param batch: batch to extract saliency maps for. Has shape BxCxHxW. :return: a tensor of saliency maps. has shape Bxt-1 """ assert self.model_type == "dino_vits8", "saliency maps are supported only for dino_vits model_type." self._extract_features(batch, [11], "attn") head_idxs = [0, 2, 4, 5] curr_feats = self._feats[0] # (B, h, t, t) cls_mh_attn_map = curr_feats[:, head_idxs, 0, 1:] # (B, h, t-1) cls_attn_map = cls_mh_attn_map.mean(dim=1) # (B, t-1), excluding cls-cls attention # normalize cls_attn_map temp_mins, temp_maxs = cls_attn_map.min(dim=1)[0], cls_attn_map.max(dim=1)[0] cls_attn_maps = (cls_attn_map - temp_mins) / (temp_maxs - temp_mins) # (B, t-1), normalize to range [0,1] # normalize_cls_mh_attn_map temp_mins, temp_maxs = cls_mh_attn_map.min(dim=-1)[0], cls_mh_attn_map.max(dim=-1)[0] cls_mh_attn_map = (cls_mh_attn_map - temp_mins) / (temp_maxs - temp_mins) # (B, h, t-1) return cls_attn_maps, cls_mh_attn_map def reshape_descriptor(self, descriptor: torch.Tensor, bin: bool = False) -> torch.Tensor: if bin: raise NotImplementedError() # descriptor: (b, 1, hxw, c) # return: (h, w, c) assert descriptor.shape[0] == 1 h, w = self.num_patches descriptor = descriptor[0, 0].reshape(h, w, -1) return descriptor @torch.no_grad() def extract_single(args): device = "cuda" if torch.cuda.is_available() else "cpu" extractor = ViTExtractor(args.model_type, args.stride, device=device) image_batch, image_pil = extractor.preprocess(args.image_path, args.load_size) # print(f"Image {args.image_path} is preprocessed to tensor of size {image_batch.shape}.") descriptors = {} raw_descriptors = extractor.extract_descriptors(image_batch.to(device), args.layer, args.facet, args.bin) for desc_name, desc in raw_descriptors.items(): # print(f"{desc_name}: {desc.shape}") if "cls_" in desc_name: desc = desc[0, 0, 0, :] # (c, ), ((d, n_heads), ) else: if args.unflatten: desc = extractor.reshape_descriptor(desc, bin=args.bin) # (h, w, c) descriptors[desc_name] = desc.cpu().numpy() if args.save_npz: output_path = args.output_path.with_suffix(".npz") npz_data = {} _kqv = [int(k in descriptors) for k in ["key", "query", "value"]] _sum_kqv = sum(_kqv) if _sum_kqv == 0: feature_key = "token" elif _sum_kqv == 1: feature_key = ["key", "query", "value"][np.argmax(_kqv)] else: raise RuntimeError("Unsupported configuration, only one key, query, value feature could be specified.") npz_data["features"] = descriptors.pop(feature_key) # main feature npz_data.update(descriptors) # cls_mh_attn_map: (h, w, n_heads) | saliency_map: (h, w, 1) # token: (h, w, c) | cls_token: (c, ) | cls_{facet}: (c, ) if args.fp16: npz_data = {k: v.astype(np.float16) for k, v in npz_data.items()} try: np.savez_compressed(output_path, **npz_data) except PermissionError: shutil.chown(output_path.parent, user="wangyuang", group="wangyuang") for p in output_path.parent.iterdir(): shutil.chown(p, user="wangyuang", group="wangyuang") np.savez_compressed(output_path, **npz_data) else: raise NotImplementedError() # output_path = args.output_path.with_suffix('.pt') # torch.save(descriptors.cpu(), output_path) print(f"Descriptors saved to: {output_path}") """ taken from https://stackoverflow.com/questions/15008758/parsing-boolean-values-with-argparse""" def str2bool(v): if isinstance(v, bool): return v if v.lower() in ("yes", "true", "t", "y", "1"): return True elif v.lower() in ("no", "false", "f", "n", "0"): return False else: raise argparse.ArgumentTypeError("Boolean value expected.") def parse_args(): parser = argparse.ArgumentParser(description="Facilitate ViT Descriptor extraction.") parser.add_argument("--image_path", type=Path, required=True, help="path of the extracted image.") parser.add_argument( "--output_path", type=Path, required=False, help="path to file containing extracted descriptors.", ) parser.add_argument("--load_size", default=224, type=int, help="load size of the input image.") parser.add_argument( "--stride", default=4, type=int, help="""stride of first convolution layer. small stride -> higher resolution.""", ) parser.add_argument( "--model_type", default="dino_vits8", type=str, help="""type of model to extract. Choose from [dino_vits8 | dino_vits16 | dino_vitb8 | dino_vitb16 | vit_small_patch8_224 | vit_small_patch16_224 | vit_base_patch8_224 | vit_base_patch16_224]""", ) parser.add_argument( "--facet", default="key", type=str, nargs="+", choices=["key", "query", "value", "token", "attn"], help="""facet to create descriptors from. options: ['key' | 'query' | 'value' | 'token']""", ) parser.add_argument("--layer", default=11, type=int, help="layer to create descriptors from.") parser.add_argument("--bin", default="False", type=str2bool, help="create a binned descriptor if True.") parser.add_argument("--unflatten", action="store_true") parser.add_argument("--save_npz", action="store_true") parser.add_argument("--fp16", action="store_true") parser.add_argument("--data_root", type=Path) parser.add_argument("--image_dir_name", type=str, default="image") parser.add_argument("--output_dir_name", type=str, default="dino_feats") args = parser.parse_args() return args def main(): args = parse_args() if args.image_path.is_dir(): # extract a single sequence # TODO: support parallel extraction if not args.output_path.exists(): args.output_path.mkdir() assert args.output_path.is_dir() image_paths, output_paths = [], [] for img_path in args.image_path.iterdir(): image_paths.append(img_path) output_paths.append(args.output_path / img_path.with_suffix(".pt").name) for img_p, output_p in tqdm(zip(image_paths, output_paths), desc="extracting features"): _args = copy.deepcopy(args) _args.image_path, _args.output_path = img_p, output_p extract_single(_args) elif args.image_path.is_file() and args.image_path.suffix == ".txt": # extract a sequence of images if not args.output_path.exists(): args.output_path.mkdir() with open(args.image_path, "r") as f: image_paths = [Path(p) for p in f.read().strip().split()] output_paths = [args.output_path / p.with_suffix(".pt").name for p in image_paths] logger.debug(f"{len(image_paths)} images parsed from {args.image_path}") for img_p, output_p in tqdm(zip(image_paths, output_paths), desc="extracting features"): _args = copy.deepcopy(args) _args.image_path, _args.output_path = img_p, output_p extract_single(_args) args.image_path.unlink() elif args.image_path.is_file(): # extract a single image extract_single(args) else: raise ValueError() if __name__ == "__main__": main() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/sfm/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/sfm/colmap_from_co3d.py ================================================ """ Build an empty colmap mode with camera poses from annotations in the CO3D format. """ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/sfm/colmap_from_idr.py ================================================ """ Build an empty colmap mode with camera poses from annotations in the IDR format. """ from dataclasses import dataclass from pathlib import Path from typing import Dict, Optional import cv2 import hydra import imagesize import numpy as np from hloc.utils.read_write_model import Camera, Image, rotmat2qvec, write_model from hydra.core.config_store import ConfigStore from hydra_zen import store from loguru import logger from tqdm import tqdm @dataclass class IDR2COLMAPConfig: """Convert data in the IDR format to COLMAP models.""" data_root: Path = Path("data") inst_rel_dir: Optional[str] = None pose_filename: str = "cameras.npz" image_filename: str = "images" save_dirname: str = "sfm_from_idr" idr2colmap_store = store(group="idr2colmap") idr2colmap_store(IDR2COLMAPConfig, name="base") def load_K_Rt_from_P(filename, P=None): if P is None: lines = open(filename).read().splitlines() if len(lines) == 4: lines = lines[1:] lines = [[x[0], x[1], x[2], x[3]] for x in (x.split(" ") for x in lines)] P = np.asarray(lines).astype(np.float32).squeeze() out = cv2.decomposeProjectionMatrix(P) K = out[0] R = out[1] t = out[2] K = K / K[2, 2] intrinsics = np.eye(4) intrinsics[:3, :3] = K pose = np.eye(4, dtype=np.float32) pose[:3, :3] = R.transpose() pose[:3, 3] = (t[:3] / t[3])[:, 0] # merged transformation return intrinsics, pose # cam2world psoe def parse_idr_poses(pose_path, image_dir) -> Dict[str, Dict[str, np.ndarray]]: cameras = np.load(pose_path) poses = {} frame_ids = sorted(list(set([int(n.split("_")[-1]) for n in cameras.keys() if "bbox" not in n]))) image_paths = sorted(image_dir.iterdir()) for f_id, image_path in zip(frame_ids, image_paths): world_mat, scale_mat = cameras[f"world_mat_{f_id}"], cameras[f"scale_mat_{f_id}"] world_mat = world_mat @ scale_mat K44_cv, T44_c2w_cv = load_K_Rt_from_P(None, world_mat[:3, :]) width, height = imagesize.get(str(image_path)) poses[image_path.name] = { "frame_id": f_id, "K44_cv": K44_cv, "T44_c2w_cv": T44_c2w_cv, "width": width, "height": height, } return poses def process_instance(cfg, inst_dirname): inst_dir = cfg.data_root / inst_dirname logger.info(f"Processing instance: {inst_dir}") image_dir = inst_dir / cfg.image_filename pose_path = inst_dir / cfg.pose_filename sfm_dir = inst_dir / cfg.save_dirname sfm_dir.mkdir(parents=False, exist_ok=True) # parse colmap poses from neus poses poses = parse_idr_poses(pose_path, image_dir) # build colmap model # NOTE: assuming all intrinsics are the same cameras, images = {}, {} for img_name, frame in poses.items(): frame_id = int(frame["frame_id"]) # create cameras cam_params = frame["K44_cv"][[0, 1, 0, 1], [0, 1, 2, 2]].tolist() camera = Camera(id=frame_id, model="PINHOLE", width=frame["width"], height=frame["height"], params=cam_params) cameras[frame_id] = camera # create images R33_c2w, t3_c2w = frame["T44_c2w_cv"][:3, :3], frame["T44_c2w_cv"][:3, -1] R33_c2w = R33_c2w.T t3_w2c = -(R33_c2w @ t3_c2w) image = Image( id=frame_id, qvec=rotmat2qvec(R33_c2w), tvec=t3_w2c, camera_id=frame_id, name=img_name, xys=np.zeros((0, 2), float), point3D_ids=np.full(0, -1, int), ) images[frame_id] = image write_model(cameras, images, {}, path=str(sfm_dir), ext=".bin") def main(idr2colmap: IDR2COLMAPConfig): cfg = idr2colmap if cfg.inst_rel_dir is not None: process_instance(cfg, cfg.inst_rel_dir) else: for inst_dir in tqdm(cfg.data_root.iterdir(), desc="Converting data (in IDR format) to COLMAP models"): if not (inst_dir / cfg.pose_filename).exists(): continue process_instance(cfg, inst_dir.stem) if __name__ == "__main__": cs = ConfigStore.instance() cs.store(name="config", node=IDR2COLMAPConfig) hydra.main(config_name="config", version_base=None)(main)() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/sfm/enums.py ================================================ from enum import Enum from hloc import extract_features, match_features MatchingMode = Enum("MatchingMode", ["sequential", "exhaustive", "vocab_tree", "pairs_from_poses", "database"]) SfMMode = Enum("SfMMode", ["sfm", "triangulate"]) Extractor = Enum("Extractor", [*list(extract_features.confs.keys()), "loftr"]) Matcher = Enum("Matcher", [*list(match_features.confs.keys()), "loftr"]) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/sfm/pairs_from_sequential.py ================================================ import argparse import collections.abc as collections import copy import shutil from pathlib import Path from typing import List, Literal, Optional, Tuple, Union import natsort import numpy as np import torch from hloc import extract_features, pairs_from_retrieval from hloc.utils.io import list_h5_names from hloc.utils.parsers import parse_image_list from loguru import logger from auto_decomp.utils.cli import str2bool def read_image_pairs(path): with open(path, "r") as f: pairs = [p.split() for p in f.read().rstrip("\n").split("\n")] return pairs def pairs_from_file(image_list: List[Path], pairs_path: Path) -> List[Tuple[Path, Path]]: converted_pairs = [] # absolute paths name2path = {p.name: p for p in image_list} pairs = read_image_pairs(pairs_path) for pair in pairs: img0_name, img1_name = map(lambda x: Path(x).name, pair) if img0_name in name2path and img1_name in name2path: converted_pairs.append((name2path[img0_name], name2path[img1_name])) else: logger.warning(f"Pairs does not exist in image_list: {img0_name}-{img1_name}") return converted_pairs def build_loop_detection_pairs( *, pairs_path: Path, image_list: List[Path], # absolute image paths num_images: int, # number of images to be matched for loop-detection, should be significantly larger than sequential pairs frequency: int, # run loop-detection for every frequency images method: Literal["colmap", "retrieval"] = "retrieval", retrieval_method: Literal["netvlad"] = "netvlad", ) -> List[Tuple[Path, Path]]: if method == "colmap": # ref: https://github.com/colmap/pycolmap/blob/743a4ac305183f96d2a4cfce7c7f6418b31b8598/pipeline/match_features.cc#L177 raise NotImplementedError("loop detection with colmap is not implemented yet.") if pairs_path.exists(): return pairs_from_file(image_list, pairs_path) retrival_conf = extract_features.confs[retrieval_method] temp_dir = pairs_path.parent / "temp_retrival" if temp_dir.exists(): shutil.rmtree(temp_dir) temp_dir.mkdir() image_dir = image_list[0].parent retrival_feat_path = extract_features.main( retrival_conf, image_list[0].parent, temp_dir, image_list=[p.relative_to(image_dir) for p in image_list] ) torch.cuda.empty_cache() loop_check_images = [Path(img_path).name for img_path in image_list[::frequency]] pairs_from_retrieval.main( retrival_feat_path, pairs_path, num_matched=min(num_images, len(image_list)), query_list=loop_check_images ) shutil.rmtree(temp_dir) return pairs_from_file(image_list, pairs_path) def main( output: Path, image_root_dir: Path, image_list: Optional[Union[Path, List[str]]] = None, # relative to image_root_dir features: Optional[Path] = None, overlap: int = 5, quadratic_overlap: bool = True, loop: bool = True, # treat the image_list as a sequential loop loop_detection: bool = True, loop_detection_method: Literal["colmap", "retrieval"] = "retrieval", loop_detection_frequency: int = 10, loop_detection_num_images: int = 20, ): if image_list is not None: if isinstance(image_list, (str, Path)): # parse from file names_q = parse_image_list(image_list) elif isinstance(image_list, collections.Iterable): names_q = natsort.natsorted(list(map(str, image_list))) else: raise ValueError(f"Unknown type for image list: {image_list}") elif features is not None: names_q = list_h5_names(features) names_q = list(sorted(list(names_q))) else: raise ValueError("Provide either a list of images or a feature file.") image_list = copy.deepcopy(names_q) # build sequential pairs idxs = np.arange(0, len(names_q)) dists = np.abs(idxs[None, :] - idxs[:, None]).astype(np.float32) # (N, N) if loop: dists_loop = np.abs(idxs[None, :] - (idxs[:, None] - len(names_q))).astype(np.float32) # (N, N) dists = np.minimum(dists, dists_loop) log2_dists = np.log2(dists, out=np.zeros_like(dists), where=(dists != 0)) mask_overlap = (dists > 0) & (dists <= overlap) mask_quadratic_overlap = ( (log2_dists > 0) & (log2_dists <= overlap) & (log2_dists == log2_dists.astype(int)) if quadratic_overlap else np.zeros_like(mask_overlap, dtype=bool) ) idxs0, idxs1 = np.nonzero(mask_overlap | mask_quadratic_overlap) names_ref = [names_q[i] for i in idxs0] names_q = [names_q[j] for j in idxs1] pairs = [] for n0, n1 in zip(names_ref, names_q): pairs.append(tuple(sorted((n0, n1)))) pairs = set(pairs) n_sequential_pairs, n_loop_det_pairs = len(pairs), 0 # build loop-detection pairs if loop_detection: loop_det_pairs_path = output.parent / f"pairs_loop-det_netvlad-{loop_detection_num_images}.txt" image_list_absolute = [image_root_dir / n for n in image_list] loop_det_pairs = build_loop_detection_pairs( pairs_path=loop_det_pairs_path, image_list=image_list_absolute, num_images=loop_detection_num_images, frequency=loop_detection_frequency, method=loop_detection_method, retrieval_method="netvlad", ) loop_det_pairs = set( [tuple(sorted(map(lambda p: str(p.relative_to(image_root_dir)), (p0, p1)))) for p0, p1 in loop_det_pairs] ) pairs |= loop_det_pairs n_loop_det_pairs = len(loop_det_pairs) pairs = list(pairs) logger.info(f"Found {len(pairs)} pairs (n_seq={n_sequential_pairs} | n_loop={n_loop_det_pairs}).") with open(output, "w") as f: f.write("\n".join(" ".join([i, j]) for i, j in pairs)) if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("--output", required=True, type=Path, help="path to save the pairs") parser.add_argument("--image_root_dir", required=True, type=Path) parser.add_argument("--image_list", type=Path) parser.add_argument("--features", type=Path) parser.add_argument("--overlap", type=int, help="number of overlapping image pairs") parser.add_argument( "--quadratic_overlap", action="store_true", help="whether to match images against their quadratic neighbors" ) parser.add_argument( "--loop", type=str2bool, nargs="?", const=True, default=True, help="treat the image sequence as a loop when considering overlapping pairs", ) parser.add_argument("--loop_detection", type=str2bool, nargs="?", const=True, default=True) parser.add_argument("--loop_detection_method", choices=["colmap", "retrieval"], default="retrieval") parser.add_argument( "--loop_detection_frequency", type=int, default=5, help="perform loop detection every frequency images." ) parser.add_argument( "--loop_detection_num_images", type=int, default=20, help="The number of images to retrieve in loop detection. This number should be " "significantly bigger than the sequential matching overlap.", ) args = parser.parse_args() main(**args.__dict__) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/sfm/sfm.py ================================================ import copy import json import shutil import subprocess from dataclasses import dataclass, make_dataclass from pathlib import Path from typing import Optional import hydra import natsort import numpy as np import pycolmap import ray from hloc import ( extract_features, match_features, pairs_from_exhaustive, pairs_from_poses, reconstruction, triangulation, ) from hydra.core.config_store import ConfigStore from hydra_zen import store from loftr.tools import hloc_match_features as loftr_match_features from loguru import logger from ray.util.queue import Queue from rich.traceback import install from typing_extensions import Literal from auto_decomp.sfm import pairs_from_sequential from auto_decomp.utils import viz_3d install(show_locals=False) @dataclass class SfMConfig: # basic configs force_rerun: bool = False data_root: Path = Path("data/") inst_rel_dir: Optional[str] = None """the relative path to the instance directory""" image_dirname: str = "images" inst_list_path: Optional[Path] = None """path to the file containing a list of instances""" n_images: Optional[int] = None """evenly subsample n_images for reconstruction""" make_plot: bool = True delete_sfm_dir: bool = True """only keep the manhattan-aligned sfm results""" cache_name: str = ".cache.json" """save cache for further use""" # parallel configs n_feature_workers: int = 1 n_recon_workers: int = 1 # colmap configs sfm_mode: str = "sfm" share_intrinsics: bool = True matching_mode: str = "exhaustive" # TODO: make a separate config group for different matching modes n_matching_neighbors: int = 10 """number of matching pairs to consider for sequential matcher / viewpoint-angle based matcher for sequential matcher, overlap = ceil(n_matching_neighbors / 2) """ loop_detection_frequency: int = 1 loop_detection_num_images: int = 15 # triangulation configs reference_sfm_reldir: str = "sfm" """the reference sfm directory for triangulation""" use_cache: bool = False """read ref_sfm_dir from cache for triangulation""" # feature extractor & matcher extractor: str = "superpoint_aachen" matcher: str = "superglue" resize_max_area: int = 1920000 """resize images to have a maximum area of this number, for LoFTR matching only""" dens3r_model_ckpt: str = "None" sfm_store = store(group="sparse_recon") sfm_store(SfMConfig, name="base") sfm_store( SfMConfig, sfm_mode="sfm", matching_mode="sequential", n_matching_neighbors=10, loop_detection_frequency=1, loop_detection_num_images=15, name="sequential", ) trig_store = store(group="triangulation") trig_store( SfMConfig, sfm_mode="triangulate", matching_mode="sequential", use_cache=True, extractor="loftr", matcher="loftr", resize_max_area=1920000, name="sequential", ) trig_store( SfMConfig, sfm_mode="triangulate", matching_mode="sequential", use_cache=True, extractor="loftr", matcher="loftr", resize_max_area=720000, name="sequential_low-res", ) trig_store( SfMConfig, sfm_mode="triangulate", reference_sfm_reldir="sfm_from_idr", matching_mode="pairs_from_poses", use_cache=False, extractor="loftr", matcher="loftr", resize_max_area=720000, name="pairs_from_poses_low-res", ) store.add_to_hydra_store() SparseReconTask = make_dataclass( "SparseReconTask", [ "job_type", "job_id", "inst_id", "futures", "args", "inst_root", "output_dir", "sfm_dir", "manhattan_sfm_dir", "image_dir", "pairs_path", "features_path", "matches_path", "image_list", "ref_sfm_dir", ], ) TerminateTask = make_dataclass( "TerminateTask", [ ("job_type", str, "exit"), ], ) @ray.remote(num_cpus=1) # pyright: ignore class SparseReconActor: def __init__(self, task_queue, return_queue, share_intrinsics=True, make_plot=True, delete_sfm_dir=True): self.task_queue = task_queue self.return_queue = return_queue self.share_intrinsics = share_intrinsics self.make_plot = make_plot self.delete_sfm_dir = delete_sfm_dir def run(self): task_inst_id = [None] try: self._run(task_inst_id) except Exception as err: self.return_queue.put_nowait((task_inst_id[0], False, f"Unknown error: {err}")) raise err def _run(self, task_inst_id): while True: task = self.task_queue.get() # SparseReconTask task_inst_id[0] = task.inst_id if task.job_type == "exit": return if task.futures is not None: logger.info("Waiting for feature extraction task done.") _ = ray.get(task.futures) # wait untill precending tasks done if task.job_type == "sparse_recon": sparse_recon_succeed = self.sparse_recon(task) if not sparse_recon_succeed: self.return_queue.put_nowait((task.inst_id, False, "sparse reconstruction failed!")) continue self.manhattan_alignment(task) elif task.job_type == "sparse_recon_postprocess": self.manhattan_alignment(task) elif task.job_type == "triangulation": triangulation_succeed = self.triangulate(task) if not triangulation_succeed: self.return_queue.put_nowait((task.inst_id, False, "triangulation failed!")) continue self.manhattan_alignment(task) else: raise ValueError(f"Unknown job: {task.job_type}") self.return_queue.put_nowait((task.inst_id, True)) logger.info(f"[job_id:{task.job_id} | inst_id:{task.inst_id}] sparse reconstruction saved!") def sparse_recon(self, task): rec = reconstruction.main( task.sfm_dir, task.image_dir, task.pairs_path, task.features_path, task.matches_path, camera_mode=pycolmap.CameraMode.SINGLE if self.share_intrinsics else pycolmap.CameraMode.AUTO, image_list=task.image_list, ) if rec is not None: if self.make_plot: plot_reconstruction(rec, task.output_dir, show_axes=True) return True else: logger.warning(f"[{task.inst_id}] Failed to reconstruct any model!") return False def triangulate(self, task): rec = triangulation.main( task.sfm_dir, task.ref_sfm_dir, task.image_dir, task.pairs_path, task.features_path, task.matches_path, skip_geometric_verification=False, min_match_score=None, ) if rec is not None: if self.make_plot: plot_reconstruction(rec, task.output_dir, show_axes=True) return True else: logger.warning(f"[{task.inst_id}] Failed to triangulate any model!") return False def manhattan_alignment(self, task): # if (task.manhattan_sfm_dir / "points3D.bin").exists(): # logger.info(f"Instance {task.inst_root.stem} already manhattan-aligned!") # return rec = manhattan_alignment(task.image_dir, task.sfm_dir, task.manhattan_sfm_dir) if self.make_plot: plot_reconstruction(rec, task.output_dir, show_axes=True, suffix="manhattan") if self.delete_sfm_dir: shutil.rmtree(task.sfm_dir) logger.info(f"sfm directory deleted! ({str(task.sfm_dir)})") # TODO: merge fields into args FeatureTask = make_dataclass( "FeatureTask", [ "job_type", "job_id", "inst_id", "args", "inst_root", "image_dir", "sfm_dir_name", "image_list", "features_path", "matches_path", "pairs_path", "sparse_recon_task", ], ) @ray.remote(num_cpus=1, num_gpus=1) # pyright: ignore def extract_and_match(task): # FeatureTask feature_conf = extract_features.confs[task.args.extractor] matcher_conf = match_features.confs[task.args.matcher] extract_features.main( feature_conf, task.image_dir, image_list=task.image_list, feature_path=task.features_path ) # TODO: set smaller dataloader num_workers if args.n_feature_workers > 1 match_features.main(matcher_conf, task.pairs_path, features=task.features_path, matches=task.matches_path) return @ray.remote(num_cpus=1) # pyright: ignore class FeatureActor: def __init__(self, feature_queue: Queue, recon_queue: Queue): self.feature_queue = feature_queue self.recon_queue = recon_queue def run(self): while True: task = self.feature_queue.get() if task.job_type == "exit": return obj_refs = self._run_task(task) if obj_refs is not None and len(obj_refs) > 0: _ = ray.get(obj_refs) logger.info(f"[job_id:{task.job_id} | inst_id:{task.inst_id}] features & matches saved!") self.recon_queue.put_nowait(task.sparse_recon_task) def _run_task(self, task): if task.job_type == "extract_and_match": if task.args.matcher != "loftr": obj_refs = self._extract_and_match(task) else: obj_refs = self._run_loftr(task) else: raise ValueError(f"Unknown job: {task.job_type}") return obj_refs def _extract_and_match(self, task): # FeatureTask logger.info(f"Matching [{task.inst_id}] w/ ({task.args.extractor}, {task.args.matcher})") if task.args.n_feature_workers > 1: logger.warning("n_feature_workers > 1 is not supported for HLoc internal matchers!") obj_ref = extract_and_match.remote(task) return [obj_ref] def _run_loftr(self, task): # FeatureTask # TODO: support batch_size > 1 loftr_args = loftr_match_features.get_default_args() loftr_args.root_dir = task.inst_root loftr_args.hloc_dirname = task.sfm_dir_name loftr_args.image_dirname = task.image_dir.relative_to(task.inst_root) # task.image_dir.stem loftr_args.pairs_fn = task.pairs_path.name loftr_args.features_fn = task.features_path.name loftr_args.matches_fn = task.matches_path.name loftr_args.force_rerun = task.args.force_rerun loftr_args.max_area = task.args.resize_max_area loftr_args.n_workers = task.args.n_feature_workers obj_ref = loftr_match_features.process_instance(loftr_args, task.image_list, block=False) logger.info(f"Matching [{task.inst_id}] w/ LoFTR...") return obj_ref def read_write_cache( cache_path: Path, current_sfm_dir: Path, sfm_mode: Literal["sfm", "triangulate", "sfm_then_triangulate"], ref_sfm_dir: Optional[Path] = None, use_cache: bool = False, ): if not cache_path.exists(): cache = {} else: with open(cache_path, "r") as f: cache = json.load(f) ref_sfm_dir = ref_sfm_dir # read from cache if sfm_mode == "sfm": assert not use_cache cache["sfm_dir_prev"] = "" cache["sfm_dir"] = str(current_sfm_dir) else: if use_cache: assert cache.get("sfm_dir", "") != "" and cache["sfm_dir_prev"] == "", "cache is not valid!" ref_sfm_dir = Path(cache["sfm_dir"]) logger.info(f"Using cached sfm_dire as renference: {ref_sfm_dir}") else: assert ref_sfm_dir is not None cache["sfm_dir_prev"] = str(ref_sfm_dir) cache["sfm_dir"] = str(current_sfm_dir) with open(cache_path, "w") as f: cache = json.dump(cache, f) logger.info(f"Cache updated: {cache_path}") return ref_sfm_dir def evenly_sample_images(images, n_samples): """evenly sample n_samples from images and keep the start & last elements.""" n_total = len(images) if n_samples is None or n_samples >= n_total: return images idx = np.round(np.linspace(0, n_total - 1, n_samples)).astype(int) images = [images[i] for i in idx] logger.info(f"Images subsampled: {len(images)} / {n_total}") return images def parse_images_from_reference_model(sfm_ref_dir): rec = pycolmap.Reconstruction(sfm_ref_dir) img_names = [rec.images[img_id].name for img_id in rec.reg_image_ids()] return img_names def plot_reconstruction(rec, outputs_dir, show_axes=False, suffix=None): fig = viz_3d.init_figure(show_axes=show_axes) viz_3d.plot_reconstruction( fig, rec, points_color="rgba(255,0,0,0.5)", points_name="vis_sfm_points", cameras_name="vis_sfm_cameras" ) suffix = "" if suffix is None else f"_{suffix}" fig_path = outputs_dir / f"vis_sfm{suffix}" viz_3d.save_fig(fig, fig_path.parent, fig_path.stem, mode="both") logger.info(f"Reconstruction plot saved: {fig_path}") def manhattan_alignment(image_dir, sfm_dir, output_dir): output_dir.mkdir(exist_ok=True) cmd = [ "colmap", "model_orientation_aligner", "--image_path", str(image_dir), "--input_path", str(sfm_dir), "--output_path", str(output_dir), ] subprocess.run(cmd, check=True, capture_output=True, text=True) logger.info(f"manhattan-aligned sfm model saved: {str(output_dir)}") rec = pycolmap.Reconstruction(output_dir) return rec def reconstruct_instance( args, inst_rel_dir, feature_queue, sparse_recon_task_queue, sparse_recon_return_queue, task_id=None ): inst_root = args.data_root / inst_rel_dir images = inst_root / args.image_dirname cache_path = inst_root / args.cache_name _out_prefix = args.sfm_mode if args.extractor == "superpoint_aachen" and args.matcher == "superglue": sfm_dir_name = f"{_out_prefix}_spp-spg" elif args.extractor == "sift": # NOTE: the HLoc sift impl is slow sfm_dir_name = f"{_out_prefix}_sift" assert args.matcher == "NN-ratio" elif args.extractor == "loftr": sfm_dir_name = f"{_out_prefix}_loftr-{args.resize_max_area}" else: raise NotImplementedError() _match_str = args.matching_mode.replace("_", "-") if args.matching_mode in ["sequential", "pairs_from_poses"]: _match_str = f"{_match_str}_np-{args.n_matching_neighbors}" sfm_dir_name = f"{sfm_dir_name}_{_match_str}" if args.n_images is not None: sfm_dir_name = f"{sfm_dir_name}_nimgs-{args.n_images}" outputs = inst_root / sfm_dir_name outputs.mkdir(exist_ok=True) logger.info(f"Reconstruction directory: {sfm_dir_name}") sfm_dir = outputs / "sfm" manhattan_sfm_dir = outputs / "manhattan" ref_sfm_dir = None if args.sfm_mode == "sfm" else inst_root / args.reference_sfm_reldir ref_sfm_dir = read_write_cache( cache_path, manhattan_sfm_dir, args.sfm_mode, ref_sfm_dir=ref_sfm_dir, use_cache=args.use_cache ) features = outputs / f"features_{args.extractor}.h5" matches = outputs / f"matches_{args.matcher}.h5" if args.sfm_mode != "triangulate": references = natsort.natsorted([p.relative_to(images).as_posix() for p in images.iterdir()], key=str) references = evenly_sample_images(references, args.n_images) logger.info(f"[{inst_rel_dir}] #mapping_images: {len(references)}") else: # triangulate references = parse_images_from_reference_model(ref_sfm_dir) if args.n_images is not None: logger.warning("Donot support image sampling in triangulation mode.") logger.info(f"[{inst_rel_dir}] Found {len(references)} images in the reference sfm model") # TODO: support sfm_mode == "sfm_then_triangulate" sparse_recon_task = SparseReconTask( job_type="sparse_recon" if args.sfm_mode != "triangulate" else "triangulation", job_id=task_id, inst_id=inst_rel_dir, args=args, inst_root=inst_root, output_dir=outputs, sfm_dir=sfm_dir, manhattan_sfm_dir=manhattan_sfm_dir, image_dir=images, pairs_path=None, features_path=features, matches_path=matches, image_list=references, futures=None, ref_sfm_dir=ref_sfm_dir, ) feature_task = FeatureTask( job_type="extract_and_match", job_id=task_id, inst_id=inst_rel_dir, args=args, sfm_dir_name=sfm_dir_name, inst_root=inst_root, image_dir=images, image_list=references, features_path=features, matches_path=matches, pairs_path=None, sparse_recon_task=None, ) if not args.force_rerun and (manhattan_sfm_dir / "points3D.bin").exists(): logger.info(f"Instance {inst_rel_dir} already reconstructed & aligned, Skipped!") sparse_recon_return_queue.put_nowait((inst_rel_dir, True)) elif ( not args.force_rerun and (sfm_dir / "points3D.bin").exists() ): # sparse-recon already done, only run postprocessing logger.info(f"Instance {inst_rel_dir} already reconstructed, run alignment only!") sparse_recon_task.job_type = "sparse_recon_postprocess" sparse_recon_task_queue.put_nowait(sparse_recon_task) feature_ref = None else: # extract-features & (sparse-recon / triangulation) # generate matches if args.matching_mode == "sequential": sfm_pairs = outputs / f"pairs-sfm_seq-loop-det_n{args.n_matching_neighbors}.txt" if ref_sfm_dir is not None and (ref_sfm_dir.parent / sfm_pairs.name).exists(): shutil.copy(ref_sfm_dir.parent / sfm_pairs.name, sfm_pairs) logger.info("Using existing pairs in the reference model!") else: pairs_from_sequential.main( sfm_pairs, image_root_dir=images, image_list=references, overlap=int(np.ceil(args.n_matching_neighbors / 2)), quadratic_overlap=True, loop=True, loop_detection=True, loop_detection_frequency=args.loop_detection_frequency, loop_detection_num_images=args.loop_detection_num_images, ) elif args.matching_mode == "pairs_from_poses": sfm_pairs = outputs / f"pairs-sfm_existing-poses_n{args.n_matching_neighbors}.txt" # TODO: set rotation_threshold (default=30°) pairs_from_poses.main(ref_sfm_dir, sfm_pairs, args.n_matching_neighbors) elif args.matching_mode == "exhaustive": sfm_pairs = outputs / "pairs-sfm_exhaustive.txt" pairs_from_exhaustive.main(sfm_pairs, image_list=references) elif args.matching_mode == "vocab_tree": raise NotImplementedError elif args.matching_mode == "database": raise NotImplementedError # TODO: use existing pairs in the database, w/ at least k matches after verification else: raise ValueError feature_task.pairs_path = sfm_pairs sparse_recon_task.pairs_path = sfm_pairs feature_task.sparse_recon_task = sparse_recon_task feature_queue.put_nowait(feature_task) def reconstruct_instance_wrapper(cli_args, *args, **kwargs): """Handle sfm-then-triangulate mode""" if cli_args.sfm_mode != "sfm_then_triangulate": reconstruct_instance(copy.deepcopy(cli_args), *args, **kwargs) else: # sparse-recon sfm_args = copy.deepcopy(cli_args) sfm_args.sfm_mode = "sfm" reconstruct_instance(sfm_args, *args, **{**kwargs, "use_cache": False}) # semi-dense triangulation trig_args = copy.deepcopy(cli_args) trig_args.sfm_mode = "triangulate" trig_args.n_images = None trig_args.extractor, trig_args.matcher = "loftr", "loftr" reconstruct_instance(trig_args, *args, **{**kwargs, "use_cache": True}) def main(sfm: SfMConfig): # TODO: refactor to use a class args = sfm ray.init( num_cpus=args.n_feature_workers * 3 + args.n_recon_workers, num_gpus=args.n_feature_workers, # object_store_memory=int(1e11), # FIXME include_dashboard=False, # runtime_env={"env_vars": {"PYTHONPATH": f"{os.environ.get('PYTHONPATH', '')}:LOFTR_PATH"}}, ) feature_task_queue = Queue() sparse_recon_task_queue = Queue() sparse_recon_return_queue = Queue() # initialize reconstruction actors recon_actors = [ SparseReconActor.remote( sparse_recon_task_queue, sparse_recon_return_queue, share_intrinsics=args.share_intrinsics, make_plot=args.make_plot, delete_sfm_dir=args.delete_sfm_dir, ) for _ in range(args.n_recon_workers) ] for actor in recon_actors: actor.run.remote() # initialize feature extraction actors n_feature_actors = 1 if args.matcher == "loftr" else args.n_feature_workers feature_actors = [FeatureActor.remote(feature_task_queue, sparse_recon_task_queue) for _ in range(n_feature_actors)] for actor in feature_actors: actor.run.remote() n_inst = None assert np.array([i is None for i in [args.inst_rel_dir, args.inst_list_path]]).sum() == 1 _queue_args = (feature_task_queue, sparse_recon_task_queue, sparse_recon_return_queue) if args.inst_rel_dir is not None: n_inst = 1 reconstruct_instance(copy.deepcopy(args), args.inst_rel_dir, *_queue_args, task_id=0) elif args.inst_list_path is not None: with open(args.inst_list_path, "r") as f: inst_rel_dirs = f.read().strip().split() n_inst = len(inst_rel_dirs) for task_id, inst_rel_dir in enumerate(inst_rel_dirs): reconstruct_instance(copy.deepcopy(args), inst_rel_dir, *_queue_args, task_id=task_id) else: raise ValueError('Either "inst_rel_dir" or "inst_list_path" should be provided!') # wait untill all tasks are done failed_tasks = [] while True: state = sparse_recon_return_queue.get() n_inst -= 1 if not state[1]: failed_tasks.append((state[0], state[2])) # (inst_rel_dir, msg) if n_inst == 0: break if len(failed_tasks) > 0: _msgs = [f"[{inst_rel_dir}] {msg}" for inst_rel_dir, msg in failed_tasks] logger.warning(f"{len(failed_tasks)} tasks failed!\n" "\n".join(_msgs)) ray.shutdown() def dens3r_recon(sfm: SfMConfig): import os import sys sys.path.append(str(Path(os.path.abspath(__file__)).resolve().parents[5])) from infer.dens3r_recon import Dens3RReconstruction from infer.infer_normal_pts3d import infer_imgs inst_root = sfm.data_root / sfm.inst_rel_dir images_path = inst_root / sfm.image_dirname references = natsort.natsorted([p.relative_to(images_path).as_posix() for p in images_path.iterdir()], key=str) references = evenly_sample_images(references, sfm.n_images) logger.info(f"[{sfm.inst_rel_dir}] #mapping_images: {len(references)}") # copy references images to a new directory ref_image_dir = os.path.join(str(inst_root), "images_ref") os.makedirs(ref_image_dir, exist_ok=True) for imagename in references: shutil.copy(os.path.join(str(images_path), imagename), os.path.join(str(ref_image_dir), imagename)) sfm_dir_name = f"dens3r_{sfm.n_images}_{sfm.matching_mode}" # run dens3r recon Dens3RReconstruction(ckpt_path = sfm.dens3r_model_ckpt, img_dir = ref_image_dir, sfm_dir = os.path.join(str(inst_root), sfm_dir_name), matching_mode = sfm.matching_mode, window_size = 30, size = 512, triangulate_from_pose = None, use_mapper = "glomap", camera_model = "SIMPLE_RADIAL", conf_thr = 1.001, pixel_tol = 5, subsample = 8) save_normal_dir = f"dens3r_normal" infer_imgs(model_path = sfm.dens3r_model_ckpt, img_dir = ref_image_dir, save_dir = os.path.join(str(inst_root), save_normal_dir), size=1024, device="cuda", seq_len=None, pair_mode="self", save_depth=False, save_normal=True, save_pcd=False) cache_path = inst_root / sfm.cache_name manhattan_sfm_dir = Path(os.path.join(str(inst_root), sfm_dir_name)) / "manhattan" ref_sfm_dir = read_write_cache( cache_path, manhattan_sfm_dir, sfm.sfm_mode, ref_sfm_dir=sfm_dir_name, use_cache=sfm.use_cache ) import torch torch.cuda.empty_cache() return sfm_dir_name def postprocess_dens3r(sfm: SfMConfig, sfm_dir_name: str): import os ws_dir = os.path.join(str(sfm.data_root), sfm.inst_rel_dir, sfm_dir_name) if os.path.exists(os.path.join(ws_dir, "hloc_sfm/models/0/images.bin")): recon_colmap_path = os.path.join(ws_dir, "hloc_sfm/models/0") elif os.path.exists(os.path.join(ws_dir, "hloc_sfm/0/images.bin")): recon_colmap_path = os.path.join(ws_dir, "hloc_sfm/0") else: recon_colmap_path = os.path.join(ws_dir, "hloc_sfm") rec = manhattan_alignment(Path(os.path.join(str(sfm.data_root), sfm.inst_rel_dir, sfm.image_dirname)), Path(recon_colmap_path), Path(os.path.join(ws_dir, "manhattan"))) if sfm.make_plot: plot_reconstruction(rec, Path(ws_dir), show_axes=True, suffix="manhattan") if sfm.delete_sfm_dir: shutil.rmtree(recon_colmap_path) logger.info(f"sfm directory deleted! ({recon_colmap_path})") if __name__ == "__main__": cs = ConfigStore.instance() cs.store(name="config", node=SfMConfig) hydra.main(config_name="config", version_base=None)(main)() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/__init__.py ================================================ from .geometry import box3d, pointcloud from . import aggregation, cli, colmap, misc, ray, tqdm, viz_3d ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/aggregation.py ================================================ from collections import defaultdict from typing import Dict import numpy as np import pycolmap import torch from torch import Tensor from torch.nn.functional import grid_sample from auto_decomp.utils import tqdm as tqdm_utils def multiview_feature_extraction( rec, mv_feats: Dict[str, Dict[int, Tensor]], reproject_3d_points: bool = True, interpolate="nearest", align_corners=None, max_reproj_error=6.0, min_track_length=2, device="cpu", ): """Extract multi-view features with the reconstructed SfM point cloud. Args: mv_feats (Dict[str, Dict[int, Tensor]]): {feature_name: {image_id: (C, H, W)}} multi-view features Returns: p3Ds_xyz (Tensor): (L, 3) p3D_mv_feats (Dict[str, List[Tensor]]): {feature_name: [L, (M, C)]} """ if not isinstance(rec, pycolmap.Reconstruction): rec = pycolmap.Reconstruction(rec) # filter outliers bbs = rec.compute_bounding_box(0.001, 0.999) p3Ds_filtered = { p3D_id: p3D for p3D_id, p3D in rec.points3D.items() if ( (p3D.xyz >= bbs[0]).all() and (p3D.xyz <= bbs[1]).all() and p3D.error <= max_reproj_error and p3D.track.length() >= min_track_length ) } # parse registered images image_ids = rec.reg_image_ids() # regsitered images # interpolate mv_feats for each p3D # (feat, reproj_error) p3D_id_to_feats = {k: defaultdict(list) for k in mv_feats.keys()} # {feature_name: {p3D_id: List[Tensor]}} for img_id in tqdm_utils.tqdm(image_ids, desc="Aggregating multi-view colors/features"): img = rec.images[img_id] cam = rec.cameras[img.camera_id] img_h, img_w = cam.height, cam.width p3D_ids = [p2D.point3D_id for p2D in img.points2D if p2D.has_point3D()] if reproject_3d_points: p3Ds = [rec.points3D[p3D_id] for p3D_id in p3D_ids] xyzs = np.array([p3D.xyz for p3D in p3Ds]) p2Ds = torch.tensor( np.array(cam.world_to_image(img.project(xyzs))), dtype=torch.float32, device=device ) # (N, 2), , cpix else: p2Ds = torch.tensor( [p2D.xy for p2D in img.points2D if p2D.has_point3D()], dtype=torch.float32, device=device ) # cpix if len(p2Ds) == 0: continue p2Ds_normalized = (p2Ds / torch.tensor([[img_w, img_h]], dtype=torch.float32, device=device) - 0.5) * 2 p2Ds_normalized = p2Ds_normalized[None, None] # (1, 1, N, 2) # interpolate feature map # TODO: call grid_sample() only once for all features for feat_name, _p3D_id_to_feats in p3D_id_to_feats.items(): feats = grid_sample( mv_feats[feat_name][img_id][None], p2Ds_normalized, mode=interpolate, align_corners=align_corners ) # (1, C, 1, N) feats = feats[0, :, 0].transpose(0, 1) # (N, C) for p3D_id, feat in zip(p3D_ids, feats): _p3D_id_to_feats[p3D_id].append(feat) # type: ignore p3D_id_to_feats = { feat_name: {k: torch.stack(v, 0) for k, v in _p3D_id_to_feats.items()} for feat_name, _p3D_id_to_feats in p3D_id_to_feats.items() } p3Ds_filtered_xyz, p3Ds_filtered_feats = [], defaultdict(list) for p3D_id, p3D in sorted(p3Ds_filtered.items(), key=lambda x: x[0]): p3Ds_filtered_xyz.append(p3D.xyz) for feat_name, _p3D_id_to_feats in p3D_id_to_feats.items(): p3Ds_filtered_feats[feat_name].append(_p3D_id_to_feats[p3D_id]) # type: ignore p3Ds_filtered_xyz = torch.tensor(np.array(p3Ds_filtered_xyz), device=device) return p3Ds_filtered_xyz, p3Ds_filtered_feats def multiview_feature_aggregation(p3Ds_xyz, p3Ds_mv_feats, mode="mean", affinity_agg_mode="max", gini_agg_mode="max"): """ Args: p3Ds_xyz (Tensor): (L, 3) p3Ds_mv_feats (Dict[str, List[Tensor])]: {feature_name: [L, (M, C)]} Returns: p3Ds_feat (Dict[str, Tensor]): {feature_name: (L, C)} """ def _aggregate_mv_feats(p3Ds_xyzm, _p3Ds_mv_feats): _p3Ds_feat = [] for mv_feats in _p3Ds_mv_feats: if mode == "mean": feat = mv_feats.mean(dim=0) # (C, ) elif mode == "max": feat = mv_feats.max(dim=0).values # (C, ) elif mode == "gini": feat = gini_feature_aggregation(mv_feats, gini_agg_mode) elif mode == "affinity": feat = affinity_feature_aggregation(mv_feats, affinity_agg_mode) else: raise ValueError(f"Unknown aggregation mode: {mode}") _p3Ds_feat.append(feat) _p3Ds_feat = torch.stack(_p3Ds_feat, dim=0) # (L, C) return _p3Ds_feat p3Ds_feat = { feat_name: _aggregate_mv_feats(p3Ds_xyz, _p3Ds_mv_feats) for feat_name, _p3Ds_mv_feats in p3Ds_mv_feats.items() } return p3Ds_feat def gini(array, eps=1e-7): """Calculate the Gini coefficient of a numpy array.""" # based on bottom eq: # http://www.statsdirect.com/help/generatedimages/equations/equation154.svg # from: # http://www.statsdirect.com/help/default.htm#nonparametric_methods/gini.htm # All values are treated equally, arrays must be 1d: array = array.flatten() if np.amin(array) < 0: # Values cannot be negative: array -= np.amin(array) # Values cannot be 0: array += eps # Values must be sorted: array = np.sort(array) # Index per array element: index = np.arange(1, array.shape[0] + 1) # Number of array elements: n = array.shape[0] # Gini coefficient: return (np.sum((2 * index - n - 1) * array)) / (n * np.sum(array)) def gini_feature_aggregation(mv_feats, mode="max"): # assume salient feature has larger gini coefficients (higher sparsity) _mv_feats = mv_feats.clone().numpy() gini_coeffs = mv_feats.new_tensor([gini(f) for f in _mv_feats]) if mode == "max": feat = mv_feats[torch.argmax(gini_coeffs)] elif mode == "weighted_mean": raise NotImplementedError() else: raise ValueError() return feat def affinity_feature_aggregation(mv_feats, mode): raise NotImplementedError() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/cli.py ================================================ import argparse def str2bool(v): """ Parse a boolean argument from command line. Copied from: https://stackoverflow.com/a/43357954 Example: parser.add_argument("--nice", type=str2bool, nargs='?', const=True, default=False, help="Activate nice mode.") cmdline 1: "script --nice" cmdline 2: "script --nice " """ if v is None: # allowing not specified return None if isinstance(v, bool): return v if v.lower() in ('yes', 'true', 't', 'y', '1'): return True elif v.lower() in ('no', 'false', 'f', 'n', '0'): return False else: raise argparse.ArgumentTypeError('Boolean value expected.') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/colmap.py ================================================ import numpy as np import pycolmap def read_extrinsics(rec: pycolmap.Reconstruction): all_T44_w2c = {} bottom = np.array([[0.0, 0.0, 0.0, 1.0]]) for img_id in rec.reg_image_ids(): img = rec.images[img_id] img_name = img.name T44_w2c = np.concatenate([np.concatenate([img.rotmat(), img.tvec[:, None]], 1), bottom], 0) all_T44_w2c[img_name] = T44_w2c return all_T44_w2c def parse_poses(rec): """Parse all registered poses from a reconstruction. Returns: Dict: {image_name: {'T44_w2c': np.ndarray, 'K33': np.ndarray}} """ all_poses = {} all_T44_w2c = read_extrinsics(rec) all_K33 = {} # assume pinhole camera for img_id in rec.reg_image_ids(): img = rec.images[img_id] cam = rec.cameras[img.camera_id] img_name = img.name K33 = cam.calibration_matrix() all_K33[img_name] = K33 for img_name in all_T44_w2c.keys(): all_poses[img_name] = {"T44_w2c": all_T44_w2c[img_name], "K33": all_K33[img_name]} return all_poses ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/geometry/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/geometry/box3d.py ================================================ from typing import Literal, Tuple, Union import numpy as np import open3d as o3d import torch from matplotlib.axis import Axis from open3d.geometry import AxisAlignedBoundingBox from torch import Tensor from auto_decomp.utils.geometry.pointcloud import Plane, point_to_plane_dist try: from pytorch3d.ops import iou_box3d except ImportError as ie: print(ie) """ The 'vertices' format follows PyTorch3D's definition (4) +---------+. (5) | ` . | ` . | (0) +---+-----+ (1) | | | | (7) +-----+---+. (6)| ` . | ` . | (3) ` +---------+ (2) Orientation of the underlying coordinate frame is arbitrary. (colmap is used here) (the strict order of vertices is not meaningful, only the relative order matter) """ def min_max_to_vertices_torch(box: Tensor) -> Tensor: # box: (B, 2, 3) B = box.shape[0] _min, _max = box[:, 0], box[:, 1] # (B, 3) assert (_max >= _min).all() vertices = box.new_ones((B, 8, 3)) vertices[:, [0, 3, 4, 7], 0] = _min[:, 0] vertices[:, [1, 2, 5, 6], 0] = _max[:, 0] vertices[:, [0, 1, 4, 5], 1] = _min[:, 1] vertices[:, [2, 3, 6, 7], 1] = _max[:, 1] vertices[:, [0, 1, 2, 3], 2] = _min[:, 2] vertices[:, [4, 5, 6, 7], 2] = _max[:, 2] return vertices # (B, 8, 3) def min_max_to_vertices(box): _min, _max = box[0], box[1] assert (_max >= _min).all() vertices = np.ones_like(box, shape=(8, 3)) vertices[[0, 3, 4, 7], 0] = _min[0] vertices[[1, 2, 5, 6], 0] = _max[0] vertices[[0, 1, 4, 5], 1] = _min[1] vertices[[2, 3, 6, 7], 1] = _max[1] vertices[[0, 1, 2, 3], 2] = _min[2] vertices[[4, 5, 6, 7], 2] = _max[2] return vertices def _vertices_to_min_max(box): # box: (8, 3) return np.stack([box.min(0), box.max(0)]) def _center_extent_to_vertices(box): # extent:=half_extent box_min_max = np.stack([box[0] - box[1], box[0] + box[1]], 0) # (2, 3) return min_max_to_vertices(box_min_max) def _vertices_to_center_extent(box): _min, _max = box.min(0), box.max(0) center = (_min + _max) / 2 half_extent = (_max - _min) / 2 return np.stack([center, half_extent], 0) def _center_extent_to_min_max(box): center, extent = box[0], box[1] min_corner, max_corner = center - extent, center + extent box = np.stack([min_corner, max_corner], 0) return box BOX_FORMAT_CONVERTOR = { "min_max": {"vertices": min_max_to_vertices}, "center_extent": { "vertices": _center_extent_to_vertices, "min_max": _center_extent_to_min_max, }, "vertices": {"min_max": _vertices_to_min_max, "center_extent": _vertices_to_center_extent}, } def convert_box_format(box, src_format, tgt_format): # TODO: implement a pytorch version if src_format not in BOX_FORMAT_CONVERTOR: raise ValueError(f"Unknown {src_format=}") if tgt_format not in BOX_FORMAT_CONVERTOR: raise ValueError(f"Unknown {tgt_format=}") convertor = BOX_FORMAT_CONVERTOR[src_format].get( tgt_format, lambda x: BOX_FORMAT_CONVERTOR["vertices"][tgt_format](BOX_FORMAT_CONVERTOR[src_format]["vertices"](x)), ) return convertor(box) def compute_box3d_iou( box0: np.ndarray, box1: np.ndarray, box_format: str = "min_max", eps: float = 1e-4, return_volume: bool = False, device: str = "cpu", ) -> Union[np.ndarray, Tuple[np.ndarray, np.ndarray]]: """Compute IoU b/w two 3d boxes. Args: box{0, 1}: (2, 3) or (8, 3) return_volume: return the intersection volume b/w two boxes. """ box0, box1 = map(lambda x: convert_box_format(x, box_format, "vertices"), [box0, box1]) _box0, _box1 = map(lambda x: torch.tensor(x, device=device, dtype=torch.float32)[None], [box0, box1]) # (1, 8, 3) intersect_vol, iou = iou_box3d.box3d_overlap(_box0, _box1, eps=eps) intersect_vol, iou = intersect_vol.cpu().numpy()[0, 0], iou.cpu().numpy()[0, 0] return (iou, intersect_vol) if return_volume else iou def normalize(array: np.ndarray, axis: int = -1): norm = np.linalg.norm(array, ord=2, axis=axis, keepdims=True) array = array / norm return array def extend_aabb( aabb: AxisAlignedBoundingBox, ground_plane: Plane, ground_dir: np.ndarray = np.array([0.0, 1.0, 0.0]), ratio: float = 0.05, extend_bottom: bool = False, extend_reference: Literal["before", "after"] = "after", ) -> AxisAlignedBoundingBox: """Extend the bottom side of an aabb to the ground_plane, and enlarge spatial extents of other sides. (assume world up-direction equals to the ground_plane normal.) Args: extend_bottom (bool): if True, extend the bottom side (near to ground) of the aabb as well extend_renference: when computing the enlargement of the aabb, whether use the aabb before or after it is aligned with the ground_plane """ normal = np.array(ground_plane.params[:3]) normal = normal / np.linalg.norm(normal, ord=2) assert np.allclose(normal, ground_dir) or np.allclose(normal, -ground_dir) center, half_extent = aabb.get_center(), aabb.get_half_extent() enlargement = half_extent * ratio side_points = np.stack([center + normal * half_extent, center - normal * half_extent], 0) # choose the side_point nearest to the ground plane signed_dists = point_to_plane_dist(side_points, np.array(ground_plane.params), signed=True) choice = int(np.abs(signed_dists).argmin()) # determine the bottom->ground direction mult_signed_dists = signed_dists[0] * signed_dists[1] if mult_signed_dists == 0: # bbox collapses to ground plane direction = None elif mult_signed_dists > 0: # on the same side direction = side_points[choice] - side_points[1 - choice] else: # on different sides direction = side_points[1 - choice] - side_points[choice] # align the bottom plane w/ ground plane direction = normalize(direction) if direction is not None else np.zeros((3,), dtype=side_points.dtype) bottom_point = side_points[choice] + direction * np.abs(signed_dists[choice]) up_point = side_points[1 - choice] # for some corner cases, we only got partial segmentation, then use "after" is more appropriate if extend_reference == "after": enlargement[1] = (ratio * np.abs(up_point - bottom_point) / 2)[1] else: assert extend_reference == "before" up_point = up_point + normalize(up_point - bottom_point, axis=-1) * enlargement # only enlarge the upper plane if extend_bottom: bottom_point = bottom_point + normalize(bottom_point - up_point, axis=-1) * enlargement center = (up_point + bottom_point) / 2 _half_extent = np.abs(up_point - bottom_point) / 2 half_extent = half_extent + (1 - ground_dir) * enlargement half_extent = np.where(np.isclose(_half_extent, np.zeros_like(_half_extent)), half_extent, _half_extent) min_bound, max_bound = center - half_extent, center + half_extent new_aabb = AxisAlignedBoundingBox(min_bound=min_bound, max_bound=max_bound) return new_aabb if __name__ == "__main__": box0 = np.array([[-1, -1, -1], [1, 1, 1]], dtype=np.float32) box1 = np.array([[-2, -2, -2], [3, 4, 5]], dtype=np.float32) # test converter assert (convert_box_format(convert_box_format(box0, "min_max", "vertices"), "vertices", "min_max") == box0).all() assert (convert_box_format(convert_box_format(box1, "min_max", "vertices"), "vertices", "min_max") == box1).all() # test compute_box3d_iou iou, vol = compute_box3d_iou(box0, box1, box_format="min_max", return_volume=True) assert np.allclose(vol, 8) and np.allclose(iou, 8 / (5 * 6 * 7)) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/geometry/pointcloud/__init__.py ================================================ from .convert import open3d_ptcd_from_numpy from .plane import Plane, fit_plane, point_to_plane_dist, ground_plane_alignment from .pointcloud import NeuralPointCloud from .segmentation import euclidean_clustering, segment_planes from .misc import compute_knn_distance_threshold, compute_world_to_object_transformation ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/geometry/pointcloud/convert.py ================================================ from typing import Optional import numpy as np import open3d as o3d def open3d_ptcd_from_numpy( points: np.ndarray, colors: Optional[np.ndarray] = None, normals: Optional[np.ndarray] = None ) -> o3d.geometry.PointCloud: pcd = o3d.geometry.PointCloud() pcd.points = o3d.utility.Vector3dVector(points) if colors is not None: assert colors.shape[0] == points.shape[0] if colors.max() > 1 or colors.dtype == np.uint8: colors = colors.astype(np.float32) / 255.0 pcd.colors = o3d.utility.Vector3dVector(colors) if normals is not None: assert normals.shape[0] == points.shape[0] pcd.normals = o3d.utility.Vector3dVector(normals) return pcd ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/geometry/pointcloud/misc.py ================================================ from typing import Any, List, Optional, Tuple import numpy as np import open3d as o3d from open3d.geometry import PointCloud from sklearn.decomposition import PCA from auto_decomp.utils.geometry.transform import rotmat from .convert import open3d_ptcd_from_numpy def compute_knn_distance_threshold( points: np.ndarray, kdtree=None, n_neighbors=10, std_ratio=0.5 ): """compute threshold from global statistic of local distances""" # TODO: support both points & pcd if kdtree is None: pcd = open3d_ptcd_from_numpy(points) kdtree = o3d.geometry.KDTreeFlann(pcd) mean_dists = [] for p in points: # TODO: make parallel _, inds, _ = kdtree.search_knn_vector_3d(p, n_neighbors) mean_dist = np.linalg.norm(p - points[inds], axis=1, ord=2).mean(0) mean_dists.append(mean_dist) mean_dists = np.array(mean_dists) mean = mean_dists.mean() std = np.std(mean_dists) max_dist_threshold = mean + std * std_ratio return max_dist_threshold def compute_world_to_object_transformation( points: Optional[np.ndarray] = None, pcd: Optional[PointCloud] = None, ground_dir: np.ndarray = np.array([0.0, 1.0, 0.0]), forward_dir: np.ndarray = np.array([1.0, 0.0, 0.0]), # one of the two axes orthogonal to ground_dir axis_length_scaling: int = 4, visualize: bool = False, ) -> Tuple[np.ndarray, np.ndarray, List[Any]]: """ Returns: pca_dirs: object-centric forward direction T44_world2object traces: plotly traces for visualization """ assert np.sum([o is not None for o in [points, pcd]]) == 1 xyz = np.array(pcd.points) if pcd is not None else points xyz = xyz.copy() # type: ignore pca = PCA(n_components=3) center = (xyz.max(0) + xyz.min(0)) / 2 _ = pca.fit_transform(xyz) pca_oris = np.stack( [axis_length_scaling * _v * np.sqrt(_l) for _l, _v in zip(pca.explained_variance_, pca.components_)], 0 ) # pca orientations # ground alignment y_dirs = np.stack([ground_dir, -ground_dir], 0) # (2, 3) _pca_oris = pca_oris / np.linalg.norm(pca_oris, ord=2, axis=-1, keepdims=True) cos_sims = (_pca_oris[:, None] * y_dirs[None]).sum(-1) # (3, 2) _index = np.unravel_index(cos_sims.argmax(), cos_sims.shape) src_dir, tgt_dir = _pca_oris[_index[0]], y_dirs[_index[1]] R_33_pca2ground = rotmat(src_dir, tgt_dir) pca_oris_zero_centered = pca_oris @ R_33_pca2ground.T pca_oris = pca_oris_zero_centered + center # compute transformation: world -> object-centric o_dirs = np.stack([forward_dir, -forward_dir], 0) pca_dirs = pca_oris_zero_centered / np.linalg.norm(pca_oris_zero_centered, ord=2, axis=-1, keepdims=True) cos_sims = (pca_dirs[:, None] * o_dirs[None]).sum(-1) # (3, 2) _index = np.unravel_index(cos_sims.argmax(), cos_sims.shape) src_dir, tgt_dir = pca_dirs[_index[0]], o_dirs[_index[1]] R33_world2object = rotmat(src_dir, tgt_dir) # translate object center to origin, then rotate T44_world2object = np.eye(4) T44_world2object[:3, :3] = R33_world2object T44_world2object[:3, -1] = -R33_world2object @ center if visualize: raise NotImplementedError else: traces = [] # plotly traces return pca_dirs, T44_world2object, traces ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/geometry/pointcloud/plane.py ================================================ from collections import namedtuple from typing import Literal, Optional, Tuple import numpy as np import pycolmap import torch from jaxtyping import Float from loguru import logger from skspatial.objects import Plane as SKPlane from auto_decomp.utils.colmap import read_extrinsics from auto_decomp.utils.geometry.transform import rotmat Plane = namedtuple("Plane", ["indices", "params"]) # --------------- plane fitting -------------- # def fit_plane(points: np.ndarray, method: Literal["OLS", "TLS"] = "OLS", device: str = "cuda"): logger.debug(f"Fitting plane w/ {method} on {len(points)} inlier points.") if method == "OLS": return fit_plane_ols(points) elif method == "TLS": # return fit_plane_tls(points) # this is slow return fit_plane_tls_torch(points, device=device) else: ValueError(f"Unknown plane fitting method: {method}") logger.debug("Plane fitting done!") def fit_plane_ols(points: np.ndarray): # http://www.ilikebigbits.com/2017_09_25_plane_from_points_2.html A = np.zeros((3, 3), dtype=np.float32) A[2, 2] = len(points) A[[0, 1], [0, 1]] = (points**2).sum(0)[:2] A[[0, 1], [1, 0]] = (points[:, 0] * points[:, 1]).sum(0) A[[0, 2], [2, 0]] = points[:, 0].sum(0) A[[1, 2], [2, 1]] = points[:, 1].sum(0) b = np.array([(points[:, 0] * points[:, 2]).sum(0), (points[:, 1] * points[:, 2]).sum(0), points[:, 2].sum(0)]) _params = np.linalg.solve(A, b) # (3, ) _normal = np.array([*_params[:2], -1]) _scale = np.linalg.norm(_normal) params = np.concatenate([(_normal / _scale), _params[[-1]] / _scale], 0).astype(np.float32) return params # catersian params (ax + by + cz + d = 0) def fit_plane_tls(points: np.ndarray): """Fit a plane w/ total least sqaure using SVD. https://www.ltu.se/cms_fs/1.51590!/svd-fitting.pdf https://www.cs.cmu.edu/~16385/s17/Slides/11.5_SVD.pdf """ plane = SKPlane.best_fit(points) params = np.array(plane.cartesian()) _scale = np.linalg.norm(params[:3]) params = params / _scale return params def fit_plane_tls_torch(points: np.ndarray, device="cuda", max_n_points=20000): """ ref: https://github.com/ajhynes7/scikit-spatial/blob/master/src/skspatial/objects/plane.py https://github.com/ajhynes7/scikit-spatial/blob/master/src/skspatial/objects/points.py """ if len(points) > max_n_points: # subsample to avoid OOM points = points[np.random.choice(len(points), max_n_points, replace=False)] points = torch.tensor(points, dtype=torch.float32, device=device) points_centroid = points.mean(0, keepdim=True) points_centered = points - points_centroid logger.debug(f"TLS SVD input shape: {points_centered.T.shape} (large inputs might cause OOM)") # FIXME: limit maximum point numbers to avoid OOM caused by svd U, _, _ = torch.linalg.svd(points_centered.T) normal = U[:, 2].cpu().numpy() centroid = points_centroid[0].cpu().numpy() plane = SKPlane(centroid, normal) params = np.array(plane.cartesian()) _scale = np.linalg.norm(params[:3]) params = params / _scale return params # --------------- utilities -------------- # def point_to_plane_dist(points: Float[np.ndarray, "N 3"], plane: Float[np.ndarray, "4"], signed: bool = False): _normal = plane[None, :3] dist = ((_normal * np.array(points)).sum(-1) + plane[-1]) / np.linalg.norm(_normal, ord=2) if not signed: dist = np.abs(dist) return dist def ground_plane_alignment( plane: Plane, rec: Optional[pycolmap.Reconstruction] = None, avg_camera_loc: Optional[np.ndarray] = None, source_vector: np.ndarray = np.array([0.0, 1.0, 0.0]), ) -> Tuple[np.ndarray, Plane]: """Align the plane with the source_vector, such that the plane normal is consitent with the source_vector direction. Infer the positive plane normal direction with various strategies. Returns: R_up (np.ndarray): the rotation matrix transforming plane normal to source_vector new_plane (Plane): the aligned plane """ if rec is None and avg_camera_loc is None: return ground_plane_alignment_simple(plane, source_vector=source_vector) if rec is not None: assert avg_camera_loc is None # make sure ground plane locates at source_vector(+y) direction w.r.t. cameras # 1. make ground normal pointing to +y # 2. make cameras locating at -y w.r.t. the ground plane all_T44_w2c = read_extrinsics(rec) all_T44_c2w = {k: np.linalg.inv(v) for k, v in all_T44_w2c.items()} avg_camera_loc = np.stack([v[:3, -1] for v in all_T44_c2w.values()], 0).mean(0) # (3, ) else: avg_camera_loc = avg_camera_loc plane_params = np.array(plane.params, dtype=np.float32) plane_normal, plane_dist = plane_params[:3], plane_params[-1] norm_normal = np.linalg.norm(plane_normal, ord=2) plane_params, plane_normal, plane_dist = map(lambda x: x / norm_normal, [plane_params, plane_normal, plane_dist]) # make plane_normal pointed to the +y side _dot_prod = (plane_normal * source_vector).sum() if _dot_prod == 0: raise RuntimeError("Direction of the plane normal w.r.t. source_vector is ambiguous.") elif _dot_prod < 0: plane_params, plane_normal, plane_dist = map(lambda x: -x, [plane_params, plane_normal, plane_dist]) # make cameras locating at -y w.r.t. the ground plane cam2plane_dist = point_to_plane_dist(avg_camera_loc[None], plane_params, signed=True) # type: ignore if cam2plane_dist == 0: raise RuntimeError("Averaged camera position locates on the ground plane.") elif cam2plane_dist > 0: target_vector = -plane_normal plane_dist *= -1 else: target_vector = plane_normal R_up = np.pad(rotmat(target_vector, source_vector), [0, 1]) # (4, 4) R_up[-1, -1] = 1 new_params = (*source_vector.tolist(), plane_dist) new_plane = Plane(indices=plane.indices, params=new_params) return R_up, new_plane def ground_plane_alignment_simple(plane: Plane, source_vector: np.ndarray = np.array([0.0, 1.0, 0.0])): """Align the plane with the source_vector, such that the plane normal is consitent with the source_vector direction. """ plane_params = np.array(plane.params, dtype=np.float32) plane_normal = plane_params[:3] norm_normal = np.linalg.norm(plane_normal, ord=2) plane_normal = plane_normal / norm_normal signs = np.array([1, -1]) plane_normals = np.stack([plane_normal, plane_normal], 0) * signs[:, None] cos_sims = (plane_normals * source_vector[None]).sum(1) choice = int(np.argmax(cos_sims)) target_vector = plane_normals[choice] R_up = np.pad(rotmat(target_vector, source_vector), [0, 1]) # (4, 4) R_up[-1, -1] = 1 new_normal = source_vector * signs[choice] new_params = (*new_normal.tolist(), plane_params[-1] / norm_normal * signs[choice]) new_plane = Plane(indices=plane.indices, params=new_params) return R_up, new_plane ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/geometry/pointcloud/pointcloud.py ================================================ from collections import defaultdict from pathlib import Path from typing import Any, Dict, ItemsView, Optional, Tuple import cv2 import numpy as np import open3d as o3d import pycolmap import torch from jaxtyping import Float from sklearn.decomposition import PCA from torch import Tensor from auto_decomp.utils import tqdm as tqdm_utils from auto_decomp.utils import viz_3d from auto_decomp.utils.aggregation import ( multiview_feature_aggregation, multiview_feature_extraction, ) from auto_decomp.utils.misc import EarlyTermination from auto_decomp.utils.viz_3d import PlotlySaveMode from .convert import open3d_ptcd_from_numpy def build_color_ptcd_from_colmap( rec: pycolmap.Reconstruction, image_dir: Path, max_reproj_error: float, min_track_length: int, device: str ) -> Tuple[Tensor, Tensor]: imgs = dict() for img_id in tqdm_utils.tqdm(rec.reg_image_ids(), desc="Loading registered images"): img_name = rec.images[img_id].name img_path = image_dir / img_name img_rgb = cv2.imread(str(img_path))[..., ::-1] imgs[img_id] = torch.tensor(img_rgb.copy(), dtype=torch.float32, device=device).permute(2, 0, 1) p3Ds_filtered, colors_filtered = multiview_feature_extraction( rec, {"rgb": imgs}, interpolate="bilinear", align_corners=False, device=device, max_reproj_error=max_reproj_error, min_track_length=min_track_length, ) colors_filtered = multiview_feature_aggregation(p3Ds_filtered, colors_filtered, mode="mean")["rgb"] # p3Ds_filtered, colors_filtered = p3Ds_filtered.cpu(), colors_filtered.cpu() colors_filtered = colors_filtered.round().clamp(0, 256).to(torch.uint8) return p3Ds_filtered, colors_filtered def build_feature_ptcd( rec: pycolmap.Reconstruction, feat_dir: Path, max_reproj_error: float, min_track_length: int, device: str, feature_dtype: Optional[str] = None, load_all_features: bool = False, # there might be multiple feature sources main_feature_key: str = "features", ) -> Tuple[Dict[str, Any], torch.dtype]: # load dino features all_mv_feats = defaultdict(dict) # {feat_name: {img_id: Tensor(C, H, W)}} mv_cls_feats = defaultdict(dict) # {feat_name: {imd_id: Tensor(C,)} for img_id in tqdm_utils.tqdm(rec.reg_image_ids(), desc="Loading DINO features"): img_name = rec.images[img_id].name feat_path = (feat_dir / img_name).with_suffix(".npz") if not feat_path.exists(): raise EarlyTermination(f"Cannot find the required feature file: {str(feat_path)}") try: vit_feats = np.load(feat_path) except ValueError as ve: raise EarlyTermination(f"Invalid npz file: {str(feat_path)} ({ve})") if feature_dtype is None: feature_dtype = next(iter(vit_feats.values())).dtype elif isinstance(feature_dtype, str): feature_dtype = getattr(torch, feature_dtype) if load_all_features: for feat_name, feat in vit_feats.items(): # feat: (h, w, c) / (c, ) _mv_feats = torch.tensor(feat, dtype=torch.float32, device=device) # (h, w, c) / (c, ) if _mv_feats.ndim == 3: _mv_feats = _mv_feats.permute(2, 0, 1) all_mv_feats[feat_name][img_id] = _mv_feats # type: ignore else: assert "cls_" in feat_name mv_cls_feats[feat_name][img_id] = _mv_feats # type: ignore else: # only load the main_feature_key feat = torch.tensor(vit_feats[main_feature_key], dtype=torch.float32, device=device).permute(2, 0, 1) all_mv_feats[main_feature_key][img_id] = feat # type: ignore # sanity check for feat_name, _mv_feats in all_mv_feats.items(): if len(_mv_feats) != len(rec.reg_image_ids()): raise EarlyTermination( f"Missing features for some frames ({len(_mv_feats)}/{len(rec.reg_image_ids())})" f" ({str(feat_dir)})" ) # interpolate & aggregate mv-features p3Ds_filtered, feats_filtered = multiview_feature_extraction( rec, all_mv_feats, interpolate="nearest", align_corners=False, device=device, max_reproj_error=max_reproj_error, min_track_length=min_track_length, ) feats_filtered = multiview_feature_aggregation(p3Ds_filtered, feats_filtered, mode="mean") cls_feats = ( {k: torch.stack(list(mv_feats.values()), 0).mean(0) for k, mv_feats in mv_cls_feats.items()} # type: ignore if len(mv_cls_feats) > 0 else {} ) features = { "point_feats": feats_filtered, # Dict[str, Tensor]: {feature_name: (L, C)} "global_feats": cls_feats, # Dict[str, Tensor]: {'cls_{facet}': (C)} } # main feature key: "features" return features, feature_dtype class NeuralPointCloud: MAIN_FEATURE_KEY = "features" def __init__( self, p3Ds: Float[Tensor, "n_p 3"], colors: Float[Tensor, "n_p n_c"], pointwise_features: Dict[str, Float[Tensor, "n_p n_f"]], # features from multiple sources imagewise_features: Dict[str, Float[Tensor, "n_i n_f"]], # global image-wise features device: Optional[str] = None, rec: Optional[pycolmap.Reconstruction] = None, vis_dir: Optional[Path] = None, plotly_save_mode: PlotlySaveMode = PlotlySaveMode.html, feature_dtype: Optional[torch.dtype] = torch.float16, ): self.rec = rec self.device = device if device is not None else p3Ds.device self.vis_dir = vis_dir self.plotly_save_mode = plotly_save_mode self.feature_dtype = feature_dtype # point-wise attrs self.p3Ds = p3Ds self.colors = colors self.pointwise_features = pointwise_features # global attrs self.imagewise_features = imagewise_features @classmethod def from_pycolmap_rec( cls, rec: pycolmap.Reconstruction, image_dir: Path, feat_dir: Path, max_reproj_error: float, min_track_length: int, device: str, feature_dtype: Optional[str] = None, load_all_features: bool = False, **kwargs, ): p3Ds, colors = build_color_ptcd_from_colmap(rec, image_dir, max_reproj_error, min_track_length, device) features, feature_dtype = build_feature_ptcd( rec, feat_dir, max_reproj_error, min_track_length, device, feature_dtype=feature_dtype, load_all_features=load_all_features, main_feature_key=cls.MAIN_FEATURE_KEY, ) # type: ignore torch.cuda.empty_cache() return cls( p3Ds, colors, features["point_feats"], features["global_feats"], device=device, rec=rec, feature_dtype=feature_dtype, **kwargs, ) def statistical_outlier_removal(self, n_neighbors, std_ratio): o3d_pcd = self.to_open3d_ptcd() _, stat_inlier_inds = o3d_pcd.remove_statistical_outlier(nb_neighbors=n_neighbors, std_ratio=std_ratio) self.update_ptcd_with_indices(stat_inlier_inds) def to_open3d_ptcd(self): # points only, no attributes return open3d_ptcd_from_numpy(self.p3Ds.cpu().numpy()) def update_ptcd_with_indices(self, inds): inds = torch.tensor(inds, dtype=torch.long, device=self.device) self.p3Ds = self.p3Ds[inds] self.colors = self.colors[inds] self.pointwise_features = {k: v[inds] for k, v in self.pointwise_features.items()} def update_ptcd_with_mask(self): raise NotImplementedError def visualize_ptcd(self, base_name): """Visualize the pointcloud with rgb and feature pca colors.""" self._draw_color_ptcd(base_name) self._draw_feature_ptcd(base_name) def _draw_color_ptcd(self, base_name): fig, fig_name = viz_3d.init_figure(), f"{base_name}_rgb-ptcd" p3Ds = self.p3Ds.cpu().numpy() colors = self.colors.cpu().numpy() viz_3d.plot_points(fig, p3Ds, color=colors, name=fig_name) if self.rec is not None: viz_3d.plot_cameras(fig, self.rec, color="lavender", legendgroup=fig_name, size=1.0) viz_3d.save_fig(fig, self.vis_dir, fig_name, mode=self.plotly_save_mode) def _draw_feature_ptcd(self, base_name): fig, fig_name = viz_3d.init_figure(), f"{base_name}_feat-ptcd" p3Ds = self.p3Ds.cpu().numpy() feats = self.pointwise_features[self.MAIN_FEATURE_KEY].cpu().numpy() feats_pca = PCA(n_components=3).fit_transform(feats) components = feats_pca[:, -3:] _min, _max = components.min(axis=0), components.max(axis=0) feats_rgb = ((components - _min) / (_max - _min) * 255).round().astype(np.uint8) plotly_color = [f"rgb({rgb[0]}, {rgb[1]}, {rgb[2]})" for rgb in feats_rgb] # FIXME viz_3d.plot_points(fig, p3Ds, color=plotly_color, name=fig_name) if self.rec is not None: viz_3d.plot_cameras(fig, self.rec, color="lavender", legendgroup=fig_name, size=1.0) viz_3d.save_fig(fig, self.vis_dir, fig_name, mode=self.plotly_save_mode) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/geometry/pointcloud/segmentation.py ================================================ """Pointcloud segmentation methods.""" from collections import deque from typing import List, Literal, Optional, Tuple import numpy as np import open3d as o3d from loguru import logger from open3d.geometry import PointCloud from auto_decomp.utils import tqdm from .convert import open3d_ptcd_from_numpy from .plane import fit_plane, Plane from .misc import compute_knn_distance_threshold def euclidean_clustering( points: np.ndarray, radius: Optional[float] = None, # pre-defined clustering threshold n_neighbors: Optional[int] = None, # compute clustering threshold adaptively std_ratio: Optional[float] = None, # compute clustering threshold adaptively verbose: bool = False, ) -> Tuple[List[List[int]], float]: """ Returns: clusters (List[List[int]): list of clusters, each represented by a list of point indices raidus_threshold (float): the threshold used for clustering """ if points.shape[1] != 3: raise NotImplementedError() pcd = open3d_ptcd_from_numpy(points) pcd_tree = o3d.geometry.KDTreeFlann(pcd) if radius is None: assert n_neighbors is not None and std_ratio is not None radius = compute_knn_distance_threshold(points, kdtree=pcd_tree, n_neighbors=n_neighbors, std_ratio=std_ratio) logger.debug(f"Euclidean clustering radius threshold: {radius}") clusters = [] unprocessed = set(list(range(0, len(points)))) que = deque() pbar = tqdm.tqdm(total=len(points), desc="Euclidean clustering", disable=not verbose) while len(unprocessed) > 0 or len(que) > 0: # TODO: optimize (call PCL-Python?) p = unprocessed.pop() que.append(p) cluster = [] while len(que) > 0: p = que.popleft() cluster.append(p) _, inds, _ = pcd_tree.search_radius_vector_3d(points[p], radius) for new_p in inds: if new_p in unprocessed: que.append(new_p) unprocessed.remove(new_p) pbar.update(1) clusters.append(cluster) pbar.close() return clusters, radius def segment_planes( points: Optional[np.ndarray] = None, pcd: Optional[PointCloud] = None, distance_threshold: Optional[float] = None, n_ransac_samples: float = 3, n_ransac_iters: int = 1000, n_neighbors: int = 10, std_ratio: float = 1.0, min_points_ratio: float = 0.01, min_n_consensus: Optional[int] = None, enable_euclidean_clustering=False, # run euclidean clustering before computing the least-square solution. least_square: Optional[Literal["OLS", "TLS"]] = None, device="cuda", ) -> List[Plane]: """Recursively segment all planes from the given pointcloud. Assume the given pointcloud is already preprocessed (outlier removal & downsample). Args: min_points_ratio: recursive segment untill #pts left < len(pcd) * min_points_ratio TODO: - use LO-RANSAC / GC-RANSAC for better plane fitting - current method does not consider the spatial affinity of points belonging to a plane, thus points far away from the main plane might be incorrectly treated as plane points and affect the plane params significantly. - when euclidean_clutering is enabled, this is eased. """ pcd: PointCloud = open3d_ptcd_from_numpy(points) if pcd is None else pcd if enable_euclidean_clustering: assert least_square is not None if distance_threshold is None: distance_threshold = compute_knn_distance_threshold(pcd, n_neighbors=n_neighbors, std_ratio=std_ratio) n_pts, n_segmented_pts = len(pcd.points), 0 ori_indices = np.arange(0, n_pts, dtype=int) min_n_pts = n_pts - np.floor(n_pts * min_points_ratio) planes = [] # store point indices and plane params while n_segmented_pts < min_n_pts: # TODO: update distance_threshold w/ points left unsegmented? if len(pcd.points) < n_ransac_samples: break plane_model, inlier_inds = pcd.segment_plane( distance_threshold=distance_threshold, ransac_n=n_ransac_samples, num_iterations=n_ransac_iters ) if min_n_consensus is not None and len(inlier_inds) < min_n_consensus: break n_segmented_pts += len(inlier_inds) # (optional) least square refinement of plane params if least_square is not None and len(inlier_inds) > 0: logger.debug(f"Refining plane params w/ {least_square} on inliers.") plane_pts = np.array(pcd.select_by_index(inlier_inds).points) if enable_euclidean_clustering: # TODO: make n_neighbors & std_ratio configurable clusters, _ = euclidean_clustering(plane_pts, n_neighbors=10, std_ratio=2.0) max_cluster_inds = clusters[int(np.argmax([len(c) for c in clusters]))] logger.debug( f"Euclidean clustering on inlier plane points: {len(max_cluster_inds)} / {len(plane_pts)} points kept." ) plane_pts = plane_pts[max_cluster_inds] inlier_inds = np.array(inlier_inds)[max_cluster_inds].tolist() plane_model = fit_plane(plane_pts, method=least_square, device=device) planes.append(Plane(ori_indices[inlier_inds], plane_model)) ori_indices = np.delete(ori_indices, inlier_inds) pcd = pcd.select_by_index(inlier_inds, invert=True) planes = list(sorted(planes, key=lambda x: len(x.indices), reverse=True)) return planes ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/geometry/transform.py ================================================ import numpy as np def rotmat(a, b): """ compute the rotation matrix transforming vector a to b """ a, b = a / np.linalg.norm(a), b / np.linalg.norm(b) v = np.cross(a, b) c = np.dot(a, b) # handle exception for the opposite direction input if c < -1 + 1e-10: return rotmat(a + np.random.uniform(-1e-2, 1e-2, 3), b) s = np.linalg.norm(v) kmat = np.array([[0, -v[2], v[1]], [v[2], 0, -v[0]], [-v[1], v[0], 0]]) return np.eye(3) + kmat + kmat.dot(kmat) * ((1 - c) / (s**2 + 1e-10)) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/misc.py ================================================ class EarlyTermination(Exception): pass ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/ray.py ================================================ import os def is_ray_environment(): # FIXME: import ray set these params? return "RAY_JOB_ID" in os.environ or "RAY_RAYLET_PID" in os.environ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/tqdm.py ================================================ import tqdm as _tqdm from ray.experimental import tqdm_ray from auto_decomp.utils import ray as ray_utils def tqdm(*args, **kwargs): pbar = None if ray_utils.is_ray_environment(): disable = kwargs.pop("disable", False) if disable: pbar = _tqdm.tqdm(*args, **kwargs, disable=True) else: pbar = tqdm_ray.tqdm(*args, **kwargs) else: pbar = _tqdm.tqdm(*args, **kwargs) return pbar ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/auto_decomp/utils/viz_3d.py ================================================ """ 3D visualization based on plotly. Adapted from hloc.utils.viz_3d. """ from enum import Enum from pathlib import Path from typing import Iterable, List, Optional, Union import numpy as np import plotly.graph_objects as go import pycolmap PlotlySaveMode = Enum("PlotlySaveMode", ["html", "json", "both"]) def to_homogeneous(points): pad = np.ones((points.shape[:-1] + (1,)), dtype=points.dtype) return np.concatenate([points, pad], axis=-1) def init_figure( height: int = 800, width: int = 800, show_axes: bool = False, template="plotly_dark", projection="orthographic" ) -> go.Figure: """Initialize a 3D figure.""" fig = go.Figure() if not show_axes: axes = dict( visible=False, showbackground=False, showgrid=False, showline=False, showticklabels=True, autorange=True, ) else: axes = dict( visible=True, showbackground=True, showgrid=True, showline=True, showticklabels=True, autorange=True, ) fig.update_layout( template=template, height=height, width=width, scene_camera=dict(eye=dict(x=0.0, y=-0.1, z=-2), up=dict(x=0, y=-1.0, z=0), projection=dict(type=projection)), scene=dict( xaxis=axes, yaxis=axes, zaxis=axes, aspectmode="data", dragmode="orbit", ), margin=dict(l=0, r=0, b=0, t=0, pad=0), legend=dict(orientation="h", yanchor="top", y=0.99, xanchor="left", x=0.1), ) return fig def plot_points( fig: go.Figure, pts: np.ndarray, color: Union[str, Iterable] = "rgba(255, 0, 0, 1)", ps: int = 2, lw: int = 0, marker_symbol: Optional[Union[List[int], str]] = None, colorscale: Optional[str] = None, name: Optional[str] = None, show_legend=True, **kwargs, ): """Plot a set of 3D points.""" if not isinstance(color, str): assert len(color) == len(pts) x, y, z = pts.T tr = go.Scatter3d( x=x, y=y, z=z, mode="markers", name=name, legendgroup=name, showlegend=show_legend, **kwargs, marker=dict( size=ps, color=color, colorscale=colorscale, symbol=marker_symbol, line=dict(width=lw, color=color) ), ) fig.add_trace(tr) def plot_mesh( fig: go.Figure, vertices: np.array, # (N, 3) faces: np.array, # (N, 3) color: str = "lightpink", opacity: float = 0.4, name: Optional[str] = None, show_legend: bool = False, ): vertices, faces = vertices.T, faces.T tr = go.Mesh3d( x=vertices[0], y=vertices[1], z=vertices[2], i=faces[0], j=faces[1], k=faces[2], color=color, opacity=opacity, name=name, legendgroup=name if show_legend else None, showlegend=show_legend, ) fig.add_trace(tr) def plot_cube( fig: go.Figure, vertices: np.array = None, # (8, 3) center: np.array = None, # (3,) extent: np.array = None, # (3,) NOTE: not half_extent! rotation: np.array = None, # (3, 3), represent oriented bbox (rotation: aabb => oriented) color: str = "lightpink", opacity: float = 0.4, name: Optional[str] = None, show_legend: bool = False, hoverinfo: str = "none", hovertext: Optional[str] = None, ): if vertices is None: assert center is not None and extent is not None hx, hy, hz = (extent / 2).tolist() x, y, z = center.tolist() vertices = np.array( [ [x - hx, y + hy, z + hz], [x + hx, y + hy, z + hz], [x + hx, y + hy, z - hz], [x - hx, y + hy, z - hz], [x - hx, y - hy, z + hz], [x + hx, y - hy, z + hz], [x + hx, y - hy, z - hz], [x - hx, y - hy, z - hz], ] ) if rotation is not None: vertices = vertices @ rotation.T vertices = vertices.T if hoverinfo == "none": pass elif hoverinfo == "text": if hovertext is None: hovertext = name else: raise ValueError(f"Unknown hoverinfo: {hoverinfo}") tr = go.Mesh3d( x=vertices[0], y=vertices[1], z=vertices[2], i=[0, 0, 0, 0, 1, 1, 0, 0, 3, 3, 4, 4], j=[1, 3, 1, 4, 2, 5, 3, 4, 2, 7, 7, 5], k=[2, 2, 5, 5, 6, 6, 7, 7, 6, 6, 6, 6], color=color, opacity=opacity, flatshading=True, name=name, legendgroup=name if show_legend else None, showlegend=show_legend, hoverinfo=hoverinfo, hovertext=hovertext, ) fig.add_trace(tr) def plot_sphere( fig: go.Figure, center: np.ndarray = np.zeros((3,)), # (3, ) radius: float = 1, color: str = "lightpink", opacity: float = 0.4, name: Optional[str] = None, show_legend: bool = False, ): phi = np.linspace(0, 2 * np.pi) theta = np.linspace(-np.pi / 2, np.pi / 2) phi, theta = np.meshgrid(phi, theta) x = radius * np.cos(theta) * np.sin(phi) + center[0] y = radius * np.sin(theta) * np.sin(phi) + center[1] z = radius * np.cos(phi) + center[2] tr = go.Mesh3d( x=x.flatten(), y=y.flatten(), z=z.flatten(), flatshading=False, alphahull=0, # -1: delaunay triangulation | >0: alpha-shape | 0: convex hull name=name, color=color, opacity=opacity, legendgroup=name if show_legend else None, showlegend=show_legend, ) fig.add_trace(tr) def plot_camera( fig: go.Figure, R: np.ndarray, # c2w_33 t: np.ndarray, # c2w_3 K: np.ndarray, color: str = "rgb(0, 0, 255)", name: Optional[str] = None, legendgroup: Optional[str] = None, size: float = 1.0, T: Optional[np.ndarray] = None, # T_w0=>w1_44 ): """Plot a camera frustum from pose and intrinsic matrix.""" if T is not None: R = T[:3, :3] @ R t = T[:3, :3] @ t + T[:3, -1] W, H = K[0, 2] * 2, K[1, 2] * 2 corners = np.array([[0, 0], [W, 0], [W, H], [0, H], [0, 0]]) if size is not None: image_extent = max(size * W / 1024.0, size * H / 1024.0) world_extent = max(W, H) / (K[0, 0] + K[1, 1]) / 0.5 scale = 0.5 * image_extent / world_extent else: scale = 1.0 corners = to_homogeneous(corners) @ np.linalg.inv(K).T corners = (corners / 2 * scale) @ R.T + t x, y, z = corners.T rect = go.Scatter3d( x=x, y=y, z=z, line=dict(color=color), legendgroup=legendgroup, name=name, marker=dict(size=0.0001), showlegend=False, ) fig.add_trace(rect) x, y, z = np.concatenate(([t], corners)).T i = [0, 0, 0, 0] j = [1, 2, 3, 4] k = [2, 3, 4, 1] pyramid = go.Mesh3d(x=x, y=y, z=z, color=color, i=i, j=j, k=k, legendgroup=legendgroup, name=name, showlegend=False) fig.add_trace(pyramid) triangles = np.vstack((i, j, k)).T vertices = np.concatenate(([t], corners)) tri_points = np.array([vertices[i] for i in triangles.reshape(-1)]) x, y, z = tri_points.T pyramid = go.Scatter3d( x=x, y=y, z=z, mode="lines", legendgroup=legendgroup, name=name, line=dict(color=color, width=1), showlegend=False, ) fig.add_trace(pyramid) def plot_camera_colmap( fig: go.Figure, image: pycolmap.Image, camera: pycolmap.Camera, name: Optional[str] = None, **kwargs ): """Plot a camera frustum from PyCOLMAP objects""" plot_camera( fig, image.rotmat().T, image.projection_center(), camera.calibration_matrix(), name=name or str(image.image_id), **kwargs, ) def plot_cameras(fig: go.Figure, reconstruction: pycolmap.Reconstruction, **kwargs): """Plot a camera as a cone with camera frustum.""" for image_id, image in reconstruction.images.items(): plot_camera_colmap(fig, image, reconstruction.cameras[image.camera_id], **kwargs) def plot_coordinate_frames( fig: go.Figure, center: np.ndarray = np.zeros((3,)), length: Union[int, np.ndarray] = 1, line_width: int = 8, opacity: float = 0.5, # name: Optional[str] = None, # legendgroup: Optional[str] = None, ): # TODO: line opacity dirs = np.eye(3) * length trace_o0 = go.Scatter3d( x=[center[0], dirs[0, 0]], y=[center[1], dirs[0, 1]], z=[center[2], dirs[0, 2]], hoverinfo="skip", mode="lines", line=dict(color="red", width=line_width), name="x", ) trace_o1 = go.Scatter3d( x=[center[0], dirs[1, 0]], y=[center[1], dirs[1, 1]], z=[center[2], dirs[1, 2]], hoverinfo="skip", mode="lines", line=dict(color="green", width=line_width), name="y", ) trace_o2 = go.Scatter3d( x=[center[0], dirs[2, 0]], y=[center[1], dirs[2, 1]], z=[center[2], dirs[2, 2]], hoverinfo="skip", mode="lines", line=dict(color="blue", width=line_width), name="z", ) traces = [trace_o0, trace_o1, trace_o2] # TODO: merge traces into one fig.add_traces(traces) def plot_reconstruction( fig: go.Figure, rec: pycolmap.Reconstruction, max_reproj_error: float = 6.0, min_track_length: int = 2, points: bool = True, points_color: Optional[str] = "rgb(0, 0, 255)", points_name: Optional[str] = None, points_size: int = 4, cameras_color: str = "rgb(255, 0, 0)", cameras: bool = True, cameras_name: Optional[str] = "cameras", camera_scale: float = 1.0, ): # Filter outliers bbs = rec.compute_bounding_box(0.001, 0.999) # Filter points, use original reproj error here kept_p3Ds = { idx: p3D.xyz for idx, p3D in rec.points3D.items() if ( (p3D.xyz >= bbs[0]).all() and (p3D.xyz <= bbs[1]).all() and p3D.error <= max_reproj_error and p3D.track.length() >= min_track_length ) } if points: xyzs = np.array(list(kept_p3Ds.values())) if points_color is None: points_color = np.array([rec.points3D[idx].color for idx in kept_p3Ds.keys()]) plot_points(fig, np.array(xyzs), color=points_color, ps=points_size, name=points_name) if cameras: plot_cameras(fig, rec, color=cameras_color, name=cameras_name, size=camera_scale) def save_fig(fig, save_dir: Path, fig_name: str, mode: Union[str, PlotlySaveMode] = PlotlySaveMode.html): if isinstance(mode, str): mode = PlotlySaveMode[mode] if mode == PlotlySaveMode.html or mode == PlotlySaveMode.both: fig.write_html(save_dir / f"{fig_name}.html", full_html=False, include_plotlyjs='cdn') if mode == PlotlySaveMode.json or mode == PlotlySaveMode.both: fig.write_json(save_dir / f"{fig_name}.json", pretty=True) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/docs/INSTALL.md ================================================ # Installation ## Clone the repo ```shell git clone --recurse-submodules git@github.com:zju3dv/AutoDecomp.git ``` ## Install pytorch The code is teseted with torch==1.13.1. ```shell # e.g., install with conda conda install pytorch==1.13.1 torchvision==0.14.1 torchaudio==0.13.1 pytorch-cuda=11.7 -c pytorch -c nvidia # e.g., install with pip pip install torch==1.13.1+cu117 torchvision==0.14.1+cu117 torchaudio==0.13.1 --extra-index-url https://download.pytorch.org/whl/cu117 ``` ## Install pytorch3d following the [official guide](https://github.com/facebookresearch/pytorch3d/blob/main/INSTALL.md) ```shell # for example conda install -c fvcore -c iopath -c conda-forge fvcore iopath pip install "git+https://github.com/facebookresearch/pytorch3d.git@stable" ``` ## Install [hloc](https://github.com/cvg/Hierarchical-Localization) ```shell cd third_party/Hierarchical-Localization pip install -e . ``` ## Install LoFTR ```shell cd third_party/LoFTR pip install -e . ``` Please also download the [LoFTR checkpoints](https://drive.google.com/drive/folders/1DOcOPZb3-5cWxLqn256AhwUVjBPifhuf?usp=sharing) and put them under `third_party/LoFTR/weights/`. ## Install AutoDecomp ```shell cd path/to/AutoDecomp pip install -e . ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/requirements.txt ================================================ gdown h5py open3d>=0.17.0 kornia matplotlib opencv-python plotly pycolmap scipy tqdm ray loguru natsort rich imagesize einops yacs>=0.1.8 joblib pytorch-lightning timm hydra-core hydra-zen jaxtyping torchtyping positional-encodings scikit-image scikit-spatial ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/run_pipeline_demo.sh ================================================ DATA_ROOT=assets/ INST_REL_DIR=custom_data_example/co3d_chair FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=config \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/run_pipeline_demo_low-res.sh ================================================ DATA_ROOT=assets/ INST_REL_DIR=custom_data_example/co3d_chair FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=cvpr \ data_root=$DATA_ROOT \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/bmvs_scan1.sh ================================================ INST_REL_DIR=BlendedMVS/scan1 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=True dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/bmvs_scan2.sh ================================================ INST_REL_DIR=BlendedMVS/scan2 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=True dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/bmvs_scan3.sh ================================================ INST_REL_DIR=BlendedMVS/scan3 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=True dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/bmvs_scan4.sh ================================================ INST_REL_DIR=BlendedMVS/scan4 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=True dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/bmvs_scan5.sh ================================================ INST_REL_DIR=BlendedMVS/scan5 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=True dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/bmvs_scan6.sh ================================================ INST_REL_DIR=BlendedMVS/scan6 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=True dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/cvpr/README.md ================================================ use the same set of hyper-parameters as in the CVPR experiments ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/cvpr/bmvs_scan1.sh ================================================ INST_REL_DIR=BlendedMVS/scan1 FORCE_RERUN=False python auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/cvpr/bmvs_scan2.sh ================================================ INST_REL_DIR=BlendedMVS/scan2 FORCE_RERUN=False python auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/cvpr/bmvs_scan3.sh ================================================ INST_REL_DIR=BlendedMVS/scan3 FORCE_RERUN=False python auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/cvpr/bmvs_scan4.sh ================================================ INST_REL_DIR=BlendedMVS/scan4 FORCE_RERUN=False python auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/cvpr/bmvs_scan5.sh ================================================ INST_REL_DIR=BlendedMVS/scan5 FORCE_RERUN=False python auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/cvpr/bmvs_scan6.sh ================================================ INST_REL_DIR=BlendedMVS/scan6 FORCE_RERUN=False python auto_decomp/cli/inference_transformer.py --config-name=cvpr_idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/low-res/README.md ================================================ Run LoFTR and DINO on low-res images ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_bmvs/low-res/bmvs_scan1.sh ================================================ INST_REL_DIR=BlendedMVS/scan1 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=low-res_idr \ inst_rel_dir=$INST_REL_DIR \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=True dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_co3d_manual-poses/co3d_scan1.sh ================================================ INST_REL_DIR=CO3D_DEMO/scan1 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=config \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_co3d_manual-poses/co3d_scan2.sh ================================================ INST_REL_DIR=CO3D_DEMO/scan2 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=config \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_co3d_manual-poses/co3d_scan3.sh ================================================ INST_REL_DIR=CO3D_DEMO/scan3 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=config \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_co3d_manual-poses/co3d_scan4.sh ================================================ INST_REL_DIR=CO3D_DEMO/scan4 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=config \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_co3d_manual-poses/co3d_scan5.sh ================================================ INST_REL_DIR=CO3D_DEMO/scan5 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=config \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_co3d_manual-poses/cvpr/co3d_scan1.sh ================================================ INST_REL_DIR=CO3D_DEMO/scan1 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=cvpr \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_co3d_manual-poses/cvpr/co3d_scan2.sh ================================================ INST_REL_DIR=CO3D_DEMO/scan2 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=cvpr \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_co3d_manual-poses/cvpr/co3d_scan3.sh ================================================ INST_REL_DIR=CO3D_DEMO/scan3 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=cvpr \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_co3d_manual-poses/cvpr/co3d_scan4.sh ================================================ INST_REL_DIR=CO3D_DEMO/scan4 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=cvpr \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/scripts/test_pipeline_co3d_manual-poses/cvpr/co3d_scan5.sh ================================================ INST_REL_DIR=CO3D_DEMO/scan5 FORCE_RERUN=True python auto_decomp/cli/inference_transformer.py --config-name=cvpr \ inst_rel_dir=$INST_REL_DIR \ sparse_recon.n_images=40 \ sparse_recon.force_rerun=$FORCE_RERUN \ sparse_recon.n_feature_workers=1 sparse_recon.n_recon_workers=1 \ triangulation.force_rerun=$FORCE_RERUN \ triangulation.n_feature_workers=1 triangulation.n_recon_workers=1 \ dino_feature.force_extract=$FORCE_RERUN dino_feature.n_workers=1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/setup.py ================================================ from pathlib import Path from setuptools import find_packages, setup description = ["Automatic object localization from casual object-centric captures"] root = Path(__file__).parent with open(str(root / "README.md"), "r", encoding="utf-8") as f: readme = f.read() with open(str(root / "auto_decomp/__init__.py"), "r") as f: version = eval(f.read().split("__version__ = ")[1].split()[0]) with open(str(root / "requirements.txt"), "r") as f: dependencies = f.read().split("\n") setup( name="auto_decomp", version=version, packages=find_packages(), python_requires=">=3.9", install_requires=dependencies, author="Yuang Wang", description=description, long_description=readme, long_description_content_type="text/markdown", url="https://github.com/zju3dv/AutoRecon", classifiers=[ "Programming Language :: Python :: 3", "License :: OSI Approved :: Apache Software License", "Operating System :: OS Independent", ], ) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/.gitattributes ================================================ *.ipynb linguist-documentation ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/.gitignore ================================================ __pycache__ *.pyc *.egg-info .ipynb_checkpoints outputs/ datasets/* !datasets/sacre_coeur/ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/.gitmodules ================================================ [submodule "third_party/d2net"] path = third_party/d2net url = https://github.com/mihaidusmanu/d2-net.git [submodule "third_party/SuperGluePretrainedNetwork"] path = third_party/SuperGluePretrainedNetwork url = https://github.com/magicleap/SuperGluePretrainedNetwork.git [submodule "third_party/deep-image-retrieval"] path = third_party/deep-image-retrieval url = https://github.com/naver/deep-image-retrieval.git [submodule "third_party/r2d2"] path = third_party/r2d2 url = https://github.com/naver/r2d2.git [submodule "third_party/disk"] path = third_party/disk url = https://github.com/cvlab-epfl/disk.git ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/Dockerfile ================================================ FROM colmap/colmap:latest MAINTAINER Paul-Edouard Sarlin ARG PYTHON_VERSION=3.8 RUN apt-get update -y RUN apt-get install -y unzip wget software-properties-common RUN add-apt-repository ppa:deadsnakes/ppa && \ apt-get -y update && \ apt-get install -y python${PYTHON_VERSION} RUN wget https://bootstrap.pypa.io/get-pip.py && python${PYTHON_VERSION} get-pip.py RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python${PYTHON_VERSION} 1 COPY . /app WORKDIR app/ RUN pip3 install --upgrade pip RUN pip3 install -r requirements.txt RUN pip3 install notebook ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/LICENSE ================================================ Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. 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See the License for the specific language governing permissions and limitations under the License. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/README.md ================================================ # hloc - the hierarchical localization toolbox This is `hloc`, a modular toolbox for state-of-the-art 6-DoF visual localization. It implements [Hierarchical Localization](https://arxiv.org/abs/1812.03506), leveraging image retrieval and feature matching, and is fast, accurate, and scalable. This codebase won the indoor/outdoor localization challenges at [CVPR 2020](https://sites.google.com/view/vislocslamcvpr2020/home) and [ECCV 2020](https://sites.google.com/view/ltvl2020/), in combination with [SuperGlue](https://psarlin.com/superglue/), our graph neural network for feature matching. With `hloc`, you can: - Reproduce [our CVPR 2020 winning results](https://www.visuallocalization.net/workshop/cvpr/2020/) on outdoor (Aachen) and indoor (InLoc) datasets - Run Structure-from-Motion with SuperPoint+SuperGlue to localize with your own datasets - Evaluate your own local features or image retrieval for visual localization - Implement new localization pipelines and debug them easily 🔥


Hierachical Localization uses both image retrieval and feature matching

## ## Quick start ➡️ [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/drive/1MrVs9b8aQYODtOGkoaGNF9Nji3sbCNMQ) Build 3D maps with Structure-from-Motion and localize any Internet image right from your browser! **You can now run `hloc` and COLMAP in Google Colab with GPU for free.** The notebook [`demo.ipynb`](https://colab.research.google.com/drive/1MrVs9b8aQYODtOGkoaGNF9Nji3sbCNMQ) shows how to run SfM and localization in just a few steps. Try it with your own data and let us know! ## Installation `hloc` requires Python >=3.7 and PyTorch >=1.1. Installing the package locally pulls the other dependencies: ```bash git clone --recursive https://github.com/cvg/Hierarchical-Localization/ cd Hierarchical-Localization/ python -m pip install -e . ``` All dependencies are listed in `requirements.txt`. **Starting with `hloc-v1.3`, installing COLMAP is not required anymore.** This repository includes external local features as git submodules – don't forget to pull submodules with `git submodule update --init --recursive`. We also provide a Docker image: ```bash docker build -t hloc:latest . docker run -it --rm -p 8888:8888 hloc:latest # for GPU support, add `--runtime=nvidia` jupyter notebook --ip 0.0.0.0 --port 8888 --no-browser --allow-root ``` ## General pipeline The toolbox is composed of scripts, which roughly perform the following steps: 1. Extract SuperPoint local features for all database and query images 2. Build a reference 3D SfM model 1. Find covisible database images, with retrieval or a prior SfM model 2. Match these database pairs with SuperGlue 3. Triangulate a new SfM model with COLMAP 3. Find database images relevant to each query, using retrieval 4. Match the query images with SuperGlue 5. Run the localization 6. Visualize and debug The localization can then be evaluated on [visuallocalization.net](https://www.visuallocalization.net/) for the supported datasets. When 3D Lidar scans are available, such as for the indoor dataset InLoc, step 2. can be skipped. Strcture of the toolbox: - `hloc/*.py` : top-level scripts - `hloc/extractors/` : interfaces for feature extractors - `hloc/matchers/` : interfaces for feature matchers - `hloc/pipelines/` : entire pipelines for multiple datasets `hloc` can be imported as an external package with `import hloc` or called from the command line with: ```bash python -m hloc.name_of_script --arg1 --arg2 ``` ## Tasks We provide step-by-step guides to localize with Aachen, InLoc, and to generate reference poses for your own data using SfM. Just download the datasets and you're reading to go! ### Aachen – outdoor localization Have a look at [`pipeline_Aachen.ipynb`](https://nbviewer.jupyter.org/github/cvg/Hierarchical-Localization/blob/master/pipeline_Aachen.ipynb) for a step-by-step guide on localizing with Aachen. Play with the visualization, try new local features or matcher, and have fun! Don't like notebooks? You can also run all scripts from the command line.

### InLoc – indoor localization The notebook [`pipeline_InLoc.ipynb`](https://nbviewer.jupyter.org/github/cvg/Hierarchical-Localization/blob/master/pipeline_InLoc.ipynb) shows the steps for localizing with InLoc. It's much simpler since a 3D SfM model is not needed.

### SfM reconstruction from scratch We show in [`pipeline_SfM.ipynb`](https://nbviewer.jupyter.org/github/cvg/Hierarchical-Localization/blob/master/pipeline_SfM.ipynb) how to run 3D reconstruction for an unordered set of images. This generates reference poses, and a nice sparse 3D model suitable for localization with the same pipeline as Aachen. ## Results - Supported local feature extractors: [SuperPoint](https://arxiv.org/abs/1712.07629), [D2-Net](https://arxiv.org/abs/1905.03561), [SIFT](https://www.cs.ubc.ca/~lowe/papers/ijcv04.pdf), and [R2D2](https://arxiv.org/abs/1906.06195). - Supported feature matchers: [SuperGlue](https://arxiv.org/abs/1911.11763) and nearest neighbor search with ratio test, distance test, and/or mutual check. - Supported image retrieval: [NetVLAD](https://arxiv.org/abs/1511.07247), [AP-GeM/DIR](https://github.com/naver/deep-image-retrieval), [OpenIBL](https://github.com/yxgeee/OpenIBL), and [CosPlace](https://github.com/gmberton/CosPlace). Using NetVLAD for retrieval, we obtain the following best results: | Methods | Aachen day | Aachen night | Retrieval | | ------------------------------------------------------------ | ------------------ | ------------------ | -------------- | | [SuperPoint + SuperGlue](https://www.visuallocalization.net/details/10931/) | 89.6 / 95.4 / 98.8 | 86.7 / 93.9 / 100 | NetVLAD top 50 | | [SuperPoint + NN](https://www.visuallocalization.net/details/10866/) | 85.4 / 93.3 / 97.2 | 75.5 / 86.7 / 92.9 | NetVLAD top 30 | | D2Net (SS) + NN | 84.6 / 91.4 / 97.1 | 83.7 / 90.8 / 100 | NetVLAD top 30 | | Methods | InLoc DUC1 | InLoc DUC2 | Retrieval | | ------------------------------------------------------------ | ------------------ | ------------------ | -------------- | | [SuperPoint + SuperGlue](https://www.visuallocalization.net/details/10936/) | 46.5 / 65.7 / 78.3 | 52.7 / 72.5 / 79.4 | NetVLAD top 40 | | [SuperPoint + SuperGlue (temporal)](https://www.visuallocalization.net/details/10937/) | 49.0 / 68.7 / 80.8 | 53.4 / 77.1 / 82.4 | NetVLAD top 40 | | [SuperPoint + NN](https://www.visuallocalization.net/details/10896/) | 39.9 / 55.6 / 67.2 | 37.4 / 57.3 / 70.2 | NetVLAD top 20 | | D2Net (SS) + NN | 39.9 / 57.6 / 67.2 | 36.6 / 53.4 / 61.8 | NetVLAD top 20 | Check out [visuallocalization.net/benchmark](https://www.visuallocalization.net/benchmark) for more details and additional baselines. ## Supported datasets We provide in [`hloc/pipelines/`](./hloc/pipelines) scripts to run the reconstruction and the localization on the following datasets: Aachen Day-Night (v1.0 and v1.1), InLoc, Extended CMU Seasons, RobotCar Seasons, 4Seasons, Cambridge Landmarks, and 7-Scenes. For example, after downloading the dataset [with the instructions given here](./hloc/pipelines/Aachen#installation), we can run the Aachen Day-Night pipeline with SuperPoint+SuperGlue using the command: ```bash python -m hloc.pipelines.Aachen.pipeline [--outputs ./outputs/aachen] ``` ## BibTex Citation If you report any of the above results in a publication, or use any of the tools provided here, please consider citing both [Hierarchical Localization](https://arxiv.org/abs/1812.03506) and [SuperGlue](https://arxiv.org/abs/1911.11763) papers: ``` @inproceedings{sarlin2019coarse, title = {From Coarse to Fine: Robust Hierarchical Localization at Large Scale}, author = {Paul-Edouard Sarlin and Cesar Cadena and Roland Siegwart and Marcin Dymczyk}, booktitle = {CVPR}, year = {2019} } @inproceedings{sarlin2020superglue, title = {{SuperGlue}: Learning Feature Matching with Graph Neural Networks}, author = {Paul-Edouard Sarlin and Daniel DeTone and Tomasz Malisiewicz and Andrew Rabinovich}, booktitle = {CVPR}, year = {2020}, } ``` ## Going further ### Debugging and Visualization
[Click to expand] Each localization run generates a pickle log file. For each query, it contains the selected database images, their matches, and information from the pose solver, such as RANSAC inliers. It can thus be parsed to gather statistics and analyze failure modes or difficult scenarios. We also provide some visualization tools in [`hloc/visualization.py`](./hloc/visualization.py) to visualize some attributes of the 3D SfM model, such as visibility of the keypoints, their track length, or estimated sparse depth (like below).

### Using your own local features or matcher
[Click to expand] If your code is based on PyTorch: simply add a new interface in [`hloc/extractors/`](hloc/extractors/) or [`hloc/matchers/`](hloc/matchers/). It needs to inherit from `hloc.utils.base_model.BaseModel`, take as input a data dictionary, and output a prediction dictionary. Have a look at `hloc/extractors/superpoint.py` for an example. You can additionally define a standard configuration in [`hloc/extract_features.py`](hloc/extract_features.py) or [`hloc/match_features.py`](hloc/match_features.py) - it can then be called directly from the command line. If your code is based on TensorFlow: you will need to either modify `hloc/extract_features.py` and `hloc/match_features.py`, or export yourself the features and matches to HDF5 files, described below. In a feature file, each key corresponds to the relative path of an image w.r.t. the dataset root (e.g. `db/1.jpg` for Aachen), and has one dataset per prediction (e.g. `keypoints` and `descriptors`, with shape Nx2 and DxN). In a match file, each key corresponds to the string `path0.replace('/', '-')+'_'+path1.replace('/', '-')` and has a dataset `matches0` with shape N. It indicates, for each keypoint in the first image, the index of the matching keypoint in the second image, or `-1` if the keypoint is unmatched.
### Using your own image retrieval
[Click to expand] `hloc` also provides an interface for image retrieval via `hloc/extract_features.py`. As previously, simply add a new interface to [`hloc/extractors/`](hloc/extractors/). Alternatively, you will need to export the global descriptors into an HDF5 file, in which each key corresponds to the relative path of an image w.r.t. the dataset root, and contains a dataset `global_descriptor` with size D. You can then export the images pairs with [`hloc/pairs_from_retrieval.py`](hloc/pairs_from_retrieval.py).
## Versions
v1.3 (January 2022) - Demo notebook in Google Colab - Use the new pycolmap Reconstruction objects and pipeline API - Do not require an installation of COLMAP anymore - pycolmap is enough - Faster model reading and writing - Fine-grained control over camera sharing via the `camera_mode` parameter - Localization with unknown or inaccurate focal length - Modular localization API with control over all estimator parameters - 3D visualizations or camera frustums and points with plotly - Package-specific logging in the hloc namespace - Store the extracted features by default as fp16 instead of fp32 - Optionally fix a long-standing bug in SuperPoint descriptor sampling - Add script to compute exhaustive pairs for reconstruction or localization - Require pycolmap>=0.1.0 and Python>=3.7
v1.2 (December 2021) - Bug fixes and usability improvements. - Support PIL backend for image resizing. - Add `__version__` attribute to check against future releases.
v1.1 (July 2021) - **Breaking**: improved structure of the SfM folders (triangulation and reconstruction), see [#76](https://github.com/cvg/Hierarchical-Localization/pull/76) - Support for image retrieval (NetVLAD, DIR) and more local features (SIFT, R2D2) - Support for more datasets: Aachen v1.1, Extended CMU Seasons, RobotCar Seasons, Cambridge Landmarks, 7-Scenes - Simplified pipeline and API - Spatial matcher
v1.0 (July 2020) Initial public version.
## Contributions welcome! External contributions are very much welcome. Please follow the [PEP8 style guidelines](https://www.python.org/dev/peps/pep-0008/) using a linter like flake8. This is a non-exhaustive list of features that might be valuable additions: - [ ] support for GPS (extraction from EXIF + guided retrieval) - [ ] covisibility clustering for InLoc - [ ] visualization of the raw predictions (features and matches) - [ ] other local features or image retrieval Created and maintained by [Paul-Edouard Sarlin](https://psarlin.com/) with the help of many contributors. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/datasets/sacre_coeur/README.md ================================================ # Sacre Coeur demo We provide here a subset of images depicting the Sacre Coeur. These images were obtained from the [Image Matching Challenge 2021](https://www.cs.ubc.ca/research/image-matching-challenge/2021/data/) and were originally collected by the [Yahoo Flickr Creative Commons 100M (YFCC) dataset](https://multimediacommons.wordpress.com/yfcc100m-core-dataset/). ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/demo.ipynb ================================================ { "cells": [ { "cell_type": "markdown", "id": "f6fbdb5c", "metadata": {}, "source": [ "In this notebook, we will build a 3D map of a scene from a small set of images and then localize an image downloaded from the Internet. This demo was contributed by [Philipp Lindenberger](https://github.com/Phil26AT/)." ] }, { "cell_type": "code", "execution_count": 1, "id": "e663b133", "metadata": {}, "outputs": [], "source": [ "%load_ext autoreload\n", "%autoreload 2\n", "import tqdm, tqdm.notebook\n", "tqdm.tqdm = tqdm.notebook.tqdm # notebook-friendly progress bars\n", "from pathlib import Path\n", "\n", "from hloc import extract_features, match_features, reconstruction, visualization, pairs_from_exhaustive\n", "from hloc.visualization import plot_images, read_image\n", "from hloc.utils import viz_3d" ] }, { "cell_type": "markdown", "id": "a72ac394", "metadata": {}, "source": [ "# Setup\n", "Here we define some output paths." ] }, { "cell_type": "code", "execution_count": 2, "id": "f376de7b", "metadata": {}, "outputs": [], "source": [ "images = Path('datasets/sacre_coeur')\n", "outputs = Path('outputs/demo/')\n", "!rm -rf $outputs\n", "sfm_pairs = outputs / 'pairs-sfm.txt'\n", "loc_pairs = outputs / 'pairs-loc.txt'\n", "sfm_dir = outputs / 'sfm'\n", "features = outputs / 'features.h5'\n", "matches = outputs / 'matches.h5'\n", "\n", "feature_conf = extract_features.confs['superpoint_aachen']\n", "matcher_conf = match_features.confs['superglue']" ] }, { "cell_type": "markdown", "id": "edc7b21e", "metadata": {}, "source": [ "# 3D mapping\n", "First we list the images used for mapping. These are all day-time shots of Sacre Coeur." ] }, { "cell_type": "code", "execution_count": 3, "id": "2b9e3ef3", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "10 mapping images\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "references = [p.relative_to(images).as_posix() for p in (images / 'mapping/').iterdir()]\n", "print(len(references), \"mapping images\")\n", "plot_images([read_image(images / r) for r in references[:4]], dpi=50)" ] }, { "cell_type": "markdown", "id": "d23739ad", "metadata": {}, "source": [ "Then we extract features and match them across image pairs. Since we deal with few images, we simply match all pairs exhaustively. For larger scenes, we would use image retrieval, as demonstrated in the other notebooks." ] }, { "cell_type": "code", "execution_count": 4, "id": "bdd2df10", "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ "[2022/01/03 01:27:45 hloc INFO] Extracting local features with configuration:\n", "{'model': {'max_keypoints': 4096, 'name': 'superpoint', 'nms_radius': 3},\n", " 'output': 'feats-superpoint-n4096-r1024',\n", " 'preprocessing': {'grayscale': True, 'resize_max': 1024}}\n" ] }, { "name": "stdout", "output_type": "stream", "text": [ "Loaded SuperPoint model\n" ] }, { "data": { "application/vnd.jupyter.widget-view+json": { "model_id": "5262827e8ce1421bbf6e403efb11a84e", "version_major": 2, "version_minor": 0 }, "text/plain": [ " 0%| | 0/10 [00:00" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "url = \"https://upload.wikimedia.org/wikipedia/commons/5/53/Paris_-_Basilique_du_Sacr%C3%A9_Coeur%2C_Montmartre_-_panoramio.jpg\"\n", "# try other queries by uncommenting their url\n", "# url = \"https://upload.wikimedia.org/wikipedia/commons/5/59/Basilique_du_Sacr%C3%A9-C%C5%93ur_%285430392880%29.jpg\"\n", "# url = \"https://upload.wikimedia.org/wikipedia/commons/8/8e/Sacr%C3%A9_C%C5%93ur_at_night%21_%285865355326%29.jpg\"\n", "query = 'query/night.jpg'\n", "!mkdir -p $images/query && wget $url -O $images/$query -q\n", "plot_images([read_image(images / query)], dpi=75)" ] }, { "cell_type": "markdown", "id": "4a035ca4", "metadata": {}, "source": [ "Again, we extract features for the query and match them exhaustively." ] }, { "cell_type": "code", "execution_count": 8, "id": "7626a984", "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ "[2022/01/03 01:27:56 hloc INFO] Extracting local features with configuration:\n", "{'model': {'max_keypoints': 4096, 'name': 'superpoint', 'nms_radius': 3},\n", " 'output': 'feats-superpoint-n4096-r1024',\n", " 'preprocessing': {'grayscale': True, 'resize_max': 1024}}\n" ] }, { "name": "stdout", "output_type": "stream", "text": [ "Loaded SuperPoint model\n" ] }, { "data": { "application/vnd.jupyter.widget-view+json": { "model_id": "8fcb68a4460f4562bd1dd02d723558dc", "version_major": 2, "version_minor": 0 }, "text/plain": [ " 0%| | 0/1 [00:00" ] }, "metadata": {}, "output_type": "display_data" }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import pycolmap\n", "from hloc.localize_sfm import QueryLocalizer, pose_from_cluster\n", "\n", "camera = pycolmap.infer_camera_from_image(images / query)\n", "ref_ids = [model.find_image_with_name(r).image_id for r in references]\n", "conf = {\n", " 'estimation': {'ransac': {'max_error': 12}},\n", " 'refinement': {'refine_focal_length': True, 'refine_extra_params': True},\n", "}\n", "localizer = QueryLocalizer(model, conf)\n", "ret, log = pose_from_cluster(localizer, query, camera, ref_ids, features, matches)\n", "\n", "print(f'found {ret[\"num_inliers\"]}/{len(ret[\"inliers\"])} inlier correspondences.')\n", "visualization.visualize_loc_from_log(images, query, log, model)" ] }, { "cell_type": "markdown", "id": "791e5518", "metadata": {}, "source": [ "We visualize the correspondences between the query images a few mapping images. We can also visualize the estimated camera pose in the 3D map." ] }, { "cell_type": "code", "execution_count": 11, "id": "71ab5306", "metadata": {}, "outputs": [ { "data": { "application/vnd.plotly.v1+json": { "config": { "plotlyServerURL": "https://plot.ly" }, "data": [ { "legendgroup": "mapping", "marker": { "color": "rgba(255,0,0,0.5)", "line": { "width": 0 }, "size": 1 }, "mode": "markers", "name": "mapping", "type": "scatter3d", "x": [ 0.921886372671709, 0.37579743578832336, -0.11127842181089562, 0.7033409270266268, 0.4027180273756952, 1.2105718846275995, 0.17010589538593507, 0.14442755768074494, 0.648028868856995, 0.4382786702699012, 1.174941497311972, 1.7196465629831696, 0.6264934179006703, 1.217532811085875, 1.2408223852229212, 1.2690051068469685, 0.6806773526532464, 1.2441547880609312, 0.6841435442759045, 0.9986689954312608, 0.37697762155236086, 0.988866340744237, -0.09781467941102483, 0.8741456889063941, 0.4424667058914352, 0.2877616714086598, -0.40054652852533307, 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "pose = pycolmap.Image(tvec=ret['tvec'], qvec=ret['qvec'])\n", "viz_3d.plot_camera_colmap(fig, pose, camera, color='rgba(0,255,0,0.5)', name=query)\n", "fig.show()" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.8" } }, "nbformat": 4, "nbformat_minor": 5 } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/__init__.py ================================================ import logging from packaging import version __version__ = '1.3' formatter = logging.Formatter( fmt='[%(asctime)s %(name)s %(levelname)s] %(message)s', datefmt='%Y/%m/%d %H:%M:%S') handler = logging.StreamHandler() handler.setFormatter(formatter) handler.setLevel(logging.INFO) logger = logging.getLogger("hloc") logger.setLevel(logging.INFO) logger.addHandler(handler) logger.propagate = False try: import pycolmap except ImportError: logger.warning('pycolmap is not installed, some features may not work.') else: minimal_version = version.parse('0.3.0') found_version = version.parse(getattr(pycolmap, '__version__')) if found_version < minimal_version: logger.warning( 'hloc now requires pycolmap>=%s but found pycolmap==%s, ' 'please upgrade with `pip install --upgrade pycolmap`', minimal_version, found_version) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/colmap_from_nvm.py ================================================ import argparse import sqlite3 from tqdm import tqdm from collections import defaultdict import numpy as np from pathlib import Path from . import logger from .utils.read_write_model import Camera, Image, Point3D, CAMERA_MODEL_NAMES from .utils.read_write_model import write_model def recover_database_images_and_ids(database_path): images = {} cameras = {} db = sqlite3.connect(str(database_path)) ret = db.execute("SELECT name, image_id, camera_id FROM images;") for name, image_id, camera_id in ret: images[name] = image_id cameras[name] = camera_id db.close() logger.info( f'Found {len(images)} images and {len(cameras)} cameras in database.') return images, cameras def quaternion_to_rotation_matrix(qvec): qvec = qvec / np.linalg.norm(qvec) w, x, y, z = qvec R = np.array([ [1 - 2 * y * y - 2 * z * z, 2 * x * y - 2 * z * w, 2 * x * z + 2 * y * w], [2 * x * y + 2 * z * w, 1 - 2 * x * x - 2 * z * z, 2 * y * z - 2 * x * w], [2 * x * z - 2 * y * w, 2 * y * z + 2 * x * w, 1 - 2 * x * x - 2 * y * y]]) return R def camera_center_to_translation(c, qvec): R = quaternion_to_rotation_matrix(qvec) return (-1) * np.matmul(R, c) def read_nvm_model( nvm_path, intrinsics_path, image_ids, camera_ids, skip_points=False): with open(intrinsics_path, 'r') as f: raw_intrinsics = f.readlines() logger.info(f'Reading {len(raw_intrinsics)} cameras...') cameras = {} for intrinsics in raw_intrinsics: intrinsics = intrinsics.strip('\n').split(' ') name, camera_model, width, height = intrinsics[:4] params = [float(p) for p in intrinsics[4:]] camera_model = CAMERA_MODEL_NAMES[camera_model] assert len(params) == camera_model.num_params camera_id = camera_ids[name] camera = Camera( id=camera_id, model=camera_model.model_name, width=int(width), height=int(height), params=params) cameras[camera_id] = camera nvm_f = open(nvm_path, 'r') line = nvm_f.readline() while line == '\n' or line.startswith('NVM_V3'): line = nvm_f.readline() num_images = int(line) assert num_images == len(cameras) logger.info(f'Reading {num_images} images...') image_idx_to_db_image_id = [] image_data = [] i = 0 while i < num_images: line = nvm_f.readline() if line == '\n': continue data = line.strip('\n').split(' ') image_data.append(data) image_idx_to_db_image_id.append(image_ids[data[0]]) i += 1 line = nvm_f.readline() while line == '\n': line = nvm_f.readline() num_points = int(line) if skip_points: logger.info(f'Skipping {num_points} points.') num_points = 0 else: logger.info(f'Reading {num_points} points...') points3D = {} image_idx_to_keypoints = defaultdict(list) i = 0 pbar = tqdm(total=num_points, unit='pts') while i < num_points: line = nvm_f.readline() if line == '\n': continue data = line.strip('\n').split(' ') x, y, z, r, g, b, num_observations = data[:7] obs_image_ids, point2D_idxs = [], [] for j in range(int(num_observations)): s = 7 + 4*j img_index, kp_index, kx, ky = data[s:s+4] image_idx_to_keypoints[int(img_index)].append( (int(kp_index), float(kx), float(ky), i)) db_image_id = image_idx_to_db_image_id[int(img_index)] obs_image_ids.append(db_image_id) point2D_idxs.append(kp_index) point = Point3D( id=i, xyz=np.array([x, y, z], float), rgb=np.array([r, g, b], int), error=1., # fake image_ids=np.array(obs_image_ids, int), point2D_idxs=np.array(point2D_idxs, int)) points3D[i] = point i += 1 pbar.update(1) pbar.close() logger.info('Parsing image data...') images = {} for i, data in enumerate(image_data): # Skip the focal length. Skip the distortion and terminal 0. name, _, qw, qx, qy, qz, cx, cy, cz, _, _ = data qvec = np.array([qw, qx, qy, qz], float) c = np.array([cx, cy, cz], float) t = camera_center_to_translation(c, qvec) if i in image_idx_to_keypoints: # NVM only stores triangulated 2D keypoints: add dummy ones keypoints = image_idx_to_keypoints[i] point2D_idxs = np.array([d[0] for d in keypoints]) tri_xys = np.array([[x, y] for _, x, y, _ in keypoints]) tri_ids = np.array([i for _, _, _, i in keypoints]) num_2Dpoints = max(point2D_idxs) + 1 xys = np.zeros((num_2Dpoints, 2), float) point3D_ids = np.full(num_2Dpoints, -1, int) xys[point2D_idxs] = tri_xys point3D_ids[point2D_idxs] = tri_ids else: xys = np.zeros((0, 2), float) point3D_ids = np.full(0, -1, int) image_id = image_ids[name] image = Image( id=image_id, qvec=qvec, tvec=t, camera_id=camera_ids[name], name=name, xys=xys, point3D_ids=point3D_ids) images[image_id] = image return cameras, images, points3D def main(nvm, intrinsics, database, output, skip_points=False): assert nvm.exists(), nvm assert intrinsics.exists(), intrinsics assert database.exists(), database image_ids, camera_ids = recover_database_images_and_ids(database) logger.info('Reading the NVM model...') model = read_nvm_model( nvm, intrinsics, image_ids, camera_ids, skip_points=skip_points) logger.info('Writing the COLMAP model...') output.mkdir(exist_ok=True, parents=True) write_model(*model, path=str(output), ext='.bin') logger.info('Done.') if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--nvm', required=True, type=Path) parser.add_argument('--intrinsics', required=True, type=Path) parser.add_argument('--database', required=True, type=Path) parser.add_argument('--output', required=True, type=Path) parser.add_argument('--skip_points', action='store_true') args = parser.parse_args() main(**args.__dict__) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extract_features.py ================================================ import argparse import torch from pathlib import Path from typing import Dict, List, Union, Optional import h5py from types import SimpleNamespace import cv2 import numpy as np from tqdm import tqdm import pprint import collections.abc as collections import PIL.Image from . import extractors, logger from .utils.base_model import dynamic_load from .utils.parsers import parse_image_lists from .utils.io import read_image, list_h5_names ''' A set of standard configurations that can be directly selected from the command line using their name. Each is a dictionary with the following entries: - output: the name of the feature file that will be generated. - model: the model configuration, as passed to a feature extractor. - preprocessing: how to preprocess the images read from disk. ''' confs = { 'superpoint_aachen': { 'output': 'feats-superpoint-n4096-r1024', 'model': { 'name': 'superpoint', 'nms_radius': 3, 'max_keypoints': 4096, }, 'preprocessing': { 'grayscale': True, 'resize_max': 1024, }, }, # Resize images to 1600px even if they are originally smaller. # Improves the keypoint localization if the images are of good quality. 'superpoint_max': { 'output': 'feats-superpoint-n4096-rmax1600', 'model': { 'name': 'superpoint', 'nms_radius': 3, 'max_keypoints': 4096, }, 'preprocessing': { 'grayscale': True, 'resize_max': 1600, 'resize_force': True, }, }, 'superpoint_inloc': { 'output': 'feats-superpoint-n4096-r1600', 'model': { 'name': 'superpoint', 'nms_radius': 4, 'max_keypoints': 4096, }, 'preprocessing': { 'grayscale': True, 'resize_max': 1600, }, }, 'r2d2': { 'output': 'feats-r2d2-n5000-r1024', 'model': { 'name': 'r2d2', 'max_keypoints': 5000, }, 'preprocessing': { 'grayscale': False, 'resize_max': 1024, }, }, 'd2net-ss': { 'output': 'feats-d2net-ss', 'model': { 'name': 'd2net', 'multiscale': False, }, 'preprocessing': { 'grayscale': False, 'resize_max': 1600, }, }, 'sift': { 'output': 'feats-sift', 'model': { 'name': 'dog' }, 'preprocessing': { 'grayscale': True, 'resize_max': 1600, }, }, 'sosnet': { 'output': 'feats-sosnet', 'model': { 'name': 'dog', 'descriptor': 'sosnet' }, 'preprocessing': { 'grayscale': True, 'resize_max': 1600, }, }, 'disk': { 'output': 'feats-disk', 'model': { 'name': 'disk', 'max_keypoints': 5000, }, 'preprocessing': { 'grayscale': False, 'resize_max': 1600, }, }, # Global descriptors 'dir': { 'output': 'global-feats-dir', 'model': {'name': 'dir'}, 'preprocessing': {'resize_max': 1024}, }, 'netvlad': { 'output': 'global-feats-netvlad', 'model': {'name': 'netvlad'}, 'preprocessing': {'resize_max': 1024}, }, 'openibl': { 'output': 'global-feats-openibl', 'model': {'name': 'openibl'}, 'preprocessing': {'resize_max': 1024}, }, 'cosplace': { 'output': 'global-feats-cosplace', 'model': {'name': 'cosplace'}, 'preprocessing': {'resize_max': 1024}, } } def resize_image(image, size, interp): if interp.startswith('cv2_'): interp = getattr(cv2, 'INTER_'+interp[len('cv2_'):].upper()) h, w = image.shape[:2] if interp == cv2.INTER_AREA and (w < size[0] or h < size[1]): interp = cv2.INTER_LINEAR resized = cv2.resize(image, size, interpolation=interp) elif interp.startswith('pil_'): interp = getattr(PIL.Image, interp[len('pil_'):].upper()) resized = PIL.Image.fromarray(image.astype(np.uint8)) resized = resized.resize(size, resample=interp) resized = np.asarray(resized, dtype=image.dtype) else: raise ValueError( f'Unknown interpolation {interp}.') return resized class ImageDataset(torch.utils.data.Dataset): default_conf = { 'globs': ['*.jpg', '*.png', '*.jpeg', '*.JPG', '*.PNG'], 'grayscale': False, 'resize_max': None, 'resize_force': False, 'interpolation': 'cv2_area', # pil_linear is more accurate but slower } def __init__(self, root, conf, paths=None): self.conf = conf = SimpleNamespace(**{**self.default_conf, **conf}) self.root = root if paths is None: paths = [] for g in conf.globs: paths += list(Path(root).glob('**/'+g)) if len(paths) == 0: raise ValueError(f'Could not find any image in root: {root}.') paths = sorted(list(set(paths))) self.names = [i.relative_to(root).as_posix() for i in paths] logger.info(f'Found {len(self.names)} images in root {root}.') else: if isinstance(paths, (Path, str)): self.names = parse_image_lists(paths) elif isinstance(paths, collections.Iterable): self.names = [p.as_posix() if isinstance(p, Path) else p for p in paths] else: raise ValueError(f'Unknown format for path argument {paths}.') for name in self.names: if not (root / name).exists(): raise ValueError( f'Image {name} does not exists in root: {root}.') def __getitem__(self, idx): name = self.names[idx] image = read_image(self.root / name, self.conf.grayscale) image = image.astype(np.float32) size = image.shape[:2][::-1] if self.conf.resize_max and (self.conf.resize_force or max(size) > self.conf.resize_max): scale = self.conf.resize_max / max(size) size_new = tuple(int(round(x*scale)) for x in size) image = resize_image(image, size_new, self.conf.interpolation) if self.conf.grayscale: image = image[None] else: image = image.transpose((2, 0, 1)) # HxWxC to CxHxW image = image / 255. data = { 'image': image, 'original_size': np.array(size), } return data def __len__(self): return len(self.names) @torch.no_grad() def main(conf: Dict, image_dir: Path, export_dir: Optional[Path] = None, as_half: bool = True, image_list: Optional[Union[Path, List[str]]] = None, feature_path: Optional[Path] = None, overwrite: bool = False) -> Path: logger.info('Extracting local features with configuration:' f'\n{pprint.pformat(conf)}') dataset = ImageDataset(image_dir, conf['preprocessing'], image_list) if feature_path is None: feature_path = Path(export_dir, conf['output']+'.h5') feature_path.parent.mkdir(exist_ok=True, parents=True) skip_names = set(list_h5_names(feature_path) if feature_path.exists() and not overwrite else ()) dataset.names = [n for n in dataset.names if n not in skip_names] if len(dataset.names) == 0: logger.info('Skipping the extraction.') return feature_path device = 'cuda' if torch.cuda.is_available() else 'cpu' Model = dynamic_load(extractors, conf['model']['name']) model = Model(conf['model']).eval().to(device) loader = torch.utils.data.DataLoader( dataset, num_workers=1, shuffle=False, pin_memory=True) for idx, data in enumerate(tqdm(loader)): name = dataset.names[idx] pred = model({'image': data['image'].to(device, non_blocking=True)}) pred = {k: v[0].cpu().numpy() for k, v in pred.items()} pred['image_size'] = original_size = data['original_size'][0].numpy() if 'keypoints' in pred: size = np.array(data['image'].shape[-2:][::-1]) scales = (original_size / size).astype(np.float32) pred['keypoints'] = (pred['keypoints'] + .5) * scales[None] - .5 if 'scales' in pred: pred['scales'] *= scales.mean() # add keypoint uncertainties scaled to the original resolution uncertainty = getattr(model, 'detection_noise', 1) * scales.mean() if as_half: for k in pred: dt = pred[k].dtype if (dt == np.float32) and (dt != np.float16): pred[k] = pred[k].astype(np.float16) with h5py.File(str(feature_path), 'a', libver='latest') as fd: try: if name in fd: del fd[name] grp = fd.create_group(name) for k, v in pred.items(): grp.create_dataset(k, data=v) if 'keypoints' in pred: grp['keypoints'].attrs['uncertainty'] = uncertainty except OSError as error: if 'No space left on device' in error.args[0]: logger.error( 'Out of disk space: storing features on disk can take ' 'significant space, did you enable the as_half flag?') del grp, fd[name] raise error del pred logger.info('Finished exporting features.') return feature_path if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--image_dir', type=Path, required=True) parser.add_argument('--export_dir', type=Path, required=True) parser.add_argument('--conf', type=str, default='superpoint_aachen', choices=list(confs.keys())) parser.add_argument('--as_half', action='store_true') parser.add_argument('--image_list', type=Path) parser.add_argument('--feature_path', type=Path) args = parser.parse_args() main(confs[args.conf], args.image_dir, args.export_dir, args.as_half) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extractors/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extractors/cosplace.py ================================================ ''' Code for loading models trained with CosPlace as a global features extractor for geolocalization through image retrieval. Multiple models are available with different backbones. Below is a summary of models available (backbone : list of available output descriptors dimensionality). For example you can use a model based on a ResNet50 with descriptors dimensionality 1024. ResNet18: [32, 64, 128, 256, 512] ResNet50: [32, 64, 128, 256, 512, 1024, 2048] ResNet101: [32, 64, 128, 256, 512, 1024, 2048] ResNet152: [32, 64, 128, 256, 512, 1024, 2048] VGG16: [ 64, 128, 256, 512] CosPlace paper: https://arxiv.org/abs/2204.02287 ''' import torch import torchvision.transforms as tvf from ..utils.base_model import BaseModel class CosPlace(BaseModel): default_conf = { 'backbone': 'ResNet50', 'fc_output_dim' : 2048 } required_inputs = ['image'] def _init(self, conf): self.net = torch.hub.load( 'gmberton/CosPlace', 'get_trained_model', backbone=conf['backbone'], fc_output_dim=conf['fc_output_dim'] ).eval() mean = [0.485, 0.456, 0.406] std = [0.229, 0.224, 0.225] self.norm_rgb = tvf.Normalize(mean=mean, std=std) def _forward(self, data): image = self.norm_rgb(data['image']) desc = self.net(image) return { 'global_descriptor': desc, } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extractors/d2net.py ================================================ import sys from pathlib import Path import subprocess import torch from ..utils.base_model import BaseModel d2net_path = Path(__file__).parent / '../../third_party/d2net' sys.path.append(str(d2net_path)) from lib.model_test import D2Net as _D2Net from lib.pyramid import process_multiscale class D2Net(BaseModel): default_conf = { 'model_name': 'd2_tf.pth', 'checkpoint_dir': d2net_path / 'models', 'use_relu': True, 'multiscale': False, } required_inputs = ['image'] def _init(self, conf): model_file = conf['checkpoint_dir'] / conf['model_name'] if not model_file.exists(): model_file.parent.mkdir(exist_ok=True) cmd = ['wget', 'https://dsmn.ml/files/d2-net/'+conf['model_name'], '-O', str(model_file)] subprocess.run(cmd, check=True) self.net = _D2Net( model_file=model_file, use_relu=conf['use_relu'], use_cuda=False) def _forward(self, data): image = data['image'] image = image.flip(1) # RGB -> BGR norm = image.new_tensor([103.939, 116.779, 123.68]) image = (image * 255 - norm.view(1, 3, 1, 1)) # caffe normalization if self.conf['multiscale']: keypoints, scores, descriptors = process_multiscale( image, self.net) else: keypoints, scores, descriptors = process_multiscale( image, self.net, scales=[1]) keypoints = keypoints[:, [1, 0]] # (x, y) and remove the scale return { 'keypoints': torch.from_numpy(keypoints)[None], 'scores': torch.from_numpy(scores)[None], 'descriptors': torch.from_numpy(descriptors.T)[None], } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extractors/dir.py ================================================ import sys from pathlib import Path import torch from zipfile import ZipFile import os import sklearn import gdown from ..utils.base_model import BaseModel sys.path.append(str( Path(__file__).parent / '../../third_party/deep-image-retrieval')) os.environ['DB_ROOT'] = '' # required by dirtorch from dirtorch.utils import common # noqa: E402 from dirtorch.extract_features import load_model # noqa: E402 # The DIR model checkpoints (pickle files) include sklearn.decomposition.pca, # which has been deprecated in sklearn v0.24 # and must be explicitly imported with `from sklearn.decomposition import PCA`. # This is a hacky workaround to maintain forward compatibility. sys.modules['sklearn.decomposition.pca'] = sklearn.decomposition._pca class DIR(BaseModel): default_conf = { 'model_name': 'Resnet-101-AP-GeM', 'whiten_name': 'Landmarks_clean', 'whiten_params': { 'whitenp': 0.25, 'whitenv': None, 'whitenm': 1.0, }, 'pooling': 'gem', 'gemp': 3, } required_inputs = ['image'] dir_models = { 'Resnet-101-AP-GeM': 'https://docs.google.com/uc?export=download&id=1UWJGDuHtzaQdFhSMojoYVQjmCXhIwVvy', } def _init(self, conf): checkpoint = Path( torch.hub.get_dir(), 'dirtorch', conf['model_name'] + '.pt') if not checkpoint.exists(): checkpoint.parent.mkdir(exist_ok=True, parents=True) link = self.dir_models[conf['model_name']] gdown.download(str(link), str(checkpoint)+'.zip', quiet=False) zf = ZipFile(str(checkpoint)+'.zip', 'r') zf.extractall(checkpoint.parent) zf.close() os.remove(str(checkpoint)+'.zip') self.net = load_model(checkpoint, False) # first load on CPU if conf['whiten_name']: assert conf['whiten_name'] in self.net.pca def _forward(self, data): image = data['image'] assert image.shape[1] == 3 mean = self.net.preprocess['mean'] std = self.net.preprocess['std'] image = image - image.new_tensor(mean)[:, None, None] image = image / image.new_tensor(std)[:, None, None] desc = self.net(image) desc = desc.unsqueeze(0) # batch dimension if self.conf['whiten_name']: pca = self.net.pca[self.conf['whiten_name']] desc = common.whiten_features( desc.cpu().numpy(), pca, **self.conf['whiten_params']) desc = torch.from_numpy(desc) return { 'global_descriptor': desc, } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extractors/disk.py ================================================ import sys from pathlib import Path from functools import partial import torch import torch.nn.functional as F from ..utils.base_model import BaseModel disk_path = Path(__file__).parent / "../../third_party/disk" sys.path.append(str(disk_path)) from disk import DISK as _DISK # noqa E402 class DISK(BaseModel): default_conf = { 'model_name': 'depth-save.pth', 'max_keypoints': None, 'desc_dim': 128, 'mode': 'nms', 'nms_window_size': 5, } required_inputs = ['image'] def _init(self, conf): self.model = _DISK(window=8, desc_dim=conf['desc_dim']) state_dict = torch.load( disk_path / conf['model_name'], map_location='cpu') if 'extractor' in state_dict: weights = state_dict['extractor'] elif 'disk' in state_dict: weights = state_dict['disk'] else: raise KeyError('Incompatible weight file!') self.model.load_state_dict(weights) if conf['mode'] == 'nms': self.extract = partial( self.model.features, kind='nms', window_size=conf['nms_window_size'], cutoff=0., n=conf['max_keypoints'] ) elif conf['mode'] == 'rng': self.extract = partial(self.model.features, kind='rng') else: raise KeyError( f'mode must be `nms` or `rng`, got `{conf["mode"]}`') def _forward(self, data): image = data['image'] # make sure that the dimensions of the image are multiple of 16 orig_h, orig_w = image.shape[-2:] new_h = round(orig_h / 16) * 16 new_w = round(orig_w / 16) * 16 image = F.pad(image, (0, new_w - orig_w, 0, new_h - orig_h)) batched_features = self.extract(image) assert(len(batched_features) == 1) features = batched_features[0] # filter points detected in the padded areas kpts = features.kp valid = torch.all(kpts <= kpts.new_tensor([orig_w, orig_h]) - 1, 1) kpts = kpts[valid] descriptors = features.desc[valid] scores = features.kp_logp[valid] # order the keypoints indices = torch.argsort(scores, descending=True) kpts = kpts[indices] descriptors = descriptors[indices] scores = scores[indices] return { 'keypoints': kpts[None], 'descriptors': descriptors.t()[None], 'scores': scores[None], } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extractors/dog.py ================================================ import kornia from kornia.feature.laf import ( laf_from_center_scale_ori, extract_patches_from_pyramid) import numpy as np import torch import pycolmap from ..utils.base_model import BaseModel EPS = 1e-6 def sift_to_rootsift(x): x = x / (np.linalg.norm(x, ord=1, axis=-1, keepdims=True) + EPS) x = np.sqrt(x.clip(min=EPS)) x = x / (np.linalg.norm(x, axis=-1, keepdims=True) + EPS) return x class DoG(BaseModel): default_conf = { 'options': { 'first_octave': 0, 'peak_threshold': 0.01, }, 'descriptor': 'rootsift', 'max_keypoints': -1, 'patch_size': 32, 'mr_size': 12, } required_inputs = ['image'] detection_noise = 1.0 max_batch_size = 1024 def _init(self, conf): if conf['descriptor'] == 'sosnet': self.describe = kornia.feature.SOSNet(pretrained=True) elif conf['descriptor'] == 'hardnet': self.describe = kornia.feature.HardNet(pretrained=True) elif conf['descriptor'] not in ['sift', 'rootsift']: raise ValueError(f'Unknown descriptor: {conf["descriptor"]}') self.sift = None # lazily instantiated on the first image self.device = torch.device('cpu') def to(self, *args, **kwargs): device = kwargs.get('device') if device is None: match = [a for a in args if isinstance(a, (torch.device, str))] if len(match) > 0: device = match[0] if device is not None: self.device = torch.device(device) return super().to(*args, **kwargs) def _forward(self, data): image = data['image'] image_np = image.cpu().numpy()[0, 0] assert image.shape[1] == 1 assert image_np.min() >= -EPS and image_np.max() <= 1 + EPS if self.sift is None: use_gpu = pycolmap.has_cuda and self.device.type == 'cuda' options = {**self.conf['options']} if self.conf['descriptor'] == 'rootsift': options['normalization'] = pycolmap.Normalization.L1_ROOT else: options['normalization'] = pycolmap.Normalization.L2 self.sift = pycolmap.Sift( options=pycolmap.SiftExtractionOptions(options), device=getattr(pycolmap.Device, 'cuda' if use_gpu else 'cpu')) keypoints, scores, descriptors = self.sift.extract(image_np) scales = keypoints[:, 2] oris = np.rad2deg(keypoints[:, 3]) if self.conf['descriptor'] in ['sift', 'rootsift']: # We still renormalize because COLMAP does not normalize well, # maybe due to numerical errors if self.conf['descriptor'] == 'rootsift': descriptors = sift_to_rootsift(descriptors) descriptors = torch.from_numpy(descriptors) elif self.conf['descriptor'] in ('sosnet', 'hardnet'): center = keypoints[:, :2] + 0.5 laf_scale = scales * self.conf['mr_size'] / 2 laf_ori = -oris lafs = laf_from_center_scale_ori( torch.from_numpy(center)[None], torch.from_numpy(laf_scale)[None, :, None, None], torch.from_numpy(laf_ori)[None, :, None]).to(image.device) patches = extract_patches_from_pyramid( image, lafs, PS=self.conf['patch_size'])[0] descriptors = patches.new_zeros((len(patches), 128)) if len(patches) > 0: for start_idx in range(0, len(patches), self.max_batch_size): end_idx = min(len(patches), start_idx+self.max_batch_size) descriptors[start_idx:end_idx] = self.describe( patches[start_idx:end_idx]) else: raise ValueError(f'Unknown descriptor: {self.conf["descriptor"]}') keypoints = torch.from_numpy(keypoints[:, :2]) # keep only x, y scales = torch.from_numpy(scales) oris = torch.from_numpy(oris) scores = torch.from_numpy(scores) if self.conf['max_keypoints'] != -1: # TODO: check that the scores from PyCOLMAP are 100% correct, # follow https://github.com/mihaidusmanu/pycolmap/issues/8 indices = torch.topk(scores, self.conf['max_keypoints']) keypoints = keypoints[indices] scales = scales[indices] oris = oris[indices] scores = scores[indices] descriptors = descriptors[indices] return { 'keypoints': keypoints[None], 'scales': scales[None], 'oris': oris[None], 'scores': scores[None], 'descriptors': descriptors.T[None], } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extractors/netvlad.py ================================================ from pathlib import Path import subprocess import logging import numpy as np import torch import torch.nn as nn import torch.nn.functional as F import torchvision.models as models from scipy.io import loadmat from ..utils.base_model import BaseModel logger = logging.getLogger(__name__) EPS = 1e-6 class NetVLADLayer(nn.Module): def __init__(self, input_dim=512, K=64, score_bias=False, intranorm=True): super().__init__() self.score_proj = nn.Conv1d( input_dim, K, kernel_size=1, bias=score_bias) centers = nn.parameter.Parameter(torch.empty([input_dim, K])) nn.init.xavier_uniform_(centers) self.register_parameter('centers', centers) self.intranorm = intranorm self.output_dim = input_dim * K def forward(self, x): b = x.size(0) scores = self.score_proj(x) scores = F.softmax(scores, dim=1) diff = (x.unsqueeze(2) - self.centers.unsqueeze(0).unsqueeze(-1)) desc = (scores.unsqueeze(1) * diff).sum(dim=-1) if self.intranorm: # From the official MATLAB implementation. desc = F.normalize(desc, dim=1) desc = desc.view(b, -1) desc = F.normalize(desc, dim=1) return desc class NetVLAD(BaseModel): default_conf = { 'model_name': 'VGG16-NetVLAD-Pitts30K', 'whiten': True } required_inputs = ['image'] # Models exported using # https://github.com/uzh-rpg/netvlad_tf_open/blob/master/matlab/net_class2struct.m. dir_models = { 'VGG16-NetVLAD-Pitts30K': 'https://cvg-data.inf.ethz.ch/hloc/netvlad/Pitts30K_struct.mat', 'VGG16-NetVLAD-TokyoTM': 'https://cvg-data.inf.ethz.ch/hloc/netvlad/TokyoTM_struct.mat' } def _init(self, conf): assert conf['model_name'] in self.dir_models.keys() # Download the checkpoint. checkpoint = Path( torch.hub.get_dir(), 'netvlad', conf['model_name'] + '.mat') if not checkpoint.exists(): checkpoint.parent.mkdir(exist_ok=True, parents=True) link = self.dir_models[conf['model_name']] cmd = ['wget', link, '-O', str(checkpoint)] logger.info(f'Downloading the NetVLAD model with `{cmd}`.') subprocess.run(cmd, check=True) # Create the network. # Remove classification head. backbone = list(models.vgg16().children())[0] # Remove last ReLU + MaxPool2d. self.backbone = nn.Sequential(*list(backbone.children())[: -2]) self.netvlad = NetVLADLayer() if conf['whiten']: self.whiten = nn.Linear(self.netvlad.output_dim, 4096) # Parse MATLAB weights using https://github.com/uzh-rpg/netvlad_tf_open mat = loadmat(checkpoint, struct_as_record=False, squeeze_me=True) # CNN weights. for layer, mat_layer in zip(self.backbone.children(), mat['net'].layers): if isinstance(layer, nn.Conv2d): w = mat_layer.weights[0] # Shape: S x S x IN x OUT b = mat_layer.weights[1] # Shape: OUT # Prepare for PyTorch - enforce float32 and right shape. # w should have shape: OUT x IN x S x S # b should have shape: OUT w = torch.tensor(w).float().permute([3, 2, 0, 1]) b = torch.tensor(b).float() # Update layer weights. layer.weight = nn.Parameter(w) layer.bias = nn.Parameter(b) # NetVLAD weights. score_w = mat['net'].layers[30].weights[0] # D x K # centers are stored as opposite in official MATLAB code center_w = -mat['net'].layers[30].weights[1] # D x K # Prepare for PyTorch - make sure it is float32 and has right shape. # score_w should have shape K x D x 1 # center_w should have shape D x K score_w = torch.tensor(score_w).float().permute([1, 0]).unsqueeze(-1) center_w = torch.tensor(center_w).float() # Update layer weights. self.netvlad.score_proj.weight = nn.Parameter(score_w) self.netvlad.centers = nn.Parameter(center_w) # Whitening weights. if conf['whiten']: w = mat['net'].layers[33].weights[0] # Shape: 1 x 1 x IN x OUT b = mat['net'].layers[33].weights[1] # Shape: OUT # Prepare for PyTorch - make sure it is float32 and has right shape w = torch.tensor(w).float().squeeze().permute([1, 0]) # OUT x IN b = torch.tensor(b.squeeze()).float() # Shape: OUT # Update layer weights. self.whiten.weight = nn.Parameter(w) self.whiten.bias = nn.Parameter(b) # Preprocessing parameters. self.preprocess = { 'mean': mat['net'].meta.normalization.averageImage[0, 0], 'std': np.array([1, 1, 1], dtype=np.float32) } def _forward(self, data): image = data['image'] assert image.shape[1] == 3 assert image.min() >= -EPS and image.max() <= 1 + EPS image = torch.clamp(image * 255, 0.0, 255.0) # Input should be 0-255. mean = self.preprocess['mean'] std = self.preprocess['std'] image = image - image.new_tensor(mean).view(1, -1, 1, 1) image = image / image.new_tensor(std).view(1, -1, 1, 1) # Feature extraction. descriptors = self.backbone(image) b, c, _, _ = descriptors.size() descriptors = descriptors.view(b, c, -1) # NetVLAD layer. descriptors = F.normalize(descriptors, dim=1) # Pre-normalization. desc = self.netvlad(descriptors) # Whiten if needed. if hasattr(self, 'whiten'): desc = self.whiten(desc) desc = F.normalize(desc, dim=1) # Final L2 normalization. return { 'global_descriptor': desc } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extractors/openibl.py ================================================ import torch import torchvision.transforms as tvf from ..utils.base_model import BaseModel class OpenIBL(BaseModel): default_conf = { 'model_name': 'vgg16_netvlad', } required_inputs = ['image'] def _init(self, conf): self.net = torch.hub.load( 'yxgeee/OpenIBL', conf['model_name'], pretrained=True).eval() mean = [0.48501960784313836, 0.4579568627450961, 0.4076039215686255] std = [0.00392156862745098, 0.00392156862745098, 0.00392156862745098] self.norm_rgb = tvf.Normalize(mean=mean, std=std) def _forward(self, data): image = self.norm_rgb(data['image']) desc = self.net(image) return { 'global_descriptor': desc, } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extractors/r2d2.py ================================================ import sys from pathlib import Path import torchvision.transforms as tvf from ..utils.base_model import BaseModel r2d2_path = Path(__file__).parent / "../../third_party/r2d2" sys.path.append(str(r2d2_path)) from extract import load_network, NonMaxSuppression, extract_multiscale class R2D2(BaseModel): default_conf = { 'model_name': 'r2d2_WASF_N16.pt', 'max_keypoints': 5000, 'scale_factor': 2**0.25, 'min_size': 256, 'max_size': 1024, 'min_scale': 0, 'max_scale': 1, 'reliability_threshold': 0.7, 'repetability_threshold': 0.7, } required_inputs = ['image'] def _init(self, conf): model_fn = r2d2_path / "models" / conf['model_name'] self.norm_rgb = tvf.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) self.net = load_network(model_fn) self.detector = NonMaxSuppression( rel_thr=conf['reliability_threshold'], rep_thr=conf['repetability_threshold'] ) def _forward(self, data): img = data['image'] img = self.norm_rgb(img) xys, desc, scores = extract_multiscale( self.net, img, self.detector, scale_f=self.conf['scale_factor'], min_size=self.conf['min_size'], max_size=self.conf['max_size'], min_scale=self.conf['min_scale'], max_scale=self.conf['max_scale'], ) idxs = scores.argsort()[-self.conf['max_keypoints'] or None:] xy = xys[idxs, :2] desc = desc[idxs].t() scores = scores[idxs] pred = {'keypoints': xy[None], 'descriptors': desc[None], 'scores': scores[None]} return pred ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/extractors/superpoint.py ================================================ import sys from pathlib import Path import torch from ..utils.base_model import BaseModel sys.path.append(str(Path(__file__).parent / '../../third_party')) from SuperGluePretrainedNetwork.models import superpoint # noqa E402 # The original keypoint sampling is incorrect. We patch it here but # we don't fix it upstream to not impact exisiting evaluations. def sample_descriptors_fix_sampling(keypoints, descriptors, s: int = 8): """ Interpolate descriptors at keypoint locations """ b, c, h, w = descriptors.shape keypoints = (keypoints + 0.5) / (keypoints.new_tensor([w, h]) * s) keypoints = keypoints * 2 - 1 # normalize to (-1, 1) descriptors = torch.nn.functional.grid_sample( descriptors, keypoints.view(b, 1, -1, 2), mode='bilinear', align_corners=False) descriptors = torch.nn.functional.normalize( descriptors.reshape(b, c, -1), p=2, dim=1) return descriptors class SuperPoint(BaseModel): default_conf = { 'nms_radius': 4, 'keypoint_threshold': 0.005, 'max_keypoints': -1, 'remove_borders': 4, 'fix_sampling': False, } required_inputs = ['image'] detection_noise = 2.0 def _init(self, conf): if conf['fix_sampling']: superpoint.sample_descriptors = sample_descriptors_fix_sampling self.net = superpoint.SuperPoint(conf) def _forward(self, data): return self.net(data) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/localize_inloc.py ================================================ import argparse from pathlib import Path import numpy as np import h5py from scipy.io import loadmat import torch from tqdm import tqdm import pickle import cv2 import pycolmap from . import logger from .utils.parsers import parse_retrieval, names_to_pair def interpolate_scan(scan, kp): h, w, c = scan.shape kp = kp / np.array([[w-1, h-1]]) * 2 - 1 assert np.all(kp > -1) and np.all(kp < 1) scan = torch.from_numpy(scan).permute(2, 0, 1)[None] kp = torch.from_numpy(kp)[None, None] grid_sample = torch.nn.functional.grid_sample # To maximize the number of points that have depth: # do bilinear interpolation first and then nearest for the remaining points interp_lin = grid_sample( scan, kp, align_corners=True, mode='bilinear')[0, :, 0] interp_nn = torch.nn.functional.grid_sample( scan, kp, align_corners=True, mode='nearest')[0, :, 0] interp = torch.where(torch.isnan(interp_lin), interp_nn, interp_lin) valid = ~torch.any(torch.isnan(interp), 0) kp3d = interp.T.numpy() valid = valid.numpy() return kp3d, valid def get_scan_pose(dataset_dir, rpath): split_image_rpath = rpath.split('/') floor_name = split_image_rpath[-3] scan_id = split_image_rpath[-2] image_name = split_image_rpath[-1] building_name = image_name[:3] path = Path( dataset_dir, 'database/alignments', floor_name, f'transformations/{building_name}_trans_{scan_id}.txt') with open(path) as f: raw_lines = f.readlines() P_after_GICP = np.array([ np.fromstring(raw_lines[7], sep=' '), np.fromstring(raw_lines[8], sep=' '), np.fromstring(raw_lines[9], sep=' '), np.fromstring(raw_lines[10], sep=' ') ]) return P_after_GICP def pose_from_cluster(dataset_dir, q, retrieved, feature_file, match_file, skip=None): height, width = cv2.imread(str(dataset_dir / q)).shape[:2] cx = .5 * width cy = .5 * height focal_length = 4032. * 28. / 36. all_mkpq = [] all_mkpr = [] all_mkp3d = [] all_indices = [] kpq = feature_file[q]['keypoints'].__array__() num_matches = 0 for i, r in enumerate(retrieved): kpr = feature_file[r]['keypoints'].__array__() pair = names_to_pair(q, r) m = match_file[pair]['matches0'].__array__() v = (m > -1) if skip and (np.count_nonzero(v) < skip): continue mkpq, mkpr = kpq[v], kpr[m[v]] num_matches += len(mkpq) scan_r = loadmat(Path(dataset_dir, r + '.mat'))["XYZcut"] mkp3d, valid = interpolate_scan(scan_r, mkpr) Tr = get_scan_pose(dataset_dir, r) mkp3d = (Tr[:3, :3] @ mkp3d.T + Tr[:3, -1:]).T all_mkpq.append(mkpq[valid]) all_mkpr.append(mkpr[valid]) all_mkp3d.append(mkp3d[valid]) all_indices.append(np.full(np.count_nonzero(valid), i)) all_mkpq = np.concatenate(all_mkpq, 0) all_mkpr = np.concatenate(all_mkpr, 0) all_mkp3d = np.concatenate(all_mkp3d, 0) all_indices = np.concatenate(all_indices, 0) cfg = { 'model': 'SIMPLE_PINHOLE', 'width': width, 'height': height, 'params': [focal_length, cx, cy] } ret = pycolmap.absolute_pose_estimation( all_mkpq, all_mkp3d, cfg, 48.00) ret['cfg'] = cfg return ret, all_mkpq, all_mkpr, all_mkp3d, all_indices, num_matches def main(dataset_dir, retrieval, features, matches, results, skip_matches=None): assert retrieval.exists(), retrieval assert features.exists(), features assert matches.exists(), matches retrieval_dict = parse_retrieval(retrieval) queries = list(retrieval_dict.keys()) feature_file = h5py.File(features, 'r', libver='latest') match_file = h5py.File(matches, 'r', libver='latest') poses = {} logs = { 'features': features, 'matches': matches, 'retrieval': retrieval, 'loc': {}, } logger.info('Starting localization...') for q in tqdm(queries): db = retrieval_dict[q] ret, mkpq, mkpr, mkp3d, indices, num_matches = pose_from_cluster( dataset_dir, q, db, feature_file, match_file, skip_matches) poses[q] = (ret['qvec'], ret['tvec']) logs['loc'][q] = { 'db': db, 'PnP_ret': ret, 'keypoints_query': mkpq, 'keypoints_db': mkpr, '3d_points': mkp3d, 'indices_db': indices, 'num_matches': num_matches, } logger.info(f'Writing poses to {results}...') with open(results, 'w') as f: for q in queries: qvec, tvec = poses[q] qvec = ' '.join(map(str, qvec)) tvec = ' '.join(map(str, tvec)) name = q.split("/")[-1] f.write(f'{name} {qvec} {tvec}\n') logs_path = f'{results}_logs.pkl' logger.info(f'Writing logs to {logs_path}...') with open(logs_path, 'wb') as f: pickle.dump(logs, f) logger.info('Done!') if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--dataset_dir', type=Path, required=True) parser.add_argument('--retrieval', type=Path, required=True) parser.add_argument('--features', type=Path, required=True) parser.add_argument('--matches', type=Path, required=True) parser.add_argument('--results', type=Path, required=True) parser.add_argument('--skip_matches', type=int) args = parser.parse_args() main(**args.__dict__) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/localize_sfm.py ================================================ import argparse import numpy as np from pathlib import Path from collections import defaultdict from typing import Dict, List, Union from tqdm import tqdm import pickle import pycolmap from . import logger from .utils.io import get_keypoints, get_matches from .utils.parsers import parse_image_lists, parse_retrieval def do_covisibility_clustering(frame_ids: List[int], reconstruction: pycolmap.Reconstruction): clusters = [] visited = set() for frame_id in frame_ids: # Check if already labeled if frame_id in visited: continue # New component clusters.append([]) queue = {frame_id} while len(queue): exploration_frame = queue.pop() # Already part of the component if exploration_frame in visited: continue visited.add(exploration_frame) clusters[-1].append(exploration_frame) observed = reconstruction.images[exploration_frame].points2D connected_frames = { obs.image_id for p2D in observed if p2D.has_point3D() for obs in reconstruction.points3D[p2D.point3D_id].track.elements } connected_frames &= set(frame_ids) connected_frames -= visited queue |= connected_frames clusters = sorted(clusters, key=len, reverse=True) return clusters class QueryLocalizer: def __init__(self, reconstruction, config=None): self.reconstruction = reconstruction self.config = config or {} def localize(self, points2D_all, points2D_idxs, points3D_id, query_camera): points2D = points2D_all[points2D_idxs] points3D = [self.reconstruction.points3D[j].xyz for j in points3D_id] ret = pycolmap.absolute_pose_estimation( points2D, points3D, query_camera, estimation_options=self.config.get('estimation', {}), refinement_options=self.config.get('refinement', {}), ) return ret def pose_from_cluster( localizer: QueryLocalizer, qname: str, query_camera: pycolmap.Camera, db_ids: List[int], features_path: Path, matches_path: Path, **kwargs): kpq = get_keypoints(features_path, qname) kpq += 0.5 # COLMAP coordinates kp_idx_to_3D = defaultdict(list) kp_idx_to_3D_to_db = defaultdict(lambda: defaultdict(list)) num_matches = 0 for i, db_id in enumerate(db_ids): image = localizer.reconstruction.images[db_id] if image.num_points3D() == 0: logger.debug(f'No 3D points found for {image.name}.') continue points3D_ids = np.array([p.point3D_id if p.has_point3D() else -1 for p in image.points2D]) matches, _ = get_matches(matches_path, qname, image.name) matches = matches[points3D_ids[matches[:, 1]] != -1] num_matches += len(matches) for idx, m in matches: id_3D = points3D_ids[m] kp_idx_to_3D_to_db[idx][id_3D].append(i) # avoid duplicate observations if id_3D not in kp_idx_to_3D[idx]: kp_idx_to_3D[idx].append(id_3D) idxs = list(kp_idx_to_3D.keys()) mkp_idxs = [i for i in idxs for _ in kp_idx_to_3D[i]] mp3d_ids = [j for i in idxs for j in kp_idx_to_3D[i]] ret = localizer.localize(kpq, mkp_idxs, mp3d_ids, query_camera, **kwargs) ret['camera'] = { 'model': query_camera.model_name, 'width': query_camera.width, 'height': query_camera.height, 'params': query_camera.params, } # mostly for logging and post-processing mkp_to_3D_to_db = [(j, kp_idx_to_3D_to_db[i][j]) for i in idxs for j in kp_idx_to_3D[i]] log = { 'db': db_ids, 'PnP_ret': ret, 'keypoints_query': kpq[mkp_idxs], 'points3D_ids': mp3d_ids, 'points3D_xyz': None, # we don't log xyz anymore because of file size 'num_matches': num_matches, 'keypoint_index_to_db': (mkp_idxs, mkp_to_3D_to_db), } return ret, log def main(reference_sfm: Union[Path, pycolmap.Reconstruction], queries: Path, retrieval: Path, features: Path, matches: Path, results: Path, ransac_thresh: int = 12, covisibility_clustering: bool = False, prepend_camera_name: bool = False, config: Dict = None): assert retrieval.exists(), retrieval assert features.exists(), features assert matches.exists(), matches queries = parse_image_lists(queries, with_intrinsics=True) retrieval_dict = parse_retrieval(retrieval) logger.info('Reading the 3D model...') if not isinstance(reference_sfm, pycolmap.Reconstruction): reference_sfm = pycolmap.Reconstruction(reference_sfm) db_name_to_id = {img.name: i for i, img in reference_sfm.images.items()} config = {"estimation": {"ransac": {"max_error": ransac_thresh}}, **(config or {})} localizer = QueryLocalizer(reference_sfm, config) poses = {} logs = { 'features': features, 'matches': matches, 'retrieval': retrieval, 'loc': {}, } logger.info('Starting localization...') for qname, qcam in tqdm(queries): if qname not in retrieval_dict: logger.warning( f'No images retrieved for query image {qname}. Skipping...') continue db_names = retrieval_dict[qname] db_ids = [] for n in db_names: if n not in db_name_to_id: logger.warning(f'Image {n} was retrieved but not in database') continue db_ids.append(db_name_to_id[n]) if covisibility_clustering: clusters = do_covisibility_clustering(db_ids, reference_sfm) best_inliers = 0 best_cluster = None logs_clusters = [] for i, cluster_ids in enumerate(clusters): ret, log = pose_from_cluster( localizer, qname, qcam, cluster_ids, features, matches) if ret['success'] and ret['num_inliers'] > best_inliers: best_cluster = i best_inliers = ret['num_inliers'] logs_clusters.append(log) if best_cluster is not None: ret = logs_clusters[best_cluster]['PnP_ret'] poses[qname] = (ret['qvec'], ret['tvec']) logs['loc'][qname] = { 'db': db_ids, 'best_cluster': best_cluster, 'log_clusters': logs_clusters, 'covisibility_clustering': covisibility_clustering, } else: ret, log = pose_from_cluster( localizer, qname, qcam, db_ids, features, matches) if ret['success']: poses[qname] = (ret['qvec'], ret['tvec']) else: closest = reference_sfm.images[db_ids[0]] poses[qname] = (closest.qvec, closest.tvec) log['covisibility_clustering'] = covisibility_clustering logs['loc'][qname] = log logger.info(f'Localized {len(poses)} / {len(queries)} images.') logger.info(f'Writing poses to {results}...') with open(results, 'w') as f: for q in poses: qvec, tvec = poses[q] qvec = ' '.join(map(str, qvec)) tvec = ' '.join(map(str, tvec)) name = q.split('/')[-1] if prepend_camera_name: name = q.split('/')[-2] + '/' + name f.write(f'{name} {qvec} {tvec}\n') logs_path = f'{results}_logs.pkl' logger.info(f'Writing logs to {logs_path}...') with open(logs_path, 'wb') as f: pickle.dump(logs, f) logger.info('Done!') if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--reference_sfm', type=Path, required=True) parser.add_argument('--queries', type=Path, required=True) parser.add_argument('--features', type=Path, required=True) parser.add_argument('--matches', type=Path, required=True) parser.add_argument('--retrieval', type=Path, required=True) parser.add_argument('--results', type=Path, required=True) parser.add_argument('--ransac_thresh', type=float, default=12.0) parser.add_argument('--covisibility_clustering', action='store_true') parser.add_argument('--prepend_camera_name', action='store_true') args = parser.parse_args() main(**args.__dict__) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/match_dense.py ================================================ from tqdm import tqdm import numpy as np import h5py import torch from pathlib import Path from typing import Dict, Iterable, Optional, List, Tuple, Union, Set import pprint import argparse import torchvision.transforms.functional as F from types import SimpleNamespace from collections import defaultdict from scipy.spatial import KDTree from collections import Counter from itertools import chain from . import matchers, logger from .utils.base_model import dynamic_load from .utils.parsers import parse_retrieval, names_to_pair from .match_features import find_unique_new_pairs from .extract_features import read_image, resize_image from .utils.io import list_h5_names # Default usage: # dense_conf = confs['loftr'] # features, matches = main(dense_conf, pairs, images, export_dir=outputs) # Use SuperPoint keypoints as anchors: # feature_conf = extract_features.confs['superpoint_aachen'] # features_sp = extract_features.main(feature_conf, images) # features, matches = main(dense_conf, pairs, images, # export_dir=outputs, # features_ref=features_sp) # Localization: # loc_features, loc_matches = main(matcher_conf, loc_pairs, # images, export_dir=outputs, features_ref=features, max_kps=None) confs = { # Best quality but loads of points. Only use for small scenes 'loftr': { 'output': 'matches-loftr', 'model': { 'name': 'loftr', 'weights': 'outdoor' }, 'preprocessing': { 'grayscale': True, 'resize_max': 1024, 'dfactor': 8 }, 'max_error': 1, # max error for assigned keypoints (in px) 'cell_size': 1, # size of quantization patch (max 1 kp/patch) }, # Semi-scalable loftr which limits detected keypoints 'loftr_aachen': { 'output': 'matches-loftr_aachen', 'model': { 'name': 'loftr', 'weights': 'outdoor' }, 'preprocessing': { 'grayscale': True, 'resize_max': 1024, 'dfactor': 8 }, 'max_error': 2, # max error for assigned keypoints (in px) 'cell_size': 8, # size of quantization patch (max 1 kp/patch) }, # Use for matching superpoint feats with loftr 'loftr_superpoint': { 'output': 'matches-loftr_aachen', 'model': { 'name': 'loftr', 'weights': 'outdoor' }, 'preprocessing': { 'grayscale': True, 'resize_max': 1024, 'dfactor': 8 }, 'max_error': 4, # max error for assigned keypoints (in px) 'cell_size': 4, # size of quantization patch (max 1 kp/patch) }, } def to_cpts(kpts, ps): if ps > 0.0: kpts = np.round(np.round((kpts + 0.5) / ps) * ps - 0.5, 2) return [tuple(cpt) for cpt in kpts] def assign_keypoints(kpts: np.ndarray, other_cpts: Union[List[Tuple], np.ndarray], max_error: float, update: bool = False, ref_bins: Optional[List[Counter]] = None, scores: Optional[np.ndarray] = None, cell_size: Optional[int] = None): if not update: # Without update this is just a NN search dist, kpt_ids = KDTree(np.array(other_cpts)).query(kpts) valid = (dist <= max_error) kpt_ids[~valid] = -1 return kpt_ids else: ps = cell_size if cell_size is not None else max_error ps = max(ps, max_error) # With update we quantize and bin (optionally) assert isinstance(other_cpts, list) kpt_ids = [] cpts = to_cpts(kpts, ps) bpts = to_cpts(kpts, int(max_error)) cp_to_id = {val: i for i, val in enumerate(other_cpts)} for i, (cpt, bpt) in enumerate(zip(cpts, bpts)): try: kid = cp_to_id[cpt] except KeyError: kid = len(cp_to_id) cp_to_id[cpt] = kid other_cpts.append(cpt) if ref_bins is not None: ref_bins.append(Counter()) if ref_bins is not None: score = scores[i] if scores is not None else 1 ref_bins[cp_to_id[cpt]][bpt] += score kpt_ids.append(kid) return np.array(kpt_ids) def get_grouped_ids(array): # Group array indices based on its values # all duplicates are grouped as a set idx_sort = np.argsort(array) sorted_array = array[idx_sort] _, ids, _ = np.unique(sorted_array, return_counts=True, return_index=True) res = np.split(idx_sort, ids[1:]) return res def get_unique_matches(match_ids, scores): if len(match_ids.shape) == 1: return [0] isets1 = get_grouped_ids(match_ids[:, 0]) isets2 = get_grouped_ids(match_ids[:, 0]) uid1s = [ids[scores[ids].argmax()] for ids in isets1 if len(ids) > 0] uid2s = [ids[scores[ids].argmax()] for ids in isets2 if len(ids) > 0] uids = list(set(uid1s).intersection(uid2s)) return match_ids[uids], scores[uids] def matches_to_matches0(matches, scores): if len(matches) == 0: return np.zeros(0, dtype=np.int32), np.zeros(0, dtype=np.float16) n_kps0 = np.max(matches[:, 0]) + 1 matches0 = -np.ones((n_kps0,)) scores0 = np.zeros((n_kps0,)) matches0[matches[:, 0]] = matches[:, 1] scores0[matches[:, 0]] = scores return matches0.astype(np.int32), scores0.astype(np.float16) def kpids_to_matches0(kpt_ids0, kpt_ids1, scores): valid = (kpt_ids0 != -1) & (kpt_ids1 != -1) matches = np.dstack([kpt_ids0[valid], kpt_ids1[valid]]) matches = matches.reshape(-1, 2) scores = scores[valid] # Remove n-to-1 matches matches, scores = get_unique_matches(matches, scores) return matches_to_matches0(matches, scores) def scale_keypoints(kpts, scale): if np.any(scale != 1.0): kpts *= kpts.new_tensor(scale) return kpts class ImagePairDataset(torch.utils.data.Dataset): default_conf = { 'grayscale': True, 'resize_max': 1024, 'dfactor': 8, 'cache_images': False, } def __init__(self, image_dir, conf, pairs): self.image_dir = image_dir self.conf = conf = SimpleNamespace(**{**self.default_conf, **conf}) self.pairs = pairs if self.conf.cache_images: image_names = set(sum(pairs, ())) # unique image names in pairs logger.info( f'Loading and caching {len(image_names)} unique images.') self.images = {} self.scales = {} for name in tqdm(image_names): image = read_image(self.image_dir / name, self.conf.grayscale) self.images[name], self.scales[name] = self.preprocess(image) def preprocess(self, image: np.ndarray): image = image.astype(np.float32, copy=False) size = image.shape[:2][::-1] scale = np.array([1.0, 1.0]) if self.conf.resize_max: scale = self.conf.resize_max / max(size) if scale < 1.0: size_new = tuple(int(round(x*scale)) for x in size) image = resize_image(image, size_new, 'cv2_area') scale = np.array(size) / np.array(size_new) if self.conf.grayscale: assert image.ndim == 2, image.shape image = image[None] else: image = image.transpose((2, 0, 1)) # HxWxC to CxHxW image = torch.from_numpy(image / 255.0).float() # assure that the size is divisible by dfactor size_new = tuple(map( lambda x: int(x // self.conf.dfactor * self.conf.dfactor), image.shape[-2:])) image = F.resize(image, size=size_new) scale = np.array(size) / np.array(size_new)[::-1] return image, scale def __len__(self): return len(self.pairs) def __getitem__(self, idx): name0, name1 = self.pairs[idx] if self.conf.cache_images: image0, scale0 = self.images[name0], self.scales[name0] image1, scale1 = self.images[name1], self.scales[name1] else: image0 = read_image(self.image_dir / name0, self.conf.grayscale) image1 = read_image(self.image_dir / name1, self.conf.grayscale) image0, scale0 = self.preprocess(image0) image1, scale1 = self.preprocess(image1) return image0, image1, scale0, scale1, name0, name1 @torch.no_grad() def match_dense(conf: Dict, pairs: List[Tuple[str, str]], image_dir: Path, match_path: Path, # out existing_refs: Optional[List] = []): device = 'cuda' if torch.cuda.is_available() else 'cpu' Model = dynamic_load(matchers, conf['model']['name']) model = Model(conf['model']).eval().to(device) dataset = ImagePairDataset(image_dir, conf["preprocessing"], pairs) loader = torch.utils.data.DataLoader( dataset, num_workers=16, batch_size=1, shuffle=False) logger.info("Performing dense matching...") with h5py.File(str(match_path), 'a') as fd: for data in tqdm(loader, smoothing=.1): # load image-pair data image0, image1, scale0, scale1, (name0,), (name1,) = data scale0, scale1 = scale0[0].numpy(), scale1[0].numpy() image0, image1 = image0.to(device), image1.to(device) # match semi-dense # for consistency with pairs_from_*: refine kpts of image0 if name0 in existing_refs: # special case: flip to enable refinement in query image pred = model({'image0': image1, 'image1': image0}) pred = {**pred, 'keypoints0': pred['keypoints1'], 'keypoints1': pred['keypoints0']} else: # usual case pred = model({'image0': image0, 'image1': image1}) # Rescale keypoints and move to cpu kpts0, kpts1 = pred['keypoints0'], pred['keypoints1'] kpts0 = scale_keypoints(kpts0 + 0.5, scale0) - 0.5 kpts1 = scale_keypoints(kpts1 + 0.5, scale1) - 0.5 kpts0 = kpts0.cpu().numpy() kpts1 = kpts1.cpu().numpy() scores = pred['scores'].cpu().numpy() # Write matches and matching scores in hloc format pair = names_to_pair(name0, name1) if pair in fd: del fd[pair] grp = fd.create_group(pair) # Write dense matching output grp.create_dataset('keypoints0', data=kpts0) grp.create_dataset('keypoints1', data=kpts1) grp.create_dataset('scores', data=scores) del model, loader # default: quantize all! def load_keypoints(conf: Dict, feature_paths_refs: List[Path], quantize: Optional[set] = None): name2ref = {n: i for i, p in enumerate(feature_paths_refs) for n in list_h5_names(p)} existing_refs = set(name2ref.keys()) if quantize is None: quantize = existing_refs # quantize all if len(existing_refs) > 0: logger.info(f'Loading keypoints from {len(existing_refs)} images.') # Load query keypoints cpdict = defaultdict(list) bindict = defaultdict(list) for name in existing_refs: with h5py.File(str(feature_paths_refs[name2ref[name]]), 'r') as fd: kps = fd[name]['keypoints'].__array__() if name not in quantize: cpdict[name] = kps else: if 'scores' in fd[name].keys(): kp_scores = fd[name]['scores'].__array__() else: # we set the score to 1.0 if not provided # increase for more weight on reference keypoints for # stronger anchoring kp_scores = \ [1.0 for _ in range(kps.shape[0])] # bin existing keypoints of reference images for association assign_keypoints( kps, cpdict[name], conf['max_error'], True, bindict[name], kp_scores, conf['cell_size']) return cpdict, bindict def aggregate_matches( conf: Dict, pairs: List[Tuple[str, str]], match_path: Path, feature_path: Path, required_queries: Optional[Set[str]] = None, max_kps: Optional[int] = None, cpdict: Dict[str, Iterable] = defaultdict(list), bindict: Dict[str, List[Counter]] = defaultdict(list)): if required_queries is None: required_queries = set(sum(pairs, ())) # default: do not overwrite existing features in feature_path! required_queries -= set(list_h5_names(feature_path)) # if an entry in cpdict is provided as np.ndarray we assume it is fixed required_queries -= set( [k for k, v in cpdict.items() if isinstance(v, np.ndarray)]) # sort pairs for reduced RAM pairs_per_q = Counter(list(chain(*pairs))) pairs_score = [min(pairs_per_q[i], pairs_per_q[j]) for i, j in pairs] pairs = [p for _, p in sorted(zip(pairs_score, pairs))] if len(required_queries) > 0: logger.info(f'Aggregating keypoints for {len(required_queries)} images.') n_kps = 0 with h5py.File(str(match_path), 'a') as fd: for name0, name1 in tqdm(pairs, smoothing=.1): pair = names_to_pair(name0, name1) grp = fd[pair] kpts0 = grp['keypoints0'].__array__() kpts1 = grp['keypoints1'].__array__() scores = grp['scores'].__array__() # Aggregate local features update0 = name0 in required_queries update1 = name1 in required_queries # in localization we do not want to bin the query kp # assumes that the query is name0! if update0 and not update1 and max_kps is None: max_error0 = cell_size0 = 0.0 else: max_error0 = conf['max_error'] cell_size0 = conf['cell_size'] # Get match ids and extend query keypoints (cpdict) mkp_ids0 = assign_keypoints(kpts0, cpdict[name0], max_error0, update0, bindict[name0], scores, cell_size0) mkp_ids1 = assign_keypoints(kpts1, cpdict[name1], conf['max_error'], update1, bindict[name1], scores, conf['cell_size']) # Build matches from assignments matches0, scores0 = kpids_to_matches0(mkp_ids0, mkp_ids1, scores) assert kpts0.shape[0] == scores.shape[0] grp.create_dataset('matches0', data=matches0) grp.create_dataset('matching_scores0', data=scores0) # Convert bins to kps if finished, and store them for name in (name0, name1): pairs_per_q[name] -= 1 if pairs_per_q[name] > 0 or name not in required_queries: continue kp_score = [c.most_common(1)[0][1] for c in bindict[name]] cpdict[name] = [c.most_common(1)[0][0] for c in bindict[name]] cpdict[name] = np.array(cpdict[name], dtype=np.float32) # Select top-k query kps by score (reassign matches later) if max_kps: top_k = min(max_kps, cpdict[name].shape[0]) top_k = np.argsort(kp_score)[::-1][:top_k] cpdict[name] = cpdict[name][top_k] kp_score = np.array(kp_score)[top_k] # Write query keypoints with h5py.File(feature_path, 'a') as kfd: if name in kfd: del kfd[name] kgrp = kfd.create_group(name) kgrp.create_dataset('keypoints', data=cpdict[name]) kgrp.create_dataset('score', data=kp_score) n_kps += cpdict[name].shape[0] del bindict[name] if len(required_queries) > 0: avg_kp_per_image = round(n_kps / len(required_queries), 1) logger.info(f'Finished assignment, found {avg_kp_per_image} ' f'keypoints/image (avg.), total {n_kps}.') return cpdict def assign_matches( pairs: List[Tuple[str, str]], match_path: Path, keypoints: Union[List[Path], Dict[str, np.array]], max_error: float): if isinstance(keypoints, list): keypoints = load_keypoints({}, keypoints, kpts_as_bin=set([])) assert len(set(sum(pairs, ())) - set(keypoints.keys())) == 0 with h5py.File(str(match_path), 'a') as fd: for name0, name1 in tqdm(pairs): pair = names_to_pair(name0, name1) grp = fd[pair] kpts0 = grp['keypoints0'].__array__() kpts1 = grp['keypoints1'].__array__() scores = grp['scores'].__array__() # NN search across cell boundaries mkp_ids0 = assign_keypoints(kpts0, keypoints[name0], max_error) mkp_ids1 = assign_keypoints(kpts1, keypoints[name1], max_error) matches0, scores0 = kpids_to_matches0(mkp_ids0, mkp_ids1, scores) # overwrite matches0 and matching_scores0 del grp['matches0'], grp['matching_scores0'] grp.create_dataset('matches0', data=matches0) grp.create_dataset('matching_scores0', data=scores0) @torch.no_grad() def match_and_assign(conf: Dict, pairs_path: Path, image_dir: Path, match_path: Path, # out feature_path_q: Path, # out feature_paths_refs: Optional[List[Path]] = [], max_kps: Optional[int] = 8192, overwrite: bool = False) -> Path: for path in feature_paths_refs: if not path.exists(): raise FileNotFoundError(f'Reference feature file {path}.') pairs = parse_retrieval(pairs_path) pairs = [(q, r) for q, rs in pairs.items() for r in rs] pairs = find_unique_new_pairs(pairs, None if overwrite else match_path) required_queries = set(sum(pairs, ())) name2ref = {n: i for i, p in enumerate(feature_paths_refs) for n in list_h5_names(p)} existing_refs = required_queries.intersection(set(name2ref.keys())) # images which require feature extraction required_queries = required_queries - existing_refs if feature_path_q.exists(): existing_queries = set(list_h5_names(feature_path_q)) feature_paths_refs.append(feature_path_q) existing_refs = set.union(existing_refs, existing_queries) if not overwrite: required_queries = required_queries - existing_queries if len(pairs) == 0 and len(required_queries) == 0: logger.info("All pairs exist. Skipping dense matching.") return # extract semi-dense matches match_dense(conf, pairs, image_dir, match_path, existing_refs=existing_refs) logger.info("Assigning matches...") # Pre-load existing keypoints cpdict, bindict = load_keypoints( conf, feature_paths_refs, quantize=required_queries) # Reassign matches by aggregation cpdict = aggregate_matches( conf, pairs, match_path, feature_path=feature_path_q, required_queries=required_queries, max_kps=max_kps, cpdict=cpdict, bindict=bindict) # Invalidate matches that are far from selected bin by reassignment if max_kps is not None: logger.info(f'Reassign matches with max_error={conf["max_error"]}.') assign_matches(pairs, match_path, cpdict, max_error=conf['max_error']) @torch.no_grad() def main(conf: Dict, pairs: Path, image_dir: Path, export_dir: Optional[Path] = None, matches: Optional[Path] = None, # out features: Optional[Path] = None, # out features_ref: Optional[Path] = None, max_kps: Optional[int] = 8192, overwrite: bool = False) -> Path: logger.info('Extracting semi-dense features with configuration:' f'\n{pprint.pformat(conf)}') if features is None: features = 'feats_' if isinstance(features, Path): features_q = features if matches is None: raise ValueError('Either provide both features and matches as Path' ' or both as names.') else: if export_dir is None: raise ValueError('Provide an export_dir if features and matches' f' are not file paths: {features}, {matches}.') features_q = Path(export_dir, f'{features}{conf["output"]}.h5') if matches is None: matches = Path( export_dir, f'{conf["output"]}_{pairs.stem}.h5') if features_ref is None: features_ref = [] elif isinstance(features_ref, list): features_ref = list(features_ref) elif isinstance(features_ref, Path): features_ref = [features_ref] else: raise TypeError(str(features_ref)) match_and_assign(conf, pairs, image_dir, matches, features_q, features_ref, max_kps, overwrite) return features_q, matches if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--pairs', type=Path, required=True) parser.add_argument('--image_dir', type=Path, required=True) parser.add_argument('--export_dir', type=Path, required=True) parser.add_argument('--matches', type=Path, default=confs['loftr']['output']) parser.add_argument('--features', type=str, default='feats_' + confs['loftr']['output']) parser.add_argument('--conf', type=str, default='loftr', choices=list(confs.keys())) args = parser.parse_args() main(confs[args.conf], args.pairs, args.image_dir, args.export_dir, args.matches, args.features) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/match_features.py ================================================ import argparse from typing import Union, Optional, Dict, List, Tuple from pathlib import Path import pprint from queue import Queue from threading import Thread from functools import partial from tqdm import tqdm import h5py import torch from . import matchers, logger from .utils.base_model import dynamic_load from .utils.parsers import names_to_pair, names_to_pair_old, parse_retrieval ''' A set of standard configurations that can be directly selected from the command line using their name. Each is a dictionary with the following entries: - output: the name of the match file that will be generated. - model: the model configuration, as passed to a feature matcher. ''' confs = { 'superglue': { 'output': 'matches-superglue', 'model': { 'name': 'superglue', 'weights': 'outdoor', 'sinkhorn_iterations': 50, }, }, 'superglue-fast': { 'output': 'matches-superglue-it5', 'model': { 'name': 'superglue', 'weights': 'outdoor', 'sinkhorn_iterations': 5, }, }, 'NN-superpoint': { 'output': 'matches-NN-mutual-dist.7', 'model': { 'name': 'nearest_neighbor', 'do_mutual_check': True, 'distance_threshold': 0.7, }, }, 'NN-ratio': { 'output': 'matches-NN-mutual-ratio.8', 'model': { 'name': 'nearest_neighbor', 'do_mutual_check': True, 'ratio_threshold': 0.8, } }, 'NN-mutual': { 'output': 'matches-NN-mutual', 'model': { 'name': 'nearest_neighbor', 'do_mutual_check': True, }, }, 'adalam': { 'output': 'matches-adalam', 'model': { 'name': 'adalam' }, } } class WorkQueue(): def __init__(self, work_fn, num_threads=1): self.queue = Queue(num_threads) self.threads = [ Thread(target=self.thread_fn, args=(work_fn,)) for _ in range(num_threads) ] for thread in self.threads: thread.start() def join(self): for thread in self.threads: self.queue.put(None) for thread in self.threads: thread.join() def thread_fn(self, work_fn): item = self.queue.get() while item is not None: work_fn(item) item = self.queue.get() def put(self, data): self.queue.put(data) class FeaturePairsDataset(torch.utils.data.Dataset): def __init__(self, pairs, feature_path_q, feature_path_r): self.pairs = pairs self.feature_path_q = feature_path_q self.feature_path_r = feature_path_r def __getitem__(self, idx): name0, name1 = self.pairs[idx] data = {} with h5py.File(self.feature_path_q, 'r') as fd: grp = fd[name0] for k, v in grp.items(): data[k+'0'] = torch.from_numpy(v.__array__()).float() # some matchers might expect an image but only use its size data['image0'] = torch.empty((1,)+tuple(grp['image_size'])[::-1]) with h5py.File(self.feature_path_r, 'r') as fd: grp = fd[name1] for k, v in grp.items(): data[k+'1'] = torch.from_numpy(v.__array__()).float() data['image1'] = torch.empty((1,)+tuple(grp['image_size'])[::-1]) return data def __len__(self): return len(self.pairs) def writer_fn(inp, match_path): pair, pred = inp with h5py.File(str(match_path), 'a', libver='latest') as fd: if pair in fd: del fd[pair] grp = fd.create_group(pair) matches = pred['matches0'][0].cpu().short().numpy() grp.create_dataset('matches0', data=matches) if 'matching_scores0' in pred: scores = pred['matching_scores0'][0].cpu().half().numpy() grp.create_dataset('matching_scores0', data=scores) def main(conf: Dict, pairs: Path, features: Union[Path, str], export_dir: Optional[Path] = None, matches: Optional[Path] = None, features_ref: Optional[Path] = None, overwrite: bool = False) -> Path: if isinstance(features, Path) or Path(features).exists(): features_q = features if matches is None: raise ValueError('Either provide both features and matches as Path' ' or both as names.') else: if export_dir is None: raise ValueError('Provide an export_dir if features is not' f' a file path: {features}.') features_q = Path(export_dir, features+'.h5') if matches is None: matches = Path( export_dir, f'{features}_{conf["output"]}_{pairs.stem}.h5') if features_ref is None: features_ref = features_q match_from_paths(conf, pairs, matches, features_q, features_ref, overwrite) return matches def find_unique_new_pairs(pairs_all: List[Tuple[str]], match_path: Path = None): '''Avoid to recompute duplicates to save time.''' pairs = set() for i, j in pairs_all: if (j, i) not in pairs: pairs.add((i, j)) pairs = list(pairs) if match_path is not None and match_path.exists(): with h5py.File(str(match_path), 'r', libver='latest') as fd: pairs_filtered = [] for i, j in pairs: if (names_to_pair(i, j) in fd or names_to_pair(j, i) in fd or names_to_pair_old(i, j) in fd or names_to_pair_old(j, i) in fd): continue pairs_filtered.append((i, j)) return pairs_filtered return pairs @torch.no_grad() def match_from_paths(conf: Dict, pairs_path: Path, match_path: Path, feature_path_q: Path, feature_path_ref: Path, overwrite: bool = False) -> Path: logger.info('Matching local features with configuration:' f'\n{pprint.pformat(conf)}') if not feature_path_q.exists(): raise FileNotFoundError(f'Query feature file {feature_path_q}.') if not feature_path_ref.exists(): raise FileNotFoundError(f'Reference feature file {feature_path_ref}.') match_path.parent.mkdir(exist_ok=True, parents=True) assert pairs_path.exists(), pairs_path pairs = parse_retrieval(pairs_path) pairs = [(q, r) for q, rs in pairs.items() for r in rs] pairs = find_unique_new_pairs(pairs, None if overwrite else match_path) if len(pairs) == 0: logger.info('Skipping the matching.') return device = 'cuda' if torch.cuda.is_available() else 'cpu' Model = dynamic_load(matchers, conf['model']['name']) model = Model(conf['model']).eval().to(device) dataset = FeaturePairsDataset(pairs, feature_path_q, feature_path_ref) loader = torch.utils.data.DataLoader( dataset, num_workers=5, batch_size=1, shuffle=False, pin_memory=True) writer_queue = WorkQueue(partial(writer_fn, match_path=match_path), 5) for idx, data in enumerate(tqdm(loader, smoothing=.1)): data = {k: v if k.startswith('image') else v.to(device, non_blocking=True) for k, v in data.items()} pred = model(data) pair = names_to_pair(*pairs[idx]) writer_queue.put((pair, pred)) writer_queue.join() logger.info('Finished exporting matches.') if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--pairs', type=Path, required=True) parser.add_argument('--export_dir', type=Path) parser.add_argument('--features', type=str, default='feats-superpoint-n4096-r1024') parser.add_argument('--matches', type=Path) parser.add_argument('--conf', type=str, default='superglue', choices=list(confs.keys())) args = parser.parse_args() main(confs[args.conf], args.pairs, args.features, args.export_dir) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/matchers/__init__.py ================================================ def get_matcher(matcher): mod = __import__(f'{__name__}.{matcher}', fromlist=['']) return getattr(mod, 'Model') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/matchers/adalam.py ================================================ import torch from ..utils.base_model import BaseModel from kornia.feature.adalam import AdalamFilter from kornia.utils.helpers import get_cuda_device_if_available class AdaLAM(BaseModel): # See https://kornia.readthedocs.io/en/latest/_modules/kornia/feature/adalam/adalam.html. default_conf = { 'area_ratio': 100, 'search_expansion': 4, 'ransac_iters': 128, 'min_inliers': 6, 'min_confidence': 200, 'orientation_difference_threshold': 30, 'scale_rate_threshold': 1.5, 'detected_scale_rate_threshold': 5, 'refit': True, 'force_seed_mnn': True, 'device': get_cuda_device_if_available() } required_inputs = [ 'image0', 'image1', 'descriptors0', 'descriptors1', 'keypoints0', 'keypoints1', 'scales0', 'scales1', 'oris0', 'oris1'] def _init(self, conf): self.adalam = AdalamFilter(conf) def _forward(self, data): assert data['keypoints0'].size(0) == 1 if data['keypoints0'].size(1) < 2 or data['keypoints1'].size(1) < 2: matches = torch.zeros( (0, 2), dtype=torch.int64, device=data['keypoints0'].device) else: matches = self.adalam.match_and_filter( data['keypoints0'][0], data['keypoints1'][0], data['descriptors0'][0].T, data['descriptors1'][0].T, data['image0'].shape[2:], data['image1'].shape[2:], data['oris0'][0], data['oris1'][0], data['scales0'][0], data['scales1'][0] ) matches_new = torch.full( (data['keypoints0'].size(1),), -1, dtype=torch.int64, device=data['keypoints0'].device) matches_new[matches[:, 0]] = matches[:, 1] return { 'matches0': matches_new.unsqueeze(0), 'matching_scores0': torch.zeros(matches_new.size(0)).unsqueeze(0) } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/matchers/loftr.py ================================================ import torch import warnings from kornia.feature.loftr.loftr import default_cfg from kornia.feature import LoFTR as LoFTR_ from ..utils.base_model import BaseModel class LoFTR(BaseModel): default_conf = { 'weights': 'outdoor', 'match_threshold': 0.2, 'max_num_matches': None, } required_inputs = [ 'image0', 'image1' ] def _init(self, conf): cfg = default_cfg cfg['match_coarse']['thr'] = conf['match_threshold'] self.net = LoFTR_(pretrained=conf['weights'], config=cfg) def _forward(self, data): # For consistency with hloc pairs, we refine kpts in image0! rename = { 'keypoints0': 'keypoints1', 'keypoints1': 'keypoints0', 'image0': 'image1', 'image1': 'image0', 'mask0': 'mask1', 'mask1': 'mask0', } data_ = {rename[k]: v for k, v in data.items()} with warnings.catch_warnings(): warnings.simplefilter("ignore") pred = self.net(data_) scores = pred['confidence'] top_k = self.conf['max_num_matches'] if top_k is not None and len(scores) > top_k: keep = torch.argsort(scores, descending=True)[:top_k] pred['keypoints0'], pred['keypoints1'] =\ pred['keypoints0'][keep], pred['keypoints1'][keep] scores = scores[keep] # Switch back indices pred = {(rename[k] if k in rename else k): v for k, v in pred.items()} pred['scores'] = scores del pred['confidence'] return pred ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/matchers/nearest_neighbor.py ================================================ import torch from ..utils.base_model import BaseModel def find_nn(sim, ratio_thresh, distance_thresh): sim_nn, ind_nn = sim.topk(2 if ratio_thresh else 1, dim=-1, largest=True) dist_nn = 2 * (1 - sim_nn) mask = torch.ones(ind_nn.shape[:-1], dtype=torch.bool, device=sim.device) if ratio_thresh: mask = mask & (dist_nn[..., 0] <= (ratio_thresh**2)*dist_nn[..., 1]) if distance_thresh: mask = mask & (dist_nn[..., 0] <= distance_thresh**2) matches = torch.where(mask, ind_nn[..., 0], ind_nn.new_tensor(-1)) scores = torch.where(mask, (sim_nn[..., 0]+1)/2, sim_nn.new_tensor(0)) return matches, scores def mutual_check(m0, m1): inds0 = torch.arange(m0.shape[-1], device=m0.device) loop = torch.gather(m1, -1, torch.where(m0 > -1, m0, m0.new_tensor(0))) ok = (m0 > -1) & (inds0 == loop) m0_new = torch.where(ok, m0, m0.new_tensor(-1)) return m0_new class NearestNeighbor(BaseModel): default_conf = { 'ratio_threshold': None, 'distance_threshold': None, 'do_mutual_check': True, } required_inputs = ['descriptors0', 'descriptors1'] def _init(self, conf): pass def _forward(self, data): if data['descriptors0'].size(-1) == 0 or data['descriptors1'].size(-1) == 0: matches0 = torch.full( data['descriptors0'].shape[:2], -1, device=data['descriptors0'].device) return { 'matches0': matches0, 'matching_scores0': torch.zeros_like(matches0) } ratio_threshold = self.conf['ratio_threshold'] if data['descriptors0'].size(-1) == 1 or data['descriptors1'].size(-1) == 1: ratio_threshold = None sim = torch.einsum( 'bdn,bdm->bnm', data['descriptors0'], data['descriptors1']) matches0, scores0 = find_nn( sim, ratio_threshold, self.conf['distance_threshold']) if self.conf['do_mutual_check']: matches1, scores1 = find_nn( sim.transpose(1, 2), ratio_threshold, self.conf['distance_threshold']) matches0 = mutual_check(matches0, matches1) return { 'matches0': matches0, 'matching_scores0': scores0, } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/matchers/superglue.py ================================================ import sys from pathlib import Path from ..utils.base_model import BaseModel sys.path.append(str(Path(__file__).parent / '../../third_party')) from SuperGluePretrainedNetwork.models.superglue import SuperGlue as SG class SuperGlue(BaseModel): default_conf = { 'weights': 'outdoor', 'sinkhorn_iterations': 100, 'match_threshold': 0.2, } required_inputs = [ 'image0', 'keypoints0', 'scores0', 'descriptors0', 'image1', 'keypoints1', 'scores1', 'descriptors1', ] def _init(self, conf): self.net = SG(conf) def _forward(self, data): return self.net(data) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pairs_from_covisibility.py ================================================ import argparse from pathlib import Path import numpy as np from tqdm import tqdm from collections import defaultdict from . import logger from .utils.read_write_model import read_model def main(model, output, num_matched): logger.info('Reading the COLMAP model...') cameras, images, points3D = read_model(model) logger.info('Extracting image pairs from covisibility info...') pairs = [] for image_id, image in tqdm(images.items()): matched = image.point3D_ids != -1 points3D_covis = image.point3D_ids[matched] covis = defaultdict(int) for point_id in points3D_covis: for image_covis_id in points3D[point_id].image_ids: if image_covis_id != image_id: covis[image_covis_id] += 1 if len(covis) == 0: logger.info(f'Image {image_id} does not have any covisibility.') continue covis_ids = np.array(list(covis.keys())) covis_num = np.array([covis[i] for i in covis_ids]) if len(covis_ids) <= num_matched: top_covis_ids = covis_ids[np.argsort(-covis_num)] else: # get covisible image ids with top k number of common matches ind_top = np.argpartition(covis_num, -num_matched) ind_top = ind_top[-num_matched:] # unsorted top k ind_top = ind_top[np.argsort(-covis_num[ind_top])] top_covis_ids = [covis_ids[i] for i in ind_top] assert covis_num[ind_top[0]] == np.max(covis_num) for i in top_covis_ids: pair = (image.name, images[i].name) pairs.append(pair) logger.info(f'Found {len(pairs)} pairs.') with open(output, 'w') as f: f.write('\n'.join(' '.join([i, j]) for i, j in pairs)) if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument('--model', required=True, type=Path) parser.add_argument('--output', required=True, type=Path) parser.add_argument('--num_matched', required=True, type=int) args = parser.parse_args() main(**args.__dict__) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pairs_from_exhaustive.py ================================================ import argparse import collections.abc as collections from pathlib import Path from typing import Optional, Union, List from . import logger from .utils.parsers import parse_image_lists from .utils.io import list_h5_names def main( output: Path, image_list: Optional[Union[Path, List[str]]] = None, features: Optional[Path] = None, ref_list: Optional[Union[Path, List[str]]] = None, ref_features: Optional[Path] = None): if image_list is not None: if isinstance(image_list, (str, Path)): names_q = parse_image_lists(image_list) elif isinstance(image_list, collections.Iterable): names_q = list(image_list) else: raise ValueError(f'Unknown type for image list: {image_list}') elif features is not None: names_q = list_h5_names(features) else: raise ValueError('Provide either a list of images or a feature file.') self_matching = False if ref_list is not None: if isinstance(ref_list, (str, Path)): names_ref = parse_image_lists(ref_list) elif isinstance(image_list, collections.Iterable): names_ref = list(ref_list) else: raise ValueError( f'Unknown type for reference image list: {ref_list}') elif ref_features is not None: names_ref = list_h5_names(ref_features) else: self_matching = True names_ref = names_q pairs = [] for i, n1 in enumerate(names_q): for j, n2 in enumerate(names_ref): if self_matching and j <= i: continue pairs.append((n1, n2)) logger.info(f'Found {len(pairs)} pairs.') with open(output, 'w') as f: f.write('\n'.join(' '.join([i, j]) for i, j in pairs)) if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument('--output', required=True, type=Path) parser.add_argument('--image_list', type=Path) parser.add_argument('--features', type=Path) parser.add_argument('--ref_list', type=Path) parser.add_argument('--ref_features', type=Path) args = parser.parse_args() main(**args.__dict__) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pairs_from_poses.py ================================================ import argparse from pathlib import Path import numpy as np import scipy.spatial from . import logger from .utils.read_write_model import read_images_binary from .pairs_from_retrieval import pairs_from_score_matrix DEFAULT_ROT_THRESH = 30 # in degrees def get_pairwise_distances(images): ids = np.array(list(images.keys())) Rs = [] ts = [] for id_ in ids: image = images[id_] R = image.qvec2rotmat() t = image.tvec Rs.append(R) ts.append(t) Rs = np.stack(Rs, 0) ts = np.stack(ts, 0) # Invert the poses from world-to-camera to camera-to-world. Rs = Rs.transpose(0, 2, 1) ts = -(Rs @ ts[:, :, None])[:, :, 0] dist = scipy.spatial.distance.squareform(scipy.spatial.distance.pdist(ts)) # Instead of computing the angle between two camera orientations, # we compute the angle between the principal axes, as two images rotated # around their principal axis still observe the same scene. axes = Rs[:, :, -1] dots = np.einsum('mi,ni->mn', axes, axes, optimize=True) dR = np.rad2deg(np.arccos(np.clip(dots, -1., 1.))) return ids, dist, dR def main(model, output, num_matched, rotation_threshold=DEFAULT_ROT_THRESH): logger.info('Reading the COLMAP model...') images = read_images_binary(model / 'images.bin') logger.info( f'Obtaining pairwise distances between {len(images)} images...') ids, dist, dR = get_pairwise_distances(images) scores = -dist invalid = (dR >= rotation_threshold) np.fill_diagonal(invalid, True) pairs = pairs_from_score_matrix(scores, invalid, num_matched) pairs = [(images[ids[i]].name, images[ids[j]].name) for i, j in pairs] logger.info(f'Found {len(pairs)} pairs.') with open(output, 'w') as f: f.write('\n'.join(' '.join(p) for p in pairs)) if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument('--model', required=True, type=Path) parser.add_argument('--output', required=True, type=Path) parser.add_argument('--num_matched', required=True, type=int) parser.add_argument('--rotation_threshold', default=DEFAULT_ROT_THRESH, type=float) args = parser.parse_args() main(**args.__dict__) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pairs_from_retrieval.py ================================================ import argparse from pathlib import Path from typing import Optional import h5py import numpy as np import torch import collections.abc as collections from . import logger from .utils.parsers import parse_image_lists from .utils.read_write_model import read_images_binary from .utils.io import list_h5_names def parse_names(prefix, names, names_all): if prefix is not None: if not isinstance(prefix, str): prefix = tuple(prefix) names = [n for n in names_all if n.startswith(prefix)] if len(names) == 0: raise ValueError( f'Could not find any image with the prefix `{prefix}`.') elif names is not None: if isinstance(names, (str, Path)): names = parse_image_lists(names) elif isinstance(names, collections.Iterable): names = list(names) else: raise ValueError(f'Unknown type of image list: {names}.' 'Provide either a list or a path to a list file.') else: names = names_all return names def get_descriptors(names, path, name2idx=None, key='global_descriptor'): if name2idx is None: with h5py.File(str(path), 'r', libver='latest') as fd: desc = [fd[n][key].__array__() for n in names] else: desc = [] for n in names: with h5py.File(str(path[name2idx[n]]), 'r', libver='latest') as fd: desc.append(fd[n][key].__array__()) return torch.from_numpy(np.stack(desc, 0)).float() def pairs_from_score_matrix(scores: torch.Tensor, invalid: np.array, num_select: int, min_score: Optional[float] = None): assert scores.shape == invalid.shape if isinstance(scores, np.ndarray): scores = torch.from_numpy(scores) invalid = torch.from_numpy(invalid).to(scores.device) if min_score is not None: invalid |= scores < min_score scores.masked_fill_(invalid, float('-inf')) topk = torch.topk(scores, num_select, dim=1) indices = topk.indices.cpu().numpy() valid = topk.values.isfinite().cpu().numpy() pairs = [] for i, j in zip(*np.where(valid)): pairs.append((i, indices[i, j])) return pairs def main(descriptors, output, num_matched, query_prefix=None, query_list=None, db_prefix=None, db_list=None, db_model=None, db_descriptors=None): logger.info('Extracting image pairs from a retrieval database.') # We handle multiple reference feature files. # We only assume that names are unique among them and map names to files. if db_descriptors is None: db_descriptors = descriptors if isinstance(db_descriptors, (Path, str)): db_descriptors = [db_descriptors] name2db = {n: i for i, p in enumerate(db_descriptors) for n in list_h5_names(p)} db_names_h5 = list(name2db.keys()) query_names_h5 = list_h5_names(descriptors) if db_model: images = read_images_binary(db_model / 'images.bin') db_names = [i.name for i in images.values()] else: db_names = parse_names(db_prefix, db_list, db_names_h5) if len(db_names) == 0: raise ValueError('Could not find any database image.') query_names = parse_names(query_prefix, query_list, query_names_h5) device = 'cuda' if torch.cuda.is_available() else 'cpu' db_desc = get_descriptors(db_names, db_descriptors, name2db) query_desc = get_descriptors(query_names, descriptors) sim = torch.einsum('id,jd->ij', query_desc.to(device), db_desc.to(device)) # Avoid self-matching self = np.array(query_names)[:, None] == np.array(db_names)[None] pairs = pairs_from_score_matrix(sim, self, num_matched, min_score=0) pairs = [(query_names[i], db_names[j]) for i, j in pairs] logger.info(f'Found {len(pairs)} pairs.') with open(output, 'w') as f: f.write('\n'.join(' '.join([i, j]) for i, j in pairs)) if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument('--descriptors', type=Path, required=True) parser.add_argument('--output', type=Path, required=True) parser.add_argument('--num_matched', type=int, required=True) parser.add_argument('--query_prefix', type=str, nargs='+') parser.add_argument('--query_list', type=Path) parser.add_argument('--db_prefix', type=str, nargs='+') parser.add_argument('--db_list', type=Path) parser.add_argument('--db_model', type=Path) parser.add_argument('--db_descriptors', type=Path) args = parser.parse_args() main(**args.__dict__) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/4Seasons/README.md ================================================ # 4Seasons dataset This pipeline localizes sequences from the [4Seasons dataset](https://arxiv.org/abs/2009.06364) and can reproduce our winning submission to the challenge of the [ECCV 2020 Workshop on Map-based Localization for Autonomous Driving](https://sites.google.com/view/mlad-eccv2020/home). ## Installation Download the sequences from the [challenge webpage](https://sites.google.com/view/mlad-eccv2020/challenge) and run: ```bash unzip recording_2020-04-07_10-20-32.zip -d datasets/4Seasons/reference unzip recording_2020-03-24_17-36-22.zip -d datasets/4Seasons/training unzip recording_2020-03-03_12-03-23.zip -d datasets/4Seasons/validation unzip recording_2020-03-24_17-45-31.zip -d datasets/4Seasons/test0 unzip recording_2020-04-23_19-37-00.zip -d datasets/4Seasons/test1 ``` Note that the provided scripts might modify the dataset files by deleting unused images to speed up the feature extraction ## Pipeline The process is presented in our workshop talk, whose recording can be found [here](https://youtu.be/M-X6HX1JxYk?t=5245). We first triangulate a 3D model from the given poses of the reference sequence: ```bash python3 -m hloc.pipelines.4Seasons.prepare_reference ``` We then relocalize a given sequence: ```bash python3 -m hloc.pipelines.4Seasons.localize --sequence [training|validation|test0|test1] ``` The final submission files can be found in `outputs/4Seasons/submission_hloc+superglue/`. The script will also evaluate these results if the training or validation sequences are selected. ## Results We evaluate the localization recall at distance thresholds 0.1m, 0.2m, and 0.5m. | Methods | test0 | test1 | | -------------------- | ---------------------- | ---------------------- | | **hloc + SuperGlue** | **91.8 / 97.7 / 99.2** | **67.3 / 93.5 / 98.7** | | Baseline SuperGlue | 21.2 / 33.9 / 60.0 | 12.4 / 26.5 / 54.4 | | Baseline R2D2 | 21.5 / 33.1 / 53.0 | 12.3 / 23.7 / 42.0 | | Baseline D2Net | 12.5 / 29.3 / 56.7 | 7.5 / 21.4 / 47.7 | | Baseline SuperPoint | 15.5 / 27.5 / 47.5 | 9.0 / 19.4 / 36.4 | ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/4Seasons/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/4Seasons/localize.py ================================================ from pathlib import Path import argparse from ... import extract_features, match_features, localize_sfm, logger from .utils import get_timestamps, delete_unused_images from .utils import generate_query_lists, generate_localization_pairs from .utils import prepare_submission, evaluate_submission relocalization_files = { 'training': 'RelocalizationFilesTrain//relocalizationFile_recording_2020-03-24_17-36-22.txt', 'validation': 'RelocalizationFilesVal/relocalizationFile_recording_2020-03-03_12-03-23.txt', 'test0': 'RelocalizationFilesTest/relocalizationFile_recording_2020-03-24_17-45-31_*.txt', 'test1': 'RelocalizationFilesTest/relocalizationFile_recording_2020-04-23_19-37-00_*.txt', } parser = argparse.ArgumentParser() parser.add_argument('--sequence', type=str, required=True, choices=['training', 'validation', 'test0', 'test1'], help='Sequence to be relocalized.') parser.add_argument('--dataset', type=Path, default='datasets/4Seasons', help='Path to the dataset, default: %(default)s') parser.add_argument('--outputs', type=Path, default='outputs/4Seasons', help='Path to the output directory, default: %(default)s') args = parser.parse_args() sequence = args.sequence data_dir = args.dataset ref_dir = data_dir / 'reference' assert ref_dir.exists(), f'{ref_dir} does not exist' seq_dir = data_dir / sequence assert seq_dir.exists(), f'{seq_dir} does not exist' seq_images = seq_dir / 'undistorted_images' reloc = ref_dir / relocalization_files[sequence] output_dir = args.outputs output_dir.mkdir(exist_ok=True, parents=True) query_list = output_dir / f'{sequence}_queries_with_intrinsics.txt' ref_pairs = output_dir / 'pairs-db-dist20.txt' ref_sfm = output_dir / 'sfm_superpoint+superglue' results_path = output_dir / f'localization_{sequence}_hloc+superglue.txt' submission_dir = output_dir / 'submission_hloc+superglue' num_loc_pairs = 10 loc_pairs = output_dir / f'pairs-query-{sequence}-dist{num_loc_pairs}.txt' fconf = extract_features.confs['superpoint_max'] mconf = match_features.confs['superglue'] # Not all query images that are used for the evaluation # To save time in feature extraction, we delete unsused images. timestamps = get_timestamps(reloc, 1) delete_unused_images(seq_images, timestamps) # Generate a list of query images with their intrinsics. generate_query_lists(timestamps, seq_dir, query_list) # Generate the localization pairs from the given reference frames. generate_localization_pairs( sequence, reloc, num_loc_pairs, ref_pairs, loc_pairs) # Extract, match, amd localize. ffile = extract_features.main(fconf, seq_images, output_dir) mfile = match_features.main(mconf, loc_pairs, fconf['output'], output_dir) localize_sfm.main( ref_sfm, query_list, loc_pairs, ffile, mfile, results_path) # Convert the absolute poses to relative poses with the reference frames. submission_dir.mkdir(exist_ok=True) prepare_submission(results_path, reloc, ref_dir / 'poses.txt', submission_dir) # If not a test sequence: evaluation the localization accuracy if 'test' not in sequence: logger.info('Evaluating the relocalization submission...') evaluate_submission(submission_dir, reloc) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/4Seasons/prepare_reference.py ================================================ from pathlib import Path import argparse from ... import extract_features, match_features from ... import pairs_from_poses, triangulation from .utils import get_timestamps, delete_unused_images from .utils import build_empty_colmap_model parser = argparse.ArgumentParser() parser.add_argument('--dataset', type=Path, default='datasets/4Seasons', help='Path to the dataset, default: %(default)s') parser.add_argument('--outputs', type=Path, default='outputs/4Seasons', help='Path to the output directory, default: %(default)s') args = parser.parse_args() ref_dir = args.dataset / 'reference' assert ref_dir.exists(), f'{ref_dir} does not exist' ref_images = ref_dir / 'undistorted_images' output_dir = args.outputs output_dir.mkdir(exist_ok=True, parents=True) ref_sfm_empty = output_dir / 'sfm_reference_empty' ref_sfm = output_dir / 'sfm_superpoint+superglue' num_ref_pairs = 20 ref_pairs = output_dir / f'pairs-db-dist{num_ref_pairs}.txt' fconf = extract_features.confs['superpoint_max'] mconf = match_features.confs['superglue'] # Only reference images that have a pose are used in the pipeline. # To save time in feature extraction, we delete unsused images. delete_unused_images(ref_images, get_timestamps(ref_dir / 'poses.txt', 0)) # Build an empty COLMAP model containing only camera and images # from the provided poses and intrinsics. build_empty_colmap_model(ref_dir, ref_sfm_empty) # Match reference images that are spatially close. pairs_from_poses.main(ref_sfm_empty, ref_pairs, num_ref_pairs) # Extract, match, and triangulate the reference SfM model. ffile = extract_features.main(fconf, ref_images, output_dir) mfile = match_features.main(mconf, ref_pairs, fconf['output'], output_dir) triangulation.main(ref_sfm, ref_sfm_empty, ref_images, ref_pairs, ffile, mfile) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/4Seasons/utils.py ================================================ import os import numpy as np import logging from pathlib import Path from ...utils.read_write_model import qvec2rotmat, rotmat2qvec from ...utils.read_write_model import Image, write_model, Camera from ...utils.parsers import parse_retrieval logger = logging.getLogger(__name__) def get_timestamps(files, idx): """Extract timestamps from a pose or relocalization file.""" lines = [] for p in files.parent.glob(files.name): with open(p) as f: lines += f.readlines() timestamps = set() for line in lines: line = line.rstrip('\n') if line[0] == '#' or line == '': continue ts = line.replace(',', ' ').split()[idx] timestamps.add(ts) return timestamps def delete_unused_images(root, timestamps): """Delete all images in root if they are not contained in timestamps.""" images = list(root.glob('**/*.png')) deleted = 0 for image in images: ts = image.stem if ts not in timestamps: os.remove(image) deleted += 1 logger.info(f'Deleted {deleted} images in {root}.') def camera_from_calibration_file(id_, path): """Create a COLMAP camera from an MLAD calibration file.""" with open(path, 'r') as f: data = f.readlines() model, fx, fy, cx, cy = data[0].split()[:5] width, height = data[1].split() assert model == 'Pinhole' model_name = 'PINHOLE' params = [float(i) for i in [fx, fy, cx, cy]] camera = Camera( id=id_, model=model_name, width=int(width), height=int(height), params=params) return camera def parse_poses(path, colmap=False): """Parse a list of poses in COLMAP or MLAD quaternion convention.""" poses = [] with open(path) as f: for line in f.readlines(): line = line.rstrip('\n') if line[0] == '#' or line == '': continue data = line.replace(',', ' ').split() ts, p = data[0], np.array(data[1:], float) if colmap: q, t = np.split(p, [4]) else: t, q = np.split(p, [3]) q = q[[3, 0, 1, 2]] # xyzw to wxyz R = qvec2rotmat(q) poses.append((ts, R, t)) return poses def parse_relocalization(path, has_poses=False): """Parse a relocalization file, possibly with poses.""" reloc = [] with open(path) as f: for line in f.readlines(): line = line.rstrip('\n') if line[0] == '#' or line == '': continue data = line.replace(',', ' ').split() out = data[:2] # ref_ts, q_ts if has_poses: assert len(data) == 9 t, q = np.split(np.array(data[2:], float), [3]) q = q[[3, 0, 1, 2]] # xyzw to wxyz R = qvec2rotmat(q) out += [R, t] reloc.append(out) return reloc def build_empty_colmap_model(root, sfm_dir): """Build a COLMAP model with images and cameras only.""" calibration = 'Calibration/undistorted_calib_{}.txt' cam0 = camera_from_calibration_file(0, root / calibration.format(0)) cam1 = camera_from_calibration_file(1, root / calibration.format(1)) cameras = {0: cam0, 1: cam1} T_0to1 = np.loadtxt(root / 'Calibration/undistorted_calib_stereo.txt') poses = parse_poses(root / 'poses.txt') images = {} id_ = 0 for ts, R_cam0_to_w, t_cam0_to_w in poses: R_w_to_cam0 = R_cam0_to_w.T t_w_to_cam0 = -(R_w_to_cam0 @ t_cam0_to_w) R_w_to_cam1 = T_0to1[:3, :3] @ R_w_to_cam0 t_w_to_cam1 = T_0to1[:3, :3] @ t_w_to_cam0 + T_0to1[:3, 3] for idx, (R_w_to_cam, t_w_to_cam) in enumerate( zip([R_w_to_cam0, R_w_to_cam1], [t_w_to_cam0, t_w_to_cam1])): image = Image( id=id_, qvec=rotmat2qvec(R_w_to_cam), tvec=t_w_to_cam, camera_id=idx, name=f'cam{idx}/{ts}.png', xys=np.zeros((0, 2), float), point3D_ids=np.full(0, -1, int)) images[id_] = image id_ += 1 sfm_dir.mkdir(exist_ok=True, parents=True) write_model(cameras, images, {}, path=str(sfm_dir), ext='.bin') def generate_query_lists(timestamps, seq_dir, out_path): """Create a list of query images with intrinsics from timestamps.""" cam0 = camera_from_calibration_file( 0, seq_dir / 'Calibration/undistorted_calib_0.txt') intrinsics = [cam0.model, cam0.width, cam0.height] + cam0.params intrinsics = [str(p) for p in intrinsics] data = map(lambda ts: ' '.join([f'cam0/{ts}.png']+intrinsics), timestamps) with open(out_path, 'w') as f: f.write('\n'.join(data)) def generate_localization_pairs(sequence, reloc, num, ref_pairs, out_path): """Create the matching pairs for the localization. We simply lookup the corresponding reference frame and extract its `num` closest frames from the existing pair list. """ if 'test' in sequence: # hard pairs will be overwritten by easy ones if available relocs = [ str(reloc).replace('*', d) for d in ['hard', 'moderate', 'easy']] else: relocs = [reloc] query_to_ref_ts = {} for reloc in relocs: with open(reloc, 'r') as f: for line in f.readlines(): line = line.rstrip('\n') if line[0] == '#' or line == '': continue ref_ts, q_ts = line.split()[:2] query_to_ref_ts[q_ts] = ref_ts ts_to_name = 'cam0/{}.png'.format ref_pairs = parse_retrieval(ref_pairs) loc_pairs = [] for q_ts, ref_ts in query_to_ref_ts.items(): ref_name = ts_to_name(ref_ts) selected = [ref_name] + ref_pairs[ref_name][:num-1] loc_pairs.extend([' '.join((ts_to_name(q_ts), s)) for s in selected]) with open(out_path, 'w') as f: f.write('\n'.join(loc_pairs)) def prepare_submission(results, relocs, poses_path, out_dir): """Obtain relative poses from estimated absolute and reference poses.""" gt_poses = parse_poses(poses_path) all_T_ref0_to_w = {ts: (R, t) for ts, R, t in gt_poses} pred_poses = parse_poses(results, colmap=True) all_T_w_to_q0 = {Path(name).stem: (R, t) for name, R, t in pred_poses} for reloc in relocs.parent.glob(relocs.name): relative_poses = [] reloc_ts = parse_relocalization(reloc) for ref_ts, q_ts in reloc_ts: R_w_to_q0, t_w_to_q0 = all_T_w_to_q0[q_ts] R_ref0_to_w, t_ref0_to_w = all_T_ref0_to_w[ref_ts] R_ref0_to_q0 = R_w_to_q0 @ R_ref0_to_w t_ref0_to_q0 = R_w_to_q0 @ t_ref0_to_w + t_w_to_q0 tvec = t_ref0_to_q0.tolist() qvec = rotmat2qvec(R_ref0_to_q0)[[1, 2, 3, 0]] # wxyz to xyzw out = [ref_ts, q_ts] + list(map(str, tvec)) + list(map(str, qvec)) relative_poses.append(' '.join(out)) out_path = out_dir / reloc.name with open(out_path, 'w') as f: f.write('\n'.join(relative_poses)) logger.info(f'Submission file written to {out_path}.') def evaluate_submission(submission_dir, relocs, ths=[0.1, 0.2, 0.5]): """Compute the relocalization recall from predicted and ground truth poses. """ for reloc in relocs.parent.glob(relocs.name): poses_gt = parse_relocalization( reloc, has_poses=True) poses_pred = parse_relocalization( submission_dir / reloc.name, has_poses=True) poses_pred = { (ref_ts, q_ts): (R, t) for ref_ts, q_ts, R, t in poses_pred} error = [] for ref_ts, q_ts, R_gt, t_gt in poses_gt: R, t = poses_pred[(ref_ts, q_ts)] e = np.linalg.norm(t - t_gt) error.append(e) error = np.array(error) recall = [np.mean(error <= th) for th in ths] s = f'Relocalization evaluation {submission_dir.name}/{reloc.name}\n' s += ' / '.join([f'{th:>7}m' for th in ths]) + '\n' s += ' / '.join([f'{100*r:>7.3f}%' for r in recall]) logger.info(s) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/7Scenes/README.md ================================================ # 7Scenes dataset ## Installation Download the images from the [7Scenes project page](https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/): ```bash export dataset=datasets/7scenes for scene in chess fire heads office pumpkin redkitchen stairs; \ do wget http://download.microsoft.com/download/2/8/5/28564B23-0828-408F-8631-23B1EFF1DAC8/$scene.zip -P $dataset \ && unzip $dataset/$scene.zip -d $dataset && unzip $dataset/$scene/'*.zip' -d $dataset/$scene; done ``` Download the SIFT SfM models and DenseVLAD image pairs, courtesy of Torsten Sattler: ```bash function download { wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate "https://docs.google.com/uc?export=download&id=$1" -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=$1" -O $2 && rm -rf /tmp/cookies.txt unzip $2 -d $dataset && rm $2; } download 1cu6KUR7WHO7G4EO49Qi3HEKU6n_yYDjb $dataset/7scenes_sfm_triangulated.zip download 1IbS2vLmxr1N0f3CEnd_wsYlgclwTyvB1 $dataset/7scenes_densevlad_retrieval_top_10.zip ``` Download the rendered depth maps, courtesy of Eric Brachmann for [DSAC\*](https://github.com/vislearn/dsacstar): ```bash wget https://heidata.uni-heidelberg.de/api/access/datafile/4037 -O $dataset/7scenes_rendered_depth.tar.gz mkdir $dataset/depth/ tar xzf $dataset/7scenes_rendered_depth.tar.gz -C $dataset/depth/ && rm $dataset/7scenes_rendered_depth.tar.gz ``` ## Pipeline ```bash python3 -m hloc.pipelines.7Scenes.pipeline [--use_dense_depth] ``` By default, hloc triangulates a sparse point cloud that can be noisy in indoor environements due to image noise and lack of texture. With the flag `--use_dense_depth`, the pipeline improves the accuracy of the sparse point cloud using dense depth maps provided by the dataset. The original depth maps captured by the RGBD sensor are miscalibrated, so we use depth maps rendered from the mesh obtained by fusing the RGBD data. ## Results We report the median error in translation/rotation in cm/deg over all scenes: | Method \ Scene | Chess | Fire | Heads | Office | Pumpkin | Kitchen | Stairs | | ------------------------------- | -------------- | -------------- | -------------- | -------------- | -------------- | -------------- | ---------- | | Active Search | 3/0.87 | **2**/1.01 | **1**/0.82 | 4/1.15 | 7/1.69 | 5/1.72 | 4/**1.01** | | DSAC* | **2**/1.10 | **2**/1.24 | **1**/1.82 | **3**/1.15 | **4**/1.34 | 4/1.68 | **3**/1.16 | | **SuperPoint+SuperGlue** (sfm) | **2**/0.84 | **2**/0.93 | **1**/**0.74** | **3**/0.92 | 5/1.27 | 4/1.40 | 5/1.47 | | **SuperPoint+SuperGlue** (RGBD) | **2**/**0.80** | **2**/**0.77** | **1**/0.79 | **3**/**0.80** | **4**/**1.07** | **3**/**1.13** | 4/1.15 | ## Citation Please cite the following paper if you use the 7Scenes dataset: ``` @inproceedings{shotton2013scene, title={Scene coordinate regression forests for camera relocalization in {RGB-D} images}, author={Shotton, Jamie and Glocker, Ben and Zach, Christopher and Izadi, Shahram and Criminisi, Antonio and Fitzgibbon, Andrew}, booktitle={CVPR}, year={2013} } ``` Also cite DSAC* if you use dense depth maps with the flag `--use_dense_depth`: ``` @article{brachmann2020dsacstar, title={Visual Camera Re-Localization from {RGB} and {RGB-D} Images Using {DSAC}}, author={Brachmann, Eric and Rother, Carsten}, journal={TPAMI}, year={2021} } ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/7Scenes/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/7Scenes/create_gt_sfm.py ================================================ from pathlib import Path import numpy as np import torch import PIL.Image from tqdm import tqdm import pycolmap from ...utils.read_write_model import write_model, read_model def scene_coordinates(p2D, R_w2c, t_w2c, depth, camera): assert len(depth) == len(p2D) ret = pycolmap.image_to_world(p2D, camera._asdict()) p2D_norm = np.asarray(ret['world_points']) p2D_h = np.concatenate([p2D_norm, np.ones_like(p2D_norm[:, :1])], 1) p3D_c = p2D_h * depth[:, None] p3D_w = (p3D_c - t_w2c) @ R_w2c return p3D_w def interpolate_depth(depth, kp): h, w = depth.shape kp = kp / np.array([[w-1, h-1]]) * 2 - 1 assert np.all(kp > -1) and np.all(kp < 1) depth = torch.from_numpy(depth)[None, None] kp = torch.from_numpy(kp)[None, None] grid_sample = torch.nn.functional.grid_sample # To maximize the number of points that have depth: # do bilinear interpolation first and then nearest for the remaining points interp_lin = grid_sample( depth, kp, align_corners=True, mode='bilinear')[0, :, 0] interp_nn = torch.nn.functional.grid_sample( depth, kp, align_corners=True, mode='nearest')[0, :, 0] interp = torch.where(torch.isnan(interp_lin), interp_nn, interp_lin) valid = ~torch.any(torch.isnan(interp), 0) interp_depth = interp.T.numpy().flatten() valid = valid.numpy() return interp_depth, valid def image_path_to_rendered_depth_path(image_name): parts = image_name.split('/') name = '_'.join([''.join(parts[0].split('-')), parts[1]]) name = name.replace('color', 'pose') name = name.replace('png', 'depth.tiff') return name def project_to_image(p3D, R, t, camera, eps: float = 1e-4, pad: int = 1): p3D = (p3D @ R.T) + t visible = p3D[:, -1] >= eps # keep points in front of the camera p2D_norm = p3D[:, :-1] / p3D[:, -1:].clip(min=eps) ret = pycolmap.world_to_image(p2D_norm, camera._asdict()) p2D = np.asarray(ret['image_points']) size = np.array([camera.width - pad - 1, camera.height - pad - 1]) valid = np.all((p2D >= pad) & (p2D <= size), -1) valid &= visible return p2D[valid], valid def correct_sfm_with_gt_depth(sfm_path, depth_folder_path, output_path): cameras, images, points3D = read_model(sfm_path) for imgid, img in tqdm(images.items()): image_name = img.name depth_name = image_path_to_rendered_depth_path(image_name) depth = PIL.Image.open(Path(depth_folder_path) / depth_name) depth = np.array(depth).astype('float64') depth = depth/1000. # mm to meter depth[(depth == 0.0) | (depth > 1000.0)] = np.nan R_w2c, t_w2c = img.qvec2rotmat(), img.tvec camera = cameras[img.camera_id] p3D_ids = img.point3D_ids p3Ds = np.stack([points3D[i].xyz for i in p3D_ids[p3D_ids != -1]], 0) p2Ds, valids_projected = project_to_image(p3Ds, R_w2c, t_w2c, camera) invalid_p3D_ids = p3D_ids[p3D_ids != -1][~valids_projected] interp_depth, valids_backprojected = interpolate_depth(depth, p2Ds) scs = scene_coordinates(p2Ds[valids_backprojected], R_w2c, t_w2c, interp_depth[valids_backprojected], camera) invalid_p3D_ids = np.append( invalid_p3D_ids, p3D_ids[p3D_ids != -1][valids_projected][~valids_backprojected]) for p3did in invalid_p3D_ids: if p3did == -1: continue else: obs_imgids = points3D[p3did].image_ids invalid_imgids = list(np.where(obs_imgids == img.id)[0]) points3D[p3did] = points3D[p3did]._replace( image_ids=np.delete(obs_imgids, invalid_imgids), point2D_idxs=np.delete(points3D[p3did].point2D_idxs, invalid_imgids)) new_p3D_ids = p3D_ids.copy() sub_p3D_ids = new_p3D_ids[new_p3D_ids != -1] valids = np.ones(np.count_nonzero(new_p3D_ids != -1), dtype=bool) valids[~valids_projected] = False valids[valids_projected] = valids_backprojected sub_p3D_ids[~valids] = -1 new_p3D_ids[new_p3D_ids != -1] = sub_p3D_ids img = img._replace(point3D_ids=new_p3D_ids) assert len(img.point3D_ids[img.point3D_ids != -1]) == len(scs), ( f"{len(scs)}, {len(img.point3D_ids[img.point3D_ids != -1])}") for i, p3did in enumerate(img.point3D_ids[img.point3D_ids != -1]): points3D[p3did] = points3D[p3did]._replace(xyz=scs[i]) images[imgid] = img output_path.mkdir(parents=True, exist_ok=True) write_model(cameras, images, points3D, output_path) if __name__ == '__main__': dataset = Path('datasets/7scenes') outputs = Path('outputs/7Scenes') SCENES = ['chess', 'fire', 'heads', 'office', 'pumpkin', 'redkitchen', 'stairs'] for scene in SCENES: sfm_path = outputs / scene / 'sfm_superpoint+superglue' depth_path = dataset / f'depth/7scenes_{scene}/train/depth' output_path = outputs / scene / 'sfm_superpoint+superglue+depth' correct_sfm_with_gt_depth(sfm_path, depth_path, output_path) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/7Scenes/pipeline.py ================================================ from pathlib import Path import argparse from .utils import create_reference_sfm from .create_gt_sfm import correct_sfm_with_gt_depth from ..Cambridge.utils import create_query_list_with_intrinsics, evaluate from ... import extract_features, match_features, pairs_from_covisibility from ... import triangulation, localize_sfm, logger SCENES = ['chess', 'fire', 'heads', 'office', 'pumpkin', 'redkitchen', 'stairs'] def run_scene(images, gt_dir, retrieval, outputs, results, num_covis, use_dense_depth, depth_dir=None): outputs.mkdir(exist_ok=True, parents=True) ref_sfm_sift = outputs / 'sfm_sift' ref_sfm = outputs / 'sfm_superpoint+superglue' query_list = outputs / 'query_list_with_intrinsics.txt' feature_conf = { 'output': 'feats-superpoint-n4096-r1024', 'model': { 'name': 'superpoint', 'nms_radius': 3, 'max_keypoints': 4096, }, 'preprocessing': { 'globs': ['*.color.png'], 'grayscale': True, 'resize_max': 1024, }, } matcher_conf = match_features.confs['superglue'] matcher_conf['model']['sinkhorn_iterations'] = 5 test_list = gt_dir / 'list_test.txt' create_reference_sfm(gt_dir, ref_sfm_sift, test_list) create_query_list_with_intrinsics(gt_dir, query_list, test_list) features = extract_features.main( feature_conf, images, outputs, as_half=True) sfm_pairs = outputs / f'pairs-db-covis{num_covis}.txt' pairs_from_covisibility.main( ref_sfm_sift, sfm_pairs, num_matched=num_covis) sfm_matches = match_features.main( matcher_conf, sfm_pairs, feature_conf['output'], outputs) if not (use_dense_depth and ref_sfm.exists()): triangulation.main( ref_sfm, ref_sfm_sift, images, sfm_pairs, features, sfm_matches) if use_dense_depth: assert depth_dir is not None ref_sfm_fix = outputs / 'sfm_superpoint+superglue+depth' correct_sfm_with_gt_depth(ref_sfm, depth_dir, ref_sfm_fix) ref_sfm = ref_sfm_fix loc_matches = match_features.main( matcher_conf, retrieval, feature_conf['output'], outputs) localize_sfm.main( ref_sfm, query_list, retrieval, features, loc_matches, results, covisibility_clustering=False, prepend_camera_name=True) if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--scenes', default=SCENES, choices=SCENES, nargs='+') parser.add_argument('--overwrite', action='store_true') parser.add_argument('--dataset', type=Path, default='datasets/7scenes', help='Path to the dataset, default: %(default)s') parser.add_argument('--outputs', type=Path, default='outputs/7scenes', help='Path to the output directory, default: %(default)s') parser.add_argument('--use_dense_depth', action='store_true') parser.add_argument('--num_covis', type=int, default=30, help='Number of image pairs for SfM, default: %(default)s') args = parser.parse_args() gt_dirs = args.dataset / '7scenes_sfm_triangulated/{scene}/triangulated' retrieval_dirs = args.dataset / '7scenes_densevlad_retrieval_top_10' all_results = {} for scene in args.scenes: logger.info(f'Working on scene "{scene}".') results = args.outputs / scene / 'results_{}.txt'.format( "dense" if args.use_dense_depth else "sparse") if args.overwrite or not results.exists(): run_scene( args.dataset / scene, Path(str(gt_dirs).format(scene=scene)), retrieval_dirs / f'{scene}_top10.txt', args.outputs / scene, results, args.num_covis, args.use_dense_depth, depth_dir=args.dataset / f'depth/7scenes_{scene}/train/depth') all_results[scene] = results for scene in args.scenes: logger.info(f'Evaluate scene "{scene}".') gt_dir = Path(str(gt_dirs).format(scene=scene)) evaluate(gt_dir, all_results[scene], gt_dir / 'list_test.txt') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/7Scenes/utils.py ================================================ import logging import numpy as np from hloc.utils.read_write_model import read_model, write_model logger = logging.getLogger(__name__) def create_reference_sfm(full_model, ref_model, blacklist=None, ext='.bin'): '''Create a new COLMAP model with only training images.''' logger.info('Creating the reference model.') ref_model.mkdir(exist_ok=True) cameras, images, points3D = read_model(full_model, ext) if blacklist is not None: with open(blacklist, 'r') as f: blacklist = f.read().rstrip().split('\n') images_ref = dict() for id_, image in images.items(): if blacklist and image.name in blacklist: continue images_ref[id_] = image points3D_ref = dict() for id_, point3D in points3D.items(): ref_ids = [i for i in point3D.image_ids if i in images_ref] if len(ref_ids) == 0: continue points3D_ref[id_] = point3D._replace(image_ids=np.array(ref_ids)) write_model(cameras, images_ref, points3D_ref, ref_model, '.bin') logger.info(f'Kept {len(images_ref)} images out of {len(images)}.') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Aachen/README.md ================================================ # Aachen-Day-Night dataset ## Installation Download the dataset from [visuallocalization.net](https://www.visuallocalization.net): ```bash export dataset=datasets/aachen wget -r -np -nH -R "index.html*,aachen_v1_1.zip" --cut-dirs=4 https://data.ciirc.cvut.cz/public/projects/2020VisualLocalization/Aachen-Day-Night/ -P $dataset unzip $dataset/images/database_and_query_images.zip -d $dataset/images ``` ## Pipeline ```bash python3 -m hloc.pipelines.Aachen.pipeline ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Aachen/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Aachen/pipeline.py ================================================ from pathlib import Path from pprint import pformat import argparse from ... import extract_features, match_features from ... import pairs_from_covisibility, pairs_from_retrieval from ... import colmap_from_nvm, triangulation, localize_sfm parser = argparse.ArgumentParser() parser.add_argument('--dataset', type=Path, default='datasets/aachen', help='Path to the dataset, default: %(default)s') parser.add_argument('--outputs', type=Path, default='outputs/aachen', help='Path to the output directory, default: %(default)s') parser.add_argument('--num_covis', type=int, default=20, help='Number of image pairs for SfM, default: %(default)s') parser.add_argument('--num_loc', type=int, default=50, help='Number of image pairs for loc, default: %(default)s') args = parser.parse_args() # Setup the paths dataset = args.dataset images = dataset / 'images/images_upright/' outputs = args.outputs # where everything will be saved sift_sfm = outputs / 'sfm_sift' # from which we extract the reference poses reference_sfm = outputs / 'sfm_superpoint+superglue' # the SfM model we will build sfm_pairs = outputs / f'pairs-db-covis{args.num_covis}.txt' # top-k most covisible in SIFT model loc_pairs = outputs / f'pairs-query-netvlad{args.num_loc}.txt' # top-k retrieved by NetVLAD results = outputs / f'Aachen_hloc_superpoint+superglue_netvlad{args.num_loc}.txt' # list the standard configurations available print(f'Configs for feature extractors:\n{pformat(extract_features.confs)}') print(f'Configs for feature matchers:\n{pformat(match_features.confs)}') # pick one of the configurations for extraction and matching retrieval_conf = extract_features.confs['netvlad'] feature_conf = extract_features.confs['superpoint_aachen'] matcher_conf = match_features.confs['superglue'] features = extract_features.main(feature_conf, images, outputs) colmap_from_nvm.main( dataset / '3D-models/aachen_cvpr2018_db.nvm', dataset / '3D-models/database_intrinsics.txt', dataset / 'aachen.db', sift_sfm) pairs_from_covisibility.main( sift_sfm, sfm_pairs, num_matched=args.num_covis) sfm_matches = match_features.main( matcher_conf, sfm_pairs, feature_conf['output'], outputs) triangulation.main( reference_sfm, sift_sfm, images, sfm_pairs, features, sfm_matches) global_descriptors = extract_features.main(retrieval_conf, images, outputs) pairs_from_retrieval.main( global_descriptors, loc_pairs, args.num_loc, query_prefix='query', db_model=reference_sfm) loc_matches = match_features.main( matcher_conf, loc_pairs, feature_conf['output'], outputs) localize_sfm.main( reference_sfm, dataset / 'queries/*_time_queries_with_intrinsics.txt', loc_pairs, features, loc_matches, results, covisibility_clustering=False) # not required with SuperPoint+SuperGlue ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Aachen_v1_1/README.md ================================================ # Aachen-Day-Night dataset v1.1 ## Installation Download the dataset from [visuallocalization.net](https://www.visuallocalization.net): ```bash export dataset=datasets/aachen_v1.1 wget -r -np -nH -R "index.html*" --cut-dirs=4 https://data.ciirc.cvut.cz/public/projects/2020VisualLocalization/Aachen-Day-Night/ -P $dataset unzip $dataset/images/database_and_query_images.zip -d $dataset/images unzip $dataset/aachen_v1_1.zip -d $dataset rsync -a $dataset/images_upright/ $dataset/images/images_upright/ ``` ## Pipeline ```bash python3 -m hloc.pipelines.Aachen_v1_1.pipeline ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Aachen_v1_1/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Aachen_v1_1/pipeline.py ================================================ from pathlib import Path from pprint import pformat import argparse from ... import extract_features, match_features, triangulation from ... import pairs_from_covisibility, pairs_from_retrieval, localize_sfm parser = argparse.ArgumentParser() parser.add_argument('--dataset', type=Path, default='datasets/aachen_v1.1', help='Path to the dataset, default: %(default)s') parser.add_argument('--outputs', type=Path, default='outputs/aachen_v1.1', help='Path to the output directory, default: %(default)s') parser.add_argument('--num_covis', type=int, default=20, help='Number of image pairs for SfM, default: %(default)s') parser.add_argument('--num_loc', type=int, default=50, help='Number of image pairs for loc, default: %(default)s') args = parser.parse_args() # Setup the paths dataset = args.dataset images = dataset / 'images/images_upright/' sift_sfm = dataset / '3D-models/aachen_v_1_1' outputs = args.outputs # where everything will be saved reference_sfm = outputs / 'sfm_superpoint+superglue' # the SfM model we will build sfm_pairs = outputs / f'pairs-db-covis{args.num_covis}.txt' # top-k most covisible in SIFT model loc_pairs = outputs / f'pairs-query-netvlad{args.num_loc}.txt' # top-k retrieved by NetVLAD results = outputs / f'Aachen-v1.1_hloc_superpoint+superglue_netvlad{args.num_loc}.txt' # list the standard configurations available print(f'Configs for feature extractors:\n{pformat(extract_features.confs)}') print(f'Configs for feature matchers:\n{pformat(match_features.confs)}') # pick one of the configurations for extraction and matching retrieval_conf = extract_features.confs['netvlad'] feature_conf = extract_features.confs['superpoint_max'] matcher_conf = match_features.confs['superglue'] features = extract_features.main(feature_conf, images, outputs) pairs_from_covisibility.main( sift_sfm, sfm_pairs, num_matched=args.num_covis) sfm_matches = match_features.main( matcher_conf, sfm_pairs, feature_conf['output'], outputs) triangulation.main( reference_sfm, sift_sfm, images, sfm_pairs, features, sfm_matches) global_descriptors = extract_features.main(retrieval_conf, images, outputs) pairs_from_retrieval.main( global_descriptors, loc_pairs, args.num_loc, query_prefix='query', db_model=reference_sfm) loc_matches = match_features.main( matcher_conf, loc_pairs, feature_conf['output'], outputs) localize_sfm.main( reference_sfm, dataset / 'queries/*_time_queries_with_intrinsics.txt', loc_pairs, features, loc_matches, results, covisibility_clustering=False) # not required with SuperPoint+SuperGlue ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Aachen_v1_1/pipeline_loftr.py ================================================ from pathlib import Path from pprint import pformat import argparse from ... import extract_features, match_dense, triangulation from ... import pairs_from_covisibility, pairs_from_retrieval, localize_sfm parser = argparse.ArgumentParser() parser.add_argument('--dataset', type=Path, default='datasets/aachen_v1.1', help='Path to the dataset, default: %(default)s') parser.add_argument('--outputs', type=Path, default='outputs/aachen_v1.1', help='Path to the output directory, default: %(default)s') parser.add_argument('--num_covis', type=int, default=20, help='Number of image pairs for SfM, default: %(default)s') parser.add_argument('--num_loc', type=int, default=50, help='Number of image pairs for loc, default: %(default)s') args = parser.parse_args() # Setup the paths dataset = args.dataset images = dataset / 'images/images_upright/' sift_sfm = dataset / '3D-models/aachen_v_1_1' outputs = args.outputs # where everything will be saved outputs.mkdir() reference_sfm = outputs / 'sfm_loftr' # the SfM model we will build sfm_pairs = outputs / f'pairs-db-covis{args.num_covis}.txt' # top-k most covisible in SIFT model loc_pairs = outputs / f'pairs-query-netvlad{args.num_loc}.txt' # top-k retrieved by NetVLAD results = outputs / f'Aachen-v1.1_hloc_loftr_netvlad{args.num_loc}.txt' # list the standard configurations available print(f'Configs for dense feature matchers:\n{pformat(match_dense.confs)}') # pick one of the configurations for extraction and matching retrieval_conf = extract_features.confs['netvlad'] matcher_conf = match_dense.confs['loftr_aachen'] pairs_from_covisibility.main( sift_sfm, sfm_pairs, num_matched=args.num_covis) features, sfm_matches = match_dense.main(matcher_conf, sfm_pairs, images, outputs, max_kps=8192, overwrite=False) triangulation.main( reference_sfm, sift_sfm, images, sfm_pairs, features, sfm_matches) global_descriptors = extract_features.main(retrieval_conf, images, outputs) pairs_from_retrieval.main( global_descriptors, loc_pairs, args.num_loc, query_prefix='query', db_model=reference_sfm) features, loc_matches = match_dense.main( matcher_conf, loc_pairs, images, outputs, features=features, max_kps=None, matches=sfm_matches) localize_sfm.main( reference_sfm, dataset / 'queries/*_time_queries_with_intrinsics.txt', loc_pairs, features, loc_matches, results, covisibility_clustering=False) # not required with loftr ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/CMU/README.md ================================================ # Extended CMU Seasons dataset ## Installation Download the dataset from [visuallocalization.net](https://www.visuallocalization.net): ```bash export dataset=datasets/cmu_extended wget -r -np -nH -R "index.html*" --cut-dirs=4 https://data.ciirc.cvut.cz/public/projects/2020VisualLocalization/Extended-CMU-Seasons/ -P $dataset for slice in $dataset/*.tar; do tar -xf $slice -C $dataset && rm $slice; done ``` ## Pipeline ```bash python3 -m hloc.pipelines.CMU.pipeline ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/CMU/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/CMU/pipeline.py ================================================ from pathlib import Path import argparse from ... import extract_features, match_features, triangulation, logger from ... import pairs_from_covisibility, pairs_from_retrieval, localize_sfm TEST_SLICES = [2, 3, 4, 5, 6, 13, 14, 15, 16, 17, 18, 19, 20, 21] def generate_query_list(dataset, path, slice_): cameras = {} with open(dataset / 'intrinsics.txt', 'r') as f: for line in f.readlines(): if line[0] == '#' or line == '\n': continue data = line.split() cameras[data[0]] = data[1:] assert len(cameras) == 2 queries = dataset / f'{slice_}/test-images-{slice_}.txt' with open(queries, 'r') as f: queries = [q.rstrip('\n') for q in f.readlines()] out = [[q] + cameras[q.split('_')[2]] for q in queries] with open(path, 'w') as f: f.write('\n'.join(map(' '.join, out))) def run_slice(slice_, root, outputs, num_covis, num_loc): dataset = root / slice_ ref_images = dataset / 'database' query_images = dataset / 'query' sift_sfm = dataset / 'sparse' outputs = outputs / slice_ outputs.mkdir(exist_ok=True, parents=True) query_list = dataset / 'queries_with_intrinsics.txt' sfm_pairs = outputs / f'pairs-db-covis{num_covis}.txt' loc_pairs = outputs / f'pairs-query-netvlad{num_loc}.txt' ref_sfm = outputs / 'sfm_superpoint+superglue' results = outputs / f'CMU_hloc_superpoint+superglue_netvlad{num_loc}.txt' # pick one of the configurations for extraction and matching retrieval_conf = extract_features.confs['netvlad'] feature_conf = extract_features.confs['superpoint_aachen'] matcher_conf = match_features.confs['superglue'] pairs_from_covisibility.main(sift_sfm, sfm_pairs, num_matched=num_covis) features = extract_features.main( feature_conf, ref_images, outputs, as_half=True) sfm_matches = match_features.main( matcher_conf, sfm_pairs, feature_conf['output'], outputs) triangulation.main( ref_sfm, sift_sfm, ref_images, sfm_pairs, features, sfm_matches) generate_query_list(root, query_list, slice_) global_descriptors = extract_features.main( retrieval_conf, ref_images, outputs) global_descriptors = extract_features.main( retrieval_conf, query_images, outputs) pairs_from_retrieval.main( global_descriptors, loc_pairs, num_loc, query_list=query_list, db_model=ref_sfm) features = extract_features.main( feature_conf, query_images, outputs, as_half=True) loc_matches = match_features.main( matcher_conf, loc_pairs, feature_conf['output'], outputs) localize_sfm.main( ref_sfm, dataset / 'queries/*_time_queries_with_intrinsics.txt', loc_pairs, features, loc_matches, results) if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--slices', type=str, default='*', help='a single number, an interval (e.g. 2-6), ' 'or a Python-style list or int (e.g. [2, 3, 4]') parser.add_argument('--dataset', type=Path, default='datasets/cmu_extended', help='Path to the dataset, default: %(default)s') parser.add_argument('--outputs', type=Path, default='outputs/aachen_extended', help='Path to the output directory, default: %(default)s') parser.add_argument('--num_covis', type=int, default=20, help='Number of image pairs for SfM, default: %(default)s') parser.add_argument('--num_loc', type=int, default=10, help='Number of image pairs for loc, default: %(default)s') args = parser.parse_args() if args.slice == '*': slices = TEST_SLICES if '-' in args.slices: min_, max_ = args.slices.split('-') slices = list(range(int(min_), int(max_)+1)) else: slices = eval(args.slices) if isinstance(slices, int): slices = [slices] for slice_ in slices: logger.info('Working on slice %s.', slice_) run_slice( f'slice{slice_}', args.dataset, args.outputs, args.num_covis, args.num_loc) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Cambridge/README.md ================================================ # Cambridge Landmarks dataset ## Installation Download the dataset from the [PoseNet project page](http://mi.eng.cam.ac.uk/projects/relocalisation/): ```bash export dataset=datasets/cambridge export scenes=( "KingsCollege" "OldHospital" "StMarysChurch" "ShopFacade" "GreatCourt" ) export IDs=( "251342" "251340" "251294" "251336" "251291" ) for i in "${!scenes[@]}"; do wget https://www.repository.cam.ac.uk/bitstream/handle/1810/${IDs[i]}/${scenes[i]}.zip -P $dataset \ && unzip $dataset/${scenes[i]}.zip -d $dataset && rm $dataset/${scenes[i]}.zip; done ``` Download the SIFT SfM models, courtesy of Torsten Sattler: ```bash export fileid=1esqzZ1zEQlzZVic-H32V6kkZvc4NeS15 export filename=$dataset/CambridgeLandmarks_Colmap_Retriangulated_1024px.zip wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate "https://docs.google.com/uc?export=download&id=$fileid" -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=$fileid" -O $filename && rm -rf /tmp/cookies.txt unzip $filename -d $dataset ``` ## Pipeline ```bash python3 -m hloc.pipelines.Cambridge.pipeline ``` ## Results We report the median error in translation/rotation in cm/deg over all scenes: | Method \ Scene | Court | King's | Hospital | Shop | St. Mary's | | ------------------------ | --------------- | --------------- | --------------- | -------------- | -------------- | | Active Search | 24/0.13 | 13/0.22 | 20/0.36 | **4**/0.21 | 8/0.25 | | DSAC* | 49/0.3 | 15/0.3 | 21/0.4 | 5/0.3 | 13/0.4 | | **SuperPoint+SuperGlue** | **17**/**0.11** | **12**/**0.21** | **14**/**0.30** | **4**/**0.19** | **7**/**0.22** | ## Citation Please cite the following paper if you use the Cambridge Landmarks dataset: ``` @inproceedings{kendall2015posenet, title={{PoseNet}: A convolutional network for real-time {6-DoF} camera relocalization}, author={Kendall, Alex and Grimes, Matthew and Cipolla, Roberto}, booktitle={ICCV}, year={2015} } ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Cambridge/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Cambridge/pipeline.py ================================================ from pathlib import Path import argparse from .utils import ( create_query_list_with_intrinsics, scale_sfm_images, evaluate) from ... import extract_features, match_features, pairs_from_covisibility from ... import triangulation, localize_sfm, pairs_from_retrieval, logger SCENES = ['KingsCollege', 'OldHospital', 'ShopFacade', 'StMarysChurch', 'GreatCourt'] def run_scene(images, gt_dir, outputs, results, num_covis, num_loc): ref_sfm_sift = gt_dir / 'model_train' test_list = gt_dir / 'list_query.txt' outputs.mkdir(exist_ok=True, parents=True) ref_sfm = outputs / 'sfm_superpoint+superglue' ref_sfm_scaled = outputs / 'sfm_sift_scaled' query_list = outputs / 'query_list_with_intrinsics.txt' sfm_pairs = outputs / f'pairs-db-covis{num_covis}.txt' loc_pairs = outputs / f'pairs-query-netvlad{num_loc}.txt' feature_conf = { 'output': 'feats-superpoint-n4096-r1024', 'model': { 'name': 'superpoint', 'nms_radius': 3, 'max_keypoints': 4096, }, 'preprocessing': { 'grayscale': True, 'resize_max': 1024, }, } matcher_conf = match_features.confs['superglue'] retrieval_conf = extract_features.confs['netvlad'] create_query_list_with_intrinsics( gt_dir / 'empty_all', query_list, test_list, ext='.txt', image_dir=images) with open(test_list, 'r') as f: query_seqs = {q.split('/')[0] for q in f.read().rstrip().split('\n')} global_descriptors = extract_features.main(retrieval_conf, images, outputs) pairs_from_retrieval.main( global_descriptors, loc_pairs, num_loc, db_model=ref_sfm_sift, query_prefix=query_seqs) features = extract_features.main( feature_conf, images, outputs, as_half=True) pairs_from_covisibility.main( ref_sfm_sift, sfm_pairs, num_matched=num_covis) sfm_matches = match_features.main( matcher_conf, sfm_pairs, feature_conf['output'], outputs) scale_sfm_images(ref_sfm_sift, ref_sfm_scaled, images) triangulation.main( ref_sfm, ref_sfm_scaled, images, sfm_pairs, features, sfm_matches) loc_matches = match_features.main( matcher_conf, loc_pairs, feature_conf['output'], outputs) localize_sfm.main( ref_sfm, query_list, loc_pairs, features, loc_matches, results, covisibility_clustering=False, prepend_camera_name=True) if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--scenes', default=SCENES, choices=SCENES, nargs='+') parser.add_argument('--overwrite', action='store_true') parser.add_argument('--dataset', type=Path, default='datasets/cambridge', help='Path to the dataset, default: %(default)s') parser.add_argument('--outputs', type=Path, default='outputs/cambridge', help='Path to the output directory, default: %(default)s') parser.add_argument('--num_covis', type=int, default=20, help='Number of image pairs for SfM, default: %(default)s') parser.add_argument('--num_loc', type=int, default=10, help='Number of image pairs for loc, default: %(default)s') args = parser.parse_args() gt_dirs = args.dataset / 'CambridgeLandmarks_Colmap_Retriangulated_1024px' all_results = {} for scene in args.scenes: logger.info(f'Working on scene "{scene}".') results = args.outputs / scene / 'results.txt' if args.overwrite or not results.exists(): run_scene( args.dataset / scene, gt_dirs / scene, args.outputs / scene, results, args.num_covis, args.num_loc) all_results[scene] = results for scene in args.scenes: logger.info(f'Evaluate scene "{scene}".') evaluate( gt_dirs / scene / 'empty_all', all_results[scene], gt_dirs / scene / 'list_query.txt', ext='.txt') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/Cambridge/utils.py ================================================ import cv2 import logging import numpy as np from hloc.utils.read_write_model import ( read_cameras_binary, read_images_binary, read_model, write_model, qvec2rotmat, read_images_text, read_cameras_text) logger = logging.getLogger(__name__) def scale_sfm_images(full_model, scaled_model, image_dir): '''Duplicate the provided model and scale the camera intrinsics so that they match the original image resolution - makes everything easier. ''' logger.info('Scaling the COLMAP model to the original image size.') scaled_model.mkdir(exist_ok=True) cameras, images, points3D = read_model(full_model) scaled_cameras = {} for id_, image in images.items(): name = image.name img = cv2.imread(str(image_dir / name)) assert img is not None, image_dir / name h, w = img.shape[:2] cam_id = image.camera_id if cam_id in scaled_cameras: assert scaled_cameras[cam_id].width == w assert scaled_cameras[cam_id].height == h continue camera = cameras[cam_id] assert camera.model == 'SIMPLE_RADIAL' sx = w / camera.width sy = h / camera.height assert sx == sy, (sx, sy) scaled_cameras[cam_id] = camera._replace( width=w, height=h, params=camera.params*np.array([sx, sx, sy, 1.])) write_model(scaled_cameras, images, points3D, scaled_model) def create_query_list_with_intrinsics(model, out, list_file=None, ext='.bin', image_dir=None): '''Create a list of query images with intrinsics from the colmap model.''' if ext == '.bin': images = read_images_binary(model / 'images.bin') cameras = read_cameras_binary(model / 'cameras.bin') else: images = read_images_text(model / 'images.txt') cameras = read_cameras_text(model / 'cameras.txt') name2id = {image.name: i for i, image in images.items()} if list_file is None: names = list(name2id) else: with open(list_file, 'r') as f: names = f.read().rstrip().split('\n') data = [] for name in names: image = images[name2id[name]] camera = cameras[image.camera_id] w, h, params = camera.width, camera.height, camera.params if image_dir is not None: # Check the original image size and rescale the camera intrinsics img = cv2.imread(str(image_dir / name)) assert img is not None, image_dir / name h_orig, w_orig = img.shape[:2] assert camera.model == 'SIMPLE_RADIAL' sx = w_orig / w sy = h_orig / h assert sx == sy, (sx, sy) w, h = w_orig, h_orig params = params * np.array([sx, sx, sy, 1.]) p = [name, camera.model, w, h] + params.tolist() data.append(' '.join(map(str, p))) with open(out, 'w') as f: f.write('\n'.join(data)) def evaluate(model, results, list_file=None, ext='.bin', only_localized=False): predictions = {} with open(results, 'r') as f: for data in f.read().rstrip().split('\n'): data = data.split() name = data[0] q, t = np.split(np.array(data[1:], float), [4]) predictions[name] = (qvec2rotmat(q), t) if ext == '.bin': images = read_images_binary(model / 'images.bin') else: images = read_images_text(model / 'images.txt') name2id = {image.name: i for i, image in images.items()} if list_file is None: test_names = list(name2id) else: with open(list_file, 'r') as f: test_names = f.read().rstrip().split('\n') errors_t = [] errors_R = [] for name in test_names: if name not in predictions: if only_localized: continue e_t = np.inf e_R = 180. else: image = images[name2id[name]] R_gt, t_gt = image.qvec2rotmat(), image.tvec R, t = predictions[name] e_t = np.linalg.norm(-R_gt.T @ t_gt + R.T @ t, axis=0) cos = np.clip((np.trace(np.dot(R_gt.T, R)) - 1) / 2, -1., 1.) e_R = np.rad2deg(np.abs(np.arccos(cos))) errors_t.append(e_t) errors_R.append(e_R) errors_t = np.array(errors_t) errors_R = np.array(errors_R) med_t = np.median(errors_t) med_R = np.median(errors_R) out = f'Results for file {results.name}:' out += f'\nMedian errors: {med_t:.3f}m, {med_R:.3f}deg' out += '\nPercentage of test images localized within:' threshs_t = [0.01, 0.02, 0.03, 0.05, 0.25, 0.5, 5.0] threshs_R = [1.0, 2.0, 3.0, 5.0, 2.0, 5.0, 10.0] for th_t, th_R in zip(threshs_t, threshs_R): ratio = np.mean((errors_t < th_t) & (errors_R < th_R)) out += f'\n\t{th_t*100:.0f}cm, {th_R:.0f}deg : {ratio*100:.2f}%' logger.info(out) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/RobotCar/README.md ================================================ # RobotCar Seasons dataset ## Installation Download the dataset from [visuallocalization.net](https://www.visuallocalization.net): ```bash export dataset=datasets/robotcar wget -r -np -nH -R "index.html*" --cut-dirs=4 https://data.ciirc.cvut.cz/public/projects/2020VisualLocalization/RobotCar-Seasons/ -P $dataset for condition in $dataset/images/*.zip; do unzip condition -d $dataset/images/; done ``` ## Pipeline ```bash python3 -m hloc.pipelines.RobotCar.pipeline ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/RobotCar/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/RobotCar/colmap_from_nvm.py ================================================ import argparse import sqlite3 from tqdm import tqdm from collections import defaultdict import numpy as np from pathlib import Path import logging from ...colmap_from_nvm import ( recover_database_images_and_ids, camera_center_to_translation) from ...utils.read_write_model import Camera, Image, Point3D, CAMERA_MODEL_IDS from ...utils.read_write_model import write_model logger = logging.getLogger(__name__) def read_nvm_model( nvm_path, database_path, image_ids, camera_ids, skip_points=False): # Extract the intrinsics from the db file instead of the NVM model db = sqlite3.connect(str(database_path)) ret = db.execute( 'SELECT camera_id, model, width, height, params FROM cameras;') cameras = {} for camera_id, camera_model, width, height, params in ret: params = np.fromstring(params, dtype=np.double).reshape(-1) camera_model = CAMERA_MODEL_IDS[camera_model] assert len(params) == camera_model.num_params, (len(params), camera_model.num_params) camera = Camera( id=camera_id, model=camera_model.model_name, width=int(width), height=int(height), params=params) cameras[camera_id] = camera nvm_f = open(nvm_path, 'r') line = nvm_f.readline() while line == '\n' or line.startswith('NVM_V3'): line = nvm_f.readline() num_images = int(line) # assert num_images == len(cameras), (num_images, len(cameras)) logger.info(f'Reading {num_images} images...') image_idx_to_db_image_id = [] image_data = [] i = 0 while i < num_images: line = nvm_f.readline() if line == '\n': continue data = line.strip('\n').lstrip('./').split(' ') image_data.append(data) image_idx_to_db_image_id.append(image_ids[data[0]]) i += 1 line = nvm_f.readline() while line == '\n': line = nvm_f.readline() num_points = int(line) if skip_points: logger.info(f'Skipping {num_points} points.') num_points = 0 else: logger.info(f'Reading {num_points} points...') points3D = {} image_idx_to_keypoints = defaultdict(list) i = 0 pbar = tqdm(total=num_points, unit='pts') while i < num_points: line = nvm_f.readline() if line == '\n': continue data = line.strip('\n').split(' ') x, y, z, r, g, b, num_observations = data[:7] obs_image_ids, point2D_idxs = [], [] for j in range(int(num_observations)): s = 7 + 4*j img_index, kp_index, kx, ky = data[s:s+4] image_idx_to_keypoints[int(img_index)].append( (int(kp_index), float(kx), float(ky), i)) db_image_id = image_idx_to_db_image_id[int(img_index)] obs_image_ids.append(db_image_id) point2D_idxs.append(kp_index) point = Point3D( id=i, xyz=np.array([x, y, z], float), rgb=np.array([r, g, b], int), error=1., # fake image_ids=np.array(obs_image_ids, int), point2D_idxs=np.array(point2D_idxs, int)) points3D[i] = point i += 1 pbar.update(1) pbar.close() logger.info('Parsing image data...') images = {} for i, data in enumerate(image_data): # Skip the focal length. Skip the distortion and terminal 0. name, _, qw, qx, qy, qz, cx, cy, cz, _, _ = data qvec = np.array([qw, qx, qy, qz], float) c = np.array([cx, cy, cz], float) t = camera_center_to_translation(c, qvec) if i in image_idx_to_keypoints: # NVM only stores triangulated 2D keypoints: add dummy ones keypoints = image_idx_to_keypoints[i] point2D_idxs = np.array([d[0] for d in keypoints]) tri_xys = np.array([[x, y] for _, x, y, _ in keypoints]) tri_ids = np.array([i for _, _, _, i in keypoints]) num_2Dpoints = max(point2D_idxs) + 1 xys = np.zeros((num_2Dpoints, 2), float) point3D_ids = np.full(num_2Dpoints, -1, int) xys[point2D_idxs] = tri_xys point3D_ids[point2D_idxs] = tri_ids else: xys = np.zeros((0, 2), float) point3D_ids = np.full(0, -1, int) image_id = image_ids[name] image = Image( id=image_id, qvec=qvec, tvec=t, camera_id=camera_ids[name], name=name.replace('png', 'jpg'), # some hack required for RobotCar xys=xys, point3D_ids=point3D_ids) images[image_id] = image return cameras, images, points3D def main(nvm, database, output, skip_points=False): assert nvm.exists(), nvm assert database.exists(), database image_ids, camera_ids = recover_database_images_and_ids(database) logger.info('Reading the NVM model...') model = read_nvm_model( nvm, database, image_ids, camera_ids, skip_points=skip_points) logger.info('Writing the COLMAP model...') output.mkdir(exist_ok=True, parents=True) write_model(*model, path=str(output), ext='.bin') logger.info('Done.') if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--nvm', required=True, type=Path) parser.add_argument('--database', required=True, type=Path) parser.add_argument('--output', required=True, type=Path) parser.add_argument('--skip_points', action='store_true') args = parser.parse_args() main(**args.__dict__) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/RobotCar/pipeline.py ================================================ from pathlib import Path import argparse from . import colmap_from_nvm from ... import extract_features, match_features, triangulation from ... import pairs_from_covisibility, pairs_from_retrieval, localize_sfm CONDITIONS = ['dawn', 'dusk', 'night', 'night-rain', 'overcast-summer', 'overcast-winter', 'rain', 'snow', 'sun'] def generate_query_list(dataset, image_dir, path): h, w = 1024, 1024 intrinsics_filename = 'intrinsics/{}_intrinsics.txt' cameras = {} for side in ['left', 'right', 'rear']: with open(dataset / intrinsics_filename.format(side), 'r') as f: fx = f.readline().split()[1] fy = f.readline().split()[1] cx = f.readline().split()[1] cy = f.readline().split()[1] assert fx == fy params = ['SIMPLE_RADIAL', w, h, fx, cx, cy, 0.0] cameras[side] = [str(p) for p in params] queries = sorted(image_dir.glob('**/*.jpg')) queries = [str(q.relative_to(image_dir.parents[0])) for q in queries] out = [[q] + cameras[Path(q).parent.name] for q in queries] with open(path, 'w') as f: f.write('\n'.join(map(' '.join, out))) parser = argparse.ArgumentParser() parser.add_argument('--dataset', type=Path, default='datasets/robotcar', help='Path to the dataset, default: %(default)s') parser.add_argument('--outputs', type=Path, default='outputs/robotcar', help='Path to the output directory, default: %(default)s') parser.add_argument('--num_covis', type=int, default=20, help='Number of image pairs for SfM, default: %(default)s') parser.add_argument('--num_loc', type=int, default=20, help='Number of image pairs for loc, default: %(default)s') args = parser.parse_args() # Setup the paths dataset = args.dataset images = dataset / 'images/' outputs = args.outputs # where everything will be saved outputs.mkdir(exist_ok=True, parents=True) query_list = outputs / '{condition}_queries_with_intrinsics.txt' sift_sfm = outputs / 'sfm_sift' reference_sfm = outputs / 'sfm_superpoint+superglue' sfm_pairs = outputs / f'pairs-db-covis{args.num_covis}.txt' loc_pairs = outputs / f'pairs-query-netvlad{args.num_loc}.txt' results = outputs / f'RobotCar_hloc_superpoint+superglue_netvlad{args.num_loc}.txt' # pick one of the configurations for extraction and matching retrieval_conf = extract_features.confs['netvlad'] feature_conf = extract_features.confs['superpoint_aachen'] matcher_conf = match_features.confs['superglue'] for condition in CONDITIONS: generate_query_list( dataset, images / condition, str(query_list).format(condition=condition)) features = extract_features.main(feature_conf, images, outputs, as_half=True) colmap_from_nvm.main( dataset / '3D-models/all-merged/all.nvm', dataset / '3D-models/overcast-reference.db', sift_sfm) pairs_from_covisibility.main( sift_sfm, sfm_pairs, num_matched=args.num_covis) sfm_matches = match_features.main( matcher_conf, sfm_pairs, feature_conf['output'], outputs) triangulation.main( reference_sfm, sift_sfm, images, sfm_pairs, features, sfm_matches) global_descriptors = extract_features.main(retrieval_conf, images, outputs) # TODO: do per location and per camera pairs_from_retrieval.main( global_descriptors, loc_pairs, args.num_loc, query_prefix=CONDITIONS, db_model=reference_sfm) loc_matches = match_features.main( matcher_conf, loc_pairs, feature_conf['output'], outputs) localize_sfm.main( reference_sfm, Path(str(query_list).format(condition='*')), loc_pairs, features, loc_matches, results, covisibility_clustering=False, prepend_camera_name=True) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/pipelines/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/reconstruction.py ================================================ import argparse import shutil from typing import Optional, List, Dict, Any import multiprocessing from pathlib import Path import pycolmap from . import logger from .utils.database import COLMAPDatabase from .triangulation import ( import_features, import_matches, estimation_and_geometric_verification, OutputCapture, parse_option_args) def create_empty_db(database_path: Path): if database_path.exists(): logger.warning('The database already exists, deleting it.') database_path.unlink() logger.info('Creating an empty database...') db = COLMAPDatabase.connect(database_path) db.create_tables() db.commit() db.close() def import_images(image_dir: Path, database_path: Path, camera_mode: pycolmap.CameraMode, image_list: Optional[List[str]] = None, options: Optional[Dict[str, Any]] = None): logger.info('Importing images into the database...') if options is None: options = {} images = list(image_dir.iterdir()) if len(images) == 0: raise IOError(f'No images found in {image_dir}.') with pycolmap.ostream(): pycolmap.import_images(database_path, image_dir, camera_mode, image_list=image_list or [], options=options) def get_image_ids(database_path: Path) -> Dict[str, int]: db = COLMAPDatabase.connect(database_path) images = {} for name, image_id in db.execute("SELECT name, image_id FROM images;"): images[name] = image_id db.close() return images def run_reconstruction(sfm_dir: Path, database_path: Path, image_dir: Path, verbose: bool = False, options: Optional[Dict[str, Any]] = None, ) -> pycolmap.Reconstruction: models_path = sfm_dir / 'models' models_path.mkdir(exist_ok=True, parents=True) logger.info('Running 3D reconstruction...') if options is None: options = {} options = {'num_threads': min(multiprocessing.cpu_count(), 16), **options} with OutputCapture(verbose): with pycolmap.ostream(): reconstructions = pycolmap.incremental_mapping( database_path, image_dir, models_path, options=options) if len(reconstructions) == 0: logger.error('Could not reconstruct any model!') return None logger.info(f'Reconstructed {len(reconstructions)} model(s).') largest_index = None largest_num_images = 0 for index, rec in reconstructions.items(): num_images = rec.num_reg_images() if num_images > largest_num_images: largest_index = index largest_num_images = num_images assert largest_index is not None logger.info(f'Largest model is #{largest_index} ' f'with {largest_num_images} images.') for filename in ['images.bin', 'cameras.bin', 'points3D.bin']: if (sfm_dir / filename).exists(): (sfm_dir / filename).unlink() shutil.move( str(models_path / str(largest_index) / filename), str(sfm_dir)) return reconstructions[largest_index] def main(sfm_dir: Path, image_dir: Path, pairs: Path, features: Path, matches: Path, camera_mode: pycolmap.CameraMode = pycolmap.CameraMode.AUTO, verbose: bool = False, skip_geometric_verification: bool = False, min_match_score: Optional[float] = None, image_list: Optional[List[str]] = None, image_options: Optional[Dict[str, Any]] = None, mapper_options: Optional[Dict[str, Any]] = None, ) -> pycolmap.Reconstruction: assert features.exists(), features assert pairs.exists(), pairs assert matches.exists(), matches sfm_dir.mkdir(parents=True, exist_ok=True) database = sfm_dir / 'database.db' create_empty_db(database) import_images(image_dir, database, camera_mode, image_list, image_options) image_ids = get_image_ids(database) import_features(image_ids, database, features) import_matches(image_ids, database, pairs, matches, min_match_score, skip_geometric_verification) if not skip_geometric_verification: estimation_and_geometric_verification(database, pairs, verbose) reconstruction = run_reconstruction( sfm_dir, database, image_dir, verbose, mapper_options) if reconstruction is not None: logger.info(f'Reconstruction statistics:\n{reconstruction.summary()}' + f'\n\tnum_input_images = {len(image_ids)}') return reconstruction if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--sfm_dir', type=Path, required=True) parser.add_argument('--image_dir', type=Path, required=True) parser.add_argument('--pairs', type=Path, required=True) parser.add_argument('--features', type=Path, required=True) parser.add_argument('--matches', type=Path, required=True) parser.add_argument('--camera_mode', type=str, default="AUTO", choices=list(pycolmap.CameraMode.__members__.keys())) parser.add_argument('--skip_geometric_verification', action='store_true') parser.add_argument('--min_match_score', type=float) parser.add_argument('--verbose', action='store_true') parser.add_argument('--image_options', nargs='+', default=[], help='List of key=value from {}'.format( pycolmap.ImageReaderOptions().todict())) parser.add_argument('--mapper_options', nargs='+', default=[], help='List of key=value from {}'.format( pycolmap.IncrementalMapperOptions().todict())) args = parser.parse_args().__dict__ image_options = parse_option_args( args.pop("image_options"), pycolmap.ImageReaderOptions()) mapper_options = parse_option_args( args.pop("mapper_options"), pycolmap.IncrementalMapperOptions()) main(**args, image_options=image_options, mapper_options=mapper_options) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/triangulation.py ================================================ import argparse import contextlib from typing import Optional, List, Dict, Any import io import sys from pathlib import Path import numpy as np from tqdm import tqdm import pycolmap from . import logger from .utils.database import COLMAPDatabase from .utils.io import get_keypoints, get_matches from .utils.parsers import parse_retrieval from .utils.geometry import compute_epipolar_errors class OutputCapture: def __init__(self, verbose: bool): self.verbose = verbose def __enter__(self): if not self.verbose: self.capture = contextlib.redirect_stdout(io.StringIO()) self.out = self.capture.__enter__() def __exit__(self, exc_type, *args): if not self.verbose: self.capture.__exit__(exc_type, *args) if exc_type is not None: logger.error('Failed with output:\n%s', self.out.getvalue()) sys.stdout.flush() def create_db_from_model(reconstruction: pycolmap.Reconstruction, database_path: Path) -> Dict[str, int]: if database_path.exists(): logger.warning('The database already exists, deleting it.') database_path.unlink() db = COLMAPDatabase.connect(database_path) db.create_tables() for i, camera in reconstruction.cameras.items(): db.add_camera( camera.model_id, camera.width, camera.height, camera.params, camera_id=i, prior_focal_length=True) for i, image in reconstruction.images.items(): db.add_image(image.name, image.camera_id, image_id=i) db.commit() db.close() return {image.name: i for i, image in reconstruction.images.items()} def import_features(image_ids: Dict[str, int], database_path: Path, features_path: Path): logger.info('Importing features into the database...') db = COLMAPDatabase.connect(database_path) for image_name, image_id in tqdm(image_ids.items()): keypoints = get_keypoints(features_path, image_name) keypoints += 0.5 # COLMAP origin db.add_keypoints(image_id, keypoints) db.commit() db.close() def import_matches(image_ids: Dict[str, int], database_path: Path, pairs_path: Path, matches_path: Path, min_match_score: Optional[float] = None, skip_geometric_verification: bool = False): logger.info('Importing matches into the database...') with open(str(pairs_path), 'r') as f: pairs = [p.split() for p in f.readlines()] db = COLMAPDatabase.connect(database_path) matched = set() for name0, name1 in tqdm(pairs): id0, id1 = image_ids[name0], image_ids[name1] if len({(id0, id1), (id1, id0)} & matched) > 0: continue matches, scores = get_matches(matches_path, name0, name1) if min_match_score: matches = matches[scores > min_match_score] db.add_matches(id0, id1, matches) matched |= {(id0, id1), (id1, id0)} if skip_geometric_verification: db.add_two_view_geometry(id0, id1, matches) db.commit() db.close() def estimation_and_geometric_verification(database_path: Path, pairs_path: Path, verbose: bool = False): logger.info('Performing geometric verification of the matches...') with OutputCapture(verbose): with pycolmap.ostream(): pycolmap.verify_matches( database_path, pairs_path, max_num_trials=20000, min_inlier_ratio=0.1) def geometric_verification(image_ids: Dict[str, int], reference: pycolmap.Reconstruction, database_path: Path, features_path: Path, pairs_path: Path, matches_path: Path, max_error: float = 4.0): logger.info('Performing geometric verification of the matches...') pairs = parse_retrieval(pairs_path) db = COLMAPDatabase.connect(database_path) inlier_ratios = [] matched = set() for name0 in tqdm(pairs): id0 = image_ids[name0] image0 = reference.images[id0] cam0 = reference.cameras[image0.camera_id] kps0, noise0 = get_keypoints( features_path, name0, return_uncertainty=True) noise0 = 1.0 if noise0 is None else noise0 if len(kps0) > 0: kps0 = np.stack(cam0.image_to_world(kps0)) else: kps0 = np.zeros((0, 2)) for name1 in pairs[name0]: id1 = image_ids[name1] image1 = reference.images[id1] cam1 = reference.cameras[image1.camera_id] kps1, noise1 = get_keypoints( features_path, name1, return_uncertainty=True) noise1 = 1.0 if noise1 is None else noise1 if len(kps1) > 0: kps1 = np.stack(cam1.image_to_world(kps1)) else: kps1 = np.zeros((0, 2)) matches = get_matches(matches_path, name0, name1)[0] if len({(id0, id1), (id1, id0)} & matched) > 0: continue matched |= {(id0, id1), (id1, id0)} if matches.shape[0] == 0: db.add_two_view_geometry(id0, id1, matches) continue qvec_01, tvec_01 = pycolmap.relative_pose( image0.qvec, image0.tvec, image1.qvec, image1.tvec) _, errors0, errors1 = compute_epipolar_errors( qvec_01, tvec_01, kps0[matches[:, 0]], kps1[matches[:, 1]]) valid_matches = np.logical_and( errors0 <= max_error * noise0 / cam0.mean_focal_length(), errors1 <= max_error * noise1 / cam1.mean_focal_length()) # TODO: We could also add E to the database, but we need # to reverse the transformations if id0 > id1 in utils/database.py. db.add_two_view_geometry(id0, id1, matches[valid_matches, :]) inlier_ratios.append(np.mean(valid_matches)) logger.info('mean/med/min/max valid matches %.2f/%.2f/%.2f/%.2f%%.', np.mean(inlier_ratios) * 100, np.median(inlier_ratios) * 100, np.min(inlier_ratios) * 100, np.max(inlier_ratios) * 100) db.commit() db.close() def run_triangulation(model_path: Path, database_path: Path, image_dir: Path, reference_model: pycolmap.Reconstruction, verbose: bool = False, options: Optional[Dict[str, Any]] = None, ) -> pycolmap.Reconstruction: model_path.mkdir(parents=True, exist_ok=True) logger.info('Running 3D triangulation...') if options is None: options = {} with OutputCapture(verbose): with pycolmap.ostream(): reconstruction = pycolmap.triangulate_points( reference_model, database_path, image_dir, model_path, options=options) return reconstruction def main(sfm_dir: Path, reference_model: Path, image_dir: Path, pairs: Path, features: Path, matches: Path, skip_geometric_verification: bool = False, estimate_two_view_geometries: bool = False, min_match_score: Optional[float] = None, verbose: bool = False, mapper_options: Optional[Dict[str, Any]] = None, ) -> pycolmap.Reconstruction: assert reference_model.exists(), reference_model assert features.exists(), features assert pairs.exists(), pairs assert matches.exists(), matches sfm_dir.mkdir(parents=True, exist_ok=True) database = sfm_dir / 'database.db' reference = pycolmap.Reconstruction(reference_model) image_ids = create_db_from_model(reference, database) import_features(image_ids, database, features) import_matches(image_ids, database, pairs, matches, min_match_score, skip_geometric_verification) if not skip_geometric_verification: if estimate_two_view_geometries: estimation_and_geometric_verification(database, pairs, verbose) else: geometric_verification( image_ids, reference, database, features, pairs, matches) reconstruction = run_triangulation(sfm_dir, database, image_dir, reference, verbose, mapper_options) logger.info('Finished the triangulation with statistics:\n%s', reconstruction.summary()) return reconstruction def parse_option_args(args: List[str], default_options) -> Dict[str, Any]: options = {} for arg in args: idx = arg.find('=') if idx == -1: raise ValueError('Options format: key1=value1 key2=value2 etc.') key, value = arg[:idx], arg[idx+1:] if not hasattr(default_options, key): raise ValueError( f'Unknown option "{key}", allowed options and default values' f' for {default_options.summary()}') value = eval(value) target_type = type(getattr(default_options, key)) if not isinstance(value, target_type): raise ValueError(f'Incorrect type for option "{key}":' f' {type(value)} vs {target_type}') options[key] = value return options if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--sfm_dir', type=Path, required=True) parser.add_argument('--reference_sfm_model', type=Path, required=True) parser.add_argument('--image_dir', type=Path, required=True) parser.add_argument('--pairs', type=Path, required=True) parser.add_argument('--features', type=Path, required=True) parser.add_argument('--matches', type=Path, required=True) parser.add_argument('--skip_geometric_verification', action='store_true') parser.add_argument('--min_match_score', type=float) parser.add_argument('--verbose', action='store_true') args = parser.parse_args().__dict__ mapper_options = parse_option_args( args.pop("mapper_options"), pycolmap.IncrementalMapperOptions()) main(**args, mapper_options=mapper_options) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/utils/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/utils/base_model.py ================================================ import sys from abc import ABCMeta, abstractmethod from torch import nn from copy import copy import inspect class BaseModel(nn.Module, metaclass=ABCMeta): default_conf = {} required_inputs = [] def __init__(self, conf): """Perform some logic and call the _init method of the child model.""" super().__init__() self.conf = conf = {**self.default_conf, **conf} self.required_inputs = copy(self.required_inputs) self._init(conf) sys.stdout.flush() def forward(self, data): """Check the data and call the _forward method of the child model.""" for key in self.required_inputs: assert key in data, 'Missing key {} in data'.format(key) return self._forward(data) @abstractmethod def _init(self, conf): """To be implemented by the child class.""" raise NotImplementedError @abstractmethod def _forward(self, data): """To be implemented by the child class.""" raise NotImplementedError def dynamic_load(root, model): module_path = f'{root.__name__}.{model}' module = __import__(module_path, fromlist=['']) classes = inspect.getmembers(module, inspect.isclass) # Filter classes defined in the module classes = [c for c in classes if c[1].__module__ == module_path] # Filter classes inherited from BaseModel classes = [c for c in classes if issubclass(c[1], BaseModel)] assert len(classes) == 1, classes return classes[0][1] # return getattr(module, 'Model') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/utils/database.py ================================================ # Copyright (c) 2018, ETH Zurich and UNC Chapel Hill. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # # * Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. # # * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of # its contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) # This script is based on an original implementation by True Price. import sys import sqlite3 import numpy as np IS_PYTHON3 = sys.version_info[0] >= 3 MAX_IMAGE_ID = 2**31 - 1 CREATE_CAMERAS_TABLE = """CREATE TABLE IF NOT EXISTS cameras ( camera_id INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL, model INTEGER NOT NULL, width INTEGER NOT NULL, height INTEGER NOT NULL, params BLOB, prior_focal_length INTEGER NOT NULL)""" CREATE_DESCRIPTORS_TABLE = """CREATE TABLE IF NOT EXISTS descriptors ( image_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, FOREIGN KEY(image_id) REFERENCES images(image_id) ON DELETE CASCADE)""" CREATE_IMAGES_TABLE = """CREATE TABLE IF NOT EXISTS images ( image_id INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL, name TEXT NOT NULL UNIQUE, camera_id INTEGER NOT NULL, prior_qw REAL, prior_qx REAL, prior_qy REAL, prior_qz REAL, prior_tx REAL, prior_ty REAL, prior_tz REAL, CONSTRAINT image_id_check CHECK(image_id >= 0 and image_id < {}), FOREIGN KEY(camera_id) REFERENCES cameras(camera_id)) """.format(MAX_IMAGE_ID) CREATE_TWO_VIEW_GEOMETRIES_TABLE = """ CREATE TABLE IF NOT EXISTS two_view_geometries ( pair_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, config INTEGER NOT NULL, F BLOB, E BLOB, H BLOB, qvec BLOB, tvec BLOB) """ CREATE_KEYPOINTS_TABLE = """CREATE TABLE IF NOT EXISTS keypoints ( image_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, FOREIGN KEY(image_id) REFERENCES images(image_id) ON DELETE CASCADE) """ CREATE_MATCHES_TABLE = """CREATE TABLE IF NOT EXISTS matches ( pair_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB)""" CREATE_NAME_INDEX = \ "CREATE UNIQUE INDEX IF NOT EXISTS index_name ON images(name)" CREATE_ALL = "; ".join([ CREATE_CAMERAS_TABLE, CREATE_IMAGES_TABLE, CREATE_KEYPOINTS_TABLE, CREATE_DESCRIPTORS_TABLE, CREATE_MATCHES_TABLE, CREATE_TWO_VIEW_GEOMETRIES_TABLE, CREATE_NAME_INDEX ]) def image_ids_to_pair_id(image_id1, image_id2): if image_id1 > image_id2: image_id1, image_id2 = image_id2, image_id1 return image_id1 * MAX_IMAGE_ID + image_id2 def pair_id_to_image_ids(pair_id): image_id2 = pair_id % MAX_IMAGE_ID image_id1 = (pair_id - image_id2) / MAX_IMAGE_ID return image_id1, image_id2 def array_to_blob(array): if IS_PYTHON3: return array.tobytes() else: return np.getbuffer(array) def blob_to_array(blob, dtype, shape=(-1,)): if IS_PYTHON3: return np.fromstring(blob, dtype=dtype).reshape(*shape) else: return np.frombuffer(blob, dtype=dtype).reshape(*shape) class COLMAPDatabase(sqlite3.Connection): @staticmethod def connect(database_path): return sqlite3.connect(str(database_path), factory=COLMAPDatabase) def __init__(self, *args, **kwargs): super(COLMAPDatabase, self).__init__(*args, **kwargs) self.create_tables = lambda: self.executescript(CREATE_ALL) self.create_cameras_table = \ lambda: self.executescript(CREATE_CAMERAS_TABLE) self.create_descriptors_table = \ lambda: self.executescript(CREATE_DESCRIPTORS_TABLE) self.create_images_table = \ lambda: self.executescript(CREATE_IMAGES_TABLE) self.create_two_view_geometries_table = \ lambda: self.executescript(CREATE_TWO_VIEW_GEOMETRIES_TABLE) self.create_keypoints_table = \ lambda: self.executescript(CREATE_KEYPOINTS_TABLE) self.create_matches_table = \ lambda: self.executescript(CREATE_MATCHES_TABLE) self.create_name_index = lambda: self.executescript(CREATE_NAME_INDEX) def add_camera(self, model, width, height, params, prior_focal_length=False, camera_id=None): params = np.asarray(params, np.float64) cursor = self.execute( "INSERT INTO cameras VALUES (?, ?, ?, ?, ?, ?)", (camera_id, model, width, height, array_to_blob(params), prior_focal_length)) return cursor.lastrowid def add_image(self, name, camera_id, prior_q=np.full(4, np.NaN), prior_t=np.full(3, np.NaN), image_id=None): cursor = self.execute( "INSERT INTO images VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)", (image_id, name, camera_id, prior_q[0], prior_q[1], prior_q[2], prior_q[3], prior_t[0], prior_t[1], prior_t[2])) return cursor.lastrowid def add_keypoints(self, image_id, keypoints): assert(len(keypoints.shape) == 2) assert(keypoints.shape[1] in [2, 4, 6]) keypoints = np.asarray(keypoints, np.float32) self.execute( "INSERT INTO keypoints VALUES (?, ?, ?, ?)", (image_id,) + keypoints.shape + (array_to_blob(keypoints),)) def add_descriptors(self, image_id, descriptors): descriptors = np.ascontiguousarray(descriptors, np.uint8) self.execute( "INSERT INTO descriptors VALUES (?, ?, ?, ?)", (image_id,) + descriptors.shape + (array_to_blob(descriptors),)) def add_matches(self, image_id1, image_id2, matches): assert(len(matches.shape) == 2) assert(matches.shape[1] == 2) if image_id1 > image_id2: matches = matches[:,::-1] pair_id = image_ids_to_pair_id(image_id1, image_id2) matches = np.asarray(matches, np.uint32) self.execute( "INSERT INTO matches VALUES (?, ?, ?, ?)", (pair_id,) + matches.shape + (array_to_blob(matches),)) def add_two_view_geometry(self, image_id1, image_id2, matches, F=np.eye(3), E=np.eye(3), H=np.eye(3), qvec=np.array([1.0, 0.0, 0.0, 0.0]), tvec=np.zeros(3), config=2): assert(len(matches.shape) == 2) assert(matches.shape[1] == 2) if image_id1 > image_id2: matches = matches[:,::-1] pair_id = image_ids_to_pair_id(image_id1, image_id2) matches = np.asarray(matches, np.uint32) F = np.asarray(F, dtype=np.float64) E = np.asarray(E, dtype=np.float64) H = np.asarray(H, dtype=np.float64) qvec = np.asarray(qvec, dtype=np.float64) tvec = np.asarray(tvec, dtype=np.float64) self.execute( "INSERT INTO two_view_geometries VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)", (pair_id,) + matches.shape + (array_to_blob(matches), config, array_to_blob(F), array_to_blob(E), array_to_blob(H), array_to_blob(qvec), array_to_blob(tvec))) def example_usage(): import os import argparse parser = argparse.ArgumentParser() parser.add_argument("--database_path", default="database.db") args = parser.parse_args() if os.path.exists(args.database_path): print("ERROR: database path already exists -- will not modify it.") return # Open the database. db = COLMAPDatabase.connect(args.database_path) # For convenience, try creating all the tables upfront. db.create_tables() # Create dummy cameras. model1, width1, height1, params1 = \ 0, 1024, 768, np.array((1024., 512., 384.)) model2, width2, height2, params2 = \ 2, 1024, 768, np.array((1024., 512., 384., 0.1)) camera_id1 = db.add_camera(model1, width1, height1, params1) camera_id2 = db.add_camera(model2, width2, height2, params2) # Create dummy images. image_id1 = db.add_image("image1.png", camera_id1) image_id2 = db.add_image("image2.png", camera_id1) image_id3 = db.add_image("image3.png", camera_id2) image_id4 = db.add_image("image4.png", camera_id2) # Create dummy keypoints. # # Note that COLMAP supports: # - 2D keypoints: (x, y) # - 4D keypoints: (x, y, theta, scale) # - 6D affine keypoints: (x, y, a_11, a_12, a_21, a_22) num_keypoints = 1000 keypoints1 = np.random.rand(num_keypoints, 2) * (width1, height1) keypoints2 = np.random.rand(num_keypoints, 2) * (width1, height1) keypoints3 = np.random.rand(num_keypoints, 2) * (width2, height2) keypoints4 = np.random.rand(num_keypoints, 2) * (width2, height2) db.add_keypoints(image_id1, keypoints1) db.add_keypoints(image_id2, keypoints2) db.add_keypoints(image_id3, keypoints3) db.add_keypoints(image_id4, keypoints4) # Create dummy matches. M = 50 matches12 = np.random.randint(num_keypoints, size=(M, 2)) matches23 = np.random.randint(num_keypoints, size=(M, 2)) matches34 = np.random.randint(num_keypoints, size=(M, 2)) db.add_matches(image_id1, image_id2, matches12) db.add_matches(image_id2, image_id3, matches23) db.add_matches(image_id3, image_id4, matches34) # Commit the data to the file. db.commit() # Read and check cameras. rows = db.execute("SELECT * FROM cameras") camera_id, model, width, height, params, prior = next(rows) params = blob_to_array(params, np.float64) assert camera_id == camera_id1 assert model == model1 and width == width1 and height == height1 assert np.allclose(params, params1) camera_id, model, width, height, params, prior = next(rows) params = blob_to_array(params, np.float64) assert camera_id == camera_id2 assert model == model2 and width == width2 and height == height2 assert np.allclose(params, params2) # Read and check keypoints. keypoints = dict( (image_id, blob_to_array(data, np.float32, (-1, 2))) for image_id, data in db.execute( "SELECT image_id, data FROM keypoints")) assert np.allclose(keypoints[image_id1], keypoints1) assert np.allclose(keypoints[image_id2], keypoints2) assert np.allclose(keypoints[image_id3], keypoints3) assert np.allclose(keypoints[image_id4], keypoints4) # Read and check matches. pair_ids = [image_ids_to_pair_id(*pair) for pair in ((image_id1, image_id2), (image_id2, image_id3), (image_id3, image_id4))] matches = dict( (pair_id_to_image_ids(pair_id), blob_to_array(data, np.uint32, (-1, 2))) for pair_id, data in db.execute("SELECT pair_id, data FROM matches") ) assert np.all(matches[(image_id1, image_id2)] == matches12) assert np.all(matches[(image_id2, image_id3)] == matches23) assert np.all(matches[(image_id3, image_id4)] == matches34) # Clean up. db.close() if os.path.exists(args.database_path): os.remove(args.database_path) if __name__ == "__main__": example_usage() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/utils/geometry.py ================================================ import numpy as np import pycolmap def to_homogeneous(p): return np.pad(p, ((0, 0),) * (p.ndim - 1) + ((0, 1),), constant_values=1) def vector_to_cross_product_matrix(v): return np.array([ [0, -v[2], v[1]], [v[2], 0, -v[0]], [-v[1], v[0], 0] ]) def compute_epipolar_errors(qvec_r2t, tvec_r2t, p2d_r, p2d_t): T_r2t = pose_matrix_from_qvec_tvec(qvec_r2t, tvec_r2t) # Compute errors in normalized plane to avoid distortion. E = vector_to_cross_product_matrix(T_r2t[: 3, -1]) @ T_r2t[: 3, : 3] l2d_r2t = (E @ to_homogeneous(p2d_r).T).T l2d_t2r = (E.T @ to_homogeneous(p2d_t).T).T errors_r = ( np.abs(np.sum(to_homogeneous(p2d_r) * l2d_t2r, axis=1)) / np.linalg.norm(l2d_t2r[:, : 2], axis=1)) errors_t = ( np.abs(np.sum(to_homogeneous(p2d_t) * l2d_r2t, axis=1)) / np.linalg.norm(l2d_r2t[:, : 2], axis=1)) return E, errors_r, errors_t def pose_matrix_from_qvec_tvec(qvec, tvec): pose = np.zeros((4, 4)) pose[: 3, : 3] = pycolmap.qvec_to_rotmat(qvec) pose[: 3, -1] = tvec pose[-1, -1] = 1 return pose ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/utils/io.py ================================================ from typing import Tuple from pathlib import Path import numpy as np import cv2 import h5py from .parsers import names_to_pair, names_to_pair_old def read_image(path, grayscale=False): if grayscale: mode = cv2.IMREAD_GRAYSCALE else: mode = cv2.IMREAD_COLOR image = cv2.imread(str(path), mode) if image is None: raise ValueError(f'Cannot read image {path}.') if not grayscale and len(image.shape) == 3: image = image[:, :, ::-1] # BGR to RGB return image def list_h5_names(path): names = [] with h5py.File(str(path), 'r', libver='latest') as fd: def visit_fn(_, obj): if isinstance(obj, h5py.Dataset): names.append(obj.parent.name.strip('/')) fd.visititems(visit_fn) return list(set(names)) def get_keypoints(path: Path, name: str, return_uncertainty: bool = False) -> np.ndarray: with h5py.File(str(path), 'r', libver='latest') as hfile: dset = hfile[name]['keypoints'] p = dset.__array__() uncertainty = dset.attrs.get('uncertainty') if return_uncertainty: return p, uncertainty return p def find_pair(hfile: h5py.File, name0: str, name1: str): pair = names_to_pair(name0, name1) if pair in hfile: return pair, False pair = names_to_pair(name1, name0) if pair in hfile: return pair, True # older, less efficient format pair = names_to_pair_old(name0, name1) if pair in hfile: return pair, False pair = names_to_pair_old(name1, name0) if pair in hfile: return pair, True raise ValueError( f'Could not find pair {(name0, name1)}... ' 'Maybe you matched with a different list of pairs? ') def get_matches(path: Path, name0: str, name1: str) -> Tuple[np.ndarray]: with h5py.File(str(path), 'r', libver='latest') as hfile: pair, reverse = find_pair(hfile, name0, name1) matches = hfile[pair]['matches0'].__array__() scores = hfile[pair]['matching_scores0'].__array__() idx = np.where(matches != -1)[0] matches = np.stack([idx, matches[idx]], -1) if reverse: matches = np.flip(matches, -1) scores = scores[idx] return matches, scores ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/utils/parsers.py ================================================ from pathlib import Path import logging import numpy as np from collections import defaultdict import pycolmap logger = logging.getLogger(__name__) def parse_image_list(path, with_intrinsics=False): images = [] with open(path, 'r') as f: for line in f: line = line.strip('\n') if len(line) == 0 or line[0] == '#': continue name, *data = line.split() if with_intrinsics: model, width, height, *params = data params = np.array(params, float) cam = pycolmap.Camera(model, int(width), int(height), params) images.append((name, cam)) else: images.append(name) assert len(images) > 0 logger.info(f'Imported {len(images)} images from {path.name}') return images def parse_image_lists(paths, with_intrinsics=False): images = [] files = list(Path(paths.parent).glob(paths.name)) assert len(files) > 0 for lfile in files: images += parse_image_list(lfile, with_intrinsics=with_intrinsics) return images def parse_retrieval(path): retrieval = defaultdict(list) with open(path, 'r') as f: for p in f.read().rstrip('\n').split('\n'): if len(p) == 0: continue q, r = p.split() retrieval[q].append(r) return dict(retrieval) def names_to_pair(name0, name1, separator='/'): return separator.join((name0.replace('/', '-'), name1.replace('/', '-'))) def names_to_pair_old(name0, name1): return names_to_pair(name0, name1, separator='_') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/utils/read_write_model.py ================================================ # Copyright (c) 2018, ETH Zurich and UNC Chapel Hill. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # # * Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. # # * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of # its contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) import os import collections import numpy as np import struct import argparse import logging logger = logging.getLogger(__name__) CameraModel = collections.namedtuple( "CameraModel", ["model_id", "model_name", "num_params"]) Camera = collections.namedtuple( "Camera", ["id", "model", "width", "height", "params"]) BaseImage = collections.namedtuple( "Image", ["id", "qvec", "tvec", "camera_id", "name", "xys", "point3D_ids"]) Point3D = collections.namedtuple( "Point3D", ["id", "xyz", "rgb", "error", "image_ids", "point2D_idxs"]) class Image(BaseImage): def qvec2rotmat(self): return qvec2rotmat(self.qvec) CAMERA_MODELS = { CameraModel(model_id=0, model_name="SIMPLE_PINHOLE", num_params=3), CameraModel(model_id=1, model_name="PINHOLE", num_params=4), CameraModel(model_id=2, model_name="SIMPLE_RADIAL", num_params=4), CameraModel(model_id=3, model_name="RADIAL", num_params=5), CameraModel(model_id=4, model_name="OPENCV", num_params=8), CameraModel(model_id=5, model_name="OPENCV_FISHEYE", num_params=8), CameraModel(model_id=6, model_name="FULL_OPENCV", num_params=12), CameraModel(model_id=7, model_name="FOV", num_params=5), CameraModel(model_id=8, model_name="SIMPLE_RADIAL_FISHEYE", num_params=4), CameraModel(model_id=9, model_name="RADIAL_FISHEYE", num_params=5), CameraModel(model_id=10, model_name="THIN_PRISM_FISHEYE", num_params=12) } CAMERA_MODEL_IDS = dict([(camera_model.model_id, camera_model) for camera_model in CAMERA_MODELS]) CAMERA_MODEL_NAMES = dict([(camera_model.model_name, camera_model) for camera_model in CAMERA_MODELS]) def read_next_bytes(fid, num_bytes, format_char_sequence, endian_character="<"): """Read and unpack the next bytes from a binary file. :param fid: :param num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc. :param format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}. :param endian_character: Any of {@, =, <, >, !} :return: Tuple of read and unpacked values. """ data = fid.read(num_bytes) return struct.unpack(endian_character + format_char_sequence, data) def write_next_bytes(fid, data, format_char_sequence, endian_character="<"): """pack and write to a binary file. :param fid: :param data: data to send, if multiple elements are sent at the same time, they should be encapsuled either in a list or a tuple :param format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}. should be the same length as the data list or tuple :param endian_character: Any of {@, =, <, >, !} """ if isinstance(data, (list, tuple)): bytes = struct.pack(endian_character + format_char_sequence, *data) else: bytes = struct.pack(endian_character + format_char_sequence, data) fid.write(bytes) def read_cameras_text(path): """ see: src/base/reconstruction.cc void Reconstruction::WriteCamerasText(const std::string& path) void Reconstruction::ReadCamerasText(const std::string& path) """ cameras = {} with open(path, "r") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() camera_id = int(elems[0]) model = elems[1] width = int(elems[2]) height = int(elems[3]) params = np.array(tuple(map(float, elems[4:]))) cameras[camera_id] = Camera(id=camera_id, model=model, width=width, height=height, params=params) return cameras def read_cameras_binary(path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::WriteCamerasBinary(const std::string& path) void Reconstruction::ReadCamerasBinary(const std::string& path) """ cameras = {} with open(path_to_model_file, "rb") as fid: num_cameras = read_next_bytes(fid, 8, "Q")[0] for _ in range(num_cameras): camera_properties = read_next_bytes( fid, num_bytes=24, format_char_sequence="iiQQ") camera_id = camera_properties[0] model_id = camera_properties[1] model_name = CAMERA_MODEL_IDS[camera_properties[1]].model_name width = camera_properties[2] height = camera_properties[3] num_params = CAMERA_MODEL_IDS[model_id].num_params params = read_next_bytes(fid, num_bytes=8*num_params, format_char_sequence="d"*num_params) cameras[camera_id] = Camera(id=camera_id, model=model_name, width=width, height=height, params=np.array(params)) assert len(cameras) == num_cameras return cameras def write_cameras_text(cameras, path): """ see: src/base/reconstruction.cc void Reconstruction::WriteCamerasText(const std::string& path) void Reconstruction::ReadCamerasText(const std::string& path) """ HEADER = "# Camera list with one line of data per camera:\n" + \ "# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]\n" + \ "# Number of cameras: {}\n".format(len(cameras)) with open(path, "w") as fid: fid.write(HEADER) for _, cam in cameras.items(): to_write = [cam.id, cam.model, cam.width, cam.height, *cam.params] line = " ".join([str(elem) for elem in to_write]) fid.write(line + "\n") def write_cameras_binary(cameras, path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::WriteCamerasBinary(const std::string& path) void Reconstruction::ReadCamerasBinary(const std::string& path) """ with open(path_to_model_file, "wb") as fid: write_next_bytes(fid, len(cameras), "Q") for _, cam in cameras.items(): model_id = CAMERA_MODEL_NAMES[cam.model].model_id camera_properties = [cam.id, model_id, cam.width, cam.height] write_next_bytes(fid, camera_properties, "iiQQ") for p in cam.params: write_next_bytes(fid, float(p), "d") return cameras def read_images_text(path): """ see: src/base/reconstruction.cc void Reconstruction::ReadImagesText(const std::string& path) void Reconstruction::WriteImagesText(const std::string& path) """ images = {} with open(path, "r") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() image_id = int(elems[0]) qvec = np.array(tuple(map(float, elems[1:5]))) tvec = np.array(tuple(map(float, elems[5:8]))) camera_id = int(elems[8]) image_name = elems[9] elems = fid.readline().split() xys = np.column_stack([tuple(map(float, elems[0::3])), tuple(map(float, elems[1::3]))]) point3D_ids = np.array(tuple(map(int, elems[2::3]))) images[image_id] = Image( id=image_id, qvec=qvec, tvec=tvec, camera_id=camera_id, name=image_name, xys=xys, point3D_ids=point3D_ids) return images def read_images_binary(path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::ReadImagesBinary(const std::string& path) void Reconstruction::WriteImagesBinary(const std::string& path) """ images = {} with open(path_to_model_file, "rb") as fid: num_reg_images = read_next_bytes(fid, 8, "Q")[0] for _ in range(num_reg_images): binary_image_properties = read_next_bytes( fid, num_bytes=64, format_char_sequence="idddddddi") image_id = binary_image_properties[0] qvec = np.array(binary_image_properties[1:5]) tvec = np.array(binary_image_properties[5:8]) camera_id = binary_image_properties[8] image_name = "" current_char = read_next_bytes(fid, 1, "c")[0] while current_char != b"\x00": # look for the ASCII 0 entry image_name += current_char.decode("utf-8") current_char = read_next_bytes(fid, 1, "c")[0] num_points2D = read_next_bytes(fid, num_bytes=8, format_char_sequence="Q")[0] x_y_id_s = read_next_bytes(fid, num_bytes=24*num_points2D, format_char_sequence="ddq"*num_points2D) xys = np.column_stack([tuple(map(float, x_y_id_s[0::3])), tuple(map(float, x_y_id_s[1::3]))]) point3D_ids = np.array(tuple(map(int, x_y_id_s[2::3]))) images[image_id] = Image( id=image_id, qvec=qvec, tvec=tvec, camera_id=camera_id, name=image_name, xys=xys, point3D_ids=point3D_ids) return images def write_images_text(images, path): """ see: src/base/reconstruction.cc void Reconstruction::ReadImagesText(const std::string& path) void Reconstruction::WriteImagesText(const std::string& path) """ if len(images) == 0: mean_observations = 0 else: mean_observations = sum((len(img.point3D_ids) for _, img in images.items()))/len(images) HEADER = "# Image list with two lines of data per image:\n" + \ "# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME\n" + \ "# POINTS2D[] as (X, Y, POINT3D_ID)\n" + \ "# Number of images: {}, mean observations per image: {}\n".format(len(images), mean_observations) with open(path, "w") as fid: fid.write(HEADER) for _, img in images.items(): image_header = [img.id, *img.qvec, *img.tvec, img.camera_id, img.name] first_line = " ".join(map(str, image_header)) fid.write(first_line + "\n") points_strings = [] for xy, point3D_id in zip(img.xys, img.point3D_ids): points_strings.append(" ".join(map(str, [*xy, point3D_id]))) fid.write(" ".join(points_strings) + "\n") def write_images_binary(images, path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::ReadImagesBinary(const std::string& path) void Reconstruction::WriteImagesBinary(const std::string& path) """ with open(path_to_model_file, "wb") as fid: write_next_bytes(fid, len(images), "Q") for _, img in images.items(): write_next_bytes(fid, img.id, "i") write_next_bytes(fid, img.qvec.tolist(), "dddd") write_next_bytes(fid, img.tvec.tolist(), "ddd") write_next_bytes(fid, img.camera_id, "i") for char in img.name: write_next_bytes(fid, char.encode("utf-8"), "c") write_next_bytes(fid, b"\x00", "c") write_next_bytes(fid, len(img.point3D_ids), "Q") for xy, p3d_id in zip(img.xys, img.point3D_ids): write_next_bytes(fid, [*xy, p3d_id], "ddq") def read_points3D_text(path): """ see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DText(const std::string& path) void Reconstruction::WritePoints3DText(const std::string& path) """ points3D = {} with open(path, "r") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() point3D_id = int(elems[0]) xyz = np.array(tuple(map(float, elems[1:4]))) rgb = np.array(tuple(map(int, elems[4:7]))) error = float(elems[7]) image_ids = np.array(tuple(map(int, elems[8::2]))) point2D_idxs = np.array(tuple(map(int, elems[9::2]))) points3D[point3D_id] = Point3D(id=point3D_id, xyz=xyz, rgb=rgb, error=error, image_ids=image_ids, point2D_idxs=point2D_idxs) return points3D def read_points3D_binary(path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DBinary(const std::string& path) void Reconstruction::WritePoints3DBinary(const std::string& path) """ points3D = {} with open(path_to_model_file, "rb") as fid: num_points = read_next_bytes(fid, 8, "Q")[0] for _ in range(num_points): binary_point_line_properties = read_next_bytes( fid, num_bytes=43, format_char_sequence="QdddBBBd") point3D_id = binary_point_line_properties[0] xyz = np.array(binary_point_line_properties[1:4]) rgb = np.array(binary_point_line_properties[4:7]) error = np.array(binary_point_line_properties[7]) track_length = read_next_bytes( fid, num_bytes=8, format_char_sequence="Q")[0] track_elems = read_next_bytes( fid, num_bytes=8*track_length, format_char_sequence="ii"*track_length) image_ids = np.array(tuple(map(int, track_elems[0::2]))) point2D_idxs = np.array(tuple(map(int, track_elems[1::2]))) points3D[point3D_id] = Point3D( id=point3D_id, xyz=xyz, rgb=rgb, error=error, image_ids=image_ids, point2D_idxs=point2D_idxs) return points3D def write_points3D_text(points3D, path): """ see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DText(const std::string& path) void Reconstruction::WritePoints3DText(const std::string& path) """ if len(points3D) == 0: mean_track_length = 0 else: mean_track_length = sum((len(pt.image_ids) for _, pt in points3D.items()))/len(points3D) HEADER = "# 3D point list with one line of data per point:\n" + \ "# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)\n" + \ "# Number of points: {}, mean track length: {}\n".format(len(points3D), mean_track_length) with open(path, "w") as fid: fid.write(HEADER) for _, pt in points3D.items(): point_header = [pt.id, *pt.xyz, *pt.rgb, pt.error] fid.write(" ".join(map(str, point_header)) + " ") track_strings = [] for image_id, point2D in zip(pt.image_ids, pt.point2D_idxs): track_strings.append(" ".join(map(str, [image_id, point2D]))) fid.write(" ".join(track_strings) + "\n") def write_points3D_binary(points3D, path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DBinary(const std::string& path) void Reconstruction::WritePoints3DBinary(const std::string& path) """ with open(path_to_model_file, "wb") as fid: write_next_bytes(fid, len(points3D), "Q") for _, pt in points3D.items(): write_next_bytes(fid, pt.id, "Q") write_next_bytes(fid, pt.xyz.tolist(), "ddd") write_next_bytes(fid, pt.rgb.tolist(), "BBB") write_next_bytes(fid, pt.error, "d") track_length = pt.image_ids.shape[0] write_next_bytes(fid, track_length, "Q") for image_id, point2D_id in zip(pt.image_ids, pt.point2D_idxs): write_next_bytes(fid, [image_id, point2D_id], "ii") def detect_model_format(path, ext): if os.path.isfile(os.path.join(path, "cameras" + ext)) and \ os.path.isfile(os.path.join(path, "images" + ext)) and \ os.path.isfile(os.path.join(path, "points3D" + ext)): return True return False def read_model(path, ext=""): # try to detect the extension automatically if ext == "": if detect_model_format(path, ".bin"): ext = ".bin" elif detect_model_format(path, ".txt"): ext = ".txt" else: try: cameras, images, points3D = read_model(os.path.join(path, "model/")) logger.warning( "This SfM file structure was deprecated in hloc v1.1") return cameras, images, points3D except FileNotFoundError: raise FileNotFoundError( f"Could not find binary or text COLMAP model at {path}") if ext == ".txt": cameras = read_cameras_text(os.path.join(path, "cameras" + ext)) images = read_images_text(os.path.join(path, "images" + ext)) points3D = read_points3D_text(os.path.join(path, "points3D") + ext) else: cameras = read_cameras_binary(os.path.join(path, "cameras" + ext)) images = read_images_binary(os.path.join(path, "images" + ext)) points3D = read_points3D_binary(os.path.join(path, "points3D") + ext) return cameras, images, points3D def write_model(cameras, images, points3D, path, ext=".bin"): if ext == ".txt": write_cameras_text(cameras, os.path.join(path, "cameras" + ext)) write_images_text(images, os.path.join(path, "images" + ext)) write_points3D_text(points3D, os.path.join(path, "points3D") + ext) else: write_cameras_binary(cameras, os.path.join(path, "cameras" + ext)) write_images_binary(images, os.path.join(path, "images" + ext)) write_points3D_binary(points3D, os.path.join(path, "points3D") + ext) return cameras, images, points3D def qvec2rotmat(qvec): return np.array([ [1 - 2 * qvec[2]**2 - 2 * qvec[3]**2, 2 * qvec[1] * qvec[2] - 2 * qvec[0] * qvec[3], 2 * qvec[3] * qvec[1] + 2 * qvec[0] * qvec[2]], [2 * qvec[1] * qvec[2] + 2 * qvec[0] * qvec[3], 1 - 2 * qvec[1]**2 - 2 * qvec[3]**2, 2 * qvec[2] * qvec[3] - 2 * qvec[0] * qvec[1]], [2 * qvec[3] * qvec[1] - 2 * qvec[0] * qvec[2], 2 * qvec[2] * qvec[3] + 2 * qvec[0] * qvec[1], 1 - 2 * qvec[1]**2 - 2 * qvec[2]**2]]) def rotmat2qvec(R): Rxx, Ryx, Rzx, Rxy, Ryy, Rzy, Rxz, Ryz, Rzz = R.flat K = np.array([ [Rxx - Ryy - Rzz, 0, 0, 0], [Ryx + Rxy, Ryy - Rxx - Rzz, 0, 0], [Rzx + Rxz, Rzy + Ryz, Rzz - Rxx - Ryy, 0], [Ryz - Rzy, Rzx - Rxz, Rxy - Ryx, Rxx + Ryy + Rzz]]) / 3.0 eigvals, eigvecs = np.linalg.eigh(K) qvec = eigvecs[[3, 0, 1, 2], np.argmax(eigvals)] if qvec[0] < 0: qvec *= -1 return qvec def main(): parser = argparse.ArgumentParser(description="Read and write COLMAP binary and text models") parser.add_argument("--input_model", help="path to input model folder") parser.add_argument("--input_format", choices=[".bin", ".txt"], help="input model format", default="") parser.add_argument("--output_model", help="path to output model folder") parser.add_argument("--output_format", choices=[".bin", ".txt"], help="outut model format", default=".txt") args = parser.parse_args() cameras, images, points3D = read_model(path=args.input_model, ext=args.input_format) print("num_cameras:", len(cameras)) print("num_images:", len(images)) print("num_points3D:", len(points3D)) if args.output_model is not None: write_model(cameras, images, points3D, path=args.output_model, ext=args.output_format) if __name__ == "__main__": main() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/utils/viz.py ================================================ """ 2D visualization primitives based on Matplotlib. 1) Plot images with `plot_images`. 2) Call `plot_keypoints` or `plot_matches` any number of times. 3) Optionally: save a .png or .pdf plot (nice in papers!) with `save_plot`. """ import matplotlib import matplotlib.pyplot as plt import matplotlib.patheffects as path_effects import numpy as np def cm_RdGn(x): """Custom colormap: red (0) -> yellow (0.5) -> green (1).""" x = np.clip(x, 0, 1)[..., None]*2 c = x*np.array([[0, 1., 0]]) + (2-x)*np.array([[1., 0, 0]]) return np.clip(c, 0, 1) def plot_images(imgs, titles=None, cmaps='gray', dpi=100, pad=.5, adaptive=True): """Plot a set of images horizontally. Args: imgs: a list of NumPy or PyTorch images, RGB (H, W, 3) or mono (H, W). titles: a list of strings, as titles for each image. cmaps: colormaps for monochrome images. adaptive: whether the figure size should fit the image aspect ratios. """ n = len(imgs) if not isinstance(cmaps, (list, tuple)): cmaps = [cmaps] * n if adaptive: ratios = [i.shape[1] / i.shape[0] for i in imgs] # W / H else: ratios = [4/3] * n figsize = [sum(ratios)*4.5, 4.5] fig, ax = plt.subplots( 1, n, figsize=figsize, dpi=dpi, gridspec_kw={'width_ratios': ratios}) if n == 1: ax = [ax] for i in range(n): ax[i].imshow(imgs[i], cmap=plt.get_cmap(cmaps[i])) ax[i].get_yaxis().set_ticks([]) ax[i].get_xaxis().set_ticks([]) ax[i].set_axis_off() for spine in ax[i].spines.values(): # remove frame spine.set_visible(False) if titles: ax[i].set_title(titles[i]) fig.tight_layout(pad=pad) def plot_keypoints(kpts, colors='lime', ps=4): """Plot keypoints for existing images. Args: kpts: list of ndarrays of size (N, 2). colors: string, or list of list of tuples (one for each keypoints). ps: size of the keypoints as float. """ if not isinstance(colors, list): colors = [colors] * len(kpts) axes = plt.gcf().axes for a, k, c in zip(axes, kpts, colors): a.scatter(k[:, 0], k[:, 1], c=c, s=ps, linewidths=0) def plot_matches(kpts0, kpts1, color=None, lw=1.5, ps=4, indices=(0, 1), a=1.): """Plot matches for a pair of existing images. Args: kpts0, kpts1: corresponding keypoints of size (N, 2). color: color of each match, string or RGB tuple. Random if not given. lw: width of the lines. ps: size of the end points (no endpoint if ps=0) indices: indices of the images to draw the matches on. a: alpha opacity of the match lines. """ fig = plt.gcf() ax = fig.axes assert len(ax) > max(indices) ax0, ax1 = ax[indices[0]], ax[indices[1]] fig.canvas.draw() assert len(kpts0) == len(kpts1) if color is None: color = matplotlib.cm.hsv(np.random.rand(len(kpts0))).tolist() elif len(color) > 0 and not isinstance(color[0], (tuple, list)): color = [color] * len(kpts0) if lw > 0: # transform the points into the figure coordinate system transFigure = fig.transFigure.inverted() fkpts0 = transFigure.transform(ax0.transData.transform(kpts0)) fkpts1 = transFigure.transform(ax1.transData.transform(kpts1)) fig.lines += [matplotlib.lines.Line2D( (fkpts0[i, 0], fkpts1[i, 0]), (fkpts0[i, 1], fkpts1[i, 1]), zorder=1, transform=fig.transFigure, c=color[i], linewidth=lw, alpha=a) for i in range(len(kpts0))] # freeze the axes to prevent the transform to change ax0.autoscale(enable=False) ax1.autoscale(enable=False) if ps > 0: ax0.scatter(kpts0[:, 0], kpts0[:, 1], c=color, s=ps) ax1.scatter(kpts1[:, 0], kpts1[:, 1], c=color, s=ps) def add_text(idx, text, pos=(0.01, 0.99), fs=15, color='w', lcolor='k', lwidth=2, ha='left', va='top'): ax = plt.gcf().axes[idx] t = ax.text(*pos, text, fontsize=fs, ha=ha, va=va, color=color, transform=ax.transAxes) if lcolor is not None: t.set_path_effects([ path_effects.Stroke(linewidth=lwidth, foreground=lcolor), path_effects.Normal()]) def save_plot(path, **kw): """Save the current figure without any white margin.""" plt.savefig(path, bbox_inches='tight', pad_inches=0, **kw) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/utils/viz_3d.py ================================================ """ 3D visualization based on plotly. Works for a small number of points and cameras, might be slow otherwise. 1) Initialize a figure with `init_figure` 2) Add 3D points, camera frustums, or both as a pycolmap.Reconstruction Written by Paul-Edouard Sarlin and Philipp Lindenberger. """ from typing import Optional import numpy as np import pycolmap import plotly.graph_objects as go def to_homogeneous(points): pad = np.ones((points.shape[:-1]+(1,)), dtype=points.dtype) return np.concatenate([points, pad], axis=-1) def init_figure(height: int = 800) -> go.Figure: """Initialize a 3D figure.""" fig = go.Figure() axes = dict( visible=False, showbackground=False, showgrid=False, showline=False, showticklabels=True, autorange=True, ) fig.update_layout( template="plotly_dark", height=height, scene_camera=dict( eye=dict(x=0., y=-.1, z=-2), up=dict(x=0, y=-1., z=0), projection=dict(type="orthographic")), scene=dict( xaxis=axes, yaxis=axes, zaxis=axes, aspectmode='data', dragmode='orbit', ), margin=dict(l=0, r=0, b=0, t=0, pad=0), legend=dict( orientation="h", yanchor="top", y=0.99, xanchor="left", x=0.1 ), ) return fig def plot_points( fig: go.Figure, pts: np.ndarray, color: str = 'rgba(255, 0, 0, 1)', ps: int = 2, colorscale: Optional[str] = None, name: Optional[str] = None): """Plot a set of 3D points.""" x, y, z = pts.T tr = go.Scatter3d( x=x, y=y, z=z, mode='markers', name=name, legendgroup=name, marker=dict( size=ps, color=color, line_width=0.0, colorscale=colorscale)) fig.add_trace(tr) def plot_camera( fig: go.Figure, R: np.ndarray, t: np.ndarray, K: np.ndarray, color: str = 'rgb(0, 0, 255)', name: Optional[str] = None, legendgroup: Optional[str] = None, size: float = 1.0): """Plot a camera frustum from pose and intrinsic matrix.""" W, H = K[0, 2]*2, K[1, 2]*2 corners = np.array([[0, 0], [W, 0], [W, H], [0, H], [0, 0]]) if size is not None: image_extent = max(size * W / 1024.0, size * H / 1024.0) world_extent = max(W, H) / (K[0, 0] + K[1, 1]) / 0.5 scale = 0.5 * image_extent / world_extent else: scale = 1.0 corners = to_homogeneous(corners) @ np.linalg.inv(K).T corners = (corners / 2 * scale) @ R.T + t x, y, z = corners.T rect = go.Scatter3d( x=x, y=y, z=z, line=dict(color=color), legendgroup=legendgroup, name=name, marker=dict(size=0.0001), showlegend=False) fig.add_trace(rect) x, y, z = np.concatenate(([t], corners)).T i = [0, 0, 0, 0] j = [1, 2, 3, 4] k = [2, 3, 4, 1] pyramid = go.Mesh3d( x=x, y=y, z=z, color=color, i=i, j=j, k=k, legendgroup=legendgroup, name=name, showlegend=False) fig.add_trace(pyramid) triangles = np.vstack((i, j, k)).T vertices = np.concatenate(([t], corners)) tri_points = np.array([ vertices[i] for i in triangles.reshape(-1) ]) x, y, z = tri_points.T pyramid = go.Scatter3d( x=x, y=y, z=z, mode='lines', legendgroup=legendgroup, name=name, line=dict(color=color, width=1), showlegend=False) fig.add_trace(pyramid) def plot_camera_colmap( fig: go.Figure, image: pycolmap.Image, camera: pycolmap.Camera, name: Optional[str] = None, **kwargs): """Plot a camera frustum from PyCOLMAP objects""" plot_camera( fig, image.rotmat().T, image.projection_center(), camera.calibration_matrix(), name=name or str(image.image_id), **kwargs) def plot_cameras( fig: go.Figure, reconstruction: pycolmap.Reconstruction, **kwargs): """Plot a camera as a cone with camera frustum.""" for image_id, image in reconstruction.images.items(): plot_camera_colmap( fig, image, reconstruction.cameras[image.camera_id], **kwargs) def plot_reconstruction( fig: go.Figure, rec: pycolmap.Reconstruction, max_reproj_error: float = 6.0, color: str = 'rgb(0, 0, 255)', name: Optional[str] = None, min_track_length: int = 2, points: bool = True, cameras: bool = True, cs: float = 1.0): # Filter outliers bbs = rec.compute_bounding_box(0.001, 0.999) # Filter points, use original reproj error here xyzs = [p3D.xyz for _, p3D in rec.points3D.items() if ( (p3D.xyz >= bbs[0]).all() and (p3D.xyz <= bbs[1]).all() and p3D.error <= max_reproj_error and p3D.track.length() >= min_track_length)] if points: plot_points(fig, np.array(xyzs), color=color, ps=1, name=name) if cameras: plot_cameras(fig, rec, color=color, legendgroup=name, size=cs) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/hloc/visualization.py ================================================ from matplotlib import cm import random import numpy as np import pickle import pycolmap from .utils.viz import ( plot_images, plot_keypoints, plot_matches, cm_RdGn, add_text) from .utils.io import read_image def visualize_sfm_2d(reconstruction, image_dir, color_by='visibility', selected=[], n=1, seed=0, dpi=75): assert image_dir.exists() if not isinstance(reconstruction, pycolmap.Reconstruction): reconstruction = pycolmap.Reconstruction(reconstruction) if not selected: image_ids = reconstruction.reg_image_ids() selected = random.Random(seed).sample( image_ids, min(n, len(image_ids))) for i in selected: image = reconstruction.images[i] keypoints = np.array([p.xy for p in image.points2D]) visible = np.array([p.has_point3D() for p in image.points2D]) if color_by == 'visibility': color = [(0, 0, 1) if v else (1, 0, 0) for v in visible] text = f'visible: {np.count_nonzero(visible)}/{len(visible)}' elif color_by == 'track_length': tl = np.array([reconstruction.points3D[p.point3D_id].track.length() if p.has_point3D() else 1 for p in image.points2D]) max_, med_ = np.max(tl), np.median(tl[tl > 1]) tl = np.log(tl) color = cm.jet(tl / tl.max()).tolist() text = f'max/median track length: {max_}/{med_}' elif color_by == 'depth': p3ids = [p.point3D_id for p in image.points2D if p.has_point3D()] z = np.array([image.transform_to_image( reconstruction.points3D[j].xyz)[-1] for j in p3ids]) z -= z.min() color = cm.jet(z / np.percentile(z, 99.9)) text = f'visible: {np.count_nonzero(visible)}/{len(visible)}' keypoints = keypoints[visible] else: raise NotImplementedError(f'Coloring not implemented: {color_by}.') name = image.name plot_images([read_image(image_dir / name)], dpi=dpi) plot_keypoints([keypoints], colors=[color], ps=4) add_text(0, text) add_text(0, name, pos=(0.01, 0.01), fs=5, lcolor=None, va='bottom') def visualize_loc(results, image_dir, reconstruction=None, db_image_dir=None, selected=[], n=1, seed=0, prefix=None, **kwargs): assert image_dir.exists() with open(str(results)+'_logs.pkl', 'rb') as f: logs = pickle.load(f) if not selected: queries = list(logs['loc'].keys()) if prefix: queries = [q for q in queries if q.startswith(prefix)] selected = random.Random(seed).sample(queries, min(n, len(queries))) if reconstruction is not None: if not isinstance(reconstruction, pycolmap.Reconstruction): reconstruction = pycolmap.Reconstruction(reconstruction) for qname in selected: loc = logs['loc'][qname] visualize_loc_from_log( image_dir, qname, loc, reconstruction, db_image_dir, **kwargs) def visualize_loc_from_log(image_dir, query_name, loc, reconstruction=None, db_image_dir=None, top_k_db=2, dpi=75): q_image = read_image(image_dir / query_name) if loc.get('covisibility_clustering', False): # select the first, largest cluster if the localization failed loc = loc['log_clusters'][loc['best_cluster'] or 0] inliers = np.array(loc['PnP_ret']['inliers']) mkp_q = loc['keypoints_query'] n = len(loc['db']) if reconstruction is not None: # for each pair of query keypoint and its matched 3D point, # we need to find its corresponding keypoint in each database image # that observes it. We also count the number of inliers in each. kp_idxs, kp_to_3D_to_db = loc['keypoint_index_to_db'] counts = np.zeros(n) dbs_kp_q_db = [[] for _ in range(n)] inliers_dbs = [[] for _ in range(n)] for i, (inl, (p3D_id, db_idxs)) in enumerate(zip(inliers, kp_to_3D_to_db)): track = reconstruction.points3D[p3D_id].track track = {el.image_id: el.point2D_idx for el in track.elements} for db_idx in db_idxs: counts[db_idx] += inl kp_db = track[loc['db'][db_idx]] dbs_kp_q_db[db_idx].append((i, kp_db)) inliers_dbs[db_idx].append(inl) else: # for inloc the database keypoints are already in the logs assert 'keypoints_db' in loc assert 'indices_db' in loc counts = np.array([ np.sum(loc['indices_db'][inliers] == i) for i in range(n)]) # display the database images with the most inlier matches db_sort = np.argsort(-counts) for db_idx in db_sort[:top_k_db]: if reconstruction is not None: db = reconstruction.images[loc['db'][db_idx]] db_name = db.name db_kp_q_db = np.array(dbs_kp_q_db[db_idx]) kp_q = mkp_q[db_kp_q_db[:, 0]] kp_db = np.array([db.points2D[i].xy for i in db_kp_q_db[:, 1]]) inliers_db = inliers_dbs[db_idx] else: db_name = loc['db'][db_idx] kp_q = mkp_q[loc['indices_db'] == db_idx] kp_db = loc['keypoints_db'][loc['indices_db'] == db_idx] inliers_db = inliers[loc['indices_db'] == db_idx] db_image = read_image((db_image_dir or image_dir) / db_name) color = cm_RdGn(inliers_db).tolist() text = f'inliers: {sum(inliers_db)}/{len(inliers_db)}' plot_images([q_image, db_image], dpi=dpi) plot_matches(kp_q, kp_db, color, a=0.1) add_text(0, text) opts = dict(pos=(0.01, 0.01), fs=5, lcolor=None, va='bottom') add_text(0, query_name, **opts) add_text(1, db_name, **opts) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/pairs/aachen/pairs-db-covis20.txt ================================================ db/1045.jpg db/1044.jpg db/1045.jpg db/1038.jpg db/1045.jpg db/1056.jpg db/1045.jpg db/1046.jpg 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query/iphone7/IMG_0808.JPG database/cutouts/DUC1/023/DUC_cutout_023_270_30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/023/DUC_cutout_023_330_30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/004/DUC_cutout_004_240_-30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/019/DUC_cutout_019_330_0.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/024/DUC_cutout_024_0_-30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/083/DUC_cutout_083_240_-30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/024/DUC_cutout_024_330_30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/024/DUC_cutout_024_330_-30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/023/DUC_cutout_023_0_30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/024/DUC_cutout_024_30_0.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/021/DUC_cutout_021_240_30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/021/DUC_cutout_021_210_-30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/023/DUC_cutout_023_0_-30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/017/DUC_cutout_017_300_0.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/012/DUC_cutout_012_300_0.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC2/056/DUC_cutout_056_60_0.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/004/DUC_cutout_004_270_0.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/004/DUC_cutout_004_270_-30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/017/DUC_cutout_017_60_0.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/021/DUC_cutout_021_210_30.jpg query/iphone7/IMG_0808.JPG database/cutouts/DUC1/024/DUC_cutout_024_210_-30.jpg ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/pipeline_Aachen.ipynb ================================================ { "cells": [ { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "%load_ext autoreload\n", "%autoreload 2\n", "\n", "from pathlib import Path\n", "from pprint import pformat\n", "\n", "from hloc import extract_features, match_features, pairs_from_covisibility, pairs_from_retrieval\n", "from hloc import colmap_from_nvm, triangulation, localize_sfm, visualization" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Pipeline for outdoor day-night visual localization" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Setup\n", "Here we declare the paths to the dataset, the reconstruction and localization outputs, and we choose the feature extractor and the matcher. You only need to download the [Aachen Day-Night dataset](https://www.visuallocalization.net/datasets/) and put it in `datasets/aachen/`, or change the path." ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Configs for feature extractors:\n", "{'d2net-ss': {'model': {'multiscale': False, 'name': 'd2net'},\n", " 'output': 'feats-d2net-ss',\n", " 'preprocessing': {'grayscale': False, 'resize_max': 1600}},\n", " 'dir': {'model': {'name': 'dir'},\n", " 'output': 'global-feats-dir',\n", " 'preprocessing': {'resize_max': 1024}},\n", " 'netvlad': {'model': {'name': 'netvlad'},\n", " 'output': 'global-feats-netvlad',\n", " 'preprocessing': {'resize_max': 1024}},\n", " 'r2d2': {'model': {'max_keypoints': 5000, 'name': 'r2d2'},\n", " 'output': 'feats-r2d2-n5000-r1024',\n", " 'preprocessing': {'grayscale': False, 'resize_max': 1024}},\n", " 'sift': {'model': {'name': 'sift'},\n", " 'output': 'feats-sift',\n", " 'preprocessing': {'grayscale': True, 'resize_max': 1600}},\n", " 'superpoint_aachen': {'model': {'max_keypoints': 4096,\n", " 'name': 'superpoint',\n", " 'nms_radius': 3},\n", " 'output': 'feats-superpoint-n4096-r1024',\n", " 'preprocessing': {'grayscale': True,\n", " 'resize_max': 1024}},\n", " 'superpoint_inloc': {'model': {'max_keypoints': 4096,\n", " 'name': 'superpoint',\n", " 'nms_radius': 4},\n", " 'output': 'feats-superpoint-n4096-r1600',\n", " 'preprocessing': {'grayscale': True, 'resize_max': 1600}},\n", " 'superpoint_max': {'model': {'max_keypoints': 4096,\n", " 'name': 'superpoint',\n", " 'nms_radius': 3},\n", " 'output': 'feats-superpoint-n4096-rmax1600',\n", " 'preprocessing': {'grayscale': True,\n", " 'resize_force': True,\n", " 'resize_max': 1600}}}\n", "Configs for feature matchers:\n", "{'NN-mutual': {'model': {'do_mutual_check': True, 'name': 'nearest_neighbor'},\n", " 'output': 'matches-NN-mutual'},\n", " 'NN-ratio': {'model': {'do_mutual_check': True,\n", " 'name': 'nearest_neighbor',\n", " 'ratio_threshold': 0.8},\n", " 'output': 'matches-NN-mutual-ratio.8'},\n", " 'NN-superpoint': {'model': {'distance_threshold': 0.7,\n", " 'do_mutual_check': True,\n", " 'name': 'nearest_neighbor'},\n", " 'output': 'matches-NN-mutual-dist.7'},\n", " 'superglue': {'model': {'name': 'superglue',\n", " 'sinkhorn_iterations': 50,\n", " 'weights': 'outdoor'},\n", " 'output': 'matches-superglue'}}\n" ] } ], "source": [ "dataset = Path('datasets/aachen/') # change this if your dataset is somewhere else\n", "images = dataset / 'images/images_upright/'\n", "\n", "outputs = Path('outputs/aachen/') # where everything will be saved\n", "sfm_pairs = outputs / 'pairs-db-covis20.txt' # top 20 most covisible in SIFT model\n", "loc_pairs = outputs / 'pairs-query-netvlad20.txt' # top 20 retrieved by NetVLAD\n", "reference_sfm = outputs / 'sfm_superpoint+superglue' # the SfM model we will build\n", "results = outputs / 'Aachen_hloc_superpoint+superglue_netvlad20.txt' # the result file\n", "\n", "# list the standard configurations available\n", "print(f'Configs for feature extractors:\\n{pformat(extract_features.confs)}')\n", "print(f'Configs for feature matchers:\\n{pformat(match_features.confs)}')" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "# pick one of the configurations for image retrieval, local feature extraction, and matching\n", "# you can also simply write your own here!\n", "retrieval_conf = extract_features.confs['netvlad']\n", "feature_conf = extract_features.confs['superpoint_aachen']\n", "matcher_conf = match_features.confs['superglue']" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Extract local features for database and query images" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "features = extract_features.main(feature_conf, images, outputs)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The function returns the path of the file in which all the extracted features are stored." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Generate pairs for the SfM reconstruction\n", "Instead of matching all database images exhaustively, we exploit the existing SIFT model to find which image pairs are the most covisible. We first convert the SIFT model from the NVM to the COLMAP format, and then do a covisiblity search, selecting the top 20 most covisibile neighbors for each image." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "colmap_from_nvm.main(\n", " dataset / '3D-models/aachen_cvpr2018_db.nvm',\n", " dataset / '3D-models/database_intrinsics.txt',\n", " dataset / 'aachen.db',\n", " outputs / 'sfm_sift')\n", "\n", "pairs_from_covisibility.main(\n", " outputs / 'sfm_sift', sfm_pairs, num_matched=20)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Match the database images" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "sfm_matches = match_features.main(matcher_conf, sfm_pairs, feature_conf['output'], outputs)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The function returns the path of the file in which all the computed matches are stored." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Triangulate a new SfM model from the given poses\n", "We triangulate the sparse 3D pointcloud given the matches and the reference poses stored in the SIFT COLMAP model." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "reconstruction = triangulation.main(\n", " reference_sfm,\n", " outputs / 'sfm_sift',\n", " images,\n", " sfm_pairs,\n", " features,\n", " sfm_matches)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Find image pairs via image retrieval\n", "We extract global descriptors with NetVLAD and find for each image the $k$ most similar ones. A larger $k$ improves the robustness of the localization for difficult queries but makes the matching more expensive. Using $k{=}10{-}20$ is generally a good tradeoff but $k{=}50$ gives the best results for the Aachen Day-Night dataset." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "global_descriptors = extract_features.main(retrieval_conf, images, outputs)\n", "pairs_from_retrieval.main(global_descriptors, loc_pairs, num_matched=20, db_prefix=\"db\", query_prefix=\"query\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Match the query images" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "loc_matches = match_features.main(matcher_conf, loc_pairs, feature_conf['output'], outputs)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Localize!\n", "Perform hierarchical localization using the precomputed retrieval and matches. The file `Aachen_hloc_superpoint+superglue_netvlad50.txt` will contain the estimated query poses. Have a look at `Aachen_hloc_superpoint+superglue_netvlad50.txt_logs.pkl` to analyze some statistics and find failure cases." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "localize_sfm.main(\n", " reconstruction,\n", " dataset / 'queries/*_time_queries_with_intrinsics.txt',\n", " loc_pairs,\n", " features,\n", " loc_matches,\n", " results,\n", " covisibility_clustering=False) # not required with SuperPoint+SuperGlue" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Visualizing the SfM model\n", "We visualize some of the database images with their detected keypoints." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Color the keypoints by track length: red keypoints are observed many times, blue keypoints few." ] }, { "cell_type": "code", "execution_count": 22, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "visualization.visualize_sfm_2d(reconstruction, images, n=1, color_by='track_length')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Color the keypoints by visibility: blue if sucessfully triangulated, red if never matched." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "visualization.visualize_sfm_2d(reconstruction, images, n=1, color_by='visibility')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Color the keypoints by triangulated depth: red keypoints are far away, blue keypoints are closer." ] }, { "cell_type": "code", "execution_count": 20, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "visualization.visualize_sfm_2d(reconstruction, images, n=1, color_by='depth')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Visualizing the localization\n", "We parse the localization logs and for each query image plot matches and inliers with a few database images." ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "visualization.visualize_loc(\n", " results, images, reconstruction, n=1, top_k_db=1, prefix='query/night', seed=2)" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.8" } }, "nbformat": 4, "nbformat_minor": 4 } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/pipeline_InLoc.ipynb ================================================ { "cells": [ { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "%load_ext autoreload\n", "%autoreload 2\n", "\n", "from pathlib import Path\n", "from pprint import pformat\n", "\n", "from hloc import extract_features, match_features, localize_inloc, visualization" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Pipeline for indoor localization" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Setup\n", "Here we declare the paths to the dataset, image pairs, and we choose the feature extractor and the matcher. You need to download the [InLoc dataset](https://www.visuallocalization.net/datasets/) and put it in `datasets/inloc/`, or change the path." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "dataset = Path('datasets/inloc/') # change this if your dataset is somewhere else\n", "\n", "pairs = Path('pairs/inloc/')\n", "loc_pairs = pairs / 'pairs-query-netvlad40.txt' # top 40 retrieved by NetVLAD\n", "\n", "outputs = Path('outputs/inloc/') # where everything will be saved\n", "results = outputs / 'InLoc_hloc_superpoint+superglue_netvlad40.txt' # the result file" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# list the standard configurations available\n", "print(f'Configs for feature extractors:\\n{pformat(extract_features.confs)}')\n", "print(f'Configs for feature matchers:\\n{pformat(match_features.confs)}')" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# pick one of the configurations for extraction and matching\n", "# you can also simply write your own here!\n", "feature_conf = extract_features.confs['superpoint_inloc']\n", "matcher_conf = match_features.confs['superglue']" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Extract local features for database and query images" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "feature_path = extract_features.main(feature_conf, dataset, outputs)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Match the query images\n", "Here we assume that the localization pairs are already computed using image retrieval (NetVLAD). To generate new pairs from your own global descriptors, have a look at `hloc/pairs_from_retrieval.py`. These pairs are also used for the localization - see below." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "match_path = match_features.main(matcher_conf, loc_pairs, feature_conf['output'], outputs)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Localize!\n", "Perform hierarchical localization using the precomputed retrieval and matches. Different from when localizing with Aachen, here we do not need a 3D SfM model here: the dataset already has 3D lidar scans. The file `InLoc_hloc_superpoint+superglue_netvlad40.txt` will contain the estimated query poses." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "localize_inloc.main(\n", " dataset, loc_pairs, feature_path, match_path, results,\n", " skip_matches=20) # skip database images with too few matches" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Visualization\n", "We parse the localization logs and for each query image plot matches and inliers with a few database images." ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "visualization.visualize_loc(results, dataset, n=1, top_k_db=1, seed=2)" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.8" } }, "nbformat": 4, "nbformat_minor": 4 } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/pipeline_SfM.ipynb ================================================ { "cells": [ { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "%load_ext autoreload\n", "%autoreload 2\n", "\n", "from pathlib import Path\n", "\n", "from hloc import extract_features, match_features, reconstruction, visualization, pairs_from_retrieval" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Setup\n", "In this notebook, we will run SfM reconstruction from scratch on a set of images. We choose the [South-Building dataset](https://openaccess.thecvf.com/content_cvpr_2013/html/Hane_Joint_3D_Scene_2013_CVPR_paper.html) - we will download it later. First, we define some paths." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "images = Path('datasets/South-Building/images/')\n", "\n", "outputs = Path('outputs/sfm/')\n", "sfm_pairs = outputs / 'pairs-netvlad.txt'\n", "sfm_dir = outputs / 'sfm_superpoint+superglue'\n", "\n", "retrieval_conf = extract_features.confs['netvlad']\n", "feature_conf = extract_features.confs['superpoint_aachen']\n", "matcher_conf = match_features.confs['superglue']" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Download the dataset\n", "The dataset is simply a set of images. The intrinsic parameters will be extracted from the EXIF data and refined with SfM." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "if not images.exists():\n", " !wget http://cvg.ethz.ch/research/local-feature-evaluation/South-Building.zip -P datasets/\n", " !unzip -q datasets/South-Building.zip -d datasets/" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Find image pairs via image retrieval\n", "We extract global descriptors with NetVLAD and find for each image the most similar ones. For smaller dataset we can instead use exhaustive matching via `hloc/pairs_from_exhaustive.py`, which would find $\\frac{n(n-1)}{2}$ images pairs." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "retrieval_path = extract_features.main(retrieval_conf, images, outputs)\n", "pairs_from_retrieval.main(retrieval_path, sfm_pairs, num_matched=5)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Extract and match local features" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "feature_path = extract_features.main(feature_conf, images, outputs)\n", "match_path = match_features.main(matcher_conf, sfm_pairs, feature_conf['output'], outputs)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 3D reconstruction\n", "Run COLMAP on the features and matches." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "model = reconstruction.main(sfm_dir, images, sfm_pairs, feature_path, match_path)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Visualization\n", "We visualize some of the registered images, and color their keypoint by visibility, track length, or triangulated depth." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "visualization.visualize_sfm_2d(model, images, color_by='visibility', n=5)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "visualization.visualize_sfm_2d(model, images, color_by='track_length', n=5)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "visualization.visualize_sfm_2d(model, images, color_by='depth', n=5)" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.8" } }, "nbformat": 4, "nbformat_minor": 4 } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/requirements.txt ================================================ torch>=1.1 torchvision>=0.3 numpy opencv-python tqdm>=4.36.0 matplotlib plotly scipy h5py pycolmap>=0.3.0 kornia>=0.6.7 gdown ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/setup.py ================================================ from pathlib import Path from setuptools import setup, find_packages description = ['Tools and baselines for visual localization and mapping'] root = Path(__file__).parent with open(str(root / 'README.md'), 'r', encoding='utf-8') as f: readme = f.read() with open(str(root / 'hloc/__init__.py'), 'r') as f: version = eval(f.read().split('__version__ = ')[1].split()[0]) with open(str(root / 'requirements.txt'), 'r') as f: dependencies = f.read().split('\n') setup( name='hloc', version=version, packages=find_packages(), python_requires='>=3.6', install_requires=dependencies, author='Paul-Edouard Sarlin', description=description, long_description=readme, long_description_content_type="text/markdown", url='https://github.com/cvg/Hierarchical-Localization/', classifiers=[ "Programming Language :: Python :: 3", "License :: OSI Approved :: Apache Software License", "Operating System :: OS Independent", ], ) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/.gitignore ================================================ *.pyc *.DS_Store *.swp ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/LICENSE ================================================ SUPERGLUE: LEARNING FEATURE MATCHING WITH GRAPH NEURAL NETWORKS SOFTWARE LICENSE AGREEMENT ACADEMIC OR NON-PROFIT ORGANIZATION NONCOMMERCIAL RESEARCH USE ONLY BY USING OR DOWNLOADING THE SOFTWARE, YOU ARE AGREEING TO THE TERMS OF THIS LICENSE AGREEMENT. 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You consent to the personal jurisdiction of the courts of this County and waive their rights to venue outside of Broward County, Florida. ENTIRE AGREEMENT AND AMENDMENTS: This Agreement constitutes the sole and entire agreement between Licensee and Licensor as to the matter set forth herein and supersedes any previous agreements, understandings, and arrangements between the parties relating hereto. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/README.md ================================================ ### Research @ Magic Leap (CVPR 2020, Oral) # SuperGlue Inference and Evaluation Demo Script ## Introduction SuperGlue is a CVPR 2020 research project done at Magic Leap. The SuperGlue network is a Graph Neural Network combined with an Optimal Matching layer that is trained to perform matching on two sets of sparse image features. This repo includes PyTorch code and pretrained weights for running the SuperGlue matching network on top of [SuperPoint](https://arxiv.org/abs/1712.07629) keypoints and descriptors. Given a pair of images, you can use this repo to extract matching features across the image pair.

SuperGlue operates as a "middle-end," performing context aggregation, matching, and filtering in a single end-to-end architecture. For more details, please see: * Full paper PDF: [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://arxiv.org/abs/1911.11763). * Authors: *Paul-Edouard Sarlin, Daniel DeTone, Tomasz Malisiewicz, Andrew Rabinovich* * Website: [psarlin.com/superglue](https://psarlin.com/superglue) for videos, slides, recent updates, and more visualizations. * `hloc`: a new toolbox for visual localization and SfM with SuperGlue, available at [cvg/Hierarchical-Localization](https://github.com/cvg/Hierarchical-Localization/). Winner of 3 CVPR 2020 competitions on localization and image matching! We provide two pre-trained weights files: an indoor model trained on ScanNet data, and an outdoor model trained on MegaDepth data. Both models are inside the [weights directory](./models/weights). By default, the demo will run the **indoor** model. ## Dependencies * Python 3 >= 3.5 * PyTorch >= 1.1 * OpenCV >= 3.4 (4.1.2.30 recommended for best GUI keyboard interaction, see this [note](#additional-notes)) * Matplotlib >= 3.1 * NumPy >= 1.18 Simply run the following command: `pip3 install numpy opencv-python torch matplotlib` ## Contents There are two main top-level scripts in this repo: 1. `demo_superglue.py` : runs a live demo on a webcam, IP camera, image directory or movie file 2. `match_pairs.py`: reads image pairs from files and dumps matches to disk (also runs evaluation if ground truth relative poses are provided) ## Live Matching Demo Script (`demo_superglue.py`) This demo runs SuperPoint + SuperGlue feature matching on an anchor image and live image. You can update the anchor image by pressing the `n` key. The demo can read image streams from a USB or IP camera, a directory containing images, or a video file. You can pass all of these inputs using the `--input` flag. ### Run the demo on a live webcam Run the demo on the default USB webcam (ID #0), running on a CUDA GPU if one is found: ```sh ./demo_superglue.py ``` Keyboard control: * `n`: select the current frame as the anchor * `e`/`r`: increase/decrease the keypoint confidence threshold * `d`/`f`: increase/decrease the match filtering threshold * `k`: toggle the visualization of keypoints * `q`: quit Run the demo on 320x240 images running on the CPU: ```sh ./demo_superglue.py --resize 320 240 --force_cpu ``` The `--resize` flag can be used to resize the input image in three ways: 1. `--resize` `width` `height` : will resize to exact `width` x `height` dimensions 2. `--resize` `max_dimension` : will resize largest input image dimension to `max_dimension` 3. `--resize` `-1` : will not resize (i.e. use original image dimensions) The default will resize images to `640x480`. ### Run the demo on a directory of images The `--input` flag also accepts a path to a directory. We provide a directory of sample images from a sequence. To run the demo on the directory of images in `freiburg_sequence/` on a headless server (will not display to the screen) and write the output visualization images to `dump_demo_sequence/`: ```sh ./demo_superglue.py --input assets/freiburg_sequence/ --output_dir dump_demo_sequence --resize 320 240 --no_display ``` You should see this output on the sample Freiburg-TUM RGBD sequence: The matches are colored by their predicted confidence in a jet colormap (Red: more confident, Blue: less confident). ### Additional useful command line parameters * Use `--image_glob` to change the image file extension (default: `*.png`, `*.jpg`, `*.jpeg`). * Use `--skip` to skip intermediate frames (default: `1`). * Use `--max_length` to cap the total number of frames processed (default: `1000000`). * Use `--show_keypoints` to visualize the detected keypoints (default: `False`). ## Run Matching+Evaluation (`match_pairs.py`) This repo also contains a script `match_pairs.py` that runs the matching from a list of image pairs. With this script, you can: * Run the matcher on a set of image pairs (no ground truth needed) * Visualize the keypoints and matches, based on their confidence * Evaluate and visualize the match correctness, if the ground truth relative poses and intrinsics are provided * Save the keypoints, matches, and evaluation results for further processing * Collate evaluation results over many pairs and generate result tables ### Matches only mode The simplest usage of this script will process the image pairs listed in a given text file and dump the keypoints and matches to compressed numpy `npz` files. We provide the challenging ScanNet pairs from the main paper in `assets/example_indoor_pairs/`. Running the following will run SuperPoint + SuperGlue on each image pair, and dump the results to `dump_match_pairs/`: ```sh ./match_pairs.py ``` The resulting `.npz` files can be read from Python as follows: ```python >>> import numpy as np >>> path = 'dump_match_pairs/scene0711_00_frame-001680_scene0711_00_frame-001995_matches.npz' >>> npz = np.load(path) >>> npz.files ['keypoints0', 'keypoints1', 'matches', 'match_confidence'] >>> npz['keypoints0'].shape (382, 2) >>> npz['keypoints1'].shape (391, 2) >>> npz['matches'].shape (382,) >>> np.sum(npz['matches']>-1) 115 >>> npz['match_confidence'].shape (382,) ``` For each keypoint in `keypoints0`, the `matches` array indicates the index of the matching keypoint in `keypoints1`, or `-1` if the keypoint is unmatched. ### Visualization mode You can add the flag `--viz` to dump image outputs which visualize the matches: ```sh ./match_pairs.py --viz ``` You should see images like this inside of `dump_match_pairs/` (or something very close to it, see this [note](#a-note-on-reproducibility)): The matches are colored by their predicted confidence in a jet colormap (Red: more confident, Blue: less confident). ### Evaluation mode You can also estimate the pose using RANSAC + Essential Matrix decomposition and evaluate it if the ground truth relative poses and intrinsics are provided in the input `.txt` files. Each `.txt` file contains three key ground truth matrices: a 3x3 intrinsics matrix of image0: `K0`, a 3x3 intrinsics matrix of image1: `K1` , and a 4x4 matrix of the relative pose extrinsics `T_0to1`. To run the evaluation on the sample set of images (by default reading `assets/scannet_sample_pairs_with_gt.txt`), you can run: ```sh ./match_pairs.py --eval ``` Since you enabled `--eval`, you should see collated results printed to the terminal. For the example images provided, you should get the following numbers (or something very close to it, see this [note](#a-note-on-reproducibility)): ```txt Evaluation Results (mean over 15 pairs): AUC@5 AUC@10 AUC@20 Prec MScore 26.99 48.40 64.47 73.52 19.60 ``` The resulting `.npz` files in `dump_match_pairs/` will now contain scalar values related to the evaluation, computed on the sample images provided. Here is what you should find in one of the generated evaluation files: ```python >>> import numpy as np >>> path = 'dump_match_pairs/scene0711_00_frame-001680_scene0711_00_frame-001995_evaluation.npz' >>> npz = np.load(path) >>> print(npz.files) ['error_t', 'error_R', 'precision', 'matching_score', 'num_correct', 'epipolar_errors'] ``` You can also visualize the evaluation metrics by running the following command: ```sh ./match_pairs.py --eval --viz ``` You should also now see additional images in `dump_match_pairs/` which visualize the evaluation numbers (or something very close to it, see this [note](#a-note-on-reproducibility)): The top left corner of the image shows the pose error and number of inliers, while the lines are colored by their epipolar error computed with the ground truth relative pose (red: higher error, green: lower error). ### Running on sample outdoor pairs
[Click to expand] In this repo, we also provide a few challenging Phototourism pairs, so that you can re-create some of the figures from the paper. Run this script to run matching and visualization (no ground truth is provided, see this [note](#reproducing-outdoor-evaluation-final-table)) on the provided pairs: ```sh ./match_pairs.py --resize 1600 --superglue outdoor --max_keypoints 2048 --nms_radius 3 --resize_float --input_dir assets/phototourism_sample_images/ --input_pairs assets/phototourism_sample_pairs.txt --output_dir dump_match_pairs_outdoor --viz ``` You should now image pairs such as these in `dump_match_pairs_outdoor/` (or something very close to it, see this [note](#a-note-on-reproducibility)):
### Recommended settings for indoor / outdoor
[Click to expand] For **indoor** images, we recommend the following settings (these are the defaults): ```sh ./match_pairs.py --resize 640 --superglue indoor --max_keypoints 1024 --nms_radius 4 ``` For **outdoor** images, we recommend the following settings: ```sh ./match_pairs.py --resize 1600 --superglue outdoor --max_keypoints 2048 --nms_radius 3 --resize_float ``` You can provide your own list of pairs `--input_pairs` for images contained in `--input_dir`. Images can be resized before network inference with `--resize`. If you are re-running the same evaluation many times, you can use the `--cache` flag to reuse old computation.
### Test set pair file format explained
[Click to expand] We provide the list of ScanNet test pairs in `assets/scannet_test_pairs_with_gt.txt` (with ground truth) and Phototourism test pairs `assets/phototourism_test_pairs.txt` (without ground truth) used to evaluate the matching from the paper. Each line corresponds to one pair and is structured as follows: ``` path_image_A path_image_B exif_rotationA exif_rotationB [KA_0 ... KA_8] [KB_0 ... KB_8] [T_AB_0 ... T_AB_15] ``` The `path_image_A` and `path_image_B` entries are paths to image A and B, respectively. The `exif_rotation` is an integer in the range [0, 3] that comes from the original EXIF metadata associated with the image, where, 0: no rotation, 1: 90 degree clockwise, 2: 180 degree clockwise, 3: 270 degree clockwise. If the EXIF data is not known, you can just provide a zero here and no rotation will be performed. `KA` and `KB` are the flattened `3x3` matrices of image A and image B intrinsics. `T_AB` is a flattened `4x4` matrix of the extrinsics between the pair.
### Reproducing the indoor evaluation on ScanNet
[Click to expand] We provide the groundtruth for ScanNet in our format in the file `assets/scannet_test_pairs_with_gt.txt` for convenience. In order to reproduce similar tables to what was in the paper, you will need to download the dataset (we do not provide the raw test images). To download the ScanNet dataset, do the following: 1. Head to the [ScanNet](https://github.com/ScanNet/ScanNet) github repo to download the ScanNet test set (100 scenes). 2. You will need to extract the raw sensor data from the 100 `.sens` files in each scene in the test set using the [SensReader](https://github.com/ScanNet/ScanNet/tree/master/SensReader) tool. Once the ScanNet dataset is downloaded in `~/data/scannet`, you can run the following: ```sh ./match_pairs.py --input_dir ~/data/scannet --input_pairs assets/scannet_test_pairs_with_gt.txt --output_dir dump_scannet_test_results --eval ``` You should get the following table for ScanNet (or something very close to it, see this [note](#a-note-on-reproducibility)): ```txt Evaluation Results (mean over 1500 pairs): AUC@5 AUC@10 AUC@20 Prec MScore 16.12 33.76 51.79 84.37 31.14 ```
### Reproducing the outdoor evaluation on YFCC
[Click to expand] We provide the groundtruth for YFCC in our format in the file `assets/yfcc_test_pairs_with_gt.txt` for convenience. In order to reproduce similar tables to what was in the paper, you will need to download the dataset (we do not provide the raw test images). To download the YFCC dataset, you can use the [OANet](https://github.com/zjhthu/OANet) repo: ```sh git clone https://github.com/zjhthu/OANet cd OANet bash download_data.sh raw_data raw_data_yfcc.tar.gz 0 8 tar -xvf raw_data_yfcc.tar.gz mv raw_data/yfcc100m ~/data ``` Once the YFCC dataset is downloaded in `~/data/yfcc100m`, you can run the following: ```sh ./match_pairs.py --input_dir ~/data/yfcc100m --input_pairs assets/yfcc_test_pairs_with_gt.txt --output_dir dump_yfcc_test_results --eval --resize 1600 --superglue outdoor --max_keypoints 2048 --nms_radius 3 --resize_float ``` You should get the following table for YFCC (or something very close to it, see this [note](#a-note-on-reproducibility)): ```txt Evaluation Results (mean over 4000 pairs): AUC@5 AUC@10 AUC@20 Prec MScore 39.02 59.51 75.72 98.72 23.61 ```
### Reproducing outdoor evaluation on Phototourism
[Click to expand] The Phototourism results shown in the paper were produced using similar data as the test set from the [Image Matching Challenge 2020](https://vision.uvic.ca/image-matching-challenge/), which holds the ground truth data private for the test set. We list the pairs we used in `assets/phototourism_test_pairs.txt`. To reproduce similar numbers on this test set, please submit to the challenge benchmark. While the challenge is still live, we cannot share the test set publically since we want to help maintain the integrity of the challenge.
### Correcting EXIF rotation data in YFCC and Phototourism
[Click to expand] In this repo, we provide manually corrected the EXIF rotation data for the outdoor evaluations on YFCC and Phototourism. For the YFCC dataset we found 7 images with incorrect EXIF rotation flags, resulting in 148 pairs out of 4000 being corrected. For Phototourism, we found 36 images with incorrect EXIF rotation flags, resulting in 212 out of 2200 pairs being corrected. The SuperGlue paper reports the results of SuperGlue **without** the corrected rotations, while the numbers in this README are reported **with** the corrected rotations. We found that our final conclusions from the evaluation still hold with or without the corrected rotations. For backwards compatability, we included the original, uncorrected EXIF rotation data in `assets/phototourism_test_pairs_original.txt` and `assets/yfcc_test_pairs_with_gt_original.txt` respectively.
### Outdoor training / validation scene splits of MegaDepth
[Click to expand] For training and validation of the outdoor model, we used scenes from the [MegaDepth dataset](http://www.cs.cornell.edu/projects/megadepth/). We provide the list of scenes used to train the outdoor model in the `assets/` directory: * Training set: `assets/megadepth_train_scenes.txt` * Validation set: `assets/megadepth_validation_scenes.txt`
### A note on reproducibility
[Click to expand] After simplifying the model code and evaluation code and preparing it for release, we made some improvements and tweaks that result in slightly different numbers than what was reported in the paper. The numbers and figures reported in the README were done using Ubuntu 16.04, OpenCV 3.4.5, and PyTorch 1.1.0. Even with matching the library versions, we observed some slight differences across Mac and Ubuntu, which we believe are due to differences in OpenCV's image resize function implementation and randomization of RANSAC.
### Creating high-quality PDF visualizations and faster visualization with --fast_viz
[Click to expand] When generating output images with `match_pairs.py`, the default `--viz` flag uses a Matplotlib renderer which allows for the generation of camera-ready PDF visualizations if you additionally use `--viz_extension pdf` instead of the default png extension. ``` ./match_pairs.py --viz --viz_extension pdf ``` Alternatively, you might want to save visualization images but have the generation be much faster. You can use the `--fast_viz` flag to use an OpenCV-based image renderer as follows: ``` ./match_pairs.py --viz --fast_viz ``` If you would also like an OpenCV display window to preview the results (you must use non-pdf output and use fast_fiz), simply run: ``` ./match_pairs.py --viz --fast_viz --opencv_display ```
## BibTeX Citation If you use any ideas from the paper or code from this repo, please consider citing: ```txt @inproceedings{sarlin20superglue, author = {Paul-Edouard Sarlin and Daniel DeTone and Tomasz Malisiewicz and Andrew Rabinovich}, title = {{SuperGlue}: Learning Feature Matching with Graph Neural Networks}, booktitle = {CVPR}, year = {2020}, url = {https://arxiv.org/abs/1911.11763} } ``` ## Additional Notes * For the demo, we found that the keyboard interaction works well with OpenCV 4.1.2.30, older versions were less responsive and the newest version had a [OpenCV bug on Mac](https://stackoverflow.com/questions/60032540/opencv-cv2-imshow-is-not-working-because-of-the-qt) * We generally do not recommend to run SuperPoint+SuperGlue below 160x120 resolution (QQVGA) and above 2000x1500 * We do not intend to release the SuperGlue training code. * We do not intend to release the SIFT-based or homography SuperGlue models. ## Legal Disclaimer Magic Leap is proud to provide its latest samples, toolkits, and research projects on Github to foster development and gather feedback from the spatial computing community. Use of the resources within this repo is subject to (a) the license(s) included herein, or (b) if no license is included, Magic Leap's [Developer Agreement](https://id.magicleap.com/terms/developer), which is available on our [Developer Portal](https://developer.magicleap.com/). If you need more, just ask on the [forums](https://forum.magicleap.com/hc/en-us/community/topics)! 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0.9855661998486159 -1.9839724319099474 0.0 0.0 0.0 1.0 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/demo_superglue.py ================================================ #! /usr/bin/env python3 # # %BANNER_BEGIN% # --------------------------------------------------------------------- # %COPYRIGHT_BEGIN% # # Magic Leap, Inc. ("COMPANY") CONFIDENTIAL # # Unpublished Copyright (c) 2020 # Magic Leap, Inc., All Rights Reserved. # # NOTICE: All information contained herein is, and remains the property # of COMPANY. The intellectual and technical concepts contained herein # are proprietary to COMPANY and may be covered by U.S. and Foreign # Patents, patents in process, and are protected by trade secret or # copyright law. Dissemination of this information or reproduction of # this material is strictly forbidden unless prior written permission is # obtained from COMPANY. Access to the source code contained herein is # hereby forbidden to anyone except current COMPANY employees, managers # or contractors who have executed Confidentiality and Non-disclosure # agreements explicitly covering such access. # # The copyright notice above does not evidence any actual or intended # publication or disclosure of this source code, which includes # information that is confidential and/or proprietary, and is a trade # secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION, # PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS # SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS # STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND # INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE # CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS # TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE, # USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART. # # %COPYRIGHT_END% # ---------------------------------------------------------------------- # %AUTHORS_BEGIN% # # Originating Authors: Paul-Edouard Sarlin # Daniel DeTone # Tomasz Malisiewicz # # %AUTHORS_END% # --------------------------------------------------------------------*/ # %BANNER_END% from pathlib import Path import argparse import cv2 import matplotlib.cm as cm import torch from models.matching import Matching from models.utils import (AverageTimer, VideoStreamer, make_matching_plot_fast, frame2tensor) torch.set_grad_enabled(False) if __name__ == '__main__': parser = argparse.ArgumentParser( description='SuperGlue demo', formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument( '--input', type=str, default='0', help='ID of a USB webcam, URL of an IP camera, ' 'or path to an image directory or movie file') parser.add_argument( '--output_dir', type=str, default=None, help='Directory where to write output frames (If None, no output)') parser.add_argument( '--image_glob', type=str, nargs='+', default=['*.png', '*.jpg', '*.jpeg'], help='Glob if a directory of images is specified') parser.add_argument( '--skip', type=int, default=1, help='Images to skip if input is a movie or directory') parser.add_argument( '--max_length', type=int, default=1000000, help='Maximum length if input is a movie or directory') parser.add_argument( '--resize', type=int, nargs='+', default=[640, 480], help='Resize the input image before running inference. If two numbers, ' 'resize to the exact dimensions, if one number, resize the max ' 'dimension, if -1, do not resize') parser.add_argument( '--superglue', choices={'indoor', 'outdoor'}, default='indoor', help='SuperGlue weights') parser.add_argument( '--max_keypoints', type=int, default=-1, help='Maximum number of keypoints detected by Superpoint' ' (\'-1\' keeps all keypoints)') parser.add_argument( '--keypoint_threshold', type=float, default=0.005, help='SuperPoint keypoint detector confidence threshold') parser.add_argument( '--nms_radius', type=int, default=4, help='SuperPoint Non Maximum Suppression (NMS) radius' ' (Must be positive)') parser.add_argument( '--sinkhorn_iterations', type=int, default=20, help='Number of Sinkhorn iterations performed by SuperGlue') parser.add_argument( '--match_threshold', type=float, default=0.2, help='SuperGlue match threshold') parser.add_argument( '--show_keypoints', action='store_true', help='Show the detected keypoints') parser.add_argument( '--no_display', action='store_true', help='Do not display images to screen. Useful if running remotely') parser.add_argument( '--force_cpu', action='store_true', help='Force pytorch to run in CPU mode.') opt = parser.parse_args() print(opt) if len(opt.resize) == 2 and opt.resize[1] == -1: opt.resize = opt.resize[0:1] if len(opt.resize) == 2: print('Will resize to {}x{} (WxH)'.format( opt.resize[0], opt.resize[1])) elif len(opt.resize) == 1 and opt.resize[0] > 0: print('Will resize max dimension to {}'.format(opt.resize[0])) elif len(opt.resize) == 1: print('Will not resize images') else: raise ValueError('Cannot specify more than two integers for --resize') device = 'cuda' if torch.cuda.is_available() and not opt.force_cpu else 'cpu' print('Running inference on device \"{}\"'.format(device)) config = { 'superpoint': { 'nms_radius': opt.nms_radius, 'keypoint_threshold': opt.keypoint_threshold, 'max_keypoints': opt.max_keypoints }, 'superglue': { 'weights': opt.superglue, 'sinkhorn_iterations': opt.sinkhorn_iterations, 'match_threshold': opt.match_threshold, } } matching = Matching(config).eval().to(device) keys = ['keypoints', 'scores', 'descriptors'] vs = VideoStreamer(opt.input, opt.resize, opt.skip, opt.image_glob, opt.max_length) frame, ret = vs.next_frame() assert ret, 'Error when reading the first frame (try different --input?)' frame_tensor = frame2tensor(frame, device) last_data = matching.superpoint({'image': frame_tensor}) last_data = {k+'0': last_data[k] for k in keys} last_data['image0'] = frame_tensor last_frame = frame last_image_id = 0 if opt.output_dir is not None: print('==> Will write outputs to {}'.format(opt.output_dir)) Path(opt.output_dir).mkdir(exist_ok=True) # Create a window to display the demo. if not opt.no_display: cv2.namedWindow('SuperGlue matches', cv2.WINDOW_NORMAL) cv2.resizeWindow('SuperGlue matches', 640*2, 480) else: print('Skipping visualization, will not show a GUI.') # Print the keyboard help menu. print('==> Keyboard control:\n' '\tn: select the current frame as the anchor\n' '\te/r: increase/decrease the keypoint confidence threshold\n' '\td/f: increase/decrease the match filtering threshold\n' '\tk: toggle the visualization of keypoints\n' '\tq: quit') timer = AverageTimer() while True: frame, ret = vs.next_frame() if not ret: print('Finished demo_superglue.py') break timer.update('data') stem0, stem1 = last_image_id, vs.i - 1 frame_tensor = frame2tensor(frame, device) pred = matching({**last_data, 'image1': frame_tensor}) kpts0 = last_data['keypoints0'][0].cpu().numpy() kpts1 = pred['keypoints1'][0].cpu().numpy() matches = pred['matches0'][0].cpu().numpy() confidence = pred['matching_scores0'][0].cpu().numpy() timer.update('forward') valid = matches > -1 mkpts0 = kpts0[valid] mkpts1 = kpts1[matches[valid]] color = cm.jet(confidence[valid]) text = [ 'SuperGlue', 'Keypoints: {}:{}'.format(len(kpts0), len(kpts1)), 'Matches: {}'.format(len(mkpts0)) ] k_thresh = matching.superpoint.config['keypoint_threshold'] m_thresh = matching.superglue.config['match_threshold'] small_text = [ 'Keypoint Threshold: {:.4f}'.format(k_thresh), 'Match Threshold: {:.2f}'.format(m_thresh), 'Image Pair: {:06}:{:06}'.format(stem0, stem1), ] out = make_matching_plot_fast( last_frame, frame, kpts0, kpts1, mkpts0, mkpts1, color, text, path=None, show_keypoints=opt.show_keypoints, small_text=small_text) if not opt.no_display: cv2.imshow('SuperGlue matches', out) key = chr(cv2.waitKey(1) & 0xFF) if key == 'q': vs.cleanup() print('Exiting (via q) demo_superglue.py') break elif key == 'n': # set the current frame as anchor last_data = {k+'0': pred[k+'1'] for k in keys} last_data['image0'] = frame_tensor last_frame = frame last_image_id = (vs.i - 1) elif key in ['e', 'r']: # Increase/decrease keypoint threshold by 10% each keypress. d = 0.1 * (-1 if key == 'e' else 1) matching.superpoint.config['keypoint_threshold'] = min(max( 0.0001, matching.superpoint.config['keypoint_threshold']*(1+d)), 1) print('\nChanged the keypoint threshold to {:.4f}'.format( matching.superpoint.config['keypoint_threshold'])) elif key in ['d', 'f']: # Increase/decrease match threshold by 0.05 each keypress. d = 0.05 * (-1 if key == 'd' else 1) matching.superglue.config['match_threshold'] = min(max( 0.05, matching.superglue.config['match_threshold']+d), .95) print('\nChanged the match threshold to {:.2f}'.format( matching.superglue.config['match_threshold'])) elif key == 'k': opt.show_keypoints = not opt.show_keypoints timer.update('viz') timer.print() if opt.output_dir is not None: #stem = 'matches_{:06}_{:06}'.format(last_image_id, vs.i-1) stem = 'matches_{:06}_{:06}'.format(stem0, stem1) out_file = str(Path(opt.output_dir, stem + '.png')) print('\nWriting image to {}'.format(out_file)) cv2.imwrite(out_file, out) cv2.destroyAllWindows() vs.cleanup() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/match_pairs.py ================================================ #! /usr/bin/env python3 # # %BANNER_BEGIN% # --------------------------------------------------------------------- # %COPYRIGHT_BEGIN% # # Magic Leap, Inc. ("COMPANY") CONFIDENTIAL # # Unpublished Copyright (c) 2020 # Magic Leap, Inc., All Rights Reserved. # # NOTICE: All information contained herein is, and remains the property # of COMPANY. The intellectual and technical concepts contained herein # are proprietary to COMPANY and may be covered by U.S. and Foreign # Patents, patents in process, and are protected by trade secret or # copyright law. Dissemination of this information or reproduction of # this material is strictly forbidden unless prior written permission is # obtained from COMPANY. Access to the source code contained herein is # hereby forbidden to anyone except current COMPANY employees, managers # or contractors who have executed Confidentiality and Non-disclosure # agreements explicitly covering such access. # # The copyright notice above does not evidence any actual or intended # publication or disclosure of this source code, which includes # information that is confidential and/or proprietary, and is a trade # secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION, # PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS # SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS # STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND # INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE # CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS # TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE, # USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART. # # %COPYRIGHT_END% # ---------------------------------------------------------------------- # %AUTHORS_BEGIN% # # Originating Authors: Paul-Edouard Sarlin # Daniel DeTone # Tomasz Malisiewicz # # %AUTHORS_END% # --------------------------------------------------------------------*/ # %BANNER_END% from pathlib import Path import argparse import random import numpy as np import matplotlib.cm as cm import torch from models.matching import Matching from models.utils import (compute_pose_error, compute_epipolar_error, estimate_pose, make_matching_plot, error_colormap, AverageTimer, pose_auc, read_image, rotate_intrinsics, rotate_pose_inplane, scale_intrinsics) torch.set_grad_enabled(False) if __name__ == '__main__': parser = argparse.ArgumentParser( description='Image pair matching and pose evaluation with SuperGlue', formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument( '--input_pairs', type=str, default='assets/scannet_sample_pairs_with_gt.txt', help='Path to the list of image pairs') parser.add_argument( '--input_dir', type=str, default='assets/scannet_sample_images/', help='Path to the directory that contains the images') parser.add_argument( '--output_dir', type=str, default='dump_match_pairs/', help='Path to the directory in which the .npz results and optionally,' 'the visualization images are written') parser.add_argument( '--max_length', type=int, default=-1, help='Maximum number of pairs to evaluate') parser.add_argument( '--resize', type=int, nargs='+', default=[640, 480], help='Resize the input image before running inference. If two numbers, ' 'resize to the exact dimensions, if one number, resize the max ' 'dimension, if -1, do not resize') parser.add_argument( '--resize_float', action='store_true', help='Resize the image after casting uint8 to float') parser.add_argument( '--superglue', choices={'indoor', 'outdoor'}, default='indoor', help='SuperGlue weights') parser.add_argument( '--max_keypoints', type=int, default=1024, help='Maximum number of keypoints detected by Superpoint' ' (\'-1\' keeps all keypoints)') parser.add_argument( '--keypoint_threshold', type=float, default=0.005, help='SuperPoint keypoint detector confidence threshold') parser.add_argument( '--nms_radius', type=int, default=4, help='SuperPoint Non Maximum Suppression (NMS) radius' ' (Must be positive)') parser.add_argument( '--sinkhorn_iterations', type=int, default=20, help='Number of Sinkhorn iterations performed by SuperGlue') parser.add_argument( '--match_threshold', type=float, default=0.2, help='SuperGlue match threshold') parser.add_argument( '--viz', action='store_true', help='Visualize the matches and dump the plots') parser.add_argument( '--eval', action='store_true', help='Perform the evaluation' ' (requires ground truth pose and intrinsics)') parser.add_argument( '--fast_viz', action='store_true', help='Use faster image visualization with OpenCV instead of Matplotlib') parser.add_argument( '--cache', action='store_true', help='Skip the pair if output .npz files are already found') parser.add_argument( '--show_keypoints', action='store_true', help='Plot the keypoints in addition to the matches') parser.add_argument( '--viz_extension', type=str, default='png', choices=['png', 'pdf'], help='Visualization file extension. Use pdf for highest-quality.') parser.add_argument( '--opencv_display', action='store_true', help='Visualize via OpenCV before saving output images') parser.add_argument( '--shuffle', action='store_true', help='Shuffle ordering of pairs before processing') parser.add_argument( '--force_cpu', action='store_true', help='Force pytorch to run in CPU mode.') opt = parser.parse_args() print(opt) assert not (opt.opencv_display and not opt.viz), 'Must use --viz with --opencv_display' assert not (opt.opencv_display and not opt.fast_viz), 'Cannot use --opencv_display without --fast_viz' assert not (opt.fast_viz and not opt.viz), 'Must use --viz with --fast_viz' assert not (opt.fast_viz and opt.viz_extension == 'pdf'), 'Cannot use pdf extension with --fast_viz' if len(opt.resize) == 2 and opt.resize[1] == -1: opt.resize = opt.resize[0:1] if len(opt.resize) == 2: print('Will resize to {}x{} (WxH)'.format( opt.resize[0], opt.resize[1])) elif len(opt.resize) == 1 and opt.resize[0] > 0: print('Will resize max dimension to {}'.format(opt.resize[0])) elif len(opt.resize) == 1: print('Will not resize images') else: raise ValueError('Cannot specify more than two integers for --resize') with open(opt.input_pairs, 'r') as f: pairs = [l.split() for l in f.readlines()] if opt.max_length > -1: pairs = pairs[0:np.min([len(pairs), opt.max_length])] if opt.shuffle: random.Random(0).shuffle(pairs) if opt.eval: if not all([len(p) == 38 for p in pairs]): raise ValueError( 'All pairs should have ground truth info for evaluation.' 'File \"{}\" needs 38 valid entries per row'.format(opt.input_pairs)) # Load the SuperPoint and SuperGlue models. device = 'cuda' if torch.cuda.is_available() and not opt.force_cpu else 'cpu' print('Running inference on device \"{}\"'.format(device)) config = { 'superpoint': { 'nms_radius': opt.nms_radius, 'keypoint_threshold': opt.keypoint_threshold, 'max_keypoints': opt.max_keypoints }, 'superglue': { 'weights': opt.superglue, 'sinkhorn_iterations': opt.sinkhorn_iterations, 'match_threshold': opt.match_threshold, } } matching = Matching(config).eval().to(device) # Create the output directories if they do not exist already. input_dir = Path(opt.input_dir) print('Looking for data in directory \"{}\"'.format(input_dir)) output_dir = Path(opt.output_dir) output_dir.mkdir(exist_ok=True, parents=True) print('Will write matches to directory \"{}\"'.format(output_dir)) if opt.eval: print('Will write evaluation results', 'to directory \"{}\"'.format(output_dir)) if opt.viz: print('Will write visualization images to', 'directory \"{}\"'.format(output_dir)) timer = AverageTimer(newline=True) for i, pair in enumerate(pairs): name0, name1 = pair[:2] stem0, stem1 = Path(name0).stem, Path(name1).stem matches_path = output_dir / '{}_{}_matches.npz'.format(stem0, stem1) eval_path = output_dir / '{}_{}_evaluation.npz'.format(stem0, stem1) viz_path = output_dir / '{}_{}_matches.{}'.format(stem0, stem1, opt.viz_extension) viz_eval_path = output_dir / \ '{}_{}_evaluation.{}'.format(stem0, stem1, opt.viz_extension) # Handle --cache logic. do_match = True do_eval = opt.eval do_viz = opt.viz do_viz_eval = opt.eval and opt.viz if opt.cache: if matches_path.exists(): try: results = np.load(matches_path) except: raise IOError('Cannot load matches .npz file: %s' % matches_path) kpts0, kpts1 = results['keypoints0'], results['keypoints1'] matches, conf = results['matches'], results['match_confidence'] do_match = False if opt.eval and eval_path.exists(): try: results = np.load(eval_path) except: raise IOError('Cannot load eval .npz file: %s' % eval_path) err_R, err_t = results['error_R'], results['error_t'] precision = results['precision'] matching_score = results['matching_score'] num_correct = results['num_correct'] epi_errs = results['epipolar_errors'] do_eval = False if opt.viz and viz_path.exists(): do_viz = False if opt.viz and opt.eval and viz_eval_path.exists(): do_viz_eval = False timer.update('load_cache') if not (do_match or do_eval or do_viz or do_viz_eval): timer.print('Finished pair {:5} of {:5}'.format(i, len(pairs))) continue # If a rotation integer is provided (e.g. from EXIF data), use it: if len(pair) >= 5: rot0, rot1 = int(pair[2]), int(pair[3]) else: rot0, rot1 = 0, 0 # Load the image pair. image0, inp0, scales0 = read_image( input_dir / name0, device, opt.resize, rot0, opt.resize_float) image1, inp1, scales1 = read_image( input_dir / name1, device, opt.resize, rot1, opt.resize_float) if image0 is None or image1 is None: print('Problem reading image pair: {} {}'.format( input_dir/name0, input_dir/name1)) exit(1) timer.update('load_image') if do_match: # Perform the matching. pred = matching({'image0': inp0, 'image1': inp1}) pred = {k: v[0].cpu().numpy() for k, v in pred.items()} kpts0, kpts1 = pred['keypoints0'], pred['keypoints1'] matches, conf = pred['matches0'], pred['matching_scores0'] timer.update('matcher') # Write the matches to disk. out_matches = {'keypoints0': kpts0, 'keypoints1': kpts1, 'matches': matches, 'match_confidence': conf} np.savez(str(matches_path), **out_matches) # Keep the matching keypoints. valid = matches > -1 mkpts0 = kpts0[valid] mkpts1 = kpts1[matches[valid]] mconf = conf[valid] if do_eval: # Estimate the pose and compute the pose error. assert len(pair) == 38, 'Pair does not have ground truth info' K0 = np.array(pair[4:13]).astype(float).reshape(3, 3) K1 = np.array(pair[13:22]).astype(float).reshape(3, 3) T_0to1 = np.array(pair[22:]).astype(float).reshape(4, 4) # Scale the intrinsics to resized image. K0 = scale_intrinsics(K0, scales0) K1 = scale_intrinsics(K1, scales1) # Update the intrinsics + extrinsics if EXIF rotation was found. if rot0 != 0 or rot1 != 0: cam0_T_w = np.eye(4) cam1_T_w = T_0to1 if rot0 != 0: K0 = rotate_intrinsics(K0, image0.shape, rot0) cam0_T_w = rotate_pose_inplane(cam0_T_w, rot0) if rot1 != 0: K1 = rotate_intrinsics(K1, image1.shape, rot1) cam1_T_w = rotate_pose_inplane(cam1_T_w, rot1) cam1_T_cam0 = cam1_T_w @ np.linalg.inv(cam0_T_w) T_0to1 = cam1_T_cam0 epi_errs = compute_epipolar_error(mkpts0, mkpts1, T_0to1, K0, K1) correct = epi_errs < 5e-4 num_correct = np.sum(correct) precision = np.mean(correct) if len(correct) > 0 else 0 matching_score = num_correct / len(kpts0) if len(kpts0) > 0 else 0 thresh = 1. # In pixels relative to resized image size. ret = estimate_pose(mkpts0, mkpts1, K0, K1, thresh) if ret is None: err_t, err_R = np.inf, np.inf else: R, t, inliers = ret err_t, err_R = compute_pose_error(T_0to1, R, t) # Write the evaluation results to disk. out_eval = {'error_t': err_t, 'error_R': err_R, 'precision': precision, 'matching_score': matching_score, 'num_correct': num_correct, 'epipolar_errors': epi_errs} np.savez(str(eval_path), **out_eval) timer.update('eval') if do_viz: # Visualize the matches. color = cm.jet(mconf) text = [ 'SuperGlue', 'Keypoints: {}:{}'.format(len(kpts0), len(kpts1)), 'Matches: {}'.format(len(mkpts0)), ] if rot0 != 0 or rot1 != 0: text.append('Rotation: {}:{}'.format(rot0, rot1)) # Display extra parameter info. k_thresh = matching.superpoint.config['keypoint_threshold'] m_thresh = matching.superglue.config['match_threshold'] small_text = [ 'Keypoint Threshold: {:.4f}'.format(k_thresh), 'Match Threshold: {:.2f}'.format(m_thresh), 'Image Pair: {}:{}'.format(stem0, stem1), ] make_matching_plot( image0, image1, kpts0, kpts1, mkpts0, mkpts1, color, text, viz_path, opt.show_keypoints, opt.fast_viz, opt.opencv_display, 'Matches', small_text) timer.update('viz_match') if do_viz_eval: # Visualize the evaluation results for the image pair. color = np.clip((epi_errs - 0) / (1e-3 - 0), 0, 1) color = error_colormap(1 - color) deg, delta = ' deg', 'Delta ' if not opt.fast_viz: deg, delta = '°', '$\\Delta$' e_t = 'FAIL' if np.isinf(err_t) else '{:.1f}{}'.format(err_t, deg) e_R = 'FAIL' if np.isinf(err_R) else '{:.1f}{}'.format(err_R, deg) text = [ 'SuperGlue', '{}R: {}'.format(delta, e_R), '{}t: {}'.format(delta, e_t), 'inliers: {}/{}'.format(num_correct, (matches > -1).sum()), ] if rot0 != 0 or rot1 != 0: text.append('Rotation: {}:{}'.format(rot0, rot1)) # Display extra parameter info (only works with --fast_viz). k_thresh = matching.superpoint.config['keypoint_threshold'] m_thresh = matching.superglue.config['match_threshold'] small_text = [ 'Keypoint Threshold: {:.4f}'.format(k_thresh), 'Match Threshold: {:.2f}'.format(m_thresh), 'Image Pair: {}:{}'.format(stem0, stem1), ] make_matching_plot( image0, image1, kpts0, kpts1, mkpts0, mkpts1, color, text, viz_eval_path, opt.show_keypoints, opt.fast_viz, opt.opencv_display, 'Relative Pose', small_text) timer.update('viz_eval') timer.print('Finished pair {:5} of {:5}'.format(i, len(pairs))) if opt.eval: # Collate the results into a final table and print to terminal. pose_errors = [] precisions = [] matching_scores = [] for pair in pairs: name0, name1 = pair[:2] stem0, stem1 = Path(name0).stem, Path(name1).stem eval_path = output_dir / \ '{}_{}_evaluation.npz'.format(stem0, stem1) results = np.load(eval_path) pose_error = np.maximum(results['error_t'], results['error_R']) pose_errors.append(pose_error) precisions.append(results['precision']) matching_scores.append(results['matching_score']) thresholds = [5, 10, 20] aucs = pose_auc(pose_errors, thresholds) aucs = [100.*yy for yy in aucs] prec = 100.*np.mean(precisions) ms = 100.*np.mean(matching_scores) print('Evaluation Results (mean over {} pairs):'.format(len(pairs))) print('AUC@5\t AUC@10\t AUC@20\t Prec\t MScore\t') print('{:.2f}\t {:.2f}\t {:.2f}\t {:.2f}\t {:.2f}\t'.format( aucs[0], aucs[1], aucs[2], prec, ms)) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/models/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/models/matching.py ================================================ # %BANNER_BEGIN% # --------------------------------------------------------------------- # %COPYRIGHT_BEGIN% # # Magic Leap, Inc. ("COMPANY") CONFIDENTIAL # # Unpublished Copyright (c) 2020 # Magic Leap, Inc., All Rights Reserved. # # NOTICE: All information contained herein is, and remains the property # of COMPANY. The intellectual and technical concepts contained herein # are proprietary to COMPANY and may be covered by U.S. and Foreign # Patents, patents in process, and are protected by trade secret or # copyright law. Dissemination of this information or reproduction of # this material is strictly forbidden unless prior written permission is # obtained from COMPANY. Access to the source code contained herein is # hereby forbidden to anyone except current COMPANY employees, managers # or contractors who have executed Confidentiality and Non-disclosure # agreements explicitly covering such access. # # The copyright notice above does not evidence any actual or intended # publication or disclosure of this source code, which includes # information that is confidential and/or proprietary, and is a trade # secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION, # PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS # SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS # STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND # INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE # CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS # TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE, # USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART. # # %COPYRIGHT_END% # ---------------------------------------------------------------------- # %AUTHORS_BEGIN% # # Originating Authors: Paul-Edouard Sarlin # # %AUTHORS_END% # --------------------------------------------------------------------*/ # %BANNER_END% import torch from .superpoint import SuperPoint from .superglue import SuperGlue class Matching(torch.nn.Module): """ Image Matching Frontend (SuperPoint + SuperGlue) """ def __init__(self, config={}): super().__init__() self.superpoint = SuperPoint(config.get('superpoint', {})) self.superglue = SuperGlue(config.get('superglue', {})) def forward(self, data): """ Run SuperPoint (optionally) and SuperGlue SuperPoint is skipped if ['keypoints0', 'keypoints1'] exist in input Args: data: dictionary with minimal keys: ['image0', 'image1'] """ pred = {} # Extract SuperPoint (keypoints, scores, descriptors) if not provided if 'keypoints0' not in data: pred0 = self.superpoint({'image': data['image0']}) pred = {**pred, **{k+'0': v for k, v in pred0.items()}} if 'keypoints1' not in data: pred1 = self.superpoint({'image': data['image1']}) pred = {**pred, **{k+'1': v for k, v in pred1.items()}} # Batch all features # We should either have i) one image per batch, or # ii) the same number of local features for all images in the batch. data = {**data, **pred} for k in data: if isinstance(data[k], (list, tuple)): data[k] = torch.stack(data[k]) # Perform the matching pred = {**pred, **self.superglue(data)} return pred ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/models/superglue.py ================================================ # %BANNER_BEGIN% # --------------------------------------------------------------------- # %COPYRIGHT_BEGIN% # # Magic Leap, Inc. ("COMPANY") CONFIDENTIAL # # Unpublished Copyright (c) 2020 # Magic Leap, Inc., All Rights Reserved. # # NOTICE: All information contained herein is, and remains the property # of COMPANY. The intellectual and technical concepts contained herein # are proprietary to COMPANY and may be covered by U.S. and Foreign # Patents, patents in process, and are protected by trade secret or # copyright law. Dissemination of this information or reproduction of # this material is strictly forbidden unless prior written permission is # obtained from COMPANY. Access to the source code contained herein is # hereby forbidden to anyone except current COMPANY employees, managers # or contractors who have executed Confidentiality and Non-disclosure # agreements explicitly covering such access. # # The copyright notice above does not evidence any actual or intended # publication or disclosure of this source code, which includes # information that is confidential and/or proprietary, and is a trade # secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION, # PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS # SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS # STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND # INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE # CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS # TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE, # USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART. # # %COPYRIGHT_END% # ---------------------------------------------------------------------- # %AUTHORS_BEGIN% # # Originating Authors: Paul-Edouard Sarlin # # %AUTHORS_END% # --------------------------------------------------------------------*/ # %BANNER_END% from copy import deepcopy from pathlib import Path from typing import List, Tuple import torch from torch import nn def MLP(channels: List[int], do_bn: bool = True) -> nn.Module: """ Multi-layer perceptron """ n = len(channels) layers = [] for i in range(1, n): layers.append( nn.Conv1d(channels[i - 1], channels[i], kernel_size=1, bias=True)) if i < (n-1): if do_bn: layers.append(nn.BatchNorm1d(channels[i])) layers.append(nn.ReLU()) return nn.Sequential(*layers) def normalize_keypoints(kpts, image_shape): """ Normalize keypoints locations based on image image_shape""" _, _, height, width = image_shape one = kpts.new_tensor(1) size = torch.stack([one*width, one*height])[None] center = size / 2 scaling = size.max(1, keepdim=True).values * 0.7 return (kpts - center[:, None, :]) / scaling[:, None, :] class KeypointEncoder(nn.Module): """ Joint encoding of visual appearance and location using MLPs""" def __init__(self, feature_dim: int, layers: List[int]) -> None: super().__init__() self.encoder = MLP([3] + layers + [feature_dim]) nn.init.constant_(self.encoder[-1].bias, 0.0) def forward(self, kpts, scores): inputs = [kpts.transpose(1, 2), scores.unsqueeze(1)] return self.encoder(torch.cat(inputs, dim=1)) def attention(query: torch.Tensor, key: torch.Tensor, value: torch.Tensor) -> Tuple[torch.Tensor,torch.Tensor]: dim = query.shape[1] scores = torch.einsum('bdhn,bdhm->bhnm', query, key) / dim**.5 prob = torch.nn.functional.softmax(scores, dim=-1) return torch.einsum('bhnm,bdhm->bdhn', prob, value), prob class MultiHeadedAttention(nn.Module): """ Multi-head attention to increase model expressivitiy """ def __init__(self, num_heads: int, d_model: int): super().__init__() assert d_model % num_heads == 0 self.dim = d_model // num_heads self.num_heads = num_heads self.merge = nn.Conv1d(d_model, d_model, kernel_size=1) self.proj = nn.ModuleList([deepcopy(self.merge) for _ in range(3)]) def forward(self, query: torch.Tensor, key: torch.Tensor, value: torch.Tensor) -> torch.Tensor: batch_dim = query.size(0) query, key, value = [l(x).view(batch_dim, self.dim, self.num_heads, -1) for l, x in zip(self.proj, (query, key, value))] x, _ = attention(query, key, value) return self.merge(x.contiguous().view(batch_dim, self.dim*self.num_heads, -1)) class AttentionalPropagation(nn.Module): def __init__(self, feature_dim: int, num_heads: int): super().__init__() self.attn = MultiHeadedAttention(num_heads, feature_dim) self.mlp = MLP([feature_dim*2, feature_dim*2, feature_dim]) nn.init.constant_(self.mlp[-1].bias, 0.0) def forward(self, x: torch.Tensor, source: torch.Tensor) -> torch.Tensor: message = self.attn(x, source, source) return self.mlp(torch.cat([x, message], dim=1)) class AttentionalGNN(nn.Module): def __init__(self, feature_dim: int, layer_names: List[str]) -> None: super().__init__() self.layers = nn.ModuleList([ AttentionalPropagation(feature_dim, 4) for _ in range(len(layer_names))]) self.names = layer_names def forward(self, desc0: torch.Tensor, desc1: torch.Tensor) -> Tuple[torch.Tensor,torch.Tensor]: for layer, name in zip(self.layers, self.names): if name == 'cross': src0, src1 = desc1, desc0 else: # if name == 'self': src0, src1 = desc0, desc1 delta0, delta1 = layer(desc0, src0), layer(desc1, src1) desc0, desc1 = (desc0 + delta0), (desc1 + delta1) return desc0, desc1 def log_sinkhorn_iterations(Z: torch.Tensor, log_mu: torch.Tensor, log_nu: torch.Tensor, iters: int) -> torch.Tensor: """ Perform Sinkhorn Normalization in Log-space for stability""" u, v = torch.zeros_like(log_mu), torch.zeros_like(log_nu) for _ in range(iters): u = log_mu - torch.logsumexp(Z + v.unsqueeze(1), dim=2) v = log_nu - torch.logsumexp(Z + u.unsqueeze(2), dim=1) return Z + u.unsqueeze(2) + v.unsqueeze(1) def log_optimal_transport(scores: torch.Tensor, alpha: torch.Tensor, iters: int) -> torch.Tensor: """ Perform Differentiable Optimal Transport in Log-space for stability""" b, m, n = scores.shape one = scores.new_tensor(1) ms, ns = (m*one).to(scores), (n*one).to(scores) bins0 = alpha.expand(b, m, 1) bins1 = alpha.expand(b, 1, n) alpha = alpha.expand(b, 1, 1) couplings = torch.cat([torch.cat([scores, bins0], -1), torch.cat([bins1, alpha], -1)], 1) norm = - (ms + ns).log() log_mu = torch.cat([norm.expand(m), ns.log()[None] + norm]) log_nu = torch.cat([norm.expand(n), ms.log()[None] + norm]) log_mu, log_nu = log_mu[None].expand(b, -1), log_nu[None].expand(b, -1) Z = log_sinkhorn_iterations(couplings, log_mu, log_nu, iters) Z = Z - norm # multiply probabilities by M+N return Z def arange_like(x, dim: int): return x.new_ones(x.shape[dim]).cumsum(0) - 1 # traceable in 1.1 class SuperGlue(nn.Module): """SuperGlue feature matching middle-end Given two sets of keypoints and locations, we determine the correspondences by: 1. Keypoint Encoding (normalization + visual feature and location fusion) 2. Graph Neural Network with multiple self and cross-attention layers 3. Final projection layer 4. Optimal Transport Layer (a differentiable Hungarian matching algorithm) 5. Thresholding matrix based on mutual exclusivity and a match_threshold The correspondence ids use -1 to indicate non-matching points. Paul-Edouard Sarlin, Daniel DeTone, Tomasz Malisiewicz, and Andrew Rabinovich. SuperGlue: Learning Feature Matching with Graph Neural Networks. In CVPR, 2020. https://arxiv.org/abs/1911.11763 """ default_config = { 'descriptor_dim': 256, 'weights': 'indoor', 'keypoint_encoder': [32, 64, 128, 256], 'GNN_layers': ['self', 'cross'] * 9, 'sinkhorn_iterations': 100, 'match_threshold': 0.2, } def __init__(self, config): super().__init__() self.config = {**self.default_config, **config} self.kenc = KeypointEncoder( self.config['descriptor_dim'], self.config['keypoint_encoder']) self.gnn = AttentionalGNN( feature_dim=self.config['descriptor_dim'], layer_names=self.config['GNN_layers']) self.final_proj = nn.Conv1d( self.config['descriptor_dim'], self.config['descriptor_dim'], kernel_size=1, bias=True) bin_score = torch.nn.Parameter(torch.tensor(1.)) self.register_parameter('bin_score', bin_score) assert self.config['weights'] in ['indoor', 'outdoor'] path = Path(__file__).parent path = path / 'weights/superglue_{}.pth'.format(self.config['weights']) self.load_state_dict(torch.load(str(path))) print('Loaded SuperGlue model (\"{}\" weights)'.format( self.config['weights'])) def forward(self, data): """Run SuperGlue on a pair of keypoints and descriptors""" desc0, desc1 = data['descriptors0'], data['descriptors1'] kpts0, kpts1 = data['keypoints0'], data['keypoints1'] if kpts0.shape[1] == 0 or kpts1.shape[1] == 0: # no keypoints shape0, shape1 = kpts0.shape[:-1], kpts1.shape[:-1] return { 'matches0': kpts0.new_full(shape0, -1, dtype=torch.int), 'matches1': kpts1.new_full(shape1, -1, dtype=torch.int), 'matching_scores0': kpts0.new_zeros(shape0), 'matching_scores1': kpts1.new_zeros(shape1), } # Keypoint normalization. kpts0 = normalize_keypoints(kpts0, data['image0'].shape) kpts1 = normalize_keypoints(kpts1, data['image1'].shape) # Keypoint MLP encoder. desc0 = desc0 + self.kenc(kpts0, data['scores0']) desc1 = desc1 + self.kenc(kpts1, data['scores1']) # Multi-layer Transformer network. desc0, desc1 = self.gnn(desc0, desc1) # Final MLP projection. mdesc0, mdesc1 = self.final_proj(desc0), self.final_proj(desc1) # Compute matching descriptor distance. scores = torch.einsum('bdn,bdm->bnm', mdesc0, mdesc1) scores = scores / self.config['descriptor_dim']**.5 # Run the optimal transport. scores = log_optimal_transport( scores, self.bin_score, iters=self.config['sinkhorn_iterations']) # Get the matches with score above "match_threshold". max0, max1 = scores[:, :-1, :-1].max(2), scores[:, :-1, :-1].max(1) indices0, indices1 = max0.indices, max1.indices mutual0 = arange_like(indices0, 1)[None] == indices1.gather(1, indices0) mutual1 = arange_like(indices1, 1)[None] == indices0.gather(1, indices1) zero = scores.new_tensor(0) mscores0 = torch.where(mutual0, max0.values.exp(), zero) mscores1 = torch.where(mutual1, mscores0.gather(1, indices1), zero) valid0 = mutual0 & (mscores0 > self.config['match_threshold']) valid1 = mutual1 & valid0.gather(1, indices1) indices0 = torch.where(valid0, indices0, indices0.new_tensor(-1)) indices1 = torch.where(valid1, indices1, indices1.new_tensor(-1)) return { 'matches0': indices0, # use -1 for invalid match 'matches1': indices1, # use -1 for invalid match 'matching_scores0': mscores0, 'matching_scores1': mscores1, } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/models/superpoint.py ================================================ # %BANNER_BEGIN% # --------------------------------------------------------------------- # %COPYRIGHT_BEGIN% # # Magic Leap, Inc. ("COMPANY") CONFIDENTIAL # # Unpublished Copyright (c) 2020 # Magic Leap, Inc., All Rights Reserved. # # NOTICE: All information contained herein is, and remains the property # of COMPANY. The intellectual and technical concepts contained herein # are proprietary to COMPANY and may be covered by U.S. and Foreign # Patents, patents in process, and are protected by trade secret or # copyright law. Dissemination of this information or reproduction of # this material is strictly forbidden unless prior written permission is # obtained from COMPANY. Access to the source code contained herein is # hereby forbidden to anyone except current COMPANY employees, managers # or contractors who have executed Confidentiality and Non-disclosure # agreements explicitly covering such access. # # The copyright notice above does not evidence any actual or intended # publication or disclosure of this source code, which includes # information that is confidential and/or proprietary, and is a trade # secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION, # PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS # SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS # STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND # INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE # CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS # TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE, # USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART. # # %COPYRIGHT_END% # ---------------------------------------------------------------------- # %AUTHORS_BEGIN% # # Originating Authors: Paul-Edouard Sarlin # # %AUTHORS_END% # --------------------------------------------------------------------*/ # %BANNER_END% from pathlib import Path import torch from torch import nn def simple_nms(scores, nms_radius: int): """ Fast Non-maximum suppression to remove nearby points """ assert(nms_radius >= 0) def max_pool(x): return torch.nn.functional.max_pool2d( x, kernel_size=nms_radius*2+1, stride=1, padding=nms_radius) zeros = torch.zeros_like(scores) max_mask = scores == max_pool(scores) for _ in range(2): supp_mask = max_pool(max_mask.float()) > 0 supp_scores = torch.where(supp_mask, zeros, scores) new_max_mask = supp_scores == max_pool(supp_scores) max_mask = max_mask | (new_max_mask & (~supp_mask)) return torch.where(max_mask, scores, zeros) def remove_borders(keypoints, scores, border: int, height: int, width: int): """ Removes keypoints too close to the border """ mask_h = (keypoints[:, 0] >= border) & (keypoints[:, 0] < (height - border)) mask_w = (keypoints[:, 1] >= border) & (keypoints[:, 1] < (width - border)) mask = mask_h & mask_w return keypoints[mask], scores[mask] def top_k_keypoints(keypoints, scores, k: int): if k >= len(keypoints): return keypoints, scores scores, indices = torch.topk(scores, k, dim=0) return keypoints[indices], scores def sample_descriptors(keypoints, descriptors, s: int = 8): """ Interpolate descriptors at keypoint locations """ b, c, h, w = descriptors.shape keypoints = keypoints - s / 2 + 0.5 keypoints /= torch.tensor([(w*s - s/2 - 0.5), (h*s - s/2 - 0.5)], ).to(keypoints)[None] keypoints = keypoints*2 - 1 # normalize to (-1, 1) args = {'align_corners': True} if torch.__version__ >= '1.3' else {} descriptors = torch.nn.functional.grid_sample( descriptors, keypoints.view(b, 1, -1, 2), mode='bilinear', **args) descriptors = torch.nn.functional.normalize( descriptors.reshape(b, c, -1), p=2, dim=1) return descriptors class SuperPoint(nn.Module): """SuperPoint Convolutional Detector and Descriptor SuperPoint: Self-Supervised Interest Point Detection and Description. Daniel DeTone, Tomasz Malisiewicz, and Andrew Rabinovich. In CVPRW, 2019. https://arxiv.org/abs/1712.07629 """ default_config = { 'descriptor_dim': 256, 'nms_radius': 4, 'keypoint_threshold': 0.005, 'max_keypoints': -1, 'remove_borders': 4, } def __init__(self, config): super().__init__() self.config = {**self.default_config, **config} self.relu = nn.ReLU(inplace=True) self.pool = nn.MaxPool2d(kernel_size=2, stride=2) c1, c2, c3, c4, c5 = 64, 64, 128, 128, 256 self.conv1a = nn.Conv2d(1, c1, kernel_size=3, stride=1, padding=1) self.conv1b = nn.Conv2d(c1, c1, kernel_size=3, stride=1, padding=1) self.conv2a = nn.Conv2d(c1, c2, kernel_size=3, stride=1, padding=1) self.conv2b = nn.Conv2d(c2, c2, kernel_size=3, stride=1, padding=1) self.conv3a = nn.Conv2d(c2, c3, kernel_size=3, stride=1, padding=1) self.conv3b = nn.Conv2d(c3, c3, kernel_size=3, stride=1, padding=1) self.conv4a = nn.Conv2d(c3, c4, kernel_size=3, stride=1, padding=1) self.conv4b = nn.Conv2d(c4, c4, kernel_size=3, stride=1, padding=1) self.convPa = nn.Conv2d(c4, c5, kernel_size=3, stride=1, padding=1) self.convPb = nn.Conv2d(c5, 65, kernel_size=1, stride=1, padding=0) self.convDa = nn.Conv2d(c4, c5, kernel_size=3, stride=1, padding=1) self.convDb = nn.Conv2d( c5, self.config['descriptor_dim'], kernel_size=1, stride=1, padding=0) path = Path(__file__).parent / 'weights/superpoint_v1.pth' self.load_state_dict(torch.load(str(path))) mk = self.config['max_keypoints'] if mk == 0 or mk < -1: raise ValueError('\"max_keypoints\" must be positive or \"-1\"') print('Loaded SuperPoint model') def forward(self, data): """ Compute keypoints, scores, descriptors for image """ # Shared Encoder x = self.relu(self.conv1a(data['image'])) x = self.relu(self.conv1b(x)) x = self.pool(x) x = self.relu(self.conv2a(x)) x = self.relu(self.conv2b(x)) x = self.pool(x) x = self.relu(self.conv3a(x)) x = self.relu(self.conv3b(x)) x = self.pool(x) x = self.relu(self.conv4a(x)) x = self.relu(self.conv4b(x)) # Compute the dense keypoint scores cPa = self.relu(self.convPa(x)) scores = self.convPb(cPa) scores = torch.nn.functional.softmax(scores, 1)[:, :-1] b, _, h, w = scores.shape scores = scores.permute(0, 2, 3, 1).reshape(b, h, w, 8, 8) scores = scores.permute(0, 1, 3, 2, 4).reshape(b, h*8, w*8) scores = simple_nms(scores, self.config['nms_radius']) # Extract keypoints keypoints = [ torch.nonzero(s > self.config['keypoint_threshold']) for s in scores] scores = [s[tuple(k.t())] for s, k in zip(scores, keypoints)] # Discard keypoints near the image borders keypoints, scores = list(zip(*[ remove_borders(k, s, self.config['remove_borders'], h*8, w*8) for k, s in zip(keypoints, scores)])) # Keep the k keypoints with highest score if self.config['max_keypoints'] >= 0: keypoints, scores = list(zip(*[ top_k_keypoints(k, s, self.config['max_keypoints']) for k, s in zip(keypoints, scores)])) # Convert (h, w) to (x, y) keypoints = [torch.flip(k, [1]).float() for k in keypoints] # Compute the dense descriptors cDa = self.relu(self.convDa(x)) descriptors = self.convDb(cDa) descriptors = torch.nn.functional.normalize(descriptors, p=2, dim=1) # Extract descriptors descriptors = [sample_descriptors(k[None], d[None], 8)[0] for k, d in zip(keypoints, descriptors)] return { 'keypoints': keypoints, 'scores': scores, 'descriptors': descriptors, } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/models/utils.py ================================================ # %BANNER_BEGIN% # --------------------------------------------------------------------- # %COPYRIGHT_BEGIN% # # Magic Leap, Inc. ("COMPANY") CONFIDENTIAL # # Unpublished Copyright (c) 2020 # Magic Leap, Inc., All Rights Reserved. # # NOTICE: All information contained herein is, and remains the property # of COMPANY. The intellectual and technical concepts contained herein # are proprietary to COMPANY and may be covered by U.S. and Foreign # Patents, patents in process, and are protected by trade secret or # copyright law. Dissemination of this information or reproduction of # this material is strictly forbidden unless prior written permission is # obtained from COMPANY. Access to the source code contained herein is # hereby forbidden to anyone except current COMPANY employees, managers # or contractors who have executed Confidentiality and Non-disclosure # agreements explicitly covering such access. # # The copyright notice above does not evidence any actual or intended # publication or disclosure of this source code, which includes # information that is confidential and/or proprietary, and is a trade # secret, of COMPANY. ANY REPRODUCTION, MODIFICATION, DISTRIBUTION, # PUBLIC PERFORMANCE, OR PUBLIC DISPLAY OF OR THROUGH USE OF THIS # SOURCE CODE WITHOUT THE EXPRESS WRITTEN CONSENT OF COMPANY IS # STRICTLY PROHIBITED, AND IN VIOLATION OF APPLICABLE LAWS AND # INTERNATIONAL TREATIES. THE RECEIPT OR POSSESSION OF THIS SOURCE # CODE AND/OR RELATED INFORMATION DOES NOT CONVEY OR IMPLY ANY RIGHTS # TO REPRODUCE, DISCLOSE OR DISTRIBUTE ITS CONTENTS, OR TO MANUFACTURE, # USE, OR SELL ANYTHING THAT IT MAY DESCRIBE, IN WHOLE OR IN PART. # # %COPYRIGHT_END% # ---------------------------------------------------------------------- # %AUTHORS_BEGIN% # # Originating Authors: Paul-Edouard Sarlin # Daniel DeTone # Tomasz Malisiewicz # # %AUTHORS_END% # --------------------------------------------------------------------*/ # %BANNER_END% from pathlib import Path import time from collections import OrderedDict from threading import Thread import numpy as np import cv2 import torch import matplotlib.pyplot as plt import matplotlib matplotlib.use('Agg') class AverageTimer: """ Class to help manage printing simple timing of code execution. """ def __init__(self, smoothing=0.3, newline=False): self.smoothing = smoothing self.newline = newline self.times = OrderedDict() self.will_print = OrderedDict() self.reset() def reset(self): now = time.time() self.start = now self.last_time = now for name in self.will_print: self.will_print[name] = False def update(self, name='default'): now = time.time() dt = now - self.last_time if name in self.times: dt = self.smoothing * dt + (1 - self.smoothing) * self.times[name] self.times[name] = dt self.will_print[name] = True self.last_time = now def print(self, text='Timer'): total = 0. print('[{}]'.format(text), end=' ') for key in self.times: val = self.times[key] if self.will_print[key]: print('%s=%.3f' % (key, val), end=' ') total += val print('total=%.3f sec {%.1f FPS}' % (total, 1./total), end=' ') if self.newline: print(flush=True) else: print(end='\r', flush=True) self.reset() class VideoStreamer: """ Class to help process image streams. Four types of possible inputs:" 1.) USB Webcam. 2.) An IP camera 3.) A directory of images (files in directory matching 'image_glob'). 4.) A video file, such as an .mp4 or .avi file. """ def __init__(self, basedir, resize, skip, image_glob, max_length=1000000): self._ip_grabbed = False self._ip_running = False self._ip_camera = False self._ip_image = None self._ip_index = 0 self.cap = [] self.camera = True self.video_file = False self.listing = [] self.resize = resize self.interp = cv2.INTER_AREA self.i = 0 self.skip = skip self.max_length = max_length if isinstance(basedir, int) or basedir.isdigit(): print('==> Processing USB webcam input: {}'.format(basedir)) self.cap = cv2.VideoCapture(int(basedir)) self.listing = range(0, self.max_length) elif basedir.startswith(('http', 'rtsp')): print('==> Processing IP camera input: {}'.format(basedir)) self.cap = cv2.VideoCapture(basedir) self.start_ip_camera_thread() self._ip_camera = True self.listing = range(0, self.max_length) elif Path(basedir).is_dir(): print('==> Processing image directory input: {}'.format(basedir)) self.listing = list(Path(basedir).glob(image_glob[0])) for j in range(1, len(image_glob)): image_path = list(Path(basedir).glob(image_glob[j])) self.listing = self.listing + image_path self.listing.sort() self.listing = self.listing[::self.skip] self.max_length = np.min([self.max_length, len(self.listing)]) if self.max_length == 0: raise IOError('No images found (maybe bad \'image_glob\' ?)') self.listing = self.listing[:self.max_length] self.camera = False elif Path(basedir).exists(): print('==> Processing video input: {}'.format(basedir)) self.cap = cv2.VideoCapture(basedir) self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1) num_frames = int(self.cap.get(cv2.CAP_PROP_FRAME_COUNT)) self.listing = range(0, num_frames) self.listing = self.listing[::self.skip] self.video_file = True self.max_length = np.min([self.max_length, len(self.listing)]) self.listing = self.listing[:self.max_length] else: raise ValueError('VideoStreamer input \"{}\" not recognized.'.format(basedir)) if self.camera and not self.cap.isOpened(): raise IOError('Could not read camera') def load_image(self, impath): """ Read image as grayscale and resize to img_size. Inputs impath: Path to input image. Returns grayim: uint8 numpy array sized H x W. """ grayim = cv2.imread(impath, 0) if grayim is None: raise Exception('Error reading image %s' % impath) w, h = grayim.shape[1], grayim.shape[0] w_new, h_new = process_resize(w, h, self.resize) grayim = cv2.resize( grayim, (w_new, h_new), interpolation=self.interp) return grayim def next_frame(self): """ Return the next frame, and increment internal counter. Returns image: Next H x W image. status: True or False depending whether image was loaded. """ if self.i == self.max_length: return (None, False) if self.camera: if self._ip_camera: #Wait for first image, making sure we haven't exited while self._ip_grabbed is False and self._ip_exited is False: time.sleep(.001) ret, image = self._ip_grabbed, self._ip_image.copy() if ret is False: self._ip_running = False else: ret, image = self.cap.read() if ret is False: print('VideoStreamer: Cannot get image from camera') return (None, False) w, h = image.shape[1], image.shape[0] if self.video_file: self.cap.set(cv2.CAP_PROP_POS_FRAMES, self.listing[self.i]) w_new, h_new = process_resize(w, h, self.resize) image = cv2.resize(image, (w_new, h_new), interpolation=self.interp) image = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY) else: image_file = str(self.listing[self.i]) image = self.load_image(image_file) self.i = self.i + 1 return (image, True) def start_ip_camera_thread(self): self._ip_thread = Thread(target=self.update_ip_camera, args=()) self._ip_running = True self._ip_thread.start() self._ip_exited = False return self def update_ip_camera(self): while self._ip_running: ret, img = self.cap.read() if ret is False: self._ip_running = False self._ip_exited = True self._ip_grabbed = False return self._ip_image = img self._ip_grabbed = ret self._ip_index += 1 #print('IPCAMERA THREAD got frame {}'.format(self._ip_index)) def cleanup(self): self._ip_running = False # --- PREPROCESSING --- def process_resize(w, h, resize): assert(len(resize) > 0 and len(resize) <= 2) if len(resize) == 1 and resize[0] > -1: scale = resize[0] / max(h, w) w_new, h_new = int(round(w*scale)), int(round(h*scale)) elif len(resize) == 1 and resize[0] == -1: w_new, h_new = w, h else: # len(resize) == 2: w_new, h_new = resize[0], resize[1] # Issue warning if resolution is too small or too large. if max(w_new, h_new) < 160: print('Warning: input resolution is very small, results may vary') elif max(w_new, h_new) > 2000: print('Warning: input resolution is very large, results may vary') return w_new, h_new def frame2tensor(frame, device): return torch.from_numpy(frame/255.).float()[None, None].to(device) def read_image(path, device, resize, rotation, resize_float): image = cv2.imread(str(path), cv2.IMREAD_GRAYSCALE) if image is None: return None, None, None w, h = image.shape[1], image.shape[0] w_new, h_new = process_resize(w, h, resize) scales = (float(w) / float(w_new), float(h) / float(h_new)) if resize_float: image = cv2.resize(image.astype('float32'), (w_new, h_new)) else: image = cv2.resize(image, (w_new, h_new)).astype('float32') if rotation != 0: image = np.rot90(image, k=rotation) if rotation % 2: scales = scales[::-1] inp = frame2tensor(image, device) return image, inp, scales # --- GEOMETRY --- def estimate_pose(kpts0, kpts1, K0, K1, thresh, conf=0.99999): if len(kpts0) < 5: return None f_mean = np.mean([K0[0, 0], K1[1, 1], K0[0, 0], K1[1, 1]]) norm_thresh = thresh / f_mean kpts0 = (kpts0 - K0[[0, 1], [2, 2]][None]) / K0[[0, 1], [0, 1]][None] kpts1 = (kpts1 - K1[[0, 1], [2, 2]][None]) / K1[[0, 1], [0, 1]][None] E, mask = cv2.findEssentialMat( kpts0, kpts1, np.eye(3), threshold=norm_thresh, prob=conf, method=cv2.RANSAC) assert E is not None best_num_inliers = 0 ret = None for _E in np.split(E, len(E) / 3): n, R, t, _ = cv2.recoverPose( _E, kpts0, kpts1, np.eye(3), 1e9, mask=mask) if n > best_num_inliers: best_num_inliers = n ret = (R, t[:, 0], mask.ravel() > 0) return ret def rotate_intrinsics(K, image_shape, rot): """image_shape is the shape of the image after rotation""" assert rot <= 3 h, w = image_shape[:2][::-1 if (rot % 2) else 1] fx, fy, cx, cy = K[0, 0], K[1, 1], K[0, 2], K[1, 2] rot = rot % 4 if rot == 1: return np.array([[fy, 0., cy], [0., fx, w-1-cx], [0., 0., 1.]], dtype=K.dtype) elif rot == 2: return np.array([[fx, 0., w-1-cx], [0., fy, h-1-cy], [0., 0., 1.]], dtype=K.dtype) else: # if rot == 3: return np.array([[fy, 0., h-1-cy], [0., fx, cx], [0., 0., 1.]], dtype=K.dtype) def rotate_pose_inplane(i_T_w, rot): rotation_matrices = [ np.array([[np.cos(r), -np.sin(r), 0., 0.], [np.sin(r), np.cos(r), 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]], dtype=np.float32) for r in [np.deg2rad(d) for d in (0, 270, 180, 90)] ] return np.dot(rotation_matrices[rot], i_T_w) def scale_intrinsics(K, scales): scales = np.diag([1./scales[0], 1./scales[1], 1.]) return np.dot(scales, K) def to_homogeneous(points): return np.concatenate([points, np.ones_like(points[:, :1])], axis=-1) def compute_epipolar_error(kpts0, kpts1, T_0to1, K0, K1): kpts0 = (kpts0 - K0[[0, 1], [2, 2]][None]) / K0[[0, 1], [0, 1]][None] kpts1 = (kpts1 - K1[[0, 1], [2, 2]][None]) / K1[[0, 1], [0, 1]][None] kpts0 = to_homogeneous(kpts0) kpts1 = to_homogeneous(kpts1) t0, t1, t2 = T_0to1[:3, 3] t_skew = np.array([ [0, -t2, t1], [t2, 0, -t0], [-t1, t0, 0] ]) E = t_skew @ T_0to1[:3, :3] Ep0 = kpts0 @ E.T # N x 3 p1Ep0 = np.sum(kpts1 * Ep0, -1) # N Etp1 = kpts1 @ E # N x 3 d = p1Ep0**2 * (1.0 / (Ep0[:, 0]**2 + Ep0[:, 1]**2) + 1.0 / (Etp1[:, 0]**2 + Etp1[:, 1]**2)) return d def angle_error_mat(R1, R2): cos = (np.trace(np.dot(R1.T, R2)) - 1) / 2 cos = np.clip(cos, -1., 1.) # numercial errors can make it out of bounds return np.rad2deg(np.abs(np.arccos(cos))) def angle_error_vec(v1, v2): n = np.linalg.norm(v1) * np.linalg.norm(v2) return np.rad2deg(np.arccos(np.clip(np.dot(v1, v2) / n, -1.0, 1.0))) def compute_pose_error(T_0to1, R, t): R_gt = T_0to1[:3, :3] t_gt = T_0to1[:3, 3] error_t = angle_error_vec(t, t_gt) error_t = np.minimum(error_t, 180 - error_t) # ambiguity of E estimation error_R = angle_error_mat(R, R_gt) return error_t, error_R def pose_auc(errors, thresholds): sort_idx = np.argsort(errors) errors = np.array(errors.copy())[sort_idx] recall = (np.arange(len(errors)) + 1) / len(errors) errors = np.r_[0., errors] recall = np.r_[0., recall] aucs = [] for t in thresholds: last_index = np.searchsorted(errors, t) r = np.r_[recall[:last_index], recall[last_index-1]] e = np.r_[errors[:last_index], t] aucs.append(np.trapz(r, x=e)/t) return aucs # --- VISUALIZATION --- def plot_image_pair(imgs, dpi=100, size=6, pad=.5): n = len(imgs) assert n == 2, 'number of images must be two' figsize = (size*n, size*3/4) if size is not None else None _, ax = plt.subplots(1, n, figsize=figsize, dpi=dpi) for i in range(n): ax[i].imshow(imgs[i], cmap=plt.get_cmap('gray'), vmin=0, vmax=255) ax[i].get_yaxis().set_ticks([]) ax[i].get_xaxis().set_ticks([]) for spine in ax[i].spines.values(): # remove frame spine.set_visible(False) plt.tight_layout(pad=pad) def plot_keypoints(kpts0, kpts1, color='w', ps=2): ax = plt.gcf().axes ax[0].scatter(kpts0[:, 0], kpts0[:, 1], c=color, s=ps) ax[1].scatter(kpts1[:, 0], kpts1[:, 1], c=color, s=ps) def plot_matches(kpts0, kpts1, color, lw=1.5, ps=4): fig = plt.gcf() ax = fig.axes fig.canvas.draw() transFigure = fig.transFigure.inverted() fkpts0 = transFigure.transform(ax[0].transData.transform(kpts0)) fkpts1 = transFigure.transform(ax[1].transData.transform(kpts1)) fig.lines = [matplotlib.lines.Line2D( (fkpts0[i, 0], fkpts1[i, 0]), (fkpts0[i, 1], fkpts1[i, 1]), zorder=1, transform=fig.transFigure, c=color[i], linewidth=lw) for i in range(len(kpts0))] ax[0].scatter(kpts0[:, 0], kpts0[:, 1], c=color, s=ps) ax[1].scatter(kpts1[:, 0], kpts1[:, 1], c=color, s=ps) def make_matching_plot(image0, image1, kpts0, kpts1, mkpts0, mkpts1, color, text, path, show_keypoints=False, fast_viz=False, opencv_display=False, opencv_title='matches', small_text=[]): if fast_viz: make_matching_plot_fast(image0, image1, kpts0, kpts1, mkpts0, mkpts1, color, text, path, show_keypoints, 10, opencv_display, opencv_title, small_text) return plot_image_pair([image0, image1]) if show_keypoints: plot_keypoints(kpts0, kpts1, color='k', ps=4) plot_keypoints(kpts0, kpts1, color='w', ps=2) plot_matches(mkpts0, mkpts1, color) fig = plt.gcf() txt_color = 'k' if image0[:100, :150].mean() > 200 else 'w' fig.text( 0.01, 0.99, '\n'.join(text), transform=fig.axes[0].transAxes, fontsize=15, va='top', ha='left', color=txt_color) txt_color = 'k' if image0[-100:, :150].mean() > 200 else 'w' fig.text( 0.01, 0.01, '\n'.join(small_text), transform=fig.axes[0].transAxes, fontsize=5, va='bottom', ha='left', color=txt_color) plt.savefig(str(path), bbox_inches='tight', pad_inches=0) plt.close() def make_matching_plot_fast(image0, image1, kpts0, kpts1, mkpts0, mkpts1, color, text, path=None, show_keypoints=False, margin=10, opencv_display=False, opencv_title='', small_text=[]): H0, W0 = image0.shape H1, W1 = image1.shape H, W = max(H0, H1), W0 + W1 + margin out = 255*np.ones((H, W), np.uint8) out[:H0, :W0] = image0 out[:H1, W0+margin:] = image1 out = np.stack([out]*3, -1) if show_keypoints: kpts0, kpts1 = np.round(kpts0).astype(int), np.round(kpts1).astype(int) white = (255, 255, 255) black = (0, 0, 0) for x, y in kpts0: cv2.circle(out, (x, y), 2, black, -1, lineType=cv2.LINE_AA) cv2.circle(out, (x, y), 1, white, -1, lineType=cv2.LINE_AA) for x, y in kpts1: cv2.circle(out, (x + margin + W0, y), 2, black, -1, lineType=cv2.LINE_AA) cv2.circle(out, (x + margin + W0, y), 1, white, -1, lineType=cv2.LINE_AA) mkpts0, mkpts1 = np.round(mkpts0).astype(int), np.round(mkpts1).astype(int) color = (np.array(color[:, :3])*255).astype(int)[:, ::-1] for (x0, y0), (x1, y1), c in zip(mkpts0, mkpts1, color): c = c.tolist() cv2.line(out, (x0, y0), (x1 + margin + W0, y1), color=c, thickness=1, lineType=cv2.LINE_AA) # display line end-points as circles cv2.circle(out, (x0, y0), 2, c, -1, lineType=cv2.LINE_AA) cv2.circle(out, (x1 + margin + W0, y1), 2, c, -1, lineType=cv2.LINE_AA) # Scale factor for consistent visualization across scales. sc = min(H / 640., 2.0) # Big text. Ht = int(30 * sc) # text height txt_color_fg = (255, 255, 255) txt_color_bg = (0, 0, 0) for i, t in enumerate(text): cv2.putText(out, t, (int(8*sc), Ht*(i+1)), cv2.FONT_HERSHEY_DUPLEX, 1.0*sc, txt_color_bg, 2, cv2.LINE_AA) cv2.putText(out, t, (int(8*sc), Ht*(i+1)), cv2.FONT_HERSHEY_DUPLEX, 1.0*sc, txt_color_fg, 1, cv2.LINE_AA) # Small text. Ht = int(18 * sc) # text height for i, t in enumerate(reversed(small_text)): cv2.putText(out, t, (int(8*sc), int(H-Ht*(i+.6))), cv2.FONT_HERSHEY_DUPLEX, 0.5*sc, txt_color_bg, 2, cv2.LINE_AA) cv2.putText(out, t, (int(8*sc), int(H-Ht*(i+.6))), cv2.FONT_HERSHEY_DUPLEX, 0.5*sc, txt_color_fg, 1, cv2.LINE_AA) if path is not None: cv2.imwrite(str(path), out) if opencv_display: cv2.imshow(opencv_title, out) cv2.waitKey(1) return out def error_colormap(x): return np.clip( np.stack([2-x*2, x*2, np.zeros_like(x), np.ones_like(x)], -1), 0, 1) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/models/weights/superglue_indoor.pth ================================================ [File too large to display: 46.0 MB] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/models/weights/superglue_outdoor.pth ================================================ [File too large to display: 46.0 MB] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/SuperGluePretrainedNetwork/requirements.txt ================================================ matplotlib>=3.1.3 torch>=1.1.0 opencv-python==4.1.2.30 numpy>=1.18.1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/.gitignore ================================================ __pycache__ .vscode checkpoints* train_vis models log.txt hpatches_sequences/hseq.pdf hpatches_sequences/hseq-top.pdf hpatches_sequences/hpatches-sequences-release* hpatches_sequences/cache hpatches_sequences/cache-top .ipynb_checkpoints vlfeat *.d2-net ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/LICENSE ================================================ The Clear BSD License Copyright (c) 2019 Mihai Dusmanu All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted (subject to the limitations in the disclaimer below) provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the names of the copyright holders nor the names of the contributors nor the names of their institutions may be used to endorse or promote products derived from this software without specific prior written permission. NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/README.md ================================================ # D2-Net: A Trainable CNN for Joint Detection and Description of Local Features This repository contains the implementation of the following paper: ```text "D2-Net: A Trainable CNN for Joint Detection and Description of Local Features". M. Dusmanu, I. Rocco, T. Pajdla, M. Pollefeys, J. Sivic, A. Torii, and T. Sattler. CVPR 2019. ``` [Paper on arXiv](https://arxiv.org/abs/1905.03561), [Project page](https://dsmn.ml/publications/d2-net.html) ## Getting started Python 3.6+ is recommended for running our code. [Conda](https://docs.conda.io/en/latest/) can be used to install the required packages: ```bash conda install pytorch torchvision cudatoolkit=10.0 -c pytorch conda install h5py imageio imagesize matplotlib numpy scipy tqdm ``` ## Downloading the models The off-the-shelf **Caffe VGG16** weights and their tuned counterpart can be downloaded by running: ```bash mkdir models wget https://dsmn.ml/files/d2-net/d2_ots.pth -O models/d2_ots.pth wget https://dsmn.ml/files/d2-net/d2_tf.pth -O models/d2_tf.pth wget https://dsmn.ml/files/d2-net/d2_tf_no_phototourism.pth -O models/d2_tf_no_phototourism.pth ``` **Update - 23 May 2019** We have added a new set of weights trained on MegaDepth without the PhotoTourism scenes (sagrada_familia - 0019, lincoln_memorial_statue - 0021, british_museum - 0024, london_bridge - 0025, us_capitol - 0078, mount_rushmore - 1589). Our initial results show similar performance. In order to use these weights at test time, you should add `--model_file models/d2_tf_no_phototourism.pth`. ## Feature extraction `extract_features.py` can be used to extract D2 features for a given list of images. The singlescale features require less than 6GB of VRAM for 1200x1600 images. The `--multiscale` flag can be used to extract multiscale features - for this, we recommend at least 12GB of VRAM. The output format can be either [`npz`](https://docs.scipy.org/doc/numpy/reference/generated/numpy.savez.html) or `mat`. In either case, the feature files encapsulate three arrays: - `keypoints` [`N x 3`] array containing the positions of keypoints `x, y` and the scales `s`. The positions follow the COLMAP format, with the `X` axis pointing to the right and the `Y` axis to the bottom. - `scores` [`N`] array containing the activations of keypoints (higher is better). - `descriptors` [`N x 512`] array containing the L2 normalized descriptors. ```bash python extract_features.py --image_list_file images.txt (--multiscale) ``` ## Tuning on MegaDepth The training pipeline provided here is a PyTorch implementation of the TensorFlow code that was used to train the model available to download above. **Update - 05 June 2019** We have fixed a bug in the dataset preprocessing - retraining now yields similar results to the original TensorFlow implementation. **Update - 07 August 2019** We have released an updated, more accurate version of the training dataset - training is more stable and significantly faster for equal performance. ### Downloading and preprocessing the MegaDepth dataset For this part, [COLMAP](https://colmap.github.io/) should be installed. Please refer to the official website for installation instructions. After downloading the entire [MegaDepth](http://www.cs.cornell.edu/projects/megadepth/) dataset (including SfM models), the first step is generating the undistorted reconstructions. This can be done by calling `undistort_reconstructions.py` as follows: ```bash python undistort_reconstructions.py --colmap_path /path/to/colmap/executable --base_path /path/to/megadepth ``` Next, `preprocess_megadepth.sh` can be used to retrieve the camera parameters and compute the overlap between images for all scenes. ```bash bash preprocess_undistorted_megadepth.sh /path/to/megadepth /path/to/output/folder ``` In case you prefer downloading the undistorted reconstructions and aggregated scene information folder directly, you can find them [here - Google Drive](https://drive.google.com/open?id=1hxpOsqOZefdrba_BqnW490XpNX_LgXPB). You will still need to download the depth maps ("MegaDepth v1 Dataset") from the MegaDepth website. ### Training After downloading and preprocessing MegaDepth, the training can be started right away: ```bash python train.py --use_validation --dataset_path /path/to/megadepth --scene_info_path /path/to/preprocessing/output ``` ## BibTeX If you use this code in your project, please cite the following paper: ```bibtex @InProceedings{Dusmanu2019CVPR, author = {Dusmanu, Mihai and Rocco, Ignacio and Pajdla, Tomas and Pollefeys, Marc and Sivic, Josef and Torii, Akihiko and Sattler, Torsten}, title = {{D2-Net: A Trainable CNN for Joint Detection and Description of Local Features}}, booktitle = {Proceedings of the 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition}, year = {2019}, } ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/extract_features.py ================================================ import argparse import numpy as np import imageio import torch from tqdm import tqdm import scipy import scipy.io import scipy.misc from lib.model_test import D2Net from lib.utils import preprocess_image from lib.pyramid import process_multiscale # CUDA use_cuda = torch.cuda.is_available() device = torch.device("cuda:0" if use_cuda else "cpu") # Argument parsing parser = argparse.ArgumentParser(description='Feature extraction script') parser.add_argument( '--image_list_file', type=str, required=True, help='path to a file containing a list of images to process' ) parser.add_argument( '--preprocessing', type=str, default='caffe', help='image preprocessing (caffe or torch)' ) parser.add_argument( '--model_file', type=str, default='models/d2_tf.pth', help='path to the full model' ) parser.add_argument( '--max_edge', type=int, default=1600, help='maximum image size at network input' ) parser.add_argument( '--max_sum_edges', type=int, default=2800, help='maximum sum of image sizes at network input' ) parser.add_argument( '--output_extension', type=str, default='.d2-net', help='extension for the output' ) parser.add_argument( '--output_type', type=str, default='npz', help='output file type (npz or mat)' ) parser.add_argument( '--multiscale', dest='multiscale', action='store_true', help='extract multiscale features' ) parser.set_defaults(multiscale=False) parser.add_argument( '--no-relu', dest='use_relu', action='store_false', help='remove ReLU after the dense feature extraction module' ) parser.set_defaults(use_relu=True) args = parser.parse_args() print(args) # Creating CNN model model = D2Net( model_file=args.model_file, use_relu=args.use_relu, use_cuda=use_cuda ) # Process the file with open(args.image_list_file, 'r') as f: lines = f.readlines() for line in tqdm(lines, total=len(lines)): path = line.strip() image = imageio.imread(path) if len(image.shape) == 2: image = image[:, :, np.newaxis] image = np.repeat(image, 3, -1) # TODO: switch to PIL.Image due to deprecation of scipy.misc.imresize. resized_image = image if max(resized_image.shape) > args.max_edge: resized_image = scipy.misc.imresize( resized_image, args.max_edge / max(resized_image.shape) ).astype('float') if sum(resized_image.shape[: 2]) > args.max_sum_edges: resized_image = scipy.misc.imresize( resized_image, args.max_sum_edges / sum(resized_image.shape[: 2]) ).astype('float') fact_i = image.shape[0] / resized_image.shape[0] fact_j = image.shape[1] / resized_image.shape[1] input_image = preprocess_image( resized_image, preprocessing=args.preprocessing ) with torch.no_grad(): if args.multiscale: keypoints, scores, descriptors = process_multiscale( torch.tensor( input_image[np.newaxis, :, :, :].astype(np.float32), device=device ), model ) else: keypoints, scores, descriptors = process_multiscale( torch.tensor( input_image[np.newaxis, :, :, :].astype(np.float32), device=device ), model, scales=[1] ) # Input image coordinates keypoints[:, 0] *= fact_i keypoints[:, 1] *= fact_j # i, j -> u, v keypoints = keypoints[:, [1, 0, 2]] if args.output_type == 'npz': with open(path + args.output_extension, 'wb') as output_file: np.savez( output_file, keypoints=keypoints, scores=scores, descriptors=descriptors ) elif args.output_type == 'mat': with open(path + args.output_extension, 'wb') as output_file: scipy.io.savemat( output_file, { 'keypoints': keypoints, 'scores': scores, 'descriptors': descriptors } ) else: raise ValueError('Unknown output type.') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/extract_hesaff.m ================================================ fid = fopen('image_list_hpatches_sequences.txt'); tline = fgetl(fid); while ischar(tline) disp(tline); I = im2single(imread(tline)); if size(I, 3) > 1 I = rgb2gray(I); end [F, D, info] = vl_covdet(I, 'Method', 'Hessian', ... 'EstimateAffineShape', true, ... 'EstimateOrientation', true, ... 'DoubleImage', false, ... 'peakThreshold', 14 / 256^2); keypoints = F'; scores = info.peakScores; descriptors = D'; save([tline '.hesaff'], 'keypoints', 'scores', 'descriptors'); tline = fgetl(fid); end fclose(fid); ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/hpatches_sequences/HPatches-Sequences-Matching-Benchmark.ipynb ================================================ { "cells": [ { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "import matplotlib\n", "\n", "import matplotlib.pyplot as plt\n", "\n", "import numpy as np\n", "\n", "import os\n", "\n", "import torch\n", "\n", "from scipy.io import loadmat\n", "\n", "from tqdm import tqdm_notebook as tqdm" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "%matplotlib inline" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "use_cuda = torch.cuda.is_available()\n", "device = torch.device('cuda:0' if use_cuda else 'cpu')" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [], "source": [ "# Add new methods here.\n", "# methods = ['hesaff', 'hesaffnet', 'delf', 'delf-new', 'superpoint', 'd2-net', 'd2-net-trained']\n", "# names = ['Hes. Aff. + Root-SIFT', 'HAN + HN++', 'DELF', 'DELF New', 'SuperPoint', 'D2-Net', 'D2-Net Trained']\n", "# colors = ['black', 'orange', 'red', 'red', 'blue', 'purple', 'purple']\n", "# linestyles = ['-', '-', '-', '--', '-', '-', '--']\n", "methods = ['hesaff', 'hesaffnet', 'delf', 'delf-new', 'superpoint', 'lf-net', 'd2-net', 'd2-net-ms', 'd2-net-trained', 'd2-net-trained-ms']\n", "names = ['Hes. Aff. + Root-SIFT', 'HAN + HN++', 'DELF', 'DELF New', 'SuperPoint', 'LF-Net', 'D2-Net', 'D2-Net MS', 'D2-Net Trained', 'D2-Net Trained MS']\n", "colors = ['black', 'orange', 'red', 'red', 'blue', 'brown', 'purple', 'green', 'purple', 'green']\n", "linestyles = ['-', '-', '-', '--', '-', '-', '-', '-', '--', '--']" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [], "source": [ "# Change here if you want to use top K or all features.\n", "# top_k = 2000\n", "top_k = None " ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "n_i = 52\n", "n_v = 56" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [], "source": [ "dataset_path = 'hpatches-sequences-release'" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [], "source": [ "lim = [1, 15]\n", "rng = np.arange(lim[0], lim[1] + 1)" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [], "source": [ "def mnn_matcher(descriptors_a, descriptors_b):\n", " device = descriptors_a.device\n", " sim = descriptors_a @ descriptors_b.t()\n", " nn12 = torch.max(sim, dim=1)[1]\n", " nn21 = torch.max(sim, dim=0)[1]\n", " ids1 = torch.arange(0, sim.shape[0], device=device)\n", " mask = (ids1 == nn21[nn12])\n", " matches = torch.stack([ids1[mask], nn12[mask]])\n", " return matches.t().data.cpu().numpy()" ] }, { "cell_type": "code", "execution_count": 10, "metadata": { "scrolled": true }, "outputs": [], "source": [ "def benchmark_features(read_feats):\n", " seq_names = sorted(os.listdir(dataset_path))\n", "\n", " n_feats = []\n", " n_matches = []\n", " seq_type = []\n", " i_err = {thr: 0 for thr in rng}\n", " v_err = {thr: 0 for thr in rng}\n", "\n", " for seq_idx, seq_name in tqdm(enumerate(seq_names), total=len(seq_names)):\n", " keypoints_a, descriptors_a = read_feats(seq_name, 1)\n", " n_feats.append(keypoints_a.shape[0])\n", "\n", " for im_idx in range(2, 7):\n", " keypoints_b, descriptors_b = read_feats(seq_name, im_idx)\n", " n_feats.append(keypoints_b.shape[0])\n", "\n", " matches = mnn_matcher(\n", " torch.from_numpy(descriptors_a).to(device=device), \n", " torch.from_numpy(descriptors_b).to(device=device)\n", " )\n", " \n", " homography = np.loadtxt(os.path.join(dataset_path, seq_name, \"H_1_\" + str(im_idx)))\n", " \n", " pos_a = keypoints_a[matches[:, 0], : 2] \n", " pos_a_h = np.concatenate([pos_a, np.ones([matches.shape[0], 1])], axis=1)\n", " pos_b_proj_h = np.transpose(np.dot(homography, np.transpose(pos_a_h)))\n", " pos_b_proj = pos_b_proj_h[:, : 2] / pos_b_proj_h[:, 2 :]\n", "\n", " pos_b = keypoints_b[matches[:, 1], : 2]\n", "\n", " dist = np.sqrt(np.sum((pos_b - pos_b_proj) ** 2, axis=1))\n", "\n", " n_matches.append(matches.shape[0])\n", " seq_type.append(seq_name[0])\n", " \n", " if dist.shape[0] == 0:\n", " dist = np.array([float(\"inf\")])\n", " \n", " for thr in rng:\n", " if seq_name[0] == 'i':\n", " i_err[thr] += np.mean(dist <= thr)\n", " else:\n", " v_err[thr] += np.mean(dist <= thr)\n", " \n", " seq_type = np.array(seq_type)\n", " n_feats = np.array(n_feats)\n", " n_matches = np.array(n_matches)\n", " \n", " return i_err, v_err, [seq_type, n_feats, n_matches]" ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [], "source": [ "def summary(stats):\n", " seq_type, n_feats, n_matches = stats\n", " print('# Features: {:f} - [{:d}, {:d}]'.format(np.mean(n_feats), np.min(n_feats), np.max(n_feats)))\n", " print('# Matches: Overall {:f}, Illumination {:f}, Viewpoint {:f}'.format(\n", " np.sum(n_matches) / ((n_i + n_v) * 5), \n", " np.sum(n_matches[seq_type == 'i']) / (n_i * 5), \n", " np.sum(n_matches[seq_type == 'v']) / (n_v * 5))\n", " )" ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [], "source": [ "def generate_read_function(method, extension='ppm'):\n", " def read_function(seq_name, im_idx):\n", " aux = np.load(os.path.join(dataset_path, seq_name, '%d.%s.%s' % (im_idx, extension, method)))\n", " if top_k is None:\n", " return aux['keypoints'], aux['descriptors']\n", " else:\n", " assert('scores' in aux)\n", " ids = np.argsort(aux['scores'])[-top_k :]\n", " return aux['keypoints'][ids, :], aux['descriptors'][ids, :]\n", " return read_function" ] }, { "cell_type": "code", "execution_count": 13, "metadata": {}, "outputs": [], "source": [ "def sift_to_rootsift(descriptors):\n", " return np.sqrt(descriptors / np.expand_dims(np.sum(np.abs(descriptors), axis=1), axis=1) + 1e-16)\n", "def parse_mat(mat):\n", " keypoints = mat['keypoints'][:, : 2]\n", " raw_descriptors = mat['descriptors']\n", " l2_norm_descriptors = raw_descriptors / np.expand_dims(np.sum(raw_descriptors ** 2, axis=1), axis=1)\n", " descriptors = sift_to_rootsift(l2_norm_descriptors)\n", " if top_k is None:\n", " return keypoints, descriptors\n", " else:\n", " assert('scores' in mat)\n", " ids = np.argsort(mat['scores'][0])[-top_k :]\n", " return keypoints[ids, :], descriptors[ids, :]" ] }, { "cell_type": "code", "execution_count": 14, "metadata": {}, "outputs": [], "source": [ "if top_k is None:\n", " cache_dir = 'cache'\n", "else:\n", " cache_dir = 'cache-top'\n", "if not os.path.isdir(cache_dir):\n", " os.mkdir(cache_dir)" ] }, { "cell_type": "code", "execution_count": 15, "metadata": {}, "outputs": [], "source": [ "errors = {}" ] }, { "cell_type": "code", "execution_count": 16, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "hesaff\n", "Loading precomputed errors...\n", "# Features: 6710.137346 - [296, 26021]\n", "# Matches: Overall 2851.679630, Illumination 1585.803846, Viewpoint 4027.135714\n", "hesaffnet\n", "Loading precomputed errors...\n", "# Features: 3860.754630 - [89, 16326]\n", "# Matches: Overall 1959.996296, Illumination 1098.419231, Viewpoint 2760.032143\n", "delf\n", "Loading precomputed errors...\n", "# Features: 4608.236111 - [1196, 10939]\n", "# Matches: Overall 1912.400000, Illumination 1973.100000, Viewpoint 1856.035714\n", "delf-new\n", "Loading precomputed errors...\n", "# Features: 4590.001543 - [953, 12696]\n", "# Matches: Overall 1940.288889, Illumination 2031.873077, Viewpoint 1855.246429\n", "superpoint\n", "Loading precomputed errors...\n", "# Features: 1562.611111 - [90, 6422]\n", "# Matches: Overall 883.440741, Illumination 667.830769, Viewpoint 1083.650000\n", "lf-net\n", "Loading precomputed errors...\n", "# Features: 500.000000 - [500, 500]\n", "# Matches: Overall 177.475926, Illumination 183.073077, Viewpoint 172.278571\n", "d2-net\n", "Loading precomputed errors...\n", "# Features: 2994.067901 - [641, 9337]\n", "# Matches: Overall 1182.574074, Illumination 964.588462, Viewpoint 1384.989286\n", "d2-net-ms\n", "Loading precomputed errors...\n", "# Features: 4928.163580 - [1009, 15230]\n", "# Matches: Overall 1698.377778, Illumination 1384.215385, Viewpoint 1990.100000\n", "d2-net-trained\n", "Loading precomputed errors...\n", "# Features: 5965.117284 - [1309, 18974]\n", "# Matches: Overall 2495.900000, Illumination 2033.250000, Viewpoint 2925.503571\n", "d2-net-trained-ms\n", "Loading precomputed errors...\n", "# Features: 8254.473765 - [1797, 26880]\n", "# Matches: Overall 2831.638889, Illumination 2313.957692, Viewpoint 3312.342857\n" ] } ], "source": [ "for method in methods:\n", " output_file = os.path.join(cache_dir, method + '.npy')\n", " print(method)\n", " if method == 'hesaff':\n", " read_function = lambda seq_name, im_idx: parse_mat(loadmat(os.path.join(dataset_path, seq_name, '%d.ppm.hesaff' % im_idx), appendmat=False))\n", " else:\n", " if method == 'delf' or method == 'delf-new':\n", " read_function = generate_read_function(method, extension='png')\n", " else:\n", " read_function = generate_read_function(method)\n", " if os.path.exists(output_file):\n", " print('Loading precomputed errors...')\n", " errors[method] = np.load(output_file, allow_pickle=True)\n", " else:\n", " errors[method] = benchmark_features(read_function)\n", " np.save(output_file, errors[method])\n", " summary(errors[method][-1])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Plotting" ] }, { "cell_type": "code", "execution_count": 17, "metadata": {}, "outputs": [], "source": [ "plt_lim = [1, 10]\n", "plt_rng = np.arange(plt_lim[0], plt_lim[1] + 1)" ] }, { "cell_type": "code", "execution_count": 18, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "plt.rc('axes', titlesize=25)\n", "plt.rc('axes', labelsize=25)\n", "\n", "plt.figure(figsize=(15, 5))\n", "\n", "plt.subplot(1, 3, 1)\n", "for method, name, color, ls in zip(methods, names, colors, linestyles):\n", " i_err, v_err, _ = errors[method]\n", " plt.plot(plt_rng, [(i_err[thr] + v_err[thr]) / ((n_i + n_v) * 5) for thr in plt_rng], color=color, ls=ls, linewidth=3, label=name)\n", "plt.title('Overall')\n", "plt.xlim(plt_lim)\n", "plt.xticks(plt_rng)\n", "plt.ylabel('MMA')\n", "plt.ylim([0, 1])\n", "plt.grid()\n", "plt.tick_params(axis='both', which='major', labelsize=20)\n", "plt.legend()\n", "\n", "plt.subplot(1, 3, 2)\n", "for method, name, color, ls in zip(methods, names, colors, linestyles):\n", " i_err, v_err, _ = errors[method]\n", " plt.plot(plt_rng, [i_err[thr] / (n_i * 5) for thr in plt_rng], color=color, ls=ls, linewidth=3, label=name)\n", "plt.title('Illumination')\n", "plt.xlabel('threshold [px]')\n", "plt.xlim(plt_lim)\n", "plt.xticks(plt_rng)\n", "plt.ylim([0, 1])\n", "plt.gca().axes.set_yticklabels([])\n", "plt.grid()\n", "plt.tick_params(axis='both', which='major', labelsize=20)\n", "\n", "plt.subplot(1, 3, 3)\n", "for method, name, color, ls in zip(methods, names, colors, linestyles):\n", " i_err, v_err, _ = errors[method]\n", " plt.plot(plt_rng, [v_err[thr] / (n_v * 5) for thr in plt_rng], color=color, ls=ls, linewidth=3, label=name)\n", "plt.title('Viewpoint')\n", "plt.xlim(plt_lim)\n", "plt.xticks(plt_rng)\n", "plt.ylim([0, 1])\n", "plt.gca().axes.set_yticklabels([])\n", "plt.grid()\n", "plt.tick_params(axis='both', which='major', labelsize=20)\n", "\n", "if top_k is None:\n", " plt.savefig('hseq.pdf', bbox_inches='tight', dpi=300)\n", "else:\n", " plt.savefig('hseq-top.pdf', bbox_inches='tight', dpi=300)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.3" } }, "nbformat": 4, "nbformat_minor": 2 } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/hpatches_sequences/README.md ================================================ # HPatches Sequences / Image Pairs Matching Benchmark Please check the [official repository](https://github.com/hpatches/hpatches-dataset) for more information regarding references. The dataset can be downloaded by running `bash download.sh` - this script downloads and extracts the HPatches Sequences dataset and removes the sequences containing high resolution images (`> 1600x1200`) as mentioned in the D2-Net paper. You can also download the cache with results for all methods from the D2-Net paper by running `bash download_cache.sh`. New methods can be added in cell 4 of the notebook. The local features are supposed to be stored in the [`npz`](https://docs.scipy.org/doc/numpy/reference/generated/numpy.savez.html) format with three fields: - `keypoints` - `N x 2` matrix with `x, y` coordinates of each keypoint in COLMAP format (the `X` axis points to the right, the `Y` axis to the bottom) - `scores` - `N` array with detection scores for each keypoint (higher is better) - only required for the "top K" version of the benchmark - `descriptors` - `N x D` matrix with the descriptors (L2 normalized if you plan on using the provided mutual nearest neighbors matcher) Moreover, the `npz` files are supposed to be saved alongside their corresponding images with the same extension as the `method` (e.g. if `method = d2-net`, the features for the image `hpatches-sequences-release/i_ajuntament/1.ppm` should be in the file `hpatches-sequences-release/i_ajuntament/1.ppm.d2-net`). We provide a simple script to extract Hessian Affine keypoints with SIFT descriptors (`extract_hesaff.m`); this script requires MATLAB and [VLFeat](http://www.vlfeat.org/). D2-Net features can be extracted by running: ``` python extract_features.py --image_list_file image_list_hpatches_sequences.txt ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/hpatches_sequences/convert_to_png.sh ================================================ # DELF Extraction script doesn't support .ppm images. current_dir=`pwd` echo $current_dir for dir in `ls hpatches-sequences-release`; do echo $dir cd hpatches-sequences-release/$dir mogrify -format png *.ppm cd $current_dir done ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/hpatches_sequences/download.sh ================================================ #!/usr/bin/env bash # Download the dataset wget http://icvl.ee.ic.ac.uk/vbalnt/hpatches/hpatches-sequences-release.tar.gz # Extract the dataset tar xvzf hpatches-sequences-release.tar.gz # Remove the high-resolution sequences cd hpatches-sequences-release rm -rf i_contruction i_crownnight i_dc i_pencils i_whitebuilding v_artisans v_astronautis v_talent cd .. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/hpatches_sequences/download_cache.sh ================================================ #!/usr/bin/env bash wget https://dsmn.ml/files/d2-net/hpatches-sequences-cache.tar.gz tar xvzf hpatches-sequences-cache.tar.gz rm -rf hpatches-sequences-cache.tar.gz wget https://dsmn.ml/files/d2-net/hpatches-sequences-cache-top.tar.gz tar xvzf hpatches-sequences-cache-top.tar.gz rm -rf hpatches-sequences-cache-top.tar.gz ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/image_list_hpatches_sequences.txt 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FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/image_list_qualitative.txt ================================================ qualitative/images/pair_1/1.jpg qualitative/images/pair_1/2.jpg qualitative/images/pair_2/1.jpg qualitative/images/pair_2/2.jpg qualitative/images/pair_3/1.jpg qualitative/images/pair_3/2.jpg ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/inloc/README.md ================================================ # InLoc evaluation instructions Start by downloading the [InLoc_demo](https://github.com/HajimeTaira/InLoc_demo) code. Once it is up and running according to the official instruction, you can copy and paste all the files available here overwriting the `Features_WUSTL` and `parfor_sparseGV` functions. `generate_list.m` will generate `image_list.txt` containing the queries and top 100 database matches (run `sort -u image_list.txt > image_list_unique.txt` to remove the duplicates). After extracting features for all the images in `image_list_unique.txt`, you can run `custom_demo` directly. The feature extraction part for D2-Net can be done using the following command: `python extract_features.py --image_list_file /path/to/image_list_unique.txt --multiscale --output_format .mat`. In case you plan on using your own features, don't forget to change the extension in `Features_WUSTL.m`. The local features are supposed to be stored in the `mat` format with two fields: - `keypoints` - `N x 3` matrix with `x, y, scale` coordinates of each keypoint in COLMAP format (the `X` axis points to the right, the `Y` axis to the bottom), - `descriptors` - `N x D` matrix with the descriptors. The evaluation pipeline is live at [visuallocalization.net](https://www.visuallocalization.net/). In order to generate a submission file, please use the provided [ImgList2text](https://github.com/HajimeTaira/InLoc_demo/blob/master/functions/utils/ImgList2text.m) function. We have also provided the `merge_files` MATLAB script that was used to merge the solutions of D2-Net Multiscale and Dense InLoc based on the view synthesis score. It can be used as follows `merge_files('output/densePV_top10_shortlist_method1.mat', 'outputs/densePV_top10_shortlist_method2.mat')`. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/inloc/custom_demo.m ================================================ % Startup startup; [ params ] = setup_project_ht_WUSTL; % 1. Retrieval ht_retrieval; % 2. Geometric verification ht_top100_sparsePE_localization; % 3. Pose verification ImgList_densePE = ImgList_sparsePE; % Force dense PV to use sparse PE results. ht_top10_densePV_localization; ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/inloc/functions/wustl_function/Features_WUSTL.m ================================================ function [f, d] = features_custom(I_path) data = load([I_path '.d2-net'], '-mat'); f = double(data.keypoints(:, 1 : 3).'); d = double(data.descriptors.'); end ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/inloc/functions/wustl_function/parfor_sparseGV.m ================================================ function parfor_sparseGV( qname, dbname, params ) [~, dbbasename, ~] = fileparts(dbname); this_sparsegv_matname = fullfile(params.output.gv_sparse.dir, qname, [dbbasename, params.output.gv_sparse.matformat]); if exist(this_sparsegv_matname, 'file') ~= 2 %load features qfmatname = fullfile(params.input.feature.dir, params.data.q.dir, [qname, params.input.feature.q_sps_matformat]); if exist(qfmatname, 'file') ~= 2 Iqname = fullfile(params.data.dir, params.data.q.dir, qname); [f, d] = features_WUSTL(Iqname); [qfdir, ~, ~] = fileparts(qfmatname); if exist(qfdir, 'dir') ~= 7 mkdir(qfdir); end save('-v6', qfmatname, 'f', 'd'); end features_q = load(qfmatname); dbfmatname = fullfile(params.input.feature.dir, params.data.db.cutout.dir, [dbname, params.input.feature.db_sps_matformat]); if exist(dbfmatname, 'file') ~= 2 Idbname = fullfile(params.data.dir, params.data.db.cutout.dir, dbname); [f, d] = features_WUSTL(Idbname); [dbfdir, ~, ~] = fileparts(dbfmatname); if exist(dbfdir, 'dir') ~= 7 mkdir(dbfdir); end save('-v6', dbfmatname, 'f', 'd'); end features_db = load(dbfmatname); %geometric verification if size(features_db.d, 2) < 6 H = nan(3, 3); inls_qidx = []; inls_dbidx = []; inliernum = 0; matches = []; inliers = []; else %geometric verification (homography lo-ransac) [matches, inliers, H, ~] = at_sparseransac(features_q.f,features_q.d,features_db.f,features_db.d,3,10); inliernum = length(inliers); inls_qidx = inliers(1, :); inls_dbidx = inliers(2, :); end %save if exist(fullfile(params.output.gv_sparse.dir, qname), 'dir') ~= 7 mkdir(fullfile(params.output.gv_sparse.dir, qname)); end save('-v6', this_sparsegv_matname, 'H', 'inliernum', 'inls_qidx', 'inls_dbidx', 'matches', 'inliers'); % %debug % Iq = imread(fullfile(params.data.dir, params.data.q.dir, qname)); % Idb = imread(fullfile(params.data.dir, params.data.db.cutout.dir, dbname)); % figure(); % ultimateSubplot ( 2, 1, 1, 1, 0.01, 0.05 ); % imshow(rgb2gray(Iq));hold on; % plot(features_q.f(1, inls_qidx), features_q.f(2, inls_qidx),'g.'); % ultimateSubplot ( 2, 1, 2, 1, 0.01, 0.05 ); % imshow(rgb2gray(Idb));hold on; % plot(features_db.f(1, inls_dbidx), features_db.f(2, inls_dbidx),'g.'); % % keyboard; end end ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/inloc/generate_list.m ================================================ startup; params = setup_project; ht_retrieval; shortlist_topN = 100; query_dir = fullfile(params.data.dir, params.data.q.dir); db_dir = fullfile(params.data.dir, params.data.db.cutout.dir); image_list_file = fopen('image_list.txt', 'w'); for ii = 1:1:length(ImgList_original) query_image_path = [query_dir '/' ImgList_original(ii).queryname]; fprintf(image_list_file, '%s\n', query_image_path); for jj = 1:1:shortlist_topN db_image_path = [db_dir '/' ImgList_original(ii).topNname{jj}]; fprintf(image_list_file, '%s\n', db_image_path); end end fclose(image_list_file); ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/inloc/merge_files.m ================================================ function ImgList = merge_files(file1, file2) f1 = load(file1); ImgList_file1 = f1.ImgList; f2 = load(file2); ImgList_file2 = f2.ImgList; PV_topN = 10; n1 = 0; n2 = 0; ImgList = struct('queryname', {}, 'topNname', {}, 'topNscore', {}, 'P', {}); for ii = 1:1:length(ImgList_file1) ImgList(ii).queryname = ImgList_file1(ii).queryname; sum_scores = containers.Map('KeyType', 'char', 'ValueType', 'double'); for jj = 1 : PV_topN name = char(ImgList_file1(ii).topNname(jj)); if isKey(sum_scores, name) sum_scores(name) = sum_scores(name) + ImgList_file1(ii).topNscore(jj); else sum_scores(name) = ImgList_file1(ii).topNscore(jj); end name = char(ImgList_file2(ii).topNname(jj)); if isKey(sum_scores, name) sum_scores(name) = sum_scores(name) + ImgList_file2(ii).topNscore(jj); else sum_scores(name) = ImgList_file2(ii).topNscore(jj); end end max_score = 0; img_name = 0; for key = keys(sum_scores) if sum_scores(char(key)) > max_score max_score = sum_scores(char(key)); img_name = key; end end id_dense = 0; id_sparse = 0; for jj = 1 : PV_topN if strcmp(char(ImgList_file1(ii).topNname(jj)), img_name) id_dense = jj; end if strcmp(char(ImgList_file2(ii).topNname(jj)), img_name) id_sparse = jj; end end if id_sparse == 0 n1 = n1 + 1; ImgList(ii).topNscore = [ImgList_file1(ii).topNscore(id_dense)]; ImgList(ii).topNname = [ImgList_file1(ii).topNname(id_dense)]; ImgList(ii).P = [ImgList_file1(ii).P(id_dense)]; continue end if id_dense == 0 n2 = n2 + 1; ImgList(ii).topNscore = [ImgList_file2(ii).topNscore(id_sparse)]; ImgList(ii).topNname = [ImgList_file2(ii).topNname(id_sparse)]; ImgList(ii).P = [ImgList_file2(ii).P(id_sparse)]; continue end max_score = 0; if ImgList_file1(ii).topNscore(id_dense) > ImgList_file2(ii).topNscore(id_sparse) n1 = n1 + 1; ImgList(ii).topNscore = [ImgList_file1(ii).topNscore(id_dense)]; ImgList(ii).topNname = [ImgList_file1(ii).topNname(id_dense)]; ImgList(ii).P = [ImgList_file1(ii).P(id_dense)]; else n2 = n2 + 1; ImgList(ii).topNscore = [ImgList_file2(ii).topNscore(id_sparse)]; ImgList(ii).topNname = [ImgList_file2(ii).topNname(id_sparse)]; ImgList(ii).P = [ImgList_file2(ii).P(id_sparse)]; end end fprintf(1, "%d file 1 poses & %d file 2 poses selected\n", n1, n2); end ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/megadepth_utils/preprocess_scene.py ================================================ import argparse import imagesize import numpy as np import os parser = argparse.ArgumentParser(description='MegaDepth preprocessing script') parser.add_argument( '--base_path', type=str, required=True, help='path to MegaDepth' ) parser.add_argument( '--scene_id', type=str, required=True, help='scene ID' ) parser.add_argument( '--output_path', type=str, required=True, help='path to the output directory' ) args = parser.parse_args() base_path = args.base_path # Remove the trailing / if need be. if base_path[-1] in ['/', '\\']: base_path = base_path[: - 1] scene_id = args.scene_id base_depth_path = os.path.join( base_path, 'phoenix/S6/zl548/MegaDepth_v1' ) base_undistorted_sfm_path = os.path.join( base_path, 'Undistorted_SfM' ) undistorted_sparse_path = os.path.join( base_undistorted_sfm_path, scene_id, 'sparse-txt' ) if not os.path.exists(undistorted_sparse_path): exit() depths_path = os.path.join( base_depth_path, scene_id, 'dense0', 'depths' ) if not os.path.exists(depths_path): exit() images_path = os.path.join( base_undistorted_sfm_path, scene_id, 'images' ) if not os.path.exists(images_path): exit() # Process cameras.txt with open(os.path.join(undistorted_sparse_path, 'cameras.txt'), 'r') as f: raw = f.readlines()[3 :] # skip the header camera_intrinsics = {} for camera in raw: camera = camera.split(' ') camera_intrinsics[int(camera[0])] = [float(elem) for elem in camera[2 :]] # Process points3D.txt with open(os.path.join(undistorted_sparse_path, 'points3D.txt'), 'r') as f: raw = f.readlines()[3 :] # skip the header points3D = {} for point3D in raw: point3D = point3D.split(' ') points3D[int(point3D[0])] = np.array([ float(point3D[1]), float(point3D[2]), float(point3D[3]) ]) # Process images.txt with open(os.path.join(undistorted_sparse_path, 'images.txt'), 'r') as f: raw = f.readlines()[4 :] # skip the header image_id_to_idx = {} image_names = [] raw_pose = [] camera = [] points3D_id_to_2D = [] n_points3D = [] for idx, (image, points) in enumerate(zip(raw[:: 2], raw[1 :: 2])): image = image.split(' ') points = points.split(' ') image_id_to_idx[int(image[0])] = idx image_name = image[-1].strip('\n') image_names.append(image_name) raw_pose.append([float(elem) for elem in image[1 : -2]]) camera.append(int(image[-2])) current_points3D_id_to_2D = {} for x, y, point3D_id in zip(points[:: 3], points[1 :: 3], points[2 :: 3]): if int(point3D_id) == -1: continue current_points3D_id_to_2D[int(point3D_id)] = [float(x), float(y)] points3D_id_to_2D.append(current_points3D_id_to_2D) n_points3D.append(len(current_points3D_id_to_2D)) n_images = len(image_names) # Image and depthmaps paths image_paths = [] depth_paths = [] for image_name in image_names: image_path = os.path.join(images_path, image_name) # Path to the depth file depth_path = os.path.join( depths_path, '%s.h5' % os.path.splitext(image_name)[0] ) if os.path.exists(depth_path): # Check if depth map or background / foreground mask file_size = os.stat(depth_path).st_size # Rough estimate - 75KB might work as well if file_size < 100 * 1024: depth_paths.append(None) image_paths.append(None) else: depth_paths.append(depth_path[len(base_path) + 1 :]) image_paths.append(image_path[len(base_path) + 1 :]) else: depth_paths.append(None) image_paths.append(None) # Camera configuration intrinsics = [] poses = [] principal_axis = [] points3D_id_to_ndepth = [] for idx, image_name in enumerate(image_names): if image_paths[idx] is None: intrinsics.append(None) poses.append(None) principal_axis.append([0, 0, 0]) points3D_id_to_ndepth.append({}) continue image_intrinsics = camera_intrinsics[camera[idx]] K = np.zeros([3, 3]) K[0, 0] = image_intrinsics[2] K[0, 2] = image_intrinsics[4] K[1, 1] = image_intrinsics[3] K[1, 2] = image_intrinsics[5] K[2, 2] = 1 intrinsics.append(K) image_pose = raw_pose[idx] qvec = image_pose[: 4] qvec = qvec / np.linalg.norm(qvec) w, x, y, z = qvec R = np.array([ [ 1 - 2 * y * y - 2 * z * z, 2 * x * y - 2 * z * w, 2 * x * z + 2 * y * w ], [ 2 * x * y + 2 * z * w, 1 - 2 * x * x - 2 * z * z, 2 * y * z - 2 * x * w ], [ 2 * x * z - 2 * y * w, 2 * y * z + 2 * x * w, 1 - 2 * x * x - 2 * y * y ] ]) principal_axis.append(R[2, :]) t = image_pose[4 : 7] # World-to-Camera pose current_pose = np.zeros([4, 4]) current_pose[: 3, : 3] = R current_pose[: 3, 3] = t current_pose[3, 3] = 1 # Camera-to-World pose # pose = np.zeros([4, 4]) # pose[: 3, : 3] = np.transpose(R) # pose[: 3, 3] = -np.matmul(np.transpose(R), t) # pose[3, 3] = 1 poses.append(current_pose) current_points3D_id_to_ndepth = {} for point3D_id in points3D_id_to_2D[idx].keys(): p3d = points3D[point3D_id] current_points3D_id_to_ndepth[point3D_id] = (np.dot(R[2, :], p3d) + t[2]) / (.5 * (K[0, 0] + K[1, 1])) points3D_id_to_ndepth.append(current_points3D_id_to_ndepth) principal_axis = np.array(principal_axis) angles = np.rad2deg(np.arccos( np.clip( np.dot(principal_axis, np.transpose(principal_axis)), -1, 1 ) )) # Compute overlap score overlap_matrix = np.full([n_images, n_images], -1.) scale_ratio_matrix = np.full([n_images, n_images], -1.) for idx1 in range(n_images): if image_paths[idx1] is None or depth_paths[idx1] is None: continue for idx2 in range(idx1 + 1, n_images): if image_paths[idx2] is None or depth_paths[idx2] is None: continue matches = ( points3D_id_to_2D[idx1].keys() & points3D_id_to_2D[idx2].keys() ) min_num_points3D = min( len(points3D_id_to_2D[idx1]), len(points3D_id_to_2D[idx2]) ) overlap_matrix[idx1, idx2] = len(matches) / len(points3D_id_to_2D[idx1]) # min_num_points3D overlap_matrix[idx2, idx1] = len(matches) / len(points3D_id_to_2D[idx2]) # min_num_points3D if len(matches) == 0: continue points3D_id_to_ndepth1 = points3D_id_to_ndepth[idx1] points3D_id_to_ndepth2 = points3D_id_to_ndepth[idx2] nd1 = np.array([points3D_id_to_ndepth1[match] for match in matches]) nd2 = np.array([points3D_id_to_ndepth2[match] for match in matches]) min_scale_ratio = np.min(np.maximum(nd1 / nd2, nd2 / nd1)) scale_ratio_matrix[idx1, idx2] = min_scale_ratio scale_ratio_matrix[idx2, idx1] = min_scale_ratio np.savez( os.path.join(args.output_path, '%s.npz' % scene_id), image_paths=image_paths, depth_paths=depth_paths, intrinsics=intrinsics, poses=poses, overlap_matrix=overlap_matrix, scale_ratio_matrix=scale_ratio_matrix, angles=angles, n_points3D=n_points3D, points3D_id_to_2D=points3D_id_to_2D, points3D_id_to_ndepth=points3D_id_to_ndepth ) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/megadepth_utils/preprocess_undistorted_megadepth.sh ================================================ #!/usr/bin/env bash if [[ $# != 2 ]]; then echo 'Usage: bash preprocess_megadepth.sh /path/to/megadepth /output/path' exit fi export dataset_path=$1 export output_path=$2 mkdir $output_path echo 0 ls $dataset_path/Undistorted_SfM | xargs -P 8 -I % sh -c 'echo %; python preprocess_scene.py --base_path $dataset_path --scene_id % --output_path $output_path' ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/megadepth_utils/train_scenes.txt ================================================ 0000 0001 0002 0003 0004 0005 0007 0008 0011 0012 0013 0015 0017 0019 0020 0021 0022 0023 0024 0025 0026 0027 0032 0035 0036 0037 0039 0042 0043 0046 0048 0050 0056 0057 0060 0061 0063 0065 0070 0080 0083 0086 0087 0092 0095 0098 0100 0101 0103 0104 0105 0107 0115 0117 0122 0130 0137 0143 0147 0148 0149 0150 0156 0160 0176 0183 0189 0190 0200 0214 0224 0235 0237 0240 0243 0258 0265 0269 0299 0312 0326 0327 0331 0335 0341 0348 0366 0377 0380 0394 0407 0411 0430 0446 0455 0472 0474 0476 0478 0493 0494 0496 0505 0559 0733 0860 1017 1589 4541 5004 5005 5006 5007 5009 5010 5012 5013 5017 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/megadepth_utils/undistort_reconstructions.py ================================================ import argparse import imagesize import os import subprocess parser = argparse.ArgumentParser(description='MegaDepth Undistortion') parser.add_argument( '--colmap_path', type=str, required=True, help='path to colmap executable' ) parser.add_argument( '--base_path', type=str, required=True, help='path to MegaDepth' ) args = parser.parse_args() sfm_path = os.path.join( args.base_path, 'MegaDepth_v1_SfM' ) base_depth_path = os.path.join( args.base_path, 'phoenix/S6/zl548/MegaDepth_v1' ) output_path = os.path.join( args.base_path, 'Undistorted_SfM' ) os.mkdir(output_path) for scene_name in os.listdir(base_depth_path): current_output_path = os.path.join(output_path, scene_name) os.mkdir(current_output_path) image_path = os.path.join( base_depth_path, scene_name, 'dense0', 'imgs' ) if not os.path.exists(image_path): continue # Find the maximum image size in scene. max_image_size = 0 for image_name in os.listdir(image_path): max_image_size = max( max_image_size, max(imagesize.get(os.path.join(image_path, image_name))) ) # Undistort the images and update the reconstruction. subprocess.call([ os.path.join(args.colmap_path, 'colmap'), 'image_undistorter', '--image_path', os.path.join(sfm_path, scene_name, 'images'), '--input_path', os.path.join(sfm_path, scene_name, 'sparse', 'manhattan', '0'), '--output_path', current_output_path, '--max_image_size', str(max_image_size) ]) # Transform the reconstruction to raw text format. sparse_txt_path = os.path.join(current_output_path, 'sparse-txt') os.mkdir(sparse_txt_path) subprocess.call([ os.path.join(args.colmap_path, 'colmap'), 'model_converter', '--input_path', os.path.join(current_output_path, 'sparse'), '--output_path', sparse_txt_path, '--output_type', 'TXT' ]) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/megadepth_utils/valid_scenes.txt ================================================ 0016 0033 0034 0041 0044 0047 0049 0058 0062 0064 0067 0071 0076 0078 0090 0094 0099 0102 0121 0129 0133 0141 0151 0162 0168 0175 0177 0178 0181 0185 0186 0197 0204 0205 0209 0212 0217 0223 0229 0231 0238 0252 0257 0271 0275 0277 0281 0285 0286 0290 0294 0303 0306 0307 0323 0349 0360 0387 0389 0402 0406 0412 0443 0482 0768 1001 3346 5000 5001 5002 5003 5008 5011 5014 5015 5016 5018 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/qualitative/Qualitative-Matches.ipynb ================================================ { "cells": [ { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "import cv2\n", "\n", "import matplotlib.pyplot as plt\n", "\n", "import numpy as np\n", "\n", "import os\n", "\n", "from PIL import Image\n", "\n", "from skimage.feature import match_descriptors\n", "from skimage.measure import ransac\n", "from skimage.transform import ProjectiveTransform" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Don't forget to run feature extraction before running this script\n", "```python extract_features.py --image_list_file image_list_qualitative.txt```" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Change the pair index here (possible values: 1, 2 or 3)" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "pair_idx = 2\n", "assert(pair_idx in [1, 2, 3])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Loading the features" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "pair_path = os.path.join('images', 'pair_%d' % pair_idx)" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [], "source": [ "image1 = np.array(Image.open(os.path.join(pair_path, '1.jpg')))\n", "image2 = np.array(Image.open(os.path.join(pair_path, '2.jpg')))" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [], "source": [ "feat1 = np.load(os.path.join(pair_path, '1.jpg.d2-net'))\n", "feat2 = np.load(os.path.join(pair_path, '2.jpg.d2-net'))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Mutual nearest neighbors matching" ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "matches = match_descriptors(feat1['descriptors'], feat2['descriptors'], cross_check=True)" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Number of raw matches: 296.\n" ] } ], "source": [ "print('Number of raw matches: %d.' % matches.shape[0])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Homography fitting" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Number of inliers: 69.\n" ] } ], "source": [ "keypoints_left = feat1['keypoints'][matches[:, 0], : 2]\n", "keypoints_right = feat2['keypoints'][matches[:, 1], : 2]\n", "np.random.seed(0)\n", "model, inliers = ransac(\n", " (keypoints_left, keypoints_right),\n", " ProjectiveTransform, min_samples=4,\n", " residual_threshold=4, max_trials=10000\n", ")\n", "n_inliers = np.sum(inliers)\n", "print('Number of inliers: %d.' % n_inliers)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Plotting" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [ { "data": { "image/png": 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "inlier_keypoints_left = [cv2.KeyPoint(point[0], point[1], 1) for point in keypoints_left[inliers]]\n", "inlier_keypoints_right = [cv2.KeyPoint(point[0], point[1], 1) for point in keypoints_right[inliers]]\n", "placeholder_matches = [cv2.DMatch(idx, idx, 1) for idx in range(n_inliers)]\n", "image3 = cv2.drawMatches(image1, inlier_keypoints_left, image2, inlier_keypoints_right, placeholder_matches, None)\n", "\n", "plt.figure(figsize=(15, 15))\n", "plt.imshow(image3)\n", "plt.axis('off')\n", "plt.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.3" } }, "nbformat": 4, "nbformat_minor": 2 } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/d2net/train.py ================================================ import argparse import numpy as np import os import shutil import torch import torch.optim as optim from torch.utils.data import DataLoader from tqdm import tqdm import warnings from lib.dataset import MegaDepthDataset from lib.exceptions import NoGradientError from lib.loss import loss_function from lib.model import D2Net # CUDA use_cuda = torch.cuda.is_available() device = torch.device("cuda:0" if use_cuda else "cpu") # Seed torch.manual_seed(1) if use_cuda: torch.cuda.manual_seed(1) np.random.seed(1) # Argument parsing parser = argparse.ArgumentParser(description='Training script') parser.add_argument( '--dataset_path', type=str, required=True, help='path to the dataset' ) parser.add_argument( '--scene_info_path', type=str, required=True, help='path to the processed scenes' ) parser.add_argument( '--preprocessing', type=str, default='caffe', help='image preprocessing (caffe or torch)' ) parser.add_argument( '--model_file', type=str, default='models/d2_ots.pth', help='path to the full model' ) parser.add_argument( '--num_epochs', type=int, default=10, help='number of training epochs' ) parser.add_argument( '--lr', type=float, default=1e-3, help='initial learning rate' ) parser.add_argument( '--batch_size', type=int, default=1, help='batch size' ) parser.add_argument( '--num_workers', type=int, default=4, help='number of workers for data loading' ) parser.add_argument( '--use_validation', dest='use_validation', action='store_true', help='use the validation split' ) parser.set_defaults(use_validation=False) parser.add_argument( '--log_interval', type=int, default=250, help='loss logging interval' ) parser.add_argument( '--log_file', type=str, default='log.txt', help='loss logging file' ) parser.add_argument( '--plot', dest='plot', action='store_true', help='plot training pairs' ) parser.set_defaults(plot=False) parser.add_argument( '--checkpoint_directory', type=str, default='checkpoints', help='directory for training checkpoints' ) parser.add_argument( '--checkpoint_prefix', type=str, default='d2', help='prefix for training checkpoints' ) args = parser.parse_args() print(args) # Create the folders for plotting if need be if args.plot: plot_path = 'train_vis' if os.path.isdir(plot_path): print('[Warning] Plotting directory already exists.') else: os.mkdir(plot_path) # Creating CNN model model = D2Net( model_file=args.model_file, use_cuda=use_cuda ) # Optimizer optimizer = optim.Adam( filter(lambda p: p.requires_grad, model.parameters()), lr=args.lr ) # Dataset if args.use_validation: validation_dataset = MegaDepthDataset( scene_list_path='megadepth_utils/valid_scenes.txt', scene_info_path=args.scene_info_path, base_path=args.dataset_path, train=False, preprocessing=args.preprocessing, pairs_per_scene=25 ) validation_dataloader = DataLoader( validation_dataset, batch_size=args.batch_size, num_workers=args.num_workers ) training_dataset = MegaDepthDataset( scene_list_path='megadepth_utils/train_scenes.txt', scene_info_path=args.scene_info_path, base_path=args.dataset_path, preprocessing=args.preprocessing ) training_dataloader = DataLoader( training_dataset, batch_size=args.batch_size, num_workers=args.num_workers ) # Define epoch function def process_epoch( epoch_idx, model, loss_function, optimizer, dataloader, device, log_file, args, train=True ): epoch_losses = [] torch.set_grad_enabled(train) progress_bar = tqdm(enumerate(dataloader), total=len(dataloader)) for batch_idx, batch in progress_bar: if train: optimizer.zero_grad() batch['train'] = train batch['epoch_idx'] = epoch_idx batch['batch_idx'] = batch_idx batch['batch_size'] = args.batch_size batch['preprocessing'] = args.preprocessing batch['log_interval'] = args.log_interval try: loss = loss_function(model, batch, device, plot=args.plot) except NoGradientError: continue current_loss = loss.data.cpu().numpy()[0] epoch_losses.append(current_loss) progress_bar.set_postfix(loss=('%.4f' % np.mean(epoch_losses))) if batch_idx % args.log_interval == 0: log_file.write('[%s] epoch %d - batch %d / %d - avg_loss: %f\n' % ( 'train' if train else 'valid', epoch_idx, batch_idx, len(dataloader), np.mean(epoch_losses) )) if train: loss.backward() optimizer.step() log_file.write('[%s] epoch %d - avg_loss: %f\n' % ( 'train' if train else 'valid', epoch_idx, np.mean(epoch_losses) )) log_file.flush() return np.mean(epoch_losses) # Create the checkpoint directory if os.path.isdir(args.checkpoint_directory): print('[Warning] Checkpoint directory already exists.') else: os.mkdir(args.checkpoint_directory) # Open the log file for writing if os.path.exists(args.log_file): print('[Warning] Log file already exists.') log_file = open(args.log_file, 'a+') # Initialize the history train_loss_history = [] validation_loss_history = [] if args.use_validation: validation_dataset.build_dataset() min_validation_loss = process_epoch( 0, model, loss_function, optimizer, validation_dataloader, device, log_file, args, train=False ) # Start the training for epoch_idx in range(1, args.num_epochs + 1): # Process epoch training_dataset.build_dataset() train_loss_history.append( process_epoch( epoch_idx, model, loss_function, optimizer, training_dataloader, device, log_file, args ) ) if args.use_validation: validation_loss_history.append( process_epoch( epoch_idx, model, loss_function, optimizer, validation_dataloader, device, log_file, args, train=False ) ) # Save the current checkpoint checkpoint_path = os.path.join( args.checkpoint_directory, '%s.%02d.pth' % (args.checkpoint_prefix, epoch_idx) ) checkpoint = { 'args': args, 'epoch_idx': epoch_idx, 'model': model.state_dict(), 'optimizer': optimizer.state_dict(), 'train_loss_history': train_loss_history, 'validation_loss_history': validation_loss_history } torch.save(checkpoint, checkpoint_path) if ( args.use_validation and validation_loss_history[-1] < min_validation_loss ): min_validation_loss = validation_loss_history[-1] best_checkpoint_path = os.path.join( args.checkpoint_directory, '%s.best.pth' % args.checkpoint_prefix ) shutil.copy(checkpoint_path, best_checkpoint_path) # Close the log file log_file.close() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/.gitignore ================================================ __pycache__/ *.py[cod] *$py.class .DS_store # C extensions *.so ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/LICENSE ================================================ BSD 3-Clause License Copyright (c) 2019, NAVER LABS All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/README.md ================================================ # Deep Image Retrieval This repository contains the models and the evaluation scripts (in Python3 and Pytorch 1.0+) of the papers: **[1] End-to-end Learning of Deep Visual Representations for Image Retrieval** Albert Gordo, Jon Almazan, Jerome Revaud, Diane Larlus, IJCV 2017 [\[PDF\]](https://arxiv.org/abs/1610.07940) **[2] Learning with Average Precision: Training Image Retrieval with a Listwise Loss** Jerome Revaud, Jon Almazan, Rafael S. Rezende, Cesar de Souza, ICCV 2019 [\[PDF\]](https://arxiv.org/abs/1906.07589) Both papers tackle the problem of image retrieval and explore different ways to learn deep visual representations for this task. In both cases, a CNN is used to extract a feature map that is aggregated into a compact, fixed-length representation by a global-aggregation layer*. Finally, this representation is first projected using a FC layer, and L2 normalized so images can be efficiently compared with the dot product. ![dir_network](https://user-images.githubusercontent.com/228798/59742085-aae19f80-9221-11e9-8063-e5f2528c304a.png) All components in this network, including the aggregation layer, are differentiable, which makes it end-to-end trainable for the end task. In [1], a Siamese architecture that combines three streams with a triplet loss was proposed to train this network. In [2], this work was extended by replacing the triplet loss with a new loss that directly optimizes for Average Precision. ![Losses](https://user-images.githubusercontent.com/228798/59742025-7a9a0100-9221-11e9-9d58-1494716e9071.png) \* Originally, [1] used R-MAC pooling [3] as the global-aggregation layer. However, due to its efficiency and better performace we have replaced the R-MAC pooling layer with the Generalized-mean pooling layer (GeM) proposed in [4]. You can find the original implementation of [1] in Caffe following [this link](https://europe.naverlabs.com/Research/Computer-Vision/Learning-Visual-Representations/Deep-Image-Retrieval/). ## News - **(6/9/2019)** AP loss, Tie-aware AP loss, Triplet Margin loss, and Triplet LogExp loss added for reference - **(5/9/2019)** Update evaluation and AP numbers for all the benchmarks - **(22/7/2019)** Paper **_Learning with Average Precision: Training Image Retrieval with a Listwise Loss_** accepted at ICCV 2019 ## Pre-requisites In order to run this toolbox you will need: - Python3 (tested with Python 3.7.3) - PyTorch (tested with version 1.4) - The following packages: numpy, matplotlib, tqdm, scikit-learn With conda you can run the following commands: ``` conda install numpy matplotlib tqdm scikit-learn conda install pytorch torchvision -c pytorch ``` ## Installation ``` # Download the code git clone https://github.com/naver/deep-image-retrieval.git # Create env variables cd deep-image-retrieval export DIR_ROOT=$PWD export DB_ROOT=/PATH/TO/YOUR/DATASETS # for example: export DB_ROOT=$PWD/dirtorch/data/datasets ``` ## Evaluation ### Pre-trained models The table below contains the pre-trained models that we provide with this library, together with their mAP performance on some of the most well-know image retrieval benchmakrs: [Oxford5K](http://www.robots.ox.ac.uk/~vgg/data/oxbuildings/), [Paris6K](http://www.robots.ox.ac.uk/~vgg/data/parisbuildings/), and their Revisited versions ([ROxford5K and RParis6K](https://github.com/filipradenovic/revisitop)). | Model | Oxford5K | Paris6K | ROxford5K (med/hard) | RParis6K (med/hard) | |--- |:-:|:-:|:-:|:-:| | [Resnet101-TL-MAC](https://drive.google.com/file/d/13MUGNwn_CYGZvqDBD8FGD8fVYxThsSDg/view?usp=sharing) | 85.6 | 90.1 | 63.3 / 35.7 | 76.6 / 55.5 | | [Resnet101-TL-GeM](https://drive.google.com/open?id=1vhm1GYvn8T3-1C4SPjPNJOuTU9UxKAG6) | 85.7 | **93.4** | 64.5 / 40.9 | 78.8 / 59.2 | | [Resnet50-AP-GeM](https://drive.google.com/file/d/1oPtE_go9tnsiDLkWjN4NMpKjh-_md1G5/view?usp=sharing) | 87.7 | 91.9 | 65.5 / 41.0 | 77.6 / 57.1 | | [Resnet101-AP-GeM](https://drive.google.com/open?id=1UWJGDuHtzaQdFhSMojoYVQjmCXhIwVvy) | **89.1** | **93.0** | **67.1** / **42.3** | **80.3**/**60.9** | | [Resnet101-AP-GeM-LM18](https://drive.google.com/open?id=1r76NLHtJsH-Ybfda4aLkUIoW3EEsi25I)** | 88.1 | **93.1** | 66.3 / **42.5** | **80.2** / **60.8** | The name of the model encodes the backbone architecture of the network and the loss that has been used to train it (TL for triplet loss and AP for Average Precision loss). All models use **Generalized-mean pooling (GeM)** [3] as the global pooling mechanism, except for the model in the first row that uses MAC [3] \(i.e. max-pooling), and have been trained on the **Landmarks-clean** [1] dataset (the clean version of the [Landmarks dataset](http://sites.skoltech.ru/compvision/projects/neuralcodes/)) directly **fine-tuning from ImageNet**. These numbers have been obtained using a **single resolution** and applying **whitening** to the output features (which has also been learned on Landmarks-clean). For a detailed explanation of all the hyper-parameters see [1] and [2] for the triplet loss and AP loss models, respectively. ** For the sake of completeness, we have added an extra model, `Resnet101-AP-LM18`, which has been trained on the [Google-Landmarks Dataset](https://www.kaggle.com/google/google-landmarks-dataset), a large dataset consisting of more than 1M images and 15K classes. ### Reproducing the results The script `test_dir.py` can be used to evaluate the pre-trained models provided and to reproduce the results above: ``` python -m dirtorch.test_dir --dataset DATASET --checkpoint PATH_TO_MODEL \ [--whiten DATASET] [--whitenp POWER] [--aqe ALPHA-QEXP] \ [--trfs TRANSFORMS] [--gpu ID] [...] ``` - `--dataset`: selects the dataset (eg.: Oxford5K, Paris6K, ROxford5K, RParis6K) [**required**] - `--checkpoint`: path to the model weights [**required**] - `--whiten`: applies whitening to the output features [default 'Landmarks_clean'] - `--whitenp`: whitening power [default: 0.25] - `--aqe`: alpha-query expansion parameters [default: None] - `--trfs`: input image transformations (can be used to apply multi-scale) [default: None] - `--gpu`: selects the GPU ID (-1 selects the CPU) For example, to reproduce the results of the Resnet101-AP_loss model on the RParis6K dataset download the model `Resnet-101-AP-GeM.pt` from [here](https://drive.google.com/open?id=1mi50tG6oXY1eE9yJnmGCPdTmlIjG7mr0) and run: ``` cd $DIR_ROOT export DB_ROOT=/PATH/TO/YOUR/DATASETS python -m dirtorch.test_dir --dataset RParis6K \ --checkpoint dirtorch/data/Resnet101-AP-GeM.pt \ --whiten Landmarks_clean --whitenp 0.25 --gpu 0 ``` And you should see the following output: ``` >> Evaluation... * mAP-easy = 0.907568 * mAP-medium = 0.803098 * mAP-hard = 0.608556 ``` **Note:** this script integrates an automatic downloader for the Oxford5K, Paris6K, ROxford5K, and RParis6K datasets (kudos to Filip Radenovic ;)). The datasets will be saved in `$DB_ROOT`. ## Feature extractor You can also use the pre-trained models to extract features from your own datasets or collection of images. For that we provide the script `feature_extractor.py`: ``` python -m dirtorch.extract_features --dataset DATASET --checkpoint PATH_TO_MODEL \ --output PATH_TO_FILE [--whiten DATASET] [--whitenp POWER] \ [--trfs TRANSFORMS] [--gpu ID] [...] ``` where `--output` is used to specify the destination where the features will be saved. The rest of the parameters are the same as seen above. For example, this is how the script can be used to extract a feature representation for each one of the images in the RParis6K dataset using the `Resnet-101-AP-GeM.pt` model, and storing them in `rparis6k_features.npy`: ``` cd $DIR_ROOT export DB_ROOT=/PATH/TO/YOUR/DATASETS python -m dirtorch.extract_features --dataset RParis6K \ --checkpoint dirtorch/data/Resnet101-AP-GeM.pt \ --output rparis6k_features.npy \ --whiten Landmarks_clean --whitenp 0.25 --gpu 0 ``` The library also provides a **generic class dataset** (`ImageList`) that allows you to specify the list of images by providing a simple text file. ``` --dataset 'ImageList("PATH_TO_TEXTFILE" [, "IMAGES_ROOT"])' ``` Each row of the text file should contain a single path to a given image: ``` /PATH/TO/YOUR/DATASET/images/image1.jpg /PATH/TO/YOUR/DATASET/images/image2.jpg /PATH/TO/YOUR/DATASET/images/image3.jpg /PATH/TO/YOUR/DATASET/images/image4.jpg /PATH/TO/YOUR/DATASET/images/image5.jpg ``` Alternatively, you can also use relative paths, and use `IMAGES_ROOT` to specify the root folder. ## Feature extraction with kapture datasets Kapture is a pivot file format, based on text and binary files, used to describe SFM (Structure From Motion) and more generally sensor-acquired data. It is available at https://github.com/naver/kapture. It contains conversion tools for popular formats and several popular datasets are directly available in kapture. It can be installed with: ```bash pip install kapture ``` Datasets can be downloaded with: ```bash kapture_download_dataset.py update kapture_download_dataset.py list # e.g.: install mapping and query of Extended-CMU-Seasons_slice22 kapture_download_dataset.py install "Extended-CMU-Seasons_slice22_*" ``` If you want to convert your own dataset into kapture, please find some examples [here](https://github.com/naver/kapture/blob/master/doc/datasets.adoc). Once installed, you can extract global features for your kapture dataset with: ```bash cd $DIR_ROOT python -m dirtorch.extract_kapture --kapture-root pathto/yourkapturedataset --checkpoint dirtorch/data/Resnet101-AP-GeM-LM18.pt --gpu 0 ``` Run `python -m dirtorch.extract_kapture --help` for more information on the extraction parameters. ## Citations Please consider citing the following papers in your publications if this helps your research. ``` @article{GARL17, title = {End-to-end Learning of Deep Visual Representations for Image Retrieval}, author = {Gordo, A. and Almazan, J. and Revaud, J. and Larlus, D.} journal = {IJCV}, year = {2017} } @inproceedings{RARS19, title = {Learning with Average Precision: Training Image Retrieval with a Listwise Loss}, author = {Revaud, J. and Almazan, J. and Rezende, R.S. and de Souza, C.R.} booktitle = {ICCV}, year = {2019} } ``` ## Contributors This library has been developed by Jerome Revaud, Rafael de Rezende, Cesar de Souza, Diane Larlus, and Jon Almazan at **[Naver Labs Europe](https://europe.naverlabs.com)**. **Special thanks to [Filip Radenovic](https://github.com/filipradenovic).** In this library, we have used the ROxford5K and RParis6K downloader from his awesome **[CNN-imageretrieval repository](https://github.com/filipradenovic/cnnimageretrieval-pytorch)**. Consider checking it out if you want to train your own models for image retrieval! ## References [1] Gordo, A., Almazan, J., Revaud, J., Larlus, D., [End-to-end Learning of Deep Visual Representations for Image Retrieval](https://arxiv.org/abs/1610.07940). IJCV 2017 [2] Revaud, J., Almazan, J., Rezende, R.S., de Souza, C., [Learning with Average Precision: Training Image Retrieval with a Listwise Loss](https://arxiv.org/abs/1906.07589). ICCV 2019 [3] Tolias, G., Sicre, R., Jegou, H., [Particular object retrieval with integral max-pooling of CNN activations](https://arxiv.org/abs/1511.05879). ICLR 2016 [4] Radenovic, F., Tolias, G., Chum, O., [Fine-tuning CNN Image Retrieval with No Human Annotation](https://arxiv.org/pdf/1711.02512). TPAMI 2018 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/__init__.py ================================================ try: from .oxford import * except ImportError: pass try: from .paris import * except ImportError: pass try: from .distractors import * except ImportError: pass try: from .landmarks import Landmarks_clean, Landmarks_clean_val, Landmarks_lite except ImportError: pass try: from .landmarks18 import * except ImportError: pass # create a dataset from a string from .create import * create = DatasetCreator(globals()) from .dataset import split, deploy, deploy_and_split from .generic import * ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/__main__.py ================================================ import os import sys import pdb from nltools.gutils.pyplot import * def viz_dataset(db, nr=6, nc=6): ''' a convenient way to vizualize the content of a dataset. If there are queries, it will show the ground-truth for each query. ''' pyplot(globals()) try: query_db = db.get_query_db() LABEL = ['null', 'pos', 'neg'] for query in range(query_db.nimg): figure("Query") subplot_grid(20, 1) pl.imshow(query_db.get_image(query)) pl.xlabel('Query #%d' % query) pl_noticks() gt = db.get_query_groundtruth(query) ranked = (-gt).argsort() for i,idx in enumerate(ranked): if i+2 > 20: break subplot_grid(20, i+2) pl.imshow(db.get_image(idx)) label = gt[idx] pl.xlabel('#%d %s' % (idx, LABEL[label])) pl_noticks() pdb.set_trace() except NotImplementedError: import numpy as np pl.ion() R = 1 nr = nr // R def show_img(r, c, i): i = np.random.randint(len(db)) pl.subplot(R*nr,nc,(R*r+0)*nc+c+1) img = db.get_image(i) print(i, db.get_key(i), "%d x %d" % img.size) pl.imshow(img) pl.xticks(()) pl.yticks(()) if db.has_label(): pl.xlabel(db.get_label(i)) pl.figure() pl.subplots_adjust(0,0,1,1,0.02,) n = 0 while True: pl.clf() for r in range(nr): for c in range(nc): show_img(r,c,n) n += 1 pdb.set_trace() if __name__ == '__main__': from .__init__ import create args = sys.argv[1:] if not args: print("Error: Provide a db_cmd to this script"); exit() db = args.pop(0) print("Instanciating dataset '%s'..." % db) db = create(db) print(db) viz_dataset(db) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/create.py ================================================ from .dataset import split, deploy, deploy_and_split from .generic import * class DatasetCreator: ''' Create a dataset from a string. dataset_cmd (str): Command to execute. ex: "ImageList('path/to/list.txt')" Returns: instanciated dataset. ''' def __init__(self, globs): for k, v in globs.items(): globals()[k] = v def __call__(self, dataset_cmd ): if '(' not in dataset_cmd: dataset_cmd += "()" try: return eval(dataset_cmd) except NameError: import sys, inspect dbs = [name for name,obj in globals().items() if name[0]!='_' and name not in ('DatasetCreator','defaultdict') and inspect.isclass(obj)] print("Error: unknown dataset %s\nAvailable datasets: %s" % (dataset_cmd.replace('()',''), ', '.join(sorted(dbs))), file=sys.stderr) sys.exit(1) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/dataset.py ================================================ import os import json import pdb import numpy as np from collections import defaultdict class Dataset(object): ''' Base class for a dataset. To be overloaded. Contains: - images --> get_image(i) --> image - image labels --> get_label(i) - list of image queries --> get_query(i) --> image - list of query ROIs --> get_query_roi(i) Creation: Use dataset.create( "..." ) to instanciate one. db = dataset.create( "ImageList('path/to/list.txt')" ) Attributes: root: image directory root nimg: number of images == len(self) nclass: number of classes ''' root = '' img_dir = '' nimg = 0 nclass = 0 ninstance = 0 classes = [] # all class names (len == nclass) labels = [] # all image labels (len == nimg) c_relevant_idx = {} # images belonging to each class (c_relevant_idx[cl_name] = [idx list]) def __len__(self): return self.nimg def get_filename(self, img_idx, root=None): return os.path.join(root or self.root, self.img_dir, self.get_key(img_idx)) def get_key(self, img_idx): raise NotImplementedError() def key_to_index(self, key): if not hasattr(self, '_key_to_index'): self._key_to_index = {self.get_key(i):i for i in range(len(self))} return self._key_to_index[key] def get_image(self, img_idx, resize=None): from PIL import Image img = Image.open(self.get_filename(img_idx)).convert('RGB') if resize: img = img.resize(resize, Image.ANTIALIAS if np.prod(resize) < np.prod(img.size) else Image.BICUBIC) return img def get_image_size(self, img_idx): return self.imsize def get_label(self, img_idx, toint=False): raise NotImplementedError() def has_label(self): try: self.get_label(0); return True except NotImplementedError: return False def get_query_db(self): raise NotImplementedError() def get_query_groundtruth(self, query_idx, what='AP'): query_db = self.get_query_db() assert self.nclass == query_db.nclass if what == 'AP': res = -np.ones(self.nimg, dtype=np.int8) # all negatives res[self.c_relevant_idx[query_db.get_label(query_idx)]] = 1 # positives if query_db == self: res[query_idx] = 0 # query is junk elif what == 'label': res = query_db.get_label(query_idx) else: raise ValueError("Unknown ground-truth type: %s" % what) return res def eval_query_AP(self, query_idx, scores): """ Evaluates AP for a given query. """ from ..utils.evaluation import compute_AP gt = self.get_query_groundtruth(query_idx, 'AP') # labels in {-1, 0, 1} assert gt.shape == scores.shape, "scores should have shape %s" % str(gt.shape) assert -1 <= gt.min() and gt.max() <= 1, "bad ground-truth labels" keep = (gt != 0) # remove null labels if sum(gt[keep]>0) == 0: return -1 # exclude queries with no relevants form the evaluation return compute_AP(gt[keep]>0, scores[keep]) def eval_query_top(self, query_idx, scores, k=(1,5,10,20,50,100)): """ Evaluates top-k for a given query. """ if not self.labels: raise NotImplementedError() q_label = self.get_query_groundtruth(query_idx, 'label') correct = np.bool8([l==q_label for l in self.labels]) correct = correct[(-scores).argsort()] return {k_:float(correct[:k_].any()) for k_ in k if k_ 0: train.append( imgs.pop() ) # ensure at least 1 training sample for i in range(int(0.9999+val_prop*nn)): if imgs: val.append( imgs.pop() ) for i in range(int(0.9999+test_prop*nn)): if imgs: test.append( imgs.pop() ) if imgs: train += imgs train.sort() val.sort() test.sort() elif method == 'hash': val_prop2 = train_prop + val_prop for i in range(len(dataset)): fname = dataset.get_key(i) # compute file hash h = (hash(fname)%100)/100.0 if h < train_prop: train.append( i ) elif h < val_prop2: val.append( i ) else: test.append( i ) else: raise ValueError("bad split method "+method) train = SubDataset(dataset, train) val = SubDataset(dataset, val) test = SubDataset(dataset, test) if val_prop == 0: return train, test else: return train, val, test class SubDataset(Dataset): ''' Contains a sub-part of another dataset. ''' def __init__(self, dataset, indices): self.root = dataset.root self.img_dir = dataset.img_dir self.dataset = dataset self.indices = indices self.nimg = len(self.indices) self.nclass = self.dataset.nclass def get_key(self, i): return self.dataset.get_key(self.indices[i]) def get_label(self, i, **kw): return self.dataset.get_label(self.indices[i],**kw) def get_bbox(self, i, **kw): if hasattr(self.dataset,'get_bbox'): return self.dataset.get_bbox(self.indices[i],**kw) else: raise NotImplementedError() def __repr__(self): res = 'SubDataset(%s)\n' % self.dataset.__class__.__name__ res += ' %d/%d images, %d classes\n' % (len(self),len(self.dataset),self.nclass) res += ' root: %s...' % os.path.join(self.root,self.img_dir) return res def viz_distr(self): from matplotlib import pyplot as pl; pl.ion() count = [0]*self.nclass for i in range(self.nimg): count[ self.get_label(i,toint=True) ] += 1 cid = list(range(self.nclass)) pl.bar(cid, count) pdb.set_trace() class CatDataset(Dataset): ''' Concatenation of several datasets. ''' def __init__(self, *datasets): assert len(datasets) >= 1 self.datasets = datasets db = datasets[0] self.root = os.path.normpath(os.path.join(db.root, db.img_dir)) + os.sep self.labels = self.imgs = None # cannot access it the normal way self.classes = db.classes self.nclass = db.nclass self.c_relevant_idx = defaultdict(list) offsets = [0] full_root = lambda db: os.path.normpath(os.path.join(db.root, db.img_dir)) for db in datasets: assert db.nclass == self.nclass, 'All dataset must have the same number of classes' assert db.classes == self.classes, 'All datasets must have the same classes' # look for a common root self.root = os.path.commonprefix((self.root, full_root(db) + os.sep)) assert self.root, 'no common root between datasets' self.root = self.root[:self.root.rfind(os.sep)] + os.sep offset = sum(offsets) for label, rel in db.c_relevant_idx.items(): self.c_relevant_idx[label] += [i+offset for i in rel] offsets.append(db.nimg) self.roots = [full_root(db)[len(self.root):] for db in datasets] self.offsets = np.cumsum(offsets) self.nimg = self.offsets[-1] def which(self, i): pos = np.searchsorted(self.offsets, i, side='right')-1 assert pos < self.nimg, 'Bad image index %d >= %d' % (i, self.nimg) return pos, i - self.offsets[pos] def get(self, i, attr): b, j = self.which(i) return getattr(self.datasets[b],attr) def __getattr__(self, name): # try getting it val = getattr(self.datasets[0], name) assert not callable(val), 'CatDataset: %s is not a shared attribute, use call()' % str(name) for db in self.datasets[1:]: assert np.all(val == getattr(db, name)), 'CatDataset: inconsistent shared attribute %s, use get()' % str(name) return val def call(self, i, func, *args, **kwargs): b, j = self.which(i) return getattr(self.datasets[b],attr)(j,*args, **kwargs) def get_key(self, i): b, i = self.which(i) key = self.datasets[b].get_key(i) return os.path.join(self.roots[b], key) def get_label(self, i, toint=False): b, i = self.which(i) return self.datasets[b].get_label(i,toint=toint) def get_bbox(self,i): b, i = self.which(i) return self.datasets[b].get_bbox(i) def get_polygons(self,i,**kw): b, i = self.which(i) return self.datasets[b].get_polygons(i,**kw) def deploy( dataset, target_dir, transforms=None, redo=False, ext=None, **savekwargs): if not target_dir: return dataset from PIL import Image from fcntl import flock, LOCK_EX import tqdm if transforms is not None: # identify transform with a unique hash import hashlib def get_params(trf): if type(trf).__name__ == 'Compose': return [get_params(t) for t in trf.transforms] else: return {type(trf).__name__:vars(trf)} params = get_params(transforms) unique_key = json.dumps(params, sort_keys=True).encode('utf-8') h = hashlib.md5().hexdigest() target_dir = os.path.join(target_dir, h) print("Deploying in '%s'" % target_dir) try: imsizes_path = os.path.join(target_dir,'imsizes.json') imsize_file = open(imsizes_path,'r+') #print("opening %s in r+ mode"%imsize_file) except IOError: try: os.makedirs(os.path.split(imsizes_path)[0]) except OSError: pass imsize_file = open(imsizes_path,'w+') #print("opening %s in w+ mode"%imsize_file) # block access to this file, only one process can continue from time import time as now t0 = now() flock(imsize_file, LOCK_EX) #print("exclusive access lock for %s after %ds"%(imsize_file,now()-t0)) try: imsizes = json.load(imsize_file) imsizes = {img:tuple(size) for img,size in imsizes.items()} except: imsizes = {} def check_one_image(i): key = dataset.get_key(i) target = os.path.join(target_dir, key) if ext: target = os.path.splitext(target)[0]+'.'+ext updated = 0 if redo or (not os.path.isfile(target)) or key not in imsizes: # load image and transform it img = Image.open(dataset.get_filename(i)).convert('RGB') imsizes[key] = img.size if transforms is not None: img = transforms(img) odir = os.path.split( target )[0] try: os.makedirs(odir) except FileExistsError: pass img.save( target, **savekwargs ) updated = 1 if (i % 100) == 0: imsize_file.seek(0) # goto begining json.dump(dict(imsizes), imsize_file) imsize_file.truncate() updated = 0 return updated from nltools.gutils import job_utils for i in range(len(dataset)): updated = check_one_image(i) # first try without any threads if updated: break if i+1 < len(dataset): updated += sum(job_utils.parallel_threads(range(i+1,len(dataset)), check_one_image, desc='Deploying dataset', n_threads=0, front_num=0)) if updated: imsize_file.seek(0) # goto begining json.dump(dict(imsizes), imsize_file) imsize_file.truncate() imsize_file.close() # now, other processes can access too return DeployedDataset(dataset, target_dir, imsizes, trfs=transforms, ext=ext) class DeployedDataset(Dataset): '''Just a deployed dataset with a different root and image extension. ''' def __init__(self, dataset, root, imsizes=None, trfs=None, ext=None): self.dataset = dataset if root[-1] != '/': root += '/' self.root = root self.ext = ext self.imsizes = imsizes or json.load(open(root+'imsizes.json')) self.trfs = trfs or (lambda x: x) assert isinstance(self.imsizes, dict) assert len(self.imsizes) >= dataset.nimg, pdb.set_trace() self.nimg = dataset.nimg self.nclass = dataset.nclass self.labels = dataset.labels self.c_relevant_idx = dataset.c_relevant_idx #self.c_non_relevant_idx = dataset.c_non_relevant_idx self.get_label = dataset.get_label self.classes = dataset.classes if '/query_db/' not in root: try: query_db = dataset.get_query_db() if query_db is not dataset: self.query_db = deploy(query_db, os.path.join(root,'query_db'), transforms=trfs, ext=ext) self.get_query_db = lambda: self.query_db except NotImplementedError: pass self.get_query_groundtruth = dataset.get_query_groundtruth if hasattr(dataset, 'eval_query_AP'): self.eval_query_AP = dataset.eval_query_AP if hasattr(dataset, 'true_pairs'): self.true_pairs = dataset.true_pairs self.get_false_pairs = dataset.get_false_pairs def __repr__(self): res = self.dataset.__repr__() res += ' deployed at %s/...%s' % (self.root, self.ext or '') return res def __len__(self): return self.nimg def get_key(self, i): key = self.dataset.get_key(i) if self.ext: key = os.path.splitext(key)[0]+'.'+self.ext return key def get_something(self, what, i, *args, **fmt): try: get_func = getattr(self.dataset, 'get_'+what) except AttributeError: raise NotImplementedError() imsize = self.imsizes[self.dataset.get_key(i)] sth = get_func(i,*args,**fmt) return self.trfs({'imsize':imsize, what:sth})[what] def get_bbox(self, i, **kw): return self.get_something('bbox', i, **kw) def get_polygons(self, i, *args, **kw): return self.get_something('polygons', i, *args, **kw) def get_label_map(self, i, *args, **kw): assert 'polygons' in kw, "you need to supply polygons because image has been transformed" return self.dataset.get_label_map(i, *args, **kw) def get_instance_map(self, i, *args, **kw): assert 'polygons' in kw, "you need to supply polygons because image has been transformed" return self.dataset.get_instance_map(i, *args, **kw) def get_angle_map(self, i, *args, **kw): assert 'polygons' in kw, "you need to supply polygons because image has been transformed" return self.dataset.get_angle_map(i, *args, **kw) def original(self): return self.dataset def deploy_and_split( trainset, deploy_trf=None, deploy_dir='/dev/shm', valset=None, split_val=0.0, img_ext='jpg', img_quality=95, **_useless ): ''' Deploy and split a dataset into train / val. if valset is not provided, then trainset is automatically split into train/val based on the split_val proportion. ''' # first, deploy the training set traindb = deploy( trainset, deploy_dir, transforms=deploy_trf, ext=img_ext, quality=img_quality ) if valset: # load a validation db valdb = deploy( valset, deploy_dir, transforms=deploy_trf, ext=img_ext, quality=img_quality ) else: if split_val > 0: # automatic split in train/val traindb, valdb = split( traindb, train_prop=1-split_val ) else: valdb = None print( "\n>> Training set:" ); print( traindb ) print( "\n>> Validation set:" ); print( valdb ) return traindb, valdb class CropDataset(Dataset): """list_of_imgs_and_crops = [(img_key, (l, t, r, b)), ...] """ def __init__(self, dataset, list_of_imgs_and_crops): self.dataset = dataset self.root = dataset.root self.img_dir = dataset.img_dir self.imgs, self.crops = zip(*list_of_imgs_and_crops) self.nimg = len(self.imgs) def get_image(self, img_idx): # even if the image have multiple signage polygon? org_img = dataset.get_image(self, img_idx) crop_signs = crop_image(org_img, self.crops[img_idx]) return crop_signs[0] # temporary use one, but have to change for multiple signages def get_filename(self, img_idx): return self.dataset.get_filename(img_idx) def get_key(self, img_idx): return self.dataset.get_key(img_idx) def crop_image(self, img, polygons): import cv2 crop_signs=[] if len(polygons)==0: pdb.set_trace() for Polycc in polygons: rgbimg = img.copy() rgbimg = np.array(rgbimg) # pil to cv2 Poly_s = np.array(Polycc) ## rearrange if Poly_s[0, 1]Poly_s[3, 1]: temp = Poly_s[3, :].copy() Poly_s[3, :]= Poly_s[2, :] Poly_s[2, :]=temp cy_s = np.mean( Poly_s[:,0] ) cx_s = np.mean( Poly_s[:,1] ) w_s = np.abs( Poly_s[0][1]-Poly_s[1][1] ) h_s = np.abs( Poly_s[0][0]-Poly_s[2][0] ) Poly_d = np.array([(cy_s-h_s/2, cx_s+w_s/2), (cy_s-h_s/2, cx_s-w_s/2), (cy_s+h_s/2, cx_s-w_s/2), (cy_s+h_s/2, cx_s+w_s/2)]).astype(np.int) M, mask= cv2.findHomography(Poly_s, Poly_d) warpimg = Image.fromarray(cv2.warpPerspective(rgbimg, M, (645,800))) # from cv2 type rgbimg crop_sign = warpimg.crop([np.min(Poly_d[:,0]), np.min(Poly_d[:,1]), np.max(Poly_d[:,0]), np.max(Poly_d[:,1])]) ### append crop_signs.append(crop_sign) return crop_signs ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/downloader.py ================================================ import os import os.path as osp DB_ROOT = os.environ['DB_ROOT'] def download_dataset(dataset): if not os.path.isdir(DB_ROOT): os.makedirs(DB_ROOT) dataset = dataset.lower() if dataset in ('oxford5k', 'roxford5k'): src_dir = 'http://www.robots.ox.ac.uk/~vgg/data/oxbuildings' dl_files = ['oxbuild_images.tgz'] dir_name = 'oxford5k' elif dataset in ('paris6k', 'rparis6k'): src_dir = 'http://www.robots.ox.ac.uk/~vgg/data/parisbuildings' dl_files = ['paris_1.tgz', 'paris_2.tgz'] dir_name = 'paris6k' else: raise ValueError('Unknown dataset: {}!'.format(dataset)) dst_dir = os.path.join(DB_ROOT, dir_name, 'jpg') if not os.path.isdir(dst_dir): print('>> Dataset {} directory does not exist. Creating: {}'.format(dataset, dst_dir)) os.makedirs(dst_dir) for dli in range(len(dl_files)): dl_file = dl_files[dli] src_file = os.path.join(src_dir, dl_file) dst_file = os.path.join(dst_dir, dl_file) print('>> Downloading dataset {} archive {}...'.format(dataset, dl_file)) os.system('wget {} -O {}'.format(src_file, dst_file)) print('>> Extracting dataset {} archive {}...'.format(dataset, dl_file)) # create tmp folder dst_dir_tmp = os.path.join(dst_dir, 'tmp') os.system('mkdir {}'.format(dst_dir_tmp)) # extract in tmp folder os.system('tar -zxf {} -C {}'.format(dst_file, dst_dir_tmp)) # remove all (possible) subfolders by moving only files in dst_dir os.system('find {} -type f -exec mv -i {{}} {} \\;'.format(dst_dir_tmp, dst_dir)) # remove tmp folder os.system('rm -rf {}'.format(dst_dir_tmp)) print('>> Extracted, deleting dataset {} archive {}...'.format(dataset, dl_file)) os.system('rm {}'.format(dst_file)) gnd_src_dir = os.path.join('http://cmp.felk.cvut.cz/cnnimageretrieval/data', 'test', dataset) gnd_dst_dir = os.path.join(DB_ROOT, dir_name) gnd_dl_file = 'gnd_{}.pkl'.format(dataset) gnd_src_file = os.path.join(gnd_src_dir, gnd_dl_file) gnd_dst_file = os.path.join(gnd_dst_dir, gnd_dl_file) if not os.path.exists(gnd_dst_file): print('>> Downloading dataset {} ground truth file...'.format(dataset)) os.system('wget {} -O {}'.format(gnd_src_file, gnd_dst_file)) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/generic.py ================================================ import os import json import pdb import numpy as np import pickle import os.path as osp import json from .dataset import Dataset from .generic_func import * class ImageList(Dataset): ''' Just a list of images (no labels, no query). Input: text file, 1 image path per row ''' def __init__(self, img_list_path, root='', imgs=None): self.root = root if imgs is not None: self.imgs = imgs else: self.imgs = [e.strip() for e in open(img_list_path)] self.nimg = len(self.imgs) self.nclass = 0 self.nquery = 0 def get_key(self, i): return self.imgs[i] class LabelledDataset (Dataset): """ A dataset with per-image labels and some convenient functions. """ def find_classes(self, *arg, **cls_idx): labels = arg[0] if arg else self.labels self.classes, self.cls_idx = find_and_list_classes(labels, cls_idx=cls_idx) self.nclass = len(self.classes) self.c_relevant_idx = find_relevants(self.labels) class ImageListLabels(LabelledDataset): ''' Just a list of images with labels (no queries). Input: text file, 1 image path and label per row (space-separated) ''' def __init__(self, img_list_path, root=None): self.root = root if osp.splitext(img_list_path)[1] == '.txt': tmp = [e.strip() for e in open(img_list_path)] self.imgs = [e.split(' ')[0] for e in tmp] self.labels = [e.split(' ')[1] for e in tmp] elif osp.splitext(img_list_path)[1] == '.json': d = json.load(open(img_list_path)) self.imgs = [] self.labels = [] for i, l in d.items(): self.imgs.append(i) self.labels.append(l) self.find_classes() self.nimg = len(self.imgs) self.nquery = 0 def get_key(self, i): return self.imgs[i] def get_label(self, i, toint=False): label = self.labels[i] if toint: label = self.cls_idx[label] return label def get_query_db(self): return self class ImageListLabelsQ(ImageListLabels): ''' Two list of images with labels: one for the dataset and one for the queries. Input: text file, 1 image path and label per row (space-separated) ''' def __init__(self, img_list_path, query_list_path, root=None): self.root = root tmp = [e.strip() for e in open(img_list_path)] self.imgs = [e.split(' ')[0] for e in tmp] self.labels = [e.split(' ')[1] for e in tmp] tmp = [e.strip() for e in open(query_list_path)] self.qimgs = [e.split(' ')[0] for e in tmp] self.qlabels = [e.split(' ')[1] for e in tmp] self.find_classes() self.nimg = len(self.imgs) self.nquery = len(self.qimgs) def find_classes(self, *arg, **cls_idx): labels = arg[0] if arg else self.labels + self.qlabels self.classes, self.cls_idx = find_and_list_classes(labels, cls_idx=cls_idx) self.nclass = len(self.classes) self.c_relevant_idx = find_relevants(self.labels) def get_query_db(self): return ImagesAndLabels(self.qimgs, self.qlabels, self.cls_idx, root=self.root) class ImagesAndLabels(ImageListLabels): ''' Just a list of images with labels. Input: two arrays containing the text file, 1 image path and label per row (space-separated) ''' def __init__(self, imgs, labels, cls_idx, root=None): self.root = root self.imgs = imgs self.labels = labels self.cls_idx = cls_idx self.nclass = len(self.cls_idx.keys()) self.nimg = len(self.imgs) self.nquery = 0 class ImageListRelevants(Dataset): """ A dataset composed by a list of images, a list of indices used as queries, and for each query a list of relevant and junk indices (ie. Oxford-like GT format) Input: path to the pickle file """ def __init__(self, gt_file, root=None, img_dir='jpg', ext='.jpg'): self.root = root self.img_dir = img_dir with open(gt_file, 'rb') as f: gt = pickle.load(f) self.imgs = [osp.splitext(e)[0] + (osp.splitext(e)[1] if osp.splitext(e)[1] else ext) for e in gt['imlist']] self.qimgs = [osp.splitext(e)[0] + (osp.splitext(e)[1] if osp.splitext(e)[1] else ext) for e in gt['qimlist']] self.qroi = [tuple(e['bbx']) for e in gt['gnd']] if 'ok' in gt['gnd'][0]: self.relevants = [e['ok'] for e in gt['gnd']] else: self.relevants = None self.easy = [e['easy'] for e in gt['gnd']] self.hard = [e['hard'] for e in gt['gnd']] self.junk = [e['junk'] for e in gt['gnd']] self.nimg = len(self.imgs) self.nquery = len(self.qimgs) def get_relevants(self, qimg_idx, mode='classic'): if mode == 'classic': rel = self.relevants[qimg_idx] elif mode == 'easy': rel = self.easy[qimg_idx] elif mode == 'medium': rel = self.easy[qimg_idx] + self.hard[qimg_idx] elif mode == 'hard': rel = self.hard[qimg_idx] return rel def get_junk(self, qimg_idx, mode='classic'): if mode == 'classic': junk = self.junk[qimg_idx] elif mode == 'easy': junk = self.junk[qimg_idx] + self.hard[qimg_idx] elif mode == 'medium': junk = self.junk[qimg_idx] elif mode == 'hard': junk = self.junk[qimg_idx] + self.easy[qimg_idx] return junk def get_query_filename(self, qimg_idx, root=None): return os.path.join(root or self.root, self.img_dir, self.get_query_key(qimg_idx)) def get_query_roi(self, qimg_idx): return self.qroi[qimg_idx] def get_key(self, i): return self.imgs[i] def get_query_key(self, i): return self.qimgs[i] def get_query_db(self): return ImageListROIs(self.root, self.img_dir, self.qimgs, self.qroi) def get_query_groundtruth(self, query_idx, what='AP', mode='classic'): # negatives res = -np.ones(self.nimg, dtype=np.int8) # positive res[self.get_relevants(query_idx, mode)] = 1 # junk res[self.get_junk(query_idx, mode)] = 0 return res def eval_query_AP(self, query_idx, scores): """ Evaluates AP for a given query. """ from ..utils.evaluation import compute_average_precision if self.relevants: gt = self.get_query_groundtruth(query_idx, 'AP') # labels in {-1, 0, 1} assert gt.shape == scores.shape, "scores should have shape %s" % str(gt.shape) assert -1 <= gt.min() and gt.max() <= 1, "bad ground-truth labels" keep = (gt != 0) # remove null labels gt, scores = gt[keep], scores[keep] gt_sorted = gt[np.argsort(scores)[::-1]] positive_rank = np.where(gt_sorted == 1)[0] return compute_average_precision(positive_rank) else: d = {} for mode in ('easy', 'medium', 'hard'): gt = self.get_query_groundtruth(query_idx, 'AP', mode) # labels in {-1, 0, 1} assert gt.shape == scores.shape, "scores should have shape %s" % str(gt.shape) assert -1 <= gt.min() and gt.max() <= 1, "bad ground-truth labels" keep = (gt != 0) # remove null labels if sum(gt[keep] > 0) == 0: # exclude queries with no relevants from the evaluation d[mode] = -1 else: gt2, scores2 = gt[keep], scores[keep] gt_sorted = gt2[np.argsort(scores2)[::-1]] positive_rank = np.where(gt_sorted == 1)[0] d[mode] = compute_average_precision(positive_rank) return d class ImageListROIs(Dataset): def __init__(self, root, img_dir, imgs, rois): self.root = root self.img_dir = img_dir self.imgs = imgs self.rois = rois self.nimg = len(self.imgs) self.nclass = 0 self.nquery = 0 def get_key(self, i): return self.imgs[i] def get_roi(self, i): return self.rois[i] def get_image(self, img_idx, resize=None): from PIL import Image img = Image.open(self.get_filename(img_idx)).convert('RGB') img = img.crop(self.rois[img_idx]) if resize: img = img.resize(resize, Image.ANTIALIAS if np.prod(resize) < np.prod(img.size) else Image.BICUBIC) return img def not_none(label): return label is not None class ImageClusters(LabelledDataset): ''' Just a list of images with labels (no query). Input: JSON, dict of {img_path:class, ...} ''' def __init__(self, json_path, root=None, filter=not_none): self.root = root self.imgs = [] self.labels = [] if isinstance(json_path, dict): data = json_path else: data = json.load(open(json_path)) assert isinstance(data, dict), 'json content is not a dictionary' for img, cls in data.items(): assert type(img) is str if not filter(cls): continue if type(cls) not in (str, int, type(None)): continue self.imgs.append(img) self.labels.append(cls) self.find_classes() self.nimg = len(self.imgs) self.nquery = 0 def get_key(self, i): return self.imgs[i] def get_label(self, i, toint=False): label = self.labels[i] if toint: label = self.cls_idx[label] return label class NullCluster(ImageClusters): ''' Select only images with null label ''' def __init__(self, json_path, root=None): ImageClusters.__init__(self, json_path, root, lambda c: c is None) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/generic_func.py ================================================ ''' Generic functions for Dataset() class ''' import pdb import numpy as np from collections import defaultdict def find_and_list_classes(labels, cls_idx=None ): ''' Given a list of image labels, deduce the list of classes. Parameters: ----------- labels : list per-image labels (can be str, int, ...) cls_idx : dict or None Returns: -------- classes = [class0_name, class1_name, ...] cls_idx = {class_name : class_index} ''' assert not isinstance(labels, set), 'labels must be ordered' if not cls_idx: cls_idx = {} # don't put it as default arg!! # map string labels to integers uniq_labels = set(labels) nlabels = len(uniq_labels) for label in cls_idx: assert label in uniq_labels, "error: missing forced label '%s'" % str(label) nlabels += (label not in uniq_labels) # one other label classes = {idx:cls for cls,idx in cls_idx.items()} remaining_labels = set(range(nlabels)) - set(cls_idx.values()) for cls in labels: if cls in cls_idx: continue # already there cls_idx[cls] = i = remaining_labels.pop() classes[cls_idx[cls]] = cls assert min(classes.keys()) == 0 and len(classes) == max(classes.keys()) + 1 # no holes between integers classes = [classes[c] for c in range(len(classes))] # dict --> list return classes, cls_idx def find_relevants(labels): """ For each class, find the set of images from the same class. Returns: -------- c_relevant_idx = {class_name: [list of image indices]} """ assert not isinstance(labels, set), 'labels must be ordered' # Get relevants images for each class c_relevant_idx = defaultdict(list) for i in range(len(labels)): c_relevant_idx[labels[i]].append(i) return c_relevant_idx ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/landmarks.py ================================================ import os from .generic import ImageListLabels DB_ROOT = os.environ['DB_ROOT'] class Landmarks_clean(ImageListLabels): def __init__(self): ImageListLabels.__init__(self, os.path.join(DB_ROOT, 'landmarks/annotations/annotation_clean_train.txt'), os.path.join(DB_ROOT, 'landmarks/')) class Landmarks_clean_val(ImageListLabels): def __init__(self): ImageListLabels.__init__(self, os.path.join(DB_ROOT, 'landmarks/annotations/annotation_clean_val.txt'), os.path.join(DB_ROOT, 'landmarks/')) class Landmarks_lite(ImageListLabels): def __init__(self): ImageListLabels.__init__(self, os.path.join(DB_ROOT, 'landmarks/annotations/extra_landmark_images.txt'), os.path.join(DB_ROOT, 'landmarks/')) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/landmarks18.py ================================================ import os from .generic import ImageListLabels, ImageList DB_ROOT = os.environ['DB_ROOT'] class Landmarks18_train(ImageListLabels): def __init__(self): ImageListLabels.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/train.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18(ImageListLabels): def __init__(self): ImageListLabels.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/train_all.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18_lite(ImageListLabels): def __init__(self): ImageListLabels.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/train_lite.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18_mid(ImageListLabels): def __init__(self): ImageListLabels.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/train_mid.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18_5K(ImageListLabels): def __init__(self): ImageListLabels.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/train_5K.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18_val(ImageListLabels): def __init__(self): ImageListLabels.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/val.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18_valdstr(ImageListLabels): def __init__(self): ImageListLabels.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/val_distractors.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18_index(ImageList): def __init__(self): ImageList.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/index.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18_new_index(ImageList): def __init__(self): ImageList.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/index_new.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18_test(ImageList): def __init__(self): ImageList.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/test.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18_pca(ImageList): def __init__(self): ImageList.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/train_pca.txt'), os.path.join(DB_ROOT, 'landmarks18/')) class Landmarks18_missing_index(ImageList): def __init__(self): ImageList.__init__(self, os.path.join(DB_ROOT, 'landmarks18/lists/missing_index.txt'), os.path.join(DB_ROOT, 'landmarks18/')) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/oxford.py ================================================ import os from .generic import ImageListRelevants DB_ROOT = os.environ['DB_ROOT'] class Oxford5K(ImageListRelevants): def __init__(self): ImageListRelevants.__init__(self, os.path.join(DB_ROOT, 'oxford5k/gnd_oxford5k.pkl'), root=os.path.join(DB_ROOT, 'oxford5k')) class ROxford5K(ImageListRelevants): def __init__(self): ImageListRelevants.__init__(self, os.path.join(DB_ROOT, 'oxford5k/gnd_roxford5k.pkl'), root=os.path.join(DB_ROOT, 'oxford5k')) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/datasets/paris.py ================================================ from .generic import ImageListRelevants import os DB_ROOT = os.environ['DB_ROOT'] class Paris6K(ImageListRelevants): def __init__(self): ImageListRelevants.__init__(self, os.path.join(DB_ROOT, 'paris6k/gnd_paris6k.pkl'), root=os.path.join(DB_ROOT, 'paris6k')) class RParis6K(ImageListRelevants): def __init__(self): ImageListRelevants.__init__(self, os.path.join(DB_ROOT, 'paris6k/gnd_rparis6k.pkl'), root=os.path.join(DB_ROOT, 'paris6k')) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/extract_features.py ================================================ import sys import os import os.path as osp import pdb import json import tqdm import numpy as np import torch import torch.nn.functional as F from dirtorch.utils.convenient import mkdir from dirtorch.utils import common from dirtorch.utils.common import tonumpy, matmul, pool from dirtorch.utils.pytorch_loader import get_loader import dirtorch.test_dir as test import dirtorch.nets as nets import dirtorch.datasets as datasets import dirtorch.datasets.downloader as dl import pickle as pkl import hashlib def extract_features(db, net, trfs, pooling='mean', gemp=3, detailed=False, whiten=None, threads=8, batch_size=16, output=None, dbg=()): """ Extract features from trained model (network) on a given dataset. """ print("\n>> Extracting features...") try: query_db = db.get_query_db() except NotImplementedError: query_db = None # extract DB feats bdescs = [] qdescs = [] trfs_list = [trfs] if isinstance(trfs, str) else trfs for trfs in trfs_list: kw = dict(iscuda=net.iscuda, threads=threads, batch_size=batch_size, same_size='Pad' in trfs or 'Crop' in trfs) bdescs.append(test.extract_image_features(db, trfs, net, desc="DB", **kw)) # extract query feats if query_db is not None: qdescs.append(bdescs[-1] if db is query_db else test.extract_image_features(query_db, trfs, net, desc="query", **kw)) # pool from multiple transforms (scales) bdescs = tonumpy(F.normalize(pool(bdescs, pooling, gemp), p=2, dim=1)) if query_db is not None: qdescs = tonumpy(F.normalize(pool(qdescs, pooling, gemp), p=2, dim=1)) if whiten is not None: bdescs = common.whiten_features(bdescs, net.pca, **whiten) if query_db is not None: qdescs = common.whiten_features(qdescs, net.pca, **whiten) mkdir(output, isfile=True) if query_db is db or query_db is None: np.save(output, bdescs) else: o = osp.splitext(output) np.save(o[0]+'.qdescs'+o[1], qdescs) np.save(o[0]+'.dbdescs'+o[1], bdescs) print('Features extracted.') def load_model(path, iscuda): checkpoint = common.load_checkpoint(path, iscuda) net = nets.create_model(pretrained="", **checkpoint['model_options']) net = common.switch_model_to_cuda(net, iscuda, checkpoint) net.load_state_dict(checkpoint['state_dict']) net.preprocess = checkpoint.get('preprocess', net.preprocess) if 'pca' in checkpoint: net.pca = checkpoint.get('pca') return net if __name__ == '__main__': import argparse parser = argparse.ArgumentParser(description='Evaluate a model') parser.add_argument('--dataset', '-d', type=str, required=True, help='Command to load dataset') parser.add_argument('--checkpoint', type=str, required=True, help='path to weights') parser.add_argument('--trfs', type=str, required=False, default='', nargs='+', help='test transforms (can be several)') parser.add_argument('--pooling', type=str, default="gem", help='pooling scheme if several trf chains') parser.add_argument('--gemp', type=int, default=3, help='GeM pooling power') parser.add_argument('--out-json', type=str, default="", help='path to output json') parser.add_argument('--detailed', action='store_true', help='return detailed evaluation') parser.add_argument('--output', type=str, default="", help='path to output features') parser.add_argument('--threads', type=int, default=8, help='number of thread workers') parser.add_argument('--gpu', type=int, nargs='+', help='GPU ids') parser.add_argument('--dbg', default=(), nargs='*', help='debugging options') # post-processing parser.add_argument('--whiten', type=str, default=None, help='applies whitening') parser.add_argument('--whitenp', type=float, default=0.5, help='whitening power, default is 0.5 (i.e., the sqrt)') parser.add_argument('--whitenv', type=int, default=None, help='number of components, default is None (i.e. all components)') parser.add_argument('--whitenm', type=float, default=1.0, help='whitening multiplier, default is 1.0 (i.e. no multiplication)') args = parser.parse_args() args.iscuda = common.torch_set_gpu(args.gpu) dataset = datasets.create(args.dataset) print("Dataset:", dataset) net = load_model(args.checkpoint, args.iscuda) if args.whiten: net.pca = net.pca[args.whiten] args.whiten = {'whitenp': args.whitenp, 'whitenv': args.whitenv, 'whitenm': args.whitenm} else: net.pca = None args.whiten = None # Evaluate res = extract_features(dataset, net, args.trfs, pooling=args.pooling, gemp=args.gemp, detailed=args.detailed, threads=args.threads, dbg=args.dbg, whiten=args.whiten, output=args.output) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/extract_kapture.py ================================================ import os import tqdm import torch.nn.functional as F os.environ['DB_ROOT'] = '' from dirtorch.utils import common from dirtorch.utils.common import tonumpy, pool from dirtorch.datasets.generic import ImageList from dirtorch.test_dir import extract_image_features from dirtorch.extract_features import load_model import kapture from kapture.io.csv import kapture_from_dir from kapture.io.csv import get_csv_fullpath, global_features_to_file from kapture.io.records import get_image_fullpath from kapture.io.features import get_global_features_fullpath, image_global_features_to_file, global_features_check_dir def extract_kapture_global_features(kapture_root_path: str, net, trfs, pooling='mean', gemp=3, whiten=None, threads=8, batch_size=16): """ Extract features from trained model (network) on a given dataset. """ print(f'loading {kapture_root_path}') kdata = kapture_from_dir(kapture_root_path, None, skip_list=[kapture.Keypoints, kapture.Descriptors, kapture.Matches, kapture.Points3d, kapture.Observations]) root = get_image_fullpath(kapture_root_path, image_filename=None) assert kdata.records_camera is not None imgs = [image_name for _, _, image_name in kapture.flatten(kdata.records_camera)] if kdata.global_features is not None: imgs = [image_name for image_name in imgs if image_name not in kdata.global_features] if len(imgs) == 0: print('All global features are already extracted') return dataset = ImageList(img_list_path=None, root=root, imgs=imgs) print(f'\nEvaluation on {dataset}') # extract DB feats bdescs = [] trfs_list = [trfs] if isinstance(trfs, str) else trfs for trfs in trfs_list: kw = dict(iscuda=net.iscuda, threads=threads, batch_size=batch_size, same_size='Pad' in trfs or 'Crop' in trfs) bdescs.append(extract_image_features(dataset, trfs, net, desc="DB", **kw)) # pool from multiple transforms (scales) bdescs = tonumpy(F.normalize(pool(bdescs, pooling, gemp), p=2, dim=1)) if whiten is not None: bdescs = common.whiten_features(bdescs, net.pca, **whiten) print('writing extracted global features') os.umask(0o002) gfeat_dtype = bdescs.dtype gfeat_dsize = bdescs.shape[1] if kdata.global_features is None: kdata.global_features = kapture.GlobalFeatures('dirtorch', gfeat_dtype, gfeat_dsize) global_features_config_absolute_path = get_csv_fullpath(kapture.GlobalFeatures, kapture_root_path) global_features_to_file(global_features_config_absolute_path, kdata.global_features) else: assert kdata.global_features.type_name == 'dirtorch' assert kdata.global_features.dtype == gfeat_dtype assert kdata.global_features.dsize == gfeat_dsize for i in tqdm.tqdm(range(dataset.nimg)): image_name = dataset.get_key(i) global_feature_fullpath = get_global_features_fullpath(kapture_root_path, image_name) gfeat_i = bdescs[i, :] assert gfeat_i.shape == (gfeat_dsize,) image_global_features_to_file(global_feature_fullpath, gfeat_i) kdata.global_features.add(image_name) del gfeat_i del bdescs if not global_features_check_dir(kdata.global_features, kapture_root_path): print('global feature extraction ended successfully but not all files were saved') else: print('Features extracted.') if __name__ == '__main__': import argparse parser = argparse.ArgumentParser(description='Evaluate a model') parser.add_argument('--kapture-root', type=str, required=True, help='path to kapture root directory') parser.add_argument('--checkpoint', type=str, required=True, help='path to weights') parser.add_argument('--trfs', type=str, required=False, default='', nargs='+', help='test transforms (can be several)') parser.add_argument('--pooling', type=str, default="gem", help='pooling scheme if several trf chains') parser.add_argument('--gemp', type=int, default=3, help='GeM pooling power') parser.add_argument('--threads', type=int, default=8, help='number of thread workers') parser.add_argument('--gpu', type=int, nargs='+', help='GPU ids') # post-processing parser.add_argument('--whiten', type=str, default=None, help='applies whitening') parser.add_argument('--whitenp', type=float, default=0.5, help='whitening power, default is 0.5 (i.e., the sqrt)') parser.add_argument('--whitenv', type=int, default=None, help='number of components, default is None (i.e. all components)') parser.add_argument('--whitenm', type=float, default=1.0, help='whitening multiplier, default is 1.0 (i.e. no multiplication)') args = parser.parse_args() args.iscuda = common.torch_set_gpu(args.gpu) net = load_model(args.checkpoint, args.iscuda) if args.whiten: net.pca = net.pca[args.whiten] args.whiten = {'whitenp': args.whitenp, 'whitenv': args.whitenv, 'whitenm': args.whitenm} else: net.pca = None args.whiten = None # Evaluate res = extract_kapture_global_features(args.kapture_root, net, args.trfs, pooling=args.pooling, gemp=args.gemp, threads=args.threads, whiten=args.whiten) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/loss.py ================================================ import numpy as np import torch import torch.nn as nn import torch.nn.functional as F class APLoss (nn.Module): """ Differentiable AP loss, through quantization. From the paper: Learning with Average Precision: Training Image Retrieval with a Listwise Loss Jerome Revaud, Jon Almazan, Rafael Sampaio de Rezende, Cesar de Souza https://arxiv.org/abs/1906.07589 Input: (N, M) values in [min, max] label: (N, M) values in {0, 1} Returns: 1 - mAP (mean AP for each n in {1..N}) Note: typically, this is what you wanna minimize """ def __init__(self, nq=25, min=0, max=1): nn.Module.__init__(self) assert isinstance(nq, int) and 2 <= nq <= 100 self.nq = nq self.min = min self.max = max gap = max - min assert gap > 0 # Initialize quantizer as non-trainable convolution self.quantizer = q = nn.Conv1d(1, 2*nq, kernel_size=1, bias=True) q.weight = nn.Parameter(q.weight.detach(), requires_grad=False) q.bias = nn.Parameter(q.bias.detach(), requires_grad=False) a = (nq-1) / gap # First half equal to lines passing to (min+x,1) and (min+x+1/a,0) with x = {nq-1..0}*gap/(nq-1) q.weight[:nq] = -a q.bias[:nq] = torch.from_numpy(a*min + np.arange(nq, 0, -1)) # b = 1 + a*(min+x) # First half equal to lines passing to (min+x,1) and (min+x-1/a,0) with x = {nq-1..0}*gap/(nq-1) q.weight[nq:] = a q.bias[nq:] = torch.from_numpy(np.arange(2-nq, 2, 1) - a*min) # b = 1 - a*(min+x) # First and last one as a horizontal straight line q.weight[0] = q.weight[-1] = 0 q.bias[0] = q.bias[-1] = 1 def forward(self, x, label, qw=None, ret='1-mAP'): assert x.shape == label.shape # N x M N, M = x.shape # Quantize all predictions q = self.quantizer(x.unsqueeze(1)) q = torch.min(q[:, :self.nq], q[:, self.nq:]).clamp(min=0) # N x Q x M nbs = q.sum(dim=-1) # number of samples N x Q = c rec = (q * label.view(N, 1, M).float()).sum(dim=-1) # number of correct samples = c+ N x Q prec = rec.cumsum(dim=-1) / (1e-16 + nbs.cumsum(dim=-1)) # precision rec /= rec.sum(dim=-1).unsqueeze(1) # norm in [0,1] ap = (prec * rec).sum(dim=-1) # per-image AP if ret == '1-mAP': if qw is not None: ap *= qw # query weights return 1 - ap.mean() elif ret == 'AP': assert qw is None return ap else: raise ValueError("Bad return type for APLoss(): %s" % str(ret)) def measures(self, x, gt, loss=None): if loss is None: loss = self.forward(x, gt) return {'loss_ap': float(loss)} class TAPLoss (APLoss): """ Differentiable tie-aware AP loss, through quantization. From the paper: Learning with Average Precision: Training Image Retrieval with a Listwise Loss Jerome Revaud, Jon Almazan, Rafael Sampaio de Rezende, Cesar de Souza https://arxiv.org/abs/1906.07589 Input: (N, M) values in [min, max] label: (N, M) values in {0, 1} Returns: 1 - mAP (mean AP for each n in {1..N}) Note: typically, this is what you wanna minimize """ def __init__(self, nq=25, min=0, max=1, simplified=False): APLoss.__init__(self, nq=nq, min=min, max=max) self.simplified = simplified def forward(self, x, label, qw=None, ret='1-mAP'): '''N: number of images; M: size of the descs; Q: number of bins (nq); ''' assert x.shape == label.shape # N x M N, M = x.shape label = label.float() Np = label.sum(dim=-1, keepdim=True) # Quantize all predictions q = self.quantizer(x.unsqueeze(1)) q = torch.min(q[:, :self.nq], q[:, self.nq:]).clamp(min=0) # N x Q x M c = q.sum(dim=-1) # number of samples N x Q = nbs on APLoss cp = (q * label.view(N, 1, M)).sum(dim=-1) # N x Q number of correct samples = rec on APLoss C = c.cumsum(dim=-1) Cp = cp.cumsum(dim=-1) zeros = torch.zeros(N, 1).to(x.device) C_1d = torch.cat((zeros, C[:, :-1]), dim=-1) Cp_1d = torch.cat((zeros, Cp[:, :-1]), dim=-1) if self.simplified: aps = cp * (Cp_1d+Cp+1) / (C_1d+C+1) / Np else: eps = 1e-8 ratio = (cp - 1).clamp(min=0) / ((c-1).clamp(min=0) + eps) aps = cp * (c * ratio + (Cp_1d + 1 - ratio * (C_1d + 1)) * torch.log((C + 1) / (C_1d + 1))) / (c + eps) / Np aps = aps.sum(dim=-1) assert aps.numel() == N if ret == '1-mAP': if qw is not None: aps *= qw # query weights return 1 - aps.mean() elif ret == 'AP': assert qw is None return aps else: raise ValueError("Bad return type for APLoss(): %s" % str(ret)) def measures(self, x, gt, loss=None): if loss is None: loss = self.forward(x, gt) return {'loss_tap'+('s' if self.simplified else ''): float(loss)} class TripletMarginLoss(nn.TripletMarginLoss): """ PyTorch's margin triplet loss TripletMarginLoss(margin=1.0, p=2, eps=1e-06, swap=False, size_average=True, reduce=True) """ def eval_func(self, dp, dn): return max(0, dp - dn + self.margin) class TripletLogExpLoss(nn.Module): r"""Creates a criterion that measures the triplet loss given an input tensors x1, x2, x3. This is used for measuring a relative similarity between samples. A triplet is composed by `a`, `p` and `n`: anchor, positive examples and negative example respectively. The shape of all input variables should be :math:`(N, D)`. The distance is described in detail in the paper `Improving Pairwise Ranking for Multi-Label Image Classification`_ by Y. Li et al. .. math:: L(a, p, n) = log \left( 1 + exp(d(a_i, p_i) - d(a_i, n_i) \right) Args: anchor: anchor input tensor positive: positive input tensor negative: negative input tensor Shape: - Input: :math:`(N, D)` where `D = vector dimension` - Output: :math:`(N, 1)` >>> triplet_loss = nn.TripletLogExpLoss(p=2) >>> input1 = autograd.Variable(torch.randn(100, 128)) >>> input2 = autograd.Variable(torch.randn(100, 128)) >>> input3 = autograd.Variable(torch.randn(100, 128)) >>> output = triplet_loss(input1, input2, input3) >>> output.backward() .. _Learning shallow convolutional feature descriptors with triplet losses: http://www.iis.ee.ic.ac.uk/%7Evbalnt/shallow_descr/TFeat_paper.pdf """ def __init__(self, p=2, eps=1e-6, swap=False): super(TripletLogExpLoss, self).__init__() self.p = p self.eps = eps self.swap = swap def forward(self, anchor, positive, negative): assert anchor.size() == positive.size(), "Input sizes between positive and negative must be equal." assert anchor.size() == negative.size(), "Input sizes between anchor and negative must be equal." assert positive.size() == negative.size(), "Input sizes between positive and negative must be equal." assert anchor.dim() == 2, "Input must be a 2D matrix." d_p = F.pairwise_distance(anchor, positive, self.p, self.eps) d_n = F.pairwise_distance(anchor, negative, self.p, self.eps) if self.swap: d_s = F.pairwise_distance(positive, negative, self.p, self.eps) d_n = torch.min(d_n, d_s) dist = torch.log(1 + torch.exp(d_p - d_n)) loss = torch.mean(dist) return loss def eval_func(self, dp, dn): return np.log(1 + np.exp(dp - dn)) def sim_to_dist(scores): return 1 - torch.sqrt(2.001 - 2*scores) class APLoss_dist (APLoss): def forward(self, x, label, **kw): d = sim_to_dist(x) return APLoss.forward(self, d, label, **kw) class TAPLoss_dist (TAPLoss): def forward(self, x, label, **kw): d = sim_to_dist(x) return TAPLoss.forward(self, d, label, **kw) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/nets/__init__.py ================================================ ''' List all architectures at the bottom of this file. To list all available architectures, use: python -m nets ''' import os import pdb import torch from collections import OrderedDict from .backbones.resnet import resnet101, resnet50, resnet18, resnet152 from .rmac_resnet import resnet18_rmac, resnet50_rmac, resnet101_rmac, resnet152_rmac from .rmac_resnet_fpn import resnet18_fpn_rmac, resnet50_fpn_rmac, resnet101_fpn_rmac, resnet101_fpn0_rmac, resnet152_fpn_rmac internal_funcs = set(globals().keys()) def list_archs(): model_names = {name for name in globals() if name.islower() and not name.startswith("__") and name not in internal_funcs and callable(globals()[name])} return model_names def create_model(arch, pretrained='', delete_fc=False, *args, **kwargs): ''' Create an empty network for RMAC. arch : str name of the function to call kargs : list mandatory arguments kwargs : dict optional arguments ''' # creating model if arch not in globals(): raise NameError("unknown model architecture '%s'\nSelect one in %s" % ( arch, ','.join(list_archs()))) model = globals()[arch](*args, **kwargs) model.preprocess = dict( mean=model.rgb_means, std=model.rgb_stds, input_size=max(model.input_size) ) if os.path.isfile(pretrained or ''): class watcher: class AverageMeter: pass class Watch: pass import sys sys.modules['utils.watcher'] = watcher weights = torch.load(pretrained, map_location=lambda storage, loc: storage)['state_dict'] load_pretrained_weights(model, weights, delete_fc=delete_fc) elif pretrained: assert hasattr(model, 'load_pretrained_weights'), 'Model %s must be initialized with a valid model file (not %s)' % (arch, pretrained) model.load_pretrained_weights(pretrained) return model def load_pretrained_weights(net, state_dict, delete_fc=False): """ Load the pretrained weights (chop the last FC layer if needed) If layers are missing or of wrong shape, will not load them. """ new_dict = OrderedDict() for k, v in list(state_dict.items()): if k.startswith('module.'): k = k.replace('module.', '') new_dict[k] = v # Add missing weights from the network itself d = net.state_dict() for k, v in list(d.items()): if k not in new_dict: if not k.endswith('num_batches_tracked'): print("Loading weights for %s: Missing layer %s" % (type(net).__name__, k)) new_dict[k] = v elif v.shape != new_dict[k].shape: print("Loading weights for %s: Bad shape for layer %s, skipping" % (type(net).__name__, k)) new_dict[k] = v net.load_state_dict(new_dict) # Remove the FC layer if size doesn't match if delete_fc: fc = net.fc_name del new_dict[fc+'.weight'] del new_dict[fc+'.bias'] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/nets/__main__.py ================================================ from . import list_archs # python -m nets print("Listing available architectures:") print("\t" + "\n\t".join(list_archs())) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/nets/backbones/__init__.py ================================================ from collections import OrderedDict def load_pretrained_weights(net, state_dict): """ Load the pretrained weights. If layers are missing or of wrong shape, will not load them. """ new_dict = OrderedDict() for k,v in list(state_dict.items()): if k.startswith('module.'): k = k.replace('module.', '') new_dict[k]=v # Add missing weights from the network itself d = net.state_dict() for k,v in list(d.items()): if k not in new_dict: if not k.endswith('num_batches_tracked'): print("Loading weights for %s: Missing layer %s" % (type(net).__name__,k)) new_dict[k] = v elif v.shape != new_dict[k].shape: print("Loading weights for %s: Bad shape for layer %s, skipping" % (type(net).__name__,k)) new_dict[k] = v net.load_state_dict(new_dict) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/nets/backbones/resnet.py ================================================ import torch.nn as nn import torch import math import numpy as np from torch.autograd import Variable import torch.nn.functional as F def conv3x3(in_planes, out_planes, stride=1): """3x3 convolution with padding""" return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride, padding=1, bias=False) class BasicBlock(nn.Module): expansion = 1 def __init__(self, inplanes, planes, stride=1, downsample=None): super(BasicBlock, self).__init__() self.conv1 = conv3x3(inplanes, planes, stride) self.bn1 = nn.BatchNorm2d(planes) self.relu = nn.ReLU(inplace=True) self.conv2 = conv3x3(planes, planes) self.bn2 = nn.BatchNorm2d(planes) self.downsample = downsample self.stride = stride def forward(self, x): residual = x out = self.conv1(x) out = self.bn1(out) out = self.relu(out) out = self.conv2(out) out = self.bn2(out) if self.downsample is not None: residual = self.downsample(x) out += residual out = self.relu(out) return out class Bottleneck(nn.Module): ''' Standard bottleneck block input = inplanes * H * W middle = planes * H/stride * W/stride output = 4*planes * H/stride * W/stride ''' expansion = 4 def __init__(self, inplanes, planes, stride=1, dilation=1, downsample=None): super(Bottleneck, self).__init__() self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=1, bias=False) self.bn1 = nn.BatchNorm2d(planes) self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, stride=stride, padding=dilation, dilation=dilation, bias=False) self.bn2 = nn.BatchNorm2d(planes) self.conv3 = nn.Conv2d(planes, planes * 4, kernel_size=1, bias=False) self.bn3 = nn.BatchNorm2d(planes * 4) self.relu = nn.ReLU(inplace=True) self.downsample = downsample self.stride = stride def forward(self, x): residual = x out = self.conv1(x) out = self.bn1(out) out = self.relu(out) out = self.conv2(out) out = self.bn2(out) out = self.relu(out) out = self.conv3(out) out = self.bn3(out) if self.downsample is not None: residual = self.downsample(x) out += residual out = self.relu(out) return out def reset_weights(net): for m in net.modules(): if isinstance(m, nn.Conv2d): n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels m.weight.data.normal_(0, math.sqrt(2. / n)) elif isinstance(m, nn.BatchNorm2d): m.weight.data.fill_(1) m.bias.data.zero_() class ResNet(nn.Module): """ A standard ResNet. """ def __init__(self, block, layers, fc_out, model_name, self_similarity_radius=None, self_similarity_version=2): nn.Module.__init__(self) self.model_name = model_name # default values for a network pre-trained on imagenet self.rgb_means = [0.485, 0.456, 0.406] self.rgb_stds = [0.229, 0.224, 0.225] self.input_size = (3, 224, 224) self.inplanes = 64 self.conv1 = nn.Conv2d(3, 64, kernel_size=7, stride=2, padding=3, bias=False) self.bn1 = nn.BatchNorm2d(64) self.relu = nn.ReLU(inplace=True) self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1) self.layer1 = self._make_layer(block, 64, layers[0], self_similarity_radius=self_similarity_radius, self_similarity_version=self_similarity_version) self.layer2 = self._make_layer(block, 128, layers[1], stride=2, self_similarity_radius=self_similarity_radius, self_similarity_version=self_similarity_version) self.layer3 = self._make_layer(block, 256, layers[2], stride=2, self_similarity_radius=self_similarity_radius, self_similarity_version=self_similarity_version) self.layer4 = self._make_layer(block, 512, layers[3], stride=2, self_similarity_radius=self_similarity_radius, self_similarity_version=self_similarity_version) reset_weights(self) self.fc = None self.fc_out = fc_out if self.fc_out > 0: self.avgpool = nn.AdaptiveAvgPool2d(1) self.fc = nn.Linear(512 * block.expansion, fc_out) self.fc_name = 'fc' def _make_layer(self, block, planes, blocks, stride=1, self_similarity_radius=None, self_similarity_version=1): downsample = None if stride != 1 or self.inplanes != planes * block.expansion: downsample = nn.Sequential( nn.Conv2d(self.inplanes, planes * block.expansion, kernel_size=1, stride=stride, bias=False), nn.BatchNorm2d(planes * block.expansion), ) layers = [] layers.append(block(self.inplanes, planes=planes, stride=stride, downsample=downsample)) self.inplanes = planes * block.expansion for i in range(1, blocks): layers.append(block(self.inplanes, planes)) if self_similarity_radius: if self_similarity_version == 1: from . self_sim import SelfSimilarity1 layers.append(SelfSimilarity1(self_similarity_radius, self.inplanes)) else: from . self_sim import SelfSimilarity2 layers.append(SelfSimilarity2(self_similarity_radius, self.inplanes)) return nn.Sequential(*layers) def forward(self, x, out_layer=0): x = self.conv1(x) x = self.bn1(x) x = self.relu(x) x = self.maxpool(x) x = self.layer1(x) x = self.layer2(x) x = self.layer3(x) if out_layer==-1: return x, self.layer4(x) x = self.layer4(x) if self.fc_out > 0: x = self.avgpool(x) x = x.view(x.size(0), -1) x = self.fc(x) return x def load_pretrained_weights(self, pretrain_code): if pretrain_code == 'imagenet': model_urls = { 'resnet18': 'https://download.pytorch.org/models/resnet18-5c106cde.pth', 'resnet50': 'https://download.pytorch.org/models/resnet50-19c8e357.pth', 'resnet101': 'https://download.pytorch.org/models/resnet101-5d3b4d8f.pth', 'resnet152': 'https://download.pytorch.org/models/resnet152-b121ed2d.pth', } else: raise NameError("unknown pretraining code '%s'" % pretrain_code) print("Loading ImageNet pretrained weights for %s" % pretrain_code) assert self.model_name in model_urls, "Unknown model '%s'" % self.model_name model_dir='dirtorch/data/models/classification/' import os, stat # give group permission try: os.makedirs(model_dir) except OSError: pass import torch.utils.model_zoo as model_zoo state_dict = model_zoo.load_url(model_urls[self.model_name], model_dir=model_dir) from . import load_pretrained_weights load_pretrained_weights(self, state_dict) def resnet18(out_dim=2048): """Constructs a ResNet-18 model. """ net = ResNet(BasicBlock, [2, 2, 2, 2], out_dim, 'resnet18') return net def resnet50(out_dim=2048): """Constructs a ResNet-50 model. """ net = ResNet(Bottleneck, [3, 4, 6, 3], out_dim, 'resnet50') return net def resnet101(out_dim=2048): """Constructs a ResNet-101 model. """ net = ResNet(Bottleneck, [3, 4, 23, 3], out_dim, 'resnet101') return net def resnet152(out_dim=2048): """Constructs a ResNet-152 model. """ net = ResNet(Bottleneck, [3, 8, 36, 3], out_dim, 'resnet152') return net ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/nets/backbones/resnext101_features.py ================================================ from __future__ import print_function, division, absolute_import import torch import torch.nn as nn from torch.autograd import Variable from functools import reduce class LambdaBase(nn.Sequential): def __init__(self, fn, *args): super(LambdaBase, self).__init__(*args) self.lambda_func = fn def forward_prepare(self, input): output = [] for module in self._modules.values(): output.append(module(input)) return output if output else input class Lambda(LambdaBase): def forward(self, input): return self.lambda_func(self.forward_prepare(input)) class LambdaMap(LambdaBase): def forward(self, input): return list(map(self.lambda_func,self.forward_prepare(input))) class LambdaReduce(LambdaBase): def forward(self, input): return reduce(self.lambda_func,self.forward_prepare(input)) resnext101_32x4d_features = nn.Sequential( # Sequential, nn.Conv2d(3,64,(7, 7),(2, 2),(3, 3),1,1,bias=False), nn.BatchNorm2d(64), nn.ReLU(), nn.MaxPool2d((3, 3),(2, 2),(1, 1)), nn.Sequential( # Sequential, nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(64,128,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(128), nn.ReLU(), nn.Conv2d(128,128,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(128), nn.ReLU(), ), nn.Conv2d(128,256,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(256), ), nn.Sequential( # Sequential, nn.Conv2d(64,256,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(256), ), ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(256,128,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(128), nn.ReLU(), nn.Conv2d(128,128,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(128), nn.ReLU(), ), nn.Conv2d(128,256,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(256), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(256,128,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(128), nn.ReLU(), nn.Conv2d(128,128,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(128), nn.ReLU(), ), nn.Conv2d(128,256,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(256), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), ), nn.Sequential( # Sequential, nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(256,256,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(256), nn.ReLU(), nn.Conv2d(256,256,(3, 3),(2, 2),(1, 1),1,32,bias=False), nn.BatchNorm2d(256), nn.ReLU(), ), nn.Conv2d(256,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), ), nn.Sequential( # Sequential, nn.Conv2d(256,512,(1, 1),(2, 2),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), ), ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(512,256,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(256), nn.ReLU(), nn.Conv2d(256,256,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(256), nn.ReLU(), ), nn.Conv2d(256,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(512,256,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(256), nn.ReLU(), nn.Conv2d(256,256,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(256), nn.ReLU(), ), nn.Conv2d(256,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(512,256,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(256), nn.ReLU(), nn.Conv2d(256,256,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(256), nn.ReLU(), ), nn.Conv2d(256,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), ), nn.Sequential( # Sequential, nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(512,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(2, 2),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), nn.Sequential( # Sequential, nn.Conv2d(512,1024,(1, 1),(2, 2),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,512,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512,512,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), ), nn.Sequential( # Sequential, nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(1024,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024,1024,(3, 3),(2, 2),(1, 1),1,32,bias=False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024,2048,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(2048), ), nn.Sequential( # Sequential, nn.Conv2d(1024,2048,(1, 1),(2, 2),(0, 0),1,1,bias=False), nn.BatchNorm2d(2048), ), ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(2048,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024,1024,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024,2048,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(2048), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), nn.Sequential( # Sequential, LambdaMap(lambda x: x, # ConcatTable, nn.Sequential( # Sequential, nn.Sequential( # Sequential, nn.Conv2d(2048,1024,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024,1024,(3, 3),(1, 1),(1, 1),1,32,bias=False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024,2048,(1, 1),(1, 1),(0, 0),1,1,bias=False), nn.BatchNorm2d(2048), ), Lambda(lambda x: x), # Identity, ), LambdaReduce(lambda x,y: x+y), # CAddTable, nn.ReLU(), ), ) ) resnext101_64x4d_features = nn.Sequential(#Sequential, nn.Conv2d(3, 64, (7, 7), (2, 2), (3, 3), 1, 1, bias = False), nn.BatchNorm2d(64), nn.ReLU(), nn.MaxPool2d((3, 3), (2, 2), (1, 1)), nn.Sequential(#Sequential, nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(64, 256, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(256), nn.ReLU(), nn.Conv2d(256, 256, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(256), nn.ReLU(), ), nn.Conv2d(256, 256, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(256), ), nn.Sequential(#Sequential, nn.Conv2d(64, 256, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(256), ), ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(256, 256, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(256), nn.ReLU(), nn.Conv2d(256, 256, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(256), nn.ReLU(), ), nn.Conv2d(256, 256, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(256), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(256, 256, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(256), nn.ReLU(), nn.Conv2d(256, 256, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(256), nn.ReLU(), ), nn.Conv2d(256, 256, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(256), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), ), nn.Sequential(#Sequential, nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(256, 512, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512, 512, (3, 3), (2, 2), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512, 512, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(512), ), nn.Sequential(#Sequential, nn.Conv2d(256, 512, (1, 1), (2, 2), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(512), ), ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(512, 512, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512, 512, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512, 512, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(512), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(512, 512, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512, 512, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512, 512, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(512), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(512, 512, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(512), nn.ReLU(), nn.Conv2d(512, 512, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(512), nn.ReLU(), ), nn.Conv2d(512, 512, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(512), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), ), nn.Sequential(#Sequential, nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(512, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (2, 2), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), nn.Sequential(#Sequential, nn.Conv2d(512, 1024, (1, 1), (2, 2), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), nn.Conv2d(1024, 1024, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(1024), nn.ReLU(), ), nn.Conv2d(1024, 1024, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(1024), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), ), nn.Sequential(#Sequential, nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(1024, 2048, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(2048), nn.ReLU(), nn.Conv2d(2048, 2048, (3, 3), (2, 2), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(2048), nn.ReLU(), ), nn.Conv2d(2048, 2048, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(2048), ), nn.Sequential(#Sequential, nn.Conv2d(1024, 2048, (1, 1), (2, 2), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(2048), ), ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(2048, 2048, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(2048), nn.ReLU(), nn.Conv2d(2048, 2048, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(2048), nn.ReLU(), ), nn.Conv2d(2048, 2048, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(2048), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), nn.Sequential(#Sequential, LambdaMap(lambda x: x, #ConcatTable, nn.Sequential(#Sequential, nn.Sequential(#Sequential, nn.Conv2d(2048, 2048, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(2048), nn.ReLU(), nn.Conv2d(2048, 2048, (3, 3), (1, 1), (1, 1), 1, 64, bias = False), nn.BatchNorm2d(2048), nn.ReLU(), ), nn.Conv2d(2048, 2048, (1, 1), (1, 1), (0, 0), 1, 1, bias = False), nn.BatchNorm2d(2048), ), Lambda(lambda x: x), #Identity, ), LambdaReduce(lambda x, y: x + y), #CAddTable, nn.ReLU(), ), ) ) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/nets/layers/pooling.py ================================================ import pdb import numpy as np import torch from torch.autograd import Variable import torch.nn as nn from torch.nn.modules import Module from torch.nn.parameter import Parameter import torch.nn.functional as F import math class GeneralizedMeanPooling(Module): r"""Applies a 2D power-average adaptive pooling over an input signal composed of several input planes. The function computed is: :math:`f(X) = pow(sum(pow(X, p)), 1/p)` - At p = infinity, one gets Max Pooling - At p = 1, one gets Average Pooling The output is of size H x W, for any input size. The number of output features is equal to the number of input planes. Args: output_size: the target output size of the image of the form H x W. Can be a tuple (H, W) or a single H for a square image H x H H and W can be either a ``int``, or ``None`` which means the size will be the same as that of the input. """ def __init__(self, norm, output_size=1, eps=1e-6): super(GeneralizedMeanPooling, self).__init__() assert norm > 0 self.p = float(norm) self.output_size = output_size self.eps = eps def forward(self, x): x = x.clamp(min=self.eps).pow(self.p) return F.adaptive_avg_pool2d(x, self.output_size).pow(1. / self.p) def __repr__(self): return self.__class__.__name__ + '(' \ + str(self.p) + ', ' \ + 'output_size=' + str(self.output_size) + ')' class GeneralizedMeanPoolingP(GeneralizedMeanPooling): """ Same, but norm is trainable """ def __init__(self, norm=3, output_size=1, eps=1e-6): super(GeneralizedMeanPoolingP, self).__init__(norm, output_size, eps) self.p = Parameter(torch.ones(1) * norm) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/nets/rmac_resnet.py ================================================ import pdb import torch from .backbones.resnet import * from .layers.pooling import GeneralizedMeanPooling, GeneralizedMeanPoolingP def l2_normalize(x, axis=-1): x = F.normalize(x, p=2, dim=axis) return x class ResNet_RMAC(ResNet): """ ResNet for RMAC (without ROI pooling) """ def __init__(self, block, layers, model_name, out_dim=2048, norm_features=False, pooling='gem', gemp=3, center_bias=0, dropout_p=None, without_fc=False, **kwargs): ResNet.__init__(self, block, layers, 0, model_name, **kwargs) self.norm_features = norm_features self.without_fc = without_fc self.pooling = pooling self.center_bias = center_bias if pooling == 'max': self.adpool = nn.AdaptiveMaxPool2d(output_size=1) elif pooling == 'avg': self.adpool = nn.AdaptiveAvgPool2d(output_size=1) elif pooling.startswith('gem'): self.adpool = GeneralizedMeanPoolingP(norm=gemp) else: raise ValueError(pooling) self.dropout = nn.Dropout(dropout_p) if dropout_p is not None else None self.fc = nn.Linear(512 * block.expansion, out_dim) self.fc_name = 'fc' self.feat_dim = out_dim self.detach = False def forward(self, x): bs, _, H, W = x.shape x = ResNet.forward(self, x) if self.dropout is not None: x = self.dropout(x) if self.detach: # stop the back-propagation here, if needed x = Variable(x.detach()) x = self.id(x) # fake transformation if self.center_bias > 0: b = self.center_bias bias = 1 + torch.FloatTensor([[[[0,0,0,0],[0,b,b,0],[0,b,b,0],[0,0,0,0]]]]).to(x.device) bias = torch.nn.functional.interpolate(bias, size=x.shape[-2:], mode='bilinear', align_corners=True) x = x*bias # global pooling x = self.adpool(x) if self.norm_features: x = l2_normalize(x, axis=1) x.squeeze_() if not self.without_fc: x = self.fc(x) x = l2_normalize(x, axis=-1) return x def resnet18_rmac(backbone=ResNet_RMAC, **kwargs): kwargs.pop('scales', None) return backbone(BasicBlock, [2, 2, 2, 2], 'resnet18', **kwargs) def resnet50_rmac(backbone=ResNet_RMAC, **kwargs): kwargs.pop('scales', None) return backbone(Bottleneck, [3, 4, 6, 3], 'resnet50', **kwargs) def resnet101_rmac(backbone=ResNet_RMAC, **kwargs): kwargs.pop('scales', None) return backbone(Bottleneck, [3, 4, 23, 3], 'resnet101', **kwargs) def resnet152_rmac(backbone=ResNet_RMAC, **kwargs): kwargs.pop('scales', None) return backbone(Bottleneck, [3, 8, 36, 3], 'resnet152', **kwargs) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/nets/rmac_resnet_fpn.py ================================================ import pdb from .backbones.resnet import * from .layers.pooling import GeneralizedMeanPooling, GeneralizedMeanPoolingP def l2_normalize(x, axis=-1): x = F.normalize(x, p=2, dim=axis) return x class ResNet_RMAC_FPN(ResNet): """ ResNet for RMAC (without ROI pooling) """ def __init__(self, block, layers, model_name, out_dim=None, norm_features=False, pooling='gem', gemp=3, center_bias=0, mode=1, dropout_p=None, without_fc=False, **kwargs): ResNet.__init__(self, block, layers, 0, model_name, **kwargs) self.norm_features = norm_features self.without_fc = without_fc self.pooling = pooling self.center_bias = center_bias self.mode = mode dim1 = 256 * block.expansion dim2 = 512 * block.expansion if out_dim is None: out_dim = dim1 + dim2 #FPN if self.mode == 1: self.conv1x5 = nn.Conv2d(dim2, dim1, kernel_size=1, stride=1, bias=False) self.conv3c4 = nn.Conv2d(dim1, dim1, kernel_size=3, stride=1, padding=1, bias=False) self.relu = nn.ReLU(inplace=True) for m in self.modules(): if isinstance(m, nn.Conv2d): n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels m.weight.data.normal_(0, math.sqrt(2. / n)) if pooling == 'max': self.adpool = nn.AdaptiveMaxPool2d(output_size=1) elif pooling == 'avg': self.adpool = nn.AdaptiveAvgPool2d(output_size=1) elif pooling == 'gem': self.adpoolx5 = GeneralizedMeanPoolingP(norm=gemp) self.adpoolc4 = GeneralizedMeanPoolingP(norm=gemp) self.dropout = nn.Dropout(dropout_p) if dropout_p is not None else None self.fc = nn.Linear(768 * block.expansion, out_dim) self.fc_name = 'fc' self.feat_dim = out_dim self.detach = False def forward(self, x): x4, x5 = ResNet.forward(self, x, -1) # FPN if self.mode == 1: c5 = F.interpolate(x5, size=x4.shape[-2:], mode='nearest') c5 = self.conv1x5(c5) c5 = self.relu(c5) x4 = x4 + c5 x4 = self.conv3c4(x4) x4 = self.relu(x4) if self.dropout is not None: x5 = self.dropout(x5) x4 = self.dropout(x4) if self.detach: # stop the back-propagation here, if needed x5 = Variable(x5.detach()) x5 = self.id(x5) # fake transformation x4 = Variable(x4.detach()) x4 = self.id(x4) # fake transformation # global pooling x5 = self.adpoolx5(x5) x4 = self.adpoolc4(x4) x = torch.cat((x4, x5), 1) if self.norm_features: x = l2_normalize(x, axis=1) x.squeeze_() if not self.without_fc: x = self.fc(x) x = l2_normalize(x, axis=-1) return x def resnet18_fpn_rmac(backbone=ResNet_RMAC_FPN, **kwargs): kwargs.pop('scales', None) return backbone(BasicBlock, [2, 2, 2, 2], 'resnet18', **kwargs) def resnet50_fpn_rmac(backbone=ResNet_RMAC_FPN, **kwargs): kwargs.pop('scales', None) return backbone(Bottleneck, [3, 4, 6, 3], 'resnet50', **kwargs) def resnet101_fpn_rmac(backbone=ResNet_RMAC_FPN, **kwargs): kwargs.pop('scales', None) return backbone(Bottleneck, [3, 4, 23, 3], 'resnet101', **kwargs) def resnet101_fpn0_rmac(backbone=ResNet_RMAC_FPN, **kwargs): kwargs.pop('scales', None) return backbone(Bottleneck, [3, 4, 23, 3], 'resnet101', mode=0, **kwargs) def resnet152_fpn_rmac(backbone=ResNet_RMAC_FPN, **kwargs): kwargs.pop('scales', None) return backbone(Bottleneck, [3, 8, 36, 3], 'resnet152', **kwargs) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/nets/rmac_resnext.py ================================================ from .backbones.resnext101_features import * from .layers.pooling import GeneralizedMeanPooling, GeneralizedMeanPoolingP def l2_normalize(x, axis=-1): x = F.normalize(x, p=2, dim=axis) return x class ResNext_RMAC(nn.Module): """ ResNet for RMAC (without ROI pooling) """ def __init__(self, backbone, out_dim=2048, norm_features=False, pooling='gem', gemp=3, center_bias=0, dropout_p=None, without_fc=False, **kwargs): super(ResNeXt_RMAC, self).__init__() self.backbone = backbone self.norm_features = norm_features self.without_fc = without_fc self.pooling = pooling self.center_bias = center_bias if pooling == 'max': self.adpool = nn.AdaptiveMaxPool2d(output_size=1) elif pooling == 'avg': self.adpool = nn.AdaptiveAvgPool2d(output_size=1) elif pooling == 'gem': self.adpool = GeneralizedMeanPoolingP(norm=gemp) self.dropout = nn.Dropout(dropout_p) if dropout_p is not None else None self.last_linear = nn.Linear(2048, out_dim) self.fc_name = 'last_linear' self.feat_dim = out_dim self.detach = False def forward(self, x): x = ResNet.forward(self, x) if self.dropout is not None: x = self.dropout(x) if self.detach: # stop the back-propagation here, if needed x = Variable(x.detach()) x = self.id(x) # fake transformation if self.center_bias > 0: b = self.center_bias bias = 1 + torch.FloatTensor([[[[0,0,0,0],[0,b,b,0],[0,b,b,0],[0,0,0,0]]]]).to(x.device) bias = torch.nn.functional.interpolate(bias, size=x.shape[-2:], mode='bilinear', align_corners=True) x = x*bias # global pooling x = self.adpool(x) if self.norm_features: x = l2_normalize(x, axis=1) x.squeeze_() if not self.without_fc: x = self.fc(x) x = l2_normalize(x, axis=-1) return x def resnet18_rmac(backbone=ResNet_RMAC, **kwargs): kwargs.pop('scales', None) return backbone(BasicBlock, [2, 2, 2, 2], 'resnet18', **kwargs) def resnet50_rmac(backbone=ResNet_RMAC, **kwargs): kwargs.pop('scales', None) return backbone(Bottleneck, [3, 4, 6, 3], 'resnet50', **kwargs) def resnet101_rmac(backbone=ResNet_RMAC, **kwargs): kwargs.pop('scales', None) return backbone(Bottleneck, [3, 4, 23, 3], 'resnet101', **kwargs) def resnet152_rmac(backbone=ResNet_RMAC, **kwargs): kwargs.pop('scales', None) return backbone(Bottleneck, [3, 8, 36, 3], 'resnet152', **kwargs) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/test_dir.py ================================================ import sys import os import os.path as osp import pdb import json import tqdm import numpy as np import torch import torch.nn.functional as F from dirtorch.utils.convenient import mkdir from dirtorch.utils import common from dirtorch.utils.common import tonumpy, matmul, pool from dirtorch.utils.pytorch_loader import get_loader import dirtorch.nets as nets import dirtorch.datasets as datasets import dirtorch.datasets.downloader as dl import pickle as pkl import hashlib def expand_descriptors(descs, db=None, alpha=0, k=0): assert k >= 0 and alpha >= 0, 'k and alpha must be non-negative' if k == 0: return descs descs = tonumpy(descs) n = descs.shape[0] db_descs = tonumpy(db if db is not None else descs) sim = matmul(descs, db_descs) if db is None: sim[np.diag_indices(n)] = 0 idx = np.argpartition(sim, int(-k), axis=1)[:, int(-k):] descs_aug = np.zeros_like(descs) for i in range(n): new_q = np.vstack([db_descs[j, :] * sim[i, j]**alpha for j in idx[i]]) new_q = np.vstack([descs[i], new_q]) new_q = np.mean(new_q, axis=0) descs_aug[i] = new_q / np.linalg.norm(new_q) return descs_aug def extract_image_features(dataset, transforms, net, ret_imgs=False, same_size=False, flip=None, desc="Extract feats...", iscuda=True, threads=8, batch_size=8): """ Extract image features for a given dataset. Output is 2-dimensional (B, D) """ if not same_size: batch_size = 1 old_benchmark = torch.backends.cudnn.benchmark torch.backends.cudnn.benchmark = False loader = get_loader(dataset, trf_chain=transforms, preprocess=net.preprocess, iscuda=iscuda, output=['img'], batch_size=batch_size, threads=threads, shuffle=False) if hasattr(net, 'eval'): net.eval() tocpu = (lambda x: x.cpu()) if ret_imgs == 'cpu' else (lambda x: x) img_feats = [] trf_images = [] with torch.no_grad(): for inputs in tqdm.tqdm(loader, desc, total=1+(len(dataset)-1)//batch_size): imgs = inputs[0] for i in range(len(imgs)): if flip and flip.pop(0): imgs[i] = imgs[i].flip(2) imgs = common.variables(inputs[:1], net.iscuda)[0] desc = net(imgs) if ret_imgs: trf_images.append(tocpu(imgs.detach())) del imgs del inputs if len(desc.shape) == 1: desc.unsqueeze_(0) img_feats.append(desc.detach()) img_feats = torch.cat(img_feats, dim=0) if len(img_feats.shape) == 1: img_feats.unsqueeze_(0) if not same_size: torch.backends.cudnn.benchmark = old_benchmark if ret_imgs: if same_size: trf_images = torch.cat(trf_images, dim=0) return trf_images, img_feats return img_feats def eval_model(db, net, trfs, pooling='mean', gemp=3, detailed=False, whiten=None, aqe=None, adba=None, threads=8, batch_size=16, save_feats=None, load_feats=None, dbg=()): """ Evaluate a trained model (network) on a given dataset. The dataset is supposed to contain the evaluation code. """ print("\n>> Evaluation...") query_db = db.get_query_db() # extract DB feats bdescs = [] qdescs = [] if not load_feats: trfs_list = [trfs] if isinstance(trfs, str) else trfs for trfs in trfs_list: kw = dict(iscuda=net.iscuda, threads=threads, batch_size=batch_size, same_size='Pad' in trfs or 'Crop' in trfs) bdescs.append(extract_image_features(db, trfs, net, desc="DB", **kw)) # extract query feats qdescs.append(bdescs[-1] if db is query_db else extract_image_features(query_db, trfs, net, desc="query", **kw)) # pool from multiple transforms (scales) bdescs = F.normalize(pool(bdescs, pooling, gemp), p=2, dim=1) qdescs = F.normalize(pool(qdescs, pooling, gemp), p=2, dim=1) else: bdescs = np.load(os.path.join(load_feats, 'feats.bdescs.npy')) if query_db is not db: qdescs = np.load(os.path.join(load_feats, 'feats.qdescs.npy')) else: qdescs = bdescs if save_feats: mkdir(save_feats) np.save(os.path.join(save_feats, 'feats.bdescs.npy'), bdescs.cpu().numpy()) if query_db is not db: np.save(os.path.join(save_feats, 'feats.qdescs.npy'), qdescs.cpu().numpy()) if whiten is not None: bdescs = common.whiten_features(tonumpy(bdescs), net.pca, **whiten) qdescs = common.whiten_features(tonumpy(qdescs), net.pca, **whiten) if adba is not None: bdescs = expand_descriptors(bdescs, **args.adba) if aqe is not None: qdescs = expand_descriptors(qdescs, db=bdescs, **args.aqe) scores = matmul(qdescs, bdescs) del bdescs del qdescs res = {} try: aps = [db.eval_query_AP(q, s) for q, s in enumerate(tqdm.tqdm(scores, desc='AP'))] if not isinstance(aps[0], dict): aps = [float(e) for e in aps] if detailed: res['APs'] = aps # Queries with no relevants have an AP of -1 res['mAP'] = float(np.mean([e for e in aps if e >= 0])) else: modes = aps[0].keys() for mode in modes: apst = [float(e[mode]) for e in aps] if detailed: res['APs'+'-'+mode] = apst # Queries with no relevants have an AP of -1 res['mAP'+'-'+mode] = float(np.mean([e for e in apst if e >= 0])) except NotImplementedError: print(" AP not implemented!") try: tops = [db.eval_query_top(q, s) for q, s in enumerate(tqdm.tqdm(scores, desc='top1'))] if detailed: res['tops'] = tops for k in tops[0]: res['top%d' % k] = float(np.mean([top[k] for top in tops])) except NotImplementedError: pass return res def load_model(path, iscuda): checkpoint = common.load_checkpoint(path, iscuda) net = nets.create_model(pretrained="", **checkpoint['model_options']) net = common.switch_model_to_cuda(net, iscuda, checkpoint) net.load_state_dict(checkpoint['state_dict']) net.preprocess = checkpoint.get('preprocess', net.preprocess) if 'pca' in checkpoint: net.pca = checkpoint.get('pca') return net if __name__ == '__main__': import argparse parser = argparse.ArgumentParser(description='Evaluate a model') parser.add_argument('--dataset', '-d', type=str, required=True, help='Command to load dataset') parser.add_argument('--checkpoint', type=str, required=True, help='path to weights') parser.add_argument('--trfs', type=str, required=False, default='', nargs='+', help='test transforms (can be several)') parser.add_argument('--pooling', type=str, default="gem", help='pooling scheme if several trf chains') parser.add_argument('--gemp', type=int, default=3, help='GeM pooling power') parser.add_argument('--out-json', type=str, default="", help='path to output json') parser.add_argument('--detailed', action='store_true', help='return detailed evaluation') parser.add_argument('--save-feats', type=str, default="", help='path to output features') parser.add_argument('--load-feats', type=str, default="", help='path to load features from') parser.add_argument('--threads', type=int, default=8, help='number of thread workers') parser.add_argument('--gpu', type=int, default=0, nargs='+', help='GPU ids') parser.add_argument('--dbg', default=(), nargs='*', help='debugging options') # post-processing parser.add_argument('--whiten', type=str, default='Landmarks_clean', help='applies whitening') parser.add_argument('--aqe', type=int, nargs='+', help='alpha-query expansion paramenters') parser.add_argument('--adba', type=int, nargs='+', help='alpha-database augmentation paramenters') parser.add_argument('--whitenp', type=float, default=0.25, help='whitening power, default is 0.5 (i.e., the sqrt)') parser.add_argument('--whitenv', type=int, default=None, help='number of components, default is None (i.e. all components)') parser.add_argument('--whitenm', type=float, default=1.0, help='whitening multiplier, default is 1.0 (i.e. no multiplication)') args = parser.parse_args() args.iscuda = common.torch_set_gpu(args.gpu) if args.aqe is not None: args.aqe = {'k': args.aqe[0], 'alpha': args.aqe[1]} if args.adba is not None: args.adba = {'k': args.adba[0], 'alpha': args.adba[1]} dl.download_dataset(args.dataset) dataset = datasets.create(args.dataset) print("Test dataset:", dataset) net = load_model(args.checkpoint, args.iscuda) if args.whiten: net.pca = net.pca[args.whiten] args.whiten = {'whitenp': args.whitenp, 'whitenv': args.whitenv, 'whitenm': args.whitenm} else: net.pca = None args.whiten = None # Evaluate res = eval_model(dataset, net, args.trfs, pooling=args.pooling, gemp=args.gemp, detailed=args.detailed, threads=args.threads, dbg=args.dbg, whiten=args.whiten, aqe=args.aqe, adba=args.adba, save_feats=args.save_feats, load_feats=args.load_feats) print(' * ' + '\n * '.join(['%s = %g' % p for p in res.items()])) if args.out_json: # write to file try: data = json.load(open(args.out_json)) except IOError: data = {} data[args.dataset] = res mkdir(args.out_json) open(args.out_json, 'w').write(json.dumps(data, indent=1)) print("saved to "+args.out_json) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/utils/common.py ================================================ import os import sys import pdb import shutil from collections import OrderedDict import numpy as np import sklearn.decomposition import torch import torch.nn.functional as F try: import torch import torch.nn as nn except ImportError: pass def typename(x): return type(x).__module__ def tonumpy(x): if typename(x) == torch.__name__: return x.cpu().numpy() else: return x def matmul(A, B): if typename(A) == np.__name__: B = tonumpy(B) scores = np.dot(A, B.T) elif typename(B) == torch.__name__: scores = torch.matmul(A, B.t()).cpu().numpy() else: raise TypeError("matrices must be either numpy or torch type") return scores def pool(x, pooling='mean', gemp=3): if len(x) == 1: return x[0] x = torch.stack(x, dim=0) if pooling == 'mean': return torch.mean(x, dim=0) elif pooling == 'gem': def sympow(x, p, eps=1e-6): s = torch.sign(x) return (x*s).clamp(min=eps).pow(p) * s x = sympow(x, gemp) x = torch.mean(x, dim=0) return sympow(x, 1/gemp) else: raise ValueError("Bad pooling mode: "+str(pooling)) def torch_set_gpu(gpus, seed=None, randomize=True): if type(gpus) is int: gpus = [gpus] assert gpus, 'error: empty gpu list, use --gpu N N ...' cuda = all(gpu >= 0 for gpu in gpus) if cuda: if any(gpu >= 1000 for gpu in gpus): visible_gpus = [int(gpu) for gpu in os.environ['CUDA_VISIBLE_DEVICES'].split(',')] os.environ['CUDA_VISIBLE_DEVICES'] = ','.join([str(visible_gpus[gpu-1000]) for gpu in gpus]) else: os.environ['CUDA_VISIBLE_DEVICES'] = ','.join([str(gpu) for gpu in gpus]) assert cuda and torch.cuda.is_available(), "%s has GPUs %s unavailable" % ( os.environ['HOSTNAME'], os.environ['CUDA_VISIBLE_DEVICES']) torch.backends.cudnn.benchmark = True torch.backends.cudnn.fastest = True print('Launching on GPUs ' + os.environ['CUDA_VISIBLE_DEVICES']) else: print('Launching on >> CPU <<') torch_set_seed(seed, cuda, randomize=randomize) return cuda def torch_set_seed(seed, cuda, randomize=True): if seed: # this makes it 3x SLOWER but deterministic torch.backends.cudnn.enabled = False if randomize and not seed: import time try: seed = int(np.uint32(hash(time.time()))) except OverflowError: seed = int.from_bytes(os.urandom(4), byteorder='little', signed=False) if seed: np.random.seed(seed) torch.manual_seed(seed) if cuda: torch.cuda.manual_seed(seed) def save_checkpoint(state, is_best, filename): try: dirs = os.path.split(filename)[0] if not os.path.isdir(dirs): os.makedirs(dirs) torch.save(state, filename) if is_best: filenamebest = filename+'.best' shutil.copyfile(filename, filenamebest) filename = filenamebest print("saving to "+filename) except: print("Error: Could not save checkpoint at %s, skipping" % filename) def load_checkpoint(filename, iscuda=False): if not filename: return None assert os.path.isfile(filename), "=> no checkpoint found at '%s'" % filename checkpoint = torch.load(filename, map_location=lambda storage, loc: storage) print("=> loading checkpoint '%s'" % filename, end='') for key in ['epoch', 'iter', 'current_iter']: if key in checkpoint: print(" (%s %d)" % (key, checkpoint[key]), end='') print() new_dict = OrderedDict() for k, v in list(checkpoint['state_dict'].items()): if k.startswith('module.'): k = k[7:] new_dict[k] = v checkpoint['state_dict'] = new_dict if iscuda and 'optimizer' in checkpoint: try: for state in checkpoint['optimizer']['state'].values(): for k, v in state.items(): if iscuda and torch.is_tensor(v): state[k] = v.cuda() except RuntimeError as e: print("RuntimeError:", e, "(machine %s, GPU %s)" % ( os.environ['HOSTNAME'], os.environ['CUDA_VISIBLE_DEVICES']), file=sys.stderr) sys.exit(1) return checkpoint def switch_model_to_cuda(model, iscuda=True, checkpoint=None): if iscuda: if checkpoint: checkpoint['state_dict'] = {'module.' + k: v for k, v in checkpoint['state_dict'].items()} try: model = torch.nn.DataParallel(model) # copy attributes automatically for var in dir(model.module): if var.startswith('_'): continue val = getattr(model.module, var) if isinstance(val, (bool, int, float, str, dict)) or \ (callable(val) and var.startswith('get_')): setattr(model, var, val) model.cuda() model.isasync = True except RuntimeError as e: print("RuntimeError:", e, "(machine %s, GPU %s)" % ( os.environ['HOSTNAME'], os.environ['CUDA_VISIBLE_DEVICES']), file=sys.stderr) sys.exit(1) model.iscuda = iscuda return model def model_size(model): ''' Computes the number of parameters of the model ''' size = 0 for weights in model.state_dict().values(): size += np.prod(weights.shape) return size def freeze_batch_norm(model, freeze=True, only_running=False): model.freeze_bn = bool(freeze) if not freeze: return for m in model.modules(): if isinstance(m, nn.BatchNorm2d): # Eval mode freezes the running mean and std m.eval() for param in m.named_parameters(): if only_running: # Weight and bias can be updated param[1].requires_grad = True else: # Freeze the weight and bias param[1].requires_grad = False def variables(inputs, iscuda, not_on_gpu=[]): ''' convert several Tensors to cuda.Variables Tensor whose index are in not_on_gpu stays on cpu. ''' inputs_var = [] for i, x in enumerate(inputs): if i not in not_on_gpu and not isinstance(x, (tuple, list)): if iscuda: x = x.cuda(non_blocking=True) x = torch.autograd.Variable(x) inputs_var.append(x) return inputs_var def transform(pca, X, whitenp=0.5, whitenv=None, whitenm=1.0, use_sklearn=True): if use_sklearn: # https://github.com/scikit-learn/scikit-learn/blob/master/sklearn/decomposition/base.py#L99 if pca.mean_ is not None: X = X - pca.mean_ X_transformed = np.dot(X, pca.components_[:whitenv].T) if pca.whiten: X_transformed /= whitenm * np.power(pca.explained_variance_[:whitenv], whitenp) else: X = X - pca['means'] X_transformed = np.dot(X, pca['W']) return X_transformed def whiten_features(X, pca, l2norm=True, whitenp=0.5, whitenv=None, whitenm=1.0, use_sklearn=True): res = transform(pca, X, whitenp=whitenp, whitenv=whitenv, whitenm=whitenm, use_sklearn=use_sklearn) if l2norm: res = res / np.expand_dims(np.linalg.norm(res, axis=1), axis=1) return res ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/utils/convenient.py ================================================ import os ################################################ # file stuff def mkdir(d): try: os.makedirs(d) except OSError: pass def mkdir( fname, isfile='auto' ): ''' Make a directory given a file path If the path is already a directory, make sure it ends with '/' ! ''' if isfile == 'auto': isfile = bool(os.path.splitext(fname)[1]) if isfile: directory = os.path.split(fname)[0] else: directory = fname if directory and not os.path.isdir( directory ): os.makedirs(directory) _mkdir = mkdir def touch(filename): ''' Touch is file. Create the file and directory if necessary. ''' assert isinstance(filename, str), 'filename "%s" must be a string' % (str(filename)) dirs = os.path.split(filename)[0] mkdir(dirs) open(filename,'r+' if os.path.isfile(filename) else 'w') # touch def assert_outpath( path, ext='', mkdir=False ): """ Verify that the output file has correct format. """ folder, fname = os.path.split(path) if ext: assert os.path.splitext(fname)[1] == ext, 'Bad file extension, should be '+ext if mkdir: _mkdir(folder, isfile=False) assert os.path.isdir(folder), 'Destination folder not found '+folder assert not os.path.isfile(path), 'File already exists '+path ################################################ # Multiprocessing stuff import multiprocessing as mp import multiprocessing.dummy class _BasePool (object): def __init__(self, nt=0): self.n = max(1,min(mp.cpu_count(), nt if nt>0 else nt+mp.cpu_count())) def starmap(self, func, args): self.map(lambda a: func(*a), args) class ProcessPool (_BasePool): def __init__(self, nt=0): CorePool.__init__(self, nt) self.map = map if self.n==1 else mp.Pool(self.n).map class ThreadPool (_BasePool): def __init__(self, nt=0): CorePool.__init__(self, nt) self.map = map if self.n==1 else mp.dummy.Pool(self.n).map ################################################ # List utils def is_iterable(val, exclude={str}): if type(exclude) not in (tuple, dict, set): exclude = {exclude} try: if type(val) in exclude: # iterable but no raise TypeError() plouf = iter(val) return True except TypeError: return False def listify( val, exclude={str} ): # make it iterable return val if is_iterable(val,exclude=exclude) else (val,) def unlistify( lis ): # if it contains just one element, returns it if len(lis) == 1: for e in lis: return e return lis ################################################ # file stuff def sig_folder_ext(f): return (os.path.split(f)[0], os.path.splitext(f)[1]) def sig_folder(f): return os.path.split(f)[0] def sig_ext(f): return os.path.splitext(f)[1] def sig_3folder_ext(f): f = f.replace('//','/') f = f.replace('//','/') return tuple(f.split('/')[:3]) + (os.path.splitext(f)[1],) def sig_all(f): return () def saferm(f, sig=sig_folder_ext ): if not os.path.isfile(f): return True if not hasattr(saferm,'signature'): saferm.signature = set() # init if sig(f) not in saferm.signature: # reset if the signature is different saferm.ask = True saferm.signature.add( sig(f) ) if saferm.ask: print('confirm removal of %s ? (y/n/all)' %f, end=' ') ans = input() if ans not in ('y','all'): return False if ans == 'all': saferm.ask = False os.remove(f) return True ################################################ # measuring time _tics = dict() from collections import defaultdict _tics_cum = defaultdict(float) def tic(tag='tic'): from time import time as now _tics['__last__'] = tag _tics[tag] = now() def toc(tag='', cum=False): from time import time as now t = now() tag = tag or _tics['__last__'] t -= _tics[tag] if cum: nb, oldt = _tics_cum.get(tag,(0,0)) nb += 1 t += oldt _tics_cum[tag] = nb,t if cum=='avg': t/=nb print('%selpased time since %s = %gs' % ({False:'',True:'cumulated ','avg':'average '}[cum], tag,t)) return t ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/utils/evaluation.py ================================================ '''Evaluation metrics ''' import pdb import numpy as np import torch def accuracy_topk(output, target, topk=(1,)): """Computes the precision@k for the specified values of k output: torch.FloatTensoror np.array(float) shape = B * L [* H * W] L: number of possible labels target: torch.IntTensor or np.array(int) shape = B [* H * W] ground-truth labels """ if isinstance(output, np.ndarray): pred = (-output).argsort(axis=1) target = np.expand_dims(target, axis=1) correct = (pred == target) res = [] for k in topk: correct_k = correct[:, :k].sum() res.append(correct_k / target.size) if isinstance(output, torch.Tensor): _, pred = output.topk(max(topk), 1, True, True) correct = pred.eq(target.unsqueeze(1)) res = [] for k in topk: correct_k = correct[:, :k].float().view(-1).sum(0) res.append(correct_k.mul_(1.0 / target.numel())) return res def compute_AP(label, score): from sklearn.metrics import average_precision_score return average_precision_score(label, score) def compute_average_precision(positive_ranks): """ Extracted from: https://github.com/tensorflow/models/blob/master/research/delf/delf/python/detect_to_retrieve/dataset.py Computes average precision according to dataset convention. It assumes that `positive_ranks` contains the ranks for all expected positive index images to be retrieved. If `positive_ranks` is empty, returns `average_precision` = 0. Note that average precision computation here does NOT use the finite sum method (see https://en.wikipedia.org/wiki/Evaluation_measures_(information_retrieval)#Average_precision) which is common in information retrieval literature. Instead, the method implemented here integrates over the precision-recall curve by averaging two adjacent precision points, then multiplying by the recall step. This is the convention for the Revisited Oxford/Paris datasets. Args: positive_ranks: Sorted 1D NumPy integer array, zero-indexed. Returns: average_precision: Float. """ average_precision = 0.0 num_expected_positives = len(positive_ranks) if not num_expected_positives: return average_precision recall_step = 1.0 / num_expected_positives for i, rank in enumerate(positive_ranks): if not rank: left_precision = 1.0 else: left_precision = i / rank right_precision = (i + 1) / (rank + 1) average_precision += (left_precision + right_precision) * recall_step / 2 return average_precision def compute_average_precision_quantized(labels, idx, step=0.01): recall_checkpoints = np.arange(0, 1, step) def mymax(x, default): return np.max(x) if len(x) else default Nrel = np.sum(labels) if Nrel == 0: return 0 recall = np.cumsum(labels[idx])/float(Nrel) irange = np.arange(1, len(idx)+1) prec = np.cumsum(labels[idx]).astype(np.float32) / irange precs = np.array([mymax(prec[np.where(recall > v)], 0) for v in recall_checkpoints]) return np.mean(precs) def pixelwise_iou(output, target): """ For each image, for each label, compute the IoU between """ assert False ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/utils/funcs.py ================================================ """ generic functions """ import pdb import numpy as np def sigmoid(x, a=1, b=0): return 1 / (1 + np.exp(a * (b - x))) def sigmoid_range(x, at5, at95): """ create sigmoid function like that: sigmoid(at5) = 0.05 sigmoid(at95) = 0.95 and returns sigmoid(x) """ a = 6 / (at95 - at5) b = at5 + 3 / a return sigmoid(x, a, b) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/utils/pytorch_loader.py ================================================ import pdb from PIL import Image import numpy as np import random import torch import torch.utils.data as data def get_loader( dataset, trf_chain, iscuda, preprocess = {}, # variables for preprocessing (input_size, mean, std, ...) output = ('img','label'), batch_size = None, threads = 1, shuffle = True, balanced = 0, use_all = False, totensor = True, **_useless_kw): ''' Get a data loader, given the dataset and some parameters. Parameters ---------- dataset : Dataset(). Class containing all images and labels. trf_chain : list list of transforms iscuda : bool output : tuple of str tells what to return. 'img', 'label', ... See PytorchLoader(). preprocess : dict {input_size:..., mean=..., std:..., ...} batch_size : int threads : int shuffle : int balanced : float in [0,1] if balanced>0, then will pick dataset samples such that each class is equally represented. use_all : bool if True, will force to use all dataset samples at least once (even if balanced>0) Returns ------- a pytorch loader. ''' from . import transforms trf_chain = transforms.create(trf_chain, to_tensor=True, **preprocess) sampler = None if balanced: sampler = BalancedSampler(dataset, use_all=use_all, balanced=balanced) shuffle = False loader = PytorchLoader(dataset, transform=trf_chain, output=output) if threads == 1: return loader else: return data.DataLoader( loader, batch_size = batch_size, shuffle = shuffle, sampler = sampler, num_workers = threads, pin_memory = iscuda) class PytorchLoader (data.Dataset): """A pytorch dataset-loader Args: dataset (object): dataset inherited from dataset.Dataset() transform (deprecated, callable): pytorch transforms. Use img_and_target_transform instead. target_transform (deprecated, callable): applied on target. Use img_and_target_transform instead. img_and_target_transform (callable): applied on dict(img=, label=, bbox=, ...) and should return a similar dictionary. Attributes: dataset (object): subclass of dataset.Dataset() """ def __init__(self, dataset, transform=None, target_transform=None, img_and_target_transform=None, output=['img','label']): self.dataset = dataset self.transform = transform self.target_transform = target_transform self.img_and_target_transform = img_and_target_transform self.output = output def __getitem__(self, index): img_filename = self.dataset.get_filename(index) img_and_label = dict( img_filename = img_filename, img_key = self.dataset.get_key(index), img = self.dataset.get_image(index), label = try_to_get(self.dataset.get_label, index, toint=True) ) if self.img_and_target_transform: # label depends on image (bbox, polygons, etc) assert self.transform is None assert self.target_transform is None # add optional attributes if 'bbox' in self.output: bbox = try_to_get(self.dataset.get_bbox, index) if bbox: img_and_label['bbox'] = bbox if any(a.endswith('_map') for a in self.output): original_polygons = try_to_get(self.dataset.get_polygons, index, toint=True) if original_polygons is not None: img_and_label['polygons'] = original_polygons img_and_label = self.img_and_target_transform(img_and_label) if original_polygons is not None: transformed_polygons = img_and_label['polygons'] imsize = img_and_label['img'].size if not isinstance(imsize, tuple): imsize = imsize()[-2:][::-1] # returns h,w if 'label_map' in self.output: pixlabel = self.dataset.get_label_map(index, imsize, polygons=transformed_polygons) img_and_label['label_map'] = pixlabel.astype(int) # instance level attributes for out_key in self.output: for type in ['_instance_map', '_angle_map']: if not out_key.endswith(type): continue cls = out_key[:-len(type)] get_func = getattr(self.dataset,'get'+type) pixlabel = get_func(index, cls, imsize, polygons=transformed_polygons) img_and_label[out_key] = pixlabel else: # just plain old transform, no influence on labels if self.transform is not None: img_and_label['img'] = self.transform(img_and_label['img']) if self.target_transform: img_and_label['label'] = self.target_transform(img_and_label['label']) for o in self.output: assert img_and_label.get(o) is not None, "Missing field %s for img %s" % (o,img_filename) return [img_and_label[o] for o in self.output] def __len__(self): return len(self.dataset) def __repr__(self): fmt_str = 'Dataset ' + self.dataset.__class__.__name__ + '\n' fmt_str += ' Number of datapoints: %d\n' % len(self.dataset) fmt_str += ' Root Location: %s\n' % self.dataset.__dict__.get('root','(unknown)') if self.img_and_target_transform: tmp = ' Image_and_target transforms: ' fmt_str += '{0}{1}\n'.format(tmp, repr(self.img_and_target_transform).replace('\n', '\n' + ' ' * len(tmp))) if self.transform: tmp = ' Image transforms: ' fmt_str += '{0}{1}\n'.format(tmp, repr(self.transform).replace('\n', '\n' + ' ' * len(tmp))) if self.target_transform: tmp = ' Target transforms: ' fmt_str += '{0}{1}\n'.format(tmp, repr(self.target_transform).replace('\n', '\n' + ' ' * len(tmp))) return fmt_str class BalancedSampler (data.sampler.Sampler): """ Data sampler that will provide an equal number of each class to the network. size: float in [0,2] specify the size increase/decrease w.r.t to the original dataset. 1 means that the over-classes (with more than median n_per_class images) will have less items, but conversely, under-classes will have more items. balanced: float in [0,1] specify whether the balance constraint should be respected firmly or not. if ==1: balance is exactly respected; if ==0, same as dataset (no change). use_all: bool if True, will use all images that a class have, even if it is higher than what the algorithm wanted to use. """ def __init__(self, dataset, size=1.0, balanced=1.0, use_all=False): assert 0 <= size <= 2 assert 0 <= balanced <= 1 # enumerate class images self.cls_imgs = [[] for i in range(dataset.nclass)] for i in range(len(dataset)): label = dataset.get_label(i, toint=True) self.cls_imgs[label].append(i) # decide on the number of example per class self.npc = np.percentile([len(imgs) for imgs in self.cls_imgs], max(0,min(50*size,100))) self.balanced = balanced self.use_all = use_all self.nelem = int(0.5 + self.npc * dataset.nclass) # initial estimate def __iter__(self): indices = [] for i,imgs in enumerate(self.cls_imgs): np.random.shuffle(imgs) # randomize # target size for this class # target = logarithmic mean b = self.balanced if len(imgs): target = 2**(b*np.log2(self.npc) + (1-b)*np.log2(len(imgs))) target = int(0.5 + target) else: target = 0 if self.use_all: # use all images target = max(target, len(imgs)) # augment classes until target res = [] while len(res) < target: res += imgs res = res[:target] # cut indices += res np.random.shuffle(indices) self.nelem = len(indices) return iter(indices) def __len__(self): return self.nelem ### Helper functions with get_loader() and DatasetLoader() def load_one_img( loader ): ''' Helper to iterate on get_loader() loader: output of get_loader() ''' iterator = iter(loader) batch = [] while iterator: if not batch: # refill things = next(iterator) batch = list(zip(*[t.numpy() if torch.is_tensor(t) else t for t in things])) yield batch.pop(0) def tensor2img(tensor, model): """ convert a numpy tensor to a PIL Image (undo the ToTensor() and Normalize() transforms) """ mean = model.preprocess['mean'] std = model.preprocess['std'] if not isinstance(tensor, np.ndarray): if not isinstance(tensor, torch.Tensor): tensor = tensor.data tensor = tensor.squeeze().cpu().numpy() res = np.uint8(np.clip(255*((tensor.transpose(1,2,0) * std) + mean), 0, 255)) from PIL import Image return Image.fromarray(res) def test_loader_speed(loader_): ''' Test the speed of a data loader ''' from tqdm import tqdm loader = load_one_img(loader_) for _ in tqdm(loader): pass pdb.set_trace() def try_to_get(func, *args, **kwargs): try: return func(*args, **kwargs) except NotImplementedError: return None ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/utils/transforms.py ================================================ import pdb import numpy as np from PIL import Image, ImageOps import torchvision.transforms as tvf import random from math import ceil from . import transforms_tools as F def create(cmd_line, to_tensor=False, **vars): ''' Create a sequence of transformations. cmd_line: (str) Comma-separated list of transformations. Ex: "Rotate(10), Scale(256)" to_tensor: (bool) Whether to add the "ToTensor(), Normalize(mean, std)" automatically to the end of the transformation string vars: (dict) dictionary of global variables. ''' if to_tensor: if not cmd_line: cmd_line = "ToTensor(), Normalize(mean=mean, std=std)" elif to_tensor and 'ToTensor' not in cmd_line: cmd_line += ", ToTensor(), Normalize(mean=mean, std=std)" assert isinstance(cmd_line, str) cmd_line = "tvf.Compose([%s])" % cmd_line try: return eval(cmd_line, globals(), vars) except Exception as e: raise SyntaxError("Cannot interpret this transform list: %s\nReason: %s" % (cmd_line, e)) class Identity (object): """ Identity transform. It does nothing! """ def __call__(self, inp): return inp class Pad(object): """ Pads the shortest side of the image to a given size If size is shorter than the shortest image, then the image will be untouched """ def __init__(self, size, color=(127,127,127)): self.size = size assert len(color) == 3 if not all(isinstance(c,int) for c in color): color = tuple([int(255*c) for c in color]) self.color = color def __call__(self, inp): img = F.grab_img(inp) w, h = img.size if w >= h: newh = max(h,self.size) neww = w else: newh = h neww = max(w,self.size) if (neww,newh) != img.size: img2 = Image.new('RGB', (neww,newh), self.color) img2.paste(img, ((neww-w)//2,(newh-h)//2) ) img = img2 return F.update_img_and_labels(inp, img, aff=(1,0,0,0,1,0)) class PadSquare (object): """ Pads the image to a square size The dimension of the output image will be equal to size x size If size is None, then the image will be padded to the largest dimension If size is smaller than the original image size, the image will be cropped """ def __init__(self, size=None, color=(127,127,127)): self.size = size assert len(color) == 3 if not all(isinstance(c,int) for c in color): color = tuple([int(255*c) for c in color]) self.color = color def __call__(self, inp): img = F.grab_img(inp) w, h = img.size s = self.size or max(w, h) if (s,s) != img.size: img2 = Image.new('RGB', (s,s), self.color) img2.paste(img, ((s-w)//2,(s-h)//2) ) img = img2 return F.update_img_and_labels(inp, img, aff=(1,0,0,0,1,0)) class RandomBorder (object): """ Expands the image with a random size border """ def __init__(self, min_size, max_size, color=(127,127,127)): assert isinstance(min_size, int) and min_size >= 0 assert isinstance(max_size, int) and min_size <= max_size self.min_size = min_size self.max_size = max_size assert len(color) == 3 if not all(isinstance(c,int) for c in color): color = tuple([int(255*c) for c in color]) self.color = color def __call__(self, inp): img = F.grab_img(inp) bh = random.randint(self.min_size, self.max_size) bw = random.randint(self.min_size, self.max_size) img = ImageOps.expand(img, border=(bw,bh,bw,bh), fill=self.color) return F.update_img_and_labels(inp, img, aff=(1,0,0,0,1,0)) class Scale (object): """ Rescale the input PIL.Image to a given size. Same as torchvision.Scale The smallest dimension of the resulting image will be = size. if largest == True: same behaviour for the largest dimension. if not can_upscale: don't upscale if not can_downscale: don't downscale """ def __init__(self, size, interpolation=Image.BILINEAR, largest=False, can_upscale=True, can_downscale=True): assert isinstance(size, (float,int)) or (len(size) == 2) self.size = size if isinstance(self.size, float): assert 0 < self.size <= 4, 'bad float self.size, cannot be outside of range ]0,4]' self.interpolation = interpolation self.largest = largest self.can_upscale = can_upscale self.can_downscale = can_downscale def get_params(self, imsize): w,h = imsize if isinstance(self.size, int): is_smaller = lambda a,b: (a>=b) if self.largest else (a<=b) if (is_smaller(w, h) and w == self.size) or (is_smaller(h, w) and h == self.size): ow, oh = w, h elif is_smaller(w, h): ow = self.size oh = int(0.5 + self.size * h / w) else: oh = self.size ow = int(0.5 + self.size * w / h) elif isinstance(self.size, float): ow, oh = int(0.5 + self.size*w), int(0.5 + self.size*h) else: # tuple of ints ow, oh = self.size return ow, oh def __call__(self, inp): img = F.grab_img(inp) w, h = img.size size2 = ow,oh = self.get_params(img.size) if size2 != img.size: a1, a2 = img.size, size2 if (self.can_upscale and min(a1) < min(a2)) or (self.can_downscale and min(a1) > min(a2)): img = img.resize(size2, self.interpolation) return F.update_img_and_labels(inp, img, aff=(ow/w,0,0,0,oh/h,0)) class RandomScale (Scale): """Rescale the input PIL.Image to a random size. Args: min_size (int): min size of the smaller edge of the picture. max_size (int): max size of the smaller edge of the picture. ar (float or tuple): max change of aspect ratio (width/height). interpolation (int, optional): Desired interpolation. Default is ``PIL.Image.BILINEAR`` """ def __init__(self, min_size, max_size, ar=1, can_upscale=False, can_downscale=True, interpolation=Image.BILINEAR, largest=False): Scale.__init__(self, 0, can_upscale=can_upscale, can_downscale=can_downscale, interpolation=interpolation, largest=largest) assert isinstance(min_size, int) and min_size >= 1 assert isinstance(max_size, int) and min_size <= max_size self.min_size = min_size self.max_size = max_size if type(ar) in (float,int): ar = (min(1/ar,ar),max(1/ar,ar)) assert 0.2 < ar[0] <= ar[1] < 5 self.ar = ar self.largest = largest def get_params(self, imsize): w,h = imsize if self.can_upscale: max_size = self.max_size else: max_size = min(self.max_size,min(w,h)) size = max(min(int(0.5 + F.rand_log_uniform(self.min_size,self.max_size)), self.max_size), self.min_size) ar = F.rand_log_uniform(*self.ar) # change of aspect ratio if not self.largest: if w < h : # image is taller ow = size oh = int(0.5 + size * h / w / ar) if oh < self.min_size: ow,oh = int(0.5 + ow*float(self.min_size)/oh),self.min_size else: # image is wider oh = size ow = int(0.5 + size * w / h * ar) if ow < self.min_size: ow,oh = self.min_size,int(0.5 + oh*float(self.min_size)/ow) assert ow >= self.min_size assert oh >= self.min_size else: # if self.largest if w > h: # image is wider ow = size oh = int(0.5 + size * h / w / ar) else: # image is taller oh = size ow = int(0.5 + size * w / h * ar) assert ow <= self.max_size assert oh <= self.max_size return ow, oh class RandomCrop (object): """Crop the given PIL Image at a random location. Args: size (sequence or int): Desired output size of the crop. If size is an int instead of sequence like (h, w), a square crop (size, size) is made. padding (int or sequence, optional): Optional padding on each border of the image. Default is 0, i.e no padding. If a sequence of length 4 is provided, it is used to pad left, top, right, bottom borders respectively. """ def __init__(self, size, padding=0): if isinstance(size, int): self.size = (int(size), int(size)) else: self.size = size self.padding = padding @staticmethod def get_params(img, output_size): w, h = img.size th, tw = output_size assert h >= th and w >= tw, "Image of %dx%d is too small for crop %dx%d" % (w,h,tw,th) y = np.random.randint(0, h - th) if h > th else 0 x = np.random.randint(0, w - tw) if w > tw else 0 return x, y, tw, th def __call__(self, inp): img = F.grab_img(inp) padl = padt = 0 if self.padding > 0: if F.is_pil_image(img): img = ImageOps.expand(img, border=self.padding, fill=0) else: assert isinstance(img, F.DummyImg) img = img.expand(border=self.padding) if isinstance(self.padding, int): padl = padt = self.padding else: padl, padt = self.padding[0:2] i, j, tw, th = self.get_params(img, self.size) img = img.crop((i, j, i+tw, j+th)) return F.update_img_and_labels(inp, img, aff=(1,0,padl-i,0,1,padt-j)) class CenterCrop (RandomCrop): """Crops the given PIL Image at the center. Args: size (sequence or int): Desired output size of the crop. If size is an int instead of sequence like (h, w), a square crop (size, size) is made. """ @staticmethod def get_params(img, output_size): w, h = img.size th, tw = output_size y = int(0.5 +((h - th) / 2.)) x = int(0.5 +((w - tw) / 2.)) return x, y, tw, th class CropToBbox(object): """ Crop the image according to the bounding box. margin (float): ensure a margin around the bbox equal to (margin * min(bbWidth,bbHeight)) min_size (int): result cannot be smaller than this size """ def __init__(self, margin=0.5, min_size=0): self.margin = margin self.min_size = min_size def __call__(self, inp): img = F.grab_img(inp) w, h = img.size assert min(w,h) >= self.min_size x0,y0,x1,y1 = inp['bbox'] assert x0 < x1 and y0 < y1, pdb.set_trace() bbw, bbh = x1-x0, y1-y0 margin = int(0.5 + self.margin * min(bbw, bbh)) i = max(0, x0 - margin) j = max(0, y0 - margin) w = min(w, x1 + margin) - i h = min(h, y1 + margin) - j if w < self.min_size: i = max(0, i-(self.min_size-w)//2) w = self.min_size if h < self.min_size: j = max(0, j-(self.min_size-h)//2) h = self.min_size img = img.crop((i,j,i+w,j+h)) return F.update_img_and_labels(inp, img, aff=(1,0,-i,0,1,-j)) class RandomRotation(object): """Rescale the input PIL.Image to a random size. Args: degrees (float): rotation angle. interpolation (int, optional): Desired interpolation. Default is ``PIL.Image.BILINEAR`` """ def __init__(self, degrees, interpolation=Image.BILINEAR): self.degrees = degrees self.interpolation = interpolation def __call__(self, inp): img = F.grab_img(inp) w, h = img.size angle = np.random.uniform(-self.degrees, self.degrees) img = img.rotate(angle, resample=self.interpolation) w2, h2 = img.size aff = F.aff_translate(-w/2,-h/2) aff = F.aff_mul(aff, F.aff_rotate(-angle * np.pi/180)) aff = F.aff_mul(aff, F.aff_translate(w2/2,h2/2)) return F.update_img_and_labels(inp, img, aff=aff) class RandomFlip (object): """Randomly flip the image. """ def __call__(self, inp): img = F.grab_img(inp) w, h = img.size flip = np.random.rand() < 0.5 if flip: img = img.transpose(Image.FLIP_LEFT_RIGHT) return F.update_img_and_labels(inp, img, aff=(-1,0,w-1,0,1,0)) class RandomTilting(object): """Apply a random tilting (left, right, up, down) to the input PIL.Image Args: maginitude (float): maximum magnitude of the random skew (value between 0 and 1) directions (string): tilting directions allowed (all, left, right, up, down) examples: "all", "left,right", "up-down-right" """ def __init__(self, magnitude, directions='all'): self.magnitude = magnitude self.directions = directions.lower().replace(',',' ').replace('-',' ') def __call__(self, inp): img = F.grab_img(inp) w, h = img.size x1,y1,x2,y2 = 0,0,h,w original_plane = [(y1, x1), (y2, x1), (y2, x2), (y1, x2)] max_skew_amount = max(w, h) max_skew_amount = int(ceil(max_skew_amount * self.magnitude)) skew_amount = random.randint(1, max_skew_amount) if self.directions == 'all': choices = [0,1,2,3] else: dirs = ['left', 'right', 'up', 'down'] choices = [] for d in self.directions.split(): try: choices.append(dirs.index(d)) except: raise ValueError('Tilting direction %s not recognized' % d) skew_direction = random.choice(choices) if skew_direction == 0: # Left Tilt new_plane = [(y1, x1 - skew_amount), # Top Left (y2, x1), # Top Right (y2, x2), # Bottom Right (y1, x2 + skew_amount)] # Bottom Left elif skew_direction == 1: # Right Tilt new_plane = [(y1, x1), # Top Left (y2, x1 - skew_amount), # Top Right (y2, x2 + skew_amount), # Bottom Right (y1, x2)] # Bottom Left elif skew_direction == 2: # Forward Tilt new_plane = [(y1 - skew_amount, x1), # Top Left (y2 + skew_amount, x1), # Top Right (y2, x2), # Bottom Right (y1, x2)] # Bottom Left elif skew_direction == 3: # Backward Tilt new_plane = [(y1, x1), # Top Left (y2, x1), # Top Right (y2 + skew_amount, x2), # Bottom Right (y1 - skew_amount, x2)] # Bottom Left # To calculate the coefficients required by PIL for the perspective skew, # see the following Stack Overflow discussion: https://goo.gl/sSgJdj matrix = [] for p1, p2 in zip(new_plane, original_plane): matrix.append([p1[0], p1[1], 1, 0, 0, 0, -p2[0] * p1[0], -p2[0] * p1[1]]) matrix.append([0, 0, 0, p1[0], p1[1], 1, -p2[1] * p1[0], -p2[1] * p1[1]]) A = np.matrix(matrix, dtype=np.float) B = np.array(original_plane).reshape(8) homography = np.dot(np.linalg.pinv(A), B) homography = tuple(np.array(homography).reshape(8)) img = img.transform(img.size, Image.PERSPECTIVE, homography, resample=Image.BICUBIC) homography = np.linalg.pinv(np.float32(homography+(1,)).reshape(3,3)).ravel()[:8] return F.update_img_and_labels(inp, img, persp=tuple(homography)) class StillTransform (object): """ Takes and return an image, without changing its shape or geometry. """ def _transform(self, img): raise NotImplementedError() def __call__(self, inp): img = F.grab_img(inp) # transform the image (size should not change) img = self._transform(img) return F.update_img_and_labels(inp, img, aff=(1,0,0,0,1,0)) class ColorJitter (StillTransform): """Randomly change the brightness, contrast and saturation of an image. Args: brightness (float): How much to jitter brightness. brightness_factor is chosen uniformly from [max(0, 1 - brightness), 1 + brightness]. contrast (float): How much to jitter contrast. contrast_factor is chosen uniformly from [max(0, 1 - contrast), 1 + contrast]. saturation (float): How much to jitter saturation. saturation_factor is chosen uniformly from [max(0, 1 - saturation), 1 + saturation]. hue(float): How much to jitter hue. hue_factor is chosen uniformly from [-hue, hue]. Should be >=0 and <= 0.5. """ def __init__(self, brightness=0, contrast=0, saturation=0, hue=0): self.brightness = brightness self.contrast = contrast self.saturation = saturation self.hue = hue @staticmethod def get_params(brightness, contrast, saturation, hue): """Get a randomized transform to be applied on image. Arguments are same as that of __init__. Returns: Transform which randomly adjusts brightness, contrast and saturation in a random order. """ transforms = [] if brightness > 0: brightness_factor = np.random.uniform(max(0, 1 - brightness), 1 + brightness) transforms.append(tvf.Lambda(lambda img: F.adjust_brightness(img, brightness_factor))) if contrast > 0: contrast_factor = np.random.uniform(max(0, 1 - contrast), 1 + contrast) transforms.append(tvf.Lambda(lambda img: F.adjust_contrast(img, contrast_factor))) if saturation > 0: saturation_factor = np.random.uniform(max(0, 1 - saturation), 1 + saturation) transforms.append(tvf.Lambda(lambda img: F.adjust_saturation(img, saturation_factor))) if hue > 0: hue_factor = np.random.uniform(-hue, hue) transforms.append(tvf.Lambda(lambda img: F.adjust_hue(img, hue_factor))) np.random.shuffle(transforms) transform = tvf.Compose(transforms) return transform def _transform(self, img): transform = self.get_params(self.brightness, self.contrast, self.saturation, self.hue) return transform(img) class RandomErasing (StillTransform): """ Class that performs Random Erasing, an augmentation technique described in `https://arxiv.org/abs/1708.04896 `_ by Zhong et al. To quote the authors, random erasing: "*... randomly selects a rectangle region in an image, and erases its pixels with random values.*" The size of the random rectangle is controlled using the :attr:`area` parameter. This area is random in its width and height. Args: area: The percentage area of the image to occlude. """ def __init__(self, area): self.area = area def _transform(self, image): """ Adds a random noise rectangle to a random area of the passed image, returning the original image with this rectangle superimposed. :param image: The image to add a random noise rectangle to. :type image: PIL.Image :return: The image with the superimposed random rectangle as type image PIL.Image """ w, h = image.size w_occlusion_max = int(w * self.area) h_occlusion_max = int(h * self.area) w_occlusion_min = int(w * self.area/2) h_occlusion_min = int(h * self.area/2) if not (w_occlusion_min < w_occlusion_max and h_occlusion_min < h_occlusion_max): return image w_occlusion = np.random.randint(w_occlusion_min, w_occlusion_max) h_occlusion = np.random.randint(h_occlusion_min, h_occlusion_max) if len(image.getbands()) == 1: rectangle = Image.fromarray(np.uint8(np.random.rand(w_occlusion, h_occlusion) * 255)) else: rectangle = Image.fromarray(np.uint8(np.random.rand(w_occlusion, h_occlusion, len(image.getbands())) * 255)) assert w > w_occlusion and h > h_occlusion, pdb.set_trace() random_position_x = np.random.randint(0, w - w_occlusion) random_position_y = np.random.randint(0, h - h_occlusion) image = image.copy() # don't modify the original image.paste(rectangle, (random_position_x, random_position_y)) return image class ToTensor (StillTransform, tvf.ToTensor): def _transform(self, img): return tvf.ToTensor.__call__(self, img) class Normalize (StillTransform, tvf.Normalize): def _transform(self, img): return tvf.Normalize.__call__(self, img) class BBoxToPixelLabel (object): """ Convert a bbox into per-pixel label """ def __init__(self, nclass, downsize, mode): self.nclass = nclass self.downsize = downsize self.mode = mode self.nbin = 5 self.log_scale = 1.5 self.ref_scale = 8.0 def __call__(self, inp): assert isinstance(inp, dict) w, h = inp['img'].size ds = self.downsize assert w % ds == 0 assert h % ds == 0 x0,y0,x1,y1 = inp['bbox'] inp['bbox'] = np.int64(inp['bbox']) ll = x0/ds rr = (x1-1)/ds tt = y0/ds bb = (y1-1)/ds l = max(0, int(ll)) r = min(w//ds, 1+int(rr)) t = max(0, int(tt)) b = min(h//ds, 1+int(bb)) inp['bbox_downscaled'] = np.array((l,t,r,b), dtype=np.int64) W, H = w//ds, h//ds res = np.zeros((H,W), dtype=np.int64) res[:] = self.nclass # last bin is null class res[t:b, l:r] = inp['label'] inp['pix_label'] = res if self.mode == 'hough': # compute hough parameters topos = lambda left, pos, right: np.floor( self.nbin * (pos - left) / (right - left) ) def tolog(size): size = max(size,1e-8) # make it positive return np.round( np.log(size / self.ref_scale) / np.log(self.log_scale) + (self.nbin-1)/2 ) # for each pixel, find its x and y position yc,xc = np.mgrid[0:H, 0:W] res = -np.ones((4, H, W), dtype=np.int64) res[0] = topos(ll, xc, rr) res[1] = topos(tt, yc, bb) res[2] = tolog(rr - ll) res[3] = tolog(bb - tt) res = np.clip(res, 0, self.nbin-1) inp['pix_bbox_hough'] = res elif self.mode == 'regr': topos = lambda left, pos, right: (pos - left) / (right - left) def tolog(size): size = max(size,1) # make it positive return np.log(size / self.ref_scale) / np.log(self.log_scale) # for each pixel, find its x and y position yc,xc = np.float64(np.mgrid[0:H, 0:W]) + 0.5 res = -np.ones((4, H, W), dtype=np.float32) res[0] = topos(ll, xc, rr) res[1] = topos(tt, yc, bb) res[2] = tolog(rr - ll) res[3] = tolog(bb - tt) inp['pix_bbox_regr'] = res else: raise NotImplementedError() return inp if __name__ == '__main__': import argparse parser = argparse.ArgumentParser("Script to try out and visualize transformations") parser.add_argument('--img', type=str, default='$HERE/test.png', help='input image') parser.add_argument('--trfs', type=str, required=True, help='sequence of transformations') parser.add_argument('--bbox', action='store_true', help='add a bounding box') parser.add_argument('--polygons', action='store_true', help='add a polygon') parser.add_argument('--input_size', type=int, default=224, help='optional param') parser.add_argument('--layout', type=int, nargs=2, default=(3,3), help='Number of rows and columns') args = parser.parse_args() import os args.img = args.img.replace('$HERE',os.path.dirname(__file__)) img = Image.open(args.img) if args.bbox or args.polygons: img = dict(img=img) if args.bbox: w, h = img['img'].size img['bbox'] = (w/4,h/4,3*w/4,3*h/4) if args.polygons: w, h = img['img'].size img['polygons'] = [(1,[(w/4,h/4),(w/2,h/4),(w/4,h/2)])] trfs = create(args.trfs, input_size=args.input_size) from matplotlib import pyplot as pl pl.ion() pl.subplots_adjust(0,0,1,1) nr,nc = args.layout while True: for j in range(nr): for i in range(nc): pl.subplot(nr,nc,i+j*nc+1) if i==j==0: img2 = img else: img2 = trfs(img.copy()) if isinstance(img2, dict): if 'bbox' in img2: l,t,r,b = img2['bbox'] x,y = [l,r,r,l,l], [t,t,b,b,t] pl.plot(x,y,'--',lw=5) if 'polygons' in img2: for label, pts in img2['polygons']: x,y = zip(*pts) pl.plot(x,y,'-',lw=5) img2 = img2['img'] pl.imshow(img2) pl.xlabel("%d x %d" % img2.size) pl.xticks(()) pl.yticks(()) pdb.set_trace() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/deep-image-retrieval/dirtorch/utils/transforms_tools.py ================================================ import pdb import numpy as np from PIL import Image, ImageOps, ImageEnhance def is_pil_image(img): return isinstance(img, Image.Image) class DummyImg: ''' This class is a dummy image only defined by its size. ''' def __init__(self, size): self.size = size def resize(self, size, *args, **kwargs): return DummyImg(size) def expand(self, border): w, h = self.size if isinstance(border, int): size = (w+2*border, h+2*border) else: l,t,r,b = border size = (w+l+r, h+t+b) return DummyImg(size) def crop(self, border): w, h = self.size l,t,r,b = border assert 0 <= l <= r <= h assert 0 <= t <= b <= h size = (r-l, b-t) return DummyImg(size) def rotate(self, angle): raise NotImplementedError def transform(self, size, *args, **kwargs): return DummyImg(size) def grab_img( img_and_label ): ''' Called to extract the image from an img_and_label input (a dictionary). Also compatible with old-style PIL images. ''' if isinstance(img_and_label, dict): # if input is a dictionary, then # it must contains the img or its size. try: return img_and_label['img'] except KeyError: return DummyImg(img_and_label['imsize']) else: # or it must be the img directly return img_and_label def update_img_and_labels(img_and_label, img, aff=None, persp=None): ''' Called to update the img_and_label ''' if isinstance(img_and_label, dict): img_and_label['img'] = img if 'bbox' in img_and_label: l,t,r,b = img_and_label['bbox'] corners = [(l,t),(l,b),(r,b),(r,t)] if aff: pts = [aff_mul(aff, pt) for pt in corners] elif persp: pts = [persp_mul(persp, pt) for pt in corners] else: raise NotImplementedError() x,y = map(list,zip(*pts)) x.sort() y.sort() l, r = np.mean(x[:2]), np.mean(x[2:]) t, b = np.mean(y[:2]), np.mean(y[2:]) img_and_label['bbox'] = int_tuple(l,t,r,b) if 'polygons' in img_and_label: polygons = [] for label,pts in img_and_label['polygons']: if aff: pts = [int_tuple(*aff_mul(aff, pt)) for pt in pts] elif persp: pts = [int_tuple(*persp_mul(persp, pt)) for pt in pts] else: raise NotImplementedError() polygons.append((label, pts)) img_and_label['polygons'] = polygons return img_and_label else: # or it must be the img directly return img def rand_log_uniform(a, b): return np.exp(np.random.uniform(np.log(a),np.log(b))) def int_tuple(*args): return tuple(map(int,args)) def aff_translate(tx, ty): return (1,0,tx, 0,1,ty) def aff_rotate(angle): return (np.cos(angle),-np.sin(angle), 0, np.sin(angle), np.cos(angle), 0) def aff_mul(aff, aff2): ''' affine multiplication. aff: 6-tuple (affine transform) aff2: 6-tuple (affine transform) or 2-tuple (point) ''' assert isinstance(aff, tuple) assert isinstance(aff2, tuple) aff = np.array(aff+(0,0,1)).reshape(3,3) if len(aff2) == 6: aff2 = np.array(aff2+(0,0,1)).reshape(3,3) return tuple(np.dot(aff2, aff)[:2].ravel()) elif len(aff2) == 2: return tuple(np.dot(aff2+(1,), aff.T).ravel()[:2]) else: raise ValueError("bad input %s" % str(aff2)) def persp_mul(mat, mat2): ''' homography (perspective) multiplication. mat: 8-tuple (homography transform) mat2: 8-tuple (homography transform) or 2-tuple (point) ''' assert isinstance(mat, tuple) assert isinstance(mat2, tuple) mat = np.array(mat+(1,)).reshape(3,3) if len(mat2) == 8: mat2 = np.array(mat2+(1,)).reshape(3,3) return tuple(np.dot(mat2, mat).ravel()[:8]) elif len(mat2) == 2: pt = np.dot(mat2+(1,), mat.T).ravel() pt /= pt[2] # homogeneous coordinates return tuple(pt[:2]) else: raise ValueError("bad input %s" % str(aff2)) def adjust_brightness(img, brightness_factor): """Adjust brightness of an Image. Args: img (PIL Image): PIL Image to be adjusted. brightness_factor (float): How much to adjust the brightness. Can be any non negative number. 0 gives a black image, 1 gives the original image while 2 increases the brightness by a factor of 2. Returns: PIL Image: Brightness adjusted image. """ if not is_pil_image(img): raise TypeError('img should be PIL Image. Got {}'.format(type(img))) enhancer = ImageEnhance.Brightness(img) img = enhancer.enhance(brightness_factor) return img def adjust_contrast(img, contrast_factor): """Adjust contrast of an Image. Args: img (PIL Image): PIL Image to be adjusted. contrast_factor (float): How much to adjust the contrast. Can be any non negative number. 0 gives a solid gray image, 1 gives the original image while 2 increases the contrast by a factor of 2. Returns: PIL Image: Contrast adjusted image. """ if not is_pil_image(img): raise TypeError('img should be PIL Image. Got {}'.format(type(img))) enhancer = ImageEnhance.Contrast(img) img = enhancer.enhance(contrast_factor) return img def adjust_saturation(img, saturation_factor): """Adjust color saturation of an image. Args: img (PIL Image): PIL Image to be adjusted. saturation_factor (float): How much to adjust the saturation. 0 will give a black and white image, 1 will give the original image while 2 will enhance the saturation by a factor of 2. Returns: PIL Image: Saturation adjusted image. """ if not is_pil_image(img): raise TypeError('img should be PIL Image. Got {}'.format(type(img))) enhancer = ImageEnhance.Color(img) img = enhancer.enhance(saturation_factor) return img def adjust_hue(img, hue_factor): """Adjust hue of an image. The image hue is adjusted by converting the image to HSV and cyclically shifting the intensities in the hue channel (H). The image is then converted back to original image mode. `hue_factor` is the amount of shift in H channel and must be in the interval `[-0.5, 0.5]`. See https://en.wikipedia.org/wiki/Hue for more details on Hue. Args: img (PIL Image): PIL Image to be adjusted. hue_factor (float): How much to shift the hue channel. Should be in [-0.5, 0.5]. 0.5 and -0.5 give complete reversal of hue channel in HSV space in positive and negative direction respectively. 0 means no shift. Therefore, both -0.5 and 0.5 will give an image with complementary colors while 0 gives the original image. Returns: PIL Image: Hue adjusted image. """ if not(-0.5 <= hue_factor <= 0.5): raise ValueError('hue_factor is not in [-0.5, 0.5].'.format(hue_factor)) if not is_pil_image(img): raise TypeError('img should be PIL Image. Got {}'.format(type(img))) input_mode = img.mode if input_mode in {'L', '1', 'I', 'F'}: return img h, s, v = img.convert('HSV').split() np_h = np.array(h, dtype=np.uint8) # uint8 addition take cares of rotation across boundaries with np.errstate(over='ignore'): np_h += np.uint8(hue_factor * 255) h = Image.fromarray(np_h, 'L') img = Image.merge('HSV', (h, s, v)).convert(input_mode) return img ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/.gitignore ================================================ __pycache__ *swp *.pth *.json *.png *.jpg *.ipynb *.h5 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/.gitmodules ================================================ [submodule "submodules/unets"] path = submodules/unets url = https://github.com/jatentaki/unets.git branch = no_norm_at_start [submodule "submodules/torch-localize"] path = submodules/torch-localize url = https://github.com/jatentaki/torch-localize.git branch = flatten [submodule "submodules/torch-dimcheck"] path = submodules/torch-dimcheck url = https://github.com/jatentaki/torch-dimcheck.git ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/LICENSE.txt ================================================ Code release for "DISK: learning local features with policy gradient" (NeurIPS 2020) Copyright (C) 2020 Michał Tyszkiewicz, Pascal Fua, Eduard Trulls This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. The full text of the license is available below and at . GNU GENERAL PUBLIC LICENSE Version 3, 29 June 2007 Copyright © 2007 Free Software Foundation, Inc. Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. Preamble The GNU General Public License is a free, copyleft license for software and other kinds of works. The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. 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Official code release for [DISK: learning local features with policy gradient](https://arxiv.org/abs/2006.13566). If you use this code in your work, please cite us as ```latex @article{tyszkiewicz2020disk, title={DISK: Learning local features with policy gradient}, author={Tyszkiewicz, Micha{\l} and Fua, Pascal and Trulls, Eduard}, journal={Advances in Neural Information Processing Systems}, volume={33}, year={2020} } ``` ## Table of contents 1. [Installation](#installation) 2. [Inference](#inference) 3. [Training](#training) 4. [Extending](#extending) ## Installation 1. Clone this repo **recursively** 2. `cd` into this repo: the next step uses relative paths 3. Execute `pip install --user -r requirements.txt` ## Inference ### Feature extraction To extract features, execute ``` python detect.py h5_artifacts_destination images_directory ``` This should create `h5_artifacts_destination/keypoints.h5` and `h5_artifacts_destination/descriptors.h5` compatible with the IMW benchmark. The model by default uses a 4-layer U-Net architecture which means that the image dimensions have to be a multiple of 16: for this reason you will probably want to specify the `--height` and `--width` flags to scale the input images accordingly. The images will be scaled *preserving* their aspect ratio (by 0-padding the missing values) and the keypoint locations will be rescaled and filtered with respect to the original image dimensions. You can use `--help` to learn about other options, in particular it is possible to specify the weights file with `--model-path`. We provide `save-depth.pth`, the checkpoint trained with depth-based reward and reported in the paper (default), as well as `save-epipolar.pth`, the savepoint trained with epipolar reward and shown in supplementary material. ### Keypoint matching Execute ``` python match.py h5_artifacts_destination ``` (or use `--help` to learn about other options). This should create `h5_artifacts_destination/matches.h5` **incompatible** with the IMW benchmark: instead of saving matches as `{image_name_1}-{image_name_2}`, it saves them as `{image_name_1}/{image_name_2}`, which creates [HDF groups](https://docs.h5py.org/en/stable/high/group.html#creating-groups) and therefore allows this approach to scale to large image collections (saving HDFs with > 300k top-level groups becomes painfully slow due to hashing overhead). ### Viewing results The `view_h5.py` script can be used to view artifacts generated by `detect.py` and `match.py`. ### Exporting to [COLMAP](colmap.github.io/) After features are detected and matched, the results can be converted into a COLMAP-compatible database format with `colmap/h5_to_db.py h5_artifacts_location raw_images_location`. Note that the features are inserted **WITHOUT** their descriptors, so our `match.py` has to be used to perform the matching beforehand. At the same time, `match.py` doesn't run pose estimation, so the exhaustive feature matching stage of the COLMAP pipeline **still has to be ran**. An example pipeline use below: ```bash # assume we have the images in scene/images python detect.py --height 1024 --width 1024 --n 2048 scene/h5 scene/images python match.py --rt 0.95 --save-threshold 100 scene/h5 python colmap/h5_to_db.py --database-path scene/database.db scene/h5 scene/images # don't use GPU since we aren't computing the descriptor distance matrices anyway, # only RANSAC colmap exhaustive_matcher --database_path scene/database.db --SiftMatching.use_gpu 0 mkdir scene/sparse colmap mapper --database_path scene/database.db --image_path scene/images --output_path scene/sparse ``` Please try `h5_to_db.py --help` for extra additional options. ## Training ### The training script Assuming data is available, `python train.py DATASETS_LOCATION` starts training. The `--reward` switch allows for choosing the reward scheme (`depth` or `epipolar`). For more information, execute `python train.py --help`. ### Reproducing our results The data we used for training and validation can be downloaded by executing the `download_dataset` script (~164 gb). It will download the data into `datasets.epfl.ch/disk-data/` and this is the path that should be given to `train.py`. The default settings of the script will learn with the inverse softmax matching temperature `inverse_T` (called `θ_M` in the paper) annealed from 15 to 50 over the course of first 20 epochs. We then pick the best checkpoint according to validation AUC, as reported by `python compute_validation_auc.py TENSORBOARD_LOG_FILE`. Following this schedule allowed us to obtain 0.50432 stereo AUC and 0.72624 multiview AUC on IMW2020 test set with 2k features, slightly less than reported in the paper (0.51315 and 0.72705, respectively). The paper results (available as `depth-save.pth`, the default checkpoint in `detect.py`) were obtained through an ad-hoc schedule of annealing θ_M between 15 and 25 over 10 epochs and then training for further 40 epochs. We picked the best checkpoint obtained this way (39th) and fine-tuned it with a schedule of `θ_M=25+epoch_number`, for another 50 epochs, obtaining the best model at 20th epoch (`θ_M=45`). We default to the currently presented mode of training for simplicity, while disclosing the original process. #### Low GPU memory training We performed our experiments with 32GB version of Nvidia V100 GPUs. However, running `python train.py --substep 2 --batch-size 1 --chunk-size 10000 --warmup 500` should be functionally equivalent with that setup and fit within 11/12gb GPUs (note that training in this mode may take on the order of 2 weeks!). ### Custom data preparation Alternatively, one can use a custom dataset laid out in the proper format, as explained more in depth [here](https://github.com/jatentaki/disk/blob/release/disk/data/disk_dataset.py). We provide a script to automate that process in the case of photo collections posed with COLMAP. #### Creating new datasets by importing from COLMAP A new dataset (for instance with custom scenes) can be created by importing from COLMAP outputs. One should run COLMAP on the images, including steps of image rectification and patch match depth estimation. This should leave the user with a directory structured as ```bash $ tree colmap_output colmap_output/ ├── images │   ├── 2020_07_25__12_09_03.jpg │   ├── 2020_07_25__12_09_05.jpg │   ├── ... ├── run-colmap-geometric.sh ├── run-colmap-photometric.sh ├── sparse │   ├── cameras.bin │   ├── images.bin │   └── points3D.bin └── stereo ├── consistency_graphs ├── depth_maps │   ├── 2020_07_25__12_09_03.jpg.geometric.bin │   ├── 2020_07_25__12_09_03.jpg.photometric.bin │   ├── 2020_07_25__12_09_05.jpg.geometric.bin │   ├── 2020_07_25__12_09_05.jpg.photometric.bin │   ├── ... ├── fusion.cfg ├── normal_maps │   ├── ... └── patch-match.cfg ``` one can then execute `python colmap/colmap2dataset.py colmap_output --name my_scene` to create an extra "dataset" directory: ```bash tree colmap_output/dataset/ ├── calibration │   ├── calibration_2020_07_25__12_09_03.jpg.h5 │   ├── calibration_2020_07_25__12_09_05.jpg.h5 │   ├── .. ├── dataset.json └── depth ├── 2020_07_25__12_09_03.h5 ├── 2020_07_25__12_09_05.h5 ├── .. ``` The `dataset.json` is a file for instantiating DISK dataloaders and it contains a collection of *absolute* paths to contents of `colmap_output/dataset` and `colmap_output/images`, so those should **not be moved** afterwards. `colmap_output/stereo` and `colmap_output/sparse` can be safely deleted to conserve disk space. In case one wants to merge multiple scenes into a single dataset, she can execute `python colmap/merge_datasets.py my_scene_1/dataset/dataset.json my_scene_2/dataset/dataset.json ...` in order to obtain a single file called `merged.json` which contains all the scenes (and still references the files in their original locations for each of the scenes!). Scenes with repeating names (as given by the `--name` flag of `colmap2dataset`) will be renamed to unique (but non-informative) names. ## Extending We tried to keep the code easy to understand and reasonably documented. Please open an issue if problems are encountered. ### `@dimchecked` We extensively use [`torch_dimcheck`](https://github.com/jatentaki/torch-dimcheck) (the `@dimchecked` function decorator) for clarifying function signatures: please refer to the repository for extra information. ### `NpArray` We often deal with collections of tensors which are semantically batched but of different shapes (such as lists of features in different images of the same scene). Since PyTorch doesn't have the concept of jagged tensors, we wrap them with `numpy` arrays with `dtype=object`, rather than standard lists. This allows us to retain the reshaping, stackin and indexing functionality of those math libraries. In signatures, those are often annotated with the `NpArray` type annotation. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/colmap/colmap/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/colmap/colmap/database.py ================================================ # Copyright (c) 2018, ETH Zurich and UNC Chapel Hill. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # # * Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. # # * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of # its contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) # This script is based on an original implementation by True Price. import sys import sqlite3 import numpy as np IS_PYTHON3 = sys.version_info[0] >= 3 MAX_IMAGE_ID = 2**31 - 1 CREATE_CAMERAS_TABLE = """CREATE TABLE IF NOT EXISTS cameras ( camera_id INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL, model INTEGER NOT NULL, width INTEGER NOT NULL, height INTEGER NOT NULL, params BLOB, prior_focal_length INTEGER NOT NULL)""" CREATE_DESCRIPTORS_TABLE = """CREATE TABLE IF NOT EXISTS descriptors ( image_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, FOREIGN KEY(image_id) REFERENCES images(image_id) ON DELETE CASCADE)""" CREATE_IMAGES_TABLE = """CREATE TABLE IF NOT EXISTS images ( image_id INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL, name TEXT NOT NULL UNIQUE, camera_id INTEGER NOT NULL, prior_qw REAL, prior_qx REAL, prior_qy REAL, prior_qz REAL, prior_tx REAL, prior_ty REAL, prior_tz REAL, CONSTRAINT image_id_check CHECK(image_id >= 0 and image_id < {}), FOREIGN KEY(camera_id) REFERENCES cameras(camera_id)) """.format(MAX_IMAGE_ID) CREATE_TWO_VIEW_GEOMETRIES_TABLE = """ CREATE TABLE IF NOT EXISTS two_view_geometries ( pair_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, config INTEGER NOT NULL, F BLOB, E BLOB, H BLOB) """ CREATE_KEYPOINTS_TABLE = """CREATE TABLE IF NOT EXISTS keypoints ( image_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, FOREIGN KEY(image_id) REFERENCES images(image_id) ON DELETE CASCADE) """ CREATE_MATCHES_TABLE = """CREATE TABLE IF NOT EXISTS matches ( pair_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB)""" CREATE_NAME_INDEX = \ "CREATE UNIQUE INDEX IF NOT EXISTS index_name ON images(name)" CREATE_ALL = "; ".join([ CREATE_CAMERAS_TABLE, CREATE_IMAGES_TABLE, CREATE_KEYPOINTS_TABLE, CREATE_DESCRIPTORS_TABLE, CREATE_MATCHES_TABLE, CREATE_TWO_VIEW_GEOMETRIES_TABLE, CREATE_NAME_INDEX ]) def image_ids_to_pair_id(image_id1, image_id2): if image_id1 > image_id2: image_id1, image_id2 = image_id2, image_id1 return image_id1 * MAX_IMAGE_ID + image_id2 def pair_id_to_image_ids(pair_id): image_id2 = pair_id % MAX_IMAGE_ID image_id1 = (pair_id - image_id2) / MAX_IMAGE_ID return image_id1, image_id2 def array_to_blob(array): if IS_PYTHON3: return array.tostring() else: return np.getbuffer(array) def blob_to_array(blob, dtype, shape=(-1,)): if IS_PYTHON3: return np.fromstring(blob, dtype=dtype).reshape(*shape) else: return np.frombuffer(blob, dtype=dtype).reshape(*shape) class COLMAPDatabase(sqlite3.Connection): @staticmethod def connect(database_path): return sqlite3.connect(database_path, factory=COLMAPDatabase) def __init__(self, *args, **kwargs): super(COLMAPDatabase, self).__init__(*args, **kwargs) self.create_tables = lambda: self.executescript(CREATE_ALL) self.create_cameras_table = \ lambda: self.executescript(CREATE_CAMERAS_TABLE) self.create_descriptors_table = \ lambda: self.executescript(CREATE_DESCRIPTORS_TABLE) self.create_images_table = \ lambda: self.executescript(CREATE_IMAGES_TABLE) self.create_two_view_geometries_table = \ lambda: self.executescript(CREATE_TWO_VIEW_GEOMETRIES_TABLE) self.create_keypoints_table = \ lambda: self.executescript(CREATE_KEYPOINTS_TABLE) self.create_matches_table = \ lambda: self.executescript(CREATE_MATCHES_TABLE) self.create_name_index = lambda: self.executescript(CREATE_NAME_INDEX) def add_camera(self, model, width, height, params, prior_focal_length=False, camera_id=None): params = np.asarray(params, np.float64) cursor = self.execute( "INSERT INTO cameras VALUES (?, ?, ?, ?, ?, ?)", (camera_id, model, width, height, array_to_blob(params), prior_focal_length)) return cursor.lastrowid def add_image(self, name, camera_id, prior_q=np.zeros(4), prior_t=np.zeros(3), image_id=None): cursor = self.execute( "INSERT INTO images VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)", (image_id, name, camera_id, prior_q[0], prior_q[1], prior_q[2], prior_q[3], prior_t[0], prior_t[1], prior_t[2])) return cursor.lastrowid def add_keypoints(self, image_id, keypoints): assert(len(keypoints.shape) == 2) assert(keypoints.shape[1] in [2, 4, 6]) keypoints = np.asarray(keypoints, np.float32) self.execute( "INSERT INTO keypoints VALUES (?, ?, ?, ?)", (image_id,) + keypoints.shape + (array_to_blob(keypoints),)) def add_descriptors(self, image_id, descriptors): descriptors = np.ascontiguousarray(descriptors, np.uint8) self.execute( "INSERT INTO descriptors VALUES (?, ?, ?, ?)", (image_id,) + descriptors.shape + (array_to_blob(descriptors),)) def add_matches(self, image_id1, image_id2, matches): assert(len(matches.shape) == 2) assert(matches.shape[1] == 2) if image_id1 > image_id2: matches = matches[:,::-1] pair_id = image_ids_to_pair_id(image_id1, image_id2) matches = np.asarray(matches, np.uint32) self.execute( "INSERT INTO matches VALUES (?, ?, ?, ?)", (pair_id,) + matches.shape + (array_to_blob(matches),)) def add_two_view_geometry(self, image_id1, image_id2, matches, F=np.eye(3), E=np.eye(3), H=np.eye(3), config=2): assert(len(matches.shape) == 2) assert(matches.shape[1] == 2) if image_id1 > image_id2: matches = matches[:,::-1] pair_id = image_ids_to_pair_id(image_id1, image_id2) matches = np.asarray(matches, np.uint32) F = np.asarray(F, dtype=np.float64) E = np.asarray(E, dtype=np.float64) H = np.asarray(H, dtype=np.float64) self.execute( "INSERT INTO two_view_geometries VALUES (?, ?, ?, ?, ?, ?, ?, ?)", (pair_id,) + matches.shape + (array_to_blob(matches), config, array_to_blob(F), array_to_blob(E), array_to_blob(H))) def example_usage(): import os import argparse parser = argparse.ArgumentParser() parser.add_argument("--database_path", default="database.db") args = parser.parse_args() if os.path.exists(args.database_path): print("ERROR: database path already exists -- will not modify it.") return # Open the database. db = COLMAPDatabase.connect(args.database_path) # For convenience, try creating all the tables upfront. db.create_tables() # Create dummy cameras. model1, width1, height1, params1 = \ 0, 1024, 768, np.array((1024., 512., 384.)) model2, width2, height2, params2 = \ 2, 1024, 768, np.array((1024., 512., 384., 0.1)) camera_id1 = db.add_camera(model1, width1, height1, params1) camera_id2 = db.add_camera(model2, width2, height2, params2) # Create dummy images. image_id1 = db.add_image("image1.png", camera_id1) image_id2 = db.add_image("image2.png", camera_id1) image_id3 = db.add_image("image3.png", camera_id2) image_id4 = db.add_image("image4.png", camera_id2) # Create dummy keypoints. # # Note that COLMAP supports: # - 2D keypoints: (x, y) # - 4D keypoints: (x, y, theta, scale) # - 6D affine keypoints: (x, y, a_11, a_12, a_21, a_22) num_keypoints = 1000 keypoints1 = np.random.rand(num_keypoints, 2) * (width1, height1) keypoints2 = np.random.rand(num_keypoints, 2) * (width1, height1) keypoints3 = np.random.rand(num_keypoints, 2) * (width2, height2) keypoints4 = np.random.rand(num_keypoints, 2) * (width2, height2) db.add_keypoints(image_id1, keypoints1) db.add_keypoints(image_id2, keypoints2) db.add_keypoints(image_id3, keypoints3) db.add_keypoints(image_id4, keypoints4) # Create dummy matches. M = 50 matches12 = np.random.randint(num_keypoints, size=(M, 2)) matches23 = np.random.randint(num_keypoints, size=(M, 2)) matches34 = np.random.randint(num_keypoints, size=(M, 2)) db.add_matches(image_id1, image_id2, matches12) db.add_matches(image_id2, image_id3, matches23) db.add_matches(image_id3, image_id4, matches34) # Commit the data to the file. db.commit() # Read and check cameras. rows = db.execute("SELECT * FROM cameras") camera_id, model, width, height, params, prior = next(rows) params = blob_to_array(params, np.float64) assert camera_id == camera_id1 assert model == model1 and width == width1 and height == height1 assert np.allclose(params, params1) camera_id, model, width, height, params, prior = next(rows) params = blob_to_array(params, np.float64) assert camera_id == camera_id2 assert model == model2 and width == width2 and height == height2 assert np.allclose(params, params2) # Read and check keypoints. keypoints = dict( (image_id, blob_to_array(data, np.float32, (-1, 2))) for image_id, data in db.execute( "SELECT image_id, data FROM keypoints")) assert np.allclose(keypoints[image_id1], keypoints1) assert np.allclose(keypoints[image_id2], keypoints2) assert np.allclose(keypoints[image_id3], keypoints3) assert np.allclose(keypoints[image_id4], keypoints4) # Read and check matches. pair_ids = [image_ids_to_pair_id(*pair) for pair in ((image_id1, image_id2), (image_id2, image_id3), (image_id3, image_id4))] matches = dict( (pair_id_to_image_ids(pair_id), blob_to_array(data, np.uint32, (-1, 2))) for pair_id, data in db.execute("SELECT pair_id, data FROM matches") ) assert np.all(matches[(image_id1, image_id2)] == matches12) assert np.all(matches[(image_id2, image_id3)] == matches23) assert np.all(matches[(image_id3, image_id4)] == matches34) # Clean up. db.close() if os.path.exists(args.database_path): os.remove(args.database_path) if __name__ == "__main__": example_usage() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/colmap/colmap/license.txt ================================================ Files in this folder are obtained from COLMAP and carry their own license. Please refer to the files themselves for the license terms. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/colmap/colmap/read_dense.py ================================================ #!/usr/bin/env python # Copyright (c) 2018, ETH Zurich and UNC Chapel Hill. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # # * Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. # # * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of # its contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) import argparse import numpy as np import os def read_array(path): with open(path, "rb") as fid: width, height, channels = np.genfromtxt(fid, delimiter="&", max_rows=1, usecols=(0, 1, 2), dtype=int) fid.seek(0) num_delimiter = 0 byte = fid.read(1) while True: if byte == b"&": num_delimiter += 1 if num_delimiter >= 3: break byte = fid.read(1) array = np.fromfile(fid, np.float32) array = array.reshape((width, height, channels), order="F") return np.transpose(array, (1, 0, 2)).squeeze() def parse_args(): parser = argparse.ArgumentParser() parser.add_argument("-d", "--depth_map", help="path to depth map", type=str, required=True) parser.add_argument("-n", "--normal_map", help="path to normal map", type=str, required=True) parser.add_argument("--min_depth_percentile", help="minimum visualization depth percentile", type=float, default=5) parser.add_argument("--max_depth_percentile", help="maximum visualization depth percentile", type=float, default=95) args = parser.parse_args() return args def main(): args = parse_args() if args.min_depth_percentile > args.max_depth_percentile: raise ValueError("min_depth_percentile should be less than or equal " "to the max_depth_perceintile.") # Read depth and normal maps corresponding to the same image. if not os.path.exists(args.depth_map): raise FileNotFoundError("File not found: {}".format(args.depth_map)) if not os.path.exists(args.normal_map): raise FileNotFoundError("File not found: {}".format(args.normal_map)) depth_map = read_array(args.depth_map) normal_map = read_array(args.normal_map) min_depth, max_depth = np.percentile( depth_map, [args.min_depth_percentile, args.max_depth_percentile]) depth_map[depth_map < min_depth] = min_depth depth_map[depth_map > max_depth] = max_depth import pylab as plt # Visualize the depth map. plt.figure() plt.imshow(depth_map) plt.title('depth map') # Visualize the normal map. plt.figure() plt.imshow(normal_map) plt.title('normal map') plt.show() if __name__ == "__main__": main() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/colmap/colmap/read_model.py ================================================ # Copyright (c) 2018, ETH Zurich and UNC Chapel Hill. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # # * Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. # # * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of # its contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) import os import sys import collections import numpy as np import struct CameraModel = collections.namedtuple( "CameraModel", ["model_id", "model_name", "num_params"]) Camera = collections.namedtuple( "Camera", ["id", "model", "width", "height", "params"]) BaseImage = collections.namedtuple( "Image", ["id", "qvec", "tvec", "camera_id", "name", "xys", "point3D_ids"]) Point3D = collections.namedtuple( "Point3D", ["id", "xyz", "rgb", "error", "image_ids", "point2D_idxs"]) class Image(BaseImage): def qvec2rotmat(self): return qvec2rotmat(self.qvec) CAMERA_MODELS = { CameraModel(model_id=0, model_name="SIMPLE_PINHOLE", num_params=3), CameraModel(model_id=1, model_name="PINHOLE", num_params=4), CameraModel(model_id=2, model_name="SIMPLE_RADIAL", num_params=4), CameraModel(model_id=3, model_name="RADIAL", num_params=5), CameraModel(model_id=4, model_name="OPENCV", num_params=8), CameraModel(model_id=5, model_name="OPENCV_FISHEYE", num_params=8), CameraModel(model_id=6, model_name="FULL_OPENCV", num_params=12), CameraModel(model_id=7, model_name="FOV", num_params=5), CameraModel(model_id=8, model_name="SIMPLE_RADIAL_FISHEYE", num_params=4), CameraModel(model_id=9, model_name="RADIAL_FISHEYE", num_params=5), CameraModel(model_id=10, model_name="THIN_PRISM_FISHEYE", num_params=12) } CAMERA_MODEL_IDS = dict([(camera_model.model_id, camera_model) \ for camera_model in CAMERA_MODELS]) def read_next_bytes(fid, num_bytes, format_char_sequence, endian_character="<"): """Read and unpack the next bytes from a binary file. :param fid: :param num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc. :param format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}. :param endian_character: Any of {@, =, <, >, !} :return: Tuple of read and unpacked values. """ data = fid.read(num_bytes) return struct.unpack(endian_character + format_char_sequence, data) def read_cameras_text(path): """ see: src/base/reconstruction.cc void Reconstruction::WriteCamerasText(const std::string& path) void Reconstruction::ReadCamerasText(const std::string& path) """ cameras = {} with open(path, "r") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() camera_id = int(elems[0]) model = elems[1] width = int(elems[2]) height = int(elems[3]) params = np.array(tuple(map(float, elems[4:]))) cameras[camera_id] = Camera(id=camera_id, model=model, width=width, height=height, params=params) return cameras def read_cameras_binary(path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::WriteCamerasBinary(const std::string& path) void Reconstruction::ReadCamerasBinary(const std::string& path) """ cameras = {} with open(path_to_model_file, "rb") as fid: num_cameras = read_next_bytes(fid, 8, "Q")[0] for camera_line_index in range(num_cameras): camera_properties = read_next_bytes( fid, num_bytes=24, format_char_sequence="iiQQ") camera_id = camera_properties[0] model_id = camera_properties[1] model_name = CAMERA_MODEL_IDS[camera_properties[1]].model_name width = camera_properties[2] height = camera_properties[3] num_params = CAMERA_MODEL_IDS[model_id].num_params params = read_next_bytes(fid, num_bytes=8*num_params, format_char_sequence="d"*num_params) cameras[camera_id] = Camera(id=camera_id, model=model_name, width=width, height=height, params=np.array(params)) assert len(cameras) == num_cameras return cameras def read_images_text(path): """ see: src/base/reconstruction.cc void Reconstruction::ReadImagesText(const std::string& path) void Reconstruction::WriteImagesText(const std::string& path) """ images = {} with open(path, "r") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() image_id = int(elems[0]) qvec = np.array(tuple(map(float, elems[1:5]))) tvec = np.array(tuple(map(float, elems[5:8]))) camera_id = int(elems[8]) image_name = elems[9] elems = fid.readline().split() xys = np.column_stack([tuple(map(float, elems[0::3])), tuple(map(float, elems[1::3]))]) point3D_ids = np.array(tuple(map(int, elems[2::3]))) images[image_id] = Image( id=image_id, qvec=qvec, tvec=tvec, camera_id=camera_id, name=image_name, xys=xys, point3D_ids=point3D_ids) return images def read_images_binary(path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::ReadImagesBinary(const std::string& path) void Reconstruction::WriteImagesBinary(const std::string& path) """ images = {} with open(path_to_model_file, "rb") as fid: num_reg_images = read_next_bytes(fid, 8, "Q")[0] for image_index in range(num_reg_images): binary_image_properties = read_next_bytes( fid, num_bytes=64, format_char_sequence="idddddddi") image_id = binary_image_properties[0] qvec = np.array(binary_image_properties[1:5]) tvec = np.array(binary_image_properties[5:8]) camera_id = binary_image_properties[8] image_name = "" current_char = read_next_bytes(fid, 1, "c")[0] while current_char != b"\x00": # look for the ASCII 0 entry image_name += current_char.decode("utf-8") current_char = read_next_bytes(fid, 1, "c")[0] num_points2D = read_next_bytes(fid, num_bytes=8, format_char_sequence="Q")[0] x_y_id_s = read_next_bytes(fid, num_bytes=24*num_points2D, format_char_sequence="ddq"*num_points2D) xys = np.column_stack([tuple(map(float, x_y_id_s[0::3])), tuple(map(float, x_y_id_s[1::3]))]) point3D_ids = np.array(tuple(map(int, x_y_id_s[2::3]))) images[image_id] = Image( id=image_id, qvec=qvec, tvec=tvec, camera_id=camera_id, name=image_name, xys=xys, point3D_ids=point3D_ids) return images def read_points3D_text(path): """ see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DText(const std::string& path) void Reconstruction::WritePoints3DText(const std::string& path) """ points3D = {} with open(path, "r") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() point3D_id = int(elems[0]) xyz = np.array(tuple(map(float, elems[1:4]))) rgb = np.array(tuple(map(int, elems[4:7]))) error = float(elems[7]) image_ids = np.array(tuple(map(int, elems[8::2]))) point2D_idxs = np.array(tuple(map(int, elems[9::2]))) points3D[point3D_id] = Point3D(id=point3D_id, xyz=xyz, rgb=rgb, error=error, image_ids=image_ids, point2D_idxs=point2D_idxs) return points3D def read_points3d_binary(path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DBinary(const std::string& path) void Reconstruction::WritePoints3DBinary(const std::string& path) """ points3D = {} with open(path_to_model_file, "rb") as fid: num_points = read_next_bytes(fid, 8, "Q")[0] for point_line_index in range(num_points): binary_point_line_properties = read_next_bytes( fid, num_bytes=43, format_char_sequence="QdddBBBd") point3D_id = binary_point_line_properties[0] xyz = np.array(binary_point_line_properties[1:4]) rgb = np.array(binary_point_line_properties[4:7]) error = np.array(binary_point_line_properties[7]) track_length = read_next_bytes( fid, num_bytes=8, format_char_sequence="Q")[0] track_elems = read_next_bytes( fid, num_bytes=8*track_length, format_char_sequence="ii"*track_length) image_ids = np.array(tuple(map(int, track_elems[0::2]))) point2D_idxs = np.array(tuple(map(int, track_elems[1::2]))) points3D[point3D_id] = Point3D( id=point3D_id, xyz=xyz, rgb=rgb, error=error, image_ids=image_ids, point2D_idxs=point2D_idxs) return points3D def read_model(path, ext): if ext == ".txt": cameras = read_cameras_text(os.path.join(path, "cameras" + ext)) images = read_images_text(os.path.join(path, "images" + ext)) points3D = read_points3D_text(os.path.join(path, "points3D") + ext) else: cameras = read_cameras_binary(os.path.join(path, "cameras" + ext)) images = read_images_binary(os.path.join(path, "images" + ext)) points3D = read_points3d_binary(os.path.join(path, "points3D") + ext) return cameras, images, points3D def qvec2rotmat(qvec): return np.array([ [1 - 2 * qvec[2]**2 - 2 * qvec[3]**2, 2 * qvec[1] * qvec[2] - 2 * qvec[0] * qvec[3], 2 * qvec[3] * qvec[1] + 2 * qvec[0] * qvec[2]], [2 * qvec[1] * qvec[2] + 2 * qvec[0] * qvec[3], 1 - 2 * qvec[1]**2 - 2 * qvec[3]**2, 2 * qvec[2] * qvec[3] - 2 * qvec[0] * qvec[1]], [2 * qvec[3] * qvec[1] - 2 * qvec[0] * qvec[2], 2 * qvec[2] * qvec[3] + 2 * qvec[0] * qvec[1], 1 - 2 * qvec[1]**2 - 2 * qvec[2]**2]]) def rotmat2qvec(R): Rxx, Ryx, Rzx, Rxy, Ryy, Rzy, Rxz, Ryz, Rzz = R.flat K = np.array([ [Rxx - Ryy - Rzz, 0, 0, 0], [Ryx + Rxy, Ryy - Rxx - Rzz, 0, 0], [Rzx + Rxz, Rzy + Ryz, Rzz - Rxx - Ryy, 0], [Ryz - Rzy, Rzx - Rxz, Rxy - Ryx, Rxx + Ryy + Rzz]]) / 3.0 eigvals, eigvecs = np.linalg.eigh(K) qvec = eigvecs[[3, 0, 1, 2], np.argmax(eigvals)] if qvec[0] < 0: qvec *= -1 return qvec if __name__ == "__main__": if len(sys.argv) != 3: print("Usage: python read_model.py path/to/model/folder [.txt,.bin]") else: cameras, images, points3D = read_model(path=sys.argv[1], ext=sys.argv[2]) print("num_cameras:", len(cameras)) print("num_images:", len(images)) print("num_points3D:", len(points3D)) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/colmap/colmap2dataset.py ================================================ import h5py, argparse, os, json import numpy as np from tqdm import tqdm from colmap.read_model import read_model from colmap.read_dense import read_array def convert_depth(name, src_path, dst_path): ''' Converts depth from the COLMAP format of .bin files to h5py HDF files ''' fname, ext = os.path.splitext(name) depth_src_name = f'{name}.geometric.bin' depth = read_array(os.path.join(src_path, depth_src_name)) depth_dst_name = f'{fname}.h5' with h5py.File(os.path.join(dst_path, depth_dst_name), 'w') as dst_file: dst_file.create_dataset('depth', data=depth.astype(np.float16)) def camera_to_K(camera): ''' Assembles the camera params (given as an unstructured list by COLMAP) into an intrinsics matrix ''' assert camera.model == 'PINHOLE' fx, fy, cx, cy = camera.params return np.array([ [fx, 0, cx], [0, fy, cy], [0, 0, 1], ], dtype=np.float32) def create_calibration(image, camera, prefix): ''' Saves camera intrinsics and extrinsics to a HDF file ''' path = os.path.join(prefix, f'calibration_{image.name}.h5') with h5py.File(path, 'w') as dst_file: dst_file.create_dataset('R', data=image.qvec2rotmat()) dst_file.create_dataset('T', data=image.tvec) dst_file.create_dataset('K', data=camera_to_K(camera)) def covisible_pairs(images, low=0.5, high=0.8): ''' Considers all pairs of images and for each, it computes the ratio between 3d landmarks co-visible in both images and the minimum of the number of 3d landmarks in either of the two images. This serves as a proxy for image covisiblity and pairs with the ratio between `low` and `high` are returned. ''' images = list(images.values()) idxs = [] for image in tqdm(images): image_idxs = image.point3D_ids idxs.append(frozenset(image_idxs[image_idxs != -1].tolist())) pairs = [] for i in range(len(images)): idxs_i = idxs[i] for j in range(i+1, len(images)): idxs_j = idxs[j] inter = len(idxs_i & idxs_j) ratio = inter / min(len(idxs_i), len(idxs_j)) if low <= ratio <= high: pairs.append((images[i].name, images[j].name)) return pairs def encode_pairs(pairs): ''' "Encodes" the list of pairs, coming as a list of file names such as [ ['file_name_1.jpg', 'file_name_5.jpg'], ['file_name_1.jpg', 'file_name_13.jpg'], ... ] by assigning each filename a unique numeric ID and returning 1) a list `id2name` such that id2name[i] is the filename of the i-th image 2) a list of lists of the same structure as the input argument, except using file IDs instead of full (string) names ''' curr_id = 0 name2id = {} id2name = [] for pair in pairs: for name in pair: if name in name2id: continue else: name2id[name] = curr_id id2name.append(name) curr_id += 1 pairs_as_ixs = [] for pair in pairs: pair = [name2id[n] for n in pair] pairs_as_ixs.append(pair) return id2name, pairs_as_ixs if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('path', type=str) parser.add_argument('--name', type=str, default='default-scene') parser.add_argument('--no-depth', action='store_true') args = parser.parse_args() args.path = os.path.abspath(args.path) image_path = os.path.join(args.path, 'images') sparse_path = os.path.join(args.path, 'sparse') calib_path = os.path.join(args.path, 'dataset', 'calibration') json_path = os.path.join(args.path, 'dataset', 'dataset.json') if not args.no_depth: depth_src_path = os.path.join(args.path, 'stereo', 'depth_maps') depth_dst_path = os.path.join(args.path, 'dataset', 'depth') else: depth_src_path = '' depth_dst_path = '' cameras, images, points3D = read_model(sparse_path, ext='.bin') os.makedirs(calib_path, exist_ok=True) print('Creating calibration files...') for image in tqdm(images.values()): create_calibration(image, cameras[image.camera_id], calib_path) if not args.no_depth: os.makedirs(depth_dst_path, exist_ok=True) print('Converting depth...') for image in tqdm(images.values()): convert_depth(image.name, depth_src_path, depth_dst_path) else: print('Skipping depth maps...') images, tuples = encode_pairs(covisible_pairs(images)) dataset = { args.name: { 'images' : images, 'tuples' : tuples, 'calib_path': calib_path, 'depth_path': depth_dst_path, 'image_path': image_path, }, } with open(json_path, 'w') as json_file: json.dump(dataset, json_file) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/colmap/h5_to_db.py ================================================ import os, argparse, h5py, warnings import numpy as np from tqdm import tqdm from PIL import Image, ExifTags from colmap.database import COLMAPDatabase, image_ids_to_pair_id def get_focal(image_path, err_on_default=False): image = Image.open(image_path) max_size = max(image.size) exif = image.getexif() focal = None if exif is not None: focal_35mm = None # https://github.com/colmap/colmap/blob/d3a29e203ab69e91eda938d6e56e1c7339d62a99/src/util/bitmap.cc#L299 for tag, value in exif.items(): focal_35mm = None if ExifTags.TAGS.get(tag, None) == 'FocalLengthIn35mmFilm': focal_35mm = float(value) break if focal_35mm is not None: focal = focal_35mm / 35. * max_size if focal is None: if err_on_default: raise RuntimeError("Failed to find focal length") # failed to find it in exif, use prior FOCAL_PRIOR = 1.2 focal = FOCAL_PRIOR * max_size return focal def create_camera(db, image_path): image = Image.open(image_path) width, height = image.size focal = get_focal(image_path) if args.camera_model == 'simple-pinhole': model = 0 # simple pinhole param_arr = np.array([focal, width / 2, height / 2]) if args.camera_model == 'pinhole': model = 1 # pinhole param_arr = np.array([focal, focal, width / 2, height / 2]) elif args.camera_model == 'simple-radial': model = 2 # simple radial param_arr = np.array([focal, width / 2, height / 2, 0.1]) elif args.camera_model == 'opencv': model = 4 # opencv param_arr = np.array([focal, focal, width / 2, height / 2, 0., 0., 0., 0.]) return db.add_camera(model, width, height, param_arr) def add_keypoints(db, h5_path, image_path): keypoint_f = h5py.File(os.path.join(h5_path, 'keypoints.h5'), 'r') camera_id = None fname_to_id = {} for filename in tqdm(list(keypoint_f.keys())): keypoints = keypoint_f[filename][()] fname_with_ext = filename + args.image_extension path = os.path.join(image_path, fname_with_ext) if not os.path.isfile(path): raise IOError(f'Invalid image path {path}') if camera_id is None or not args.single_camera: camera_id = create_camera(db, path) image_id = db.add_image(fname_with_ext, camera_id) fname_to_id[filename] = image_id db.add_keypoints(image_id, keypoints) return fname_to_id def add_matches(db, h5_path, fname_to_id): match_file = h5py.File(os.path.join(h5_path, 'matches.h5'), 'r') added = set() n_keys = len(match_file.keys()) n_total = (n_keys * (n_keys - 1)) // 2 with tqdm(total=n_total) as pbar: for key_1 in match_file.keys(): group = match_file[key_1] for key_2 in group.keys(): id_1 = fname_to_id[key_1] id_2 = fname_to_id[key_2] pair_id = image_ids_to_pair_id(id_1, id_2) if pair_id in added: warnings.warn(f'Pair {pair_id} ({id_1}, {id_2}) already added!') continue matches = group[key_2][()] db.add_matches(id_1, id_2, matches.T) added.add(pair_id) pbar.update(1) if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('h5_path', help=('Path to the directory with ' 'keypoints.h5 and matches.h5')) parser.add_argument('image_path', help='Path to source images') parser.add_argument( '--image-extension', default='.jpg', type=str, help='Extension of files in image_path' ) parser.add_argument('--database-path', default='database.db', help='Location where the COLMAP .db file will be created' ) parser.add_argument( '--single-camera', action='store_true', help=('Consider all photos to be made with a single camera (COLMAP ' 'will reduce the number of degrees of freedom'), ) parser.add_argument( '--camera-model', choices=['simple-pinhole', 'pinhole', 'simple-radial', 'opencv'], default='simple-radial', help=('Camera model to use in COLMAP. ' 'See https://github.com/colmap/colmap/blob/master/src/base/camera_models.h' ' for explanations') ) args = parser.parse_args() if args.camera_model == 'opencv' and not args.single_camera: raise RuntimeError("Cannot use --camera-model=opencv camera without " "--single-camera (the COLMAP optimisation will " "likely fail to converge)") if os.path.exists(args.database_path): raise RuntimeError("database path already exists - will not modify it.") db = COLMAPDatabase.connect(args.database_path) db.create_tables() fname_to_id = add_keypoints(db, args.h5_path, args.image_path) add_matches( db, args.h5_path, fname_to_id, ) db.commit() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/colmap/merge_datasets.py ================================================ import argparse, json, pathlib, os parser = argparse.ArgumentParser() parser.add_argument('paths', type=pathlib.Path, nargs='+') args = parser.parse_args() args.paths = [os.path.abspath(p) for p in args.paths] merged_scenes = {} for i, path in enumerate(args.paths): with open(path, 'r') as input_json: data = json.load(input_json) for j, (scene_name, scene) in enumerate(data.items()): if scene_name in merged_scenes: scene_name = f'{i}-{j}' merged_scenes[scene_name] = scene with open('merged.json', 'w') as merged_json: json.dump(merged_scenes, merged_json) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/compute_validation_auc.py ================================================ import argparse, os import tensorflow as tf import matplotlib.pyplot as plt import numpy as np from tqdm import tqdm from tensorflow.core.util import event_pb2 def read_deltas(path): reader = tf.data.TFRecordDataset(path) Δ_θ = [] Δ_T = [] for serialized_event in tqdm(reader): event = event_pb2.Event.FromString(serialized_event.numpy()) for value in event.summary.value: if value.tag == 'test/pose/Δ_θ': Δ_θ.append(value.simple_value) if value.tag == 'test/pose/Δ_T': Δ_T.append(value.simple_value) Δ_θ = np.array(Δ_θ) Δ_T = np.array(Δ_T) return Δ_θ, Δ_T def calculate_auc(Δ_θ, Δ_T, length): error = np.maximum(Δ_θ, Δ_T) # if we run this script while training is still going on, we may find # ourselves halfway through a validation run, in which case the number # of events will not be divisible by `length`. We clip to only include # full epochs. WARNING: this means that miss-specifying # `--validation--length` will cause silent errors error = error[:length * (error.shape[0] // length)] error = error.reshape(-1, length) # bins for 0..10 degrees of error bins = np.arange(0, 11) aucs = [] for e, errs in enumerate(error): hist, _edges = np.histogram(errs, bins=bins) hist = hist / length auc = hist.cumsum().mean() aucs.append(auc) return np.array(aucs) parser = argparse.ArgumentParser( description=('This script is used for evaluating the validation time ' 'stereo pose estimation AUC in order to pick the best ' 'checkpoint for IMW2020 challenge submission. It reads the ' 'tensorboard logfiles, picks the pose estimation errors, ' 'groups them by epoch and calculates AUC for each epoch.'), formatter_class=argparse.ArgumentDefaultsHelpFormatter, ) parser.add_argument( '--validation-length', type=int, default=750, help=('The number of image pairs evaluated at each epoch. Unfortunately, ' 'tensorboard doesn\'t store that with events, so we have to just ' 'assume that first 0:vl events correspond to 1st epoch, vl:2*vl to ' '2nd epoch, and so on (vl == --validation-length).') ) parser.add_argument( 'paths', type=str, nargs='+', help=('Point to (multiple) tensorboard event files (by default, their ' 'names are something like ' 'events.out.tfevents.1601909417.tyszkiew-disk-1.30.0') ) args = parser.parse_args() for path in args.paths: abs_path = os.path.abspath(path) deltas = read_deltas(abs_path) auc = calculate_auc(*deltas, validation_length=args.validation_length) plt.plot(auc, label=path) plt.legend() plt.show() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/detect.py ================================================ import torch, h5py, imageio, os, argparse import numpy as np import torch.nn.functional as F from functools import partial from torch.utils.data import DataLoader from tqdm import tqdm from torch_dimcheck import dimchecked from disk import DISK, Features class Image: def __init__(self, bitmap: ['C', 'H', 'W'], fname: str, orig_shape=None): self.bitmap = bitmap self.fname = fname if orig_shape is None: self.orig_shape = self.bitmap.shape[1:] else: self.orig_shape = orig_shape def resize_to(self, shape): return Image( self._pad(self._interpolate(self.bitmap, shape), shape), self.fname, orig_shape=self.bitmap.shape[1:], ) @dimchecked def to_image_coord(self, xys: [2, 'N']) -> ([2, 'N'], ['N']): f, _size = self._compute_interpolation_size(self.bitmap.shape[1:]) scaled = xys / f h, w = self.orig_shape x, y = scaled mask = (0 <= x) & (x < w) & (0 <= y) & (y < h) return scaled, mask def _compute_interpolation_size(self, shape): x_factor = self.orig_shape[0] / shape[0] y_factor = self.orig_shape[1] / shape[1] f = 1 / max(x_factor, y_factor) if x_factor > y_factor: new_size = (shape[0], int(f * self.orig_shape[1])) else: new_size = (int(f * self.orig_shape[0]), shape[1]) return f, new_size @dimchecked def _interpolate(self, image: ['C', 'H', 'W'], shape) -> ['C', 'h', 'w']: _f, size = self._compute_interpolation_size(shape) return F.interpolate( image.unsqueeze(0), size=size, mode='bilinear', align_corners=False, ).squeeze(0) @dimchecked def _pad(self, image: ['C', 'H', 'W'], shape) -> ['C', 'h', 'w']: x_pad = shape[0] - image.shape[1] y_pad = shape[1] - image.shape[2] if x_pad < 0 or y_pad < 0: raise ValueError("Attempting to pad by negative value") return F.pad(image, (0, y_pad, 0, x_pad)) class SceneDataset: def __init__(self, image_path, crop_size=(None, None)): self.image_path = image_path self.crop_size = crop_size self.names = [p for p in os.listdir(image_path) \ if p.endswith(args.image_extension)] def __len__(self): return len(self.names) def __getitem__(self, ix): name = self.names[ix] path = os.path.join(self.image_path, name) img = np.ascontiguousarray(imageio.imread(path)) tensor = torch.from_numpy(img).to(torch.float32) if len(tensor.shape) == 2: # some images may be grayscale tensor = tensor.unsqueeze(-1).expand(-1, -1, 3) bitmap = tensor.permute(2, 0, 1) / 255. extensionless_fname = os.path.splitext(name)[0] image = Image(bitmap, extensionless_fname) if self.crop_size != (None, None): image = image.resize_to(self.crop_size) return image @staticmethod def collate_fn(images): bitmaps = torch.stack([im.bitmap for im in images], dim=0) return bitmaps, images def extract(dataset, save_path): dataloader = DataLoader( dataset, batch_size=1, pin_memory=True, collate_fn=dataset.collate_fn, num_workers=4, ) if args.mode == 'nms': extract = partial( model.features, kind='nms', window_size=args.window, cutoff=0., n=args.n ) else: extract = partial(model.features, kind='rng') os.makedirs(os.path.join(save_path), exist_ok=True) keypoint_h5 = h5py.File(os.path.join(save_path, 'keypoints.h5'), 'w') descriptor_h5 = h5py.File(os.path.join(save_path, 'descriptors.h5'), 'w') if args.detection_scores: score_h5 = h5py.File(os.path.join(save_path, 'scores.h5'), 'w') pbar = tqdm(dataloader) for bitmaps, images in pbar: bitmaps = bitmaps.to(DEV, non_blocking=True) with torch.no_grad(): try: batched_features = extract(bitmaps) except RuntimeError as e: if 'U-Net failed' in str(e): msg = ('Please use input size which is multiple of 16 (or ' 'adjust the --height and --width flags to let this ' 'script rescale it automatically). This is because ' 'we internally use a U-Net with 4 downsampling ' 'steps, each by a factor of 2, therefore 2^4=16.') raise RuntimeError(msg) from e else: raise for features, image in zip(batched_features.flat, images): features = features.to(CPU) kps_crop_space = features.kp.T kps_img_space, mask = image.to_image_coord(kps_crop_space) keypoints = kps_img_space.numpy().T[mask] descriptors = features.desc.numpy()[mask] scores = features.kp_logp.numpy()[mask] order = np.argsort(scores)[::-1] keypoints = keypoints[order] descriptors = descriptors[order] scores = scores[order] assert descriptors.shape[1] == args.desc_dim assert keypoints.shape[1] == 2 if args.f16: descriptors = descriptors.astype(np.float16) keypoint_h5.create_dataset(image.fname, data=keypoints) descriptor_h5.create_dataset(image.fname, data=descriptors) if args.detection_scores: score_h5.create_dataset(image.fname, data=scores) pbar.set_postfix(n=keypoints.shape[0]) if __name__ == '__main__': parser = argparse.ArgumentParser(description=( "Script for detection and description (but not matching) of keypoints. " "It processes all images with extension given by `--image-extension` found " "in `image-path` directory. Images are resized to `--height` x `--width` " "for internal processing (padding them if necessary) and the output " "coordinates are then transformed back to original image size."), formatter_class=argparse.ArgumentDefaultsHelpFormatter ) parser.add_argument( '--height', default=None, type=int, help='rescaled height (px). If unspecified, image is not resized in height dimension' ) parser.add_argument( '--width', default=None, type=int, help='rescaled width (px). If unspecified, image is not resized in width dimension' ) parser.add_argument( '--image-extension', default='jpg', type=str, help='This script ill process all files which match `image-path/*.{--image-extension}`' ) parser.add_argument( '--f16', action='store_true', help='Store descriptors in fp16 (half precision) format' ) parser.add_argument('--window', type=int, default=5, help='NMS window size') parser.add_argument( '--n', type=int, default=None, help='Maximum number of features to extract. If unspecified, the number is not limited' ) parser.add_argument( '--desc-dim', type=int, default=128, help='descriptor dimension. Needs to match the checkpoint value.' ) parser.add_argument( '--mode', choices=['nms', 'rng'], default='nms', help=('Whether to extract features using the non-maxima suppresion mode or ' 'through training-time grid sampling technique') ) default_model_path = os.path.split(os.path.abspath(__file__))[0] + '/depth-save.pth' parser.add_argument( '--model_path', type=str, default=default_model_path, help="Path to the model's .pth save file" ) parser.add_argument('--detection-scores', action='store_true') parser.add_argument( 'h5_path', help=("Directory where keypoints.h5 and descriptors.h5 will be stored. This" " will be created if it doesn't already exist.") ) parser.add_argument( 'image_path', help="Directory with images to be processed." ) args = parser.parse_args() DEV = torch.device('cuda' if torch.cuda.is_available() else 'cpu') CPU = torch.device('cpu') dataset = SceneDataset(args.image_path, crop_size=(args.height, args.width)) state_dict = torch.load(args.model_path, map_location='cpu') # compatibility with older model saves which used the 'extractor' name if 'extractor' in state_dict: weights = state_dict['extractor'] elif 'disk' in state_dict: weights = state_dict['disk'] else: raise KeyError('Incompatible weight file!') model = DISK(window=8, desc_dim=args.desc_dim) model.load_state_dict(weights) model = model.to(DEV) described_samples = extract(dataset, args.h5_path) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/__init__.py ================================================ from .common.structs import Features, MatchDistribution, MatchedPairs, NpArray from .common.errors import * from .common.image import Image from .model import DISK ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/common/__init__.py ================================================ from .logger import Logger ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/common/errors.py ================================================ class DataError(Exception): pass class EstimationFailedError(Exception): pass ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/common/image.py ================================================ import torch, math, warnings, imageio import torch.nn.functional as F import numpy as np from torch_dimcheck import dimchecked @dimchecked def _rescale(tensor: ['C', 'H', 'W'], size) -> ['C', 'h', 'w']: return F.interpolate( tensor.unsqueeze(0), size=size, mode='bilinear', align_corners=False, ).squeeze(0) @dimchecked def _pad(tensor: ['C', 'H', 'W'], size, value=0.): xpad = size[1] - tensor.shape[2] ypad = size[0] - tensor.shape[1] # not that F.pad takes sizes starting from the last dimension padded = F.pad( tensor, (0, xpad, 0, ypad), mode='constant', value=value ) assert padded.shape[1:] == tuple(size) return padded class Image: @dimchecked def __init__( self, K : [3, 3], R : [3, 3], T : [3], bitmap: [3, 'H', 'W'], depth, #[1, 'H', 'W'], bitmap_path: str ): self.K = K self.R = R self.T = T self.bitmap = bitmap self.depth = depth # save bitmap path for potential debugging purposes self.bitmap_path = bitmap_path @property def K_inv(self): return self.K.inverse() @property def hwc(self): return self.bitmap.permute(1, 2, 0) @property def shape(self): return self.bitmap.shape[1:] def scale(self, size): ''' Rescale the image to at most size=(height, width). One dimension is guaranteed to be equally matched ''' x_factor = self.shape[0] / size[0] y_factor = self.shape[1] / size[1] f = 1 / max(x_factor, y_factor) if x_factor > y_factor: new_size = (size[0], int(f * self.shape[1])) else: new_size = (int(f * self.shape[0]), size[1]) K_scaler = torch.tensor([ [f, 0, 0], [0, f, 0], [0, 0, 1] ], dtype=self.K.dtype, device=self.K.device) K = K_scaler @ self.K bitmap = _rescale(self.bitmap, new_size) if self.depth is not None: depth = _rescale(self.depth, new_size) else: depth = None return Image(K, self.R, self.T, bitmap, depth, self.bitmap_path) def pad(self, size): bitmap = _pad(self.bitmap, size, value=0) if self.depth is not None: depth = _pad(self.depth, size, value=float('NaN')) else: depth = None return Image(self.K, self.R, self.T, bitmap, depth, self.bitmap_path) def to(self, *args, **kwargs): # use getattr/setattr to avoid repetitive code. # exclude `self.bitmap` because we don't need it on GPU (it's treated # separately by the dataloader) TRANSFERRED_ATTRS = ['K', 'R', 'T', 'depth'] for key in TRANSFERRED_ATTRS: attr = getattr(self, key) if attr is not None: attr_transferred = attr.to(*args, **kwargs) setattr(self, key, attr_transferred) return self @dimchecked def unproject(self, xy: [2, 'N']) -> [3, 'N']: depth = self.fetch_depth(xy) xyw = torch.cat([ xy.to(depth.dtype), torch.ones(1, xy.shape[1], dtype=depth.dtype, device=xy.device) ], dim=0) xyz = (self.K_inv @ xyw) * depth xyz_w = self.R.T @ (xyz - self.T[:, None]) return xyz_w @dimchecked def project(self, xyw: [3, 'N']) -> [2, 'N']: extrinsic = self.R @ xyw + self.T[:, None] intrinsic = self.K @ extrinsic return intrinsic[:2] / intrinsic[2] @dimchecked def in_range_mask(self, xy: [2, 'N']) -> ['N']: h, w = self.shape x, y = xy return (0 <= x) & (x < w) & (0 <= y) & (y < h) @dimchecked def fetch_depth(self, xy: [2, 'N']) -> ['N']: if self.depth is None: raise ValueError(f'Depth is not loaded') in_range = self.in_range_mask(xy) finite = torch.isfinite(xy).all(dim=0) valid_depth = in_range & finite x, y = xy[:, valid_depth].to(torch.int64) depth = torch.full( (xy.shape[1], ), fill_value=float('NaN'), device=xy.device, dtype=self.depth.dtype ) depth[valid_depth] = self.depth[0, y, x] return depth ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/common/logger.py ================================================ from torch.utils.tensorboard import SummaryWriter class Logger: def __init__(self, path): self.sw = SummaryWriter(path) self.tag_counters = {} def add_scalar(self, tag, value): if tag not in self.tag_counters: self.tag_counters[tag] = 0 counter = self.tag_counters[tag] self.sw.add_scalar(tag, value, global_step=counter) self.tag_counters[tag] += 1 def add_scalars(self, tag_to_value, prefix=''): if prefix != '': prefix = f'{prefix}/' for tag, value in tag_to_value.items(): tag = f'{prefix}{tag}' self.add_scalar(tag, value) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/common/structs.py ================================================ import torch, abc, sys from torch_dimcheck import dimchecked # the class/object below is there for making type annotations like # def my_function(args) -> NpArray[OutputType] if sys.version_info >= (3, 7): class NpArray: def __class_getitem__(self, arg): pass else: # 3.6 and below don't support __class_getitem__ class _NpArray: def __getitem__(self, _idx): pass NpArray = _NpArray() class Features: @dimchecked def __init__(self, kp: ['N', 2], desc: ['N', 'F'], kp_logp: ['N']): assert kp.device == desc.device assert kp.device == kp_logp.device self.kp = kp self.desc = desc self.kp_logp = kp_logp @property def n(self): return self.kp.shape[0] @property def device(self): return self.kp.device def detached_and_grad_(self): return Features( self.kp, self.desc.detach().requires_grad_(), self.kp_logp.detach().requires_grad_(), ) def requires_grad_(self, is_on): self.desc.requires_grad_(is_on) self.kp_logp.requires_grad_(is_on) def grad_tensors(self): return [self.desc, self.kp_logp] def to(self, *args, **kwargs): return Features( self.kp.to(*args, **kwargs), self.desc.to(*args, **kwargs), self.kp_logp.to(*args, **kwargs) if self.kp_logp is not None else None, ) class MatchDistribution(abc.ABC): @abc.abstractmethod def sample(self) -> [2, 'K']: pass @abc.abstractmethod def mle(self) -> [2, 'K']: pass @abc.abstractmethod def dense_logp(self): pass @abc.abstractmethod def dense_p(self): pass @abc.abstractmethod def features_1(self) -> Features: pass @abc.abstractmethod def features_2(self) -> Features: pass @property def shape(self): return self.features_1().kp.shape[0], self.features_2().kp.shape[1] def matched_pairs(self, mle=False): matches = self.mle() if mle else self.sample() return MatchedPairs( self.features_1().kp, self.features_2().kp, matches, ) class MatchedPairs: @dimchecked def __init__(self, kps1: ['N', 2], kps2: ['M', 2], matches: [2, 'K']): self.kps1 = kps1 self.kps2 = kps2 self.matches = matches def to(self, *args, **kwargs): return MatchedPairs( self.kps1.to(*args, **kwargs), self.kps2.to(*args, **kwargs), self.matches.to(*args, **kwargs), ) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/common/vis.py ================================================ import torch import numpy as np import matplotlib.pyplot as plt from matplotlib import cm from matplotlib import collections as mplcollections from matplotlib import colors as mcolors from torch_dimcheck import dimchecked from disk import MatchedPairs class MultiFigure: @dimchecked def __init__( self, image1: ['H', 'W', 'C'], image2: ['H', 'W', 'C'], grid=None, vertical=False, ): assert image1.shape == image2.shape h, w, c = image1.shape cat_dim = 0 if vertical else 1 images = torch.cat([image1, image2], dim=cat_dim) figsize = (20, 40) if vertical else (40, 20) self.fig, self._ax = plt.subplots( figsize=figsize, frameon=False, constrained_layout=True ) self._ax.imshow(images) xmax = w ymax = h if vertical: ymax *= 2 else: xmax *= 2 self._ax.set_xlim(0, xmax) self._ax.set_ylim(ymax, 0) if grid is None: self._ax.axis('off') else: self._ax.set_xticks(np.arange(0, xmax, grid)) self._ax.set_yticks(np.arange(0, ymax, grid)) self._ax.grid() if vertical: self.offset = torch.tensor([0, h]) else: self.offset = torch.tensor([w, 0]) @dimchecked def mark_xy( self, xy1: [2, 'N'], xy2: [2, 'N'], color='green', lines=True, marks=True, plot_n=None, linewidth=None, marker_size=None, ): xy2 = xy2 + self.offset.reshape(2, 1) xys = torch.stack([xy1.T, xy2.T], dim=1) if plot_n is not None: if xys.shape[0] > plot_n: ixs = torch.linspace(0, xys.shape[0]-1, plot_n).to(torch.int64) xys = xys[ixs, :] if lines: if color is not None: # LineCollection requires an rgb tuple color = mcolors.to_rgb(color) # yx convention plot = mplcollections.LineCollection( xys.numpy(), color=color, linewidth=linewidth ) self._ax.add_collection(plot) else: plot = None if marks: self._ax.scatter( xys[:, :, 0].numpy().flatten(), xys[:, :, 1].numpy().flatten(), marker='o', c='white', edgecolor='black', s=marker_size, ) return plot ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/geom/__init__.py ================================================ from .distance_matrix import distance_matrix from .pose import Pose, PoseError ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/geom/distance_matrix.py ================================================ import torch from torch_dimcheck import dimchecked SQRT_2 = 1.414213 @dimchecked def distance_matrix(fs1: ['N', 'F'], fs2: ['M', 'F']) -> ['N', 'M']: ''' Assumes fs1 and fs2 are normalized! ''' return SQRT_2 * (1. - fs1 @ fs2.T).clamp(min=1e-6).sqrt() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/geom/epi.py ================================================ import torch from torch_dimcheck import dimchecked @dimchecked def cross_product_matrix(v: [3]) -> [3, 3]: ''' following en.wikipedia.org/wiki/Cross_product#Conversion_to_matrix_multiplication ''' return torch.tensor([ [ 0, -v[2], v[1]], [ v[2], 0, -v[0]], [-v[1], v[0], 0] ], dtype=v.dtype, device=v.device) @dimchecked def xy_to_xyw(xy: [2, 'N']) -> [3, 'N']: ones = torch.ones(1, xy.shape[1], device=xy.device, dtype=xy.dtype) return torch.cat([xy, ones], dim=0) @dimchecked def ims2E(im1, im2) -> [3, 3]: R = im2.R @ im1.R.T T = im2.T - R @ im1.T return cross_product_matrix(T) @ R @dimchecked def ims2F(im1, im2) -> [3, 3]: E = ims2E(im1, im2) return im2.K_inv.T @ E @ im1.K_inv @dimchecked def symdimm(x1: [2, 'N'], x2: [2, 'M'], im1, im2) -> ['N', 'M']: x1n = im1.K_inv @ xy_to_xyw(x1) x2n = im2.K_inv @ xy_to_xyw(x2) E = ims2E(im1, im2) E_x1 = E @ x1n Et_x2 = E.T @ x2n x2_E_x1 = x2n.T @ E_x1 n = lambda v: torch.norm(v, p=2, dim=0) n1 = 1 / n(E_x1[:2])[None, :] n2 = 1 / n(Et_x2[:2])[:, None] norm = n1 + n2 dist = x2_E_x1.pow(2) * norm return dist.T @dimchecked def asymmdist(x1: [2, 'N'], x2: [2, 'M'], F: [3, 3]) -> ['N', 'M']: ''' following http://www.cs.toronto.edu/~jepson/csc420/notes/epiPolarGeom.pdf (page 12) ''' x1_h = xy_to_xyw(x1) x2_h = xy_to_xyw(x2) Ft_x2 = F.T @ x2_h norm = torch.norm(Ft_x2[:2], p=2, dim=0) dist = (Ft_x2 / norm).T @ x1_h return dist.T @dimchecked def asymmdist_from_imgs(x1: [2, 'N'], x2: [2, 'M'], im1, im2) -> ['N', 'M']: F = ims2F(im1, im2) return asymmdist(x1, x2, F) @dimchecked def p_asymmdist(x1: [2, 'N'], x2: [2, 'N'], F: [3, 3]) -> ['N']: ''' following http://www.cs.toronto.edu/~jepson/csc420/notes/epiPolarGeom.pdf (page 12) ''' x1_h = xy_to_xyw(x1) x2_h = xy_to_xyw(x2) Ft_x2 = F.T @ x2_h norm = torch.norm(Ft_x2[:2], p=2, dim=0) Ft_x2_n = Ft_x2 / norm return torch.einsum('ca,ca->a', (Ft_x2_n, x1_h)) @dimchecked def p_asymmdist_from_imgs(x1: [2, 'N'], x2: [2, 'N'], im1, im2) -> ['N']: F = ims2F(im1, im2) return p_asymmdist(x1, x2, F) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/geom/pose.py ================================================ import typing, torch, math import numpy as np import torch.nn.functional as F from torch_dimcheck import dimchecked RAD_TO_DEG = 57.29 class PoseError(typing.NamedTuple): Δ_θ : float Δ_T : float def __repr__(self): return f'' def to_dict(self): return { 'Δ_θ' : self.Δ_θ, 'Δ_T' : self.Δ_T, } class Pose(typing.NamedTuple): R: torch.Tensor T: torch.Tensor def __str__(self): return f'\nR=\n{self.R}\nT=\n{self.T}' def to(self, *args, **kwargs): return Pose( self.R.to(*args, **kwargs), self.T.to(*args, **kwargs), ) @property def R_4x4(self): I = torch.eye(4) I[:3, :3] = self.R return I @property def T_4x4(self): I = torch.eye(4) I[:3, 3] = self.T return I def TR_4x4(self): return self.T_4x4 @ self.R_4x4 @classmethod def from_poselike(cls, poselike): return cls(poselike.R, poselike.T) @staticmethod def relative(p1, p2, normed=False): assert isinstance(p1, Pose) assert isinstance(p2, Pose) ΔR = p2.R @ p1.R.T ΔT = p2.T - ΔR @ p1.T if normed: ΔT = ΔT / torch.norm(ΔT, p=2) return Pose(ΔR, ΔT) @staticmethod def error(p1, p2): assert isinstance(p1, Pose) assert isinstance(p2, Pose) R_ab = p1.R.T @ p2.R half_trace = (torch.trace(R_ab) - 1) / 2 θ_deg = RAD_TO_DEG * math.acos(torch.clamp(half_trace, -1., 1.).item()) / 2 cos_sim = F.cosine_similarity( p1.T.unsqueeze(0), p2.T.unsqueeze(0) ).squeeze(0) Δ_T = RAD_TO_DEG * math.acos(torch.clamp(cos_sim, -1., 1.).item()) return PoseError(θ_deg, Δ_T) def _normalized_cosine_error(v1: ['N'], v2: ['N']): EPS = 1e-15 def normalize(v): v = v.to(torch.float64) return v / (torch.norm(v) + EPS) v1 = normalize(v1) v2 = normalize(v2) cos = max(EPS, 1. - torch.dot(v1, v2).pow(2).item()) err = math.acos(math.sqrt(1. - cos)) return err @dimchecked def matrix_to_quaternion(M: [3, 3]) -> [4]: ''' adapted from https://github.com/vcg-uvic/sfm_benchmark/blob/2b28c76635f754cbc32f30571adf80f3eba13f4c/utils/eval_helper.py#L170 ''' #TODO: this appears unused m00 = M[0, 0].item() m01 = M[0, 1].item() m02 = M[0, 2].item() m10 = M[1, 0].item() m11 = M[1, 1].item() m12 = M[1, 2].item() m20 = M[2, 0].item() m21 = M[2, 1].item() m22 = M[2, 2].item() # symmetric matrix K K = np.array([ [m00 - m11 - m22, 0.0, 0.0, 0.0], [ m01 + m10, m11 - m00 - m22, 0.0, 0.0], [ m02 + m20, m12 + m21, m22 - m00 - m11, 0.0], [ m21 - m12, m02 - m20, m10 - m01, m00 + m11 + m22], ]) K /= 3.0 # quaternion is eigenvector of K that corresponds to largest eigenvalue w, V = np.linalg.eigh(K) q = V[[3, 0, 1, 2], np.argmax(w)] q = torch.from_numpy(q) if q[0] > 0.0: return q else: return -q ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/loss/__init__.py ================================================ from .pose_metric import PoseQuality from .discrete_metric import DiscreteMetric from .ransac import Ransac from .rewards import EpipolarReward, DepthReward from .reinforce import Reinforce ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/loss/discrete_metric.py ================================================ import torch, math import numpy as np from torch_dimcheck import dimchecked from disk import MatchedPairs, Image, NpArray from disk.geom.epi import p_asymmdist_from_imgs @dimchecked def classify_pairs(kps1: ['N', 2], kps2: ['N', 2], img1: Image, img2: Image, th): ''' classifies keypoint pairs as either possible or impossible under epipolar constraints ''' epi_1_to_2 = p_asymmdist_from_imgs(kps1.T, kps2.T, img1, img2).abs() epi_2_to_1 = p_asymmdist_from_imgs(kps2.T, kps1.T, img2, img1).abs() return (epi_1_to_2 < th) & (epi_2_to_1 < th) class DiscreteMetric(torch.nn.Module): def __init__(self, th=2., lm_kp=0., lm_tp=1., lm_fp=-0.25): super(DiscreteMetric, self).__init__() self.th = th self.lm_kp = lm_kp self.lm_tp = lm_tp self.lm_fp = lm_fp def forward( self, images : NpArray[Image], # [N_scenes, N_per_scene] matches: NpArray[MatchedPairs] # [N_scenes, N_per_scene choose 2] ): N_scenes, N_per_scene = images.shape assert matches.shape[0] == N_scenes assert matches.shape[1] == ((N_per_scene - 1) * N_per_scene) // 2 stats = np.zeros(matches.shape, dtype=object) for i_scene in range(N_scenes): i_match = 0 scene_matches = matches[i_scene] scene_images = images[i_scene] for i_image1 in range(N_per_scene): image1 = scene_images[i_image1] for i_image2 in range(i_image1+1, N_per_scene): image2 = scene_images[i_image2] stats[i_scene, i_match] = self._loss_one_pair( scene_matches[i_match], image1, image2 ) i_match += 1 return stats def _loss_one_pair(self, pairs: MatchedPairs, img1: Image, img2: Image): n_kps = pairs.kps1.shape[0] + pairs.kps2.shape[0] kps1 = pairs.kps1[pairs.matches[0]] kps2 = pairs.kps2[pairs.matches[1]] n_pairs = pairs.matches.shape[1] good = classify_pairs(kps1, kps2, img1, img2, th=self.th) bad = ~good n_good = good.to(torch.int64).sum().item() n_bad = bad.to(torch.int64).sum().item() prec = n_good / (n_pairs + 1) reward = self.lm_tp * n_good + \ self.lm_fp * n_bad + \ self.lm_kp * n_kps stats = { 'n_kps' : n_kps, 'n_pairs' : n_pairs, 'tp' : n_good, 'fp' : n_bad, 'reward' : reward, 'precision': prec, } return stats ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/loss/pose_metric.py ================================================ import torch, typing, cv2, sys import numpy as np import multiprocessing as mp from torch_dimcheck import dimchecked from typing import Dict from disk import MatchedPairs, Image, NpArray, EstimationFailedError from disk.loss.ransac import Ransac from disk.geom import Pose, PoseError CPU = torch.device('cpu') class PoseQualityResult: def __init__(self, error: PoseError, n_inliers: int, success: bool = True): self.error = error self.n_inliers = n_inliers self.success = success def to_dict(self): return { **self.error.to_dict(), 'n_inliers': self.n_inliers, 'success' : int(self.success), } def __str__(self): return (f'') # the error returned when pose estimation fails FAILED_RESULT = PoseQualityResult( error=PoseError( # less than 90 to avoid creating an extra bin in histograms Δ_θ=89.95, Δ_T=179.95, ), n_inliers=0, success=False ) class Job(typing.NamedTuple): matches: MatchedPairs K1 : torch.Tensor K2 : torch.Tensor pose1 : Pose pose2 : Pose ransac : Ransac def __call__(self): m = self.matches left = m.kps1[m.matches[0]] right = m.kps2[m.matches[1]] try: pose_estimate, mask = self.ransac(left, right, self.K1, self.K2) except EstimationFailedError: return FAILED_RESULT gt_pose = Pose.relative(self.pose1, self.pose2, normed=True) error = Pose.error(gt_pose, pose_estimate) n_inliers = mask.to(torch.int64).sum().item() return PoseQualityResult( error=error, n_inliers=n_inliers, success=True, ) __repr__ = object.__repr__ @staticmethod def execute(job): return job().to_dict() class DummyPool: ''' acts like multiprocessing.Pool and can be used to debug stuff ''' def map(self, f, args): return [f(arg) for arg in args] class PoseQuality: def __init__(self, ransac=Ransac(), dummy_pool=False, n_proc=6): self.ransac = ransac if dummy_pool: self.pool = DummyPool() else: self.pool = mp.Pool(processes=n_proc) def __call__( self, images: NpArray[Image], decisions: NpArray[MatchedPairs] )-> NpArray[Dict[str, float]]: N_scenes, N_per_scene = images.shape assert decisions.shape[0] == N_scenes assert decisions.shape[1] == ((N_per_scene - 1) * N_per_scene) // 2 jobs = np.zeros(decisions.shape, dtype=object) for i_scene in range(N_scenes): i_decision = 0 scene_decisions = decisions[i_scene] scene_images = images[i_scene] for i_image1 in range(N_per_scene): image1 = scene_images[i_image1] pose1 = Pose.from_poselike(image1).to(CPU) K1 = image1.K.cpu() for i_image2 in range(i_image1+1, N_per_scene): image2 = scene_images[i_image2] pose2 = Pose.from_poselike(image2).to(CPU) K2 = image2.K.cpu() jobs[i_scene, i_decision] = Job( scene_decisions[i_decision].to(CPU), K1, K2, pose1, pose2, self.ransac ) i_decision += 1 return np.array(self.pool.map(Job.execute, jobs.flat)).reshape(*jobs.shape) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/loss/ransac.py ================================================ import torch, pydegensac, cv2, typing from torch_dimcheck import dimchecked from disk import EstimationFailedError from disk.geom import Pose @dimchecked def _recover_pose(E: [3, 3], i_coords: ['N', 2], j_coords: ['N', 2]): E_ = E.to(torch.float64).numpy() i_coords_ = i_coords.to(torch.float64).numpy() j_coords_ = j_coords.to(torch.float64).numpy() # this function seems to only take f64 arguments, that's why # all the casting above n_inliers, R, T, inlier_mask = cv2.recoverPose( E_, i_coords_, j_coords_, ) R = torch.from_numpy(R).to(torch.float32) # T is returned as a 3x1 array for some reason T = torch.from_numpy(T).to(torch.float32).squeeze(1) return Pose(R, T) @dimchecked def _normalize_coords(coords: ['N', 2], K: [3, 3]) -> ['N', 2]: coords = coords.to(torch.float32) f = torch.tensor([[K[0, 0], K[1, 1]]]) c = torch.tensor([[K[0, 2], K[1, 2]]]) return (coords - c) / f class Ransac(typing.NamedTuple): reprojection_threshold: float = 1. confidence : float = 0.9999 max_iters : int = 10_000 candidate_threshold : int = 10 @dimchecked def __call__( self, left: ['N', 2], right: ['N', 2], K1: [3, 3], K2: [3, 3] ): left = left.cpu() right = right.cpu() K1 = K1.cpu() K2 = K2.cpu() if left.shape[0] < self.candidate_threshold: raise EstimationFailedError() F, mask = pydegensac.findFundamentalMatrix( left.numpy(), right.numpy(), px_th=self.reprojection_threshold, conf=self.confidence, max_iters=self.max_iters ) # FIXME: how does pydegensac handle failure? if mask is None: raise EstimationFailedError() mask = torch.from_numpy(mask) F = torch.from_numpy(F).to(torch.float32) E = K2.T @ F @ K1 try: pose = _recover_pose( E, _normalize_coords( left[mask], K1), _normalize_coords(right[mask], K2), ) except cv2.error: raise EstimationFailedError() return pose, mask ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/loss/reinforce.py ================================================ import torch import numpy as np from disk import MatchDistribution, Features, NpArray, Image class Reinforce: def __init__(self, reward, lm_kp): self.reward = reward self.lm_kp = lm_kp def _loss_for_pair(self, match_dist: MatchDistribution, img1: Image, img2: Image): elementwise_rewards = self.reward( match_dist.features_1().kp, match_dist.features_2().kp, img1, img2, ) with torch.no_grad(): # we don't want to backpropagate through this sample_p = match_dist.dense_p() # [N, M] sample_logp = match_dist.dense_logp() # [N, M] # [N, M] kps_logp = match_dist.features_1().kp_logp.reshape(-1, 1) \ + match_dist.features_2().kp_logp.reshape(1, -1) # scalar, used for introducing the lm_kp penalty sample_lp_flat = match_dist.features_1().kp_logp.sum() \ + match_dist.features_2().kp_logp.sum() # [N, M], p * logp of sampling a pair sample_plogp = sample_p * (sample_logp + kps_logp) reinforce = (elementwise_rewards * sample_plogp).sum() kp_penalty = self.lm_kp * sample_lp_flat #loss = -((elementwise_rewards * sample_plogp).sum() \ # + self.lm_kp * sample_lp_flat.sum()) loss = -reinforce - kp_penalty n_keypoints = match_dist.shape[0] + match_dist.shape[1] exp_n_pairs = sample_p.sum().item() exp_reward = (sample_p * elementwise_rewards).sum().item() \ + self.lm_kp * n_keypoints stats = { 'reward' : exp_reward, 'n_keypoints': n_keypoints, 'n_pairs' : exp_n_pairs, } return loss, stats def accumulate_grad( self, images : NpArray[Image], # [N_scenes, N_per_scene] features: NpArray[Features], # [N_scenes, N_per_scene] matcher, ): ''' This method performs BOTH forward and backward pass for the network (calling loss.backward() is not necessary afterwards). For every pair of covisible images we create a feature match matrix which is memory-consuming. In a standard forward -> backward PyTorch workflow, those would be all computed (forward pass), then the loss would be computed and finally backpropagation would be ran. In our case, since we don't need the matrices to stick around, we backprop through matching of each image pair on-the-fly, accumulating the gradients at Features level. Then, we finally backpropagate from Features down to network parameters. ''' assert images.shape == features.shape N_scenes, N_per_scene = images.shape N_decisions = ((N_per_scene - 1) * N_per_scene) // 2 stats = np.zeros((N_scenes, N_decisions), dtype=object) # we detach features from the computation graph, so that when we call # .backward(), the computation will not flow down to the Unet. We # mark them as .requires_grad==True, so they will accumulate the # gradients across pairwise matches. detached_features = np.zeros(features.shape, dtype=object) for i in range(features.size): detached_features.flat[i] = features.flat[i].detached_and_grad_() # we process each scene in batch independently for i_scene in range(N_scenes): i_decision = 0 scene_features = detached_features[i_scene] scene_images = images[i_scene] # (N_per_scene choose 2) image pairs for i_image1 in range(N_per_scene): image1 = scene_images[i_image1] features1 = scene_features[i_image1] for i_image2 in range(i_image1+1, N_per_scene): image2 = scene_images[i_image2] features2 = scene_features[i_image2] # establish the match distribution and calculate the # gradient estimator match_dist = matcher.match_pair(features1, features2) loss, stats_ = self._loss_for_pair(match_dist, image1, image2) # this .backward() will accumulate in `detached_features` loss.backward() stats[i_scene, i_decision] = stats_ i_decision += 1 # here we "reattach" `detached_features` to the original `features`. # `torch.autograd.backward(leaves, grads)` API requires that we have # two equal length lists where for each grad-enabled leaf in `leaves` # we have a corresponding gradient tensor in `grads` leaves = [] grads = [] for feat, detached_feat in zip(features.flat, detached_features.flat): leaves.extend(feat.grad_tensors()) grads.extend([t.grad for t in detached_feat.grad_tensors()]) #for i in range(features.size): #leaves.extend(features.flat[i].grad_tensors()) #grads.extend([t.grad for t in detached_features.flat[i].grad_tensors()]) # finally propagate the gradients down to the network torch.autograd.backward(leaves, grads) return stats ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/loss/rewards.py ================================================ import torch from torch_dimcheck import dimchecked from disk import Image from disk.geom.epi import asymmdist_from_imgs class EpipolarReward: def __init__(self, th=2., lm_tp=1., lm_fp=-0.25): self.th = th self.lm_tp = lm_tp self.lm_fp = lm_fp @dimchecked def __call__( self, kps1: ['N', 2], kps2: ['M', 2], img1: Image, img2: Image ) -> ['N', 'M']: ''' assigns all pairs of keypoints across (kps1, kps2) a reward depending if the are correct or incorrect under epipolar constraints ''' good = self.classify(kps1, kps2, img1, img2) return self.lm_tp * good + self.lm_fp * (~good) @dimchecked def classify( self, kps1: ['N', 2], kps2: ['M', 2], img1: Image, img2: Image, ) -> ['N', 'M']: ''' classifies all pairs of keypoints across (kps1, kps2) as correct or incorrect depending on epipolar error ''' epi_1_to_2 = asymmdist_from_imgs(kps1.T, kps2.T, img1, img2).abs() epi_2_to_1 = asymmdist_from_imgs(kps2.T, kps1.T, img2, img1).abs() # the distance is asymmetric, so we check if both 2_to_1 is # correct and 1_to_2. return (epi_1_to_2 < self.th) & (epi_2_to_1 < self.th).T class DepthReward: def __init__(self, th=2., lm_tp=1., lm_fp=-0.25): self.th = th self.lm_tp = lm_tp self.lm_fp = lm_fp self._epipolar = EpipolarReward(th=th) @dimchecked def __call__( self, kps1: ['N', 2], kps2: ['M', 2], img1: Image, img2: Image ) -> ['N', 'M']: ''' classifies all (kp1, kp2) pairs as either * correct : within dist_α in reprojection * incorrect: above dist_α away in epipolar constraints * unknown : no depth is available and is not incorrect and assigns them rewards according to DepthReward parameters ''' # reproject to the other image. kps1_r = img2.project(img1.unproject(kps1.T)) # [2, N] kps2_r = img1.project(img2.unproject(kps2.T)) # [2, M] # compute pixel-space differences between (kp1, repr(kp2)) # and (repr(kp1), kp2) diff1 = kps2_r[:, None, :] - kps1.T[:, :, None] # [2, N, M] diff2 = kps1_r[:, :, None] - kps2.T[:, None, :] # [2, N, M] # NaNs indicate we had no depth available at this location has_depth = (torch.isfinite(diff1) & torch.isfinite(diff2)).all(dim=0) # threshold the distances close1 = torch.norm(diff1, p=2, dim=0) < self.th close2 = torch.norm(diff2, p=2, dim=0) < self.th epi_bad = ~self._epipolar.classify(kps1, kps2, img1, img2) good_pairs = close1 & close2 return self.lm_tp * good_pairs + self.lm_fp * epi_bad ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/model/__init__.py ================================================ from .disk import DISK from .consistent_matcher import ConsistentMatcher from .cycle_matcher import CycleMatcher ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/model/consistent_matcher.py ================================================ import torch from torch import nn from torch.distributions import Categorical from torch_dimcheck import dimchecked from disk import Features, NpArray, MatchDistribution from disk.geom import distance_matrix class ConsistentMatchDistribution(MatchDistribution): def __init__( self, features_1: Features, features_2: Features, inverse_T: float, ): self._features_1 = features_1 self._features_2 = features_2 self.inverse_T = inverse_T distances = distance_matrix( self.features_1().desc, self.features_2().desc, ) affinity = -inverse_T * distances self._cat_I = Categorical(logits=affinity) self._cat_T = Categorical(logits=affinity.T) self._dense_logp = None self._dense_p = None @dimchecked def dense_p(self) -> ['N', 'M']: if self._dense_p is None: self._dense_p = self._cat_I.probs * self._cat_T.probs.T return self._dense_p @dimchecked def dense_logp(self) -> ['N', 'M']: if self._dense_logp is None: self._dense_logp = self._cat_I.logits + self._cat_T.logits.T return self._dense_logp @dimchecked def _select_cycle_consistent(self, left: ['N'], right: ['M']) -> [2, 'K']: indexes = torch.arange(left.shape[0], device=left.device) cycle_consistent = right[left] == indexes paired_left = left[cycle_consistent] return torch.stack([ right[paired_left], paired_left, ], dim=0) @dimchecked def sample(self) -> [2, 'K']: samples_I = self._cat_I.sample() samples_T = self._cat_T.sample() return self._select_cycle_consistent(samples_I, samples_T) @dimchecked def mle(self) -> [2, 'K']: maxes_I = self._cat_I.logits.argmax(dim=1) maxes_T = self._cat_T.logits.argmax(dim=1) # FIXME UPSTREAM: this detachment is necessary until the bug is fixed maxes_I = maxes_I.detach() maxes_T = maxes_T.detach() return self._select_cycle_consistent(maxes_I, maxes_T) def features_1(self) -> Features: return self._features_1 def features_2(self) -> Features: return self._features_2 class ConsistentMatcher(torch.nn.Module): def __init__(self, inverse_T=1.): super(ConsistentMatcher, self).__init__() self.inverse_T = nn.Parameter(torch.tensor(inverse_T, dtype=torch.float32)) def extra_repr(self): return f'inverse_T={self.inverse_T.item()}' def match_pair(self, features_1: Features, features_2: Features): return ConsistentMatchDistribution(features_1, features_2, self.inverse_T) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/model/cycle_matcher.py ================================================ import torch, typing import numpy as np from torch_dimcheck import dimchecked from disk import NpArray, Features, MatchedPairs from disk.geom import distance_matrix class CycleMatcher: @dimchecked def match_features(self, feat_1: ['N', 'F'], feat_2: ['M', 'F']) -> [2, 'K']: dist_m = distance_matrix(feat_1, feat_2) if dist_m.shape[0] == 0 or dist_m.shape[1] == 0: msg = ''' Feature matching failed because one image has 0 detected features. This likely means that the algorithm has converged to a local optimum of detecting no features at all (0 reward). This can arise when lambda_fp and lambda_kp penalties are too high. Please check that your penalty annealing scheme is sound. It can also be that you are using a too low value of --warmup or --chunk-size ''' raise RuntimeError(msg) n_amin = torch.argmin(dist_m, dim=1) m_amin = torch.argmin(dist_m, dim=0) # nearest neighbor's nearest neighbor nnnn = m_amin[n_amin] # we have a cycle consistent match for each `i` such that # nnnn[i] == i. We create an auxiliary array to check for that n_ix = torch.arange(dist_m.shape[0], device=dist_m.device) mask = nnnn == n_ix # Now `mask` is a binary mask and n_amin[mask] is an index array. # We use nonzero to turn `n_amin[mask]` into an index array and return return torch.stack([ torch.nonzero(mask, as_tuple=False)[:, 0], n_amin[mask], ], dim=0) def match_pairwise( self, features: NpArray[Features], # [N_scenes, N_per_scene] ): # -> [N_scenes, (N_per_scene choose 2)] N_scenes, N_per_scene = features.shape N_combinations = N_per_scene * (N_per_scene - 1) // 2 matched_pairs = np.zeros((N_scenes, N_combinations), dtype=object) for i_scene, scene_f in enumerate(features): i_decision = 0 for i in range(N_per_scene): features1 = scene_f[i] for j in range(i+1, N_per_scene): features2 = scene_f[j] matched_pairs[i_scene, i_decision] = MatchedPairs( features1.kp, features2.kp, self.match_features(features1.desc, features2.desc), ) i_decision += 1 return matched_pairs ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/model/detector.py ================================================ import torch import numpy as np import torch.nn.functional as F from torch.distributions import Categorical, Bernoulli from torch_dimcheck import dimchecked from disk import Features, NpArray from disk.model.nms import nms @dimchecked def select_on_last(values: [..., 'T'], indices: [...]) -> [...]: ''' WARNING: this may be reinventing the wheel, but I don't know how to do it otherwise with PyTorch. This function uses an array of linear indices `indices` between [0, T] to index into `values` which has equal shape as `indices` and then one extra dimension of size T. ''' return torch.gather( values, -1, indices[..., None] ).squeeze(-1) @dimchecked def point_distribution( logits: [..., 'T'] ) -> ([...], [...], [...]): ''' Implements the categorical proposal -> Bernoulli acceptance sampling scheme. Given a tensor of logits, performs samples on the last dimension, returning a) the proposals b) a binary mask indicating which ones were accepted c) the logp-probability of (proposal and acceptance decision) ''' proposal_dist = Categorical(logits=logits) proposals = proposal_dist.sample() proposal_logp = proposal_dist.log_prob(proposals) accept_logits = select_on_last(logits, proposals).squeeze(-1) accept_dist = Bernoulli(logits=accept_logits) accept_samples = accept_dist.sample() accept_logp = accept_dist.log_prob(accept_samples) accept_mask = accept_samples == 1. logp = proposal_logp + accept_logp return proposals, accept_mask, logp class Keypoints: ''' A simple, temporary struct used to store keypoint detections and their log-probabilities. After construction, merge_with_descriptors is used to select corresponding descriptors from unet output. ''' @dimchecked def __init__(self, xys: ['N', 2], logp: ['N']): self.xys = xys self.logp = logp @dimchecked def merge_with_descriptors(self, descriptors: ['C', 'H', 'W']) -> Features: ''' Select descriptors from a dense `descriptors` tensor, at locations given by `self.xys` ''' x, y = self.xys.T desc = descriptors[:, y, x].T desc = F.normalize(desc, dim=-1) return Features(self.xys.to(torch.float32), desc, self.logp) class Detector: def __init__(self, window=8): self.window = window @dimchecked def _tile(self, heatmap: ['B', 'C', 'H', 'W']) -> ['B', 'C', 'h', 'w', 'T']: ''' Divides the heatmap `heatmap` into tiles of size (v, v) where v==self.window. The tiles are flattened, resulting in the last dimension of the output T == v * v. ''' v = self.window b, c, h, w = heatmap.shape assert heatmap.shape[2] % v == 0 assert heatmap.shape[3] % v == 0 return heatmap.unfold(2, v, v) \ .unfold(3, v, v) \ .reshape(b, c, h // v, w // v, v*v) @dimchecked def sample(self, heatmap: ['B', 1, 'H', 'W']) -> NpArray[Keypoints]: ''' Implements the training-time grid-based sampling protocol ''' v = self.window dev = heatmap.device B, _, H, W = heatmap.shape assert H % v == 0 assert W % v == 0 # tile the heatmap into [window x window] tiles and pass it to # the categorical distribution. heatmap_tiled = self._tile(heatmap).squeeze(1) proposals, accept_mask, logp = point_distribution(heatmap_tiled) # create a grid of xy coordinates and tile it as well cgrid = torch.stack(torch.meshgrid( torch.arange(H, device=dev), torch.arange(W, device=dev), )[::-1], dim=0).unsqueeze(0) cgrid_tiled = self._tile(cgrid) # extract xy coordinates from cgrid according to indices sampled # before xys = select_on_last( self._tile(cgrid).repeat(B, 1, 1, 1, 1), # unsqueeze and repeat on the (xy) dimension to grab # both components from the grid proposals.unsqueeze(1).repeat(1, 2, 1, 1) ).permute(0, 2, 3, 1) # -> bhw2 keypoints = [] for i in range(B): mask = accept_mask[i] keypoints.append(Keypoints( xys[i][mask], logp[i][mask], )) return np.array(keypoints, dtype=object) @dimchecked def nms( self, heatmap: ['B', 1, 'H', 'W'], n=None, **kwargs ) -> NpArray[Keypoints]: ''' Inference-time nms-based detection protocol ''' heatmap = heatmap.squeeze(1) nmsed = nms(heatmap, **kwargs) keypoints = [] for b in range(heatmap.shape[0]): yx = nmsed[b].nonzero(as_tuple=False) logp = heatmap[b][nmsed[b]] xy = torch.flip(yx, (1, )) if n is not None: n_ = min(n+1, logp.numel()) # torch.kthvalue picks in ascending order and we want to pick in # descending order, so we pick n-th smallest among -logp to get # -threshold minus_threshold, _indices = torch.kthvalue(-logp, n_) mask = logp > -minus_threshold xy = xy[mask] logp = logp[mask] keypoints.append(Keypoints(xy, logp)) return np.array(keypoints, dtype=object) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/model/disk.py ================================================ import torch import numpy as np from torch_dimcheck import dimchecked from unets import Unet, thin_setup from disk import NpArray, Features from disk.model.detector import Detector DEFAULT_SETUP = {**thin_setup, 'bias': True, 'padding': True} class DISK(torch.nn.Module): def __init__( self, desc_dim=128, window=8, setup=DEFAULT_SETUP, kernel_size=5, ): super(DISK, self).__init__() self.desc_dim = desc_dim self.unet = Unet( in_features=3, size=kernel_size, down=[16, 32, 64, 64, 64], up=[64, 64, 64, desc_dim+1], setup=setup, ) self.detector = Detector(window=window) @dimchecked def _split(self, unet_output: ['B', 'C', 'H', 'W']) \ -> (['B', 'C-1', 'H', 'W'], ['B', 1, 'H', 'W']): ''' Splits the raw Unet output into descriptors and detection heatmap. ''' assert unet_output.shape[1] == self.desc_dim + 1 descriptors = unet_output[:, :self.desc_dim] heatmap = unet_output[:, self.desc_dim:] return descriptors, heatmap @dimchecked def features( self, images: ['B', 'C', 'H', 'W'], kind='rng', **kwargs ) -> NpArray[Features]: ''' allowed values for `kind`: * rng * nms ''' B = images.shape[0] try: descriptors, heatmaps = self._split(self.unet(images)) except RuntimeError as e: if 'Trying to downsample' in str(e): msg = ('U-Net failed because the input is of wrong shape. With ' 'a n-step U-Net (n == 4 by default), input images have ' 'to have height and width as multiples of 2^n (16 by ' 'default).') raise RuntimeError(msg) from e else: raise keypoints = { 'rng': self.detector.sample, 'nms': self.detector.nms, }[kind](heatmaps, **kwargs) features = [] for i in range(B): features.append(keypoints[i].merge_with_descriptors(descriptors[i])) return np.array(features, dtype=object) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/disk/model/nms.py ================================================ import torch import torch.nn.functional as F from torch_dimcheck import dimchecked @dimchecked def nms(signal: ['B', 'H', 'W'], window_size=5, cutoff=0.) -> ['B', 'H', 'W']: if window_size % 2 != 1: raise ValueError(f'window_size has to be odd, got {window_size}') _, ixs = F.max_pool2d( signal, kernel_size=window_size, stride=1, padding=window_size // 2, return_indices=True, ) # FIXME UPSTREAM: a workaround wrong shape of `ixs` until # https://github.com/pytorch/pytorch/issues/38986 # is fixed if len(ixs.shape) == 4: assert ixs.shape[0] == 1 ixs = ixs.squeeze(0) h, w = signal.shape[1:] coords = torch.arange(h * w, device=signal.device).reshape(1, h, w) nms = ixs == coords if cutoff is None: return nms else: return nms & (signal > cutoff) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/download_dataset ================================================ #/usr/bin/env bash # get the data (zipped) wget -r https://datasets.epfl.ch/disk-data/index.html cd datasets.epfl.ch/disk-data; # check for MD5 match md5sum -c md5sum.txt; if [ $? ]; then echo "MD5 mismatch (corrupt download)"; return 1; fi # create a crude progress counter ITER=1; TOTAL=138; # unzip test scenes cd imw2020-val/scenes; for SCENE_TAR in *.tar.gz; do echo "Unzipping $SCENE_TAR ($ITER / $TOTAL)"; tar -xz --strip-components=3 -f $SCENE_TAR; rm $SCENE_TAR; ITER=$(($ITER+1)); done # unzip megadepth scenes cd ../../megadepth/scenes; for SCENE_TAR in *.tar; do echo "Unzipping $SCENE_TAR ($ITER / $TOTAL)"; tar -x --strip-components=3 -f $SCENE_TAR; rm $SCENE_TAR; ITER=$(($ITER+1)); done # create symlinks as train and test datasets cd ../../ ln -s megadepth train ln -s imw2020-val test ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/match.py ================================================ import torch, os, argparse, h5py, warnings, imageio import numpy as np from tqdm import tqdm from torch_dimcheck import dimchecked from disk.geom import distance_matrix MAX_FULL_MATRIX = 10000**2 if __name__ == '__main__': parser = argparse.ArgumentParser( formatter_class=argparse.ArgumentDefaultsHelpFormatter ) parser.add_argument( 'h5_path', help=('Path to the .h5 artifacts directory (containing descriptors.h5 ' 'and keypoints.h5)') ) parser.add_argument( '--f16', action='store_true', help=('Compute distance matrices in half precision (offers a ' 'substantial speedup with Turing and later GPUs).') ) parser.add_argument( '--u16', action='store_true', help=('Store matches with as uin16. This won\'t work if you have ' 'more than ~65k features in an image, but otherwise saves ' 'disk space.') ) parser.add_argument( '--rt', type=float, default=None, help='Ratio test value. Leave unspecified to perform no ratio test' ) parser.add_argument( '--save-threshold', type=float, default=-float('inf'), help=('Don\'t save matches between a pair of images if less than ' '--save-threshold were found.') ) parser.add_argument( '--max-full-matrix', type=int, default=10000**2, help=('this is the biggest match matrix that will attempt to be ' 'computed allocated in memory. Matrices bigger than that will ' 'be split into chunks of at most this size. Reduce if your ' 'script runs out of memory.') ) args = parser.parse_args() args.rt = args.rt if args.rt is not None else 1. MAX_FULL_MATRIX = args.max_full_matrix DEV = torch.device('cuda' if torch.cuda.is_available() else 'cpu') print(f'Processing {args.h5_path} with DEV={DEV}') class H5Store: def __init__(self, path, dtype=torch.float32): self.ds_file = h5py.File(os.path.join(path, 'descriptors.h5'), 'r') self.kp_file = h5py.File(os.path.join(path, 'keypoints.h5'), 'r') self.dtype = dtype def keys(self): return list(self.ds_file.keys()) def __getitem__(self, ix): descriptors = self.ds_file[ix][()] desc = torch.from_numpy(descriptors) if desc.dtype != self.dtype: warnings.warn(f'Type mismatch: converting {desc.dtype} to {self.dtype}') return desc.to(self.dtype) return desc def get_kp(self, ix): return self.kp_file[ix][()] def pair_key(key_1, key_2): if key_2 > key_1: return key_1, key_2 elif key_1 > key_2: return key_2, key_1 else: raise ValueError(f'Equal keys {key_1}, {key_2}') @dimchecked def _binary_to_index(binary_mask: ['N'], ix2: ['M']) -> [2, 'M']: return torch.stack([ torch.nonzero(binary_mask, as_tuple=False)[:, 0], ix2 ], dim=0) @dimchecked def _ratio_one_way(dist_m: ['N', 'M'], rt) -> [2, 'K']: val, ix = torch.topk(dist_m, k=2, dim=1, largest=False) ratio = val[:, 0] / val[:, 1] passed_test = ratio < rt ix2 = ix[passed_test, 0] return _binary_to_index(passed_test, ix2) @dimchecked def _match_chunkwise(ds1: ['N', 'F'], ds2: ['M', 'F'], rt) -> [2, 'K']: chunk_size = MAX_FULL_MATRIX // ds1.shape[0] matches = [] start = 0 while start < ds2.shape[0]: ds2_chunk = ds2[start:start+chunk_size] dist_m = distance_matrix(ds1, ds2_chunk) one_way = _ratio_one_way(dist_m, rt) one_way[1] += start matches.append(one_way) start += chunk_size return torch.cat(matches, dim=1) @dimchecked def _match(ds1: ['N', 'F'], ds2: ['M', 'F'], rt) -> [2, 'K']: size = ds1.shape[0] * ds2.shape[0] fwd = _match_chunkwise(ds1, ds2, rt) bck = _match_chunkwise(ds2, ds1, rt) bck = torch.flip(bck, (0, )) merged = torch.cat([fwd, bck], dim=1) unique, counts = torch.unique(merged, dim=1, return_counts=True) return unique[:, counts == 2] def match(desc_1, desc_2, rt=1., u16=False): matched_pairs = _match(desc_1, desc_2, rt) matches = matched_pairs.cpu().numpy() if u16: matches = matches.astype(np.uint16) return matches def brute_match(descriptors, hdf): keys = sorted(list(descriptors.keys())) n_total = (len(keys) * (len(keys) - 1)) // 2 saved = 0 pbar = tqdm(total=n_total) for i, key_1 in enumerate(keys): desc_1 = descriptors[key_1].to(DEV) group = hdf.require_group(key_1) for key_2 in keys[i+1:]: if key_2 in group.keys(): continue desc_2 = descriptors[key_2].to(DEV) try: matches = match(desc_1, desc_2, rt=args.rt, u16=args.u16) n = matches.shape[1] if n >= args.save_threshold: group.create_dataset(key_2, data=matches) saved += 1 except RuntimeError: print('Error, skipping...') n = 0 pbar.update(1) pbar.set_postfix(left=str(key_1), s=saved, n=n) pbar.close() class MatcherWrapper: class InnerWrapper: def __init__(self): if args.rt is None: self._cycle_matcher = CycleMatcher() else: self._cycle_matcher = CycleRatioMatcher(args.rt) @dimchecked def raw_mle_match_pair(self, ds1: ['N', 'F'], ds2: ['M', 'F']) -> [2, 'K']: dist = distance_matrix(ds1, ds2, normalized=True) return self._cycle_matcher(dist) def __init__(self): self.matcher = MatcherWrapper.InnerWrapper() if __name__ == '__main__': dtype = torch.float16 if args.f16 else torch.float32 described_samples = H5Store(args.h5_path, dtype=dtype) with h5py.File(os.path.join(args.h5_path, 'matches.h5'), 'a') as hdf: brute_match(described_samples, hdf) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/requirements.txt ================================================ torch imageio h5py opencv-python pydegensac tensorboard tensorflow tqdm ./submodules/torch-localize ./submodules/torch-dimcheck ./submodules/unets ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/train.py ================================================ import torch, random, argparse from tqdm import tqdm from disk.common import Logger from disk.data import get_datasets from disk.model import DISK, ConsistentMatcher, CycleMatcher from disk.loss import Reinforce, DepthReward, EpipolarReward, \ PoseQuality, DiscreteMetric parser = argparse.ArgumentParser( formatter_class=argparse.ArgumentDefaultsHelpFormatter ) parser.add_argument( 'data_path', type=str, help=('Path to the datasets. This should point to the location with ' '`megadepth` and `imw2020-val` directories.'), ) parser.add_argument( '--reward', choices=['epipolar', 'depth'], default='depth', help='Reward criterion to use' ) parser.add_argument( '--save-dir', type=str, default='artifacts', help=('Path for saving artifacts (checkpoints and tensorboard logs). Will ' 'be created if doesn\'t exist') ) parser.add_argument( '--batch-size', type=int, default=2, help='The size of the batch', ) parser.add_argument( '--chunk-size', type=int, default=5000, help=('The number of batches in the (pseudo) epoch. We run validation and ' 'save a checkpoint once per epoch, as well as use them for scheduling' ' the reward annealing'), ) parser.add_argument( '--substep', type=int, default=1, help=('Number of batches to accumulate gradients over. Can be increased to' ' compensate for smaller batches on GPUs with less VRAM'), ) parser.add_argument( '--warmup', type=int, default=250, help=('The first (pseudo) epoch can be much shorter, this avoids wasting ' 'time.'), ) parser.add_argument( '--height', type=int, default=768, help='We train on images resized to (height, width)', ) parser.add_argument( '--width', type=int, default=768, help='We train on images resized to (height, width)', ) parser.add_argument( '--train-scene-limit', type=int, default=1000, help=('Different scenes in the dataset have a different amount of ' 'covisible image triplets. We (randomly) subselect ' '--train-scene-limit of them for training, to avoid introducing ' 'a data bias towards those scenes.') ) parser.add_argument( '--test-scene-limit', type=int, default=250, help=('Different scenes in the dataset have a different amount of ' 'covisible image triplets. We (randomly) subselect ' '--test-scene-limit of them for validation to avoid ' 'to avoid introducing a bias towards those scenes.') ) parser.add_argument( '--n-epochs', type=int, default=50, help='Number of (pseudo) epochs to train for', ) parser.add_argument( '--desc-dim', type=int, default=128, help='Dimensionality of descriptors to produce. 128 by default', ) parser.add_argument( '--load', type=str, default=None, help='Path to a checkpoint to resume training from', ) parser.add_argument( '--epoch-offset', type=int, default=0, help=('Start counting epochs from this value. Influences the annealing ' 'procedures, and is therefore useful when restarting from a ' 'checkpoint'), ) args = parser.parse_args() DEV = torch.device('cuda' if torch.cuda.is_available() else 'cpu') print(f'Using device: {DEV}') random.seed(42) # create the feature extractor and descriptor. It does not handle matching, # this will come later disk = DISK(window=8, desc_dim=args.desc_dim) # maybe load from a checkpoint if args.load is not None: state_dict = torch.load(args.load, map_location='cpu')['disk'] disk.load_state_dict(state_dict) disk = disk.to(DEV) # get training datasets. They will yield Images as defined in # disk/common/image.py. This structure contains the actual bitmap, # camera position and intrinsics (focal length, etc) and optionally # depth maps. train_chunk_iter, test_iter = get_datasets( args.data_path, no_depth=args.reward == 'epipolar', batch_size=args.batch_size, chunk_size=args.chunk_size, substep=args.substep, n_epochs=args.n_epochs, train_limit=args.train_scene_limit, test_limit=args.test_scene_limit, crop_size=(args.height, args.width), ) logger = Logger(args.save_dir) # set up the inference-time matching algorthim and validation metrics valtime_matcher = CycleMatcher() pose_quality_metric = PoseQuality() disc_quality_metric = DiscreteMetric(th=1.5, lm_kp=-0.01) if args.reward == 'epipolar': reward_class = EpipolarReward elif args.reward == 'depth': reward_class = DepthReward else: raise ValueError(f'Unknown reward mode `{args.reward}`') optim = torch.optim.Adam(disk.parameters(), lr=1e-4) for e, chunk in enumerate(train_chunk_iter): # this allows us to offset the annealing below, for instance when resuming # training from a checkpoint e += args.epoch_offset # this is an important part: if we start with a random initialization # it's pretty bad at first. Therefore if we set penalties for bad matches, # the algorithm will quickly converge to the local optimum of not doing # anything (which yields 0 reward, still better than negative). # Therefore in the first couple of epochs I start with very low (0) # penalty and then gradually increase it. The very first epoch can be # short, and is controllable by the --warmup switch (default 250) if e == 0: ramp = 0. elif e == 1: ramp = 0.1 else: ramp = min(1., 0.1 + 0.2 * e) loss_fn = Reinforce( reward_class( lm_tp=1., lm_fp=-0.25 * ramp, th=1.5, ), lm_kp=-0.001 * ramp ) # this is a module which is used to perform matching. It has a single # parameter called θ_M in the paper and `inverse_T` here. It could be # learned but I instead anneal it between 15 and 50 inverse_T = 15 + 35 * min(1., 0.05 * e) matcher = ConsistentMatcher(inverse_T=inverse_T).to(DEV) matcher.requires_grad_(False) # the main training loop for i, batch in enumerate(tqdm(chunk, total=args.chunk_size)): # get the data onto GPU bitmaps, images = batch.to(DEV, non_blocking=True) # some reshaping because the image pairs are shaped like # [2, batch_size, rgb, height, width] and DISK accepts them # as [2 * batch_size, rgb, height, width] bitmaps_ = bitmaps.reshape(-1, *bitmaps.shape[2:]) # extract the features. They are a numpy array of size [2 * batch_size] # which contains objects of type disk.common.Features features_ = disk.features(bitmaps_, kind='rng') # reshape them back to [2, batch_size] features = features_.reshape(*bitmaps.shape[:2]) # normally we'd do something like # > matches = matcher(features) # > loss, stats = loss_fn(matches, images) # > loss.backward() # but here I do a trick to squeeze bigger batch sizes in GPU memory # (the algorithm is very memory hungry because we create huge feature # distance matrices). This is described in the paper in section 4. # in "optimization" stats = loss_fn.accumulate_grad(images, features, matcher) del bitmaps, images, features # Make an optimization step. args.substep is there to allow making bigger # "batches" by just accumulating gradient across several of those. # Again, this is because the algorithm is so memory hungry it can be # an issue to have batches bigger than 1. if i % args.substep == args.substep - 1: optim.step() optim.zero_grad() for sample in stats.flat: logger.add_scalars(sample, prefix='train') # first epoch can be cut short after args.warmup optimization steps if e == 0 and i == args.warmup: break torch.save({ 'disk': disk.state_dict(), }, f'{args.save_dir}/save-{e}.pth') # validation loop for i, batch in enumerate(tqdm(test_iter)): bitmaps, images = batch.to(DEV, non_blocking=True) bitmaps_ = bitmaps.reshape(-1, *bitmaps.shape[2:]) with torch.no_grad(): # at validation we use NMS extraction... features_ = disk.features(bitmaps_, kind='nms') features = features_.reshape(*bitmaps.shape[:2]) # ...and nearest-neighbor matching matches = valtime_matcher.match_pairwise(features) d_stats = disc_quality_metric(images, matches) p_stats = pose_quality_metric(images, matches) for d_stat in d_stats.flat: # those are metrics similar to the ones used at training time: # number of true/false positives, etc. They are called # `discrete` because I compute them after actually performing # mutual nearest neighbor (cycle consistent) matching, rather # than report the expectations, as I do at trianing time logger.add_scalars(d_stat, prefix='test/discrete') for p_stat in p_stats.flat: # those are metrics related to camera pose estimation: error in # camera rotation and translation logger.add_scalars(p_stat, prefix='test/pose') del bitmaps, images, features print('Finished') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/disk/view_h5.py ================================================ import argparse, h5py, os, imageio, torch import matplotlib.pyplot as plt from tqdm import tqdm import torch.nn.functional as F from disk.common.vis import MultiFigure parser = argparse.ArgumentParser( description='Script for viewing the keypoints.h5 and matches.h5 contents', formatter_class=argparse.ArgumentDefaultsHelpFormatter ) parser.add_argument('h5_path', help='Path to .h5 artifacts') parser.add_argument('image_path', help='Path to corresponding images') parser.add_argument( '--image-extension', default='jpg', type=str, help='Extension of the images' ) parser.add_argument( '--save', default=None, type=str, help=('If give a path, saves the visualizations rather than displaying ' 'them interactively') ) parser.add_argument( 'mode', choices=['keypoints', 'matches'], help=('Whether to dispay the keypoints (in a single image) or matches ' '(across pairs)') ) args = parser.parse_args() save_i = 1 def show_or_save(): global save_i if args.save is None: plt.show() return else: path = os.path.join(os.path.expanduser(args.save), f'{save_i}.png') plt.savefig(path) print(f'Saved to {path}') save_i += 1 plt.close() def view_keypoints(h5_path, image_path): keypoint_f = h5py.File(os.path.join(h5_path, 'keypoints.h5'), 'r') fname_to_id = {} for filename in tqdm(list(keypoint_f.keys())): keypoints = keypoint_f[filename][()] fname_with_ext = filename + '.' + args.image_extension path = os.path.join(image_path, fname_with_ext) if not os.path.isfile(path): raise IOError(f'Invalid image path {path}') image = imageio.imread(path) scale = 10 / max(image.shape) fig, ax = plt.subplots(figsize=(scale * image.shape[1], scale * image.shape[0]), constrained_layout=True) ax.axis('off') ax.imshow(image) ax.scatter(keypoints[:, 0], keypoints[:, 1], s=7, marker='o', color='white', edgecolors='black', linewidths=0.5) show_or_save() def view_matches(h5_path, image_path): keypoint_f = h5py.File(os.path.join(h5_path, 'keypoints.h5'), 'r') match_file = h5py.File(os.path.join(h5_path, 'matches.h5'), 'r') added = set() for key_1 in match_file.keys(): for key_2 in match_file[key_1].keys(): matches = match_file[key_1][key_2][()] kp_1 = keypoint_f[key_1][()] kp_2 = keypoint_f[key_2][()] path_1 = os.path.join(image_path, key_1 + '.' + args.image_extension) path_2 = os.path.join(image_path, key_2 + '.' + args.image_extension) bm_1 = torch.from_numpy(imageio.imread(path_1)) bm_2 = torch.from_numpy(imageio.imread(path_2)) bigger_x = max(bm_1.shape[0], bm_2.shape[0]) bigger_y = max(bm_1.shape[1], bm_2.shape[1]) padded_1 = F.pad(bm_1, ( 0, 0, 0, bigger_y - bm_1.shape[1], 0, bigger_x - bm_1.shape[0] )) padded_2 = F.pad(bm_2, ( 0, 0, 0, bigger_y - bm_2.shape[1], 0, bigger_x - bm_2.shape[0] )) fig = MultiFigure(padded_1, padded_2) left = torch.from_numpy(kp_1[matches[0]]).T right = torch.from_numpy(kp_2[matches[1]]).T fig.mark_xy(left, right) show_or_save() if args.mode == 'keypoints': view_keypoints(args.h5_path, args.image_path) elif args.mode == 'matches': view_matches(args.h5_path, args.image_path) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/LICENSE ================================================ Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported CREATIVE COMMONS CORPORATION IS NOT A LAW FIRM AND DOES NOT PROVIDE LEGAL SERVICES. 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Your use of the source code for these subcomponents is subject to the terms and conditions of the following licenses. ===== pytorch/pytorch https://github.com/pytorch/pytorch From PyTorch: Copyright (c) 2016- Facebook, Inc (Adam Paszke) Copyright (c) 2014- Facebook, Inc (Soumith Chintala) Copyright (c) 2011-2014 Idiap Research Institute (Ronan Collobert) Copyright (c) 2012-2014 Deepmind Technologies (Koray Kavukcuoglu) Copyright (c) 2011-2012 NEC Laboratories America (Koray Kavukcuoglu) Copyright (c) 2011-2013 NYU (Clement Farabet) Copyright (c) 2006-2010 NEC Laboratories America (Ronan Collobert, Leon Bottou, Iain Melvin, Jason Weston) Copyright (c) 2006 Idiap Research Institute (Samy Bengio) Copyright (c) 2001-2004 Idiap Research Institute (Ronan Collobert, Samy Bengio, Johnny Mariethoz) From Caffe2: Copyright (c) 2016-present, Facebook Inc. All rights reserved. All contributions by Facebook: Copyright (c) 2016 Facebook Inc. All contributions by Google: Copyright (c) 2015 Google Inc. All rights reserved. All contributions by Yangqing Jia: Copyright (c) 2015 Yangqing Jia All rights reserved. All contributions from Caffe: Copyright(c) 2013, 2014, 2015, the respective contributors All rights reserved. All other contributions: Copyright(c) 2015, 2016 the respective contributors All rights reserved. Caffe2 uses a copyright model similar to Caffe: each contributor holds copyright over their contributions to Caffe2. The project versioning records all such contribution and copyright details. If a contributor wants to further mark their specific copyright on a particular contribution, they should indicate their copyright solely in the commit message of the change when it is committed. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the names of Facebook, Deepmind Technologies, NYU, NEC Laboratories America and IDIAP Research Institute nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ===== pytorch/vision https://github.com/pytorch/vision BSD 3-Clause License Copyright (c) Soumith Chintala 2016, All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ===== tomrunia/OpticalFlow_Visualization https://github.com/tomrunia/OpticalFlow_Visualization # MIT License # # Copyright (c) 2018 Tom Runia # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to conditions. # # Author: Tom Runia # Date Created: 2018-08-03 ===== ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/README.md ================================================ # R2D2: Reliable and Repeatable Detector and Descriptor # This repository contains the implementation of the following [paper](https://europe.naverlabs.com/research/publications/r2d2-reliable-and-repeatable-detectors-and-descriptors-for-joint-sparse-local-keypoint-detection-and-feature-extraction/): ```text @inproceedings{r2d2, author = {Jerome Revaud and Philippe Weinzaepfel and C{\'{e}}sar Roberto de Souza and Martin Humenberger}, title = {{R2D2:} Repeatable and Reliable Detector and Descriptor}, booktitle = {NeurIPS}, year = {2019}, } ``` License ------- Our code is released under the Creative Commons BY-NC-SA 3.0 (see [LICENSE](LICENSE) for more details), available only for non-commercial use. Getting started --------------- You just need Python 3.6+ equipped with standard scientific packages and PyTorch1.1+. Typically, conda is one of the easiest way to get started: ```bash conda install python tqdm pillow numpy matplotlib scipy conda install pytorch torchvision cudatoolkit=10.1 -c pytorch ``` Pretrained models ----------------- For your convenience, we provide three pre-trained models in the `models/` folder: - `r2d2_WAF_N16.pt`: this is the model used in most experiments of the paper (on HPatches `MMA@3=0.686`). It was trained with Web images (`W`), Aachen day-time images (`A`) and Aachen optical flow pairs (`F`) - `r2d2_WASF_N16.pt`: this is the model used in the visual localization experiments (on HPatches `MMA@3=0.721`). It was trained with Web images (`W`), Aachen day-time images (`A`), Aachen day-night synthetic pairs (`S`), and Aachen optical flow pairs (`F`). - `r2d2_WASF_N8.pt`: Same than previous model, but trained with `N=8` instead of `N=16` in the repeatability loss. In other words, it outputs a higher density of keypoints. This can be interesting for certain applications like visual localization, but it implies a drop in MMA since keypoints gets slighlty less reliable. For more details about the training data, see the dedicated section below. Here is a table that summarizes the performance of each model: | model name | model size
(#weights)| number of
keypoints |MMA@3 on
HPatches| |------------------|:-----------------------:|:----------------------:|:------------------:| |`r2d2_WAF_N16.pt` | 0.5M | 5K | 0.686 | |`r2d2_WASF_N16.pt` | 0.5M | 5K | 0.721 | |`r2d2_WASF_N8_big.pt`| 1.0M | 10K | 0.692 | Feature extraction ------------------ To extract keypoints for a given image, simply execute: ```bash python extract.py --model models/r2d2_WASF_N16.pt --images imgs/brooklyn.png --top-k 5000 ``` This also works for multiple images (separated by spaces) or a `.txt` image list. For each image, this will save the `top-k` keypoints in a file with the same path as the image and a `.r2d2` extension. For example, they will be saved in `imgs/brooklyn.png.r2d2` for the sample command above. The keypoint file is in the `npz` numpy format and contains 3 fields: - `keypoints` (`N x 3`): keypoint position (x, y and scale). Scale denotes here the patch diameters in pixels. - `descriptors` (`N x 128`): l2-normalized descriptors. - `scores` (`N`): keypoint scores (the higher the better). *Note*: You can modify the extraction parameters (scale factor, scale range...). Run `python extract.py --help` for more information. By default, they corespond to what is used in the paper, i.e., a scale factor equal to `2^0.25` (`--scale-f 1.189207`) and image size in the range `[256, 1024]` (`--min-size 256 --max-size 1024`). *Note2*: You can significantly improve the `MMA@3` score (by ~4 pts) if you can afford more computations. To do so, you just need to increase the upper-limit on the scale range by replacing `--min-size 256 --max-size 1024` with `--min-size 0 --max-size 9999 --min-scale 0.3 --max-scale 1.0`. Feature extraction with kapture datasets ------------------ Kapture is a pivot file format, based on text and binary files, used to describe SFM (Structure From Motion) and more generally sensor-acquired data. It is available at https://github.com/naver/kapture. It contains conversion tools for popular formats and several popular datasets are directly available in kapture. It can be installed with: ```bash pip install kapture ``` Datasets can be downloaded with: ```bash kapture_download_dataset.py update kapture_download_dataset.py list # e.g.: install mapping and query of Extended-CMU-Seasons_slice22 kapture_download_dataset.py install "Extended-CMU-Seasons_slice22_*" ``` If you want to convert your own dataset into kapture, please find some examples [here](https://github.com/naver/kapture/blob/master/doc/datasets.adoc). Once installed, you can extract keypoints for your kapture dataset with: ```bash python extract_kapture.py --model models/r2d2_WASF_N16.pt --kapture-root pathto/yourkapturedataset --top-k 5000 ``` Run `python extract_kapture.py --help` for more information on the extraction parameters. Evaluation on HPatches ---------------------- The evaluation is based on the [code](https://github.com/mihaidusmanu/d2-net) from [D2-Net](https://dsmn.ml/publications/d2-net.html). ```bash git clone https://github.com/mihaidusmanu/d2-net.git cd d2-net/hpatches_sequences/ bash download.sh bash download_cache.sh cd ../.. ln -s d2-net/hpatches_sequences # finally create a soft-link ``` Once this is done, extract all the features: ```bash python extract.py --model models/r2d2_WAF_N16.pt --images d2-net/image_list_hpatches_sequences.txt ``` Finally, evaluate using the iPython notebook `d2-net/hpatches_sequences/HPatches-Sequences-Matching-Benchmark.ipynb`. You should normally get the following `MMA` plot: ![image](https://user-images.githubusercontent.com/56719813/67966238-d3cc6500-fc03-11e9-969b-5f086da26e34.png). **New**: we have uploaded in the `results/` folder some pre-computed plots that you can visualize using the aforementioned ipython notebook from `d2-net` (you need to place them in the `d2-net/hpatches_sequences/cache/` folder). - `r2d2_*_N16.size-256-1024.npy`: keypoints were extracted using a limited image resolution (i.e. with `python extract.py --min-size 256 --max-size 1024 ...`) - `r2d2_*_N16.scale-0.3-1.npy`: keypoints were extracted using a full image resolution (i.e. with `python extract.py --min-size 0 --max-size 9999 --min-scale 0.3 --max-scale 1.0`). Here is a summary of the results: | result file | training set | resolution | MMA@3 on
HPatches| note | |--------------|:------------:|:----------:|:-------------------:|------| |[r2d2_W_N16.scale-0.3-1.npy](results/r2d2_W_N16.scale-0.3-1.npy) | `W` only | full | 0.699 | no annotation whatsoever | |[r2d2_WAF_N16.size-256-1024.npy](results/r2d2_WAF_N16.size-256-1024.npy) | `W`+`A`+`F` | 1024 px | 0.686 | as in NeurIPS paper | |[r2d2_WAF_N16.scale-0.3-1.npy](results/r2d2_WAF_N16.scale-0.3-1.npy) | `W`+`A`+`F` | full | 0.718 | +3.2% just from resolution | |[r2d2_WASF_N16.size-256-1024.npy](results/r2d2_WASF_N16.size-256-1024.npy) | `W`+`A`+`S`+`F` | 1024 px | 0.721 | with style transfer | |[r2d2_WASF_N16.scale-0.3-1.npy](results/r2d2_WASF_N16.scale-0.3-1.npy) | `W`+`A`+`S`+`F` | full | 0.758 | +3.7% just from resolution | Evaluation on visuallocalization.net ---------------------- In our paper, we report visual localization results on the Aachen Day-Night dataset (nighttime images) available at visuallocalization.net. We used the provided local feature evaluation pipeline provided here: https://github.com/tsattler/visuallocalizationbenchmark/tree/master/local_feature_evaluation In the meantime, the ground truth poses as well as the error thresholds of the Aachen nighttime images (which are used for the local feature evaluation) have been improved and changed on the website, thus, the original results reported in the paper cannot be reproduced. Training the model ------------------ We provide all the code and data to retrain the model as described in the paper. ### Downloading training data ### The first step is to download the training data. First, create a folder that will host all data in a place where you have sufficient disk space (15 GB required). ```bash DATA_ROOT=/path/to/data mkdir -p $DATA_ROOT ln -fs $DATA_ROOT data mkdir $DATA_ROOT/aachen ``` Then, manually download the [Aachen dataset here](https://drive.google.com/drive/folders/1fvb5gwqHCV4cr4QPVIEMTWkIhCpwei7n) and save it as `$DATA_ROOT/aachen/database_and_query_images.zip`. Finally, execute the download script to complete the installation. It will download the remaining training data and will extract all files properly. ```bash ./download_training_data.sh ``` The following datasets are now installed: | full name |tag|Disk |# imgs|# pairs| python instance | |---------------------------------|---|-----|------|-------|--------------------------------| | Random Web images | W |2.7GB| 3125 | 3125 | `auto_pairs(web_images)` | | Aachen DB images | A |2.5GB| 4479 | 4479 | `auto_pairs(aachen_db_images)` | | Aachen style transfer pairs | S |0.3GB| 8115 | 3636 | `aachen_style_transfer_pairs` | | Aachen optical flow pairs | F |2.9GB| 4479 | 4770 | `aachen_flow_pairs` | Note that you can visualize the content of each dataset using the following command: ```bash python -m tools.dataloader "PairLoader(aachen_flow_pairs)" ``` ![image](https://user-images.githubusercontent.com/56719813/68311498-eafecd00-00b1-11ea-8d37-6693f3f90c9f.png) ### Training details ### To train the model, simply run this command: ```bash python train.py --save-path /path/to/model.pt ``` On a recent GPU, it takes 30 min per epoch, so ~12h for 25 epochs. You should get a model that scores `0.71 +/- 0.01` in `MMA@3` on HPatches (this standard-deviation is similar to what is reported in Table 1 of the paper). Note that you can fully configure the training (i.e. select the data sources, change the batch size, learning rate, number of epochs etc.). One easy way to improve the model is to train for more epochs, e.g. `--epochs 50`. For more details about all parameters, run `python train.py --help`. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/datasets/__init__.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use from .pair_dataset import CatPairDataset, SyntheticPairDataset, TransformedPairs from .imgfolder import ImgFolder from .web_images import RandomWebImages from .aachen import * # try to instanciate datasets import sys try: web_images = RandomWebImages(0, 52) except AssertionError as e: print(f"Dataset web_images not available, reason: {e}", file=sys.stderr) try: aachen_db_images = AachenImages_DB() except AssertionError as e: print(f"Dataset aachen_db_images not available, reason: {e}", file=sys.stderr) try: aachen_style_transfer_pairs = AachenPairs_StyleTransferDayNight() except AssertionError as e: print(f"Dataset aachen_style_transfer_pairs not available, reason: {e}", file=sys.stderr) try: aachen_flow_pairs = AachenPairs_OpticalFlow() except AssertionError as e: print(f"Dataset aachen_flow_pairs not available, reason: {e}", file=sys.stderr) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/datasets/aachen.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import os, pdb import numpy as np from PIL import Image from .dataset import Dataset from .pair_dataset import PairDataset, StillPairDataset class AachenImages (Dataset): """ Loads all images from the Aachen Day-Night dataset """ def __init__(self, select='db day night', root='data/aachen'): Dataset.__init__(self) self.root = root self.img_dir = 'images_upright' self.select = set(select.split()) assert self.select, 'Nothing was selected' self.imgs = [] root = os.path.join(root, self.img_dir) for dirpath, _, filenames in os.walk(root): r = dirpath[len(root)+1:] if not(self.select & set(r.split('/'))): continue self.imgs += [os.path.join(r,f) for f in filenames if f.endswith('.jpg')] self.nimg = len(self.imgs) assert self.nimg, 'Empty Aachen dataset' def get_key(self, idx): return self.imgs[idx] class AachenImages_DB (AachenImages): """ Only database (db) images. """ def __init__(self, **kw): AachenImages.__init__(self, select='db', **kw) self.db_image_idxs = {self.get_tag(i) : i for i,f in enumerate(self.imgs)} def get_tag(self, idx): # returns image tag == img number (name) return os.path.split( self.imgs[idx][:-4] )[1] class AachenPairs_StyleTransferDayNight (AachenImages_DB, StillPairDataset): """ synthetic day-night pairs of images (night images obtained using autoamtic style transfer from web night images) """ def __init__(self, root='data/aachen/style_transfer', **kw): StillPairDataset.__init__(self) AachenImages_DB.__init__(self, **kw) old_root = os.path.join(self.root, self.img_dir) self.root = os.path.commonprefix((old_root, root)) self.img_dir = '' newpath = lambda folder, f: os.path.join(folder, f)[len(self.root):] self.imgs = [newpath(old_root, f) for f in self.imgs] self.image_pairs = [] for fname in os.listdir(root): tag = fname.split('.jpg.st_')[0] self.image_pairs.append((self.db_image_idxs[tag], len(self.imgs))) self.imgs.append(newpath(root, fname)) self.nimg = len(self.imgs) self.npairs = len(self.image_pairs) assert self.nimg and self.npairs class AachenPairs_OpticalFlow (AachenImages_DB, PairDataset): """ Image pairs from Aachen db with optical flow. """ def __init__(self, root='data/aachen/optical_flow', **kw): PairDataset.__init__(self) AachenImages_DB.__init__(self, **kw) self.root_flow = root # find out the subsest of valid pairs from the list of flow files flows = {f for f in os.listdir(os.path.join(root, 'flow')) if f.endswith('.png')} masks = {f for f in os.listdir(os.path.join(root, 'mask')) if f.endswith('.png')} assert flows == masks, 'Missing flow or mask pairs' make_pair = lambda f: tuple(self.db_image_idxs[v] for v in f[:-4].split('_')) self.image_pairs = [make_pair(f) for f in flows] self.npairs = len(self.image_pairs) assert self.nimg and self.npairs def get_mask_filename(self, pair_idx): tag_a, tag_b = map(self.get_tag, self.image_pairs[pair_idx]) return os.path.join(self.root_flow, 'mask', f'{tag_a}_{tag_b}.png') def get_mask(self, pair_idx): return np.asarray(Image.open(self.get_mask_filename(pair_idx))) def get_flow_filename(self, pair_idx): tag_a, tag_b = map(self.get_tag, self.image_pairs[pair_idx]) return os.path.join(self.root_flow, 'flow', f'{tag_a}_{tag_b}.png') def get_flow(self, pair_idx): fname = self.get_flow_filename(pair_idx) try: return self._png2flow(fname) except IOError: flow = open(fname[:-4], 'rb') help = np.fromfile(flow, np.float32, 1) assert help == 202021.25 W, H = np.fromfile(flow, np.int32, 2) flow = np.fromfile(flow, np.float32).reshape((H, W, 2)) return self._flow2png(flow, fname) def get_pair(self, idx, output=()): if isinstance(output, str): output = output.split() img1, img2 = map(self.get_image, self.image_pairs[idx]) meta = {} if 'flow' in output or 'aflow' in output: flow = self.get_flow(idx) assert flow.shape[:2] == img1.size[::-1] meta['flow'] = flow H, W = flow.shape[:2] meta['aflow'] = flow + np.mgrid[:H,:W][::-1].transpose(1,2,0) if 'mask' in output: mask = self.get_mask(idx) assert mask.shape[:2] == img1.size[::-1] meta['mask'] = mask return img1, img2, meta if __name__ == '__main__': print(aachen_db_images) print(aachen_style_transfer_pairs) print(aachen_flow_pairs) pdb.set_trace() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/datasets/dataset.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import os import json import pdb import numpy as np class Dataset(object): ''' Base class for a dataset. To be overloaded. ''' root = '' img_dir = '' nimg = 0 def __len__(self): return self.nimg def get_key(self, img_idx): raise NotImplementedError() def get_filename(self, img_idx, root=None): return os.path.join(root or self.root, self.img_dir, self.get_key(img_idx)) def get_image(self, img_idx): from PIL import Image fname = self.get_filename(img_idx) try: return Image.open(fname).convert('RGB') except Exception as e: raise IOError("Could not load image %s (reason: %s)" % (fname, str(e))) def __repr__(self): res = 'Dataset: %s\n' % self.__class__.__name__ res += ' %d images' % self.nimg res += '\n root: %s...\n' % self.root return res class CatDataset (Dataset): ''' Concatenation of several datasets. ''' def __init__(self, *datasets): assert len(datasets) >= 1 self.datasets = datasets offsets = [0] for db in datasets: offsets.append(db.nimg) self.offsets = np.cumsum(offsets) self.nimg = self.offsets[-1] self.root = None def which(self, i): pos = np.searchsorted(self.offsets, i, side='right')-1 assert pos < self.nimg, 'Bad image index %d >= %d' % (i, self.nimg) return pos, i - self.offsets[pos] def get_key(self, i): b, i = self.which(i) return self.datasets[b].get_key(i) def get_filename(self, i): b, i = self.which(i) return self.datasets[b].get_filename(i) def __repr__(self): fmt_str = "CatDataset(" for db in self.datasets: fmt_str += str(db).replace("\n"," ") + ', ' return fmt_str[:-2] + ')' ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/datasets/imgfolder.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import os, pdb from .dataset import Dataset from .pair_dataset import SyntheticPairDataset class ImgFolder (Dataset): """ load all images in a folder (no recursion). """ def __init__(self, root, imgs=None, exts=('.jpg','.png','.ppm')): Dataset.__init__(self) self.root = root self.imgs = imgs or [f for f in os.listdir(root) if f.endswith(exts)] self.nimg = len(self.imgs) def get_key(self, idx): return self.imgs[idx] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/datasets/pair_dataset.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import os, pdb import numpy as np from PIL import Image from .dataset import Dataset, CatDataset from tools.transforms import instanciate_transformation from tools.transforms_tools import persp_apply class PairDataset (Dataset): """ A dataset that serves image pairs with ground-truth pixel correspondences. """ def __init__(self): Dataset.__init__(self) self.npairs = 0 def get_filename(self, img_idx, root=None): if is_pair(img_idx): # if img_idx is a pair of indices, we return a pair of filenames return tuple(Dataset.get_filename(self, i, root) for i in img_idx) return Dataset.get_filename(self, img_idx, root) def get_image(self, img_idx): if is_pair(img_idx): # if img_idx is a pair of indices, we return a pair of images return tuple(Dataset.get_image(self, i) for i in img_idx) return Dataset.get_image(self, img_idx) def get_corres_filename(self, pair_idx): raise NotImplementedError() def get_homography_filename(self, pair_idx): raise NotImplementedError() def get_flow_filename(self, pair_idx): raise NotImplementedError() def get_mask_filename(self, pair_idx): raise NotImplementedError() def get_pair(self, idx, output=()): """ returns (img1, img2, `metadata`) `metadata` is a dict() that can contain: flow: optical flow aflow: absolute flow corres: list of 2d-2d correspondences mask: boolean image of flow validity (in the first image) ... """ raise NotImplementedError() def get_paired_images(self): fns = set() for i in range(self.npairs): a,b = self.image_pairs[i] fns.add(self.get_filename(a)) fns.add(self.get_filename(b)) return fns def __len__(self): return self.npairs # size should correspond to the number of pairs, not images def __repr__(self): res = 'Dataset: %s\n' % self.__class__.__name__ res += ' %d images,' % self.nimg res += ' %d image pairs' % self.npairs res += '\n root: %s...\n' % self.root return res @staticmethod def _flow2png(flow, path): flow = np.clip(np.around(16*flow), -2**15, 2**15-1) bytes = np.int16(flow).view(np.uint8) Image.fromarray(bytes).save(path) return flow / 16 @staticmethod def _png2flow(path): try: flow = np.asarray(Image.open(path)).view(np.int16) return np.float32(flow) / 16 except: raise IOError("Error loading flow for %s" % path) class StillPairDataset (PairDataset): """ A dataset of 'still' image pairs. By overloading a normal image dataset, it appends the get_pair(i) function that serves trivial image pairs (img1, img2) where img1 == img2 == get_image(i). """ def get_pair(self, pair_idx, output=()): if isinstance(output, str): output = output.split() img1, img2 = map(self.get_image, self.image_pairs[pair_idx]) W,H = img1.size sx = img2.size[0] / float(W) sy = img2.size[1] / float(H) meta = {} if 'aflow' in output or 'flow' in output: mgrid = np.mgrid[0:H, 0:W][::-1].transpose(1,2,0).astype(np.float32) meta['aflow'] = mgrid * (sx,sy) meta['flow'] = meta['aflow'] - mgrid if 'mask' in output: meta['mask'] = np.ones((H,W), np.uint8) if 'homography' in output: meta['homography'] = np.diag(np.float32([sx, sy, 1])) return img1, img2, meta class SyntheticPairDataset (PairDataset): """ A synthetic generator of image pairs. Given a normal image dataset, it constructs pairs using random homographies & noise. """ def __init__(self, dataset, scale='', distort=''): self.attach_dataset(dataset) self.distort = instanciate_transformation(distort) self.scale = instanciate_transformation(scale) def attach_dataset(self, dataset): assert isinstance(dataset, Dataset) and not isinstance(dataset, PairDataset) self.dataset = dataset self.npairs = dataset.nimg self.get_image = dataset.get_image self.get_key = dataset.get_key self.get_filename = dataset.get_filename self.root = None def make_pair(self, img): return img, img def get_pair(self, i, output=('aflow')): """ Procedure: This function applies a series of random transformations to one original image to form a synthetic image pairs with perfect ground-truth. """ if isinstance(output, str): output = output.split() original_img = self.dataset.get_image(i) scaled_image = self.scale(original_img) scaled_image, scaled_image2 = self.make_pair(scaled_image) scaled_and_distorted_image = self.distort( dict(img=scaled_image2, persp=(1,0,0,0,1,0,0,0))) W, H = scaled_image.size trf = scaled_and_distorted_image['persp'] meta = dict() if 'aflow' in output or 'flow' in output: # compute optical flow xy = np.mgrid[0:H,0:W][::-1].reshape(2,H*W).T aflow = np.float32(persp_apply(trf, xy).reshape(H,W,2)) meta['flow'] = aflow - xy.reshape(H,W,2) meta['aflow'] = aflow if 'homography' in output: meta['homography'] = np.float32(trf+(1,)).reshape(3,3) return scaled_image, scaled_and_distorted_image['img'], meta def __repr__(self): res = 'Dataset: %s\n' % self.__class__.__name__ res += ' %d images and pairs' % self.npairs res += '\n root: %s...' % self.dataset.root res += '\n Scale: %s' % (repr(self.scale).replace('\n','')) res += '\n Distort: %s' % (repr(self.distort).replace('\n','')) return res + '\n' class TransformedPairs (PairDataset): """ Automatic data augmentation for pre-existing image pairs. Given an image pair dataset, it generates synthetically jittered pairs using random transformations (e.g. homographies & noise). """ def __init__(self, dataset, trf=''): self.attach_dataset(dataset) self.trf = instanciate_transformation(trf) def attach_dataset(self, dataset): assert isinstance(dataset, PairDataset) self.dataset = dataset self.nimg = dataset.nimg self.npairs = dataset.npairs self.get_image = dataset.get_image self.get_key = dataset.get_key self.get_filename = dataset.get_filename self.root = None def get_pair(self, i, output=''): """ Procedure: This function applies a series of random transformations to one original image to form a synthetic image pairs with perfect ground-truth. """ img_a, img_b_, metadata = self.dataset.get_pair(i, output) img_b = self.trf({'img': img_b_, 'persp':(1,0,0,0,1,0,0,0)}) trf = img_b['persp'] if 'aflow' in metadata or 'flow' in metadata: aflow = metadata['aflow'] aflow[:] = persp_apply(trf, aflow.reshape(-1,2)).reshape(aflow.shape) W, H = img_a.size flow = metadata['flow'] mgrid = np.mgrid[0:H, 0:W][::-1].transpose(1,2,0).astype(np.float32) flow[:] = aflow - mgrid if 'corres' in metadata: corres = metadata['corres'] corres[:,1] = persp_apply(trf, corres[:,1]) if 'homography' in metadata: # p_b = homography * p_a trf_ = np.float32(trf+(1,)).reshape(3,3) metadata['homography'] = np.float32(trf_ @ metadata['homography']) return img_a, img_b['img'], metadata def __repr__(self): res = 'Transformed Pairs from %s\n' % type(self.dataset).__name__ res += ' %d images and pairs' % self.npairs res += '\n root: %s...' % self.dataset.root res += '\n transform: %s' % (repr(self.trf).replace('\n','')) return res + '\n' class CatPairDataset (CatDataset): ''' Concatenation of several pair datasets. ''' def __init__(self, *datasets): CatDataset.__init__(self, *datasets) pair_offsets = [0] for db in datasets: pair_offsets.append(db.npairs) self.pair_offsets = np.cumsum(pair_offsets) self.npairs = self.pair_offsets[-1] def __len__(self): return self.npairs def __repr__(self): fmt_str = "CatPairDataset(" for db in self.datasets: fmt_str += str(db).replace("\n"," ") + ', ' return fmt_str[:-2] + ')' def pair_which(self, i): pos = np.searchsorted(self.pair_offsets, i, side='right')-1 assert pos < self.npairs, 'Bad pair index %d >= %d' % (i, self.npairs) return pos, i - self.pair_offsets[pos] def pair_call(self, func, i, *args, **kwargs): b, j = self.pair_which(i) return getattr(self.datasets[b], func)(j, *args, **kwargs) def get_pair(self, i, output=()): b, i = self.pair_which(i) return self.datasets[b].get_pair(i, output) def get_flow_filename(self, pair_idx, *args, **kwargs): return self.pair_call('get_flow_filename', pair_idx, *args, **kwargs) def get_mask_filename(self, pair_idx, *args, **kwargs): return self.pair_call('get_mask_filename', pair_idx, *args, **kwargs) def get_corres_filename(self, pair_idx, *args, **kwargs): return self.pair_call('get_corres_filename', pair_idx, *args, **kwargs) def is_pair(x): if isinstance(x, (tuple,list)) and len(x) == 2: return True if isinstance(x, np.ndarray) and x.ndim == 1 and x.shape[0] == 2: return True return False ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/datasets/web_images.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import os, pdb from tqdm import trange from .dataset import Dataset class RandomWebImages (Dataset): """ 1 million distractors from Oxford and Paris Revisited see http://ptak.felk.cvut.cz/revisitop/revisitop1m/ """ def __init__(self, start=0, end=1024, root="data/revisitop1m"): Dataset.__init__(self) self.root = root bar = None self.imgs = [] for i in range(start, end): try: # read cached list img_list_path = os.path.join(self.root, "image_list_%d.txt"%i) cached_imgs = [e.strip() for e in open(img_list_path)] assert cached_imgs, f"Cache '{img_list_path}' is empty!" self.imgs += cached_imgs except IOError: if bar is None: bar = trange(start, 4*end, desc='Caching') bar.update(4*i) # create it imgs = [] for d in range(i*4,(i+1)*4): # 4096 folders in total, on average 256 each key = hex(d)[2:].zfill(3) folder = os.path.join(self.root, key) if not os.path.isdir(folder): continue imgs += [f for f in os.listdir(folder) if verify_img(folder,f)] bar.update(1) assert imgs, f"No images found in {folder}/" open(img_list_path,'w').write('\n'.join(imgs)) self.imgs += imgs if bar: bar.update(bar.total - bar.n) self.nimg = len(self.imgs) def get_key(self, i): key = self.imgs[i] return os.path.join(key[:3], key) def verify_img(folder, f): path = os.path.join(folder, f) if not f.endswith('.jpg'): return False try: from PIL import Image Image.open(path).convert('RGB') # try to open it return True except: return False ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/download_training_data.sh ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use CODE_ROOT=`pwd` if [ ! -e data ]; then echo "Error: missing data/ folder" echo "First, create a folder that can host (at least) 15 GB of data." echo "Then, create a soft-link named 'data' that points to it." exit -1 fi # download web images from the revisitop1m dataset WEB_ROOT=data/revisitop1m mkdir -p $WEB_ROOT cd $WEB_ROOT if [ ! -e 0d3 ]; then for i in {1..5}; do echo "Installing the web images dataset ($i/5)..." if [ ! -f revisitop1m.$i.tar.gz ]; then wget http://ptak.felk.cvut.cz/revisitop/revisitop1m/jpg/revisitop1m.$i.tar.gz fi tar -xzvf revisitop1m.$i.tar.gz rm -f revisitop1m.$i.tar.gz done fi cd $CODE_ROOT # download aachen images AACHEN_ROOT=data/aachen mkdir -p $AACHEN_ROOT cd $AACHEN_ROOT if [ ! -e "images_upright" ]; then echo "Installing the Aachen dataset..." fname=database_and_query_images.zip if [ ! -f $fname ]; then echo "File not found: $fname" exit -1 else unzip $fname rm -f $fname fi fi # download style transfer images if [ ! -e "style_transfer" ]; then echo "Installing the Aachen style-transfer dataset..." fname=aachen_style_transfer.zip if [ ! -f $fname ]; then wget http://download.europe.naverlabs.com/3DVision/aachen_style_transfer.zip $fname fi unzip $fname rm -f $fname fi # download optical flow pairs if [ ! -e "optical_flow" ]; then echo "Installing the Aachen optical flow dataset..." fname=aachen_optical_flow.zip if [ ! -f $fname ]; then wget http://download.europe.naverlabs.com/3DVision/aachen_optical_flow.zip $fname fi unzip $fname rm -f $fname fi cd $CODE_ROOT echo "Done!" ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/extract.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import os, pdb from PIL import Image import numpy as np import torch from tools import common from tools.dataloader import norm_RGB from nets.patchnet import * def load_network(model_fn): checkpoint = torch.load(model_fn) print("\n>> Creating net = " + checkpoint['net']) net = eval(checkpoint['net']) nb_of_weights = common.model_size(net) print(f" ( Model size: {nb_of_weights/1000:.0f}K parameters )") # initialization weights = checkpoint['state_dict'] net.load_state_dict({k.replace('module.',''):v for k,v in weights.items()}) return net.eval() class NonMaxSuppression (torch.nn.Module): def __init__(self, rel_thr=0.7, rep_thr=0.7): nn.Module.__init__(self) self.max_filter = torch.nn.MaxPool2d(kernel_size=3, stride=1, padding=1) self.rel_thr = rel_thr self.rep_thr = rep_thr def forward(self, reliability, repeatability, **kw): assert len(reliability) == len(repeatability) == 1 reliability, repeatability = reliability[0], repeatability[0] # local maxima maxima = (repeatability == self.max_filter(repeatability)) # remove low peaks maxima *= (repeatability >= self.rep_thr) maxima *= (reliability >= self.rel_thr) return maxima.nonzero().t()[2:4] def extract_multiscale( net, img, detector, scale_f=2**0.25, min_scale=0.0, max_scale=1, min_size=256, max_size=1024, verbose=False): old_bm = torch.backends.cudnn.benchmark torch.backends.cudnn.benchmark = False # speedup # extract keypoints at multiple scales B, three, H, W = img.shape assert B == 1 and three == 3, "should be a batch with a single RGB image" assert max_scale <= 1 s = 1.0 # current scale factor X,Y,S,C,Q,D = [],[],[],[],[],[] while s+0.001 >= max(min_scale, min_size / max(H,W)): if s-0.001 <= min(max_scale, max_size / max(H,W)): nh, nw = img.shape[2:] if verbose: print(f"extracting at scale x{s:.02f} = {nw:4d}x{nh:3d}") # extract descriptors with torch.no_grad(): res = net(imgs=[img]) # get output and reliability map descriptors = res['descriptors'][0] reliability = res['reliability'][0] repeatability = res['repeatability'][0] # normalize the reliability for nms # extract maxima and descs y,x = detector(**res) # nms c = reliability[0,0,y,x] q = repeatability[0,0,y,x] d = descriptors[0,:,y,x].t() n = d.shape[0] # accumulate multiple scales X.append(x.float() * W/nw) Y.append(y.float() * H/nh) S.append((32/s) * torch.ones(n, dtype=torch.float32, device=d.device)) C.append(c) Q.append(q) D.append(d) s /= scale_f # down-scale the image for next iteration nh, nw = round(H*s), round(W*s) img = F.interpolate(img, (nh,nw), mode='bilinear', align_corners=False) # restore value torch.backends.cudnn.benchmark = old_bm Y = torch.cat(Y) X = torch.cat(X) S = torch.cat(S) # scale scores = torch.cat(C) * torch.cat(Q) # scores = reliability * repeatability XYS = torch.stack([X,Y,S], dim=-1) D = torch.cat(D) return XYS, D, scores def extract_keypoints(args): iscuda = common.torch_set_gpu(args.gpu) # load the network... net = load_network(args.model) if iscuda: net = net.cuda() # create the non-maxima detector detector = NonMaxSuppression( rel_thr = args.reliability_thr, rep_thr = args.repeatability_thr) while args.images: img_path = args.images.pop(0) if img_path.endswith('.txt'): args.images = open(img_path).read().splitlines() + args.images continue print(f"\nExtracting features for {img_path}") img = Image.open(img_path).convert('RGB') W, H = img.size img = norm_RGB(img)[None] if iscuda: img = img.cuda() # extract keypoints/descriptors for a single image xys, desc, scores = extract_multiscale(net, img, detector, scale_f = args.scale_f, min_scale = args.min_scale, max_scale = args.max_scale, min_size = args.min_size, max_size = args.max_size, verbose = True) xys = xys.cpu().numpy() desc = desc.cpu().numpy() scores = scores.cpu().numpy() idxs = scores.argsort()[-args.top_k or None:] outpath = img_path + '.' + args.tag print(f"Saving {len(idxs)} keypoints to {outpath}") np.savez(open(outpath,'wb'), imsize = (W,H), keypoints = xys[idxs], descriptors = desc[idxs], scores = scores[idxs]) if __name__ == '__main__': import argparse parser = argparse.ArgumentParser("Extract keypoints for a given image") parser.add_argument("--model", type=str, required=True, help='model path') parser.add_argument("--images", type=str, required=True, nargs='+', help='images / list') parser.add_argument("--tag", type=str, default='r2d2', help='output file tag') parser.add_argument("--top-k", type=int, default=5000, help='number of keypoints') parser.add_argument("--scale-f", type=float, default=2**0.25) parser.add_argument("--min-size", type=int, default=256) parser.add_argument("--max-size", type=int, default=1024) parser.add_argument("--min-scale", type=float, default=0) parser.add_argument("--max-scale", type=float, default=1) parser.add_argument("--reliability-thr", type=float, default=0.7) parser.add_argument("--repeatability-thr", type=float, default=0.7) parser.add_argument("--gpu", type=int, nargs='+', default=[0], help='use -1 for CPU') args = parser.parse_args() extract_keypoints(args) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/extract_kapture.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use from PIL import Image from tools import common from tools.dataloader import norm_RGB from nets.patchnet import * from extract import load_network, NonMaxSuppression, extract_multiscale # Kapture is a pivot file format, based on text and binary files, used to describe SfM (Structure From Motion) and more generally sensor-acquired data # it can be installed with # pip install kapture # for more information check out https://github.com/naver/kapture import kapture from kapture.io.records import get_image_fullpath from kapture.io.csv import kapture_from_dir from kapture.io.csv import get_csv_fullpath, keypoints_to_file, descriptors_to_file from kapture.io.features import get_keypoints_fullpath, keypoints_check_dir, image_keypoints_to_file from kapture.io.features import get_descriptors_fullpath, descriptors_check_dir, image_descriptors_to_file def extract_kapture_keypoints(args): """ Extract r2d2 keypoints and descritors to the kapture format directly """ print('extract_kapture_keypoints...') kdata = kapture_from_dir(args.kapture_root, matches_pairs_file_path=None, skip_list= [kapture.GlobalFeatures, kapture.Matches, kapture.Points3d, kapture.Observations]) assert kdata.records_camera is not None image_list = [filename for _, _, filename in kapture.flatten(kdata.records_camera)] if kdata.keypoints is not None and kdata.descriptors is not None: image_list = [name for name in image_list if name not in kdata.keypoints or name not in kdata.descriptors] if len(image_list) == 0: print('All features were already extracted') return else: print(f'Extracting r2d2 features for {len(image_list)} images') iscuda = common.torch_set_gpu(args.gpu) # load the network... net = load_network(args.model) if iscuda: net = net.cuda() # create the non-maxima detector detector = NonMaxSuppression( rel_thr = args.reliability_thr, rep_thr = args.repeatability_thr) keypoints_dtype = None if kdata.keypoints is None else kdata.keypoints.dtype descriptors_dtype = None if kdata.descriptors is None else kdata.descriptors.dtype keypoints_dsize = None if kdata.keypoints is None else kdata.keypoints.dsize descriptors_dsize = None if kdata.descriptors is None else kdata.descriptors.dsize for image_name in image_list: img_path = get_image_fullpath(args.kapture_root, image_name) print(f"\nExtracting features for {img_path}") img = Image.open(img_path).convert('RGB') W, H = img.size img = norm_RGB(img)[None] if iscuda: img = img.cuda() # extract keypoints/descriptors for a single image xys, desc, scores = extract_multiscale(net, img, detector, scale_f = args.scale_f, min_scale = args.min_scale, max_scale = args.max_scale, min_size = args.min_size, max_size = args.max_size, verbose = True) xys = xys.cpu().numpy() desc = desc.cpu().numpy() scores = scores.cpu().numpy() idxs = scores.argsort()[-args.top_k or None:] xys = xys[idxs] desc = desc[idxs] if keypoints_dtype is None or descriptors_dtype is None: keypoints_dtype = xys.dtype descriptors_dtype = desc.dtype keypoints_dsize = xys.shape[1] descriptors_dsize = desc.shape[1] kdata.keypoints = kapture.Keypoints('r2d2', keypoints_dtype, keypoints_dsize) kdata.descriptors = kapture.Descriptors('r2d2', descriptors_dtype, descriptors_dsize) keypoints_config_absolute_path = get_csv_fullpath(kapture.Keypoints, args.kapture_root) descriptors_config_absolute_path = get_csv_fullpath(kapture.Descriptors, args.kapture_root) keypoints_to_file(keypoints_config_absolute_path, kdata.keypoints) descriptors_to_file(descriptors_config_absolute_path, kdata.descriptors) else: assert kdata.keypoints.type_name == 'r2d2' assert kdata.descriptors.type_name == 'r2d2' assert kdata.keypoints.dtype == xys.dtype assert kdata.descriptors.dtype == desc.dtype assert kdata.keypoints.dsize == xys.shape[1] assert kdata.descriptors.dsize == desc.shape[1] keypoints_fullpath = get_keypoints_fullpath(args.kapture_root, image_name) print(f"Saving {xys.shape[0]} keypoints to {keypoints_fullpath}") image_keypoints_to_file(keypoints_fullpath, xys) kdata.keypoints.add(image_name) descriptors_fullpath = get_descriptors_fullpath(args.kapture_root, image_name) print(f"Saving {desc.shape[0]} descriptors to {descriptors_fullpath}") image_descriptors_to_file(descriptors_fullpath, desc) kdata.descriptors.add(image_name) if not keypoints_check_dir(kdata.keypoints, args.kapture_root) or \ not descriptors_check_dir(kdata.descriptors, args.kapture_root): print('local feature extraction ended successfully but not all files were saved') if __name__ == '__main__': import argparse parser = argparse.ArgumentParser("Extract r2d2 local features for all images in a dataset stored in the kapture format") parser.add_argument("--model", type=str, required=True, help='model path') parser.add_argument("--kapture-root", type=str, required=True, help='path to kapture root directory') parser.add_argument("--top-k", type=int, default=5000, help='number of keypoints') parser.add_argument("--scale-f", type=float, default=2**0.25) parser.add_argument("--min-size", type=int, default=256) parser.add_argument("--max-size", type=int, default=1024) parser.add_argument("--min-scale", type=float, default=0) parser.add_argument("--max-scale", type=float, default=1) parser.add_argument("--reliability-thr", type=float, default=0.7) parser.add_argument("--repeatability-thr", type=float, default=0.7) parser.add_argument("--gpu", type=int, nargs='+', default=[0], help='use -1 for CPU') args = parser.parse_args() extract_kapture_keypoints(args) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/nets/ap_loss.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb import numpy as np import torch import torch.nn as nn class APLoss (nn.Module): """ differentiable AP loss, through quantization. Input: (N, M) values in [min, max] label: (N, M) values in {0, 1} Returns: list of query AP (for each n in {1..N}) Note: typically, you want to minimize 1 - mean(AP) """ def __init__(self, nq=25, min=0, max=1, euc=False): nn.Module.__init__(self) assert isinstance(nq, int) and 2 <= nq <= 100 self.nq = nq self.min = min self.max = max self.euc = euc gap = max - min assert gap > 0 # init quantizer = non-learnable (fixed) convolution self.quantizer = q = nn.Conv1d(1, 2*nq, kernel_size=1, bias=True) a = (nq-1) / gap #1st half = lines passing to (min+x,1) and (min+x+1/a,0) with x = {nq-1..0}*gap/(nq-1) q.weight.data[:nq] = -a q.bias.data[:nq] = torch.from_numpy(a*min + np.arange(nq, 0, -1)) # b = 1 + a*(min+x) #2nd half = lines passing to (min+x,1) and (min+x-1/a,0) with x = {nq-1..0}*gap/(nq-1) q.weight.data[nq:] = a q.bias.data[nq:] = torch.from_numpy(np.arange(2-nq, 2, 1) - a*min) # b = 1 - a*(min+x) # first and last one are special: just horizontal straight line q.weight.data[0] = q.weight.data[-1] = 0 q.bias.data[0] = q.bias.data[-1] = 1 def compute_AP(self, x, label): N, M = x.shape if self.euc: # euclidean distance in same range than similarities x = 1 - torch.sqrt(2.001 - 2*x) # quantize all predictions q = self.quantizer(x.unsqueeze(1)) q = torch.min(q[:,:self.nq], q[:,self.nq:]).clamp(min=0) # N x Q x M nbs = q.sum(dim=-1) # number of samples N x Q = c rec = (q * label.view(N,1,M).float()).sum(dim=-1) # nb of correct samples = c+ N x Q prec = rec.cumsum(dim=-1) / (1e-16 + nbs.cumsum(dim=-1)) # precision rec /= rec.sum(dim=-1).unsqueeze(1) # norm in [0,1] ap = (prec * rec).sum(dim=-1) # per-image AP return ap def forward(self, x, label): assert x.shape == label.shape # N x M return self.compute_AP(x, label) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/nets/losses.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb import torch import torch.nn as nn import torch.nn.functional as F from nets.sampler import * from nets.repeatability_loss import * from nets.reliability_loss import * class MultiLoss (nn.Module): """ Combines several loss functions for convenience. *args: [loss weight (float), loss creator, ... ] Example: loss = MultiLoss( 1, MyFirstLoss(), 0.5, MySecondLoss() ) """ def __init__(self, *args, dbg=()): nn.Module.__init__(self) assert len(args) % 2 == 0, 'args must be a list of (float, loss)' self.weights = [] self.losses = nn.ModuleList() for i in range(len(args)//2): weight = float(args[2*i+0]) loss = args[2*i+1] assert isinstance(loss, nn.Module), "%s is not a loss!" % loss self.weights.append(weight) self.losses.append(loss) def forward(self, select=None, **variables): assert not select or all(1<=n<=len(self.losses) for n in select) d = dict() cum_loss = 0 for num, (weight, loss_func) in enumerate(zip(self.weights, self.losses),1): if select is not None and num not in select: continue l = loss_func(**{k:v for k,v in variables.items()}) if isinstance(l, tuple): assert len(l) == 2 and isinstance(l[1], dict) else: l = l, {loss_func.name:l} cum_loss = cum_loss + weight * l[0] for key,val in l[1].items(): d['loss_'+key] = float(val) d['loss'] = float(cum_loss) return cum_loss, d ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/nets/patchnet.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb import torch import torch.nn as nn import torch.nn.functional as F class BaseNet (nn.Module): """ Takes a list of images as input, and returns for each image: - a pixelwise descriptor - a pixelwise confidence """ def softmax(self, ux): if ux.shape[1] == 1: x = F.softplus(ux) return x / (1 + x) # for sure in [0,1], much less plateaus than softmax elif ux.shape[1] == 2: return F.softmax(ux, dim=1)[:,1:2] def normalize(self, x, ureliability, urepeatability): return dict(descriptors = F.normalize(x, p=2, dim=1), repeatability = self.softmax( urepeatability ), reliability = self.softmax( ureliability )) def forward_one(self, x): raise NotImplementedError() def forward(self, imgs, **kw): res = [self.forward_one(img) for img in imgs] # merge all dictionaries into one res = {k:[r[k] for r in res if k in r] for k in {k for r in res for k in r}} return dict(res, imgs=imgs, **kw) class PatchNet (BaseNet): """ Helper class to construct a fully-convolutional network that extract a l2-normalized patch descriptor. """ def __init__(self, inchan=3, dilated=True, dilation=1, bn=True, bn_affine=False): BaseNet.__init__(self) self.inchan = inchan self.curchan = inchan self.dilated = dilated self.dilation = dilation self.bn = bn self.bn_affine = bn_affine self.ops = nn.ModuleList([]) def _make_bn(self, outd): return nn.BatchNorm2d(outd, affine=self.bn_affine) def _add_conv(self, outd, k=3, stride=1, dilation=1, bn=True, relu=True): d = self.dilation * dilation if self.dilated: conv_params = dict(padding=((k-1)*d)//2, dilation=d, stride=1) self.dilation *= stride else: conv_params = dict(padding=((k-1)*d)//2, dilation=d, stride=stride) self.ops.append( nn.Conv2d(self.curchan, outd, kernel_size=k, **conv_params) ) if bn and self.bn: self.ops.append( self._make_bn(outd) ) if relu: self.ops.append( nn.ReLU(inplace=True) ) self.curchan = outd def forward_one(self, x): assert self.ops, "You need to add convolutions first" for n,op in enumerate(self.ops): x = op(x) return self.normalize(x) class L2_Net (PatchNet): """ Compute a 128D descriptor for all overlapping 32x32 patches. From the L2Net paper (CVPR'17). """ def __init__(self, dim=128, **kw ): PatchNet.__init__(self, **kw) add_conv = lambda n,**kw: self._add_conv((n*dim)//128,**kw) add_conv(32) add_conv(32) add_conv(64, stride=2) add_conv(64) add_conv(128, stride=2) add_conv(128) add_conv(128, k=7, stride=8, bn=False, relu=False) self.out_dim = dim class Quad_L2Net (PatchNet): """ Same than L2_Net, but replace the final 8x8 conv by 3 successive 2x2 convs. """ def __init__(self, dim=128, mchan=4, relu22=False, **kw ): PatchNet.__init__(self, **kw) self._add_conv( 8*mchan) self._add_conv( 8*mchan) self._add_conv( 16*mchan, stride=2) self._add_conv( 16*mchan) self._add_conv( 32*mchan, stride=2) self._add_conv( 32*mchan) # replace last 8x8 convolution with 3 2x2 convolutions self._add_conv( 32*mchan, k=2, stride=2, relu=relu22) self._add_conv( 32*mchan, k=2, stride=2, relu=relu22) self._add_conv(dim, k=2, stride=2, bn=False, relu=False) self.out_dim = dim class Quad_L2Net_ConfCFS (Quad_L2Net): """ Same than Quad_L2Net, with 2 confidence maps for repeatability and reliability. """ def __init__(self, **kw ): Quad_L2Net.__init__(self, **kw) # reliability classifier self.clf = nn.Conv2d(self.out_dim, 2, kernel_size=1) # repeatability classifier: for some reasons it's a softplus, not a softmax! # Why? I guess it's a mistake that was left unnoticed in the code for a long time... self.sal = nn.Conv2d(self.out_dim, 1, kernel_size=1) def forward_one(self, x): assert self.ops, "You need to add convolutions first" for op in self.ops: x = op(x) # compute the confidence maps ureliability = self.clf(x**2) urepeatability = self.sal(x**2) return self.normalize(x, ureliability, urepeatability) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/nets/reliability_loss.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb import torch.nn as nn import torch.nn.functional as F from nets.ap_loss import APLoss class PixelAPLoss (nn.Module): """ Computes the pixel-wise AP loss: Given two images and ground-truth optical flow, computes the AP per pixel. feat1: (B, C, H, W) pixel-wise features extracted from img1 feat2: (B, C, H, W) pixel-wise features extracted from img2 aflow: (B, 2, H, W) absolute flow: aflow[...,y1,x1] = x2,y2 """ def __init__(self, sampler, nq=20): nn.Module.__init__(self) self.aploss = APLoss(nq, min=0, max=1, euc=False) self.name = 'pixAP' self.sampler = sampler def loss_from_ap(self, ap, rel): return 1 - ap def forward(self, descriptors, aflow, **kw): # subsample things scores, gt, msk, qconf = self.sampler(descriptors, kw.get('reliability'), aflow) # compute pixel-wise AP n = qconf.numel() if n == 0: return 0 scores, gt = scores.view(n,-1), gt.view(n,-1) ap = self.aploss(scores, gt).view(msk.shape) pixel_loss = self.loss_from_ap(ap, qconf) loss = pixel_loss[msk].mean() return loss class ReliabilityLoss (PixelAPLoss): """ same than PixelAPLoss, but also train a pixel-wise confidence that this pixel is going to have a good AP. """ def __init__(self, sampler, base=0.5, **kw): PixelAPLoss.__init__(self, sampler, **kw) assert 0 <= base < 1 self.base = base self.name = 'reliability' def loss_from_ap(self, ap, rel): return 1 - ap*rel - (1-rel)*self.base ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/nets/repeatability_loss.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb import torch import torch.nn as nn import torch.nn.functional as F from nets.sampler import FullSampler class CosimLoss (nn.Module): """ Try to make the repeatability repeatable from one image to the other. """ def __init__(self, N=16): nn.Module.__init__(self) self.name = f'cosim{N}' self.patches = nn.Unfold(N, padding=0, stride=N//2) def extract_patches(self, sal): patches = self.patches(sal).transpose(1,2) # flatten patches = F.normalize(patches, p=2, dim=2) # norm return patches def forward(self, repeatability, aflow, **kw): B,two,H,W = aflow.shape assert two == 2 # normalize sali1, sali2 = repeatability grid = FullSampler._aflow_to_grid(aflow) sali2 = F.grid_sample(sali2, grid, mode='bilinear', padding_mode='border') patches1 = self.extract_patches(sali1) patches2 = self.extract_patches(sali2) cosim = (patches1 * patches2).sum(dim=2) return 1 - cosim.mean() class PeakyLoss (nn.Module): """ Try to make the repeatability locally peaky. Mechanism: we maximize, for each pixel, the difference between the local mean and the local max. """ def __init__(self, N=16): nn.Module.__init__(self) self.name = f'peaky{N}' assert N % 2 == 0, 'N must be pair' self.preproc = nn.AvgPool2d(3, stride=1, padding=1) self.maxpool = nn.MaxPool2d(N+1, stride=1, padding=N//2) self.avgpool = nn.AvgPool2d(N+1, stride=1, padding=N//2) def forward_one(self, sali): sali = self.preproc(sali) # remove super high frequency return 1 - (self.maxpool(sali) - self.avgpool(sali)).mean() def forward(self, repeatability, **kw): sali1, sali2 = repeatability return (self.forward_one(sali1) + self.forward_one(sali2)) /2 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/nets/sampler.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb import numpy as np import torch import torch.nn as nn import torch.nn.functional as F """ Different samplers, each specifying how to sample pixels for the AP loss. """ class FullSampler(nn.Module): """ all pixels are selected - feats: keypoint descriptors - confs: reliability values """ def __init__(self): nn.Module.__init__(self) self.mode = 'bilinear' self.padding = 'zeros' @staticmethod def _aflow_to_grid(aflow): H, W = aflow.shape[2:] grid = aflow.permute(0,2,3,1).clone() grid[:,:,:,0] *= 2/(W-1) grid[:,:,:,1] *= 2/(H-1) grid -= 1 grid[torch.isnan(grid)] = 9e9 # invalids return grid def _warp(self, feats, confs, aflow): if isinstance(aflow, tuple): return aflow # result was precomputed feat1, feat2 = feats conf1, conf2 = confs if confs else (None,None) B, two, H, W = aflow.shape D = feat1.shape[1] assert feat1.shape == feat2.shape == (B, D, H, W) # D = 128, B = batch assert conf1.shape == conf2.shape == (B, 1, H, W) if confs else True # warp img2 to img1 grid = self._aflow_to_grid(aflow) ones2 = feat2.new_ones(feat2[:,0:1].shape) feat2to1 = F.grid_sample(feat2, grid, mode=self.mode, padding_mode=self.padding) mask2to1 = F.grid_sample(ones2, grid, mode='nearest', padding_mode='zeros') conf2to1 = F.grid_sample(conf2, grid, mode=self.mode, padding_mode=self.padding) \ if confs else None return feat2to1, mask2to1.byte(), conf2to1 def _warp_positions(self, aflow): B, two, H, W = aflow.shape assert two == 2 Y = torch.arange(H, device=aflow.device) X = torch.arange(W, device=aflow.device) XY = torch.stack(torch.meshgrid(Y,X)[::-1], dim=0) XY = XY[None].expand(B, 2, H, W).float() grid = self._aflow_to_grid(aflow) XY2 = F.grid_sample(XY, grid, mode='bilinear', padding_mode='zeros') return XY, XY2 class SubSampler (FullSampler): """ pixels are selected in an uniformly spaced grid """ def __init__(self, border, subq, subd, perimage=False): FullSampler.__init__(self) assert subq % subd == 0, 'subq must be multiple of subd' self.sub_q = subq self.sub_d = subd self.border = border self.perimage = perimage def __repr__(self): return "SubSampler(border=%d, subq=%d, subd=%d, perimage=%d)" % ( self.border, self.sub_q, self.sub_d, self.perimage) def __call__(self, feats, confs, aflow): feat1, conf1 = feats[0], (confs[0] if confs else None) # warp with optical flow in img1 coords feat2, mask2, conf2 = self._warp(feats, confs, aflow) # subsample img1 slq = slice(self.border, -self.border or None, self.sub_q) feat1 = feat1[:, :, slq, slq] conf1 = conf1[:, :, slq, slq] if confs else None # subsample img2 sld = slice(self.border, -self.border or None, self.sub_d) feat2 = feat2[:, :, sld, sld] mask2 = mask2[:, :, sld, sld] conf2 = conf2[:, :, sld, sld] if confs else None B, D, Hq, Wq = feat1.shape B, D, Hd, Wd = feat2.shape # compute gt if self.perimage or self.sub_q != self.sub_d: # compute ground-truth by comparing pixel indices f = feats[0][0:1,0] if self.perimage else feats[0][:,0] idxs = torch.arange(f.numel(), dtype=torch.int64, device=feat1.device).view(f.shape) idxs1 = idxs[:, slq, slq].reshape(-1,Hq*Wq) idxs2 = idxs[:, sld, sld].reshape(-1,Hd*Wd) if self.perimage: gt = (idxs1[0].view(-1,1) == idxs2[0].view(1,-1)) gt = gt[None,:,:].expand(B, Hq*Wq, Hd*Wd) else : gt = (idxs1.view(-1,1) == idxs2.view(1,-1)) else: gt = torch.eye(feat1[:,0].numel(), dtype=torch.uint8, device=feat1.device) # always binary for AP loss # compute all images together queries = feat1.reshape(B,D,-1) # B x D x (Hq x Wq) database = feat2.reshape(B,D,-1) # B x D x (Hd x Wd) if self.perimage: queries = queries.transpose(1,2) # B x (Hd x Wd) x D scores = torch.bmm(queries, database) # B x (Hq x Wq) x (Hd x Wd) else: queries = queries .transpose(1,2).reshape(-1,D) # (B x Hq x Wq) x D database = database.transpose(1,0).reshape(D,-1) # D x (B x Hd x Wd) scores = torch.matmul(queries, database) # (B x Hq x Wq) x (B x Hd x Wd) # compute reliability qconf = (conf1 + conf2)/2 if confs else None assert gt.shape == scores.shape return scores, gt, mask2, qconf class NghSampler (FullSampler): """ all pixels in a small neighborhood """ def __init__(self, ngh, subq=1, subd=1, ignore=1, border=None): FullSampler.__init__(self) assert 0 <= ignore < ngh self.ngh = ngh self.ignore = ignore assert subd <= ngh self.sub_q = subq self.sub_d = subd if border is None: border = ngh assert border >= ngh, 'border has to be larger than ngh' self.border = border def __repr__(self): return "NghSampler(ngh=%d, subq=%d, subd=%d, ignore=%d, border=%d)" % ( self.ngh, self.sub_q, self.sub_d, self.ignore, self.border) def trans(self, arr, i, j): s = lambda i: slice(self.border+i, i-self.border or None, self.sub_q) return arr[:,:,s(j),s(i)] def __call__(self, feats, confs, aflow): feat1, conf1 = feats[0], (confs[0] if confs else None) # warp with optical flow in img1 coords feat2, mask2, conf2 = self._warp(feats, confs, aflow) qfeat = self.trans(feat1,0,0) qconf = (self.trans(conf1,0,0) + self.trans(conf2,0,0)) / 2 if confs else None mask2 = self.trans(mask2,0,0) scores_at = lambda i,j: (qfeat * self.trans(feat2,i,j)).sum(dim=1) # compute scores for all neighbors B, D = feat1.shape[:2] min_d = self.ignore**2 max_d = self.ngh**2 rad = (self.ngh//self.sub_d) * self.ngh # make an integer multiple negs = [] offsets = [] for j in range(-rad, rad+1, self.sub_d): for i in range(-rad, rad+1, self.sub_d): if not(min_d < i*i + j*j <= max_d): continue # out of scope offsets.append((i,j)) # Note: this list is just for debug negs.append( scores_at(i,j) ) scores = torch.stack([scores_at(0,0)] + negs, dim=-1) gt = scores.new_zeros(scores.shape, dtype=torch.uint8) gt[..., 0] = 1 # only the center point is positive return scores, gt, mask2, qconf class FarNearSampler (FullSampler): """ Sample pixels from *both* a small neighborhood *and* far-away pixels. How it works? 1) Queries are sampled from img1, - at least `border` pixels from borders and - on a grid with step = `subq` 2) Close database pixels - from the corresponding image (img2), - within a `ngh` distance radius - on a grid with step = `subd_ngh` - ignored if distance to query is >0 and <=`ignore` 3) Far-away database pixels from , - from all batch images in `img2` - at least `border` pixels from borders - on a grid with step = `subd_far` """ def __init__(self, subq, ngh, subd_ngh, subd_far, border=None, ignore=1, maxpool_ngh=False ): FullSampler.__init__(self) border = border or ngh assert ignore < ngh < subd_far, 'neighborhood needs to be smaller than far step' self.close_sampler = NghSampler(ngh=ngh, subq=subq, subd=subd_ngh, ignore=not(maxpool_ngh), border=border) self.faraway_sampler = SubSampler(border=border, subq=subq, subd=subd_far) self.maxpool_ngh = maxpool_ngh def __repr__(self): c,f = self.close_sampler, self.faraway_sampler res = "FarNearSampler(subq=%d, ngh=%d" % (c.sub_q, c.ngh) res += ", subd_ngh=%d, subd_far=%d" % (c.sub_d, f.sub_d) res += ", border=%d, ign=%d" % (f.border, c.ignore) res += ", maxpool_ngh=%d" % self.maxpool_ngh return res+')' def __call__(self, feats, confs, aflow): # warp with optical flow in img1 coords aflow = self._warp(feats, confs, aflow) # sample ngh pixels scores1, gt1, msk1, conf1 = self.close_sampler(feats, confs, aflow) scores1, gt1 = scores1.view(-1,scores1.shape[-1]), gt1.view(-1,gt1.shape[-1]) if self.maxpool_ngh: # we consider all scores from ngh as potential positives scores1, self._cached_maxpool_ngh = scores1.max(dim=1,keepdim=True) gt1 = gt1[:, 0:1] # sample far pixels scores2, gt2, msk2, conf2 = self.faraway_sampler(feats, confs, aflow) # assert (msk1 == msk2).all() # assert (conf1 == conf2).all() return (torch.cat((scores1,scores2),dim=1), torch.cat((gt1, gt2), dim=1), msk1, conf1 if confs else None) class NghSampler2 (nn.Module): """ Similar to NghSampler, but doesnt warp the 2nd image. Distance to GT => 0 ... pos_d ... neg_d ... ngh Pixel label => + + + + + + 0 0 - - - - - - - Subsample on query side: if > 0, regular grid < 0, random points In both cases, the number of query points is = W*H/subq**2 """ def __init__(self, ngh, subq=1, subd=1, pos_d=0, neg_d=2, border=None, maxpool_pos=True, subd_neg=0): nn.Module.__init__(self) assert 0 <= pos_d < neg_d <= (ngh if ngh else 99) self.ngh = ngh self.pos_d = pos_d self.neg_d = neg_d assert subd <= ngh or ngh == 0 assert subq != 0 self.sub_q = subq self.sub_d = subd self.sub_d_neg = subd_neg if border is None: border = ngh assert border >= ngh, 'border has to be larger than ngh' self.border = border self.maxpool_pos = maxpool_pos self.precompute_offsets() def precompute_offsets(self): pos_d2 = self.pos_d**2 neg_d2 = self.neg_d**2 rad2 = self.ngh**2 rad = (self.ngh//self.sub_d) * self.ngh # make an integer multiple pos = [] neg = [] for j in range(-rad, rad+1, self.sub_d): for i in range(-rad, rad+1, self.sub_d): d2 = i*i + j*j if d2 <= pos_d2: pos.append( (i,j) ) elif neg_d2 <= d2 <= rad2: neg.append( (i,j) ) self.register_buffer('pos_offsets', torch.LongTensor(pos).view(-1,2).t()) self.register_buffer('neg_offsets', torch.LongTensor(neg).view(-1,2).t()) def gen_grid(self, step, aflow): B, two, H, W = aflow.shape dev = aflow.device b1 = torch.arange(B, device=dev) if step > 0: # regular grid x1 = torch.arange(self.border, W-self.border, step, device=dev) y1 = torch.arange(self.border, H-self.border, step, device=dev) H1, W1 = len(y1), len(x1) x1 = x1[None,None,:].expand(B,H1,W1).reshape(-1) y1 = y1[None,:,None].expand(B,H1,W1).reshape(-1) b1 = b1[:,None,None].expand(B,H1,W1).reshape(-1) shape = (B, H1, W1) else: # randomly spread n = (H - 2*self.border) * (W - 2*self.border) // step**2 x1 = torch.randint(self.border, W-self.border, (n,), device=dev) y1 = torch.randint(self.border, H-self.border, (n,), device=dev) x1 = x1[None,:].expand(B,n).reshape(-1) y1 = y1[None,:].expand(B,n).reshape(-1) b1 = b1[:,None].expand(B,n).reshape(-1) shape = (B, n) return b1, y1, x1, shape def forward(self, feats, confs, aflow, **kw): B, two, H, W = aflow.shape assert two == 2 feat1, conf1 = feats[0], (confs[0] if confs else None) feat2, conf2 = feats[1], (confs[1] if confs else None) # positions in the first image b1, y1, x1, shape = self.gen_grid(self.sub_q, aflow) # sample features from first image feat1 = feat1[b1, :, y1, x1] qconf = conf1[b1, :, y1, x1].view(shape) if confs else None #sample GT from second image b2 = b1 xy2 = (aflow[b1, :, y1, x1] + 0.5).long().t() mask = (0 <= xy2[0]) * (0 <= xy2[1]) * (xy2[0] < W) * (xy2[1] < H) mask = mask.view(shape) def clamp(xy): torch.clamp(xy[0], 0, W-1, out=xy[0]) torch.clamp(xy[1], 0, H-1, out=xy[1]) return xy # compute positive scores xy2p = clamp(xy2[:,None,:] + self.pos_offsets[:,:,None]) pscores = (feat1[None,:,:] * feat2[b2, :, xy2p[1], xy2p[0]]).sum(dim=-1).t() # xy1p = clamp(torch.stack((x1,y1))[:,None,:] + self.pos_offsets[:,:,None]) # grid = FullSampler._aflow_to_grid(aflow) # feat2p = F.grid_sample(feat2, grid, mode='bilinear', padding_mode='border') # pscores = (feat1[None,:,:] * feat2p[b1,:,xy1p[1], xy1p[0]]).sum(dim=-1).t() if self.maxpool_pos: pscores, pos = pscores.max(dim=1, keepdim=True) if confs: sel = clamp(xy2 + self.pos_offsets[:,pos.view(-1)]) qconf = (qconf + conf2[b2, :, sel[1], sel[0]].view(shape))/2 # compute negative scores xy2n = clamp(xy2[:,None,:] + self.neg_offsets[:,:,None]) nscores = (feat1[None,:,:] * feat2[b2, :, xy2n[1], xy2n[0]]).sum(dim=-1).t() if self.sub_d_neg: # add distractors from a grid b3, y3, x3, _ = self.gen_grid(self.sub_d_neg, aflow) distractors = feat2[b3, :, y3, x3] dscores = torch.matmul(feat1, distractors.t()) del distractors # remove scores that corresponds to positives or nulls dis2 = (x3 - xy2[0][:,None])**2 + (y3 - xy2[1][:,None])**2 dis2 += (b3 != b2[:,None]).long() * self.neg_d**2 dscores[dis2 < self.neg_d**2] = 0 scores = torch.cat((pscores, nscores, dscores), dim=1) else: # concat everything scores = torch.cat((pscores, nscores), dim=1) gt = scores.new_zeros(scores.shape, dtype=torch.uint8) gt[:, :pscores.shape[1]] = 1 return scores, gt, mask, qconf ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/tools/common.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import os, pdb#, shutil import numpy as np import torch def mkdir_for(file_path): os.makedirs(os.path.split(file_path)[0], exist_ok=True) def model_size(model): ''' Computes the number of parameters of the model ''' size = 0 for weights in model.state_dict().values(): size += np.prod(weights.shape) return size def torch_set_gpu(gpus): if type(gpus) is int: gpus = [gpus] cuda = all(gpu>=0 for gpu in gpus) if cuda: os.environ['CUDA_VISIBLE_DEVICES'] = ','.join([str(gpu) for gpu in gpus]) assert cuda and torch.cuda.is_available(), "%s has GPUs %s unavailable" % ( os.environ['HOSTNAME'],os.environ['CUDA_VISIBLE_DEVICES']) torch.backends.cudnn.benchmark = True # speed-up cudnn torch.backends.cudnn.fastest = True # even more speed-up? print( 'Launching on GPUs ' + os.environ['CUDA_VISIBLE_DEVICES'] ) else: print( 'Launching on CPU' ) return cuda ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/tools/dataloader.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb from PIL import Image import numpy as np import torch import torchvision.transforms as tvf from tools.transforms import instanciate_transformation from tools.transforms_tools import persp_apply RGB_mean = [0.485, 0.456, 0.406] RGB_std = [0.229, 0.224, 0.225] norm_RGB = tvf.Compose([tvf.ToTensor(), tvf.Normalize(mean=RGB_mean, std=RGB_std)]) class PairLoader: """ On-the-fly jittering of pairs of image with dense pixel ground-truth correspondences. crop: random crop applied to both images scale: random scaling applied to img2 distort: random ditorsion applied to img2 self[idx] returns a dictionary with keys: img1, img2, aflow, mask - img1: cropped original - img2: distorted cropped original - aflow: 'absolute' optical flow = (x,y) position of each pixel from img1 in img2 - mask: (binary image) valid pixels of img1 """ def __init__(self, dataset, crop='', scale='', distort='', norm = norm_RGB, what = 'aflow mask', idx_as_rng_seed = False): assert hasattr(dataset, 'npairs') assert hasattr(dataset, 'get_pair') self.dataset = dataset self.distort = instanciate_transformation(distort) self.crop = instanciate_transformation(crop) self.norm = instanciate_transformation(norm) self.scale = instanciate_transformation(scale) self.idx_as_rng_seed = idx_as_rng_seed # to remove randomness self.what = what.split() if isinstance(what, str) else what self.n_samples = 5 # number of random trials per image def __len__(self): assert len(self.dataset) == self.dataset.npairs, pdb.set_trace() # and not nimg return len(self.dataset) def __repr__(self): fmt_str = 'PairLoader\n' fmt_str += repr(self.dataset) fmt_str += ' npairs: %d\n' % self.dataset.npairs short_repr = lambda s: repr(s).strip().replace('\n',', ')[14:-1].replace(' ',' ') fmt_str += ' Distort: %s\n' % short_repr(self.distort) fmt_str += ' Crop: %s\n' % short_repr(self.crop) fmt_str += ' Norm: %s\n' % short_repr(self.norm) return fmt_str def __getitem__(self, i): #from time import time as now; t0 = now() if self.idx_as_rng_seed: import random random.seed(i) np.random.seed(i) # Retrieve an image pair and their absolute flow img_a, img_b, metadata = self.dataset.get_pair(i, self.what) # aflow contains pixel coordinates indicating where each # pixel from the left image ended up in the right image # as (x,y) pairs, but its shape is (H,W,2) aflow = np.float32(metadata['aflow']) mask = metadata.get('mask', np.ones(aflow.shape[:2],np.uint8)) # apply transformations to the second image img_b = {'img': img_b, 'persp':(1,0,0,0,1,0,0,0)} if self.scale: img_b = self.scale(img_b) if self.distort: img_b = self.distort(img_b) # apply the same transformation to the flow aflow[:] = persp_apply(img_b['persp'], aflow.reshape(-1,2)).reshape(aflow.shape) corres = None if 'corres' in metadata: corres = np.float32(metadata['corres']) corres[:,1] = persp_apply(img_b['persp'], corres[:,1]) # apply the same transformation to the homography homography = None if 'homography' in metadata: homography = np.float32(metadata['homography']) # p_b = homography * p_a persp = np.float32(img_b['persp']+(1,)).reshape(3,3) homography = persp @ homography # determine crop size img_b = img_b['img'] crop_size = self.crop({'imsize':(10000,10000)})['imsize'] output_size_a = min(img_a.size, crop_size) output_size_b = min(img_b.size, crop_size) img_a = np.array(img_a) img_b = np.array(img_b) ah,aw,p1 = img_a.shape bh,bw,p2 = img_b.shape assert p1 == 3 assert p2 == 3 assert aflow.shape == (ah, aw, 2) assert mask.shape == (ah, aw) # Let's start by computing the scale of the # optical flow and applying a median filter: dx = np.gradient(aflow[:,:,0]) dy = np.gradient(aflow[:,:,1]) scale = np.sqrt(np.clip(np.abs(dx[1]*dy[0] - dx[0]*dy[1]), 1e-16, 1e16)) accu2 = np.zeros((16,16), bool) Q = lambda x, w: np.int32(16 * (x - w.start) / (w.stop - w.start)) def window1(x, size, w): l = x - int(0.5 + size / 2) r = l + int(0.5 + size) if l < 0: l,r = (0, r - l) if r > w: l,r = (l + w - r, w) if l < 0: l,r = 0,w # larger than width return slice(l,r) def window(cx, cy, win_size, scale, img_shape): return (window1(cy, win_size[1]*scale, img_shape[0]), window1(cx, win_size[0]*scale, img_shape[1])) n_valid_pixel = mask.sum() sample_w = mask / (1e-16 + n_valid_pixel) def sample_valid_pixel(): n = np.random.choice(sample_w.size, p=sample_w.ravel()) y, x = np.unravel_index(n, sample_w.shape) return x, y # Find suitable left and right windows trials = 0 # take the best out of few trials best = -np.inf, None for _ in range(50*self.n_samples): if trials >= self.n_samples: break # finished! # pick a random valid point from the first image if n_valid_pixel == 0: break c1x, c1y = sample_valid_pixel() # Find in which position the center of the left # window ended up being placed in the right image c2x, c2y = (aflow[c1y, c1x] + 0.5).astype(np.int32) if not(0 <= c2x < bw and 0 <= c2y < bh): continue # Get the flow scale sigma = scale[c1y, c1x] # Determine sampling windows if 0.2 < sigma < 1: win1 = window(c1x, c1y, output_size_a, 1/sigma, img_a.shape) win2 = window(c2x, c2y, output_size_b, 1, img_b.shape) elif 1 <= sigma < 5: win1 = window(c1x, c1y, output_size_a, 1, img_a.shape) win2 = window(c2x, c2y, output_size_b, sigma, img_b.shape) else: continue # bad scale # compute a score based on the flow x2,y2 = aflow[win1].reshape(-1, 2).T.astype(np.int32) # Check the proportion of valid flow vectors valid = (win2[1].start <= x2) & (x2 < win2[1].stop) \ & (win2[0].start <= y2) & (y2 < win2[0].stop) score1 = (valid * mask[win1].ravel()).mean() # check the coverage of the second window accu2[:] = False accu2[Q(y2[valid],win2[0]), Q(x2[valid],win2[1])] = True score2 = accu2.mean() # Check how many hits we got score = min(score1, score2) trials += 1 if score > best[0]: best = score, win1, win2 if None in best: # counldn't find a good window img_a = np.zeros(output_size_a[::-1]+(3,), dtype=np.uint8) img_b = np.zeros(output_size_b[::-1]+(3,), dtype=np.uint8) aflow = np.nan * np.ones((2,)+output_size_a[::-1], dtype=np.float32) homography = np.nan * np.ones((3,3), dtype=np.float32) else: win1, win2 = best[1:] img_a = img_a[win1] img_b = img_b[win2] aflow = aflow[win1] - np.float32([[[win2[1].start, win2[0].start]]]) mask = mask[win1] aflow[~mask.view(bool)] = np.nan # mask bad pixels! aflow = aflow.transpose(2,0,1) # --> (2,H,W) if corres is not None: corres[:,0] -= (win1[1].start, win1[0].start) corres[:,1] -= (win2[1].start, win2[0].start) if homography is not None: trans1 = np.eye(3, dtype=np.float32) trans1[:2,2] = (win1[1].start, win1[0].start) trans2 = np.eye(3, dtype=np.float32) trans2[:2,2] = (-win2[1].start, -win2[0].start) homography = trans2 @ homography @ trans1 homography /= homography[2,2] # rescale if necessary if img_a.shape[:2][::-1] != output_size_a: sx, sy = (np.float32(output_size_a)-1)/(np.float32(img_a.shape[:2][::-1])-1) img_a = np.asarray(Image.fromarray(img_a).resize(output_size_a, Image.ANTIALIAS)) mask = np.asarray(Image.fromarray(mask).resize(output_size_a, Image.NEAREST)) afx = Image.fromarray(aflow[0]).resize(output_size_a, Image.NEAREST) afy = Image.fromarray(aflow[1]).resize(output_size_a, Image.NEAREST) aflow = np.stack((np.float32(afx), np.float32(afy))) if corres is not None: corres[:,0] *= (sx, sy) if homography is not None: homography = homography @ np.diag(np.float32([1/sx,1/sy,1])) homography /= homography[2,2] if img_b.shape[:2][::-1] != output_size_b: sx, sy = (np.float32(output_size_b)-1)/(np.float32(img_b.shape[:2][::-1])-1) img_b = np.asarray(Image.fromarray(img_b).resize(output_size_b, Image.ANTIALIAS)) aflow *= [[[sx]], [[sy]]] if corres is not None: corres[:,1] *= (sx, sy) if homography is not None: homography = np.diag(np.float32([sx,sy,1])) @ homography homography /= homography[2,2] assert aflow.dtype == np.float32, pdb.set_trace() assert homography is None or homography.dtype == np.float32, pdb.set_trace() if 'flow' in self.what: H, W = img_a.shape[:2] mgrid = np.mgrid[0:H, 0:W][::-1].astype(np.float32) flow = aflow - mgrid result = dict(img1=self.norm(img_a), img2=self.norm(img_b)) for what in self.what: try: result[what] = eval(what) except NameError: pass return result def threaded_loader( loader, iscuda, threads, batch_size=1, shuffle=True): """ Get a data loader, given the dataset and some parameters. Parameters ---------- loader : object[i] returns the i-th training example. iscuda : bool batch_size : int threads : int shuffle : int Returns ------- a multi-threaded pytorch loader. """ return torch.utils.data.DataLoader( loader, batch_size = batch_size, shuffle = shuffle, sampler = None, num_workers = threads, pin_memory = iscuda, collate_fn=collate) def collate(batch, _use_shared_memory=True): """Puts each data field into a tensor with outer dimension batch size. Copied from https://github.com/pytorch in torch/utils/data/_utils/collate.py """ import re error_msg = "batch must contain tensors, numbers, dicts or lists; found {}" elem_type = type(batch[0]) if isinstance(batch[0], torch.Tensor): out = None if _use_shared_memory: # If we're in a background process, concatenate directly into a # shared memory tensor to avoid an extra copy numel = sum([x.numel() for x in batch]) storage = batch[0].storage()._new_shared(numel) out = batch[0].new(storage) return torch.stack(batch, 0, out=out) elif elem_type.__module__ == 'numpy' and elem_type.__name__ != 'str_' \ and elem_type.__name__ != 'string_': elem = batch[0] assert elem_type.__name__ == 'ndarray' # array of string classes and object if re.search('[SaUO]', elem.dtype.str) is not None: raise TypeError(error_msg.format(elem.dtype)) batch = [torch.from_numpy(b) for b in batch] try: return torch.stack(batch, 0) except RuntimeError: return batch elif batch[0] is None: return list(batch) elif isinstance(batch[0], int): return torch.LongTensor(batch) elif isinstance(batch[0], float): return torch.DoubleTensor(batch) elif isinstance(batch[0], str): return batch elif isinstance(batch[0], dict): return {key: collate([d[key] for d in batch]) for key in batch[0]} elif isinstance(batch[0], (tuple,list)): transposed = zip(*batch) return [collate(samples) for samples in transposed] raise TypeError((error_msg.format(type(batch[0])))) def tensor2img(tensor, model=None): """ convert back a torch/numpy tensor to a PIL Image by undoing the ToTensor() and Normalize() transforms. """ mean = norm_RGB.transforms[1].mean std = norm_RGB.transforms[1].std if isinstance(tensor, torch.Tensor): tensor = tensor.detach().cpu().numpy() res = np.uint8(np.clip(255*((tensor.transpose(1,2,0) * std) + mean), 0, 255)) from PIL import Image return Image.fromarray(res) if __name__ == '__main__': import argparse parser = argparse.ArgumentParser("Tool to debug/visualize the data loader") parser.add_argument("dataloader", type=str, help="command to create the data loader") args = parser.parse_args() from datasets import * auto_pairs = lambda db: SyntheticPairDataset(db, 'RandomScale(256,1024,can_upscale=True)', 'RandomTilting(0.5), PixelNoise(25)') loader = eval(args.dataloader) print("Data loader =", loader) from tools.viz import show_flow for data in loader: aflow = data['aflow'] H, W = aflow.shape[-2:] flow = (aflow - np.mgrid[:H, :W][::-1]).transpose(1,2,0) show_flow(tensor2img(data['img1']), tensor2img(data['img2']), flow) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/tools/trainer.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb from tqdm import tqdm from collections import defaultdict import torch import torch.nn as nn class Trainer (nn.Module): """ Helper class to train a deep network. Overload this class `forward_backward` for your actual needs. Usage: train = Trainer(net, loader, loss, optimizer) for epoch in range(n_epochs): train() """ def __init__(self, net, loader, loss, optimizer): nn.Module.__init__(self) self.net = net self.loader = loader self.loss_func = loss self.optimizer = optimizer def iscuda(self): return next(self.net.parameters()).device != torch.device('cpu') def todevice(self, x): if isinstance(x, dict): return {k:self.todevice(v) for k,v in x.items()} if isinstance(x, (tuple,list)): return [self.todevice(v) for v in x] if self.iscuda(): return x.contiguous().cuda(non_blocking=True) else: return x.cpu() def __call__(self): self.net.train() stats = defaultdict(list) for iter,inputs in enumerate(tqdm(self.loader)): inputs = self.todevice(inputs) # compute gradient and do model update self.optimizer.zero_grad() loss, details = self.forward_backward(inputs) if torch.isnan(loss): raise RuntimeError('Loss is NaN') self.optimizer.step() for key, val in details.items(): stats[key].append( val ) print(" Summary of losses during this epoch:") mean = lambda lis: sum(lis) / len(lis) for loss_name, vals in stats.items(): N = 1 + len(vals)//10 print(f" - {loss_name:20}:", end='') print(f" {mean(vals[:N]):.3f} --> {mean(vals[-N:]):.3f} (avg: {mean(vals):.3f})") return mean(stats['loss']) # return average loss def forward_backward(self, inputs): raise NotImplementedError() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/tools/transforms.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb import numpy as np from PIL import Image, ImageOps import torchvision.transforms as tvf import random from math import ceil from . import transforms_tools as F ''' Example command to try out some transformation chain: python -m tools.transforms --trfs "Scale(384), ColorJitter(brightness=0.5, contrast=0.5, saturation=0.5, hue=0.1), RandomRotation(10), RandomTilting(0.5, 'all'), RandomScale(240,320), RandomCrop(224)" ''' def instanciate_transformation(cmd_line): ''' Create a sequence of transformations. cmd_line: (str) Comma-separated list of transformations. Ex: "Rotate(10), Scale(256)" ''' if not isinstance(cmd_line, str): return cmd_line # already instanciated cmd_line = "tvf.Compose([%s])" % cmd_line try: return eval(cmd_line) except Exception as e: print("Cannot interpret this transform list: %s\nReason: %s" % (cmd_line, e)) class Scale (object): """ Rescale the input PIL.Image to a given size. Copied from https://github.com/pytorch in torchvision/transforms/transforms.py The smallest dimension of the resulting image will be = size. if largest == True: same behaviour for the largest dimension. if not can_upscale: don't upscale if not can_downscale: don't downscale """ def __init__(self, size, interpolation=Image.BILINEAR, largest=False, can_upscale=True, can_downscale=True): assert isinstance(size, int) or (len(size) == 2) self.size = size self.interpolation = interpolation self.largest = largest self.can_upscale = can_upscale self.can_downscale = can_downscale def __repr__(self): fmt_str = "RandomScale(%s" % str(self.size) if self.largest: fmt_str += ', largest=True' if not self.can_upscale: fmt_str += ', can_upscale=False' if not self.can_downscale: fmt_str += ', can_downscale=False' return fmt_str+')' def get_params(self, imsize): w,h = imsize if isinstance(self.size, int): cmp = lambda a,b: (a>=b) if self.largest else (a<=b) if (cmp(w, h) and w == self.size) or (cmp(h, w) and h == self.size): ow, oh = w, h elif cmp(w, h): ow = self.size oh = int(self.size * h / w) else: oh = self.size ow = int(self.size * w / h) else: ow, oh = self.size return ow, oh def __call__(self, inp): img = F.grab_img(inp) w, h = img.size size2 = ow, oh = self.get_params(img.size) if size2 != img.size: a1, a2 = img.size, size2 if (self.can_upscale and min(a1) < min(a2)) or (self.can_downscale and min(a1) > min(a2)): img = img.resize(size2, self.interpolation) return F.update_img_and_labels(inp, img, persp=(ow/w,0,0,0,oh/h,0,0,0)) class RandomScale (Scale): """Rescale the input PIL.Image to a random size. Copied from https://github.com/pytorch in torchvision/transforms/transforms.py Args: min_size (int): min size of the smaller edge of the picture. max_size (int): max size of the smaller edge of the picture. ar (float or tuple): max change of aspect ratio (width/height). interpolation (int, optional): Desired interpolation. Default is ``PIL.Image.BILINEAR`` """ def __init__(self, min_size, max_size, ar=1, can_upscale=False, can_downscale=True, interpolation=Image.BILINEAR): Scale.__init__(self, 0, can_upscale=can_upscale, can_downscale=can_downscale, interpolation=interpolation) assert type(min_size) == type(max_size), 'min_size and max_size can only be 2 ints or 2 floats' assert isinstance(min_size, int) and min_size >= 1 or isinstance(min_size, float) and min_size>0 assert isinstance(max_size, (int,float)) and min_size <= max_size self.min_size = min_size self.max_size = max_size if type(ar) in (float,int): ar = (min(1/ar,ar),max(1/ar,ar)) assert 0.2 < ar[0] <= ar[1] < 5 self.ar = ar def get_params(self, imsize): w,h = imsize if isinstance(self.min_size, float): min_size = int(self.min_size*min(w,h) + 0.5) if isinstance(self.max_size, float): max_size = int(self.max_size*min(w,h) + 0.5) if isinstance(self.min_size, int): min_size = self.min_size if isinstance(self.max_size, int): max_size = self.max_size if not self.can_upscale: max_size = min(max_size,min(w,h)) size = int(0.5 + F.rand_log_uniform(min_size,max_size)) ar = F.rand_log_uniform(*self.ar) # change of aspect ratio if w < h: # image is taller ow = size oh = int(0.5 + size * h / w / ar) if oh < min_size: ow,oh = int(0.5 + ow*float(min_size)/oh),min_size else: # image is wider oh = size ow = int(0.5 + size * w / h * ar) if ow < min_size: ow,oh = min_size,int(0.5 + oh*float(min_size)/ow) assert ow >= min_size, 'image too small (width=%d < min_size=%d)' % (ow, min_size) assert oh >= min_size, 'image too small (height=%d < min_size=%d)' % (oh, min_size) return ow, oh class RandomCrop (object): """Crop the given PIL Image at a random location. Copied from https://github.com/pytorch in torchvision/transforms/transforms.py Args: size (sequence or int): Desired output size of the crop. If size is an int instead of sequence like (h, w), a square crop (size, size) is made. padding (int or sequence, optional): Optional padding on each border of the image. Default is 0, i.e no padding. If a sequence of length 4 is provided, it is used to pad left, top, right, bottom borders respectively. """ def __init__(self, size, padding=0): if isinstance(size, int): self.size = (int(size), int(size)) else: self.size = size self.padding = padding def __repr__(self): return "RandomCrop(%s)" % str(self.size) @staticmethod def get_params(img, output_size): w, h = img.size th, tw = output_size assert h >= th and w >= tw, "Image of %dx%d is too small for crop %dx%d" % (w,h,tw,th) y = np.random.randint(0, h - th) if h > th else 0 x = np.random.randint(0, w - tw) if w > tw else 0 return x, y, tw, th def __call__(self, inp): img = F.grab_img(inp) padl = padt = 0 if self.padding: if F.is_pil_image(img): img = ImageOps.expand(img, border=self.padding, fill=0) else: assert isinstance(img, F.DummyImg) img = img.expand(border=self.padding) if isinstance(self.padding, int): padl = padt = self.padding else: padl, padt = self.padding[0:2] i, j, tw, th = self.get_params(img, self.size) img = img.crop((i, j, i+tw, j+th)) return F.update_img_and_labels(inp, img, persp=(1,0,padl-i,0,1,padt-j,0,0)) class CenterCrop (RandomCrop): """Crops the given PIL Image at the center. Copied from https://github.com/pytorch in torchvision/transforms/transforms.py Args: size (sequence or int): Desired output size of the crop. If size is an int instead of sequence like (h, w), a square crop (size, size) is made. """ @staticmethod def get_params(img, output_size): w, h = img.size th, tw = output_size y = int(0.5 +((h - th) / 2.)) x = int(0.5 +((w - tw) / 2.)) return x, y, tw, th class RandomRotation(object): """Rescale the input PIL.Image to a random size. Copied from https://github.com/pytorch in torchvision/transforms/transforms.py Args: degrees (float): rotation angle. interpolation (int, optional): Desired interpolation. Default is ``PIL.Image.BILINEAR`` """ def __init__(self, degrees, interpolation=Image.BILINEAR): self.degrees = degrees self.interpolation = interpolation def __call__(self, inp): img = F.grab_img(inp) w, h = img.size angle = np.random.uniform(-self.degrees, self.degrees) img = img.rotate(angle, resample=self.interpolation) w2, h2 = img.size trf = F.translate(-w/2,-h/2) trf = F.persp_mul(trf, F.rotate(-angle * np.pi/180)) trf = F.persp_mul(trf, F.translate(w2/2,h2/2)) return F.update_img_and_labels(inp, img, persp=trf) class RandomTilting(object): """Apply a random tilting (left, right, up, down) to the input PIL.Image Copied from https://github.com/pytorch in torchvision/transforms/transforms.py Args: maginitude (float): maximum magnitude of the random skew (value between 0 and 1) directions (string): tilting directions allowed (all, left, right, up, down) examples: "all", "left,right", "up-down-right" """ def __init__(self, magnitude, directions='all'): self.magnitude = magnitude self.directions = directions.lower().replace(',',' ').replace('-',' ') def __repr__(self): return "RandomTilt(%g, '%s')" % (self.magnitude,self.directions) def __call__(self, inp): img = F.grab_img(inp) w, h = img.size x1,y1,x2,y2 = 0,0,h,w original_plane = [(y1, x1), (y2, x1), (y2, x2), (y1, x2)] max_skew_amount = max(w, h) max_skew_amount = int(ceil(max_skew_amount * self.magnitude)) skew_amount = random.randint(1, max_skew_amount) if self.directions == 'all': choices = [0,1,2,3] else: dirs = ['left', 'right', 'up', 'down'] choices = [] for d in self.directions.split(): try: choices.append(dirs.index(d)) except: raise ValueError('Tilting direction %s not recognized' % d) skew_direction = random.choice(choices) # print('randomtitlting: ', skew_amount, skew_direction) # to debug random if skew_direction == 0: # Left Tilt new_plane = [(y1, x1 - skew_amount), # Top Left (y2, x1), # Top Right (y2, x2), # Bottom Right (y1, x2 + skew_amount)] # Bottom Left elif skew_direction == 1: # Right Tilt new_plane = [(y1, x1), # Top Left (y2, x1 - skew_amount), # Top Right (y2, x2 + skew_amount), # Bottom Right (y1, x2)] # Bottom Left elif skew_direction == 2: # Forward Tilt new_plane = [(y1 - skew_amount, x1), # Top Left (y2 + skew_amount, x1), # Top Right (y2, x2), # Bottom Right (y1, x2)] # Bottom Left elif skew_direction == 3: # Backward Tilt new_plane = [(y1, x1), # Top Left (y2, x1), # Top Right (y2 + skew_amount, x2), # Bottom Right (y1 - skew_amount, x2)] # Bottom Left # To calculate the coefficients required by PIL for the perspective skew, # see the following Stack Overflow discussion: https://goo.gl/sSgJdj matrix = [] for p1, p2 in zip(new_plane, original_plane): matrix.append([p1[0], p1[1], 1, 0, 0, 0, -p2[0] * p1[0], -p2[0] * p1[1]]) matrix.append([0, 0, 0, p1[0], p1[1], 1, -p2[1] * p1[0], -p2[1] * p1[1]]) A = np.matrix(matrix, dtype=np.float) B = np.array(original_plane).reshape(8) homography = np.dot(np.linalg.pinv(A), B) homography = tuple(np.array(homography).reshape(8)) #print(homography) img = img.transform(img.size, Image.PERSPECTIVE, homography, resample=Image.BICUBIC) homography = np.linalg.pinv(np.float32(homography+(1,)).reshape(3,3)).ravel()[:8] return F.update_img_and_labels(inp, img, persp=tuple(homography)) RandomTilt = RandomTilting # redefinition class Tilt(object): """Apply a known tilting to an image """ def __init__(self, *homography): assert len(homography) == 8 self.homography = homography def __call__(self, inp): img = F.grab_img(inp) homography = self.homography #print(homography) img = img.transform(img.size, Image.PERSPECTIVE, homography, resample=Image.BICUBIC) homography = np.linalg.pinv(np.float32(homography+(1,)).reshape(3,3)).ravel()[:8] return F.update_img_and_labels(inp, img, persp=tuple(homography)) class StillTransform (object): """ Takes and return an image, without changing its shape or geometry. """ def _transform(self, img): raise NotImplementedError() def __call__(self, inp): img = F.grab_img(inp) # transform the image (size should not change) try: img = self._transform(img) except TypeError: pass return F.update_img_and_labels(inp, img, persp=(1,0,0,0,1,0,0,0)) class PixelNoise (StillTransform): """ Takes an image, and add random white noise. """ def __init__(self, ampl=20): StillTransform.__init__(self) assert 0 <= ampl < 255 self.ampl = ampl def __repr__(self): return "PixelNoise(%g)" % self.ampl def _transform(self, img): img = np.float32(img) img += np.random.uniform(0.5-self.ampl/2, 0.5+self.ampl/2, size=img.shape) return Image.fromarray(np.uint8(img.clip(0,255))) class ColorJitter (StillTransform): """Randomly change the brightness, contrast and saturation of an image. Copied from https://github.com/pytorch in torchvision/transforms/transforms.py Args: brightness (float): How much to jitter brightness. brightness_factor is chosen uniformly from [max(0, 1 - brightness), 1 + brightness]. contrast (float): How much to jitter contrast. contrast_factor is chosen uniformly from [max(0, 1 - contrast), 1 + contrast]. saturation (float): How much to jitter saturation. saturation_factor is chosen uniformly from [max(0, 1 - saturation), 1 + saturation]. hue(float): How much to jitter hue. hue_factor is chosen uniformly from [-hue, hue]. Should be >=0 and <= 0.5. """ def __init__(self, brightness=0, contrast=0, saturation=0, hue=0): self.brightness = brightness self.contrast = contrast self.saturation = saturation self.hue = hue def __repr__(self): return "ColorJitter(%g,%g,%g,%g)" % ( self.brightness, self.contrast, self.saturation, self.hue) @staticmethod def get_params(brightness, contrast, saturation, hue): """Get a randomized transform to be applied on image. Arguments are same as that of __init__. Returns: Transform which randomly adjusts brightness, contrast and saturation in a random order. """ transforms = [] if brightness > 0: brightness_factor = np.random.uniform(max(0, 1 - brightness), 1 + brightness) transforms.append(tvf.Lambda(lambda img: F.adjust_brightness(img, brightness_factor))) if contrast > 0: contrast_factor = np.random.uniform(max(0, 1 - contrast), 1 + contrast) transforms.append(tvf.Lambda(lambda img: F.adjust_contrast(img, contrast_factor))) if saturation > 0: saturation_factor = np.random.uniform(max(0, 1 - saturation), 1 + saturation) transforms.append(tvf.Lambda(lambda img: F.adjust_saturation(img, saturation_factor))) if hue > 0: hue_factor = np.random.uniform(-hue, hue) transforms.append(tvf.Lambda(lambda img: F.adjust_hue(img, hue_factor))) # print('colorjitter: ', brightness_factor, contrast_factor, saturation_factor, hue_factor) # to debug random seed np.random.shuffle(transforms) transform = tvf.Compose(transforms) return transform def _transform(self, img): transform = self.get_params(self.brightness, self.contrast, self.saturation, self.hue) return transform(img) if __name__ == '__main__': import argparse parser = argparse.ArgumentParser("Script to try out and visualize transformations") parser.add_argument('--img', type=str, default='imgs/test.png', help='input image') parser.add_argument('--trfs', type=str, required=True, help='list of transformations') parser.add_argument('--layout', type=int, nargs=2, default=(3,3), help='nb of rows,cols') args = parser.parse_args() import os args.img = args.img.replace('$HERE',os.path.dirname(__file__)) img = Image.open(args.img) img = dict(img=img) trfs = instanciate_transformation(args.trfs) from matplotlib import pyplot as pl pl.ion() pl.subplots_adjust(0,0,1,1) nr,nc = args.layout while True: for j in range(nr): for i in range(nc): pl.subplot(nr,nc,i+j*nc+1) if i==j==0: img2 = img else: img2 = trfs(img.copy()) if isinstance(img2, dict): img2 = img2['img'] pl.imshow(img2) pl.xlabel("%d x %d" % img2.size) pl.xticks(()) pl.yticks(()) pdb.set_trace() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/tools/transforms_tools.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb import numpy as np from PIL import Image, ImageOps, ImageEnhance class DummyImg: ''' This class is a dummy image only defined by its size. ''' def __init__(self, size): self.size = size def resize(self, size, *args, **kwargs): return DummyImg(size) def expand(self, border): w, h = self.size if isinstance(border, int): size = (w+2*border, h+2*border) else: l,t,r,b = border size = (w+l+r, h+t+b) return DummyImg(size) def crop(self, border): w, h = self.size l,t,r,b = border assert 0 <= l <= r <= w assert 0 <= t <= b <= h size = (r-l, b-t) return DummyImg(size) def rotate(self, angle): raise NotImplementedError def transform(self, size, *args, **kwargs): return DummyImg(size) def grab_img( img_and_label ): ''' Called to extract the image from an img_and_label input (a dictionary). Also compatible with old-style PIL images. ''' if isinstance(img_and_label, dict): # if input is a dictionary, then # it must contains the img or its size. try: return img_and_label['img'] except KeyError: return DummyImg(img_and_label['imsize']) else: # or it must be the img directly return img_and_label def update_img_and_labels(img_and_label, img, persp=None): ''' Called to update the img_and_label ''' if isinstance(img_and_label, dict): img_and_label['img'] = img img_and_label['imsize'] = img.size if persp: if 'persp' not in img_and_label: img_and_label['persp'] = (1,0,0,0,1,0,0,0) img_and_label['persp'] = persp_mul(persp, img_and_label['persp']) return img_and_label else: # or it must be the img directly return img def rand_log_uniform(a, b): return np.exp(np.random.uniform(np.log(a),np.log(b))) def translate(tx, ty): return (1,0,tx, 0,1,ty, 0,0) def rotate(angle): return (np.cos(angle),-np.sin(angle), 0, np.sin(angle), np.cos(angle), 0, 0, 0) def persp_mul(mat, mat2): ''' homography (perspective) multiplication. mat: 8-tuple (homography transform) mat2: 8-tuple (homography transform) or 2-tuple (point) ''' assert isinstance(mat, tuple) assert isinstance(mat2, tuple) mat = np.float32(mat+(1,)).reshape(3,3) mat2 = np.array(mat2+(1,)).reshape(3,3) res = np.dot(mat, mat2) return tuple((res/res[2,2]).ravel()[:8]) def persp_apply(mat, pts): ''' homography (perspective) transformation. mat: 8-tuple (homography transform) pts: numpy array ''' assert isinstance(mat, tuple) assert isinstance(pts, np.ndarray) assert pts.shape[-1] == 2 mat = np.float32(mat+(1,)).reshape(3,3) if pts.ndim == 1: pt = np.dot(pts, mat[:,:2].T).ravel() + mat[:,2] pt /= pt[2] # homogeneous coordinates return tuple(pt[:2]) else: pt = np.dot(pts, mat[:,:2].T) + mat[:,2] pt[:,:2] /= pt[:,2:3] # homogeneous coordinates return pt[:,:2] def is_pil_image(img): return isinstance(img, Image.Image) def adjust_brightness(img, brightness_factor): """Adjust brightness of an Image. Args: img (PIL Image): PIL Image to be adjusted. brightness_factor (float): How much to adjust the brightness. Can be any non negative number. 0 gives a black image, 1 gives the original image while 2 increases the brightness by a factor of 2. Returns: PIL Image: Brightness adjusted image. Copied from https://github.com/pytorch in torchvision/transforms/functional.py """ if not is_pil_image(img): raise TypeError('img should be PIL Image. Got {}'.format(type(img))) enhancer = ImageEnhance.Brightness(img) img = enhancer.enhance(brightness_factor) return img def adjust_contrast(img, contrast_factor): """Adjust contrast of an Image. Args: img (PIL Image): PIL Image to be adjusted. contrast_factor (float): How much to adjust the contrast. Can be any non negative number. 0 gives a solid gray image, 1 gives the original image while 2 increases the contrast by a factor of 2. Returns: PIL Image: Contrast adjusted image. Copied from https://github.com/pytorch in torchvision/transforms/functional.py """ if not is_pil_image(img): raise TypeError('img should be PIL Image. Got {}'.format(type(img))) enhancer = ImageEnhance.Contrast(img) img = enhancer.enhance(contrast_factor) return img def adjust_saturation(img, saturation_factor): """Adjust color saturation of an image. Args: img (PIL Image): PIL Image to be adjusted. saturation_factor (float): How much to adjust the saturation. 0 will give a black and white image, 1 will give the original image while 2 will enhance the saturation by a factor of 2. Returns: PIL Image: Saturation adjusted image. Copied from https://github.com/pytorch in torchvision/transforms/functional.py """ if not is_pil_image(img): raise TypeError('img should be PIL Image. Got {}'.format(type(img))) enhancer = ImageEnhance.Color(img) img = enhancer.enhance(saturation_factor) return img def adjust_hue(img, hue_factor): """Adjust hue of an image. The image hue is adjusted by converting the image to HSV and cyclically shifting the intensities in the hue channel (H). The image is then converted back to original image mode. `hue_factor` is the amount of shift in H channel and must be in the interval `[-0.5, 0.5]`. See https://en.wikipedia.org/wiki/Hue for more details on Hue. Args: img (PIL Image): PIL Image to be adjusted. hue_factor (float): How much to shift the hue channel. Should be in [-0.5, 0.5]. 0.5 and -0.5 give complete reversal of hue channel in HSV space in positive and negative direction respectively. 0 means no shift. Therefore, both -0.5 and 0.5 will give an image with complementary colors while 0 gives the original image. Returns: PIL Image: Hue adjusted image. Copied from https://github.com/pytorch in torchvision/transforms/functional.py """ if not(-0.5 <= hue_factor <= 0.5): raise ValueError('hue_factor is not in [-0.5, 0.5].'.format(hue_factor)) if not is_pil_image(img): raise TypeError('img should be PIL Image. Got {}'.format(type(img))) input_mode = img.mode if input_mode in {'L', '1', 'I', 'F'}: return img h, s, v = img.convert('HSV').split() np_h = np.array(h, dtype=np.uint8) # uint8 addition take cares of rotation across boundaries with np.errstate(over='ignore'): np_h += np.uint8(hue_factor * 255) h = Image.fromarray(np_h, 'L') img = Image.merge('HSV', (h, s, v)).convert(input_mode) return img ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/tools/viz.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import pdb import numpy as np import matplotlib.pyplot as pl def make_colorwheel(): ''' Generates a color wheel for optical flow visualization as presented in: Baker et al. "A Database and Evaluation Methodology for Optical Flow" (ICCV, 2007) URL: http://vision.middlebury.edu/flow/flowEval-iccv07.pdf According to the C++ source code of Daniel Scharstein According to the Matlab source code of Deqing Sun Copied from https://github.com/tomrunia/OpticalFlow_Visualization/blob/master/flow_vis.py Copyright (c) 2018 Tom Runia ''' RY = 15 YG = 6 GC = 4 CB = 11 BM = 13 MR = 6 ncols = RY + YG + GC + CB + BM + MR colorwheel = np.zeros((ncols, 3)) col = 0 # RY colorwheel[0:RY, 0] = 255 colorwheel[0:RY, 1] = np.floor(255*np.arange(0,RY)/RY) col = col+RY # YG colorwheel[col:col+YG, 0] = 255 - np.floor(255*np.arange(0,YG)/YG) colorwheel[col:col+YG, 1] = 255 col = col+YG # GC colorwheel[col:col+GC, 1] = 255 colorwheel[col:col+GC, 2] = np.floor(255*np.arange(0,GC)/GC) col = col+GC # CB colorwheel[col:col+CB, 1] = 255 - np.floor(255*np.arange(CB)/CB) colorwheel[col:col+CB, 2] = 255 col = col+CB # BM colorwheel[col:col+BM, 2] = 255 colorwheel[col:col+BM, 0] = np.floor(255*np.arange(0,BM)/BM) col = col+BM # MR colorwheel[col:col+MR, 2] = 255 - np.floor(255*np.arange(MR)/MR) colorwheel[col:col+MR, 0] = 255 return colorwheel def flow_compute_color(u, v, convert_to_bgr=False): ''' Applies the flow color wheel to (possibly clipped) flow components u and v. According to the C++ source code of Daniel Scharstein According to the Matlab source code of Deqing Sun :param u: np.ndarray, input horizontal flow :param v: np.ndarray, input vertical flow :param convert_to_bgr: bool, whether to change ordering and output BGR instead of RGB :return: Copied from https://github.com/tomrunia/OpticalFlow_Visualization/blob/master/flow_vis.py Copyright (c) 2018 Tom Runia ''' flow_image = np.zeros((u.shape[0], u.shape[1], 3), np.uint8) colorwheel = make_colorwheel() # shape [55x3] ncols = colorwheel.shape[0] rad = np.sqrt(np.square(u) + np.square(v)) a = np.arctan2(-v, -u)/np.pi fk = (a+1) / 2*(ncols-1) k0 = np.floor(fk).astype(np.int32) k1 = k0 + 1 k1[k1 == ncols] = 0 f = fk - k0 for i in range(colorwheel.shape[1]): tmp = colorwheel[:,i] col0 = tmp[k0] / 255.0 col1 = tmp[k1] / 255.0 col = (1-f)*col0 + f*col1 idx = (rad <= 1) col[idx] = 1 - rad[idx] * (1-col[idx]) col[~idx] = col[~idx] * 0.75 # out of range? # Note the 2-i => BGR instead of RGB ch_idx = 2-i if convert_to_bgr else i flow_image[:,:,ch_idx] = np.floor(255 * col) return flow_image def flow_to_color(flow_uv, clip_flow=None, convert_to_bgr=False): ''' Expects a two dimensional flow image of shape [H,W,2] According to the C++ source code of Daniel Scharstein According to the Matlab source code of Deqing Sun :param flow_uv: np.ndarray of shape [H,W,2] :param clip_flow: float, maximum clipping value for flow :return: Copied from https://github.com/tomrunia/OpticalFlow_Visualization/blob/master/flow_vis.py Copyright (c) 2018 Tom Runia ''' assert flow_uv.ndim == 3, 'input flow must have three dimensions' assert flow_uv.shape[2] == 2, 'input flow must have shape [H,W,2]' if clip_flow is not None: flow_uv = np.clip(flow_uv, 0, clip_flow) u = flow_uv[:,:,0] v = flow_uv[:,:,1] rad = np.sqrt(np.square(u) + np.square(v)) rad_max = np.max(rad) epsilon = 1e-5 u = u / (rad_max + epsilon) v = v / (rad_max + epsilon) return flow_compute_color(u, v, convert_to_bgr) def show_flow( img0, img1, flow, mask=None ): img0 = np.asarray(img0) img1 = np.asarray(img1) if mask is None: mask = 1 mask = np.asarray(mask) if mask.ndim == 2: mask = mask[:,:,None] assert flow.ndim == 3 assert flow.shape[:2] == img0.shape[:2] and flow.shape[2] == 2 def noticks(): pl.xticks([]) pl.yticks([]) fig = pl.figure("showing correspondences") ax1 = pl.subplot(221) ax1.numaxis = 0 pl.imshow(img0*mask) noticks() ax2 = pl.subplot(222) ax2.numaxis = 1 pl.imshow(img1) noticks() ax = pl.subplot(212) ax.numaxis = 0 flow_img = flow_to_color(np.where(np.isnan(flow), 0, flow)) pl.imshow(flow_img * mask) noticks() pl.subplots_adjust(0.01, 0.01, 0.99, 0.99, wspace=0.02, hspace=0.02) def motion_notify_callback(event): if event.inaxes is None: return x,y = event.xdata, event.ydata ax1.lines = [] ax2.lines = [] try: x,y = int(x+0.5), int(y+0.5) ax1.plot(x,y,'+',ms=10,mew=2,color='blue',scalex=False,scaley=False) x,y = flow[y,x] + (x,y) ax2.plot(x,y,'+',ms=10,mew=2,color='red',scalex=False,scaley=False) # we redraw only the concerned axes renderer = fig.canvas.get_renderer() ax1.draw(renderer) ax2.draw(renderer) fig.canvas.blit(ax1.bbox) fig.canvas.blit(ax2.bbox) except IndexError: return cid_move = fig.canvas.mpl_connect('motion_notify_event',motion_notify_callback) print("Move your mouse over the images to show matches (ctrl-C to quit)") pl.show() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/train.py ================================================ # Copyright 2019-present NAVER Corp. # CC BY-NC-SA 3.0 # Available only for non-commercial use import os, pdb import torch import torch.optim as optim from tools import common, trainer from tools.dataloader import * from nets.patchnet import * from nets.losses import * default_net = "Quad_L2Net_ConfCFS()" toy_db_debug = """SyntheticPairDataset( ImgFolder('imgs'), 'RandomScale(256,1024,can_upscale=True)', 'RandomTilting(0.5), PixelNoise(25)')""" db_web_images = """SyntheticPairDataset( web_images, 'RandomScale(256,1024,can_upscale=True)', 'RandomTilting(0.5), PixelNoise(25)')""" db_aachen_images = """SyntheticPairDataset( aachen_db_images, 'RandomScale(256,1024,can_upscale=True)', 'RandomTilting(0.5), PixelNoise(25)')""" db_aachen_style_transfer = """TransformedPairs( aachen_style_transfer_pairs, 'RandomScale(256,1024,can_upscale=True), RandomTilting(0.5), PixelNoise(25)')""" db_aachen_flow = "aachen_flow_pairs" data_sources = dict( D = toy_db_debug, W = db_web_images, A = db_aachen_images, F = db_aachen_flow, S = db_aachen_style_transfer, ) default_dataloader = """PairLoader(CatPairDataset(`data`), scale = 'RandomScale(256,1024,can_upscale=True)', distort = 'ColorJitter(0.2,0.2,0.2,0.1)', crop = 'RandomCrop(192)')""" default_sampler = """NghSampler2(ngh=7, subq=-8, subd=1, pos_d=3, neg_d=5, border=16, subd_neg=-8,maxpool_pos=True)""" default_loss = """MultiLoss( 1, ReliabilityLoss(`sampler`, base=0.5, nq=20), 1, CosimLoss(N=`N`), 1, PeakyLoss(N=`N`))""" class MyTrainer(trainer.Trainer): """ This class implements the network training. Below is the function I need to overload to explain how to do the backprop. """ def forward_backward(self, inputs): output = self.net(imgs=[inputs.pop('img1'),inputs.pop('img2')]) allvars = dict(inputs, **output) loss, details = self.loss_func(**allvars) if torch.is_grad_enabled(): loss.backward() return loss, details if __name__ == '__main__': import argparse parser = argparse.ArgumentParser("Train R2D2") parser.add_argument("--data-loader", type=str, default=default_dataloader) parser.add_argument("--train-data", type=str, default=list('WASF'), nargs='+', choices = set(data_sources.keys())) parser.add_argument("--net", type=str, default=default_net, help='network architecture') parser.add_argument("--pretrained", type=str, default="", help='pretrained model path') parser.add_argument("--save-path", type=str, required=True, help='model save_path path') parser.add_argument("--loss", type=str, default=default_loss, help="loss function") parser.add_argument("--sampler", type=str, default=default_sampler, help="AP sampler") parser.add_argument("--N", type=int, default=16, help="patch size for repeatability") parser.add_argument("--epochs", type=int, default=25, help='number of training epochs') parser.add_argument("--batch-size", "--bs", type=int, default=8, help="batch size") parser.add_argument("--learning-rate", "--lr", type=str, default=1e-4) parser.add_argument("--weight-decay", "--wd", type=float, default=5e-4) parser.add_argument("--threads", type=int, default=8, help='number of worker threads') parser.add_argument("--gpu", type=int, nargs='+', default=[0], help='-1 for CPU') args = parser.parse_args() iscuda = common.torch_set_gpu(args.gpu) common.mkdir_for(args.save_path) # Create data loader from datasets import * db = [data_sources[key] for key in args.train_data] db = eval(args.data_loader.replace('`data`',','.join(db)).replace('\n','')) print("Training image database =", db) loader = threaded_loader(db, iscuda, args.threads, args.batch_size, shuffle=True) # create network print("\n>> Creating net = " + args.net) net = eval(args.net) print(f" ( Model size: {common.model_size(net)/1000:.0f}K parameters )") # initialization if args.pretrained: checkpoint = torch.load(args.pretrained, lambda a,b:a) net.load_pretrained(checkpoint['state_dict']) # create losses loss = args.loss.replace('`sampler`',args.sampler).replace('`N`',str(args.N)) print("\n>> Creating loss = " + loss) loss = eval(loss.replace('\n','')) # create optimizer optimizer = optim.Adam( [p for p in net.parameters() if p.requires_grad], lr=args.learning_rate, weight_decay=args.weight_decay) train = MyTrainer(net, loader, loss, optimizer) if iscuda: train = train.cuda() # Training loop # for epoch in range(args.epochs): print(f"\n>> Starting epoch {epoch}...") train() print(f"\n>> Saving model to {args.save_path}") torch.save({'net': args.net, 'state_dict': net.state_dict()}, args.save_path) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/Hierarchical-Localization/third_party/r2d2/viz_heatmaps.py ================================================ import pdb import os import sys import tqdm import numpy as np import torch from PIL import Image from matplotlib import pyplot as pl; pl.ion() from scipy.ndimage import uniform_filter smooth = lambda arr: uniform_filter(arr, 3) def transparent(img, alpha, cmap, **kw): from matplotlib.colors import Normalize colored_img = cmap(Normalize(clip=True,**kw)(img)) colored_img[:,:,-1] = alpha return colored_img from tools import common from tools.dataloader import norm_RGB from nets.patchnet import * from extract import NonMaxSuppression if __name__ == '__main__': import argparse parser = argparse.ArgumentParser("Visualize the patch detector and descriptor") parser.add_argument("--img", type=str, default="imgs/brooklyn.png") parser.add_argument("--resize", type=int, default=512) parser.add_argument("--out", type=str, default="viz.png") parser.add_argument("--checkpoint", type=str, required=True, help='network path') parser.add_argument("--net", type=str, default="", help='network command') parser.add_argument("--max-kpts", type=int, default=200) parser.add_argument("--reliability-thr", type=float, default=0.8) parser.add_argument("--repeatability-thr", type=float, default=0.7) parser.add_argument("--border", type=int, default=20,help='rm keypoints close to border') parser.add_argument("--gpu", type=int, nargs='+', required=True, help='-1 for CPU') parser.add_argument("--dbg", type=str, nargs='+', default=(), help='debug options') args = parser.parse_args() args.dbg = set(args.dbg) iscuda = common.torch_set_gpu(args.gpu) device = torch.device('cuda' if iscuda else 'cpu') # create network checkpoint = torch.load(args.checkpoint, lambda a,b:a) args.net = args.net or checkpoint['net'] print("\n>> Creating net = " + args.net) net = eval(args.net) net.load_state_dict({k.replace('module.',''):v for k,v in checkpoint['state_dict'].items()}) if iscuda: net = net.cuda() print(f" ( Model size: {common.model_size(net)/1000:.0f}K parameters )") img = Image.open(args.img).convert('RGB') if args.resize: img.thumbnail((args.resize,args.resize)) img = np.asarray(img) detector = NonMaxSuppression( rel_thr = args.reliability_thr, rep_thr = args.repeatability_thr) with torch.no_grad(): print(">> computing features...") res = net(imgs=[norm_RGB(img).unsqueeze(0).to(device)]) rela = res.get('reliability') repe = res.get('repeatability') kpts = detector(**res).T[:,[1,0]] kpts = kpts[repe[0][0,0][kpts[:,1],kpts[:,0]].argsort()[-args.max_kpts:]] fig = pl.figure("viz") kw = dict(cmap=pl.cm.RdYlGn, vmax=1) crop = (slice(args.border,-args.border or 1),)*2 if 'reliability' in args.dbg: ax1 = pl.subplot(131) pl.imshow(img[crop], cmap=pl.cm.gray) pl.xticks(()); pl.yticks(()) pl.subplot(132) pl.imshow(img[crop], cmap=pl.cm.gray, alpha=0) pl.xticks(()); pl.yticks(()) x,y = kpts[:,0:2].cpu().numpy().T - args.border pl.plot(x,y,'+',c=(0,1,0),ms=10, scalex=0, scaley=0) ax1 = pl.subplot(133) rela = rela[0][0,0].cpu().numpy() pl.imshow(rela[crop], cmap=pl.cm.RdYlGn, vmax=1, vmin=0.9) pl.xticks(()); pl.yticks(()) else: ax1 = pl.subplot(131) pl.imshow(img[crop], cmap=pl.cm.gray) pl.xticks(()); pl.yticks(()) x,y = kpts[:,0:2].cpu().numpy().T - args.border pl.plot(x,y,'+',c=(0,1,0),ms=10, scalex=0, scaley=0) pl.subplot(132) pl.imshow(img[crop], cmap=pl.cm.gray) pl.xticks(()); pl.yticks(()) c = repe[0][0,0].cpu().numpy() pl.imshow(transparent(smooth(c)[crop], 0.5, vmin=0, **kw)) ax1 = pl.subplot(133) pl.imshow(img[crop], cmap=pl.cm.gray) pl.xticks(()); pl.yticks(()) rela = rela[0][0,0].cpu().numpy() pl.imshow(transparent(rela[crop], 0.5, vmin=0.9, **kw)) pl.gcf().set_size_inches(9, 2.73) pl.subplots_adjust(0.01,0.01,0.99,0.99,hspace=0.1) pl.savefig(args.out) pdb.set_trace() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/.gitignore ================================================ .vscode/ __pycache__/ *.egg-info *.pyc *.DS_Store *.swp *.pth tmp.* */.ipynb_checkpoints/* logs/ weights/ dump/ demo/*.mp4 demo/demo_images/ src/loftr/utils/superglue.py demo/utils.py notebooks/QccDayNight.ipynb notebooks/westlake.ipynb assets/westlake assets/qcc_pairs.txt configs/.petrel* tools/draw_QccDayNights.py scripts/slurm/ scripts/sbatch_submit.sh src/utils/client.py ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/.gitmodules ================================================ [submodule "third_party/SuperGluePretrainedNetwork"] path = third_party/SuperGluePretrainedNetwork url = https://github.com/magicleap/SuperGluePretrainedNetwork.git ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/LICENSE ================================================ Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. 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See the License for the specific language governing permissions and limitations under the License. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/README.md ================================================ # LoFTR: Detector-Free Local Feature Matching with Transformers ### [Project Page](https://zju3dv.github.io/loftr) | [Paper](https://arxiv.org/pdf/2104.00680.pdf)
> LoFTR: Detector-Free Local Feature Matching with Transformers > [Jiaming Sun](https://jiamingsun.ml)\*, [Zehong Shen](https://zehongs.github.io/)\*, [Yu'ang Wang](https://github.com/angshine)\*, [Hujun Bao](http://www.cad.zju.edu.cn/home/bao/), [Xiaowei Zhou](http://www.cad.zju.edu.cn/home/xzhou/) > CVPR 2021 ![demo_vid](assets/loftr-github-demo.gif) ## TODO List and ETA - [x] Inference code and pretrained models (DS and OT) (2021-4-7) - [x] Code for reproducing the test-set results (2021-4-7) - [x] Webcam demo to reproduce the result shown in the GIF above (2021-4-13) - [x] Training code and training data preparation (expected 2021-6-10) Discussions about the paper are welcomed in the [discussion panel](https://github.com/zju3dv/LoFTR/discussions). :triangular_flag_on_post: **Updates** - Check out [QuadTreeAttention](https://github.com/Tangshitao/QuadTreeAttention), a new attention machanism that improves the efficiency and performance of LoFTR with less demanding GPU requirements for training. - :white_check_mark: Integrated to [Huggingface Spaces](https://huggingface.co/spaces) with [Gradio](https://github.com/gradio-app/gradio). See [Gradio Web Demo](https://huggingface.co/spaces/akhaliq/Kornia-LoFTR) ## Colab demo Want to run LoFTR with custom image pairs without configuring your own GPU environment? Try the Colab demo: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/drive/1BgNIOjFHauFoNB95LGesHBIjioX74USW?usp=sharing) ## Installation ```shell # For full pytorch-lightning trainer features (recommended) conda env create -f environment.yaml conda activate loftr # For the LoFTR matcher only pip install torch einops yacs kornia ``` We provide the [download link](https://drive.google.com/drive/folders/1DOcOPZb3-5cWxLqn256AhwUVjBPifhuf?usp=sharing) to - the scannet-1500-testset (~1GB). - the megadepth-1500-testset (~600MB). - 4 pretrained models of indoor-ds, indoor-ot, outdoor-ds and outdoor-ot (each ~45MB). By now, the environment is all set and the LoFTR-DS model is ready to go! If you want to run LoFTR-OT, some extra steps are needed:
[Requirements for LoFTR-OT] We use the code from [SuperGluePretrainedNetwork](https://github.com/magicleap/SuperGluePretrainedNetwork) for optimal transport. However, we can't provide the code directly due its strict LICENSE requirements. We recommend downloading it with the following command instead. ```shell cd src/loftr/utils wget https://raw.githubusercontent.com/magicleap/SuperGluePretrainedNetwork/master/models/superglue.py ```
## Run LoFTR demos ### Match image pairs with LoFTR
[code snippets] ```python from src.loftr import LoFTR, default_cfg # Initialize LoFTR matcher = LoFTR(config=default_cfg) matcher.load_state_dict(torch.load("weights/indoor_ds.ckpt")['state_dict']) matcher = matcher.eval().cuda() # Inference with torch.no_grad(): matcher(batch) # batch = {'image0': img0, 'image1': img1} mkpts0 = batch['mkpts0_f'].cpu().numpy() mkpts1 = batch['mkpts1_f'].cpu().numpy() ```
An example is given in `notebooks/demo_single_pair.ipynb`. ### Online demo Run the online demo with a webcam or video to reproduce the result shown in the GIF above. ```bash cd demo ./run_demo.sh ```
[run_demo.sh] ```bash #!/bin/bash set -e # set -x if [ ! -f utils.py ]; then echo "Downloading utils.py from the SuperGlue repo." echo "We cannot provide this file directly due to its strict licence." wget https://raw.githubusercontent.com/magicleap/SuperGluePretrainedNetwork/master/models/utils.py fi # Use webcam 0 as input source. input=0 # or use a pre-recorded video given the path. # input=/home/sunjiaming/Downloads/scannet_test/$scene_name.mp4 # Toggle indoor/outdoor model here. model_ckpt=../weights/indoor_ds.ckpt # model_ckpt=../weights/outdoor_ds.ckpt # Optionally assign the GPU ID. # export CUDA_VISIBLE_DEVICES=0 echo "Running LoFTR demo.." eval "$(conda shell.bash hook)" conda activate loftr python demo_loftr.py --weight $model_ckpt --input $input # To save the input video and output match visualizations. # python demo_loftr.py --weight $model_ckpt --input $input --save_video --save_input # Running on remote GPU servers with no GUI. # Save images first. # python demo_loftr.py --weight $model_ckpt --input $input --no_display --output_dir="./demo_images/" # Then convert them to a video. # ffmpeg -framerate 15 -pattern_type glob -i '*.png' -c:v libx264 -r 30 -pix_fmt yuv420p out.mp4 ```
### Reproduce the testing results with pytorch-lightning You need to setup the testing subsets of ScanNet and MegaDepth first. We create symlinks from the previously downloaded datasets to `data/{{dataset}}/test`. ```shell # set up symlinks ln -s /path/to/scannet-1500-testset/* /path/to/LoFTR/data/scannet/test ln -s /path/to/megadepth-1500-testset/* /path/to/LoFTR/data/megadepth/test ``` ```shell conda activate loftr # with shell script bash ./scripts/reproduce_test/indoor_ds.sh # or python test.py configs/data/scannet_test_1500.py configs/loftr/loftr_ds.py --ckpt_path weights/indoor_ds.ckpt --profiler_name inference --gpus=1 --accelerator="ddp" ``` For visualizing the results, please refer to `notebooks/visualize_dump_results.ipynb`.
## Training See [Training LoFTR](./docs/TRAINING.md) for more details. ## Citation If you find this code useful for your research, please use the following BibTeX entry. ```bibtex @article{sun2021loftr, title={{LoFTR}: Detector-Free Local Feature Matching with Transformers}, author={Sun, Jiaming and Shen, Zehong and Wang, Yuang and Bao, Hujun and Zhou, Xiaowei}, journal={{CVPR}}, year={2021} } ``` ## Copyright This work is affiliated with ZJU-SenseTime Joint Lab of 3D Vision, and its intellectual property belongs to SenseTime Group Ltd. ``` Copyright SenseTime. All Rights Reserved. Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. ``` ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/assets/megadepth_test_1500_scene_info/megadepth_test_1500.txt ================================================ 0022_0.1_0.3 0015_0.1_0.3 0015_0.3_0.5 0022_0.3_0.5 0022_0.5_0.7 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/assets/scannet_test_1500/scannet_test.txt ================================================ test.npz ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/assets/scannet_test_1500/statistics.json ================================================ { "scene0707_00": 15, "scene0708_00": 15, "scene0709_00": 15, "scene0710_00": 15, "scene0711_00": 15, "scene0712_00": 15, "scene0713_00": 15, "scene0714_00": 15, "scene0715_00": 15, "scene0716_00": 15, "scene0717_00": 15, "scene0718_00": 15, "scene0719_00": 15, "scene0720_00": 15, "scene0721_00": 15, "scene0722_00": 15, "scene0723_00": 15, "scene0724_00": 15, "scene0725_00": 15, "scene0726_00": 15, "scene0727_00": 15, "scene0728_00": 15, "scene0729_00": 15, "scene0730_00": 15, "scene0731_00": 15, "scene0732_00": 15, "scene0733_00": 15, "scene0734_00": 15, "scene0735_00": 15, "scene0736_00": 15, "scene0737_00": 15, "scene0738_00": 15, "scene0739_00": 15, "scene0740_00": 15, "scene0741_00": 15, "scene0742_00": 15, "scene0743_00": 15, "scene0744_00": 15, "scene0745_00": 15, "scene0746_00": 15, "scene0747_00": 15, "scene0748_00": 15, "scene0749_00": 15, "scene0750_00": 15, "scene0751_00": 15, "scene0752_00": 15, "scene0753_00": 15, "scene0754_00": 15, "scene0755_00": 15, "scene0756_00": 15, "scene0757_00": 15, "scene0758_00": 15, "scene0759_00": 15, "scene0760_00": 15, "scene0761_00": 15, "scene0762_00": 15, "scene0763_00": 15, "scene0764_00": 15, "scene0765_00": 15, "scene0766_00": 15, "scene0767_00": 15, "scene0768_00": 15, "scene0769_00": 15, "scene0770_00": 15, "scene0771_00": 15, "scene0772_00": 15, "scene0773_00": 15, "scene0774_00": 15, "scene0775_00": 15, "scene0776_00": 15, "scene0777_00": 15, "scene0778_00": 15, "scene0779_00": 15, "scene0780_00": 15, "scene0781_00": 15, "scene0782_00": 15, "scene0783_00": 15, "scene0784_00": 15, "scene0785_00": 15, "scene0786_00": 15, "scene0787_00": 15, "scene0788_00": 15, "scene0789_00": 15, "scene0790_00": 15, "scene0791_00": 15, "scene0792_00": 15, "scene0793_00": 15, "scene0794_00": 15, "scene0795_00": 15, "scene0796_00": 15, "scene0797_00": 15, "scene0798_00": 15, "scene0799_00": 15, "scene0800_00": 15, "scene0801_00": 15, "scene0802_00": 15, "scene0803_00": 15, "scene0804_00": 15, "scene0805_00": 15, "scene0806_00": 15 } ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/buggy_pos_enc/loftr_ds.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.COARSE.TEMP_BUG_FIX = False cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' cfg.TRAINER.MSLR_MILESTONES = [3, 6, 9, 12, 17, 20, 23, 26, 29] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/buggy_pos_enc/loftr_ds_dense.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.COARSE.TEMP_BUG_FIX = False cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' cfg.LOFTR.MATCH_COARSE.SPARSE_SPVS = False cfg.TRAINER.MSLR_MILESTONES = [3, 6, 9, 12, 17, 20, 23, 26, 29] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/buggy_pos_enc/loftr_ot.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.COARSE.TEMP_BUG_FIX = False cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'sinkhorn' cfg.TRAINER.MSLR_MILESTONES = [3, 6, 9, 12, 17, 20, 23, 26, 29] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/buggy_pos_enc/loftr_ot_dense.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.COARSE.TEMP_BUG_FIX = False cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'sinkhorn' cfg.LOFTR.MATCH_COARSE.SPARSE_SPVS = False cfg.TRAINER.MSLR_MILESTONES = [3, 6, 9, 12, 17, 20, 23, 26, 29] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/debug/.gitignore ================================================ * */ !.gitignore ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/loftr_ds.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' cfg.TRAINER.MSLR_MILESTONES = [3, 6, 9, 12, 17, 20, 23, 26, 29] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/loftr_ds_dense.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' cfg.LOFTR.MATCH_COARSE.SPARSE_SPVS = False cfg.TRAINER.MSLR_MILESTONES = [3, 6, 9, 12, 17, 20, 23, 26, 29] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/loftr_ot.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'sinkhorn' cfg.TRAINER.MSLR_MILESTONES = [3, 6, 9, 12, 17, 20, 23, 26, 29] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/loftr_ot_dense.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'sinkhorn' cfg.LOFTR.MATCH_COARSE.SPARSE_SPVS = False cfg.TRAINER.MSLR_MILESTONES = [3, 6, 9, 12, 17, 20, 23, 26, 29] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/scannet/loftr_ds_eval.py ================================================ """ A config only for reproducing the ScanNet evaluation results. We remove border matches by default, but the originally implemented `remove_border()` has a bug, leading to only two sides of all borders are actually removed. However, the [bug fix](https://github.com/zju3dv/LoFTR/commit/e9146c8144dea5f3cbdd98b225f3e147a171c216) makes the scannet evaluation results worse (auc@10=40.8 => 39.5), which should be caused by tiny result fluctuation of few image pairs. This config set `BORDER_RM` to 0 to be consistent with the results in our paper. """ from loftr.config.default import _CN as cfg cfg.LOFTR.COARSE.TEMP_BUG_FIX = False cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' cfg.LOFTR.MATCH_COARSE.BORDER_RM = 0 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/indoor/scannet/loftr_ds_eval_new.py ================================================ """ A config only for reproducing the ScanNet evaluation results. We remove border matches by default, but the originally implemented `remove_border()` has a bug, leading to only two sides of all borders are actually removed. However, the [bug fix](https://github.com/zju3dv/LoFTR/commit/e9146c8144dea5f3cbdd98b225f3e147a171c216) makes the scannet evaluation results worse (auc@10=40.8 => 39.5), which should be caused by tiny result fluctuation of few image pairs. This config set `BORDER_RM` to 0 to be consistent with the results in our paper. Update: This config is for testing the re-trained model with the pos-enc bug fixed. """ from loftr.config.default import _CN as cfg cfg.LOFTR.COARSE.TEMP_BUG_FIX = True cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' cfg.LOFTR.MATCH_COARSE.BORDER_RM = 0 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/outdoor/buggy_pos_enc/loftr_ds.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.COARSE.TEMP_BUG_FIX = False cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' cfg.TRAINER.CANONICAL_LR = 8e-3 cfg.TRAINER.WARMUP_STEP = 1875 # 3 epochs cfg.TRAINER.WARMUP_RATIO = 0.1 cfg.TRAINER.MSLR_MILESTONES = [8, 12, 16, 20, 24] # pose estimation cfg.TRAINER.RANSAC_PIXEL_THR = 0.5 cfg.TRAINER.OPTIMIZER = "adamw" cfg.TRAINER.ADAMW_DECAY = 0.1 cfg.LOFTR.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.3 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/outdoor/buggy_pos_enc/loftr_ds_dense.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.COARSE.TEMP_BUG_FIX = False cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' cfg.LOFTR.MATCH_COARSE.SPARSE_SPVS = False cfg.TRAINER.CANONICAL_LR = 8e-3 cfg.TRAINER.WARMUP_STEP = 1875 # 3 epochs cfg.TRAINER.WARMUP_RATIO = 0.1 cfg.TRAINER.MSLR_MILESTONES = [8, 12, 16, 20, 24] # pose estimation cfg.TRAINER.RANSAC_PIXEL_THR = 0.5 cfg.TRAINER.OPTIMIZER = "adamw" cfg.TRAINER.ADAMW_DECAY = 0.1 cfg.LOFTR.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.3 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/outdoor/buggy_pos_enc/loftr_ot.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.COARSE.TEMP_BUG_FIX = False cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'sinkhorn' cfg.TRAINER.CANONICAL_LR = 8e-3 cfg.TRAINER.WARMUP_STEP = 1875 # 3 epochs cfg.TRAINER.WARMUP_RATIO = 0.1 cfg.TRAINER.MSLR_MILESTONES = [8, 12, 16, 20, 24] # pose estimation cfg.TRAINER.RANSAC_PIXEL_THR = 0.5 cfg.TRAINER.OPTIMIZER = "adamw" cfg.TRAINER.ADAMW_DECAY = 0.1 cfg.LOFTR.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.3 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/outdoor/buggy_pos_enc/loftr_ot_dense.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.COARSE.TEMP_BUG_FIX = False cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'sinkhorn' cfg.LOFTR.MATCH_COARSE.SPARSE_SPVS = False cfg.TRAINER.CANONICAL_LR = 8e-3 cfg.TRAINER.WARMUP_STEP = 1875 # 3 epochs cfg.TRAINER.WARMUP_RATIO = 0.1 cfg.TRAINER.MSLR_MILESTONES = [8, 12, 16, 20, 24] # pose estimation cfg.TRAINER.RANSAC_PIXEL_THR = 0.5 cfg.TRAINER.OPTIMIZER = "adamw" cfg.TRAINER.ADAMW_DECAY = 0.1 cfg.LOFTR.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.3 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/outdoor/debug/.gitignore ================================================ * */ !.gitignore ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/outdoor/loftr_ds.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' cfg.TRAINER.CANONICAL_LR = 8e-3 cfg.TRAINER.WARMUP_STEP = 1875 # 3 epochs cfg.TRAINER.WARMUP_RATIO = 0.1 cfg.TRAINER.MSLR_MILESTONES = [8, 12, 16, 20, 24] # pose estimation cfg.TRAINER.RANSAC_PIXEL_THR = 0.5 cfg.TRAINER.OPTIMIZER = "adamw" cfg.TRAINER.ADAMW_DECAY = 0.1 cfg.LOFTR.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.3 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/outdoor/loftr_ds_dense.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' cfg.LOFTR.MATCH_COARSE.SPARSE_SPVS = False cfg.TRAINER.CANONICAL_LR = 8e-3 cfg.TRAINER.WARMUP_STEP = 1875 # 3 epochs cfg.TRAINER.WARMUP_RATIO = 0.1 cfg.TRAINER.MSLR_MILESTONES = [8, 12, 16, 20, 24] # pose estimation cfg.TRAINER.RANSAC_PIXEL_THR = 0.5 cfg.TRAINER.OPTIMIZER = "adamw" cfg.TRAINER.ADAMW_DECAY = 0.1 cfg.LOFTR.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.3 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/outdoor/loftr_ot.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'sinkhorn' cfg.TRAINER.CANONICAL_LR = 8e-3 cfg.TRAINER.WARMUP_STEP = 1875 # 3 epochs cfg.TRAINER.WARMUP_RATIO = 0.1 cfg.TRAINER.MSLR_MILESTONES = [8, 12, 16, 20, 24] # pose estimation cfg.TRAINER.RANSAC_PIXEL_THR = 0.5 cfg.TRAINER.OPTIMIZER = "adamw" cfg.TRAINER.ADAMW_DECAY = 0.1 cfg.LOFTR.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.3 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/configs/loftr/outdoor/loftr_ot_dense.py ================================================ from loftr.config.default import _CN as cfg cfg.LOFTR.MATCH_COARSE.MATCH_TYPE = 'sinkhorn' cfg.LOFTR.MATCH_COARSE.SPARSE_SPVS = False cfg.TRAINER.CANONICAL_LR = 8e-3 cfg.TRAINER.WARMUP_STEP = 1875 # 3 epochs cfg.TRAINER.WARMUP_RATIO = 0.1 cfg.TRAINER.MSLR_MILESTONES = [8, 12, 16, 20, 24] # pose estimation cfg.TRAINER.RANSAC_PIXEL_THR = 0.5 cfg.TRAINER.OPTIMIZER = "adamw" cfg.TRAINER.ADAMW_DECAY = 0.1 cfg.LOFTR.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.3 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/demo/demo_loftr.py ================================================ front_matter = """ ------------------------------------------------------------------------ Online demo for [LoFTR](https://zju3dv.github.io/loftr/). This demo is heavily inspired by [SuperGlue](https://github.com/magicleap/SuperGluePretrainedNetwork/). We thank the authors for their execellent work. ------------------------------------------------------------------------ """ import os import argparse from pathlib import Path import cv2 import torch import numpy as np import matplotlib.cm as cm os.sys.path.append("../") # Add the project directory from loftr.loftr import LoFTR, default_cfg from loftr.config.default import get_cfg_defaults try: from demo.utils import (AverageTimer, VideoStreamer, make_matching_plot_fast, make_matching_plot, frame2tensor) except: raise ImportError("This demo requires utils.py from SuperGlue, please use run_demo.sh to start this script.") torch.set_grad_enabled(False) if __name__ == '__main__': parser = argparse.ArgumentParser( description='LoFTR online demo', formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument('--weight', type=str, help="Path to the checkpoint.") parser.add_argument( '--input', type=str, default='0', help='ID of a USB webcam, URL of an IP camera, ' 'or path to an image directory or movie file') parser.add_argument( '--output_dir', type=str, default=None, help='Directory where to write output frames (If None, no output)') parser.add_argument( '--image_glob', type=str, nargs='+', default=['*.png', '*.jpg', '*.jpeg'], help='Glob if a directory of images is specified') parser.add_argument( '--skip', type=int, default=1, help='Images to skip if input is a movie or directory') parser.add_argument( '--max_length', type=int, default=1000000, help='Maximum length if input is a movie or directory') parser.add_argument( '--resize', type=int, nargs='+', default=[640, 480], help='Resize the input image before running inference. If two numbers, ' 'resize to the exact dimensions, if one number, resize the max ' 'dimension, if -1, do not resize') parser.add_argument( '--no_display', action='store_true', help='Do not display images to screen. Useful if running remotely') parser.add_argument( '--save_video', action='store_true', help='Save output (with match visualizations) to a video.') parser.add_argument( '--save_input', action='store_true', help='Save the input images to a video (for gathering repeatable input source).') parser.add_argument( '--skip_frames', type=int, default=1, help="Skip frames from webcam input.") parser.add_argument( '--top_k', type=int, default=2000, help="The max vis_range (please refer to the code).") parser.add_argument( '--bottom_k', type=int, default=0, help="The min vis_range (please refer to the code).") opt = parser.parse_args() print(front_matter) parser.print_help() if len(opt.resize) == 2 and opt.resize[1] == -1: opt.resize = opt.resize[0:1] if len(opt.resize) == 2: print('Will resize to {}x{} (WxH)'.format( opt.resize[0], opt.resize[1])) elif len(opt.resize) == 1 and opt.resize[0] > 0: print('Will resize max dimension to {}'.format(opt.resize[0])) elif len(opt.resize) == 1: print('Will not resize images') else: raise ValueError('Cannot specify more than two integers for --resize') if torch.cuda.is_available(): device = 'cuda' else: raise RuntimeError("GPU is required to run this demo.") # Initialize LoFTR matcher = LoFTR(config=default_cfg) matcher.load_state_dict(torch.load(opt.weight)['state_dict']) matcher = matcher.eval().to(device=device) # Configure I/O if opt.save_video: print('Writing video to loftr-matches.mp4...') writer = cv2.VideoWriter('loftr-matches.mp4', cv2.VideoWriter_fourcc(*'mp4v'), 15, (640*2 + 10, 480)) if opt.save_input: print('Writing video to demo-input.mp4...') input_writer = cv2.VideoWriter('demo-input.mp4', cv2.VideoWriter_fourcc(*'mp4v'), 15, (640, 480)) vs = VideoStreamer(opt.input, opt.resize, opt.skip, opt.image_glob, opt.max_length) frame, ret = vs.next_frame() assert ret, 'Error when reading the first frame (try different --input?)' frame_id = 0 last_image_id = 0 frame_tensor = frame2tensor(frame, device) last_data = {'image0': frame_tensor} last_frame = frame if opt.output_dir is not None: print('==> Will write outputs to {}'.format(opt.output_dir)) Path(opt.output_dir).mkdir(exist_ok=True) # Create a window to display the demo. if not opt.no_display: window_name = 'LoFTR Matches' cv2.namedWindow(window_name, cv2.WINDOW_NORMAL) cv2.resizeWindow(window_name, (640*2, 480)) else: print('Skipping visualization, will not show a GUI.') # Print the keyboard help menu. print('==> Keyboard control:\n' '\tn: select the current frame as the reference image (left)\n' '\td/f: move the range of the matches (ranked by confidence) to visualize\n' '\tc/v: increase/decrease the length of the visualization range (i.e., total number of matches) to show\n' '\tq: quit') timer = AverageTimer() vis_range = [opt.bottom_k, opt.top_k] while True: frame_id += 1 frame, ret = vs.next_frame() if frame_id % opt.skip_frames != 0: # print("Skipping frame.") continue if opt.save_input: inp = np.stack([frame]*3, -1) inp_rgb = cv2.cvtColor(frame, cv2.COLOR_GRAY2RGB) input_writer.write(inp_rgb) if not ret: print('Finished demo_loftr.py') break timer.update('data') stem0, stem1 = last_image_id, vs.i - 1 frame_tensor = frame2tensor(frame, device) last_data = {**last_data, 'image1': frame_tensor} matcher(last_data) total_n_matches = len(last_data['mkpts0_f']) mkpts0 = last_data['mkpts0_f'].cpu().numpy()[vis_range[0]:vis_range[1]] mkpts1 = last_data['mkpts1_f'].cpu().numpy()[vis_range[0]:vis_range[1]] mconf = last_data['mconf'].cpu().numpy()[vis_range[0]:vis_range[1]] # Normalize confidence. if len(mconf) > 0: conf_vis_min = 0. conf_min = mconf.min() conf_max = mconf.max() mconf = (mconf - conf_vis_min) / (conf_max - conf_vis_min + 1e-5) timer.update('forward') alpha = 0 color = cm.jet(mconf, alpha=alpha) text = [ f'LoFTR', '# Matches (showing/total): {}/{}'.format(len(mkpts0), total_n_matches), ] small_text = [ f'Showing matches from {vis_range[0]}:{vis_range[1]}', f'Confidence Range: {conf_min:.2f}:{conf_max:.2f}', 'Image Pair: {:06}:{:06}'.format(stem0, stem1), ] out = make_matching_plot_fast( last_frame, frame, mkpts0, mkpts1, mkpts0, mkpts1, color, text, path=None, show_keypoints=False, small_text=small_text) # Save high quality png, optionally with dynamic alpha support (unreleased yet). # save_path = 'demo_vid/{:06}'.format(frame_id) # make_matching_plot( # last_frame, frame, mkpts0, mkpts1, mkpts0, mkpts1, color, text, # path=save_path, show_keypoints=opt.show_keypoints, small_text=small_text) if not opt.no_display: if opt.save_video: writer.write(out) cv2.imshow('LoFTR Matches', out) key = chr(cv2.waitKey(1) & 0xFF) if key == 'q': if opt.save_video: writer.release() if opt.save_input: input_writer.release() vs.cleanup() print('Exiting...') break elif key == 'n': last_data['image0'] = frame_tensor last_frame = frame last_image_id = (vs.i - 1) frame_id_left = frame_id elif key in ['d', 'f']: if key == 'd': if vis_range[0] >= 0: vis_range[0] -= 200 vis_range[1] -= 200 if key =='f': vis_range[0] += 200 vis_range[1] += 200 print(f'\nChanged the vis_range to {vis_range[0]}:{vis_range[1]}') elif key in ['c', 'v']: if key == 'c': vis_range[1] -= 50 if key =='v': vis_range[1] += 50 print(f'\nChanged the vis_range[1] to {vis_range[1]}') elif opt.output_dir is not None: stem = 'matches_{:06}_{:06}'.format(stem0, stem1) out_file = str(Path(opt.output_dir, stem + '.png')) print('\nWriting image to {}'.format(out_file)) cv2.imwrite(out_file, out) else: raise ValueError("output_dir is required when no display is given.") timer.update('viz') timer.print() cv2.destroyAllWindows() vs.cleanup() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/demo/run_demo.sh ================================================ #!/bin/bash set -e # set -x if [ ! -f utils.py ]; then echo "Downloading utils.py from the SuperGlue repo." echo "We cannot provide this file directly due to its strict licence." wget https://raw.githubusercontent.com/magicleap/SuperGluePretrainedNetwork/master/models/utils.py fi # Use webcam 0 as input source. input=0 # or use a pre-recorded video given the path. # input=/home/sunjiaming/Downloads/scannet_test/$scene_name.mp4 # Toggle indoor/outdoor model here. model_ckpt=../weights/indoor_ds.ckpt # model_ckpt=../weights/outdoor_ds.ckpt # Optionally assign the GPU ID. # export CUDA_VISIBLE_DEVICES=0 echo "Running LoFTR demo.." eval "$(conda shell.bash hook)" conda activate loftr python demo_loftr.py --weight $model_ckpt --input $input # To save the input video and output match visualizations. # python demo_loftr.py --weight $model_ckpt --input $input --save_video --save_input # Running on remote GPU servers with no GUI. # Save images first. # python demo_loftr.py --weight $model_ckpt --input $input --no_display --output_dir="./demo_images/" # Then convert them to a video. # ffmpeg -framerate 15 -pattern_type glob -i '*.png' -c:v libx264 -r 30 -pix_fmt yuv420p out.mp4 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/docs/TRAINING.md ================================================ # Traininig LoFTR ## Dataset setup Generally, two parts of data are needed for training LoFTR, the original dataset, i.e., ScanNet and MegaDepth, and the offline generated dataset indices. The dataset indices store scenes, image pairs, and other metadata within each dataset used for training/validation/testing. For the MegaDepth dataset, the relative poses between images used for training are directly cached in the indexing files. However, the relative poses of ScanNet image pairs are not stored due to the enormous resulting file size. ### Download datasets #### MegaDepth We use depth maps provided in the [original MegaDepth dataset](https://www.cs.cornell.edu/projects/megadepth/) as well as undistorted images, corresponding camera intrinsics and extrinsics preprocessed by [D2-Net](https://github.com/mihaidusmanu/d2-net#downloading-and-preprocessing-the-megadepth-dataset). You can download them separately from the following links. - [MegaDepth undistorted images and processed depths](https://www.cs.cornell.edu/projects/megadepth/dataset/Megadepth_v1/MegaDepth_v1.tar.gz) - Note that we only use depth maps. - Path of the download data will be referreed to as `/path/to/megadepth` - [D2-Net preprocessed images](https://drive.google.com/drive/folders/1hxpOsqOZefdrba_BqnW490XpNX_LgXPB) - Images are undistorted manually in D2-Net since the undistorted images from MegaDepth do not come with corresponding intrinsics. - Path of the download data will be referreed to as `/path/to/megadepth_d2net` #### ScanNet Please set up the ScanNet dataset following [the official guide](https://github.com/ScanNet/ScanNet#scannet-data) > NOTE: We use the [python exported data](https://github.com/ScanNet/ScanNet/tree/master/SensReader/python), instead of the [c++ exported one](https://github.com/ScanNet/ScanNet/tree/master/SensReader/c%2B%2B). ### Download the dataset indices You can download the required dataset indices from the [following link](https://drive.google.com/drive/folders/1DOcOPZb3-5cWxLqn256AhwUVjBPifhuf). After downloading, unzip the required files. ```shell unzip downloaded-file.zip # extract dataset indices tar xf train-data/megadepth_indices.tar tar xf train-data/scannet_indices.tar # extract testing data (optional) tar xf testdata/megadepth_test_1500.tar tar xf testdata/scannet_test_1500.tar ``` ### Build the dataset symlinks We symlink the datasets to the `data` directory under the main LoFTR project directory. ```shell # scannet # -- # train and test dataset ln -s /path/to/scannet_train/* /path/to/LoFTR/data/scannet/train ln -s /path/to/scannet_test/* /path/to/LoFTR/data/scannet/test # -- # dataset indices ln -s /path/to/scannet_indices/* /path/to/LoFTR/data/scannet/index # megadepth # -- # train and test dataset (train and test share the same dataset) ln -sv /path/to/megadepth/phoenix /path/to/megadepth_d2net/Undistorted_SfM /path/to/LoFTR/data/megadepth/train ln -sv /path/to/megadepth/phoenix /path/to/megadepth_d2net/Undistorted_SfM /path/to/LoFTR/data/megadepth/test # -- # dataset indices ln -s /path/to/megadepth_indices/* /path/to/LoFTR/data/megadepth/index ``` ## Training We provide training scripts of ScanNet and MegaDepth. The results in the LoFTR paper can be reproduced with 32/64 GPUs with at least 11GB of RAM for ScanNet, and 8/16 GPUs with at least 24GB of RAM for MegaDepth. For a different setup (e.g., training with 4 gpus on ScanNet), we scale the learning rate and its warm-up linearly, but the final evaluation results might vary due to the different batch size & learning rate used. Thus the reproduction of results in our paper is not guaranteed. Training scripts of the optimal-transport matcher end with "_ot" and ones of the dual-softmax matcher end with "_ds". The released training scripts use smaller setups comparing to ones used for training the released models. You could manually scale the setup (e.g., using 32 gpus instead of 4) to reproduce our results. ### Training on ScanNet ``` shell scripts/reproduce_train/indoor_ds.sh ``` > NOTE: It uses 4 gpus only. Reproduction of paper results is not guaranteed under this setup. ### Training on MegaDepth ``` shell scripts/reproduce_train/outdoor_ds.sh ``` > NOTE: It uses 4 gpus only, with smaller image sizes of 640x640. Reproduction of paper results is not guaranteed under this setup. ## Updated Training Strategy In the released training code, we use a slightly modified version of the coarse-level training supervision comparing to the one described in our paper. For example, as described in our paper, we only supervise the ground-truth positive matches when training the dual-softmax model. However, the entire confidence matrix produced by the dual-softmax matcher is supervised by default in the released code, regardless of the use of softmax operators. This implementation is counter-intuitive and unusual but leads to better evaluation results on estimating relative camera poses. The same phenomenon applies to the optimal-transport matcher version as well. Note that we don't supervise the dustbin rows and columns under the dense supervision setup. > NOTE: To use the sparse supervision described in our paper, set `_CN.LOFTR.MATCH_COARSE.SPARSE_SPVS = False`. ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/environment.yaml ================================================ name: loftr channels: # - https://dx-mirrors.sensetime.com/anaconda/cloud/pytorch - pytorch - conda-forge - defaults dependencies: - python=3.8 - cudatoolkit=10.2 - pytorch=1.8.1 - pip - pip: - -r requirements.txt ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/__init__.py ================================================ ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/config/default.py ================================================ from yacs.config import CfgNode as CN _CN = CN() ############## ↓ LoFTR Pipeline ↓ ############## _CN.LOFTR = CN() _CN.LOFTR.BACKBONE_TYPE = 'ResNetFPN' _CN.LOFTR.RESOLUTION = (8, 2) # options: [(8, 2), (16, 4)] _CN.LOFTR.FINE_WINDOW_SIZE = 5 # window_size in fine_level, must be odd _CN.LOFTR.FINE_CONCAT_COARSE_FEAT = True # 1. LoFTR-backbone (local feature CNN) config _CN.LOFTR.RESNETFPN = CN() _CN.LOFTR.RESNETFPN.INITIAL_DIM = 128 _CN.LOFTR.RESNETFPN.BLOCK_DIMS = [128, 196, 256] # s1, s2, s3 # 2. LoFTR-coarse module config _CN.LOFTR.COARSE = CN() _CN.LOFTR.COARSE.D_MODEL = 256 _CN.LOFTR.COARSE.D_FFN = 256 _CN.LOFTR.COARSE.NHEAD = 8 _CN.LOFTR.COARSE.LAYER_NAMES = ['self', 'cross'] * 4 _CN.LOFTR.COARSE.ATTENTION = 'linear' # options: ['linear', 'full'] _CN.LOFTR.COARSE.TEMP_BUG_FIX = True # 3. Coarse-Matching config _CN.LOFTR.MATCH_COARSE = CN() _CN.LOFTR.MATCH_COARSE.THR = 0.2 _CN.LOFTR.MATCH_COARSE.BORDER_RM = 2 _CN.LOFTR.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' # options: ['dual_softmax, 'sinkhorn'] _CN.LOFTR.MATCH_COARSE.DSMAX_TEMPERATURE = 0.1 _CN.LOFTR.MATCH_COARSE.SKH_ITERS = 3 _CN.LOFTR.MATCH_COARSE.SKH_INIT_BIN_SCORE = 1.0 _CN.LOFTR.MATCH_COARSE.SKH_PREFILTER = False _CN.LOFTR.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.2 # training tricks: save GPU memory _CN.LOFTR.MATCH_COARSE.TRAIN_PAD_NUM_GT_MIN = 200 # training tricks: avoid DDP deadlock _CN.LOFTR.MATCH_COARSE.SPARSE_SPVS = True # 4. LoFTR-fine module config _CN.LOFTR.FINE = CN() _CN.LOFTR.FINE.D_MODEL = 128 _CN.LOFTR.FINE.D_FFN = 128 _CN.LOFTR.FINE.NHEAD = 8 _CN.LOFTR.FINE.LAYER_NAMES = ['self', 'cross'] * 1 _CN.LOFTR.FINE.ATTENTION = 'linear' # 5. LoFTR Losses # -- # coarse-level _CN.LOFTR.LOSS = CN() _CN.LOFTR.LOSS.COARSE_TYPE = 'focal' # ['focal', 'cross_entropy'] _CN.LOFTR.LOSS.COARSE_WEIGHT = 1.0 # _CN.LOFTR.LOSS.SPARSE_SPVS = False # -- - -- # focal loss (coarse) _CN.LOFTR.LOSS.FOCAL_ALPHA = 0.25 _CN.LOFTR.LOSS.FOCAL_GAMMA = 2.0 _CN.LOFTR.LOSS.POS_WEIGHT = 1.0 _CN.LOFTR.LOSS.NEG_WEIGHT = 1.0 # _CN.LOFTR.LOSS.DUAL_SOFTMAX = False # whether coarse-level use dual-softmax or not. # use `_CN.LOFTR.MATCH_COARSE.MATCH_TYPE` # -- # fine-level _CN.LOFTR.LOSS.FINE_TYPE = 'l2_with_std' # ['l2_with_std', 'l2'] _CN.LOFTR.LOSS.FINE_WEIGHT = 1.0 _CN.LOFTR.LOSS.FINE_CORRECT_THR = 1.0 # for filtering valid fine-level gts (some gt matches might fall out of the fine-level window) ############## Dataset ############## _CN.DATASET = CN() # 1. data config # training and validating _CN.DATASET.TRAINVAL_DATA_SOURCE = None # options: ['ScanNet', 'MegaDepth'] _CN.DATASET.TRAIN_DATA_ROOT = None _CN.DATASET.TRAIN_POSE_ROOT = None # (optional directory for poses) _CN.DATASET.TRAIN_NPZ_ROOT = None _CN.DATASET.TRAIN_LIST_PATH = None _CN.DATASET.TRAIN_INTRINSIC_PATH = None _CN.DATASET.VAL_DATA_ROOT = None _CN.DATASET.VAL_POSE_ROOT = None # (optional directory for poses) _CN.DATASET.VAL_NPZ_ROOT = None _CN.DATASET.VAL_LIST_PATH = None # None if val data from all scenes are bundled into a single npz file _CN.DATASET.VAL_INTRINSIC_PATH = None # testing _CN.DATASET.TEST_DATA_SOURCE = None _CN.DATASET.TEST_DATA_ROOT = None _CN.DATASET.TEST_POSE_ROOT = None # (optional directory for poses) _CN.DATASET.TEST_NPZ_ROOT = None _CN.DATASET.TEST_LIST_PATH = None # None if test data from all scenes are bundled into a single npz file _CN.DATASET.TEST_INTRINSIC_PATH = None # 2. dataset config # general options _CN.DATASET.MIN_OVERLAP_SCORE_TRAIN = 0.4 # discard data with overlap_score < min_overlap_score _CN.DATASET.MIN_OVERLAP_SCORE_TEST = 0.0 _CN.DATASET.AUGMENTATION_TYPE = None # options: [None, 'dark', 'mobile'] # MegaDepth options _CN.DATASET.MGDPT_IMG_RESIZE = 640 # resize the longer side, zero-pad bottom-right to square. _CN.DATASET.MGDPT_IMG_PAD = True # pad img to square with size = MGDPT_IMG_RESIZE _CN.DATASET.MGDPT_DEPTH_PAD = True # pad depthmap to square with size = 2000 _CN.DATASET.MGDPT_DF = 8 ############## Trainer ############## _CN.TRAINER = CN() _CN.TRAINER.WORLD_SIZE = 1 _CN.TRAINER.CANONICAL_BS = 64 _CN.TRAINER.CANONICAL_LR = 6e-3 _CN.TRAINER.SCALING = None # this will be calculated automatically _CN.TRAINER.FIND_LR = False # use learning rate finder from pytorch-lightning # optimizer _CN.TRAINER.OPTIMIZER = "adamw" # [adam, adamw] _CN.TRAINER.TRUE_LR = None # this will be calculated automatically at runtime _CN.TRAINER.ADAM_DECAY = 0. # ADAM: for adam _CN.TRAINER.ADAMW_DECAY = 0.1 # step-based warm-up _CN.TRAINER.WARMUP_TYPE = 'linear' # [linear, constant] _CN.TRAINER.WARMUP_RATIO = 0. _CN.TRAINER.WARMUP_STEP = 4800 # learning rate scheduler _CN.TRAINER.SCHEDULER = 'MultiStepLR' # [MultiStepLR, CosineAnnealing, ExponentialLR] _CN.TRAINER.SCHEDULER_INTERVAL = 'epoch' # [epoch, step] _CN.TRAINER.MSLR_MILESTONES = [3, 6, 9, 12] # MSLR: MultiStepLR _CN.TRAINER.MSLR_GAMMA = 0.5 _CN.TRAINER.COSA_TMAX = 30 # COSA: CosineAnnealing _CN.TRAINER.ELR_GAMMA = 0.999992 # ELR: ExponentialLR, this value for 'step' interval # plotting related _CN.TRAINER.ENABLE_PLOTTING = True _CN.TRAINER.N_VAL_PAIRS_TO_PLOT = 32 # number of val/test paris for plotting _CN.TRAINER.PLOT_MODE = 'evaluation' # ['evaluation', 'confidence'] _CN.TRAINER.PLOT_MATCHES_ALPHA = 'dynamic' # geometric metrics and pose solver _CN.TRAINER.EPI_ERR_THR = 5e-4 # recommendation: 5e-4 for ScanNet, 1e-4 for MegaDepth (from SuperGlue) _CN.TRAINER.POSE_GEO_MODEL = 'E' # ['E', 'F', 'H'] _CN.TRAINER.POSE_ESTIMATION_METHOD = 'RANSAC' # [RANSAC, DEGENSAC, MAGSAC] _CN.TRAINER.RANSAC_PIXEL_THR = 0.5 _CN.TRAINER.RANSAC_CONF = 0.99999 _CN.TRAINER.RANSAC_MAX_ITERS = 10000 _CN.TRAINER.USE_MAGSACPP = False # data sampler for train_dataloader _CN.TRAINER.DATA_SAMPLER = 'scene_balance' # options: ['scene_balance', 'random', 'normal'] # 'scene_balance' config _CN.TRAINER.N_SAMPLES_PER_SUBSET = 200 _CN.TRAINER.SB_SUBSET_SAMPLE_REPLACEMENT = True # whether sample each scene with replacement or not _CN.TRAINER.SB_SUBSET_SHUFFLE = True # after sampling from scenes, whether shuffle within the epoch or not _CN.TRAINER.SB_REPEAT = 1 # repeat N times for training the sampled data # 'random' config _CN.TRAINER.RDM_REPLACEMENT = True _CN.TRAINER.RDM_NUM_SAMPLES = None # gradient clipping _CN.TRAINER.GRADIENT_CLIPPING = 0.5 # reproducibility # This seed affects the data sampling. With the same seed, the data sampling is promised # to be the same. When resume training from a checkpoint, it's better to use a different # seed, otherwise the sampled data will be exactly the same as before resuming, which will # cause less unique data items sampled during the entire training. # Use of different seed values might affect the final training result, since not all data items # are used during training on ScanNet. (60M pairs of images sampled during traing from 230M pairs in total.) _CN.TRAINER.SEED = 66 def get_cfg_defaults(): """Get a yacs CfgNode object with default values for my_project.""" # Return a clone so that the defaults will not be altered # This is for the "local variable" use pattern return _CN.clone() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/datasets/megadepth.py ================================================ import os.path as osp import numpy as np import torch import torch.nn.functional as F from torch.utils.data import Dataset from loguru import logger from loftr.utils.dataset import read_megadepth_gray, read_megadepth_depth class MegaDepthDataset(Dataset): def __init__(self, root_dir, npz_path, mode='train', min_overlap_score=0.4, img_resize=None, df=None, img_padding=False, depth_padding=False, augment_fn=None, **kwargs): """ Manage one scene(npz_path) of MegaDepth dataset. Args: root_dir (str): megadepth root directory that has `phoenix`. npz_path (str): {scene_id}.npz path. This contains image pair information of a scene. mode (str): options are ['train', 'val', 'test'] min_overlap_score (float): how much a pair should have in common. In range of [0, 1]. Set to 0 when testing. img_resize (int, optional): the longer edge of resized images. None for no resize. 640 is recommended. This is useful during training with batches and testing with memory intensive algorithms. df (int, optional): image size division factor. NOTE: this will change the final image size after img_resize. img_padding (bool): If set to 'True', zero-pad the image to squared size. This is useful during training. depth_padding (bool): If set to 'True', zero-pad depthmap to (2000, 2000). This is useful during training. augment_fn (callable, optional): augments images with pre-defined visual effects. """ super().__init__() self.root_dir = root_dir self.mode = mode self.scene_id = npz_path.split('.')[0] # prepare scene_info and pair_info if mode == 'test' and min_overlap_score != 0: logger.warning("You are using `min_overlap_score`!=0 in test mode. Set to 0.") min_overlap_score = 0 self.scene_info = np.load(npz_path, allow_pickle=True) self.pair_infos = self.scene_info['pair_infos'].copy() del self.scene_info['pair_infos'] self.pair_infos = [pair_info for pair_info in self.pair_infos if pair_info[1] > min_overlap_score] # parameters for image resizing, padding and depthmap padding if mode == 'train': assert img_resize is not None and img_padding and depth_padding self.img_resize = img_resize self.df = df self.img_padding = img_padding self.depth_max_size = 2000 if depth_padding else None # the upperbound of depthmaps size in megadepth. # for training LoFTR self.augment_fn = augment_fn if mode == 'train' else None self.coarse_scale = getattr(kwargs, 'coarse_scale', 0.125) def __len__(self): return len(self.pair_infos) def __getitem__(self, idx): (idx0, idx1), overlap_score, central_matches = self.pair_infos[idx] # read grayscale image and mask. (1, h, w) and (h, w) img_name0 = osp.join(self.root_dir, self.scene_info['image_paths'][idx0]) img_name1 = osp.join(self.root_dir, self.scene_info['image_paths'][idx1]) # TODO: Support augmentation & handle seeds for each worker correctly. image0, mask0, scale0 = read_megadepth_gray( img_name0, self.img_resize, self.df, self.img_padding, None) # np.random.choice([self.augment_fn, None], p=[0.5, 0.5])) image1, mask1, scale1 = read_megadepth_gray( img_name1, self.img_resize, self.df, self.img_padding, None) # np.random.choice([self.augment_fn, None], p=[0.5, 0.5])) # read depth. shape: (h, w) if self.mode in ['train', 'val']: depth0 = read_megadepth_depth( osp.join(self.root_dir, self.scene_info['depth_paths'][idx0]), pad_to=self.depth_max_size) depth1 = read_megadepth_depth( osp.join(self.root_dir, self.scene_info['depth_paths'][idx1]), pad_to=self.depth_max_size) else: depth0 = depth1 = torch.tensor([]) # read intrinsics of original size K_0 = torch.tensor(self.scene_info['intrinsics'][idx0].copy(), dtype=torch.float).reshape(3, 3) K_1 = torch.tensor(self.scene_info['intrinsics'][idx1].copy(), dtype=torch.float).reshape(3, 3) # read and compute relative poses T0 = self.scene_info['poses'][idx0] T1 = self.scene_info['poses'][idx1] T_0to1 = torch.tensor(np.matmul(T1, np.linalg.inv(T0)), dtype=torch.float)[:4, :4] # (4, 4) T_1to0 = T_0to1.inverse() data = { 'image0': image0, # (1, h, w) 'depth0': depth0, # (h, w) 'image1': image1, 'depth1': depth1, 'T_0to1': T_0to1, # (4, 4) 'T_1to0': T_1to0, 'K0': K_0, # (3, 3) 'K1': K_1, 'scale0': scale0, # [scale_w, scale_h] 'scale1': scale1, 'dataset_name': 'MegaDepth', 'scene_id': self.scene_id, 'pair_id': idx, 'pair_names': (self.scene_info['image_paths'][idx0], self.scene_info['image_paths'][idx1]), } # for LoFTR training if mask0 is not None: # img_padding is True if self.coarse_scale: [ts_mask_0, ts_mask_1] = F.interpolate(torch.stack([mask0, mask1], dim=0)[None].float(), scale_factor=self.coarse_scale, mode='nearest', recompute_scale_factor=False)[0].bool() data.update({'mask0': ts_mask_0, 'mask1': ts_mask_1}) return data ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/datasets/sampler.py ================================================ import torch from torch.utils.data import Sampler, ConcatDataset class RandomConcatSampler(Sampler): """ Random sampler for ConcatDataset. At each epoch, `n_samples_per_subset` samples will be draw from each subset in the ConcatDataset. If `subset_replacement` is ``True``, sampling within each subset will be done with replacement. However, it is impossible to sample data without replacement between epochs, unless bulding a stateful sampler lived along the entire training phase. For current implementation, the randomness of sampling is ensured no matter the sampler is recreated across epochs or not and call `torch.manual_seed()` or not. Args: shuffle (bool): shuffle the random sampled indices across all sub-datsets. repeat (int): repeatedly use the sampled indices multiple times for training. [arXiv:1902.05509, arXiv:1901.09335] NOTE: Don't re-initialize the sampler between epochs (will lead to repeated samples) NOTE: This sampler behaves differently with DistributedSampler. It assume the dataset is splitted across ranks instead of replicated. TODO: Add a `set_epoch()` method to fullfill sampling without replacement across epochs. ref: https://github.com/PyTorchLightning/pytorch-lightning/blob/e9846dd758cfb1500eb9dba2d86f6912eb487587/pytorch_lightning/trainer/training_loop.py#L373 """ def __init__(self, data_source: ConcatDataset, n_samples_per_subset: int, subset_replacement: bool=True, shuffle: bool=True, repeat: int=1, seed: int=None): if not isinstance(data_source, ConcatDataset): raise TypeError("data_source should be torch.utils.data.ConcatDataset") self.data_source = data_source self.n_subset = len(self.data_source.datasets) self.n_samples_per_subset = n_samples_per_subset self.n_samples = self.n_subset * self.n_samples_per_subset * repeat self.subset_replacement = subset_replacement self.repeat = repeat self.shuffle = shuffle self.generator = torch.manual_seed(seed) assert self.repeat >= 1 def __len__(self): return self.n_samples def __iter__(self): indices = [] # sample from each sub-dataset for d_idx in range(self.n_subset): low = 0 if d_idx==0 else self.data_source.cumulative_sizes[d_idx-1] high = self.data_source.cumulative_sizes[d_idx] if self.subset_replacement: rand_tensor = torch.randint(low, high, (self.n_samples_per_subset, ), generator=self.generator, dtype=torch.int64) else: # sample without replacement len_subset = len(self.data_source.datasets[d_idx]) rand_tensor = torch.randperm(len_subset, generator=self.generator) + low if len_subset >= self.n_samples_per_subset: rand_tensor = rand_tensor[:self.n_samples_per_subset] else: # padding with replacement rand_tensor_replacement = torch.randint(low, high, (self.n_samples_per_subset - len_subset, ), generator=self.generator, dtype=torch.int64) rand_tensor = torch.cat([rand_tensor, rand_tensor_replacement]) indices.append(rand_tensor) indices = torch.cat(indices) if self.shuffle: # shuffle the sampled dataset (from multiple subsets) rand_tensor = torch.randperm(len(indices), generator=self.generator) indices = indices[rand_tensor] # repeat the sampled indices (can be used for RepeatAugmentation or pure RepeatSampling) if self.repeat > 1: repeat_indices = [indices.clone() for _ in range(self.repeat - 1)] if self.shuffle: _choice = lambda x: x[torch.randperm(len(x), generator=self.generator)] repeat_indices = map(_choice, repeat_indices) indices = torch.cat([indices, *repeat_indices], 0) assert indices.shape[0] == self.n_samples return iter(indices.tolist()) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/datasets/scannet.py ================================================ from os import path as osp from typing import Dict from unicodedata import name import numpy as np import torch import torch.utils as utils from numpy.linalg import inv from loftr.utils.dataset import ( read_scannet_gray, read_scannet_depth, read_scannet_pose, read_scannet_intrinsic ) class ScanNetDataset(utils.data.Dataset): def __init__(self, root_dir, npz_path, intrinsic_path, mode='train', min_overlap_score=0.4, augment_fn=None, pose_dir=None, **kwargs): """Manage one scene of ScanNet Dataset. Args: root_dir (str): ScanNet root directory that contains scene folders. npz_path (str): {scene_id}.npz path. This contains image pair information of a scene. intrinsic_path (str): path to depth-camera intrinsic file. mode (str): options are ['train', 'val', 'test']. augment_fn (callable, optional): augments images with pre-defined visual effects. pose_dir (str): ScanNet root directory that contains all poses. (we use a separate (optional) pose_dir since we store images and poses separately.) """ super().__init__() self.root_dir = root_dir self.pose_dir = pose_dir if pose_dir is not None else root_dir self.mode = mode # prepare data_names, intrinsics and extrinsics(T) with np.load(npz_path) as data: self.data_names = data['name'] if 'score' in data.keys() and mode not in ['val' or 'test']: kept_mask = data['score'] > min_overlap_score self.data_names = self.data_names[kept_mask] self.intrinsics = dict(np.load(intrinsic_path)) # for training LoFTR self.augment_fn = augment_fn if mode == 'train' else None def __len__(self): return len(self.data_names) def _read_abs_pose(self, scene_name, name): pth = osp.join(self.pose_dir, scene_name, 'pose', f'{name}.txt') return read_scannet_pose(pth) def _compute_rel_pose(self, scene_name, name0, name1): pose0 = self._read_abs_pose(scene_name, name0) pose1 = self._read_abs_pose(scene_name, name1) return np.matmul(pose1, inv(pose0)) # (4, 4) def __getitem__(self, idx): data_name = self.data_names[idx] scene_name, scene_sub_name, stem_name_0, stem_name_1 = data_name scene_name = f'scene{scene_name:04d}_{scene_sub_name:02d}' # read the grayscale image which will be resized to (1, 480, 640) img_name0 = osp.join(self.root_dir, scene_name, 'color', f'{stem_name_0}.jpg') img_name1 = osp.join(self.root_dir, scene_name, 'color', f'{stem_name_1}.jpg') # TODO: Support augmentation & handle seeds for each worker correctly. image0 = read_scannet_gray(img_name0, resize=(640, 480), augment_fn=None) # augment_fn=np.random.choice([self.augment_fn, None], p=[0.5, 0.5])) image1 = read_scannet_gray(img_name1, resize=(640, 480), augment_fn=None) # augment_fn=np.random.choice([self.augment_fn, None], p=[0.5, 0.5])) # read the depthmap which is stored as (480, 640) if self.mode in ['train', 'val']: depth0 = read_scannet_depth(osp.join(self.root_dir, scene_name, 'depth', f'{stem_name_0}.png')) depth1 = read_scannet_depth(osp.join(self.root_dir, scene_name, 'depth', f'{stem_name_1}.png')) else: depth0 = depth1 = torch.tensor([]) # read the intrinsic of depthmap K_0 = K_1 = torch.tensor(self.intrinsics[scene_name].copy(), dtype=torch.float).reshape(3, 3) # read and compute relative poses T_0to1 = torch.tensor(self._compute_rel_pose(scene_name, stem_name_0, stem_name_1), dtype=torch.float32) T_1to0 = T_0to1.inverse() data = { 'image0': image0, # (1, h, w) 'depth0': depth0, # (h, w) 'image1': image1, 'depth1': depth1, 'T_0to1': T_0to1, # (4, 4) 'T_1to0': T_1to0, 'K0': K_0, # (3, 3) 'K1': K_1, 'dataset_name': 'ScanNet', 'scene_id': scene_name, 'pair_id': idx, 'pair_names': (osp.join(scene_name, 'color', f'{stem_name_0}.jpg'), osp.join(scene_name, 'color', f'{stem_name_1}.jpg')) } return data ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/lightning/data.py ================================================ import os import math from collections import abc from loguru import logger from torch.utils.data.dataset import Dataset from tqdm import tqdm from os import path as osp from pathlib import Path from joblib import Parallel, delayed import pytorch_lightning as pl from torch import distributed as dist from torch.utils.data import ( Dataset, DataLoader, ConcatDataset, DistributedSampler, RandomSampler, dataloader ) from loftr.utils.augment import build_augmentor from loftr.utils.dataloader import get_local_split from loftr.utils.misc import tqdm_joblib from loftr.utils import comm from loftr.datasets.megadepth import MegaDepthDataset from loftr.datasets.scannet import ScanNetDataset from loftr.datasets.sampler import RandomConcatSampler class MultiSceneDataModule(pl.LightningDataModule): """ For distributed training, each training process is assgined only a part of the training scenes to reduce memory overhead. """ def __init__(self, args, config): super().__init__() # 1. data config # Train and Val should from the same data source self.trainval_data_source = config.DATASET.TRAINVAL_DATA_SOURCE self.test_data_source = config.DATASET.TEST_DATA_SOURCE # training and validating self.train_data_root = config.DATASET.TRAIN_DATA_ROOT self.train_pose_root = config.DATASET.TRAIN_POSE_ROOT # (optional) self.train_npz_root = config.DATASET.TRAIN_NPZ_ROOT self.train_list_path = config.DATASET.TRAIN_LIST_PATH self.train_intrinsic_path = config.DATASET.TRAIN_INTRINSIC_PATH self.val_data_root = config.DATASET.VAL_DATA_ROOT self.val_pose_root = config.DATASET.VAL_POSE_ROOT # (optional) self.val_npz_root = config.DATASET.VAL_NPZ_ROOT self.val_list_path = config.DATASET.VAL_LIST_PATH self.val_intrinsic_path = config.DATASET.VAL_INTRINSIC_PATH # testing self.test_data_root = config.DATASET.TEST_DATA_ROOT self.test_pose_root = config.DATASET.TEST_POSE_ROOT # (optional) self.test_npz_root = config.DATASET.TEST_NPZ_ROOT self.test_list_path = config.DATASET.TEST_LIST_PATH self.test_intrinsic_path = config.DATASET.TEST_INTRINSIC_PATH # 2. dataset config # general options self.min_overlap_score_test = config.DATASET.MIN_OVERLAP_SCORE_TEST # 0.4, omit data with overlap_score < min_overlap_score self.min_overlap_score_train = config.DATASET.MIN_OVERLAP_SCORE_TRAIN self.augment_fn = build_augmentor(config.DATASET.AUGMENTATION_TYPE) # None, options: [None, 'dark', 'mobile'] # MegaDepth options self.mgdpt_img_resize = config.DATASET.MGDPT_IMG_RESIZE # 840 self.mgdpt_img_pad = config.DATASET.MGDPT_IMG_PAD # True self.mgdpt_depth_pad = config.DATASET.MGDPT_DEPTH_PAD # True self.mgdpt_df = config.DATASET.MGDPT_DF # 8 self.coarse_scale = 1 / config.LOFTR.RESOLUTION[0] # 0.125. for training loftr. # 3.loader parameters self.train_loader_params = { 'batch_size': args.batch_size, 'num_workers': args.num_workers, 'pin_memory': getattr(args, 'pin_memory', True) } self.val_loader_params = { 'batch_size': 1, 'shuffle': False, 'num_workers': args.num_workers, 'pin_memory': getattr(args, 'pin_memory', True) } self.test_loader_params = { 'batch_size': 1, 'shuffle': False, 'num_workers': args.num_workers, 'pin_memory': True } # 4. sampler self.data_sampler = config.TRAINER.DATA_SAMPLER self.n_samples_per_subset = config.TRAINER.N_SAMPLES_PER_SUBSET self.subset_replacement = config.TRAINER.SB_SUBSET_SAMPLE_REPLACEMENT self.shuffle = config.TRAINER.SB_SUBSET_SHUFFLE self.repeat = config.TRAINER.SB_REPEAT # (optional) RandomSampler for debugging # misc configurations self.parallel_load_data = getattr(args, 'parallel_load_data', False) self.seed = config.TRAINER.SEED # 66 def setup(self, stage=None): """ Setup train / val / test dataset. This method will be called by PL automatically. Args: stage (str): 'fit' in training phase, and 'test' in testing phase. """ assert stage in ['fit', 'test'], "stage must be either fit or test" try: self.world_size = dist.get_world_size() self.rank = dist.get_rank() logger.info(f"[rank:{self.rank}] world_size: {self.world_size}") except AssertionError as ae: self.world_size = 1 self.rank = 0 logger.warning(str(ae) + " (set wolrd_size=1 and rank=0)") if stage == 'fit': self.train_dataset = self._setup_dataset( self.train_data_root, self.train_npz_root, self.train_list_path, self.train_intrinsic_path, mode='train', min_overlap_score=self.min_overlap_score_train, pose_dir=self.train_pose_root) # setup multiple (optional) validation subsets if isinstance(self.val_list_path, (list, tuple)): self.val_dataset = [] if not isinstance(self.val_npz_root, (list, tuple)): self.val_npz_root = [self.val_npz_root for _ in range(len(self.val_list_path))] for npz_list, npz_root in zip(self.val_list_path, self.val_npz_root): self.val_dataset.append(self._setup_dataset( self.val_data_root, npz_root, npz_list, self.val_intrinsic_path, mode='val', min_overlap_score=self.min_overlap_score_test, pose_dir=self.val_pose_root)) else: self.val_dataset = self._setup_dataset( self.val_data_root, self.val_npz_root, self.val_list_path, self.val_intrinsic_path, mode='val', min_overlap_score=self.min_overlap_score_test, pose_dir=self.val_pose_root) logger.info(f'[rank:{self.rank}] Train & Val Dataset loaded!') else: # stage == 'test self.test_dataset = self._setup_dataset( self.test_data_root, self.test_npz_root, self.test_list_path, self.test_intrinsic_path, mode='test', min_overlap_score=self.min_overlap_score_test, pose_dir=self.test_pose_root) logger.info(f'[rank:{self.rank}]: Test Dataset loaded!') def _setup_dataset(self, data_root, split_npz_root, scene_list_path, intri_path, mode='train', min_overlap_score=0., pose_dir=None): """ Setup train / val / test set""" with open(scene_list_path, 'r') as f: npz_names = [name.split()[0] for name in f.readlines()] if mode == 'train': local_npz_names = get_local_split(npz_names, self.world_size, self.rank, self.seed) else: local_npz_names = npz_names logger.info(f'[rank {self.rank}]: {len(local_npz_names)} scene(s) assigned.') dataset_builder = self._build_concat_dataset_parallel \ if self.parallel_load_data \ else self._build_concat_dataset return dataset_builder(data_root, local_npz_names, split_npz_root, intri_path, mode=mode, min_overlap_score=min_overlap_score, pose_dir=pose_dir) def _build_concat_dataset( self, data_root, npz_names, npz_dir, intrinsic_path, mode, min_overlap_score=0., pose_dir=None ): datasets = [] augment_fn = self.augment_fn if mode == 'train' else None data_source = self.trainval_data_source if mode in ['train', 'val'] else self.test_data_source if str(data_source).lower() == 'megadepth': npz_names = [f'{n}.npz' for n in npz_names] for npz_name in tqdm(npz_names, desc=f'[rank:{self.rank}] loading {mode} datasets', disable=int(self.rank) != 0): # `ScanNetDataset`/`MegaDepthDataset` load all data from npz_path when initialized, which might take time. npz_path = osp.join(npz_dir, npz_name) if data_source == 'ScanNet': datasets.append( ScanNetDataset(data_root, npz_path, intrinsic_path, mode=mode, min_overlap_score=min_overlap_score, augment_fn=augment_fn, pose_dir=pose_dir)) elif data_source == 'MegaDepth': datasets.append( MegaDepthDataset(data_root, npz_path, mode=mode, min_overlap_score=min_overlap_score, img_resize=self.mgdpt_img_resize, df=self.mgdpt_df, img_padding=self.mgdpt_img_pad, depth_padding=self.mgdpt_depth_pad, augment_fn=augment_fn, coarse_scale=self.coarse_scale)) else: raise NotImplementedError() return ConcatDataset(datasets) def _build_concat_dataset_parallel( self, data_root, npz_names, npz_dir, intrinsic_path, mode, min_overlap_score=0., pose_dir=None, ): augment_fn = self.augment_fn if mode == 'train' else None data_source = self.trainval_data_source if mode in ['train', 'val'] else self.test_data_source if str(data_source).lower() == 'megadepth': npz_names = [f'{n}.npz' for n in npz_names] with tqdm_joblib(tqdm(desc=f'[rank:{self.rank}] loading {mode} datasets', total=len(npz_names), disable=int(self.rank) != 0)): if data_source == 'ScanNet': datasets = Parallel(n_jobs=math.floor(len(os.sched_getaffinity(0)) * 0.9 / comm.get_local_size()))( delayed(lambda x: _build_dataset( ScanNetDataset, data_root, osp.join(npz_dir, x), intrinsic_path, mode=mode, min_overlap_score=min_overlap_score, augment_fn=augment_fn, pose_dir=pose_dir))(name) for name in npz_names) elif data_source == 'MegaDepth': # TODO: _pickle.PicklingError: Could not pickle the task to send it to the workers. raise NotImplementedError() datasets = Parallel(n_jobs=math.floor(len(os.sched_getaffinity(0)) * 0.9 / comm.get_local_size()))( delayed(lambda x: _build_dataset( MegaDepthDataset, data_root, osp.join(npz_dir, x), mode=mode, min_overlap_score=min_overlap_score, img_resize=self.mgdpt_img_resize, df=self.mgdpt_df, img_padding=self.mgdpt_img_pad, depth_padding=self.mgdpt_depth_pad, augment_fn=augment_fn, coarse_scale=self.coarse_scale))(name) for name in npz_names) else: raise ValueError(f'Unknown dataset: {data_source}') return ConcatDataset(datasets) def train_dataloader(self): """ Build training dataloader for ScanNet / MegaDepth. """ assert self.data_sampler in ['scene_balance'] logger.info(f'[rank:{self.rank}/{self.world_size}]: Train Sampler and DataLoader re-init (should not re-init between epochs!).') if self.data_sampler == 'scene_balance': sampler = RandomConcatSampler(self.train_dataset, self.n_samples_per_subset, self.subset_replacement, self.shuffle, self.repeat, self.seed) else: sampler = None dataloader = DataLoader(self.train_dataset, sampler=sampler, **self.train_loader_params) return dataloader def val_dataloader(self): """ Build validation dataloader for ScanNet / MegaDepth. """ logger.info(f'[rank:{self.rank}/{self.world_size}]: Val Sampler and DataLoader re-init.') if not isinstance(self.val_dataset, abc.Sequence): sampler = DistributedSampler(self.val_dataset, shuffle=False) return DataLoader(self.val_dataset, sampler=sampler, **self.val_loader_params) else: dataloaders = [] for dataset in self.val_dataset: sampler = DistributedSampler(dataset, shuffle=False) dataloaders.append(DataLoader(dataset, sampler=sampler, **self.val_loader_params)) return dataloaders def test_dataloader(self, *args, **kwargs): logger.info(f'[rank:{self.rank}/{self.world_size}]: Test Sampler and DataLoader re-init.') sampler = DistributedSampler(self.test_dataset, shuffle=False) return DataLoader(self.test_dataset, sampler=sampler, **self.test_loader_params) def _build_dataset(dataset: Dataset, *args, **kwargs): return dataset(*args, **kwargs) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/lightning/lightning_loftr.py ================================================ from collections import defaultdict import pprint from loguru import logger from pathlib import Path import torch import numpy as np import pytorch_lightning as pl from matplotlib import pyplot as plt from loftr.loftr import LoFTR from loftr.loftr.utils.supervision import compute_supervision_coarse, compute_supervision_fine from loftr.losses.loftr_loss import LoFTRLoss from loftr.optimizers import build_optimizer, build_scheduler from loftr.utils.metrics import ( compute_symmetrical_epipolar_errors, compute_pose_errors, aggregate_metrics ) from loftr.utils.plotting import make_matching_figures from loftr.utils.comm import gather, all_gather from loftr.utils.misc import lower_config, flattenList from loftr.utils.profiler import PassThroughProfiler class PL_LoFTR(pl.LightningModule): def __init__(self, config, pretrained_ckpt=None, profiler=None, dump_dir=None): """ TODO: - use the new version of PL logging API. """ super().__init__() # Misc self.config = config # full config _config = lower_config(self.config) self.loftr_cfg = lower_config(_config['loftr']) self.profiler = profiler or PassThroughProfiler() self.n_vals_plot = max(config.TRAINER.N_VAL_PAIRS_TO_PLOT // config.TRAINER.WORLD_SIZE, 1) # Matcher: LoFTR self.matcher = LoFTR(config=_config['loftr']) self.loss = LoFTRLoss(_config) # Pretrained weights if pretrained_ckpt: state_dict = torch.load(pretrained_ckpt, map_location='cpu')['state_dict'] self.matcher.load_state_dict(state_dict, strict=True) logger.info(f"Load \'{pretrained_ckpt}\' as pretrained checkpoint") # Testing self.dump_dir = dump_dir def configure_optimizers(self): # FIXME: The scheduler did not work properly when `--resume_from_checkpoint` optimizer = build_optimizer(self, self.config) scheduler = build_scheduler(self.config, optimizer) return [optimizer], [scheduler] def optimizer_step( self, epoch, batch_idx, optimizer, optimizer_idx, optimizer_closure, on_tpu, using_native_amp, using_lbfgs): # learning rate warm up warmup_step = self.config.TRAINER.WARMUP_STEP if self.trainer.global_step < warmup_step: if self.config.TRAINER.WARMUP_TYPE == 'linear': base_lr = self.config.TRAINER.WARMUP_RATIO * self.config.TRAINER.TRUE_LR lr = base_lr + \ (self.trainer.global_step / self.config.TRAINER.WARMUP_STEP) * \ abs(self.config.TRAINER.TRUE_LR - base_lr) for pg in optimizer.param_groups: pg['lr'] = lr elif self.config.TRAINER.WARMUP_TYPE == 'constant': pass else: raise ValueError(f'Unknown lr warm-up strategy: {self.config.TRAINER.WARMUP_TYPE}') # update params optimizer.step(closure=optimizer_closure) optimizer.zero_grad() def _trainval_inference(self, batch): with self.profiler.profile("Compute coarse supervision"): compute_supervision_coarse(batch, self.config) with self.profiler.profile("LoFTR"): self.matcher(batch) with self.profiler.profile("Compute fine supervision"): compute_supervision_fine(batch, self.config) with self.profiler.profile("Compute losses"): self.loss(batch) def _compute_metrics(self, batch): with self.profiler.profile("Copmute metrics"): compute_symmetrical_epipolar_errors(batch) # compute epi_errs for each match compute_pose_errors(batch, self.config) # compute R_errs, t_errs, pose_errs for each pair rel_pair_names = list(zip(*batch['pair_names'])) bs = batch['image0'].size(0) metrics = { # to filter duplicate pairs caused by DistributedSampler 'identifiers': ['#'.join(rel_pair_names[b]) for b in range(bs)], 'epi_errs': [batch['epi_errs'][batch['m_bids'] == b].cpu().numpy() for b in range(bs)], 'R_errs': batch['R_errs'], 't_errs': batch['t_errs'], 'inliers': batch['inliers']} ret_dict = {'metrics': metrics} return ret_dict, rel_pair_names def training_step(self, batch, batch_idx): self._trainval_inference(batch) # logging if self.trainer.global_rank == 0 and self.global_step % self.trainer.log_every_n_steps == 0: # scalars for k, v in batch['loss_scalars'].items(): self.logger.experiment.add_scalar(f'train/{k}', v, self.global_step) # net-params if self.config.LOFTR.MATCH_COARSE.MATCH_TYPE == 'sinkhorn': self.logger.experiment.add_scalar( f'skh_bin_score', self.matcher.coarse_matching.bin_score.clone().detach().cpu().data, self.global_step) # figures if self.config.TRAINER.ENABLE_PLOTTING: compute_symmetrical_epipolar_errors(batch) # compute epi_errs for each match figures = make_matching_figures(batch, self.config, self.config.TRAINER.PLOT_MODE) for k, v in figures.items(): self.logger.experiment.add_figure(f'train_match/{k}', v, self.global_step) return {'loss': batch['loss']} def training_epoch_end(self, outputs): avg_loss = torch.stack([x['loss'] for x in outputs]).mean() if self.trainer.global_rank == 0: self.logger.experiment.add_scalar( 'train/avg_loss_on_epoch', avg_loss, global_step=self.current_epoch) def validation_step(self, batch, batch_idx): self._trainval_inference(batch) ret_dict, _ = self._compute_metrics(batch) val_plot_interval = max(self.trainer.num_val_batches[0] // self.n_vals_plot, 1) figures = {self.config.TRAINER.PLOT_MODE: []} if batch_idx % val_plot_interval == 0: figures = make_matching_figures(batch, self.config, mode=self.config.TRAINER.PLOT_MODE) return { **ret_dict, 'loss_scalars': batch['loss_scalars'], 'figures': figures, } def validation_epoch_end(self, outputs): # handle multiple validation sets multi_outputs = [outputs] if not isinstance(outputs[0], (list, tuple)) else outputs multi_val_metrics = defaultdict(list) for valset_idx, outputs in enumerate(multi_outputs): # since pl performs sanity_check at the very begining of the training cur_epoch = self.trainer.current_epoch if not self.trainer.resume_from_checkpoint and self.trainer.running_sanity_check: cur_epoch = -1 # 1. loss_scalars: dict of list, on cpu _loss_scalars = [o['loss_scalars'] for o in outputs] loss_scalars = {k: flattenList(all_gather([_ls[k] for _ls in _loss_scalars])) for k in _loss_scalars[0]} # 2. val metrics: dict of list, numpy _metrics = [o['metrics'] for o in outputs] metrics = {k: flattenList(all_gather(flattenList([_me[k] for _me in _metrics]))) for k in _metrics[0]} # NOTE: all ranks need to `aggregate_merics`, but only log at rank-0 val_metrics_4tb = aggregate_metrics(metrics, self.config.TRAINER.EPI_ERR_THR) for thr in [5, 10, 20]: multi_val_metrics[f'auc@{thr}'].append(val_metrics_4tb[f'auc@{thr}']) # 3. figures _figures = [o['figures'] for o in outputs] figures = {k: flattenList(gather(flattenList([_me[k] for _me in _figures]))) for k in _figures[0]} # tensorboard records only on rank 0 if self.trainer.global_rank == 0: for k, v in loss_scalars.items(): mean_v = torch.stack(v).mean() self.logger.experiment.add_scalar(f'val_{valset_idx}/avg_{k}', mean_v, global_step=cur_epoch) for k, v in val_metrics_4tb.items(): self.logger.experiment.add_scalar(f"metrics_{valset_idx}/{k}", v, global_step=cur_epoch) for k, v in figures.items(): if self.trainer.global_rank == 0: for plot_idx, fig in enumerate(v): self.logger.experiment.add_figure( f'val_match_{valset_idx}/{k}/pair-{plot_idx}', fig, cur_epoch, close=True) plt.close('all') for thr in [5, 10, 20]: # log on all ranks for ModelCheckpoint callback to work properly self.log(f'auc@{thr}', torch.tensor(np.mean(multi_val_metrics[f'auc@{thr}']))) # ckpt monitors on this def test_step(self, batch, batch_idx): with self.profiler.profile("LoFTR"): self.matcher(batch) ret_dict, rel_pair_names = self._compute_metrics(batch) with self.profiler.profile("dump_results"): if self.dump_dir is not None: # dump results for further analysis keys_to_save = {'mkpts0_f', 'mkpts1_f', 'mconf', 'epi_errs'} pair_names = list(zip(*batch['pair_names'])) bs = batch['image0'].shape[0] dumps = [] for b_id in range(bs): item = {} mask = batch['m_bids'] == b_id item['pair_names'] = pair_names[b_id] item['identifier'] = '#'.join(rel_pair_names[b_id]) for key in keys_to_save: item[key] = batch[key][mask].cpu().numpy() for key in ['R_errs', 't_errs', 'inliers']: item[key] = batch[key][b_id] dumps.append(item) ret_dict['dumps'] = dumps return ret_dict def test_epoch_end(self, outputs): # metrics: dict of list, numpy _metrics = [o['metrics'] for o in outputs] metrics = {k: flattenList(gather(flattenList([_me[k] for _me in _metrics]))) for k in _metrics[0]} # [{key: [{...}, *#bs]}, *#batch] if self.dump_dir is not None: Path(self.dump_dir).mkdir(parents=True, exist_ok=True) _dumps = flattenList([o['dumps'] for o in outputs]) # [{...}, #bs*#batch] dumps = flattenList(gather(_dumps)) # [{...}, #proc*#bs*#batch] logger.info(f'Prediction and evaluation results will be saved to: {self.dump_dir}') if self.trainer.global_rank == 0: print(self.profiler.summary()) val_metrics_4tb = aggregate_metrics(metrics, self.config.TRAINER.EPI_ERR_THR) logger.info('\n' + pprint.pformat(val_metrics_4tb)) if self.dump_dir is not None: np.save(Path(self.dump_dir) / 'LoFTR_pred_eval', dumps) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/__init__.py ================================================ from .loftr import LoFTR from .utils.cvpr_ds_config import default_cfg ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/backbone/__init__.py ================================================ from .resnet_fpn import ResNetFPN_8_2, ResNetFPN_16_4 def build_backbone(config): if config['backbone_type'] == 'ResNetFPN': if config['resolution'] == (8, 2): return ResNetFPN_8_2(config['resnetfpn']) elif config['resolution'] == (16, 4): return ResNetFPN_16_4(config['resnetfpn']) else: raise ValueError(f"LOFTR.BACKBONE_TYPE {config['backbone_type']} not supported.") ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/backbone/resnet_fpn.py ================================================ import torch.nn as nn import torch.nn.functional as F def conv1x1(in_planes, out_planes, stride=1): """1x1 convolution without padding""" return nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=stride, padding=0, bias=False) def conv3x3(in_planes, out_planes, stride=1): """3x3 convolution with padding""" return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride, padding=1, bias=False) class BasicBlock(nn.Module): def __init__(self, in_planes, planes, stride=1): super().__init__() self.conv1 = conv3x3(in_planes, planes, stride) self.conv2 = conv3x3(planes, planes) self.bn1 = nn.BatchNorm2d(planes) self.bn2 = nn.BatchNorm2d(planes) self.relu = nn.ReLU(inplace=True) if stride == 1: self.downsample = None else: self.downsample = nn.Sequential( conv1x1(in_planes, planes, stride=stride), nn.BatchNorm2d(planes) ) def forward(self, x): y = x y = self.relu(self.bn1(self.conv1(y))) y = self.bn2(self.conv2(y)) if self.downsample is not None: x = self.downsample(x) return self.relu(x+y) class ResNetFPN_8_2(nn.Module): """ ResNet+FPN, output resolution are 1/8 and 1/2. Each block has 2 layers. """ def __init__(self, config): super().__init__() # Config block = BasicBlock initial_dim = config['initial_dim'] block_dims = config['block_dims'] # Class Variable self.in_planes = initial_dim # Networks self.conv1 = nn.Conv2d(1, initial_dim, kernel_size=7, stride=2, padding=3, bias=False) self.bn1 = nn.BatchNorm2d(initial_dim) self.relu = nn.ReLU(inplace=True) self.layer1 = self._make_layer(block, block_dims[0], stride=1) # 1/2 self.layer2 = self._make_layer(block, block_dims[1], stride=2) # 1/4 self.layer3 = self._make_layer(block, block_dims[2], stride=2) # 1/8 # 3. FPN upsample self.layer3_outconv = conv1x1(block_dims[2], block_dims[2]) self.layer2_outconv = conv1x1(block_dims[1], block_dims[2]) self.layer2_outconv2 = nn.Sequential( conv3x3(block_dims[2], block_dims[2]), nn.BatchNorm2d(block_dims[2]), nn.LeakyReLU(), conv3x3(block_dims[2], block_dims[1]), ) self.layer1_outconv = conv1x1(block_dims[0], block_dims[1]) self.layer1_outconv2 = nn.Sequential( conv3x3(block_dims[1], block_dims[1]), nn.BatchNorm2d(block_dims[1]), nn.LeakyReLU(), conv3x3(block_dims[1], block_dims[0]), ) for m in self.modules(): if isinstance(m, nn.Conv2d): nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu') elif isinstance(m, (nn.BatchNorm2d, nn.GroupNorm)): nn.init.constant_(m.weight, 1) nn.init.constant_(m.bias, 0) def _make_layer(self, block, dim, stride=1): layer1 = block(self.in_planes, dim, stride=stride) layer2 = block(dim, dim, stride=1) layers = (layer1, layer2) self.in_planes = dim return nn.Sequential(*layers) def forward(self, x): # ResNet Backbone x0 = self.relu(self.bn1(self.conv1(x))) x1 = self.layer1(x0) # 1/2 x2 = self.layer2(x1) # 1/4 x3 = self.layer3(x2) # 1/8 # FPN x3_out = self.layer3_outconv(x3) x3_out_2x = F.interpolate(x3_out, scale_factor=2., mode='bilinear', align_corners=True) x2_out = self.layer2_outconv(x2) x2_out = self.layer2_outconv2(x2_out+x3_out_2x) x2_out_2x = F.interpolate(x2_out, scale_factor=2., mode='bilinear', align_corners=True) x1_out = self.layer1_outconv(x1) x1_out = self.layer1_outconv2(x1_out+x2_out_2x) return [x3_out, x1_out] class ResNetFPN_16_4(nn.Module): """ ResNet+FPN, output resolution are 1/16 and 1/4. Each block has 2 layers. """ def __init__(self, config): super().__init__() # Config block = BasicBlock initial_dim = config['initial_dim'] block_dims = config['block_dims'] # Class Variable self.in_planes = initial_dim # Networks self.conv1 = nn.Conv2d(1, initial_dim, kernel_size=7, stride=2, padding=3, bias=False) self.bn1 = nn.BatchNorm2d(initial_dim) self.relu = nn.ReLU(inplace=True) self.layer1 = self._make_layer(block, block_dims[0], stride=1) # 1/2 self.layer2 = self._make_layer(block, block_dims[1], stride=2) # 1/4 self.layer3 = self._make_layer(block, block_dims[2], stride=2) # 1/8 self.layer4 = self._make_layer(block, block_dims[3], stride=2) # 1/16 # 3. FPN upsample self.layer4_outconv = conv1x1(block_dims[3], block_dims[3]) self.layer3_outconv = conv1x1(block_dims[2], block_dims[3]) self.layer3_outconv2 = nn.Sequential( conv3x3(block_dims[3], block_dims[3]), nn.BatchNorm2d(block_dims[3]), nn.LeakyReLU(), conv3x3(block_dims[3], block_dims[2]), ) self.layer2_outconv = conv1x1(block_dims[1], block_dims[2]) self.layer2_outconv2 = nn.Sequential( conv3x3(block_dims[2], block_dims[2]), nn.BatchNorm2d(block_dims[2]), nn.LeakyReLU(), conv3x3(block_dims[2], block_dims[1]), ) for m in self.modules(): if isinstance(m, nn.Conv2d): nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu') elif isinstance(m, (nn.BatchNorm2d, nn.GroupNorm)): nn.init.constant_(m.weight, 1) nn.init.constant_(m.bias, 0) def _make_layer(self, block, dim, stride=1): layer1 = block(self.in_planes, dim, stride=stride) layer2 = block(dim, dim, stride=1) layers = (layer1, layer2) self.in_planes = dim return nn.Sequential(*layers) def forward(self, x): # ResNet Backbone x0 = self.relu(self.bn1(self.conv1(x))) x1 = self.layer1(x0) # 1/2 x2 = self.layer2(x1) # 1/4 x3 = self.layer3(x2) # 1/8 x4 = self.layer4(x3) # 1/16 # FPN x4_out = self.layer4_outconv(x4) x4_out_2x = F.interpolate(x4_out, scale_factor=2., mode='bilinear', align_corners=True) x3_out = self.layer3_outconv(x3) x3_out = self.layer3_outconv2(x3_out+x4_out_2x) x3_out_2x = F.interpolate(x3_out, scale_factor=2., mode='bilinear', align_corners=True) x2_out = self.layer2_outconv(x2) x2_out = self.layer2_outconv2(x2_out+x3_out_2x) return [x4_out, x2_out] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/loftr.py ================================================ import torch import torch.nn as nn from einops.einops import rearrange from .backbone import build_backbone from .utils.position_encoding import PositionEncodingSine from .loftr_module import LocalFeatureTransformer, FinePreprocess from .utils.coarse_matching import CoarseMatching from .utils.fine_matching import FineMatching class LoFTR(nn.Module): def __init__(self, config): super().__init__() # Misc self.config = config # Modules self.backbone = build_backbone(config) self.pos_encoding = PositionEncodingSine( config['coarse']['d_model'], temp_bug_fix=config['coarse']['temp_bug_fix']) self.loftr_coarse = LocalFeatureTransformer(config['coarse']) self.coarse_matching = CoarseMatching(config['match_coarse']) self.fine_preprocess = FinePreprocess(config) self.loftr_fine = LocalFeatureTransformer(config["fine"]) self.fine_matching = FineMatching() def forward(self, data, coarse_only=False): """ Update: data (dict): { 'image0': (torch.Tensor): (N, 1, H, W) 'image1': (torch.Tensor): (N, 1, H, W) 'mask0'(optional) : (torch.Tensor): (N, H, W) '0' indicates a padded position 'mask1'(optional) : (torch.Tensor): (N, H, W) } """ # 1. Local Feature CNN data.update({ 'bs': data['image0'].size(0), 'hw0_i': data['image0'].shape[2:], 'hw1_i': data['image1'].shape[2:] }) if data['hw0_i'] == data['hw1_i']: # faster & better BN convergence feats_c, feats_f = self.backbone(torch.cat([data['image0'], data['image1']], dim=0)) (feat_c0, feat_c1), (feat_f0, feat_f1) = feats_c.split(data['bs']), feats_f.split(data['bs']) else: # handle different input shapes (feat_c0, feat_f0), (feat_c1, feat_f1) = self.backbone(data['image0']), self.backbone(data['image1']) data.update({ 'hw0_c': feat_c0.shape[2:], 'hw1_c': feat_c1.shape[2:], 'hw0_f': feat_f0.shape[2:], 'hw1_f': feat_f1.shape[2:] }) # 2. coarse-level loftr module # add featmap with positional encoding, then flatten it to sequence [N, HW, C] feat_c0 = rearrange(self.pos_encoding(feat_c0), 'n c h w -> n (h w) c') feat_c1 = rearrange(self.pos_encoding(feat_c1), 'n c h w -> n (h w) c') mask_c0 = mask_c1 = None # mask is useful in training if 'mask0' in data: mask_c0, mask_c1 = data['mask0'].flatten(-2), data['mask1'].flatten(-2) feat_c0, feat_c1 = self.loftr_coarse(feat_c0, feat_c1, mask_c0, mask_c1) # 3. match coarse-level self.coarse_matching(feat_c0, feat_c1, data, mask_c0=mask_c0, mask_c1=mask_c1) if coarse_only: return # 4. fine-level refinement feat_f0_unfold, feat_f1_unfold = self.fine_preprocess(feat_f0, feat_f1, feat_c0, feat_c1, data) if feat_f0_unfold.size(0) != 0: # at least one coarse level predicted feat_f0_unfold, feat_f1_unfold = self.loftr_fine(feat_f0_unfold, feat_f1_unfold) # 5. match fine-level self.fine_matching(feat_f0_unfold, feat_f1_unfold, data) def load_state_dict(self, state_dict, *args, **kwargs): for k in list(state_dict.keys()): if k.startswith('matcher.'): state_dict[k.replace('matcher.', '', 1)] = state_dict.pop(k) return super().load_state_dict(state_dict, *args, **kwargs) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/loftr_module/__init__.py ================================================ from .transformer import LocalFeatureTransformer from .fine_preprocess import FinePreprocess ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/loftr_module/fine_preprocess.py ================================================ import torch import torch.nn as nn import torch.nn.functional as F from einops.einops import rearrange, repeat class FinePreprocess(nn.Module): def __init__(self, config): super().__init__() self.config = config self.cat_c_feat = config['fine_concat_coarse_feat'] self.W = self.config['fine_window_size'] d_model_c = self.config['coarse']['d_model'] d_model_f = self.config['fine']['d_model'] self.d_model_f = d_model_f if self.cat_c_feat: self.down_proj = nn.Linear(d_model_c, d_model_f, bias=True) self.merge_feat = nn.Linear(2*d_model_f, d_model_f, bias=True) self._reset_parameters() def _reset_parameters(self): for p in self.parameters(): if p.dim() > 1: nn.init.kaiming_normal_(p, mode="fan_out", nonlinearity="relu") def forward(self, feat_f0, feat_f1, feat_c0, feat_c1, data): W = self.W stride = data['hw0_f'][0] // data['hw0_c'][0] data.update({'W': W}) if data['b_ids'].shape[0] == 0: feat0 = torch.empty(0, self.W**2, self.d_model_f, device=feat_f0.device) feat1 = torch.empty(0, self.W**2, self.d_model_f, device=feat_f0.device) return feat0, feat1 # 1. unfold(crop) all local windows feat_f0_unfold = F.unfold(feat_f0, kernel_size=(W, W), stride=stride, padding=W//2) feat_f0_unfold = rearrange(feat_f0_unfold, 'n (c ww) l -> n l ww c', ww=W**2) feat_f1_unfold = F.unfold(feat_f1, kernel_size=(W, W), stride=stride, padding=W//2) feat_f1_unfold = rearrange(feat_f1_unfold, 'n (c ww) l -> n l ww c', ww=W**2) # 2. select only the predicted matches feat_f0_unfold = feat_f0_unfold[data['b_ids'], data['i_ids']] # [n, ww, cf] feat_f1_unfold = feat_f1_unfold[data['b_ids'], data['j_ids']] # option: use coarse-level loftr feature as context: concat and linear if self.cat_c_feat: feat_c_win = self.down_proj(torch.cat([feat_c0[data['b_ids'], data['i_ids']], feat_c1[data['b_ids'], data['j_ids']]], 0)) # [2n, c] feat_cf_win = self.merge_feat(torch.cat([ torch.cat([feat_f0_unfold, feat_f1_unfold], 0), # [2n, ww, cf] repeat(feat_c_win, 'n c -> n ww c', ww=W**2), # [2n, ww, cf] ], -1)) feat_f0_unfold, feat_f1_unfold = torch.chunk(feat_cf_win, 2, dim=0) return feat_f0_unfold, feat_f1_unfold ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/loftr_module/linear_attention.py ================================================ """ Linear Transformer proposed in "Transformers are RNNs: Fast Autoregressive Transformers with Linear Attention" Modified from: https://github.com/idiap/fast-transformers/blob/master/fast_transformers/attention/linear_attention.py """ import torch from torch.nn import Module, Dropout def elu_feature_map(x): return torch.nn.functional.elu(x) + 1 class LinearAttention(Module): def __init__(self, eps=1e-6): super().__init__() self.feature_map = elu_feature_map self.eps = eps def forward(self, queries, keys, values, q_mask=None, kv_mask=None): """ Multi-Head linear attention proposed in "Transformers are RNNs" Args: queries: [N, L, H, D] keys: [N, S, H, D] values: [N, S, H, D] q_mask: [N, L] kv_mask: [N, S] Returns: queried_values: (N, L, H, D) """ Q = self.feature_map(queries) K = self.feature_map(keys) # set padded position to zero if q_mask is not None: Q = Q * q_mask[:, :, None, None] if kv_mask is not None: K = K * kv_mask[:, :, None, None] values = values * kv_mask[:, :, None, None] v_length = values.size(1) values = values / v_length # prevent fp16 overflow KV = torch.einsum("nshd,nshv->nhdv", K, values) # (S,D)' @ S,V Z = 1 / (torch.einsum("nlhd,nhd->nlh", Q, K.sum(dim=1)) + self.eps) queried_values = torch.einsum("nlhd,nhdv,nlh->nlhv", Q, KV, Z) * v_length return queried_values.contiguous() class FullAttention(Module): def __init__(self, use_dropout=False, attention_dropout=0.1): super().__init__() self.use_dropout = use_dropout self.dropout = Dropout(attention_dropout) def forward(self, queries, keys, values, q_mask=None, kv_mask=None): """ Multi-head scaled dot-product attention, a.k.a full attention. Args: queries: [N, L, H, D] keys: [N, S, H, D] values: [N, S, H, D] q_mask: [N, L] kv_mask: [N, S] Returns: queried_values: (N, L, H, D) """ # Compute the unnormalized attention and apply the masks QK = torch.einsum("nlhd,nshd->nlsh", queries, keys) if kv_mask is not None: QK.masked_fill_(~(q_mask[:, :, None, None] * kv_mask[:, None, :, None]), float('-inf')) # Compute the attention and the weighted average softmax_temp = 1. / queries.size(3)**.5 # sqrt(D) A = torch.softmax(softmax_temp * QK, dim=2) if self.use_dropout: A = self.dropout(A) queried_values = torch.einsum("nlsh,nshd->nlhd", A, values) return queried_values.contiguous() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/loftr_module/transformer.py ================================================ import copy import torch import torch.nn as nn from .linear_attention import LinearAttention, FullAttention class LoFTREncoderLayer(nn.Module): def __init__(self, d_model, nhead, attention='linear'): super(LoFTREncoderLayer, self).__init__() self.dim = d_model // nhead self.nhead = nhead # multi-head attention self.q_proj = nn.Linear(d_model, d_model, bias=False) self.k_proj = nn.Linear(d_model, d_model, bias=False) self.v_proj = nn.Linear(d_model, d_model, bias=False) self.attention = LinearAttention() if attention == 'linear' else FullAttention() self.merge = nn.Linear(d_model, d_model, bias=False) # feed-forward network self.mlp = nn.Sequential( nn.Linear(d_model*2, d_model*2, bias=False), nn.ReLU(True), nn.Linear(d_model*2, d_model, bias=False), ) # norm and dropout self.norm1 = nn.LayerNorm(d_model) self.norm2 = nn.LayerNorm(d_model) def forward(self, x, source, x_mask=None, source_mask=None): """ Args: x (torch.Tensor): [N, L, C] source (torch.Tensor): [N, S, C] x_mask (torch.Tensor): [N, L] (optional) source_mask (torch.Tensor): [N, S] (optional) """ bs = x.size(0) query, key, value = x, source, source # multi-head attention query = self.q_proj(query).view(bs, -1, self.nhead, self.dim) # [N, L, (H, D)] key = self.k_proj(key).view(bs, -1, self.nhead, self.dim) # [N, S, (H, D)] value = self.v_proj(value).view(bs, -1, self.nhead, self.dim) message = self.attention(query, key, value, q_mask=x_mask, kv_mask=source_mask) # [N, L, (H, D)] message = self.merge(message.view(bs, -1, self.nhead*self.dim)) # [N, L, C] message = self.norm1(message) # feed-forward network message = self.mlp(torch.cat([x, message], dim=2)) message = self.norm2(message) return x + message class LocalFeatureTransformer(nn.Module): """A Local Feature Transformer (LoFTR) module.""" def __init__(self, config): super(LocalFeatureTransformer, self).__init__() self.config = config self.d_model = config['d_model'] self.nhead = config['nhead'] self.layer_names = config['layer_names'] encoder_layer = LoFTREncoderLayer(config['d_model'], config['nhead'], config['attention']) self.layers = nn.ModuleList([copy.deepcopy(encoder_layer) for _ in range(len(self.layer_names))]) self._reset_parameters() def _reset_parameters(self): for p in self.parameters(): if p.dim() > 1: nn.init.xavier_uniform_(p) def forward(self, feat0, feat1, mask0=None, mask1=None): """ Args: feat0 (torch.Tensor): [N, L, C] feat1 (torch.Tensor): [N, S, C] mask0 (torch.Tensor): [N, L] (optional) mask1 (torch.Tensor): [N, S] (optional) """ assert self.d_model == feat0.size(2), "the feature number of src and transformer must be equal" for layer, name in zip(self.layers, self.layer_names): if name == 'self': feat0 = layer(feat0, feat0, mask0, mask0) feat1 = layer(feat1, feat1, mask1, mask1) elif name == 'cross': feat0 = layer(feat0, feat1, mask0, mask1) feat1 = layer(feat1, feat0, mask1, mask0) else: raise KeyError return feat0, feat1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/utils/coarse_matching.py ================================================ import torch import torch.nn as nn import torch.nn.functional as F from einops.einops import rearrange INF = 1e9 def mask_border(m, b: int, v): """ Mask borders with value Args: m (torch.Tensor): [N, H0, W0, H1, W1] b (int) v (m.dtype) """ if b <= 0: return m[:, :b] = v m[:, :, :b] = v m[:, :, :, :b] = v m[:, :, :, :, :b] = v m[:, -b:] = v m[:, :, -b:] = v m[:, :, :, -b:] = v m[:, :, :, :, -b:] = v def mask_border_with_padding(m, bd, v, p_m0, p_m1): if bd <= 0: return m[:, :bd] = v m[:, :, :bd] = v m[:, :, :, :bd] = v m[:, :, :, :, :bd] = v h0s, w0s = p_m0.sum(1).max(-1)[0].int(), p_m0.sum(-1).max(-1)[0].int() h1s, w1s = p_m1.sum(1).max(-1)[0].int(), p_m1.sum(-1).max(-1)[0].int() for b_idx, (h0, w0, h1, w1) in enumerate(zip(h0s, w0s, h1s, w1s)): m[b_idx, h0 - bd:] = v m[b_idx, :, w0 - bd:] = v m[b_idx, :, :, h1 - bd:] = v m[b_idx, :, :, :, w1 - bd:] = v def compute_max_candidates(p_m0, p_m1): """Compute the max candidates of all pairs within a batch Args: p_m0, p_m1 (torch.Tensor): padded masks """ h0s, w0s = p_m0.sum(1).max(-1)[0], p_m0.sum(-1).max(-1)[0] h1s, w1s = p_m1.sum(1).max(-1)[0], p_m1.sum(-1).max(-1)[0] max_cand = torch.sum( torch.min(torch.stack([h0s * w0s, h1s * w1s], -1), -1)[0]) return max_cand class CoarseMatching(nn.Module): def __init__(self, config): super().__init__() self.config = config # general config self.thr = config['thr'] self.border_rm = config['border_rm'] # -- # for trainig fine-level LoFTR self.train_coarse_percent = config['train_coarse_percent'] self.train_pad_num_gt_min = config['train_pad_num_gt_min'] # we provide 2 options for differentiable matching self.match_type = config['match_type'] if self.match_type == 'dual_softmax': self.temperature = config['dsmax_temperature'] elif self.match_type == 'sinkhorn': try: from .superglue import log_optimal_transport except ImportError: raise ImportError("download superglue.py first!") self.log_optimal_transport = log_optimal_transport self.bin_score = nn.Parameter( torch.tensor(config['skh_init_bin_score'], requires_grad=True)) self.skh_iters = config['skh_iters'] self.skh_prefilter = config['skh_prefilter'] else: raise NotImplementedError() def forward(self, feat_c0, feat_c1, data, mask_c0=None, mask_c1=None): """ Args: feat0 (torch.Tensor): [N, L, C] feat1 (torch.Tensor): [N, S, C] data (dict) mask_c0 (torch.Tensor): [N, L] (optional) mask_c1 (torch.Tensor): [N, S] (optional) Update: data (dict): { 'b_ids' (torch.Tensor): [M'], 'i_ids' (torch.Tensor): [M'], 'j_ids' (torch.Tensor): [M'], 'gt_mask' (torch.Tensor): [M'], 'mkpts0_c' (torch.Tensor): [M, 2], 'mkpts1_c' (torch.Tensor): [M, 2], 'mconf' (torch.Tensor): [M]} NOTE: M' != M during training. """ N, L, S, C = feat_c0.size(0), feat_c0.size(1), feat_c1.size(1), feat_c0.size(2) # normalize feat_c0, feat_c1 = map(lambda feat: feat / feat.shape[-1]**.5, [feat_c0, feat_c1]) if self.match_type == 'dual_softmax': sim_matrix = torch.einsum("nlc,nsc->nls", feat_c0, feat_c1) / self.temperature if mask_c0 is not None: sim_matrix.masked_fill_( ~(mask_c0[..., None] * mask_c1[:, None]).bool(), -INF) conf_matrix = F.softmax(sim_matrix, 1) * F.softmax(sim_matrix, 2) elif self.match_type == 'sinkhorn': # sinkhorn, dustbin included sim_matrix = torch.einsum("nlc,nsc->nls", feat_c0, feat_c1) if mask_c0 is not None: sim_matrix[:, :L, :S].masked_fill_( ~(mask_c0[..., None] * mask_c1[:, None]).bool(), -INF) # build uniform prior & use sinkhorn log_assign_matrix = self.log_optimal_transport( sim_matrix, self.bin_score, self.skh_iters) assign_matrix = log_assign_matrix.exp() conf_matrix = assign_matrix[:, :-1, :-1] # filter prediction with dustbin score (only in evaluation mode) if not self.training and self.skh_prefilter: filter0 = (assign_matrix.max(dim=2)[1] == S)[:, :-1] # [N, L] filter1 = (assign_matrix.max(dim=1)[1] == L)[:, :-1] # [N, S] conf_matrix[filter0[..., None].repeat(1, 1, S)] = 0 conf_matrix[filter1[:, None].repeat(1, L, 1)] = 0 if self.config['sparse_spvs']: data.update({'conf_matrix_with_bin': assign_matrix.clone()}) data.update({'conf_matrix': conf_matrix}) # predict coarse matches from conf_matrix data.update(**self.get_coarse_match(conf_matrix, data)) @torch.no_grad() def get_coarse_match(self, conf_matrix, data): """ Args: conf_matrix (torch.Tensor): [N, L, S] data (dict): with keys ['hw0_i', 'hw1_i', 'hw0_c', 'hw1_c'] Returns: coarse_matches (dict): { 'b_ids' (torch.Tensor): [M'], 'i_ids' (torch.Tensor): [M'], 'j_ids' (torch.Tensor): [M'], 'gt_mask' (torch.Tensor): [M'], 'm_bids' (torch.Tensor): [M], 'mkpts0_c' (torch.Tensor): [M, 2], 'mkpts1_c' (torch.Tensor): [M, 2], 'mconf' (torch.Tensor): [M]} """ axes_lengths = { 'h0c': data['hw0_c'][0], 'w0c': data['hw0_c'][1], 'h1c': data['hw1_c'][0], 'w1c': data['hw1_c'][1] } _device = conf_matrix.device # 1. confidence thresholding mask = conf_matrix > self.thr mask = rearrange(mask, 'b (h0c w0c) (h1c w1c) -> b h0c w0c h1c w1c', **axes_lengths) if 'mask0' not in data: mask_border(mask, self.border_rm, False) else: mask_border_with_padding(mask, self.border_rm, False, data['mask0'], data['mask1']) mask = rearrange(mask, 'b h0c w0c h1c w1c -> b (h0c w0c) (h1c w1c)', **axes_lengths) # 2. mutual nearest mask = mask \ * (conf_matrix == conf_matrix.max(dim=2, keepdim=True)[0]) \ * (conf_matrix == conf_matrix.max(dim=1, keepdim=True)[0]) # 3. find all valid coarse matches # this only works when at most one `True` in each row mask_v, all_j_ids = mask.max(dim=2) b_ids, i_ids = torch.where(mask_v) j_ids = all_j_ids[b_ids, i_ids] mconf = conf_matrix[b_ids, i_ids, j_ids] # 4. Random sampling of training samples for fine-level LoFTR # (optional) pad samples with gt coarse-level matches if self.training: # NOTE: # The sampling is performed across all pairs in a batch without manually balancing # #samples for fine-level increases w.r.t. batch_size if 'mask0' not in data: num_candidates_max = mask.size(0) * max( mask.size(1), mask.size(2)) else: num_candidates_max = compute_max_candidates( data['mask0'], data['mask1']) num_matches_train = int(num_candidates_max * self.train_coarse_percent) num_matches_pred = len(b_ids) assert self.train_pad_num_gt_min < num_matches_train, "min-num-gt-pad should be less than num-train-matches" # pred_indices is to select from prediction if num_matches_pred <= num_matches_train - self.train_pad_num_gt_min: pred_indices = torch.arange(num_matches_pred, device=_device) else: pred_indices = torch.randint( num_matches_pred, (num_matches_train - self.train_pad_num_gt_min, ), device=_device) # gt_pad_indices is to select from gt padding. e.g. max(3787-4800, 200) gt_pad_indices = torch.randint( len(data['spv_b_ids']), (max(num_matches_train - num_matches_pred, self.train_pad_num_gt_min), ), device=_device) mconf_gt = torch.zeros(len(data['spv_b_ids']), device=_device) # set conf of gt paddings to all zero b_ids, i_ids, j_ids, mconf = map( lambda x, y: torch.cat([x[pred_indices], y[gt_pad_indices]], dim=0), *zip([b_ids, data['spv_b_ids']], [i_ids, data['spv_i_ids']], [j_ids, data['spv_j_ids']], [mconf, mconf_gt])) # These matches select patches that feed into fine-level network coarse_matches = {'b_ids': b_ids, 'i_ids': i_ids, 'j_ids': j_ids} # 4. Update with matches in original image resolution scale = data['hw0_i'][0] / data['hw0_c'][0] scale0 = scale * data['scale0'][b_ids] if 'scale0' in data else scale scale1 = scale * data['scale1'][b_ids] if 'scale1' in data else scale mkpts0_c = torch.stack( [i_ids % data['hw0_c'][1], torch.div(i_ids, data['hw0_c'][1], rounding_mode='trunc')], dim=1) * scale0 mkpts1_c = torch.stack( [j_ids % data['hw1_c'][1], torch.div(j_ids, data['hw1_c'][1], rounding_mode='trunc')], dim=1) * scale1 # These matches is the current prediction (for visualization) coarse_pred_mask = mconf != 0 coarse_matches.update({ 'gt_mask': ~coarse_pred_mask, 'm_bids': b_ids[coarse_pred_mask], # mconf == 0 => gt matches 'm_iids': i_ids[coarse_pred_mask], 'm_jids': j_ids[coarse_pred_mask], 'mkpts0_c': mkpts0_c[coarse_pred_mask], 'mkpts1_c': mkpts1_c[coarse_pred_mask], 'mconf': mconf[coarse_pred_mask] }) return coarse_matches ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/utils/cvpr_ds_config.py ================================================ from yacs.config import CfgNode as CN def lower_config(yacs_cfg): if not isinstance(yacs_cfg, CN): return yacs_cfg return {k.lower(): lower_config(v) for k, v in yacs_cfg.items()} _CN = CN() _CN.BACKBONE_TYPE = 'ResNetFPN' _CN.RESOLUTION = (8, 2) # options: [(8, 2), (16, 4)] _CN.FINE_WINDOW_SIZE = 5 # window_size in fine_level, must be odd _CN.FINE_CONCAT_COARSE_FEAT = True # 1. LoFTR-backbone (local feature CNN) config _CN.RESNETFPN = CN() _CN.RESNETFPN.INITIAL_DIM = 128 _CN.RESNETFPN.BLOCK_DIMS = [128, 196, 256] # s1, s2, s3 # 2. LoFTR-coarse module config _CN.COARSE = CN() _CN.COARSE.D_MODEL = 256 _CN.COARSE.D_FFN = 256 _CN.COARSE.NHEAD = 8 _CN.COARSE.LAYER_NAMES = ['self', 'cross'] * 4 _CN.COARSE.ATTENTION = 'linear' # options: ['linear', 'full'] _CN.COARSE.TEMP_BUG_FIX = False # 3. Coarse-Matching config _CN.MATCH_COARSE = CN() _CN.MATCH_COARSE.THR = 0.2 _CN.MATCH_COARSE.BORDER_RM = 2 _CN.MATCH_COARSE.MATCH_TYPE = 'dual_softmax' # options: ['dual_softmax, 'sinkhorn'] _CN.MATCH_COARSE.DSMAX_TEMPERATURE = 0.1 _CN.MATCH_COARSE.SKH_ITERS = 3 _CN.MATCH_COARSE.SKH_INIT_BIN_SCORE = 1.0 _CN.MATCH_COARSE.SKH_PREFILTER = True _CN.MATCH_COARSE.TRAIN_COARSE_PERCENT = 0.4 # training tricks: save GPU memory _CN.MATCH_COARSE.TRAIN_PAD_NUM_GT_MIN = 200 # training tricks: avoid DDP deadlock # 4. LoFTR-fine module config _CN.FINE = CN() _CN.FINE.D_MODEL = 128 _CN.FINE.D_FFN = 128 _CN.FINE.NHEAD = 8 _CN.FINE.LAYER_NAMES = ['self', 'cross'] * 1 _CN.FINE.ATTENTION = 'linear' default_cfg = lower_config(_CN) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/utils/fine_matching.py ================================================ import math import torch import torch.nn as nn from kornia.geometry.subpix import dsnt from kornia.utils.grid import create_meshgrid class FineMatching(nn.Module): """FineMatching with s2d paradigm""" def __init__(self): super().__init__() def forward(self, feat_f0, feat_f1, data): """ Args: feat0 (torch.Tensor): [M, WW, C] feat1 (torch.Tensor): [M, WW, C] data (dict) Update: data (dict):{ 'expec_f' (torch.Tensor): [M, 3], 'mkpts0_f' (torch.Tensor): [M, 2], 'mkpts1_f' (torch.Tensor): [M, 2]} """ M, WW, C = feat_f0.shape W = int(math.sqrt(WW)) scale = data['hw0_i'][0] / data['hw0_f'][0] self.M, self.W, self.WW, self.C, self.scale = M, W, WW, C, scale # corner case: if no coarse matches found if M == 0: assert self.training == False, "M is always >0, when training, see coarse_matching.py" # logger.warning('No matches found in coarse-level.') data.update({ 'expec_f': torch.empty(0, 3, device=feat_f0.device), 'mkpts0_f': data['mkpts0_c'], 'mkpts1_f': data['mkpts1_c'], }) return feat_f0_picked = feat_f0_picked = feat_f0[:, WW//2, :] sim_matrix = torch.einsum('mc,mrc->mr', feat_f0_picked, feat_f1) softmax_temp = 1. / C**.5 heatmap = torch.softmax(softmax_temp * sim_matrix, dim=1).view(-1, W, W) # compute coordinates from heatmap coords_normalized = dsnt.spatial_expectation2d(heatmap[None], True)[0] # [M, 2] grid_normalized = create_meshgrid(W, W, True, heatmap.device).reshape(1, -1, 2) # [1, WW, 2] # compute std over var = torch.sum(grid_normalized**2 * heatmap.view(-1, WW, 1), dim=1) - coords_normalized**2 # [M, 2] std = torch.sum(torch.sqrt(torch.clamp(var, min=1e-10)), -1) # [M] clamp needed for numerical stability # for fine-level supervision data.update({'expec_f': torch.cat([coords_normalized, std.unsqueeze(1)], -1)}) # compute absolute kpt coords self.get_fine_match(coords_normalized, data) @torch.no_grad() def get_fine_match(self, coords_normed, data): W, WW, C, scale = self.W, self.WW, self.C, self.scale # mkpts0_f and mkpts1_f mkpts0_f = data['mkpts0_c'] scale1 = scale * data['scale1'][data['b_ids']] if 'scale0' in data else scale mkpts1_f = data['mkpts1_c'] + (coords_normed * (W // 2) * scale1)[:len(data['mconf'])] data.update({ "mkpts0_f": mkpts0_f, "mkpts1_f": mkpts1_f }) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/utils/geometry.py ================================================ import torch @torch.no_grad() def warp_kpts(kpts0, depth0, depth1, T_0to1, K0, K1): """ Warp kpts0 from I0 to I1 with depth, K and Rt Also check covisibility and depth consistency. Depth is consistent if relative error < 0.2 (hard-coded). Args: kpts0 (torch.Tensor): [N, L, 2] - , depth0 (torch.Tensor): [N, H, W], depth1 (torch.Tensor): [N, H, W], T_0to1 (torch.Tensor): [N, 3, 4], K0 (torch.Tensor): [N, 3, 3], K1 (torch.Tensor): [N, 3, 3], Returns: calculable_mask (torch.Tensor): [N, L] warped_keypoints0 (torch.Tensor): [N, L, 2] """ kpts0_long = kpts0.round().long() # Sample depth, get calculable_mask on depth != 0 kpts0_depth = torch.stack( [depth0[i, kpts0_long[i, :, 1], kpts0_long[i, :, 0]] for i in range(kpts0.shape[0])], dim=0 ) # (N, L) nonzero_mask = kpts0_depth != 0 # Unproject kpts0_h = torch.cat([kpts0, torch.ones_like(kpts0[:, :, [0]])], dim=-1) * kpts0_depth[..., None] # (N, L, 3) kpts0_cam = K0.inverse() @ kpts0_h.transpose(2, 1) # (N, 3, L) # Rigid Transform w_kpts0_cam = T_0to1[:, :3, :3] @ kpts0_cam + T_0to1[:, :3, [3]] # (N, 3, L) w_kpts0_depth_computed = w_kpts0_cam[:, 2, :] # Project w_kpts0_h = (K1 @ w_kpts0_cam).transpose(2, 1) # (N, L, 3) w_kpts0 = w_kpts0_h[:, :, :2] / (w_kpts0_h[:, :, [2]] + 1e-4) # (N, L, 2), +1e-4 to avoid zero depth # Covisible Check h, w = depth1.shape[1:3] covisible_mask = (w_kpts0[:, :, 0] > 0) * (w_kpts0[:, :, 0] < w-1) * \ (w_kpts0[:, :, 1] > 0) * (w_kpts0[:, :, 1] < h-1) w_kpts0_long = w_kpts0.long() w_kpts0_long[~covisible_mask, :] = 0 w_kpts0_depth = torch.stack( [depth1[i, w_kpts0_long[i, :, 1], w_kpts0_long[i, :, 0]] for i in range(w_kpts0_long.shape[0])], dim=0 ) # (N, L) consistent_mask = ((w_kpts0_depth - w_kpts0_depth_computed) / w_kpts0_depth).abs() < 0.2 valid_mask = nonzero_mask * covisible_mask * consistent_mask return valid_mask, w_kpts0 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/utils/position_encoding.py ================================================ import math import torch from torch import nn class PositionEncodingSine(nn.Module): """ This is a sinusoidal position encoding that generalized to 2-dimensional images """ def __init__(self, d_model, max_shape=(256, 256), temp_bug_fix=True): """ Args: max_shape (tuple): for 1/8 featmap, the max length of 256 corresponds to 2048 pixels temp_bug_fix (bool): As noted in this [issue](https://github.com/zju3dv/LoFTR/issues/41), the original implementation of LoFTR includes a bug in the pos-enc impl, which has little impact on the final performance. For now, we keep both impls for backward compatability. We will remove the buggy impl after re-training all variants of our released models. """ super().__init__() pe = torch.zeros((d_model, *max_shape)) y_position = torch.ones(max_shape).cumsum(0).float().unsqueeze(0) x_position = torch.ones(max_shape).cumsum(1).float().unsqueeze(0) if temp_bug_fix: div_term = torch.exp(torch.arange(0, d_model//2, 2).float() * (-math.log(10000.0) / (d_model//2))) else: # a buggy implementation (for backward compatability only) div_term = torch.exp(torch.arange(0, d_model//2, 2).float() * (-math.log(10000.0) / d_model//2)) div_term = div_term[:, None, None] # [C//4, 1, 1] pe[0::4, :, :] = torch.sin(x_position * div_term) pe[1::4, :, :] = torch.cos(x_position * div_term) pe[2::4, :, :] = torch.sin(y_position * div_term) pe[3::4, :, :] = torch.cos(y_position * div_term) self.register_buffer('pe', pe.unsqueeze(0), persistent=False) # [1, C, H, W] def forward(self, x): """ Args: x: [N, C, H, W] """ return x + self.pe[:, :, :x.size(2), :x.size(3)] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/loftr/utils/supervision.py ================================================ from math import log from loguru import logger import torch from einops import repeat from kornia.utils import create_meshgrid from .geometry import warp_kpts ############## ↓ Coarse-Level supervision ↓ ############## @torch.no_grad() def mask_pts_at_padded_regions(grid_pt, mask): """For megadepth dataset, zero-padding exists in images""" mask = repeat(mask, 'n h w -> n (h w) c', c=2) grid_pt[~mask.bool()] = 0 return grid_pt @torch.no_grad() def spvs_coarse(data, config): """ Update: data (dict): { "conf_matrix_gt": [N, hw0, hw1], 'spv_b_ids': [M] 'spv_i_ids': [M] 'spv_j_ids': [M] 'spv_w_pt0_i': [N, hw0, 2], in original image resolution 'spv_pt1_i': [N, hw1, 2], in original image resolution } NOTE: - for scannet dataset, there're 3 kinds of resolution {i, c, f} - for megadepth dataset, there're 4 kinds of resolution {i, i_resize, c, f} """ # 1. misc device = data['image0'].device N, _, H0, W0 = data['image0'].shape _, _, H1, W1 = data['image1'].shape scale = config['LOFTR']['RESOLUTION'][0] scale0 = scale * data['scale0'][:, None] if 'scale0' in data else scale scale1 = scale * data['scale1'][:, None] if 'scale0' in data else scale h0, w0, h1, w1 = map(lambda x: x // scale, [H0, W0, H1, W1]) # 2. warp grids # create kpts in meshgrid and resize them to image resolution grid_pt0_c = create_meshgrid(h0, w0, False, device).reshape(1, h0*w0, 2).repeat(N, 1, 1) # [N, hw, 2] grid_pt0_i = scale0 * grid_pt0_c grid_pt1_c = create_meshgrid(h1, w1, False, device).reshape(1, h1*w1, 2).repeat(N, 1, 1) grid_pt1_i = scale1 * grid_pt1_c # mask padded region to (0, 0), so no need to manually mask conf_matrix_gt if 'mask0' in data: grid_pt0_i = mask_pts_at_padded_regions(grid_pt0_i, data['mask0']) grid_pt1_i = mask_pts_at_padded_regions(grid_pt1_i, data['mask1']) # warp kpts bi-directionally and resize them to coarse-level resolution # (no depth consistency check, since it leads to worse results experimentally) # (unhandled edge case: points with 0-depth will be warped to the left-up corner) _, w_pt0_i = warp_kpts(grid_pt0_i, data['depth0'], data['depth1'], data['T_0to1'], data['K0'], data['K1']) _, w_pt1_i = warp_kpts(grid_pt1_i, data['depth1'], data['depth0'], data['T_1to0'], data['K1'], data['K0']) w_pt0_c = w_pt0_i / scale1 w_pt1_c = w_pt1_i / scale0 # 3. check if mutual nearest neighbor w_pt0_c_round = w_pt0_c[:, :, :].round().long() nearest_index1 = w_pt0_c_round[..., 0] + w_pt0_c_round[..., 1] * w1 w_pt1_c_round = w_pt1_c[:, :, :].round().long() nearest_index0 = w_pt1_c_round[..., 0] + w_pt1_c_round[..., 1] * w0 # corner case: out of boundary def out_bound_mask(pt, w, h): return (pt[..., 0] < 0) + (pt[..., 0] >= w) + (pt[..., 1] < 0) + (pt[..., 1] >= h) nearest_index1[out_bound_mask(w_pt0_c_round, w1, h1)] = 0 nearest_index0[out_bound_mask(w_pt1_c_round, w0, h0)] = 0 loop_back = torch.stack([nearest_index0[_b][_i] for _b, _i in enumerate(nearest_index1)], dim=0) correct_0to1 = loop_back == torch.arange(h0*w0, device=device)[None].repeat(N, 1) correct_0to1[:, 0] = False # ignore the top-left corner # 4. construct a gt conf_matrix conf_matrix_gt = torch.zeros(N, h0*w0, h1*w1, device=device) b_ids, i_ids = torch.where(correct_0to1 != 0) j_ids = nearest_index1[b_ids, i_ids] conf_matrix_gt[b_ids, i_ids, j_ids] = 1 data.update({'conf_matrix_gt': conf_matrix_gt}) # 5. save coarse matches(gt) for training fine level if len(b_ids) == 0: logger.warning(f"No groundtruth coarse match found for: {data['pair_names']}") # this won't affect fine-level loss calculation b_ids = torch.tensor([0], device=device) i_ids = torch.tensor([0], device=device) j_ids = torch.tensor([0], device=device) data.update({ 'spv_b_ids': b_ids, 'spv_i_ids': i_ids, 'spv_j_ids': j_ids }) # 6. save intermediate results (for fast fine-level computation) data.update({ 'spv_w_pt0_i': w_pt0_i, 'spv_pt1_i': grid_pt1_i }) def compute_supervision_coarse(data, config): assert len(set(data['dataset_name'])) == 1, "Do not support mixed datasets training!" data_source = data['dataset_name'][0] if data_source.lower() in ['scannet', 'megadepth']: spvs_coarse(data, config) else: raise ValueError(f'Unknown data source: {data_source}') ############## ↓ Fine-Level supervision ↓ ############## @torch.no_grad() def spvs_fine(data, config): """ Update: data (dict):{ "expec_f_gt": [M, 2]} """ # 1. misc # w_pt0_i, pt1_i = data.pop('spv_w_pt0_i'), data.pop('spv_pt1_i') w_pt0_i, pt1_i = data['spv_w_pt0_i'], data['spv_pt1_i'] scale = config['LOFTR']['RESOLUTION'][1] radius = config['LOFTR']['FINE_WINDOW_SIZE'] // 2 # 2. get coarse prediction b_ids, i_ids, j_ids = data['b_ids'], data['i_ids'], data['j_ids'] # 3. compute gt scale = scale * data['scale1'][b_ids] if 'scale0' in data else scale # `expec_f_gt` might exceed the window, i.e. abs(*) > 1, which would be filtered later expec_f_gt = (w_pt0_i[b_ids, i_ids] - pt1_i[b_ids, j_ids]) / scale / radius # [M, 2] data.update({"expec_f_gt": expec_f_gt}) def compute_supervision_fine(data, config): data_source = data['dataset_name'][0] if data_source.lower() in ['scannet', 'megadepth']: spvs_fine(data, config) else: raise NotImplementedError ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/losses/loftr_loss.py ================================================ from loguru import logger import torch import torch.nn as nn class LoFTRLoss(nn.Module): def __init__(self, config): super().__init__() self.config = config # config under the global namespace self.loss_config = config['loftr']['loss'] self.match_type = self.config['loftr']['match_coarse']['match_type'] self.sparse_spvs = self.config['loftr']['match_coarse']['sparse_spvs'] # coarse-level self.correct_thr = self.loss_config['fine_correct_thr'] self.c_pos_w = self.loss_config['pos_weight'] self.c_neg_w = self.loss_config['neg_weight'] # fine-level self.fine_type = self.loss_config['fine_type'] def compute_coarse_loss(self, conf, conf_gt, weight=None): """ Point-wise CE / Focal Loss with 0 / 1 confidence as gt. Args: conf (torch.Tensor): (N, HW0, HW1) / (N, HW0+1, HW1+1) conf_gt (torch.Tensor): (N, HW0, HW1) weight (torch.Tensor): (N, HW0, HW1) """ pos_mask, neg_mask = conf_gt == 1, conf_gt == 0 c_pos_w, c_neg_w = self.c_pos_w, self.c_neg_w # corner case: no gt coarse-level match at all if not pos_mask.any(): # assign a wrong gt pos_mask[0, 0, 0] = True if weight is not None: weight[0, 0, 0] = 0. c_pos_w = 0. if not neg_mask.any(): neg_mask[0, 0, 0] = True if weight is not None: weight[0, 0, 0] = 0. c_neg_w = 0. if self.loss_config['coarse_type'] == 'cross_entropy': assert not self.sparse_spvs, 'Sparse Supervision for cross-entropy not implemented!' conf = torch.clamp(conf, 1e-6, 1-1e-6) loss_pos = - torch.log(conf[pos_mask]) loss_neg = - torch.log(1 - conf[neg_mask]) if weight is not None: loss_pos = loss_pos * weight[pos_mask] loss_neg = loss_neg * weight[neg_mask] return c_pos_w * loss_pos.mean() + c_neg_w * loss_neg.mean() elif self.loss_config['coarse_type'] == 'focal': conf = torch.clamp(conf, 1e-6, 1-1e-6) alpha = self.loss_config['focal_alpha'] gamma = self.loss_config['focal_gamma'] if self.sparse_spvs: pos_conf = conf[:, :-1, :-1][pos_mask] \ if self.match_type == 'sinkhorn' \ else conf[pos_mask] loss_pos = - alpha * torch.pow(1 - pos_conf, gamma) * pos_conf.log() # calculate losses for negative samples if self.match_type == 'sinkhorn': neg0, neg1 = conf_gt.sum(-1) == 0, conf_gt.sum(1) == 0 neg_conf = torch.cat([conf[:, :-1, -1][neg0], conf[:, -1, :-1][neg1]], 0) loss_neg = - alpha * torch.pow(1 - neg_conf, gamma) * neg_conf.log() else: # These is no dustbin for dual_softmax, so we left unmatchable patches without supervision. # we could also add 'pseudo negtive-samples' pass # handle loss weights if weight is not None: # Different from dense-spvs, the loss w.r.t. padded regions aren't directly zeroed out, # but only through manually setting corresponding regions in sim_matrix to '-inf'. loss_pos = loss_pos * weight[pos_mask] if self.match_type == 'sinkhorn': neg_w0 = (weight.sum(-1) != 0)[neg0] neg_w1 = (weight.sum(1) != 0)[neg1] neg_mask = torch.cat([neg_w0, neg_w1], 0) loss_neg = loss_neg[neg_mask] loss = c_pos_w * loss_pos.mean() + c_neg_w * loss_neg.mean() \ if self.match_type == 'sinkhorn' \ else c_pos_w * loss_pos.mean() return loss # positive and negative elements occupy similar propotions. => more balanced loss weights needed else: # dense supervision (in the case of match_type=='sinkhorn', the dustbin is not supervised.) loss_pos = - alpha * torch.pow(1 - conf[pos_mask], gamma) * (conf[pos_mask]).log() loss_neg = - alpha * torch.pow(conf[neg_mask], gamma) * (1 - conf[neg_mask]).log() if weight is not None: loss_pos = loss_pos * weight[pos_mask] loss_neg = loss_neg * weight[neg_mask] return c_pos_w * loss_pos.mean() + c_neg_w * loss_neg.mean() # each negative element occupy a smaller propotion than positive elements. => higher negative loss weight needed else: raise ValueError('Unknown coarse loss: {type}'.format(type=self.loss_config['coarse_type'])) def compute_fine_loss(self, expec_f, expec_f_gt): if self.fine_type == 'l2_with_std': return self._compute_fine_loss_l2_std(expec_f, expec_f_gt) elif self.fine_type == 'l2': return self._compute_fine_loss_l2(expec_f, expec_f_gt) else: raise NotImplementedError() def _compute_fine_loss_l2(self, expec_f, expec_f_gt): """ Args: expec_f (torch.Tensor): [M, 2] expec_f_gt (torch.Tensor): [M, 2] """ correct_mask = torch.linalg.norm(expec_f_gt, ord=float('inf'), dim=1) < self.correct_thr if correct_mask.sum() == 0: if self.training: # this seldomly happen when training, since we pad prediction with gt logger.warning("assign a false supervision to avoid ddp deadlock") correct_mask[0] = True else: return None offset_l2 = ((expec_f_gt[correct_mask] - expec_f[correct_mask]) ** 2).sum(-1) return offset_l2.mean() def _compute_fine_loss_l2_std(self, expec_f, expec_f_gt): """ Args: expec_f (torch.Tensor): [M, 3] expec_f_gt (torch.Tensor): [M, 2] """ # correct_mask tells you which pair to compute fine-loss correct_mask = torch.linalg.norm(expec_f_gt, ord=float('inf'), dim=1) < self.correct_thr # use std as weight that measures uncertainty std = expec_f[:, 2] inverse_std = 1. / torch.clamp(std, min=1e-10) weight = (inverse_std / torch.mean(inverse_std)).detach() # avoid minizing loss through increase std # corner case: no correct coarse match found if not correct_mask.any(): if self.training: # this seldomly happen during training, since we pad prediction with gt # sometimes there is not coarse-level gt at all. logger.warning("assign a false supervision to avoid ddp deadlock") correct_mask[0] = True weight[0] = 0. else: return None # l2 loss with std offset_l2 = ((expec_f_gt[correct_mask] - expec_f[correct_mask, :2]) ** 2).sum(-1) loss = (offset_l2 * weight[correct_mask]).mean() return loss @torch.no_grad() def compute_c_weight(self, data): """ compute element-wise weights for computing coarse-level loss. """ if 'mask0' in data: c_weight = (data['mask0'].flatten(-2)[..., None] * data['mask1'].flatten(-2)[:, None]).float() else: c_weight = None return c_weight def forward(self, data): """ Update: data (dict): update{ 'loss': [1] the reduced loss across a batch, 'loss_scalars' (dict): loss scalars for tensorboard_record } """ loss_scalars = {} # 0. compute element-wise loss weight c_weight = self.compute_c_weight(data) # 1. coarse-level loss loss_c = self.compute_coarse_loss( data['conf_matrix_with_bin'] if self.sparse_spvs and self.match_type == 'sinkhorn' \ else data['conf_matrix'], data['conf_matrix_gt'], weight=c_weight) loss = loss_c * self.loss_config['coarse_weight'] loss_scalars.update({"loss_c": loss_c.clone().detach().cpu()}) # 2. fine-level loss loss_f = self.compute_fine_loss(data['expec_f'], data['expec_f_gt']) if loss_f is not None: loss += loss_f * self.loss_config['fine_weight'] loss_scalars.update({"loss_f": loss_f.clone().detach().cpu()}) else: assert self.training is False loss_scalars.update({'loss_f': torch.tensor(1.)}) # 1 is the upper bound loss_scalars.update({'loss': loss.clone().detach().cpu()}) data.update({"loss": loss, "loss_scalars": loss_scalars}) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/optimizers/__init__.py ================================================ import torch from torch.optim.lr_scheduler import MultiStepLR, CosineAnnealingLR, ExponentialLR def build_optimizer(model, config): name = config.TRAINER.OPTIMIZER lr = config.TRAINER.TRUE_LR if name == "adam": return torch.optim.Adam(model.parameters(), lr=lr, weight_decay=config.TRAINER.ADAM_DECAY) elif name == "adamw": return torch.optim.AdamW(model.parameters(), lr=lr, weight_decay=config.TRAINER.ADAMW_DECAY) else: raise ValueError(f"TRAINER.OPTIMIZER = {name} is not a valid optimizer!") def build_scheduler(config, optimizer): """ Returns: scheduler (dict):{ 'scheduler': lr_scheduler, 'interval': 'step', # or 'epoch' 'monitor': 'val_f1', (optional) 'frequency': x, (optional) } """ scheduler = {'interval': config.TRAINER.SCHEDULER_INTERVAL} name = config.TRAINER.SCHEDULER if name == 'MultiStepLR': scheduler.update( {'scheduler': MultiStepLR(optimizer, config.TRAINER.MSLR_MILESTONES, gamma=config.TRAINER.MSLR_GAMMA)}) elif name == 'CosineAnnealing': scheduler.update( {'scheduler': CosineAnnealingLR(optimizer, config.TRAINER.COSA_TMAX)}) elif name == 'ExponentialLR': scheduler.update( {'scheduler': ExponentialLR(optimizer, config.TRAINER.ELR_GAMMA)}) else: raise NotImplementedError() return scheduler ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/tools/hloc_match_features.py ================================================ import argparse import sys from pathlib import Path import cv2 import h5py import imagesize import numpy as np import ray import torch from hloc.match_features import find_unique_new_pairs from hloc.utils.parsers import names_to_pair from loguru import logger from PIL import Image from ray.experimental import tqdm_ray from ray.util.queue import Queue from torch.utils.data import DataLoader, Dataset, DistributedSampler LOFTR_PATH = str(Path(__file__).parents[2]) from loftr.config.default import get_cfg_defaults from loftr.loftr import LoFTR, default_cfg from loftr.utils.misc import lower_config def list_h5_names(path): names = [] with h5py.File(str(path), "r") as fd: def visit_fn(_, obj): if isinstance(obj, h5py.Dataset): names.append(obj.parent.name.strip("/")) fd.visititems(visit_fn) return list(set(names)) class MatchDataset(Dataset): def __init__( self, root_dir, hloc_dirname="hloc_outputs", image_dirname="images", pairs_fn="pairs-sfm.txt", resize_max_area=1920000, df=8, ): super().__init__() self.root_dir = Path(root_dir) self.hloc_dir = self.root_dir / hloc_dirname self.image_dir = self.root_dir / image_dirname self.image_pairs = self._parse_image_pairs(self.hloc_dir / pairs_fn) self.resize_max_area = resize_max_area self.df = df def __len__(self): return len(self.image_pairs) def __getitem__(self, idx): name0, name1 = self.image_pairs[idx] img0_path, img1_path = map(lambda x: self.image_dir / x, self.image_pairs[idx]) img0, img1 = map(lambda x: cv2.imread(str(x), cv2.IMREAD_GRAYSCALE), [img0_path, img1_path]) img0, img1 = map(lambda x: self._preprocess_image(x), [img0, img1]) return {"image0": img0, "image1": img1, "pair_name": names_to_pair(name0, name1)} def _parse_image_pairs(self, pairs_path): with open(pairs_path, "r") as f: pairs = f.read().rstrip("\n").split("\n") pairs = [pair.split() for pair in pairs] # TODO: filter duplicate pairs return pairs def _preprocess_image(self, img: np.array): h, w = img.shape new_h, new_w = compute_resize_max_area(h, w, max_area=self.resize_max_area, df=self.df) img = cv2.resize(img, (new_w, new_h), interpolation=cv2.INTER_LINEAR) img = torch.from_numpy(img).float()[None] / 255 # (1, h, w) return img @ray.remote(num_cpus=1) class MatchSaver(object): def __init__(self, save_dir, save_fn, n_pairs, queue): self.save_path = Path(save_dir) / save_fn self.queue = queue if self.save_path.exists(): self.save_path.unlink() self.f_matches = h5py.File(self.save_path, "a") self.max_n_pairs = n_pairs def run(self): _cntr = 0 required_keys = set(["matches0", "matching_scores0"]) pair_name_cache = set() pbar = tqdm_ray.tqdm(desc="Extracting LoFTR matches:", total=self.max_n_pairs) while _cntr < self.max_n_pairs: data = self.queue.get(block=True) pair_name = data.pop("pair_name") if pair_name in pair_name_cache: # DistributedSampler might duplicate data continue pair_name_cache.add(pair_name) assert set(data.keys()) == required_keys if pair_name in self.f_matches: del self.f_matches[pair_name] grp = self.f_matches.create_group(pair_name) grp.create_dataset("matches0", data=data["matches0"]) grp.create_dataset("matching_scores0", data=data["matching_scores0"]) pbar.update() _cntr += 1 self.f_matches.close() @ray.remote(num_cpus=1, num_gpus=1) class MatchExtrator(object): def __init__(self, args, rank, world_size, queue, coarse_hws_cached): dataset = build_dataset(args) self.loader = build_dataloader(args, dataset, rank, world_size) self.queue = queue self.coarse_hws_cached = coarse_hws_cached # init matcher if args.config is not None: config = get_cfg_defaults() config.merge_from_file(args.config) config = lower_config(config)["loftr"] else: config = default_cfg matcher = LoFTR(config=config) matcher.load_state_dict(torch.load(args.checkpoint, map_location="cpu")["state_dict"]) self.matcher = matcher.eval().cuda() def run(self): for data in self.loader: data = {k: v.cuda() if isinstance(v, torch.Tensor) else v for k, v in data.items()} pair_name = data["pair_name"][0] raw_coarse_matches, coarse_hws0, coarse_hws1 = extract_coarse_matches(self.matcher, data) name0, name1 = pair_name.split("/") assert coarse_hws0 == self.coarse_hws_cached[name0] and coarse_hws1 == self.coarse_hws_cached[name1] hloc_coarse_matches = build_coarse_matches_hloc(raw_coarse_matches, coarse_hws0) hloc_coarse_matches["pair_name"] = pair_name self.queue.put_nowait(hloc_coarse_matches) del data, raw_coarse_matches torch.cuda.empty_cache() def extract_coarse_matches(matcher, data): """ Args: data (Dict): {'image0': Tensor, 'image1': Tensor} Returns: matches (Dict): { 'mconfs' (np.ndarray): (n, ), 'mids0' (np.ndarray): (n, ), 'mids1' (np.ndarray): (n, ) } """ matcher(data, coarse_only=True) assert (data["b_ids"] == 0).all(), "BatchSize > 1 not supported yet!" coarse_hws0, coarse_hws1 = tuple(data["hw0_c"]), tuple(data["hw1_c"]) mids0, mids1 = data["m_iids"], data["m_jids"] mconfs = data["mconf"] # (n, ) mconfs, mids0, mids1 = map(lambda x: x.cpu().numpy(), [mconfs, mids0, mids1]) return {"mconfs": mconfs, "mids0": mids0, "mids1": mids1}, coarse_hws0, coarse_hws1 def build_coarse_matches_hloc(result, coarse_hws0): # mconfs, c_xys0, c_xys1 = map(result.get, ['mconfs', 'c_xys0', 'c_xys1']) mconfs, mids0, mids1 = map(result.get, ["mconfs", "mids0", "mids1"]) # transform to hloc matches format n_kpts = coarse_hws0[0] * coarse_hws0[1] dtype = np.int16 if n_kpts < 32767 else np.int32 matches0 = np.full((n_kpts,), -1, dtype=dtype) matching_scores0 = np.zeros((n_kpts,), dtype=dtype) matches0[mids0] = mids1.astype(dtype) matching_scores0[mids0] = mconfs.astype(np.float16) matches = {"matches0": matches0, "matching_scores0": matching_scores0} return matches def check_consistent_image_sizes(image_dir, image_list): sizes = np.array([imagesize.get(image_dir / p) for p in image_list]) all_equal = (sizes[0, 0] == sizes[:, 0]).all() and (sizes[0, 1] == sizes[:, 1]).all() return all_equal def compute_resize_max_area(h, w, max_area=1920000, df=8): if h * w <= max_area: tgt_shape = (int(h // df * df), int(w // df * df)) else: ratio = np.sqrt(max_area / h / w) h *= ratio w *= ratio tgt_shape = (int(h // df * df), int(w // df * df)) return tgt_shape def _build_pseudo_features(image_path, max_area=1920000, df=8, coarse_scale=8): img = Image.open(image_path) h, w = img.height, img.width new_h, new_w = compute_resize_max_area(h, w, max_area=max_area, df=df) coarse_h, coarse_w = new_h // coarse_scale, new_w // coarse_scale Xs, Ys = np.mgrid[:coarse_w, :coarse_h] coarse_XYs = np.stack([Xs, Ys], axis=-1) # (c_w, c_h, 2) coarse2ori_scale = np.array([w / coarse_w, h / coarse_h]) ori_XYs = coarse_XYs * coarse2ori_scale + coarse2ori_scale / 2 - 0.5 # hloc save keypoints in dpix ori_XYs = ori_XYs.transpose(1, 0, 2).reshape(-1, 2) # ((c_h, c_w), 2) return ori_XYs, (coarse_h, coarse_w), coarse2ori_scale def build_pseudo_features( image_dir, image_list, save_dir, save_fn="features.h5", max_area=1920000, df=8, coarse_scale=8, detection_noise=1.0, as_half=True, ): save_path = Path(save_dir) / save_fn consistent_image_size = check_consistent_image_sizes(image_dir, image_list) coarse_hws = dict() # caches for coarse dense grid sizes (for later sanity check) if not consistent_image_size: raise NotImplementedError() else: # generate once and reuse pseudo_kpts, (kpts_h, kpts_w), kpts_scale = _build_pseudo_features( image_dir / image_list[0], max_area=max_area, df=df, coarse_scale=coarse_scale ) # (n, 2) uncertainty = detection_noise * kpts_scale.mean() features = { "keypoints": pseudo_kpts if not as_half else pseudo_kpts.astype(np.float16), "scors": np.empty((0,), dtype=np.float16), "descriptors": np.empty((0,), dtype=np.float16), } with h5py.File(str(save_path), "a") as fd: for name in image_list: try: if name in fd: del fd[name] grp = fd.create_group(name) for k, v in features.items(): grp.create_dataset(k, data=v) grp["keypoints"].attrs["uncertainty"] = uncertainty except OSError as error: if "No space left on device" in error.args[0]: logger.error( "Out of disk space: storing features on disk can take " "significant space, did you enable the as_half flag?" ) del grp, fd[name] raise error coarse_hws.update({name: (kpts_h, kpts_w) for name in image_list}) logger.info(f"Finished generaing pseudo features. ({len(image_list)} in total.)") return save_path, coarse_hws def get_parser(): parser = argparse.ArgumentParser() parser.add_argument("--root_dir", type=Path, default="/raid/yuang/Data/CO3D_V2/chair/380_45217_90441") parser.add_argument("--hloc_dirname", type=str, default="hloc_loftr_outputs") parser.add_argument("--image_dirname", type=str, default="images") parser.add_argument("--pairs_fn", type=str, default="pairs-sfm.txt") parser.add_argument("--features_fn", type=str, default="features.h5") parser.add_argument("--matches_fn", type=str, default="matches.h5") parser.add_argument("--force_rerun", action="store_true") parser.add_argument("--max_area", type=int, default=1920000) parser.add_argument("--df", type=int, default=8) parser.add_argument("--n_workers", type=int, default=8) parser.add_argument("--n_loader_workers", type=int, default=1) # LoFTR-related fields parser.add_argument("--config", type=Path, default=f"{LOFTR_PATH}/configs/loftr/outdoor/buggy_pos_enc/loftr_ds.py") parser.add_argument("--checkpoint", type=Path, default=f"{LOFTR_PATH}/weights/outdoor_ds.ckpt") return parser def get_default_args(): return get_parser().parse_args([]) def build_dataset(args): dset = MatchDataset( args.root_dir, hloc_dirname=args.hloc_dirname, image_dirname=args.image_dirname, pairs_fn=args.pairs_fn, resize_max_area=args.max_area, df=args.df, ) return dset def build_dataloader(args, dataset, rank, world_size): sampler = DistributedSampler(dataset, num_replicas=world_size, rank=rank, shuffle=False, seed=0, drop_last=False) loader = DataLoader( dataset, batch_size=1, shuffle=False, num_workers=args.n_loader_workers, pin_memory=True, sampler=sampler ) return loader def check_existence(args, image_list): hloc_dir = args.root_dir / args.hloc_dirname features_path = hloc_dir / args.features_fn matches_path = hloc_dir / args.matches_fn if not (features_path.exists() and matches_path.exists()) or args.force_rerun: return False try: with h5py.File(features_path, "r") as ff, h5py.File(matches_path) as mf: pass except OSError as err: logger.warning( "At least one of the features & the matches file is corrupted, rerun matching...\n" f"{err}\n" f" ({str(features_path)},{str(matches_path)})" ) features_path.unlink() matches_path.unlink() return False features_all_done, matches_all_done = False, False if features_path.exists(): skip_feature_names = list_h5_names(features_path) if set(image_list).issubset(set(skip_feature_names)): features_all_done = True if matches_path.exists(): pairs_path = hloc_dir / args.pairs_fn with open(pairs_path, "r") as f: pairs = f.read().rstrip("\n").split("\n") pairs = [tuple(pair.split()) for pair in pairs] pairs = find_unique_new_pairs(pairs_all=pairs, match_path=matches_path) if len(pairs) == 0: matches_all_done = True # TODO: return unmatched pairs and only match these pairs existed = features_all_done and matches_all_done if existed: logger.info(f"Features & matches already extracted: {str(hloc_dir)}, skipped!") return existed def process_instance(args, image_list, block=True): # process a single instance if check_existence(args, image_list): logger.info(f'Instance ({"/".join(args.root_dir.parts[-2:])}) already processed, skipping...') return args.root_stem = args.root_dir.stem coarse_scale = 8 # TODO: extract coarse_scale from LoFTR config feature_path, coarse_hws_cached = build_pseudo_features( args.root_dir / args.image_dirname, image_list, args.root_dir / args.hloc_dirname, args.features_fn, max_area=args.max_area, df=args.df, coarse_scale=coarse_scale, as_half=True, ) if not ray.is_initialized(): ray.init(num_cpus=args.n_workers + 1, num_gpus=args.n_workers, ignore_reinit_error=False) queue = Queue() _dataset = build_dataset(args) n_pairs = len(_dataset) match_saver = MatchSaver.remote(args.root_dir / args.hloc_dirname, args.matches_fn, n_pairs, queue) match_saver_ref = match_saver.run.remote() # -- init & run MatchActors match_extractors = [ MatchExtrator.remote(args, rank, args.n_workers, queue, coarse_hws_cached) for rank in range(args.n_workers) ] match_extractor_refs = [a.run.remote() for a in match_extractors] obj_refs = [*match_extractor_refs, match_saver_ref] if block: ray.get(obj_refs) # ray.shutdown() logger.info(f"[{args.root_stem}] matches for {n_pairs} pairs extracted!") else: logger.info(f"[{args.root_stem}] LoFTRMatchWorker started ({n_pairs} pairs to be matched)") return obj_refs def main(): # Testinng parser = get_parser() args = parser.parse_args() image_dir = args.root_dir / args.image_dirname images = [p.relative_to(image_dir).as_posix() for p in image_dir.iterdir()] images = images[:8] process_instance(args, images, block=True) if __name__ == "__main__": main() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/utils/augment.py ================================================ import albumentations as A class DarkAug(object): """ Extreme dark augmentation aiming at Aachen Day-Night """ def __init__(self) -> None: self.augmentor = A.Compose([ A.RandomBrightnessContrast(p=0.75, brightness_limit=(-0.6, 0.0), contrast_limit=(-0.5, 0.3)), A.Blur(p=0.1, blur_limit=(3, 9)), A.MotionBlur(p=0.2, blur_limit=(3, 25)), A.RandomGamma(p=0.1, gamma_limit=(15, 65)), A.HueSaturationValue(p=0.1, val_shift_limit=(-100, -40)) ], p=0.75) def __call__(self, x): return self.augmentor(image=x)['image'] class MobileAug(object): """ Random augmentations aiming at images of mobile/handhold devices. """ def __init__(self): self.augmentor = A.Compose([ A.MotionBlur(p=0.25), A.ColorJitter(p=0.5), A.RandomRain(p=0.1), # random occlusion A.RandomSunFlare(p=0.1), A.JpegCompression(p=0.25), A.ISONoise(p=0.25) ], p=1.0) def __call__(self, x): return self.augmentor(image=x)['image'] def build_augmentor(method=None, **kwargs): if method is not None: raise NotImplementedError('Using of augmentation functions are not supported yet!') if method == 'dark': return DarkAug() elif method == 'mobile': return MobileAug() elif method is None: return None else: raise ValueError(f'Invalid augmentation method: {method}') if __name__ == '__main__': augmentor = build_augmentor('FDA') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/utils/comm.py ================================================ # Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved """ [Copied from detectron2] This file contains primitives for multi-gpu communication. This is useful when doing distributed training. """ import functools import logging import numpy as np import pickle import torch import torch.distributed as dist _LOCAL_PROCESS_GROUP = None """ A torch process group which only includes processes that on the same machine as the current process. This variable is set when processes are spawned by `launch()` in "engine/launch.py". """ def get_world_size() -> int: if not dist.is_available(): return 1 if not dist.is_initialized(): return 1 return dist.get_world_size() def get_rank() -> int: if not dist.is_available(): return 0 if not dist.is_initialized(): return 0 return dist.get_rank() def get_local_rank() -> int: """ Returns: The rank of the current process within the local (per-machine) process group. """ if not dist.is_available(): return 0 if not dist.is_initialized(): return 0 assert _LOCAL_PROCESS_GROUP is not None return dist.get_rank(group=_LOCAL_PROCESS_GROUP) def get_local_size() -> int: """ Returns: The size of the per-machine process group, i.e. the number of processes per machine. """ if not dist.is_available(): return 1 if not dist.is_initialized(): return 1 return dist.get_world_size(group=_LOCAL_PROCESS_GROUP) def is_main_process() -> bool: return get_rank() == 0 def synchronize(): """ Helper function to synchronize (barrier) among all processes when using distributed training """ if not dist.is_available(): return if not dist.is_initialized(): return world_size = dist.get_world_size() if world_size == 1: return dist.barrier() @functools.lru_cache() def _get_global_gloo_group(): """ Return a process group based on gloo backend, containing all the ranks The result is cached. """ if dist.get_backend() == "nccl": return dist.new_group(backend="gloo") else: return dist.group.WORLD def _serialize_to_tensor(data, group): backend = dist.get_backend(group) assert backend in ["gloo", "nccl"] device = torch.device("cpu" if backend == "gloo" else "cuda") buffer = pickle.dumps(data) if len(buffer) > 1024 ** 3: logger = logging.getLogger(__name__) logger.warning( "Rank {} trying to all-gather {:.2f} GB of data on device {}".format( get_rank(), len(buffer) / (1024 ** 3), device ) ) storage = torch.ByteStorage.from_buffer(buffer) tensor = torch.ByteTensor(storage).to(device=device) return tensor def _pad_to_largest_tensor(tensor, group): """ Returns: list[int]: size of the tensor, on each rank Tensor: padded tensor that has the max size """ world_size = dist.get_world_size(group=group) assert ( world_size >= 1 ), "comm.gather/all_gather must be called from ranks within the given group!" local_size = torch.tensor([tensor.numel()], dtype=torch.int64, device=tensor.device) size_list = [ torch.zeros([1], dtype=torch.int64, device=tensor.device) for _ in range(world_size) ] dist.all_gather(size_list, local_size, group=group) size_list = [int(size.item()) for size in size_list] max_size = max(size_list) # we pad the tensor because torch all_gather does not support # gathering tensors of different shapes if local_size != max_size: padding = torch.zeros((max_size - local_size,), dtype=torch.uint8, device=tensor.device) tensor = torch.cat((tensor, padding), dim=0) return size_list, tensor def all_gather(data, group=None): """ Run all_gather on arbitrary picklable data (not necessarily tensors). Args: data: any picklable object group: a torch process group. By default, will use a group which contains all ranks on gloo backend. Returns: list[data]: list of data gathered from each rank """ if get_world_size() == 1: return [data] if group is None: group = _get_global_gloo_group() if dist.get_world_size(group) == 1: return [data] tensor = _serialize_to_tensor(data, group) size_list, tensor = _pad_to_largest_tensor(tensor, group) max_size = max(size_list) # receiving Tensor from all ranks tensor_list = [ torch.empty((max_size,), dtype=torch.uint8, device=tensor.device) for _ in size_list ] dist.all_gather(tensor_list, tensor, group=group) data_list = [] for size, tensor in zip(size_list, tensor_list): buffer = tensor.cpu().numpy().tobytes()[:size] data_list.append(pickle.loads(buffer)) return data_list def gather(data, dst=0, group=None): """ Run gather on arbitrary picklable data (not necessarily tensors). Args: data: any picklable object dst (int): destination rank group: a torch process group. By default, will use a group which contains all ranks on gloo backend. Returns: list[data]: on dst, a list of data gathered from each rank. Otherwise, an empty list. """ if get_world_size() == 1: return [data] if group is None: group = _get_global_gloo_group() if dist.get_world_size(group=group) == 1: return [data] rank = dist.get_rank(group=group) tensor = _serialize_to_tensor(data, group) size_list, tensor = _pad_to_largest_tensor(tensor, group) # receiving Tensor from all ranks if rank == dst: max_size = max(size_list) tensor_list = [ torch.empty((max_size,), dtype=torch.uint8, device=tensor.device) for _ in size_list ] dist.gather(tensor, tensor_list, dst=dst, group=group) data_list = [] for size, tensor in zip(size_list, tensor_list): buffer = tensor.cpu().numpy().tobytes()[:size] data_list.append(pickle.loads(buffer)) return data_list else: dist.gather(tensor, [], dst=dst, group=group) return [] def shared_random_seed(): """ Returns: int: a random number that is the same across all workers. If workers need a shared RNG, they can use this shared seed to create one. All workers must call this function, otherwise it will deadlock. """ ints = np.random.randint(2 ** 31) all_ints = all_gather(ints) return all_ints[0] def reduce_dict(input_dict, average=True): """ Reduce the values in the dictionary from all processes so that process with rank 0 has the reduced results. Args: input_dict (dict): inputs to be reduced. All the values must be scalar CUDA Tensor. average (bool): whether to do average or sum Returns: a dict with the same keys as input_dict, after reduction. """ world_size = get_world_size() if world_size < 2: return input_dict with torch.no_grad(): names = [] values = [] # sort the keys so that they are consistent across processes for k in sorted(input_dict.keys()): names.append(k) values.append(input_dict[k]) values = torch.stack(values, dim=0) dist.reduce(values, dst=0) if dist.get_rank() == 0 and average: # only main process gets accumulated, so only divide by # world_size in this case values /= world_size reduced_dict = {k: v for k, v in zip(names, values)} return reduced_dict ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/utils/dataloader.py ================================================ import numpy as np # --- PL-DATAMODULE --- def get_local_split(items: list, world_size: int, rank: int, seed: int): """ The local rank only loads a split of the dataset. """ n_items = len(items) items_permute = np.random.RandomState(seed).permutation(items) if n_items % world_size == 0: padded_items = items_permute else: padding = np.random.RandomState(seed).choice( items, world_size - (n_items % world_size), replace=True) padded_items = np.concatenate([items_permute, padding]) assert len(padded_items) % world_size == 0, \ f'len(padded_items): {len(padded_items)}; world_size: {world_size}; len(padding): {len(padding)}' n_per_rank = len(padded_items) // world_size local_items = padded_items[n_per_rank * rank: n_per_rank * (rank+1)] return local_items ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/utils/dataset.py ================================================ import io from loguru import logger import cv2 import numpy as np import h5py import torch from numpy.linalg import inv try: # for internel use only from .client import MEGADEPTH_CLIENT, SCANNET_CLIENT except Exception: MEGADEPTH_CLIENT = SCANNET_CLIENT = None # --- DATA IO --- def load_array_from_s3( path, client, cv_type, use_h5py=False, ): byte_str = client.Get(path) try: if not use_h5py: raw_array = np.fromstring(byte_str, np.uint8) data = cv2.imdecode(raw_array, cv_type) else: f = io.BytesIO(byte_str) data = np.array(h5py.File(f, 'r')['/depth']) except Exception as ex: print(f"==> Data loading failure: {path}") raise ex assert data is not None return data def imread_gray(path, augment_fn=None, client=SCANNET_CLIENT): cv_type = cv2.IMREAD_GRAYSCALE if augment_fn is None \ else cv2.IMREAD_COLOR if str(path).startswith('s3://'): image = load_array_from_s3(str(path), client, cv_type) else: image = cv2.imread(str(path), cv_type) if augment_fn is not None: image = cv2.imread(str(path), cv2.IMREAD_COLOR) image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) image = augment_fn(image) image = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY) return image # (h, w) def get_resized_wh(w, h, resize=None): if resize is not None: # resize the longer edge scale = resize / max(h, w) w_new, h_new = int(round(w*scale)), int(round(h*scale)) else: w_new, h_new = w, h return w_new, h_new def get_divisible_wh(w, h, df=None): if df is not None: w_new, h_new = map(lambda x: int(x // df * df), [w, h]) else: w_new, h_new = w, h return w_new, h_new def pad_bottom_right(inp, pad_size, ret_mask=False): assert isinstance(pad_size, int) and pad_size >= max(inp.shape[-2:]), f"{pad_size} < {max(inp.shape[-2:])}" mask = None if inp.ndim == 2: padded = np.zeros((pad_size, pad_size), dtype=inp.dtype) padded[:inp.shape[0], :inp.shape[1]] = inp if ret_mask: mask = np.zeros((pad_size, pad_size), dtype=bool) mask[:inp.shape[0], :inp.shape[1]] = True elif inp.ndim == 3: padded = np.zeros((inp.shape[0], pad_size, pad_size), dtype=inp.dtype) padded[:, :inp.shape[1], :inp.shape[2]] = inp if ret_mask: mask = np.zeros((inp.shape[0], pad_size, pad_size), dtype=bool) mask[:, :inp.shape[1], :inp.shape[2]] = True else: raise NotImplementedError() return padded, mask # --- MEGADEPTH --- def read_megadepth_gray(path, resize=None, df=None, padding=False, augment_fn=None): """ Args: resize (int, optional): the longer edge of resized images. None for no resize. padding (bool): If set to 'True', zero-pad resized images to squared size. augment_fn (callable, optional): augments images with pre-defined visual effects Returns: image (torch.tensor): (1, h, w) mask (torch.tensor): (h, w) scale (torch.tensor): [w/w_new, h/h_new] """ # read image image = imread_gray(path, augment_fn, client=MEGADEPTH_CLIENT) # resize image w, h = image.shape[1], image.shape[0] w_new, h_new = get_resized_wh(w, h, resize) w_new, h_new = get_divisible_wh(w_new, h_new, df) image = cv2.resize(image, (w_new, h_new)) scale = torch.tensor([w/w_new, h/h_new], dtype=torch.float) if padding: # padding pad_to = max(h_new, w_new) image, mask = pad_bottom_right(image, pad_to, ret_mask=True) else: mask = None image = torch.from_numpy(image).float()[None] / 255 # (h, w) -> (1, h, w) and normalized mask = torch.from_numpy(mask) return image, mask, scale def read_megadepth_depth(path, pad_to=None): if str(path).startswith('s3://'): depth = load_array_from_s3(path, MEGADEPTH_CLIENT, None, use_h5py=True) else: depth = np.array(h5py.File(path, 'r')['depth']) if pad_to is not None: depth, _ = pad_bottom_right(depth, pad_to, ret_mask=False) depth = torch.from_numpy(depth).float() # (h, w) return depth # --- ScanNet --- def read_scannet_gray(path, resize=(640, 480), augment_fn=None): """ Args: resize (tuple): align image to depthmap, in (w, h). augment_fn (callable, optional): augments images with pre-defined visual effects Returns: image (torch.tensor): (1, h, w) mask (torch.tensor): (h, w) scale (torch.tensor): [w/w_new, h/h_new] """ # read and resize image image = imread_gray(path, augment_fn) image = cv2.resize(image, resize) # (h, w) -> (1, h, w) and normalized image = torch.from_numpy(image).float()[None] / 255 return image def read_scannet_depth(path): if str(path).startswith('s3://'): depth = load_array_from_s3(str(path), SCANNET_CLIENT, cv2.IMREAD_UNCHANGED) else: depth = cv2.imread(str(path), cv2.IMREAD_UNCHANGED) depth = depth / 1000 depth = torch.from_numpy(depth).float() # (h, w) return depth def read_scannet_pose(path): """ Read ScanNet's Camera2World pose and transform it to World2Camera. Returns: pose_w2c (np.ndarray): (4, 4) """ cam2world = np.loadtxt(path, delimiter=' ') world2cam = inv(cam2world) return world2cam def read_scannet_intrinsic(path): """ Read ScanNet's intrinsic matrix and return the 3x3 matrix. """ intrinsic = np.loadtxt(path, delimiter=' ') return intrinsic[:-1, :-1] ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/utils/metrics.py ================================================ import torch import cv2 import numpy as np from collections import OrderedDict from loguru import logger from kornia.geometry.epipolar import numeric from kornia.geometry.conversions import convert_points_to_homogeneous # --- METRICS --- def relative_pose_error(T_0to1, R, t, ignore_gt_t_thr=0.0): # angle error between 2 vectors t_gt = T_0to1[:3, 3] n = np.linalg.norm(t) * np.linalg.norm(t_gt) t_err = np.rad2deg(np.arccos(np.clip(np.dot(t, t_gt) / n, -1.0, 1.0))) t_err = np.minimum(t_err, 180 - t_err) # handle E ambiguity if np.linalg.norm(t_gt) < ignore_gt_t_thr: # pure rotation is challenging t_err = 0 # angle error between 2 rotation matrices R_gt = T_0to1[:3, :3] cos = (np.trace(np.dot(R.T, R_gt)) - 1) / 2 cos = np.clip(cos, -1., 1.) # handle numercial errors R_err = np.rad2deg(np.abs(np.arccos(cos))) return t_err, R_err def symmetric_epipolar_distance(pts0, pts1, E, K0, K1): """Squared symmetric epipolar distance. This can be seen as a biased estimation of the reprojection error. Args: pts0 (torch.Tensor): [N, 2] E (torch.Tensor): [3, 3] """ pts0 = (pts0 - K0[[0, 1], [2, 2]][None]) / K0[[0, 1], [0, 1]][None] pts1 = (pts1 - K1[[0, 1], [2, 2]][None]) / K1[[0, 1], [0, 1]][None] pts0 = convert_points_to_homogeneous(pts0) pts1 = convert_points_to_homogeneous(pts1) Ep0 = pts0 @ E.T # [N, 3] p1Ep0 = torch.sum(pts1 * Ep0, -1) # [N,] Etp1 = pts1 @ E # [N, 3] d = p1Ep0**2 * (1.0 / (Ep0[:, 0]**2 + Ep0[:, 1]**2) + 1.0 / (Etp1[:, 0]**2 + Etp1[:, 1]**2)) # N return d def compute_symmetrical_epipolar_errors(data): """ Update: data (dict):{"epi_errs": [M]} """ Tx = numeric.cross_product_matrix(data['T_0to1'][:, :3, 3]) E_mat = Tx @ data['T_0to1'][:, :3, :3] m_bids = data['m_bids'] pts0 = data['mkpts0_f'] pts1 = data['mkpts1_f'] epi_errs = [] for bs in range(Tx.size(0)): mask = m_bids == bs epi_errs.append( symmetric_epipolar_distance(pts0[mask], pts1[mask], E_mat[bs], data['K0'][bs], data['K1'][bs])) epi_errs = torch.cat(epi_errs, dim=0) data.update({'epi_errs': epi_errs}) def estimate_pose(kpts0, kpts1, K0, K1, thresh, conf=0.99999): if len(kpts0) < 5: return None # normalize keypoints kpts0 = (kpts0 - K0[[0, 1], [2, 2]][None]) / K0[[0, 1], [0, 1]][None] kpts1 = (kpts1 - K1[[0, 1], [2, 2]][None]) / K1[[0, 1], [0, 1]][None] # normalize ransac threshold ransac_thr = thresh / np.mean([K0[0, 0], K1[1, 1], K0[0, 0], K1[1, 1]]) # compute pose with cv2 E, mask = cv2.findEssentialMat( kpts0, kpts1, np.eye(3), threshold=ransac_thr, prob=conf, method=cv2.RANSAC) if E is None: print("\nE is None while trying to recover pose.\n") return None # recover pose from E best_num_inliers = 0 ret = None for _E in np.split(E, len(E) / 3): n, R, t, _ = cv2.recoverPose(_E, kpts0, kpts1, np.eye(3), 1e9, mask=mask) if n > best_num_inliers: ret = (R, t[:, 0], mask.ravel() > 0) best_num_inliers = n return ret def compute_pose_errors(data, config): """ Update: data (dict):{ "R_errs" List[float]: [N] "t_errs" List[float]: [N] "inliers" List[np.ndarray]: [N] } """ pixel_thr = config.TRAINER.RANSAC_PIXEL_THR # 0.5 conf = config.TRAINER.RANSAC_CONF # 0.99999 data.update({'R_errs': [], 't_errs': [], 'inliers': []}) m_bids = data['m_bids'].cpu().numpy() pts0 = data['mkpts0_f'].cpu().numpy() pts1 = data['mkpts1_f'].cpu().numpy() K0 = data['K0'].cpu().numpy() K1 = data['K1'].cpu().numpy() T_0to1 = data['T_0to1'].cpu().numpy() for bs in range(K0.shape[0]): mask = m_bids == bs ret = estimate_pose(pts0[mask], pts1[mask], K0[bs], K1[bs], pixel_thr, conf=conf) if ret is None: data['R_errs'].append(np.inf) data['t_errs'].append(np.inf) data['inliers'].append(np.array([]).astype(np.bool)) else: R, t, inliers = ret t_err, R_err = relative_pose_error(T_0to1[bs], R, t, ignore_gt_t_thr=0.0) data['R_errs'].append(R_err) data['t_errs'].append(t_err) data['inliers'].append(inliers) # --- METRIC AGGREGATION --- def error_auc(errors, thresholds): """ Args: errors (list): [N,] thresholds (list) """ errors = [0] + sorted(list(errors)) recall = list(np.linspace(0, 1, len(errors))) aucs = [] thresholds = [5, 10, 20] for thr in thresholds: last_index = np.searchsorted(errors, thr) y = recall[:last_index] + [recall[last_index-1]] x = errors[:last_index] + [thr] aucs.append(np.trapz(y, x) / thr) return {f'auc@{t}': auc for t, auc in zip(thresholds, aucs)} def epidist_prec(errors, thresholds, ret_dict=False): precs = [] for thr in thresholds: prec_ = [] for errs in errors: correct_mask = errs < thr prec_.append(np.mean(correct_mask) if len(correct_mask) > 0 else 0) precs.append(np.mean(prec_) if len(prec_) > 0 else 0) if ret_dict: return {f'prec@{t:.0e}': prec for t, prec in zip(thresholds, precs)} else: return precs def aggregate_metrics(metrics, epi_err_thr=5e-4): """ Aggregate metrics for the whole dataset: (This method should be called once per dataset) 1. AUC of the pose error (angular) at the threshold [5, 10, 20] 2. Mean matching precision at the threshold 5e-4(ScanNet), 1e-4(MegaDepth) """ # filter duplicates unq_ids = OrderedDict((iden, id) for id, iden in enumerate(metrics['identifiers'])) unq_ids = list(unq_ids.values()) logger.info(f'Aggregating metrics over {len(unq_ids)} unique items...') # pose auc angular_thresholds = [5, 10, 20] pose_errors = np.max(np.stack([metrics['R_errs'], metrics['t_errs']]), axis=0)[unq_ids] aucs = error_auc(pose_errors, angular_thresholds) # (auc@5, auc@10, auc@20) # matching precision dist_thresholds = [epi_err_thr] precs = epidist_prec(np.array(metrics['epi_errs'], dtype=object)[unq_ids], dist_thresholds, True) # (prec@err_thr) return {**aucs, **precs} ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/utils/misc.py ================================================ import os import contextlib import joblib from typing import Union from loguru import _Logger, logger from itertools import chain import torch from yacs.config import CfgNode as CN from pytorch_lightning.utilities import rank_zero_only def lower_config(yacs_cfg): if not isinstance(yacs_cfg, CN): return yacs_cfg return {k.lower(): lower_config(v) for k, v in yacs_cfg.items()} def upper_config(dict_cfg): if not isinstance(dict_cfg, dict): return dict_cfg return {k.upper(): upper_config(v) for k, v in dict_cfg.items()} def log_on(condition, message, level): if condition: assert level in ['INFO', 'DEBUG', 'WARNING', 'ERROR', 'CRITICAL'] logger.log(level, message) def get_rank_zero_only_logger(logger: _Logger): if rank_zero_only.rank == 0: return logger else: for _level in logger._core.levels.keys(): level = _level.lower() setattr(logger, level, lambda x: None) logger._log = lambda x: None return logger def setup_gpus(gpus: Union[str, int]) -> int: """ A temporary fix for pytorch-lighting 1.3.x """ gpus = str(gpus) gpu_ids = [] if ',' not in gpus: n_gpus = int(gpus) return n_gpus if n_gpus != -1 else torch.cuda.device_count() else: gpu_ids = [i.strip() for i in gpus.split(',') if i != ''] # setup environment variables visible_devices = os.getenv('CUDA_VISIBLE_DEVICES') if visible_devices is None: os.environ["CUDA_DEVICE_ORDER"] = "PCI_BUS_ID" os.environ["CUDA_VISIBLE_DEVICES"] = ','.join(str(i) for i in gpu_ids) visible_devices = os.getenv('CUDA_VISIBLE_DEVICES') logger.warning(f'[Temporary Fix] manually set CUDA_VISIBLE_DEVICES when specifying gpus to use: {visible_devices}') else: logger.warning('[Temporary Fix] CUDA_VISIBLE_DEVICES already set by user or the main process.') return len(gpu_ids) def flattenList(x): return list(chain(*x)) @contextlib.contextmanager def tqdm_joblib(tqdm_object): """Context manager to patch joblib to report into tqdm progress bar given as argument Usage: with tqdm_joblib(tqdm(desc="My calculation", total=10)) as progress_bar: Parallel(n_jobs=16)(delayed(sqrt)(i**2) for i in range(10)) When iterating over a generator, directly use of tqdm is also a solutin (but monitor the task queuing, instead of finishing) ret_vals = Parallel(n_jobs=args.world_size)( delayed(lambda x: _compute_cov_score(pid, *x))(param) for param in tqdm(combinations(image_ids, 2), desc=f'Computing cov_score of [{pid}]', total=len(image_ids)*(len(image_ids)-1)/2)) Src: https://stackoverflow.com/a/58936697 """ class TqdmBatchCompletionCallback(joblib.parallel.BatchCompletionCallBack): def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) def __call__(self, *args, **kwargs): tqdm_object.update(n=self.batch_size) return super().__call__(*args, **kwargs) old_batch_callback = joblib.parallel.BatchCompletionCallBack joblib.parallel.BatchCompletionCallBack = TqdmBatchCompletionCallback try: yield tqdm_object finally: joblib.parallel.BatchCompletionCallBack = old_batch_callback tqdm_object.close() ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/utils/plotting.py ================================================ import bisect import numpy as np import matplotlib.pyplot as plt import matplotlib def _compute_conf_thresh(data): dataset_name = data['dataset_name'][0].lower() if dataset_name == 'scannet': thr = 5e-4 elif dataset_name == 'megadepth': thr = 1e-4 else: raise ValueError(f'Unknown dataset: {dataset_name}') return thr # --- VISUALIZATION --- # def make_matching_figure( img0, img1, mkpts0, mkpts1, color, kpts0=None, kpts1=None, text=[], dpi=75, path=None): # draw image pair assert mkpts0.shape[0] == mkpts1.shape[0], f'mkpts0: {mkpts0.shape[0]} v.s. mkpts1: {mkpts1.shape[0]}' fig, axes = plt.subplots(1, 2, figsize=(10, 6), dpi=dpi) axes[0].imshow(img0, cmap='gray') axes[1].imshow(img1, cmap='gray') for i in range(2): # clear all frames axes[i].get_yaxis().set_ticks([]) axes[i].get_xaxis().set_ticks([]) for spine in axes[i].spines.values(): spine.set_visible(False) plt.tight_layout(pad=1) if kpts0 is not None: assert kpts1 is not None axes[0].scatter(kpts0[:, 0], kpts0[:, 1], c='w', s=2) axes[1].scatter(kpts1[:, 0], kpts1[:, 1], c='w', s=2) # draw matches if mkpts0.shape[0] != 0 and mkpts1.shape[0] != 0: fig.canvas.draw() transFigure = fig.transFigure.inverted() fkpts0 = transFigure.transform(axes[0].transData.transform(mkpts0)) fkpts1 = transFigure.transform(axes[1].transData.transform(mkpts1)) fig.lines = [matplotlib.lines.Line2D((fkpts0[i, 0], fkpts1[i, 0]), (fkpts0[i, 1], fkpts1[i, 1]), transform=fig.transFigure, c=color[i], linewidth=1) for i in range(len(mkpts0))] axes[0].scatter(mkpts0[:, 0], mkpts0[:, 1], c=color, s=4) axes[1].scatter(mkpts1[:, 0], mkpts1[:, 1], c=color, s=4) # put txts txt_color = 'k' if img0[:100, :200].mean() > 200 else 'w' fig.text( 0.01, 0.99, '\n'.join(text), transform=fig.axes[0].transAxes, fontsize=15, va='top', ha='left', color=txt_color) # save or return figure if path: plt.savefig(str(path), bbox_inches='tight', pad_inches=0) plt.close() else: return fig def _make_evaluation_figure(data, b_id, alpha='dynamic'): b_mask = data['m_bids'] == b_id conf_thr = _compute_conf_thresh(data) img0 = (data['image0'][b_id][0].cpu().numpy() * 255).round().astype(np.int32) img1 = (data['image1'][b_id][0].cpu().numpy() * 255).round().astype(np.int32) kpts0 = data['mkpts0_f'][b_mask].cpu().numpy() kpts1 = data['mkpts1_f'][b_mask].cpu().numpy() # for megadepth, we visualize matches on the resized image if 'scale0' in data: kpts0 = kpts0 / data['scale0'][b_id].cpu().numpy()[[1, 0]] kpts1 = kpts1 / data['scale1'][b_id].cpu().numpy()[[1, 0]] epi_errs = data['epi_errs'][b_mask].cpu().numpy() correct_mask = epi_errs < conf_thr precision = np.mean(correct_mask) if len(correct_mask) > 0 else 0 n_correct = np.sum(correct_mask) n_gt_matches = int(data['conf_matrix_gt'][b_id].sum().cpu()) recall = 0 if n_gt_matches == 0 else n_correct / (n_gt_matches) # recall might be larger than 1, since the calculation of conf_matrix_gt # uses groundtruth depths and camera poses, but epipolar distance is used here. # matching info if alpha == 'dynamic': alpha = dynamic_alpha(len(correct_mask)) color = error_colormap(epi_errs, conf_thr, alpha=alpha) text = [ f'#Matches {len(kpts0)}', f'Precision({conf_thr:.2e}) ({100 * precision:.1f}%): {n_correct}/{len(kpts0)}', f'Recall({conf_thr:.2e}) ({100 * recall:.1f}%): {n_correct}/{n_gt_matches}' ] # make the figure figure = make_matching_figure(img0, img1, kpts0, kpts1, color, text=text) return figure def _make_confidence_figure(data, b_id): # TODO: Implement confidence figure raise NotImplementedError() def make_matching_figures(data, config, mode='evaluation'): """ Make matching figures for a batch. Args: data (Dict): a batch updated by PL_LoFTR. config (Dict): matcher config Returns: figures (Dict[str, List[plt.figure]] """ assert mode in ['evaluation', 'confidence'] # 'confidence' figures = {mode: []} for b_id in range(data['image0'].size(0)): if mode == 'evaluation': fig = _make_evaluation_figure( data, b_id, alpha=config.TRAINER.PLOT_MATCHES_ALPHA) elif mode == 'confidence': fig = _make_confidence_figure(data, b_id) else: raise ValueError(f'Unknown plot mode: {mode}') figures[mode].append(fig) return figures def dynamic_alpha(n_matches, milestones=[0, 300, 1000, 2000], alphas=[1.0, 0.8, 0.4, 0.2]): if n_matches == 0: return 1.0 ranges = list(zip(alphas, alphas[1:] + [None])) loc = bisect.bisect_right(milestones, n_matches) - 1 _range = ranges[loc] if _range[1] is None: return _range[0] return _range[1] + (milestones[loc + 1] - n_matches) / ( milestones[loc + 1] - milestones[loc]) * (_range[0] - _range[1]) def error_colormap(err, thr, alpha=1.0): assert alpha <= 1.0 and alpha > 0, f"Invaid alpha value: {alpha}" x = 1 - np.clip(err / (thr * 2), 0, 1) return np.clip( np.stack([2-x*2, x*2, np.zeros_like(x), np.ones_like(x)*alpha], -1), 0, 1) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/loftr/utils/profiler.py ================================================ import torch from pytorch_lightning.profiler import SimpleProfiler, PassThroughProfiler from contextlib import contextmanager from pytorch_lightning.utilities import rank_zero_only class InferenceProfiler(SimpleProfiler): """ This profiler records duration of actions with cuda.synchronize() Use this in test time. """ def __init__(self): super().__init__() self.start = rank_zero_only(self.start) self.stop = rank_zero_only(self.stop) self.summary = rank_zero_only(self.summary) @contextmanager def profile(self, action_name: str) -> None: try: torch.cuda.synchronize() self.start(action_name) yield action_name finally: torch.cuda.synchronize() self.stop(action_name) def build_profiler(name): if name == 'inference': return InferenceProfiler() elif name == 'pytorch': from pytorch_lightning.profiler import PyTorchProfiler return PyTorchProfiler(use_cuda=True, profile_memory=True, row_limit=100) elif name is None: return PassThroughProfiler() else: raise ValueError(f'Invalid profiler: {name}') ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/requirements.txt ================================================ opencv_python==4.4.0.46 albumentations==0.5.1 --no-binary=imgaug,albumentations ray>=1.0.1 einops==0.3.0 kornia==0.4.1 loguru==0.5.3 yacs>=0.1.8 tqdm autopep8 pylint ipython jupyterlab matplotlib h5py==3.1.0 pytorch-lightning==1.3.5 joblib>=1.0.1 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/scripts/reproduce_test/indoor_ds.sh ================================================ #!/bin/bash -l SCRIPTPATH=$(dirname $(readlink -f "$0")) PROJECT_DIR="${SCRIPTPATH}/../../" # conda activate loftr export PYTHONPATH=$PROJECT_DIR:$PYTHONPATH cd $PROJECT_DIR data_cfg_path="configs/data/scannet_test_1500.py" main_cfg_path="configs/loftr/indoor/scannet/loftr_ds_eval.py" ckpt_path="weights/indoor_ds.ckpt" dump_dir="dump/loftr_ds_indoor" profiler_name="inference" n_nodes=1 # mannually keep this the same with --nodes n_gpus_per_node=-1 torch_num_workers=4 batch_size=1 # per gpu python -u ./test.py \ ${data_cfg_path} \ ${main_cfg_path} \ --ckpt_path=${ckpt_path} \ --dump_dir=${dump_dir} \ --gpus=${n_gpus_per_node} --num_nodes=${n_nodes} --accelerator="ddp" \ --batch_size=${batch_size} --num_workers=${torch_num_workers}\ --profiler_name=${profiler_name} \ --benchmark ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/scripts/reproduce_test/indoor_ds_new.sh ================================================ #!/bin/bash -l # a indoor_ds model with the pos_enc impl bug fixed. SCRIPTPATH=$(dirname $(readlink -f "$0")) PROJECT_DIR="${SCRIPTPATH}/../../" # conda activate loftr export PYTHONPATH=$PROJECT_DIR:$PYTHONPATH cd $PROJECT_DIR data_cfg_path="configs/data/scannet_test_1500.py" main_cfg_path="configs/loftr/indoor/scannet/loftr_ds_eval_new.py" ckpt_path="weights/indoor_ds_new.ckpt" dump_dir="dump/loftr_ds_indoor_new" profiler_name="inference" n_nodes=1 # mannually keep this the same with --nodes n_gpus_per_node=-1 torch_num_workers=4 batch_size=1 # per gpu python -u ./test.py \ ${data_cfg_path} \ ${main_cfg_path} \ --ckpt_path=${ckpt_path} \ --dump_dir=${dump_dir} \ --gpus=${n_gpus_per_node} --num_nodes=${n_nodes} --accelerator="ddp" \ --batch_size=${batch_size} --num_workers=${torch_num_workers}\ --profiler_name=${profiler_name} \ --benchmark ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/scripts/reproduce_test/indoor_ot.sh ================================================ #!/bin/bash -l SCRIPTPATH=$(dirname $(readlink -f "$0")) PROJECT_DIR="${SCRIPTPATH}/../../" # conda activate loftr export PYTHONPATH=$PROJECT_DIR:$PYTHONPATH cd $PROJECT_DIR data_cfg_path="configs/data/scannet_test_1500.py" main_cfg_path="configs/loftr/indoor/buggy_pos_enc/loftr_ot.py" ckpt_path="weights/indoor_ot.ckpt" dump_dir="dump/loftr_ot_indoor" profiler_name="inference" n_nodes=1 # mannually keep this the same with --nodes n_gpus_per_node=-1 torch_num_workers=4 batch_size=1 # per gpu python -u ./test.py \ ${data_cfg_path} \ ${main_cfg_path} \ --ckpt_path=${ckpt_path} \ --dump_dir=${dump_dir} \ --gpus=${n_gpus_per_node} --num_nodes=${n_nodes} --accelerator="ddp" \ --batch_size=${batch_size} --num_workers=${torch_num_workers}\ --profiler_name=${profiler_name} \ --benchmark ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/scripts/reproduce_test/outdoor_ds.sh ================================================ #!/bin/bash -l SCRIPTPATH=$(dirname $(readlink -f "$0")) PROJECT_DIR="${SCRIPTPATH}/../../" # conda activate loftr export PYTHONPATH=$PROJECT_DIR:$PYTHONPATH cd $PROJECT_DIR data_cfg_path="configs/data/megadepth_test_1500.py" main_cfg_path="configs/loftr/outdoor/buggy_pos_enc/loftr_ds.py" ckpt_path="weights/outdoor_ds.ckpt" dump_dir="dump/loftr_ds_outdoor" profiler_name="inference" n_nodes=1 # mannually keep this the same with --nodes n_gpus_per_node=-1 torch_num_workers=4 batch_size=1 # per gpu python -u ./test.py \ ${data_cfg_path} \ ${main_cfg_path} \ --ckpt_path=${ckpt_path} \ --dump_dir=${dump_dir} \ --gpus=${n_gpus_per_node} --num_nodes=${n_nodes} --accelerator="ddp" \ --batch_size=${batch_size} --num_workers=${torch_num_workers}\ --profiler_name=${profiler_name} \ --benchmark ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/scripts/reproduce_test/outdoor_ot.sh ================================================ #!/bin/bash -l SCRIPTPATH=$(dirname $(readlink -f "$0")) PROJECT_DIR="${SCRIPTPATH}/../../" # conda activate loftr export PYTHONPATH=$PROJECT_DIR:$PYTHONPATH cd $PROJECT_DIR data_cfg_path="configs/data/megadepth_test_1500.py" main_cfg_path="configs/loftr/outdoor/buggy_pos_enc/loftr_ot.py" ckpt_path="weights/outdoor_ot.ckpt" dump_dir="dump/loftr_ot_outdoor" profiler_name="inference" n_nodes=1 # mannually keep this the same with --nodes n_gpus_per_node=-1 torch_num_workers=4 batch_size=1 # per gpu python -u ./test.py \ ${data_cfg_path} \ ${main_cfg_path} \ --ckpt_path=${ckpt_path} \ --dump_dir=${dump_dir} \ --gpus=${n_gpus_per_node} --num_nodes=${n_nodes} --accelerator="ddp" \ --batch_size=${batch_size} --num_workers=${torch_num_workers}\ --profiler_name=${profiler_name} \ --benchmark ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/scripts/reproduce_train/debug/.gitignore ================================================ * */ !.gitignore ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/scripts/reproduce_train/indoor_ds.sh ================================================ #!/bin/bash -l SCRIPTPATH=$(dirname $(readlink -f "$0")) PROJECT_DIR="${SCRIPTPATH}/../../" # conda activate loftr export PYTHONPATH=$PROJECT_DIR:$PYTHONPATH cd $PROJECT_DIR data_cfg_path="configs/data/scannet_trainval.py" main_cfg_path="configs/loftr/indoor/loftr_ds_dense.py" n_nodes=1 n_gpus_per_node=4 torch_num_workers=4 batch_size=1 pin_memory=true exp_name="indoor-ds-bs=$(($n_gpus_per_node * $n_nodes * $batch_size))" python -u ./train.py \ ${data_cfg_path} \ ${main_cfg_path} \ --exp_name=${exp_name} \ --gpus=${n_gpus_per_node} --num_nodes=${n_nodes} --accelerator="ddp" \ --batch_size=${batch_size} --num_workers=${torch_num_workers} --pin_memory=${pin_memory} \ --check_val_every_n_epoch=1 \ --log_every_n_steps=100 \ --flush_logs_every_n_steps=100 \ --limit_val_batches=1. \ --num_sanity_val_steps=10 \ --benchmark=True \ --max_epochs=30 \ --parallel_load_data ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/scripts/reproduce_train/indoor_ot.sh ================================================ #!/bin/bash -l SCRIPTPATH=$(dirname $(readlink -f "$0")) PROJECT_DIR="${SCRIPTPATH}/../../" # conda activate loftr export PYTHONPATH=$PROJECT_DIR:$PYTHONPATH cd $PROJECT_DIR data_cfg_path="configs/data/scannet_trainval.py" main_cfg_path="configs/loftr/indoor/loftr_ot_dense.py" n_nodes=1 n_gpus_per_node=4 torch_num_workers=4 batch_size=1 pin_memory=true exp_name="indoor-ot-bs=$(($n_gpus_per_node * $n_nodes * $batch_size))" python -u ./train.py \ ${data_cfg_path} \ ${main_cfg_path} \ --exp_name=${exp_name} \ --gpus=${n_gpus_per_node} --num_nodes=${n_nodes} --accelerator="ddp" \ --batch_size=${batch_size} --num_workers=${torch_num_workers} --pin_memory=${pin_memory} \ --check_val_every_n_epoch=1 \ --log_every_n_steps=100 \ --flush_logs_every_n_steps=100 \ --limit_val_batches=1. \ --num_sanity_val_steps=10 \ --benchmark=True \ --max_epochs=30 \ --parallel_load_data ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/scripts/reproduce_train/outdoor_ds.sh ================================================ #!/bin/bash -l SCRIPTPATH=$(dirname $(readlink -f "$0")) PROJECT_DIR="${SCRIPTPATH}/../../" # conda activate loftr export PYTHONPATH=$PROJECT_DIR:$PYTHONPATH cd $PROJECT_DIR TRAIN_IMG_SIZE=640 # to reproduced the results in our paper, please use: # TRAIN_IMG_SIZE=840 data_cfg_path="configs/data/megadepth_trainval_${TRAIN_IMG_SIZE}.py" main_cfg_path="configs/loftr/outdoor/loftr_ds_dense.py" n_nodes=1 n_gpus_per_node=4 torch_num_workers=4 batch_size=1 pin_memory=true exp_name="outdoor-ds-${TRAIN_IMG_SIZE}-bs=$(($n_gpus_per_node * $n_nodes * $batch_size))" python -u ./train.py \ ${data_cfg_path} \ ${main_cfg_path} \ --exp_name=${exp_name} \ --gpus=${n_gpus_per_node} --num_nodes=${n_nodes} --accelerator="ddp" \ --batch_size=${batch_size} --num_workers=${torch_num_workers} --pin_memory=${pin_memory} \ --check_val_every_n_epoch=1 \ --log_every_n_steps=1 \ --flush_logs_every_n_steps=1 \ --limit_val_batches=1. \ --num_sanity_val_steps=10 \ --benchmark=True \ --max_epochs=30 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/scripts/reproduce_train/outdoor_ot.sh ================================================ #!/bin/bash -l SCRIPTPATH=$(dirname $(readlink -f "$0")) PROJECT_DIR="${SCRIPTPATH}/../../" # conda activate loftr export PYTHONPATH=$PROJECT_DIR:$PYTHONPATH cd $PROJECT_DIR TRAIN_IMG_SIZE=640 # to reproduced the results in our paper, please use: # TRAIN_IMG_SIZE=840 data_cfg_path="configs/data/megadepth_trainval_${TRAIN_IMG_SIZE}.py" main_cfg_path="configs/loftr/outdoor/loftr_ot_dense.py" n_nodes=1 n_gpus_per_node=4 torch_num_workers=4 batch_size=1 pin_memory=true exp_name="outdoor-ot-${TRAIN_IMG_SIZE}-bs=$(($n_gpus_per_node * $n_nodes * $batch_size))" python -u ./train.py \ ${data_cfg_path} \ ${main_cfg_path} \ --exp_name=${exp_name} \ --gpus=${n_gpus_per_node} --num_nodes=${n_nodes} --accelerator="ddp" \ --batch_size=${batch_size} --num_workers=${torch_num_workers} --pin_memory=${pin_memory} \ --check_val_every_n_epoch=1 \ --log_every_n_steps=1 \ --flush_logs_every_n_steps=1 \ --limit_val_batches=1. \ --num_sanity_val_steps=10 \ --benchmark=True \ --max_epochs=30 ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/setup.py ================================================ from pathlib import Path from setuptools import find_packages, setup description = ["LoFTR: Detector-Free Local Feature Matching with Transformers"] root = Path(__file__).parent with open(str(root / "README.md"), "r", encoding="utf-8") as f: readme = f.read() setup( name="LoFTR", version="0.1", packages=find_packages(), python_requires=">=3.9", description=description, long_description=readme, long_description_content_type="text/markdown", classifiers=[ "Programming Language :: Python :: 3", "License :: OSI Approved :: Apache Software License", "Operating System :: OS Independent", ], ) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/test.py ================================================ import pytorch_lightning as pl import argparse import pprint from loguru import logger as loguru_logger from loftr.config.default import get_cfg_defaults from loftr.utils.profiler import build_profiler from loftr.lightning.data import MultiSceneDataModule from loftr.lightning.lightning_loftr import PL_LoFTR def parse_args(): # init a costum parser which will be added into pl.Trainer parser # check documentation: https://pytorch-lightning.readthedocs.io/en/latest/common/trainer.html#trainer-flags parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument( 'data_cfg_path', type=str, help='data config path') parser.add_argument( 'main_cfg_path', type=str, help='main config path') parser.add_argument( '--ckpt_path', type=str, default="weights/indoor_ds.ckpt", help='path to the checkpoint') parser.add_argument( '--dump_dir', type=str, default=None, help="if set, the matching results will be dump to dump_dir") parser.add_argument( '--profiler_name', type=str, default=None, help='options: [inference, pytorch], or leave it unset') parser.add_argument( '--batch_size', type=int, default=1, help='batch_size per gpu') parser.add_argument( '--num_workers', type=int, default=2) parser.add_argument( '--thr', type=float, default=None, help='modify the coarse-level matching threshold.') parser = pl.Trainer.add_argparse_args(parser) return parser.parse_args() if __name__ == '__main__': # parse arguments args = parse_args() pprint.pprint(vars(args)) # init default-cfg and merge it with the main- and data-cfg config = get_cfg_defaults() config.merge_from_file(args.main_cfg_path) config.merge_from_file(args.data_cfg_path) pl.seed_everything(config.TRAINER.SEED) # reproducibility # tune when testing if args.thr is not None: config.LOFTR.MATCH_COARSE.THR = args.thr loguru_logger.info(f"Args and config initialized!") # lightning module profiler = build_profiler(args.profiler_name) model = PL_LoFTR(config, pretrained_ckpt=args.ckpt_path, profiler=profiler, dump_dir=args.dump_dir) loguru_logger.info(f"LoFTR-lightning initialized!") # lightning data data_module = MultiSceneDataModule(args, config) loguru_logger.info(f"DataModule initialized!") # lightning trainer trainer = pl.Trainer.from_argparse_args(args, replace_sampler_ddp=False, logger=False) loguru_logger.info(f"Start testing!") trainer.test(model, datamodule=data_module, verbose=False) ================================================ FILE: AutoReconForDens3R/third_party/AutoDecomp/third_party/LoFTR/train.py ================================================ import math import argparse import pprint from distutils.util import strtobool from pathlib import Path from loguru import logger as loguru_logger import pytorch_lightning as pl from pytorch_lightning.utilities import rank_zero_only from pytorch_lightning.loggers import TensorBoardLogger from pytorch_lightning.callbacks import ModelCheckpoint, LearningRateMonitor from pytorch_lightning.plugins import DDPPlugin from loftr.config.default import get_cfg_defaults from loftr.utils.misc import get_rank_zero_only_logger, setup_gpus from loftr.utils.profiler import build_profiler from loftr.lightning.data import MultiSceneDataModule from loftr.lightning.lightning_loftr import PL_LoFTR loguru_logger = get_rank_zero_only_logger(loguru_logger) def parse_args(): # init a costum parser which will be added into pl.Trainer parser # check documentation: https://pytorch-lightning.readthedocs.io/en/latest/common/trainer.html#trainer-flags parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument( 'data_cfg_path', type=str, help='data config path') parser.add_argument( 'main_cfg_path', type=str, help='main config path') parser.add_argument( '--exp_name', type=str, default='default_exp_name') parser.add_argument( '--batch_size', type=int, default=4, help='batch_size per gpu') parser.add_argument( '--num_workers', type=int, default=4) parser.add_argument( '--pin_memory', type=lambda x: bool(strtobool(x)), nargs='?', default=True, help='whether loading data to pinned memory or not') parser.add_argument( '--ckpt_path', type=str, default=None, help='pretrained checkpoint path, helpful for using a pre-trained coarse-only LoFTR') parser.add_argument( '--disable_ckpt', action='store_true', help='disable checkpoint saving (useful for debugging).') parser.add_argument( '--profiler_name', type=str, default=None, help='options: [inference, pytorch], or leave it unset') parser.add_argument( '--parallel_load_data', action='store_true', help='load datasets in with multiple processes.') parser = pl.Trainer.add_argparse_args(parser) return parser.parse_args() def main(): # parse arguments args = parse_args() rank_zero_only(pprint.pprint)(vars(args)) # init default-cfg and merge it with the main- and data-cfg config = get_cfg_defaults() config.merge_from_file(args.main_cfg_path) config.merge_from_file(args.data_cfg_path) pl.seed_everything(config.TRAINER.SEED) # reproducibility # TODO: Use different seeds for each dataloader workers # This is needed for data augmentation # scale lr and warmup-step automatically args.gpus = _n_gpus = setup_gpus(args.gpus) config.TRAINER.WORLD_SIZE = _n_gpus * args.num_nodes config.TRAINER.TRUE_BATCH_SIZE = config.TRAINER.WORLD_SIZE * args.batch_size _scaling = config.TRAINER.TRUE_BATCH_SIZE / config.TRAINER.CANONICAL_BS config.TRAINER.SCALING = _scaling config.TRAINER.TRUE_LR = config.TRAINER.CANONICAL_LR * _scaling config.TRAINER.WARMUP_STEP = math.floor(config.TRAINER.WARMUP_STEP / _scaling) # lightning module profiler = build_profiler(args.profiler_name) model = PL_LoFTR(config, pretrained_ckpt=args.ckpt_path, profiler=profiler) loguru_logger.info(f"LoFTR LightningModule initialized!") # lightning data data_module = MultiSceneDataModule(args, config) loguru_logger.info(f"LoFTR DataModule initialized!") # TensorBoard Logger logger = TensorBoardLogger(save_dir='logs/tb_logs', name=args.exp_name, default_hp_metric=False) ckpt_dir = Path(logger.log_dir) / 'checkpoints' # Callbacks # TODO: update ModelCheckpoint to monitor multiple metrics ckpt_callback = ModelCheckpoint(monitor='auc@10', verbose=True, save_top_k=5, mode='max', save_last=True, dirpath=str(ckpt_dir), filename='{epoch}-{auc@5:.3f}-{auc@10:.3f}-{auc@20:.3f}') lr_monitor = LearningRateMonitor(logging_interval='step') callbacks = [lr_monitor] if not args.disable_ckpt: callbacks.append(ckpt_callback) # Lightning Trainer trainer = pl.Trainer.from_argparse_args( args, plugins=DDPPlugin(find_unused_parameters=False, num_nodes=args.num_nodes, sync_batchnorm=config.TRAINER.WORLD_SIZE > 0), gradient_clip_val=config.TRAINER.GRADIENT_CLIPPING, callbacks=callbacks, logger=logger, sync_batchnorm=config.TRAINER.WORLD_SIZE > 0, replace_sampler_ddp=False, # use custom sampler reload_dataloaders_every_epoch=False, # avoid repeated samples! weights_summary='full', profiler=profiler) loguru_logger.info(f"Trainer initialized!") loguru_logger.info(f"Start training!") trainer.fit(model, datamodule=data_module) if __name__ == '__main__': main() ================================================ FILE: LICENSE ================================================ Dens3R(based on DUSt3R & MASt3R), Copyright (c) 2024-present Alibaba Group, is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 license. A summary of the CC BY-NC-SA 4.0 license is located here: https://creativecommons.org/licenses/by-nc-sa/4.0/ The CC BY-NC-SA 4.0 license is located here: https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode ================================================ FILE: NOTICE ================================================ Dens3R Copyright 2025-present Alibaba Group This project contains subcomponents with separate copyright notices and license terms. Your use of the source code for these subcomponents is subject to the terms and conditions of the following licenses. ==== naver/croco https://github.com/naver/croco/ naver/dust3r https://github.com/naver/dust3r naver/mast3r https://github.com/naver/mast3r Creative Commons Attribution-NonCommercial-ShareAlike 4.0 ================================================ FILE: README.md ================================================ # Dens3R ### [[Paper]](https://arxiv.org/pdf/2507.16290) [[Project Page]](https://g-1nonly.github.io/Dens3R/) [[Taobao3D]](https://github.com/alibaba/Taobao3D) > [**Dens3R: A Foundation Model for 3D Geometry Prediction**](https://g-1nonly.github.io/Dens3R/), > Xianze Fang1*, [Jingnan Gao2*](https://g-1nonly.github.io), Zhe Wang1, Zhuo Chen2, [Xingyu Ren2](https://xingyuren.github.io), Jiangjing Lyu1†, Qiaomu Ren1, Zhonglei Yang1, [Xiaokang Yang2](https://english.seiee.sjtu.edu.cn/english/detail/842_802.htm), [Yichao Yan2‡](https://daodaofr.github.io/), Chengfei Lyu
> **1 Alibaba Group 2 Shanghai Jiao Tong University**
> *Equal contribution † Project leader ‡ Corresponding author Official implementation of "Dens3R: A Foundation Model for 3D Geometry Prediction". This repository is also a branch of the **Taobao3D** repository. We will also release frontier 3D research projects there, so feel free to check it out and leave a star!

## 📋 TODO - [ ] Training Code release - [ ] Checkpoint release - [x] AutoRecon Application release - [x] Evaluation Code release - [x] Inference Code release ## 🔧 Installation ### 1. Clone & Install Dependencies of Dens3R #### 1.1 Prepare Python Environment > **Note**: We use python 3.10.13 and CUDA 11.8. Other versions of cuda and python should be compatible. If your CUDA version is not 11.8, please replace the lines below with proper versions of torch and torchvision in before installing. We do not require specific torch and torchvision versions so other torch versions should be compatible. ```bash # Replace the lines below in 'requirements.txt' with your own versions of torch and torchvision # torch==2.7.1+cu118 # torchvision==0.22.1+cu118 # install dependencies git clone https://github.com/G-1nOnly/Dens3R.git conda create -n dens3r python=3.10.13 conda activate dens3r pip install -r requirements.txt # download checkpoints TODO: The open-sourcing of the model ckpt is currently under approval. ``` #### 1.2 Install COLMAP[Required] We require COLMAP for reconstruction. Please follow the official [guidance](https://colmap.github.io/install.html) to install COLMAP. #### 1.3 Install GLOMAP[Optional] GLOMAP is optional in our project. GLOMAP can speedup the reconstruction process compared with using COLMAP. Please follow the official [Repo](https://github.com/colmap/glomap) to install GLOMAP. Note that COLMAP is required for installing GLOMAP. ### 2. [Optional] Install Dependencies of AutoRecon > **Note**: We modified the [official AutoRecon](https://github.com/zju3dv/AutoRecon) to support automated SDF reconstruction of an object. The modified version of AutoRecon is contained in our repo. We delete all the submodule of the official AutoRecon so the '--recursive' command is not neccessary. #### 2.1 Install Dependencies of AutoRecon Install tiny-cuda-nn ```bash pip install git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch ``` Install faiss following the official guide ```bash # for example conda install -c conda-forge faiss-gpu ``` Install AutoRecon ```bash cd AutoReconForDens3R pip install -e . ``` ## 🚀 Usage ### Infer normal/depth of an image sequence ```bash # example python infer/infer_normal_pts3d.py \ --model_path path/to/model/checkpoint \ --img_dir path/to/images/folder \ --save_dir path/to/save/folder \ --pair_mode self \ --size 512 ```
[Arguments Explanation - click to expand] * `model_path`: The path to the Dens3R model checkpoint. * `--img_dir`: The path to the images folder. * `--save_dir`: The path to the folder to save the results. * `--pair_mode`: Choose in [self, near, sequence]. self: an image paired with itself. near: an image paired with its nearby image. sequence: an images paired with more than 3 images in order to get averaged results.
### Reconstruct pose and pointcloud of an image sequence ```bash # example python infer/dens3r_recon.py \ --img_dir path/to/images/folder \ --output_dir path/to/save/results \ --model_path path/to/model/checkpoint ```
[Arguments Explanation - click to expand] * `--img_dir`: path to images folder. * `--output_dir`: path to save results. * `-model_path`: path to Dens3R model checkpoint. * `--triangulate_from_pose`: path to the pre-computed COLMAP-format pose of the images. Default is None. If set, the dens3r_recon.py will not estimate pose and use the pre-computed pose to triangulate instead. * `--matching_mode`: {exhaustive,sequential} exhaustive or sequential pairwise matching mode. Default is exhaustive. * `--window_size`: If matching_mode is sequential, window_size is the window size for sequential matching. Default is 30. * `--size`: Infer resolution. Default 512. Set to 1024 or higher for better normal and depth estimation. * `--use_mapper`: {colmap,glomap}. * `--camera_model`: Camera model define in COLMAP, default is SIMPLE_RADIAL. * `--conf_thr`: Confidence threshold for matching, default is 1.001. Suggested unchanged. * `--pixel_tol`: Pixel tolerance for matching, default is 5. Suggested unchanged. * `--subsample`: Pixel subsample factor for matching, default is 8. Suggested 4 or 8.
### Automated 3D Reconstruction of an image sequence Using AutoRecon Please refer to the shell script in `AutoRecon_Dens3R/exps/code-release/run_dens3r_recon.sh`.
The process contains 3 steps:
1) Reconstruct the poses and the pointcloud of the image sequence. Also predict the normalmaps of the images for step 2 usage. 2) Reconstruct the SDF using AutoRecon (Based on NeuS). 3) Extract the mesh from SDF using Marching Cubes. ## 🙏 Acknowledgements Our work builds upon several fantastic open-source projects. We'd like to express our gratitude to the authors of: * [DUSt3R](https://github.com/naver/dust3r) * [MASt3R](https://github.com/naver/mast3r) ## 📚 Citation ```bibtex @article{dens3r, title={Dens3R: A Foundation Model for 3D Geometry Prediction}, author={Xianze Fang and Jingnan Gao and Zhe Wang and Zhuo Chen and Xingyu Ren and Jiangjing Lyu and Qiaomu Ren and Zhonglei Yang and Xiaokang Yang and Yichao Yan and Chengfei Lyu}, journal={arXiv preprint arXiv:2507.16290}, year={2025} } ``` ================================================ FILE: croco/.gitignore ================================================ data/ data checkpoints/ # Byte-compiled / optimized / DLL files __pycache__/ *.py[cod] *$py.class # C extensions *.so # Distribution / packaging .Python build/ develop-eggs/ dist/ downloads/ eggs/ .eggs/ lib/ lib64/ parts/ sdist/ var/ wheels/ pip-wheel-metadata/ share/python-wheels/ *.egg-info/ .installed.cfg *.egg MANIFEST # PyInstaller # Usually these files are written by a python script from a template # before PyInstaller builds the exe, so as to inject date/other infos into it. *.manifest *.spec # Installer logs pip-log.txt pip-delete-this-directory.txt # Unit test / coverage reports htmlcov/ .tox/ .nox/ .coverage .coverage.* .cache nosetests.xml coverage.xml *.cover *.py,cover .hypothesis/ .pytest_cache/ # Translations *.mo *.pot # Django stuff: *.log local_settings.py db.sqlite3 db.sqlite3-journal # Flask stuff: instance/ .webassets-cache # Scrapy stuff: .scrapy # Sphinx documentation docs/_build/ # PyBuilder target/ # Jupyter Notebook .ipynb_checkpoints # IPython profile_default/ ipython_config.py # pyenv .python-version # pipenv # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. # However, in case of collaboration, if having platform-specific dependencies or dependencies # having no cross-platform support, pipenv may install dependencies that don't work, or not # install all needed dependencies. #Pipfile.lock # PEP 582; used by e.g. github.com/David-OConnor/pyflow __pypackages__/ # Celery stuff celerybeat-schedule celerybeat.pid # SageMath parsed files *.sage.py # Environments .env .venv env/ venv/ ENV/ env.bak/ venv.bak/ # Spyder project settings .spyderproject .spyproject # Rope project settings .ropeproject # mkdocs documentation /site # mypy .mypy_cache/ .dmypy.json dmypy.json # Pyre type checker .pyre/ ================================================ FILE: croco/LICENSE ================================================ CroCo, Copyright (c) 2022-present Naver Corporation, is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 license. A summary of the CC BY-NC-SA 4.0 license is located here: https://creativecommons.org/licenses/by-nc-sa/4.0/ The CC BY-NC-SA 4.0 license is located here: https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode SEE NOTICE BELOW WITH RESPECT TO THE FILE: models/pos_embed.py, models/blocks.py *************************** NOTICE WITH RESPECT TO THE FILE: models/pos_embed.py This software is being redistributed in a modifiled form. The original form is available here: https://github.com/facebookresearch/mae/blob/main/util/pos_embed.py This software in this file incorporates parts of the following software available here: Transformer: https://github.com/tensorflow/models/blob/master/official/legacy/transformer/model_utils.py available under the following license: https://github.com/tensorflow/models/blob/master/LICENSE MoCo v3: https://github.com/facebookresearch/moco-v3 available under the following license: https://github.com/facebookresearch/moco-v3/blob/main/LICENSE DeiT: https://github.com/facebookresearch/deit available under the following license: https://github.com/facebookresearch/deit/blob/main/LICENSE ORIGINAL COPYRIGHT NOTICE AND PERMISSION NOTICE AVAILABLE HERE IS REPRODUCE BELOW: https://github.com/facebookresearch/mae/blob/main/LICENSE Attribution-NonCommercial 4.0 International *************************** NOTICE WITH RESPECT TO THE FILE: models/blocks.py This software is being redistributed in a modifiled form. The original form is available here: https://github.com/rwightman/pytorch-image-models ORIGINAL COPYRIGHT NOTICE AND PERMISSION NOTICE AVAILABLE HERE IS REPRODUCE BELOW: https://github.com/rwightman/pytorch-image-models/blob/master/LICENSE Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ ================================================ FILE: croco/NOTICE ================================================ CroCo Copyright 2022-present NAVER Corp. This project contains subcomponents with separate copyright notices and license terms. Your use of the source code for these subcomponents is subject to the terms and conditions of the following licenses. ==== facebookresearch/mae https://github.com/facebookresearch/mae Attribution-NonCommercial 4.0 International ==== rwightman/pytorch-image-models https://github.com/rwightman/pytorch-image-models Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ ================================================ FILE: croco/README.MD ================================================ # CroCo + CroCo v2 / CroCo-Stereo / CroCo-Flow [[`CroCo arXiv`](https://arxiv.org/abs/2210.10716)] [[`CroCo v2 arXiv`](https://arxiv.org/abs/2211.10408)] [[`project page and demo`](https://croco.europe.naverlabs.com/)] This repository contains the code for our CroCo model presented in our NeurIPS'22 paper [CroCo: Self-Supervised Pre-training for 3D Vision Tasks by Cross-View Completion](https://openreview.net/pdf?id=wZEfHUM5ri) and its follow-up extension published at ICCV'23 [Improved Cross-view Completion Pre-training for Stereo Matching and Optical Flow](https://openaccess.thecvf.com/content/ICCV2023/html/Weinzaepfel_CroCo_v2_Improved_Cross-view_Completion_Pre-training_for_Stereo_Matching_and_ICCV_2023_paper.html), refered to as CroCo v2: ![image](assets/arch.jpg) ```bibtex @inproceedings{croco, title={{CroCo: Self-Supervised Pre-training for 3D Vision Tasks by Cross-View Completion}}, author={{Weinzaepfel, Philippe and Leroy, Vincent and Lucas, Thomas and Br\'egier, Romain and Cabon, Yohann and Arora, Vaibhav and Antsfeld, Leonid and Chidlovskii, Boris and Csurka, Gabriela and Revaud J\'er\^ome}}, booktitle={{NeurIPS}}, year={2022} } @inproceedings{croco_v2, title={{CroCo v2: Improved Cross-view Completion Pre-training for Stereo Matching and Optical Flow}}, author={Weinzaepfel, Philippe and Lucas, Thomas and Leroy, Vincent and Cabon, Yohann and Arora, Vaibhav and Br{\'e}gier, Romain and Csurka, Gabriela and Antsfeld, Leonid and Chidlovskii, Boris and Revaud, J{\'e}r{\^o}me}, booktitle={ICCV}, year={2023} } ``` ## License The code is distributed under the CC BY-NC-SA 4.0 License. See [LICENSE](LICENSE) for more information. Some components are based on code from [MAE](https://github.com/facebookresearch/mae) released under the CC BY-NC-SA 4.0 License and [timm](https://github.com/rwightman/pytorch-image-models) released under the Apache 2.0 License. Some components for stereo matching and optical flow are based on code from [unimatch](https://github.com/autonomousvision/unimatch) released under the MIT license. ## Preparation 1. Install dependencies on a machine with a NVidia GPU using e.g. conda. Note that `habitat-sim` is required only for the interactive demo and the synthetic pre-training data generation. If you don't plan to use it, you can ignore the line installing it and use a more recent python version. ```bash conda create -n croco python=3.7 cmake=3.14.0 conda activate croco conda install habitat-sim headless -c conda-forge -c aihabitat conda install pytorch torchvision -c pytorch conda install notebook ipykernel matplotlib conda install ipywidgets widgetsnbextension conda install scikit-learn tqdm quaternion opencv # only for pretraining / habitat data generation ``` 2. Compile cuda kernels for RoPE CroCo v2 relies on RoPE positional embeddings for which you need to compile some cuda kernels. ```bash cd models/curope/ python setup.py build_ext --inplace cd ../../ ``` This can be a bit long as we compile for all cuda architectures, feel free to update L9 of `models/curope/setup.py` to compile for specific architectures only. You might also need to set the environment `CUDA_HOME` in case you use a custom cuda installation. In case you cannot provide, we also provide a slow pytorch version, which will be automatically loaded. 3. Download pre-trained model We provide several pre-trained models: | modelname | pre-training data | pos. embed. | Encoder | Decoder | |------------------------------------------------------------------------------------------------------------------------------------|-------------------|-------------|---------|---------| | [`CroCo.pth`](https://download.europe.naverlabs.com/ComputerVision/CroCo/CroCo.pth) | Habitat | cosine | ViT-B | Small | | [`CroCo_V2_ViTBase_SmallDecoder.pth`](https://download.europe.naverlabs.com/ComputerVision/CroCo/CroCo_V2_ViTBase_SmallDecoder.pth) | Habitat + real | RoPE | ViT-B | Small | | [`CroCo_V2_ViTBase_BaseDecoder.pth`](https://download.europe.naverlabs.com/ComputerVision/CroCo/CroCo_V2_ViTBase_BaseDecoder.pth) | Habitat + real | RoPE | ViT-B | Base | | [`CroCo_V2_ViTLarge_BaseDecoder.pth`](https://download.europe.naverlabs.com/ComputerVision/CroCo/CroCo_V2_ViTLarge_BaseDecoder.pth) | Habitat + real | RoPE | ViT-L | Base | To download a specific model, i.e., the first one (`CroCo.pth`) ```bash mkdir -p pretrained_models/ wget https://download.europe.naverlabs.com/ComputerVision/CroCo/CroCo.pth -P pretrained_models/ ``` ## Reconstruction example Simply run after downloading the `CroCo_V2_ViTLarge_BaseDecoder` pretrained model (or update the corresponding line in `demo.py`) ```bash python demo.py ``` ## Interactive demonstration of cross-view completion reconstruction on the Habitat simulator First download the test scene from Habitat: ```bash python -m habitat_sim.utils.datasets_download --uids habitat_test_scenes --data-path habitat-sim-data/ ``` Then, run the Notebook demo `interactive_demo.ipynb`. In this demo, you should be able to sample a random reference viewpoint from an [Habitat](https://github.com/facebookresearch/habitat-sim) test scene. Use the sliders to change viewpoint and select a masked target view to reconstruct using CroCo. ![croco_interactive_demo](https://user-images.githubusercontent.com/1822210/200516576-7937bc6a-55f8-49ed-8618-3ddf89433ea4.jpg) ## Pre-training ### CroCo To pre-train CroCo, please first generate the pre-training data from the Habitat simulator, following the instructions in [datasets/habitat_sim/README.MD](datasets/habitat_sim/README.MD) and then run the following command: ``` torchrun --nproc_per_node=4 pretrain.py --output_dir ./output/pretraining/ ``` Our CroCo pre-training was launched on a single server with 4 GPUs. It should take around 10 days with A100 or 15 days with V100 to do the 400 pre-training epochs, but decent performances are obtained earlier in training. Note that, while the code contains the same scaling rule of the learning rate as MAE when changing the effective batch size, we did not experimented if it is valid in our case. The first run can take a few minutes to start, to parse all available pre-training pairs. ### CroCo v2 For CroCo v2 pre-training, in addition to the generation of the pre-training data from the Habitat simulator above, please pre-extract the crops from the real datasets following the instructions in [datasets/crops/README.MD](datasets/crops/README.MD). Then, run the following command for the largest model (ViT-L encoder, Base decoder): ``` torchrun --nproc_per_node=8 pretrain.py --model "CroCoNet(enc_embed_dim=1024, enc_depth=24, enc_num_heads=16, dec_embed_dim=768, dec_num_heads=12, dec_depth=12, pos_embed='RoPE100')" --dataset "habitat_release+ARKitScenes+MegaDepth+3DStreetView+IndoorVL" --warmup_epochs 12 --max_epoch 125 --epochs 250 --amp 0 --keep_freq 5 --output_dir ./output/pretraining_crocov2/ ``` Our CroCo v2 pre-training was launched on a single server with 8 GPUs for the largest model, and on a single server with 4 GPUs for the smaller ones, keeping a batch size of 64 per gpu in all cases. The largest model should take around 12 days on A100. Note that, while the code contains the same scaling rule of the learning rate as MAE when changing the effective batch size, we did not experimented if it is valid in our case. ## Stereo matching and Optical flow downstream tasks For CroCo-Stereo and CroCo-Flow, please refer to [stereoflow/README.MD](stereoflow/README.MD). ================================================ FILE: croco/datasets/__init__.py ================================================ ================================================ FILE: croco/datasets/crops/README.MD ================================================ ## Generation of crops from the real datasets The instructions below allow to generate the crops used for pre-training CroCo v2 from the following real-world datasets: ARKitScenes, MegaDepth, 3DStreetView and IndoorVL. ### Download the metadata of the crops to generate First, download the metadata and put them in `./data/`: ``` mkdir -p data cd data/ wget https://download.europe.naverlabs.com/ComputerVision/CroCo/data/crop_metadata.zip unzip crop_metadata.zip rm crop_metadata.zip cd .. ``` ### Prepare the original datasets Second, download the original datasets in `./data/original_datasets/`. ``` mkdir -p data/original_datasets ``` ##### ARKitScenes Download the `raw` dataset from https://github.com/apple/ARKitScenes/blob/main/DATA.md and put it in `./data/original_datasets/ARKitScenes/`. The resulting file structure should be like: ``` ./data/original_datasets/ARKitScenes/ └───Training └───40753679 │ │ ultrawide │ │ ... └───40753686 │ ... ``` ##### MegaDepth Download `MegaDepth v1 Dataset` from https://www.cs.cornell.edu/projects/megadepth/ and put it in `./data/original_datasets/MegaDepth/`. The resulting file structure should be like: ``` ./data/original_datasets/MegaDepth/ └───0000 │ └───images │ │ │ 1000557903_87fa96b8a4_o.jpg │ │ └ ... │ └─── ... └───0001 │ │ │ └ ... └─── ... ``` ##### 3DStreetView Download `3D_Street_View` dataset from https://github.com/amir32002/3D_Street_View and put it in `./data/original_datasets/3DStreetView/`. The resulting file structure should be like: ``` ./data/original_datasets/3DStreetView/ └───dataset_aligned │ └───0002 │ │ │ 0000002_0000001_0000002_0000001.jpg │ │ └ ... │ └─── ... └───dataset_unaligned │ └───0003 │ │ │ 0000003_0000001_0000002_0000001.jpg │ │ └ ... │ └─── ... ``` ##### IndoorVL Download the `IndoorVL` datasets using [Kapture](https://github.com/naver/kapture). ``` pip install kapture mkdir -p ./data/original_datasets/IndoorVL cd ./data/original_datasets/IndoorVL kapture_download_dataset.py update kapture_download_dataset.py install "HyundaiDepartmentStore_*" kapture_download_dataset.py install "GangnamStation_*" cd - ``` ### Extract the crops Now, extract the crops for each of the dataset: ``` for dataset in ARKitScenes MegaDepth 3DStreetView IndoorVL; do python3 datasets/crops/extract_crops_from_images.py --crops ./data/crop_metadata/${dataset}/crops_release.txt --root-dir ./data/original_datasets/${dataset}/ --output-dir ./data/${dataset}_crops/ --imsize 256 --nthread 8 --max-subdir-levels 5 --ideal-number-pairs-in-dir 500; done ``` ##### Note for IndoorVL Due to some legal issues, we can only release 144,228 pairs out of the 1,593,689 pairs used in the paper. To account for it in terms of number of pre-training iterations, the pre-training command in this repository uses 125 training epochs including 12 warm-up epochs and learning rate cosine schedule of 250, instead of 100, 10 and 200 respectively. The impact on the performance is negligible. ================================================ FILE: croco/datasets/crops/extract_crops_from_images.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Extracting crops for pre-training # -------------------------------------------------------- import os import argparse from tqdm import tqdm from PIL import Image import functools from multiprocessing import Pool import math def arg_parser(): parser = argparse.ArgumentParser('Generate cropped image pairs from image crop list') parser.add_argument('--crops', type=str, required=True, help='crop file') parser.add_argument('--root-dir', type=str, required=True, help='root directory') parser.add_argument('--output-dir', type=str, required=True, help='output directory') parser.add_argument('--imsize', type=int, default=256, help='size of the crops') parser.add_argument('--nthread', type=int, required=True, help='number of simultaneous threads') parser.add_argument('--max-subdir-levels', type=int, default=5, help='maximum number of subdirectories') parser.add_argument('--ideal-number-pairs-in-dir', type=int, default=500, help='number of pairs stored in a dir') return parser def main(args): listing_path = os.path.join(args.output_dir, 'listing.txt') print(f'Loading list of crops ... ({args.nthread} threads)') crops, num_crops_to_generate = load_crop_file(args.crops) print(f'Preparing jobs ({len(crops)} candidate image pairs)...') num_levels = min(math.ceil(math.log(num_crops_to_generate, args.ideal_number_pairs_in_dir)), args.max_subdir_levels) num_pairs_in_dir = math.ceil(num_crops_to_generate ** (1/num_levels)) jobs = prepare_jobs(crops, num_levels, num_pairs_in_dir) del crops os.makedirs(args.output_dir, exist_ok=True) mmap = Pool(args.nthread).imap_unordered if args.nthread > 1 else map call = functools.partial(save_image_crops, args) print(f"Generating cropped images to {args.output_dir} ...") with open(listing_path, 'w') as listing: listing.write('# pair_path\n') for results in tqdm(mmap(call, jobs), total=len(jobs)): for path in results: listing.write(f'{path}\n') print('Finished writing listing to', listing_path) def load_crop_file(path): data = open(path).read().splitlines() pairs = [] num_crops_to_generate = 0 for line in tqdm(data): if line.startswith('#'): continue line = line.split(', ') if len(line) < 8: img1, img2, rotation = line pairs.append((img1, img2, int(rotation), [])) else: l1, r1, t1, b1, l2, r2, t2, b2 = map(int, line) rect1, rect2 = (l1, t1, r1, b1), (l2, t2, r2, b2) pairs[-1][-1].append((rect1, rect2)) num_crops_to_generate += 1 return pairs, num_crops_to_generate def prepare_jobs(pairs, num_levels, num_pairs_in_dir): jobs = [] powers = [num_pairs_in_dir**level for level in reversed(range(num_levels))] def get_path(idx): idx_array = [] d = idx for level in range(num_levels - 1): idx_array.append(idx // powers[level]) idx = idx % powers[level] idx_array.append(d) return '/'.join(map(lambda x: hex(x)[2:], idx_array)) idx = 0 for pair_data in tqdm(pairs): img1, img2, rotation, crops = pair_data if -60 <= rotation and rotation <= 60: rotation = 0 # most likely not a true rotation paths = [get_path(idx + k) for k in range(len(crops))] idx += len(crops) jobs.append(((img1, img2), rotation, crops, paths)) return jobs def load_image(path): try: return Image.open(path).convert('RGB') except Exception as e: print('skipping', path, e) raise OSError() def save_image_crops(args, data): # load images img_pair, rot, crops, paths = data try: img1, img2 = [load_image(os.path.join(args.root_dir, impath)) for impath in img_pair] except OSError as e: return [] def area(sz): return sz[0] * sz[1] tgt_size = (args.imsize, args.imsize) def prepare_crop(img, rect, rot=0): # actual crop img = img.crop(rect) # resize to desired size interp = Image.Resampling.LANCZOS if area(img.size) > 4*area(tgt_size) else Image.Resampling.BICUBIC img = img.resize(tgt_size, resample=interp) # rotate the image rot90 = (round(rot/90) % 4) * 90 if rot90 == 90: img = img.transpose(Image.Transpose.ROTATE_90) elif rot90 == 180: img = img.transpose(Image.Transpose.ROTATE_180) elif rot90 == 270: img = img.transpose(Image.Transpose.ROTATE_270) return img results = [] for (rect1, rect2), path in zip(crops, paths): crop1 = prepare_crop(img1, rect1) crop2 = prepare_crop(img2, rect2, rot) fullpath1 = os.path.join(args.output_dir, path+'_1.jpg') fullpath2 = os.path.join(args.output_dir, path+'_2.jpg') os.makedirs(os.path.dirname(fullpath1), exist_ok=True) assert not os.path.isfile(fullpath1), fullpath1 assert not os.path.isfile(fullpath2), fullpath2 crop1.save(fullpath1) crop2.save(fullpath2) results.append(path) return results if __name__ == '__main__': args = arg_parser().parse_args() main(args) ================================================ FILE: croco/datasets/habitat_sim/README.MD ================================================ ## Generation of synthetic image pairs using Habitat-Sim These instructions allow to generate pre-training pairs from the Habitat simulator. As we did not save metadata of the pairs used in the original paper, they are not strictly the same, but these data use the same setting and are equivalent. ### Download Habitat-Sim scenes Download Habitat-Sim scenes: - Download links can be found here: https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md - We used scenes from the HM3D, habitat-test-scenes, Replica, ReplicaCad and ScanNet datasets. - Please put the scenes under `./data/habitat-sim-data/scene_datasets/` following the structure below, or update manually paths in `paths.py`. ``` ./data/ └──habitat-sim-data/ └──scene_datasets/ ├──hm3d/ ├──gibson/ ├──habitat-test-scenes/ ├──replica_cad_baked_lighting/ ├──replica_cad/ ├──ReplicaDataset/ └──scannet/ ``` ### Image pairs generation We provide metadata to generate reproducible images pairs for pretraining and validation. Experiments described in the paper used similar data, but whose generation was not reproducible at the time. Specifications: - 256x256 resolution images, with 60 degrees field of view . - Up to 1000 image pairs per scene. - Number of scenes considered/number of images pairs per dataset: - Scannet: 1097 scenes / 985 209 pairs - HM3D: - hm3d/train: 800 / 800k pairs - hm3d/val: 100 scenes / 100k pairs - hm3d/minival: 10 scenes / 10k pairs - habitat-test-scenes: 3 scenes / 3k pairs - replica_cad_baked_lighting: 13 scenes / 13k pairs - Scenes from hm3d/val and hm3d/minival pairs were not used for the pre-training but kept for validation purposes. Download metadata and extract it: ```bash mkdir -p data/habitat_release_metadata/ cd data/habitat_release_metadata/ wget https://download.europe.naverlabs.com/ComputerVision/CroCo/data/habitat_release_metadata/multiview_habitat_metadata.tar.gz tar -xvf multiview_habitat_metadata.tar.gz cd ../.. # Location of the metadata METADATA_DIR="./data/habitat_release_metadata/multiview_habitat_metadata" ``` Generate image pairs from metadata: - The following command will print a list of commandlines to generate image pairs for each scene: ```bash # Target output directory PAIRS_DATASET_DIR="./data/habitat_release/" python datasets/habitat_sim/generate_from_metadata_files.py --input_dir=$METADATA_DIR --output_dir=$PAIRS_DATASET_DIR ``` - One can launch multiple of such commands in parallel e.g. using GNU Parallel: ```bash python datasets/habitat_sim/generate_from_metadata_files.py --input_dir=$METADATA_DIR --output_dir=$PAIRS_DATASET_DIR | parallel -j 16 ``` ## Metadata generation Image pairs were randomly sampled using the following commands, whose outputs contain randomness and are thus not exactly reproducible: ```bash # Print commandlines to generate image pairs from the different scenes available. PAIRS_DATASET_DIR=MY_CUSTOM_PATH python datasets/habitat_sim/generate_multiview_images.py --list_commands --output_dir=$PAIRS_DATASET_DIR # Once a dataset is generated, pack metadata files for reproducibility. METADATA_DIR=MY_CUSTON_PATH python datasets/habitat_sim/pack_metadata_files.py $PAIRS_DATASET_DIR $METADATA_DIR ``` ================================================ FILE: croco/datasets/habitat_sim/__init__.py ================================================ ================================================ FILE: croco/datasets/habitat_sim/generate_from_metadata.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). """ Script to generate image pairs for a given scene reproducing poses provided in a metadata file. """ import os from datasets.habitat_sim.multiview_habitat_sim_generator import MultiviewHabitatSimGenerator from datasets.habitat_sim.paths import SCENES_DATASET import argparse import quaternion import PIL.Image import cv2 import json from tqdm import tqdm def generate_multiview_images_from_metadata(metadata_filename, output_dir, overload_params = dict(), scene_datasets_paths=None, exist_ok=False): """ Generate images from a metadata file for reproducibility purposes. """ # Reorder paths by decreasing label length, to avoid collisions when testing if a string by such label if scene_datasets_paths is not None: scene_datasets_paths = dict(sorted(scene_datasets_paths.items(), key= lambda x: len(x[0]), reverse=True)) with open(metadata_filename, 'r') as f: input_metadata = json.load(f) metadata = dict() for key, value in input_metadata.items(): # Optionally replace some paths if key in ("scene_dataset_config_file", "scene", "navmesh") and value != "": if scene_datasets_paths is not None: for dataset_label, dataset_path in scene_datasets_paths.items(): if value.startswith(dataset_label): value = os.path.normpath(os.path.join(dataset_path, os.path.relpath(value, dataset_label))) break metadata[key] = value # Overload some parameters for key, value in overload_params.items(): metadata[key] = value generation_entries = dict([(key, value) for key, value in metadata.items() if not (key in ('multiviews', 'output_dir', 'generate_depth'))]) generate_depth = metadata["generate_depth"] os.makedirs(output_dir, exist_ok=exist_ok) generator = MultiviewHabitatSimGenerator(**generation_entries) # Generate views for idx_label, data in tqdm(metadata['multiviews'].items()): positions = data["positions"] orientations = data["orientations"] n = len(positions) for oidx in range(n): observation = generator.render_viewpoint(positions[oidx], quaternion.from_float_array(orientations[oidx])) observation_label = f"{oidx + 1}" # Leonid is indexing starting from 1 # Color image saved using PIL img = PIL.Image.fromarray(observation['color'][:,:,:3]) filename = os.path.join(output_dir, f"{idx_label}_{observation_label}.jpeg") img.save(filename) if generate_depth: # Depth image as EXR file filename = os.path.join(output_dir, f"{idx_label}_{observation_label}_depth.exr") cv2.imwrite(filename, observation['depth'], [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_HALF]) # Camera parameters camera_params = dict([(key, observation[key].tolist()) for key in ("camera_intrinsics", "R_cam2world", "t_cam2world")]) filename = os.path.join(output_dir, f"{idx_label}_{observation_label}_camera_params.json") with open(filename, "w") as f: json.dump(camera_params, f) # Save metadata with open(os.path.join(output_dir, "metadata.json"), "w") as f: json.dump(metadata, f) generator.close() if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("--metadata_filename", required=True) parser.add_argument("--output_dir", required=True) args = parser.parse_args() generate_multiview_images_from_metadata(metadata_filename=args.metadata_filename, output_dir=args.output_dir, scene_datasets_paths=SCENES_DATASET, overload_params=dict(), exist_ok=True) ================================================ FILE: croco/datasets/habitat_sim/generate_from_metadata_files.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). """ Script generating commandlines to generate image pairs from metadata files. """ import os import glob from tqdm import tqdm import argparse if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("--input_dir", required=True) parser.add_argument("--output_dir", required=True) parser.add_argument("--prefix", default="", help="Commanline prefix, useful e.g. to setup environment.") args = parser.parse_args() input_metadata_filenames = glob.iglob(f"{args.input_dir}/**/metadata.json", recursive=True) for metadata_filename in tqdm(input_metadata_filenames): output_dir = os.path.join(args.output_dir, os.path.relpath(os.path.dirname(metadata_filename), args.input_dir)) # Do not process the scene if the metadata file already exists if os.path.exists(os.path.join(output_dir, "metadata.json")): continue commandline = f"{args.prefix}python datasets/habitat_sim/generate_from_metadata.py --metadata_filename={metadata_filename} --output_dir={output_dir}" print(commandline) ================================================ FILE: croco/datasets/habitat_sim/generate_multiview_images.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). import os from tqdm import tqdm import argparse import PIL.Image import numpy as np import json from datasets.habitat_sim.multiview_habitat_sim_generator import MultiviewHabitatSimGenerator, NoNaviguableSpaceError from datasets.habitat_sim.paths import list_scenes_available import cv2 import quaternion import shutil def generate_multiview_images_for_scene(scene_dataset_config_file, scene, navmesh, output_dir, views_count, size, exist_ok=False, generate_depth=False, **kwargs): """ Generate tuples of overlapping views for a given scene. generate_depth: generate depth images and camera parameters. """ if os.path.exists(output_dir) and not exist_ok: print(f"Scene {scene}: data already generated. Ignoring generation.") return try: print(f"Scene {scene}: {size} multiview acquisitions to generate...") os.makedirs(output_dir, exist_ok=exist_ok) metadata_filename = os.path.join(output_dir, "metadata.json") metadata_template = dict(scene_dataset_config_file=scene_dataset_config_file, scene=scene, navmesh=navmesh, views_count=views_count, size=size, generate_depth=generate_depth, **kwargs) metadata_template["multiviews"] = dict() if os.path.exists(metadata_filename): print("Metadata file already exists:", metadata_filename) print("Loading already generated metadata file...") with open(metadata_filename, "r") as f: metadata = json.load(f) for key in metadata_template.keys(): if key != "multiviews": assert metadata_template[key] == metadata[key], f"existing file is inconsistent with the input parameters:\nKey: {key}\nmetadata: {metadata[key]}\ntemplate: {metadata_template[key]}." else: print("No temporary file found. Starting generation from scratch...") metadata = metadata_template starting_id = len(metadata["multiviews"]) print(f"Starting generation from index {starting_id}/{size}...") if starting_id >= size: print("Generation already done.") return generator = MultiviewHabitatSimGenerator(scene_dataset_config_file=scene_dataset_config_file, scene=scene, navmesh=navmesh, views_count = views_count, size = size, **kwargs) for idx in tqdm(range(starting_id, size)): # Generate / re-generate the observations try: data = generator[idx] observations = data["observations"] positions = data["positions"] orientations = data["orientations"] idx_label = f"{idx:08}" for oidx, observation in enumerate(observations): observation_label = f"{oidx + 1}" # Leonid is indexing starting from 1 # Color image saved using PIL img = PIL.Image.fromarray(observation['color'][:,:,:3]) filename = os.path.join(output_dir, f"{idx_label}_{observation_label}.jpeg") img.save(filename) if generate_depth: # Depth image as EXR file filename = os.path.join(output_dir, f"{idx_label}_{observation_label}_depth.exr") cv2.imwrite(filename, observation['depth'], [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_HALF]) # Camera parameters camera_params = dict([(key, observation[key].tolist()) for key in ("camera_intrinsics", "R_cam2world", "t_cam2world")]) filename = os.path.join(output_dir, f"{idx_label}_{observation_label}_camera_params.json") with open(filename, "w") as f: json.dump(camera_params, f) metadata["multiviews"][idx_label] = {"positions": positions.tolist(), "orientations": orientations.tolist(), "covisibility_ratios": data["covisibility_ratios"].tolist(), "valid_fractions": data["valid_fractions"].tolist(), "pairwise_visibility_ratios": data["pairwise_visibility_ratios"].tolist()} except RecursionError: print("Recursion error: unable to sample observations for this scene. We will stop there.") break # Regularly save a temporary metadata file, in case we need to restart the generation if idx % 10 == 0: with open(metadata_filename, "w") as f: json.dump(metadata, f) # Save metadata with open(metadata_filename, "w") as f: json.dump(metadata, f) generator.close() except NoNaviguableSpaceError: pass def create_commandline(scene_data, generate_depth, exist_ok=False): """ Create a commandline string to generate a scene. """ def my_formatting(val): if val is None or val == "": return '""' else: return val commandline = f"""python {__file__} --scene {my_formatting(scene_data.scene)} --scene_dataset_config_file {my_formatting(scene_data.scene_dataset_config_file)} --navmesh {my_formatting(scene_data.navmesh)} --output_dir {my_formatting(scene_data.output_dir)} --generate_depth {int(generate_depth)} --exist_ok {int(exist_ok)} """ commandline = " ".join(commandline.split()) return commandline if __name__ == "__main__": os.umask(2) parser = argparse.ArgumentParser(description="""Example of use -- listing commands to generate data for scenes available: > python datasets/habitat_sim/generate_multiview_habitat_images.py --list_commands """) parser.add_argument("--output_dir", type=str, required=True) parser.add_argument("--list_commands", action='store_true', help="list commandlines to run if true") parser.add_argument("--scene", type=str, default="") parser.add_argument("--scene_dataset_config_file", type=str, default="") parser.add_argument("--navmesh", type=str, default="") parser.add_argument("--generate_depth", type=int, default=1) parser.add_argument("--exist_ok", type=int, default=0) kwargs = dict(resolution=(256,256), hfov=60, views_count = 2, size=1000) args = parser.parse_args() generate_depth=bool(args.generate_depth) exist_ok = bool(args.exist_ok) if args.list_commands: # Listing scenes available... scenes_data = list_scenes_available(base_output_dir=args.output_dir) for scene_data in scenes_data: print(create_commandline(scene_data, generate_depth=generate_depth, exist_ok=exist_ok)) else: if args.scene == "" or args.output_dir == "": print("Missing scene or output dir argument!") print(parser.format_help()) else: generate_multiview_images_for_scene(scene=args.scene, scene_dataset_config_file = args.scene_dataset_config_file, navmesh = args.navmesh, output_dir = args.output_dir, exist_ok=exist_ok, generate_depth=generate_depth, **kwargs) ================================================ FILE: croco/datasets/habitat_sim/multiview_habitat_sim_generator.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). import os import numpy as np import quaternion import habitat_sim import json from sklearn.neighbors import NearestNeighbors import cv2 # OpenCV to habitat camera convention transformation R_OPENCV2HABITAT = np.stack((habitat_sim.geo.RIGHT, -habitat_sim.geo.UP, habitat_sim.geo.FRONT), axis=0) R_HABITAT2OPENCV = R_OPENCV2HABITAT.T DEG2RAD = np.pi / 180 def compute_camera_intrinsics(height, width, hfov): f = width/2 / np.tan(hfov/2 * np.pi/180) cu, cv = width/2, height/2 return f, cu, cv def compute_camera_pose_opencv_convention(camera_position, camera_orientation): R_cam2world = quaternion.as_rotation_matrix(camera_orientation) @ R_OPENCV2HABITAT t_cam2world = np.asarray(camera_position) return R_cam2world, t_cam2world def compute_pointmap(depthmap, hfov): """ Compute a HxWx3 pointmap in camera frame from a HxW depth map.""" height, width = depthmap.shape f, cu, cv = compute_camera_intrinsics(height, width, hfov) # Cast depth map to point z_cam = depthmap u, v = np.meshgrid(range(width), range(height)) x_cam = (u - cu) / f * z_cam y_cam = (v - cv) / f * z_cam X_cam = np.stack((x_cam, y_cam, z_cam), axis=-1) return X_cam def compute_pointcloud(depthmap, hfov, camera_position, camera_rotation): """Return a 3D point cloud corresponding to valid pixels of the depth map""" R_cam2world, t_cam2world = compute_camera_pose_opencv_convention(camera_position, camera_rotation) X_cam = compute_pointmap(depthmap=depthmap, hfov=hfov) valid_mask = (X_cam[:,:,2] != 0.0) X_cam = X_cam.reshape(-1, 3)[valid_mask.flatten()] X_world = X_cam @ R_cam2world.T + t_cam2world.reshape(1, 3) return X_world def compute_pointcloud_overlaps_scikit(pointcloud1, pointcloud2, distance_threshold, compute_symmetric=False): """ Compute 'overlapping' metrics based on a distance threshold between two point clouds. """ nbrs = NearestNeighbors(n_neighbors=1, algorithm = 'kd_tree').fit(pointcloud2) distances, indices = nbrs.kneighbors(pointcloud1) intersection1 = np.count_nonzero(distances.flatten() < distance_threshold) data = {"intersection1": intersection1, "size1": len(pointcloud1)} if compute_symmetric: nbrs = NearestNeighbors(n_neighbors=1, algorithm = 'kd_tree').fit(pointcloud1) distances, indices = nbrs.kneighbors(pointcloud2) intersection2 = np.count_nonzero(distances.flatten() < distance_threshold) data["intersection2"] = intersection2 data["size2"] = len(pointcloud2) return data def _append_camera_parameters(observation, hfov, camera_location, camera_rotation): """ Add camera parameters to the observation dictionnary produced by Habitat-Sim In-place modifications. """ R_cam2world, t_cam2world = compute_camera_pose_opencv_convention(camera_location, camera_rotation) height, width = observation['depth'].shape f, cu, cv = compute_camera_intrinsics(height, width, hfov) K = np.asarray([[f, 0, cu], [0, f, cv], [0, 0, 1.0]]) observation["camera_intrinsics"] = K observation["t_cam2world"] = t_cam2world observation["R_cam2world"] = R_cam2world def look_at(eye, center, up, return_cam2world=True): """ Return camera pose looking at a given center point. Analogous of gluLookAt function, using OpenCV camera convention. """ z = center - eye z /= np.linalg.norm(z, axis=-1, keepdims=True) y = -up y = y - np.sum(y * z, axis=-1, keepdims=True) * z y /= np.linalg.norm(y, axis=-1, keepdims=True) x = np.cross(y, z, axis=-1) if return_cam2world: R = np.stack((x, y, z), axis=-1) t = eye else: # World to camera transformation # Transposed matrix R = np.stack((x, y, z), axis=-2) t = - np.einsum('...ij, ...j', R, eye) return R, t def look_at_for_habitat(eye, center, up, return_cam2world=True): R, t = look_at(eye, center, up) orientation = quaternion.from_rotation_matrix(R @ R_OPENCV2HABITAT.T) return orientation, t def generate_orientation_noise(pan_range, tilt_range, roll_range): return (quaternion.from_rotation_vector(np.random.uniform(*pan_range) * DEG2RAD * habitat_sim.geo.UP) * quaternion.from_rotation_vector(np.random.uniform(*tilt_range) * DEG2RAD * habitat_sim.geo.RIGHT) * quaternion.from_rotation_vector(np.random.uniform(*roll_range) * DEG2RAD * habitat_sim.geo.FRONT)) class NoNaviguableSpaceError(RuntimeError): def __init__(self, *args): super().__init__(*args) class MultiviewHabitatSimGenerator: def __init__(self, scene, navmesh, scene_dataset_config_file, resolution = (240, 320), views_count=2, hfov = 60, gpu_id = 0, size = 10000, minimum_covisibility = 0.5, transform = None): self.scene = scene self.navmesh = navmesh self.scene_dataset_config_file = scene_dataset_config_file self.resolution = resolution self.views_count = views_count assert(self.views_count >= 1) self.hfov = hfov self.gpu_id = gpu_id self.size = size self.transform = transform # Noise added to camera orientation self.pan_range = (-3, 3) self.tilt_range = (-10, 10) self.roll_range = (-5, 5) # Height range to sample cameras self.height_range = (1.2, 1.8) # Random steps between the camera views self.random_steps_count = 5 self.random_step_variance = 2.0 # Minimum fraction of the scene which should be valid (well defined depth) self.minimum_valid_fraction = 0.7 # Distance threshold to see to select pairs self.distance_threshold = 0.05 # Minimum IoU of a view point cloud with respect to the reference view to be kept. self.minimum_covisibility = minimum_covisibility # Maximum number of retries. self.max_attempts_count = 100 self.seed = None self._lazy_initialization() def _lazy_initialization(self): # Lazy random seeding and instantiation of the simulator to deal with multiprocessing properly if self.seed == None: # Re-seed numpy generator np.random.seed() self.seed = np.random.randint(2**32-1) sim_cfg = habitat_sim.SimulatorConfiguration() sim_cfg.scene_id = self.scene if self.scene_dataset_config_file is not None and self.scene_dataset_config_file != "": sim_cfg.scene_dataset_config_file = self.scene_dataset_config_file sim_cfg.random_seed = self.seed sim_cfg.load_semantic_mesh = False sim_cfg.gpu_device_id = self.gpu_id depth_sensor_spec = habitat_sim.CameraSensorSpec() depth_sensor_spec.uuid = "depth" depth_sensor_spec.sensor_type = habitat_sim.SensorType.DEPTH depth_sensor_spec.resolution = self.resolution depth_sensor_spec.hfov = self.hfov depth_sensor_spec.position = [0.0, 0.0, 0] depth_sensor_spec.orientation rgb_sensor_spec = habitat_sim.CameraSensorSpec() rgb_sensor_spec.uuid = "color" rgb_sensor_spec.sensor_type = habitat_sim.SensorType.COLOR rgb_sensor_spec.resolution = self.resolution rgb_sensor_spec.hfov = self.hfov rgb_sensor_spec.position = [0.0, 0.0, 0] agent_cfg = habitat_sim.agent.AgentConfiguration(sensor_specifications=[rgb_sensor_spec, depth_sensor_spec]) cfg = habitat_sim.Configuration(sim_cfg, [agent_cfg]) self.sim = habitat_sim.Simulator(cfg) if self.navmesh is not None and self.navmesh != "": # Use pre-computed navmesh when available (usually better than those generated automatically) self.sim.pathfinder.load_nav_mesh(self.navmesh) if not self.sim.pathfinder.is_loaded: # Try to compute a navmesh navmesh_settings = habitat_sim.NavMeshSettings() navmesh_settings.set_defaults() self.sim.recompute_navmesh(self.sim.pathfinder, navmesh_settings, True) # Ensure that the navmesh is not empty if not self.sim.pathfinder.is_loaded: raise NoNaviguableSpaceError(f"No naviguable location (scene: {self.scene} -- navmesh: {self.navmesh})") self.agent = self.sim.initialize_agent(agent_id=0) def close(self): self.sim.close() def __del__(self): self.sim.close() def __len__(self): return self.size def sample_random_viewpoint(self): """ Sample a random viewpoint using the navmesh """ nav_point = self.sim.pathfinder.get_random_navigable_point() # Sample a random viewpoint height viewpoint_height = np.random.uniform(*self.height_range) viewpoint_position = nav_point + viewpoint_height * habitat_sim.geo.UP viewpoint_orientation = quaternion.from_rotation_vector(np.random.uniform(0, 2 * np.pi) * habitat_sim.geo.UP) * generate_orientation_noise(self.pan_range, self.tilt_range, self.roll_range) return viewpoint_position, viewpoint_orientation, nav_point def sample_other_random_viewpoint(self, observed_point, nav_point): """ Sample a random viewpoint close to an existing one, using the navmesh and a reference observed point.""" other_nav_point = nav_point walk_directions = self.random_step_variance * np.asarray([1,0,1]) for i in range(self.random_steps_count): temp = self.sim.pathfinder.snap_point(other_nav_point + walk_directions * np.random.normal(size=3)) # Snapping may return nan when it fails if not np.isnan(temp[0]): other_nav_point = temp other_viewpoint_height = np.random.uniform(*self.height_range) other_viewpoint_position = other_nav_point + other_viewpoint_height * habitat_sim.geo.UP # Set viewing direction towards the central point rotation, position = look_at_for_habitat(eye=other_viewpoint_position, center=observed_point, up=habitat_sim.geo.UP, return_cam2world=True) rotation = rotation * generate_orientation_noise(self.pan_range, self.tilt_range, self.roll_range) return position, rotation, other_nav_point def is_other_pointcloud_overlapping(self, ref_pointcloud, other_pointcloud): """ Check if a viewpoint is valid and overlaps significantly with a reference one. """ # Observation pixels_count = self.resolution[0] * self.resolution[1] valid_fraction = len(other_pointcloud) / pixels_count assert valid_fraction <= 1.0 and valid_fraction >= 0.0 overlap = compute_pointcloud_overlaps_scikit(ref_pointcloud, other_pointcloud, self.distance_threshold, compute_symmetric=True) covisibility = min(overlap["intersection1"] / pixels_count, overlap["intersection2"] / pixels_count) is_valid = (valid_fraction >= self.minimum_valid_fraction) and (covisibility >= self.minimum_covisibility) return is_valid, valid_fraction, covisibility def is_other_viewpoint_overlapping(self, ref_pointcloud, observation, position, rotation): """ Check if a viewpoint is valid and overlaps significantly with a reference one. """ # Observation other_pointcloud = compute_pointcloud(observation['depth'], self.hfov, position, rotation) return self.is_other_pointcloud_overlapping(ref_pointcloud, other_pointcloud) def render_viewpoint(self, viewpoint_position, viewpoint_orientation): agent_state = habitat_sim.AgentState() agent_state.position = viewpoint_position agent_state.rotation = viewpoint_orientation self.agent.set_state(agent_state) viewpoint_observations = self.sim.get_sensor_observations(agent_ids=0) _append_camera_parameters(viewpoint_observations, self.hfov, viewpoint_position, viewpoint_orientation) return viewpoint_observations def __getitem__(self, useless_idx): ref_position, ref_orientation, nav_point = self.sample_random_viewpoint() ref_observations = self.render_viewpoint(ref_position, ref_orientation) # Extract point cloud ref_pointcloud = compute_pointcloud(depthmap=ref_observations['depth'], hfov=self.hfov, camera_position=ref_position, camera_rotation=ref_orientation) pixels_count = self.resolution[0] * self.resolution[1] ref_valid_fraction = len(ref_pointcloud) / pixels_count assert ref_valid_fraction <= 1.0 and ref_valid_fraction >= 0.0 if ref_valid_fraction < self.minimum_valid_fraction: # This should produce a recursion error at some point when something is very wrong. return self[0] # Pick an reference observed point in the point cloud observed_point = np.mean(ref_pointcloud, axis=0) # Add the first image as reference viewpoints_observations = [ref_observations] viewpoints_covisibility = [ref_valid_fraction] viewpoints_positions = [ref_position] viewpoints_orientations = [quaternion.as_float_array(ref_orientation)] viewpoints_clouds = [ref_pointcloud] viewpoints_valid_fractions = [ref_valid_fraction] for _ in range(self.views_count - 1): # Generate an other viewpoint using some dummy random walk successful_sampling = False for sampling_attempt in range(self.max_attempts_count): position, rotation, _ = self.sample_other_random_viewpoint(observed_point, nav_point) # Observation other_viewpoint_observations = self.render_viewpoint(position, rotation) other_pointcloud = compute_pointcloud(other_viewpoint_observations['depth'], self.hfov, position, rotation) is_valid, valid_fraction, covisibility = self.is_other_pointcloud_overlapping(ref_pointcloud, other_pointcloud) if is_valid: successful_sampling = True break if not successful_sampling: print("WARNING: Maximum number of attempts reached.") # Dirty hack, try using a novel original viewpoint return self[0] viewpoints_observations.append(other_viewpoint_observations) viewpoints_covisibility.append(covisibility) viewpoints_positions.append(position) viewpoints_orientations.append(quaternion.as_float_array(rotation)) # WXYZ convention for the quaternion encoding. viewpoints_clouds.append(other_pointcloud) viewpoints_valid_fractions.append(valid_fraction) # Estimate relations between all pairs of images pairwise_visibility_ratios = np.ones((len(viewpoints_observations), len(viewpoints_observations))) for i in range(len(viewpoints_observations)): pairwise_visibility_ratios[i,i] = viewpoints_valid_fractions[i] for j in range(i+1, len(viewpoints_observations)): overlap = compute_pointcloud_overlaps_scikit(viewpoints_clouds[i], viewpoints_clouds[j], self.distance_threshold, compute_symmetric=True) pairwise_visibility_ratios[i,j] = overlap['intersection1'] / pixels_count pairwise_visibility_ratios[j,i] = overlap['intersection2'] / pixels_count # IoU is relative to the image 0 data = {"observations": viewpoints_observations, "positions": np.asarray(viewpoints_positions), "orientations": np.asarray(viewpoints_orientations), "covisibility_ratios": np.asarray(viewpoints_covisibility), "valid_fractions": np.asarray(viewpoints_valid_fractions, dtype=float), "pairwise_visibility_ratios": np.asarray(pairwise_visibility_ratios, dtype=float), } if self.transform is not None: data = self.transform(data) return data def generate_random_spiral_trajectory(self, images_count = 100, max_radius=0.5, half_turns=5, use_constant_orientation=False): """ Return a list of images corresponding to a spiral trajectory from a random starting point. Useful to generate nice visualisations. Use an even number of half turns to get a nice "C1-continuous" loop effect """ ref_position, ref_orientation, navpoint = self.sample_random_viewpoint() ref_observations = self.render_viewpoint(ref_position, ref_orientation) ref_pointcloud = compute_pointcloud(depthmap=ref_observations['depth'], hfov=self.hfov, camera_position=ref_position, camera_rotation=ref_orientation) pixels_count = self.resolution[0] * self.resolution[1] if len(ref_pointcloud) / pixels_count < self.minimum_valid_fraction: # Dirty hack: ensure that the valid part of the image is significant return self.generate_random_spiral_trajectory(images_count, max_radius, half_turns, use_constant_orientation) # Pick an observed point in the point cloud observed_point = np.mean(ref_pointcloud, axis=0) ref_R, ref_t = compute_camera_pose_opencv_convention(ref_position, ref_orientation) images = [] is_valid = [] # Spiral trajectory, use_constant orientation for i, alpha in enumerate(np.linspace(0, 1, images_count)): r = max_radius * np.abs(np.sin(alpha * np.pi)) # Increase then decrease the radius theta = alpha * half_turns * np.pi x = r * np.cos(theta) y = r * np.sin(theta) z = 0.0 position = ref_position + (ref_R @ np.asarray([x, y, z]).reshape(3,1)).flatten() if use_constant_orientation: orientation = ref_orientation else: # trajectory looking at a mean point in front of the ref observation orientation, position = look_at_for_habitat(eye=position, center=observed_point, up=habitat_sim.geo.UP) observations = self.render_viewpoint(position, orientation) images.append(observations['color'][...,:3]) _is_valid, valid_fraction, iou = self.is_other_viewpoint_overlapping(ref_pointcloud, observations, position, orientation) is_valid.append(_is_valid) return images, np.all(is_valid) ================================================ FILE: croco/datasets/habitat_sim/pack_metadata_files.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). """ Utility script to pack metadata files of the dataset in order to be able to re-generate it elsewhere. """ import os import glob from tqdm import tqdm import shutil import json from datasets.habitat_sim.paths import * import argparse import collections if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("input_dir") parser.add_argument("output_dir") args = parser.parse_args() input_dirname = args.input_dir output_dirname = args.output_dir input_metadata_filenames = glob.iglob(f"{input_dirname}/**/metadata.json", recursive=True) images_count = collections.defaultdict(lambda : 0) os.makedirs(output_dirname) for input_filename in tqdm(input_metadata_filenames): # Ignore empty files with open(input_filename, "r") as f: original_metadata = json.load(f) if "multiviews" not in original_metadata or len(original_metadata["multiviews"]) == 0: print("No views in", input_filename) continue relpath = os.path.relpath(input_filename, input_dirname) print(relpath) # Copy metadata, while replacing scene paths by generic keys depending on the dataset, for portability. # Data paths are sorted by decreasing length to avoid potential bugs due to paths starting by the same string pattern. scenes_dataset_paths = dict(sorted(SCENES_DATASET.items(), key=lambda x: len(x[1]), reverse=True)) metadata = dict() for key, value in original_metadata.items(): if key in ("scene_dataset_config_file", "scene", "navmesh") and value != "": known_path = False for dataset, dataset_path in scenes_dataset_paths.items(): if value.startswith(dataset_path): value = os.path.join(dataset, os.path.relpath(value, dataset_path)) known_path = True break if not known_path: raise KeyError("Unknown path:" + value) metadata[key] = value # Compile some general statistics while packing data scene_split = metadata["scene"].split("/") upper_level = "/".join(scene_split[:2]) if scene_split[0] == "hm3d" else scene_split[0] images_count[upper_level] += len(metadata["multiviews"]) output_filename = os.path.join(output_dirname, relpath) os.makedirs(os.path.dirname(output_filename), exist_ok=True) with open(output_filename, "w") as f: json.dump(metadata, f) # Print statistics print("Images count:") for upper_level, count in images_count.items(): print(f"- {upper_level}: {count}") ================================================ FILE: croco/datasets/habitat_sim/paths.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). """ Paths to Habitat-Sim scenes """ import os import json import collections from tqdm import tqdm # Hardcoded path to the different scene datasets SCENES_DATASET = { "hm3d": "./data/habitat-sim-data/scene_datasets/hm3d/", "gibson": "./data/habitat-sim-data/scene_datasets/gibson/", "habitat-test-scenes": "./data/habitat-sim/scene_datasets/habitat-test-scenes/", "replica_cad_baked_lighting": "./data/habitat-sim/scene_datasets/replica_cad_baked_lighting/", "replica_cad": "./data/habitat-sim/scene_datasets/replica_cad/", "replica": "./data/habitat-sim/scene_datasets/ReplicaDataset/", "scannet": "./data/habitat-sim/scene_datasets/scannet/" } SceneData = collections.namedtuple("SceneData", ["scene_dataset_config_file", "scene", "navmesh", "output_dir"]) def list_replicacad_scenes(base_output_dir, base_path=SCENES_DATASET["replica_cad"]): scene_dataset_config_file = os.path.join(base_path, "replicaCAD.scene_dataset_config.json") scenes = [f"apt_{i}" for i in range(6)] + ["empty_stage"] navmeshes = [f"navmeshes/apt_{i}_static_furniture.navmesh" for i in range(6)] + ["empty_stage.navmesh"] scenes_data = [] for idx in range(len(scenes)): output_dir = os.path.join(base_output_dir, "ReplicaCAD", scenes[idx]) # Add scene data = SceneData(scene_dataset_config_file=scene_dataset_config_file, scene = scenes[idx] + ".scene_instance.json", navmesh = os.path.join(base_path, navmeshes[idx]), output_dir = output_dir) scenes_data.append(data) return scenes_data def list_replica_cad_baked_lighting_scenes(base_output_dir, base_path=SCENES_DATASET["replica_cad_baked_lighting"]): scene_dataset_config_file = os.path.join(base_path, "replicaCAD_baked.scene_dataset_config.json") scenes = sum([[f"Baked_sc{i}_staging_{j:02}" for i in range(5)] for j in range(21)], []) navmeshes = ""#[f"navmeshes/apt_{i}_static_furniture.navmesh" for i in range(6)] + ["empty_stage.navmesh"] scenes_data = [] for idx in range(len(scenes)): output_dir = os.path.join(base_output_dir, "replica_cad_baked_lighting", scenes[idx]) data = SceneData(scene_dataset_config_file=scene_dataset_config_file, scene = scenes[idx], navmesh = "", output_dir = output_dir) scenes_data.append(data) return scenes_data def list_replica_scenes(base_output_dir, base_path): scenes_data = [] for scene_id in os.listdir(base_path): scene = os.path.join(base_path, scene_id, "mesh.ply") navmesh = os.path.join(base_path, scene_id, "habitat/mesh_preseg_semantic.navmesh") # Not sure if I should use it scene_dataset_config_file = "" output_dir = os.path.join(base_output_dir, scene_id) # Add scene only if it does not exist already, or if exist_ok data = SceneData(scene_dataset_config_file = scene_dataset_config_file, scene = scene, navmesh = navmesh, output_dir = output_dir) scenes_data.append(data) return scenes_data def list_scenes(base_output_dir, base_path): """ Generic method iterating through a base_path folder to find scenes. """ scenes_data = [] for root, dirs, files in os.walk(base_path, followlinks=True): folder_scenes_data = [] for file in files: name, ext = os.path.splitext(file) if ext == ".glb": scene = os.path.join(root, name + ".glb") navmesh = os.path.join(root, name + ".navmesh") if not os.path.exists(navmesh): navmesh = "" relpath = os.path.relpath(root, base_path) output_dir = os.path.abspath(os.path.join(base_output_dir, relpath, name)) data = SceneData(scene_dataset_config_file="", scene = scene, navmesh = navmesh, output_dir = output_dir) folder_scenes_data.append(data) # Specific check for HM3D: # When two meshesxxxx.basis.glb and xxxx.glb are present, use the 'basis' version. basis_scenes = [data.scene[:-len(".basis.glb")] for data in folder_scenes_data if data.scene.endswith(".basis.glb")] if len(basis_scenes) != 0: folder_scenes_data = [data for data in folder_scenes_data if not (data.scene[:-len(".glb")] in basis_scenes)] scenes_data.extend(folder_scenes_data) return scenes_data def list_scenes_available(base_output_dir, scenes_dataset_paths=SCENES_DATASET): scenes_data = [] # HM3D for split in ("minival", "train", "val", "examples"): scenes_data += list_scenes(base_output_dir=os.path.join(base_output_dir, f"hm3d/{split}/"), base_path=f"{scenes_dataset_paths['hm3d']}/{split}") # Gibson scenes_data += list_scenes(base_output_dir=os.path.join(base_output_dir, "gibson"), base_path=scenes_dataset_paths["gibson"]) # Habitat test scenes (just a few) scenes_data += list_scenes(base_output_dir=os.path.join(base_output_dir, "habitat-test-scenes"), base_path=scenes_dataset_paths["habitat-test-scenes"]) # ReplicaCAD (baked lightning) scenes_data += list_replica_cad_baked_lighting_scenes(base_output_dir=base_output_dir) # ScanNet scenes_data += list_scenes(base_output_dir=os.path.join(base_output_dir, "scannet"), base_path=scenes_dataset_paths["scannet"]) # Replica list_replica_scenes(base_output_dir=os.path.join(base_output_dir, "replica"), base_path=scenes_dataset_paths["replica"]) return scenes_data ================================================ FILE: croco/datasets/pairs_dataset.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). import os from torch.utils.data import Dataset from PIL import Image from datasets.transforms import get_pair_transforms def load_image(impath): return Image.open(impath) def load_pairs_from_cache_file(fname, root=''): assert os.path.isfile(fname), "cannot parse pairs from {:s}, file does not exist".format(fname) with open(fname, 'r') as fid: lines = fid.read().strip().splitlines() pairs = [ (os.path.join(root,l.split()[0]), os.path.join(root,l.split()[1])) for l in lines] return pairs def load_pairs_from_list_file(fname, root=''): assert os.path.isfile(fname), "cannot parse pairs from {:s}, file does not exist".format(fname) with open(fname, 'r') as fid: lines = fid.read().strip().splitlines() pairs = [ (os.path.join(root,l+'_1.jpg'), os.path.join(root,l+'_2.jpg')) for l in lines if not l.startswith('#')] return pairs def write_cache_file(fname, pairs, root=''): if len(root)>0: if not root.endswith('/'): root+='/' assert os.path.isdir(root) s = '' for im1, im2 in pairs: if len(root)>0: assert im1.startswith(root), im1 assert im2.startswith(root), im2 s += '{:s} {:s}\n'.format(im1[len(root):], im2[len(root):]) with open(fname, 'w') as fid: fid.write(s[:-1]) def parse_and_cache_all_pairs(dname, data_dir='./data/'): if dname=='habitat_release': dirname = os.path.join(data_dir, 'habitat_release') assert os.path.isdir(dirname), "cannot find folder for habitat_release pairs: "+dirname cache_file = os.path.join(dirname, 'pairs.txt') assert not os.path.isfile(cache_file), "cache file already exists: "+cache_file print('Parsing pairs for dataset: '+dname) pairs = [] for root, dirs, files in os.walk(dirname): if 'val' in root: continue dirs.sort() pairs += [ (os.path.join(root,f), os.path.join(root,f[:-len('_1.jpeg')]+'_2.jpeg')) for f in sorted(files) if f.endswith('_1.jpeg')] print('Found {:,} pairs'.format(len(pairs))) print('Writing cache to: '+cache_file) write_cache_file(cache_file, pairs, root=dirname) else: raise NotImplementedError('Unknown dataset: '+dname) def dnames_to_image_pairs(dnames, data_dir='./data/'): """ dnames: list of datasets with image pairs, separated by + """ all_pairs = [] for dname in dnames.split('+'): if dname=='habitat_release': dirname = os.path.join(data_dir, 'habitat_release') assert os.path.isdir(dirname), "cannot find folder for habitat_release pairs: "+dirname cache_file = os.path.join(dirname, 'pairs.txt') assert os.path.isfile(cache_file), "cannot find cache file for habitat_release pairs, please first create the cache file, see instructions. "+cache_file pairs = load_pairs_from_cache_file(cache_file, root=dirname) elif dname in ['ARKitScenes', 'MegaDepth', '3DStreetView', 'IndoorVL']: dirname = os.path.join(data_dir, dname+'_crops') assert os.path.isdir(dirname), "cannot find folder for {:s} pairs: {:s}".format(dname, dirname) list_file = os.path.join(dirname, 'listing.txt') assert os.path.isfile(list_file), "cannot find list file for {:s} pairs, see instructions. {:s}".format(dname, list_file) pairs = load_pairs_from_list_file(list_file, root=dirname) print(' {:s}: {:,} pairs'.format(dname, len(pairs))) all_pairs += pairs if '+' in dnames: print(' Total: {:,} pairs'.format(len(all_pairs))) return all_pairs class PairsDataset(Dataset): def __init__(self, dnames, trfs='', totensor=True, normalize=True, data_dir='./data/'): super().__init__() self.image_pairs = dnames_to_image_pairs(dnames, data_dir=data_dir) self.transforms = get_pair_transforms(transform_str=trfs, totensor=totensor, normalize=normalize) def __len__(self): return len(self.image_pairs) def __getitem__(self, index): im1path, im2path = self.image_pairs[index] im1 = load_image(im1path) im2 = load_image(im2path) if self.transforms is not None: im1, im2 = self.transforms(im1, im2) return im1, im2 if __name__=="__main__": import argparse parser = argparse.ArgumentParser(prog="Computing and caching list of pairs for a given dataset") parser.add_argument('--data_dir', default='./data/', type=str, help="path where data are stored") parser.add_argument('--dataset', default='habitat_release', type=str, help="name of the dataset") args = parser.parse_args() parse_and_cache_all_pairs(dname=args.dataset, data_dir=args.data_dir) ================================================ FILE: croco/datasets/transforms.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). import torch import torchvision.transforms import torchvision.transforms.functional as F # "Pair": apply a transform on a pair # "Both": apply the exact same transform to both images class ComposePair(torchvision.transforms.Compose): def __call__(self, img1, img2): for t in self.transforms: img1, img2 = t(img1, img2) return img1, img2 class NormalizeBoth(torchvision.transforms.Normalize): def forward(self, img1, img2): img1 = super().forward(img1) img2 = super().forward(img2) return img1, img2 class ToTensorBoth(torchvision.transforms.ToTensor): def __call__(self, img1, img2): img1 = super().__call__(img1) img2 = super().__call__(img2) return img1, img2 class RandomCropPair(torchvision.transforms.RandomCrop): # the crop will be intentionally different for the two images with this class def forward(self, img1, img2): img1 = super().forward(img1) img2 = super().forward(img2) return img1, img2 class ColorJitterPair(torchvision.transforms.ColorJitter): # can be symmetric (same for both images) or assymetric (different jitter params for each image) depending on assymetric_prob def __init__(self, assymetric_prob, **kwargs): super().__init__(**kwargs) self.assymetric_prob = assymetric_prob def jitter_one(self, img, fn_idx, brightness_factor, contrast_factor, saturation_factor, hue_factor): for fn_id in fn_idx: if fn_id == 0 and brightness_factor is not None: img = F.adjust_brightness(img, brightness_factor) elif fn_id == 1 and contrast_factor is not None: img = F.adjust_contrast(img, contrast_factor) elif fn_id == 2 and saturation_factor is not None: img = F.adjust_saturation(img, saturation_factor) elif fn_id == 3 and hue_factor is not None: img = F.adjust_hue(img, hue_factor) return img def forward(self, img1, img2): fn_idx, brightness_factor, contrast_factor, saturation_factor, hue_factor = self.get_params( self.brightness, self.contrast, self.saturation, self.hue ) img1 = self.jitter_one(img1, fn_idx, brightness_factor, contrast_factor, saturation_factor, hue_factor) if torch.rand(1) < self.assymetric_prob: # assymetric: fn_idx, brightness_factor, contrast_factor, saturation_factor, hue_factor = self.get_params( self.brightness, self.contrast, self.saturation, self.hue ) img2 = self.jitter_one(img2, fn_idx, brightness_factor, contrast_factor, saturation_factor, hue_factor) return img1, img2 def get_pair_transforms(transform_str, totensor=True, normalize=True): # transform_str is eg crop224+color trfs = [] for s in transform_str.split('+'): if s.startswith('crop'): size = int(s[len('crop'):]) trfs.append(RandomCropPair(size)) elif s=='acolor': trfs.append(ColorJitterPair(assymetric_prob=1.0, brightness=(0.6, 1.4), contrast=(0.6, 1.4), saturation=(0.6, 1.4), hue=0.0)) elif s=='': # if transform_str was "" pass else: raise NotImplementedError('Unknown augmentation: '+s) if totensor: trfs.append( ToTensorBoth() ) if normalize: trfs.append( NormalizeBoth(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) ) if len(trfs)==0: return None elif len(trfs)==1: return trfs else: return ComposePair(trfs) ================================================ FILE: croco/models/blocks.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # Main encoder/decoder blocks # -------------------------------------------------------- # References: # timm # https://github.com/rwightman/pytorch-image-models/blob/master/timm/models/vision_transformer.py # https://github.com/rwightman/pytorch-image-models/blob/master/timm/models/layers/helpers.py # https://github.com/rwightman/pytorch-image-models/blob/master/timm/models/layers/drop.py # https://github.com/rwightman/pytorch-image-models/blob/master/timm/models/layers/mlp.py # https://github.com/rwightman/pytorch-image-models/blob/master/timm/models/layers/patch_embed.py import torch import torch.nn as nn from itertools import repeat import collections.abc def _ntuple(n): def parse(x): if isinstance(x, collections.abc.Iterable) and not isinstance(x, str): return x return tuple(repeat(x, n)) return parse to_2tuple = _ntuple(2) def drop_path(x, drop_prob: float = 0., training: bool = False, scale_by_keep: bool = True): """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks). """ if drop_prob == 0. or not training: return x keep_prob = 1 - drop_prob shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets random_tensor = x.new_empty(shape).bernoulli_(keep_prob) if keep_prob > 0.0 and scale_by_keep: random_tensor.div_(keep_prob) return x * random_tensor class DropPath(nn.Module): """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks). """ def __init__(self, drop_prob: float = 0., scale_by_keep: bool = True): super(DropPath, self).__init__() self.drop_prob = drop_prob self.scale_by_keep = scale_by_keep def forward(self, x): return drop_path(x, self.drop_prob, self.training, self.scale_by_keep) def extra_repr(self): return f'drop_prob={round(self.drop_prob,3):0.3f}' class Mlp(nn.Module): """ MLP as used in Vision Transformer, MLP-Mixer and related networks""" def __init__(self, in_features, hidden_features=None, out_features=None, act_layer=nn.GELU, bias=True, drop=0.): super().__init__() out_features = out_features or in_features hidden_features = hidden_features or in_features bias = to_2tuple(bias) drop_probs = to_2tuple(drop) self.fc1 = nn.Linear(in_features, hidden_features, bias=bias[0]) self.act = act_layer() self.drop1 = nn.Dropout(drop_probs[0]) self.fc2 = nn.Linear(hidden_features, out_features, bias=bias[1]) self.drop2 = nn.Dropout(drop_probs[1]) def forward(self, x): x = self.fc1(x) x = self.act(x) x = self.drop1(x) x = self.fc2(x) x = self.drop2(x) return x class Attention(nn.Module): def __init__(self, dim, rope=None, num_heads=8, qkv_bias=False, attn_drop=0., proj_drop=0.): super().__init__() self.num_heads = num_heads head_dim = dim // num_heads self.scale = head_dim ** -0.5 self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) self.attn_drop = nn.Dropout(attn_drop) self.proj = nn.Linear(dim, dim) self.proj_drop = nn.Dropout(proj_drop) self.rope = rope def forward(self, x, xpos): B, N, C = x.shape qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).transpose(1,3) q, k, v = [qkv[:,:,i] for i in range(3)] # q,k,v = qkv.unbind(2) # make torchscript happy (cannot use tensor as tuple) if self.rope is not None: q = self.rope(q, xpos) k = self.rope(k, xpos) attn = (q @ k.transpose(-2, -1)) * self.scale attn = attn.softmax(dim=-1) attn = self.attn_drop(attn) x = (attn @ v).transpose(1, 2).reshape(B, N, C) x = self.proj(x) x = self.proj_drop(x) return x class Block(nn.Module): def __init__(self, dim, num_heads, mlp_ratio=4., qkv_bias=False, drop=0., attn_drop=0., drop_path=0., act_layer=nn.GELU, norm_layer=nn.LayerNorm, rope=None): super().__init__() self.norm1 = norm_layer(dim) self.attn = Attention(dim, rope=rope, num_heads=num_heads, qkv_bias=qkv_bias, attn_drop=attn_drop, proj_drop=drop) # NOTE: drop path for stochastic depth, we shall see if this is better than dropout here self.drop_path = DropPath(drop_path) if drop_path > 0. else nn.Identity() self.norm2 = norm_layer(dim) mlp_hidden_dim = int(dim * mlp_ratio) self.mlp = Mlp(in_features=dim, hidden_features=mlp_hidden_dim, act_layer=act_layer, drop=drop) def forward(self, x, xpos): x = x + self.drop_path(self.attn(self.norm1(x), xpos)) x = x + self.drop_path(self.mlp(self.norm2(x))) return x class ATMBlock(nn.Module): # fxz modify def __init__(self, dim, num_heads, qkv_bias=False, attn_drop=0., drop=0., act_layer=nn.GELU, norm_layer=nn.LayerNorm, mlp_ratio=4.): super().__init__() self.cross_attn = CrossAttention(dim, rope=None, num_heads=num_heads, qkv_bias=qkv_bias, attn_drop=attn_drop, proj_drop=drop) mlp_hidden_dim = int(dim * mlp_ratio) self.norm2 = norm_layer(dim) self.mlp = Mlp(in_features=dim, hidden_features=mlp_hidden_dim, act_layer=act_layer, drop=drop) def forward(self, tokens, each_grid_h, each_grid_w): B, H, W, C = tokens.shape # query: B, C, H/each_grid_h, W/each_grid_w query = nn.functional.avg_pool2d(tokens.permute(0, 3, 1, 2), kernel_size=(each_grid_h, each_grid_w), stride=(each_grid_h, each_grid_w)) query = query.view(B, C, -1).permute(0, 2, 1).view(-1, 1, C) # B'1C in attn # key = tokens.permute(0, 3, 1, 2).view(B, C, each_grid_h, int(H/each_grid_h), each_grid_w, int(W/each_grid_w)) # # B, H/each_grid_h, W/each_grid_w, C, each_grid_h*each_grid_w: # key = key.permute(0, 3, 5, 1, 2, 4).reshape(B, int(H/each_grid_h), int(W/each_grid_w), C, -1) # key = key.reshape(B*int(H/each_grid_h)*int(W/each_grid_w), C, -1).permute(0, 2, 1) # B'4C key_i_list = [] for i_h in range(0, H, each_grid_h): for i_w in range(0, W, each_grid_w): key_i_list.append(tokens[:, i_h:i_h+each_grid_h, i_w:i_w+each_grid_w, :].reshape(B, -1, C)) # key: BXC (X is 1 or 2 or 4) key = torch.stack(key_i_list, dim=1) # BNXC key = key.reshape(-1, key.shape[2], C) merged = query + self.cross_attn(query, key, key, None, None) merged = self.mlp(merged) return merged.reshape(B, -1, C) class CrossAttention(nn.Module): def __init__(self, dim, rope=None, num_heads=8, qkv_bias=False, attn_drop=0., proj_drop=0.): super().__init__() self.num_heads = num_heads head_dim = dim // num_heads self.scale = head_dim ** -0.5 self.projq = nn.Linear(dim, dim, bias=qkv_bias) self.projk = nn.Linear(dim, dim, bias=qkv_bias) self.projv = nn.Linear(dim, dim, bias=qkv_bias) self.attn_drop = nn.Dropout(attn_drop) self.proj = nn.Linear(dim, dim) self.proj_drop = nn.Dropout(proj_drop) self.rope = rope def forward(self, query, key, value, qpos, kpos): B, Nq, C = query.shape Nk = key.shape[1] Nv = value.shape[1] q = self.projq(query).reshape(B,Nq,self.num_heads, C// self.num_heads).permute(0, 2, 1, 3) k = self.projk(key).reshape(B,Nk,self.num_heads, C// self.num_heads).permute(0, 2, 1, 3) v = self.projv(value).reshape(B,Nv,self.num_heads, C// self.num_heads).permute(0, 2, 1, 3) if self.rope is not None: q = self.rope(q, qpos) k = self.rope(k, kpos) attn = (q @ k.transpose(-2, -1)) * self.scale attn = attn.softmax(dim=-1) attn = self.attn_drop(attn) x = (attn @ v).transpose(1, 2).reshape(B, Nq, C) x = self.proj(x) x = self.proj_drop(x) return x class DecoderBlock(nn.Module): def __init__(self, dim, num_heads, mlp_ratio=4., qkv_bias=False, drop=0., attn_drop=0., drop_path=0., act_layer=nn.GELU, norm_layer=nn.LayerNorm, norm_mem=True, rope=None): super().__init__() self.norm1 = norm_layer(dim) self.attn = Attention(dim, rope=rope, num_heads=num_heads, qkv_bias=qkv_bias, attn_drop=attn_drop, proj_drop=drop) self.cross_attn = CrossAttention(dim, rope=rope, num_heads=num_heads, qkv_bias=qkv_bias, attn_drop=attn_drop, proj_drop=drop) self.drop_path = DropPath(drop_path) if drop_path > 0. else nn.Identity() self.norm2 = norm_layer(dim) self.norm3 = norm_layer(dim) mlp_hidden_dim = int(dim * mlp_ratio) self.mlp = Mlp(in_features=dim, hidden_features=mlp_hidden_dim, act_layer=act_layer, drop=drop) self.norm_y = norm_layer(dim) if norm_mem else nn.Identity() def forward(self, x, y, xpos, ypos): x = x + self.drop_path(self.attn(self.norm1(x), xpos)) y_ = self.norm_y(y) x = x + self.drop_path(self.cross_attn(self.norm2(x), y_, y_, xpos, ypos)) x = x + self.drop_path(self.mlp(self.norm3(x))) return x, y # patch embedding class PositionGetter(object): """ return positions of patches """ def __init__(self): self.cache_positions = {} def __call__(self, b, h, w, device): if not (h,w) in self.cache_positions: x = torch.arange(w, device=device) y = torch.arange(h, device=device) self.cache_positions[h,w] = torch.cartesian_prod(y, x) # (h, w, 2) pos = self.cache_positions[h,w].view(1, h*w, 2).expand(b, -1, 2).clone() return pos class PatchEmbed(nn.Module): """ just adding _init_weights + position getter compared to timm.models.layers.patch_embed.PatchEmbed""" def __init__(self, img_size=224, patch_size=16, in_chans=3, embed_dim=768, norm_layer=None, flatten=True): super().__init__() img_size = to_2tuple(img_size) patch_size = to_2tuple(patch_size) self.img_size = img_size self.patch_size = patch_size self.grid_size = (img_size[0] // patch_size[0], img_size[1] // patch_size[1]) self.num_patches = self.grid_size[0] * self.grid_size[1] self.flatten = flatten self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_size, stride=patch_size) self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity() self.position_getter = PositionGetter() def forward(self, x): B, C, H, W = x.shape torch._assert(H == self.img_size[0], f"Input image height ({H}) doesn't match model ({self.img_size[0]}).") torch._assert(W == self.img_size[1], f"Input image width ({W}) doesn't match model ({self.img_size[1]}).") x = self.proj(x) pos = self.position_getter(B, x.size(2), x.size(3), x.device) if self.flatten: x = x.flatten(2).transpose(1, 2) # BCHW -> BNC x = self.norm(x) return x, pos def _init_weights(self): w = self.proj.weight.data torch.nn.init.xavier_uniform_(w.view([w.shape[0], -1])) ================================================ FILE: croco/models/criterion.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Criterion to train CroCo # -------------------------------------------------------- # References: # MAE: https://github.com/facebookresearch/mae # -------------------------------------------------------- import torch class MaskedMSE(torch.nn.Module): def __init__(self, norm_pix_loss=False, masked=True): """ norm_pix_loss: normalize each patch by their pixel mean and variance masked: compute loss over the masked patches only """ super().__init__() self.norm_pix_loss = norm_pix_loss self.masked = masked def forward(self, pred, mask, target): if self.norm_pix_loss: mean = target.mean(dim=-1, keepdim=True) var = target.var(dim=-1, keepdim=True) target = (target - mean) / (var + 1.e-6)**.5 loss = (pred - target) ** 2 loss = loss.mean(dim=-1) # [N, L], mean loss per patch if self.masked: loss = (loss * mask).sum() / mask.sum() # mean loss on masked patches else: loss = loss.mean() # mean loss return loss ================================================ FILE: croco/models/croco.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # CroCo model during pretraining # -------------------------------------------------------- import math import torch import torch.nn as nn torch.backends.cuda.matmul.allow_tf32 = True # for gpu >= Ampere and pytorch >= 1.12 from functools import partial from models.blocks import Block, DecoderBlock, PatchEmbed, ATMBlock from models.pos_embed import get_2d_sincos_pos_embed, RoPE2D from models.masking import RandomMask class CroCoNet(nn.Module): def __init__(self, img_size=224, # input image size patch_size=16, # patch_size mask_ratio=0.9, # ratios of masked tokens enc_embed_dim=768, # encoder feature dimension enc_depth=12, # encoder depth enc_num_heads=12, # encoder number of heads in the transformer block dec_embed_dim=512, # decoder feature dimension dec_depth=8, # decoder depth dec_num_heads=16, # decoder number of heads in the transformer block mlp_ratio=4, norm_layer=partial(nn.LayerNorm, eps=1e-6), norm_im2_in_dec=True, # whether to apply normalization of the 'memory' = (second image) in the decoder pos_embed='cosine', # positional embedding (either cosine or RoPE100) ): super(CroCoNet, self).__init__() # patch embeddings (with initialization done as in MAE) self._set_patch_embed(img_size, patch_size, enc_embed_dim) # mask generations self._set_mask_generator(self.patch_embed.num_patches, mask_ratio) self.pos_embed = pos_embed self.patch_size = patch_size if pos_embed=='cosine': # positional embedding of the encoder enc_pos_embed = get_2d_sincos_pos_embed(enc_embed_dim, int(self.patch_embed.num_patches**.5), n_cls_token=0) self.register_buffer('enc_pos_embed', torch.from_numpy(enc_pos_embed).float()) # positional embedding of the decoder dec_pos_embed = get_2d_sincos_pos_embed(dec_embed_dim, int(self.patch_embed.num_patches**.5), n_cls_token=0) self.register_buffer('dec_pos_embed', torch.from_numpy(dec_pos_embed).float()) # pos embedding in each block self.rope = None # nothing for cosine elif pos_embed.startswith('RoPE'): # eg RoPE100 self.enc_pos_embed = None # nothing to add in the encoder with RoPE self.dec_pos_embed = None # nothing to add in the decoder with RoPE if RoPE2D is None: raise ImportError("Cannot find cuRoPE2D, please install it following the README instructions") freq = float(pos_embed[len('RoPE'):]) self.rope = RoPE2D(freq=freq) elif pos_embed.startswith("DINO"): self.interpolate_offset = None self.rope = None self.interpolate_antialias = False self.enc_pos_embed = nn.Parameter(torch.zeros(1, self.patch_embed.num_patches, enc_embed_dim)) # learnable self.dec_pos_embed = nn.Parameter(torch.zeros(1, self.patch_embed.num_patches, dec_embed_dim)) # learnable # test: add RoPE with enc_pos_embed together if RoPE2D is None: raise ImportError("Cannot find cuRoPE2D, please install it following the README instructions") self.rope = RoPE2D(freq=100) elif pos_embed.startswith("ATMRoPE"): self.enc_pos_embed = None # nothing to add in the encoder with RoPE self.dec_pos_embed = None # nothing to add in the decoder with RoPE if RoPE2D is None: raise ImportError("Cannot find cuRoPE2D, please install it following the README instructions") freq = float(pos_embed[len('ATMRoPE'):]) self.rope = RoPE2D(freq=freq) # fxz: ATM block self.atm_block = ATMBlock(enc_embed_dim, enc_num_heads, qkv_bias=False, attn_drop=0., drop=0.) else: raise NotImplementedError('Unknown pos_embed '+pos_embed) # transformer for the encoder self.enc_depth = enc_depth self.enc_embed_dim = enc_embed_dim self.enc_blocks = nn.ModuleList([ Block(enc_embed_dim, enc_num_heads, mlp_ratio, qkv_bias=True, norm_layer=norm_layer, rope=self.rope) for i in range(enc_depth)]) self.enc_norm = norm_layer(enc_embed_dim) # masked tokens self._set_mask_token(dec_embed_dim) # decoder self._set_decoder(enc_embed_dim, dec_embed_dim, dec_num_heads, dec_depth, mlp_ratio, norm_layer, norm_im2_in_dec) # prediction head self._set_prediction_head(dec_embed_dim, patch_size) # initializer weights self.initialize_weights() # according to DINOv2 def interpolate_pose_encoding_dust3r(self, x, pos_embed_code, img_w, img_h, fuzzy_pe=True): # x shape: N, patched, enc_dim or dec_dim previous_dtype = x.dtype B, patch_num, dim = x.shape # when using grid_sample this is not neccesary: # if patch_num == pos_embed_code.shape[1] and img_w == img_h: # return pos_embed_code w0 = img_w // self.patch_size h0 = img_h // self.patch_size kwargs = {} M = int(math.sqrt(pos_embed_code.shape[1])) # Recover the number of patches in each dimension assert pos_embed_code.shape[1] == M * M # if self.interpolate_offset: # # Historical kludge: add a small number to avoid floating point error in the interpolation, see https://github.com/facebookresearch/dino/issues/8 # # Note: still needed for backward-compatibility, the underlying operators are using both output size and scale factors # sx = float(w0 + self.interpolate_offset) / M # sy = float(h0 + self.interpolate_offset) / M # kwargs["scale_factor"] = (sx, sy) # else: # # Simply specify an output size instead of a scale factor # kwargs["size"] = (w0, h0) # pos_embed_code = nn.functional.interpolate( # pos_embed_code.reshape(1, M, M, dim).permute(0, 3, 1, 2), # mode="bicubic", # antialias=self.interpolate_antialias, # **kwargs, # ) # add fuzzy positional encoding [grid_sample]; pos_embed_code: B,M*M,dim grid_h = torch.linspace(-1, 1, h0) grid_w = torch.linspace(-1, 1, w0) mesh_h, mesh_w = torch.meshgrid(grid_h, grid_w, indexing="ij") grid_pos = torch.stack((mesh_h, mesh_w), dim=-1)[None, ...].to(x.device) # B,Hout,Wout,2 # add noise to grid_pos here: Fuzzy_Positional_Encoding if fuzzy_pe: h_interval, w_interval = 2. / h0, 2. / w0 fuzzy_noise = torch.rand_like(grid_pos) # [0,1) fuzzy_noise[..., -2] = fuzzy_noise[..., -2] * h_interval - h_interval / 2. fuzzy_noise[..., -1] = fuzzy_noise[..., -1] * w_interval - w_interval / 2. grid_pos = grid_pos + fuzzy_noise pos_embed_code = nn.functional.grid_sample(pos_embed_code.reshape(1, M, M, dim).permute(0, 3, 1, 2), grid_pos, mode="bilinear", padding_mode="zeros", align_corners=False) # assert (w0, h0) == pos_embed_code.shape[-2:] assert (h0, w0) == pos_embed_code.shape[-2:] pos_embed_code = pos_embed_code.permute(0, 2, 3, 1).view(1, -1, dim).repeat(B, 1, 1) return pos_embed_code.to(previous_dtype) def _set_patch_embed(self, img_size=224, patch_size=16, enc_embed_dim=768): self.patch_embed = PatchEmbed(img_size, patch_size, 3, enc_embed_dim) def _set_mask_generator(self, num_patches, mask_ratio): self.mask_generator = RandomMask(num_patches, mask_ratio) def _set_mask_token(self, dec_embed_dim): self.mask_token = nn.Parameter(torch.zeros(1, 1, dec_embed_dim)) def _set_decoder(self, enc_embed_dim, dec_embed_dim, dec_num_heads, dec_depth, mlp_ratio, norm_layer, norm_im2_in_dec): self.dec_depth = dec_depth self.dec_embed_dim = dec_embed_dim # transfer from encoder to decoder self.decoder_embed = nn.Linear(enc_embed_dim, dec_embed_dim, bias=True) # transformer for the decoder self.dec_blocks = nn.ModuleList([ DecoderBlock(dec_embed_dim, dec_num_heads, mlp_ratio=mlp_ratio, qkv_bias=True, norm_layer=norm_layer, norm_mem=norm_im2_in_dec, rope=self.rope) for i in range(dec_depth)]) # final norm layer self.dec_norm = norm_layer(dec_embed_dim) def _set_prediction_head(self, dec_embed_dim, patch_size): self.prediction_head = nn.Linear(dec_embed_dim, patch_size**2 * 3, bias=True) def initialize_weights(self): # patch embed self.patch_embed._init_weights() # mask tokens if self.mask_token is not None: torch.nn.init.normal_(self.mask_token, std=.02) # linears and layer norms self.apply(self._init_weights) def _init_weights(self, m): if isinstance(m, nn.Linear): # we use xavier_uniform following official JAX ViT: torch.nn.init.xavier_uniform_(m.weight) if isinstance(m, nn.Linear) and m.bias is not None: nn.init.constant_(m.bias, 0) elif isinstance(m, nn.LayerNorm): nn.init.constant_(m.bias, 0) nn.init.constant_(m.weight, 1.0) def _encode_image(self, image, do_mask=False, return_all_blocks=False): """ image has B x 3 x img_size x img_size do_mask: whether to perform masking or not return_all_blocks: if True, return the features at the end of every block instead of just the features from the last block (eg for some prediction heads) """ # embed the image into patches (x has size B x Npatches x C) # and get position if each return patch (pos has size B x Npatches x 2) x, pos = self.patch_embed(image) # add positional embedding without cls token if self.enc_pos_embed is not None: x = x + self.enc_pos_embed[None,...] # apply masking B,N,C = x.size() if do_mask: masks = self.mask_generator(x) x = x[~masks].view(B, -1, C) posvis = pos[~masks].view(B, -1, 2) else: B,N,C = x.size() masks = torch.zeros((B,N), dtype=bool) posvis = pos # now apply the transformer encoder and normalization if return_all_blocks: out = [] for blk in self.enc_blocks: x = blk(x, posvis) out.append(x) out[-1] = self.enc_norm(out[-1]) return out, pos, masks else: for blk in self.enc_blocks: x = blk(x, posvis) x = self.enc_norm(x) return x, pos, masks def _decoder(self, feat1, pos1, masks1, feat2, pos2, return_all_blocks=False): """ return_all_blocks: if True, return the features at the end of every block instead of just the features from the last block (eg for some prediction heads) masks1 can be None => assume image1 fully visible """ # encoder to decoder layer visf1 = self.decoder_embed(feat1) f2 = self.decoder_embed(feat2) # append masked tokens to the sequence B,Nenc,C = visf1.size() if masks1 is None: # downstreams f1_ = visf1 else: # pretraining Ntotal = masks1.size(1) f1_ = self.mask_token.repeat(B, Ntotal, 1).to(dtype=visf1.dtype) f1_[~masks1] = visf1.view(B * Nenc, C) # add positional embedding if self.dec_pos_embed is not None: f1_ = f1_ + self.dec_pos_embed f2 = f2 + self.dec_pos_embed # apply Transformer blocks out = f1_ out2 = f2 if return_all_blocks: _out, out = out, [] for blk in self.dec_blocks: _out, out2 = blk(_out, out2, pos1, pos2) out.append(_out) out[-1] = self.dec_norm(out[-1]) else: for blk in self.dec_blocks: out, out2 = blk(out, out2, pos1, pos2) out = self.dec_norm(out) return out def patchify(self, imgs): """ imgs: (B, 3, H, W) x: (B, L, patch_size**2 *3) """ p = self.patch_embed.patch_size[0] assert imgs.shape[2] == imgs.shape[3] and imgs.shape[2] % p == 0 h = w = imgs.shape[2] // p x = imgs.reshape(shape=(imgs.shape[0], 3, h, p, w, p)) x = torch.einsum('nchpwq->nhwpqc', x) x = x.reshape(shape=(imgs.shape[0], h * w, p**2 * 3)) return x def unpatchify(self, x, channels=3): """ x: (N, L, patch_size**2 *channels) imgs: (N, 3, H, W) """ patch_size = self.patch_embed.patch_size[0] h = w = int(x.shape[1]**.5) assert h * w == x.shape[1] x = x.reshape(shape=(x.shape[0], h, w, patch_size, patch_size, channels)) x = torch.einsum('nhwpqc->nchpwq', x) imgs = x.reshape(shape=(x.shape[0], channels, h * patch_size, h * patch_size)) return imgs def forward(self, img1, img2): """ img1: tensor of size B x 3 x img_size x img_size img2: tensor of size B x 3 x img_size x img_size out will be B x N x (3*patch_size*patch_size) masks are also returned as B x N just in case """ # encoder of the masked first image feat1, pos1, mask1 = self._encode_image(img1, do_mask=True) # encoder of the second image feat2, pos2, _ = self._encode_image(img2, do_mask=False) # decoder decfeat = self._decoder(feat1, pos1, mask1, feat2, pos2) # prediction head out = self.prediction_head(decfeat) # get target target = self.patchify(img1) return out, mask1, target ================================================ FILE: croco/models/croco_downstream.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # CroCo model for downstream tasks # -------------------------------------------------------- import torch from .croco import CroCoNet def croco_args_from_ckpt(ckpt): if 'croco_kwargs' in ckpt: # CroCo v2 released models return ckpt['croco_kwargs'] elif 'args' in ckpt and hasattr(ckpt['args'], 'model'): # pretrained using the official code release s = ckpt['args'].model # eg "CroCoNet(enc_embed_dim=1024, enc_num_heads=16, enc_depth=24)" assert s.startswith('CroCoNet(') return eval('dict'+s[len('CroCoNet'):]) # transform it into the string of a dictionary and evaluate it else: # CroCo v1 released models return dict() class CroCoDownstreamMonocularEncoder(CroCoNet): def __init__(self, head, **kwargs): """ Build network for monocular downstream task, only using the encoder. It takes an extra argument head, that is called with the features and a dictionary img_info containing 'width' and 'height' keys The head is setup with the croconet arguments in this init function NOTE: It works by *calling super().__init__() but with redefined setters """ super(CroCoDownstreamMonocularEncoder, self).__init__(**kwargs) head.setup(self) self.head = head def _set_mask_generator(self, *args, **kwargs): """ No mask generator """ return def _set_mask_token(self, *args, **kwargs): """ No mask token """ self.mask_token = None return def _set_decoder(self, *args, **kwargs): """ No decoder """ return def _set_prediction_head(self, *args, **kwargs): """ No 'prediction head' for downstream tasks.""" return def forward(self, img): """ img if of size batch_size x 3 x h x w """ B, C, H, W = img.size() img_info = {'height': H, 'width': W} need_all_layers = hasattr(self.head, 'return_all_blocks') and self.head.return_all_blocks out, _, _ = self._encode_image(img, do_mask=False, return_all_blocks=need_all_layers) return self.head(out, img_info) class CroCoDownstreamBinocular(CroCoNet): def __init__(self, head, **kwargs): """ Build network for binocular downstream task It takes an extra argument head, that is called with the features and a dictionary img_info containing 'width' and 'height' keys The head is setup with the croconet arguments in this init function """ super(CroCoDownstreamBinocular, self).__init__(**kwargs) head.setup(self) self.head = head def _set_mask_generator(self, *args, **kwargs): """ No mask generator """ return def _set_mask_token(self, *args, **kwargs): """ No mask token """ self.mask_token = None return def _set_prediction_head(self, *args, **kwargs): """ No prediction head for downstream tasks, define your own head """ return def encode_image_pairs(self, img1, img2, return_all_blocks=False): """ run encoder for a pair of images it is actually ~5% faster to concatenate the images along the batch dimension than to encode them separately """ ## the two commented lines below is the naive version with separate encoding #out, pos, _ = self._encode_image(img1, do_mask=False, return_all_blocks=return_all_blocks) #out2, pos2, _ = self._encode_image(img2, do_mask=False, return_all_blocks=False) ## and now the faster version out, pos, _ = self._encode_image( torch.cat( (img1,img2), dim=0), do_mask=False, return_all_blocks=return_all_blocks ) if return_all_blocks: out,out2 = list(map(list, zip(*[o.chunk(2, dim=0) for o in out]))) out2 = out2[-1] else: out,out2 = out.chunk(2, dim=0) pos,pos2 = pos.chunk(2, dim=0) return out, out2, pos, pos2 def forward(self, img1, img2): B, C, H, W = img1.size() img_info = {'height': H, 'width': W} return_all_blocks = hasattr(self.head, 'return_all_blocks') and self.head.return_all_blocks out, out2, pos, pos2 = self.encode_image_pairs(img1, img2, return_all_blocks=return_all_blocks) if return_all_blocks: decout = self._decoder(out[-1], pos, None, out2, pos2, return_all_blocks=return_all_blocks) decout = out+decout else: decout = self._decoder(out, pos, None, out2, pos2, return_all_blocks=return_all_blocks) return self.head(decout, img_info) ================================================ FILE: croco/models/curope/__init__.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). from .curope2d import cuRoPE2D ================================================ FILE: croco/models/curope/curope.cpp ================================================ /* Copyright (C) 2022-present Naver Corporation. All rights reserved. Licensed under CC BY-NC-SA 4.0 (non-commercial use only). */ #include // forward declaration void rope_2d_cuda( torch::Tensor tokens, const torch::Tensor pos, const float base, const float fwd ); void rope_2d_cpu( torch::Tensor tokens, const torch::Tensor positions, const float base, const float fwd ) { const int B = tokens.size(0); const int N = tokens.size(1); const int H = tokens.size(2); const int D = tokens.size(3) / 4; auto tok = tokens.accessor(); auto pos = positions.accessor(); for (int b = 0; b < B; b++) { for (int x = 0; x < 2; x++) { // y and then x (2d) for (int n = 0; n < N; n++) { // grab the token position const int p = pos[b][n][x]; for (int h = 0; h < H; h++) { for (int d = 0; d < D; d++) { // grab the two values float u = tok[b][n][h][d+0+x*2*D]; float v = tok[b][n][h][d+D+x*2*D]; // grab the cos,sin const float inv_freq = fwd * p / powf(base, d/float(D)); float c = cosf(inv_freq); float s = sinf(inv_freq); // write the result tok[b][n][h][d+0+x*2*D] = u*c - v*s; tok[b][n][h][d+D+x*2*D] = v*c + u*s; } } } } } } void rope_2d( torch::Tensor tokens, // B,N,H,D const torch::Tensor positions, // B,N,2 const float base, const float fwd ) { TORCH_CHECK(tokens.dim() == 4, "tokens must have 4 dimensions"); TORCH_CHECK(positions.dim() == 3, "positions must have 3 dimensions"); TORCH_CHECK(tokens.size(0) == positions.size(0), "batch size differs between tokens & positions"); TORCH_CHECK(tokens.size(1) == positions.size(1), "seq_length differs between tokens & positions"); TORCH_CHECK(positions.size(2) == 2, "positions.shape[2] must be equal to 2"); TORCH_CHECK(tokens.is_cuda() == positions.is_cuda(), "tokens and positions are not on the same device" ); if (tokens.is_cuda()) rope_2d_cuda( tokens, positions, base, fwd ); else rope_2d_cpu( tokens, positions, base, fwd ); } PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) { m.def("rope_2d", &rope_2d, "RoPE 2d forward/backward"); } ================================================ FILE: croco/models/curope/curope2d.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). import torch try: import curope as _kernels # run `python setup.py install` except ModuleNotFoundError: from . import curope as _kernels # run `python setup.py build_ext --inplace` class cuRoPE2D_func (torch.autograd.Function): @staticmethod def forward(ctx, tokens, positions, base, F0=1): ctx.save_for_backward(positions) ctx.saved_base = base ctx.saved_F0 = F0 # tokens = tokens.clone() # uncomment this if inplace doesn't work _kernels.rope_2d( tokens, positions, base, F0 ) ctx.mark_dirty(tokens) return tokens @staticmethod def backward(ctx, grad_res): positions, base, F0 = ctx.saved_tensors[0], ctx.saved_base, ctx.saved_F0 _kernels.rope_2d( grad_res, positions, base, -F0 ) ctx.mark_dirty(grad_res) return grad_res, None, None, None class cuRoPE2D(torch.nn.Module): def __init__(self, freq=100.0, F0=1.0): super().__init__() self.base = freq self.F0 = F0 def forward(self, tokens, positions): cuRoPE2D_func.apply( tokens.transpose(1,2), positions, self.base, self.F0 ) return tokens ================================================ FILE: croco/models/curope/kernels.cu ================================================ /* Copyright (C) 2022-present Naver Corporation. All rights reserved. Licensed under CC BY-NC-SA 4.0 (non-commercial use only). */ #include #include #include #include #define CHECK_CUDA(tensor) {\ TORCH_CHECK((tensor).is_cuda(), #tensor " is not in cuda memory"); \ TORCH_CHECK((tensor).is_contiguous(), #tensor " is not contiguous"); } void CHECK_KERNEL() {auto error = cudaGetLastError(); TORCH_CHECK( error == cudaSuccess, cudaGetErrorString(error));} template < typename scalar_t > __global__ void rope_2d_cuda_kernel( //scalar_t* __restrict__ tokens, torch::PackedTensorAccessor32 tokens, const int64_t* __restrict__ pos, const float base, const float fwd ) // const int N, const int H, const int D ) { // tokens shape = (B, N, H, D) const int N = tokens.size(1); const int H = tokens.size(2); const int D = tokens.size(3); // each block update a single token, for all heads // each thread takes care of a single output extern __shared__ float shared[]; float* shared_inv_freq = shared + D; const int b = blockIdx.x / N; const int n = blockIdx.x % N; const int Q = D / 4; // one token = [0..Q : Q..2Q : 2Q..3Q : 3Q..D] // u_Y v_Y u_X v_X // shared memory: first, compute inv_freq if (threadIdx.x < Q) shared_inv_freq[threadIdx.x] = fwd / powf(base, threadIdx.x/float(Q)); __syncthreads(); // start of X or Y part const int X = threadIdx.x < D/2 ? 0 : 1; const int m = (X*D/2) + (threadIdx.x % Q); // index of u_Y or u_X // grab the cos,sin appropriate for me const float freq = pos[blockIdx.x*2+X] * shared_inv_freq[threadIdx.x % Q]; const float cos = cosf(freq); const float sin = sinf(freq); /* float* shared_cos_sin = shared + D + D/4; if ((threadIdx.x % (D/2)) < Q) shared_cos_sin[m+0] = cosf(freq); else shared_cos_sin[m+Q] = sinf(freq); __syncthreads(); const float cos = shared_cos_sin[m+0]; const float sin = shared_cos_sin[m+Q]; */ for (int h = 0; h < H; h++) { // then, load all the token for this head in shared memory shared[threadIdx.x] = tokens[b][n][h][threadIdx.x]; __syncthreads(); const float u = shared[m]; const float v = shared[m+Q]; // write output if ((threadIdx.x % (D/2)) < Q) tokens[b][n][h][threadIdx.x] = u*cos - v*sin; else tokens[b][n][h][threadIdx.x] = v*cos + u*sin; } } void rope_2d_cuda( torch::Tensor tokens, const torch::Tensor pos, const float base, const float fwd ) { const int B = tokens.size(0); // batch size const int N = tokens.size(1); // sequence length const int H = tokens.size(2); // number of heads const int D = tokens.size(3); // dimension per head TORCH_CHECK(tokens.stride(3) == 1 && tokens.stride(2) == D, "tokens are not contiguous"); TORCH_CHECK(pos.is_contiguous(), "positions are not contiguous"); TORCH_CHECK(pos.size(0) == B && pos.size(1) == N && pos.size(2) == 2, "bad pos.shape"); TORCH_CHECK(D % 4 == 0, "token dim must be multiple of 4"); // one block for each layer, one thread per local-max const int THREADS_PER_BLOCK = D; const int N_BLOCKS = B * N; // each block takes care of H*D values const int SHARED_MEM = sizeof(float) * (D + D/4); AT_DISPATCH_FLOATING_TYPES_AND_HALF(tokens.type(), "rope_2d_cuda", ([&] { rope_2d_cuda_kernel <<>> ( //tokens.data_ptr(), tokens.packed_accessor32(), pos.data_ptr(), base, fwd); //, N, H, D ); })); } ================================================ FILE: croco/models/curope/setup.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). from setuptools import setup from torch import cuda from torch.utils.cpp_extension import BuildExtension, CUDAExtension # compile for all possible CUDA architectures all_cuda_archs = cuda.get_gencode_flags().replace('compute=','arch=').split() # alternatively, you can list cuda archs that you want, eg: # all_cuda_archs = [ # '-gencode', 'arch=compute_70,code=sm_70', # '-gencode', 'arch=compute_75,code=sm_75', # '-gencode', 'arch=compute_80,code=sm_80', # '-gencode', 'arch=compute_86,code=sm_86' # ] setup( name = 'curope', ext_modules = [ CUDAExtension( name='curope', sources=[ "curope.cpp", "kernels.cu", ], extra_compile_args = dict( nvcc=['-O3','--ptxas-options=-v',"--use_fast_math"]+all_cuda_archs, cxx=['-O3']) ) ], cmdclass = { 'build_ext': BuildExtension }) ================================================ FILE: croco/models/dpt_block.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # DPT head for ViTs # -------------------------------------------------------- # References: # https://github.com/isl-org/DPT # https://github.com/EPFL-VILAB/MultiMAE/blob/main/multimae/output_adapters.py # Modifications Copyright (C) # Changes: image process utils update # This is an adaptation and is distributed under the same license (CC BY-NC-SA 4.0). # SPDX-License-Identifier: CC-BY-NC-SA-4.0(non-commercial use only) import torch import torch.nn as nn import torch.nn.functional as F from einops import rearrange, repeat from typing import Union, Tuple, Iterable, List, Optional, Dict def pair(t): return t if isinstance(t, tuple) else (t, t) def make_scratch(in_shape, out_shape, groups=1, expand=False): scratch = nn.Module() out_shape1 = out_shape out_shape2 = out_shape out_shape3 = out_shape out_shape4 = out_shape if expand == True: out_shape1 = out_shape out_shape2 = out_shape * 2 out_shape3 = out_shape * 4 out_shape4 = out_shape * 8 scratch.layer1_rn = nn.Conv2d( in_shape[0], out_shape1, kernel_size=3, stride=1, padding=1, bias=False, groups=groups, ) scratch.layer2_rn = nn.Conv2d( in_shape[1], out_shape2, kernel_size=3, stride=1, padding=1, bias=False, groups=groups, ) scratch.layer3_rn = nn.Conv2d( in_shape[2], out_shape3, kernel_size=3, stride=1, padding=1, bias=False, groups=groups, ) scratch.layer4_rn = nn.Conv2d( in_shape[3], out_shape4, kernel_size=3, stride=1, padding=1, bias=False, groups=groups, ) scratch.layer_rn = nn.ModuleList([ scratch.layer1_rn, scratch.layer2_rn, scratch.layer3_rn, scratch.layer4_rn, ]) return scratch class ResidualConvUnit_custom(nn.Module): """Residual convolution module.""" def __init__(self, features, activation, bn): """Init. Args: features (int): number of features """ super().__init__() self.bn = bn self.groups = 1 self.conv1 = nn.Conv2d( features, features, kernel_size=3, stride=1, padding=1, bias=not self.bn, groups=self.groups, ) self.conv2 = nn.Conv2d( features, features, kernel_size=3, stride=1, padding=1, bias=not self.bn, groups=self.groups, ) if self.bn == True: self.bn1 = nn.BatchNorm2d(features) self.bn2 = nn.BatchNorm2d(features) self.activation = activation self.skip_add = nn.quantized.FloatFunctional() def forward(self, x): """Forward pass. Args: x (tensor): input Returns: tensor: output """ out = self.activation(x) out = self.conv1(out) if self.bn == True: out = self.bn1(out) out = self.activation(out) out = self.conv2(out) if self.bn == True: out = self.bn2(out) if self.groups > 1: out = self.conv_merge(out) return self.skip_add.add(out, x) class FeatureFusionBlock_custom(nn.Module): """Feature fusion block.""" def __init__( self, features, activation, deconv=False, bn=False, expand=False, align_corners=True, width_ratio=1, ): """Init. Args: features (int): number of features """ super(FeatureFusionBlock_custom, self).__init__() self.width_ratio = width_ratio self.deconv = deconv self.align_corners = align_corners self.groups = 1 self.expand = expand out_features = features if self.expand == True: out_features = features // 2 self.out_conv = nn.Conv2d( features, out_features, kernel_size=1, stride=1, padding=0, bias=True, groups=1, ) self.resConfUnit1 = ResidualConvUnit_custom(features, activation, bn) self.resConfUnit2 = ResidualConvUnit_custom(features, activation, bn) self.skip_add = nn.quantized.FloatFunctional() def forward(self, *xs): """Forward pass. Returns: tensor: output """ output = xs[0] if len(xs) == 2: res = self.resConfUnit1(xs[1]) if self.width_ratio != 1: res = F.interpolate(res, size=(output.shape[2], output.shape[3]), mode='bilinear') output = self.skip_add.add(output, res) # output += res output = self.resConfUnit2(output) if self.width_ratio != 1: # and output.shape[3] < self.width_ratio * output.shape[2] #size=(image.shape[]) if (output.shape[3] / output.shape[2]) < (2 / 3) * self.width_ratio: shape = 3 * output.shape[3] else: shape = int(self.width_ratio * 2 * output.shape[2]) output = F.interpolate(output, size=(2* output.shape[2], shape), mode='bilinear') else: output = nn.functional.interpolate(output, scale_factor=2, mode="bilinear", align_corners=self.align_corners) output = self.out_conv(output) return output def make_fusion_block(features, use_bn, width_ratio=1): return FeatureFusionBlock_custom( features, nn.ReLU(False), deconv=False, bn=use_bn, expand=False, align_corners=True, width_ratio=width_ratio, ) class Interpolate(nn.Module): """Interpolation module.""" def __init__(self, scale_factor, mode, align_corners=False): """Init. Args: scale_factor (float): scaling mode (str): interpolation mode """ super(Interpolate, self).__init__() self.interp = nn.functional.interpolate self.scale_factor = scale_factor self.mode = mode self.align_corners = align_corners def forward(self, x): """Forward pass. Args: x (tensor): input Returns: tensor: interpolated data """ x = self.interp( x, scale_factor=self.scale_factor, mode=self.mode, align_corners=self.align_corners, ) return x class DPTOutputAdapter(nn.Module): """DPT output adapter. :param num_cahnnels: Number of output channels :param stride_level: tride level compared to the full-sized image. E.g. 4 for 1/4th the size of the image. :param patch_size_full: Int or tuple of the patch size over the full image size. Patch size for smaller inputs will be computed accordingly. :param hooks: Index of intermediate layers :param layer_dims: Dimension of intermediate layers :param feature_dim: Feature dimension :param last_dim: out_channels/in_channels for the last two Conv2d when head_type == regression :param use_bn: If set to True, activates batch norm :param dim_tokens_enc: Dimension of tokens coming from encoder """ def __init__(self, num_channels: int = 1, stride_level: int = 1, patch_size: Union[int, Tuple[int, int]] = 16, main_tasks: Iterable[str] = ('rgb',), hooks: List[int] = [2, 5, 8, 11], layer_dims: List[int] = [96, 192, 384, 768], feature_dim: int = 256, last_dim: int = 32, use_bn: bool = False, dim_tokens_enc: Optional[int] = None, head_type: str = 'regression', output_width_ratio=1, **kwargs): super().__init__() self.num_channels = num_channels self.stride_level = stride_level self.patch_size = pair(patch_size) self.main_tasks = main_tasks self.hooks = hooks self.layer_dims = layer_dims self.feature_dim = feature_dim self.dim_tokens_enc = dim_tokens_enc * len(self.main_tasks) if dim_tokens_enc is not None else None self.head_type = head_type self.atm_size = kwargs.get('atm_size', (24, 24)) # Actual patch height and width, taking into account stride of input self.P_H = max(1, self.patch_size[0] // stride_level) self.P_W = max(1, self.patch_size[1] // stride_level) self.scratch = make_scratch(layer_dims, feature_dim, groups=1, expand=False) self.scratch.refinenet1 = make_fusion_block(feature_dim, use_bn, output_width_ratio) self.scratch.refinenet2 = make_fusion_block(feature_dim, use_bn, output_width_ratio) self.scratch.refinenet3 = make_fusion_block(feature_dim, use_bn, output_width_ratio) self.scratch.refinenet4 = make_fusion_block(feature_dim, use_bn, output_width_ratio) if self.head_type == 'regression': # The "DPTDepthModel" head self.head = nn.Sequential( nn.Conv2d(feature_dim, feature_dim // 2, kernel_size=3, stride=1, padding=1), Interpolate(scale_factor=2, mode="bilinear", align_corners=True), nn.Conv2d(feature_dim // 2, last_dim, kernel_size=3, stride=1, padding=1), nn.ReLU(True), nn.Conv2d(last_dim, self.num_channels, kernel_size=1, stride=1, padding=0) ) elif self.head_type == 'semseg': # The "DPTSegmentationModel" head self.head = nn.Sequential( nn.Conv2d(feature_dim, feature_dim, kernel_size=3, padding=1, bias=False), nn.BatchNorm2d(feature_dim) if use_bn else nn.Identity(), nn.ReLU(True), nn.Dropout(0.1, False), nn.Conv2d(feature_dim, self.num_channels, kernel_size=1), Interpolate(scale_factor=2, mode="bilinear", align_corners=True), ) else: raise ValueError('DPT head_type must be "regression" or "semseg".') if self.dim_tokens_enc is not None: self.init(dim_tokens_enc=dim_tokens_enc) def init(self, dim_tokens_enc=768): """ Initialize parts of decoder that are dependent on dimension of encoder tokens. Should be called when setting up MultiMAE. :param dim_tokens_enc: Dimension of tokens coming from encoder """ #print(dim_tokens_enc) # Set up activation postprocessing layers if isinstance(dim_tokens_enc, int): dim_tokens_enc = 4 * [dim_tokens_enc] self.dim_tokens_enc = [dt * len(self.main_tasks) for dt in dim_tokens_enc] self.act_1_postprocess = nn.Sequential( nn.Conv2d( in_channels=self.dim_tokens_enc[0], out_channels=self.layer_dims[0], kernel_size=1, stride=1, padding=0, ), nn.ConvTranspose2d( in_channels=self.layer_dims[0], out_channels=self.layer_dims[0], kernel_size=4, stride=4, padding=0, bias=True, dilation=1, groups=1, ) ) self.act_2_postprocess = nn.Sequential( nn.Conv2d( in_channels=self.dim_tokens_enc[1], out_channels=self.layer_dims[1], kernel_size=1, stride=1, padding=0, ), nn.ConvTranspose2d( in_channels=self.layer_dims[1], out_channels=self.layer_dims[1], kernel_size=2, stride=2, padding=0, bias=True, dilation=1, groups=1, ) ) self.act_3_postprocess = nn.Sequential( nn.Conv2d( in_channels=self.dim_tokens_enc[2], out_channels=self.layer_dims[2], kernel_size=1, stride=1, padding=0, ) ) self.act_4_postprocess = nn.Sequential( nn.Conv2d( in_channels=self.dim_tokens_enc[3], out_channels=self.layer_dims[3], kernel_size=1, stride=1, padding=0, ), nn.Conv2d( in_channels=self.layer_dims[3], out_channels=self.layer_dims[3], kernel_size=3, stride=2, padding=1, ) ) self.act_postprocess = nn.ModuleList([ self.act_1_postprocess, self.act_2_postprocess, self.act_3_postprocess, self.act_4_postprocess ]) def adapt_tokens(self, encoder_tokens): # Adapt tokens x = [] x.append(encoder_tokens[:, :]) x = torch.cat(x, dim=-1) return x def forward(self, encoder_tokens: List[torch.Tensor], image_size): #input_info: Dict): assert self.dim_tokens_enc is not None, 'Need to call init(dim_tokens_enc) function first' H, W = image_size # Number of patches in height and width N_H = H // (self.stride_level * self.P_H) N_W = W // (self.stride_level * self.P_W) # Hook decoder onto 4 layers from specified ViT layers layers = [encoder_tokens[hook] for hook in self.hooks] # Extract only task-relevant tokens and ignore global tokens. layers = [self.adapt_tokens(l) for l in layers] # Reshape tokens to spatial representation layers = [rearrange(l, 'b (nh nw) c -> b c nh nw', nh=N_H, nw=N_W) for l in layers] layers = [self.act_postprocess[idx](l) for idx, l in enumerate(layers)] # Project layers to chosen feature dim layers = [self.scratch.layer_rn[idx](l) for idx, l in enumerate(layers)] # Fuse layers using refinement stages path_4 = self.scratch.refinenet4(layers[3]) path_3 = self.scratch.refinenet3(path_4, layers[2]) path_2 = self.scratch.refinenet2(path_3, layers[1]) path_1 = self.scratch.refinenet1(path_2, layers[0]) # Output head out = self.head(path_1) return out ================================================ FILE: croco/models/head_downstream.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # Heads for downstream tasks # -------------------------------------------------------- """ A head is a module where the __init__ defines only the head hyperparameters. A method setup(croconet) takes a CroCoNet and set all layers according to the head and croconet attributes. The forward takes the features as well as a dictionary img_info containing the keys 'width' and 'height' """ import torch import torch.nn as nn from .dpt_block import DPTOutputAdapter class PixelwiseTaskWithDPT(nn.Module): """ DPT module for CroCo. by default, hooks_idx will be equal to: * for encoder-only: 4 equally spread layers * for encoder+decoder: last encoder + 3 equally spread layers of the decoder """ def __init__(self, *, hooks_idx=None, layer_dims=[96,192,384,768], output_width_ratio=1, num_channels=1, postprocess=None, **kwargs): super(PixelwiseTaskWithDPT, self).__init__() self.return_all_blocks = True # backbone needs to return all layers self.postprocess = postprocess self.output_width_ratio = output_width_ratio self.num_channels = num_channels self.hooks_idx = hooks_idx self.layer_dims = layer_dims def setup(self, croconet): dpt_args = {'output_width_ratio': self.output_width_ratio, 'num_channels': self.num_channels} if self.hooks_idx is None: if hasattr(croconet, 'dec_blocks'): # encoder + decoder step = {8: 3, 12: 4, 24: 8}[croconet.dec_depth] hooks_idx = [croconet.dec_depth+croconet.enc_depth-1-i*step for i in range(3,-1,-1)] else: # encoder only step = croconet.enc_depth//4 hooks_idx = [croconet.enc_depth-1-i*step for i in range(3,-1,-1)] self.hooks_idx = hooks_idx print(f' PixelwiseTaskWithDPT: automatically setting hook_idxs={self.hooks_idx}') dpt_args['hooks'] = self.hooks_idx dpt_args['layer_dims'] = self.layer_dims self.dpt = DPTOutputAdapter(**dpt_args) dim_tokens = [croconet.enc_embed_dim if hook0: pos_embed = np.concatenate([np.zeros([n_cls_token, embed_dim]), pos_embed], axis=0) return pos_embed def get_2d_sincos_pos_embed_from_grid(embed_dim, grid): assert embed_dim % 2 == 0 # use half of dimensions to encode grid_h emb_h = get_1d_sincos_pos_embed_from_grid(embed_dim // 2, grid[0]) # (H*W, D/2) emb_w = get_1d_sincos_pos_embed_from_grid(embed_dim // 2, grid[1]) # (H*W, D/2) emb = np.concatenate([emb_h, emb_w], axis=1) # (H*W, D) return emb def get_1d_sincos_pos_embed_from_grid(embed_dim, pos): """ embed_dim: output dimension for each position pos: a list of positions to be encoded: size (M,) out: (M, D) """ assert embed_dim % 2 == 0 omega = np.arange(embed_dim // 2, dtype=float) omega /= embed_dim / 2. omega = 1. / 10000**omega # (D/2,) pos = pos.reshape(-1) # (M,) out = np.einsum('m,d->md', pos, omega) # (M, D/2), outer product emb_sin = np.sin(out) # (M, D/2) emb_cos = np.cos(out) # (M, D/2) emb = np.concatenate([emb_sin, emb_cos], axis=1) # (M, D) return emb # -------------------------------------------------------- # Interpolate position embeddings for high-resolution # References: # MAE: https://github.com/facebookresearch/mae/blob/main/util/pos_embed.py # DeiT: https://github.com/facebookresearch/deit # -------------------------------------------------------- def interpolate_pos_embed(model, checkpoint_model): if 'pos_embed' in checkpoint_model: pos_embed_checkpoint = checkpoint_model['pos_embed'] embedding_size = pos_embed_checkpoint.shape[-1] num_patches = model.patch_embed.num_patches num_extra_tokens = model.pos_embed.shape[-2] - num_patches # height (== width) for the checkpoint position embedding orig_size = int((pos_embed_checkpoint.shape[-2] - num_extra_tokens) ** 0.5) # height (== width) for the new position embedding new_size = int(num_patches ** 0.5) # class_token and dist_token are kept unchanged if orig_size != new_size: print("Position interpolate from %dx%d to %dx%d" % (orig_size, orig_size, new_size, new_size)) extra_tokens = pos_embed_checkpoint[:, :num_extra_tokens] # only the position tokens are interpolated pos_tokens = pos_embed_checkpoint[:, num_extra_tokens:] pos_tokens = pos_tokens.reshape(-1, orig_size, orig_size, embedding_size).permute(0, 3, 1, 2) pos_tokens = torch.nn.functional.interpolate( pos_tokens, size=(new_size, new_size), mode='bicubic', align_corners=False) pos_tokens = pos_tokens.permute(0, 2, 3, 1).flatten(1, 2) new_pos_embed = torch.cat((extra_tokens, pos_tokens), dim=1) checkpoint_model['pos_embed'] = new_pos_embed #---------------------------------------------------------- # RoPE2D: RoPE implementation in 2D #---------------------------------------------------------- try: from models.curope import cuRoPE2D, xxx_not_exist RoPE2D = cuRoPE2D except ImportError: print('Warning, cannot find cuda-compiled version of RoPE2D, using a slow pytorch version instead') class RoPE2D(torch.nn.Module): def __init__(self, freq=100.0, F0=1.0): super().__init__() self.base = freq self.F0 = F0 self.cache = {} self.t_rand = False def get_cos_sin(self, D, seq_len, device, dtype): if (D,seq_len,device,dtype) not in self.cache: inv_freq = 1.0 / (self.base ** (torch.arange(0, D, 2).float().to(device) / D)) # t = torch.arange(seq_len, device=device, dtype=inv_freq.dtype) t = torch.arange(seq_len, device=device, dtype=inv_freq.dtype) * (32. / seq_len) if self.t_rand: t_interval = 32. / seq_len t_rand = (torch.rand_like(t) - 0.5) * t_interval t = t + t_rand freqs = torch.einsum("i,j->ij", t, inv_freq).to(dtype) freqs = torch.cat((freqs, freqs), dim=-1) cos = freqs.cos() # (Seq, Dim) sin = freqs.sin() self.cache[D,seq_len,device,dtype] = (cos,sin) return self.cache[D,seq_len,device,dtype] @staticmethod def rotate_half(x): x1, x2 = x[..., : x.shape[-1] // 2], x[..., x.shape[-1] // 2 :] return torch.cat((-x2, x1), dim=-1) def apply_rope1d(self, tokens, pos1d, cos, sin): assert pos1d.ndim==2 cos = torch.nn.functional.embedding(pos1d, cos)[:, None, :, :] sin = torch.nn.functional.embedding(pos1d, sin)[:, None, :, :] return (tokens * cos) + (self.rotate_half(tokens) * sin) def forward(self, tokens, positions): """ input: * tokens: batch_size x nheads x ntokens x dim * positions: batch_size x ntokens x 2 (y and x position of each token) output: * tokens after appplying RoPE2D (batch_size x nheads x ntokens x dim) """ assert tokens.size(3)%2==0, "number of dimensions should be a multiple of two" D = tokens.size(3) // 2 assert positions.ndim==3 and positions.shape[-1] == 2 # Batch, Seq, 2 cos, sin = self.get_cos_sin(D, int(positions.max())+1, tokens.device, tokens.dtype) # split features into two along the feature dimension, and apply rope1d on each half y, x = tokens.chunk(2, dim=-1) y = self.apply_rope1d(y, positions[:,:,0], cos, sin) x = self.apply_rope1d(x, positions[:,:,1], cos, sin) tokens = torch.cat((y, x), dim=-1) return tokens ================================================ FILE: croco/pretrain.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Pre-training CroCo # -------------------------------------------------------- # References: # MAE: https://github.com/facebookresearch/mae # DeiT: https://github.com/facebookresearch/deit # BEiT: https://github.com/microsoft/unilm/tree/master/beit # -------------------------------------------------------- import argparse import datetime import json import numpy as np import os import sys import time import math from pathlib import Path from typing import Iterable import torch import torch.distributed as dist import torch.backends.cudnn as cudnn from torch.utils.tensorboard import SummaryWriter import torchvision.transforms as transforms import torchvision.datasets as datasets import utils.misc as misc from utils.misc import NativeScalerWithGradNormCount as NativeScaler from models.croco import CroCoNet from models.criterion import MaskedMSE from datasets.pairs_dataset import PairsDataset def get_args_parser(): parser = argparse.ArgumentParser('CroCo pre-training', add_help=False) # model and criterion parser.add_argument('--model', default='CroCoNet()', type=str, help="string containing the model to build") parser.add_argument('--norm_pix_loss', default=1, choices=[0,1], help="apply per-patch mean/std normalization before applying the loss") # dataset parser.add_argument('--dataset', default='habitat_release', type=str, help="training set") parser.add_argument('--transforms', default='crop224+acolor', type=str, help="transforms to apply") # in the paper, we also use some homography and rotation, but find later that they were not useful or even harmful # training parser.add_argument('--seed', default=0, type=int, help="Random seed") parser.add_argument('--batch_size', default=64, type=int, help="Batch size per GPU (effective batch size is batch_size * accum_iter * # gpus") parser.add_argument('--epochs', default=800, type=int, help="Maximum number of epochs for the scheduler") parser.add_argument('--max_epoch', default=400, type=int, help="Stop training at this epoch") parser.add_argument('--accum_iter', default=1, type=int, help="Accumulate gradient iterations (for increasing the effective batch size under memory constraints)") parser.add_argument('--weight_decay', type=float, default=0.05, help="weight decay (default: 0.05)") parser.add_argument('--lr', type=float, default=None, metavar='LR', help='learning rate (absolute lr)') parser.add_argument('--blr', type=float, default=1.5e-4, metavar='LR', help='base learning rate: absolute_lr = base_lr * total_batch_size / 256') parser.add_argument('--min_lr', type=float, default=0., metavar='LR', help='lower lr bound for cyclic schedulers that hit 0') parser.add_argument('--warmup_epochs', type=int, default=40, metavar='N', help='epochs to warmup LR') parser.add_argument('--amp', type=int, default=1, choices=[0,1], help="Use Automatic Mixed Precision for pretraining") # others parser.add_argument('--num_workers', default=8, type=int) parser.add_argument('--world_size', default=1, type=int, help='number of distributed processes') parser.add_argument('--local_rank', default=-1, type=int) parser.add_argument('--dist_url', default='env://', help='url used to set up distributed training') parser.add_argument('--save_freq', default=1, type=int, help='frequence (number of epochs) to save checkpoint in checkpoint-last.pth') parser.add_argument('--keep_freq', default=20, type=int, help='frequence (number of epochs) to save checkpoint in checkpoint-%d.pth') parser.add_argument('--print_freq', default=20, type=int, help='frequence (number of iterations) to print infos while training') # paths parser.add_argument('--output_dir', default='./output/', type=str, help="path where to save the output") parser.add_argument('--data_dir', default='./data/', type=str, help="path where data are stored") return parser def main(args): misc.init_distributed_mode(args) global_rank = misc.get_rank() world_size = misc.get_world_size() print("output_dir: "+args.output_dir) if args.output_dir: Path(args.output_dir).mkdir(parents=True, exist_ok=True) # auto resume last_ckpt_fname = os.path.join(args.output_dir, f'checkpoint-last.pth') args.resume = last_ckpt_fname if os.path.isfile(last_ckpt_fname) else None print('job dir: {}'.format(os.path.dirname(os.path.realpath(__file__)))) print("{}".format(args).replace(', ', ',\n')) device = "cuda" if torch.cuda.is_available() else "cpu" device = torch.device(device) # fix the seed seed = args.seed + misc.get_rank() torch.manual_seed(seed) np.random.seed(seed) cudnn.benchmark = True ## training dataset and loader print('Building dataset for {:s} with transforms {:s}'.format(args.dataset, args.transforms)) dataset = PairsDataset(args.dataset, trfs=args.transforms, data_dir=args.data_dir) if world_size>1: sampler_train = torch.utils.data.DistributedSampler( dataset, num_replicas=world_size, rank=global_rank, shuffle=True ) print("Sampler_train = %s" % str(sampler_train)) else: sampler_train = torch.utils.data.RandomSampler(dataset) data_loader_train = torch.utils.data.DataLoader( dataset, sampler=sampler_train, batch_size=args.batch_size, num_workers=args.num_workers, pin_memory=True, drop_last=True, ) ## model print('Loading model: {:s}'.format(args.model)) model = eval(args.model) print('Loading criterion: MaskedMSE(norm_pix_loss={:s})'.format(str(bool(args.norm_pix_loss)))) criterion = MaskedMSE(norm_pix_loss=bool(args.norm_pix_loss)) model.to(device) model_without_ddp = model print("Model = %s" % str(model_without_ddp)) eff_batch_size = args.batch_size * args.accum_iter * misc.get_world_size() if args.lr is None: # only base_lr is specified args.lr = args.blr * eff_batch_size / 256 print("base lr: %.2e" % (args.lr * 256 / eff_batch_size)) print("actual lr: %.2e" % args.lr) print("accumulate grad iterations: %d" % args.accum_iter) print("effective batch size: %d" % eff_batch_size) if args.distributed: model = torch.nn.parallel.DistributedDataParallel(model, device_ids=[args.gpu], find_unused_parameters=True, static_graph=True) model_without_ddp = model.module param_groups = misc.get_parameter_groups(model_without_ddp, args.weight_decay) # following timm: set wd as 0 for bias and norm layers optimizer = torch.optim.AdamW(param_groups, lr=args.lr, betas=(0.9, 0.95)) print(optimizer) loss_scaler = NativeScaler() misc.load_model(args=args, model_without_ddp=model_without_ddp, optimizer=optimizer, loss_scaler=loss_scaler) if global_rank == 0 and args.output_dir is not None: log_writer = SummaryWriter(log_dir=args.output_dir) else: log_writer = None print(f"Start training until {args.max_epoch} epochs") start_time = time.time() for epoch in range(args.start_epoch, args.max_epoch): if world_size>1: data_loader_train.sampler.set_epoch(epoch) train_stats = train_one_epoch( model, criterion, data_loader_train, optimizer, device, epoch, loss_scaler, log_writer=log_writer, args=args ) if args.output_dir and epoch % args.save_freq == 0 : misc.save_model( args=args, model_without_ddp=model_without_ddp, optimizer=optimizer, loss_scaler=loss_scaler, epoch=epoch, fname='last') if args.output_dir and (epoch % args.keep_freq == 0 or epoch + 1 == args.max_epoch) and (epoch>0 or args.max_epoch==1): misc.save_model( args=args, model_without_ddp=model_without_ddp, optimizer=optimizer, loss_scaler=loss_scaler, epoch=epoch) log_stats = {**{f'train_{k}': v for k, v in train_stats.items()}, 'epoch': epoch,} if args.output_dir and misc.is_main_process(): if log_writer is not None: log_writer.flush() with open(os.path.join(args.output_dir, "log.txt"), mode="a", encoding="utf-8") as f: f.write(json.dumps(log_stats) + "\n") total_time = time.time() - start_time total_time_str = str(datetime.timedelta(seconds=int(total_time))) print('Training time {}'.format(total_time_str)) def train_one_epoch(model: torch.nn.Module, criterion: torch.nn.Module, data_loader: Iterable, optimizer: torch.optim.Optimizer, device: torch.device, epoch: int, loss_scaler, log_writer=None, args=None): model.train(True) metric_logger = misc.MetricLogger(delimiter=" ") metric_logger.add_meter('lr', misc.SmoothedValue(window_size=1, fmt='{value:.6f}')) header = 'Epoch: [{}]'.format(epoch) accum_iter = args.accum_iter optimizer.zero_grad() if log_writer is not None: print('log_dir: {}'.format(log_writer.log_dir)) for data_iter_step, (image1, image2) in enumerate(metric_logger.log_every(data_loader, args.print_freq, header)): # we use a per iteration lr scheduler if data_iter_step % accum_iter == 0: misc.adjust_learning_rate(optimizer, data_iter_step / len(data_loader) + epoch, args) image1 = image1.to(device, non_blocking=True) image2 = image2.to(device, non_blocking=True) with torch.cuda.amp.autocast(enabled=bool(args.amp)): out, mask, target = model(image1, image2) loss = criterion(out, mask, target) loss_value = loss.item() if not math.isfinite(loss_value): print("Loss is {}, stopping training".format(loss_value)) sys.exit(1) loss /= accum_iter loss_scaler(loss, optimizer, parameters=model.parameters(), update_grad=(data_iter_step + 1) % accum_iter == 0) if (data_iter_step + 1) % accum_iter == 0: optimizer.zero_grad() torch.cuda.synchronize() metric_logger.update(loss=loss_value) lr = optimizer.param_groups[0]["lr"] metric_logger.update(lr=lr) loss_value_reduce = misc.all_reduce_mean(loss_value) if log_writer is not None and ((data_iter_step + 1) % (accum_iter*args.print_freq)) == 0: # x-axis is based on epoch_1000x in the tensorboard, calibrating differences curves when batch size changes epoch_1000x = int((data_iter_step / len(data_loader) + epoch) * 1000) log_writer.add_scalar('train_loss', loss_value_reduce, epoch_1000x) log_writer.add_scalar('lr', lr, epoch_1000x) # gather the stats from all processes metric_logger.synchronize_between_processes() print("Averaged stats:", metric_logger) return {k: meter.global_avg for k, meter in metric_logger.meters.items()} if __name__ == '__main__': args = get_args_parser() args = args.parse_args() main(args) ================================================ FILE: croco/stereoflow/README.MD ================================================ ## CroCo-Stereo and CroCo-Flow This README explains how to use CroCo-Stereo and CroCo-Flow as well as how they were trained. All commands should be launched from the root directory. ### Simple inference example We provide a simple inference exemple for CroCo-Stereo and CroCo-Flow in the Totebook `croco-stereo-flow-demo.ipynb`. Before running it, please download the trained models with: ``` bash stereoflow/download_model.sh crocostereo.pth bash stereoflow/download_model.sh crocoflow.pth ``` ### Prepare data for training or evaluation Put the datasets used for training/evaluation in `./data/stereoflow` (or update the paths at the top of `stereoflow/datasets_stereo.py` and `stereoflow/datasets_flow.py`). Please find below on the file structure should look for each dataset:
FlyingChairs ``` ./data/stereoflow/FlyingChairs/ └───chairs_split.txt └───data/ └─── ... ```
MPI-Sintel ``` ./data/stereoflow/MPI-Sintel/ └───training/ │ └───clean/ │ └───final/ │ └───flow/ └───test/ └───clean/ └───final/ ```
SceneFlow (including FlyingThings) ``` ./data/stereoflow/SceneFlow/ └───Driving/ │ └───disparity/ │ └───frames_cleanpass/ │ └───frames_finalpass/ └───FlyingThings/ │ └───disparity/ │ └───frames_cleanpass/ │ └───frames_finalpass/ │ └───optical_flow/ └───Monkaa/ └───disparity/ └───frames_cleanpass/ └───frames_finalpass/ ```
TartanAir ``` ./data/stereoflow/TartanAir/ └───abandonedfactory/ │ └───.../ └───abandonedfactory_night/ │ └───.../ └───.../ ```
Booster ``` ./data/stereoflow/booster_gt/ └───train/ └───balanced/ └───Bathroom/ └───Bedroom/ └───... ```
CREStereo ``` ./data/stereoflow/crenet_stereo_trainset/ └───stereo_trainset/ └───crestereo/ └───hole/ └───reflective/ └───shapenet/ └───tree/ ```
ETH3D Two-view Low-res ``` ./data/stereoflow/eth3d_lowres/ └───test/ │ └───lakeside_1l/ │ └───... └───train/ │ └───delivery_area_1l/ │ └───... └───train_gt/ └───delivery_area_1l/ └───... ```
KITTI 2012 ``` ./data/stereoflow/kitti-stereo-2012/ └───testing/ │ └───colored_0/ │ └───colored_1/ └───training/ └───colored_0/ └───colored_1/ └───disp_occ/ └───flow_occ/ ```
KITTI 2015 ``` ./data/stereoflow/kitti-stereo-2015/ └───testing/ │ └───image_2/ │ └───image_3/ └───training/ └───image_2/ └───image_3/ └───disp_occ_0/ └───flow_occ/ ```
Middlebury ``` ./data/stereoflow/middlebury └───2005/ │ └───train/ │ └───Art/ │ └───... └───2006/ │ └───Aloe/ │ └───Baby1/ │ └───... └───2014/ │ └───Adirondack-imperfect/ │ └───Adirondack-perfect/ │ └───... └───2021/ │ └───data/ │ └───artroom1/ │ └───artroom2/ │ └───... └───MiddEval3_F/ └───test/ │ └───Australia/ │ └───... └───train/ └───Adirondack/ └───... ```
Spring ``` ./data/stereoflow/spring/ └───test/ │ └───0003/ │ └───... └───train/ └───0001/ └───... ```
### CroCo-Stereo ##### Main model The main training of CroCo-Stereo was performed on a series of datasets, and it was used as it for Middlebury v3 benchmark. ``` # Download the model bash stereoflow/download_model.sh crocostereo.pth # Middlebury v3 submission python stereoflow/test.py --model stereoflow_models/crocostereo.pth --dataset "MdEval3('all_full')" --save submission --tile_overlap 0.9 # Training command that was used, using checkpoint-last.pth python -u stereoflow/train.py stereo --criterion "LaplacianLossBounded2()" --dataset "CREStereo('train')+SceneFlow('train_allpass')+30*ETH3DLowRes('train')+50*Md05('train')+50*Md06('train')+50*Md14('train')+50*Md21('train')+50*MdEval3('train_full')+Booster('train_balanced')" --val_dataset "SceneFlow('test1of100_finalpass')+SceneFlow('test1of100_cleanpass')+ETH3DLowRes('subval')+Md05('subval')+Md06('subval')+Md14('subval')+Md21('subval')+MdEval3('subval_full')+Booster('subval_balanced')" --lr 3e-5 --batch_size 6 --epochs 32 --pretrained pretrained_models/CroCo_V2_ViTLarge_BaseDecoder.pth --output_dir xps/crocostereo/main/ # or it can be launched on multiple gpus (while maintaining the effective batch size), e.g. on 3 gpus: torchrun --nproc_per_node 3 stereoflow/train.py stereo --criterion "LaplacianLossBounded2()" --dataset "CREStereo('train')+SceneFlow('train_allpass')+30*ETH3DLowRes('train')+50*Md05('train')+50*Md06('train')+50*Md14('train')+50*Md21('train')+50*MdEval3('train_full')+Booster('train_balanced')" --val_dataset "SceneFlow('test1of100_finalpass')+SceneFlow('test1of100_cleanpass')+ETH3DLowRes('subval')+Md05('subval')+Md06('subval')+Md14('subval')+Md21('subval')+MdEval3('subval_full')+Booster('subval_balanced')" --lr 3e-5 --batch_size 2 --epochs 32 --pretrained pretrained_models/CroCo_V2_ViTLarge_BaseDecoder.pth --output_dir xps/crocostereo/main/ ``` For evaluation of validation set, we also provide the model trained on the `subtrain` subset of the training sets. ``` # Download the model bash stereoflow/download_model.sh crocostereo_subtrain.pth # Evaluation on validation sets python stereoflow/test.py --model stereoflow_models/crocostereo_subtrain.pth --dataset "MdEval3('subval_full')+ETH3DLowRes('subval')+SceneFlow('test_finalpass')+SceneFlow('test_cleanpass')" --save metrics --tile_overlap 0.9 # Training command that was used (same as above but on subtrain, using checkpoint-best.pth), can also be launched on multiple gpus python -u stereoflow/train.py stereo --criterion "LaplacianLossBounded2()" --dataset "CREStereo('train')+SceneFlow('train_allpass')+30*ETH3DLowRes('subtrain')+50*Md05('subtrain')+50*Md06('subtrain')+50*Md14('subtrain')+50*Md21('subtrain')+50*MdEval3('subtrain_full')+Booster('subtrain_balanced')" --val_dataset "SceneFlow('test1of100_finalpass')+SceneFlow('test1of100_cleanpass')+ETH3DLowRes('subval')+Md05('subval')+Md06('subval')+Md14('subval')+Md21('subval')+MdEval3('subval_full')+Booster('subval_balanced')" --lr 3e-5 --batch_size 6 --epochs 32 --pretrained pretrained_models/CroCo_V2_ViTLarge_BaseDecoder.pth --output_dir xps/crocostereo/main_subtrain/ ``` ##### Other models
Model for ETH3D The model used for the submission on ETH3D is trained with the same command but using an unbounded Laplacian loss. # Download the model bash stereoflow/download_model.sh crocostereo_eth3d.pth # ETH3D submission python stereoflow/test.py --model stereoflow_models/crocostereo_eth3d.pth --dataset "ETH3DLowRes('all')" --save submission --tile_overlap 0.9 # Training command that was used python -u stereoflow/train.py stereo --criterion "LaplacianLoss()" --tile_conf_mode conf_expbeta3 --dataset "CREStereo('train')+SceneFlow('train_allpass')+30*ETH3DLowRes('train')+50*Md05('train')+50*Md06('train')+50*Md14('train')+50*Md21('train')+50*MdEval3('train_full')+Booster('train_balanced')" --val_dataset "SceneFlow('test1of100_finalpass')+SceneFlow('test1of100_cleanpass')+ETH3DLowRes('subval')+Md05('subval')+Md06('subval')+Md14('subval')+Md21('subval')+MdEval3('subval_full')+Booster('subval_balanced')" --lr 3e-5 --batch_size 6 --epochs 32 --pretrained pretrained_models/CroCo_V2_ViTLarge_BaseDecoder.pth --output_dir xps/crocostereo/main_eth3d/
Main model finetuned on Kitti # Download the model bash stereoflow/download_model.sh crocostereo_finetune_kitti.pth # Kitti submission python stereoflow/test.py --model stereoflow_models/crocostereo_finetune_kitti.pth --dataset "Kitti15('test')" --save submission --tile_overlap 0.9 # Training that was used python -u stereoflow/train.py stereo --crop 352 1216 --criterion "LaplacianLossBounded2()" --dataset "Kitti12('train')+Kitti15('train')" --lr 3e-5 --batch_size 1 --accum_iter 6 --epochs 20 --pretrained pretrained_models/CroCo_V2_ViTLarge_BaseDecoder.pth --start_from stereoflow_models/crocostereo.pth --output_dir xps/crocostereo/finetune_kitti/ --save_every 5
Main model finetuned on Spring # Download the model bash stereoflow/download_model.sh crocostereo_finetune_spring.pth # Spring submission python stereoflow/test.py --model stereoflow_models/crocostereo_finetune_spring.pth --dataset "Spring('test')" --save submission --tile_overlap 0.9 # Training command that was used python -u stereoflow/train.py stereo --criterion "LaplacianLossBounded2()" --dataset "Spring('train')" --lr 3e-5 --batch_size 6 --epochs 8 --pretrained pretrained_models/CroCo_V2_ViTLarge_BaseDecoder.pth --start_from stereoflow_models/crocostereo.pth --output_dir xps/crocostereo/finetune_spring/
Smaller models To train CroCo-Stereo with smaller CroCo pretrained models, simply replace the --pretrained argument. To download the smaller CroCo-Stereo models based on CroCo v2 pretraining with ViT-Base encoder and Small encoder, use bash stereoflow/download_model.sh crocostereo_subtrain_vitb_smalldecoder.pth, and for the model with a ViT-Base encoder and a Base decoder, use bash stereoflow/download_model.sh crocostereo_subtrain_vitb_basedecoder.pth.
### CroCo-Flow ##### Main model The main training of CroCo-Flow was performed on the FlyingThings, FlyingChairs, MPI-Sintel and TartanAir datasets. It was used for our submission to the MPI-Sintel benchmark. ``` # Download the model bash stereoflow/download_model.sh crocoflow.pth # Evaluation python stereoflow/test.py --model stereoflow_models/crocoflow.pth --dataset "MPISintel('subval_cleanpass')+MPISintel('subval_finalpass')" --save metrics --tile_overlap 0.9 # Sintel submission python stereoflow/test.py --model stereoflow_models/crocoflow.pth --dataset "MPISintel('test_allpass')" --save submission --tile_overlap 0.9 # Training command that was used, with checkpoint-best.pth python -u stereoflow/train.py flow --criterion "LaplacianLossBounded()" --dataset "40*MPISintel('subtrain_cleanpass')+40*MPISintel('subtrain_finalpass')+4*FlyingThings('train_allpass')+4*FlyingChairs('train')+TartanAir('train')" --val_dataset "MPISintel('subval_cleanpass')+MPISintel('subval_finalpass')" --lr 2e-5 --batch_size 8 --epochs 240 --img_per_epoch 30000 --pretrained pretrained_models/CroCo_V2_ViTLarge_BaseDecoder.pth --output_dir xps/crocoflow/main/ ``` ##### Other models
Main model finetuned on Kitti # Download the model bash stereoflow/download_model.sh crocoflow_finetune_kitti.pth # Kitti submission python stereoflow/test.py --model stereoflow_models/crocoflow_finetune_kitti.pth --dataset "Kitti15('test')" --save submission --tile_overlap 0.99 # Training that was used, with checkpoint-last.pth python -u stereoflow/train.py flow --crop 352 1216 --criterion "LaplacianLossBounded()" --dataset "Kitti15('train')+Kitti12('train')" --lr 2e-5 --batch_size 1 --accum_iter 8 --epochs 150 --save_every 5 --pretrained pretrained_models/CroCo_V2_ViTLarge_BaseDecoder.pth --start_from stereoflow_models/crocoflow.pth --output_dir xps/crocoflow/finetune_kitti/
Main model finetuned on Spring # Download the model bash stereoflow/download_model.sh crocoflow_finetune_spring.pth # Spring submission python stereoflow/test.py --model stereoflow_models/crocoflow_finetune_spring.pth --dataset "Spring('test')" --save submission --tile_overlap 0.9 # Training command that was used, with checkpoint-last.pth python -u stereoflow/train.py flow --criterion "LaplacianLossBounded()" --dataset "Spring('train')" --lr 2e-5 --batch_size 8 --epochs 12 --pretrained pretrained_models/CroCo_V2_ViTLarge_BaseDecoder.pth --start_from stereoflow_models/crocoflow.pth --output_dir xps/crocoflow/finetune_spring/
Smaller models To train CroCo-Flow with smaller CroCo pretrained models, simply replace the --pretrained argument. To download the smaller CroCo-Flow models based on CroCo v2 pretraining with ViT-Base encoder and Small encoder, use bash stereoflow/download_model.sh crocoflow_vitb_smalldecoder.pth, and for the model with a ViT-Base encoder and a Base decoder, use bash stereoflow/download_model.sh crocoflow_vitb_basedecoder.pth.
================================================ FILE: croco/stereoflow/augmentor.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # Data augmentation for training stereo and flow # -------------------------------------------------------- # References # https://github.com/autonomousvision/unimatch/blob/master/dataloader/stereo/transforms.py # https://github.com/autonomousvision/unimatch/blob/master/dataloader/flow/transforms.py import numpy as np import random from PIL import Image import cv2 cv2.setNumThreads(0) cv2.ocl.setUseOpenCL(False) import torch from torchvision.transforms import ColorJitter import torchvision.transforms.functional as FF class StereoAugmentor(object): def __init__(self, crop_size, scale_prob=0.5, scale_xonly=True, lhth=800., lminscale=0.0, lmaxscale=1.0, hminscale=-0.2, hmaxscale=0.4, scale_interp_nearest=True, rightjitterprob=0.5, v_flip_prob=0.5, color_aug_asym=True, color_choice_prob=0.5): self.crop_size = crop_size self.scale_prob = scale_prob self.scale_xonly = scale_xonly self.lhth = lhth self.lminscale = lminscale self.lmaxscale = lmaxscale self.hminscale = hminscale self.hmaxscale = hmaxscale self.scale_interp_nearest = scale_interp_nearest self.rightjitterprob = rightjitterprob self.v_flip_prob = v_flip_prob self.color_aug_asym = color_aug_asym self.color_choice_prob = color_choice_prob def _random_scale(self, img1, img2, disp): ch,cw = self.crop_size h,w = img1.shape[:2] if self.scale_prob>0. and np.random.rand()1.: scale_x = clip_scale scale_y = scale_x if not self.scale_xonly else 1.0 img1 = cv2.resize(img1, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR) img2 = cv2.resize(img2, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR) disp = cv2.resize(disp, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR if not self.scale_interp_nearest else cv2.INTER_NEAREST) * scale_x return img1, img2, disp def _random_crop(self, img1, img2, disp): h,w = img1.shape[:2] ch,cw = self.crop_size assert ch<=h and cw<=w, (img1.shape, h,w,ch,cw) offset_x = np.random.randint(w - cw + 1) offset_y = np.random.randint(h - ch + 1) img1 = img1[offset_y:offset_y+ch,offset_x:offset_x+cw] img2 = img2[offset_y:offset_y+ch,offset_x:offset_x+cw] disp = disp[offset_y:offset_y+ch,offset_x:offset_x+cw] return img1, img2, disp def _random_vflip(self, img1, img2, disp): # vertical flip if self.v_flip_prob>0 and np.random.rand() < self.v_flip_prob: img1 = np.copy(np.flipud(img1)) img2 = np.copy(np.flipud(img2)) disp = np.copy(np.flipud(disp)) return img1, img2, disp def _random_rotate_shift_right(self, img2): if self.rightjitterprob>0. and np.random.rand() 0) & (xx < wd1) & (yy > 0) & (yy < ht1) xx = xx[v] yy = yy[v] flow1 = flow1[v] flow = np.inf * np.ones([ht1, wd1, 2], dtype=np.float32) # invalid value every where, before we fill it with the correct ones flow[yy, xx] = flow1 return flow def spatial_transform(self, img1, img2, flow, dname): if np.random.rand() < self.spatial_aug_prob: # randomly sample scale ht, wd = img1.shape[:2] clip_min_scale = np.maximum( (self.crop_size[0] + 8) / float(ht), (self.crop_size[1] + 8) / float(wd)) min_scale, max_scale = self.min_scale, self.max_scale scale = 2 ** np.random.uniform(self.min_scale, self.max_scale) scale_x = scale scale_y = scale if np.random.rand() < self.stretch_prob: scale_x *= 2 ** np.random.uniform(-self.max_stretch, self.max_stretch) scale_y *= 2 ** np.random.uniform(-self.max_stretch, self.max_stretch) scale_x = np.clip(scale_x, clip_min_scale, None) scale_y = np.clip(scale_y, clip_min_scale, None) # rescale the images img1 = cv2.resize(img1, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR) img2 = cv2.resize(img2, None, fx=scale_x, fy=scale_y, interpolation=cv2.INTER_LINEAR) flow = self._resize_flow(flow, scale_x, scale_y, factor=2.0 if dname=='Spring' else 1.0) elif dname=="Spring": flow = self._resize_flow(flow, 1.0, 1.0, factor=2.0) if self.h_flip_prob>0. and np.random.rand() < self.h_flip_prob: # h-flip img1 = img1[:, ::-1] img2 = img2[:, ::-1] flow = flow[:, ::-1] * [-1.0, 1.0] if self.v_flip_prob>0. and np.random.rand() < self.v_flip_prob: # v-flip img1 = img1[::-1, :] img2 = img2[::-1, :] flow = flow[::-1, :] * [1.0, -1.0] # In case no cropping if img1.shape[0] - self.crop_size[0] > 0: y0 = np.random.randint(0, img1.shape[0] - self.crop_size[0]) else: y0 = 0 if img1.shape[1] - self.crop_size[1] > 0: x0 = np.random.randint(0, img1.shape[1] - self.crop_size[1]) else: x0 = 0 img1 = img1[y0:y0 + self.crop_size[0], x0:x0 + self.crop_size[1]] img2 = img2[y0:y0 + self.crop_size[0], x0:x0 + self.crop_size[1]] flow = flow[y0:y0 + self.crop_size[0], x0:x0 + self.crop_size[1]] return img1, img2, flow def __call__(self, img1, img2, flow, dname): img1, img2, flow = self.spatial_transform(img1, img2, flow, dname) img1, img2 = self.color_transform(img1, img2) img1 = np.ascontiguousarray(img1) img2 = np.ascontiguousarray(img2) flow = np.ascontiguousarray(flow) return img1, img2, flow ================================================ FILE: croco/stereoflow/criterion.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # Losses, metrics per batch, metrics per dataset # -------------------------------------------------------- import torch from torch import nn import torch.nn.functional as F def _get_gtnorm(gt): if gt.size(1)==1: # stereo return gt # flow return torch.sqrt(torch.sum(gt**2, dim=1, keepdims=True)) # Bx1xHxW ############ losses without confidence class L1Loss(nn.Module): def __init__(self, max_gtnorm=None): super().__init__() self.max_gtnorm = max_gtnorm self.with_conf = False def _error(self, gt, predictions): return torch.abs(gt-predictions) def forward(self, predictions, gt, inspect=False): mask = torch.isfinite(gt) if self.max_gtnorm is not None: mask *= _get_gtnorm(gt).expand(-1,gt.size(1),-1,-1) which is a constant class LaplacianLossBounded(nn.Module): # used for CroCo-Flow ; in the equation of the paper, we have a=1/b def __init__(self, max_gtnorm=10000., a=0.25, b=4.): super().__init__() self.max_gtnorm = max_gtnorm self.with_conf = True self.a, self.b = a, b def forward(self, predictions, gt, conf): mask = torch.isfinite(gt) mask = mask[:,0,:,:] if self.max_gtnorm is not None: mask *= _get_gtnorm(gt)[:,0,:,:] which is a constant class LaplacianLossBounded2(nn.Module): # used for CroCo-Stereo (except for ETH3D) ; in the equation of the paper, we have a=b def __init__(self, max_gtnorm=None, a=3.0, b=3.0): super().__init__() self.max_gtnorm = max_gtnorm self.with_conf = True self.a, self.b = a, b def forward(self, predictions, gt, conf): mask = torch.isfinite(gt) mask = mask[:,0,:,:] if self.max_gtnorm is not None: mask *= _get_gtnorm(gt)[:,0,:,:] which is a constant ############## metrics per batch class StereoMetrics(nn.Module): def __init__(self, do_quantile=False): super().__init__() self.bad_ths = [0.5,1,2,3] self.do_quantile = do_quantile def forward(self, predictions, gt): B = predictions.size(0) metrics = {} gtcopy = gt.clone() mask = torch.isfinite(gtcopy) gtcopy[~mask] = 999999.0 # we make a copy and put a non-infinite value, such that it does not become nan once multiplied by the mask value 0 Npx = mask.view(B,-1).sum(dim=1) L1error = (torch.abs(gtcopy-predictions)*mask).view(B,-1) L2error = (torch.square(gtcopy-predictions)*mask).view(B,-1) # avgerr metrics['avgerr'] = torch.mean(L1error.sum(dim=1)/Npx ) # rmse metrics['rmse'] = torch.sqrt(L2error.sum(dim=1)/Npx).mean(dim=0) # err > t for t in [0.5,1,2,3] for ths in self.bad_ths: metrics['bad@{:.1f}'.format(ths)] = (((L1error>ths)* mask.view(B,-1)).sum(dim=1)/Npx).mean(dim=0) * 100 return metrics class FlowMetrics(nn.Module): def __init__(self): super().__init__() self.bad_ths = [1,3,5] def forward(self, predictions, gt): B = predictions.size(0) metrics = {} mask = torch.isfinite(gt[:,0,:,:]) # both x and y would be infinite Npx = mask.view(B,-1).sum(dim=1) gtcopy = gt.clone() # to compute L1/L2 error, we need to have non-infinite value, the error computed at this locations will be ignored gtcopy[:,0,:,:][~mask] = 999999.0 gtcopy[:,1,:,:][~mask] = 999999.0 L1error = (torch.abs(gtcopy-predictions).sum(dim=1)*mask).view(B,-1) L2error = (torch.sqrt(torch.sum(torch.square(gtcopy-predictions),dim=1))*mask).view(B,-1) metrics['L1err'] = torch.mean(L1error.sum(dim=1)/Npx ) metrics['EPE'] = torch.mean(L2error.sum(dim=1)/Npx ) for ths in self.bad_ths: metrics['bad@{:.1f}'.format(ths)] = (((L2error>ths)* mask.view(B,-1)).sum(dim=1)/Npx).mean(dim=0) * 100 return metrics ############## metrics per dataset ## we update the average and maintain the number of pixels while adding data batch per batch ## at the beggining, call reset() ## after each batch, call add_batch(...) ## at the end: call get_results() class StereoDatasetMetrics(nn.Module): def __init__(self): super().__init__() self.bad_ths = [0.5,1,2,3] def reset(self): self.agg_N = 0 # number of pixels so far self.agg_L1err = torch.tensor(0.0) # L1 error so far self.agg_Nbad = [0 for _ in self.bad_ths] # counter of bad pixels self._metrics = None def add_batch(self, predictions, gt): assert predictions.size(1)==1, predictions.size() assert gt.size(1)==1, gt.size() if gt.size(2)==predictions.size(2)*2 and gt.size(3)==predictions.size(3)*2: # special case for Spring ... L1err = torch.minimum( torch.minimum( torch.minimum( torch.sum(torch.abs(gt[:,:,0::2,0::2]-predictions),dim=1), torch.sum(torch.abs(gt[:,:,1::2,0::2]-predictions),dim=1)), torch.sum(torch.abs(gt[:,:,0::2,1::2]-predictions),dim=1)), torch.sum(torch.abs(gt[:,:,1::2,1::2]-predictions),dim=1)) valid = torch.isfinite(L1err) else: valid = torch.isfinite(gt[:,0,:,:]) # both x and y would be infinite L1err = torch.sum(torch.abs(gt-predictions),dim=1) N = valid.sum() Nnew = self.agg_N + N self.agg_L1err = float(self.agg_N)/Nnew * self.agg_L1err + L1err[valid].mean().cpu() * float(N)/Nnew self.agg_N = Nnew for i,th in enumerate(self.bad_ths): self.agg_Nbad[i] += (L1err[valid]>th).sum().cpu() def _compute_metrics(self): if self._metrics is not None: return out = {} out['L1err'] = self.agg_L1err.item() for i,th in enumerate(self.bad_ths): out['bad@{:.1f}'.format(th)] = (float(self.agg_Nbad[i]) / self.agg_N).item() * 100.0 self._metrics = out def get_results(self): self._compute_metrics() # to avoid recompute them multiple times return self._metrics class FlowDatasetMetrics(nn.Module): def __init__(self): super().__init__() self.bad_ths = [0.5,1,3,5] self.speed_ths = [(0,10),(10,40),(40,torch.inf)] def reset(self): self.agg_N = 0 # number of pixels so far self.agg_L1err = torch.tensor(0.0) # L1 error so far self.agg_L2err = torch.tensor(0.0) # L2 (=EPE) error so far self.agg_Nbad = [0 for _ in self.bad_ths] # counter of bad pixels self.agg_EPEspeed = [torch.tensor(0.0) for _ in self.speed_ths] # EPE per speed bin so far self.agg_Nspeed = [0 for _ in self.speed_ths] # N pixels per speed bin so far self._metrics = None self.pairname_results = {} def add_batch(self, predictions, gt): assert predictions.size(1)==2, predictions.size() assert gt.size(1)==2, gt.size() if gt.size(2)==predictions.size(2)*2 and gt.size(3)==predictions.size(3)*2: # special case for Spring ... L1err = torch.minimum( torch.minimum( torch.minimum( torch.sum(torch.abs(gt[:,:,0::2,0::2]-predictions),dim=1), torch.sum(torch.abs(gt[:,:,1::2,0::2]-predictions),dim=1)), torch.sum(torch.abs(gt[:,:,0::2,1::2]-predictions),dim=1)), torch.sum(torch.abs(gt[:,:,1::2,1::2]-predictions),dim=1)) L2err = torch.minimum( torch.minimum( torch.minimum( torch.sqrt(torch.sum(torch.square(gt[:,:,0::2,0::2]-predictions),dim=1)), torch.sqrt(torch.sum(torch.square(gt[:,:,1::2,0::2]-predictions),dim=1))), torch.sqrt(torch.sum(torch.square(gt[:,:,0::2,1::2]-predictions),dim=1))), torch.sqrt(torch.sum(torch.square(gt[:,:,1::2,1::2]-predictions),dim=1))) valid = torch.isfinite(L1err) gtspeed = (torch.sqrt(torch.sum(torch.square(gt[:,:,0::2,0::2]),dim=1)) + torch.sqrt(torch.sum(torch.square(gt[:,:,0::2,1::2]),dim=1)) +\ torch.sqrt(torch.sum(torch.square(gt[:,:,1::2,0::2]),dim=1)) + torch.sqrt(torch.sum(torch.square(gt[:,:,1::2,1::2]),dim=1)) ) / 4.0 # let's just average them else: valid = torch.isfinite(gt[:,0,:,:]) # both x and y would be infinite L1err = torch.sum(torch.abs(gt-predictions),dim=1) L2err = torch.sqrt(torch.sum(torch.square(gt-predictions),dim=1)) gtspeed = torch.sqrt(torch.sum(torch.square(gt),dim=1)) N = valid.sum() Nnew = self.agg_N + N self.agg_L1err = float(self.agg_N)/Nnew * self.agg_L1err + L1err[valid].mean().cpu() * float(N)/Nnew self.agg_L2err = float(self.agg_N)/Nnew * self.agg_L2err + L2err[valid].mean().cpu() * float(N)/Nnew self.agg_N = Nnew for i,th in enumerate(self.bad_ths): self.agg_Nbad[i] += (L2err[valid]>th).sum().cpu() for i,(th1,th2) in enumerate(self.speed_ths): vv = (gtspeed[valid]>=th1) * (gtspeed[valid] don't use batch_size>1 at test time) self._prepare_data() self._load_or_build_cache() def prepare_data(self): """ to be defined for each dataset """ raise NotImplementedError def __len__(self): return len(self.pairnames) # each pairname is typically of the form (str, int1, int2) def __getitem__(self, index): pairname = self.pairnames[index] # get filenames img1name = self.pairname_to_img1name(pairname) img2name = self.pairname_to_img2name(pairname) flowname = self.pairname_to_flowname(pairname) if self.pairname_to_flowname is not None else None # load images and disparities img1 = _read_img(img1name) img2 = _read_img(img2name) flow = self.load_flow(flowname) if flowname is not None else None # apply augmentations if self.augmentor is not None: img1, img2, flow = self.augmentor(img1, img2, flow, self.name) if self.totensor: img1 = img_to_tensor(img1) img2 = img_to_tensor(img2) if flow is not None: flow = flow_to_tensor(flow) else: flow = torch.tensor([]) # to allow dataloader batching with default collate_gn pairname = str(pairname) # transform potential tuple to str to be able to batch it return img1, img2, flow, pairname def __rmul__(self, v): self.rmul *= v self.pairnames = v * self.pairnames return self def __str__(self): return f'{self.__class__.__name__}_{self.split}' def __repr__(self): s = f'{self.__class__.__name__}(split={self.split}, augmentor={self.augmentor_str}, crop_size={str(self.crop_size)}, totensor={self.totensor})' if self.rmul==1: s+=f'\n\tnum pairs: {len(self.pairnames)}' else: s+=f'\n\tnum pairs: {len(self.pairnames)} ({len(self.pairnames)//self.rmul}x{self.rmul})' return s def _set_root(self): self.root = dataset_to_root[self.name] assert os.path.isdir(self.root), f"could not find root directory for dataset {self.name}: {self.root}" def _load_or_build_cache(self): cache_file = osp.join(cache_dir, self.name+'.pkl') if osp.isfile(cache_file): with open(cache_file, 'rb') as fid: self.pairnames = pickle.load(fid)[self.split] else: tosave = self._build_cache() os.makedirs(cache_dir, exist_ok=True) with open(cache_file, 'wb') as fid: pickle.dump(tosave, fid) self.pairnames = tosave[self.split] class TartanAirDataset(FlowDataset): def _prepare_data(self): self.name = "TartanAir" self._set_root() assert self.split in ['train'] self.pairname_to_img1name = lambda pairname: osp.join(self.root, pairname[0], 'image_left/{:06d}_left.png'.format(pairname[1])) self.pairname_to_img2name = lambda pairname: osp.join(self.root, pairname[0], 'image_left/{:06d}_left.png'.format(pairname[2])) self.pairname_to_flowname = lambda pairname: osp.join(self.root, pairname[0], 'flow/{:06d}_{:06d}_flow.npy'.format(pairname[1],pairname[2])) self.pairname_to_str = lambda pairname: os.path.join(pairname[0][pairname[0].find('/')+1:], '{:06d}_{:06d}'.format(pairname[1], pairname[2])) self.load_flow = _read_numpy_flow def _build_cache(self): seqs = sorted(os.listdir(self.root)) pairs = [(osp.join(s,s,difficulty,Pxxx),int(a[:6]),int(a[:6])+1) for s in seqs for difficulty in ['Easy','Hard'] for Pxxx in sorted(os.listdir(osp.join(self.root,s,s,difficulty))) for a in sorted(os.listdir(osp.join(self.root,s,s,difficulty,Pxxx,'image_left/')))[:-1]] assert len(pairs)==306268, "incorrect parsing of pairs in TartanAir" tosave = {'train': pairs} return tosave class FlyingChairsDataset(FlowDataset): def _prepare_data(self): self.name = "FlyingChairs" self._set_root() assert self.split in ['train','val'] self.pairname_to_img1name = lambda pairname: osp.join(self.root, 'data', pairname+'_img1.ppm') self.pairname_to_img2name = lambda pairname: osp.join(self.root, 'data', pairname+'_img2.ppm') self.pairname_to_flowname = lambda pairname: osp.join(self.root, 'data', pairname+'_flow.flo') self.pairname_to_str = lambda pairname: pairname self.load_flow = _read_flo_file def _build_cache(self): split_file = osp.join(self.root, 'chairs_split.txt') split_list = np.loadtxt(split_file, dtype=np.int32) trainpairs = ['{:05d}'.format(i) for i in np.where(split_list==1)[0]+1] valpairs = ['{:05d}'.format(i) for i in np.where(split_list==2)[0]+1] assert len(trainpairs)==22232 and len(valpairs)==640, "incorrect parsing of pairs in MPI-Sintel" tosave = {'train': trainpairs, 'val': valpairs} return tosave class FlyingThingsDataset(FlowDataset): def _prepare_data(self): self.name = "FlyingThings" self._set_root() assert self.split in [f'{set_}_{pass_}pass{camstr}' for set_ in ['train','test','test1024'] for camstr in ['','_rightcam'] for pass_ in ['clean','final','all']] self.pairname_to_img1name = lambda pairname: osp.join(self.root, f'frames_{pairname[3]}pass', pairname[0].replace('into_future','').replace('into_past',''), '{:04d}.png'.format(pairname[1])) self.pairname_to_img2name = lambda pairname: osp.join(self.root, f'frames_{pairname[3]}pass', pairname[0].replace('into_future','').replace('into_past',''), '{:04d}.png'.format(pairname[2])) self.pairname_to_flowname = lambda pairname: osp.join(self.root, 'optical_flow', pairname[0], 'OpticalFlowInto{f:s}_{i:04d}_{c:s}.pfm'.format(f='Future' if 'future' in pairname[0] else 'Past', i=pairname[1], c='L' if 'left' in pairname[0] else 'R' )) self.pairname_to_str = lambda pairname: os.path.join(pairname[3]+'pass', pairname[0], 'Into{f:s}_{i:04d}_{c:s}'.format(f='Future' if 'future' in pairname[0] else 'Past', i=pairname[1], c='L' if 'left' in pairname[0] else 'R' )) self.load_flow = _read_pfm_flow def _build_cache(self): tosave = {} # train and test splits for the different passes for set_ in ['train', 'test']: sroot = osp.join(self.root, 'optical_flow', set_.upper()) fname_to_i = lambda f: int(f[len('OpticalFlowIntoFuture_'):-len('_L.pfm')]) pp = [(osp.join(set_.upper(), d, s, 'into_future/left'),fname_to_i(fname)) for d in sorted(os.listdir(sroot)) for s in sorted(os.listdir(osp.join(sroot,d))) for fname in sorted(os.listdir(osp.join(sroot,d, s, 'into_future/left')))[:-1]] pairs = [(a,i,i+1) for a,i in pp] pairs += [(a.replace('into_future','into_past'),i+1,i) for a,i in pp] assert len(pairs)=={'train': 40302, 'test': 7866}[set_], "incorrect parsing of pairs Flying Things" for cam in ['left','right']: camstr = '' if cam=='left' else f'_{cam}cam' for pass_ in ['final', 'clean']: tosave[f'{set_}_{pass_}pass{camstr}'] = [(a.replace('left',cam),i,j,pass_) for a,i,j in pairs] tosave[f'{set_}_allpass{camstr}'] = tosave[f'{set_}_cleanpass{camstr}'] + tosave[f'{set_}_finalpass{camstr}'] # test1024: this is the same split as unimatch 'validation' split # see https://github.com/autonomousvision/unimatch/blob/master/dataloader/flow/datasets.py#L229 test1024_nsamples = 1024 alltest_nsamples = len(tosave['test_cleanpass']) # 7866 stride = alltest_nsamples // test1024_nsamples remove = alltest_nsamples % test1024_nsamples for cam in ['left','right']: camstr = '' if cam=='left' else f'_{cam}cam' for pass_ in ['final','clean']: tosave[f'test1024_{pass_}pass{camstr}'] = sorted(tosave[f'test_{pass_}pass{camstr}'])[:-remove][::stride] # warning, it was not sorted before assert len(tosave['test1024_cleanpass'])==1024, "incorrect parsing of pairs in Flying Things" tosave[f'test1024_allpass{camstr}'] = tosave[f'test1024_cleanpass{camstr}'] + tosave[f'test1024_finalpass{camstr}'] return tosave class MPISintelDataset(FlowDataset): def _prepare_data(self): self.name = "MPISintel" self._set_root() assert self.split in [s+'_'+p for s in ['train','test','subval','subtrain'] for p in ['cleanpass','finalpass','allpass']] self.pairname_to_img1name = lambda pairname: osp.join(self.root, pairname[0], 'frame_{:04d}.png'.format(pairname[1])) self.pairname_to_img2name = lambda pairname: osp.join(self.root, pairname[0], 'frame_{:04d}.png'.format(pairname[1]+1)) self.pairname_to_flowname = lambda pairname: None if pairname[0].startswith('test/') else osp.join(self.root, pairname[0].replace('/clean/','/flow/').replace('/final/','/flow/'), 'frame_{:04d}.flo'.format(pairname[1])) self.pairname_to_str = lambda pairname: osp.join(pairname[0], 'frame_{:04d}'.format(pairname[1])) self.load_flow = _read_flo_file def _build_cache(self): trainseqs = sorted(os.listdir(self.root+'training/clean')) trainpairs = [ (osp.join('training/clean', s),i) for s in trainseqs for i in range(1, len(os.listdir(self.root+'training/clean/'+s)))] subvalseqs = ['temple_2','temple_3'] subtrainseqs = [s for s in trainseqs if s not in subvalseqs] subvalpairs = [ (p,i) for p,i in trainpairs if any(s in p for s in subvalseqs)] subtrainpairs = [ (p,i) for p,i in trainpairs if any(s in p for s in subtrainseqs)] testseqs = sorted(os.listdir(self.root+'test/clean')) testpairs = [ (osp.join('test/clean', s),i) for s in testseqs for i in range(1, len(os.listdir(self.root+'test/clean/'+s)))] assert len(trainpairs)==1041 and len(testpairs)==552 and len(subvalpairs)==98 and len(subtrainpairs)==943, "incorrect parsing of pairs in MPI-Sintel" tosave = {} tosave['train_cleanpass'] = trainpairs tosave['test_cleanpass'] = testpairs tosave['subval_cleanpass'] = subvalpairs tosave['subtrain_cleanpass'] = subtrainpairs for t in ['train','test','subval','subtrain']: tosave[t+'_finalpass'] = [(p.replace('/clean/','/final/'),i) for p,i in tosave[t+'_cleanpass']] tosave[t+'_allpass'] = tosave[t+'_cleanpass'] + tosave[t+'_finalpass'] return tosave def submission_save_pairname(self, pairname, prediction, outdir, _time): assert prediction.shape[2]==2 outfile = os.path.join(outdir, 'submission', self.pairname_to_str(pairname)+'.flo') os.makedirs( os.path.dirname(outfile), exist_ok=True) writeFlowFile(prediction, outfile) def finalize_submission(self, outdir): assert self.split == 'test_allpass' bundle_exe = "/nfs/data/ffs-3d/datasets/StereoFlow/MPI-Sintel/bundler/linux-x64/bundler" # eg if os.path.isfile(bundle_exe): cmd = f'{bundle_exe} "{outdir}/submission/test/clean/" "{outdir}/submission/test/final" "{outdir}/submission/bundled.lzma"' print(cmd) os.system(cmd) print(f'Done. Submission file at: "{outdir}/submission/bundled.lzma"') else: print('Could not find bundler executable for submission.') print('Please download it and run:') print(f' "{outdir}/submission/test/clean/" "{outdir}/submission/test/final" "{outdir}/submission/bundled.lzma"') class SpringDataset(FlowDataset): def _prepare_data(self): self.name = "Spring" self._set_root() assert self.split in ['train','test','subtrain','subval'] self.pairname_to_img1name = lambda pairname: osp.join(self.root, pairname[0], pairname[1], 'frame_'+pairname[3], 'frame_{:s}_{:04d}.png'.format(pairname[3], pairname[4])) self.pairname_to_img2name = lambda pairname: osp.join(self.root, pairname[0], pairname[1], 'frame_'+pairname[3], 'frame_{:s}_{:04d}.png'.format(pairname[3], pairname[4]+(1 if pairname[2]=='FW' else -1))) self.pairname_to_flowname = lambda pairname: None if pairname[0]=='test' else osp.join(self.root, pairname[0], pairname[1], f'flow_{pairname[2]}_{pairname[3]}', f'flow_{pairname[2]}_{pairname[3]}_{pairname[4]:04d}.flo5') self.pairname_to_str = lambda pairname: osp.join(pairname[0], pairname[1], f'flow_{pairname[2]}_{pairname[3]}', f'flow_{pairname[2]}_{pairname[3]}_{pairname[4]:04d}') self.load_flow = _read_hdf5_flow def _build_cache(self): # train trainseqs = sorted(os.listdir( osp.join(self.root,'train'))) trainpairs = [] for leftright in ['left','right']: for fwbw in ['FW','BW']: trainpairs += [('train',s,fwbw,leftright,int(f[len(f'flow_{fwbw}_{leftright}_'):-len('.flo5')])) for s in trainseqs for f in sorted(os.listdir(osp.join(self.root,'train',s,f'flow_{fwbw}_{leftright}')))] # test testseqs = sorted(os.listdir( osp.join(self.root,'test'))) testpairs = [] for leftright in ['left','right']: testpairs += [('test',s,'FW',leftright,int(f[len(f'frame_{leftright}_'):-len('.png')])) for s in testseqs for f in sorted(os.listdir(osp.join(self.root,'test',s,f'frame_{leftright}')))[:-1]] testpairs += [('test',s,'BW',leftright,int(f[len(f'frame_{leftright}_'):-len('.png')])+1) for s in testseqs for f in sorted(os.listdir(osp.join(self.root,'test',s,f'frame_{leftright}')))[:-1]] # subtrain / subval subtrainpairs = [p for p in trainpairs if p[1]!='0041'] subvalpairs = [p for p in trainpairs if p[1]=='0041'] assert len(trainpairs)==19852 and len(testpairs)==3960 and len(subtrainpairs)==19472 and len(subvalpairs)==380, "incorrect parsing of pairs in Spring" tosave = {'train': trainpairs, 'test': testpairs, 'subtrain': subtrainpairs, 'subval': subvalpairs} return tosave def submission_save_pairname(self, pairname, prediction, outdir, time): assert prediction.ndim==3 assert prediction.shape[2]==2 assert prediction.dtype==np.float32 outfile = osp.join(outdir, pairname[0], pairname[1], f'flow_{pairname[2]}_{pairname[3]}', f'flow_{pairname[2]}_{pairname[3]}_{pairname[4]:04d}.flo5') os.makedirs( os.path.dirname(outfile), exist_ok=True) writeFlo5File(prediction, outfile) def finalize_submission(self, outdir): assert self.split=='test' exe = "{self.root}/flow_subsampling" if os.path.isfile(exe): cmd = f'cd "{outdir}/test"; {exe} .' print(cmd) os.system(cmd) print(f'Done. Submission file at {outdir}/test/flow_submission.hdf5') else: print('Could not find flow_subsampling executable for submission.') print('Please download it and run:') print(f'cd "{outdir}/test"; .') class Kitti12Dataset(FlowDataset): def _prepare_data(self): self.name = "Kitti12" self._set_root() assert self.split in ['train','test'] self.pairname_to_img1name = lambda pairname: osp.join(self.root, pairname+'_10.png') self.pairname_to_img2name = lambda pairname: osp.join(self.root, pairname+'_11.png') self.pairname_to_flowname = None if self.split=='test' else lambda pairname: osp.join(self.root, pairname.replace('/colored_0/','/flow_occ/')+'_10.png') self.pairname_to_str = lambda pairname: pairname.replace('/colored_0/','/') self.load_flow = _read_kitti_flow def _build_cache(self): trainseqs = ["training/colored_0/%06d"%(i) for i in range(194)] testseqs = ["testing/colored_0/%06d"%(i) for i in range(195)] assert len(trainseqs)==194 and len(testseqs)==195, "incorrect parsing of pairs in Kitti12" tosave = {'train': trainseqs, 'test': testseqs} return tosave def submission_save_pairname(self, pairname, prediction, outdir, time): assert prediction.ndim==3 assert prediction.shape[2]==2 outfile = os.path.join(outdir, pairname.split('/')[-1]+'_10.png') os.makedirs( os.path.dirname(outfile), exist_ok=True) writeFlowKitti(outfile, prediction) def finalize_submission(self, outdir): assert self.split=='test' cmd = f'cd {outdir}/; zip -r "kitti12_flow_results.zip" .' print(cmd) os.system(cmd) print(f'Done. Submission file at {outdir}/kitti12_flow_results.zip') class Kitti15Dataset(FlowDataset): def _prepare_data(self): self.name = "Kitti15" self._set_root() assert self.split in ['train','subtrain','subval','test'] self.pairname_to_img1name = lambda pairname: osp.join(self.root, pairname+'_10.png') self.pairname_to_img2name = lambda pairname: osp.join(self.root, pairname+'_11.png') self.pairname_to_flowname = None if self.split=='test' else lambda pairname: osp.join(self.root, pairname.replace('/image_2/','/flow_occ/')+'_10.png') self.pairname_to_str = lambda pairname: pairname.replace('/image_2/','/') self.load_flow = _read_kitti_flow def _build_cache(self): trainseqs = ["training/image_2/%06d"%(i) for i in range(200)] subtrainseqs = trainseqs[:-10] subvalseqs = trainseqs[-10:] testseqs = ["testing/image_2/%06d"%(i) for i in range(200)] assert len(trainseqs)==200 and len(subtrainseqs)==190 and len(subvalseqs)==10 and len(testseqs)==200, "incorrect parsing of pairs in Kitti15" tosave = {'train': trainseqs, 'subtrain': subtrainseqs, 'subval': subvalseqs, 'test': testseqs} return tosave def submission_save_pairname(self, pairname, prediction, outdir, time): assert prediction.ndim==3 assert prediction.shape[2]==2 outfile = os.path.join(outdir, 'flow', pairname.split('/')[-1]+'_10.png') os.makedirs( os.path.dirname(outfile), exist_ok=True) writeFlowKitti(outfile, prediction) def finalize_submission(self, outdir): assert self.split=='test' cmd = f'cd {outdir}/; zip -r "kitti15_flow_results.zip" flow' print(cmd) os.system(cmd) print(f'Done. Submission file at {outdir}/kitti15_flow_results.zip') import cv2 def _read_numpy_flow(filename): return np.load(filename) def _read_pfm_flow(filename): f, _ = _read_pfm(filename) assert np.all(f[:,:,2]==0.0) return np.ascontiguousarray(f[:,:,:2]) TAG_FLOAT = 202021.25 # tag to check the sanity of the file TAG_STRING = 'PIEH' # string containing the tag MIN_WIDTH = 1 MAX_WIDTH = 99999 MIN_HEIGHT = 1 MAX_HEIGHT = 99999 def readFlowFile(filename): """ readFlowFile() reads a flow file into a 2-band np.array. if does not exist, an IOError is raised. if does not finish by '.flo' or the tag, the width, the height or the file's size is illegal, an Expcetion is raised. ---- PARAMETERS ---- filename: string containg the name of the file to read a flow ---- OUTPUTS ---- a np.array of dimension (height x width x 2) containing the flow of type 'float32' """ # check filename if not filename.endswith(".flo"): raise Exception("readFlowFile({:s}): filename must finish with '.flo'".format(filename)) # open the file and read it with open(filename,'rb') as f: # check tag tag = struct.unpack('f',f.read(4))[0] if tag != TAG_FLOAT: raise Exception("flow_utils.readFlowFile({:s}): wrong tag".format(filename)) # read dimension w,h = struct.unpack('ii',f.read(8)) if w < MIN_WIDTH or w > MAX_WIDTH: raise Exception("flow_utils.readFlowFile({:s}: illegal width {:d}".format(filename,w)) if h < MIN_HEIGHT or h > MAX_HEIGHT: raise Exception("flow_utils.readFlowFile({:s}: illegal height {:d}".format(filename,h)) flow = np.fromfile(f,'float32') if not flow.shape == (h*w*2,): raise Exception("flow_utils.readFlowFile({:s}: illegal size of the file".format(filename)) flow.shape = (h,w,2) return flow def writeFlowFile(flow,filename): """ writeFlowFile(flow,) write flow to the file . if does not exist, an IOError is raised. if does not finish with '.flo' or the flow has not 2 bands, an Exception is raised. ---- PARAMETERS ---- flow: np.array of dimension (height x width x 2) containing the flow to write filename: string containg the name of the file to write a flow """ # check filename if not filename.endswith(".flo"): raise Exception("flow_utils.writeFlowFile(,{:s}): filename must finish with '.flo'".format(filename)) if not flow.shape[2:] == (2,): raise Exception("flow_utils.writeFlowFile(,{:s}): must have 2 bands".format(filename)) # open the file and write it with open(filename,'wb') as f: # write TAG f.write( TAG_STRING.encode('utf-8') ) # write dimension f.write( struct.pack('ii',flow.shape[1],flow.shape[0]) ) # write the flow flow.astype(np.float32).tofile(f) _read_flo_file = readFlowFile def _read_kitti_flow(filename): flow = cv2.imread(filename, cv2.IMREAD_ANYDEPTH | cv2.IMREAD_COLOR) flow = flow[:, :, ::-1].astype(np.float32) valid = flow[:, :, 2]>0 flow = flow[:, :, :2] flow = (flow - 2 ** 15) / 64.0 flow[~valid,0] = np.inf flow[~valid,1] = np.inf return flow _read_hd1k_flow = _read_kitti_flow def writeFlowKitti(filename, uv): uv = 64.0 * uv + 2 ** 15 valid = np.ones([uv.shape[0], uv.shape[1], 1]) uv = np.concatenate([uv, valid], axis=-1).astype(np.uint16) cv2.imwrite(filename, uv[..., ::-1]) def writeFlo5File(flow, filename): with h5py.File(filename, "w") as f: f.create_dataset("flow", data=flow, compression="gzip", compression_opts=5) def _read_hdf5_flow(filename): flow = np.asarray(h5py.File(filename)['flow']) flow[np.isnan(flow)] = np.inf # make invalid values as +inf return flow.astype(np.float32) # flow visualization RY = 15 YG = 6 GC = 4 CB = 11 BM = 13 MR = 6 UNKNOWN_THRESH = 1e9 def colorTest(): """ flow_utils.colorTest(): display an example of image showing the color encoding scheme """ import matplotlib.pylab as plt truerange = 1 h,w = 151,151 trange = truerange*1.04 s2 = round(h/2) x,y = np.meshgrid(range(w),range(h)) u = x*trange/s2-trange v = y*trange/s2-trange img = _computeColor(np.concatenate((u[:,:,np.newaxis],v[:,:,np.newaxis]),2)/trange/np.sqrt(2)) plt.imshow(img) plt.axis('off') plt.axhline(round(h/2),color='k') plt.axvline(round(w/2),color='k') def flowToColor(flow, maxflow=None, maxmaxflow=None, saturate=False): """ flow_utils.flowToColor(flow): return a color code flow field, normalized based on the maximum l2-norm of the flow flow_utils.flowToColor(flow,maxflow): return a color code flow field, normalized by maxflow ---- PARAMETERS ---- flow: flow to display of shape (height x width x 2) maxflow (default:None): if given, normalize the flow by its value, otherwise by the flow norm maxmaxflow (default:None): if given, normalize the flow by the max of its value and the flow norm ---- OUTPUT ---- an np.array of shape (height x width x 3) of type uint8 containing a color code of the flow """ h,w,n = flow.shape # check size of flow assert n == 2, "flow_utils.flowToColor(flow): flow must have 2 bands" # fix unknown flow unknown_idx = np.max(np.abs(flow),2)>UNKNOWN_THRESH flow[unknown_idx] = 0.0 # compute max flow if needed if maxflow is None: maxflow = flowMaxNorm(flow) if maxmaxflow is not None: maxflow = min(maxmaxflow, maxflow) # normalize flow eps = np.spacing(1) # minimum positive float value to avoid division by 0 # compute the flow img = _computeColor(flow/(maxflow+eps), saturate=saturate) # put black pixels in unknown location img[ np.tile( unknown_idx[:,:,np.newaxis],[1,1,3]) ] = 0.0 return img def flowMaxNorm(flow): """ flow_utils.flowMaxNorm(flow): return the maximum of the l2-norm of the given flow ---- PARAMETERS ---- flow: the flow ---- OUTPUT ---- a float containing the maximum of the l2-norm of the flow """ return np.max( np.sqrt( np.sum( np.square( flow ) , 2) ) ) def _computeColor(flow, saturate=True): """ flow_utils._computeColor(flow): compute color codes for the flow field flow ---- PARAMETERS ---- flow: np.array of dimension (height x width x 2) containing the flow to display ---- OUTPUTS ---- an np.array of dimension (height x width x 3) containing the color conversion of the flow """ # set nan to 0 nanidx = np.isnan(flow[:,:,0]) flow[nanidx] = 0.0 # colorwheel ncols = RY + YG + GC + CB + BM + MR nchans = 3 colorwheel = np.zeros((ncols,nchans),'uint8') col = 0; #RY colorwheel[:RY,0] = 255 colorwheel[:RY,1] = [(255*i) // RY for i in range(RY)] col += RY # YG colorwheel[col:col+YG,0] = [255 - (255*i) // YG for i in range(YG)] colorwheel[col:col+YG,1] = 255 col += YG # GC colorwheel[col:col+GC,1] = 255 colorwheel[col:col+GC,2] = [(255*i) // GC for i in range(GC)] col += GC # CB colorwheel[col:col+CB,1] = [255 - (255*i) // CB for i in range(CB)] colorwheel[col:col+CB,2] = 255 col += CB # BM colorwheel[col:col+BM,0] = [(255*i) // BM for i in range(BM)] colorwheel[col:col+BM,2] = 255 col += BM # MR colorwheel[col:col+MR,0] = 255 colorwheel[col:col+MR,2] = [255 - (255*i) // MR for i in range(MR)] # compute utility variables rad = np.sqrt( np.sum( np.square(flow) , 2) ) # magnitude a = np.arctan2( -flow[:,:,1] , -flow[:,:,0]) / np.pi # angle fk = (a+1)/2 * (ncols-1) # map [-1,1] to [0,ncols-1] k0 = np.floor(fk).astype('int') k1 = k0+1 k1[k1==ncols] = 0 f = fk-k0 if not saturate: rad = np.minimum(rad,1) # compute the image img = np.zeros( (flow.shape[0],flow.shape[1],nchans), 'uint8' ) for i in range(nchans): tmp = colorwheel[:,i].astype('float') col0 = tmp[k0]/255 col1 = tmp[k1]/255 col = (1-f)*col0 + f*col1 idx = (rad <= 1) col[idx] = 1-rad[idx]*(1-col[idx]) # increase saturation with radius col[~idx] *= 0.75 # out of range img[:,:,i] = (255*col*(1-nanidx.astype('float'))).astype('uint8') return img # flow dataset getter def get_train_dataset_flow(dataset_str, augmentor=True, crop_size=None): dataset_str = dataset_str.replace('(','Dataset(') if augmentor: dataset_str = dataset_str.replace(')',', augmentor=True)') if crop_size is not None: dataset_str = dataset_str.replace(')',', crop_size={:s})'.format(str(crop_size))) return eval(dataset_str) def get_test_datasets_flow(dataset_str): dataset_str = dataset_str.replace('(','Dataset(') return [eval(s) for s in dataset_str.split('+')] ================================================ FILE: croco/stereoflow/datasets_stereo.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # Dataset structure for stereo # -------------------------------------------------------- import sys, os import os.path as osp import pickle import numpy as np from PIL import Image import json import h5py from glob import glob import cv2 import torch from torch.utils import data from .augmentor import StereoAugmentor dataset_to_root = { 'CREStereo': './data/stereoflow//crenet_stereo_trainset/stereo_trainset/crestereo/', 'SceneFlow': './data/stereoflow//SceneFlow/', 'ETH3DLowRes': './data/stereoflow/eth3d_lowres/', 'Booster': './data/stereoflow/booster_gt/', 'Middlebury2021': './data/stereoflow/middlebury/2021/data/', 'Middlebury2014': './data/stereoflow/middlebury/2014/', 'Middlebury2006': './data/stereoflow/middlebury/2006/', 'Middlebury2005': './data/stereoflow/middlebury/2005/train/', 'MiddleburyEval3': './data/stereoflow/middlebury/MiddEval3/', 'Spring': './data/stereoflow/spring/', 'Kitti15': './data/stereoflow/kitti-stereo-2015/', 'Kitti12': './data/stereoflow/kitti-stereo-2012/', } cache_dir = "./data/stereoflow/datasets_stereo_cache/" in1k_mean = torch.tensor([0.485, 0.456, 0.406]).view(3,1,1) in1k_std = torch.tensor([0.229, 0.224, 0.225]).view(3,1,1) def img_to_tensor(img): img = torch.from_numpy(img).permute(2, 0, 1).float() / 255. img = (img-in1k_mean)/in1k_std return img def disp_to_tensor(disp): return torch.from_numpy(disp)[None,:,:] class StereoDataset(data.Dataset): def __init__(self, split, augmentor=False, crop_size=None, totensor=True): self.split = split if not augmentor: assert crop_size is None if crop_size: assert augmentor self.crop_size = crop_size self.augmentor_str = augmentor self.augmentor = StereoAugmentor(crop_size) if augmentor else None self.totensor = totensor self.rmul = 1 # keep track of rmul self.has_constant_resolution = True # whether the dataset has constant resolution or not (=> don't use batch_size>1 at test time) self._prepare_data() self._load_or_build_cache() def prepare_data(self): """ to be defined for each dataset """ raise NotImplementedError def __len__(self): return len(self.pairnames) def __getitem__(self, index): pairname = self.pairnames[index] # get filenames Limgname = self.pairname_to_Limgname(pairname) Rimgname = self.pairname_to_Rimgname(pairname) Ldispname = self.pairname_to_Ldispname(pairname) if self.pairname_to_Ldispname is not None else None # load images and disparities Limg = _read_img(Limgname) Rimg = _read_img(Rimgname) disp = self.load_disparity(Ldispname) if Ldispname is not None else None # sanity check if disp is not None: assert np.all(disp>0) or self.name=="Spring", (self.name, pairname, Ldispname) # apply augmentations if self.augmentor is not None: Limg, Rimg, disp = self.augmentor(Limg, Rimg, disp, self.name) if self.totensor: Limg = img_to_tensor(Limg) Rimg = img_to_tensor(Rimg) if disp is None: disp = torch.tensor([]) # to allow dataloader batching with default collate_gn else: disp = disp_to_tensor(disp) return Limg, Rimg, disp, str(pairname) def __rmul__(self, v): self.rmul *= v self.pairnames = v * self.pairnames return self def __str__(self): return f'{self.__class__.__name__}_{self.split}' def __repr__(self): s = f'{self.__class__.__name__}(split={self.split}, augmentor={self.augmentor_str}, crop_size={str(self.crop_size)}, totensor={self.totensor})' if self.rmul==1: s+=f'\n\tnum pairs: {len(self.pairnames)}' else: s+=f'\n\tnum pairs: {len(self.pairnames)} ({len(self.pairnames)//self.rmul}x{self.rmul})' return s def _set_root(self): self.root = dataset_to_root[self.name] assert os.path.isdir(self.root), f"could not find root directory for dataset {self.name}: {self.root}" def _load_or_build_cache(self): cache_file = osp.join(cache_dir, self.name+'.pkl') if osp.isfile(cache_file): with open(cache_file, 'rb') as fid: self.pairnames = pickle.load(fid)[self.split] else: tosave = self._build_cache() os.makedirs(cache_dir, exist_ok=True) with open(cache_file, 'wb') as fid: pickle.dump(tosave, fid) self.pairnames = tosave[self.split] class CREStereoDataset(StereoDataset): def _prepare_data(self): self.name = 'CREStereo' self._set_root() assert self.split in ['train'] self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname+'_left.jpg') self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, pairname+'_right.jpg') self.pairname_to_Ldispname = lambda pairname: osp.join(self.root, pairname+'_left.disp.png') self.pairname_to_str = lambda pairname: pairname self.load_disparity = _read_crestereo_disp def _build_cache(self): allpairs = [s+'/'+f[:-len('_left.jpg')] for s in sorted(os.listdir(self.root)) for f in sorted(os.listdir(self.root+'/'+s)) if f.endswith('_left.jpg')] assert len(allpairs)==200000, "incorrect parsing of pairs in CreStereo" tosave = {'train': allpairs} return tosave class SceneFlowDataset(StereoDataset): def _prepare_data(self): self.name = "SceneFlow" self._set_root() assert self.split in ['train_finalpass','train_cleanpass','train_allpass','test_finalpass','test_cleanpass','test_allpass','test1of100_cleanpass','test1of100_finalpass'] self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname) self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, pairname).replace('/left/','/right/') self.pairname_to_Ldispname = lambda pairname: osp.join(self.root, pairname).replace('/frames_finalpass/','/disparity/').replace('/frames_cleanpass/','/disparity/')[:-4]+'.pfm' self.pairname_to_str = lambda pairname: pairname[:-4] self.load_disparity = _read_sceneflow_disp def _build_cache(self): trainpairs = [] # driving pairs = sorted(glob(self.root+'Driving/frames_finalpass/*/*/*/left/*.png')) pairs = list(map(lambda x: x[len(self.root):], pairs)) assert len(pairs) == 4400, "incorrect parsing of pairs in SceneFlow" trainpairs += pairs # monkaa pairs = sorted(glob(self.root+'Monkaa/frames_finalpass/*/left/*.png')) pairs = list(map(lambda x: x[len(self.root):], pairs)) assert len(pairs) == 8664, "incorrect parsing of pairs in SceneFlow" trainpairs += pairs # flyingthings pairs = sorted(glob(self.root+'FlyingThings/frames_finalpass/TRAIN/*/*/left/*.png')) pairs = list(map(lambda x: x[len(self.root):], pairs)) assert len(pairs) == 22390, "incorrect parsing of pairs in SceneFlow" trainpairs += pairs assert len(trainpairs) == 35454, "incorrect parsing of pairs in SceneFlow" testpairs = sorted(glob(self.root+'FlyingThings/frames_finalpass/TEST/*/*/left/*.png')) testpairs = list(map(lambda x: x[len(self.root):], testpairs)) assert len(testpairs) == 4370, "incorrect parsing of pairs in SceneFlow" test1of100pairs = testpairs[::100] assert len(test1of100pairs) == 44, "incorrect parsing of pairs in SceneFlow" # all tosave = {'train_finalpass': trainpairs, 'train_cleanpass': list(map(lambda x: x.replace('frames_finalpass','frames_cleanpass'), trainpairs)), 'test_finalpass': testpairs, 'test_cleanpass': list(map(lambda x: x.replace('frames_finalpass','frames_cleanpass'), testpairs)), 'test1of100_finalpass': test1of100pairs, 'test1of100_cleanpass': list(map(lambda x: x.replace('frames_finalpass','frames_cleanpass'), test1of100pairs)), } tosave['train_allpass'] = tosave['train_finalpass']+tosave['train_cleanpass'] tosave['test_allpass'] = tosave['test_finalpass']+tosave['test_cleanpass'] return tosave class Md21Dataset(StereoDataset): def _prepare_data(self): self.name = "Middlebury2021" self._set_root() assert self.split in ['train','subtrain','subval'] self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname) self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, pairname.replace('/im0','/im1')) self.pairname_to_Ldispname = lambda pairname: osp.join(self.root, pairname.split('/')[0], 'disp0.pfm') self.pairname_to_str = lambda pairname: pairname[:-4] self.load_disparity = _read_middlebury_disp def _build_cache(self): seqs = sorted(os.listdir(self.root)) trainpairs = [] for s in seqs: #trainpairs += [s+'/im0.png'] # we should remove it, it is included as such in other lightings trainpairs += [s+'/ambient/'+b+'/'+a for b in sorted(os.listdir(osp.join(self.root,s,'ambient'))) for a in sorted(os.listdir(osp.join(self.root,s,'ambient',b))) if a.startswith('im0')] assert len(trainpairs)==355 subtrainpairs = [p for p in trainpairs if any(p.startswith(s+'/') for s in seqs[:-2])] subvalpairs = [p for p in trainpairs if any(p.startswith(s+'/') for s in seqs[-2:])] assert len(subtrainpairs)==335 and len(subvalpairs)==20, "incorrect parsing of pairs in Middlebury 2021" tosave = {'train': trainpairs, 'subtrain': subtrainpairs, 'subval': subvalpairs} return tosave class Md14Dataset(StereoDataset): def _prepare_data(self): self.name = "Middlebury2014" self._set_root() assert self.split in ['train','subtrain','subval'] self.pairname_to_Limgname = lambda pairname: osp.join(self.root, osp.dirname(pairname), 'im0.png') self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, pairname) self.pairname_to_Ldispname = lambda pairname: osp.join(self.root, osp.dirname(pairname), 'disp0.pfm') self.pairname_to_str = lambda pairname: pairname[:-4] self.load_disparity = _read_middlebury_disp self.has_constant_resolution = False def _build_cache(self): seqs = sorted(os.listdir(self.root)) trainpairs = [] for s in seqs: trainpairs += [s+'/im1.png',s+'/im1E.png',s+'/im1L.png'] assert len(trainpairs)==138 valseqs = ['Umbrella-imperfect','Vintage-perfect'] assert all(s in seqs for s in valseqs) subtrainpairs = [p for p in trainpairs if not any(p.startswith(s+'/') for s in valseqs)] subvalpairs = [p for p in trainpairs if any(p.startswith(s+'/') for s in valseqs)] assert len(subtrainpairs)==132 and len(subvalpairs)==6, "incorrect parsing of pairs in Middlebury 2014" tosave = {'train': trainpairs, 'subtrain': subtrainpairs, 'subval': subvalpairs} return tosave class Md06Dataset(StereoDataset): def _prepare_data(self): self.name = "Middlebury2006" self._set_root() assert self.split in ['train','subtrain','subval'] self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname) self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, osp.dirname(pairname), 'view5.png') self.pairname_to_Ldispname = lambda pairname: osp.join(self.root, pairname.split('/')[0], 'disp1.png') self.load_disparity = _read_middlebury20052006_disp self.has_constant_resolution = False def _build_cache(self): seqs = sorted(os.listdir(self.root)) trainpairs = [] for s in seqs: for i in ['Illum1','Illum2','Illum3']: for e in ['Exp0','Exp1','Exp2']: trainpairs.append(osp.join(s,i,e,'view1.png')) assert len(trainpairs)==189 valseqs = ['Rocks1','Wood2'] assert all(s in seqs for s in valseqs) subtrainpairs = [p for p in trainpairs if not any(p.startswith(s+'/') for s in valseqs)] subvalpairs = [p for p in trainpairs if any(p.startswith(s+'/') for s in valseqs)] assert len(subtrainpairs)==171 and len(subvalpairs)==18, "incorrect parsing of pairs in Middlebury 2006" tosave = {'train': trainpairs, 'subtrain': subtrainpairs, 'subval': subvalpairs} return tosave class Md05Dataset(StereoDataset): def _prepare_data(self): self.name = "Middlebury2005" self._set_root() assert self.split in ['train','subtrain','subval'] self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname) self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, osp.dirname(pairname), 'view5.png') self.pairname_to_Ldispname = lambda pairname: osp.join(self.root, pairname.split('/')[0], 'disp1.png') self.pairname_to_str = lambda pairname: pairname[:-4] self.load_disparity = _read_middlebury20052006_disp def _build_cache(self): seqs = sorted(os.listdir(self.root)) trainpairs = [] for s in seqs: for i in ['Illum1','Illum2','Illum3']: for e in ['Exp0','Exp1','Exp2']: trainpairs.append(osp.join(s,i,e,'view1.png')) assert len(trainpairs)==54, "incorrect parsing of pairs in Middlebury 2005" valseqs = ['Reindeer'] assert all(s in seqs for s in valseqs) subtrainpairs = [p for p in trainpairs if not any(p.startswith(s+'/') for s in valseqs)] subvalpairs = [p for p in trainpairs if any(p.startswith(s+'/') for s in valseqs)] assert len(subtrainpairs)==45 and len(subvalpairs)==9, "incorrect parsing of pairs in Middlebury 2005" tosave = {'train': trainpairs, 'subtrain': subtrainpairs, 'subval': subvalpairs} return tosave class MdEval3Dataset(StereoDataset): def _prepare_data(self): self.name = "MiddleburyEval3" self._set_root() assert self.split in [s+'_'+r for s in ['train','subtrain','subval','test','all'] for r in ['full','half','quarter']] if self.split.endswith('_full'): self.root = self.root.replace('/MiddEval3','/MiddEval3_F') elif self.split.endswith('_half'): self.root = self.root.replace('/MiddEval3','/MiddEval3_H') else: assert self.split.endswith('_quarter') self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname, 'im0.png') self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, pairname, 'im1.png') self.pairname_to_Ldispname = lambda pairname: None if pairname.startswith('test') else osp.join(self.root, pairname, 'disp0GT.pfm') self.pairname_to_str = lambda pairname: pairname self.load_disparity = _read_middlebury_disp # for submission only self.submission_methodname = "CroCo-Stereo" self.submission_sresolution = 'F' if self.split.endswith('_full') else ('H' if self.split.endswith('_half') else 'Q') def _build_cache(self): trainpairs = ['train/'+s for s in sorted(os.listdir(self.root+'train/'))] testpairs = ['test/'+s for s in sorted(os.listdir(self.root+'test/'))] subvalpairs = trainpairs[-1:] subtrainpairs = trainpairs[:-1] allpairs = trainpairs+testpairs assert len(trainpairs)==15 and len(testpairs)==15 and len(subvalpairs)==1 and len(subtrainpairs)==14 and len(allpairs)==30, "incorrect parsing of pairs in Middlebury Eval v3" tosave = {} for r in ['full','half','quarter']: tosave.update(**{'train_'+r: trainpairs, 'subtrain_'+r: subtrainpairs, 'subval_'+r: subvalpairs, 'test_'+r: testpairs, 'all_'+r: allpairs}) return tosave def submission_save_pairname(self, pairname, prediction, outdir, time): assert prediction.ndim==2 assert prediction.dtype==np.float32 outfile = os.path.join(outdir, pairname.split('/')[0].replace('train','training')+self.submission_sresolution, pairname.split('/')[1], 'disp0'+self.submission_methodname+'.pfm') os.makedirs( os.path.dirname(outfile), exist_ok=True) writePFM(outfile, prediction) timefile = os.path.join( os.path.dirname(outfile), "time"+self.submission_methodname+'.txt') with open(timefile, 'w') as fid: fid.write(str(time)) def finalize_submission(self, outdir): cmd = f'cd {outdir}/; zip -r "{self.submission_methodname}.zip" .' print(cmd) os.system(cmd) print(f'Done. Submission file at {outdir}/{self.submission_methodname}.zip') class ETH3DLowResDataset(StereoDataset): def _prepare_data(self): self.name = "ETH3DLowRes" self._set_root() assert self.split in ['train','test','subtrain','subval','all'] self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname, 'im0.png') self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, pairname, 'im1.png') self.pairname_to_Ldispname = None if self.split=='test' else lambda pairname: None if pairname.startswith('test/') else osp.join(self.root, pairname.replace('train/','train_gt/'), 'disp0GT.pfm') self.pairname_to_str = lambda pairname: pairname self.load_disparity = _read_eth3d_disp self.has_constant_resolution = False def _build_cache(self): trainpairs = ['train/' + s for s in sorted(os.listdir(self.root+'train/'))] testpairs = ['test/' + s for s in sorted(os.listdir(self.root+'test/'))] assert len(trainpairs) == 27 and len(testpairs) == 20, "incorrect parsing of pairs in ETH3D Low Res" subvalpairs = ['train/delivery_area_3s','train/electro_3l','train/playground_3l'] assert all(p in trainpairs for p in subvalpairs) subtrainpairs = [p for p in trainpairs if not p in subvalpairs] assert len(subvalpairs)==3 and len(subtrainpairs)==24, "incorrect parsing of pairs in ETH3D Low Res" tosave = {'train': trainpairs, 'test': testpairs, 'subtrain': subtrainpairs, 'subval': subvalpairs, 'all': trainpairs+testpairs} return tosave def submission_save_pairname(self, pairname, prediction, outdir, time): assert prediction.ndim==2 assert prediction.dtype==np.float32 outfile = os.path.join(outdir, 'low_res_two_view', pairname.split('/')[1]+'.pfm') os.makedirs( os.path.dirname(outfile), exist_ok=True) writePFM(outfile, prediction) timefile = outfile[:-4]+'.txt' with open(timefile, 'w') as fid: fid.write('runtime '+str(time)) def finalize_submission(self, outdir): cmd = f'cd {outdir}/; zip -r "eth3d_low_res_two_view_results.zip" low_res_two_view' print(cmd) os.system(cmd) print(f'Done. Submission file at {outdir}/eth3d_low_res_two_view_results.zip') class BoosterDataset(StereoDataset): def _prepare_data(self): self.name = "Booster" self._set_root() assert self.split in ['train_balanced','test_balanced','subtrain_balanced','subval_balanced'] # we use only the balanced version self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname) self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, pairname).replace('/camera_00/','/camera_02/') self.pairname_to_Ldispname = lambda pairname: osp.join(self.root, osp.dirname(pairname), '../disp_00.npy') # same images with different colors, same gt per sequence self.pairname_to_str = lambda pairname: pairname[:-4].replace('/camera_00/','/') self.load_disparity = _read_booster_disp def _build_cache(self): trainseqs = sorted(os.listdir(self.root+'train/balanced')) trainpairs = ['train/balanced/'+s+'/camera_00/'+imname for s in trainseqs for imname in sorted(os.listdir(self.root+'train/balanced/'+s+'/camera_00/'))] testpairs = ['test/balanced/'+s+'/camera_00/'+imname for s in sorted(os.listdir(self.root+'test/balanced')) for imname in sorted(os.listdir(self.root+'test/balanced/'+s+'/camera_00/'))] assert len(trainpairs) == 228 and len(testpairs) == 191 subtrainpairs = [p for p in trainpairs if any(s in p for s in trainseqs[:-2])] subvalpairs = [p for p in trainpairs if any(s in p for s in trainseqs[-2:])] # warning: if we do validation split, we should split scenes!!! tosave = {'train_balanced': trainpairs, 'test_balanced': testpairs, 'subtrain_balanced': subtrainpairs, 'subval_balanced': subvalpairs,} return tosave class SpringDataset(StereoDataset): def _prepare_data(self): self.name = "Spring" self._set_root() assert self.split in ['train', 'test', 'subtrain', 'subval'] self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname+'.png') self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, pairname+'.png').replace('frame_right','').replace('frame_left','frame_right').replace('','frame_left') self.pairname_to_Ldispname = lambda pairname: None if pairname.startswith('test') else osp.join(self.root, pairname+'.dsp5').replace('frame_left','disp1_left').replace('frame_right','disp1_right') self.pairname_to_str = lambda pairname: pairname self.load_disparity = _read_hdf5_disp def _build_cache(self): trainseqs = sorted(os.listdir( osp.join(self.root,'train'))) trainpairs = [osp.join('train',s,'frame_left',f[:-4]) for s in trainseqs for f in sorted(os.listdir(osp.join(self.root,'train',s,'frame_left')))] testseqs = sorted(os.listdir( osp.join(self.root,'test'))) testpairs = [osp.join('test',s,'frame_left',f[:-4]) for s in testseqs for f in sorted(os.listdir(osp.join(self.root,'test',s,'frame_left')))] testpairs += [p.replace('frame_left','frame_right') for p in testpairs] """maxnorm = {'0001': 32.88, '0002': 228.5, '0004': 298.2, '0005': 142.5, '0006': 113.6, '0007': 27.3, '0008': 554.5, '0009': 155.6, '0010': 126.1, '0011': 87.6, '0012': 303.2, '0013': 24.14, '0014': 82.56, '0015': 98.44, '0016': 156.9, '0017': 28.17, '0018': 21.03, '0020': 178.0, '0021': 58.06, '0022': 354.2, '0023': 8.79, '0024': 97.06, '0025': 55.16, '0026': 91.9, '0027': 156.6, '0030': 200.4, '0032': 58.66, '0033': 373.5, '0036': 149.4, '0037': 5.625, '0038': 37.0, '0039': 12.2, '0041': 453.5, '0043': 457.0, '0044': 379.5, '0045': 161.8, '0047': 105.44} # => let'use 0041""" subtrainpairs = [p for p in trainpairs if p.split('/')[1]!='0041'] subvalpairs = [p for p in trainpairs if p.split('/')[1]=='0041'] assert len(trainpairs)==5000 and len(testpairs)==2000 and len(subtrainpairs)==4904 and len(subvalpairs)==96, "incorrect parsing of pairs in Spring" tosave = {'train': trainpairs, 'test': testpairs, 'subtrain': subtrainpairs, 'subval': subvalpairs} return tosave def submission_save_pairname(self, pairname, prediction, outdir, time): assert prediction.ndim==2 assert prediction.dtype==np.float32 outfile = os.path.join(outdir, pairname+'.dsp5').replace('frame_left','disp1_left').replace('frame_right','disp1_right') os.makedirs( os.path.dirname(outfile), exist_ok=True) writeDsp5File(prediction, outfile) def finalize_submission(self, outdir): assert self.split=='test' exe = "{self.root}/disp1_subsampling" if os.path.isfile(exe): cmd = f'cd "{outdir}/test"; {exe} .' print(cmd) os.system(cmd) else: print('Could not find disp1_subsampling executable for submission.') print('Please download it and run:') print(f'cd "{outdir}/test"; .') class Kitti12Dataset(StereoDataset): def _prepare_data(self): self.name = "Kitti12" self._set_root() assert self.split in ['train','test'] self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname+'_10.png') self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, pairname.replace('/colored_0/','/colored_1/')+'_10.png') self.pairname_to_Ldispname = None if self.split=='test' else lambda pairname: osp.join(self.root, pairname.replace('/colored_0/','/disp_occ/')+'_10.png') self.pairname_to_str = lambda pairname: pairname.replace('/colored_0/','/') self.load_disparity = _read_kitti_disp def _build_cache(self): trainseqs = ["training/colored_0/%06d"%(i) for i in range(194)] testseqs = ["testing/colored_0/%06d"%(i) for i in range(195)] assert len(trainseqs)==194 and len(testseqs)==195, "incorrect parsing of pairs in Kitti12" tosave = {'train': trainseqs, 'test': testseqs} return tosave def submission_save_pairname(self, pairname, prediction, outdir, time): assert prediction.ndim==2 assert prediction.dtype==np.float32 outfile = os.path.join(outdir, pairname.split('/')[-1]+'_10.png') os.makedirs( os.path.dirname(outfile), exist_ok=True) img = (prediction * 256).astype('uint16') Image.fromarray(img).save(outfile) def finalize_submission(self, outdir): assert self.split=='test' cmd = f'cd {outdir}/; zip -r "kitti12_results.zip" .' print(cmd) os.system(cmd) print(f'Done. Submission file at {outdir}/kitti12_results.zip') class Kitti15Dataset(StereoDataset): def _prepare_data(self): self.name = "Kitti15" self._set_root() assert self.split in ['train','subtrain','subval','test'] self.pairname_to_Limgname = lambda pairname: osp.join(self.root, pairname+'_10.png') self.pairname_to_Rimgname = lambda pairname: osp.join(self.root, pairname.replace('/image_2/','/image_3/')+'_10.png') self.pairname_to_Ldispname = None if self.split=='test' else lambda pairname: osp.join(self.root, pairname.replace('/image_2/','/disp_occ_0/')+'_10.png') self.pairname_to_str = lambda pairname: pairname.replace('/image_2/','/') self.load_disparity = _read_kitti_disp def _build_cache(self): trainseqs = ["training/image_2/%06d"%(i) for i in range(200)] subtrainseqs = trainseqs[:-5] subvalseqs = trainseqs[-5:] testseqs = ["testing/image_2/%06d"%(i) for i in range(200)] assert len(trainseqs)==200 and len(subtrainseqs)==195 and len(subvalseqs)==5 and len(testseqs)==200, "incorrect parsing of pairs in Kitti15" tosave = {'train': trainseqs, 'subtrain': subtrainseqs, 'subval': subvalseqs, 'test': testseqs} return tosave def submission_save_pairname(self, pairname, prediction, outdir, time): assert prediction.ndim==2 assert prediction.dtype==np.float32 outfile = os.path.join(outdir, 'disp_0', pairname.split('/')[-1]+'_10.png') os.makedirs( os.path.dirname(outfile), exist_ok=True) img = (prediction * 256).astype('uint16') Image.fromarray(img).save(outfile) def finalize_submission(self, outdir): assert self.split=='test' cmd = f'cd {outdir}/; zip -r "kitti15_results.zip" disp_0' print(cmd) os.system(cmd) print(f'Done. Submission file at {outdir}/kitti15_results.zip') ### auxiliary functions def _read_img(filename): # convert to RGB for scene flow finalpass data img = np.asarray(Image.open(filename).convert('RGB')) return img def _read_booster_disp(filename): disp = np.load(filename) disp[disp==0.0] = np.inf return disp def _read_png_disp(filename, coef=1.0): disp = np.asarray(Image.open(filename)) disp = disp.astype(np.float32) / coef disp[disp==0.0] = np.inf return disp def _read_pfm_disp(filename): disp = np.ascontiguousarray(_read_pfm(filename)[0]) disp[disp<=0] = np.inf # eg /nfs/data/ffs-3d/datasets/middlebury/2014/Shopvac-imperfect/disp0.pfm return disp def _read_npy_disp(filename): return np.load(filename) def _read_crestereo_disp(filename): return _read_png_disp(filename, coef=32.0) def _read_middlebury20052006_disp(filename): return _read_png_disp(filename, coef=1.0) def _read_kitti_disp(filename): return _read_png_disp(filename, coef=256.0) _read_sceneflow_disp = _read_pfm_disp _read_eth3d_disp = _read_pfm_disp _read_middlebury_disp = _read_pfm_disp _read_carla_disp = _read_pfm_disp _read_tartanair_disp = _read_npy_disp def _read_hdf5_disp(filename): disp = np.asarray(h5py.File(filename)['disparity']) disp[np.isnan(disp)] = np.inf # make invalid values as +inf #disp[disp==0.0] = np.inf # make invalid values as +inf return disp.astype(np.float32) import re def _read_pfm(file): file = open(file, 'rb') color = None width = None height = None scale = None endian = None header = file.readline().rstrip() if header.decode("ascii") == 'PF': color = True elif header.decode("ascii") == 'Pf': color = False else: raise Exception('Not a PFM file.') dim_match = re.match(r'^(\d+)\s(\d+)\s$', file.readline().decode("ascii")) if dim_match: width, height = list(map(int, dim_match.groups())) else: raise Exception('Malformed PFM header.') scale = float(file.readline().decode("ascii").rstrip()) if scale < 0: # little-endian endian = '<' scale = -scale else: endian = '>' # big-endian data = np.fromfile(file, endian + 'f') shape = (height, width, 3) if color else (height, width) data = np.reshape(data, shape) data = np.flipud(data) return data, scale def writePFM(file, image, scale=1): file = open(file, 'wb') color = None if image.dtype.name != 'float32': raise Exception('Image dtype must be float32.') image = np.flipud(image) if len(image.shape) == 3 and image.shape[2] == 3: # color image color = True elif len(image.shape) == 2 or len(image.shape) == 3 and image.shape[2] == 1: # greyscale color = False else: raise Exception('Image must have H x W x 3, H x W x 1 or H x W dimensions.') file.write('PF\n' if color else 'Pf\n'.encode()) file.write('%d %d\n'.encode() % (image.shape[1], image.shape[0])) endian = image.dtype.byteorder if endian == '<' or endian == '=' and sys.byteorder == 'little': scale = -scale file.write('%f\n'.encode() % scale) image.tofile(file) def writeDsp5File(disp, filename): with h5py.File(filename, "w") as f: f.create_dataset("disparity", data=disp, compression="gzip", compression_opts=5) # disp visualization def vis_disparity(disp, m=None, M=None): if m is None: m = disp.min() if M is None: M = disp.max() disp_vis = (disp - m) / (M-m) * 255.0 disp_vis = disp_vis.astype("uint8") disp_vis = cv2.applyColorMap(disp_vis, cv2.COLORMAP_INFERNO) return disp_vis # dataset getter def get_train_dataset_stereo(dataset_str, augmentor=True, crop_size=None): dataset_str = dataset_str.replace('(','Dataset(') if augmentor: dataset_str = dataset_str.replace(')',', augmentor=True)') if crop_size is not None: dataset_str = dataset_str.replace(')',', crop_size={:s})'.format(str(crop_size))) return eval(dataset_str) def get_test_datasets_stereo(dataset_str): dataset_str = dataset_str.replace('(','Dataset(') return [eval(s) for s in dataset_str.split('+')] ================================================ FILE: croco/stereoflow/download_model.sh ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). model=$1 outfile="stereoflow_models/${model}" if [[ ! -f $outfile ]] then mkdir -p stereoflow_models/; wget https://download.europe.naverlabs.com/ComputerVision/CroCo/StereoFlow_models/$1 -P stereoflow_models/; else echo "Model ${model} already downloaded in ${outfile}." fi ================================================ FILE: croco/stereoflow/engine.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # Main function for training one epoch or testing # -------------------------------------------------------- import math import sys from typing import Iterable import numpy as np import torch import torchvision from utils import misc as misc def split_prediction_conf(predictions, with_conf=False): if not with_conf: return predictions, None conf = predictions[:,-1:,:,:] predictions = predictions[:,:-1,:,:] return predictions, conf def train_one_epoch(model: torch.nn.Module, criterion: torch.nn.Module, metrics: torch.nn.Module, data_loader: Iterable, optimizer: torch.optim.Optimizer, device: torch.device, epoch: int, loss_scaler, log_writer=None, print_freq = 20, args=None): model.train(True) metric_logger = misc.MetricLogger(delimiter=" ") metric_logger.add_meter('lr', misc.SmoothedValue(window_size=1, fmt='{value:.6f}')) header = 'Epoch: [{}]'.format(epoch) accum_iter = args.accum_iter optimizer.zero_grad() details = {} if log_writer is not None: print('log_dir: {}'.format(log_writer.log_dir)) if args.img_per_epoch: iter_per_epoch = args.img_per_epoch // args.batch_size + int(args.img_per_epoch % args.batch_size > 0) assert len(data_loader) >= iter_per_epoch, 'Dataset is too small for so many iterations' len_data_loader = iter_per_epoch else: len_data_loader, iter_per_epoch = len(data_loader), None for data_iter_step, (image1, image2, gt, pairname) in enumerate(metric_logger.log_every(data_loader, print_freq, header, max_iter=iter_per_epoch)): image1 = image1.to(device, non_blocking=True) image2 = image2.to(device, non_blocking=True) gt = gt.to(device, non_blocking=True) # we use a per iteration (instead of per epoch) lr scheduler if data_iter_step % accum_iter == 0: misc.adjust_learning_rate(optimizer, data_iter_step / len_data_loader + epoch, args) with torch.cuda.amp.autocast(enabled=bool(args.amp)): prediction = model(image1, image2) prediction, conf = split_prediction_conf(prediction, criterion.with_conf) batch_metrics = metrics(prediction.detach(), gt) loss = criterion(prediction, gt) if conf is None else criterion(prediction, gt, conf) loss_value = loss.item() if not math.isfinite(loss_value): print("Loss is {}, stopping training".format(loss_value)) sys.exit(1) loss /= accum_iter loss_scaler(loss, optimizer, parameters=model.parameters(), update_grad=(data_iter_step + 1) % accum_iter == 0) if (data_iter_step + 1) % accum_iter == 0: optimizer.zero_grad() torch.cuda.synchronize() metric_logger.update(loss=loss_value) for k,v in batch_metrics.items(): metric_logger.update(**{k: v.item()}) lr = optimizer.param_groups[0]["lr"] metric_logger.update(lr=lr) #if args.dsitributed: loss_value_reduce = misc.all_reduce_mean(loss_value) time_to_log = ((data_iter_step + 1) % (args.tboard_log_step * accum_iter) == 0 or data_iter_step == len_data_loader-1) loss_value_reduce = misc.all_reduce_mean(loss_value) if log_writer is not None and time_to_log: epoch_1000x = int((data_iter_step / len_data_loader + epoch) * 1000) # We use epoch_1000x as the x-axis in tensorboard. This calibrates different curves when batch size changes. log_writer.add_scalar('train/loss', loss_value_reduce, epoch_1000x) log_writer.add_scalar('lr', lr, epoch_1000x) for k,v in batch_metrics.items(): log_writer.add_scalar('train/'+k, v.item(), epoch_1000x) # gather the stats from all processes #if args.distributed: metric_logger.synchronize_between_processes() print("Averaged stats:", metric_logger) return {k: meter.global_avg for k, meter in metric_logger.meters.items()} @torch.no_grad() def validate_one_epoch(model: torch.nn.Module, criterion: torch.nn.Module, metrics: torch.nn.Module, data_loaders: list[Iterable], device: torch.device, epoch: int, log_writer=None, args=None): model.eval() metric_loggers = [] header = 'Epoch: [{}]'.format(epoch) print_freq = 20 conf_mode = args.tile_conf_mode crop = args.crop if log_writer is not None: print('log_dir: {}'.format(log_writer.log_dir)) results = {} dnames = [] image1, image2, gt, prediction = None, None, None, None for didx, data_loader in enumerate(data_loaders): dname = str(data_loader.dataset) dnames.append(dname) metric_loggers.append(misc.MetricLogger(delimiter=" ")) for data_iter_step, (image1, image2, gt, pairname) in enumerate(metric_loggers[didx].log_every(data_loader, print_freq, header)): image1 = image1.to(device, non_blocking=True) image2 = image2.to(device, non_blocking=True) gt = gt.to(device, non_blocking=True) if dname.startswith('Spring'): assert gt.size(2)==image1.size(2)*2 and gt.size(3)==image1.size(3)*2 gt = (gt[:,:,0::2,0::2] + gt[:,:,0::2,1::2] + gt[:,:,1::2,0::2] + gt[:,:,1::2,1::2] ) / 4.0 # we approximate the gt based on the 2x upsampled ones with torch.inference_mode(): prediction, tiled_loss, c = tiled_pred(model, criterion, image1, image2, gt, conf_mode=conf_mode, overlap=args.val_overlap, crop=crop, with_conf=criterion.with_conf) batch_metrics = metrics(prediction.detach(), gt) loss = criterion(prediction.detach(), gt) if not criterion.with_conf else criterion(prediction.detach(), gt, c) loss_value = loss.item() metric_loggers[didx].update(loss_tiled=tiled_loss.item()) metric_loggers[didx].update(**{f'loss': loss_value}) for k,v in batch_metrics.items(): metric_loggers[didx].update(**{dname+'_' + k: v.item()}) results = {k: meter.global_avg for ml in metric_loggers for k, meter in ml.meters.items()} if len(dnames)>1: for k in batch_metrics.keys(): results['AVG_'+k] = sum(results[dname+'_'+k] for dname in dnames) / len(dnames) if log_writer is not None : epoch_1000x = int((1 + epoch) * 1000) for k,v in results.items(): log_writer.add_scalar('val/'+k, v, epoch_1000x) print("Averaged stats:", results) return results import torch.nn.functional as F def _resize_img(img, new_size): return F.interpolate(img, size=new_size, mode='bicubic', align_corners=False) def _resize_stereo_or_flow(data, new_size): assert data.ndim==4 assert data.size(1) in [1,2] scale_x = new_size[1]/float(data.size(3)) out = F.interpolate(data, size=new_size, mode='bicubic', align_corners=False) out[:,0,:,:] *= scale_x if out.size(1)==2: scale_y = new_size[0]/float(data.size(2)) out[:,1,:,:] *= scale_y print(scale_x, new_size, data.shape) return out @torch.no_grad() def tiled_pred(model, criterion, img1, img2, gt, overlap=0.5, bad_crop_thr=0.05, downscale=False, crop=512, ret='loss', conf_mode='conf_expsigmoid_10_5', with_conf=False, return_time=False): # for each image, we are going to run inference on many overlapping patches # then, all predictions will be weighted-averaged if gt is not None: B, C, H, W = gt.shape else: B, _, H, W = img1.shape C = model.head.num_channels-int(with_conf) win_height, win_width = crop[0], crop[1] # upscale to be larger than the crop do_change_scale = H= window and 0 <= overlap < 1, (total, window, overlap) num_windows = 1 + int(np.ceil( (total - window) / ((1-overlap) * window) )) offsets = np.linspace(0, total-window, num_windows).round().astype(int) yield from (slice(x, x+window) for x in offsets) def _crop(img, sy, sx): B, THREE, H, W = img.shape if 0 <= sy.start and sy.stop <= H and 0 <= sx.start and sx.stop <= W: return img[:,:,sy,sx] l, r = max(0,-sx.start), max(0,sx.stop-W) t, b = max(0,-sy.start), max(0,sy.stop-H) img = torch.nn.functional.pad(img, (l,r,t,b), mode='constant') return img[:, :, slice(sy.start+t,sy.stop+t), slice(sx.start+l,sx.stop+l)] ================================================ FILE: croco/stereoflow/test.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # Main test function # -------------------------------------------------------- import os import argparse import pickle from PIL import Image import numpy as np from tqdm import tqdm import torch from torch.utils.data import DataLoader import utils.misc as misc from models.croco_downstream import CroCoDownstreamBinocular from models.head_downstream import PixelwiseTaskWithDPT from stereoflow.criterion import * from stereoflow.datasets_stereo import get_test_datasets_stereo from stereoflow.datasets_flow import get_test_datasets_flow from stereoflow.engine import tiled_pred from stereoflow.datasets_stereo import vis_disparity from stereoflow.datasets_flow import flowToColor def get_args_parser(): parser = argparse.ArgumentParser('Test CroCo models on stereo/flow', add_help=False) # important argument parser.add_argument('--model', required=True, type=str, help='Path to the model to evaluate') parser.add_argument('--dataset', required=True, type=str, help="test dataset (there can be multiple dataset separated by a +)") # tiling parser.add_argument('--tile_conf_mode', type=str, default='', help='Weights for the tiling aggregation based on confidence (empty means use the formula from the loaded checkpoint') parser.add_argument('--tile_overlap', type=float, default=0.7, help='overlap between tiles') # save (it will automatically go to _/_) parser.add_argument('--save', type=str, nargs='+', default=[], help='what to save: \ metrics (pickle file), \ pred (raw prediction save as torch tensor), \ visu (visualization in png of each prediction), \ err10 (visualization in png of the error clamp at 10 for each prediction), \ submission (submission file)') # other (no impact) parser.add_argument('--num_workers', default=4, type=int) return parser def _load_model_and_criterion(model_path, do_load_metrics, device): print('loading model from', model_path) assert os.path.isfile(model_path) ckpt = torch.load(model_path, 'cpu') ckpt_args = ckpt['args'] task = ckpt_args.task tile_conf_mode = ckpt_args.tile_conf_mode num_channels = {'stereo': 1, 'flow': 2}[task] with_conf = eval(ckpt_args.criterion).with_conf if with_conf: num_channels += 1 print('head: PixelwiseTaskWithDPT()') head = PixelwiseTaskWithDPT() head.num_channels = num_channels print('croco_args:', ckpt_args.croco_args) model = CroCoDownstreamBinocular(head, **ckpt_args.croco_args) msg = model.load_state_dict(ckpt['model'], strict=True) model.eval() model = model.to(device) if do_load_metrics: if task=='stereo': metrics = StereoDatasetMetrics().to(device) else: metrics = FlowDatasetMetrics().to(device) else: metrics = None return model, metrics, ckpt_args.crop, with_conf, task, tile_conf_mode def _save_batch(pred, gt, pairnames, dataset, task, save, outdir, time, submission_dir=None): for i in range(len(pairnames)): pairname = eval(pairnames[i]) if pairnames[i].startswith('(') else pairnames[i] # unbatch pairname fname = os.path.join(outdir, dataset.pairname_to_str(pairname)) os.makedirs(os.path.dirname(fname), exist_ok=True) predi = pred[i,...] if gt is not None: gti = gt[i,...] if 'pred' in save: torch.save(predi.squeeze(0).cpu(), fname+'_pred.pth') if 'visu' in save: if task=='stereo': disparity = predi.permute((1,2,0)).squeeze(2).cpu().numpy() m,M = None if gt is not None: mask = torch.isfinite(gti) m = gt[mask].min() M = gt[mask].max() img_disparity = vis_disparity(disparity, m=m, M=M) Image.fromarray(img_disparity).save(fname+'_pred.png') else: # normalize flowToColor according to the maxnorm of gt (or prediction if not available) flowNorm = torch.sqrt(torch.sum( (gti if gt is not None else predi)**2, dim=0)).max().item() imgflow = flowToColor(predi.permute((1,2,0)).cpu().numpy(), maxflow=flowNorm) Image.fromarray(imgflow).save(fname+'_pred.png') if 'err10' in save: assert gt is not None L2err = torch.sqrt(torch.sum( (gti-predi)**2, dim=0)) valid = torch.isfinite(gti[0,:,:]) L2err[~valid] = 0.0 L2err = torch.clamp(L2err, max=10.0) red = (L2err*255.0/10.0).to(dtype=torch.uint8)[:,:,None] zer = torch.zeros_like(red) imgerr = torch.cat( (red,zer,zer), dim=2).cpu().numpy() Image.fromarray(imgerr).save(fname+'_err10.png') if 'submission' in save: assert submission_dir is not None predi_np = predi.permute(1,2,0).squeeze(2).cpu().numpy() # transform into HxWx2 for flow or HxW for stereo dataset.submission_save_pairname(pairname, predi_np, submission_dir, time) def main(args): # load the pretrained model and metrics device = torch.device('cuda:0') if torch.cuda.is_available() else torch.device('cpu') model, metrics, cropsize, with_conf, task, tile_conf_mode = _load_model_and_criterion(args.model, 'metrics' in args.save, device) if args.tile_conf_mode=='': args.tile_conf_mode = tile_conf_mode # load the datasets datasets = (get_test_datasets_stereo if task=='stereo' else get_test_datasets_flow)(args.dataset) dataloaders = [DataLoader(dataset, batch_size=1, shuffle=False, num_workers=args.num_workers, pin_memory=True, drop_last=False) for dataset in datasets] # run for i,dataloader in enumerate(dataloaders): dataset = datasets[i] dstr = args.dataset.split('+')[i] outdir = args.model+'_'+misc.filename(dstr) if 'metrics' in args.save and len(args.save)==1: fname = os.path.join(outdir, f'conf_{args.tile_conf_mode}_overlap_{args.tile_overlap}.pkl') if os.path.isfile(fname) and len(args.save)==1: print(' metrics already compute in '+fname) with open(fname, 'rb') as fid: results = pickle.load(fid) for k,v in results.items(): print('{:s}: {:.3f}'.format(k, v)) continue if 'submission' in args.save: dirname = f'submission_conf_{args.tile_conf_mode}_overlap_{args.tile_overlap}' submission_dir = os.path.join(outdir, dirname) else: submission_dir = None print('') print('saving {:s} in {:s}'.format('+'.join(args.save), outdir)) print(repr(dataset)) if metrics is not None: metrics.reset() for data_iter_step, (image1, image2, gt, pairnames) in enumerate(tqdm(dataloader)): do_flip = (task=='stereo' and dstr.startswith('Spring') and any("right" in p for p in pairnames)) # we flip the images and will flip the prediction after as we assume img1 is on the left image1 = image1.to(device, non_blocking=True) image2 = image2.to(device, non_blocking=True) gt = gt.to(device, non_blocking=True) if gt.numel()>0 else None # special case for test time if do_flip: assert all("right" in p for p in pairnames) image1 = image1.flip(dims=[3]) # this is already the right frame, let's flip it image2 = image2.flip(dims=[3]) gt = gt # that is ok with torch.inference_mode(): pred, _, _, time = tiled_pred(model, None, image1, image2, None if dataset.name=='Spring' else gt, conf_mode=args.tile_conf_mode, overlap=args.tile_overlap, crop=cropsize, with_conf=with_conf, return_time=True) if do_flip: pred = pred.flip(dims=[3]) if metrics is not None: metrics.add_batch(pred, gt) if any(k in args.save for k in ['pred','visu','err10','submission']): _save_batch(pred, gt, pairnames, dataset, task, args.save, outdir, time, submission_dir=submission_dir) # print if metrics is not None: results = metrics.get_results() for k,v in results.items(): print('{:s}: {:.3f}'.format(k, v)) # save if needed if 'metrics' in args.save: os.makedirs(os.path.dirname(fname), exist_ok=True) with open(fname, 'wb') as fid: pickle.dump(results, fid) print('metrics saved in', fname) # finalize submission if needed if 'submission' in args.save: dataset.finalize_submission(submission_dir) if __name__ == '__main__': args = get_args_parser() args = args.parse_args() main(args) ================================================ FILE: croco/stereoflow/train.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # -------------------------------------------------------- # Main training function # -------------------------------------------------------- import argparse import datetime import json import numpy as np import os import sys import time import torch import torch.distributed as dist import torch.backends.cudnn as cudnn from torch.utils.tensorboard import SummaryWriter import torchvision.transforms as transforms import torchvision.datasets as datasets from torch.utils.data import DataLoader import utils import utils.misc as misc from utils.misc import NativeScalerWithGradNormCount as NativeScaler from models.croco_downstream import CroCoDownstreamBinocular, croco_args_from_ckpt from models.pos_embed import interpolate_pos_embed from models.head_downstream import PixelwiseTaskWithDPT from stereoflow.datasets_stereo import get_train_dataset_stereo, get_test_datasets_stereo from stereoflow.datasets_flow import get_train_dataset_flow, get_test_datasets_flow from stereoflow.engine import train_one_epoch, validate_one_epoch from stereoflow.criterion import * def get_args_parser(): # prepare subparsers parser = argparse.ArgumentParser('Finetuning CroCo models on stereo or flow', add_help=False) subparsers = parser.add_subparsers(title="Task (stereo or flow)", dest="task", required=True) parser_stereo = subparsers.add_parser('stereo', help='Training stereo model') parser_flow = subparsers.add_parser('flow', help='Training flow model') def add_arg(name_or_flags, default=None, default_stereo=None, default_flow=None, **kwargs): if default is not None: assert default_stereo is None and default_flow is None, "setting default makes default_stereo and default_flow disabled" parser_stereo.add_argument(name_or_flags, default=default if default is not None else default_stereo, **kwargs) parser_flow.add_argument(name_or_flags, default=default if default is not None else default_flow, **kwargs) # output dir add_arg('--output_dir', required=True, type=str, help='path where to save, if empty, automatically created') # model add_arg('--crop', type=int, nargs = '+', default_stereo=[352, 704], default_flow=[320, 384], help = "size of the random image crops used during training.") add_arg('--pretrained', required=True, type=str, help="Load pretrained model (required as croco arguments come from there)") # criterion add_arg('--criterion', default_stereo='LaplacianLossBounded2()', default_flow='LaplacianLossBounded()', type=str, help='string to evaluate to get criterion') add_arg('--bestmetric', default_stereo='avgerr', default_flow='EPE', type=str) # dataset add_arg('--dataset', type=str, required=True, help="training set") # training add_arg('--seed', default=0, type=int, help='seed') add_arg('--batch_size', default_stereo=6, default_flow=8, type=int, help='Batch size per GPU (effective batch size is batch_size * accum_iter * # gpus') add_arg('--epochs', default=32, type=int, help='number of training epochs') add_arg('--img_per_epoch', type=int, default=None, help='Fix the number of images seen in an epoch (None means use all training pairs)') add_arg('--accum_iter', default=1, type=int, help='Accumulate gradient iterations (for increasing the effective batch size under memory constraints)') add_arg('--weight_decay', type=float, default=0.05, help='weight decay (default: 0.05)') add_arg('--lr', type=float, default_stereo=3e-5, default_flow=2e-5, metavar='LR', help='learning rate (absolute lr)') add_arg('--min_lr', type=float, default=0., metavar='LR', help='lower lr bound for cyclic schedulers that hit 0') add_arg('--warmup_epochs', type=int, default=1, metavar='N', help='epochs to warmup LR') add_arg('--optimizer', default='AdamW(param_groups, lr=args.lr, betas=(0.9, 0.95))', type=str, help="Optimizer from torch.optim [ default: AdamW(param_groups, lr=args.lr, betas=(0.9, 0.95)) ]") add_arg('--amp', default=0, type=int, choices=[0,1], help='enable automatic mixed precision training') # validation add_arg('--val_dataset', type=str, default='', help="Validation sets, multiple separated by + (empty string means that no validation is performed)") add_arg('--tile_conf_mode', type=str, default_stereo='conf_expsigmoid_15_3', default_flow='conf_expsigmoid_10_5', help='Weights for tile aggregation') add_arg('--val_overlap', default=0.7, type=float, help='Overlap value for the tiling') # others add_arg('--num_workers', default=8, type=int) add_arg('--eval_every', type=int, default=1, help='Val loss evaluation frequency') add_arg('--save_every', type=int, default=1, help='Save checkpoint frequency') add_arg('--start_from', type=str, default=None, help='Start training using weights from an other model (eg for finetuning)') add_arg('--tboard_log_step', type=int, default=100, help='Log to tboard every so many steps') add_arg('--dist_url', default='env://', help='url used to set up distributed training') return parser def main(args): misc.init_distributed_mode(args) global_rank = misc.get_rank() num_tasks = misc.get_world_size() assert os.path.isfile(args.pretrained) print("output_dir: "+args.output_dir) os.makedirs(args.output_dir, exist_ok=True) # fix the seed for reproducibility seed = args.seed + misc.get_rank() torch.manual_seed(seed) np.random.seed(seed) cudnn.benchmark = True # Metrics / criterion device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu') metrics = (StereoMetrics if args.task=='stereo' else FlowMetrics)().to(device) criterion = eval(args.criterion).to(device) print('Criterion: ', args.criterion) # Prepare model assert os.path.isfile(args.pretrained) ckpt = torch.load(args.pretrained, 'cpu') croco_args = croco_args_from_ckpt(ckpt) croco_args['img_size'] = (args.crop[0], args.crop[1]) print('Croco args: '+str(croco_args)) args.croco_args = croco_args # saved for test time # prepare head num_channels = {'stereo': 1, 'flow': 2}[args.task] if criterion.with_conf: num_channels += 1 print(f'Building head PixelwiseTaskWithDPT() with {num_channels} channel(s)') head = PixelwiseTaskWithDPT() head.num_channels = num_channels # build model and load pretrained weights model = CroCoDownstreamBinocular(head, **croco_args) interpolate_pos_embed(model, ckpt['model']) msg = model.load_state_dict(ckpt['model'], strict=False) print(msg) total_params = sum(p.numel() for p in model.parameters()) total_params_trainable = sum(p.numel() for p in model.parameters() if p.requires_grad) print(f"Total params: {total_params}") print(f"Total params trainable: {total_params_trainable}") model_without_ddp = model.to(device) eff_batch_size = args.batch_size * args.accum_iter * misc.get_world_size() print("lr: %.2e" % args.lr) print("accumulate grad iterations: %d" % args.accum_iter) print("effective batch size: %d" % eff_batch_size) if args.distributed: model = torch.nn.parallel.DistributedDataParallel(model, device_ids=[args.gpu], static_graph=True) model_without_ddp = model.module # following timm: set wd as 0 for bias and norm layers param_groups = misc.get_parameter_groups(model_without_ddp, args.weight_decay) optimizer = eval(f"torch.optim.{args.optimizer}") print(optimizer) loss_scaler = NativeScaler() # automatic restart last_ckpt_fname = os.path.join(args.output_dir, f'checkpoint-last.pth') args.resume = last_ckpt_fname if os.path.isfile(last_ckpt_fname) else None if not args.resume and args.start_from: print(f"Starting from an other model's weights: {args.start_from}") best_so_far = None args.start_epoch = 0 ckpt = torch.load(args.start_from, 'cpu') msg = model_without_ddp.load_state_dict(ckpt['model'], strict=False) print(msg) else: best_so_far = misc.load_model(args=args, model_without_ddp=model_without_ddp, optimizer=optimizer, loss_scaler=loss_scaler) if best_so_far is None: best_so_far = np.inf # tensorboard log_writer = None if global_rank == 0 and args.output_dir is not None: log_writer = SummaryWriter(log_dir=args.output_dir, purge_step=args.start_epoch*1000) # dataset and loader print('Building Train Data loader for dataset: ', args.dataset) train_dataset = (get_train_dataset_stereo if args.task=='stereo' else get_train_dataset_flow)(args.dataset, crop_size=args.crop) def _print_repr_dataset(d): if isinstance(d, torch.utils.data.dataset.ConcatDataset): for dd in d.datasets: _print_repr_dataset(dd) else: print(repr(d)) _print_repr_dataset(train_dataset) print(' total length:', len(train_dataset)) if args.distributed: sampler_train = torch.utils.data.DistributedSampler( train_dataset, num_replicas=num_tasks, rank=global_rank, shuffle=True ) else: sampler_train = torch.utils.data.RandomSampler(train_dataset) data_loader_train = torch.utils.data.DataLoader( train_dataset, sampler=sampler_train, batch_size=args.batch_size, num_workers=args.num_workers, pin_memory=True, drop_last=True, ) if args.val_dataset=='': data_loaders_val = None else: print('Building Val Data loader for datasets: ', args.val_dataset) val_datasets = (get_test_datasets_stereo if args.task=='stereo' else get_test_datasets_flow)(args.val_dataset) for val_dataset in val_datasets: print(repr(val_dataset)) data_loaders_val = [DataLoader(val_dataset, batch_size=1, shuffle=False, num_workers=args.num_workers, pin_memory=True, drop_last=False) for val_dataset in val_datasets] bestmetric = ("AVG_" if len(data_loaders_val)>1 else str(data_loaders_val[0].dataset)+'_')+args.bestmetric print(f"Start training for {args.epochs} epochs") start_time = time.time() # Training Loop for epoch in range(args.start_epoch, args.epochs): if args.distributed: data_loader_train.sampler.set_epoch(epoch) # Train epoch_start = time.time() train_stats = train_one_epoch(model, criterion, metrics, data_loader_train, optimizer, device, epoch, loss_scaler, log_writer=log_writer, args=args) epoch_time = time.time() - epoch_start if args.distributed: dist.barrier() # Validation (current naive implementation runs the validation on every gpu ... not smart ...) if data_loaders_val is not None and args.eval_every > 0 and (epoch+1) % args.eval_every == 0: val_epoch_start = time.time() val_stats = validate_one_epoch(model, criterion, metrics, data_loaders_val, device, epoch, log_writer=log_writer, args=args) val_epoch_time = time.time() - val_epoch_start val_best = val_stats[bestmetric] # Save best of all if val_best <= best_so_far: best_so_far = val_best misc.save_model(args=args, model_without_ddp=model_without_ddp, optimizer=optimizer, loss_scaler=loss_scaler, epoch=epoch, best_so_far=best_so_far, fname='best') log_stats = {**{f'train_{k}': v for k, v in train_stats.items()}, 'epoch': epoch, **{f'val_{k}': v for k, v in val_stats.items()}} else: log_stats = {**{f'train_{k}': v for k, v in train_stats.items()}, 'epoch': epoch,} if args.distributed: dist.barrier() # Save stuff if args.output_dir and ((epoch+1) % args.save_every == 0 or epoch + 1 == args.epochs): misc.save_model(args=args, model_without_ddp=model_without_ddp, optimizer=optimizer, loss_scaler=loss_scaler, epoch=epoch, best_so_far=best_so_far, fname='last') if args.output_dir: if log_writer is not None: log_writer.flush() with open(os.path.join(args.output_dir, "log.txt"), mode="a", encoding="utf-8") as f: f.write(json.dumps(log_stats) + "\n") total_time = time.time() - start_time total_time_str = str(datetime.timedelta(seconds=int(total_time))) print('Training time {}'.format(total_time_str)) if __name__ == '__main__': args = get_args_parser() args = args.parse_args() main(args) ================================================ FILE: croco/utils/misc.py ================================================ # Copyright (C) 2022-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # utilitary functions for CroCo # -------------------------------------------------------- # References: # MAE: https://github.com/facebookresearch/mae # DeiT: https://github.com/facebookresearch/deit # BEiT: https://github.com/microsoft/unilm/tree/master/beit # -------------------------------------------------------- import builtins import datetime import os import time import math import json from collections import defaultdict, deque from pathlib import Path import numpy as np import torch import torch.distributed as dist from torch import inf class SmoothedValue(object): """Track a series of values and provide access to smoothed values over a window or the global series average. """ def __init__(self, window_size=20, fmt=None): if fmt is None: fmt = "{median:.4f} ({global_avg:.4f})" self.deque = deque(maxlen=window_size) self.total = 0.0 self.count = 0 self.fmt = fmt def update(self, value, n=1): self.deque.append(value) self.count += n self.total += value * n def synchronize_between_processes(self): """ Warning: does not synchronize the deque! """ if not is_dist_avail_and_initialized(): return t = torch.tensor([self.count, self.total], dtype=torch.float64, device='cuda') dist.barrier() dist.all_reduce(t) t = t.tolist() self.count = int(t[0]) self.total = t[1] @property def median(self): d = torch.tensor(list(self.deque)) return d.median().item() @property def avg(self): d = torch.tensor(list(self.deque), dtype=torch.float32) return d.mean().item() @property def global_avg(self): return self.total / self.count @property def max(self): return max(self.deque) @property def value(self): return self.deque[-1] def __str__(self): return self.fmt.format( median=self.median, avg=self.avg, global_avg=self.global_avg, max=self.max, value=self.value) class MetricLogger(object): def __init__(self, delimiter="\t"): self.meters = defaultdict(SmoothedValue) self.delimiter = delimiter def update(self, **kwargs): for k, v in kwargs.items(): if v is None: continue if isinstance(v, torch.Tensor): v = v.item() assert isinstance(v, (float, int)) self.meters[k].update(v) def __getattr__(self, attr): if attr in self.meters: return self.meters[attr] if attr in self.__dict__: return self.__dict__[attr] raise AttributeError("'{}' object has no attribute '{}'".format( type(self).__name__, attr)) def __str__(self): loss_str = [] for name, meter in self.meters.items(): loss_str.append( "{}: {}".format(name, str(meter)) ) return self.delimiter.join(loss_str) def synchronize_between_processes(self): for meter in self.meters.values(): meter.synchronize_between_processes() def add_meter(self, name, meter): self.meters[name] = meter def log_every(self, iterable, print_freq, header=None, max_iter=None): i = 0 if not header: header = '' start_time = time.time() end = time.time() iter_time = SmoothedValue(fmt='{avg:.4f}') data_time = SmoothedValue(fmt='{avg:.4f}') len_iterable = min(len(iterable), max_iter) if max_iter else len(iterable) space_fmt = ':' + str(len(str(len_iterable))) + 'd' log_msg = [ header, '[{0' + space_fmt + '}/{1}]', 'eta: {eta}', '{meters}', 'time: {time}', 'data: {data}' ] if torch.cuda.is_available(): log_msg.append('max mem: {memory:.0f}') log_msg = self.delimiter.join(log_msg) MB = 1024.0 * 1024.0 for it,obj in enumerate(iterable): data_time.update(time.time() - end) yield obj iter_time.update(time.time() - end) if i % print_freq == 0 or i == len_iterable - 1: eta_seconds = iter_time.global_avg * (len_iterable - i) eta_string = str(datetime.timedelta(seconds=int(eta_seconds))) if torch.cuda.is_available(): print(log_msg.format( i, len_iterable, eta=eta_string, meters=str(self), time=str(iter_time), data=str(data_time), memory=torch.cuda.max_memory_allocated() / MB)) else: print(log_msg.format( i, len_iterable, eta=eta_string, meters=str(self), time=str(iter_time), data=str(data_time))) i += 1 end = time.time() if max_iter and it >= max_iter: break total_time = time.time() - start_time total_time_str = str(datetime.timedelta(seconds=int(total_time))) print('{} Total time: {} ({:.4f} s / it)'.format( header, total_time_str, total_time / len_iterable)) def setup_for_distributed(is_master): """ This function disables printing when not in master process """ builtin_print = builtins.print def print(*args, **kwargs): force = kwargs.pop('force', False) force = force or (get_world_size() > 8) if is_master or force: now = datetime.datetime.now().time() builtin_print('[{}] '.format(now), end='') # print with time stamp builtin_print(*args, **kwargs) builtins.print = print def is_dist_avail_and_initialized(): if not dist.is_available(): return False if not dist.is_initialized(): return False return True def get_world_size(): if not is_dist_avail_and_initialized(): return 1 return dist.get_world_size() def get_rank(): if not is_dist_avail_and_initialized(): return 0 return dist.get_rank() def is_main_process(): return get_rank() == 0 def save_on_master(*args, **kwargs): if is_main_process(): torch.save(*args, **kwargs) def init_distributed_mode(args): nodist = args.nodist if hasattr(args,'nodist') else False if 'RANK' in os.environ and 'WORLD_SIZE' in os.environ and not nodist: args.rank = int(os.environ["RANK"]) args.world_size = int(os.environ['WORLD_SIZE']) args.gpu = int(os.environ['LOCAL_RANK']) else: print('Not using distributed mode') setup_for_distributed(is_master=True) # hack args.distributed = False return args.distributed = True torch.cuda.set_device(args.gpu) if not hasattr(args, "dist_backend"): args.dist_backend = 'nccl' print('| distributed init (rank {}): {}, gpu {}'.format( args.rank, args.dist_url, args.gpu), flush=True) torch.distributed.init_process_group(backend=args.dist_backend, init_method=args.dist_url, world_size=args.world_size, rank=args.rank) torch.distributed.barrier() setup_for_distributed(args.rank == 0) class NativeScalerWithGradNormCount: state_dict_key = "amp_scaler" def __init__(self, enabled=True): self._scaler = torch.cuda.amp.GradScaler(enabled=enabled) def __call__(self, loss, optimizer, clip_grad=None, parameters=None, create_graph=False, update_grad=True, accelerator=None): if accelerator is not None: accelerator.backward(self._scaler.scale(loss)) else: self._scaler.scale(loss).backward(create_graph=create_graph) if update_grad: if clip_grad is not None: assert parameters is not None self._scaler.unscale_(optimizer) # unscale the gradients of optimizer's assigned params in-place norm = torch.nn.utils.clip_grad_norm_(parameters, clip_grad) else: self._scaler.unscale_(optimizer) norm = get_grad_norm_(parameters) self._scaler.step(optimizer) self._scaler.update() else: norm = None return norm def state_dict(self): return self._scaler.state_dict() def load_state_dict(self, state_dict): self._scaler.load_state_dict(state_dict) def get_grad_norm_(parameters, norm_type: float = 2.0) -> torch.Tensor: if isinstance(parameters, torch.Tensor): parameters = [parameters] parameters = [p for p in parameters if p.grad is not None] norm_type = float(norm_type) if len(parameters) == 0: return torch.tensor(0.) device = parameters[0].grad.device if norm_type == inf: total_norm = max(p.grad.detach().abs().max().to(device) for p in parameters) else: total_norm = torch.norm(torch.stack([torch.norm(p.grad.detach(), norm_type).to(device) for p in parameters]), norm_type) return total_norm def save_model(args, epoch, model_without_ddp, optimizer, loss_scaler, fname=None, best_so_far=None): output_dir = Path(args.output_dir) if fname is None: fname = str(epoch) checkpoint_path = output_dir / ('checkpoint-%s.pth' % fname) to_save = { 'model': model_without_ddp.state_dict(), 'optimizer': optimizer.state_dict(), 'scaler': loss_scaler.state_dict(), 'args': args, 'epoch': epoch, } if best_so_far is not None: to_save['best_so_far'] = best_so_far print(f'>> Saving model to {checkpoint_path} ...') save_on_master(to_save, checkpoint_path) def load_model(args, model_without_ddp, optimizer, loss_scaler): args.start_epoch = 0 best_so_far = None if args.resume is not None: if args.resume.startswith('https'): checkpoint = torch.hub.load_state_dict_from_url( args.resume, map_location='cpu', check_hash=True) else: checkpoint = torch.load(args.resume, map_location='cpu', weights_only=False) print("Resume checkpoint %s" % args.resume) model_without_ddp.load_state_dict(checkpoint['model'], strict=False) args.start_epoch = checkpoint['epoch'] + 1 optimizer.load_state_dict(checkpoint['optimizer']) if 'scaler' in checkpoint: loss_scaler.load_state_dict(checkpoint['scaler']) if 'best_so_far' in checkpoint: best_so_far = checkpoint['best_so_far'] print(" & best_so_far={:g}".format(best_so_far)) else: print("") print("With optim & sched! start_epoch={:d}".format(args.start_epoch), end='') return best_so_far def all_reduce_mean(x): world_size = get_world_size() if world_size > 1: x_reduce = torch.tensor(x).cuda() dist.all_reduce(x_reduce) x_reduce /= world_size return x_reduce.item() else: return x def _replace(text, src, tgt, rm=''): """ Advanced string replacement. Given a text: - replace all elements in src by the corresponding element in tgt - remove all elements in rm """ if len(tgt) == 1: tgt = tgt * len(src) assert len(src) == len(tgt), f"'{src}' and '{tgt}' should have the same len" for s,t in zip(src, tgt): text = text.replace(s,t) for c in rm: text = text.replace(c,'') return text def filename( obj ): """ transform a python obj or cmd into a proper filename. - \1 gets replaced by slash '/' - \2 gets replaced by comma ',' """ if not isinstance(obj, str): obj = repr(obj) obj = str(obj).replace('()','') obj = _replace(obj, '_,(*/\1\2','-__x%/,', rm=' )\'"') assert all(len(s) < 256 for s in obj.split(os.sep)), 'filename too long (>256 characters):\n'+obj return obj def _get_num_layer_for_vit(var_name, enc_depth, dec_depth): if var_name in ("cls_token", "mask_token", "pos_embed", "global_tokens"): return 0 elif var_name.startswith("patch_embed"): return 0 elif var_name.startswith("enc_blocks"): layer_id = int(var_name.split('.')[1]) return layer_id + 1 elif var_name.startswith('decoder_embed') or var_name.startswith('enc_norm'): # part of the last black return enc_depth elif var_name.startswith('dec_blocks'): layer_id = int(var_name.split('.')[1]) return enc_depth + layer_id + 1 elif var_name.startswith('dec_norm'): # part of the last block return enc_depth + dec_depth elif any(var_name.startswith(k) for k in ['head','prediction_head']): return enc_depth + dec_depth + 1 else: raise NotImplementedError(var_name) def get_parameter_groups(model, weight_decay, layer_decay=1.0, skip_list=(), no_lr_scale_list=[]): parameter_group_names = {} parameter_group_vars = {} enc_depth, dec_depth = None, None # prepare layer decay values assert layer_decay==1.0 or 0.= height self._resolutions.append((width, height)) def _crop_resize_if_necessary(self, image, depthmap, intrinsics, resolution, rng=None, info=None, offset_factor=0.5, mask=None, normalmap=None): """ This function: - first downsizes the image with LANCZOS inteprolation, which is better than bilinear interpolation in """ if not isinstance(image, PIL.Image.Image): image = PIL.Image.fromarray(image) # downscale with lanczos interpolation so that image.size == resolution # cropping centered on the principal point W, H = image.size cx, cy = intrinsics[:2, 2].round().astype(int) min_margin_x = min(cx, W-cx) min_margin_y = min(cy, H-cy) assert min_margin_x > W/5, f'Bad principal point in view={info}' assert min_margin_y > H/5, f'Bad principal point in view={info}' # the new window will be a rectangle of size (2*min_margin_x, 2*min_margin_y) centered on (cx,cy) l, t = cx - min_margin_x, cy - min_margin_y r, b = cx + min_margin_x, cy + min_margin_y crop_bbox = (l, t, r, b) ret_crop_list = cropping.crop_image_depthmap(image, depthmap, intrinsics, crop_bbox, mask=mask, normalmap=normalmap) image, depthmap, intrinsics = ret_crop_list[:3] if mask is not None: mask = ret_crop_list[3] if normalmap is not None: normalmap = ret_crop_list[4] # transpose the resolution if necessary W, H = image.size # new size assert resolution[0] >= resolution[1] if H > 1.1*W: # image is portrait mode resolution = resolution[::-1] elif 0.9 < H/W < 1.1 and resolution[0] != resolution[1]: # image is square, so we chose (portrait, landscape) randomly if rng.integers(2): resolution = resolution[::-1] # high-quality Lanczos down-scaling target_resolution = np.array(resolution) if self.aug_crop > 1: target_resolution += rng.integers(0, self.aug_crop) ret_rescale_list = cropping.rescale_image_depthmap(image, depthmap, intrinsics, target_resolution, mask=mask, normalmap=normalmap) image, depthmap, intrinsics = ret_rescale_list[:3] if mask is not None: mask = ret_rescale_list[3] if normalmap is not None: normalmap = ret_rescale_list[4] # actual cropping (if necessary) with bilinear interpolation intrinsics2 = cropping.camera_matrix_of_crop(intrinsics, image.size, resolution, offset_factor=offset_factor) crop_bbox = cropping.bbox_from_intrinsics_in_out(intrinsics, intrinsics2, resolution) ret_crop_list = cropping.crop_image_depthmap(image, depthmap, intrinsics, crop_bbox, mask=mask, normalmap=normalmap) image, depthmap, intrinsics = ret_crop_list[:3] if mask is not None: mask = ret_crop_list[3] if normalmap is not None: normalmap = ret_crop_list[4] return image, depthmap, intrinsics2, mask, normalmap def is_good_type(key, v): """ returns (is_good, err_msg) """ if isinstance(v, (str, int, tuple)): return True, None if v.dtype not in (np.float32, torch.float32, bool, np.int32, np.int64, np.uint8): return False, f"bad {v.dtype=}" return True, None def view_name(view, batch_index=None): def sel(x): return x[batch_index] if batch_index not in (None, slice(None)) else x db = sel(view['dataset']) label = sel(view['label']) instance = sel(view['instance']) return f"{db}/{label}/{instance}" def transpose_to_landscape(view): height, width = view['true_shape'] if width < height: # rectify portrait to landscape assert view['img'].shape == (3, height, width) view['img'] = view['img'].swapaxes(1, 2) assert view['valid_mask'].shape == (height, width) view['valid_mask'] = view['valid_mask'].swapaxes(0, 1) assert view['depthmap'].shape == (height, width) view['depthmap'] = view['depthmap'].swapaxes(0, 1) if "mask" in view: assert view['mask'].shape == (height, width) view['mask'] = view['mask'].swapaxes(0, 1) assert view['pts3d'].shape == (height, width, 3) view['pts3d'] = view['pts3d'].swapaxes(0, 1) # transpose x and y pixels view['camera_intrinsics'] = view['camera_intrinsics'][[1, 0, 2]] ================================================ FILE: dust3r/datasets/base/batched_sampler.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Random sampling under a constraint # -------------------------------------------------------- import numpy as np import torch import time class BatchedRandomSampler: """ Random sampling under a constraint: each sample in the batch has the same feature, which is chosen randomly from a known pool of 'features' for each batch. For instance, the 'feature' could be the image aspect-ratio. The index returned is a tuple (sample_idx, feat_idx). This sampler ensures that each series of `batch_size` indices has the same `feat_idx`. """ def __init__(self, dataset, batch_size, pool_size, world_size=1, rank=0, drop_last=True): self.batch_size = batch_size self.pool_size = pool_size self.len_dataset = N = len(dataset) self.total_size = round_by(N, batch_size*world_size) if drop_last else N assert world_size == 1 or drop_last, 'must drop the last batch in distributed mode' # distributed sampler self.world_size = world_size self.rank = rank self.epoch = None def __len__(self): return self.total_size // self.world_size def set_epoch(self, epoch): self.epoch = epoch def __iter__(self): # prepare RNG if self.epoch is None: # assert self.world_size == 1 and self.rank == 0, 'use set_epoch() if distributed mode is used' # seed = int(torch.empty((), dtype=torch.int64).random_().item()) seed = int(time.time()) else: # to be changed # seed = self.epoch + 777 seed = self.epoch + int(time.time()) rng = np.random.default_rng(seed=seed) # random indices (will restart from 0 if not drop_last) sample_idxs = np.arange(self.total_size) rng.shuffle(sample_idxs) # random feat_idxs (same across each batch) n_batches = (self.total_size+self.batch_size-1) // self.batch_size feat_idxs = rng.integers(self.pool_size, size=n_batches) feat_idxs = np.broadcast_to(feat_idxs[:, None], (n_batches, self.batch_size)) feat_idxs = feat_idxs.ravel()[:self.total_size] # put them together idxs = np.c_[sample_idxs, feat_idxs] # shape = (total_size, 2) # Distributed sampler: we select a subset of batches # make sure the slice for each node is aligned with batch_size size_per_proc = self.batch_size * ((self.total_size + self.world_size * self.batch_size-1) // (self.world_size * self.batch_size)) idxs = idxs[self.rank*size_per_proc: (self.rank+1)*size_per_proc] yield from (tuple(idx) for idx in idxs) def round_by(total, multiple, up=False): if up: total = total + multiple-1 return (total//multiple) * multiple ================================================ FILE: dust3r/datasets/base/easy_dataset.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # A dataset base class that you can easily resize and combine. # -------------------------------------------------------- import numpy as np from dust3r.datasets.base.batched_sampler import BatchedRandomSampler class EasyDataset: """ a dataset that you can easily resize and combine. Examples: --------- 2 * dataset ==> duplicate each element 2x 10 @ dataset ==> set the size to 10 (random sampling, duplicates if necessary) dataset1 + dataset2 ==> concatenate datasets """ def __add__(self, other): return CatDataset([self, other]) def __rmul__(self, factor): return MulDataset(factor, self) def __rmatmul__(self, factor): return ResizedDataset(factor, self) def set_epoch(self, epoch): pass # nothing to do by default def make_sampler(self, batch_size, shuffle=True, world_size=1, rank=0, drop_last=True): if not (shuffle): raise NotImplementedError() # cannot deal yet num_of_aspect_ratios = len(self._resolutions) return BatchedRandomSampler(self, batch_size, num_of_aspect_ratios, world_size=world_size, rank=rank, drop_last=drop_last) class MulDataset (EasyDataset): """ Artifically augmenting the size of a dataset. """ multiplicator: int def __init__(self, multiplicator, dataset): assert isinstance(multiplicator, int) and multiplicator > 0 self.multiplicator = multiplicator self.dataset = dataset def __len__(self): return self.multiplicator * len(self.dataset) def __repr__(self): return f'{self.multiplicator}*{repr(self.dataset)}' def __getitem__(self, idx): if isinstance(idx, tuple): idx, other = idx return self.dataset[idx // self.multiplicator, other] else: return self.dataset[idx // self.multiplicator] @property def _resolutions(self): return self.dataset._resolutions class ResizedDataset (EasyDataset): """ Artifically changing the size of a dataset. """ new_size: int def __init__(self, new_size, dataset): assert isinstance(new_size, int) and new_size > 0 self.new_size = new_size self.dataset = dataset def __len__(self): return self.new_size def __repr__(self): size_str = str(self.new_size) for i in range((len(size_str)-1) // 3): sep = -4*i-3 size_str = size_str[:sep] + '_' + size_str[sep:] return f'{size_str} @ {repr(self.dataset)}' def set_epoch(self, epoch): # this random shuffle only depends on the epoch rng = np.random.default_rng(seed=epoch+777) # shuffle all indices perm = rng.permutation(len(self.dataset)) # rotary extension until target size is met shuffled_idxs = np.concatenate([perm] * (1 + (len(self)-1) // len(self.dataset))) self._idxs_mapping = shuffled_idxs[:self.new_size] assert len(self._idxs_mapping) == self.new_size def __getitem__(self, idx): assert hasattr(self, '_idxs_mapping'), 'You need to call dataset.set_epoch() to use ResizedDataset.__getitem__()' if isinstance(idx, tuple): idx, other = idx return self.dataset[self._idxs_mapping[idx], other] else: return self.dataset[self._idxs_mapping[idx]] @property def _resolutions(self): return self.dataset._resolutions class CatDataset (EasyDataset): """ Concatenation of several datasets """ def __init__(self, datasets): for dataset in datasets: assert isinstance(dataset, EasyDataset) self.datasets = datasets self._cum_sizes = np.cumsum([len(dataset) for dataset in datasets]) def __len__(self): return self._cum_sizes[-1] def __repr__(self): # remove uselessly long transform return ' + '.join(repr(dataset).replace(',transform=Compose( ToTensor() Normalize(mean=(0.5, 0.5, 0.5), std=(0.5, 0.5, 0.5)))', '') for dataset in self.datasets) def set_epoch(self, epoch): for dataset in self.datasets: dataset.set_epoch(epoch) def __getitem__(self, idx): other = None if isinstance(idx, tuple): idx, other = idx if not (0 <= idx < len(self)): raise IndexError() db_idx = np.searchsorted(self._cum_sizes, idx, 'right') dataset = self.datasets[db_idx] new_idx = idx - (self._cum_sizes[db_idx - 1] if db_idx > 0 else 0) if other is not None: new_idx = (new_idx, other) return dataset[new_idx] @property def _resolutions(self): resolutions = self.datasets[0]._resolutions for dataset in self.datasets[1:]: assert tuple(dataset._resolutions) == tuple(resolutions) return resolutions ================================================ FILE: dust3r/datasets/base/mast3r_base_stereo_view_dataset.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # base class for implementing datasets # -------------------------------------------------------- import PIL.Image import PIL.Image as Image import numpy as np import torch import copy import random from scipy.spatial.transform import Rotation from dust3r.datasets.utils.mast3r_cropping import (extract_correspondences_from_pts3d, gen_random_crops, in2d_rect, crop_to_homography) # import mast3r.utils.path_to_dust3r # noqa from dust3r.datasets.base.base_stereo_view_dataset import BaseStereoViewDataset, view_name, is_good_type # noqa from dust3r.datasets.utils.transforms import ImgNorm from dust3r.utils.geometry import depthmap_to_absolute_camera_coordinates, geotrf, depthmap_to_camera_coordinates import dust3r.datasets.utils.cropping as cropping class MASt3RBaseStereoViewDataset(BaseStereoViewDataset): def __init__(self, *, # only keyword arguments split=None, resolution=None, # square_size or (width, height) or list of [(width,height), ...] transform=ImgNorm, aug_crop=False, aug_swap=True, aug_monocular=False, aug_portrait_or_landscape=True, # automatic choice between landscape/portrait when possible aug_rot90=False, aug_blur=True, n_corres=0, nneg=0, n_tentative_crops=4, transform_view2_normals=False, seed=None): super().__init__(split=split, resolution=resolution, transform=transform, aug_crop=aug_crop, seed=seed) self.is_metric_scale = False # by default a dataset is not metric scale, subclasses can overwrite this self.aug_swap = aug_swap self.aug_monocular = aug_monocular self.aug_portrait_or_landscape = aug_portrait_or_landscape self.aug_rot90 = aug_rot90 self.transform_view2_normals = transform_view2_normals self.aug_blur = aug_blur self.defalut_mono_dataset_prob = 0.05 self.n_corres = n_corres self.nneg = nneg assert self.n_corres == 'all' or isinstance(self.n_corres, int) or (isinstance(self.n_corres, list) and len( self.n_corres) == self.num_views), f"Error, n_corres should either be 'all', a single integer or a list of length {self.num_views}" assert self.nneg == 0 or self.n_corres != 'all' self.n_tentative_crops = n_tentative_crops def _swap_view_aug(self, views): if self._rng.random() < 0.5: views.reverse() def _crop_resize_if_necessary(self, image, depthmap, intrinsics, resolution, rng=None, info=None, offset_factor=0.5, mask=None, normalmap=None, seg_label=None): """ This function: - first downsizes the image with LANCZOS inteprolation, which is better than bilinear interpolation in """ if not isinstance(image, PIL.Image.Image): image = PIL.Image.fromarray(image) # transpose the resolution if necessary W, H = image.size # new size assert resolution[0] >= resolution[1] if H > 1.1 * W: # image is portrait mode resolution = resolution[::-1] elif 0.9 < H / W < 1.1 and resolution[0] != resolution[1]: # image is square, so we chose (portrait, landscape) randomly if rng.integers(2) and self.aug_portrait_or_landscape: resolution = resolution[::-1] # high-quality Lanczos down-scaling target_resolution = np.array(resolution) # image, depthmap, intrinsics = cropping.rescale_image_depthmap(image, depthmap, intrinsics, target_resolution) if seg_label is None: image, depthmap, intrinsics, normalmap = \ cropping.rescale_image_depthmap(image, depthmap, intrinsics, target_resolution, normalmap=normalmap) else: image, depthmap, intrinsics, normalmap, seg_label = \ cropping.rescale_image_depthmap(image, depthmap, intrinsics, target_resolution, normalmap=normalmap, seg_label=seg_label) # actual cropping (if necessary) with bilinear interpolation # offset_factor = 0.5 intrinsics2 = cropping.camera_matrix_of_crop(intrinsics, image.size, resolution, offset_factor=offset_factor) crop_bbox = cropping.bbox_from_intrinsics_in_out(intrinsics, intrinsics2, resolution) # image, depthmap, intrinsics2 = cropping.crop_image_depthmap(image, depthmap, intrinsics, crop_bbox) if seg_label is None: image, depthmap, intrinsics2, normalmap = \ cropping.crop_image_depthmap(image, depthmap, intrinsics, crop_bbox, normalmap=normalmap) else: image, depthmap, intrinsics2, normalmap, seg_label = \ cropping.crop_image_depthmap(image, depthmap, intrinsics, crop_bbox, normalmap=normalmap, seg_label=seg_label) if seg_label is None: return image, depthmap, intrinsics2, normalmap else: return image, depthmap, intrinsics2, normalmap, seg_label def generate_crops_from_pair(self, view1, view2, resolution, aug_crop_arg, n_crops=4, rng=np.random): views = [view1, view2] if aug_crop_arg is False: # compatibility for i in range(2): view = views[i] # view['img'], view['depthmap'], view['camera_intrinsics'] = self._crop_resize_if_necessary(view['img'], # view['depthmap'], # view['camera_intrinsics'], # resolution, # rng=rng) view['img'], view['depthmap'], view['camera_intrinsics'], view['normalmap'] = \ self._crop_resize_if_necessary(view['img'], view['depthmap'], view['camera_intrinsics'], resolution, rng=rng, normalmap=view['normalmap']) view['pts3d'], view['valid_mask'] = depthmap_to_absolute_camera_coordinates(view['depthmap'], view['camera_intrinsics'], view['camera_pose']) return # extract correspondences corres = extract_correspondences_from_pts3d(*views, target_n_corres=None, rng=rng) # generate 4 random crops in each view view_crops = [] crops_resolution = [] corres_msks = [] for i in range(2): if aug_crop_arg == 'auto': S = min(views[i]['img'].size) R = min(resolution) aug_crop = S * (S - R) // R aug_crop = max(.1 * S, aug_crop) # for cropping: augment scale of at least 10%, and more if possible else: aug_crop = aug_crop_arg # tranpose the target resolution if necessary assert resolution[0] >= resolution[1] W, H = imsize = views[i]['img'].size crop_resolution = resolution if H > 1.1 * W: # image is portrait mode crop_resolution = resolution[::-1] elif 0.9 < H / W < 1.1 and resolution[0] != resolution[1]: # image is square, so we chose (portrait, landscape) randomly if rng.integers(2): crop_resolution = resolution[::-1] crops = gen_random_crops(imsize, n_crops, crop_resolution, aug_crop=aug_crop, rng=rng) view_crops.append(crops) crops_resolution.append(crop_resolution) # compute correspondences corres_msks.append(in2d_rect(corres[i], crops)) # compute IoU for each intersection = np.float32(corres_msks[0]).T @ np.float32(corres_msks[1]) # select best pair of crops best = np.unravel_index(intersection.argmax(), (n_crops, n_crops)) crops = [view_crops[i][c] for i, c in enumerate(best)] # crop with the homography for i in range(2): view = views[i] imsize, K_new, R, H = crop_to_homography(view['camera_intrinsics'], crops[i], crops_resolution[i]) # imsize, K_new, H = upscale_homography(imsize, resolution, K_new, H) # update camera params K_old = view['camera_intrinsics'] view['camera_intrinsics'] = K_new view['camera_pose'] = view['camera_pose'].copy() view['camera_pose'][:3, :3] = view['camera_pose'][:3, :3] @ R # apply homography to image and depthmap homo8 = (H / H[2, 2]).ravel().tolist()[:8] view['img'] = view['img'].transform(imsize, Image.Transform.PERSPECTIVE, homo8, resample=Image.Resampling.BICUBIC) depthmap2 = depthmap_to_camera_coordinates(view['depthmap'], K_old)[0] @ R[:, 2] view['depthmap'] = np.array(Image.fromarray(depthmap2).transform( imsize, Image.Transform.PERSPECTIVE, homo8)) if 'normalmap' in view: normalmap2 = (R @ view['normalmap'].reshape(-1, 3).T).T.reshape(view['normalmap'].shape) normalmap_slice1 = np.array(Image.fromarray(normalmap2[..., 0]).transform( imsize, Image.Transform.PERSPECTIVE, homo8)) normalmap_slice2 = np.array(Image.fromarray(normalmap2[..., 1]).transform( imsize, Image.Transform.PERSPECTIVE, homo8)) normalmap_slice3 = np.array(Image.fromarray(normalmap2[..., 2]).transform( imsize, Image.Transform.PERSPECTIVE, homo8)) view['normalmap'] = np.stack([normalmap_slice1, normalmap_slice2, normalmap_slice3], axis=-1) if 'track_labels' in view: # convert from uint64 --> uint32, because PIL.Image cannot handle uint64 mapping, track_labels = np.unique(view['track_labels'], return_inverse=True) track_labels = track_labels.astype(np.uint32).reshape(view['track_labels'].shape) # homography transformation res = np.array(Image.fromarray(track_labels).transform(imsize, Image.Transform.PERSPECTIVE, homo8)) view['track_labels'] = mapping[res] # mapping back to uint64 # recompute 3d points from scratch view['pts3d'], view['valid_mask'] = depthmap_to_absolute_camera_coordinates(view['depthmap'], view['camera_intrinsics'], view['camera_pose']) def __getNewitem__(self, idx): idx_update = random.randint(0, self.__len__()-1) if isinstance(idx, tuple): # the idx is specifying the aspect-ratio idx, ar_idx = idx return self.__getitem__((idx_update, ar_idx)) else: return self.__getitem__(idx_update) def __getitem__(self, idx): idx_copy = copy.deepcopy(idx) if isinstance(idx, tuple): # the idx is specifying the aspect-ratio idx, ar_idx = idx else: assert len(self._resolutions) == 1 ar_idx = 0 # set-up the rng if self.seed: # reseed for each __getitem__ self._rng = np.random.default_rng(seed=self.seed + idx) elif not hasattr(self, '_rng'): seed = torch.initial_seed() # this is different for each dataloader process self._rng = np.random.default_rng(seed=seed) # over-loaded code resolution = self._resolutions[ar_idx] # DO NOT CHANGE THIS (compatible with BatchedRandomSampler) views = self._get_views(idx, resolution, self._rng) assert len(views) == self.num_views # set low quality's dataset's normal to zero dataset_type = views[0]["dataset"] if dataset_type in [ # "ABO", # "ACENNRDatasetEasySceneRawData", # "ACENNRDatasetHQSceneRawData", # "AceNNRRaw", # "AceNNR_v1", # "Behavior_v1", # "BlendedMVS", # "GObjaverse", # "GObjaverseXL", # "GTASFM", # "GTAV", # "HyperSim", # "ScanNet++", # "Spring", # "StaticThings3D", # "Structured3D", # "Infinigen", # "IRS", # "MatrixCity", "UnrealStereo4K", # "UrbanSyn", # "VirtureKitti", "Argoverse1Stereo", "arkitscenes", "Co3d_v2", "DIMLIndoorDataset", "DL3DV", "Habitat", "IHome_panorama", "IHome_v1", "InteriorNet", "KenBurns", "MegaDepth", "MonoDepth", "NianticMapFree", "Objaverse_v1", "Synthia", "Tartanair", "TaskonomyDataset", "Waymo", "wildrgbd", ]: views[0]["normalmap"] = np.zeros_like(views[0]["normalmap"]) views[1]["normalmap"] = np.zeros_like(views[1]["normalmap"]) # apply motion blur if self.aug_blur: for v, view in enumerate(views): view['img'] = motion_blur(view['img']) for v, view in enumerate(views): assert 'pts3d' not in view, f"pts3d should not be there, they will be computed afterwards based on intrinsics+depthmap for view {view_name(view)}" view['idx'] = (idx, ar_idx, v) view['is_metric_scale'] = self.is_metric_scale assert 'camera_intrinsics' in view if 'camera_pose' not in view: view['camera_pose'] = np.full((4, 4), np.nan, dtype=np.float32) else: assert np.isfinite(view['camera_pose']).all(), f'NaN in camera pose for view {view_name(view)}' assert 'pts3d' not in view assert 'valid_mask' not in view assert np.isfinite(view['depthmap']).all(), f'NaN in depthmap for view {view_name(view)}' pts3d, pts3d_view, valid_mask = depthmap_to_absolute_camera_coordinates(**view, return_pts_view=True) view['pts3d'] = pts3d view['pts3d_view'] = pts3d_view view['valid_mask'] = valid_mask & np.isfinite(pts3d).all(axis=-1) self.generate_crops_from_pair(views[0], views[1], resolution=resolution, aug_crop_arg=self.aug_crop, n_crops=self.n_tentative_crops, rng=self._rng) for v, view in enumerate(views): # encode the image width, height = view['img'].size view['true_shape'] = np.int32((height, width)) view['img'] = self.transform(view['img']) # Pixels for which depth is fundamentally undefined view['sky_mask'] = (view['depthmap'] < 0) if self.aug_swap: self._swap_view_aug(views) if self.aug_monocular: if self._rng.random() < self.aug_monocular: views = [copy.deepcopy(views[0]) for _ in range(len(views))] # automatic extraction of correspondences from pts3d + pose if self.n_corres > 0 and ('corres' not in view): corres1, corres2, valid = extract_correspondences_from_pts3d(*views, self.n_corres, self._rng, nneg=self.nneg) views[0]['corres'] = corres1 views[1]['corres'] = corres2 views[0]['valid_corres'] = valid views[1]['valid_corres'] = valid # check if valid: if "seg_label" not in views[0]: if valid.sum() < 10: print(f"Valid corres less than 10!") return self.__getNewitem__(idx_copy) if self.aug_rot90 is False: pass elif self.aug_rot90 == 'same': rotate_90(views, k=self._rng.choice(4)) elif self.aug_rot90 == 'diff': rotate_90(views[:1], k=self._rng.choice(4)) rotate_90(views[1:], k=self._rng.choice(4)) else: raise ValueError(f'Bad value for {self.aug_rot90=}') # check data-types metric_scale for v, view in enumerate(views): if 'corres' not in view: view['corres'] = np.full((self.n_corres, 2), np.nan, dtype=np.float32) # check all datatypes for key, val in view.items(): res, err_msg = is_good_type(key, val) assert res, f"{err_msg} with {key}={val} for view {view_name(view)}" K = view['camera_intrinsics'] # check shapes assert view['depthmap'].shape == view['img'].shape[1:] assert view['depthmap'].shape == view['pts3d'].shape[:2] assert view['depthmap'].shape == view['valid_mask'].shape # just for debug vis: # for view_idx in range(2): # import cv2 # from dust3r.utils.image import normal2color # normalmap = views[view_idx]["normalmap"] # normalmap_color = normal2color(normalmap) # cv2.imshow(f"normal_{view_idx}_ori", normalmap_color[..., [2,1,0]]) # for filter bad normal GT data: if 'normalmap' in views[0] and 'normalmap' in views[1]: for view in views: pts_view_space = copy.deepcopy(view['pts3d_view']) # H,W,3 normal_view_space = copy.deepcopy(view['normalmap']) # H,W,3 valid_mask = copy.deepcopy(view['valid_mask']) # H,W pts_direction = (pts_view_space) / (np.linalg.norm(pts_view_space, axis=-1, keepdims=True) + 1e-12) normal_view_space[..., 1] = -1. * normal_view_space[..., 1] dir_dot = (normal_view_space * pts_direction).sum(axis=-1) dir_invalid_mask = dir_dot > np.cos(89 * np.pi / 180) dir_invalid_mask_extend = dir_invalid_mask[..., None].repeat(3, -1) normal_view_space[dir_invalid_mask_extend] = 0. normal_view_space[..., 1] = -1. * normal_view_space[..., 1] view['normalmap'] = normal_view_space view['valid_mask'] = valid_mask & (~dir_invalid_mask) # check if valid: if view['valid_mask'].sum() < 50: print("Valid normal less than 50!") return self.__getNewitem__(idx_copy) views[0].pop("pts3d_view") views[1].pop("pts3d_view") # last thing done! for view in views: # transpose to make sure all views are the same size # transpose_to_landscape(view) transpose_to_landscape_no_flip(view, self._rng) # this allows to check whether the RNG is is the same state each time view['rng'] = int.from_bytes(self._rng.bytes(4), 'big') # transform normal in view2 to view1 axis! if self.transform_view2_normals: if 'normalmap' in views[0] and 'normalmap' in views[1]: c2w0 = views[0]['camera_pose'] c2w1 = views[1]['camera_pose'] rotation_1_to_0 = c2w0[:3, :3].T @ c2w1[:3, :3] rotation_1_to_0 = np.diag([1., -1., 1.]) @ rotation_1_to_0 @ np.diag([1., -1., 1.]) ori_shape = views[1]['normalmap'].shape views[0]['normalmap_transformed'] = views[0]['normalmap'] views[1]['normalmap_transformed'] = (rotation_1_to_0 @ views[1]['normalmap'].reshape(-1, 3).T).T.reshape(ori_shape) return views def transpose_to_landscape_no_flip(view, rng, revert=False): height, width = view['true_shape'] if width < height: if revert: height, width = width, height # 随机顺时针/逆时针旋转 if rng.random() > 0.5: k = 1 else: k = -1 rotate_90_single_view(view, k=k) def transpose_to_landscape(view, revert=False): height, width = view['true_shape'] if width < height: if revert: height, width = width, height # rectify portrait to landscape assert view['img'].shape == (3, height, width) view['img'] = view['img'].swapaxes(1, 2) assert view['valid_mask'].shape == (height, width) view['valid_mask'] = view['valid_mask'].swapaxes(0, 1) assert view['sky_mask'].shape == (height, width) view['sky_mask'] = view['sky_mask'].swapaxes(0, 1) assert view['depthmap'].shape == (height, width) view['depthmap'] = view['depthmap'].swapaxes(0, 1) assert view['pts3d'].shape == (height, width, 3) view['pts3d'] = view['pts3d'].swapaxes(0, 1) if 'normalmap' in view: assert view['normalmap'].shape == (height, width, 3) view['normalmap'] = view['normalmap'].swapaxes(0, 1) shape_bak = view['normalmap'].shape swap_xy_matrix = np.array([[0, -1, 0], [-1, 0, 0], [0, 0, 1]]) view['normalmap'] = (swap_xy_matrix @ (view['normalmap'].reshape(-1, 3).T)).T.reshape(shape_bak) # transpose x and y pixels view['camera_intrinsics'] = view['camera_intrinsics'][[1, 0, 2]] # transpose correspondences x and y view['corres'] = view['corres'][:, [1, 0]] def rotate_90_single_view(view, k=1): from scipy.spatial.transform import Rotation RT = np.eye(4, dtype=np.float32) RT[:3, :3] = Rotation.from_euler('z', 90 * k, degrees=True).as_matrix() view['img'] = torch.rot90(view['img'], k=k, dims=(-2, -1)) # WARNING!! dims=(-1,-2) != dims=(-2,-1) view['depthmap'] = np.rot90(view['depthmap'], k=k).copy() if 'normalmap' in view: normalmap_tmp = np.rot90(view['normalmap'], k=k).copy() view['normalmap'] = (RT[:3, :3] @ normalmap_tmp.reshape(-1, 3).T).T.reshape(normalmap_tmp.shape) view['camera_pose'] = view['camera_pose'] @ RT RT2 = np.eye(3, dtype=np.float32) RT2[:2, :2] = RT[:2, :2] * ((1, -1), (-1, 1)) H, W = view['depthmap'].shape if k % 4 == 0: pass elif k % 4 == 1: # top-left (0,0) pixel becomes (0,H-1) RT2[:2, 2] = (0, H - 1) elif k % 4 == 2: # top-left (0,0) pixel becomes (W-1,H-1) RT2[:2, 2] = (W - 1, H - 1) elif k % 4 == 3: # top-left (0,0) pixel becomes (W-1,0) RT2[:2, 2] = (W - 1, 0) else: raise ValueError(f'Bad value for {k=}') view['camera_intrinsics'][:2, 2] = geotrf(RT2, view['camera_intrinsics'][:2, 2]) if k % 2 == 1: K = view['camera_intrinsics'] np.fill_diagonal(K, K.diagonal()[[1, 0, 2]]) pts3d, valid_mask = depthmap_to_absolute_camera_coordinates(**view) view['pts3d'] = pts3d view['valid_mask'] = np.rot90(view['valid_mask'], k=k).copy() view['sky_mask'] = np.rot90(view['sky_mask'], k=k).copy() view['corres'] = geotrf(RT2, view['corres']).round().astype(view['corres'].dtype) view['true_shape'] = np.int32((H, W)) def rotate_90(views, k=1): for view in views: rotate_90_single_view(view, k=k) def motion_blur(img): import os os.environ['NO_ALBUMENTATIONS_UPDATE'] = '1' import albumentations as alb transform = alb.Compose([ alb.MotionBlur( blur_limit=(3, 11), # angle_range=(0, 360), # direction_range=(-1.0, 1.0), # allow_shifted=True, p=.05, ) ]) img_transformed = transform(image=np.array(img))['image'] return Image.fromarray(img_transformed) ================================================ FILE: dust3r/datasets/utils/__init__.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). ================================================ FILE: dust3r/datasets/utils/cropping.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # croppping utilities # -------------------------------------------------------- import PIL.Image import os os.environ["OPENCV_IO_ENABLE_OPENEXR"] = "1" import cv2 # noqa import numpy as np # noqa from dust3r.utils.geometry import colmap_to_opencv_intrinsics, opencv_to_colmap_intrinsics # noqa try: lanczos = PIL.Image.Resampling.LANCZOS except AttributeError: lanczos = PIL.Image.LANCZOS class ImageList: """ Convenience class to aply the same operation to a whole set of images. """ def __init__(self, images): if not isinstance(images, (tuple, list, set)): images = [images] self.images = [] for image in images: if not isinstance(image, PIL.Image.Image): image = PIL.Image.fromarray(image) self.images.append(image) def __len__(self): return len(self.images) def to_pil(self): return tuple(self.images) if len(self.images) > 1 else self.images[0] @property def size(self): sizes = [im.size for im in self.images] assert all(sizes[0] == s for s in sizes) return sizes[0] def resize(self, *args, **kwargs): return ImageList(self._dispatch('resize', *args, **kwargs)) def crop(self, *args, **kwargs): return ImageList(self._dispatch('crop', *args, **kwargs)) def _dispatch(self, func, *args, **kwargs): return [getattr(im, func)(*args, **kwargs) for im in self.images] def rescale_image_depthmap(image, depthmap, camera_intrinsics, output_resolution, force=True, mask=None, normalmap=None, seg_label=None): """ Jointly rescale a (image, depthmap) so that (out_width, out_height) >= output_res """ image = ImageList(image) input_resolution = np.array(image.size) # (W,H) output_resolution = np.array(output_resolution) if depthmap is not None: # can also use this with masks instead of depthmaps assert tuple(depthmap.shape[:2]) == image.size[::-1], f"{tuple(depthmap.shape[:2])} != {image.size[::-1]}" assert output_resolution.shape == (2,) # define output resolution scale_final = max(output_resolution / image.size) + 1e-8 # if scale_final >= 1 and not force: # image is already smaller than what is asked # return (image.to_pil(), depthmap, camera_intrinsics) output_resolution = np.floor(input_resolution * scale_final).astype(int) # first rescale the image so that it contains the crop image = image.resize(output_resolution, resample=lanczos) # image = image.resize(output_resolution, resample=0) if depthmap is not None: depthmap = cv2.resize(depthmap, output_resolution, fx=scale_final, fy=scale_final, interpolation=cv2.INTER_NEAREST) if mask is not None: mask = cv2.resize(mask, output_resolution, fx=scale_final, fy=scale_final, interpolation=cv2.INTER_NEAREST) if normalmap is not None: normalmap = cv2.resize(normalmap, output_resolution, fx=scale_final, fy=scale_final, interpolation=cv2.INTER_NEAREST) if seg_label is not None: seg_label = cv2.resize(seg_label, output_resolution, fx=scale_final, fy=scale_final, interpolation=cv2.INTER_NEAREST) # no offset here; simple rescaling camera_intrinsics = camera_matrix_of_crop( camera_intrinsics, input_resolution, output_resolution, scaling=scale_final) return_list = [image.to_pil(), depthmap, camera_intrinsics] if mask is not None: return_list.append(mask) if normalmap is not None: return_list.append(normalmap) if seg_label is not None: return_list.append(seg_label) return return_list def camera_matrix_of_crop(input_camera_matrix, input_resolution, output_resolution, scaling=1, offset_factor=0.5, offset=None): # Margins to offset the origin margins = np.asarray(input_resolution) * scaling - output_resolution assert np.all(margins >= 0.0) if offset is None: if type(offset_factor) is tuple: assert len(offset_factor) == 2 offset = [offset_factor[0] * margins[0], offset_factor[1] * margins[1]] else: offset = offset_factor * margins # Generate new camera parameters output_camera_matrix_colmap = opencv_to_colmap_intrinsics(input_camera_matrix) output_camera_matrix_colmap[:2, :] *= scaling output_camera_matrix_colmap[:2, 2] -= offset output_camera_matrix = colmap_to_opencv_intrinsics(output_camera_matrix_colmap) return output_camera_matrix def crop_image_depthmap(image, depthmap, camera_intrinsics, crop_bbox, mask=None, normalmap=None, seg_label=None): """ Return a crop of the input view. """ image = ImageList(image) l, t, r, b = crop_bbox image = image.crop((l, t, r, b)) depthmap = depthmap[t:b, l:r] if normalmap is not None: normalmap = normalmap[t:b, l:r] if seg_label is not None: seg_label = seg_label[t:b, l:r] if mask is not None: mask = mask[t:b, l:r] camera_intrinsics = camera_intrinsics.copy() camera_intrinsics[0, 2] -= l camera_intrinsics[1, 2] -= t return_list = [image.to_pil(), depthmap, camera_intrinsics] if mask is not None: return_list.append(mask) if normalmap is not None: return_list.append(normalmap) if seg_label is not None: return_list.append(seg_label) return return_list def bbox_from_intrinsics_in_out(input_camera_matrix, output_camera_matrix, output_resolution): out_width, out_height = output_resolution l, t = np.int32(np.round(input_camera_matrix[:2, 2] - output_camera_matrix[:2, 2])) crop_bbox = (l, t, l+out_width, t+out_height) return crop_bbox ================================================ FILE: dust3r/datasets/utils/mast3r_cropping.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # cropping/match extraction # -------------------------------------------------------- import numpy as np from dust3r.utils.device import to_numpy from dust3r.utils.geometry import inv, geotrf def reciprocal_1d(corres_1_to_2, corres_2_to_1, ret_recip=False): is_reciprocal1 = (corres_2_to_1[corres_1_to_2] == np.arange(len(corres_1_to_2))) pos1 = is_reciprocal1.nonzero()[0] pos2 = corres_1_to_2[pos1] if ret_recip: return is_reciprocal1, pos1, pos2 return pos1, pos2 def extract_correspondences_from_pts3d(view1, view2, target_n_corres, rng=np.random, ret_xy=True, nneg=0): view1, view2 = to_numpy((view1, view2)) # project pixels from image1 --> 3d points --> image2 pixels shape1, corres1_to_2 = reproject_view(view1['pts3d'], view2) shape2, corres2_to_1 = reproject_view(view2['pts3d'], view1) # compute reciprocal correspondences: # pos1 == valid pixels (correspondences) in image1 is_reciprocal1, pos1, pos2 = reciprocal_1d(corres1_to_2, corres2_to_1, ret_recip=True) is_reciprocal2 = (corres1_to_2[corres2_to_1] == np.arange(len(corres2_to_1))) if target_n_corres is None: if ret_xy: pos1 = unravel_xy(pos1, shape1) pos2 = unravel_xy(pos2, shape2) return pos1, pos2 available_negatives = min((~is_reciprocal1).sum(), (~is_reciprocal2).sum()) target_n_positives = int(target_n_corres * (1 - nneg)) n_positives = min(len(pos1), target_n_positives) n_negatives = min(target_n_corres - n_positives, available_negatives) if n_negatives + n_positives != target_n_corres: # should be really rare => when there are not enough negatives # in that case, break nneg and add a few more positives ? n_positives = target_n_corres - n_negatives assert n_positives <= len(pos1) assert n_positives <= len(pos1) assert n_positives <= len(pos2) assert n_negatives <= (~is_reciprocal1).sum() assert n_negatives <= (~is_reciprocal2).sum() assert n_positives + n_negatives == target_n_corres valid = np.ones(n_positives, dtype=bool) if n_positives < len(pos1): # random sub-sampling of valid correspondences perm = rng.permutation(len(pos1))[:n_positives] pos1 = pos1[perm] pos2 = pos2[perm] if n_negatives > 0: # add false correspondences if not enough def norm(p): return p / p.sum() pos1 = np.r_[pos1, rng.choice(shape1[0] * shape1[1], size=n_negatives, replace=False, p=norm(~is_reciprocal1))] pos2 = np.r_[pos2, rng.choice(shape2[0] * shape2[1], size=n_negatives, replace=False, p=norm(~is_reciprocal2))] valid = np.r_[valid, np.zeros(n_negatives, dtype=bool)] # check valid according to valid_mask view1_valid_mask = view1['valid_mask'].reshape(-1) pos1_valid_mask = view1_valid_mask[pos1] view2_valid_mask = view2['valid_mask'].reshape(-1) pos2_valid_mask = view2_valid_mask[pos2] valid = valid & pos1_valid_mask & pos2_valid_mask # convert (x+W*y) back to 2d (x,y) coordinates if ret_xy: pos1 = unravel_xy(pos1, shape1) pos2 = unravel_xy(pos2, shape2) return pos1, pos2, valid def reproject_view(pts3d, view2): shape = view2['pts3d'].shape[:2] return reproject(pts3d, view2['camera_intrinsics'], inv(view2['camera_pose']), shape) def reproject(pts3d, K, world2cam, shape): H, W, THREE = pts3d.shape assert THREE == 3 # reproject in camera2 space with np.errstate(divide='ignore', invalid='ignore'): pos = geotrf(K @ world2cam[:3], pts3d, norm=1, ncol=2) # quantize to pixel positions return (H, W), ravel_xy(pos, shape) def ravel_xy(pos, shape): H, W = shape with np.errstate(invalid='ignore'): qx, qy = pos.reshape(-1, 2).round().astype(np.int32).T quantized_pos = qx.clip(min=0, max=W - 1, out=qx) + W * qy.clip(min=0, max=H - 1, out=qy) return quantized_pos def unravel_xy(pos, shape): # convert (x+W*y) back to 2d (x,y) coordinates return np.unravel_index(pos, shape)[0].base[:, ::-1].copy() def _rotation_origin_to_pt(target): """ Align the origin (0,0,1) with the target point (x,y,1) in projective space. Method: rotate z to put target on (x'+,0,1), then rotate on Y to get (0,0,1) and un-rotate z. """ from scipy.spatial.transform import Rotation x, y = target rot_z = np.arctan2(y, x) rot_y = np.arctan(np.linalg.norm(target)) R = Rotation.from_euler('ZYZ', [rot_z, rot_y, -rot_z]).as_matrix() return R def _dotmv(Trf, pts, ncol=None, norm=False): assert Trf.ndim >= 2 ncol = ncol or pts.shape[-1] # adapt shape if necessary output_reshape = pts.shape[:-1] if Trf.ndim >= 3: n = Trf.ndim - 2 assert Trf.shape[:n] == pts.shape[:n], 'batch size does not match' Trf = Trf.reshape(-1, Trf.shape[-2], Trf.shape[-1]) if pts.ndim > Trf.ndim: # Trf == (B,d,d) & pts == (B,H,W,d) --> (B, H*W, d) pts = pts.reshape(Trf.shape[0], -1, pts.shape[-1]) elif pts.ndim == 2: # Trf == (B,d,d) & pts == (B,d) --> (B, 1, d) pts = pts[:, None, :] if pts.shape[-1] + 1 == Trf.shape[-1]: Trf = Trf.swapaxes(-1, -2) # transpose Trf pts = pts @ Trf[..., :-1, :] + Trf[..., -1:, :] elif pts.shape[-1] == Trf.shape[-1]: Trf = Trf.swapaxes(-1, -2) # transpose Trf pts = pts @ Trf else: pts = Trf @ pts.T if pts.ndim >= 2: pts = pts.swapaxes(-1, -2) if norm: pts = pts / pts[..., -1:] # DONT DO /= BECAUSE OF WEIRD PYTORCH BUG if norm != 1: pts *= norm res = pts[..., :ncol].reshape(*output_reshape, ncol) return res def crop_to_homography(K, crop, target_size=None): """ Given an image and its intrinsics, we want to replicate a rectangular crop with an homography, so that the principal point of the new 'crop' is centered. """ # build intrinsics for the crop crop = np.round(crop) crop_size = crop[2:] - crop[:2] K2 = K.copy() # same focal K2[:2, 2] = crop_size / 2 # new principal point is perfectly centered # find which corner is the most far-away from current principal point # so that the final homography does not go over the image borders corners = crop.reshape(-1, 2) corner_idx = np.abs(corners - K[:2, 2]).argmax(0) corner = corners[corner_idx, [0, 1]] # align with the corresponding corner from the target view corner2 = np.c_[[0, 0], crop_size][[0, 1], corner_idx] old_pt = _dotmv(np.linalg.inv(K), corner, norm=1) new_pt = _dotmv(np.linalg.inv(K2), corner2, norm=1) R = _rotation_origin_to_pt(old_pt) @ np.linalg.inv(_rotation_origin_to_pt(new_pt)) if target_size is not None: imsize = target_size target_size = np.asarray(target_size) scaling = min(target_size / crop_size) K2[:2] *= scaling K2[:2, 2] = target_size / 2 else: imsize = tuple(np.int32(crop_size).tolist()) return imsize, K2, R, K @ R @ np.linalg.inv(K2) def gen_random_crops(imsize, n_crops, resolution, aug_crop, rng=np.random): """ Generate random crops of size=resolution, for an input image upscaled to (imsize + randint(0 , aug_crop)) """ resolution_crop = np.array(resolution) * min(np.array(imsize) / resolution) # (virtually) upscale the input image # scaling = rng.uniform(1, 1+(aug_crop+1)/min(imsize)) scaling = np.exp(rng.uniform(0, np.log(1 + aug_crop / min(imsize)))) imsize2 = np.int32(np.array(imsize) * scaling) # generate some random crops topleft = rng.random((n_crops, 2)) * (imsize2 - resolution_crop) crops = np.c_[topleft, topleft + resolution_crop] # print(f"{scaling=}, {topleft=}") # reduce the resolution to come back to original size crops /= scaling return crops def in2d_rect(corres, crops): # corres = (N,2) # crops = (M,4) # output = (N, M) is_sup = (corres[:, None] >= crops[None, :, 0:2]) is_inf = (corres[:, None] < crops[None, :, 2:4]) return (is_sup & is_inf).all(axis=-1) ================================================ FILE: dust3r/datasets/utils/transforms.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # DUST3R default transforms # -------------------------------------------------------- import torchvision.transforms as tvf from dust3r.utils.image import ImgNorm # define the standard image transforms ColorJitter = tvf.Compose([tvf.ColorJitter(0.5, 0.5, 0.5, 0.1), ImgNorm]) ================================================ FILE: dust3r/heads/__init__.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # head factory # -------------------------------------------------------- from .linear_head import LinearPts3d def head_factory(head_type, output_mode, net, has_conf=False): """" build a prediction head for the decoder """ if head_type == 'linear' and output_mode == 'pts3d': return LinearPts3d(net, has_conf) else: raise NotImplementedError(f"unexpected {head_type=} and {output_mode=}") ================================================ FILE: dust3r/heads/dpt_head.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # dpt head implementation for DUST3R # Downstream heads assume inputs of size B x N x C (where N is the number of tokens) ; # or if it takes as input the output at every layer, the attribute return_all_layers should be set to True # the forward function also takes as input a dictionnary img_info with key "height" and "width" # for PixelwiseTask, the output will be of dimension B x num_channels x H x W # -------------------------------------------------------- # Modifications Copyright (C) # Changes: image process utils update # This is an adaptation and is distributed under the same license (CC BY-NC-SA 4.0). # SPDX-License-Identifier: CC-BY-NC-SA-4.0(non-commercial use only) from einops import rearrange from typing import List import torch import torch.nn as nn from dust3r.heads.postprocess import postprocess from dust3r.heads.postprocess import postprocess_mask import dust3r.utils.path_to_croco # noqa: F401 from models.dpt_block import DPTOutputAdapter # noqa class DPTOutputAdapter_fix(DPTOutputAdapter): """ Adapt croco's DPTOutputAdapter implementation for dust3r: remove duplicated weigths, and fix forward for dust3r """ def init(self, dim_tokens_enc=768): super().init(dim_tokens_enc) # these are duplicated weights del self.act_1_postprocess del self.act_2_postprocess del self.act_3_postprocess del self.act_4_postprocess def forward(self, encoder_tokens: List[torch.Tensor], image_size=None): assert self.dim_tokens_enc is not None, 'Need to call init(dim_tokens_enc) function first' # H, W = input_info['image_size'] image_size = self.image_size if image_size is None else image_size H, W = image_size # Number of patches in height and width N_H = H // (self.stride_level * self.P_H) N_W = W // (self.stride_level * self.P_W) # Hook decoder onto 4 layers from specified ViT layers layers = [encoder_tokens[hook] for hook in self.hooks] # Extract only task-relevant tokens and ignore global tokens. layers = [self.adapt_tokens(l) for l in layers] # fxz: interpolate layer to original patch_size if layers[0].shape[1] != int(N_H*N_W): layers = [nn.functional.interpolate(rearrange(l, 'b (bh bw) c -> b c bh bw', bh=self.atm_size[0], bw=self.atm_size[1]), size=(N_H, N_W), mode='bicubic').permute(0, 2, 3, 1).reshape(l.shape[0], int(N_H*N_W), -1) for l in layers] # Reshape tokens to spatial representation layers = [rearrange(l, 'b (nh nw) c -> b c nh nw', nh=N_H, nw=N_W) for l in layers] layers = [self.act_postprocess[idx](l) for idx, l in enumerate(layers)] # Project layers to chosen feature dim layers = [self.scratch.layer_rn[idx](l) for idx, l in enumerate(layers)] # Fuse layers using refinement stages path_4 = self.scratch.refinenet4(layers[3])[:, :, :layers[2].shape[2], :layers[2].shape[3]] path_3 = self.scratch.refinenet3(path_4, layers[2]) path_2 = self.scratch.refinenet2(path_3, layers[1]) path_1 = self.scratch.refinenet1(path_2, layers[0]) # Output head out = self.head(path_1) return out class PixelwiseTaskWithDPT(nn.Module): """ DPT module for dust3r, can return 3D points + confidence for all pixels""" def __init__(self, *, n_cls_token=0, hooks_idx=None, dim_tokens=None, output_width_ratio=1, num_channels=1, postprocess=None, depth_mode=None, conf_mode=None, normal_mode=None, **kwargs): super(PixelwiseTaskWithDPT, self).__init__() self.return_all_layers = True # backbone needs to return all layers self.postprocess = postprocess self.depth_mode = depth_mode self.conf_mode = conf_mode self.normal_mode = normal_mode assert n_cls_token == 0, "Not implemented" dpt_args = dict(output_width_ratio=output_width_ratio, num_channels=num_channels, **kwargs) if hooks_idx is not None: dpt_args.update(hooks=hooks_idx) self.dpt = DPTOutputAdapter_fix(**dpt_args) dpt_init_args = {} if dim_tokens is None else {'dim_tokens_enc': dim_tokens} self.dpt.init(**dpt_init_args) def forward(self, x, img_info): out = self.dpt(x, image_size=(img_info[0], img_info[1])) if self.postprocess: if self.normal_mode is not None: out = self.postprocess(out, self.normal_mode) else: out = self.postprocess(out, self.depth_mode, self.conf_mode) return out ================================================ FILE: dust3r/heads/linear_head.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # linear head implementation for DUST3R # -------------------------------------------------------- import torch.nn as nn import torch.nn.functional as F from dust3r.heads.postprocess import postprocess class LinearPts3d (nn.Module): """ Linear head for dust3r Each token outputs: - 16x16 3D points (+ confidence) """ def __init__(self, net, has_conf=False): super().__init__() self.patch_size = net.patch_embed.patch_size[0] self.depth_mode = net.depth_mode self.conf_mode = net.conf_mode self.has_conf = has_conf self.proj = nn.Linear(net.dec_embed_dim, (3 + has_conf)*self.patch_size**2) def setup(self, croconet): pass def forward(self, decout, img_shape): H, W = img_shape tokens = decout[-1] B, S, D = tokens.shape # extract 3D points feat = self.proj(tokens) # B,S,D feat = feat.transpose(-1, -2).view(B, -1, H//self.patch_size, W//self.patch_size) feat = F.pixel_shuffle(feat, self.patch_size) # B,3,H,W # permute + norm depth return postprocess(feat, self.depth_mode, self.conf_mode) ================================================ FILE: dust3r/heads/postprocess.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # post process function for all heads: extract 3D points/confidence from output # -------------------------------------------------------- import torch def postprocess(out, depth_mode, conf_mode): """ extract 3D points/confidence from prediction head output """ fmap = out.permute(0, 2, 3, 1) # B,H,W,3 res = dict(pts3d=reg_dense_depth(fmap[:, :, :, 0:3], mode=depth_mode)) if conf_mode is not None: res['conf'] = reg_dense_conf(fmap[:, :, :, 3], mode=conf_mode) return res def postprocess_mask(out, depth_mode, conf_mode): # out: B,2,H,W # out = torch.nn.functional.softmax(out, dim=1) mask_pred = out.permute(0, 2, 3, 1) # B,H,W,1 # mask_pred = mask_pred.argmax(dim=1) res = dict(mask=mask_pred) return res def reg_dense_depth(xyz, mode): """ extract 3D points from prediction head output """ mode, vmin, vmax = mode no_bounds = (vmin == -float('inf')) and (vmax == float('inf')) assert no_bounds if mode == 'linear': if no_bounds: return xyz # [-inf, +inf] return xyz.clip(min=vmin, max=vmax) # distance to origin d = xyz.norm(dim=-1, keepdim=True) xyz = xyz / d.clip(min=1e-8) if mode == 'square': return xyz * d.square() if mode == 'exp': return xyz * torch.expm1(d) raise ValueError(f'bad {mode=}') def reg_dense_conf(x, mode): """ extract confidence from prediction head output """ mode, vmin, vmax = mode if mode == 'exp': return vmin + x.exp().clip(max=vmax-vmin) if mode == 'sigmoid': return (vmax - vmin) * torch.sigmoid(x) + vmin raise ValueError(f'bad {mode=}') def reg_dense_normal(normal, mode=None): # TODO: mode is not used yet mode, vmin, vmax = 'linear', -1.0, 1.0 if mode == "linear": normal = normal.clip(min=vmin, max=vmax) else: # distance to origin d = normal.norm(dim=-1, keepdim=True) normal = normal / d.clip(min=1e-8) if mode == 'square': normal = normal * d.square() if mode == 'exp': normal = normal * torch.expm1(d) else: raise NotImplementedError(f"normal mode: {mode} not implemented") # normalize normal norm_x, norm_y, norm_z = torch.split(normal, 1, dim=-1) norm = torch.sqrt(norm_x**2.0 + norm_y**2.0 + norm_z**2.0) norm = norm.clip(min=1e-12) normal = torch.cat([norm_x / norm, norm_y / norm, norm_z / norm], dim=-1) return normal def reg_dense_kappa(kappa, mode): # mode is not used yet min_kappa = 0.01 kappa = torch.nn.functional.elu(kappa) + 1.0 + min_kappa return kappa ================================================ FILE: dust3r/image_pairs.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # utilities needed to load image pairs # -------------------------------------------------------- import numpy as np import torch def make_pairs(imgs, scene_graph='complete', prefilter=None, symmetrize=True): pairs = [] if scene_graph == 'complete': # complete graph for i in range(len(imgs)): for j in range(i): pairs.append((imgs[i], imgs[j])) elif scene_graph.startswith('swin'): winsize = int(scene_graph.split('-')[1]) if '-' in scene_graph else 3 for i in range(len(imgs)): for j in range(winsize): idx = (i + j) % len(imgs) # explicit loop closure pairs.append((imgs[i], imgs[idx])) elif scene_graph.startswith('oneref'): refid = int(scene_graph.split('-')[1]) if '-' in scene_graph else 0 for j in range(len(imgs)): if j != refid: pairs.append((imgs[refid], imgs[j])) elif scene_graph == 'pairs': assert len(imgs) % 2 == 0 for i in range(0, len(imgs), 2): pairs.append((imgs[i], imgs[i+1])) if symmetrize: pairs += [(img2, img1) for img1, img2 in pairs] # now, remove edges if isinstance(prefilter, str) and prefilter.startswith('seq'): pairs = filter_pairs_seq(pairs, int(prefilter[3:])) if isinstance(prefilter, str) and prefilter.startswith('cyc'): pairs = filter_pairs_seq(pairs, int(prefilter[3:]), cyclic=True) return pairs def sel(x, kept): if isinstance(x, dict): return {k: sel(v, kept) for k, v in x.items()} if isinstance(x, (torch.Tensor, np.ndarray)): return x[kept] if isinstance(x, (tuple, list)): return type(x)([x[k] for k in kept]) def _filter_edges_seq(edges, seq_dis_thr, cyclic=False): # number of images n = max(max(e) for e in edges)+1 kept = [] for e, (i, j) in enumerate(edges): dis = abs(i-j) if cyclic: dis = min(dis, abs(i+n-j), abs(i-n-j)) if dis <= seq_dis_thr: kept.append(e) return kept def filter_pairs_seq(pairs, seq_dis_thr, cyclic=False): edges = [(img1['idx'], img2['idx']) for img1, img2 in pairs] kept = _filter_edges_seq(edges, seq_dis_thr, cyclic=cyclic) return [pairs[i] for i in kept] def filter_edges_seq(view1, view2, pred1, pred2, seq_dis_thr, cyclic=False): edges = [(int(i), int(j)) for i, j in zip(view1['idx'], view2['idx'])] kept = _filter_edges_seq(edges, seq_dis_thr, cyclic=cyclic) print(f'>> Filtering edges more than {seq_dis_thr} frames apart: kept {len(kept)}/{len(edges)} edges') return sel(view1, kept), sel(view2, kept), sel(pred1, kept), sel(pred2, kept) ================================================ FILE: dust3r/inference.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # utilities needed for the inference # -------------------------------------------------------- # Modifications Copyright (C) # Changes: add tensorboard log in train process # This is an adaptation and is distributed under the same license (CC BY-NC-SA 4.0). # SPDX-License-Identifier: CC-BY-NC-SA-4.0(non-commercial use only) import tqdm import torch import copy import numpy as np from dust3r.utils.device import to_cpu, collate_with_cat from dust3r.model import AsymmetricCroCo3DStereo, inf # noqa: F401, needed when loading the model from mast3r.model import AsymmetricMASt3R from dust3r.utils.misc import invalid_to_nans from dust3r.utils.geometry import depthmap_to_pts3d, geotrf, inv from matplotlib import pyplot as pl from dust3r.utils.image import normal2color, pcd2normal_numpy, get_colormap from dust3r.utils.image import colorize, inverse_normalize cmap = pl.get_cmap('jet') seg_cmap = get_colormap(40+1) def load_model(model_path, device): print('... loading model from', model_path) ckpt = torch.load(model_path, map_location='cpu', weights_only=False) args = ckpt['args'].model.replace("ManyAR_PatchEmbed", "PatchEmbedDust3R") if 'landscape_only' not in args: args = args[:-1] + ', landscape_only=False)' else: args = args.replace(" ", "").replace('landscape_only=True', 'landscape_only=False') assert "landscape_only=False" in args print(f"instantiating : {args}") net = eval(args) print(net.load_state_dict(ckpt['model'], strict=False)) return net.to(device) def _interleave_imgs(img1, img2): res = {} for key, value1 in img1.items(): value2 = img2[key] if isinstance(value1, torch.Tensor): value = torch.stack((value1, value2), dim=1).flatten(0, 1) else: value = [x for pair in zip(value1, value2) for x in pair] res[key] = value return res def make_batch_symmetric(batch): view1, view2 = batch view1, view2 = (_interleave_imgs(view1, view2), _interleave_imgs(view2, view1)) return view1, view2 def loss_of_one_batch(batch, model, criterion, device, symmetrize_batch=False, use_amp=False, ret=None, bad_id_log_path=None, log_writer=None, global_step=None, log_img_step=300): view1, view2 = batch ignore_keys = set(['depthmap', 'dataset', 'label', 'instance', 'idx', 'true_shape', 'rng', 'model_id', 'size_info', 'size_info_matching', "rotate"]) for view in batch: for name in view.keys(): # pseudo_focal if name in ignore_keys: continue view[name] = view[name].to(device, non_blocking=True) if symmetrize_batch: view1, view2 = make_batch_symmetric(batch) with torch.cuda.amp.autocast(enabled=bool(use_amp)): pred1, pred2 = model(view1, view2) # loss is supposed to be symmetric with torch.cuda.amp.autocast(enabled=False): loss = criterion(view1, view2, pred1, pred2) if criterion is not None else None if (log_writer is not None) and (global_step % log_img_step == 0): img1 = inverse_normalize(copy.deepcopy(view1["img"]))[0, ...] img2 = inverse_normalize(copy.deepcopy(view2["img"]))[0, ...] img_concat = torch.cat((img1, img2), dim=-1) log_writer.add_image(f"image_debug", img_concat, global_step=global_step, dataformats='CHW') if 'depth' in pred1 and 'depth' in pred2: raw_depth_pred1 = pred1['depth'].clone()[0, ...].squeeze().detach().cpu().numpy() raw_depth_pred2 = pred2['depth'].clone()[0, ...].squeeze().detach().cpu().numpy() raw_depth_pred1_color = colorize(raw_depth_pred1, vmin=0, vmax=raw_depth_pred1.max(), cmap='Spectral')[..., :3] raw_depth_pred2_color = colorize(raw_depth_pred2, vmin=0, vmax=raw_depth_pred2.max(), cmap='Spectral')[..., :3] pred_depth_concat = np.hstack((raw_depth_pred1_color, raw_depth_pred2_color)) in_camera1 = inv(view1['camera_pose']) gt_pts1 = geotrf(in_camera1, view1['pts3d']) # B,H,W,3 gt_depth1 = gt_pts1[0, :, :, -1].detach().cpu().numpy() in_camera2 = inv(view2['camera_pose']) gt_pts2 = geotrf(in_camera2, view2['pts3d']) # B,H,W,3 gt_depth2 = gt_pts2[0, :, :, -1].detach().cpu().numpy() gt_depth1_color = colorize(gt_depth1, vmin=0, vmax=gt_depth1.max(), cmap='Spectral')[..., :3] gt_depth2_color = colorize(gt_depth2, vmin=0, vmax=gt_depth2.max(), cmap='Spectral')[..., :3] gt_depth_concat = np.hstack([gt_depth1_color, gt_depth2_color]) depth_concat = np.vstack([pred_depth_concat, gt_depth_concat]) log_writer.add_image(f"depth_pred", depth_concat, global_step=global_step, dataformats='HWC') if 'normal' in pred1 and 'normal' in pred2: pred1_normal = pred1['normal'].clone()[0, ...].detach().cpu().numpy() pred2_normal = pred2['normal'].clone()[0, ...].detach().cpu().numpy() normal1_color = normal2color(pred1_normal) normal2_color = normal2color(pred2_normal) normal_concat = np.hstack((normal1_color, normal2_color)) else: normal_concat = None if 'pts3d' in pred1: # visualize normal from depth points_img1 = (pred1['pts3d']).clone()[0, ...].detach().cpu().numpy() points_img2 = (pred2['pts3d_in_other_view']).clone()[0, ...].detach().cpu().numpy() normal1_from_depth = pcd2normal_numpy(points_img1) normal1_from_depth_color = normal2color(normal1_from_depth) normal2_from_depth = pcd2normal_numpy(points_img2) normal2_from_depth_color = normal2color(normal2_from_depth) normal_from_color_concat = np.hstack((normal1_from_depth_color, normal2_from_depth_color)) else: normal_from_color_concat = None gt1_normal = view1["normalmap"].clone()[0, ...].detach().cpu().numpy() if "normalmap_transformed" in view2: gt2_normal = view2["normalmap_transformed"].clone()[0, ...].detach().cpu().numpy() else: gt2_normal = view2["normalmap"].clone()[0, ...].detach().cpu().numpy() normal1_color_gt = normal2color(gt1_normal) normal2_color_gt = normal2color(gt2_normal) normal_all_concat = np.hstack((normal1_color_gt, normal2_color_gt)) if normal_concat is not None: normal_all_concat = np.concatenate((normal_all_concat, normal_concat), axis=0) if normal_from_color_concat is not None: normal_all_concat = np.concatenate((normal_all_concat, normal_from_color_concat), axis=0) log_writer.add_image(f"normal_debug", normal_all_concat, global_step=global_step, dataformats='HWC') result = dict(view1=view1, view2=view2, pred1=pred1, pred2=pred2, loss=loss) return result[ret] if ret else result @torch.no_grad() def inference(pairs, model, device, batch_size=8, verbose=True): if verbose: print(f'>> Inference with model on {len(pairs)} image pairs') result = [] # first, check if all images have the same size multiple_shapes = not (check_if_same_size(pairs)) if multiple_shapes: # force bs=1 batch_size = 1 for i in tqdm.trange(0, len(pairs), batch_size, disable=not verbose): res = loss_of_one_batch(collate_with_cat(pairs[i:i + batch_size]), model, None, device) result.append(to_cpu(res)) result = collate_with_cat(result, lists=multiple_shapes) return result def check_if_same_size(pairs): shapes1 = [img1['img'].shape[-2:] for img1, img2 in pairs] shapes2 = [img2['img'].shape[-2:] for img1, img2 in pairs] return all(shapes1[0] == s for s in shapes1) and all(shapes2[0] == s for s in shapes2) def get_pred_pts3d(gt, pred, use_pose=False): if 'depth' in pred and 'pseudo_focal' in pred: try: pp = gt['camera_intrinsics'][..., :2, 2] except KeyError: pp = None pts3d = depthmap_to_pts3d(**pred, pp=pp) elif 'pts3d' in pred: # pts3d from my camera pts3d = pred['pts3d'] elif 'pts3d_in_other_view' in pred: # pts3d from the other camera, already transformed assert use_pose is True return pred['pts3d_in_other_view'] # return! if use_pose: camera_pose = pred.get('camera_pose') assert camera_pose is not None pts3d = geotrf(camera_pose, pts3d) return pts3d def find_opt_scaling(gt_pts1, gt_pts2, pr_pts1, pr_pts2=None, fit_mode='weiszfeld_stop_grad', valid1=None, valid2=None): assert gt_pts1.ndim == pr_pts1.ndim == 4 assert gt_pts1.shape == pr_pts1.shape if gt_pts2 is not None: assert gt_pts2.ndim == pr_pts2.ndim == 4 assert gt_pts2.shape == pr_pts2.shape # concat the pointcloud nan_gt_pts1 = invalid_to_nans(gt_pts1, valid1).flatten(1, 2) nan_gt_pts2 = invalid_to_nans(gt_pts2, valid2).flatten(1, 2) if gt_pts2 is not None else None pr_pts1 = invalid_to_nans(pr_pts1, valid1).flatten(1, 2) pr_pts2 = invalid_to_nans(pr_pts2, valid2).flatten(1, 2) if pr_pts2 is not None else None all_gt = torch.cat((nan_gt_pts1, nan_gt_pts2), dim=1) if gt_pts2 is not None else nan_gt_pts1 all_pr = torch.cat((pr_pts1, pr_pts2), dim=1) if pr_pts2 is not None else pr_pts1 dot_gt_pr = (all_pr * all_gt).sum(dim=-1) dot_gt_gt = all_gt.square().sum(dim=-1) if fit_mode.startswith('avg'): # scaling = (all_pr / all_gt).view(B, -1).mean(dim=1) scaling = dot_gt_pr.nanmean(dim=1) / dot_gt_gt.nanmean(dim=1) elif fit_mode.startswith('median'): scaling = (dot_gt_pr / dot_gt_gt).nanmedian(dim=1).values elif fit_mode.startswith('weiszfeld'): # init scaling with l2 closed form scaling = dot_gt_pr.nanmean(dim=1) / dot_gt_gt.nanmean(dim=1) # iterative re-weighted least-squares for iter in range(10): # re-weighting by inverse of distance dis = (all_pr - scaling.view(-1, 1, 1) * all_gt).norm(dim=-1) # print(dis.nanmean(-1)) w = dis.clip_(min=1e-8).reciprocal() # update the scaling with the new weights scaling = (w * dot_gt_pr).nanmean(dim=1) / (w * dot_gt_gt).nanmean(dim=1) else: raise ValueError(f'bad {fit_mode=}') if fit_mode.endswith('stop_grad'): scaling = scaling.detach() scaling = scaling.clip(min=1e-3) # assert scaling.isfinite().all(), bb() return scaling ================================================ FILE: dust3r/losses.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Implementation of DUSt3R training losses # -------------------------------------------------------- # Modifications Copyright (C) # Changes: loss function update # This is an adaptation and is distributed under the same license (CC BY-NC-SA 4.0). # SPDX-License-Identifier: CC-BY-NC-SA-4.0(non-commercial use only) from copy import copy, deepcopy import torch import torch.nn as nn from dust3r.inference import get_pred_pts3d, find_opt_scaling from dust3r.utils.geometry import inv, geotrf, normalize_pointcloud from dust3r.utils.geometry import get_joint_pointcloud_depth, get_joint_pointcloud_center_scale def Sum(*losses_and_masks): loss, mask = losses_and_masks[0] if loss.ndim > 0: # we are actually returning the loss for every pixels return losses_and_masks else: # we are returning the global loss for loss2, mask2 in losses_and_masks[1:]: loss = loss + loss2 return loss class BaseCriterion(nn.Module): def __init__(self, reduction='mean'): super().__init__() self.reduction = reduction class LLoss (BaseCriterion): """ L-norm loss """ def forward(self, a, b): assert a.shape == b.shape and a.ndim >= 2 and 1 <= a.shape[-1] <= 3, f'Bad shape = {a.shape}' dist = self.distance(a, b) assert dist.ndim == a.ndim - 1 # one dimension less if self.reduction == 'none': return dist if self.reduction == 'sum': return dist.sum() if self.reduction == 'mean': return dist.mean() if dist.numel() > 0 else dist.new_zeros(()) raise ValueError(f'bad {self.reduction=} mode') def distance(self, a, b): raise NotImplementedError() class L21Loss (LLoss): """ Euclidean distance between 3d points """ def distance(self, a, b): return torch.norm(a - b, dim=-1) # normalized L2 distance L21 = L21Loss() class Criterion (nn.Module): def __init__(self, criterion=None): super().__init__() assert isinstance(criterion, BaseCriterion), f'{criterion} is not a proper criterion!' self.criterion = copy(criterion) def get_name(self): return f'{type(self).__name__}({self.criterion})' def with_reduction(self, mode='none'): res = loss = deepcopy(self) while loss is not None: assert isinstance(loss, Criterion) loss.criterion.reduction = mode # make it return the loss for each sample loss = loss._loss2 # we assume loss is a Multiloss return res class MultiLoss (nn.Module): """ Easily combinable losses (also keep track of individual loss values): loss = MyLoss1() + 0.1*MyLoss2() Usage: Inherit from this class and override get_name() and compute_loss() """ def __init__(self): super().__init__() self._alpha = 1 self._loss2 = None def compute_loss(self, *args, **kwargs): raise NotImplementedError() def get_name(self): raise NotImplementedError() def __mul__(self, alpha): assert isinstance(alpha, (int, float)) res = copy(self) res._alpha = alpha return res __rmul__ = __mul__ # same def __add__(self, loss2): assert isinstance(loss2, MultiLoss) res = cur = copy(self) # find the end of the chain while cur._loss2 is not None: cur = cur._loss2 cur._loss2 = loss2 return res def __repr__(self): name = self.get_name() if self._alpha != 1: name = f'{self._alpha:g}*{name}' if self._loss2: name = f'{name} + {self._loss2}' return name def forward(self, *args, **kwargs): loss = self.compute_loss(*args, **kwargs) if isinstance(loss, tuple): loss, details = loss elif loss.ndim == 0: details = {self.get_name(): float(loss)} else: details = {} loss = loss * self._alpha if self._loss2: loss2, details2 = self._loss2(*args, **kwargs) loss = loss + loss2 details |= details2 return loss, details class Regr3D (Criterion, MultiLoss): """ Ensure that all 3D points are correct. Asymmetric loss: view1 is supposed to be the anchor. P1 = RT1 @ D1 P2 = RT2 @ D2 loss1 = (I @ pred_D1) - (RT1^-1 @ RT1 @ D1) loss2 = (RT21 @ pred_D2) - (RT1^-1 @ P2) = (RT21 @ pred_D2) - (RT1^-1 @ RT2 @ D2) """ def __init__(self, criterion, norm_mode='avg_dis', gt_scale=False): super().__init__(criterion) self.norm_mode = norm_mode self.gt_scale = gt_scale def get_all_pts3d(self, gt1, gt2, pred1, pred2, dist_clip=None): # everything is normalized w.r.t. camera of view1 in_camera1 = inv(gt1['camera_pose']) gt_pts1 = geotrf(in_camera1, gt1['pts3d']) # B,H,W,3 gt_pts2 = geotrf(in_camera1, gt2['pts3d']) # B,H,W,3 valid1 = gt1['valid_mask'].clone() valid2 = gt2['valid_mask'].clone() if dist_clip is not None: # points that are too far-away == invalid dis1 = gt_pts1.norm(dim=-1) # (B, H, W) dis2 = gt_pts2.norm(dim=-1) # (B, H, W) valid1 = valid1 & (dis1 <= dist_clip) valid2 = valid2 & (dis2 <= dist_clip) pr_pts1 = get_pred_pts3d(gt1, pred1, use_pose=False) pr_pts2 = get_pred_pts3d(gt2, pred2, use_pose=True) # normalize 3d points if self.norm_mode: pr_pts1, pr_pts2 = normalize_pointcloud(pr_pts1, pr_pts2, self.norm_mode, valid1, valid2) if self.norm_mode and not self.gt_scale: gt_pts1, gt_pts2 = normalize_pointcloud(gt_pts1, gt_pts2, self.norm_mode, valid1, valid2) return gt_pts1, gt_pts2, pr_pts1, pr_pts2, valid1, valid2, {} def compute_loss(self, gt1, gt2, pred1, pred2, **kw): gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, monitoring = \ self.get_all_pts3d(gt1, gt2, pred1, pred2, **kw) # loss on img1 side l1 = self.criterion(pred_pts1[mask1], gt_pts1[mask1]) # loss on gt2 side l2 = self.criterion(pred_pts2[mask2], gt_pts2[mask2]) self_name = type(self).__name__ details = {self_name + '_pts3d_1': float(l1.mean()), self_name + '_pts3d_2': float(l2.mean())} return Sum((l1, mask1), (l2, mask2)), (details | monitoring) class ConfLoss (MultiLoss): """ Weighted regression by learned confidence. Assuming the input pixel_loss is a pixel-level regression loss. Principle: high-confidence means high conf = 0.1 ==> conf_loss = x / 10 + alpha*log(10) low confidence means low conf = 10 ==> conf_loss = x * 10 - alpha*log(10) alpha: hyperparameter """ def __init__(self, pixel_loss, alpha=1): super().__init__() assert alpha > 0 self.alpha = alpha self.pixel_loss = pixel_loss.with_reduction('none') def get_name(self): return f'ConfLoss({self.pixel_loss})' def get_conf_log(self, x): return x, torch.log(x) def get_conf_mask(self, gt1): ''' Only apply conf loss on ACENNR/ABO/GObjaverse Maybe useless: TODO ''' datatype_list = gt1['dataset'] need_conf_mask = torch.tensor([False] * len(datatype_list)).to(gt1['pts3d'].device) for datatype in datatype_list: if datatype in ["AceNNRRaw", "ABO", "GObjaverse"]: need_conf_mask[datatype_list.index(datatype)] = True return need_conf_mask def compute_loss(self, gt1, gt2, pred1, pred2, **kw): ((loss1, msk1), (loss2, msk2)), details = self.pixel_loss(gt1, gt2, pred1, pred2, **kw) if loss1.numel() == 0: print('NO VALID POINTS in img1', force=True) if loss2.numel() == 0: print('NO VALID POINTS in img2', force=True) # weight by confidence conf1, log_conf1 = self.get_conf_log(pred1['conf'][msk1]) conf2, log_conf2 = self.get_conf_log(pred2['conf'][msk2]) conf_loss1 = loss1 * conf1 - self.alpha * log_conf1 conf_loss2 = loss2 * conf2 - self.alpha * log_conf2 # average + nan protection (in case of no valid pixels at all) conf_loss1 = conf_loss1.mean() if conf_loss1.numel() > 0 else 0 conf_loss2 = conf_loss2.mean() if conf_loss2.numel() > 0 else 0 count_loss = conf_loss1 + conf_loss2 # if "normal" in pred1: # count_loss = count_loss + details["normal_loss_count"] * 0.1 return count_loss, dict(conf_loss_1=float(conf_loss1), conf_loss2=float(conf_loss2), **details) class Regr3D_ShiftInv (Regr3D): """ Same than Regr3D but invariant to depth shift. """ def get_all_pts3d(self, gt1, gt2, pred1, pred2): # compute unnormalized points gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, monitoring = \ super().get_all_pts3d(gt1, gt2, pred1, pred2) # compute median depth gt_z1, gt_z2 = gt_pts1[..., 2], gt_pts2[..., 2] pred_z1, pred_z2 = pred_pts1[..., 2], pred_pts2[..., 2] gt_shift_z = get_joint_pointcloud_depth(gt_z1, gt_z2, mask1, mask2)[:, None, None] pred_shift_z = get_joint_pointcloud_depth(pred_z1, pred_z2, mask1, mask2)[:, None, None] # subtract the median depth gt_z1 -= gt_shift_z gt_z2 -= gt_shift_z pred_z1 -= pred_shift_z pred_z2 -= pred_shift_z # monitoring = dict(monitoring, gt_shift_z=gt_shift_z.mean().detach(), pred_shift_z=pred_shift_z.mean().detach()) return gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, monitoring class Regr3D_ScaleInv (Regr3D): """ Same than Regr3D but invariant to depth shift. if gt_scale == True: enforce the prediction to take the same scale than GT """ def get_all_pts3d(self, gt1, gt2, pred1, pred2): # compute depth-normalized points gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, monitoring = super().get_all_pts3d(gt1, gt2, pred1, pred2) # measure scene scale _, gt_scale = get_joint_pointcloud_center_scale(gt_pts1, gt_pts2, mask1, mask2) _, pred_scale = get_joint_pointcloud_center_scale(pred_pts1, pred_pts2, mask1, mask2) # prevent predictions to be in a ridiculous range pred_scale = pred_scale.clip(min=1e-3, max=1e3) # subtract the median depth if self.gt_scale: pred_pts1 *= gt_scale / pred_scale pred_pts2 *= gt_scale / pred_scale # monitoring = dict(monitoring, pred_scale=(pred_scale/gt_scale).mean()) else: gt_pts1 /= gt_scale gt_pts2 /= gt_scale pred_pts1 /= pred_scale pred_pts2 /= pred_scale # monitoring = dict(monitoring, gt_scale=gt_scale.mean(), pred_scale=pred_scale.mean().detach()) return gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, monitoring class Regr3D_ScaleShiftInv (Regr3D_ScaleInv, Regr3D_ShiftInv): # calls Regr3D_ShiftInv first, then Regr3D_ScaleInv pass ================================================ FILE: dust3r/model.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # DUSt3R model class # -------------------------------------------------------- # Modifications Copyright (C) # Changes: model definition # This is an adaptation and is distributed under the same license (CC BY-NC-SA 4.0). # SPDX-License-Identifier: CC-BY-NC-SA-4.0(non-commercial use only) from copy import deepcopy import torch from .utils.misc import fill_default_args, freeze_all_params, is_symmetrized, interleave, transpose_to_landscape from .heads import head_factory from dust3r.patch_embed import get_patch_embed import dust3r.utils.path_to_croco # noqa: F401 from models.croco import CroCoNet # noqa inf = float('inf') class AsymmetricCroCo3DStereo (CroCoNet): """ Two siamese encoders, followed by two decoders. The goal is to output 3d points directly, both images in view1's frame (hence the asymmetry). """ def __init__(self, output_mode='pts3d', head_type='linear', depth_mode=('exp', -inf, inf), conf_mode=None, freeze='none', landscape_only=True, patch_embed_cls='PatchEmbedDust3R', # PatchEmbedDust3R or ManyAR_PatchEmbed atm_size=(24, 24), normal_mode=None, symmetrize_dec=False, **croco_kwargs): self.atm_size = atm_size # h,w self.patch_embed_cls = patch_embed_cls self.croco_args = fill_default_args(croco_kwargs, super().__init__) super().__init__(**croco_kwargs) # dust3r specific initialization self.symmetrize_dec = symmetrize_dec if not symmetrize_dec: self.dec_blocks2 = deepcopy(self.dec_blocks) self.set_downstream_head(output_mode, head_type, landscape_only, depth_mode, conf_mode, normal_mode, **croco_kwargs) self.set_freeze(freeze) def _set_patch_embed(self, img_size=224, patch_size=16, enc_embed_dim=768): self.patch_embed = get_patch_embed(self.patch_embed_cls, img_size, patch_size, enc_embed_dim) def load_state_dict(self, ckpt, **kw): # duplicate all weights for the second decoder if not present new_ckpt = dict(ckpt) # for key, value in ckpt.items(): # if key.startswith('downstream_head1') or key.startswith('downstream_head2'): # new_ckpt.pop(key) if not any(k.startswith('dec_blocks2') for k in ckpt) and (not self.symmetrize_dec): for key, value in ckpt.items(): if key.startswith('dec_blocks'): new_ckpt[key.replace('dec_blocks', 'dec_blocks2')] = value return super().load_state_dict(new_ckpt, **kw) def set_freeze(self, freeze): # this is for use by downstream models self.freeze = freeze to_be_frozen = { 'none': [], 'mask': [self.mask_token], 'encoder': [self.mask_token, self.patch_embed, self.enc_blocks], } freeze_all_params(to_be_frozen[freeze]) def _set_prediction_head(self, *args, **kwargs): """ No prediction head """ return def _encode_image(self, image, true_shape): # embed the image into patches (x has size B x Npatches x C) if self.pos_embed.startswith("ATMRoPE"): atm_size = self.atm_size else: atm_size = None x, pos = self.patch_embed(image, true_shape=true_shape, atm_size=atm_size) if self.pos_embed.startswith("RoPE"): assert self.enc_pos_embed is None # now apply the transformer encoder and normalization for blk in self.enc_blocks: x = blk(x, pos) x = self.enc_norm(x) return x, pos, None def _encode_image_pairs(self, img1, img2, true_shape1, true_shape2): if img1.shape[-2:] == img2.shape[-2:]: out, pos, _ = self._encode_image(torch.cat((img1, img2), dim=0), torch.cat((true_shape1, true_shape2), dim=0)) out, out2 = out.chunk(2, dim=0) pos, pos2 = pos.chunk(2, dim=0) else: out, pos, _ = self._encode_image(img1, true_shape1) out2, pos2, _ = self._encode_image(img2, true_shape2) return out, out2, pos, pos2 def _encode_symmetrized(self, view1, view2): img1 = view1['img'] img2 = view2['img'] B = img1.shape[0] # Recover true_shape when available, otherwise assume that the img shape is the true one shape1 = view1.get('true_shape', torch.tensor(img1.shape[-2:])[None].repeat(B, 1)) shape2 = view2.get('true_shape', torch.tensor(img2.shape[-2:])[None].repeat(B, 1)) # warning! maybe the images have different portrait/landscape orientations if is_symmetrized(view1, view2): # computing half of forward pass!' feat1, feat2, pos1, pos2 = self._encode_image_pairs(img1[::2], img2[::2], shape1[::2], shape2[::2]) feat1, feat2 = interleave(feat1, feat2) pos1, pos2 = interleave(pos1, pos2) else: feat1, feat2, pos1, pos2 = self._encode_image_pairs(img1, img2, shape1, shape2) return (shape1, shape2), (feat1, feat2), (pos1, pos2) def _decoder(self, f1, pos1, f2, pos2): final_output = [(f1, f2)] # before projection # project to decoder dim f1 = self.decoder_embed(f1) f2 = self.decoder_embed(f2) final_output.append((f1, f2)) if self.symmetrize_dec: zip_dec_blocks = zip(self.dec_blocks, self.dec_blocks) else: zip_dec_blocks = zip(self.dec_blocks, self.dec_blocks2) for blk1, blk2 in zip_dec_blocks: # img1 side f1, _ = blk1(*final_output[-1][::+1], pos1, pos2) # img2 side f2, _ = blk2(*final_output[-1][::-1], pos2, pos1) # store the result final_output.append((f1, f2)) # normalize last output del final_output[1] # duplicate with final_output[0] final_output[-1] = tuple(map(self.dec_norm, final_output[-1])) return zip(*final_output) def _downstream_head(self, head_num, decout, img_shape): B, S, D = decout[-1].shape # img_shape = tuple(map(int, img_shape)) head = getattr(self, f'head{head_num}') return head(decout, img_shape) def forward(self, view1, view2): # encode the two images --> B,S,D (shape1, shape2), (feat1, feat2), (pos1, pos2) = self._encode_symmetrized(view1, view2) # feat1: torch.Size([2, 448, 1024]) batchsize, num_patches, encode_dim # combine all ref images into object-centric representation dec1, dec2 = self._decoder(feat1, pos1, feat2, pos2) with torch.cuda.amp.autocast(enabled=False): if self.output_mode == "unify": res1 = self.local_head([tok.float() for tok in dec1], shape1) res2 = self.global_head([tok.float() for tok in dec2], shape2) normal_res1 = self.normal_head([tok.float() for tok in dec1], shape1) normal_res2 = self.normal_head([tok.float() for tok in dec2], shape2) res1['normal'] = normal_res1['normal'] res2['normal'] = normal_res2['normal'] else: raise NotImplementedError if 'pts3d' in res2: res2['pts3d_in_other_view'] = res2.pop('pts3d') # predict view2's pts3d in view1's frame return res1, res2 ================================================ FILE: dust3r/optim_factory.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # optimization functions # -------------------------------------------------------- def adjust_learning_rate_by_lr(optimizer, lr): for param_group in optimizer.param_groups: if "lr_scale" in param_group: param_group["lr"] = lr * param_group["lr_scale"] else: param_group["lr"] = lr ================================================ FILE: dust3r/patch_embed.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # PatchEmbed implementation for DUST3R, # in particular ManyAR_PatchEmbed that Handle images with non-square aspect ratio # -------------------------------------------------------- import torch import torch.nn as nn import dust3r.utils.path_to_croco # noqa: F401 from models.blocks import PatchEmbed # noqa def get_patch_embed(patch_embed_cls, img_size, patch_size, enc_embed_dim): assert patch_embed_cls in ['PatchEmbedDust3R', 'ManyAR_PatchEmbed'] patch_embed = eval(patch_embed_cls)(img_size, patch_size, 3, enc_embed_dim) return patch_embed class PatchEmbedDust3R(PatchEmbed): def forward(self, x, **kw): B, C, H, W = x.shape assert H % self.patch_size[0] == 0, f"Input image height ({H}) is not a multiple of patch size ({self.patch_size[0]})." assert W % self.patch_size[1] == 0, f"Input image width ({W}) is not a multiple of patch size ({self.patch_size[1]})." x = self.proj(x) pos = self.position_getter(B, x.size(2), x.size(3), x.device) if self.flatten: x = x.flatten(2).transpose(1, 2) # BCHW -> BNC x = self.norm(x) return x, pos class ManyAR_PatchEmbed (PatchEmbed): """ Handle images with non-square aspect ratio. All images in the same batch have the same aspect ratio. true_shape = [(height, width) ...] indicates the actual shape of each image. """ def __init__(self, img_size=224, patch_size=16, in_chans=3, embed_dim=768, norm_layer=None, flatten=True): self.embed_dim = embed_dim super().__init__(img_size, patch_size, in_chans, embed_dim, norm_layer, flatten) def forward(self, img, true_shape, atm_size=None): B, C, H, W = img.shape assert W >= H, f'img should be in landscape mode, but got {W=} {H=}' assert H % self.patch_size[0] == 0, f"Input image height ({H}) is not a multiple of patch size ({self.patch_size[0]})." assert W % self.patch_size[1] == 0, f"Input image width ({W}) is not a multiple of patch size ({self.patch_size[1]})." assert true_shape.shape == (B, 2), f"true_shape has the wrong shape={true_shape.shape}" # size expressed in tokens W //= self.patch_size[0] H //= self.patch_size[1] n_tokens = H * W height, width = true_shape.T is_landscape = (width >= height) is_portrait = ~is_landscape # allocate result x = img.new_zeros((B, n_tokens, self.embed_dim)) pos = img.new_zeros((B, n_tokens, 2), dtype=torch.int64) # linear projection, transposed if necessary # note: self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_size, stride=patch_size) # note: landscape[w>h], portrait[w BHWC, swapaxes+0231 -> BWHC x[is_landscape] = self.proj(img[is_landscape]).permute(0, 2, 3, 1).flatten(1, 2).float() x[is_portrait] = self.proj(img[is_portrait].swapaxes(-1, -2)).permute(0, 2, 3, 1).flatten(1, 2).float() pos[is_landscape] = self.position_getter(1, H, W, pos.device) pos[is_portrait] = self.position_getter(1, W, H, pos.device) x = self.norm(x) return x, pos ================================================ FILE: dust3r/post_process.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # utilities for interpreting the DUST3R output # -------------------------------------------------------- import numpy as np import torch from dust3r.utils.geometry import xy_grid def estimate_focal_knowing_depth(pts3d, pp, focal_mode='median', min_focal=0.5, max_focal=3.5): """ Reprojection method, for when the absolute depth is known: 1) estimate the camera focal using a robust estimator 2) reproject points onto true rays, minimizing a certain error """ B, H, W, THREE = pts3d.shape assert THREE == 3 # centered pixel grid pixels = xy_grid(W, H, device=pts3d.device).view(1, -1, 2) - pp.view(-1, 1, 2) # B,HW,2 pts3d = pts3d.flatten(1, 2) # (B, HW, 3) if focal_mode == 'median': with torch.no_grad(): # direct estimation of focal u, v = pixels.unbind(dim=-1) x, y, z = pts3d.unbind(dim=-1) fx_votes = (u * z) / x fy_votes = (v * z) / y # assume square pixels, hence same focal for X and Y f_votes = torch.cat((fx_votes.view(B, -1), fy_votes.view(B, -1)), dim=-1) focal = torch.nanmedian(f_votes, dim=-1).values elif focal_mode == 'weiszfeld': # init focal with l2 closed form # we try to find focal = argmin Sum | pixel - focal * (x,y)/z| xy_over_z = (pts3d[..., :2] / pts3d[..., 2:3]).nan_to_num(posinf=0, neginf=0) # homogeneous (x,y,1) dot_xy_px = (xy_over_z * pixels).sum(dim=-1) dot_xy_xy = xy_over_z.square().sum(dim=-1) focal = dot_xy_px.mean(dim=1) / dot_xy_xy.mean(dim=1) # iterative re-weighted least-squares for iter in range(10): # re-weighting by inverse of distance dis = (pixels - focal.view(-1, 1, 1) * xy_over_z).norm(dim=-1) # print(dis.nanmean(-1)) w = dis.clip(min=1e-8).reciprocal() # update the scaling with the new weights focal = (w * dot_xy_px).mean(dim=1) / (w * dot_xy_xy).mean(dim=1) else: raise ValueError(f'bad {focal_mode=}') focal_base = max(H, W) / (2 * np.tan(np.deg2rad(60) / 2)) # size / 1.1547005383792515 focal = focal.clip(min=min_focal*focal_base, max=max_focal*focal_base) # print(focal) return focal ================================================ FILE: dust3r/utils/__init__.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). ================================================ FILE: dust3r/utils/device.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # utilitary functions for DUSt3R # -------------------------------------------------------- import numpy as np import torch def todevice(batch, device, callback=None, non_blocking=False): ''' Transfer some variables to another device (i.e. GPU, CPU:torch, CPU:numpy). batch: list, tuple, dict of tensors or other things device: pytorch device or 'numpy' callback: function that would be called on every sub-elements. ''' if callback: batch = callback(batch) if isinstance(batch, dict): return {k: todevice(v, device) for k, v in batch.items()} if isinstance(batch, (tuple, list)): return type(batch)(todevice(x, device) for x in batch) x = batch if device == 'numpy': if isinstance(x, torch.Tensor): x = x.detach().cpu().numpy() elif x is not None: if isinstance(x, np.ndarray): x = torch.from_numpy(x) if torch.is_tensor(x): x = x.to(device, non_blocking=non_blocking) return x to_device = todevice # alias def to_numpy(x): return todevice(x, 'numpy') def to_cpu(x): return todevice(x, 'cpu') def to_cuda(x): return todevice(x, 'cuda') def collate_with_cat(whatever, lists=False): if isinstance(whatever, dict): return {k: collate_with_cat(vals, lists=lists) for k, vals in whatever.items()} elif isinstance(whatever, (tuple, list)): if len(whatever) == 0: return whatever elem = whatever[0] T = type(whatever) if elem is None: return None if isinstance(elem, (bool, float, int, str)): return whatever if isinstance(elem, tuple): return T(collate_with_cat(x, lists=lists) for x in zip(*whatever)) if isinstance(elem, dict): return {k: collate_with_cat([e[k] for e in whatever], lists=lists) for k in elem} if isinstance(elem, torch.Tensor): return listify(whatever) if lists else torch.cat(whatever) if isinstance(elem, np.ndarray): return listify(whatever) if lists else torch.cat([torch.from_numpy(x) for x in whatever]) # otherwise, we just chain lists return sum(whatever, T()) def listify(elems): return [x for e in elems for x in e] ================================================ FILE: dust3r/utils/geometry.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # geometry utilitary functions # -------------------------------------------------------- import torch import numpy as np from scipy.spatial import cKDTree as KDTree from dust3r.utils.misc import invalid_to_zeros, invalid_to_nans from dust3r.utils.device import to_numpy def xy_grid(W, H, device=None, origin=(0, 0), unsqueeze=None, cat_dim=-1, homogeneous=False, **arange_kw): """ Output a (H,W,2) array of int32 with output[j,i,0] = i + origin[0] output[j,i,1] = j + origin[1] """ if device is None: # numpy arange, meshgrid, stack, ones = np.arange, np.meshgrid, np.stack, np.ones else: # torch arange = lambda *a, **kw: torch.arange(*a, device=device, **kw) meshgrid, stack = torch.meshgrid, torch.stack ones = lambda *a: torch.ones(*a, device=device) tw, th = [arange(o, o + s, **arange_kw) for s, o in zip((W, H), origin)] grid = meshgrid(tw, th, indexing='xy') if homogeneous: grid = grid + (ones((H, W)),) if unsqueeze is not None: grid = (grid[0].unsqueeze(unsqueeze), grid[1].unsqueeze(unsqueeze)) if cat_dim is not None: grid = stack(grid, cat_dim) return grid def geotrf(Trf, pts, ncol=None, norm=False): """ Apply a geometric transformation to a list of 3-D points. H: 3x3 or 4x4 projection matrix (typically a Homography) p: numpy/torch/tuple of coordinates. Shape must be (...,2) or (...,3) ncol: int. number of columns of the result (2 or 3) norm: float. if != 0, the resut is projected on the z=norm plane. Returns an array of projected 2d points. """ assert Trf.ndim >= 2 if isinstance(Trf, np.ndarray): pts = np.asarray(pts) elif isinstance(Trf, torch.Tensor): pts = torch.as_tensor(pts, dtype=Trf.dtype) # adapt shape if necessary output_reshape = pts.shape[:-1] ncol = ncol or pts.shape[-1] # optimized code if (isinstance(Trf, torch.Tensor) and isinstance(pts, torch.Tensor) and Trf.ndim == 3 and pts.ndim == 4): d = pts.shape[3] if Trf.shape[-1] == d: pts = torch.einsum("bij, bhwj -> bhwi", Trf, pts) elif Trf.shape[-1] == d + 1: pts = torch.einsum("bij, bhwj -> bhwi", Trf[:, :d, :d], pts) + Trf[:, None, None, :d, d] else: raise ValueError(f'bad shape, not ending with 3 or 4, for {pts.shape=}') else: if Trf.ndim >= 3: n = Trf.ndim - 2 assert Trf.shape[:n] == pts.shape[:n], 'batch size does not match' Trf = Trf.reshape(-1, Trf.shape[-2], Trf.shape[-1]) if pts.ndim > Trf.ndim: # Trf == (B,d,d) & pts == (B,H,W,d) --> (B, H*W, d) pts = pts.reshape(Trf.shape[0], -1, pts.shape[-1]) elif pts.ndim == 2: # Trf == (B,d,d) & pts == (B,d) --> (B, 1, d) pts = pts[:, None, :] if pts.shape[-1] + 1 == Trf.shape[-1]: Trf = Trf.swapaxes(-1, -2) # transpose Trf pts = pts @ Trf[..., :-1, :] + Trf[..., -1:, :] elif pts.shape[-1] == Trf.shape[-1]: Trf = Trf.swapaxes(-1, -2) # transpose Trf pts = pts @ Trf else: pts = Trf @ pts.T if pts.ndim >= 2: pts = pts.swapaxes(-1, -2) if norm: pts = pts / pts[..., -1:] # DONT DO /= BECAUSE OF WEIRD PYTORCH BUG if norm != 1: pts *= norm res = pts[..., :ncol].reshape(*output_reshape, ncol) return res def inv(mat): """ Invert a torch or numpy matrix """ if isinstance(mat, torch.Tensor): return torch.linalg.inv(mat) if isinstance(mat, np.ndarray): return np.linalg.inv(mat) raise ValueError(f'bad matrix type = {type(mat)}') def depthmap_to_pts3d(depth, pseudo_focal, pp=None, **_): """ Args: - depthmap (BxHxW array): - pseudo_focal: [B,H,W] ; [B,2,H,W] or [B,1,H,W] Returns: pointmap of absolute coordinates (BxHxWx3 array) """ if len(depth.shape) == 4: B, H, W, n = depth.shape else: B, H, W = depth.shape n = None if len(pseudo_focal.shape) == 3: # [B,H,W] pseudo_focalx = pseudo_focaly = pseudo_focal elif len(pseudo_focal.shape) == 4: # [B,2,H,W] or [B,1,H,W] pseudo_focalx = pseudo_focal[:, 0] if pseudo_focal.shape[1] == 2: pseudo_focaly = pseudo_focal[:, 1] else: pseudo_focaly = pseudo_focalx else: raise NotImplementedError("Error, unknown input focal shape format.") assert pseudo_focalx.shape == depth.shape[:3] assert pseudo_focaly.shape == depth.shape[:3] grid_x, grid_y = xy_grid(W, H, cat_dim=0, device=depth.device)[:, None] # set principal point if pp is None: grid_x = grid_x - (W - 1) / 2 grid_y = grid_y - (H - 1) / 2 else: grid_x = grid_x.expand(B, -1, -1) - pp[:, 0, None, None] grid_y = grid_y.expand(B, -1, -1) - pp[:, 1, None, None] if n is None: pts3d = torch.empty((B, H, W, 3), device=depth.device) pts3d[..., 0] = depth * grid_x / pseudo_focalx pts3d[..., 1] = depth * grid_y / pseudo_focaly pts3d[..., 2] = depth else: pts3d = torch.empty((B, H, W, 3, n), device=depth.device) pts3d[..., 0, :] = depth * (grid_x / pseudo_focalx)[..., None] pts3d[..., 1, :] = depth * (grid_y / pseudo_focaly)[..., None] pts3d[..., 2, :] = depth return pts3d def depthmap_to_camera_coordinates(depthmap, camera_intrinsics, pseudo_focal=None): """ Args: - depthmap (HxW array): - camera_intrinsics: a 3x3 matrix Returns: pointmap of absolute coordinates (HxWx3 array), and a mask specifying valid pixels. """ camera_intrinsics = np.float32(camera_intrinsics) H, W = depthmap.shape # Compute 3D ray associated with each pixel # Strong assumption: there are no skew terms assert camera_intrinsics[0, 1] == 0.0 assert camera_intrinsics[1, 0] == 0.0 if pseudo_focal is None: fu = camera_intrinsics[0, 0] fv = camera_intrinsics[1, 1] else: assert pseudo_focal.shape == (H, W) fu = fv = pseudo_focal cu = camera_intrinsics[0, 2] cv = camera_intrinsics[1, 2] u, v = np.meshgrid(np.arange(W), np.arange(H)) z_cam = depthmap x_cam = (u - cu) * z_cam / fu y_cam = (v - cv) * z_cam / fv X_cam = np.stack((x_cam, y_cam, z_cam), axis=-1).astype(np.float32) # Mask for valid coordinates valid_mask = (depthmap > 0.0) return X_cam, valid_mask def depthmap_to_absolute_camera_coordinates(depthmap, camera_intrinsics, camera_pose, return_pts_view=False, **kw): """ Args: - depthmap (HxW array): - camera_intrinsics: a 3x3 matrix - camera_pose: a 4x3 or 4x4 cam2world matrix Returns: pointmap of absolute coordinates (HxWx3 array), and a mask specifying valid pixels.""" X_cam, valid_mask = depthmap_to_camera_coordinates(depthmap, camera_intrinsics) X_world = X_cam # default if camera_pose is not None: # R_cam2world = np.float32(camera_params["R_cam2world"]) # t_cam2world = np.float32(camera_params["t_cam2world"]).squeeze() R_cam2world = camera_pose[:3, :3] t_cam2world = camera_pose[:3, 3] # Express in absolute coordinates (invalid depth values) X_world = np.einsum("ik, vuk -> vui", R_cam2world, X_cam) + t_cam2world[None, None, :] if return_pts_view: return X_world, X_cam, valid_mask else: return X_world, valid_mask def colmap_to_opencv_intrinsics(K): """ Modify camera intrinsics to follow a different convention. Coordinates of the center of the top-left pixels are by default: - (0.5, 0.5) in Colmap - (0,0) in OpenCV """ K = K.copy() K[0, 2] -= 0.5 K[1, 2] -= 0.5 return K def opencv_to_colmap_intrinsics(K): """ Modify camera intrinsics to follow a different convention. Coordinates of the center of the top-left pixels are by default: - (0.5, 0.5) in Colmap - (0,0) in OpenCV """ K = K.copy() K[0, 2] += 0.5 K[1, 2] += 0.5 return K def normalize_pointcloud(pts1, pts2, norm_mode='avg_dis', valid1=None, valid2=None, ret_factor=False): """ renorm pointmaps pts1, pts2 with norm_mode """ assert pts1.ndim >= 3 and pts1.shape[-1] == 3 assert pts2 is None or (pts2.ndim >= 3 and pts2.shape[-1] == 3) norm_mode, dis_mode = norm_mode.split('_') if norm_mode == 'avg': # gather all points together (joint normalization) nan_pts1, nnz1 = invalid_to_zeros(pts1, valid1, ndim=3) nan_pts2, nnz2 = invalid_to_zeros(pts2, valid2, ndim=3) if pts2 is not None else (None, 0) all_pts = torch.cat((nan_pts1, nan_pts2), dim=1) if pts2 is not None else nan_pts1 # compute distance to origin all_dis = all_pts.norm(dim=-1) if dis_mode == 'dis': pass # do nothing elif dis_mode == 'log1p': all_dis = torch.log1p(all_dis) elif dis_mode == 'warp-log1p': # actually warp input points before normalizing them log_dis = torch.log1p(all_dis) warp_factor = log_dis / all_dis.clip(min=1e-8) H1, W1 = pts1.shape[1:-1] pts1 = pts1 * warp_factor[:, :W1 * H1].view(-1, H1, W1, 1) if pts2 is not None: H2, W2 = pts2.shape[1:-1] pts2 = pts2 * warp_factor[:, W1 * H1:].view(-1, H2, W2, 1) all_dis = log_dis # this is their true distance afterwards else: raise ValueError(f'bad {dis_mode=}') norm_factor = all_dis.sum(dim=1) / (nnz1 + nnz2 + 1e-8) else: # gather all points together (joint normalization) nan_pts1 = invalid_to_nans(pts1, valid1, ndim=3) nan_pts2 = invalid_to_nans(pts2, valid2, ndim=3) if pts2 is not None else None all_pts = torch.cat((nan_pts1, nan_pts2), dim=1) if pts2 is not None else nan_pts1 # compute distance to origin all_dis = all_pts.norm(dim=-1) if norm_mode == 'avg': norm_factor = all_dis.nanmean(dim=1) elif norm_mode == 'median': norm_factor = all_dis.nanmedian(dim=1).values.detach() elif norm_mode == 'sqrt': norm_factor = all_dis.sqrt().nanmean(dim=1)**2 else: raise ValueError(f'bad {norm_mode=}') norm_factor = norm_factor.clip(min=1e-8) while norm_factor.ndim < pts1.ndim: norm_factor.unsqueeze_(-1) res = pts1 / norm_factor if pts2 is not None: res = (res, pts2 / norm_factor) if ret_factor: res = res + (norm_factor,) return res @torch.no_grad() def get_joint_pointcloud_depth(z1, z2, valid_mask1, valid_mask2=None, quantile=0.5): # set invalid points to NaN _z1 = invalid_to_nans(z1, valid_mask1).reshape(len(z1), -1) _z2 = invalid_to_nans(z2, valid_mask2).reshape(len(z2), -1) if z2 is not None else None _z = torch.cat((_z1, _z2), dim=-1) if z2 is not None else _z1 # compute median depth overall (ignoring nans) if quantile == 0.5: shift_z = torch.nanmedian(_z, dim=-1).values else: shift_z = torch.nanquantile(_z, quantile, dim=-1) return shift_z # (B,) @torch.no_grad() def get_joint_pointcloud_center_scale(pts1, pts2, valid_mask1=None, valid_mask2=None, z_only=False, center=True): # set invalid points to NaN _pts1 = invalid_to_nans(pts1, valid_mask1).reshape(len(pts1), -1, 3) _pts2 = invalid_to_nans(pts2, valid_mask2).reshape(len(pts2), -1, 3) if pts2 is not None else None _pts = torch.cat((_pts1, _pts2), dim=1) if pts2 is not None else _pts1 # compute median center _center = torch.nanmedian(_pts, dim=1, keepdim=True).values # (B,1,3) if z_only: _center[..., :2] = 0 # do not center X and Y # compute median norm _norm = ((_pts - _center) if center else _pts).norm(dim=-1) scale = torch.nanmedian(_norm, dim=1).values return _center[:, None, :, :], scale[:, None, None, None] def find_reciprocal_matches(P1, P2): """ returns 3 values: 1 - reciprocal_in_P2: a boolean array of size P2.shape[0], a "True" value indicates a match 2 - nn2_in_P1: a int array of size P2.shape[0], it contains the indexes of the closest points in P1 3 - reciprocal_in_P2.sum(): the number of matches """ tree1 = KDTree(P1) tree2 = KDTree(P2) _, nn1_in_P2 = tree2.query(P1, workers=8) _, nn2_in_P1 = tree1.query(P2, workers=8) reciprocal_in_P1 = (nn2_in_P1[nn1_in_P2] == np.arange(len(nn1_in_P2))) reciprocal_in_P2 = (nn1_in_P2[nn2_in_P1] == np.arange(len(nn2_in_P1))) assert reciprocal_in_P1.sum() == reciprocal_in_P2.sum() return reciprocal_in_P2, nn2_in_P1, reciprocal_in_P2.sum() def get_med_dist_between_poses(poses): from scipy.spatial.distance import pdist return np.median(pdist([to_numpy(p[:3, 3]) for p in poses])) ================================================ FILE: dust3r/utils/image.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # utilitary functions about images (loading/converting...) # -------------------------------------------------------- # Modifications Copyright (C) # Changes: image process utils update # This is an adaptation and is distributed under the same license (CC BY-NC-SA 4.0). # SPDX-License-Identifier: CC-BY-NC-SA-4.0(non-commercial use only) import os import torch import numpy as np import PIL.Image from PIL.ImageOps import exif_transpose import torchvision.transforms as tvf os.environ["OPENCV_IO_ENABLE_OPENEXR"] = "1" import cv2 # noqa cv2.setNumThreads(0) import Imath import OpenEXR try: from pillow_heif import register_heif_opener # noqa register_heif_opener() heif_support_enabled = True except ImportError: heif_support_enabled = False ImgNorm = tvf.Compose([tvf.ToTensor(), tvf.Normalize((0.5, 0.5, 0.5), (0.5, 0.5, 0.5))]) def get_colormap(n): def bitget(byteval, idx): return (byteval & (1 << idx)) != 0 cmap = np.zeros((n, 3), dtype='uint8') for i in range(n): r = g = b = 0 c = i for j in range(8): r = r | (bitget(c, 0) << 7-j) g = g | (bitget(c, 1) << 7-j) b = b | (bitget(c, 2) << 7-j) c = c >> 3 cmap[i] = np.array([r, g, b]) return cmap def exr2hdr(exrpath): File = OpenEXR.InputFile(exrpath) PixType = Imath.PixelType(Imath.PixelType.FLOAT) DW = File.header()['dataWindow'] CNum = len(File.header()['channels'].keys()) if (CNum > 1): Channels = ['R', 'G', 'B'] CNum = 3 else: Channels = ['G'] Size = (DW.max.x - DW.min.x + 1, DW.max.y - DW.min.y + 1) Pixels = [np.fromstring(File.channel(c, PixType), dtype=np.float32) for c in Channels] hdr = np.zeros((Size[1],Size[0],CNum),dtype=np.float32) if (CNum == 1): hdr[:,:,0] = np.reshape(Pixels[0],(Size[1],Size[0])) else: hdr[:,:,0] = np.reshape(Pixels[0],(Size[1],Size[0])) hdr[:,:,1] = np.reshape(Pixels[1],(Size[1],Size[0])) hdr[:,:,2] = np.reshape(Pixels[2],(Size[1],Size[0])) return hdr def inverse_normalize(tensor, mean=(0.5, 0.5, 0.5), std=(0.5, 0.5, 0.5)): mean = torch.as_tensor(mean, dtype=tensor.dtype, device=tensor.device) std = torch.as_tensor(std, dtype=tensor.dtype, device=tensor.device) if mean.ndim == 1: mean = mean.view(-1, 1, 1) if std.ndim == 1: std = std.view(-1, 1, 1) tensor.mul_(std).add_(mean) return tensor def img_to_arr( img ): if isinstance(img, str): img = imread_cv2(img) return img def imread_cv2(path, options=cv2.IMREAD_COLOR): # cv2.ocl.setUseOpenCL(False) # cv2.setNumThreads(0) """ Open an image or a depthmap with opencv-python. """ if path.endswith(('.exr', 'EXR')): options = cv2.IMREAD_ANYDEPTH img = cv2.imread(path, options) if img is None: raise IOError(f'Could not load image={path} with {options=}') if img.ndim == 3: img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB) return img def imread_pil(path): image = PIL.Image.open(path) if image is None: raise IOError(f'Could not load image={path}') return np.asarray(image) def rgb(ftensor, true_shape=None): if isinstance(ftensor, list): return [rgb(x, true_shape=true_shape) for x in ftensor] if isinstance(ftensor, torch.Tensor): ftensor = ftensor.detach().cpu().numpy() # H,W,3 if ftensor.ndim == 3 and ftensor.shape[0] == 3: ftensor = ftensor.transpose(1, 2, 0) elif ftensor.ndim == 4 and ftensor.shape[1] == 3: ftensor = ftensor.transpose(0, 2, 3, 1) if true_shape is not None: H, W = true_shape ftensor = ftensor[:H, :W] if ftensor.dtype == np.uint8: img = np.float32(ftensor) / 255 else: img = (ftensor * 0.5) + 0.5 return img.clip(min=0, max=1) def _resize_pil_image(img, long_edge_size): S = max(img.size) if S > long_edge_size: interp = PIL.Image.LANCZOS elif S <= long_edge_size: interp = PIL.Image.BICUBIC new_size = tuple(int(round(x*long_edge_size/S)) for x in img.size) return img.resize(new_size, interp) def load_images(folder_or_list, size, square_ok=True, verbose=True): """ open and convert all images in a list or folder to proper input format for DUSt3R """ if isinstance(folder_or_list, str): if verbose: print(f'>> Loading images from {folder_or_list}') root, folder_content = folder_or_list, sorted(os.listdir(folder_or_list)) elif isinstance(folder_or_list, list): if verbose: print(f'>> Loading a list of {len(folder_or_list)} images') root, folder_content = '', folder_or_list else: raise ValueError(f'bad {folder_or_list=} ({type(folder_or_list)})') supported_images_extensions = ['.jpg', '.jpeg', '.png', '.JPG'] if heif_support_enabled: supported_images_extensions += ['.heic', '.heif', '.HEIC'] supported_images_extensions = tuple(supported_images_extensions) imgs = [] for path in folder_content: if not path.endswith(supported_images_extensions): continue img = exif_transpose(PIL.Image.open(os.path.join(root, path))).convert('RGB') W1, H1 = img.size rotate = False if W1 < H1: img = img.transpose(PIL.Image.ROTATE_90) W1, H1 = img.size rotate = True if size == 224: # resize short side to 224 (then crop) img = _resize_pil_image(img, round(size * max(W1/H1, H1/W1))) else: # resize long side to 512 img = _resize_pil_image(img, size) W, H = img.size cx, cy = W//2, H//2 if size == 224: half = min(cx, cy) img = img.crop((cx-half, cy-half, cx+half, cy+half)) else: halfw, halfh = ((2*cx)//16)*8, ((2*cy)//16)*8 if not (square_ok) and W == H: halfh = 3*halfw/4 img = img.crop((cx-halfw, cy-halfh, cx+halfw, cy+halfh)) W2, H2 = img.size if verbose: print(f' - adding {path} with resolution {W1}x{H1} --> {W2}x{H2}') size_info = np.int32([W1, H1, W, H, cx-halfw, cy-halfh, cx+halfw, cy+halfh]) size_info_matching = np.int32([W1, H1, W, H, W2, H2, halfw, halfh]) imgs.append(dict(img=ImgNorm(img)[None], true_shape=np.int32( [img.size[::-1]]), idx=len(imgs), instance=str(len(imgs)), size_info=size_info, size_info_matching=size_info_matching, model_id=os.path.basename(path), rotate=rotate)) assert imgs, 'no images foud at '+root if verbose: print(f' (Found {len(imgs)} images)') return imgs # view space def normal2color(normal_map): render_normals_color = np.zeros_like(normal_map) render_normals_color[..., 0] = (normal_map[..., 0] + 1.) * 0.5 * 255 # -1~1 -> 0~255 render_normals_color[..., 1] = (normal_map[..., 1] + 1.) * 0.5 * 255 # -1~1 -> 0~255 # render_normals_color[..., 2] = (normal_map[..., 2] - 1.) * 0.5 * 128 + 255 render_normals_color[..., 2] = (normal_map[..., 2] * -1.) * 127. + 128 # 0~-1 -> 128~255 return np.uint8(render_normals_color).clip(min=0, max=255) def color2normal(normal_color): normal_x = normal_color[..., 0] / 255. * 2. - 1. normal_y = normal_color[..., 1] / 255. * 2. - 1. # normal_z = (normal_color[..., 2] - 255.) / 128. * 2. + 1. normal_z = (normal_color[..., 2] - 128.) / 127. * -1. normalmap = np.stack([normal_x, normal_y, normal_z], axis=-1) return normalmap def depth2pcd_cam(depth, intrinsics_matrix, depth_valid_mask=None): ''' depth: H,W (np.ndarray) intrinsics_matrix: 3,3 (np.ndarray) ''' rows, cols = depth.shape c, r = np.meshgrid(np.arange(cols), np.arange(rows), sparse=True) if depth_valid_mask is None: depth_valid_mask = (depth > 0) & (depth < 10.0) z = np.where(depth_valid_mask, depth, np.nan) x = np.where(depth_valid_mask, z * (c - intrinsics_matrix[0, 2]) / intrinsics_matrix[0, 0], 0) y = np.where(depth_valid_mask, z * (r - intrinsics_matrix[1, 2]) / intrinsics_matrix[1, 1], 0) return np.dstack((x, y, z)) def pcd2normal_numpy(xyz): hd, wd, _ = xyz.shape bottom_point = xyz[..., 2:hd, 1:wd-1, :] top_point = xyz[..., 0:hd-2, 1:wd-1, :] right_point = xyz[..., 1:hd-1, 2:wd, :] left_point = xyz[..., 1:hd-1, 0:wd-2, :] left_to_right = right_point - left_point bottom_to_top = top_point - bottom_point xyz_normal = np.cross(left_to_right, bottom_to_top, axis=-1) # lefthand <<==>> righthand xyz_normal[..., 1] = xyz_normal[..., 1] * -1 norm = np.linalg.norm(xyz_normal, axis=-1, keepdims=True) + 1e-12 xyz_normal = xyz_normal / norm xyz_normal = np.pad(xyz_normal, ((1,1),(1,1),(0,0)), mode='constant') return xyz_normal def colorize(value, vmin=None, vmax=None, cmap='gray_r', invalid_val=-99, invalid_mask=None, background_color=(128, 128, 128, 255), gamma_corrected=False, value_transform=None): """Converts a depth map to a color image. Args: value (torch.Tensor, numpy.ndarry): Input depth map. Shape: (H, W) or (1, H, W) or (1, 1, H, W). All singular dimensions are squeezed vmin (float, optional): vmin-valued entries are mapped to start color of cmap. If None, value.min() is used. Defaults to None. vmax (float, optional): vmax-valued entries are mapped to end color of cmap. If None, value.max() is used. Defaults to None. cmap (str, optional): matplotlib colormap to use. Defaults to 'magma_r'. invalid_val (int, optional): Specifies value of invalid pixels that should be colored as 'background_color'. Defaults to -99. invalid_mask (numpy.ndarray, optional): Boolean mask for invalid regions. Defaults to None. background_color (tuple[int], optional): 4-tuple RGB color to give to invalid pixels. Defaults to (128, 128, 128, 255). gamma_corrected (bool, optional): Apply gamma correction to colored image. Defaults to False. value_transform (Callable, optional): Apply transform function to valid pixels before coloring. Defaults to None. Returns: numpy.ndarray, dtype - uint8: Colored depth map. Shape: (H, W, 4) """ import torch import matplotlib if isinstance(value, torch.Tensor): value = value.detach().cpu().numpy() value = value.squeeze() if invalid_mask is None: invalid_mask = value == invalid_val mask = np.logical_not(invalid_mask) # normalize vmin = np.percentile(value[mask],2) if vmin is None else vmin vmax = np.percentile(value[mask],85) if vmax is None else vmax if vmin != vmax: value = (value - vmin) / (vmax - vmin) # vmin..vmax else: # Avoid 0-division value = value * 0. value[invalid_mask] = np.nan cmapper = matplotlib.cm.get_cmap(cmap) if value_transform: value = value_transform(value) # value = value / value.max() value = cmapper(value, bytes=True) # (nxmx4) # img = value[:, :, :] img = value[...] img[invalid_mask] = background_color if gamma_corrected: # gamma correction img = img / 255 img = np.power(img, 2.2) img = img * 255 img = img.astype(np.uint8) return img ================================================ FILE: dust3r/utils/misc.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # utilitary functions for DUSt3R # -------------------------------------------------------- import torch def fill_default_args(kwargs, func): import inspect # a bit hacky but it works reliably signature = inspect.signature(func) for k, v in signature.parameters.items(): if v.default is inspect.Parameter.empty: continue kwargs.setdefault(k, v.default) return kwargs def freeze_all_params(modules): for module in modules: try: for n, param in module.named_parameters(): param.requires_grad = False except AttributeError: # module is directly a parameter module.requires_grad = False def is_symmetrized(gt1, gt2): x = gt1['instance'] y = gt2['instance'] if len(x) == len(y) and len(x) == 1: return False # special case of batchsize 1 ok = True for i in range(0, len(x), 2): ok = ok and (x[i] == y[i+1]) and (x[i+1] == y[i]) return ok def flip(tensor): """ flip so that tensor[0::2] <=> tensor[1::2] """ return torch.stack((tensor[1::2], tensor[0::2]), dim=1).flatten(0, 1) def interleave(tensor1, tensor2): res1 = torch.stack((tensor1, tensor2), dim=1).flatten(0, 1) res2 = torch.stack((tensor2, tensor1), dim=1).flatten(0, 1) return res1, res2 def transpose_to_landscape(head, activate=True): """ Predict in the correct aspect-ratio, then transpose the result in landscape and stack everything back together. """ def wrapper_no(decout, true_shape): B = len(true_shape) assert true_shape[0:1].allclose(true_shape), 'true_shape must be all identical' H, W = true_shape[0].cpu().tolist() res = head(decout, (H, W)) return res def wrapper_yes(decout, true_shape): B = len(true_shape) # by definition, the batch is in landscape mode so W >= H H, W = int(true_shape.min()), int(true_shape.max()) height, width = true_shape.T is_landscape = (width >= height) is_portrait = ~is_landscape # true_shape = true_shape.cpu() if is_landscape.all(): return head(decout, (H, W)) if is_portrait.all(): return transposed(head(decout, (W, H))) # batch is a mix of both portraint & landscape def selout(ar): return [d[ar] for d in decout] l_result = head(selout(is_landscape), (H, W)) p_result = transposed(head(selout(is_portrait), (W, H))) # allocate full result result = {} for k in l_result | p_result: x = l_result[k].new(B, *l_result[k].shape[1:]) x[is_landscape] = l_result[k] x[is_portrait] = p_result[k] result[k] = x return result return wrapper_yes if activate else wrapper_no def transposed(dic): return {k: v.swapaxes(1, 2) for k, v in dic.items()} def invalid_to_nans(arr, valid_mask, ndim=999): if valid_mask is not None: arr = arr.clone() arr[~valid_mask] = float('nan') if arr.ndim > ndim: arr = arr.flatten(-2 - (arr.ndim - ndim), -2) return arr def invalid_to_zeros(arr, valid_mask, ndim=999): if valid_mask is not None: arr = arr.clone() arr[~valid_mask] = 0 nnz = valid_mask.view(len(valid_mask), -1).sum(1) else: nnz = arr.numel() // len(arr) if len(arr) else 0 # number of point per image if arr.ndim > ndim: arr = arr.flatten(-2 - (arr.ndim - ndim), -2) return arr, nnz ================================================ FILE: dust3r/utils/parallel.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # utilitary functions for multiprocessing # -------------------------------------------------------- from tqdm import tqdm from multiprocessing.dummy import Pool as ThreadPool from multiprocessing import cpu_count def parallel_threads(function, args, workers=0, star_args=False, kw_args=False, front_num=1, Pool=ThreadPool, **tqdm_kw): """ tqdm but with parallel execution. Will essentially return res = [ function(arg) # default function(*arg) # if star_args is True function(**arg) # if kw_args is True for arg in args] Note: the first elements of args will not be parallelized. This can be useful for debugging. """ while workers <= 0: workers += cpu_count() if workers == 1: front_num = float('inf') # convert into an iterable try: n_args_parallel = len(args) - front_num except TypeError: n_args_parallel = None args = iter(args) # sequential execution first front = [] while len(front) < front_num: try: a = next(args) except StopIteration: return front # end of the iterable front.append(function(*a) if star_args else function(**a) if kw_args else function(a)) # then parallel execution out = [] with Pool(workers) as pool: # Pass the elements of args into function if star_args: futures = pool.imap(starcall, [(function, a) for a in args]) elif kw_args: futures = pool.imap(starstarcall, [(function, a) for a in args]) else: futures = pool.imap(function, args) # Print out the progress as tasks complete for f in tqdm(futures, total=n_args_parallel, **tqdm_kw): out.append(f) return front + out def parallel_processes(*args, **kwargs): """ Same as parallel_threads, with processes """ import multiprocessing as mp kwargs['Pool'] = mp.Pool return parallel_threads(*args, **kwargs) def starcall(args): """ convenient wrapper for Process.Pool """ function, args = args return function(*args) def starstarcall(args): """ convenient wrapper for Process.Pool """ function, args = args return function(**args) ================================================ FILE: dust3r/utils/path_to_croco.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # CroCo submodule import # -------------------------------------------------------- import sys import os.path as path HERE_PATH = path.normpath(path.dirname(__file__)) CROCO_REPO_PATH = path.normpath(path.join(HERE_PATH, '../../croco')) CROCO_MODELS_PATH = path.join(CROCO_REPO_PATH, 'models') # check the presence of models directory in repo to be sure its cloned if path.isdir(CROCO_MODELS_PATH): # workaround for sibling import sys.path.insert(0, CROCO_REPO_PATH) else: raise ImportError(f"croco is not initialized, could not find: {CROCO_MODELS_PATH}.\n " "Did you forget to run 'git submodule update --init --recursive' ?") ================================================ FILE: dust3r/utils/read_write_model.py ================================================ # Copyright (c) 2023, ETH Zurich and UNC Chapel Hill. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # # * Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. # # * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of # its contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) import os import collections import numpy as np import struct import argparse CameraModel = collections.namedtuple( "CameraModel", ["model_id", "model_name", "num_params"]) Camera = collections.namedtuple( "Camera", ["id", "model", "width", "height", "params"]) BaseImage = collections.namedtuple( "Image", ["id", "qvec", "tvec", "camera_id", "name", "xys", "point3D_ids"]) Point3D = collections.namedtuple( "Point3D", ["id", "xyz", "rgb", "error", "image_ids", "point2D_idxs"]) class Image(BaseImage): def qvec2rotmat(self): return qvec2rotmat(self.qvec) CAMERA_MODELS = { CameraModel(model_id=0, model_name="SIMPLE_PINHOLE", num_params=3), CameraModel(model_id=1, model_name="PINHOLE", num_params=4), CameraModel(model_id=2, model_name="SIMPLE_RADIAL", num_params=4), CameraModel(model_id=3, model_name="RADIAL", num_params=5), CameraModel(model_id=4, model_name="OPENCV", num_params=8), CameraModel(model_id=5, model_name="OPENCV_FISHEYE", num_params=8), CameraModel(model_id=6, model_name="FULL_OPENCV", num_params=12), CameraModel(model_id=7, model_name="FOV", num_params=5), CameraModel(model_id=8, model_name="SIMPLE_RADIAL_FISHEYE", num_params=4), CameraModel(model_id=9, model_name="RADIAL_FISHEYE", num_params=5), CameraModel(model_id=10, model_name="THIN_PRISM_FISHEYE", num_params=12) } CAMERA_MODEL_IDS = dict([(camera_model.model_id, camera_model) for camera_model in CAMERA_MODELS]) CAMERA_MODEL_NAMES = dict([(camera_model.model_name, camera_model) for camera_model in CAMERA_MODELS]) def read_next_bytes(fid, num_bytes, format_char_sequence, endian_character="<"): """Read and unpack the next bytes from a binary file. :param fid: :param num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc. :param format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}. :param endian_character: Any of {@, =, <, >, !} :return: Tuple of read and unpacked values. """ data = fid.read(num_bytes) return struct.unpack(endian_character + format_char_sequence, data) def write_next_bytes(fid, data, format_char_sequence, endian_character="<"): """pack and write to a binary file. :param fid: :param data: data to send, if multiple elements are sent at the same time, they should be encapsuled either in a list or a tuple :param format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}. should be the same length as the data list or tuple :param endian_character: Any of {@, =, <, >, !} """ if isinstance(data, (list, tuple)): bytes = struct.pack(endian_character + format_char_sequence, *data) else: bytes = struct.pack(endian_character + format_char_sequence, data) fid.write(bytes) def read_cameras_text(path): """ see: src/base/reconstruction.cc void Reconstruction::WriteCamerasText(const std::string& path) void Reconstruction::ReadCamerasText(const std::string& path) """ cameras = {} with open(path, "r") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() camera_id = int(elems[0]) model = elems[1] width = int(elems[2]) height = int(elems[3]) params = np.array(tuple(map(float, elems[4:]))) cameras[camera_id] = Camera(id=camera_id, model=model, width=width, height=height, params=params) return cameras def read_cameras_binary(path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::WriteCamerasBinary(const std::string& path) void Reconstruction::ReadCamerasBinary(const std::string& path) """ cameras = {} with open(path_to_model_file, "rb") as fid: num_cameras = read_next_bytes(fid, 8, "Q")[0] for _ in range(num_cameras): camera_properties = read_next_bytes( fid, num_bytes=24, format_char_sequence="iiQQ") camera_id = camera_properties[0] model_id = camera_properties[1] model_name = CAMERA_MODEL_IDS[camera_properties[1]].model_name width = camera_properties[2] height = camera_properties[3] num_params = CAMERA_MODEL_IDS[model_id].num_params params = read_next_bytes(fid, num_bytes=8*num_params, format_char_sequence="d"*num_params) cameras[camera_id] = Camera(id=camera_id, model=model_name, width=width, height=height, params=np.array(params)) assert len(cameras) == num_cameras return cameras def write_cameras_text(cameras, path): """ see: src/base/reconstruction.cc void Reconstruction::WriteCamerasText(const std::string& path) void Reconstruction::ReadCamerasText(const std::string& path) """ HEADER = "# Camera list with one line of data per camera:\n" + \ "# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]\n" + \ "# Number of cameras: {}\n".format(len(cameras)) with open(path, "w") as fid: fid.write(HEADER) for _, cam in cameras.items(): to_write = [cam.id, cam.model, cam.width, cam.height, *cam.params] line = " ".join([str(elem) for elem in to_write]) fid.write(line + "\n") def write_cameras_binary(cameras, path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::WriteCamerasBinary(const std::string& path) void Reconstruction::ReadCamerasBinary(const std::string& path) """ with open(path_to_model_file, "wb") as fid: write_next_bytes(fid, len(cameras), "Q") for _, cam in cameras.items(): model_id = CAMERA_MODEL_NAMES[cam.model].model_id camera_properties = [cam.id, model_id, cam.width, cam.height] write_next_bytes(fid, camera_properties, "iiQQ") for p in cam.params: write_next_bytes(fid, float(p), "d") return cameras def read_images_text(path): """ see: src/base/reconstruction.cc void Reconstruction::ReadImagesText(const std::string& path) void Reconstruction::WriteImagesText(const std::string& path) """ images = {} with open(path, "r") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() image_id = int(elems[0]) qvec = np.array(tuple(map(float, elems[1:5]))) tvec = np.array(tuple(map(float, elems[5:8]))) camera_id = int(elems[8]) image_name = elems[9] elems = fid.readline().split() xys = np.column_stack([tuple(map(float, elems[0::3])), tuple(map(float, elems[1::3]))]) point3D_ids = np.array(tuple(map(int, elems[2::3]))) images[image_id] = Image( id=image_id, qvec=qvec, tvec=tvec, camera_id=camera_id, name=image_name, xys=xys, point3D_ids=point3D_ids) return images def read_images_binary(path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::ReadImagesBinary(const std::string& path) void Reconstruction::WriteImagesBinary(const std::string& path) """ images = {} with open(path_to_model_file, "rb") as fid: num_reg_images = read_next_bytes(fid, 8, "Q")[0] for _ in range(num_reg_images): binary_image_properties = read_next_bytes( fid, num_bytes=64, format_char_sequence="idddddddi") image_id = binary_image_properties[0] qvec = np.array(binary_image_properties[1:5]) tvec = np.array(binary_image_properties[5:8]) camera_id = binary_image_properties[8] image_name = "" current_char = read_next_bytes(fid, 1, "c")[0] while current_char != b"\x00": # look for the ASCII 0 entry image_name += current_char.decode("utf-8") current_char = read_next_bytes(fid, 1, "c")[0] num_points2D = read_next_bytes(fid, num_bytes=8, format_char_sequence="Q")[0] x_y_id_s = read_next_bytes(fid, num_bytes=24*num_points2D, format_char_sequence="ddq"*num_points2D) xys = np.column_stack([tuple(map(float, x_y_id_s[0::3])), tuple(map(float, x_y_id_s[1::3]))]) point3D_ids = np.array(tuple(map(int, x_y_id_s[2::3]))) images[image_id] = Image( id=image_id, qvec=qvec, tvec=tvec, camera_id=camera_id, name=image_name, xys=xys, point3D_ids=point3D_ids) return images def write_images_text(images, path): """ see: src/base/reconstruction.cc void Reconstruction::ReadImagesText(const std::string& path) void Reconstruction::WriteImagesText(const std::string& path) """ if len(images) == 0: mean_observations = 0 else: mean_observations = sum((len(img.point3D_ids) for _, img in images.items()))/len(images) HEADER = "# Image list with two lines of data per image:\n" + \ "# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME\n" + \ "# POINTS2D[] as (X, Y, POINT3D_ID)\n" + \ "# Number of images: {}, mean observations per image: {}\n".format(len(images), mean_observations) with open(path, "w") as fid: fid.write(HEADER) for _, img in images.items(): image_header = [img.id, *img.qvec, *img.tvec, img.camera_id, img.name] first_line = " ".join(map(str, image_header)) fid.write(first_line + "\n") points_strings = [] for xy, point3D_id in zip(img.xys, img.point3D_ids): points_strings.append(" ".join(map(str, [*xy, point3D_id]))) fid.write(" ".join(points_strings) + "\n") def write_images_binary(images, path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::ReadImagesBinary(const std::string& path) void Reconstruction::WriteImagesBinary(const std::string& path) """ with open(path_to_model_file, "wb") as fid: write_next_bytes(fid, len(images), "Q") for _, img in images.items(): write_next_bytes(fid, img.id, "i") write_next_bytes(fid, img.qvec.tolist(), "dddd") write_next_bytes(fid, img.tvec.tolist(), "ddd") write_next_bytes(fid, img.camera_id, "i") for char in img.name: write_next_bytes(fid, char.encode("utf-8"), "c") write_next_bytes(fid, b"\x00", "c") write_next_bytes(fid, len(img.point3D_ids), "Q") for xy, p3d_id in zip(img.xys, img.point3D_ids): write_next_bytes(fid, [*xy, p3d_id], "ddq") def read_points3D_text(path): """ see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DText(const std::string& path) void Reconstruction::WritePoints3DText(const std::string& path) """ points3D = {} with open(path, "r") as fid: while True: line = fid.readline() if not line: break line = line.strip() if len(line) > 0 and line[0] != "#": elems = line.split() point3D_id = int(elems[0]) xyz = np.array(tuple(map(float, elems[1:4]))) rgb = np.array(tuple(map(int, elems[4:7]))) error = float(elems[7]) image_ids = np.array(tuple(map(int, elems[8::2]))) point2D_idxs = np.array(tuple(map(int, elems[9::2]))) points3D[point3D_id] = Point3D(id=point3D_id, xyz=xyz, rgb=rgb, error=error, image_ids=image_ids, point2D_idxs=point2D_idxs) return points3D def read_points3D_binary(path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DBinary(const std::string& path) void Reconstruction::WritePoints3DBinary(const std::string& path) """ points3D = {} with open(path_to_model_file, "rb") as fid: num_points = read_next_bytes(fid, 8, "Q")[0] for _ in range(num_points): binary_point_line_properties = read_next_bytes( fid, num_bytes=43, format_char_sequence="QdddBBBd") point3D_id = binary_point_line_properties[0] xyz = np.array(binary_point_line_properties[1:4]) rgb = np.array(binary_point_line_properties[4:7]) error = np.array(binary_point_line_properties[7]) track_length = read_next_bytes( fid, num_bytes=8, format_char_sequence="Q")[0] track_elems = read_next_bytes( fid, num_bytes=8*track_length, format_char_sequence="ii"*track_length) image_ids = np.array(tuple(map(int, track_elems[0::2]))) point2D_idxs = np.array(tuple(map(int, track_elems[1::2]))) points3D[point3D_id] = Point3D( id=point3D_id, xyz=xyz, rgb=rgb, error=error, image_ids=image_ids, point2D_idxs=point2D_idxs) return points3D def write_points3D_text(points3D, path): """ see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DText(const std::string& path) void Reconstruction::WritePoints3DText(const std::string& path) """ if len(points3D) == 0: mean_track_length = 0 else: mean_track_length = sum((len(pt.image_ids) for _, pt in points3D.items()))/len(points3D) HEADER = "# 3D point list with one line of data per point:\n" + \ "# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)\n" + \ "# Number of points: {}, mean track length: {}\n".format(len(points3D), mean_track_length) with open(path, "w") as fid: fid.write(HEADER) for _, pt in points3D.items(): point_header = [pt.id, *pt.xyz, *pt.rgb, pt.error] fid.write(" ".join(map(str, point_header)) + " ") track_strings = [] for image_id, point2D in zip(pt.image_ids, pt.point2D_idxs): track_strings.append(" ".join(map(str, [image_id, point2D]))) fid.write(" ".join(track_strings) + "\n") def write_points3D_binary(points3D, path_to_model_file): """ see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DBinary(const std::string& path) void Reconstruction::WritePoints3DBinary(const std::string& path) """ with open(path_to_model_file, "wb") as fid: write_next_bytes(fid, len(points3D), "Q") for _, pt in points3D.items(): write_next_bytes(fid, pt.id, "Q") write_next_bytes(fid, pt.xyz.tolist(), "ddd") write_next_bytes(fid, pt.rgb.tolist(), "BBB") write_next_bytes(fid, pt.error, "d") track_length = pt.image_ids.shape[0] write_next_bytes(fid, track_length, "Q") for image_id, point2D_id in zip(pt.image_ids, pt.point2D_idxs): write_next_bytes(fid, [image_id, point2D_id], "ii") def detect_model_format(path, ext): if os.path.isfile(os.path.join(path, "cameras" + ext)) and \ os.path.isfile(os.path.join(path, "images" + ext)) and \ os.path.isfile(os.path.join(path, "points3D" + ext)): print("Detected model format: '" + ext + "'") return True return False def read_model(path, ext=""): # try to detect the extension automatically if ext == "": if detect_model_format(path, ".bin"): ext = ".bin" elif detect_model_format(path, ".txt"): ext = ".txt" else: print("Provide model format: '.bin' or '.txt'") return if ext == ".txt": cameras = read_cameras_text(os.path.join(path, "cameras" + ext)) images = read_images_text(os.path.join(path, "images" + ext)) points3D = read_points3D_text(os.path.join(path, "points3D") + ext) else: cameras = read_cameras_binary(os.path.join(path, "cameras" + ext)) images = read_images_binary(os.path.join(path, "images" + ext)) points3D = read_points3D_binary(os.path.join(path, "points3D") + ext) return cameras, images, points3D def write_model(cameras, images, points3D, path, ext=".bin"): if ext == ".txt": write_cameras_text(cameras, os.path.join(path, "cameras" + ext)) write_images_text(images, os.path.join(path, "images" + ext)) write_points3D_text(points3D, os.path.join(path, "points3D") + ext) else: write_cameras_binary(cameras, os.path.join(path, "cameras" + ext)) write_images_binary(images, os.path.join(path, "images" + ext)) write_points3D_binary(points3D, os.path.join(path, "points3D") + ext) return cameras, images, points3D def qvec2rotmat(qvec): return np.array([ [1 - 2 * qvec[2]**2 - 2 * qvec[3]**2, 2 * qvec[1] * qvec[2] - 2 * qvec[0] * qvec[3], 2 * qvec[3] * qvec[1] + 2 * qvec[0] * qvec[2]], [2 * qvec[1] * qvec[2] + 2 * qvec[0] * qvec[3], 1 - 2 * qvec[1]**2 - 2 * qvec[3]**2, 2 * qvec[2] * qvec[3] - 2 * qvec[0] * qvec[1]], [2 * qvec[3] * qvec[1] - 2 * qvec[0] * qvec[2], 2 * qvec[2] * qvec[3] + 2 * qvec[0] * qvec[1], 1 - 2 * qvec[1]**2 - 2 * qvec[2]**2]]) def rotmat2qvec(R): Rxx, Ryx, Rzx, Rxy, Ryy, Rzy, Rxz, Ryz, Rzz = R.flat K = np.array([ [Rxx - Ryy - Rzz, 0, 0, 0], [Ryx + Rxy, Ryy - Rxx - Rzz, 0, 0], [Rzx + Rxz, Rzy + Ryz, Rzz - Rxx - Ryy, 0], [Ryz - Rzy, Rzx - Rxz, Rxy - Ryx, Rxx + Ryy + Rzz]]) / 3.0 eigvals, eigvecs = np.linalg.eigh(K) qvec = eigvecs[[3, 0, 1, 2], np.argmax(eigvals)] if qvec[0] < 0: qvec *= -1 return qvec def main(): parser = argparse.ArgumentParser(description="Read and write COLMAP binary and text models") parser.add_argument("--input_model", help="path to input model folder") parser.add_argument("--input_format", choices=[".bin", ".txt"], help="input model format", default="") parser.add_argument("--output_model", help="path to output model folder") parser.add_argument("--output_format", choices=[".bin", ".txt"], help="outut model format", default=".txt") args = parser.parse_args() cameras, images, points3D = read_model(path=args.input_model, ext=args.input_format) print("num_cameras:", len(cameras)) print("num_images:", len(images)) print("num_points3D:", len(points3D)) if args.output_model is not None: write_model(cameras, images, points3D, path=args.output_model, ext=args.output_format) if __name__ == "__main__": main() ================================================ FILE: dust3r/viz.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Visualization utilities using trimesh # -------------------------------------------------------- import PIL.Image import numpy as np from scipy.spatial.transform import Rotation import torch from dust3r.utils.geometry import geotrf, get_med_dist_between_poses from dust3r.utils.device import to_numpy from dust3r.utils.image import rgb try: import trimesh except ImportError: print('/!\\ module trimesh is not installed, cannot visualize results /!\\') def cat_3d(vecs): if isinstance(vecs, (np.ndarray, torch.Tensor)): vecs = [vecs] return np.concatenate([p.reshape(-1, 3) for p in to_numpy(vecs)]) def show_raw_pointcloud(pts3d, colors, point_size=2): scene = trimesh.Scene() pct = trimesh.PointCloud(cat_3d(pts3d), colors=cat_3d(colors)) scene.add_geometry(pct) scene.show(line_settings={'point_size': point_size}) def pts3d_to_trimesh(img, pts3d, valid=None): H, W, THREE = img.shape assert THREE == 3 assert img.shape == pts3d.shape vertices = pts3d.reshape(-1, 3) # make squares: each pixel == 2 triangles idx = np.arange(len(vertices)).reshape(H, W) idx1 = idx[:-1, :-1].ravel() # top-left corner idx2 = idx[:-1, +1:].ravel() # right-left corner idx3 = idx[+1:, :-1].ravel() # bottom-left corner idx4 = idx[+1:, +1:].ravel() # bottom-right corner faces = np.concatenate(( np.c_[idx1, idx2, idx3], np.c_[idx3, idx2, idx1], # same triangle, but backward (cheap solution to cancel face culling) np.c_[idx2, idx3, idx4], np.c_[idx4, idx3, idx2], # same triangle, but backward (cheap solution to cancel face culling) ), axis=0) # prepare triangle colors face_colors = np.concatenate(( img[:-1, :-1].reshape(-1, 3), img[:-1, :-1].reshape(-1, 3), img[+1:, +1:].reshape(-1, 3), img[+1:, +1:].reshape(-1, 3) ), axis=0) # remove invalid faces if valid is not None: assert valid.shape == (H, W) valid_idxs = valid.ravel() valid_faces = valid_idxs[faces].all(axis=-1) faces = faces[valid_faces] face_colors = face_colors[valid_faces] assert len(faces) == len(face_colors) return dict(vertices=vertices, face_colors=face_colors, faces=faces) def cat_meshes(meshes): vertices, faces, colors = zip(*[(m['vertices'], m['faces'], m['face_colors']) for m in meshes]) n_vertices = np.cumsum([0]+[len(v) for v in vertices]) for i in range(len(faces)): faces[i][:] += n_vertices[i] vertices = np.concatenate(vertices) colors = np.concatenate(colors) faces = np.concatenate(faces) return dict(vertices=vertices, face_colors=colors, faces=faces) def show_duster_pairs(view1, view2, pred1, pred2): import matplotlib.pyplot as pl pl.ion() for e in range(len(view1['instance'])): i = view1['idx'][e] j = view2['idx'][e] img1 = rgb(view1['img'][e]) img2 = rgb(view2['img'][e]) conf1 = pred1['conf'][e].squeeze() conf2 = pred2['conf'][e].squeeze() score = conf1.mean()*conf2.mean() print(f">> Showing pair #{e} {i}-{j} {score=:g}") pl.clf() pl.subplot(221).imshow(img1) pl.subplot(223).imshow(img2) pl.subplot(222).imshow(conf1, vmin=1, vmax=30) pl.subplot(224).imshow(conf2, vmin=1, vmax=30) pts1 = pred1['pts3d'][e] pts2 = pred2['pts3d_in_other_view'][e] pl.subplots_adjust(0, 0, 1, 1, 0, 0) if input('show pointcloud? (y/n) ') == 'y': show_raw_pointcloud(cat(pts1, pts2), cat(img1, img2), point_size=5) def auto_cam_size(im_poses): return 0.1 * get_med_dist_between_poses(im_poses) class SceneViz: def __init__(self): self.scene = trimesh.Scene() def add_pointcloud(self, pts3d, color, mask=None): pts3d = to_numpy(pts3d) mask = to_numpy(mask) if mask is None: mask = [slice(None)] * len(pts3d) pts = np.concatenate([p[m] for p, m in zip(pts3d, mask)]) pct = trimesh.PointCloud(pts.reshape(-1, 3)) if isinstance(color, (list, np.ndarray, torch.Tensor)): color = to_numpy(color) col = np.concatenate([p[m] for p, m in zip(color, mask)]) assert col.shape == pts.shape pct.visual.vertex_colors = uint8(col.reshape(-1, 3)) else: assert len(color) == 3 pct.visual.vertex_colors = np.broadcast_to(uint8(color), pts.shape) self.scene.add_geometry(pct) return self def add_camera(self, pose_c2w, focal=None, color=(0, 0, 0), image=None, imsize=None, cam_size=0.03): pose_c2w, focal, color, image = to_numpy((pose_c2w, focal, color, image)) add_scene_cam(self.scene, pose_c2w, color, image, focal, screen_width=cam_size) return self def add_cameras(self, poses, focals=None, images=None, imsizes=None, colors=None, **kw): def get(arr, idx): return None if arr is None else arr[idx] for i, pose_c2w in enumerate(poses): self.add_camera(pose_c2w, get(focals, i), image=get(images, i), color=get(colors, i), imsize=get(imsizes, i), **kw) return self def show(self, point_size=2): self.scene.show(line_settings={'point_size': point_size}) def show_raw_pointcloud_with_cams(imgs, pts3d, mask, focals, cams2world, point_size=2, cam_size=0.05, cam_color=None): """ Visualization of a pointcloud with cameras imgs = (N, H, W, 3) or N-size list of [(H,W,3), ...] pts3d = (N, H, W, 3) or N-size list of [(H,W,3), ...] focals = (N,) or N-size list of [focal, ...] cams2world = (N,4,4) or N-size list of [(4,4), ...] """ assert len(pts3d) == len(mask) <= len(imgs) <= len(cams2world) == len(focals) pts3d = to_numpy(pts3d) imgs = to_numpy(imgs) focals = to_numpy(focals) cams2world = to_numpy(cams2world) scene = trimesh.Scene() # full pointcloud pts = np.concatenate([p[m] for p, m in zip(pts3d, mask)]) col = np.concatenate([p[m] for p, m in zip(imgs, mask)]) pct = trimesh.PointCloud(pts.reshape(-1, 3), colors=col.reshape(-1, 3)) scene.add_geometry(pct) # add each camera for i, pose_c2w in enumerate(cams2world): if isinstance(cam_color, list): camera_edge_color = cam_color[i] else: camera_edge_color = cam_color or CAM_COLORS[i % len(CAM_COLORS)] add_scene_cam(scene, pose_c2w, camera_edge_color, imgs[i] if i < len(imgs) else None, focals[i], screen_width=cam_size) scene.show(line_settings={'point_size': point_size}) def add_scene_cam(scene, pose_c2w, edge_color, image=None, focal=None, imsize=None, screen_width=0.03): if image is not None: H, W, THREE = image.shape assert THREE == 3 if image.dtype != np.uint8: image = np.uint8(255*image) elif imsize is not None: W, H = imsize elif focal is not None: H = W = focal / 1.1 else: H = W = 1 if focal is None: focal = min(H, W) * 1.1 # default value elif isinstance(focal, np.ndarray): focal = focal[0] # create fake camera height = focal * screen_width / H width = screen_width * 0.5**0.5 rot45 = np.eye(4) rot45[:3, :3] = Rotation.from_euler('z', np.deg2rad(45)).as_matrix() rot45[2, 3] = -height # set the tip of the cone = optical center aspect_ratio = np.eye(4) aspect_ratio[0, 0] = W/H transform = pose_c2w @ OPENGL @ aspect_ratio @ rot45 cam = trimesh.creation.cone(width, height, sections=4) # , transform=transform) # this is the image if image is not None: vertices = geotrf(transform, cam.vertices[[4, 5, 1, 3]]) faces = np.array([[0, 1, 2], [0, 2, 3], [2, 1, 0], [3, 2, 0]]) img = trimesh.Trimesh(vertices=vertices, faces=faces) uv_coords = np.float32([[0, 0], [1, 0], [1, 1], [0, 1]]) img.visual = trimesh.visual.TextureVisuals(uv_coords, image=PIL.Image.fromarray(image)) scene.add_geometry(img) # this is the camera mesh rot2 = np.eye(4) rot2[:3, :3] = Rotation.from_euler('z', np.deg2rad(2)).as_matrix() vertices = np.r_[cam.vertices, 0.95*cam.vertices, geotrf(rot2, cam.vertices)] vertices = geotrf(transform, vertices) faces = [] for face in cam.faces: if 0 in face: continue a, b, c = face a2, b2, c2 = face + len(cam.vertices) a3, b3, c3 = face + 2*len(cam.vertices) # add 3 pseudo-edges faces.append((a, b, b2)) faces.append((a, a2, c)) faces.append((c2, b, c)) faces.append((a, b, b3)) faces.append((a, a3, c)) faces.append((c3, b, c)) # no culling faces += [(c, b, a) for a, b, c in faces] cam = trimesh.Trimesh(vertices=vertices, faces=faces) cam.visual.face_colors[:, :3] = edge_color scene.add_geometry(cam) def cat(a, b): return np.concatenate((a.reshape(-1, 3), b.reshape(-1, 3))) OPENGL = np.array([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]]) CAM_COLORS = [(255, 0, 0), (0, 0, 255), (0, 255, 0), (255, 0, 255), (255, 204, 0), (0, 204, 204), (128, 255, 255), (255, 128, 255), (255, 255, 128), (0, 0, 0), (128, 128, 128)] def uint8(colors): if not isinstance(colors, np.ndarray): colors = np.array(colors) if np.issubdtype(colors.dtype, np.floating): colors *= 255 assert 0 <= colors.min() and colors.max() < 256 return np.uint8(colors) def segment_sky(image): import cv2 from scipy import ndimage # Convert to HSV image = to_numpy(image) if np.issubdtype(image.dtype, np.floating): image = np.uint8(255*image.clip(min=0, max=1)) hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) # Define range for blue color and create mask lower_blue = np.array([0, 0, 100]) upper_blue = np.array([30, 255, 255]) mask = cv2.inRange(hsv, lower_blue, upper_blue).view(bool) # add luminous gray mask |= (hsv[:, :, 1] < 10) & (hsv[:, :, 2] > 150) mask |= (hsv[:, :, 1] < 30) & (hsv[:, :, 2] > 180) mask |= (hsv[:, :, 1] < 50) & (hsv[:, :, 2] > 220) # Morphological operations kernel = np.ones((5, 5), np.uint8) mask2 = ndimage.binary_opening(mask, structure=kernel) # keep only largest CC _, labels, stats, _ = cv2.connectedComponentsWithStats(mask2.view(np.uint8), connectivity=8) cc_sizes = stats[1:, cv2.CC_STAT_AREA] order = cc_sizes.argsort()[::-1] # bigger first i = 0 selection = [] while i < len(order) and cc_sizes[order[i]] > cc_sizes[order[0]] / 2: selection.append(1 + order[i]) i += 1 mask3 = np.in1d(labels, selection).reshape(labels.shape) # Apply mask return torch.from_numpy(mask3) ================================================ FILE: infer/demo_online.py ================================================ # Copyright (C) 2025-present Alibaba Group. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # online gradio demo # -------------------------------------------------------- import os import gc import pickle import cv2 import torch import shutil import glob import time import trimesh import argparse import numpy as np import gradio as gr from datetime import datetime import matplotlib.pyplot as plt import sys sys.path.append(os.path.realpath(os.path.dirname(os.path.dirname(__file__)))) from infer.infer_normal_pts3d import infer_imgs, rescale_to_orig from infer.eval_scripts.matching_metrics import vis_matching from infer.eval_scripts.eval_matching import extract_match from infer.dens3r_recon import Dens3RReconstruction from dust3r.inference import load_model from dust3r.utils.image import colorize from dust3r.post_process import estimate_focal_knowing_depth from dust3r.utils.read_write_model import read_model, qvec2rotmat from infer.demo_utils import predictions_to_glb, get_glb_from_recon_scene plt.ion() torch.backends.cuda.matmul.allow_tf32 = True # for gpu >= Ampere and pytorch >= 1.12 def resize_image_max_size(image, image_size): h, w = image.shape[:2] scale = float(image_size) / max(h, w) if scale < 1: new_h, new_w =int(np.round(h * scale)), int(np.round(w * scale)) resized_image = cv2.resize(image, (new_w, new_h), interpolation=cv2.INTER_AREA) else: resized_image = image return resized_image def get_two_view_recon(output, one_image_flag): extrinsics = [] size_info = output["view1"]["size_info"].detach().cpu().numpy() view1, pred1 = output['view1'], output['pred1'] view2, pred2 = output['view2'], output['pred2'] ori_pts3d_1_1 = pred1["pts3d"][0, ...].detach().cpu().numpy() pts3d_1_1 = rescale_to_orig(ori_pts3d_1_1, size_info) extrinsics.append(np.eye(4)[:3]) if not one_image_flag: ori_pts3d_2_1 = pred2["pts3d_in_other_view"][0, ...].detach().cpu().numpy() pts3d_2_1 = rescale_to_orig(ori_pts3d_2_1, size_info) pts3d_1_1_torch = torch.from_numpy(pts3d_1_1) H, W = pts3d_1_1.shape[:2] center = torch.tensor([W/2, H/2]) focal = estimate_focal_knowing_depth(pts3d_1_1_torch.unsqueeze(0), center.unsqueeze(0)).ravel() pixels = np.mgrid[:W, :H].T.astype(np.float32) K = torch.tensor([(focal, 0, center[0]), (0, focal, center[1]), (0, 0, 1)]).numpy() pixels = pixels.reshape(-1, 2) success, R, T, inliers = cv2.solvePnPRansac(pts3d_2_1.reshape(-1,3), pixels.reshape(-1,2), K, None, iterationsCount=10, reprojectionError=5, flags=cv2.SOLVEPNP_SQPNP) R = cv2.Rodrigues(R)[0] w2c = np.eye(4) w2c[:3,:3] = R w2c[:3, 3] = T.reshape(-1) extrinsics.append(w2c[:3]) ori_matches_im0, ori_matches_im1 = extract_match(output, conf_thr=1.001, pixel_tol=5, subsample=8) else: ori_matches_im0, ori_matches_im1 = None, None return extrinsics, ori_matches_im0, ori_matches_im1 def get_two_view_prediction(filelist, out_dir): one_image_flag = True if len(filelist) == 1 else False # get mono_depth, mono_normal, viewspace_pts pair_mode = "self" if one_image_flag else "near" ret_dict = infer_imgs(model, img_dir=os.path.dirname(filelist[0]), save_dir=out_dir, pair_mode=pair_mode, size=512, save_normal=False, save_depth=False, save_pcd=True, ret_total_output=True) high_res_ret_dict = infer_imgs(model, img_dir=os.path.dirname(filelist[0]), save_dir=out_dir, pair_mode=pair_mode, size=None, save_normal=False, save_depth=False, save_pcd=False, ret_total_output=True) # get two-view extrinsics extrinsics, ori_matches_im0, ori_matches_im1 = get_two_view_recon(ret_dict["outputs"][0], one_image_flag) if not one_image_flag: matching_image = vis_matching(cv2.imread(filelist[0]), cv2.imread(filelist[1]), ori_matches_im0, ori_matches_im1, sample_matching_num=100) else: matching_image = None predictions = dict() if one_image_flag: predictions['world_points'] = ret_dict["pts"][0][None, ...] predictions['images'] = ret_dict["rgbs"][0][None, ...] else: predictions['world_points'] = np.stack([ret_dict["pts"][0], ret_dict["pts_another"][0]]) predictions['images'] = np.stack(ret_dict["rgbs"]) predictions['extrinsic'] = np.stack(extrinsics) predictions_path = os.path.join(out_dir, "predictions.npz") np.savez_compressed(predictions_path, **predictions) glbscene = predictions_to_glb( predictions, conf_thres=0, filter_by_frames='All', mask_black_bg=False, mask_white_bg=False, show_cam=True, prediction_mode="Predicted Pointmap" ) glbfile = os.path.join(out_dir, "colmap_scene.glb") glbscene.export(file_obj=glbfile) return glbfile, ret_dict["rgbs"], high_res_ret_dict["depths"], high_res_ret_dict["normals"], matching_image def get_sequence_prediction(filelist, out_dir): # get normal, depth, pts3d ret_dict = infer_imgs(model, img_dir=os.path.dirname(filelist[0]), save_dir=out_dir, pair_mode="near", size=512, save_normal=False, save_depth=False, save_pcd=True, ret_total_output=True) high_res_ret_dict = infer_imgs(model, img_dir=os.path.dirname(filelist[0]), save_dir=out_dir, pair_mode="near", size=None, save_normal=False, save_depth=False, save_pcd=False, ret_total_output=False) matching_images = [] for i in range(len(filelist)): ori_matches_im0, ori_matches_im1 = extract_match(ret_dict["outputs"][i], conf_thr=1.001, pixel_tol=5, subsample=8) if i != len(filelist) - 1: file1, file2 = filelist[i], filelist[i+1] else: file1, file2 = filelist[i], filelist[i-1] matching_image = vis_matching(cv2.imread(file1), cv2.imread(file2), ori_matches_im0, ori_matches_im1, sample_matching_num=100) matching_images.append(matching_image) # recon sequence if len(filelist) > 30: pts_subsample = 8 else: pts_subsample = 4 Dens3RReconstruction(model, img_dir=os.path.dirname(filelist[0]), sfm_dir=out_dir, use_mapper="glomap", matching_mode="exhaustive", subsample=pts_subsample) colmap_intrinsics, colmap_extrinsics, colmap_points3D = \ read_model(os.path.join(out_dir, "hloc_sfm/0")) def find_img_key_by_name(colmap_extrinsics, target_name): for idx, key in enumerate(colmap_extrinsics): if colmap_extrinsics[key].name == target_name: return key return None extrinsics = [] valid_image_flag = [] for idx, image_path in enumerate(filelist): file_name = os.path.basename(image_path) key = find_img_key_by_name(colmap_extrinsics, file_name) if key is None: valid_image_flag.append(False) continue else: valid_image_flag.append(True) extr = colmap_extrinsics[key] R = np.transpose(qvec2rotmat(extr.qvec)) T = np.array(extr.tvec) w2c = np.eye(4) w2c[:3,:3] = R.T w2c[:3, 3] = T extrinsics.append(w2c[:3]) valid_image_flag = np.array(valid_image_flag) predictions = dict() predictions['extrinsic'] = np.stack(extrinsics) points3d = [] points_color = [] for idx, (pt3d_id, pts3d) in enumerate(colmap_points3D.items()): points3d.append(pts3d.xyz) points_color.append(pts3d.rgb) predictions['world_points'] = np.stack(points3d) predictions['images'] = np.stack(ret_dict["rgbs"]) predictions['pts_color'] = np.stack(points_color) outfile = get_glb_from_recon_scene(reconstruction_path=os.path.join(out_dir, "hloc_sfm/0"), img_dir=os.path.join(out_dir, "images"), cache_dir=out_dir, outfile_name=os.path.join(out_dir, "scene_recon_True_All.glb"), should_delete=False, transparent_cams=False, cam_size=0.8) valid_map = {} valid_idx = 0 for idx in range(len(valid_image_flag)): if valid_image_flag[idx]: valid_map[idx] = valid_idx valid_idx = valid_idx + 1 else: valid_map[idx] = 0 predictions['valid_map'] = valid_map predictions_path = os.path.join(out_dir, "predictions.npz") np.savez_compressed(predictions_path, **predictions) return outfile, ret_dict["rgbs"], high_res_ret_dict["depths"], high_res_ret_dict["normals"], valid_image_flag, matching_images def handle_uploads(input_video, input_images): """ Create a new 'target_dir' + 'images' subfolder, and place user-uploaded images or extracted frames from video into it. Return (target_dir, image_paths). """ max_size = 1024 start_time = time.time() gc.collect() torch.cuda.empty_cache() # Create a unique folder name timestamp = datetime.now().strftime("%Y%m%d_%H%M%S_%f") target_dir = f"./log/input_{timestamp}" target_dir_images = os.path.join(target_dir, "images") # Clean up if somehow that folder already exists if os.path.exists(target_dir): shutil.rmtree(target_dir) os.makedirs(target_dir) os.makedirs(target_dir_images) image_paths = [] # --- Handle images --- if input_images is not None: for file_data in input_images: if isinstance(file_data, dict) and "name" in file_data: file_path = file_data["name"] elif isinstance(file_data, tuple): file_path = file_data[0] else: file_path = file_data dst_path = os.path.join(target_dir_images, os.path.basename(file_path)) # shutil.copy(file_path, dst_path) frame = cv2.imread(file_path) frame = resize_image_max_size(frame, image_size=max_size) cv2.imwrite(dst_path, frame) image_paths.append(dst_path) # --- Handle video --- if input_video is not None: if isinstance(input_video, dict) and "name" in input_video: video_path = input_video["name"] else: video_path = input_video vs = cv2.VideoCapture(video_path) fps = vs.get(cv2.CAP_PROP_FPS) frame_interval = int(fps * 1) # 1 frame/sec count = 0 video_frame_num = 0 while True: gotit, frame = vs.read() if not gotit: break count += 1 if count % frame_interval == 0: image_path = os.path.join(target_dir_images, f"{video_frame_num:06}.png") frame = resize_image_max_size(frame, image_size=max_size) cv2.imwrite(image_path, frame) image_paths.append(image_path) video_frame_num += 1 # Sort final images for gallery image_paths = sorted(image_paths) end_time = time.time() print(f"Files copied to {target_dir_images}; took {end_time - start_time:.3f} seconds") return target_dir, image_paths def update_gallery_on_upload(input_video, input_images): """ Whenever user uploads or changes files, immediately handle them and show in the gallery. Return (target_dir, image_paths). If nothing is uploaded, returns "None" and empty list. """ if not input_video and not input_images: return None, None, None, None target_dir, image_paths = handle_uploads(input_video, input_images) return None, target_dir, image_paths, "Upload complete. Click 'Reconstruct' to begin 3D processing." def gradio_demo( target_dir, frame_filter="All" ): """ Perform reconstruction using the already-created target_dir/images. """ if not os.path.isdir(target_dir) or target_dir == "None": return None, None, "No valid target directory found. Please upload first.", None start_time = time.time() gc.collect() torch.cuda.empty_cache() # Prepare frame_filter dropdown target_dir_images = os.path.join(target_dir, "images") image_extensions = ["*.jpg", "*.JPG", "*.jpeg", "*.JPEG", "*.png", "*.PNG", "*.bmp", "*.BMP", "*.gif", "*.GIF"] image_files = [] for ext in image_extensions: image_files.extend(glob.glob(os.path.join(target_dir_images, ext))) if len(image_files) > 0: break all_imgs = sorted(image_files) all_files = [f"{i}: {os.path.basename(filename)}" for i, filename in enumerate(all_imgs)] if len(all_imgs) == 1: recon_mode = "dens3r_single" elif len(all_imgs) == 2: recon_mode = "dens3r_pair" else: recon_mode = "dens3r_sequence" print("Model Infering...") with torch.no_grad(): if recon_mode in ["dens3r_single", "dens3r_pair"]: glbfile, rgbimg, depth_list, normals, matching_image = \ get_two_view_prediction(all_imgs, target_dir) frame_filter_choices = ["All"] + all_files else: glbfile, rgbimg, depth_list, normals, valid_image_flag, matching_images = \ get_sequence_prediction(all_imgs, target_dir) frame_filter_choices = ["All"] gc.collect() torch.cuda.empty_cache() imgs = [] if recon_mode == "dens3r_single": imgs.append((rgbimg[0]*255).astype(np.uint8)) imgs.append(colorize(depth_list[0], vmin=0, vmax=depth_list[0].max(), cmap='Spectral')[..., :3]) imgs.append(normals[0].astype(np.uint8)[..., [2,1,0]]) elif recon_mode == "dens3r_pair": rgb_concat = (np.concatenate(rgbimg, axis=1) * 255).astype(np.uint8) depth_concat = np.concatenate([colorize(depth_list[0], vmin=0, vmax=depth_list[0].max(), cmap='Spectral')[..., :3], colorize(depth_list[-1], vmin=0, vmax=depth_list[-1].max(), cmap='Spectral')[..., :3]], axis=1).astype(np.uint8) normal_concat = np.concatenate([normals[0], normals[-1]], axis=1).astype(np.uint8) imgs.append(rgb_concat) imgs.append(depth_concat) imgs.append(normal_concat[..., [2,1,0]]) imgs.append(matching_image[..., [2,1,0]]) else: # dens3r_sequence for i in range(len(rgbimg)): if not valid_image_flag[i]: continue imgs.append((rgbimg[i]*255).astype(np.uint8)) ## skip none image, not build in colmap imgs.append(colorize(depth_list[i], vmin=0, vmax=depth_list[i].max(), cmap='Spectral')[..., :3]) imgs.append(normals[i].astype(np.uint8)[..., [2,1,0]]) imgs.append(matching_images[i][..., [2,1,0]]) end_time = time.time() print(f"Total time: {end_time - start_time:.2f} seconds (including IO)") log_msg = f"Reconstruction Success ({len(all_files)} frames). Waiting for visualization." return glbfile, imgs, log_msg, gr.Dropdown(choices=frame_filter_choices, value=frame_filter, interactive=True) def clear_fields(): """ Clears the 3D viewer, the stored target_dir, and empties the gallery. """ return None def update_log(): """ Display a quick log message while waiting. """ return "Loading and Reconstructing..." def update_visualization( target_dir, frame_filter, show_cam=True, cam_size=0.5, transparent_cams=False, ): if not target_dir or target_dir == "None" or not os.path.isdir(target_dir): return None, "No reconstruction available. Please click the Reconstruct button first." predictions_path = os.path.join(target_dir, "predictions.npz") if not os.path.exists(predictions_path): return None, f"No reconstruction available at {predictions_path}. Please run 'Reconstruct' first." if frame_filter != 'All': glbfile = os.path.join(target_dir, frame_filter.split(":")[1].strip() + ".ply") if os.path.exists(glbfile): return glbfile, "Updating Visualization" loaded = np.load(predictions_path, allow_pickle=True) predictions = {key: loaded[key] for key in loaded.keys()} frame_name = frame_filter.replace('.', '_').replace(':', '').replace(' ', '_') glbfile = os.path.join( target_dir, f"scene_recon_{show_cam}_{frame_name}.glb", ) if not os.path.exists(glbfile): glbscene = predictions_to_glb( predictions, conf_thres=0, filter_by_frames=frame_filter, show_cam=show_cam, prediction_mode="Predicted Pointmap" ) glbscene.export(file_obj=glbfile) return glbfile, "Updating Visualization" def main_demo(args): server_name, server_port = args.server_name, args.server_port theme = gr.themes.Default() theme.set( checkbox_label_background_fill_selected="*button_primary_background_fill", checkbox_label_text_color_selected="*button_primary_text_color", ) css_html = """ .custom-log * { font-style: italic; font-size: 22px !important; background-image: linear-gradient(120deg, #0ea5e9 0%, #6ee7b7 60%, #34d399 100%); -webkit-background-clip: text; background-clip: text; font-weight: bold !important; color: transparent !important; text-align: center !important; } .example-log * { font-style: italic; font-size: 22px !important; background-image: linear-gradient(120deg, #0ea5e9 0%, #6ee7b7 60%, #34d399 100%); -webkit-background-clip: text; background-clip: text; color: transparent !important; } #my_radio .wrap { display: flex; flex-wrap: nowrap; justify-content: center; align-items: center; } #my_radio .wrap label { display: flex; width: 50%; justify-content: center; align-items: center; margin: 0; padding: 10px 0; box-sizing: border-box; } .progress-text { display: none !important; } .gradio-examples .wrap.svelte-1iyuev5 { gap: 10px; } .gradio-examples { min-width: 300px !important; height: auto !important; border-radius: 8px; } .gradio-examples video { height: 200px !important; width: auto !important; border-radius: 8px; } .gradio-examples .example-content { padding: 10px; } """ with gr.Blocks(theme=theme, css=css_html, analytics_enabled=False) as demo: num_images = gr.Textbox(label="num_images", visible=False, value="None") target_dir_output = gr.Textbox(label="Target Dir", visible=False, value="None") with gr.Row(): with gr.Column(scale=2): input_video = gr.Video(label="Upload Video", interactive=True) input_images = gr.Files(file_count="multiple", label="Upload Images", interactive=True) # input_images = gr.Gallery( # label="Upload Images", # columns=4, # height="300px", # show_download_button=True, # object_fit="contain", # preview=True, # interactive=True, # 允许用户拖拽上传 # ) image_gallery = gr.Gallery( label="input images", columns=4, height="300px", show_download_button=True, object_fit="contain", preview=True, ) with gr.Column(scale=4): with gr.Column(): gr.Markdown("**3D Reconstruction**", height=20) log_output = gr.Markdown( "Please upload a video or images, then click Reconstruct.", elem_classes=["custom-log"] ) reconstruction_output = gr.Model3D(height=520, zoom_speed=0.5, pan_speed=0.5) with gr.Row(): submit_btn = gr.Button("Reconstruct", scale=1, variant="primary") clear_btn = gr.ClearButton( [input_video, input_images, reconstruction_output, log_output, target_dir_output], scale=1, ) with gr.Row(): frame_filter = gr.Dropdown(choices=["All"], value="All", label="Show Points from Frame") with gr.Column(): show_cam = gr.Checkbox(label="Show Camera", value=True) outgallery = gr.Gallery(label='rgb depth normal matching', columns=4, object_fit="contain", height="100%") # ---------------------- Examples section ---------------------- examples = [ # video, images ["examples/stairs_1img.mp4", None], ["examples/temple_1img.mp4", None], ["examples/sofa_1img.mp4", None], ["examples/eth3d_2imgs.mp4", None], ["examples/bed_2imgs.mp4", None], ["examples/sofa_20imgs.mp4", None], ] gr.Markdown("Click any video to load an example.", elem_classes=["example-log"]) def example_pipeline(input_video, input_images): """ 1) Copy example images to new target_dir 2) Reconstruct 3) Return model3D + logs + new_dir + updated dropdown + gallery """ target_dir, image_paths = handle_uploads(input_video, input_images) # Always use "All" for frame_filter in examples frame_filter = "All" glbfile, imgs, log_msg, frame_filter = gradio_demo( target_dir, frame_filter ) return glbfile, imgs, log_msg, frame_filter gr.Examples( examples=examples, inputs=[ input_video, input_images, ], outputs=[ reconstruction_output, outgallery, log_output, frame_filter, ], fn=example_pipeline, cache_examples=False, examples_per_page=10, preload=True, # elem_id="gradio-examples", ) # ------------------------------------------------------------------------- submit_btn.click(fn=clear_fields, inputs=[], outputs=[reconstruction_output]).then( fn=update_log, inputs=[], outputs=[log_output], show_progress="hidden" ).then( fn=gradio_demo, inputs=[ target_dir_output, frame_filter ], outputs=[reconstruction_output, outgallery, log_output, frame_filter], ) # ------------------------------------------------------------------------- # Real-time Visualization Updates # ------------------------------------------------------------------------- frame_filter.change( update_visualization, [ target_dir_output, frame_filter, show_cam, ], [reconstruction_output, log_output], ) show_cam.change( update_visualization, [ target_dir_output, frame_filter, show_cam, ], [reconstruction_output, log_output], ) # ------------------------------------------------------------------------- # Auto-update gallery whenever user uploads or changes their files # ------------------------------------------------------------------------- input_video.change( fn=update_gallery_on_upload, inputs=[input_video, input_images], outputs=[reconstruction_output, target_dir_output, image_gallery, log_output], ) input_images.change( fn=update_gallery_on_upload, inputs=[input_video, input_images], outputs=[reconstruction_output, target_dir_output, image_gallery, log_output], ) demo.queue(max_size=1).launch(share=False, server_name=server_name, server_port=server_port, ssl_verify=False) def get_args(): parser = argparse.ArgumentParser("Dens3r Local Gradio Demo") parser.add_argument("--server_name", type=str, default="127.0.0.1", help="server url, default is 127.0.0.1") parser.add_argument("--server_port", type=int, default=7688, help=("will start gradio app on this port (if available). If None, will search for an available port starting at 7860.")) parser.add_argument("--ckpt_path", type=str, required=True, help="path to the model weights") parser.add_argument("--device", type=str, default='cuda', help="pytorch device") args = parser.parse_args() return args if __name__ == '__main__': args = get_args() model = load_model(args.ckpt_path, args.device) # model is a global param main_demo(args) ================================================ FILE: infer/demo_utils.py ================================================ # Copyright (C) 2025-present Alibaba Group. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # import trimesh import numpy as np import matplotlib import copy import cv2 import os import PIL import requests import shutil from scipy.spatial.transform import Rotation import sys sys.path.append(os.path.realpath(os.path.dirname(os.path.dirname(__file__)))) from dust3r.utils.geometry import geotrf from dust3r.utils.read_write_model import read_model, qvec2rotmat OPENGL = np.array([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]]) CAM_COLORS = [(255, 0, 0), (0, 0, 255), (0, 255, 0), (255, 0, 255), (255, 204, 0), (0, 204, 204), (128, 255, 255), (255, 128, 255), (255, 255, 128), (0, 0, 0), (128, 128, 128)] class GlomapRecon: def __init__(self, world_to_cam, intrinsics, points3d, imgs): self.world_to_cam = world_to_cam self.intrinsics = intrinsics self.points3d = points3d self.imgs = imgs class GlomapReconState: def __init__(self, glomap_recon, should_delete=False, cache_dir=None, outfile_name=None): self.glomap_recon = glomap_recon self.cache_dir = cache_dir self.outfile_name = outfile_name self.should_delete = should_delete def __del__(self): if not self.should_delete: return if self.cache_dir is not None and os.path.isdir(self.cache_dir): shutil.rmtree(self.cache_dir) self.cache_dir = None if self.outfile_name is not None and os.path.isfile(self.outfile_name): os.remove(self.outfile_name) self.outfile_name = None def add_scene_cam(scene, pose_c2w, edge_color, image=None, focal=None, imsize=None, screen_width=0.03): if image is not None: H, W, THREE = image.shape assert THREE == 3 if image.dtype != np.uint8: image = np.uint8(255*image) elif imsize is not None: W, H = imsize elif focal is not None: H = W = focal / 1.1 else: H = W = 1 if focal is None: focal = min(H, W) * 1.1 # default value elif isinstance(focal, np.ndarray): focal = focal[0] # create fake camera height = focal * screen_width / H width = screen_width * 0.5**0.5 rot45 = np.eye(4) rot45[:3, :3] = Rotation.from_euler('z', np.deg2rad(45)).as_matrix() rot45[2, 3] = -height # set the tip of the cone = optical center aspect_ratio = np.eye(4) aspect_ratio[0, 0] = W/H transform = pose_c2w @ OPENGL @ aspect_ratio @ rot45 cam = trimesh.creation.cone(width, height, sections=4) # , transform=transform) # this is the image if image is not None: vertices = geotrf(transform, cam.vertices[[4, 5, 1, 3]]) faces = np.array([[0, 1, 2], [0, 2, 3], [2, 1, 0], [3, 2, 0]]) img = trimesh.Trimesh(vertices=vertices, faces=faces) uv_coords = np.float32([[0, 0], [1, 0], [1, 1], [0, 1]]) img.visual = trimesh.visual.TextureVisuals(uv_coords, image=PIL.Image.fromarray(image)) scene.add_geometry(img) # this is the camera mesh rot2 = np.eye(4) rot2[:3, :3] = Rotation.from_euler('z', np.deg2rad(2)).as_matrix() vertices = np.r_[cam.vertices, 0.95*cam.vertices, geotrf(rot2, cam.vertices)] vertices = geotrf(transform, vertices) faces = [] for face in cam.faces: if 0 in face: continue a, b, c = face a2, b2, c2 = face + len(cam.vertices) a3, b3, c3 = face + 2*len(cam.vertices) # add 3 pseudo-edges faces.append((a, b, b2)) faces.append((a, a2, c)) faces.append((c2, b, c)) faces.append((a, b, b3)) faces.append((a, a3, c)) faces.append((c3, b, c)) # no culling faces += [(c, b, a) for a, b, c in faces] cam = trimesh.Trimesh(vertices=vertices, faces=faces) cam.visual.face_colors[:, :3] = edge_color scene.add_geometry(cam) def get_3D_model_from_scene(scene_state, transparent_cams=False, cam_size=0.05): """ extract 3D_model (glb file) from a reconstructed scene """ if scene_state is None: return None outfile = scene_state.outfile_name if outfile is None: return None recon = scene_state.glomap_recon scene = trimesh.Scene() pts = np.stack([p[0] for p in recon.points3d], axis=0) col = np.stack([p[1] for p in recon.points3d], axis=0) pct = trimesh.PointCloud(pts, colors=col) scene.add_geometry(pct) # add each camera cams2world = [] for i, (id, pose_w2c) in enumerate(recon.world_to_cam.items()): intrinsics = recon.intrinsics[id] focal = (intrinsics[0, 0] + intrinsics[1, 1]) / 2.0 camera_edge_color = CAM_COLORS[i % len(CAM_COLORS)] # pose_w2c = np.eye(4) # pose_w2c[:3, :] = pose_w2c_3x4 pose_c2w = np.linalg.inv(pose_w2c) cams2world.append(pose_c2w) add_scene_cam(scene, pose_c2w, camera_edge_color, None if transparent_cams else recon.imgs[id], focal, imsize=recon.imgs[id].shape[1::-1], screen_width=cam_size) rot = np.eye(4) rot[:3, :3] = Rotation.from_euler('y', np.deg2rad(180)).as_matrix() scene.apply_transform(np.linalg.inv(cams2world[0] @ OPENGL @ rot)) scene.export(file_obj=outfile) return outfile def get_glb_from_recon_scene(reconstruction_path, img_dir, cache_dir, outfile_name, should_delete=False, transparent_cams=False, cam_size=0.05): colmap_cameras, colmap_images, colmap_pts3d = read_model(reconstruction_path) images = {} colmap_world_to_cam = {} colmap_intrinsics = {} for i, image_class in colmap_images.items(): rgb_image_name = image_class.name cam_id = image_class.camera_id with PIL.Image.open(os.path.join(img_dir, rgb_image_name)) as im: images[i] = np.asarray(im) rot_mat = qvec2rotmat(image_class.qvec) translate = np.array(image_class.tvec) w2c_matrix = np.eye(4) w2c_matrix[:3, :3] = rot_mat w2c_matrix[:3, 3] = translate colmap_world_to_cam[i] = w2c_matrix cam = colmap_cameras[cam_id] if cam.model in ("SIMPLE_PINHOLE", "SIMPLE_RADIAL", "RADIAL"): fx = fy = cam.params[0] cx = cam.params[1] cy = cam.params[2] elif cam.model in ("PINHOLE", "OPENCV", "OPENCV_FISHEYE", "FULL_OPENCV"): fx = cam.params[0] fy = cam.params[1] cx = cam.params[2] cy = cam.params[3] else: raise Exception("Camera model not supported yet") colmap_intrinsics[i] = np.array([[fx, 0., cx], [0., fy, cy], [0., 0., 1.]]).astype(np.float32) points3D = [] for idx, (pt3d_id, pts3d) in enumerate(colmap_pts3d.items()): points3D.append((pts3d.xyz, pts3d.rgb)) scene = GlomapRecon(colmap_world_to_cam, colmap_intrinsics, points3D, images) scene_state = GlomapReconState(scene, should_delete, cache_dir, outfile_name) outfile = get_3D_model_from_scene(scene_state, transparent_cams, cam_size) return outfile def predictions_to_glb( predictions, conf_thres=0.0, filter_by_frames="all", mask_black_bg=False, mask_white_bg=False, show_cam=True, prediction_mode="Predicted Pointmap", ) -> trimesh.Scene: """ Converts VGGT predictions to a 3D scene represented as a GLB file. Args: predictions (dict): Dictionary containing model predictions with keys: - world_points: 3D point coordinates (S, H, W, 3) - world_points_conf: Confidence scores (S, H, W) - images: Input images (S, H, W, 3) - extrinsic: Camera extrinsic matrices (S, 3, 4) conf_thres (float): Percentage of low-confidence points to filter out (default: 50.0) filter_by_frames (str): Frame filter specification (default: "all") mask_black_bg (bool): Mask out black background pixels (default: False) mask_white_bg (bool): Mask out white background pixels (default: False) show_cam (bool): Include camera visualization (default: True) target_dir (str): Output directory for intermediate files (default: None) prediction_mode (str): Prediction mode selector (default: "Predicted Pointmap") Returns: trimesh.Scene: Processed 3D scene containing point cloud and cameras Raises: ValueError: If input predictions structure is invalid """ if not isinstance(predictions, dict): raise ValueError("predictions must be a dictionary") if conf_thres is None: conf_thres = 10.0 print("Building GLB scene") selected_frame_idx = None if filter_by_frames != "all" and filter_by_frames != "All": try: # Extract the index part before the colon selected_frame_idx = int(filter_by_frames.split(":")[0]) except (ValueError, IndexError): pass if "Pointmap" in prediction_mode: print("Using Pointmap Branch") if "world_points" in predictions: pred_world_points = predictions["world_points"] # No batch dimension to remove pred_world_points_conf = predictions.get("world_points_conf", np.ones_like(pred_world_points[..., 0])) else: print("Warning: world_points not found in predictions, falling back to depth-based points") pred_world_points = predictions["world_points_from_depth"] pred_world_points_conf = predictions.get("depth_conf", np.ones_like(pred_world_points[..., 0])) else: print("Using Depthmap and Camera Branch") pred_world_points = predictions["world_points_from_depth"] pred_world_points_conf = predictions.get("depth_conf", np.ones_like(pred_world_points[..., 0])) # Get images from predictions images = predictions["images"] # Use extrinsic matrices instead of pred_extrinsic_list camera_matrices = predictions["extrinsic"] if selected_frame_idx is not None: if "valid_map" in predictions: selected_frame_idx = predictions["valid_map"].item()[selected_frame_idx] pred_world_points = pred_world_points[selected_frame_idx][None] pred_world_points_conf = pred_world_points_conf[selected_frame_idx][None] images = images[selected_frame_idx][None] camera_matrices = camera_matrices[selected_frame_idx][None] vertices_3d = pred_world_points.reshape(-1, 3) # Handle different image formats - check if images need transposing if images.ndim == 4 and images.shape[1] == 3: # NCHW format colors_rgb = np.transpose(images, (0, 2, 3, 1)) else: # Assume already in NHWC format colors_rgb = images colors_rgb = (colors_rgb.reshape(-1, 3) * 255).astype(np.uint8) conf = pred_world_points_conf.reshape(-1) # Convert percentage threshold to actual confidence value if conf_thres == 0.0: conf_threshold = 0.0 else: conf_threshold = np.percentile(conf, conf_thres) conf_mask = (conf >= conf_threshold) & (conf > 1e-5) if mask_black_bg: black_bg_mask = colors_rgb.sum(axis=1) >= 16 conf_mask = conf_mask & black_bg_mask if mask_white_bg: # Filter out white background pixels (RGB values close to white) # Consider pixels white if all RGB values are above 240 white_bg_mask = ~((colors_rgb[:, 0] > 240) & (colors_rgb[:, 1] > 240) & (colors_rgb[:, 2] > 240)) conf_mask = conf_mask & white_bg_mask if 'image_mask' in predictions: image_edge_mask = predictions['image_mask'].reshape(-1) conf_mask = conf_mask & image_edge_mask if conf_thres > 0: vertices_3d = vertices_3d[conf_mask] colors_rgb = colors_rgb[conf_mask] if 'pts_color' in predictions: colors_rgb = predictions['pts_color'].reshape(-1, 3) if vertices_3d is None or np.asarray(vertices_3d).size == 0: vertices_3d = np.array([[1, 0, 0]]) colors_rgb = np.array([[255, 255, 255]]) scene_scale = 1 else: # Calculate the 5th and 95th percentiles along each axis lower_percentile = np.percentile(vertices_3d, 5, axis=0) upper_percentile = np.percentile(vertices_3d, 95, axis=0) # Calculate the diagonal length of the percentile bounding box scene_scale = np.linalg.norm(upper_percentile - lower_percentile) colormap = matplotlib.colormaps.get_cmap("gist_rainbow") # Initialize a 3D scene scene_3d = trimesh.Scene() # Add point cloud data to the scene point_cloud_data = trimesh.PointCloud(vertices=vertices_3d, colors=colors_rgb) scene_3d.add_geometry(point_cloud_data) # Prepare 4x4 matrices for camera extrinsics num_cameras = len(camera_matrices) extrinsics_matrices = np.zeros((num_cameras, 4, 4)) extrinsics_matrices[:, :3, :4] = camera_matrices extrinsics_matrices[:, 3, 3] = 1 if show_cam: # Add camera models to the scene for i in range(num_cameras): world_to_camera = extrinsics_matrices[i] camera_to_world = np.linalg.inv(world_to_camera) rgba_color = colormap(i / num_cameras) current_color = tuple(int(255 * x) for x in rgba_color[:3]) integrate_camera_into_scene(scene_3d, camera_to_world, current_color, scene_scale) # Align scene to the observation of the first camera scene_3d = apply_scene_alignment(scene_3d, extrinsics_matrices) print("GLB Scene built") return scene_3d def integrate_camera_into_scene( scene: trimesh.Scene, transform: np.ndarray, face_colors: tuple, scene_scale: float, ): """ Integrates a fake camera mesh into the 3D scene. Args: scene (trimesh.Scene): The 3D scene to add the camera model. transform (np.ndarray): Transformation matrix for camera positioning. face_colors (tuple): Color of the camera face. scene_scale (float): Scale of the scene. """ cam_width = scene_scale * 0.05 cam_height = scene_scale * 0.1 # Create cone shape for camera rot_45_degree = np.eye(4) rot_45_degree[:3, :3] = Rotation.from_euler("z", 45, degrees=True).as_matrix() rot_45_degree[2, 3] = -cam_height opengl_transform = get_opengl_conversion_matrix() # Combine transformations complete_transform = transform @ opengl_transform @ rot_45_degree camera_cone_shape = trimesh.creation.cone(cam_width, cam_height, sections=4) # Generate mesh for the camera slight_rotation = np.eye(4) slight_rotation[:3, :3] = Rotation.from_euler("z", 2, degrees=True).as_matrix() vertices_combined = np.concatenate( [ camera_cone_shape.vertices, 0.95 * camera_cone_shape.vertices, transform_points(slight_rotation, camera_cone_shape.vertices), ] ) vertices_transformed = transform_points(complete_transform, vertices_combined) mesh_faces = compute_camera_faces(camera_cone_shape) # Add the camera mesh to the scene camera_mesh = trimesh.Trimesh(vertices=vertices_transformed, faces=mesh_faces) camera_mesh.visual.face_colors[:, :3] = face_colors scene.add_geometry(camera_mesh) def apply_scene_alignment(scene_3d: trimesh.Scene, extrinsics_matrices: np.ndarray) -> trimesh.Scene: """ Aligns the 3D scene based on the extrinsics of the first camera. Args: scene_3d (trimesh.Scene): The 3D scene to be aligned. extrinsics_matrices (np.ndarray): Camera extrinsic matrices. Returns: trimesh.Scene: Aligned 3D scene. """ # Set transformations for scene alignment opengl_conversion_matrix = get_opengl_conversion_matrix() # Rotation matrix for alignment (180 degrees around the y-axis) align_rotation = np.eye(4) align_rotation[:3, :3] = Rotation.from_euler("y", 180, degrees=True).as_matrix() # Apply transformation initial_transformation = align_rotation @ np.linalg.inv(extrinsics_matrices[0]) @ opengl_conversion_matrix scene_3d.apply_transform(initial_transformation) return scene_3d def get_opengl_conversion_matrix() -> np.ndarray: """ Constructs and returns the OpenGL conversion matrix. Returns: numpy.ndarray: A 4x4 OpenGL conversion matrix. """ # Create an identity matrix matrix = np.identity(4) # Flip the y and z axes matrix[1, 1] = -1 matrix[2, 2] = -1 return matrix def transform_points(transformation: np.ndarray, points: np.ndarray, dim: int = None) -> np.ndarray: """ Applies a 4x4 transformation to a set of points. Args: transformation (np.ndarray): Transformation matrix. points (np.ndarray): Points to be transformed. dim (int, optional): Dimension for reshaping the result. Returns: np.ndarray: Transformed points. """ points = np.asarray(points) initial_shape = points.shape[:-1] dim = dim or points.shape[-1] # Apply transformation transformation = transformation.swapaxes(-1, -2) # Transpose the transformation matrix points = points @ transformation[..., :-1, :] + transformation[..., -1:, :] # Reshape the result result = points[..., :dim].reshape(*initial_shape, dim) return result def compute_camera_faces(cone_shape: trimesh.Trimesh) -> np.ndarray: """ Computes the faces for the camera mesh. Args: cone_shape (trimesh.Trimesh): The shape of the camera cone. Returns: np.ndarray: Array of faces for the camera mesh. """ # Create pseudo cameras faces_list = [] num_vertices_cone = len(cone_shape.vertices) for face in cone_shape.faces: if 0 in face: continue v1, v2, v3 = face v1_offset, v2_offset, v3_offset = face + num_vertices_cone v1_offset_2, v2_offset_2, v3_offset_2 = face + 2 * num_vertices_cone faces_list.extend( [ (v1, v2, v2_offset), (v1, v1_offset, v3), (v3_offset, v2, v3), (v1, v2, v2_offset_2), (v1, v1_offset_2, v3), (v3_offset_2, v2, v3), ] ) faces_list += [(v3, v2, v1) for v1, v2, v3 in faces_list] return np.array(faces_list) def segment_sky(image_path, onnx_session, mask_filename=None): """ Segments sky from an image using an ONNX model. Thanks for the great model provided by https://github.com/xiongzhu666/Sky-Segmentation-and-Post-processing Args: image_path: Path to input image onnx_session: ONNX runtime session with loaded model mask_filename: Path to save the output mask Returns: np.ndarray: Binary mask where 255 indicates non-sky regions """ assert mask_filename is not None image = cv2.imread(image_path) result_map = run_skyseg(onnx_session, [320, 320], image) # resize the result_map to the original image size result_map_original = cv2.resize(result_map, (image.shape[1], image.shape[0])) # Fix: Invert the mask so that 255 = non-sky, 0 = sky # The model outputs low values for sky, high values for non-sky output_mask = np.zeros_like(result_map_original) output_mask[result_map_original < 32] = 255 # Use threshold of 32 os.makedirs(os.path.dirname(mask_filename), exist_ok=True) cv2.imwrite(mask_filename, output_mask) return output_mask def run_skyseg(onnx_session, input_size, image): """ Runs sky segmentation inference using ONNX model. Args: onnx_session: ONNX runtime session input_size: Target size for model input (width, height) image: Input image in BGR format Returns: np.ndarray: Segmentation mask """ # Pre process:Resize, BGR->RGB, Transpose, PyTorch standardization, float32 cast temp_image = copy.deepcopy(image) resize_image = cv2.resize(temp_image, dsize=(input_size[0], input_size[1])) x = cv2.cvtColor(resize_image, cv2.COLOR_BGR2RGB) x = np.array(x, dtype=np.float32) mean = [0.485, 0.456, 0.406] std = [0.229, 0.224, 0.225] x = (x / 255 - mean) / std x = x.transpose(2, 0, 1) x = x.reshape(-1, 3, input_size[0], input_size[1]).astype("float32") # Inference input_name = onnx_session.get_inputs()[0].name output_name = onnx_session.get_outputs()[0].name onnx_result = onnx_session.run([output_name], {input_name: x}) # Post process onnx_result = np.array(onnx_result).squeeze() min_value = np.min(onnx_result) max_value = np.max(onnx_result) onnx_result = (onnx_result - min_value) / (max_value - min_value) onnx_result *= 255 onnx_result = onnx_result.astype("uint8") return onnx_result def download_file_from_url(url, filename): """Downloads a file from a Hugging Face model repo, handling redirects.""" try: # Get the redirect URL response = requests.get(url, allow_redirects=False) response.raise_for_status() # Raise HTTPError for bad requests (4xx or 5xx) if response.status_code == 302: # Expecting a redirect redirect_url = response.headers["Location"] response = requests.get(redirect_url, stream=True) response.raise_for_status() else: print(f"Unexpected status code: {response.status_code}") return with open(filename, "wb") as f: for chunk in response.iter_content(chunk_size=8192): f.write(chunk) print(f"Downloaded {filename} successfully.") except requests.exceptions.RequestException as e: print(f"Error downloading file: {e}") def img2video(img_paths, video_path, fps=1): first_frame = cv2.imread(img_paths[0]) if first_frame is None: raise FileNotFoundError height, width, layers = first_frame.shape size = (width, height) fourcc = cv2.VideoWriter_fourcc(*'avc1') out = cv2.VideoWriter(video_path, fourcc, fps, size) for idx, image_path in enumerate(img_paths): if not os.path.exists(image_path): continue frame = cv2.imread(image_path) if frame is None: continue if frame.shape[:2] != (height, width): frame = cv2.resize(frame, size) out.write(frame) if __name__ == "__main__": img2video( img_paths=["/home/meta3d/Desktop/code_4070ti/dust3r/log/input_20250909_160821_600628/images/00022_00193_outdoor_160_000.png"], video_path="/home/meta3d/Desktop/code_4070ti/dust3r/examples/tmp.mp4", ) ================================================ FILE: infer/dens3r_recon.py ================================================ # Copyright (C) 2025-present Alibaba Group. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # reconstruct 3D scene from images # -------------------------------------------------------- import os import pickle import argparse import datetime import pycolmap import numpy as np from tqdm import tqdm from pathlib import Path from scipy.cluster.hierarchy import DisjointSet import sys sys.path.append(os.path.realpath(os.path.dirname(os.path.dirname(__file__)))) from mast3r.colmap_utils.database_utils import * import mast3r.utils.path_to_dust3r from dust3r.inference import inference from mast3r.model import AsymmetricMASt3R from mast3r.fast_nn import extract_correspondences_nonsym from dust3r.utils.image import load_images from infer.infer_normal_pts3d import rotate_recover def infer_pair_matches_batch(imgs_pairs, model, img_dir, device="cuda", size=512, conf_thr=1.001, pixel_tol=5, subsample=8): # remove duplicate pairs imgs_pairs_filtered = [] for pair in imgs_pairs: if [pair[0], pair[1]] not in imgs_pairs_filtered and [pair[1], pair[0]] not in imgs_pairs_filtered: imgs_pairs_filtered.append(pair) imgs_pairs = imgs_pairs_filtered # no mask imgname_set = set() for pair in imgs_pairs: for imgname in pair: imgname_set.add(imgname) imgname_list = sorted(list(imgname_set)) imgs_data_list = load_images([os.path.join(img_dir, imgname) for imgname in imgname_list], size=size, verbose=False) imgs_data_dict = {} for i in range(len(imgname_list)): imgs_data_dict[imgname_list[i]] = imgs_data_list[i] infer_match_list = [] for pair in tqdm(imgs_pairs, desc="Dens3R Model Infer Pairs"): output = inference([tuple([imgs_data_dict[pair[0]], imgs_data_dict[pair[1]]])], model, device, batch_size=1, verbose=False) output = rotate_recover(output) # at this stage, you have the raw dust3r predictions view1, pred1 = output['view1'], output['pred1'] view2, pred2 = output['view2'], output['pred2'] desc1, desc2 = pred1['desc'].squeeze(0).detach(), pred2['desc'].squeeze(0).detach() # find 2D-2D matches between the two images corres = extract_correspondences_nonsym(desc1, desc2, pred1['desc_conf'], pred2['desc_conf'], device=device, subsample=subsample, pixel_tol=pixel_tol) conf = corres[2] mask = conf >= conf_thr matches_im0 = corres[0][mask].cpu().numpy() matches_im1 = corres[1][mask].cpu().numpy() # ignore small border around the edge H0, W0 = view1['true_shape'][0] valid_matches_im0 = (matches_im0[:, 0] >= 3) & (matches_im0[:, 0] < int(W0) - 3) & ( matches_im0[:, 1] >= 3) & (matches_im0[:, 1] < int(H0) - 3) H1, W1 = view2['true_shape'][0] valid_matches_im1 = (matches_im1[:, 0] >= 3) & (matches_im1[:, 0] < int(W1) - 3) & ( matches_im1[:, 1] >= 3) & (matches_im1[:, 1] < int(H1) - 3) valid_matches = valid_matches_im0 & valid_matches_im1 matches_im0, matches_im1 = matches_im0[valid_matches], matches_im1[valid_matches] # recover origin coordinates in imgs matches_im0 = matches_im0.astype(np.float64) matches_im1 = matches_im1.astype(np.float64) ori_matches_im0 = recover_coordinate(matches_im0, view1['size_info_matching']) ori_matches_im1 = recover_coordinate(matches_im1, view2['size_info_matching']) infer_match_list.append([ori_matches_im0, ori_matches_im1]) return imgs_pairs, infer_match_list def recover_coordinate(match_info, size_info): # img_oriWH -> img_rescaleWH -> img_cropWH # crop: img = img.crop((cx-halfw, cy-halfh, cx+halfw, cy+halfh)), cx,cy=img_rescaleWH//2 img_oriW, img_oriH, img_rescaleW, img_rescaleH, img_finalW, img_finalH, img_cropW, img_cropH = size_info.numpy() # crop to no_crop match_info[:, 0] = (match_info[:, 0] + (img_rescaleW//2 - img_cropW)) * (img_oriW / img_rescaleW) match_info[:, 1] = (match_info[:, 1] + (img_rescaleH//2 - img_cropH)) * (img_oriH / img_rescaleH) return match_info def get_img_pairs(img_dir, mode="sequential", window_size=20): img_list = os.listdir(img_dir) img_list.sort() img_name_dict = {} img_pairs = [] if mode == "sequential": if len(img_list) < window_size: raise ValueError(f"img_list length {len(img_list)} < window_size {window_size}") for i in range(len(img_list)): start = i - window_size//2 if start < 0: start = 0 end = start + window_size if end > len(img_list): end = len(img_list) start = end - window_size for j in range(start, end): if i == j: continue img_pairs.append([img_list[i], img_list[j]]) img_name_dict[img_list[i]] = len(img_name_dict) + 1 elif mode == "exhaustive": for i in range(len(img_list)): for j in range(len(img_list)): if i == j: continue img_pairs.append([img_list[i], img_list[j]]) img_name_dict[img_list[i]] = len(img_name_dict) + 1 else: raise NotImplementedError(f"mode {mode} not implemented!") return img_name_dict, img_pairs def save_img_pairs_txt(img_pairs, sfm_dir): with open(os.path.join(sfm_dir, "pairs-sfm.txt"), 'w') as f: for pair in img_pairs: f.write(' '.join(pair)) f.write("\n") def colmap_recon(imgs_keypts_dict : dict, matches_dict : dict, img_name_dict : dict, sfm_dir : str, image_dir : str, skip_geometric_verification : bool = True, use_mapper : str = "colmap", camera_model : str = "SIMPLE_RADIAL"): sfm_dir = Path(sfm_dir) image_dir = Path(image_dir) database = sfm_dir / "database.db" img_pairs_path = sfm_dir / "pairs-sfm.txt" camera_mode = pycolmap.CameraMode.SINGLE create_empty_db(database) colmap_img_list = sorted(os.listdir(str(image_dir))) import_images(image_dir, database, camera_mode, colmap_img_list, options={'camera_model': camera_model}) image_ids = get_image_ids(database) # image_ids == img_name_dict, TODO test import_keypts(database, imgs_keypts_dict, img_name_dict) import_mts(database, matches_dict, skip_geometric_verification=skip_geometric_verification) if not skip_geometric_verification: estimation_and_geometric_verification(database, img_pairs_path, verbose=False) if use_mapper == "colmap": reconstruction = run_reconstruction( sfm_dir/"hloc_sfm", database, image_dir, verbose=False, options=None) elif use_mapper == "glomap": reconstruction = glomap_run_mapper(glomap_bin="glomap", colmap_db_path=str(database), recon_path=str(sfm_dir/"hloc_sfm"), image_root_path=str(image_dir)) else: raise NotImplementedError("use_mapper must in [colmap, glomap]") if reconstruction is not None: print(f'Reconstruction statistics:\n{reconstruction.summary()}' + f'\n\tnum_input_images = {len(image_ids)}') def colmap_triangulation(imgs_keypts_dict : dict, matches_dict : dict, img_name_dict : dict, sfm_dir : str, skip_geometric_verification : bool = True, img_dir : str = "images", init_model : str = "init_pose"): sfm_dir = Path(sfm_dir) database = sfm_dir / "database.db" image_dir = Path(img_dir) img_pairs_path = sfm_dir / "pairs-sfm.txt" camera_mode = pycolmap.CameraMode.AUTO # camera_mode = pycolmap.CameraMode.SINGLE # camera_mode = pycolmap.CameraMode.PER_FOLDER # camera_mode = pycolmap.CameraMode.PER_IMAGE reference_model = Path(init_model) reference = pycolmap.Reconstruction(reference_model) _ = create_db_from_model(reference, database) image_ids = get_image_ids(database) # image_ids == img_name_dict, TODO test colmap_img_list = sorted(os.listdir(str(image_dir))) import_images(image_dir, database, camera_mode, colmap_img_list) import_keypts(database, imgs_keypts_dict, img_name_dict) import_mts(database, matches_dict, skip_geometric_verification=skip_geometric_verification) if not skip_geometric_verification: estimation_and_geometric_verification(database, img_pairs_path, verbose=False) reconstruction = run_triangulation(sfm_dir/"hloc_sfm", database, image_dir, reference, verbose=False) if reconstruction is not None: print(f'Reconstruction statistics:\n{reconstruction.summary()}' + f'\n\tnum_input_images = {len(image_ids)}') def mast3r_match_tracking(model : Any, img_dir : str, sfm_dir : str, matching_mode : str = "sequential", # or exhaustive window_size : int = 20, device="cuda", size=512, min_track_length: int = 3, conf_thr=1.001, pixel_tol=5, subsample=8): if isinstance(model, str): model = AsymmetricMASt3R.from_pretrained(model).to(device) img_name_dict, img_pairs = get_img_pairs(img_dir, mode=matching_mode, window_size=window_size) img_name_dict_idx2name = {} for imgname, imgidx in img_name_dict.items(): img_name_dict_idx2name[imgidx] = imgname save_img_pairs_txt(img_pairs, sfm_dir) imgs_keypts_dict = {imgname: {} for imgname in img_name_dict.keys()} imgs_pairs, infer_match_list = infer_pair_matches_batch(img_pairs, model, img_dir, device=device, size=size, conf_thr=conf_thr, pixel_tol=pixel_tol, subsample=subsample) track_id_to_kpt_list = [] to_merge = [] matches_dict = {} for i in range(len(imgs_pairs)): img_pair = imgs_pairs[i] ori_matches_im0, ori_matches_im1 = infer_match_list[i] # get keypoints for each image matches_uv_pair_list = [] for i_pts in range(ori_matches_im0.shape[0]): if tuple(ori_matches_im0[i_pts, :]) not in imgs_keypts_dict[img_pair[0]] and \ tuple(ori_matches_im1[i_pts, :]) not in imgs_keypts_dict[img_pair[1]]: track_idx = len(track_id_to_kpt_list) track_id_to_kpt_list.append([(img_pair[0], tuple(ori_matches_im0[i_pts, :])), (img_pair[1], tuple(ori_matches_im1[i_pts, :]))]) imgs_keypts_dict[img_pair[0]][tuple(ori_matches_im0[i_pts, :])] = track_idx imgs_keypts_dict[img_pair[1]][tuple(ori_matches_im1[i_pts, :])] = track_idx elif tuple(ori_matches_im0[i_pts, :]) in imgs_keypts_dict[img_pair[0]] and \ tuple(ori_matches_im1[i_pts, :]) not in imgs_keypts_dict[img_pair[1]]: track_idx = imgs_keypts_dict[img_pair[0]][tuple(ori_matches_im0[i_pts, :])] imgs_keypts_dict[img_pair[1]][tuple(ori_matches_im1[i_pts, :])] = track_idx track_id_to_kpt_list[track_idx].append((img_pair[1], tuple(ori_matches_im1[i_pts, :]))) elif tuple(ori_matches_im0[i_pts, :]) not in imgs_keypts_dict[img_pair[0]] and \ tuple(ori_matches_im1[i_pts, :]) in imgs_keypts_dict[img_pair[1]]: track_idx = imgs_keypts_dict[img_pair[1]][tuple(ori_matches_im1[i_pts, :])] imgs_keypts_dict[img_pair[0]][tuple(ori_matches_im0[i_pts, :])] = track_idx track_id_to_kpt_list[track_idx].append((img_pair[0], tuple(ori_matches_im0[i_pts, :]))) elif tuple(ori_matches_im0[i_pts, :]) in imgs_keypts_dict[img_pair[0]] and \ tuple(ori_matches_im1[i_pts, :]) in imgs_keypts_dict[img_pair[1]]: # both have tracks, merge them track_idx0 = imgs_keypts_dict[img_pair[0]][tuple(ori_matches_im0[i_pts, :])] track_idx1 = imgs_keypts_dict[img_pair[1]][tuple(ori_matches_im1[i_pts, :])] if track_idx0 != track_idx1: # let's deal with them later to_merge.append((track_idx0, track_idx1)) else: raise RuntimeError("Impossible to run here") matches_uv_pair_list.append([tuple(ori_matches_im0[i_pts, :]), tuple(ori_matches_im1[i_pts, :])]) # img idx: match keypts idx matches_dict[(img_name_dict[img_pair[0]], img_name_dict[img_pair[1]])] = matches_uv_pair_list # regroup merge targets print("merging tracks") unique = np.unique(to_merge) tree = DisjointSet(unique) for track_idx0, track_idx1 in tqdm(to_merge): tree.merge(track_idx0, track_idx1) subsets = tree.subsets() print("applying merge") for setvals in tqdm(subsets): new_trackid = len(track_id_to_kpt_list) kpt_list = [] for track_idx in setvals: kpt_list.extend(track_id_to_kpt_list[track_idx]) for imname, kpuv in track_id_to_kpt_list[track_idx]: imgs_keypts_dict[imname][kpuv] = new_trackid track_id_to_kpt_list.append(kpt_list) num_valid_tracks = sum( [1 for v in track_id_to_kpt_list if len(v) >= min_track_length]) print(f"squashing keypoints {len(track_id_to_kpt_list)} to -> {num_valid_tracks} valid tracks") # re_orgnize imgs_keypts_dict, matches_dict final_imgs_keypts_dict = {} for imgname, keyptsuv_trackidx_dict in tqdm(imgs_keypts_dict.items(), desc="reorgnize keypts"): final_imgs_keypts_dict[imgname] = {} # tuple(u,v):track_id [start form 0] for keyptsuv, trackidx in keyptsuv_trackidx_dict.items(): if len(track_id_to_kpt_list[trackidx]) < min_track_length: continue final_imgs_keypts_dict[imgname][keyptsuv] = len(final_imgs_keypts_dict[imgname]) print("start reorgnize matching info from matching num", len(matches_dict), datetime.datetime.now()) final_matches_dict = {} # (img0idx, img1idx): [[kypts0idx, keypts1idx], ...] for (img0idx, img1idx), matches_uv_list in tqdm(matches_dict.items(), desc="reorgnize matching"): img0name, img1name = img_name_dict_idx2name[img0idx], img_name_dict_idx2name[img1idx] keep_matching_list = [] for uv_in_img0, uv_in_img1 in matches_uv_list: try: keep_matching_list.append([final_imgs_keypts_dict[img0name][uv_in_img0], final_imgs_keypts_dict[img1name][uv_in_img1]]) except: pass final_matches_dict[(img0idx, img1idx)] = np.array(keep_matching_list) print("After matching num:", len(final_matches_dict), datetime.datetime.now()) return final_imgs_keypts_dict, final_matches_dict, img_name_dict def save_dict(dict_to_save, filepath): assert filepath.endswith(".pkl") f_save = open(filepath, 'wb') pickle.dump(dict_to_save, f_save) f_save.close() def read_dict(filepath): assert filepath.endswith(".pkl") f_read = open(filepath, 'rb') dict_content = pickle.load(f_read) f_read.close() return dict_content def manhattan_alignment(image_dir, sfm_dir, output_dir): os.makedirs(output_dir, exist_ok=True) cmd = [ "colmap", "model_orientation_aligner", "--image_path", str(image_dir), "--input_path", str(sfm_dir), "--output_path", str(output_dir), ] subprocess.run(cmd, check=True, capture_output=True, text=True) rec = pycolmap.Reconstruction(output_dir) return rec def Dens3RReconstruction(path_or_model, img_dir, sfm_dir, matching_mode="sequential", window_size=30, device="cuda", size=512, triangulate_from_pose=None, use_mapper="colmap", camera_model="SIMPLE_RADIAL", conf_thr=1.001, pixel_tol=5, subsample=8): skip_geometric_verification = False os.makedirs(sfm_dir, exist_ok=True) if os.path.exists(os.path.join(sfm_dir, "dens3r_key_points.pkl")) and \ os.path.exists(os.path.join(sfm_dir, "dens3r_matches.pkl")) and \ os.path.exists(os.path.join(sfm_dir, "img_name_dict.pkl")): print("Reading matching info cache...") imgs_keypts_dict = read_dict(os.path.join(sfm_dir, "dens3r_key_points.pkl")) matches_dict = read_dict(os.path.join(sfm_dir, "dens3r_matches.pkl")) img_name_dict = read_dict(os.path.join(sfm_dir, "img_name_dict.pkl")) else: imgs_keypts_dict, matches_dict, img_name_dict \ = mast3r_match_tracking(path_or_model, img_dir, sfm_dir, matching_mode=matching_mode, window_size=window_size, device=device, size=size, min_track_length=3, conf_thr=conf_thr, pixel_tol=pixel_tol, subsample=subsample) print("Saving matching info...") save_dict(imgs_keypts_dict, os.path.join(sfm_dir, "dens3r_key_points.pkl")) save_dict(matches_dict, os.path.join(sfm_dir, "dens3r_matches.pkl")) save_dict(img_name_dict, os.path.join(sfm_dir, "img_name_dict.pkl")) if triangulate_from_pose is None: colmap_recon(imgs_keypts_dict, matches_dict, img_name_dict, sfm_dir, img_dir, skip_geometric_verification=skip_geometric_verification, use_mapper=use_mapper, camera_model=camera_model) else: colmap_triangulation(imgs_keypts_dict, matches_dict, img_name_dict, sfm_dir, skip_geometric_verification=skip_geometric_verification, img_dir=img_dir, init_model=triangulate_from_pose) def parse_args(): parser = argparse.ArgumentParser(description="Reconstruct pose and sparse pointclouds with Dens3R") parser.add_argument("--img_dir", required=True, help="path to images folder") parser.add_argument("--output_dir", required=True, help="path to sfm workspace folder") parser.add_argument("--model_path", required=True, help="path to model checkpoint") parser.add_argument("--triangulate_from_pose", default=None, help="colmap format pose file to triangulate from. If not None, only triangulate from this pose without pose estimation.") parser.add_argument("--matching_mode", choices=["exhaustive", "sequential"], default="exhaustive", help="matching mode") parser.add_argument("--window_size", type=int, default=20, help="window size for local matching, only works in local mode") parser.add_argument("--size", type=int, default=512, help="infer resolution. suggested 512") parser.add_argument("--use_mapper", choices=["colmap", "glomap"], default="colmap", help="mapper to use") parser.add_argument("--camera_model", default="SIMPLE_RADIAL", help="camera model used in colmap reconstruction") parser.add_argument("--conf_thr", type=float, default=1.001, help="confidence threshold for matching") parser.add_argument("--pixel_tol", type=int, default=5, help="pixel tolerance for matching") parser.add_argument("--subsample", type=int, default=8, help="subsample keypoints. Smaller value produce more keypoints but slow down the reconstruction.") args = parser.parse_args() return args def main(): args = parse_args() Dens3RReconstruction(path_or_model = args.model_path, img_dir = args.img_dir, sfm_dir = args.output_dir, matching_mode = args.matching_mode, window_size = args.window_size, size = args.size, triangulate_from_pose = None, use_mapper = args.use_mapper, camera_model = args.camera_model, conf_thr = args.conf_thr, pixel_tol = args.pixel_tol, subsample = args.subsample) if __name__ == '__main__': main() ================================================ FILE: infer/eval_scripts/eval_depth.py ================================================ import os import cv2 import mat73 import torch import argparse import matplotlib import numpy as np from scipy import io from tqdm import tqdm from PIL import Image import sys sys.path.append(os.path.realpath(os.path.dirname(os.path.dirname(__file__)))) from dust3r.inference import inference from mast3r.model import AsymmetricMASt3R from dust3r.utils.image import load_images from infer.infer_normal_pts3d import rescale_to_orig, rotate_recover def normalized_depth_scale_and_shift(prediction, target, mask): """ More info here: https://arxiv.org/pdf/2206.00665.pdf supplementary section A2 Depth Consistency Loss This function computes scale/shift required to normalizes predicted depth map, to allow for using normalized depth maps as input from monocular depth estimation networks. These networks are trained such that they predict normalized depth maps. Solves for scale/shift using a least squares approach with a closed form solution: Based on: https://github.com/autonomousvision/monosdf/blob/d9619e948bf3d85c6adec1a643f679e2e8e84d4b/code/model/loss.py#L7 Args: prediction: predicted depth map target: ground truth depth map mask: mask of valid pixels Returns: scale and shift for depth prediction """ # system matrix: A = [[a_00, a_01], [a_10, a_11]] a_00 = torch.sum(mask * prediction * prediction, (1, 2)) a_01 = torch.sum(mask * prediction, (1, 2)) a_11 = torch.sum(mask, (1, 2)) # right hand side: b = [b_0, b_1] b_0 = torch.sum(mask * prediction * target, (1, 2)) b_1 = torch.sum(mask * target, (1, 2)) # solution: x = A^-1 . b = [[a_11, -a_01], [-a_10, a_00]] / (a_00 * a_11 - a_01 * a_10) . b scale = torch.zeros_like(b_0) shift = torch.zeros_like(b_1) det = a_00 * a_11 - a_01 * a_01 valid = det.nonzero() scale[valid] = (a_11[valid] * b_0[valid] - a_01[valid] * b_1[valid]) / det[valid] shift[valid] = (-a_01[valid] * b_0[valid] + a_00[valid] * b_1[valid]) / det[valid] return scale, shift class RunningAverage: def __init__(self): self.avg = 0 self.count = 0 def append(self, value): self.avg = (value + self.count * self.avg) / (self.count + 1) self.count += 1 def get_value(self): return self.avg class RunningAverageDict: """A dictionary of running averages.""" def __init__(self): self._dict = None def update(self, new_dict): if new_dict is None: return if self._dict is None: self._dict = dict() for key, value in new_dict.items(): self._dict[key] = RunningAverage() for key, value in new_dict.items(): self._dict[key].append(value) def get_value(self): if self._dict is None: return None return {key: value.get_value() for key, value in self._dict.items()} def compute_errors(gt, pred): """Compute metrics for 'pred' compared to 'gt' Args: gt (numpy.ndarray): Ground truth values pred (numpy.ndarray): Predicted values gt.shape should be equal to pred.shape Returns: dict: Dictionary containing the following metrics: 'a1': Delta1 accuracy: Fraction of pixels that are within a scale factor of 1.25 'a2': Delta2 accuracy: Fraction of pixels that are within a scale factor of 1.25^2 'a3': Delta3 accuracy: Fraction of pixels that are within a scale factor of 1.25^3 'abs_rel': Absolute relative error 'rmse': Root mean squared error 'log_10': Absolute log10 error 'sq_rel': Squared relative error 'rmse_log': Root mean squared error on the log scale 'silog': Scale invariant log error """ pred = pred.clip(min=1e-4) gt = gt.clip(min=1e-4) thresh = np.maximum((gt / pred), (pred / gt)) a1 = (thresh < 1.25).mean() a2 = (thresh < 1.25 ** 2).mean() a3 = (thresh < 1.25 ** 3).mean() abs_rel = np.mean(np.abs(gt - pred) / gt) sq_rel = np.mean(((gt - pred) ** 2) / gt) rmse = (gt - pred) ** 2 rmse = np.sqrt(rmse.mean()) rmse_log = (np.log(gt) - np.log(pred)) ** 2 rmse_log = np.sqrt(rmse_log.mean()) err = np.log(pred) - np.log(gt) silog = np.sqrt(np.mean(err ** 2) - np.mean(err) ** 2) * 100 log_10 = (np.abs(np.log10(gt) - np.log10(pred))).mean() return dict(a1=a1, a2=a2, a3=a3, abs_rel=abs_rel, rmse=rmse, log_10=log_10, rmse_log=rmse_log, silog=silog, sq_rel=sq_rel) def compute_metrics(gt_depth, pred, save_vis=None, interpolate=False, min_depth_eval=1e-3, max_depth_eval=20.0, align_dpeth=True): """Compute metrics of predicted depth maps. Applies cropping and masking as necessary or specified via arguments. Refer to compute_errors for more details on metrics. """ if gt_depth.shape[-2:] != pred.shape[-2:] and interpolate: pred = torch.nn.functional.interpolate( pred, gt_depth.shape[-2:], mode='bilinear', align_corners=True) pred[pred < min_depth_eval] = min_depth_eval pred[pred > max_depth_eval] = max_depth_eval pred[np.isinf(pred)] = max_depth_eval pred[np.isnan(pred)] = min_depth_eval valid_mask = np.logical_and( gt_depth > min_depth_eval, gt_depth < max_depth_eval) cal_mask = valid_mask if align_dpeth: scale, shift = normalized_depth_scale_and_shift(prediction=torch.from_numpy(pred).unsqueeze(0), target=torch.from_numpy(gt_depth).unsqueeze(0), mask=torch.from_numpy(cal_mask).unsqueeze(0)) pred = pred * scale.numpy() + shift.numpy() if save_vis is not None: concat_vis = colorize(np.concatenate([gt_depth, pred], axis=1), cmap="Spectral") Image.fromarray(concat_vis).save(save_vis) pred[pred < min_depth_eval] = min_depth_eval pred[pred > max_depth_eval] = max_depth_eval pred[np.isinf(pred)] = max_depth_eval pred[np.isnan(pred)] = min_depth_eval return compute_errors(gt_depth[valid_mask], pred[valid_mask]), pred def colorize(value, vmin=None, vmax=None, cmap='gray_r', invalid_val=-99, invalid_mask=None, background_color=(128, 128, 128, 255), gamma_corrected=False, value_transform=None): """Converts a depth map to a color image. Args: value (torch.Tensor, numpy.ndarry): Input depth map. Shape: (H, W) or (1, H, W) or (1, 1, H, W). All singular dimensions are squeezed vmin (float, optional): vmin-valued entries are mapped to start color of cmap. If None, value.min() is used. Defaults to None. vmax (float, optional): vmax-valued entries are mapped to end color of cmap. If None, value.max() is used. Defaults to None. cmap (str, optional): matplotlib colormap to use. Defaults to 'magma_r'. invalid_val (int, optional): Specifies value of invalid pixels that should be colored as 'background_color'. Defaults to -99. invalid_mask (numpy.ndarray, optional): Boolean mask for invalid regions. Defaults to None. background_color (tuple[int], optional): 4-tuple RGB color to give to invalid pixels. Defaults to (128, 128, 128, 255). gamma_corrected (bool, optional): Apply gamma correction to colored image. Defaults to False. value_transform (Callable, optional): Apply transform function to valid pixels before coloring. Defaults to None. Returns: numpy.ndarray, dtype - uint8: Colored depth map. Shape: (H, W, 4) """ if isinstance(value, torch.Tensor): value = value.detach().cpu().numpy() value = value.squeeze() if invalid_mask is None: invalid_mask = value == invalid_val mask = np.logical_not(invalid_mask) # normalize vmin = np.percentile(value[mask],2) if vmin is None else vmin vmax = np.percentile(value[mask],85) if vmax is None else vmax if vmin != vmax: value = (value - vmin) / (vmax - vmin) # vmin..vmax else: # Avoid 0-division value = value * 0. value[invalid_mask] = np.nan # cmapper = matplotlib.cm.get_cmap(cmap) cmapper = matplotlib.colormaps[cmap] if value_transform: value = value_transform(value) value = cmapper(value, bytes=True) # (nxmx4) img = value[...] img[invalid_mask] = background_color if gamma_corrected: # gamma correction img = img / 255 img = np.power(img, 2.2) img = img * 255 img = img.astype(np.uint8) return img def load_img_pairs(dataset_path=None, img_path_list=None, size=1024, pair_mode="self"): if img_path_list is None: assert dataset_path is not None filelist = os.listdir(dataset_path) img_list = [item for item in filelist if item.endswith(".png")] img_list.sort() img_path_list = [os.path.join(dataset_path, item) for item in filelist] images = load_images(img_path_list, size=size, square_ok=True) pairs = [] for i in range(len(images)): if pair_mode == "self": pairs.append((images[i], images[i])) elif pair_mode == "near": if i == len(images) - 1: pairs.append((images[i], images[i-1])) else: pairs.append((images[i], images[i+1])) return pairs def get_pred(model_path, img_list, save_path, device="cuda", size=1024, datatype="nyu"): model = AsymmetricMASt3R.from_pretrained(model_path).to(device) pairs = load_img_pairs(img_path_list=img_list, size=size) for i in tqdm(range(len(pairs)), desc=f"Infering result"): pair_slice = pairs[i:i+1] output = inference(pair_slice, model, device, batch_size=1, verbose=False) output = rotate_recover(output) view1, pred1 = output['view1'], output['pred1'] # view2, pred2 = output['view2'], output['pred2'] pred_pts3d = pred1["pts3d"][0, ...].detach().cpu().numpy() size_info = pair_slice[0][0]["size_info"] imgname = pair_slice[0][0]["model_id"] pred_pts3d = rescale_to_orig(pred_pts3d, size_info) pred_depth = pred_pts3d[..., -1] if datatype == "nyu": np.save(os.path.join(save_path, f"{imgname.split('.')[0]}_depth_pred.npy"), pred_depth) else: raise NotImplementedError def eval_nyudv2(data_dir, save_dir, model_path, align_depth=True): # extract depth GT depth_gt_path = os.path.join(save_dir, "depth_gt") if not os.path.exists(depth_gt_path): os.makedirs(depth_gt_path) rgb_mat_path = os.path.join(data_dir, "data/images_uint8.mat") split_path = os.path.join(data_dir, "data/splits.mat") depth_mat_path = os.path.join(data_dir, "gt/depths.mat") mask_mat_path = os.path.join(data_dir, "gt/masks.mat") rgb_data = io.loadmat(rgb_mat_path)['images'] test_idx = io.loadmat(split_path)['testNdxs'] mask_data = mat73.loadmat(mask_mat_path)["masks"] depth_data = mat73.loadmat(depth_mat_path)["depths"] for idx in tqdm(test_idx, "extracting imgs"): idx = idx[0]-1 rgb = rgb_data[..., idx] mask = mask_data[..., idx] valid_mask = (mask > 0) depth_gt = depth_data[..., idx] cut_w, cut_h = 12, 9 rgb = rgb[cut_h:-cut_h, cut_w:-cut_w, ...] valid_mask = valid_mask[cut_h:-cut_h, cut_w:-cut_w, ...] depth_gt = depth_gt[cut_h:-cut_h, cut_w:-cut_w, ...] depth_gt[~valid_mask] = np.zeros_like(depth_gt)[~valid_mask] cv2.imwrite(os.path.join(depth_gt_path, f"{idx:05d}_rgb.png"), rgb[..., [2,1,0]]) np.save(os.path.join(depth_gt_path, f"{idx:05d}_depth_gt.npy"), depth_gt) rgb_img_list = os.listdir(depth_gt_path) rgb_img_paths = [os.path.join(depth_gt_path, item) for item in rgb_img_list if item.endswith("_rgb.png")] pred_save_path = os.path.join(save_dir, "depth_pred") if not os.path.exists(pred_save_path): os.makedirs(pred_save_path) get_pred(model_path=model_path, img_list=rgb_img_paths, save_path=pred_save_path, size=640, datatype="nyu") depth_gt_paths = [item.replace("_rgb.png", "_depth_gt.npy") for item in rgb_img_paths] depth_pred_paths = [f"{os.path.basename(item).split('_')[0]}_rgb_depth_pred.npy" for item in depth_gt_paths] depth_pred_paths = [os.path.join(pred_save_path, item) for item in depth_pred_paths] metrics = RunningAverageDict() log_info = [] for i in range(len(depth_gt_paths)): depth_gt = np.load(depth_gt_paths[i]) depth_pred = np.load(depth_pred_paths[i]) errors, _ = compute_metrics(depth_gt, depth_pred, save_vis=os.path.join(pred_save_path, depth_pred_paths[i].replace(".npy", "_vis_debug.png")), align_dpeth=align_depth) metrics.update(errors) print(f"{rgb_img_paths[i]} abs_rel:{errors['abs_rel']} a1:{errors['a1']}") log_info.append(f"{rgb_img_paths[i]} abs_rel:{errors['abs_rel']} a1:{errors['a1']}") def r(m): return round(m, 3) metrics = {k: r(v) for k, v in metrics.get_value().items()} print(metrics) for key in metrics.keys(): log_info.append(f'{key} = {metrics[key]}') with open(os.path.join(pred_save_path, "log.txt"), "w") as f: f.write("\n".join(log_info)) def parse_args(): parser = argparse.ArgumentParser(description="Depth evaluation script") parser.add_argument("--model_path", required=True, help="path to model checkpoint") parser.add_argument("--data_dir", required=True, help="path to dataset folder") parser.add_argument("--save_dir", required=True, help="path to save folder") args = parser.parse_args() return args def main(): args = parse_args() eval_nyudv2(args.data_dir, args.save_dir, args.model_path) if __name__ == '__main__': main() ================================================ FILE: infer/eval_scripts/eval_matching.py ================================================ import os import cv2 import argparse import numpy as np from tqdm import tqdm import sys sys.path.append(os.path.realpath(os.path.dirname(os.path.dirname(__file__)))) from dust3r.inference import inference from mast3r.model import AsymmetricMASt3R from dust3r.utils.image import load_images from mast3r.fast_nn import extract_correspondences_nonsym from infer.infer_normal_pts3d import rotate_recover from infer.eval_scripts.matching_metrics import compute_pose_errors_numpy, error_auc, vis_matching def recover_coordinate(match_info, size_info): # img_oriWH -> img_rescaleWH -> img_cropWH # crop: img = img.crop((cx-halfw, cy-halfh, cx+halfw, cy+halfh)), cx,cy=img_rescaleWH//2 img_oriW, img_oriH, img_rescaleW, img_rescaleH, img_finalW, img_finalH, img_cropW, img_cropH = size_info.numpy() # crop to no_crop match_info[:, 0] = (match_info[:, 0] + (img_rescaleW//2 - img_cropW)) * (img_oriW / img_rescaleW) match_info[:, 1] = (match_info[:, 1] + (img_rescaleH//2 - img_cropH)) * (img_oriH / img_rescaleH) return match_info def extract_match(output, device="cuda", conf_thr=1.001, pixel_tol=5, subsample=8): # at this stage, you have the raw dust3r predictions view1, pred1 = output['view1'], output['pred1'] view2, pred2 = output['view2'], output['pred2'] desc1, desc2 = pred1['desc'].squeeze(0).detach(), pred2['desc'].squeeze(0).detach() # find 2D-2D matches between the two images corres = extract_correspondences_nonsym(desc1, desc2, pred1['desc_conf'], pred2['desc_conf'], device=device, subsample=subsample, pixel_tol=pixel_tol) conf = corres[2] if conf_thr == "median": mask = conf >= conf.median() else: mask = conf >= conf_thr matches_im0 = corres[0][mask].cpu().numpy() matches_im1 = corres[1][mask].cpu().numpy() # ignore small border around the edge H0, W0 = view1['true_shape'][0] valid_matches_im0 = (matches_im0[:, 0] >= 3) & (matches_im0[:, 0] < int(W0) - 3) & ( matches_im0[:, 1] >= 3) & (matches_im0[:, 1] < int(H0) - 3) H1, W1 = view2['true_shape'][0] valid_matches_im1 = (matches_im1[:, 0] >= 3) & (matches_im1[:, 0] < int(W1) - 3) & ( matches_im1[:, 1] >= 3) & (matches_im1[:, 1] < int(H1) - 3) valid_matches = valid_matches_im0 & valid_matches_im1 matches_im0, matches_im1 = matches_im0[valid_matches], matches_im1[valid_matches] # recover origin coordinates in imgs matches_im0 = matches_im0.astype(np.float64) matches_im1 = matches_im1.astype(np.float64) ori_matches_im0 = recover_coordinate(matches_im0, view1['size_info_matching']) ori_matches_im1 = recover_coordinate(matches_im1, view2['size_info_matching']) return ori_matches_im0, ori_matches_im1 def load_img_dict(pair01_list, pair02_list, size=1024): unique_list = list(set(pair01_list + pair02_list)) unique_list.sort() unique_images = load_images(unique_list, size=size, square_ok=True) unique_images_dict = {item: unique_images[i] for i, item in enumerate(unique_list)} return unique_images_dict def load_img_pairs(pair01_list, pair02_list, size=1024): images01 = load_images(pair01_list, size=size, square_ok=True) images02 = load_images(pair02_list, size=size, square_ok=True) pairs = [] assert len(images01) == len(images02) for i in range(len(images01)): pairs.append((images01[i], images02[i])) return pairs def get_pred(model_path, pair01_list, pair02_list, save_path, device="cuda", size=512, datatype="gim", conf_thr=1.001, pixel_tol=5, subsample=8): model = AsymmetricMASt3R.from_pretrained(model_path).to(device) unique_image_dict = load_img_dict(pair01_list, pair02_list, size=size) for i in tqdm(range(len(pair01_list)), desc=f"Infering result"): pair_slice = [(unique_image_dict[pair01_list[i]], unique_image_dict[pair02_list[i]])] output = inference(pair_slice, model, device, batch_size=1, verbose=False) output = rotate_recover(output) ori_matches_im0, ori_matches_im1 = extract_match(output, conf_thr=conf_thr, pixel_tol=pixel_tol, subsample=subsample) # save matches if datatype == "gim" or datatype == "megadepth": save_name = f"{os.path.basename(pair01_list[i])}_{os.path.basename(pair02_list[i])}.npz" np.savez_compressed(os.path.join(save_path, save_name), matches_im0=ori_matches_im0, matches_im1=ori_matches_im1) elif datatype == "scannet": scene_name = pair01_list[i].split("/")[-4] save_name = f"{scene_name}_{os.path.basename(pair01_list[i])}_{scene_name}_{os.path.basename(pair02_list[i])}.npz" np.savez_compressed(os.path.join(save_path, save_name), matches_im0=ori_matches_im0, matches_im1=ori_matches_im1) else: raise NotImplementedError(f"datatype {datatype} not implemented") del unique_image_dict def read_gim_txt(path): with open(path, 'r') as f: data = f.readlines() head = data[0].split() img1name, img2name = head[0], head[1] unknown1, unkonwn2 = head[2], head[3] intrin1 = np.array(head[4:13]).astype(np.float32).reshape(3, 3) intrin2 = np.array(head[13:22]).astype(np.float32).reshape(3, 3) extrin = np.array(head[22:]).astype(np.float32).reshape(4, 4) return { "img1name": img1name, "img2name": img2name, "intrin1": intrin1, "intrin2": intrin2, "extrin": extrin } def extract_gim_pairs(txt_list, sub="blendedmvs"): pairs = [] for filename in txt_list: if sub in ["blendedmvs", "gl3d", "robotcarweather", "robotcarseason", "robotcarnight"]: prefix, img0, img1 = filename.replace(".txt", "").split("_") pairs.append([f"{prefix}_{img0}.png", f"{prefix}_{img1}.png"]) elif sub in ["multifov", "eth3di", "eth3do", "kitti", "iclnuim", "gtasfm", "scenenet"]: prefix, img0, img1 = filename.replace(".txt", "").split("-") pairs.append([f"{prefix}-{img0}.png", f"{prefix}-{img1}.png"]) else: raise NotImplementedError(f"sub {sub} not implemented") return pairs def eval_gim(model_path, data_dir, pred_save_dir, sub="blendedmvs"): data_prefix = os.path.join(data_dir, sub) all_data_list = os.listdir(data_prefix) all_data_list = all_data_list[:100] all_txt_list = [item for item in all_data_list if item.endswith(".txt")] all_txt_list = sorted(all_txt_list) pairs = extract_gim_pairs(all_txt_list, sub=sub) img1_list = [os.path.join(data_prefix, item[0]) for item in pairs] img2_list = [os.path.join(data_prefix, item[1]) for item in pairs] # predict if not os.path.exists(pred_save_dir): os.makedirs(pred_save_dir) get_pred(model_path, img1_list, img2_list, pred_save_dir, device="cuda", size=512, datatype="gim") # evaluate log_info = [] thresholds=[5, 10, 20] auc_results = { str(item): [] for item in thresholds } for i in range(len(img1_list)): txt_path = os.path.join(data_prefix, all_txt_list[i]) gt_info = read_gim_txt(txt_path) T_0to1 = gt_info["extrin"] K0, K1 = gt_info["intrin1"], gt_info["intrin2"] pred_path = os.path.join(pred_save_dir, f"{os.path.basename(img1_list[i])}_{os.path.basename(img2_list[i])}.npz") pred_info = np.load(pred_path) matches_im0, matches_im1 = pred_info["matches_im0"], pred_info["matches_im1"] if matches_im0.shape[0] == 0: print(f"{img1_list[i]} & {img2_list[i]}: no matches") log_info.append(f"{img1_list[i]} & {img2_list[i]}: no matches") for auc_i in thresholds: auc_results[str(auc_i)].append(0) continue data = dict( color0=cv2.imread(img1_list[i]), color1=cv2.imread(img2_list[i]), mkpts0_f=matches_im0, mkpts1_f=matches_im1, K0=K0, K1=K1, T_0to1=T_0to1, ) compute_pose_errors_numpy(data, pixel_thr=0.5) error_info = error_auc([data["R_errs"], data["t_errs"]], thresholds=thresholds) print(f"{img1_list[i]} & {img2_list[i]}: {error_info}") log_info.append(f"{img1_list[i]} & {img2_list[i]}: {error_info}") for auc_i in thresholds: auc_results[str(auc_i)].append(error_info[f"auc@{auc_i}"]) try: vis_debug = vis_matching(data['color0'], data['color1'], data['mkpts0_f'], data['mkpts1_f']) cv2.imwrite(os.path.join(pred_save_dir, f"{os.path.basename(img1_list[i])}_{os.path.basename(img2_list[i])}.jpg"), vis_debug) except: print(f"{img1_list[i]} & {img2_list[i]}: vis_debug error") log_info.append(f"{img1_list[i]} & {img2_list[i]}: vis_debug error") for auc_i in thresholds: print(f"total_auc: auc@{str(auc_i)}: {np.mean(auc_results[str(auc_i)])}") log_info.append(f"total_auc: auc@{str(auc_i)}: {np.mean(auc_results[str(auc_i)])}") with open(os.path.join(pred_save_dir, "log.txt"), "w") as f: f.write("\n".join(log_info)) def eval_scannet_1500(model_path, data_dir, pred_save_dir): info_path = os.path.join(data_dir, "scannet_test_pairs_with_gt.txt") if not os.path.exists(info_path): raise ValueError(f"info_path {info_path} does not exist") with open(info_path, "r") as f: gt_info = f.readlines() gt_info = [item.split() for item in gt_info] img1_list, img2_list = [], [] for tmp_info in gt_info: scene_name = tmp_info[0].split("/")[1] frame_idx1 = int(tmp_info[0].split("/")[-1].replace("frame-", "").replace(".color.jpg", "")) frame_idx2 = int(tmp_info[1].split("/")[-1].replace("frame-", "").replace(".color.jpg", "")) img1_list.append(os.path.join(data_dir, scene_name, "sens/color", f"{frame_idx1}.jpg")) img2_list.append(os.path.join(data_dir, scene_name, "sens/color", f"{frame_idx2}.jpg")) if not os.path.exists(pred_save_dir): os.makedirs(pred_save_dir) get_pred(model_path, img1_list, img2_list, pred_save_dir, device="cuda", size=512, datatype="scannet", conf_thr=1.001, pixel_tol=5, subsample=8) # evaluate log_info = [] thresholds=[5, 10, 20] auc_results = { str(item): [] for item in thresholds } for i in range(len(img1_list)): scene_name = gt_info[i][0].split("/")[1] pred_path = os.path.join(pred_save_dir, f"{scene_name}_{os.path.basename(img1_list[i])}_{scene_name}_{os.path.basename(img2_list[i])}.npz") pred_info = np.load(pred_path) matches_im0, matches_im1 = pred_info["matches_im0"], pred_info["matches_im1"] if matches_im0.shape[0] == 0: print(f"{img1_list[i]} & {img2_list[i]}: no matches") log_info.append(f"{img1_list[i]} & {img2_list[i]}: no matches") for auc_i in thresholds: auc_results[str(auc_i)].append(0) continue # compute epipolar distance assert len(gt_info[i]) == 38, 'Pair does not have ground truth info' K0 = np.array(gt_info[i][4:13]).astype(float).reshape(3, 3) K1 = np.array(gt_info[i][13:22]).astype(float).reshape(3, 3) T_0to1 = np.array(gt_info[i][22:]).astype(float).reshape(4, 4) data = dict( color0=cv2.imread(img1_list[i]), color1=cv2.imread(img2_list[i]), mkpts0_f=matches_im0, mkpts1_f=matches_im1, K0=K0, K1=K1, T_0to1=T_0to1, ) compute_pose_errors_numpy(data, pixel_thr=0.5) error_info = error_auc([data["R_errs"], data["t_errs"]], thresholds=thresholds) print(f"{img1_list[i]} & {img2_list[i]}: {error_info}") log_info.append(f"{img1_list[i]} & {img2_list[i]}: {error_info}") for auc_i in thresholds: auc_results[str(auc_i)].append(error_info[f"auc@{auc_i}"]) for auc_i in thresholds: print(f"total_auc: auc@{str(auc_i)}: {np.mean(auc_results[str(auc_i)])}") log_info.append(f"total_auc: auc@{str(auc_i)}: {np.mean(auc_results[str(auc_i)])}") with open(os.path.join(pred_save_dir, "log.txt"), "w") as f: f.write("\n".join(log_info)) def parse_args(): parser = argparse.ArgumentParser(description="Matching evaluation script") parser.add_argument("--model_path", required=True, help="path to model checkpoint") parser.add_argument("--data_dir", required=True, help="path to dataset folder") parser.add_argument("--save_dir", required=True, help="path to save folder") args = parser.parse_args() return args def main(): args = parse_args() for sub_set in ["blendedmvs", "kitti", "multifov", "robotcarweather", "robotcarseason", "robotcarnight", "scenenet", "eth3di", "eth3do", "gtasfm", "iclnuim", "gl3d"]: eval_gim(args.model_path, args.data_dir, args.save_dir, sub=sub_set) break if __name__ == "__main__": main() ================================================ FILE: infer/eval_scripts/eval_normal.py ================================================ import os import cv2 import torch import mat73 import shutil import argparse import numpy as np from scipy import io from tqdm import tqdm import sys sys.path.append(os.path.realpath(os.path.dirname(os.path.dirname(__file__)))) from dust3r.inference import inference from mast3r.model import AsymmetricMASt3R from dust3r.utils.image import load_images, normal2color from infer.infer_normal_pts3d import rescale_to_orig, rotate_recover def dot(x, y): """dot product (along the last dim). Args: x (Union[Tensor, ndarray]): x, [..., C] y (Union[Tensor, ndarray]): y, [..., C] Returns: Union[Tensor, ndarray]: x dot y, [..., 1] """ if isinstance(x, np.ndarray): return np.sum(x * y, -1, keepdims=True) else: return torch.sum(x * y, -1, keepdim=True) def length(x, eps=1e-20): """length of an array (along the last dim). Args: x (Union[Tensor, ndarray]): x, [..., C] eps (float, optional): eps. Defaults to 1e-20. Returns: Union[Tensor, ndarray]: length, [..., 1] """ if isinstance(x, np.ndarray): return np.sqrt(np.maximum(np.sum(x * x, axis=-1, keepdims=True), eps)) else: return torch.sqrt(torch.clamp(dot(x, x), min=eps)) def safe_normalize(x, eps=1e-20): """normalize an array (along the last dim). Args: x (Union[Tensor, ndarray]): x, [..., C] eps (float, optional): eps. Defaults to 1e-20. Returns: Union[Tensor, ndarray]: normalized x, [..., C] """ return x / length(x, eps) def compute_metric(gt_path, pred_path, save_vis_dir=None, data_type=None): if gt_path.endswith(".png"): normal_gt = cv2.imread(gt_path) normal_gt = normal_gt / 255 * 2 - 1 elif gt_path.endswith(".npy"): normal_gt = np.load(gt_path) if data_type == "DIODE": normal_gt[..., -1] *= -1 normal_gt[..., 0] *= -1 elif data_type == "IBIMS-1": normal_gt[..., 0] *= -1 elif data_type == "NYUv2": normal_gt[..., -1] *= -1 elif data_type == "Sintel": normal_gt = np.transpose(normal_gt[0, ...], (1, 2, 0)) normal_gt[..., -1] *= -1 elif data_type == "Scannet": normal_gt = normal_gt[..., [2,1,0]] normal_gt[..., 0] *= -1 normal_gt[..., 1] *= -1 else: raise NotImplementedError if pred_path.endswith(".png"): normal_pred_png = cv2.imread(pred_path)[..., [2,1,0]] normal_pred_png = cv2.resize(normal_pred_png, (normal_gt.shape[1], normal_gt.shape[0]), interpolation=cv2.INTER_NEAREST) normal_pred = np.zeros_like(normal_gt) normal_pred[..., 0] = normal_pred_png[..., 0] / 255 * 2 - 1 normal_pred[..., 1] = normal_pred_png[..., 1] / 255 * 2 - 1 normal_pred[..., 2] = (normal_pred_png[..., 2] - 128) / 127 * -1 normal_pred = safe_normalize(normal_pred) elif pred_path.endswith(".npy"): normal_pred = np.load(pred_path) if save_vis_dir is not None: os.makedirs(save_vis_dir, exist_ok=True) debug_save_path = os.path.join(save_vis_dir, os.path.basename(pred_path).replace(".npy", "_debug.png")) debug_img = np.hstack((normal2color(normal_gt), normal2color(normal_pred))) cv2.imwrite(debug_save_path, debug_img[..., [2,1,0]]) normal_gt_norm = np.linalg.norm(normal_gt, axis=-1) fg_mask = (normal_gt_norm > 0.5) & (normal_gt_norm < 1.5) rmse = np.sqrt(((normal_pred - normal_gt) ** 2)[fg_mask].sum(axis=-1).mean()) dot_product = (normal_pred * normal_gt).sum(axis=-1) dot_product = np.clip(dot_product, -1, 1) dot_product = dot_product[fg_mask] angle = np.arccos(dot_product) / np.pi * 180 return angle, rmse def compute_matric_list(img_list, normal_gt_list, gt_dir, save_path, data_type): angle_arr, rmse_arr = np.array([]), [] log_info = [] for i in range(len(img_list)): if data_type == "DIODE": gt_path = normal_gt_list[i] pred_path = os.path.join(save_path, normal_gt_list[i].split("/")[-2], normal_gt_list[i].split("/")[-1]) elif data_type == "Scannet": gt_path = os.path.join(gt_dir, normal_gt_list[i]) pred_path = os.path.join(save_path, normal_gt_list[i].replace("-normal.png", "-color_normal.npy")) else: gt_path = os.path.join(gt_dir, normal_gt_list[i]) pred_path = os.path.join(save_path, normal_gt_list[i]) angle, rmse = compute_metric(gt_path, pred_path, save_vis_dir=save_path, data_type=data_type) angle_arr = np.concatenate((angle_arr, angle)) rmse_arr.append(rmse) print(f"{img_list[i]}: angle={np.mean(angle)}, rmse={rmse}") log_info.append(f"{img_list[i]}: angle={np.mean(angle)}, rmse={rmse}") pct_gt_5 = 100.0 * np.sum(angle_arr < 11.25, axis=0) / angle_arr.shape[0] pct_gt_10 = 100.0 * np.sum(angle_arr < 22.5, axis=0) / angle_arr.shape[0] pct_gt_30 = 100.0 * np.sum(angle_arr < 30, axis=0) / angle_arr.shape[0] print(f"Percentage of angle less than 11.25: {pct_gt_5:.3f}, 22.5: {pct_gt_10:.3f}, 30: {pct_gt_30:.3f}") print(f"Average angle: {np.mean(angle_arr):.3f}, Average rmse: {np.mean(rmse_arr):.3f}") print(f"Medium angle: {np.median(angle_arr):.3f}, Medium rmse: {np.median(rmse_arr):.3f}") log_info.append(f"Percentage of angle less than 11.25: {pct_gt_5:.3f}, 22.5: {pct_gt_10:.3f}, 30: {pct_gt_30:.3f}") log_info.append(f"Average angle: {np.mean(angle_arr):.3f}, Average rmse: {np.mean(rmse_arr):.3f}") log_info.append(f"Medium angle: {np.median(angle_arr):.3f}, Medium rmse: {np.median(rmse_arr):.3f}") with open(os.path.join(save_path, "log.txt"), "w") as f: f.write("\n".join(log_info)) def load_img_pairs(dataset_path=None, img_path_list=None, size=1024, pair_mode="self"): if img_path_list is None: assert dataset_path is not None filelist = os.listdir(dataset_path) img_list = [item for item in filelist if item.endswith(".png")] img_list.sort() img_path_list = [os.path.join(dataset_path, item) for item in filelist] images = load_images(img_path_list, size=size, square_ok=True) pairs = [] for i in range(len(img_path_list)): if pair_mode == "self": pairs.append((images[i], images[i])) elif pair_mode == "near": if i == len(images) - 1: pairs.append((images[i], images[i-1])) else: pairs.append((images[i], images[i+1])) else: raise NotImplementedError return pairs def get_pred(model_path, dataset_path, save_path, device="cuda", size=1024): model = AsymmetricMASt3R.from_pretrained(model_path).to(device) if isinstance(dataset_path, list): pairs = load_img_pairs(img_path_list=dataset_path, size=size) else: assert isinstance(dataset_path, str) pairs = load_img_pairs(dataset_path=dataset_path, size=size) for i in tqdm(range(len(pairs)), desc=f"Infering result"): pair_slice = pairs[i:i+1] output = inference(pair_slice, model, device, batch_size=1, verbose=False) output = rotate_recover(output) view1, pred1 = output['view1'], output['pred1'] pred_normal = pred1["normal"][0, ...].detach().cpu().numpy() # left hand to right hand pred_normal[..., 0] *= -1 size_info = pair_slice[0][0]["size_info"] imgname = pair_slice[0][0]["model_id"] pred_normal = rescale_to_orig(pred_normal, size_info) pred_normal_viz = normal2color(pred_normal) os.makedirs(save_path, exist_ok=True) np.save(os.path.join(save_path, imgname.replace(".png", "_normal.npy")), pred_normal) cv2.imwrite(os.path.join(save_path, imgname.replace(".png", "_pred_normal_viz.png")), pred_normal_viz[..., [2,1,0]]) def eval_nyudv2(data_dir, save_dir, model_path): ''' :param data_dir: the root dir of NYUDv2 :param save_dir: the root dir to save the result :param model_path: the path of the model(.pth file) ''' rgb_mat_path = os.path.join(data_dir, "data/images_uint8.mat") split_path = os.path.join(data_dir, "data/splits.mat") normal_mat_path = os.path.join(data_dir, "gt/norm_gt_l.mat") mask_mat_path = os.path.join(data_dir, "gt/masks.mat") # first extract rgb and normal gt from mat files rgb_save_dir = os.path.join(save_dir, "rgb") normal_gt_save_dir = os.path.join(save_dir, "normal_gt") if not os.path.exists(rgb_save_dir) or not os.path.exists(normal_gt_save_dir): shutil.rmtree(rgb_save_dir) shutil.rmtree(normal_gt_save_dir) os.makedirs(rgb_save_dir) os.makedirs(normal_gt_save_dir) rgb_data = io.loadmat(rgb_mat_path)['images'] test_idx = io.loadmat(split_path)['testNdxs'] mask_data = mat73.loadmat(mask_mat_path)["masks"] normal_data = mat73.loadmat(normal_mat_path)["norm_gt_l"] for idx in tqdm(test_idx, "extracting imgs"): idx = idx[0]-1 rgb = rgb_data[..., idx] mask = mask_data[..., idx] valid_mask = (mask > 0)[..., None].repeat(3, -1) normal_gt = normal_data[..., idx] cut_w, cut_h = 12, 9 rgb = rgb[cut_h:-cut_h, cut_w:-cut_w, ...] valid_mask = valid_mask[cut_h:-cut_h, cut_w:-cut_w, ...] normal_gt = normal_gt[cut_h:-cut_h, cut_w:-cut_w, ...] normal_gt[~valid_mask] = np.zeros_like(normal_gt)[~valid_mask] cv2.imwrite(os.path.join(rgb_save_dir, f"{idx:05d}_rgb.png"), rgb[..., [2,1,0]]) np.save(os.path.join(normal_gt_save_dir, f"{idx:05d}_rgb_normal.npy"), normal_gt) normal_map_color = normal2color(normal_gt) cv2.imwrite(os.path.join(normal_gt_save_dir, f"{idx:05d}_normal.png"), normal_map_color[..., [2,1,0]]) # predict normal of every rgb image # since image size on NYUDv2 is 640, so we set size=640 gt_dir = os.path.join(save_dir, "normal_gt") save_path = os.path.join(save_dir, "pred_normal") if not os.path.exists(save_path): get_pred(model_path=model_path, dataset_path=rgb_save_dir, save_path=save_path, size=640) # compute metric filelist = os.listdir(os.path.join(save_dir, "rgb")) img_list = sorted([item for item in filelist if item.endswith(".png")]) normal_gt_list = [item.replace(".png", "_normal.npy") for item in img_list] compute_matric_list(img_list, normal_gt_list, gt_dir, save_path, data_type="NYUv2") def parse_args(): parser = argparse.ArgumentParser(description="Normal evaluation script") parser.add_argument("--model_path", required=True, help="path to model checkpoint") parser.add_argument("--data_dir", required=True, help="path to dataset folder") parser.add_argument("--save_dir", required=True, help="path to save folder") args = parser.parse_args() return args def main(): args = parse_args() eval_nyudv2(args.data_dir, args.save_dir, args.model_path) if __name__ == "__main__": main() ================================================ FILE: infer/eval_scripts/matching_metrics.py ================================================ import torch import cv2 import numpy as np from collections import OrderedDict from loguru import logger from kornia.geometry.epipolar import numeric from kornia.geometry.conversions import convert_points_to_homogeneous from matplotlib import pyplot as plt DEFAULT_MIN_NUM_MATCHES = 4 DEFAULT_RANSAC_MAX_ITER = 10000 DEFAULT_RANSAC_CONFIDENCE = 0.999 DEFAULT_RANSAC_REPROJ_THRESHOLD = 8 DEFAULT_RANSAC_METHOD = "USAC_MAGSAC" RANSAC_ZOO = { "RANSAC": cv2.RANSAC, "USAC_FAST": cv2.USAC_FAST, "USAC_MAGSAC": cv2.USAC_MAGSAC, "USAC_PROSAC": cv2.USAC_PROSAC, "USAC_DEFAULT": cv2.USAC_DEFAULT, "USAC_FM_8PTS": cv2.USAC_FM_8PTS, "USAC_ACCURATE": cv2.USAC_ACCURATE, "USAC_PARALLEL": cv2.USAC_PARALLEL, } # --- METRICS --- def relative_pose_error(T_0to1, R, t, ignore_gt_t_thr=0.0): # angle error between 2 vectors t_gt = T_0to1[:3, 3] n = np.linalg.norm(t) * np.linalg.norm(t_gt) t_err = np.rad2deg(np.arccos(np.clip(np.dot(t, t_gt) / n, -1.0, 1.0))) t_err = np.minimum(t_err, 180 - t_err) # handle E ambiguity if np.linalg.norm(t_gt) < ignore_gt_t_thr: # pure rotation is challenging t_err = 0 # angle error between 2 rotation matrices R_gt = T_0to1[:3, :3] cos = (np.trace(np.dot(R.T, R_gt)) - 1) / 2 cos = np.clip(cos, -1., 1.) # handle numercial errors R_err = np.rad2deg(np.abs(np.arccos(cos))) return t_err, R_err def symmetric_epipolar_distance(pts0, pts1, E, K0, K1): """Squared symmetric epipolar distance. This can be seen as a biased estimation of the reprojection error. Args: pts0 (torch.Tensor): [N, 2] E (torch.Tensor): [3, 3] """ pts0 = (pts0 - K0[[0, 1], [2, 2]][None]) / K0[[0, 1], [0, 1]][None] pts1 = (pts1 - K1[[0, 1], [2, 2]][None]) / K1[[0, 1], [0, 1]][None] pts0 = convert_points_to_homogeneous(pts0) pts1 = convert_points_to_homogeneous(pts1) Ep0 = pts0 @ E.T # [N, 3] p1Ep0 = torch.sum(pts1 * Ep0, -1) # [N,] Etp1 = pts1 @ E # [N, 3] d = p1Ep0**2 * (1.0 / (Ep0[:, 0]**2 + Ep0[:, 1]**2) + 1.0 / (Etp1[:, 0]**2 + Etp1[:, 1]**2)) # N return d def compute_symmetrical_epipolar_errors(data): """ Update: data (dict):{"epi_errs": [M]} """ Tx = numeric.cross_product_matrix(data['T_0to1'][:, :3, 3]) E_mat = Tx @ data['T_0to1'][:, :3, :3] m_bids = data['m_bids'] pts0 = data['mkpts0_f'] pts1 = data['mkpts1_f'] epi_errs = [] for bs in range(Tx.size(0)): mask = m_bids == bs epi_errs.append( symmetric_epipolar_distance(pts0[mask], pts1[mask], E_mat[bs], data['K0'][bs], data['K1'][bs])) epi_errs = torch.cat(epi_errs, dim=0) data.update({'epi_errs': epi_errs}) def estimate_pose(kpts0, kpts1, K0, K1, thresh, conf=0.99999, return_conf=False): if len(kpts0) < 5: return None # normalize keypoints kpts0 = (kpts0 - K0[[0, 1], [2, 2]][None]) / K0[[0, 1], [0, 1]][None] kpts1 = (kpts1 - K1[[0, 1], [2, 2]][None]) / K1[[0, 1], [0, 1]][None] # normalize ransac threshold ransac_thr = thresh / np.mean([K0[0, 0], K1[1, 1], K0[0, 0], K1[1, 1]]) # compute pose with cv2 E, mask = cv2.findEssentialMat( kpts0, kpts1, np.eye(3), threshold=ransac_thr, prob=conf, method=cv2.RANSAC) if E is None: print("\nE is None while trying to recover pose.\n") return None # recover pose from E best_num_inliers = 0 ret = None for _E in np.split(E, len(E) / 3): n, R, t, _ = cv2.recoverPose(_E, kpts0, kpts1, np.eye(3), 1e9, mask=mask) if n > best_num_inliers: ret = (R, t[:, 0], mask.ravel() > 0) best_num_inliers = n if not return_conf: return ret else: return (R, t[:, 0], mask.ravel() > 0, n) def compute_pose_errors(data, pixel_thr=0.5, conf=0.99999): """ Update: data (dict):{ "R_errs" List[float]: [N] "t_errs" List[float]: [N] "inliers" List[np.ndarray]: [N] } """ # pixel_thr = config.TRAINER.RANSAC_PIXEL_THR # 0.5 # conf = config.TRAINER.RANSAC_CONF # 0.99999 data.update({'R_errs': [], 't_errs': [], 'inliers': []}) m_bids = data['m_bids'].cpu().numpy() pts0 = data['mkpts0_f'].cpu().numpy() pts1 = data['mkpts1_f'].cpu().numpy() K0 = data['K0'].cpu().numpy() K1 = data['K1'].cpu().numpy() T_0to1 = data['T_0to1'].cpu().numpy() for bs in range(K0.shape[0]): mask = m_bids == bs ret = estimate_pose(pts0[mask], pts1[mask], K0[bs], K1[bs], pixel_thr, conf=conf) if ret is None: data['R_errs'].append(np.inf) data['t_errs'].append(np.inf) data['inliers'].append(np.array([]).astype(np.bool)) else: R, t, inliers = ret t_err, R_err = relative_pose_error(T_0to1[bs], R, t, ignore_gt_t_thr=0.0) data['R_errs'].append(R_err) data['t_errs'].append(t_err) data['inliers'].append(inliers) def compute_pose_errors_numpy(data, pixel_thr=0.5, conf=0.99999): ''' data:{ pts0, pts1, K0, K1, T_0to1 } ''' pts0 = data['mkpts0_f'] pts1 = data['mkpts1_f'] K0 = data['K0'] K1 = data['K1'] T_0to1 = data['T_0to1'] ret = estimate_pose(pts0, pts1, K0, K1, pixel_thr, conf=conf) # data.update({'R_errs': [], 't_errs': [], 'inliers': []}) if ret is None: # data['R_errs'].append(np.inf) # data['t_errs'].append(np.inf) # data['inliers'].append(np.array([]).astype(np.bool)) data ['R_errs'] = np.inf data ['t_errs'] = np.inf data ['inliers'] = np.array([]).astype(np.bool_) else: R, t, inliers = ret t_err, R_err = relative_pose_error(T_0to1, R, t, ignore_gt_t_thr=0.0) data ['R_errs'] = R_err data ['t_errs'] = t_err data ['inliers'] = inliers # data['R_errs'].append(R_err) # data['t_errs'].append(t_err) # data['inliers'].append(inliers) def cal_geometry(data, save_vis_path=None): ''' data: dict ''' kpts0, kpts1 = data['mkpts0_f'], data['mkpts1_f'] # robust fitting _, mask = cv2.findFundamentalMat(kpts0, kpts1, cv2.USAC_MAGSAC, ransacReprojThreshold=1.0, confidence=0.999999, maxIters=10000) mask = mask.ravel() > 0 data.update({ # 'hw0_i': image0.shape[-2:], # 'hw1_i': image1.shape[-2:], # 'mkpts0_f': kpts0, # 'mkpts1_f': kpts1, # 'm_bids': b_ids, # 'mconf': mconf, 'inliers': mask, }) geom_info = compute_geom(data) # save visualization if save_vis_path is not None: image0, image1 = data['color0'], data['color1'] alpha = 0.5 out = fast_make_matching_figure(data, b_id=0) overlay = fast_make_matching_overlay(data, b_id=0) out = cv2.addWeighted(out, 1 - alpha, overlay, alpha, 0) cv2.imwrite(save_vis_path, out[..., ::-1]) wrapped_images = wrap_images(image0, image1, geom_info, "Homography") cv2.imwrite(save_vis_path, wrapped_images) return geom_info # --- METRIC AGGREGATION --- def error_auc(errors, thresholds=[5, 10, 20]): """ Args: errors (list): [N,] thresholds (list) """ errors = [0] + sorted(list(errors)) recall = list(np.linspace(0, 1, len(errors))) aucs = [] # thresholds = [5, 10, 20] for thr in thresholds: last_index = np.searchsorted(errors, thr) y = recall[:last_index] + [recall[last_index-1]] x = errors[:last_index] + [thr] aucs.append(np.trapz(y, x) / thr) return {f'auc@{t}': auc for t, auc in zip(thresholds, aucs)} def epidist_prec(errors, thresholds, ret_dict=False): precs = [] for thr in thresholds: prec_ = [] for errs in errors: correct_mask = errs < thr prec_.append(np.mean(correct_mask) if len(correct_mask) > 0 else 0) precs.append(np.mean(prec_) if len(prec_) > 0 else 0) if ret_dict: return {f'prec@{t:.0e}': prec for t, prec in zip(thresholds, precs)} else: return precs def aggregate_metrics(metrics, epi_err_thr=5e-4): """ Aggregate metrics for the whole dataset: (This method should be called once per dataset) 1. AUC of the pose error (angular) at the threshold [5, 10, 20] 2. Mean matching precision at the threshold 5e-4(ScanNet), 1e-4(MegaDepth) """ # filter duplicates unq_ids = OrderedDict((iden, id) for id, iden in enumerate(metrics['identifiers'])) unq_ids = list(unq_ids.values()) logger.info(f'Aggregating metrics over {len(unq_ids)} unique items...') # pose auc angular_thresholds = [5, 10, 20] pose_errors = np.max(np.stack([metrics['R_errs'], metrics['t_errs']]), axis=0)[unq_ids] aucs = error_auc(pose_errors, angular_thresholds) # (auc@5, auc@10, auc@20) # matching precision dist_thresholds = [epi_err_thr] precs = epidist_prec(np.array(metrics['epi_errs'], dtype=object)[unq_ids], dist_thresholds, True) # (prec@err_thr) return {**aucs, **precs} # visualization def fast_make_matching_figure(data): # color0 = (data['color0'].permute(1, 2, 0) * 255).round().astype(np.uint8) # (rH, rW, 3) # color1 = (data['color1'].permute(1, 2, 0) * 255).round().astype(np.uint8) # (rH, rW, 3) color0, color1 = data['color0'], data['color1'] gray0 = cv2.cvtColor(color0, cv2.COLOR_RGB2GRAY) gray1 = cv2.cvtColor(color1, cv2.COLOR_RGB2GRAY) kpts0 = data['mkpts0_f'] kpts1 = data['mkpts1_f'] if 'mconf' in data: mconf = data['mconf'] else: mconf = None inliers = data['inliers'] rows = 2 margin = 2 # (h0, w0), (h1, w1) = data['hw0_i'], data['hw1_i'] h0, w0 = gray0.shape[:2] h1, w1 = gray1.shape[:2] h = max(h0, h1) H, W = margin * (rows + 1) + h * rows, margin * 3 + w0 + w1 # canvas out = 255 * np.ones((H, W), np.uint8) wx = [margin, margin + w0, margin + w0 + margin, margin + w0 + margin + w1] hx = lambda row: margin * row + h * (row-1) out = np.stack([out] * 3, -1) sh = hx(row=1) out[sh: sh + h0, wx[0]: wx[1]] = color0 out[sh: sh + h1, wx[2]: wx[3]] = color1 sh = hx(row=2) out[sh: sh + h0, wx[0]: wx[1]] = color0 out[sh: sh + h1, wx[2]: wx[3]] = color1 mkpts0, mkpts1 = np.round(kpts0).astype(int), np.round(kpts1).astype(int) for (x0, y0), (x1, y1) in zip(mkpts0[inliers], mkpts1[inliers]): c = (0, 255, 0) cv2.circle(out, (x0, y0 + sh), 3, c, -1, lineType=cv2.LINE_AA) cv2.circle(out, (x1 + margin + w0, y1 + sh), 3, c, -1, lineType=cv2.LINE_AA) return out def fast_make_matching_overlay(data): color0 = (data['color0'].permute(1, 2, 0).cpu().detach().numpy() * 255).round().astype(np.uint8) # (rH, rW, 3) color1 = (data['color1'].permute(1, 2, 0).cpu().detach().numpy() * 255).round().astype(np.uint8) # (rH, rW, 3) gray0 = cv2.cvtColor(color0, cv2.COLOR_RGB2GRAY) gray1 = cv2.cvtColor(color1, cv2.COLOR_RGB2GRAY) kpts0 = data['mkpts0_f'].cpu().detach().numpy() kpts1 = data['mkpts1_f'].cpu().detach().numpy() if 'mconf' in data: mconf = data['mconf'].cpu().detach().numpy() else: mconf = None inliers = data['inliers'] rows = 2 margin = 2 (h0, w0), (h1, w1) = data['hw0_i'], data['hw1_i'] h = max(h0, h1) H, W = margin * (rows + 1) + h * rows, margin * 3 + w0 + w1 # canvas out = 255 * np.ones((H, W), np.uint8) wx = [margin, margin + w0, margin + w0 + margin, margin + w0 + margin + w1] hx = lambda row: margin * row + h * (row-1) out = np.stack([out] * 3, -1) sh = hx(row=1) out[sh: sh + h0, wx[0]: wx[1]] = color0 out[sh: sh + h1, wx[2]: wx[3]] = color1 sh = hx(row=2) out[sh: sh + h0, wx[0]: wx[1]] = color0 out[sh: sh + h1, wx[2]: wx[3]] = color1 mkpts0, mkpts1 = np.round(kpts0).astype(int), np.round(kpts1).astype(int) for (x0, y0), (x1, y1) in zip(mkpts0[inliers], mkpts1[inliers]): c = (0, 255, 0) cv2.line(out, (x0, y0 + sh), (x1 + margin + w0, y1 + sh), color=c, thickness=1, lineType=cv2.LINE_AA) cv2.circle(out, (x0, y0 + sh), 3, c, -1, lineType=cv2.LINE_AA) cv2.circle(out, (x1 + margin + w0, y1 + sh), 3, c, -1, lineType=cv2.LINE_AA) return out def wrap_images(img0, img1, geo_info, geom_type): img0 = img0[0].permute((1, 2, 0)).cpu().detach().numpy()[..., ::-1] img1 = img1[0].permute((1, 2, 0)).cpu().detach().numpy()[..., ::-1] h1, w1, _ = img0.shape h2, w2, _ = img1.shape rectified_image0 = img0 rectified_image1 = None H = np.array(geo_info["Homography"]) F = np.array(geo_info["Fundamental"]) title = [] if geom_type == "Homography": rectified_image1 = cv2.warpPerspective( img1, H, (img0.shape[1], img0.shape[0]) ) title = ["Image 0", "Image 1 - warped"] elif geom_type == "Fundamental": H1, H2 = np.array(geo_info["H1"]), np.array(geo_info["H2"]) rectified_image0 = cv2.warpPerspective(img0, H1, (w1, h1)) rectified_image1 = cv2.warpPerspective(img1, H2, (w2, h2)) title = ["Image 0 - warped", "Image 1 - warped"] else: print("Error: Unknown geometry type") fig = plot_images( [rectified_image0.squeeze(), rectified_image1.squeeze()], title, dpi=300, ) img = fig2im(fig) plt.close(fig) return img def plot_images(imgs, titles=None, cmaps="gray", dpi=100, size=5, pad=0.5): """Plot a set of images horizontally. Args: imgs: a list of NumPy or PyTorch images, RGB (H, W, 3) or mono (H, W). titles: a list of strings, as titles for each image. cmaps: colormaps for monochrome images. dpi: size: pad: """ n = len(imgs) if not isinstance(cmaps, (list, tuple)): cmaps = [cmaps] * n figsize = (size * n, size * 6 / 5) if size is not None else None fig, ax = plt.subplots(1, n, figsize=figsize, dpi=dpi) if n == 1: ax = [ax] for i in range(n): ax[i].imshow(imgs[i], cmap=plt.get_cmap(cmaps[i])) ax[i].get_yaxis().set_ticks([]) ax[i].get_xaxis().set_ticks([]) ax[i].set_axis_off() for spine in ax[i].spines.values(): # remove frame spine.set_visible(False) if titles: ax[i].set_title(titles[i]) fig.tight_layout(pad=pad) return fig def fig2im(fig): fig.canvas.draw() w, h = fig.canvas.get_width_height() buf_ndarray = np.frombuffer(fig.canvas.buffer_rgba(), dtype="u1") # noinspection PyArgumentList im = buf_ndarray.reshape(h, w, 4) return im def compute_geom(data, ransac_method=DEFAULT_RANSAC_METHOD, ransac_reproj_threshold=DEFAULT_RANSAC_REPROJ_THRESHOLD, ransac_confidence=DEFAULT_RANSAC_CONFIDENCE, ransac_max_iter=DEFAULT_RANSAC_MAX_ITER, ) -> dict: mkpts0 = data["mkpts0_f"].cpu().detach().numpy() mkpts1 = data["mkpts1_f"].cpu().detach().numpy() if len(mkpts0) < 2 * DEFAULT_MIN_NUM_MATCHES: return {} h1, w1 = data["hw0_i"] geo_info = {} F, inliers = cv2.findFundamentalMat( mkpts0, mkpts1, method=RANSAC_ZOO[ransac_method], ransacReprojThreshold=ransac_reproj_threshold, confidence=ransac_confidence, maxIters=ransac_max_iter, ) if F is not None: geo_info["Fundamental"] = F.tolist() H, _ = cv2.findHomography( mkpts1, mkpts0, method=RANSAC_ZOO[ransac_method], ransacReprojThreshold=ransac_reproj_threshold, confidence=ransac_confidence, maxIters=ransac_max_iter, ) if H is not None: geo_info["Homography"] = H.tolist() _, H1, H2 = cv2.stereoRectifyUncalibrated( mkpts0.reshape(-1, 2), mkpts1.reshape(-1, 2), F, imgSize=(w1, h1), ) geo_info["H1"] = H1.tolist() geo_info["H2"] = H2.tolist() return geo_info def vis_matching(img0, img1, kpts0, kpts1, sample_matching_num=None): h0, w0 = img0.shape[:2] h1, w1 = img1.shape[:2] h1_factor = h0 / h1 w1_factor = w0 / w1 kpts1[:, 0] *= w1_factor kpts1[:, 1] *= h1_factor img1_scale = cv2.resize(img1, (w0, h0)) output = np.concatenate([img0, img1_scale], axis=1) if sample_matching_num is not None and sample_matching_num < len(kpts0): sample_idx = np.random.choice(len(kpts0), sample_matching_num, replace=False) kpts0 = kpts0[sample_idx, :] kpts1 = kpts1[sample_idx, :] else: sample_matching_num = len(kpts0) i = 0 for (x0, y0), (x1, y1) in zip(kpts0, kpts1): x0, y0, x1, y1 = round(x0), round(y0), round(x1), round(y1) if x0 < 0 or y0 < 0 or x1 < 0 or y1 < 0: continue if x0 > w0 or y0 > h0 or x1 > w0 or y1 > h0: continue point_color_01 = (0, 255, 0) point_color_02 = (0, 0, 255) cmap = plt.get_cmap('jet') cv2.circle(output, (x0, y0), 3, point_color_01, -1, lineType=cv2.LINE_AA) cv2.circle(output, (x1 + w0, y1), 3, point_color_02, -1, lineType=cv2.LINE_AA) line_rgba = cmap(i / (sample_matching_num - 1)) line_rgba = (int(255 * line_rgba[2]), int(255 * line_rgba[1]), int(255 * line_rgba[0]), 100) cv2.line(output, (x0, y0), (x1 + w0, y1), color=line_rgba, thickness=1) i += 1 return output ================================================ FILE: infer/infer_normal_pts3d.py ================================================ # Copyright (C) 2025-present Alibaba Group. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # infer images' normal and depth # -------------------------------------------------------- import os import cv2 import glob import torch import argparse import numpy as np import open3d as o3d from tqdm import tqdm from scipy.spatial.transform import Rotation import sys sys.path.append(os.path.realpath(os.path.dirname(os.path.dirname(__file__)))) from dust3r.inference import inference from mast3r.model import AsymmetricMASt3R from dust3r.utils.image import load_images, colorize, normal2color, inverse_normalize def make_pairs(img_list, mode="sequence", seq_len=5): ''' mg_list: list of obj, sorted seq_len=5: -2,-1,ref,1,2 ''' pairs = [] if mode == "sequence": assert (seq_len % 2) == 1 for i in range(len(img_list)): start = i - (seq_len-1)//2 end = i + (seq_len-1)//2 + 1 if start < 0: start = 0 end = start + seq_len if end > len(img_list): start = len(img_list) - seq_len end = len(img_list) for j in range(start, end): if i == j: continue pairs.append((img_list[i], img_list[j])) elif mode == "near": for i in range(len(img_list)): if i != len(img_list) - 1: pairs.append((img_list[i], img_list[i+1])) else: pairs.append((img_list[i], img_list[i-1])) elif mode == "self": for i in range(len(img_list)): pairs.append((img_list[i], img_list[i])) else: raise NotImplementedError return pairs def rescale_to_orig(data, size_info): assert len(data.shape) == 3 assert isinstance(data, np.ndarray) # img_oriWH -> img_rescaleWH -> img_cropWH # crop: img = img.crop((cx-halfw, cy-halfh, cx+halfw, cy+halfh)), cx,cy=img_rescaleWH//2 # img_oriW, img_oriH, img_rescaleW, img_rescaleH, cx-halfw, cy-halfh, cx+halfw, cy+halfh = size_info img_oriW, img_oriH, img_rescaleW, img_rescaleH, w_start, h_start, w_end, h_end = size_info # first recover to size before crop data = np.pad(data, ((h_start, img_rescaleH - h_end), (w_start, img_rescaleW - w_end), (0, 0)), mode='edge') # then recover to size before rescale data = cv2.resize(data, (img_oriW, img_oriH), interpolation=cv2.INTER_NEAREST) return data def get_avg_normal(normal_list, delete_bad_normal=True): normal_array = np.array(normal_list) avg_normal = np.mean(normal_array, axis=0) if delete_bad_normal: bad_idx, max_err = 0, 0 for i in range(normal_array.shape[0]): if np.abs(normal_array[i] - avg_normal).mean() > max_err: bad_idx, max_err = i, np.abs(normal_array[i] - avg_normal).mean() normal_list.pop(bad_idx) avg_normal = np.mean(np.array(normal_list), axis=0) # normalize avg_normal = avg_normal / (np.linalg.norm(avg_normal, axis=-1)[..., None]) return avg_normal def rotate_recover(output): for view_id, pred_id in [["view1", "pred1"], ["view2", "pred2"]]: if output[view_id]["rotate"][0]: output[view_id]["img"] = torch.rot90(output[view_id]["img"], k=-1, dims=(2, 3)) output[view_id]["true_shape"] = output[view_id]["true_shape"][:,[1,0]] output[view_id]["size_info"] = output[view_id]["size_info"][[1,0,3,2,5,4,7,6]] output[view_id]["size_info_matching"] = output[view_id]["size_info_matching"][[1,0,3,2,5,4,7,6]] R = torch.from_numpy(Rotation.from_euler('z', 90 * 1, degrees=True).as_matrix()).float() if pred_id == "pred1": pts_rotate = torch.rot90(output[pred_id]["pts3d"], k=-1, dims=(1, 2)) output[pred_id]["pts3d"] = (R[:3, :3] @ pts_rotate.reshape(-1, 3).T).T.reshape(pts_rotate.shape) else: pts_rotate = torch.rot90(output[pred_id]["pts3d_in_other_view"], k=-1, dims=(1, 2)) output[pred_id]["pts3d_in_other_view"] = (R[:3, :3] @ pts_rotate.reshape(-1, 3).T).T.reshape(pts_rotate.shape) output[pred_id]["desc"] = torch.rot90(output[pred_id]["desc"], k=-1, dims=(1, 2)) output[pred_id]["desc_conf"] = torch.rot90(output[pred_id]["desc_conf"], k=-1, dims=(1, 2)) normal_rotate = torch.rot90(output[pred_id]["normal"], k=-1, dims=(1, 2)) R = torch.from_numpy(Rotation.from_euler('z', 90 * -1, degrees=True).as_matrix()).float() output[pred_id]["normal"] = (R[:3, :3] @ normal_rotate.reshape(-1, 3).T).T.reshape(normal_rotate.shape) return output def infer_imgs(model, img_dir, save_dir, size=512, device="cuda", seq_len=3, pair_mode="self", save_normal=False, save_depth=False, save_pcd=False, ret_total_output=False): valid_img_ext = ["*.jpg", "*.png", "*.jpeg", "*.PNG", "*.JPG", "*.JPEG"] if isinstance(model, str): model = AsymmetricMASt3R.from_pretrained(model).to(device) # load images data img_list = [] for img_ext in valid_img_ext: img_list = img_list + glob.glob(os.path.join(img_dir, img_ext)) img_list = sorted(img_list) # decide final size if size is None ref_img = cv2.imread(img_list[0]) if max(ref_img.shape) >= 1024: final_size = 1024 else: final_size = max(ref_img.shape) if size is None: size = final_size images = load_images(img_list, size=size, square_ok=True) pairs = make_pairs(images, mode=pair_mode, seq_len=seq_len) ret_dict = { "rgbs": [], "normals": [], "depths": [], "pts": [], "pts_another": [], "outputs": [] } # for online demo usage for i in tqdm(range(len(images)), desc="Infering result"): if pair_mode in ["sequence"]: pair_slice = pairs[i*(seq_len-1) : i*(seq_len-1) + (seq_len-1)] output = inference(pair_slice, model, device, batch_size=1, verbose=False) output = rotate_recover(output) view1, pred1 = output['view1'], output['pred1'] view2, pred2 = output['view2'], output['pred2'] # get avg normal of a sequence normal_list = [] for j in range(seq_len-1): normal_list.append(pred1["normal"][j, ...].detach().cpu().numpy()) # H, W, 3 avg_normal = get_avg_normal(normal_list) elif pair_mode in ["self", "near"]: pair_slice = pairs[i:i+1] output = inference(pair_slice, model, device, batch_size=1, verbose=False) output = rotate_recover(output) view1, pred1 = output['view1'], output['pred1'] view2, pred2 = output['view2'], output['pred2'] avg_normal = pred1["normal"][0, ...].detach().cpu().numpy() else: raise NotImplementedError rgb = inverse_normalize(view1["img"][0, ...]).detach().cpu().permute(1, 2, 0).numpy() # H, W, 3 points_3d = pred1["pts3d"][0, ...].detach().cpu().numpy() # H, W, 3 points_3d_another = pred2["pts3d_in_other_view"][0, ...].detach().cpu().numpy() # H, W, 3 imgname = images[i]["model_id"] pcd_save_path = os.path.join(save_dir, f"{imgname[:-4]}_pointmap.ply") # right hand to left hand avg_normal[..., 0] = -avg_normal[..., 0] avg_normal_viz = normal2color(avg_normal) pre_depth = points_3d[..., -1] pcd = points_3d.reshape(-1, 3) o3d_pcd = o3d.geometry.PointCloud() o3d_pcd.points = o3d.utility.Vector3dVector(pcd) pts_rgb = rgb.reshape(-1, 3) o3d_pcd.colors = o3d.utility.Vector3dVector(pts_rgb) ret_dict["normals"].append(avg_normal_viz[..., [2,1,0]]) ret_dict["depths"].append(pre_depth) ret_dict["pts"].append(points_3d) ret_dict["pts_another"].append(points_3d_another) ret_dict["rgbs"].append(rgb) if ret_total_output: # not append to save memory ret_dict["outputs"].append(output) if save_normal: os.makedirs(save_dir, exist_ok=True) np.savez_compressed(pcd_save_path.replace("_pointmap.ply", "_normal.npz"), avg_normal) cv2.imwrite(pcd_save_path.replace("_pointmap.ply", "_normal_viz.png"), avg_normal_viz[..., [2,1,0]]) if save_depth: os.makedirs(save_dir, exist_ok=True) pre_depth_viz = colorize(pre_depth, cmap="Spectral", vmin=None, vmax=None) cv2.imwrite(pcd_save_path.replace("_pointmap.ply", "_depth_viz.png"), pre_depth_viz) if save_pcd: os.makedirs(save_dir, exist_ok=True) o3d.io.write_point_cloud(pcd_save_path, o3d_pcd) return ret_dict def parse_args(): parser = argparse.ArgumentParser(description="Infer normal and depth from RGB images") parser.add_argument("--model_path", required=True, help="path to model checkpoint") parser.add_argument("--img_dir", required=True, help="path to images folder") parser.add_argument("--save_dir", required=True, help="path to save folder") parser.add_argument("--pair_mode", default="near", choices=["self", "near", "sequence"], help="mode to pair images") parser.add_argument("--size", default=512, type=int, help="image infer size") args = parser.parse_args() return args def main(): args = parse_args() infer_imgs(model = args.model_path, img_dir = args.img_dir, save_dir = args.save_dir, size=args.size, device="cuda", pair_mode="near", save_depth=True, save_normal=True, save_pcd=True) if __name__ == "__main__": main() ================================================ FILE: mast3r/.gitignore ================================================ data/ data checkpoints/ checkpoints .vscode/ *.tar.gz # Byte-compiled / optimized / DLL files __pycache__/ *.py[cod] *$py.class # C extensions *.so # Distribution / packaging .Python build/ develop-eggs/ dist/ downloads/ eggs/ .eggs/ lib/ lib64/ parts/ sdist/ var/ wheels/ pip-wheel-metadata/ share/python-wheels/ *.egg-info/ .installed.cfg *.egg MANIFEST # PyInstaller # Usually these files are written by a python script from a template # before PyInstaller builds the exe, so as to inject date/other infos into it. *.manifest *.spec # Installer logs pip-log.txt pip-delete-this-directory.txt # Unit test / coverage reports htmlcov/ .tox/ .nox/ .coverage .coverage.* .cache nosetests.xml coverage.xml *.cover *.py,cover .hypothesis/ .pytest_cache/ # Translations *.mo *.pot # Django stuff: *.log local_settings.py db.sqlite3 db.sqlite3-journal # Flask stuff: instance/ .webassets-cache # Scrapy stuff: .scrapy # Sphinx documentation docs/_build/ # PyBuilder target/ # Jupyter Notebook .ipynb_checkpoints # IPython profile_default/ ipython_config.py # pyenv .python-version # pipenv # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. # However, in case of collaboration, if having platform-specific dependencies or dependencies # having no cross-platform support, pipenv may install dependencies that don't work, or not # install all needed dependencies. #Pipfile.lock # PEP 582; used by e.g. github.com/David-OConnor/pyflow __pypackages__/ # Celery stuff celerybeat-schedule celerybeat.pid # SageMath parsed files *.sage.py # Environments .env .venv env/ venv/ ENV/ env.bak/ venv.bak/ # Spyder project settings .spyderproject .spyproject # Rope project settings .ropeproject # mkdocs documentation /site # mypy .mypy_cache/ .dmypy.json dmypy.json # Pyre type checker .pyre/ ================================================ FILE: mast3r/__init__.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). ================================================ FILE: mast3r/catmlp_dpt_head.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # MASt3R heads # -------------------------------------------------------- # Modifications Copyright (C) # Changes: head structure update # This is an adaptation and is distributed under the same license (CC BY-NC-SA 4.0). # SPDX-License-Identifier: CC-BY-NC-SA-4.0(non-commercial use only) import torch import torch.nn.functional as F import mast3r.utils.path_to_dust3r # noqa from dust3r.heads.postprocess import reg_dense_depth, reg_dense_conf # noqa from dust3r.heads.postprocess import reg_dense_normal, reg_dense_kappa # noqa from dust3r.heads.dpt_head import PixelwiseTaskWithDPT # noqa import dust3r.utils.path_to_croco # noqa from models.blocks import Mlp # noqa def reg_desc(desc, mode): if 'norm' in mode: desc = desc / desc.norm(dim=-1, keepdim=True) else: raise ValueError(f"Unknown desc mode {mode}") return desc def postprocess(out, depth_mode, conf_mode, desc_dim=None, desc_mode='norm', desc_conf=False, desc_conf_mode=None): if desc_conf_mode is None: desc_conf_mode = conf_mode fmap = out.permute(0, 2, 3, 1) # B,H,W,D res = dict(pts3d=reg_dense_depth(fmap[..., 0:3], mode=depth_mode)) if conf_mode is not None: res['conf'] = reg_dense_conf(fmap[..., 3], mode=conf_mode) # res['conf'] = torch.ones_like(fmap[..., 3]) * 2.0 if desc_dim is not None: start = 3 + int(conf_mode is not None) res['desc'] = reg_desc(fmap[..., start:start + desc_dim], mode=desc_mode) if desc_conf: res['desc_conf'] = reg_dense_conf(fmap[..., start + desc_dim], mode=desc_conf_mode) else: res['desc_conf'] = res['conf'].clone() return res # only normal in one DPT Head def postprocess_normal(out, normal_mode): fmap = out.permute(0, 2, 3, 1) # B,H,W,D res = dict(normal=reg_dense_normal(fmap[..., 0:3], mode=normal_mode)) if "kappa" in normal_mode: res['kappa'] = reg_dense_kappa(fmap[..., 3], mode=normal_mode) return res def postprocess_semantic(out, normal_mode): # out = out.permute(0, 2, 3, 1) # B,H,W,D res = dict(seg_prob=out) return res class Cat_MLP_LocalFeatures_DPT_Pts3d(PixelwiseTaskWithDPT): """ Mixture between MLP and DPT head that outputs 3d points and local features (with MLP). The input for both heads is a concatenation of Encoder and Decoder outputs """ def __init__(self, net, has_conf=False, local_feat_dim=16, hidden_dim_factor=4., hooks_idx=None, dim_tokens=None, num_channels=1, postprocess=None, feature_dim=256, last_dim=32, depth_mode=None, conf_mode=None, head_type="regression", **kwargs): super().__init__(num_channels=num_channels, feature_dim=feature_dim, last_dim=last_dim, hooks_idx=hooks_idx, dim_tokens=dim_tokens, depth_mode=depth_mode, postprocess=postprocess, conf_mode=conf_mode, head_type=head_type) self.local_feat_dim = local_feat_dim patch_size = net.patch_embed.patch_size if isinstance(patch_size, tuple): assert len(patch_size) == 2 and isinstance(patch_size[0], int) and isinstance( patch_size[1], int), "What is your patchsize format? Expected a single int or a tuple of two ints." assert patch_size[0] == patch_size[1], "Error, non square patches not managed" patch_size = patch_size[0] self.patch_size = patch_size self.desc_mode = net.desc_mode self.has_conf = has_conf self.desc_conf = net.desc_conf # independent confs for 3D regr and descs self.desc_conf_mode = net.desc_conf_mode idim = net.enc_embed_dim + net.dec_embed_dim self.head_local_features = Mlp(in_features=idim, hidden_features=int(hidden_dim_factor * idim), out_features=(self.local_feat_dim + self.desc_conf) * self.patch_size**2) def forward(self, decout, img_shape): # pass through the heads pts3d = self.dpt(decout, image_size=(img_shape[0], img_shape[1])) # recover encoder and decoder outputs enc_output, dec_output = decout[0], decout[-1] cat_output = torch.cat([enc_output, dec_output], dim=-1) # concatenate H, W = img_shape B, S, D = cat_output.shape # extract local_features local_features = self.head_local_features(cat_output) # B,S,D local_features = local_features.transpose(-1, -2).view(B, -1, H // self.patch_size, W // self.patch_size) local_features = F.pixel_shuffle(local_features, self.patch_size) # B,d,H,W # post process 3D pts, descriptors and confidences out = torch.cat([pts3d, local_features], dim=1) if self.postprocess: out = self.postprocess(out, depth_mode=self.depth_mode, conf_mode=self.conf_mode, desc_dim=self.local_feat_dim, desc_mode=self.desc_mode, desc_conf=self.desc_conf, desc_conf_mode=self.desc_conf_mode) return out def mast3r_head_factory(head_type, output_mode, net, has_conf=False, has_mask=False): """" build a prediction head for the decoder """ if head_type == 'catmlp+dpt' and output_mode.startswith('pts3d+desc'): local_feat_dim = int(output_mode[10:]) assert net.dec_depth > 9 l2 = net.dec_depth feature_dim = 256 last_dim = feature_dim // 2 out_nchan = 3 ed = net.enc_embed_dim dd = net.dec_embed_dim return Cat_MLP_LocalFeatures_DPT_Pts3d(net, local_feat_dim=local_feat_dim, has_conf=has_conf, num_channels=out_nchan + has_conf + has_mask, feature_dim=feature_dim, last_dim=last_dim, hooks_idx=[0, l2 * 2 // 4, l2 * 3 // 4, l2], dim_tokens=[ed, dd, dd, dd], postprocess=postprocess, depth_mode=net.depth_mode, conf_mode=net.conf_mode, head_type='regression') elif head_type == 'dpt' and output_mode.startswith('normal'): assert net.dec_depth > 9 l2 = net.dec_depth feature_dim = 256 last_dim = feature_dim//2 out_nchan = 3 ed = net.enc_embed_dim dd = net.dec_embed_dim if "kappa" in output_mode: use_kappa = True else: use_kappa = False return PixelwiseTaskWithDPT(num_channels=out_nchan + use_kappa, feature_dim=feature_dim, last_dim=last_dim, hooks_idx=[0, l2*2//4, l2*3//4, l2], dim_tokens=[ed, dd, dd, dd], postprocess=postprocess_normal, # depth_mode=("linear", -float("inf"), float("inf")), # conf_mode=("not_used", -float("inf"), float("inf")), normal_mode=net.normal_mode, head_type='regression') elif head_type == 'dpt' and output_mode.startswith('semantic'): assert net.dec_depth > 9 l2 = net.dec_depth feature_dim = 256 last_dim = feature_dim//2 out_nchan = 40 + 1 ed = net.enc_embed_dim dd = net.dec_embed_dim return PixelwiseTaskWithDPT(num_channels=out_nchan, feature_dim=feature_dim, last_dim=last_dim, hooks_idx=[0, l2*2//4, l2*3//4, l2], dim_tokens=[ed, dd, dd, dd], postprocess=postprocess_semantic, normal_mode=net.normal_mode, head_type='regression') else: raise NotImplementedError( f"unexpected {head_type=} and {output_mode=}") ================================================ FILE: mast3r/colmap_utils/__init__.py ================================================ ================================================ FILE: mast3r/colmap_utils/database.py ================================================ # Copyright (c) 2018, ETH Zurich and UNC Chapel Hill. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # # * Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. # # * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of # its contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) # This script is based on an original implementation by True Price. import sys import sqlite3 import numpy as np IS_PYTHON3 = sys.version_info[0] >= 3 MAX_IMAGE_ID = 2**31 - 1 CREATE_CAMERAS_TABLE = """CREATE TABLE IF NOT EXISTS cameras ( camera_id INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL, model INTEGER NOT NULL, width INTEGER NOT NULL, height INTEGER NOT NULL, params BLOB, prior_focal_length INTEGER NOT NULL)""" CREATE_DESCRIPTORS_TABLE = """CREATE TABLE IF NOT EXISTS descriptors ( image_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, FOREIGN KEY(image_id) REFERENCES images(image_id) ON DELETE CASCADE)""" CREATE_IMAGES_TABLE = """CREATE TABLE IF NOT EXISTS images ( image_id INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL, name TEXT NOT NULL UNIQUE, camera_id INTEGER NOT NULL, prior_qw REAL, prior_qx REAL, prior_qy REAL, prior_qz REAL, prior_tx REAL, prior_ty REAL, prior_tz REAL, CONSTRAINT image_id_check CHECK(image_id >= 0 and image_id < {}), FOREIGN KEY(camera_id) REFERENCES cameras(camera_id)) """.format(MAX_IMAGE_ID) CREATE_TWO_VIEW_GEOMETRIES_TABLE = """ CREATE TABLE IF NOT EXISTS two_view_geometries ( pair_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, config INTEGER NOT NULL, F BLOB, E BLOB, H BLOB, qvec BLOB, tvec BLOB) """ CREATE_KEYPOINTS_TABLE = """CREATE TABLE IF NOT EXISTS keypoints ( image_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, FOREIGN KEY(image_id) REFERENCES images(image_id) ON DELETE CASCADE) """ CREATE_MATCHES_TABLE = """CREATE TABLE IF NOT EXISTS matches ( pair_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB)""" CREATE_NAME_INDEX = \ "CREATE UNIQUE INDEX IF NOT EXISTS index_name ON images(name)" CREATE_ALL = "; ".join([ CREATE_CAMERAS_TABLE, CREATE_IMAGES_TABLE, CREATE_KEYPOINTS_TABLE, CREATE_DESCRIPTORS_TABLE, CREATE_MATCHES_TABLE, CREATE_TWO_VIEW_GEOMETRIES_TABLE, CREATE_NAME_INDEX ]) def image_ids_to_pair_id(image_id1, image_id2): if image_id1 > image_id2: image_id1, image_id2 = image_id2, image_id1 return image_id1 * MAX_IMAGE_ID + image_id2 def pair_id_to_image_ids(pair_id): image_id2 = pair_id % MAX_IMAGE_ID image_id1 = (pair_id - image_id2) / MAX_IMAGE_ID return image_id1, image_id2 def array_to_blob(array): if IS_PYTHON3: return array.tobytes() else: return np.getbuffer(array) def blob_to_array(blob, dtype, shape=(-1,)): if IS_PYTHON3: return np.fromstring(blob, dtype=dtype).reshape(*shape) else: return np.frombuffer(blob, dtype=dtype).reshape(*shape) class COLMAPDatabase(sqlite3.Connection): @staticmethod def connect(database_path): return sqlite3.connect(str(database_path), factory=COLMAPDatabase) def __init__(self, *args, **kwargs): super(COLMAPDatabase, self).__init__(*args, **kwargs) self.create_tables = lambda: self.executescript(CREATE_ALL) self.create_cameras_table = \ lambda: self.executescript(CREATE_CAMERAS_TABLE) self.create_descriptors_table = \ lambda: self.executescript(CREATE_DESCRIPTORS_TABLE) self.create_images_table = \ lambda: self.executescript(CREATE_IMAGES_TABLE) self.create_two_view_geometries_table = \ lambda: self.executescript(CREATE_TWO_VIEW_GEOMETRIES_TABLE) self.create_keypoints_table = \ lambda: self.executescript(CREATE_KEYPOINTS_TABLE) self.create_matches_table = \ lambda: self.executescript(CREATE_MATCHES_TABLE) self.create_name_index = lambda: self.executescript(CREATE_NAME_INDEX) def add_camera(self, model, width, height, params, prior_focal_length=False, camera_id=None): params = np.asarray(params, np.float64) cursor = self.execute( "INSERT INTO cameras VALUES (?, ?, ?, ?, ?, ?)", (camera_id, model, width, height, array_to_blob(params), prior_focal_length)) return cursor.lastrowid def add_image(self, name, camera_id, prior_q=np.full(4, np.nan), prior_t=np.full(3, np.nan), image_id=None): cursor = self.execute( "INSERT INTO images VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)", (image_id, name, camera_id, prior_q[0], prior_q[1], prior_q[2], prior_q[3], prior_t[0], prior_t[1], prior_t[2])) return cursor.lastrowid def add_keypoints(self, image_id, keypoints): assert(len(keypoints.shape) == 2) assert(keypoints.shape[1] in [2, 4, 6]) keypoints = np.asarray(keypoints, np.float32) self.execute( "INSERT INTO keypoints VALUES (?, ?, ?, ?)", (image_id,) + keypoints.shape + (array_to_blob(keypoints),)) def add_descriptors(self, image_id, descriptors): descriptors = np.ascontiguousarray(descriptors, np.uint8) self.execute( "INSERT INTO descriptors VALUES (?, ?, ?, ?)", (image_id,) + descriptors.shape + (array_to_blob(descriptors),)) def add_matches(self, image_id1, image_id2, matches): assert(len(matches.shape) == 2) assert(matches.shape[1] == 2) if image_id1 > image_id2: matches = matches[:,::-1] pair_id = image_ids_to_pair_id(image_id1, image_id2) matches = np.asarray(matches, np.uint32) self.execute( "INSERT INTO matches VALUES (?, ?, ?, ?)", (pair_id,) + matches.shape + (array_to_blob(matches),)) def add_two_view_geometry(self, image_id1, image_id2, matches, F=np.eye(3), E=np.eye(3), H=np.eye(3), qvec=np.array([1.0, 0.0, 0.0, 0.0]), tvec=np.zeros(3), config=2): assert(len(matches.shape) == 2) assert(matches.shape[1] == 2) if image_id1 > image_id2: matches = matches[:,::-1] pair_id = image_ids_to_pair_id(image_id1, image_id2) matches = np.asarray(matches, np.uint32) F = np.asarray(F, dtype=np.float64) E = np.asarray(E, dtype=np.float64) H = np.asarray(H, dtype=np.float64) qvec = np.asarray(qvec, dtype=np.float64) tvec = np.asarray(tvec, dtype=np.float64) self.execute( "INSERT INTO two_view_geometries VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)", (pair_id,) + matches.shape + (array_to_blob(matches), config, array_to_blob(F), array_to_blob(E), array_to_blob(H), array_to_blob(qvec), array_to_blob(tvec))) def example_usage(): import os import argparse parser = argparse.ArgumentParser() parser.add_argument("--database_path", default="database.db") args = parser.parse_args() if os.path.exists(args.database_path): print("ERROR: database path already exists -- will not modify it.") return # Open the database. db = COLMAPDatabase.connect(args.database_path) # For convenience, try creating all the tables upfront. db.create_tables() # Create dummy cameras. model1, width1, height1, params1 = \ 0, 1024, 768, np.array((1024., 512., 384.)) model2, width2, height2, params2 = \ 2, 1024, 768, np.array((1024., 512., 384., 0.1)) camera_id1 = db.add_camera(model1, width1, height1, params1) camera_id2 = db.add_camera(model2, width2, height2, params2) # Create dummy images. image_id1 = db.add_image("image1.png", camera_id1) image_id2 = db.add_image("image2.png", camera_id1) image_id3 = db.add_image("image3.png", camera_id2) image_id4 = db.add_image("image4.png", camera_id2) # Create dummy keypoints. # # Note that COLMAP supports: # - 2D keypoints: (x, y) # - 4D keypoints: (x, y, theta, scale) # - 6D affine keypoints: (x, y, a_11, a_12, a_21, a_22) num_keypoints = 1000 keypoints1 = np.random.rand(num_keypoints, 2) * (width1, height1) keypoints2 = np.random.rand(num_keypoints, 2) * (width1, height1) keypoints3 = np.random.rand(num_keypoints, 2) * (width2, height2) keypoints4 = np.random.rand(num_keypoints, 2) * (width2, height2) db.add_keypoints(image_id1, keypoints1) db.add_keypoints(image_id2, keypoints2) db.add_keypoints(image_id3, keypoints3) db.add_keypoints(image_id4, keypoints4) # Create dummy matches. M = 50 matches12 = np.random.randint(num_keypoints, size=(M, 2)) matches23 = np.random.randint(num_keypoints, size=(M, 2)) matches34 = np.random.randint(num_keypoints, size=(M, 2)) db.add_matches(image_id1, image_id2, matches12) db.add_matches(image_id2, image_id3, matches23) db.add_matches(image_id3, image_id4, matches34) # Commit the data to the file. db.commit() # Read and check cameras. rows = db.execute("SELECT * FROM cameras") camera_id, model, width, height, params, prior = next(rows) params = blob_to_array(params, np.float64) assert camera_id == camera_id1 assert model == model1 and width == width1 and height == height1 assert np.allclose(params, params1) camera_id, model, width, height, params, prior = next(rows) params = blob_to_array(params, np.float64) assert camera_id == camera_id2 assert model == model2 and width == width2 and height == height2 assert np.allclose(params, params2) # Read and check keypoints. keypoints = dict( (image_id, blob_to_array(data, np.float32, (-1, 2))) for image_id, data in db.execute( "SELECT image_id, data FROM keypoints")) assert np.allclose(keypoints[image_id1], keypoints1) assert np.allclose(keypoints[image_id2], keypoints2) assert np.allclose(keypoints[image_id3], keypoints3) assert np.allclose(keypoints[image_id4], keypoints4) # Read and check matches. pair_ids = [image_ids_to_pair_id(*pair) for pair in ((image_id1, image_id2), (image_id2, image_id3), (image_id3, image_id4))] matches = dict( (pair_id_to_image_ids(pair_id), blob_to_array(data, np.uint32, (-1, 2))) for pair_id, data in db.execute("SELECT pair_id, data FROM matches") ) assert np.all(matches[(image_id1, image_id2)] == matches12) assert np.all(matches[(image_id2, image_id3)] == matches23) assert np.all(matches[(image_id3, image_id4)] == matches34) # Clean up. db.close() if os.path.exists(args.database_path): os.remove(args.database_path) if __name__ == "__main__": example_usage() ================================================ FILE: mast3r/colmap_utils/database_utils.py ================================================ # Copyright (C) 2025-present Alibaba Group. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # COLMAP database utils # -------------------------------------------------------- import os import io import sys import h5py import shutil import pycolmap import subprocess import contextlib import numpy as np import multiprocessing from tqdm import tqdm from typing import Tuple from pathlib import Path from mast3r.colmap_utils.database import COLMAPDatabase from typing import Optional, List, Dict, Any def create_empty_db(database_path: Path): if database_path.exists(): # logger.warning('The database already exists, deleting it.') database_path.unlink() # logger.info('Creating an empty database...') db = COLMAPDatabase.connect(database_path) db.create_tables() db.commit() db.close() def import_images(image_dir: Path, database_path: Path, camera_mode: pycolmap.CameraMode, image_list: Optional[List[str]] = None, options: Optional[Dict[str, Any]] = None): # logger.info('Importing images into the database...') if options is None: options = {} images = list(image_dir.iterdir()) if len(images) == 0: raise IOError(f'No images found in {image_dir}.') with pycolmap.ostream(): pycolmap.import_images(database_path, image_dir, camera_mode, image_list=image_list or [], options=options) def get_image_ids(database_path: Path) -> Dict[str, int]: db = COLMAPDatabase.connect(database_path) images = {} for name, image_id in db.execute("SELECT name, image_id FROM images;"): images[name] = image_id db.close() return images def get_keypoints(path: Path, name: str, return_uncertainty: bool = False) -> np.ndarray: with h5py.File(str(path), 'r', libver='latest') as hfile: dset = hfile[name]['keypoints'] p = dset.__array__() uncertainty = dset.attrs.get('uncertainty') if return_uncertainty: return p, uncertainty return p def import_features(image_ids: Dict[str, int], database_path: Path, features_path: Path): # logger.info('Importing features into the database...') db = COLMAPDatabase.connect(database_path) for image_name, image_id in tqdm(image_ids.items()): keypoints = get_keypoints(features_path, image_name) keypoints += 0.5 # COLMAP origin db.add_keypoints(image_id, keypoints) db.commit() db.close() def find_pair(hfile: h5py.File, name0: str, name1: str): def names_to_pair(name0, name1, separator='/'): return separator.join((name0.replace('/', '-'), name1.replace('/', '-'))) def names_to_pair_old(name0, name1): return names_to_pair(name0, name1, separator='_') pair = names_to_pair(name0, name1) if pair in hfile: return pair, False pair = names_to_pair(name1, name0) if pair in hfile: return pair, True # older, less efficient format pair = names_to_pair_old(name0, name1) if pair in hfile: return pair, False pair = names_to_pair_old(name1, name0) if pair in hfile: return pair, True raise ValueError( f'Could not find pair {(name0, name1)}... ' 'Maybe you matched with a different list of pairs? ') def get_matches(path: Path, name0: str, name1: str) -> Tuple[np.ndarray]: with h5py.File(str(path), 'r', libver='latest') as hfile: pair, reverse = find_pair(hfile, name0, name1) matches = hfile[pair]['matches0'].__array__() scores = hfile[pair]['matching_scores0'].__array__() idx = np.where(matches != -1)[0] matches = np.stack([idx, matches[idx]], -1) if reverse: matches = np.flip(matches, -1) scores = scores[idx] return matches, scores def import_matches(image_ids: Dict[str, int], database_path: Path, pairs_path: Path, matches_path: Path, min_match_score: Optional[float] = None, skip_geometric_verification: bool = False): # logger.info('Importing matches into the database...') with open(str(pairs_path), 'r') as f: pairs = [p.split() for p in f.readlines()] db = COLMAPDatabase.connect(database_path) matched = set() for name0, name1 in tqdm(pairs): id0, id1 = image_ids[name0], image_ids[name1] if len({(id0, id1), (id1, id0)} & matched) > 0: continue matches, scores = get_matches(matches_path, name0, name1) if min_match_score: matches = matches[scores > min_match_score] db.add_matches(id0, id1, matches) matched |= {(id0, id1), (id1, id0)} if skip_geometric_verification: db.add_two_view_geometry(id0, id1, matches) db.commit() db.close() class OutputCapture: def __init__(self, verbose: bool): self.verbose = verbose def __enter__(self): if not self.verbose: self.capture = contextlib.redirect_stdout(io.StringIO()) self.out = self.capture.__enter__() def __exit__(self, exc_type, *args): if not self.verbose: self.capture.__exit__(exc_type, *args) # if exc_type is not None: # logger.error('Failed with output:\n%s', self.out.getvalue()) sys.stdout.flush() def estimation_and_geometric_verification(database_path: Path, pairs_path: Path, verbose: bool = False): # logger.info('Performing geometric verification of the matches...') with OutputCapture(verbose): with pycolmap.ostream(): pycolmap.verify_matches( database_path, pairs_path) def run_reconstruction(sfm_dir: Path, database_path: Path, image_dir: Path, verbose: bool = False, options: Optional[Dict[str, Any]] = None, ) -> pycolmap.Reconstruction: models_path = sfm_dir / 'models' models_path.mkdir(exist_ok=True, parents=True) if options is None: options = {} options = {'num_threads': min(multiprocessing.cpu_count(), 16), **options} with OutputCapture(verbose): with pycolmap.ostream(): reconstructions = pycolmap.incremental_mapping( database_path, image_dir, models_path, options=options) if len(reconstructions) == 0: return None largest_index = None largest_num_images = 0 for index, rec in reconstructions.items(): num_images = rec.num_reg_images() if num_images > largest_num_images: largest_index = index largest_num_images = num_images assert largest_index is not None for filename in ['images.bin', 'cameras.bin', 'points3D.bin']: if (sfm_dir / filename).exists(): (sfm_dir / filename).unlink() shutil.move( str(models_path / str(largest_index) / filename), str(sfm_dir)) return reconstructions[largest_index] def glomap_run_mapper(glomap_bin, colmap_db_path, recon_path, image_root_path): print("running GLOMAP mapping...") args = [ 'mapper', '--database_path', colmap_db_path, '--image_path', image_root_path, '--output_path', recon_path ] args.insert(0, glomap_bin) glomap_process = subprocess.Popen(args) glomap_process.wait() if glomap_process.returncode != 0: raise ValueError( '\nSubprocess Error (Return code:' f' {glomap_process.returncode} )') ouput_recon = pycolmap.Reconstruction(os.path.join(recon_path, '0')) return ouput_recon def run_triangulation(model_path: Path, database_path: Path, image_dir: Path, reference_model: pycolmap.Reconstruction, verbose: bool = False, options: Optional[Dict[str, Any]] = None, ) -> pycolmap.Reconstruction: model_path.mkdir(parents=True, exist_ok=True) if options is None: options = {} with OutputCapture(verbose): with pycolmap.ostream(): reconstruction = pycolmap.triangulate_points( reference_model, database_path, image_dir, model_path, options=options) return reconstruction def create_db_from_model(reconstruction: pycolmap.Reconstruction, database_path: Path) -> Dict[str, int]: if database_path.exists(): database_path.unlink() db = COLMAPDatabase.connect(database_path) db.create_tables() for i, camera in reconstruction.cameras.items(): db.add_camera( camera.model.value, camera.width, camera.height, camera.params, camera_id=camera.camera_id, prior_focal_length=True) for i, image in reconstruction.images.items(): db.add_image(image.name, image.camera_id, image_id=i) db.commit() db.close() return {image.name: i for i, image in reconstruction.images.items()} def import_keypts(database_path: Path, imgs_keypts_dict: dict, img_name_dict: dict): db = COLMAPDatabase.connect(database_path) for img_name, img_keypts_dict in tqdm(imgs_keypts_dict.items(), desc="Importing keypts"): key_pts = np.array(list(img_keypts_dict.keys())).astype(np.float64) key_pts += 0.5 # COLMAP origin img_id = img_name_dict[img_name] if (len(key_pts.shape) != 2) or (key_pts.shape[1] not in [2, 4, 6]): db.execute("DELETE FROM images WHERE name=?", (img_name,)) continue db.add_keypoints(img_id, key_pts) db.commit() db.close() def import_mts(database_path: Path, matches_dict: dict, skip_geometric_verification: bool = False): db = COLMAPDatabase.connect(database_path) matched = set() for (id0, id1), matches_pts_idx in tqdm(matches_dict.items(), desc="Importing matches"): if len({(id0, id1), (id1, id0)} & matched) > 0: continue if len(matches_pts_idx.shape) != 2: continue db.add_matches(id0, id1, matches_pts_idx) matched |= {(id0, id1), (id1, id0)} if skip_geometric_verification: db.add_two_view_geometry(id0, id1, matches_pts_idx) db.commit() db.close() ================================================ FILE: mast3r/fast_nn.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # MASt3R Fast Nearest Neighbor # -------------------------------------------------------- import torch import numpy as np import math from scipy.spatial import KDTree import mast3r.utils.path_to_dust3r # noqa from dust3r.utils.device import to_numpy, todevice # noqa @torch.no_grad() def bruteforce_reciprocal_nns(A, B, device='cuda', block_size=None, dist='l2'): if isinstance(A, np.ndarray): A = torch.from_numpy(A).to(device) if isinstance(B, np.ndarray): B = torch.from_numpy(B).to(device) A = A.to(device) B = B.to(device) if dist == 'l2': dist_func = torch.cdist argmin = torch.min elif dist == 'dot': def dist_func(A, B): return A @ B.T def argmin(X, dim): sim, nn = torch.max(X, dim=dim) return sim.neg_(), nn else: raise ValueError(f'Unknown {dist=}') if block_size is None or len(A) * len(B) <= block_size**2: dists = dist_func(A, B) _, nn_A = argmin(dists, dim=1) _, nn_B = argmin(dists, dim=0) else: dis_A = torch.full((A.shape[0],), float('inf'), device=device, dtype=A.dtype) dis_B = torch.full((B.shape[0],), float('inf'), device=device, dtype=B.dtype) nn_A = torch.full((A.shape[0],), -1, device=device, dtype=torch.int64) nn_B = torch.full((B.shape[0],), -1, device=device, dtype=torch.int64) number_of_iteration_A = math.ceil(A.shape[0] / block_size) number_of_iteration_B = math.ceil(B.shape[0] / block_size) for i in range(number_of_iteration_A): A_i = A[i * block_size:(i + 1) * block_size] for j in range(number_of_iteration_B): B_j = B[j * block_size:(j + 1) * block_size] dists_blk = dist_func(A_i, B_j) # A, B, 1 # dists_blk = dists[i * block_size:(i+1)*block_size, j * block_size:(j+1)*block_size] min_A_i, argmin_A_i = argmin(dists_blk, dim=1) min_B_j, argmin_B_j = argmin(dists_blk, dim=0) col_mask = min_A_i < dis_A[i * block_size:(i + 1) * block_size] line_mask = min_B_j < dis_B[j * block_size:(j + 1) * block_size] dis_A[i * block_size:(i + 1) * block_size][col_mask] = min_A_i[col_mask] dis_B[j * block_size:(j + 1) * block_size][line_mask] = min_B_j[line_mask] nn_A[i * block_size:(i + 1) * block_size][col_mask] = argmin_A_i[col_mask] + (j * block_size) nn_B[j * block_size:(j + 1) * block_size][line_mask] = argmin_B_j[line_mask] + (i * block_size) nn_A = nn_A.cpu().numpy() nn_B = nn_B.cpu().numpy() return nn_A, nn_B class cdistMatcher: def __init__(self, db_pts, device='cuda'): self.db_pts = db_pts.to(device) self.device = device def query(self, queries, k=1, **kw): assert k == 1 if queries.numel() == 0: return None, [] nnA, nnB = bruteforce_reciprocal_nns(queries, self.db_pts, device=self.device, **kw) dis = None return dis, nnA def merge_corres(idx1, idx2, shape1=None, shape2=None, ret_xy=True, ret_index=False): assert idx1.dtype == idx2.dtype == np.int32 # unique and sort along idx1 corres = np.unique(np.c_[idx2, idx1].view(np.int64), return_index=ret_index) if ret_index: corres, indices = corres xy2, xy1 = corres[:, None].view(np.int32).T if ret_xy: assert shape1 and shape2 xy1 = np.unravel_index(xy1, shape1) xy2 = np.unravel_index(xy2, shape2) if ret_xy != 'y_x': xy1 = xy1[0].base[:, ::-1] xy2 = xy2[0].base[:, ::-1] if ret_index: return xy1, xy2, indices return xy1, xy2 def fast_reciprocal_NNs(pts1, pts2, subsample_or_initxy1=8, ret_xy=True, pixel_tol=0, ret_basin=False, device='cuda', **matcher_kw): H1, W1, DIM1 = pts1.shape H2, W2, DIM2 = pts2.shape assert DIM1 == DIM2 pts1 = pts1.reshape(-1, DIM1) pts2 = pts2.reshape(-1, DIM2) if isinstance(subsample_or_initxy1, int) and pixel_tol == 0: S = subsample_or_initxy1 y1, x1 = np.mgrid[S // 2:H1:S, S // 2:W1:S].reshape(2, -1) max_iter = 10 else: x1, y1 = subsample_or_initxy1 if isinstance(x1, torch.Tensor): x1 = x1.cpu().numpy() if isinstance(y1, torch.Tensor): y1 = y1.cpu().numpy() max_iter = 1 xy1 = np.int32(np.unique(x1 + W1 * y1)) # make sure there's no doublons xy2 = np.full_like(xy1, -1) old_xy1 = xy1.copy() old_xy2 = xy2.copy() if 'dist' in matcher_kw or 'block_size' in matcher_kw \ or (isinstance(device, str) and device.startswith('cuda')) \ or (isinstance(device, torch.device) and device.type.startswith('cuda')): pts1 = pts1.to(device) pts2 = pts2.to(device) tree1 = cdistMatcher(pts1, device=device) tree2 = cdistMatcher(pts2, device=device) else: pts1, pts2 = to_numpy((pts1, pts2)) tree1 = KDTree(pts1) tree2 = KDTree(pts2) notyet = np.ones(len(xy1), dtype=bool) basin = np.full((H1 * W1 + 1,), -1, dtype=np.int32) if ret_basin else None niter = 0 # n_notyet = [len(notyet)] while notyet.any(): _, xy2[notyet] = to_numpy(tree2.query(pts1[xy1[notyet]], **matcher_kw)) if not ret_basin: notyet &= (old_xy2 != xy2) # remove points that have converged _, xy1[notyet] = to_numpy(tree1.query(pts2[xy2[notyet]], **matcher_kw)) if ret_basin: basin[old_xy1[notyet]] = xy1[notyet] notyet &= (old_xy1 != xy1) # remove points that have converged # n_notyet.append(notyet.sum()) niter += 1 if niter >= max_iter: break old_xy2[:] = xy2 old_xy1[:] = xy1 # print('notyet_stats:', ' '.join(map(str, (n_notyet+[0]*10)[:max_iter]))) if pixel_tol > 0: # in case we only want to match some specific points # and still have some way of checking reciprocity old_yx1 = np.unravel_index(old_xy1, (H1, W1))[0].base new_yx1 = np.unravel_index(xy1, (H1, W1))[0].base dis = np.linalg.norm(old_yx1 - new_yx1, axis=-1) converged = dis < pixel_tol if not isinstance(subsample_or_initxy1, int): xy1 = old_xy1 # replace new points by old ones else: converged = ~notyet # converged correspondences # keep only unique correspondences, and sort on xy1 xy1, xy2 = merge_corres(xy1[converged], xy2[converged], (H1, W1), (H2, W2), ret_xy=ret_xy) if ret_basin: return xy1, xy2, basin return xy1, xy2 def extract_correspondences_nonsym(A, B, confA, confB, subsample=8, device=None, ptmap_key='pred_desc', pixel_tol=0): if '3d' in ptmap_key: opt = dict(device='cpu', workers=32) else: opt = dict(device=device, dist='dot', block_size=2**13) # matching the two pairs idx1 = [] idx2 = [] # merge corres from opposite pairs HA, WA = A.shape[:2] HB, WB = B.shape[:2] if pixel_tol == 0: nn1to2 = fast_reciprocal_NNs(A, B, subsample_or_initxy1=subsample, ret_xy=False, **opt) nn2to1 = fast_reciprocal_NNs(B, A, subsample_or_initxy1=subsample, ret_xy=False, **opt) else: S = subsample yA, xA = np.mgrid[S // 2:HA:S, S // 2:WA:S].reshape(2, -1) yB, xB = np.mgrid[S // 2:HB:S, S // 2:WB:S].reshape(2, -1) nn1to2 = fast_reciprocal_NNs(A, B, subsample_or_initxy1=(xA, yA), ret_xy=False, pixel_tol=pixel_tol, **opt) nn2to1 = fast_reciprocal_NNs(B, A, subsample_or_initxy1=(xB, yB), ret_xy=False, pixel_tol=pixel_tol, **opt) idx1 = np.r_[nn1to2[0], nn2to1[1]] idx2 = np.r_[nn1to2[1], nn2to1[0]] c1 = confA.ravel()[idx1] c2 = confB.ravel()[idx2] xy1, xy2, idx = merge_corres(idx1, idx2, (HA, WA), (HB, WB), ret_xy=True, ret_index=True) conf = np.minimum(c1[idx], c2[idx]) corres = (xy1.copy(), xy2.copy(), conf) return todevice(corres, device) ================================================ FILE: mast3r/image_pairs.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # utilities needed to load image pairs # -------------------------------------------------------- import numpy as np import torch from mast3r.retrieval.graph import make_pairs_fps def make_pairs(imgs, scene_graph='complete', prefilter=None, symmetrize=True, sim_mat=None): pairs = [] if scene_graph == 'complete': # complete graph for i in range(len(imgs)): for j in range(i): pairs.append((imgs[i], imgs[j])) elif scene_graph.startswith('swin'): iscyclic = not scene_graph.endswith('noncyclic') try: winsize = int(scene_graph.split('-')[1]) except Exception as e: winsize = 3 pairsid = set() for i in range(len(imgs)): for j in range(1, winsize + 1): idx = (i + j) if iscyclic: idx = idx % len(imgs) # explicit loop closure if idx >= len(imgs): continue pairsid.add((i, idx) if i < idx else (idx, i)) for i, j in pairsid: pairs.append((imgs[i], imgs[j])) elif scene_graph.startswith('logwin'): iscyclic = not scene_graph.endswith('noncyclic') try: winsize = int(scene_graph.split('-')[1]) except Exception as e: winsize = 3 offsets = [2**i for i in range(winsize)] pairsid = set() for i in range(len(imgs)): ixs_l = [i - off for off in offsets] ixs_r = [i + off for off in offsets] for j in ixs_l + ixs_r: if iscyclic: j = j % len(imgs) # Explicit loop closure if j < 0 or j >= len(imgs) or j == i: continue pairsid.add((i, j) if i < j else (j, i)) for i, j in pairsid: pairs.append((imgs[i], imgs[j])) elif scene_graph.startswith('oneref'): refid = int(scene_graph.split('-')[1]) if '-' in scene_graph else 0 for j in range(len(imgs)): if j != refid: pairs.append((imgs[refid], imgs[j])) elif scene_graph.startswith('retrieval'): mode, Na, k = scene_graph.split('-') assert sim_mat is not None, "sim_mat is required for retrieval mode" fps_pairs, anchor_idxs = make_pairs_fps(sim_mat, Na=int(Na), tokK=int(k), dist_thresh=None) for i, j in fps_pairs: pairs.append((imgs[i], imgs[j])) else: raise ValueError(f'unrecognized value for {scene_graph=}') if symmetrize: pairs += [(img2, img1) for img1, img2 in pairs] # now, remove edges if isinstance(prefilter, str) and prefilter.startswith('seq'): pairs = filter_pairs_seq(pairs, int(prefilter[3:])) if isinstance(prefilter, str) and prefilter.startswith('cyc'): pairs = filter_pairs_seq(pairs, int(prefilter[3:]), cyclic=True) return pairs def sel(x, kept): if isinstance(x, dict): return {k: sel(v, kept) for k, v in x.items()} if isinstance(x, (torch.Tensor, np.ndarray)): return x[kept] if isinstance(x, (tuple, list)): return type(x)([x[k] for k in kept]) def _filter_edges_seq(edges, seq_dis_thr, cyclic=False): # number of images n = max(max(e) for e in edges) + 1 kept = [] for e, (i, j) in enumerate(edges): dis = abs(i - j) if cyclic: dis = min(dis, abs(i + n - j), abs(i - n - j)) if dis <= seq_dis_thr: kept.append(e) return kept def filter_pairs_seq(pairs, seq_dis_thr, cyclic=False): edges = [(img1['idx'], img2['idx']) for img1, img2 in pairs] kept = _filter_edges_seq(edges, seq_dis_thr, cyclic=cyclic) return [pairs[i] for i in kept] def filter_edges_seq(view1, view2, pred1, pred2, seq_dis_thr, cyclic=False): edges = [(int(i), int(j)) for i, j in zip(view1['idx'], view2['idx'])] kept = _filter_edges_seq(edges, seq_dis_thr, cyclic=cyclic) print(f'>> Filtering edges more than {seq_dis_thr} frames apart: kept {len(kept)}/{len(edges)} edges') return sel(view1, kept), sel(view2, kept), sel(pred1, kept), sel(pred2, kept) ================================================ FILE: mast3r/losses.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Implementation of MASt3R training losses # -------------------------------------------------------- # Modifications Copyright (C) # Changes: loss function update # This is an adaptation and is distributed under the same license (CC BY-NC-SA 4.0). # SPDX-License-Identifier: CC-BY-NC-SA-4.0(non-commercial use only) import torch import torch.nn as nn import numpy as np from sklearn.metrics import average_precision_score import mast3r.utils.path_to_dust3r # noqa from dust3r.losses import BaseCriterion, Criterion, MultiLoss, Sum, ConfLoss from dust3r.losses import Regr3D as Regr3D_dust3r from dust3r.utils.geometry import (geotrf, inv, normalize_pointcloud) from dust3r.inference import get_pred_pts3d from dust3r.utils.geometry import get_joint_pointcloud_depth, get_joint_pointcloud_center_scale from mast3r.ssim import ssim, SSIM def apply_log_to_norm(xyz): d = xyz.norm(dim=-1, keepdim=True) xyz = xyz / d.clip(min=1e-8) xyz = xyz * torch.log1p(d) return xyz def normalized_depth_scale_and_shift(prediction, target, mask): """ More info here: https://arxiv.org/pdf/2206.00665.pdf supplementary section A2 Depth Consistency Loss This function computes scale/shift required to normalizes predicted depth map, to allow for using normalized depth maps as input from monocular depth estimation networks. These networks are trained such that they predict normalized depth maps. Solves for scale/shift using a least squares approach with a closed form solution: Based on: https://github.com/autonomousvision/monosdf/blob/d9619e948bf3d85c6adec1a643f679e2e8e84d4b/code/model/loss.py#L7 Args: prediction: predicted depth map target: ground truth depth map mask: mask of valid pixels Returns: scale and shift for depth prediction """ # system matrix: A = [[a_00, a_01], [a_10, a_11]] a_00 = torch.sum(mask * prediction * prediction, (1, 2)) a_01 = torch.sum(mask * prediction, (1, 2)) a_11 = torch.sum(mask, (1, 2)) # right hand side: b = [b_0, b_1] b_0 = torch.sum(mask * prediction * target, (1, 2)) b_1 = torch.sum(mask * target, (1, 2)) # solution: x = A^-1 . b = [[a_11, -a_01], [-a_10, a_00]] / (a_00 * a_11 - a_01 * a_10) . b scale = torch.zeros_like(b_0) shift = torch.zeros_like(b_1) det = a_00 * a_11 - a_01 * a_01 valid = det.nonzero() scale[valid] = (a_11[valid] * b_0[valid] - a_01[valid] * b_1[valid]) / det[valid] shift[valid] = (-a_01[valid] * b_0[valid] + a_00[valid] * b_1[valid]) / det[valid] return scale, shift ''' Regr3D(L21, norm_mode='avg_dis', align_pts=False, sky_loss_value=0) ''' class Regr3D (Regr3D_dust3r): def __init__(self, criterion, norm_mode='avg_dis', gt_scale=False, opt_fit_gt=False, sky_loss_value=2, max_metric_scale=False, loss_in_log=False, align_pts=True, add_align_depth_loss=False): self.loss_in_log = loss_in_log if norm_mode.startswith('?'): # do no norm pts from metric scale datasets self.norm_all = False self.norm_mode = norm_mode[1:] else: self.norm_all = True self.norm_mode = norm_mode super().__init__(criterion, self.norm_mode, gt_scale) self.sky_loss_value = sky_loss_value self.max_metric_scale = max_metric_scale self.align_pts = align_pts self.add_align_depth_loss = add_align_depth_loss def get_all_pts3d(self, gt1, gt2, pred1, pred2, dist_clip=None): # everything is normalized w.r.t. camera of view1 in_camera1 = inv(gt1['camera_pose']) gt_pts1 = geotrf(in_camera1, gt1['pts3d']) # B,H,W,3 if self.align_pts: gt_pts2 = geotrf(in_camera1, gt2['pts3d']) # B,H,W,3 else: in_camera2 = inv(gt2['camera_pose']) gt_pts2 = geotrf(in_camera2, gt2['pts3d']) valid1 = gt1['valid_mask'].clone() valid2 = gt2['valid_mask'].clone() if dist_clip is not None: # points that are too far-away == invalid dis1 = gt_pts1.norm(dim=-1) # (B, H, W) dis2 = gt_pts2.norm(dim=-1) # (B, H, W) valid1 = valid1 & (dis1 <= dist_clip) valid2 = valid2 & (dis2 <= dist_clip) if self.loss_in_log == 'before': # this only make sense when depth_mode == 'linear' gt_pts1 = apply_log_to_norm(gt_pts1) gt_pts2 = apply_log_to_norm(gt_pts2) pr_pts1 = get_pred_pts3d(gt1, pred1, use_pose=False).clone() pr_pts2 = get_pred_pts3d(gt2, pred2, use_pose=True).clone() if not self.norm_all: # metric scale depth do not norm if self.max_metric_scale: B = valid1.shape[0] # valid1: B, H, W # torch.linalg.norm(gt_pts1, dim=-1) -> B, H, W # dist1_to_cam1 -> reshape to B, H*W dist1_to_cam1 = torch.where(valid1, torch.linalg.norm(gt_pts1, dim=-1), 0).view(B, -1) dist2_to_cam1 = torch.where(valid2, torch.linalg.norm(gt_pts2, dim=-1), 0).view(B, -1) # is_metric_scale: B # dist1_to_cam1.max(dim=-1).values -> B gt1['is_metric_scale'] = gt1['is_metric_scale'] \ & (dist1_to_cam1.max(dim=-1).values < self.max_metric_scale) \ & (dist2_to_cam1.max(dim=-1).values < self.max_metric_scale) gt2['is_metric_scale'] = gt1['is_metric_scale'] mask = ~gt1['is_metric_scale'] else: mask = torch.ones_like(gt1['is_metric_scale']) # normalize 3d points if self.norm_mode and mask.any(): pr_pts1[mask], pr_pts2[mask] = normalize_pointcloud(pr_pts1[mask], pr_pts2[mask], self.norm_mode, valid1[mask], valid2[mask]) if self.norm_mode and not self.gt_scale: gt_pts1, gt_pts2, norm_factor = normalize_pointcloud(gt_pts1, gt_pts2, self.norm_mode, valid1, valid2, ret_factor=True) # apply the same normalization to prediction pr_pts1[~mask] = pr_pts1[~mask] / norm_factor[~mask] pr_pts2[~mask] = pr_pts2[~mask] / norm_factor[~mask] # return sky segmentation, making sure they don't include any labelled 3d points sky1 = gt1['sky_mask'] & (~valid1) sky2 = gt2['sky_mask'] & (~valid2) return gt_pts1, gt_pts2, pr_pts1, pr_pts2, valid1, valid2, sky1, sky2, {} def get_all_pts3d_align(self, gt1, gt2, pred1, pred2): # everything is normalized w.r.t. camera of view1 in_camera1 = inv(gt1['camera_pose']) gt_pts1 = geotrf(in_camera1, gt1['pts3d']) # B,H,W,3 if self.align_pts: gt_pts2 = geotrf(in_camera1, gt2['pts3d']) # B,H,W,3 else: in_camera2 = inv(gt2['camera_pose']) gt_pts2 = geotrf(in_camera2, gt2['pts3d']) valid1 = gt1['valid_mask'].clone() valid2 = gt2['valid_mask'].clone() pr_pts1 = get_pred_pts3d(gt1, pred1, use_pose=False).clone() pr_pts2 = get_pred_pts3d(gt2, pred2, use_pose=True).clone() # align pointcloud scale1, shift1 = normalized_depth_scale_and_shift( prediction=pr_pts1[..., -1], target=gt_pts1[..., -1], mask=valid1) scale1 = scale1.reshape(-1, 1, 1, 1) shift1 = shift1.reshape(-1, 1, 1, 1) pr_pts1 = pr_pts1 * scale1 + shift1 scale2, shift2 = normalized_depth_scale_and_shift( prediction=pr_pts2[..., -1], target=gt_pts2[..., -1], mask=valid2) scale2 = scale2.reshape(-1, 1, 1, 1) shift2 = shift2.reshape(-1, 1, 1, 1) pr_pts2 = pr_pts2 * scale2 + shift2 # return sky segmentation, making sure they don't include any labelled 3d points sky1 = gt1['sky_mask'] & (~valid1) sky2 = gt2['sky_mask'] & (~valid2) return gt_pts1, gt_pts2, pr_pts1, pr_pts2, valid1, valid2, sky1, sky2, {} def compute_loss(self, gt1, gt2, pred1, pred2, **kw): gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, sky1, sky2, monitoring = \ self.get_all_pts3d(gt1, gt2, pred1, pred2, **kw) # gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, sky1, sky2, monitoring = \ # self.get_all_pts3d_align(gt1, gt2, pred1, pred2, **kw) if self.sky_loss_value > 0: assert self.criterion.reduction == 'none', 'sky_loss_value should be 0 if no conf loss' # add the sky pixel as "valid" pixels... mask1 = mask1 | sky1 mask2 = mask2 | sky2 # loss on img1 side pred_pts1 = pred_pts1[mask1] gt_pts1 = gt_pts1[mask1] if self.loss_in_log and self.loss_in_log != 'before': # this only make sense when depth_mode == 'exp' pred_pts1 = apply_log_to_norm(pred_pts1) gt_pts1 = apply_log_to_norm(gt_pts1) l1 = self.criterion(pred_pts1, gt_pts1) # loss on gt2 side pred_pts2 = pred_pts2[mask2] gt_pts2 = gt_pts2[mask2] if self.loss_in_log and self.loss_in_log != 'before': pred_pts2 = apply_log_to_norm(pred_pts2) gt_pts2 = apply_log_to_norm(gt_pts2) l2 = self.criterion(pred_pts2, gt_pts2) if self.sky_loss_value > 0: assert self.criterion.reduction == 'none', 'sky_loss_value should be 0 if no conf loss' # ... but force the loss to be high there l1 = torch.where(sky1[mask1], self.sky_loss_value, l1) l2 = torch.where(sky2[mask2], self.sky_loss_value, l2) self_name = type(self).__name__ details = {self_name + '_pts3d_1': float(l1.mean()), self_name + '_pts3d_2': float(l2.mean())} return Sum((l1, mask1), (l2, mask2)), (details | monitoring) class AlignDepthLoss(MultiLoss): def __init__(self, align_pts): super().__init__() self.align_pts = align_pts def get_name(self): return f'AlignDepthLoss' def compute_align_depth_loss(self, gt1, gt2, pred1, pred2): # everything is normalized w.r.t. camera of view1 in_camera1 = inv(gt1['camera_pose']) gt_pts1 = geotrf(in_camera1, gt1['pts3d']) # B,H,W,3 if self.align_pts: gt_pts2 = geotrf(in_camera1, gt2['pts3d']) # B,H,W,3 else: in_camera2 = inv(gt2['camera_pose']) gt_pts2 = geotrf(in_camera2, gt2['pts3d']) valid1 = gt1['valid_mask'].clone() valid2 = gt2['valid_mask'].clone() pr_pts1 = get_pred_pts3d(gt1, pred1, use_pose=False).clone() pr_pts2 = get_pred_pts3d(gt2, pred2, use_pose=True).clone() # align pointcloud scale1, shift1 = normalized_depth_scale_and_shift( prediction=pr_pts1[..., -1], target=gt_pts1[..., -1], mask=valid1) scale1 = scale1.reshape(-1, 1, 1, 1) shift1 = shift1.reshape(-1, 1, 1, 1) pre_depth1 = pr_pts1[..., -1] * scale1[..., 0] + shift1[..., 0] scale2, shift2 = normalized_depth_scale_and_shift( prediction=pr_pts2[..., -1], target=gt_pts2[..., -1], mask=valid2) scale2 = scale2.reshape(-1, 1, 1, 1) shift2 = shift2.reshape(-1, 1, 1, 1) pre_depth2 = pr_pts2[..., -1] * scale2[..., 0] + shift2[..., 0] # compute loss L1 loss1 = torch.abs(pre_depth1 - gt_pts1[..., -1])[valid1].mean() loss2 = torch.abs(pre_depth2 - gt_pts2[..., -1])[valid2].mean() return loss1, loss2 def compute_loss(self, gt1, gt2, pred1, pred2, **kw): loss1, loss2 = self.compute_align_depth_loss(gt1, gt2, pred1, pred2) loss_count = loss1 + loss2 details = {"align_depth_loss_1": float(loss1), "align_depth_loss_2": float(loss2), "align_depth_loss_count": float(loss_count)} return loss_count, details class RawDepthLoss(MultiLoss): def __init__(self): super().__init__() def get_name(self): return f'RawDepthLoss' def compute_depth_loss(self, gt1, gt2, pred1, pred2): in_camera1 = inv(gt1['camera_pose']) gt_pts1 = geotrf(in_camera1, gt1['pts3d']) # B,H,W,3 gt_depth1 = gt_pts1[..., -1:] in_camera2 = inv(gt2['camera_pose']) gt_pts2 = geotrf(in_camera2, gt2['pts3d']) # B,H,W,3 gt_depth2 = gt_pts2[..., -1:] valid1 = gt1['valid_mask'].clone() valid2 = gt2['valid_mask'].clone() pred_depth1 = pred1["depth"] pred_depth2 = pred2["depth"] # align pointcloud scale1, shift1 = normalized_depth_scale_and_shift( prediction=pred_depth1[..., 0], target=gt_depth1[..., 0], mask=valid1) scale1 = scale1.reshape(-1, 1, 1, 1) shift1 = shift1.reshape(-1, 1, 1, 1) pre_depth1 = pred_depth1[..., -1] * scale1[..., 0] + shift1[..., 0] scale2, shift2 = normalized_depth_scale_and_shift( prediction=pred_depth2[..., 0], target=gt_depth2[..., 0], mask=valid2) scale2 = scale2.reshape(-1, 1, 1, 1) shift2 = shift2.reshape(-1, 1, 1, 1) pre_depth2 = pred_depth2[..., -1] * scale2[..., 0] + shift2[..., 0] # compute loss L1 loss1 = torch.abs(pre_depth1 - gt_pts1[..., -1])[valid1].mean() loss2 = torch.abs(pre_depth2 - gt_pts2[..., -1])[valid2].mean() return loss1, loss2 def compute_loss(self, gt1, gt2, pred1, pred2, **kw): loss1, loss2 = self.compute_depth_loss(gt1, gt2, pred1, pred2) loss_count = loss1 + loss2 details = {"raw_depth_loss_1": float(loss1), "raw_depth_loss_2": float(loss2), "raw_depth_loss_count": float(loss_count)} return loss_count, details class SegmentationLoss(MultiLoss): def __init__(self): super().__init__() self.seg_criterion = nn.CrossEntropyLoss() def get_name(self): return f'SegmentationLoss' def compute_loss(self, gt1, gt2, pred1, pred2, **kw): seg_label1 = gt1["seg_label"].long() seg_label2 = gt2["seg_label"].long() seg_pred1 = pred1["seg_prob"] # B,C,H,W seg_pred2 = pred2["seg_prob"] # B,C,H,W loss = self.seg_criterion(seg_pred1, seg_label1) + self.seg_criterion(seg_pred2, seg_label2) details = {"SegmentationLoss": float(loss)} return loss, details class Regr3D_ShiftInv (Regr3D): """ Same than Regr3D but invariant to depth shift. """ def get_all_pts3d(self, gt1, gt2, pred1, pred2): # compute unnormalized points gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, sky1, sky2, monitoring = \ super().get_all_pts3d(gt1, gt2, pred1, pred2) # compute median depth gt_z1, gt_z2 = gt_pts1[..., 2], gt_pts2[..., 2] pred_z1, pred_z2 = pred_pts1[..., 2], pred_pts2[..., 2] gt_shift_z = get_joint_pointcloud_depth(gt_z1, gt_z2, mask1, mask2)[:, None, None] pred_shift_z = get_joint_pointcloud_depth(pred_z1, pred_z2, mask1, mask2)[:, None, None] # subtract the median depth gt_z1 -= gt_shift_z gt_z2 -= gt_shift_z pred_z1 -= pred_shift_z pred_z2 -= pred_shift_z # monitoring = dict(monitoring, gt_shift_z=gt_shift_z.mean().detach(), pred_shift_z=pred_shift_z.mean().detach()) return gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, sky1, sky2, monitoring class Regr3D_ScaleInv (Regr3D): """ Same than Regr3D but invariant to depth scale. if gt_scale == True: enforce the prediction to take the same scale than GT """ def get_all_pts3d(self, gt1, gt2, pred1, pred2): # compute depth-normalized points gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, sky1, sky2, monitoring = \ super().get_all_pts3d(gt1, gt2, pred1, pred2) # measure scene scale _, gt_scale = get_joint_pointcloud_center_scale(gt_pts1, gt_pts2, mask1, mask2) _, pred_scale = get_joint_pointcloud_center_scale(pred_pts1, pred_pts2, mask1, mask2) # prevent predictions to be in a ridiculous range pred_scale = pred_scale.clip(min=1e-3, max=1e3) # subtract the median depth if self.gt_scale: pred_pts1 *= gt_scale / pred_scale pred_pts2 *= gt_scale / pred_scale else: gt_pts1 /= gt_scale gt_pts2 /= gt_scale pred_pts1 /= pred_scale pred_pts2 /= pred_scale return gt_pts1, gt_pts2, pred_pts1, pred_pts2, mask1, mask2, sky1, sky2, monitoring class Regr3D_ScaleShiftInv (Regr3D_ScaleInv, Regr3D_ShiftInv): # calls Regr3D_ShiftInv first, then Regr3D_ScaleInv pass def get_similarities(desc1, desc2, euc=False): if euc: # euclidean distance in same range than similarities dists = (desc1[:, :, None] - desc2[:, None]).norm(dim=-1) sim = 1 / (1 + dists) else: # Compute similarities sim = desc1 @ desc2.transpose(-2, -1) return sim class MatchingCriterion(BaseCriterion): def __init__(self, reduction='mean', fp=torch.float32): super().__init__(reduction) self.fp = fp def forward(self, a, b, valid_matches=None, euc=False): assert a.ndim >= 2 and 1 <= a.shape[-1], f'Bad shape = {a.shape}' dist = self.loss(a.to(self.fp), b.to(self.fp), valid_matches, euc=euc) # one dimension less or reduction to single value assert (valid_matches is None and dist.ndim == a.ndim - 1) or self.reduction in ['mean', 'sum', '1-mean', 'none'] if self.reduction == 'none': return dist if self.reduction == 'sum': return dist.sum() if self.reduction == 'mean': return dist.mean() if dist.numel() > 0 else dist.new_zeros(()) if self.reduction == '1-mean': return 1. - dist.mean() if dist.numel() > 0 else dist.new_ones(()) raise ValueError(f'bad {self.reduction=} mode') def loss(self, a, b, valid_matches=None): raise NotImplementedError class InfoNCE(MatchingCriterion): def __init__(self, temperature=0.07, eps=1e-8, mode='all', **kwargs): super().__init__(**kwargs) self.temperature = temperature self.eps = eps assert mode in ['all', 'proper', 'dual'] self.mode = mode def loss(self, desc1, desc2, valid_matches=None, euc=False): # valid positives are along diagonals B, N, D = desc1.shape B2, N2, D2 = desc2.shape assert B == B2 and D == D2 if valid_matches is None: valid_matches = torch.ones([B, N], dtype=bool) # torch.all(valid_matches.sum(dim=-1) > 0) some pairs have no matches???? assert valid_matches.shape == torch.Size([B, N])# and valid_matches.sum() > 0 assert valid_matches.sum() > 0 # Tempered similarities sim = get_similarities(desc1, desc2, euc) / self.temperature sim[sim.isnan()] = -torch.inf # ignore nans # Softmax of positives with temperature sim = sim.exp_() # save peak memory positives = sim.diagonal(dim1=-2, dim2=-1) # Loss if self.mode == 'all': # Previous InfoNCE loss = -torch.log((positives / sim.sum(dim=-1).sum(dim=-1, keepdim=True)).clip(self.eps)) elif self.mode == 'proper': # Proper InfoNCE loss = -(torch.log((positives / sim.sum(dim=-2)).clip(self.eps)) + torch.log((positives / sim.sum(dim=-1)).clip(self.eps))) elif self.mode == 'dual': # Dual Softmax loss = -(torch.log((positives**2 / sim.sum(dim=-1) / sim.sum(dim=-2)).clip(self.eps))) else: raise ValueError("This should not happen...") return loss[valid_matches] class APLoss (MatchingCriterion): """ AP loss. Input: (N, M) values in [min, max] label: (N, M) values in {0, 1} Returns: 1 - mAP (mean AP for each n in {1..N}) Note: typically, this is what you wanna minimize """ def __init__(self, nq='torch', min=0, max=1, euc=False, **kw): super().__init__(**kw) # Exact/True AP loss (not differentiable) if nq == 0: nq = 'sklearn' # special case try: self.compute_AP = eval('self.compute_true_AP_' + nq) except: raise ValueError("Unknown mode %s for AP loss" % nq) @staticmethod def compute_true_AP_sklearn(scores, labels): def compute_AP(label, score): return average_precision_score(label, score) aps = scores.new_zeros((scores.shape[0], scores.shape[1])) label_np = labels.cpu().numpy().astype(bool) scores_np = scores.cpu().numpy() for bi in range(scores_np.shape[0]): for i in range(scores_np.shape[1]): labels = label_np[bi, i, :] if labels.sum() < 1: continue aps[bi, i] = compute_AP(labels, scores_np[bi, i, :]) return aps @staticmethod def compute_true_AP_torch(scores, labels): assert scores.shape == labels.shape B, N, M = labels.shape dev = labels.device with torch.no_grad(): # sort scores _, order = scores.sort(dim=-1, descending=True) # sort labels accordingly labels = labels[torch.arange(B, device=dev)[:, None, None].expand(order.shape), torch.arange(N, device=dev)[None, :, None].expand(order.shape), order] # compute number of positives per query npos = labels.sum(dim=-1) assert torch.all(torch.isclose(npos, npos[0, 0]) ), "only implemented for constant number of positives per query" npos = int(npos[0, 0]) # compute precision at each recall point posrank = labels.nonzero()[:, -1].view(B, N, npos) recall = torch.arange(1, 1 + npos, dtype=torch.float32, device=dev)[None, None, :].expand(B, N, npos) precision = recall / (1 + posrank).float() # average precision values at all recall points aps = precision.mean(dim=-1) return aps def loss(self, desc1, desc2, valid_matches=None, euc=False): # if matches is None, positives are the diagonal B, N1, D = desc1.shape B2, N2, D2 = desc2.shape assert B == B2 and D == D2 scores = get_similarities(desc1, desc2, euc) # scores higher -> matching better, B,N1,N2 labels = torch.zeros([B, N1, N2], dtype=scores.dtype, device=scores.device) # allow all diagonal positives and only mask afterwards labels.diagonal(dim1=-2, dim2=-1)[...] = 1. apscore = self.compute_AP(scores, labels) if valid_matches is not None: apscore = apscore[valid_matches] return apscore class MatchingLoss (Criterion, MultiLoss): """ Matching loss per image only compare pixels inside an image but not in the whole batch as what would be done usually """ def __init__(self, criterion, withconf=False, use_pts3d=False, negatives_padding=0, blocksize=4096): super().__init__(criterion) self.negatives_padding = negatives_padding self.use_pts3d = use_pts3d self.blocksize = blocksize self.withconf = withconf def add_negatives(self, outdesc2, desc2, batchid, x2, y2): if self.negatives_padding: B, H, W, D = desc2.shape negatives = torch.ones([B, H, W], device=desc2.device, dtype=bool) negatives[batchid, y2, x2] = False sel = negatives & (negatives.view([B, -1]).cumsum(dim=-1).view(B, H, W) <= self.negatives_padding) # take the N-first negatives outdesc2 = torch.cat([outdesc2, desc2[sel].view([B, -1, D])], dim=1) return outdesc2 def get_confs(self, pred1, pred2, sel1, sel2): if self.withconf: if self.use_pts3d: outconfs1 = pred1['conf'][sel1] outconfs2 = pred2['conf'][sel2] else: outconfs1 = pred1['desc_conf'][sel1] outconfs2 = pred2['desc_conf'][sel2] else: outconfs1 = outconfs2 = None return outconfs1, outconfs2 def get_descs(self, pred1, pred2): if self.use_pts3d: desc1, desc2 = pred1['pts3d'], pred2['pts3d_in_other_view'] else: desc1, desc2 = pred1['desc'], pred2['desc'] return desc1, desc2 def get_matching_descs(self, gt1, gt2, pred1, pred2, **kw): outdesc1 = outdesc2 = outconfs1 = outconfs2 = None # Recover descs, GT corres and valid mask desc1, desc2 = self.get_descs(pred1, pred2) (x1, y1), (x2, y2) = gt1['corres'].unbind(-1), gt2['corres'].unbind(-1) valid_matches = gt1['valid_corres'] # Select descs that have GT matches B, N = x1.shape batchid = torch.arange(B)[:, None].repeat(1, N) # B, N outdesc1, outdesc2 = desc1[batchid, y1, x1], desc2[batchid, y2, x2] # B, N, D # Padd with unused negatives outdesc2 = self.add_negatives(outdesc2, desc2, batchid, x2, y2) # Gather confs if needed sel1 = batchid, y1, x1 sel2 = batchid, y2, x2 outconfs1, outconfs2 = self.get_confs(pred1, pred2, sel1, sel2) return outdesc1, outdesc2, outconfs1, outconfs2, valid_matches, {'use_euclidean_dist': self.use_pts3d} def blockwise_criterion(self, descs1, descs2, confs1, confs2, valid_matches, euc, rng=np.random, shuffle=True): loss = None details = {} B, N, D = descs1.shape if N <= self.blocksize: # Blocks are larger than provided descs, compute regular loss loss = self.criterion(descs1, descs2, valid_matches, euc=euc) # info_NCE_loss / APLoss else: # Compute criterion on the blockdiagonal only, after shuffling # Shuffle if necessary matches_perm = slice(None) if shuffle: matches_perm = np.stack([rng.choice(range(N), size=N, replace=False) for _ in range(B)]) batchid = torch.tile(torch.arange(B), (N, 1)).T matches_perm = batchid, matches_perm descs1 = descs1[matches_perm] descs2 = descs2[matches_perm] valid_matches = valid_matches[matches_perm] assert N % self.blocksize == 0, "Error, can't chunk block-diagonal, please check blocksize" n_chunks = N // self.blocksize descs1 = descs1.reshape([B * n_chunks, self.blocksize, D]) # [B*(N//blocksize), blocksize, D] descs2 = descs2.reshape([B * n_chunks, self.blocksize, D]) # [B*(N//blocksize), blocksize, D] valid_matches = valid_matches.view([B * n_chunks, self.blocksize]) loss = self.criterion(descs1, descs2, valid_matches, euc=euc) if self.withconf: confs1, confs2 = map(lambda x: x[matches_perm], (confs1, confs2)) # apply perm to confidences if needed if self.withconf: # split confidences between positives/negatives for loss computation details['conf_pos'] = map(lambda x: x[valid_matches.view(B, -1)], (confs1, confs2)) details['conf_neg'] = map(lambda x: x[~valid_matches.view(B, -1)], (confs1, confs2)) details['Conf1_std'] = confs1[valid_matches.view(B, -1)].std() details['Conf2_std'] = confs2[valid_matches.view(B, -1)].std() return loss, details def compute_loss(self, gt1, gt2, pred1, pred2, **kw): # Gather preds and GT descs1, descs2, confs1, confs2, valid_matches, monitoring = self.get_matching_descs( gt1, gt2, pred1, pred2, **kw) # loss on matches loss, details = self.blockwise_criterion(descs1, descs2, confs1, confs2, valid_matches, euc=monitoring.pop('use_euclidean_dist', False)) details[type(self).__name__] = float(loss.mean()) return loss, (details | monitoring) class NormalMetric(MultiLoss): def __init__(self): super().__init__() def get_name(self): return f'NormalMetric' def compute_loss(self, gt1, gt2, pred1, pred2, **kw): assert "normal" in pred1 and "normal" in pred2 gt_normal1 = gt1['normalmap'] pred_normal1 = pred1['normal'] gt_normal2 = gt2['normalmap'] pred_normal2 = pred2['normal'] mask1 = gt1['valid_mask'].clone() mask2 = gt2['valid_mask'].clone() dot1 = torch.cosine_similarity(pred_normal1, gt_normal1, dim=-1) # B,H,W valid_normal_mask1 = mask1.float() * (dot1.detach() < 0.999999).float() * (dot1.detach() > -0.999999).float() valid_normal_mask1 = valid_normal_mask1 > 0.0 dot1 = dot1[valid_normal_mask1].clip(-1, 1) rmse1 = (((pred_normal1 - gt_normal1)**2).sum(axis=-1))[valid_normal_mask1] rmse1 = torch.sqrt(rmse1).mean() angle_err1 = (torch.acos(dot1) / torch.pi * 180).mean() dot2 = torch.cosine_similarity(pred_normal2, gt_normal2, dim=-1) # B,H,W valid_normal_mask2 = mask2.float() * (dot2.detach() < 0.999999).float() * (dot2.detach() > -0.999999).float() valid_normal_mask2 = valid_normal_mask2 > 0.0 dot2 = dot2[valid_normal_mask2].clip(-1, 1) rmse2 = (((pred_normal2 - gt_normal2)**2).sum(axis=-1))[valid_normal_mask2] rmse2 = torch.sqrt(rmse2).mean() angle_err2 = (torch.acos(dot2) / torch.pi * 180).mean() details = {"rmse1": float(rmse1), "rmse2": float(rmse2), "angle_err1": float(angle_err1), "angle_err2": float(angle_err2), "rmse_count": float(rmse1 + rmse2)} return rmse1 + rmse2, details class KappaNormalLoss(MultiLoss): def __init__(self): super().__init__() def get_name(self): return f'KappaNormalLoss' def compute_loss(self, gt1, gt2, pred1, pred2, **kw): assert "normal" in pred1 and "normal" in pred2 gt_normal1 = gt1['normalmap'] pred_normal1 = pred1['normal'] kappa1 = pred1['kappa'] # B,H,W normal_mask1 = gt_normal1.abs().sum(-1) ## remove invalid normal gt_normal2 = gt2['normalmap'] pred_normal2 = pred2['normal'] kappa2 = pred2['kappa'] normal_mask2 = gt_normal2.abs().sum(-1) mask1 = gt1['valid_mask'].clone() mask2 = gt2['valid_mask'].clone() # mask1, mask2: B,H,W dot1 = torch.cosine_similarity(pred_normal1, gt_normal1, dim=-1) # B,H,W valid_normal_mask1 = mask1.float() * (dot1.detach() < 0.999).float() * (dot1.detach() > -0.999).float() valid_normal_mask1 = valid_normal_mask1 * normal_mask1 > 0.0 dot1 = dot1[valid_normal_mask1] kappa1 = kappa1[valid_normal_mask1] if dot1.shape[0] > 0: normal_loss1 = - torch.log(torch.square(kappa1) + 1) \ + kappa1 * torch.acos(dot1) \ + torch.log(1 + torch.exp(-kappa1 * np.pi)) normal_loss1 = torch.mean(normal_loss1) else: normal_loss1 = torch.tensor(0.0).to(kappa1) dot2 = torch.cosine_similarity(pred_normal2, gt_normal2, dim=-1) # B,H,W valid_normal_mask2 = mask2.float() * (dot2.detach() < 0.999).float() * (dot2.detach() > -0.999).float() valid_normal_mask2 = valid_normal_mask2 * normal_mask2 > 0.0 dot2 = dot2[valid_normal_mask2] kappa2 = kappa2[valid_normal_mask2] if dot2.shape[0] > 0: normal_loss2 = - torch.log(torch.square(kappa2) + 1) \ + kappa2 * torch.acos(dot2) \ + torch.log(1 + torch.exp(-kappa2 * np.pi)) normal_loss2 = torch.mean(normal_loss2) else: normal_loss2 = torch.tensor(0.0).to(kappa2) details = {"normal_loss1": float(normal_loss1), "normal_loss2": float(normal_loss2), "normal_loss_count": float(normal_loss1 + normal_loss2)} return normal_loss1 + normal_loss2, details class ABSNormalLoss(MultiLoss): def __init__(self): super().__init__() def get_name(self): return f'ABSNormalLoss' def compute_loss(self, gt1, gt2, pred1, pred2, **kw): assert "normal" in pred1 and "normal" in pred2 gt_normal1 = gt1['normalmap'] pred_normal1 = pred1['normal'] normal_mask1 = gt_normal1.abs().sum(-1) ## remove invalid normal gt_normal2 = gt2['normalmap'] pred_normal2 = pred2['normal'] normal_mask2 = gt_normal2.abs().sum(-1) mask1 = gt1['valid_mask'].clone() mask2 = gt2['valid_mask'].clone() valid_normal_mask1 = mask1 * normal_mask1 > 0.0 valid_normal_mask2 = mask2 * normal_mask2 > 0.0 if valid_normal_mask1.sum() > 0: loss_abs_1 = torch.abs(pred_normal1 - gt_normal1).sum(axis=-1) loss_abs_1 = loss_abs_1[valid_normal_mask1].mean() else: loss_abs_1 = torch.tensor(0.0).to(pred_normal1) if valid_normal_mask2.sum() > 0: loss_abs_2 = torch.abs(pred_normal2 - gt_normal2).sum(axis=-1) loss_abs_2 = loss_abs_2[valid_normal_mask2].mean() else: loss_abs_2 = torch.tensor(0.0).to(pred_normal2) details = {"normal_loss1": float(loss_abs_1), "normal_loss2": float(loss_abs_2), "normal_loss_count": float(loss_abs_1 + loss_abs_2)} return loss_abs_1 + loss_abs_2, details class SSIMNormalLoss(MultiLoss): def __init__(self): super().__init__() self.ssim_loss = SSIM(window_size=11, size_average=True) def get_name(self): return f'SSIMNormalLoss' def compute_loss(self, gt1, gt2, pred1, pred2, **kw): assert "normal" in pred1 and "normal" in pred2 gt_normal1 = gt1['normalmap'] pred_normal1 = pred1['normal'] normal_mask1 = gt_normal1.abs().sum(-1) ## remove invalid normal gt_normal2 = gt2['normalmap'] pred_normal2 = pred2['normal'] normal_mask2 = gt_normal2.abs().sum(-1) mask1 = gt1['valid_mask'].clone() mask2 = gt2['valid_mask'].clone() valid_normal_mask1 = mask1 * normal_mask1 > 0.0 valid_normal_mask2 = mask2 * normal_mask2 > 0.0 # set invalid normal zone to 0 pred_normal1_copy = pred_normal1.clone() pred_normal2_copy = pred_normal2.clone() gt_normal1_copy = gt_normal1.clone() gt_normal2_copy = gt_normal2.clone() pred_normal1_copy[~valid_normal_mask1] = 0.0 pred_normal2_copy[~valid_normal_mask2] = 0.0 gt_normal1_copy[~valid_normal_mask1] = 0.0 gt_normal2_copy[~valid_normal_mask2] = 0.0 if valid_normal_mask1.sum() > 0: loss_ssim_1 = 1 - self.ssim_loss(pred_normal1_copy, gt_normal1_copy) else: loss_ssim_1 = torch.tensor(0.0).to(pred_normal1_copy) if valid_normal_mask2.sum() > 0: loss_ssim_2 = 1 - self.ssim_loss(pred_normal2_copy, gt_normal2_copy) else: loss_ssim_2 = torch.tensor(0.0).to(pred_normal2_copy) details = {"ssim_normal_loss1": float(loss_ssim_1), "ssim_normal_loss2": float(loss_ssim_2), "ssim_normal_loss_count": float(loss_ssim_1 + loss_ssim_2)} return loss_ssim_1 + loss_ssim_2, details class ABSNormalFromDepthLoss(MultiLoss): def __init__(self): super().__init__() def get_name(self): return f'ABSNormalFromDepthLoss' def pcd2normal_torch(self, xyz): B, hd, wd, _ = xyz.shape bottom_point = xyz[..., 2:hd, 1:wd-1, :] top_point = xyz[..., 0:hd-2, 1:wd-1, :] right_point = xyz[..., 1:hd-1, 2:wd, :] left_point = xyz[..., 1:hd-1, 0:wd-2, :] left_to_right = right_point - left_point bottom_to_top = top_point - bottom_point # xyz_normal = np.cross(left_to_right, bottom_to_top, axis=-1) xyz_normal = torch.linalg.cross(left_to_right, bottom_to_top, dim=-1) # lefthand <<==>> righthand xyz_normal[..., 1] = xyz_normal[..., 1] * -1 # norm = np.linalg.norm(xyz_normal, axis=-1, keepdims=True) + 1e-12 # xyz_normal = xyz_normal / norm xyz_normal = torch.nn.functional.normalize(xyz_normal, p=2.0, dim=-1, eps=1e-12, out=None) # xyz_normal = np.pad(xyz_normal, ((1,1),(1,1),(0,0)), mode='constant') xyz_normal = torch.nn.functional.pad(xyz_normal, (0, 0, 1, 1, 1, 1, 0, 0), mode='constant') return xyz_normal def compute_loss(self, gt1, gt2, pred1, pred2, **kw): assert "pts3d" in pred1 and "pts3d_in_other_view" in pred2 pts3d_1, pts3d_2 = pred1['pts3d'], pred2['pts3d_in_other_view'] # B,H,W,3 gt_normal1 = gt1['normalmap'] pred_normal1 = self.pcd2normal_torch(pts3d_1) normal_mask1 = gt_normal1.abs().sum(-1) ## remove invalid normal # gt_normal2 = gt2['normalmap'] gt_normal2 = gt2['normalmap_transformed'] pred_normal2 = self.pcd2normal_torch(pts3d_2) normal_mask2 = gt_normal2.abs().sum(-1) mask1 = gt1['valid_mask'].clone() mask2 = gt2['valid_mask'].clone() valid_normal_mask1 = (mask1 * normal_mask1) > 0.0 valid_normal_mask2 = (mask2 * normal_mask2) > 0.0 if valid_normal_mask1.sum() > 0: loss_abs_1 = torch.abs(pred_normal1 - gt_normal1).sum(axis=-1) loss_abs_1 = loss_abs_1[valid_normal_mask1].mean() else: loss_abs_1 = torch.tensor(0.0).to(pred_normal1) if valid_normal_mask2.sum() > 0: loss_abs_2 = torch.abs(pred_normal2 - gt_normal2).sum(axis=-1) loss_abs_2 = loss_abs_2[valid_normal_mask2].mean() else: loss_abs_2 = torch.tensor(0.0).to(pred_normal2) details = {"depth_normal_loss1": float(loss_abs_1), "depth_normal_loss2": float(loss_abs_2), "depth_normal_loss_count": float(loss_abs_1 + loss_abs_2)} return loss_abs_1 + loss_abs_2, details class ConfMatchingLoss(ConfLoss): """ Weight matching by learned confidence. Same as ConfLoss but for a matching criterion Assuming the input matching_loss is a match-level loss. """ def __init__(self, pixel_loss, alpha=1., confmode='prod', neg_conf_loss_quantile=False): super().__init__(pixel_loss, alpha) self.pixel_loss.withconf = True self.confmode = confmode self.neg_conf_loss_quantile = neg_conf_loss_quantile def aggregate_confs(self, confs1, confs2): # get the confidences resulting from the two view predictions if self.confmode == 'prod': confs = confs1 * confs2 if confs1 is not None and confs2 is not None else 1. elif self.confmode == 'mean': confs = .5 * (confs1 + confs2) if confs1 is not None and confs2 is not None else 1. else: raise ValueError(f"Unknown conf mode {self.confmode}") return confs def compute_loss(self, gt1, gt2, pred1, pred2, **kw): # compute per-pixel loss loss, details = self.pixel_loss(gt1, gt2, pred1, pred2, **kw) # Recover confidences for positive and negative samples conf1_pos, conf2_pos = details.pop('conf_pos') conf1_neg, conf2_neg = details.pop('conf_neg') conf_pos = self.aggregate_confs(conf1_pos, conf2_pos) # weight Matching loss by confidence on positives conf_pos, log_conf_pos = self.get_conf_log(conf_pos) conf_loss = loss * conf_pos - self.alpha * log_conf_pos # average + nan protection (in case of no valid pixels at all) conf_loss = conf_loss.mean() if conf_loss.numel() > 0 else 0 # Add negative confs loss to give some supervision signal to confidences for pixels that are not matched in GT if self.neg_conf_loss_quantile: conf_neg = torch.cat([conf1_neg, conf2_neg]) conf_neg, log_conf_neg = self.get_conf_log(conf_neg) # recover quantile that will be used for negatives loss value assignment neg_loss_value = torch.quantile(loss, self.neg_conf_loss_quantile).detach() neg_loss = neg_loss_value * conf_neg - self.alpha * log_conf_neg neg_loss = neg_loss.mean() if neg_loss.numel() > 0 else 0 conf_loss = conf_loss + neg_loss return conf_loss, dict(matching_conf_loss=float(conf_loss), **details) ================================================ FILE: mast3r/model.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # MASt3R model class # -------------------------------------------------------- # Modifications Copyright (C) # Changes: model definition # This is an adaptation and is distributed under the same license (CC BY-NC-SA 4.0). # SPDX-License-Identifier: CC-BY-NC-SA-4.0(non-commercial use only) import os import torch import torch.nn.functional as F from mast3r.catmlp_dpt_head import mast3r_head_factory import mast3r.utils.path_to_dust3r # noqa from dust3r.model import AsymmetricCroCo3DStereo # noqa from dust3r.utils.misc import transpose_to_landscape # noqa from dust3r.utils.misc import freeze_all_params inf = float('inf') def load_model(model_path, device, verbose=True): if verbose: print('... loading model from', model_path) ckpt = torch.load(model_path, map_location='cpu', weights_only=False) args = ckpt['args'].model.replace("ManyAR_PatchEmbed", "PatchEmbedDust3R") if 'landscape_only' not in args: args = args[:-1] + ', landscape_only=False)' else: args = args.replace(" ", "").replace('landscape_only=True', 'landscape_only=False') assert "landscape_only=False" in args if verbose: print(f"instantiating : {args}") net = eval(args) s = net.load_state_dict(ckpt['model'], strict=False) if verbose: print(s) return net.to(device) class AsymmetricMASt3R(AsymmetricCroCo3DStereo): def __init__(self, desc_mode=('norm'), desc_conf=False, desc_conf_mode=None, use_normal=True, has_mask=False, freeze_enc_dec=False, **kwargs): self.desc_mode = desc_mode self.desc_conf = desc_conf self.desc_conf_mode = desc_conf_mode self.use_normal = use_normal self.has_mask = has_mask super().__init__(**kwargs) def freeze_encoder_decoder(self): to_be_frozen = [ self.patch_embed, self.enc_blocks, self.enc_norm, self.decoder_embed, self.dec_blocks, self.dec_norm, ] freeze_all_params(to_be_frozen) def freeze_matching_net(self): for name, param in self.downstream_head1.named_parameters(): if "head_local_features" in name: param.requires_grad = False def load_state_dict(self, ckpt, **kw): # duplicate all weights for the second decoder if not present new_ckpt = dict(ckpt) return super().load_state_dict(new_ckpt, **kw) @classmethod def from_pretrained(cls, pretrained_model_name_or_path, **kw): if os.path.isfile(pretrained_model_name_or_path): return load_model(pretrained_model_name_or_path, device='cpu') else: return super(AsymmetricMASt3R, cls).from_pretrained(pretrained_model_name_or_path, **kw) def set_downstream_head(self, output_mode, head_type, landscape_only, depth_mode, conf_mode, normal_mode, patch_size, img_size, **kw): assert img_size[0] % patch_size == 0 and img_size[ 1] % patch_size == 0, f'{img_size=} must be multiple of {patch_size=}' self.output_mode = output_mode self.head_type = head_type self.depth_mode = depth_mode self.normal_mode = normal_mode self.conf_mode = conf_mode if self.desc_conf_mode is None: self.desc_conf_mode = conf_mode assert output_mode == "unify" self.ptsmatch_local_head = mast3r_head_factory(head_type='catmlp+dpt', output_mode='pts3d+desc24', net=self, has_conf=bool(conf_mode), has_mask=False) self.local_head = transpose_to_landscape(self.ptsmatch_local_head, activate=landscape_only) self.ptsmatch_global_head = mast3r_head_factory(head_type='catmlp+dpt', output_mode='pts3d+desc24', net=self, has_conf=bool(conf_mode), has_mask=False) self.global_head = transpose_to_landscape(self.ptsmatch_global_head, activate=landscape_only) self.normal_local_head = mast3r_head_factory(head_type='dpt', output_mode='normal', net=self, has_conf=False, has_mask=False) self.normal_head = transpose_to_landscape(self.normal_local_head, activate=landscape_only) ================================================ FILE: mast3r/retrieval/graph.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Building the graph based on retrieval results. # -------------------------------------------------------- import numpy as np def farthest_point_sampling(dist, N=None, dist_thresh=None): """Farthest point sampling. Args: dist: NxN distance matrix. N: Number of points to sample. dist_thresh: Distance threshold. Point sampling terminates once the maximum distance is below this threshold. Returns: indices: Indices of the sampled points. """ assert N is not None or dist_thresh is not None, "Either N or min_dist must be provided." if N is None: N = dist.shape[0] indices = [] distances = [0] indices.append(np.random.choice(dist.shape[0])) for i in range(1, N): d = dist[indices].min(axis=0) bst = d.argmax() bst_dist = d[bst] if dist_thresh is not None and bst_dist < dist_thresh: break indices.append(bst) distances.append(bst_dist) return np.array(indices), np.array(distances) def make_pairs_fps(sim_mat, Na=20, tokK=1, dist_thresh=None): dist_mat = 1 - sim_mat pairs = set() keyimgs_idx = np.array([]) if Na != 0: keyimgs_idx, _ = farthest_point_sampling(dist_mat, N=Na, dist_thresh=dist_thresh) # 1. Complete graph between key images for i in range(len(keyimgs_idx)): for j in range(i + 1, len(keyimgs_idx)): idx_i, idx_j = keyimgs_idx[i], keyimgs_idx[j] pairs.add((idx_i, idx_j)) # 2. Connect non-key images to the earest key image keyimg_dist_mat = dist_mat[:, keyimgs_idx] for i in range(keyimg_dist_mat.shape[0]): if i in keyimgs_idx: continue j = keyimg_dist_mat[i].argmin() i1, i2 = min(i, keyimgs_idx[j]), max(i, keyimgs_idx[j]) if i1 != i2 and (i1, i2) not in pairs: pairs.add((i1, i2)) # 3. Add some local connections (k-NN) for each view if tokK > 0: for i in range(dist_mat.shape[0]): idx = dist_mat[i].argsort()[:tokK] for j in idx: i1, i2 = min(i, j), max(i, j) if i1 != i2 and (i1, i2) not in pairs: pairs.add((i1, i2)) pairs = list(pairs) return pairs, keyimgs_idx ================================================ FILE: mast3r/retrieval/model.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Whitener and RetrievalModel # -------------------------------------------------------- import numpy as np from tqdm import tqdm import time import torch import torch.nn as nn import mast3r.utils.path_to_dust3r # noqa from dust3r.utils.image import load_images default_device = torch.device('cuda' if torch.cuda.is_available() and torch.cuda.device_count() > 0 else 'cpu') # from https://github.com/gtolias/how/blob/4d73c88e0ffb55506e2ce6249e2a015ef6ccf79f/how/utils/whitening.py#L20 def pcawhitenlearn_shrinkage(X, s=1.0): """Learn PCA whitening with shrinkage from given descriptors""" N = X.shape[0] # Learning PCA w/o annotations m = X.mean(axis=0, keepdims=True) Xc = X - m Xcov = np.dot(Xc.T, Xc) Xcov = (Xcov + Xcov.T) / (2 * N) eigval, eigvec = np.linalg.eig(Xcov) order = eigval.argsort()[::-1] eigval = eigval[order] eigvec = eigvec[:, order] eigval = np.clip(eigval, a_min=1e-14, a_max=None) P = np.dot(np.linalg.inv(np.diag(np.power(eigval, 0.5 * s))), eigvec.T) return m, P.T class Dust3rInputFromImageList(torch.utils.data.Dataset): def __init__(self, image_list, imsize=512): super().__init__() self.image_list = image_list assert imsize == 512 self.imsize = imsize def __len__(self): return len(self.image_list) def __getitem__(self, index): return load_images([self.image_list[index]], size=self.imsize)[0] class Whitener(nn.Module): def __init__(self, dim, l2norm=None): super().__init__() self.m = torch.nn.Parameter(torch.zeros((1, dim)).double()) self.p = torch.nn.Parameter(torch.eye(dim, dim).double()) self.l2norm = l2norm # if not None, apply l2 norm along a given dimension def forward(self, x): with torch.autocast(self.m.device.type, enabled=False): shape = x.size() input_type = x.dtype x_reshaped = x.view(-1, shape[-1]).to(dtype=self.m.dtype) # Center the input data x_centered = x_reshaped - self.m # Apply PCA transformation pca_output = torch.matmul(x_centered, self.p) # reshape back pca_output_shape = shape # list(shape[:-1]) + [shape[-1]] pca_output = pca_output.view(pca_output_shape) if self.l2norm is not None: return torch.nn.functional.normalize(pca_output, dim=self.l2norm).to(dtype=input_type) return pca_output.to(dtype=input_type) def weighted_spoc(feat, attn): """ feat: BxNxC attn: BxN output: BxC L2-normalization weighted-sum-pooling of features """ return torch.nn.functional.normalize((feat * attn[:, :, None]).sum(dim=1), dim=1) def how_select_local(feat, attn, nfeat): """ feat: BxNxC attn: BxN nfeat: nfeat to keep """ # get nfeat if nfeat < 0: assert nfeat >= -1.0 nfeat = int(-nfeat * feat.size(1)) else: nfeat = int(nfeat) # asort topk_attn, topk_indices = torch.topk(attn, min(nfeat, attn.size(1)), dim=1) topk_indices_expanded = topk_indices.unsqueeze(-1).expand(-1, -1, feat.size(2)) topk_features = torch.gather(feat, 1, topk_indices_expanded) return topk_features, topk_attn, topk_indices class RetrievalModel(nn.Module): def __init__(self, backbone, freeze_backbone=1, prewhiten=None, hdims=[1024], residual=False, postwhiten=None, featweights='l2norm', nfeat=300, pretrained_retrieval=None): super().__init__() self.backbone = backbone self.freeze_backbone = freeze_backbone if freeze_backbone: for p in self.backbone.parameters(): p.requires_grad = False self.backbone_dim = backbone.enc_embed_dim self.prewhiten = nn.Identity() if prewhiten is None else Whitener(self.backbone_dim) self.prewhiten_freq = prewhiten if prewhiten is not None and prewhiten != -1: for p in self.prewhiten.parameters(): p.requires_grad = False self.residual = residual self.projector = self.build_projector(hdims, residual) self.dim = hdims[-1] if len(hdims) > 0 else self.backbone_dim self.postwhiten_freq = postwhiten self.postwhiten = nn.Identity() if postwhiten is None else Whitener(self.dim) if postwhiten is not None and postwhiten != -1: assert len(hdims) > 0 for p in self.postwhiten.parameters(): p.requires_grad = False self.featweights = featweights if featweights == 'l2norm': self.attention = lambda x: x.norm(dim=-1) else: raise NotImplementedError(featweights) self.nfeat = nfeat self.pretrained_retrieval = pretrained_retrieval if self.pretrained_retrieval is not None: ckpt = torch.load(pretrained_retrieval, 'cpu') msg = self.load_state_dict(ckpt['model'], strict=False) assert len(msg.unexpected_keys) == 0 and all(k.startswith('backbone') or k.startswith('postwhiten') for k in msg.missing_keys) def build_projector(self, hdims, residual): if self.residual: assert hdims[-1] == self.backbone_dim d = self.backbone_dim if len(hdims) == 0: return nn.Identity() layers = [] for i in range(len(hdims) - 1): layers.append(nn.Linear(d, hdims[i])) d = hdims[i] layers.append(nn.LayerNorm(d)) layers.append(nn.GELU()) layers.append(nn.Linear(d, hdims[-1])) return nn.Sequential(*layers) def state_dict(self, *args, destination=None, prefix='', keep_vars=False): ss = super().state_dict(*args, destination=destination, prefix=prefix, keep_vars=keep_vars) if self.freeze_backbone: ss = {k: v for k, v in ss.items() if not k.startswith('backbone')} return ss def reinitialize_whitening(self, epoch, train_dataset, nimgs=5000, log_writer=None, max_nfeat_per_image=None, seed=0, device=default_device): do_prewhiten = self.prewhiten_freq is not None and self.pretrained_retrieval is None and \ (epoch == 0 or (self.prewhiten_freq > 0 and epoch % self.prewhiten_freq == 0)) do_postwhiten = self.postwhiten_freq is not None and ((epoch == 0 and self.postwhiten_freq in [0, -1]) or (self.postwhiten_freq > 0 and epoch % self.postwhiten_freq == 0 and epoch > 0)) if do_prewhiten or do_postwhiten: self.eval() imdataset = train_dataset.imlist_dataset_n_images(nimgs, seed) loader = torch.utils.data.DataLoader(imdataset, batch_size=1, shuffle=False, num_workers=8, pin_memory=True) if do_prewhiten: print('Re-initialization of pre-whitening') t = time.time() with torch.no_grad(): features = [] for d in tqdm(loader): feat = self.backbone._encode_image(d['img'][0, ...].to(device), true_shape=d['true_shape'][0, ...])[0] feat = feat.flatten(0, 1) if max_nfeat_per_image is not None and max_nfeat_per_image < feat.size(0): l2norms = torch.linalg.vector_norm(feat, dim=1) feat = feat[torch.argsort(-l2norms)[:max_nfeat_per_image], :] features.append(feat.cpu()) features = torch.cat(features, dim=0) features = features.numpy() m, P = pcawhitenlearn_shrinkage(features) self.prewhiten.load_state_dict({'m': torch.from_numpy(m), 'p': torch.from_numpy(P)}) prewhiten_time = time.time() - t print(f'Done in {prewhiten_time:.1f} seconds') if log_writer is not None: log_writer.add_scalar('time/prewhiten', prewhiten_time, epoch) if do_postwhiten: print(f'Re-initialization of post-whitening') t = time.time() with torch.no_grad(): features = [] for d in tqdm(loader): backbone_feat = self.backbone._encode_image(d['img'][0, ...].to(device), true_shape=d['true_shape'][0, ...])[0] backbone_feat_prewhitened = self.prewhiten(backbone_feat) proj_feat = self.projector(backbone_feat_prewhitened) + \ (0.0 if not self.residual else backbone_feat_prewhitened) proj_feat = proj_feat.flatten(0, 1) if max_nfeat_per_image is not None and max_nfeat_per_image < proj_feat.size(0): l2norms = torch.linalg.vector_norm(proj_feat, dim=1) proj_feat = proj_feat[torch.argsort(-l2norms)[:max_nfeat_per_image], :] features.append(proj_feat.cpu()) features = torch.cat(features, dim=0) features = features.numpy() m, P = pcawhitenlearn_shrinkage(features) self.postwhiten.load_state_dict({'m': torch.from_numpy(m), 'p': torch.from_numpy(P)}) postwhiten_time = time.time() - t print(f'Done in {postwhiten_time:.1f} seconds') if log_writer is not None: log_writer.add_scalar('time/postwhiten', postwhiten_time, epoch) def extract_features_and_attention(self, x): backbone_feat = self.backbone._encode_image(x['img'], true_shape=x['true_shape'])[0] backbone_feat_prewhitened = self.prewhiten(backbone_feat) proj_feat = self.projector(backbone_feat_prewhitened) + \ (0.0 if not self.residual else backbone_feat_prewhitened) attention = self.attention(proj_feat) proj_feat_whitened = self.postwhiten(proj_feat) return proj_feat_whitened, attention def forward_local(self, x): feat, attn = self.extract_features_and_attention(x) return how_select_local(feat, attn, self.nfeat) def forward_global(self, x): feat, attn = self.extract_features_and_attention(x) return weighted_spoc(feat, attn) def forward(self, x): return self.forward_global(x) def identity(x): # to avoid Can't pickle local object 'extract_local_features..' return x @torch.no_grad() def extract_local_features(model, images, imsize, seed=0, tocpu=False, max_nfeat_per_image=None, max_nfeat_per_image2=None, device=default_device): model.eval() imdataset = Dust3rInputFromImageList(images, imsize=imsize) if isinstance(images, list) else images loader = torch.utils.data.DataLoader(imdataset, batch_size=1, shuffle=False, num_workers=8, pin_memory=True, collate_fn=identity) with torch.no_grad(): features = [] imids = [] for i, d in enumerate(tqdm(loader)): dd = d[0] dd['img'] = dd['img'].to(device, non_blocking=True) feat, _, _ = model.forward_local(dd) feat = feat.flatten(0, 1) if max_nfeat_per_image is not None and feat.size(0) > max_nfeat_per_image: feat = feat[torch.randperm(feat.size(0))[:max_nfeat_per_image], :] if max_nfeat_per_image2 is not None and feat.size(0) > max_nfeat_per_image2: feat = feat[:max_nfeat_per_image2, :] features.append(feat) if tocpu: features[-1] = features[-1].cpu() imids.append(i * torch.ones_like(features[-1][:, 0]).to(dtype=torch.int64)) features = torch.cat(features, dim=0) imids = torch.cat(imids, dim=0) return features, imids ================================================ FILE: mast3r/retrieval/processor.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Main Retriever class # -------------------------------------------------------- import os import argparse import numpy as np import torch from mast3r.model import AsymmetricMASt3R from mast3r.retrieval.model import RetrievalModel, extract_local_features try: import faiss faiss.StandardGpuResources() # when loading the checkpoint, it will try to instanciate FaissGpuL2Index except AttributeError as e: print(e) import asmk.index class FaissCpuL2Index(asmk.index.FaissL2Index): def __init__(self, gpu_id): super().__init__() self.gpu_id = gpu_id def _faiss_index_flat(self, dim): """Return initialized faiss.IndexFlatL2""" return faiss.IndexFlatL2(dim) asmk.index.FaissGpuL2Index = FaissCpuL2Index from asmk import asmk_method # noqa def get_args_parser(): parser = argparse.ArgumentParser('Retrieval scores from a set of retrieval', add_help=False, allow_abbrev=False) parser.add_argument('--model', type=str, required=True, help="shortname of a retrieval model or path to the corresponding .pth") parser.add_argument('--input', type=str, required=True, help="directory containing images or a file containing a list of image paths") parser.add_argument('--outfile', type=str, required=True, help="numpy file where to store the matrix score") return parser def get_impaths(imlistfile): with open(imlistfile, 'r') as fid: impaths = [f for f in imlistfile.read().splitlines() if not f.startswith('#') and len(f) > 0] # ignore comments and empty lines return impaths def get_impaths_from_imdir(imdir, extensions=['png', 'jpg', 'PNG', 'JPG']): assert os.path.isdir(imdir) impaths = [os.path.join(imdir, f) for f in sorted(os.listdir(imdir)) if any(f.endswith(ext) for ext in extensions)] return impaths def get_impaths_from_imdir_or_imlistfile(input_imdir_or_imlistfile): if os.path.isfile(input_imdir_or_imlistfile): return get_impaths(input_imdir_or_imlistfile) else: return get_impaths_from_imdir(input_imdir_or_imlistfile) class Retriever(object): def __init__(self, modelname, backbone=None, device='cuda'): # load the model assert os.path.isfile(modelname), modelname print(f'Loading retrieval model from {modelname}') ckpt = torch.load(modelname, 'cpu') # TODO from pretrained to download it automatically ckpt_args = ckpt['args'] if backbone is None: backbone = AsymmetricMASt3R.from_pretrained(ckpt_args.pretrained) self.model = RetrievalModel( backbone, freeze_backbone=ckpt_args.freeze_backbone, prewhiten=ckpt_args.prewhiten, hdims=list(map(int, ckpt_args.hdims.split('_'))) if len(ckpt_args.hdims) > 0 else "", residual=getattr(ckpt_args, 'residual', False), postwhiten=ckpt_args.postwhiten, featweights=ckpt_args.featweights, nfeat=ckpt_args.nfeat ).to(device) self.device = device msg = self.model.load_state_dict(ckpt['model'], strict=False) assert all(k.startswith('backbone') for k in msg.missing_keys) assert len(msg.unexpected_keys) == 0 self.imsize = ckpt_args.imsize # load the asmk codebook dname, bname = os.path.split(modelname) # TODO they should both be in the same file ? bname_splits = bname.split('_') cache_codebook_fname = os.path.join(dname, '_'.join(bname_splits[:-1]) + '_codebook.pkl') assert os.path.isfile(cache_codebook_fname), cache_codebook_fname asmk_params = {'index': {'gpu_id': 0}, 'train_codebook': {'codebook': {'size': '64k'}}, 'build_ivf': {'kernel': {'binary': True}, 'ivf': {'use_idf': False}, 'quantize': {'multiple_assignment': 1}, 'aggregate': {}}, 'query_ivf': {'quantize': {'multiple_assignment': 5}, 'aggregate': {}, 'search': {'topk': None}, 'similarity': {'similarity_threshold': 0.0, 'alpha': 3.0}}} asmk_params['train_codebook']['codebook']['size'] = ckpt_args.nclusters self.asmk = asmk_method.ASMKMethod.initialize_untrained(asmk_params) self.asmk = self.asmk.train_codebook(None, cache_path=cache_codebook_fname) def __call__(self, input_imdir_or_imlistfile, outfile=None): # get impaths if isinstance(input_imdir_or_imlistfile, str): impaths = get_impaths_from_imdir_or_imlistfile(input_imdir_or_imlistfile) else: impaths = input_imdir_or_imlistfile # we're assuming a list has been passed print(f'Found {len(impaths)} images') # build the database feat, ids = extract_local_features(self.model, impaths, self.imsize, tocpu=True, device=self.device) feat = feat.cpu().numpy() ids = ids.cpu().numpy() asmk_dataset = self.asmk.build_ivf(feat, ids) # we actually retrieve the same set of images metadata, query_ids, ranks, ranked_scores = asmk_dataset.query_ivf(feat, ids) # well ... scores are actually reordered according to ranks ... # so we redo it the other way around... scores = np.empty_like(ranked_scores) scores[np.arange(ranked_scores.shape[0])[:, None], ranks] = ranked_scores # save if outfile is not None: if os.path.isdir(os.path.dirname(outfile)): os.makedirs(os.path.dirname(outfile), exist_ok=True) np.save(outfile, scores) print(f'Scores matrix saved in {outfile}') return scores ================================================ FILE: mast3r/ssim.py ================================================ import torch import torch.nn.functional as F from torch.autograd import Variable import numpy as np from math import exp def gaussian(window_size, sigma): gauss = torch.Tensor([exp(-(x - window_size//2)**2/float(2*sigma**2)) for x in range(window_size)]) return gauss/gauss.sum() def create_window(window_size, channel): _1D_window = gaussian(window_size, 1.5).unsqueeze(1) _2D_window = _1D_window.mm(_1D_window.t()).float().unsqueeze(0).unsqueeze(0) window = Variable(_2D_window.expand(channel, 1, window_size, window_size).contiguous()) return window def _ssim(img1, img2, window, window_size, channel, size_average = True): mu1 = F.conv2d(img1, window, padding = window_size//2, groups = channel) mu2 = F.conv2d(img2, window, padding = window_size//2, groups = channel) mu1_sq = mu1.pow(2) mu2_sq = mu2.pow(2) mu1_mu2 = mu1*mu2 sigma1_sq = F.conv2d(img1*img1, window, padding = window_size//2, groups = channel) - mu1_sq sigma2_sq = F.conv2d(img2*img2, window, padding = window_size//2, groups = channel) - mu2_sq sigma12 = F.conv2d(img1*img2, window, padding = window_size//2, groups = channel) - mu1_mu2 C1 = 0.01**2 C2 = 0.03**2 ssim_map = ((2*mu1_mu2 + C1)*(2*sigma12 + C2))/((mu1_sq + mu2_sq + C1)*(sigma1_sq + sigma2_sq + C2)) if size_average: return ssim_map.mean() else: return ssim_map.mean(1).mean(1).mean(1) class SSIM(torch.nn.Module): def __init__(self, window_size = 11, size_average = True): super(SSIM, self).__init__() self.window_size = window_size self.size_average = size_average self.channel = 1 self.window = create_window(window_size, self.channel) def forward(self, img1, img2): (_, channel, _, _) = img1.size() if channel == self.channel and self.window.data.type() == img1.data.type(): window = self.window else: window = create_window(self.window_size, channel) # if img1.is_cuda: # window = window.cuda(img1.get_device()) window = window.to(img1.device) window = window.type_as(img1) self.window = window self.channel = channel return _ssim(img1, img2, window, self.window_size, channel, self.size_average) def ssim(img1, img2, window_size = 11, size_average = True): (_, channel, _, _) = img1.size() window = create_window(window_size, channel) # if img1.is_cuda: # window = window.cuda(img1.get_device()) window = window.to(img1.device) window = window.type_as(img1) return _ssim(img1, img2, window, window_size, channel, size_average) ================================================ FILE: mast3r/utils/__init__.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). ================================================ FILE: mast3r/utils/coarse_to_fine.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # coarse to fine utilities # -------------------------------------------------------- import numpy as np def crop_tag(cell): return f'[{cell[1]}:{cell[3]},{cell[0]}:{cell[2]}]' def crop_slice(cell): return slice(cell[1], cell[3]), slice(cell[0], cell[2]) def _start_pos(total_size, win_size, overlap): # we must have AT LEAST overlap between segments # first segment starts at 0, last segment starts at total_size-win_size assert 0 <= overlap < 1 assert total_size >= win_size spacing = win_size * (1 - overlap) last_pt = total_size - win_size n_windows = 2 + int((last_pt - 1) // spacing) return np.linspace(0, last_pt, n_windows).round().astype(int) def multiple_of_16(x): return (x // 16) * 16 def _make_overlapping_grid(H, W, size, overlap): H_win = multiple_of_16(H * size // max(H, W)) W_win = multiple_of_16(W * size // max(H, W)) x = _start_pos(W, W_win, overlap) y = _start_pos(H, H_win, overlap) grid = np.stack(np.meshgrid(x, y, indexing='xy'), axis=-1) grid = np.concatenate((grid, grid + (W_win, H_win)), axis=-1) return grid.reshape(-1, 4) def _cell_size(cell2): width, height = cell2[:, 2] - cell2[:, 0], cell2[:, 3] - cell2[:, 1] assert width.min() >= 0 assert height.min() >= 0 return width, height def _norm_windows(cell2, H2, W2, forced_resolution=None): # make sure the window aspect ratio is 3/4, or the output resolution is forced_resolution if defined outcell = cell2.copy() width, height = _cell_size(cell2) width2, height2 = width.clip(max=W2), height.clip(max=H2) if forced_resolution is None: width2[width < height] = (height2[width < height] * 3.01 / 4).clip(max=W2) height2[width >= height] = (width2[width >= height] * 3.01 / 4).clip(max=H2) else: forced_H, forced_W = forced_resolution width2[:] = forced_W height2[:] = forced_H half = (width2 - width) / 2 outcell[:, 0] -= half outcell[:, 2] += half half = (height2 - height) / 2 outcell[:, 1] -= half outcell[:, 3] += half # proj to integers outcell = np.floor(outcell).astype(int) # Take care of flooring errors tmpw, tmph = _cell_size(outcell) outcell[:, 0] += tmpw.astype(tmpw.dtype) - width2.astype(tmpw.dtype) outcell[:, 1] += tmph.astype(tmpw.dtype) - height2.astype(tmpw.dtype) # make sure 0 <= x < W2 and 0 <= y < H2 outcell[:, 0::2] -= outcell[:, [0]].clip(max=0) outcell[:, 1::2] -= outcell[:, [1]].clip(max=0) outcell[:, 0::2] -= outcell[:, [2]].clip(min=W2) - W2 outcell[:, 1::2] -= outcell[:, [3]].clip(min=H2) - H2 width, height = _cell_size(outcell) assert np.all(width == width2.astype(width.dtype)) and np.all( height == height2.astype(height.dtype)), "Error, output is not of the expected shape." assert np.all(width <= W2) assert np.all(height <= H2) return outcell def _weight_pixels(cell, pix, assigned, gauss_var=2): center = cell.reshape(-1, 2, 2).mean(axis=1) width, height = _cell_size(cell) # square distance between each cell center and each point dist = (center[:, None] - pix[None]) / np.c_[width, height][:, None] dist2 = np.square(dist).sum(axis=-1) assert assigned.shape == dist2.shape res = np.where(assigned, np.exp(-gauss_var * dist2), 0) return res def pos2d_in_rect(p1, cell1): x, y = p1.T l, t, r, b = cell1 assigned = (l <= x) & (x < r) & (t <= y) & (y < b) return assigned def _score_cell(cell1, H2, W2, p1, p2, min_corres=10, forced_resolution=None): assert p1.shape == p2.shape # compute keypoint assignment assigned = pos2d_in_rect(p1, cell1[None].T) assert assigned.shape == (len(cell1), len(p1)) # remove cells without correspondences valid_cells = assigned.sum(axis=1) >= min_corres cell1 = cell1[valid_cells] assigned = assigned[valid_cells] if not valid_cells.any(): return cell1, cell1, assigned # fill-in the assigned points in both image assigned_p1 = np.empty((len(cell1), len(p1), 2), dtype=np.float32) assigned_p2 = np.empty((len(cell1), len(p2), 2), dtype=np.float32) assigned_p1[:] = p1[None] assigned_p2[:] = p2[None] assigned_p1[~assigned] = np.nan assigned_p2[~assigned] = np.nan # find the median center and scale of assigned points in each cell # cell_center1 = np.nanmean(assigned_p1, axis=1) cell_center2 = np.nanmean(assigned_p2, axis=1) im1_q25, im1_q75 = np.nanquantile(assigned_p1, (0.1, 0.9), axis=1) im2_q25, im2_q75 = np.nanquantile(assigned_p2, (0.1, 0.9), axis=1) robust_std1 = (im1_q75 - im1_q25).clip(20.) robust_std2 = (im2_q75 - im2_q25).clip(20.) cell_size1 = (cell1[:, 2:4] - cell1[:, 0:2]) cell_size2 = cell_size1 * robust_std2 / robust_std1 cell2 = np.c_[cell_center2 - cell_size2 / 2, cell_center2 + cell_size2 / 2] # make sure cell bounds are valid cell2 = _norm_windows(cell2, H2, W2, forced_resolution=forced_resolution) # compute correspondence weights corres_weights = _weight_pixels(cell1, p1, assigned) * _weight_pixels(cell2, p2, assigned) # return a list of window pairs and assigned correspondences return cell1, cell2, corres_weights def greedy_selection(corres_weights, target=0.9): # corres_weight = (n_cell_pair, n_corres) matrix. # If corres_weight[c,p]>0, means that correspondence p is visible in cell pair p assert 0 < target <= 1 corres_weights = corres_weights.copy() total = corres_weights.max(axis=0).sum() target *= total # init = empty res = [] cur = np.zeros(corres_weights.shape[1]) # current selection while cur.sum() < target: # pick the nex best cell pair best = corres_weights.sum(axis=1).argmax() res.append(best) # update current cur += corres_weights[best] # print('appending', best, 'with score', corres_weights[best].sum(), '-->', cur.sum()) # remove from all other views corres_weights = (corres_weights - corres_weights[best]).clip(min=0) return res def select_pairs_of_crops(img_q, img_b, pos2d_in_query, pos2d_in_ref, maxdim=512, overlap=.5, forced_resolution=None): # prepare the overlapping cells grid_q = _make_overlapping_grid(*img_q.shape[:2], maxdim, overlap) grid_b = _make_overlapping_grid(*img_b.shape[:2], maxdim, overlap) assert forced_resolution is None or len(forced_resolution) == 2 if isinstance(forced_resolution[0], int) or not len(forced_resolution[0]) == 2: forced_resolution1 = forced_resolution2 = forced_resolution else: assert len(forced_resolution[1]) == 2 forced_resolution1 = forced_resolution[0] forced_resolution2 = forced_resolution[1] # Make sure crops respect constraints grid_q = _norm_windows(grid_q.astype(float), *img_q.shape[:2], forced_resolution=forced_resolution1) grid_b = _norm_windows(grid_b.astype(float), *img_b.shape[:2], forced_resolution=forced_resolution2) # score cells pairs_q = _score_cell(grid_q, *img_b.shape[:2], pos2d_in_query, pos2d_in_ref, forced_resolution=forced_resolution2) pairs_b = _score_cell(grid_b, *img_q.shape[:2], pos2d_in_ref, pos2d_in_query, forced_resolution=forced_resolution1) pairs_b = pairs_b[1], pairs_b[0], pairs_b[2] # cellq, cellb, corres_weights # greedy selection until all correspondences are generated cell1, cell2, corres_weights = map(np.concatenate, zip(pairs_q, pairs_b)) if len(corres_weights) == 0: return # tolerated for empty generators order = greedy_selection(corres_weights, target=0.9) for i in order: def pair_tag(qi, bi): return (str(qi) + crop_tag(cell1[i]), str(bi) + crop_tag(cell2[i])) yield cell1[i], cell2[i], pair_tag ================================================ FILE: mast3r/utils/collate.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # Collate extensions # -------------------------------------------------------- import torch import collections from torch.utils.data._utils.collate import default_collate_fn_map, default_collate_err_msg_format from typing import Callable, Dict, Optional, Tuple, Type, Union, List def cat_collate_tensor_fn(batch, *, collate_fn_map): return torch.cat(batch, dim=0) def cat_collate_list_fn(batch, *, collate_fn_map: Optional[Dict[Union[Type, Tuple[Type, ...]], Callable]] = None): return [item for bb in batch for item in bb] # concatenate all lists cat_collate_fn_map = default_collate_fn_map.copy() cat_collate_fn_map[torch.Tensor] = cat_collate_tensor_fn cat_collate_fn_map[List] = cat_collate_list_fn cat_collate_fn_map[type(None)] = lambda _, **kw: None # When some Nones, simply return a single None def cat_collate(batch, *, collate_fn_map: Optional[Dict[Union[Type, Tuple[Type, ...]], Callable]] = None): r"""Custom collate function that concatenates stuff instead of stacking them, and handles NoneTypes """ elem = batch[0] elem_type = type(elem) if collate_fn_map is not None: if elem_type in collate_fn_map: return collate_fn_map[elem_type](batch, collate_fn_map=collate_fn_map) for collate_type in collate_fn_map: if isinstance(elem, collate_type): return collate_fn_map[collate_type](batch, collate_fn_map=collate_fn_map) if isinstance(elem, collections.abc.Mapping): try: return elem_type({key: cat_collate([d[key] for d in batch], collate_fn_map=collate_fn_map) for key in elem}) except TypeError: # The mapping type may not support `__init__(iterable)`. return {key: cat_collate([d[key] for d in batch], collate_fn_map=collate_fn_map) for key in elem} elif isinstance(elem, tuple) and hasattr(elem, '_fields'): # namedtuple return elem_type(*(cat_collate(samples, collate_fn_map=collate_fn_map) for samples in zip(*batch))) elif isinstance(elem, collections.abc.Sequence): transposed = list(zip(*batch)) # It may be accessed twice, so we use a list. if isinstance(elem, tuple): # Backwards compatibility. return [cat_collate(samples, collate_fn_map=collate_fn_map) for samples in transposed] else: try: return elem_type([cat_collate(samples, collate_fn_map=collate_fn_map) for samples in transposed]) except TypeError: # The sequence type may not support `__init__(iterable)` (e.g., `range`). return [cat_collate(samples, collate_fn_map=collate_fn_map) for samples in transposed] raise TypeError(default_collate_err_msg_format.format(elem_type)) ================================================ FILE: mast3r/utils/misc.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # utilitary functions for MASt3R # -------------------------------------------------------- import os import hashlib def mkdir_for(f): os.makedirs(os.path.dirname(f), exist_ok=True) return f def hash_md5(s): return hashlib.md5(s.encode('utf-8')).hexdigest() ================================================ FILE: mast3r/utils/path_to_dust3r.py ================================================ # Copyright (C) 2024-present Naver Corporation. All rights reserved. # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). # # -------------------------------------------------------- # dust3r submodule import # -------------------------------------------------------- import sys import os.path as path HERE_PATH = path.normpath(path.dirname(__file__)) DUSt3R_REPO_PATH = path.normpath(path.join(HERE_PATH, '../../')) DUSt3R_LIB_PATH = path.join(DUSt3R_REPO_PATH, 'dust3r') # check the presence of models directory in repo to be sure its cloned if path.isdir(DUSt3R_LIB_PATH): # workaround for sibling import sys.path.insert(0, DUSt3R_REPO_PATH) else: raise ImportError(f"dust3r is not initialized, could not find: {DUSt3R_LIB_PATH}.\n " "Did you forget to run 'git submodule update --init --recursive' ?") ================================================ FILE: requirements.txt ================================================ # torch and torchvision can use other versions # just to match your cuda version torch==2.7.1+cu118 torchvision==0.22.1+cu118 asmk==0.1.1 einops==0.8.1 faiss==1.5.3 h5py==3.14.0 matplotlib==3.10.5 numpy==2.3.2 open3d==0.19.0 opencv_python==4.12.0.88 OpenEXR==3.3.5 Pillow==11.3.0 pillow_heif==1.1.0 pycolmap==3.10.0 # version must be 3.10.0 quaternion==3.5.2.post4 scikit_learn==1.7.1 scipy==1.16.1 setuptools==78.1.1 tqdm==4.66.4 trimesh==4.7.4 kornia==0.8.1 gradio==5.44.1 albumentations