[ { "path": "LICENSE.md", "content": "MIT License\n\nCopyright (c) 2022 Gangwei Xu\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n" }, { "path": "README.md", "content": "

\n

Accurate and Efficient Stereo Matching via Attention Concatenation Volume

\n

\n Gangwei Xu, Yun Wang, Junda Cheng, Jinhui Tang, Xin Yang\n

\n

TPAMI 2023

\n

Paper\n
\n

\n

\n \n \"Logo\"\n \n

\n\n

\nFast-ACVNet.\n

\n\n# Demo on KITTI raw data\n\nA demo result on our RTX 3090 (Ubuntu 20.04).\n\n

\n \n

\n\n\n# How to use\n\n## Environment\n* Python 3.8\n* Pytorch 1.10\n\n## Install\n\n### Create a virtual environment and activate it.\n\n```\nconda create -n fast_acv python=3.8\nconda activate fast_acv\n```\n### Dependencies\n\n```\nconda install pytorch torchvision torchaudio cudatoolkit=11.3 -c pytorch -c nvidia\npip install opencv-python\npip install scikit-image\npip install tensorboard\npip install matplotlib \npip install tqdm\npip install timm==0.5.4\n```\n\n## Data Preparation\nDownload [Scene Flow Datasets](https://lmb.informatik.uni-freiburg.de/resources/datasets/SceneFlowDatasets.en.html), [KITTI 2012](http://www.cvlibs.net/datasets/kitti/eval_stereo_flow.php?benchmark=stereo), [KITTI 2015](http://www.cvlibs.net/datasets/kitti/eval_scene_flow.php?benchmark=stereo)\n\n## Train\nUse the following command to train Fast-ACVNet+ or Fast-ACVNet on Scene Flow\n\nFirstly, train attention weights generation network for 24 epochs,\n```\npython main_sceneflow.py --attention_weights_only True --logdir ./checkpoints/sceneflow/attention\n```\nSecondly, train complete network for another 24 epochs,\n```\npython main_sceneflow.py --loadckpt ./checkpoints/sceneflow/attention/checkpoint_000023.ckpt --logdir ./checkpoints/sceneflow/complete\n```\nUse the following command to train Fast-ACVNet+ or Fast-ACVNet on KITTI (using pretrained model on Scene Flow),\n```\npython main_kitti.py --loadckpt ./checkpoints/sceneflow/complete/checkpoint_000023.ckpt --logdir ./checkpoints/kitti\n```\n\n## Submitted to KITTI benchmarks\n```\npython save_disp.py\n```\n\n# Evaluation on Scene Flow and KITTI\n\n| Method | Scene Flow
(EPE) | KITTI 2012
(3-all) | KITTI 2015
(D1-all) | Runtime (ms) |\n|:-:|:-:|:-:|:-:|:-:|\n| Fast-ACVNet+ | 0.59 | 1.85 % | 2.01 % | 45 |\n| HITNet | - | 1.89 % |1.98 % | 54 |\n| CoEx | 0.69 | 1.93 % | 2.13 % | 33 |\n| BGNet+ | - | 2.03 % | 2.19 % | 35 |\n| AANet | 0.87 | 2.42 % | 2.55 % | 62 |\n| DeepPrunerFast | 0.97 | - | 2.59 % | 50 |\n\nOur Fast-ACVNet+ achieves comparable accuracy with HITNet on KITTI 2012 and KITTI 2015\n\n### Pretrained Model\n\n[Fast-ACVNet](https://drive.google.com/drive/folders/1vLt_9W3F2K-MciV8Pmv8iRpU24lkMXGo?usp=share_link)\n\n[Fast-ACVNet+](https://drive.google.com/drive/folders/1lcyzoKlkYoDL3tiPGCR6nob9WsusaTI8?usp=share_link)\n\n# Qualitative results on Scene Flow.\n\n![image](https://github.com/gangweiX/Fast-ACVNet/blob/main/imgs/sceneflow.png)\n\n# Qualitative results on KITTI.\n\n![image](https://github.com/gangweiX/Fast-ACVNet/blob/main/imgs/kitti.png)\n\n# Generalization performance on the Middlebury 2014 dataset. All the comparison methods are only trained on Scene Flow without data augmentation.\n\n![image](https://github.com/gangweiX/Fast-ACVNet/blob/main/imgs/middlebury.png)\n\n# Citation\n\nIf you find this project helpful in your research, welcome to cite the paper.\n\n```\n@article{xu2023accurate,\n title={Accurate and efficient stereo matching via attention concatenation volume},\n author={Xu, Gangwei and Wang, Yun and Cheng, Junda and Tang, Jinhui and Yang, Xin},\n journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},\n year={2023},\n publisher={IEEE}\n}\n\n@inproceedings{xu2022attention,\n title={Attention Concatenation Volume for Accurate and Efficient Stereo Matching},\n author={Xu, Gangwei and Cheng, Junda and Guo, Peng and Yang, Xin},\n booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},\n pages={12981--12990},\n year={2022}\n}\n\n```\n\n# Acknowledgements\n\nThanks to Antyanta Bangunharcana for opening source of his excellent work [Correlate-and-Excite](https://github.com/antabangun/coex). Thanks to Xiaoyang Guo for opening source of his excellent work [GwcNet](https://github.com/xy-guo/GwcNet).\n" }, { "path": "datasets/MiddleburyLoader.py", "content": "import os, torch, torch.utils.data as data\nfrom PIL import Image\nimport numpy as np\nfrom . import flow_transforms\nimport pdb\nimport torchvision\nimport warnings\nfrom . import readpfm as rp\nfrom datasets.data_io import get_transform, read_all_lines\nwarnings.filterwarnings('ignore', '.*output shape of zoom.*')\nimport cv2\n\nIMG_EXTENSIONS = [\n '.jpg', '.JPG', '.jpeg', '.JPEG',\n '.png', '.PNG', '.ppm', '.PPM', '.bmp', '.BMP']\n\ndef is_image_file(filename):\n return any((filename.endswith(extension) for extension in IMG_EXTENSIONS))\n\n\ndef default_loader(path):\n return Image.open(path).convert('RGB')\n\n\ndef disparity_loader(path):\n if '.png' in path:\n data = Image.open(path)\n data = np.ascontiguousarray(data,dtype=np.float32)/256\n return data\n else:\n data = rp.readPFM(path)[0]\n data = np.ascontiguousarray(data, dtype=np.float32)\n return data\n\n\nclass myImageFloder(data.Dataset):\n\n def __init__(self, left, right, left_disparity, training, right_disparity=None, loader=default_loader, dploader=disparity_loader):\n self.left = left\n self.right = right\n self.disp_L = left_disparity\n self.disp_R = right_disparity\n self.training = training\n self.loader = loader\n self.dploader = dploader\n self.order = 0\n\n def __getitem__(self, index):\n left = self.left[index]\n right = self.right[index]\n left_img = self.loader(left)\n right_img = self.loader(right)\n if self.disp_L is not None:\n disp_L = self.disp_L[index]\n disparity = self.dploader(disp_L)\n disparity[disparity == np.inf] = 0\n else:\n disparity = None\n\n if self.training:\n th, tw = 256, 512\n #th, tw = 320, 704\n random_brightness = np.random.uniform(0.5, 2.0, 2)\n random_gamma = np.random.uniform(0.8, 1.2, 2)\n random_contrast = np.random.uniform(0.8, 1.2, 2)\n left_img = torchvision.transforms.functional.adjust_brightness(left_img, random_brightness[0])\n left_img = torchvision.transforms.functional.adjust_gamma(left_img, random_gamma[0])\n left_img = torchvision.transforms.functional.adjust_contrast(left_img, random_contrast[0])\n right_img = torchvision.transforms.functional.adjust_brightness(right_img, random_brightness[1])\n right_img = torchvision.transforms.functional.adjust_gamma(right_img, random_gamma[1])\n right_img = torchvision.transforms.functional.adjust_contrast(right_img, random_contrast[1])\n right_img = np.asarray(right_img)\n left_img = np.asarray(left_img)\n\n # w, h = left_img.size\n # th, tw = 256, 512\n #\n # x1 = random.randint(0, w - tw)\n # y1 = random.randint(0, h - th)\n #\n # left_img = left_img.crop((x1, y1, x1 + tw, y1 + th))\n # right_img = right_img.crop((x1, y1, x1 + tw, y1 + th))\n # dataL = dataL[y1:y1 + th, x1:x1 + tw]\n # right_img = np.asarray(right_img)\n # left_img = np.asarray(left_img)\n\n # geometric unsymmetric-augmentation\n angle = 0;\n px = 0\n if np.random.binomial(1, 0.5):\n # angle = 0.1;\n # px = 2\n angle = 0.05\n px = 1\n co_transform = flow_transforms.Compose([\n # flow_transforms.RandomVdisp(angle, px),\n flow_transforms.Scale(0.5, order=self.order),\n flow_transforms.RandomCrop((th, tw)),\n ])\n augmented, disparity = co_transform([left_img, right_img], disparity)\n left_img = augmented[0]\n right_img = augmented[1]\n\n right_img.flags.writeable = True\n if np.random.binomial(1,0.2):\n sx = int(np.random.uniform(35,100))\n sy = int(np.random.uniform(25,75))\n cx = int(np.random.uniform(sx,right_img.shape[0]-sx))\n cy = int(np.random.uniform(sy,right_img.shape[1]-sy))\n right_img[cx-sx:cx+sx,cy-sy:cy+sy] = np.mean(np.mean(right_img,0),0)[np.newaxis,np.newaxis]\n\n # to tensor, normalize\n disparity = np.ascontiguousarray(disparity, dtype=np.float32)\n processed = get_transform()\n left_img = processed(left_img)\n right_img = processed(right_img)\n\n return {\"left\": left_img,\n \"right\": right_img,\n \"disparity\": disparity}\n else:\n # w, h = left_img.size\n right_img = np.asarray(right_img)\n left_img = np.asarray(left_img)\n # co_transform = flow_transforms.Compose([\n # # flow_transforms.RandomVdisp(angle, px),\n # flow_transforms.Scale(0.5, order=self.order),\n # # flow_transforms.RandomCrop((th, tw)),\n # ])\n # augmented, disparity = co_transform([left_img, right_img], disparity)\n # left_img = augmented[0]\n # right_img = augmented[1]\n # right_img = cv2.resize(right_img, None, fx=0.5,fy=0.5 ,interpolation=cv2.INTER_CUBIC)\n # left_img = cv2.resize(left_img, None, fx=0.5, fy=0.5, interpolation=cv2.INTER_CUBIC)\n disparity = np.ascontiguousarray(disparity, dtype=np.float32)\n # normalize\n h = left_img.shape[0]\n w = left_img.shape[1]\n processed = get_transform()\n left_img = processed(left_img).numpy()\n right_img = processed(right_img).numpy()\n # h, w, _ = left_img.shape\n # pad to size 1248x384\n #top_pad = 32 - (h % 32)\n #right_pad = 32 - (w % 32)\n top_pad = 64 - (h % 64)\n right_pad = 64 - (w % 64)\n assert top_pad > 0 and right_pad > 0\n # pad images\n left_img = np.lib.pad(left_img, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant', constant_values=0)\n right_img = np.lib.pad(right_img, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant',\n constant_values=0)\n # pad disparity gt\n # if disparity is not None:\n # assert len(disparity.shape) == 2\n # disparity = np.lib.pad(disparity, ((top_pad, 0), (0, right_pad)), mode='constant', constant_values=0)\n\n if disparity is not None:\n return {\"left\": left_img,\n \"right\": right_img,\n \"disparity\": disparity,\n \"top_pad\": top_pad,\n \"right_pad\": right_pad,\n \"left_filename\": self.left[index],\n \"right_filename\": self.right[index]\n }\n else:\n return {\"left\": left_img,\n \"right\": right_img,\n \"top_pad\": top_pad,\n \"right_pad\": right_pad,\n \"left_filename\": self.left[index],\n \"right_filename\": self.right[index]}\n\n def __len__(self):\n return len(self.left)\n" }, { "path": "datasets/__init__.py", "content": "from .kitti_dataset_1215 import KITTIDataset\nfrom .sceneflow_dataset import SceneFlowDatset\n\n__datasets__ = {\n \"sceneflow\": SceneFlowDatset,\n \"kitti\": KITTIDataset\n}\n" }, { "path": "datasets/data_io.py", "content": "import numpy as np\nimport re\nimport torchvision.transforms as transforms\n\n\ndef get_transform():\n mean = [0.485, 0.456, 0.406]\n std = [0.229, 0.224, 0.225]\n\n return transforms.Compose([\n transforms.ToTensor(),\n transforms.Normalize(mean=mean, std=std),\n ])\n\ndef get_transform_aug():\n mean = [0.485, 0.456, 0.406]\n std = [0.229, 0.224, 0.225]\n\n return transforms.Compose([\n transforms.ToTensor(),\n ])\n\n\n# read all lines in a file\ndef read_all_lines(filename):\n with open(filename) as f:\n lines = [line.rstrip() for line in f.readlines()]\n return lines\n\n\n# read an .pfm file into numpy array, used to load SceneFlow disparity files\ndef pfm_imread(filename):\n file = open(filename, 'rb')\n color = None\n width = None\n height = None\n scale = None\n endian = None\n\n header = file.readline().decode('utf-8').rstrip()\n if header == 'PF':\n color = True\n elif header == 'Pf':\n color = False\n else:\n raise Exception('Not a PFM file.')\n\n dim_match = re.match(r'^(\\d+)\\s(\\d+)\\s$', file.readline().decode('utf-8'))\n if dim_match:\n width, height = map(int, dim_match.groups())\n else:\n raise Exception('Malformed PFM header.')\n\n scale = float(file.readline().rstrip())\n if scale < 0: # little-endian\n endian = '<'\n scale = -scale\n else:\n endian = '>' # big-endian\n\n data = np.fromfile(file, endian + 'f')\n shape = (height, width, 3) if color else (height, width)\n\n data = np.reshape(data, shape)\n data = np.flipud(data)\n return data, scale\n" }, { "path": "datasets/eth3dLoader.py", "content": "import os, torch, torch.utils.data as data\nfrom PIL import Image\nimport numpy as np\nfrom . import flow_transforms\nimport pdb\nimport torchvision\nimport warnings\nfrom . import readpfm as rp\nfrom datasets.data_io import get_transform, read_all_lines\nimport cv2\nwarnings.filterwarnings('ignore', '.*output shape of zoom.*')\n\nIMG_EXTENSIONS = [\n '.jpg', '.JPG', '.jpeg', '.JPEG',\n '.png', '.PNG', '.ppm', '.PPM', '.bmp', '.BMP']\n\ndef is_image_file(filename):\n return any((filename.endswith(extension) for extension in IMG_EXTENSIONS))\n\n\ndef default_loader(path):\n return Image.open(path).convert('RGB')\n\n\ndef disparity_loader(path):\n if '.png' in path:\n data = Image.open(path)\n data = np.ascontiguousarray(data,dtype=np.float32)/256\n return data\n else:\n data = rp.readPFM(path)[0]\n data = np.ascontiguousarray(data, dtype=np.float32)\n return data\n\n\nclass myImageFloder(data.Dataset):\n\n def __init__(self, left, right, left_disparity, training, right_disparity=None, loader=default_loader, dploader=disparity_loader):\n self.left = left\n self.right = right\n self.disp_L = left_disparity\n self.disp_R = right_disparity\n self.training = training\n self.loader = loader\n self.dploader = dploader\n\n def __getitem__(self, index):\n left = self.left[index]\n right = self.right[index]\n left_img = self.loader(left)\n right_img = self.loader(right)\n if self.disp_L is not None:\n disp_L = self.disp_L[index]\n disparity = self.dploader(disp_L)\n disparity[disparity == np.inf] = 0\n else:\n disparity = None\n\n if self.training:\n th, tw = 256, 512\n #th, tw = 320, 704\n random_brightness = np.random.uniform(0.5, 2.0, 2)\n random_gamma = np.random.uniform(0.8, 1.2, 2)\n random_contrast = np.random.uniform(0.8, 1.2, 2)\n left_img = torchvision.transforms.functional.adjust_brightness(left_img, random_brightness[0])\n left_img = torchvision.transforms.functional.adjust_gamma(left_img, random_gamma[0])\n left_img = torchvision.transforms.functional.adjust_contrast(left_img, random_contrast[0])\n right_img = torchvision.transforms.functional.adjust_brightness(right_img, random_brightness[1])\n right_img = torchvision.transforms.functional.adjust_gamma(right_img, random_gamma[1])\n right_img = torchvision.transforms.functional.adjust_contrast(right_img, random_contrast[1])\n right_img = np.array(right_img)\n left_img = np.array(left_img)\n\n # w, h = left_img.size\n # th, tw = 256, 512\n #\n # x1 = random.randint(0, w - tw)\n # y1 = random.randint(0, h - th)\n #\n # left_img = left_img.crop((x1, y1, x1 + tw, y1 + th))\n # right_img = right_img.crop((x1, y1, x1 + tw, y1 + th))\n # dataL = dataL[y1:y1 + th, x1:x1 + tw]\n # right_img = np.asarray(right_img)\n # left_img = np.asarray(left_img)\n\n # geometric unsymmetric-augmentation\n angle = 0;\n px = 0\n if np.random.binomial(1, 0.5):\n # angle = 0.1;\n # px = 2\n angle = 0.05\n px = 1\n co_transform = flow_transforms.Compose([\n # flow_transforms.RandomVdisp(angle, px),\n # flow_transforms.Scale(np.random.uniform(self.rand_scale[0], self.rand_scale[1]), order=self.order),\n flow_transforms.RandomCrop((th, tw)),\n ])\n augmented, disparity = co_transform([left_img, right_img], disparity)\n left_img = augmented[0]\n right_img = augmented[1]\n\n right_img.flags.writeable = True\n if np.random.binomial(1,0.2):\n sx = int(np.random.uniform(35,100))\n sy = int(np.random.uniform(25,75))\n cx = int(np.random.uniform(sx,right_img.shape[0]-sx))\n cy = int(np.random.uniform(sy,right_img.shape[1]-sy))\n right_img[cx-sx:cx+sx,cy-sy:cy+sy] = np.mean(np.mean(right_img,0),0)[np.newaxis,np.newaxis]\n\n # to tensor, normalize\n disparity = np.ascontiguousarray(disparity, dtype=np.float32)\n processed = get_transform()\n left_img = processed(left_img)\n right_img = processed(right_img)\n # print(\"disparity\", disparity.shape)\n disparity_low = cv2.resize(disparity, (tw//4, th//4), interpolation=cv2.INTER_NEAREST)\n\n return {\"left\": left_img,\n \"right\": right_img,\n \"disparity\": disparity,\n 'disparity_low': disparity_low}\n else:\n w, h = left_img.size\n\n # normalize\n processed = get_transform()\n left_img = processed(left_img).numpy()\n right_img = processed(right_img).numpy()\n\n # pad to size 1248x384\n if h % 64 == 0:\n top_pad = 0\n else:\n top_pad = 64 - (h % 64)\n\n if w % 64 == 0:\n right_pad = 0\n else:\n right_pad = 64 - (w % 64)\n assert top_pad >= 0 and right_pad >= 0\n # pad images\n left_img = np.lib.pad(left_img, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant', constant_values=0)\n right_img = np.lib.pad(right_img, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant',\n constant_values=0)\n # pad disparity gt\n if disparity is not None:\n assert len(disparity.shape) == 2\n disparity = np.lib.pad(disparity, ((top_pad, 0), (0, right_pad)), mode='constant', constant_values=0)\n\n if disparity is not None:\n return {\"left\": left_img,\n \"right\": right_img,\n \"disparity\": disparity,\n \"top_pad\": top_pad,\n \"right_pad\": right_pad}\n else:\n return {\"left\": left_img,\n \"right\": right_img,\n \"top_pad\": top_pad,\n \"right_pad\": right_pad,\n \"left_filename\": self.left[index],\n \"right_filename\": self.right[index]}\n\n def __len__(self):\n return len(self.left)\n" }, { "path": "datasets/eth3d_dataset.py", "content": "# Copyright Niantic 2020. Patent Pending. All rights reserved.\n#\n# This software is licensed under the terms of the Stereo-from-mono licence\n# which allows for non-commercial use only, the full terms of which are made\n# available in the LICENSE file.\n\nfrom __future__ import absolute_import, division, print_function\n\nimport os\nos.environ[\"MKL_NUM_THREADS\"] = \"1\"\nos.environ[\"NUMEXPR_NUM_THREADS\"] = \"1\"\nos.environ[\"OMP_NUM_THREADS\"] = \"1\"\nimport random\nimport numpy as np\nfrom PIL import Image # using pillow-simd for increased speed\n\nfrom torchvision import transforms\n\nimport cv2\ncv2.setNumThreads(0)\n\nfrom .base_dataset import BaseDataset\n\n\nclass ETH3DStereoDataset(BaseDataset):\n\n def __init__(self,\n data_path,\n filenames,\n height,\n width,\n is_train,\n disable_normalisation=False,\n **kwargs):\n\n super(ETH3DStereoDataset, self).__init__(data_path, filenames, height, width,\n is_train=is_train, has_gt=False,\n disable_normalisation=disable_normalisation)\n\n self.img_resizer = transforms.Resize(size=(height, width))\n\n def load_images(self, idx, do_flip=False):\n folder = self.filenames[idx]\n image = self.loader(os.path.join(self.data_path, 'two_view_training',\n folder, 'im0.png'))\n stereo_image = self.loader(os.path.join(self.data_path, 'two_view_training',\n folder, 'im1.png'))\n return image, stereo_image\n\n def load_disparity(self, idx, do_flip=False):\n folder = self.filenames[idx]\n disparity = self.read_pfm(os.path.join(self.data_path, 'two_view_training_gt',\n folder, 'disp0GT.pfm'))\n # loaded disparity contains infs for no reading\n disparity[disparity == np.inf] = 0\n return np.ascontiguousarray(disparity)\n\n def __getitem__(self, idx):\n\n inputs = {}\n\n image, stereo_image = self.load_images(idx, do_flip=False)\n image = self.img_resizer(image)\n stereo_image = self.img_resizer(stereo_image)\n\n disparity = self.load_disparity(idx)\n\n inputs['image'] = image\n inputs['stereo_image'] = stereo_image\n inputs['disparity'] = disparity\n self.preprocess(inputs)\n\n return inputs" }, { "path": "datasets/flow_transforms.py", "content": "from __future__ import division\nimport torch\nimport random\nimport numpy as np\nimport numbers\nimport pdb\nimport cv2\n\n\nclass Compose(object):\n \"\"\" Composes several co_transforms together.\n \"\"\"\n\n def __init__(self, co_transforms):\n self.co_transforms = co_transforms\n\n def __call__(self, input, target):\n for t in self.co_transforms:\n input,target = t(input,target)\n return input,target\n\nclass Compose_mask(object):\n \"\"\" Composes several co_transforms together.\n \"\"\"\n\n def __init__(self, co_transforms):\n self.co_transforms = co_transforms\n\n def __call__(self, input, target, mask):\n for t in self.co_transforms:\n input,target,mask = t(input,target,mask)\n return input,target,mask\n\n\n\nclass Scale(object):\n \"\"\" Rescales the inputs and target arrays to the given 'size'.\n \"\"\"\n\n def __init__(self, size, order=2):\n self.ratio = size\n self.order = order\n if order==0:\n self.code=cv2.INTER_NEAREST\n elif order==1:\n self.code=cv2.INTER_LINEAR\n elif order==2:\n self.code=cv2.INTER_CUBIC\n\n def __call__(self, inputs, target):\n h, w, _ = inputs[0].shape\n ratio = self.ratio\n\n inputs[0] = cv2.resize(inputs[0], None, fx=ratio,fy=ratio,interpolation=cv2.INTER_CUBIC)\n inputs[1] = cv2.resize(inputs[1], None, fx=ratio,fy=ratio,interpolation=cv2.INTER_CUBIC)\n target = cv2.resize(target, None, fx=ratio,fy=ratio,interpolation=self.code) * ratio\n\n return inputs, target\n\n\nclass RandomCrop(object):\n \"\"\" Randomly crop images\n \"\"\"\n\n def __init__(self, size):\n if isinstance(size, numbers.Number):\n self.size = (int(size), int(size))\n else:\n self.size = size\n\n def __call__(self, inputs,target):\n h, w, _ = inputs[0].shape\n th, tw = self.size\n if w < tw: tw=w\n if h < th: th=h\n\n x1 = random.randint(0, w - tw)\n y1 = random.randint(0, h - th)\n inputs[0] = inputs[0][y1: y1 + th,x1: x1 + tw]\n inputs[1] = inputs[1][y1: y1 + th,x1: x1 + tw]\n return inputs, target[y1: y1 + th,x1: x1 + tw]\n\nclass RandomCrop_mask(object):\n \"\"\" Randomly crop images\n \"\"\"\n\n def __init__(self, size):\n if isinstance(size, numbers.Number):\n self.size = (int(size), int(size))\n else:\n self.size = size\n\n def __call__(self, inputs,target,mask):\n h, w, _ = inputs[0].shape\n th, tw = self.size\n if w < tw: tw=w\n if h < th: th=h\n\n x1 = random.randint(0, w - tw)\n y1 = random.randint(0, h - th)\n inputs[0] = inputs[0][y1: y1 + th,x1: x1 + tw]\n inputs[1] = inputs[1][y1: y1 + th,x1: x1 + tw]\n mask = mask[y1: y1 + th,x1: x1 + tw]\n return inputs, target[y1: y1 + th,x1: x1 + tw], mask\n\nclass RandomVdisp(object):\n \"\"\"Random vertical disparity augmentation\n \"\"\"\n\n def __init__(self, angle, px, diff_angle=0, order=2, reshape=False):\n self.angle = angle\n self.reshape = reshape\n self.order = order\n self.diff_angle = diff_angle\n self.px = px\n\n def __call__(self, inputs,target):\n px2 = random.uniform(-self.px,self.px)\n angle2 = random.uniform(-self.angle,self.angle)\n\n image_center = (np.random.uniform(0,inputs[1].shape[0]),\\\n np.random.uniform(0,inputs[1].shape[1]))\n rot_mat = cv2.getRotationMatrix2D(image_center, angle2, 1.0)\n inputs[1] = cv2.warpAffine(inputs[1], rot_mat, inputs[1].shape[1::-1], flags=cv2.INTER_LINEAR)\n trans_mat = np.float32([[1,0,0],[0,1,px2]])\n inputs[1] = cv2.warpAffine(inputs[1], trans_mat, inputs[1].shape[1::-1], flags=cv2.INTER_LINEAR)\n return inputs,target\n" }, { "path": "datasets/kitti_dataset_1215.py", "content": "import os\r\nimport random\r\nfrom torch.utils.data import Dataset\r\nfrom PIL import Image\r\nimport numpy as np\r\nimport cv2\r\nfrom datasets.data_io import get_transform, read_all_lines, pfm_imread\r\nimport torchvision.transforms as transforms\r\nimport torch\r\nimport matplotlib.pyplot as plt\r\n\r\n\r\nclass KITTIDataset(Dataset):\r\n def __init__(self, kitti15_datapath, kitti12_datapath, list_filename, training):\r\n self.datapath_15 = kitti15_datapath\r\n self.datapath_12 = kitti12_datapath\r\n self.left_filenames, self.right_filenames, self.disp_filenames = self.load_path(list_filename)\r\n self.training = training\r\n if self.training:\r\n assert self.disp_filenames is not None\r\n\r\n def load_path(self, list_filename):\r\n lines = read_all_lines(list_filename)\r\n splits = [line.split() for line in lines]\r\n left_images = [x[0] for x in splits]\r\n right_images = [x[1] for x in splits]\r\n if len(splits[0]) == 2: # ground truth not available\r\n return left_images, right_images, None\r\n else:\r\n disp_images = [x[2] for x in splits]\r\n return left_images, right_images, disp_images\r\n\r\n def load_image(self, filename):\r\n return Image.open(filename).convert('RGB')\r\n\r\n def load_disp(self, filename):\r\n data = Image.open(filename)\r\n data = np.array(data, dtype=np.float32) / 256.\r\n return data\r\n\r\n def __len__(self):\r\n return len(self.left_filenames)\r\n\r\n def __getitem__(self, index):\r\n \r\n left_name = self.left_filenames[index].split('/')[1]\r\n if left_name.startswith('image'):\r\n self.datapath = self.datapath_15\r\n else:\r\n self.datapath = self.datapath_12\r\n\r\n left_img = self.load_image(os.path.join(self.datapath, self.left_filenames[index]))\r\n right_img = self.load_image(os.path.join(self.datapath, self.right_filenames[index]))\r\n\r\n if self.disp_filenames: # has disparity ground truth\r\n disparity = self.load_disp(os.path.join(self.datapath, self.disp_filenames[index]))\r\n else:\r\n disparity = None\r\n\r\n if self.training:\r\n w, h = left_img.size\r\n crop_w, crop_h = 512, 256\r\n\r\n x1 = random.randint(0, w - crop_w)\r\n # y1 = random.randint(0, h - crop_h)\r\n if random.randint(0, 10) >= int(8):\r\n y1 = random.randint(0, h - crop_h)\r\n else:\r\n y1 = random.randint(int(0.3 * h), h - crop_h)\r\n\r\n # random crop\r\n left_img = left_img.crop((x1, y1, x1 + crop_w, y1 + crop_h))\r\n right_img = right_img.crop((x1, y1, x1 + crop_w, y1 + crop_h))\r\n disparity = disparity[y1:y1 + crop_h, x1:x1 + crop_w]\r\n disparity_low = cv2.resize(disparity, (crop_w//4, crop_h//4), interpolation=cv2.INTER_NEAREST)\r\n\r\n # to tensor, normalize\r\n processed = get_transform()\r\n left_img = processed(left_img)\r\n right_img = processed(right_img)\r\n\r\n return {\"left\": left_img,\r\n \"right\": right_img,\r\n \"disparity\": disparity,\r\n \"disparity_low\": disparity_low}\r\n\r\n else:\r\n w, h = left_img.size\r\n\r\n # normalize\r\n processed = get_transform()\r\n left_img = processed(left_img).numpy()\r\n right_img = processed(right_img).numpy()\r\n\r\n # pad to size 1248x384\r\n top_pad = 384 - h\r\n right_pad = 1248 - w\r\n assert top_pad > 0 and right_pad > 0\r\n # pad images\r\n left_img = np.lib.pad(left_img, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant', constant_values=0)\r\n right_img = np.lib.pad(right_img, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant',\r\n constant_values=0)\r\n # pad disparity gt\r\n if disparity is not None:\r\n assert len(disparity.shape) == 2\r\n disparity = np.lib.pad(disparity, ((top_pad, 0), (0, right_pad)), mode='constant', constant_values=0)\r\n\r\n\r\n if disparity is not None:\r\n return {\"left\": left_img,\r\n \"right\": right_img,\r\n \"disparity\": disparity,\r\n \"top_pad\": top_pad,\r\n \"right_pad\": right_pad}\r\n else:\r\n return {\"left\": left_img,\r\n \"right\": right_img,\r\n \"top_pad\": top_pad,\r\n \"right_pad\": right_pad,\r\n \"left_filename\": self.left_filenames[index],\r\n \"right_filename\": self.right_filenames[index]}\r\n" }, { "path": "datasets/kitti_dataset_1215_augmentation.py", "content": "import os\r\nimport random\r\nfrom torch.utils.data import Dataset\r\nfrom PIL import Image\r\nimport numpy as np\r\nimport cv2\r\nfrom datasets.data_io import get_transform, read_all_lines, pfm_imread\r\n# import torchvision.transforms as transforms\r\nfrom . import flow_transforms\r\nimport torch\r\nimport matplotlib.pyplot as plt\r\nimport torchvision\r\n\r\n\r\nclass KITTIDataset(Dataset):\r\n def __init__(self, kitti15_datapath, kitti12_datapath, list_filename, training):\r\n self.datapath_15 = kitti15_datapath\r\n self.datapath_12 = kitti12_datapath\r\n self.left_filenames, self.right_filenames, self.disp_filenames = self.load_path(list_filename)\r\n self.training = training\r\n if self.training:\r\n assert self.disp_filenames is not None\r\n\r\n def load_path(self, list_filename):\r\n lines = read_all_lines(list_filename)\r\n splits = [line.split() for line in lines]\r\n left_images = [x[0] for x in splits]\r\n right_images = [x[1] for x in splits]\r\n if len(splits[0]) == 2: # ground truth not available\r\n return left_images, right_images, None\r\n else:\r\n disp_images = [x[2] for x in splits]\r\n return left_images, right_images, disp_images\r\n\r\n def load_image(self, filename):\r\n return Image.open(filename).convert('RGB')\r\n\r\n def load_disp(self, filename):\r\n data = Image.open(filename)\r\n data = np.array(data, dtype=np.float32) / 256.\r\n return data\r\n\r\n def __len__(self):\r\n return len(self.left_filenames)\r\n\r\n def __getitem__(self, index):\r\n \r\n left_name = self.left_filenames[index].split('/')[1]\r\n if left_name.startswith('image'):\r\n self.datapath = self.datapath_15\r\n else:\r\n self.datapath = self.datapath_12\r\n\r\n left_img = self.load_image(os.path.join(self.datapath, self.left_filenames[index]))\r\n right_img = self.load_image(os.path.join(self.datapath, self.right_filenames[index]))\r\n\r\n if self.disp_filenames: # has disparity ground truth\r\n disparity = self.load_disp(os.path.join(self.datapath, self.disp_filenames[index]))\r\n else:\r\n disparity = None\r\n\r\n if self.training:\r\n th, tw = 256, 512\r\n random_brightness = np.random.uniform(0.5, 2.0, 2)\r\n random_gamma = np.random.uniform(0.8, 1.2, 2)\r\n random_contrast = np.random.uniform(0.8, 1.2, 2)\r\n random_saturation = np.random.uniform(0, 1.4, 2)\r\n left_img = torchvision.transforms.functional.adjust_brightness(left_img, random_brightness[0])\r\n left_img = torchvision.transforms.functional.adjust_gamma(left_img, random_gamma[0])\r\n left_img = torchvision.transforms.functional.adjust_contrast(left_img, random_contrast[0])\r\n right_img = torchvision.transforms.functional.adjust_brightness(right_img, random_brightness[1])\r\n right_img = torchvision.transforms.functional.adjust_gamma(right_img, random_gamma[1])\r\n right_img = torchvision.transforms.functional.adjust_contrast(right_img, random_contrast[1])\r\n left_img = torchvision.transforms.functional.adjust_saturation(left_img, random_saturation[0])\r\n right_img = torchvision.transforms.functional.adjust_saturation(right_img, random_saturation[1])\r\n right_img = np.array(right_img)\r\n left_img = np.array(left_img)\r\n\r\n # geometric unsymmetric-augmentation\r\n angle = 0;\r\n px = 0\r\n if np.random.binomial(1, 0.5):\r\n # angle = 0.1;\r\n # px = 2\r\n angle = 0.05\r\n px = 1\r\n co_transform = flow_transforms.Compose([\r\n # flow_transforms.RandomVdisp(angle, px),\r\n # flow_transforms.Scale(np.random.uniform(self.rand_scale[0], self.rand_scale[1]), order=self.order),\r\n flow_transforms.RandomCrop((th, tw)),\r\n ])\r\n augmented, disparity = co_transform([left_img, right_img], disparity)\r\n left_img = augmented[0]\r\n right_img = augmented[1]\r\n\r\n right_img.flags.writeable = True\r\n if np.random.binomial(1,0.2):\r\n sx = int(np.random.uniform(35,100))\r\n sy = int(np.random.uniform(25,75))\r\n cx = int(np.random.uniform(sx,right_img.shape[0]-sx))\r\n cy = int(np.random.uniform(sy,right_img.shape[1]-sy))\r\n right_img[cx-sx:cx+sx,cy-sy:cy+sy] = np.mean(np.mean(right_img,0),0)[np.newaxis,np.newaxis]\r\n\r\n # to tensor, normalize\r\n disparity = np.ascontiguousarray(disparity, dtype=np.float32)\r\n\r\n disparity_low = cv2.resize(disparity, (tw//4, th//4), interpolation=cv2.INTER_NEAREST)\r\n processed = get_transform()\r\n left_img = processed(left_img)\r\n right_img = processed(right_img)\r\n\r\n return {\"left\": left_img,\r\n \"right\": right_img,\r\n \"disparity\": disparity,\r\n \"disparity_low\": disparity_low}\r\n else:\r\n w, h = left_img.size\r\n\r\n # normalize\r\n processed = get_transform()\r\n left_img = processed(left_img).numpy()\r\n right_img = processed(right_img).numpy()\r\n\r\n # pad to size 1248x384\r\n top_pad = 384 - h\r\n right_pad = 1248 - w\r\n\r\n assert top_pad > 0 and right_pad > 0\r\n # pad images\r\n left_img = np.lib.pad(left_img, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant', constant_values=0)\r\n right_img = np.lib.pad(right_img, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant',\r\n constant_values=0)\r\n # pad disparity gt\r\n if disparity is not None:\r\n assert len(disparity.shape) == 2\r\n disparity = np.lib.pad(disparity, ((top_pad, 0), (0, right_pad)), mode='constant', constant_values=0)\r\n\r\n if disparity is not None:\r\n return {\"left\": left_img,\r\n \"right\": right_img,\r\n \"disparity\": disparity,\r\n \"top_pad\": top_pad,\r\n \"right_pad\": right_pad,\r\n \"left_filename\": self.left_filenames[index],\r\n \"right_filename\": self.right_filenames[index]\r\n }\r\n else:\r\n return {\"left\": left_img,\r\n \"right\": right_img,\r\n \"top_pad\": top_pad,\r\n \"right_pad\": right_pad,\r\n \"left_filename\": self.left_filenames[index],\r\n \"right_filename\": self.right_filenames[index]}\r\n" }, { "path": "datasets/kittiraw_loader.py", "content": "import os\r\nimport random\r\nfrom torch.utils.data import Dataset\r\nfrom PIL import Image\r\nimport numpy as np\r\nimport cv2\r\nfrom datasets.data_io import get_transform, read_all_lines, pfm_imread\r\nimport torchvision.transforms as transforms\r\nimport torch\r\nimport matplotlib.pyplot as plt\r\n\r\n\r\n\r\ndef listfiles(filepath):\r\n\r\n #filepath = './data_demo/KITTI_raw/2011_09_26/2011_09_26_drive_0005_sync/'\r\n left_fold = 'image_02/data'\r\n right_fold = 'image_03/data'\r\n datadir_left = '{}/{}'.format(filepath, left_fold)\r\n datadir_right = '{}/{}'.format(filepath, right_fold)\r\n img_names = os.listdir(datadir_left)\r\n img_names.sort()\r\n left_imgs = []\r\n right_imgs = []\r\n for i in range(len(img_names)):\r\n left_imgs.append(os.path.join(datadir_left, img_names[i]))\r\n right_imgs.append(os.path.join(datadir_right, img_names[i]))\r\n\r\n return left_imgs, right_imgs\r\n\r\n\r\nclass ImageLoader(Dataset):\r\n def __init__(self, left, right):\r\n self.left = left\r\n self.right = right\r\n\r\n def load_path(self, list_filename):\r\n lines = read_all_lines(list_filename)\r\n splits = [line.split() for line in lines]\r\n left_images = [x[0] for x in splits]\r\n right_images = [x[1] for x in splits]\r\n if len(splits[0]) == 2: # ground truth not available\r\n return left_images, right_images, None\r\n else:\r\n disp_images = [x[2] for x in splits]\r\n return left_images, right_images, disp_images\r\n\r\n def load_image(self, filename):\r\n return Image.open(filename).convert('RGB')\r\n\r\n def load_disp(self, filename):\r\n data = Image.open(filename)\r\n data = np.array(data, dtype=np.float32) / 256.\r\n return data\r\n\r\n def __len__(self):\r\n return len(self.left_filenames)\r\n\r\n def __getitem__(self, index):\r\n batch = dict()\r\n left = self.left[index]\r\n right = self.right[index]\r\n left_img = self.load_image(left)\r\n right_img = self.load_image(right)\r\n w, h = left_img.size\r\n # h, w, _ = left_img.shape\r\n processed = get_transform()\r\n\r\n left_img_p = processed(left_img).numpy()\r\n right_img_p = processed(right_img).numpy()\r\n top_pad = 384 - h\r\n right_pad = 1248 - w\r\n assert top_pad > 0 and right_pad > 0\r\n # pad images\r\n left_img_p = np.lib.pad(left_img_p, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant', constant_values=0)\r\n right_img_p = np.lib.pad(right_img_p, ((0, 0), (top_pad, 0), (0, right_pad)), mode='constant', constant_values=0)\r\n\r\n left_img_ = np.transpose(left_img, (2, 0, 1)).astype(np.float32)\r\n right_img_ = np.transpose(right_img, (2, 0, 1)).astype(np.float32)\r\n batch['imgL'], batch['imgR'] = left_img_p, right_img_p\r\n batch['imgLRaw'], batch['imgRRaw'] = left_img_, right_img_\r\n batch['top_pad'], batch['right_pad'] = top_pad, right_pad\r\n\r\n return batch\r\n\r\n def __len__(self):\r\n return len(self.left)\r\n" }, { "path": "datasets/listfiles.py", "content": "import torch.utils.data as data\n\nimport pdb\nfrom PIL import Image\nimport os\nimport os.path\nimport numpy as np\nimport glob\n\n\ndef dataloader(filepath):\n img_list = [i.split('/')[-1] for i in glob.glob('%s/*'%filepath) if os.path.isdir(i)]\n\n left_train = ['%s/%s/im0.png'% (filepath,img) for img in img_list] \n right_train = ['%s/%s/im1.png'% (filepath,img) for img in img_list]\n disp_train_L = ['%s/%s/disp0GT.pfm' % (filepath,img) for img in img_list]\n disp_train_R = ['%s/%s/disp1GT.pfm' % (filepath,img) for img in img_list]\n\n return left_train, right_train, disp_train_L, disp_train_R\n" }, { "path": "datasets/middlebury_data.py", "content": "import os\r\nimport numpy as np\r\nfrom PIL import Image # using pillow-simd for increased speed\r\nfrom torchvision import transforms\r\nimport cv2\r\nimport torch\r\nimport torch.utils.data as data\r\n\r\ndef pil_loader(path):\r\n # open path as file to avoid ResourceWarning\r\n # (https://github.com/python-pillow/Pillow/issues/835)\r\n with open(path, 'rb') as f:\r\n with Image.open(f) as img:\r\n return img.convert('RGB')\r\n\r\ndef readlines(filename):\r\n \"\"\" read lines of a text file \"\"\"\r\n with open(filename, 'r') as file_handler:\r\n lines = file_handler.read().splitlines()\r\n return lines\r\n\r\ndef read_pfm(file):\r\n with open(file, 'rb') as fh:\r\n fh.readline()\r\n width, height = str(fh.readline().rstrip())[2:-1].split()\r\n fh.readline()\r\n disp = np.fromfile(fh, '= 0.5:\n left_img = horizontal_flip(left_img)\n right_img = horizontal_flip(right_img)\n dataL = horizontal_flip(dataL)\n\n w, h = left_img.size\n tw, th = 320, 240\n x1 = random.randint(0, w - tw)\n y1 = random.randint(0, h - th)\n\n left_img = left_img.crop((x1, y1, x1+tw, y1+th))\n right_img = right_img.crop((x1, y1, x1+tw, y1+th))\n dataL = dataL.crop((x1, y1, x1+tw, y1+th))\n\n left_img = self.img_transorm(left_img)\n right_img = self.img_transorm(right_img)\n\n dataL = np.array(dataL)\n return left_img, right_img, dataL\n\n else:\n w, h = left_img.size\n left_img = left_img.resize((w // 32 * 32, h // 32 * 32))\n right_img = right_img.resize((w // 32 * 32, h // 32 * 32))\n\n left_img = self.img_transorm(left_img)\n right_img = self.img_transorm(right_img)\n\n dataL = np.array(dataL)\n return left_img, right_img, dataL\n\n def __len__(self):\n return len(self.left)\n\n\ndef horizontal_flip(img):\n img_np = np.array(img)\n img_np = np.flip(img_np, axis=1)\n img = Image.fromarray(img_np)\n return img\n\n\nif __name__ == '__main__':\n train_left, train_right, train_gt, _, _ = mb_loader('/media/data/dataset/MiddEval3-data-Q/', res='Q')\n H, W = 0, 0\n for l in train_right:\n left_img = Image.open(l).convert('RGB')\n h, w = left_img.size\n H += h\n W += w\n print(H / 15, W / 15)" }, { "path": "datasets/readpfm.py", "content": "import re\nimport numpy as np\nimport sys\n \n\ndef readPFM(file):\n file = open(file, 'rb')\n\n color = None\n width = None\n height = None\n scale = None\n endian = None\n\n header = file.readline().rstrip()\n if (sys.version[0]) == '3':\n header = header.decode('utf-8')\n if header == 'PF':\n color = True\n elif header == 'Pf':\n color = False\n else:\n raise Exception('Not a PFM file.')\n\n if (sys.version[0]) == '3':\n dim_match = re.match(r'^(\\d+)\\s(\\d+)\\s$', file.readline().decode('utf-8'))\n else:\n dim_match = re.match(r'^(\\d+)\\s(\\d+)\\s$', file.readline())\n if dim_match:\n width, height = map(int, dim_match.groups())\n else:\n raise Exception('Malformed PFM header.')\n\n if (sys.version[0]) == '3':\n scale = float(file.readline().rstrip().decode('utf-8'))\n else:\n scale = float(file.readline().rstrip())\n \n if scale < 0: # little-endian\n endian = '<'\n scale = -scale\n else:\n endian = '>' # big-endian\n\n data = np.fromfile(file, endian + 'f')\n shape = (height, width, 3) if color else (height, width)\n\n data = np.reshape(data, shape)\n data = np.flipud(data)\n return data, scale\n\n" }, { "path": "datasets/sceneflow_dataset.py", "content": "import os\r\nimport random\r\nfrom PIL import Image\r\nfrom torch.utils.data import Dataset\r\nimport numpy as np\r\nimport cv2\r\nfrom datasets.data_io import get_transform, read_all_lines, pfm_imread\r\nimport torchvision.transforms as transforms\r\nimport torch\r\nfrom PIL import ImageFile\r\nImageFile.LOAD_TRUNCATED_IMAGES = True\r\nimport matplotlib.pyplot as plt\r\n\r\nclass SceneFlowDatset(Dataset):\r\n def __init__(self, datapath, list_filename, training):\r\n self.datapath = datapath\r\n self.left_filenames, self.right_filenames, self.disp_filenames = self.load_path(list_filename)\r\n self.training = training\r\n\r\n def load_path(self, list_filename):\r\n lines = read_all_lines(list_filename)\r\n splits = [line.split() for line in lines]\r\n left_images = [x[0] for x in splits]\r\n right_images = [x[1] for x in splits]\r\n disp_images = [x[2] for x in splits]\r\n return left_images, right_images, disp_images\r\n\r\n def load_image(self, filename):\r\n return Image.open(filename).convert('RGB')\r\n\r\n def load_disp(self, filename):\r\n data, scale = pfm_imread(filename)\r\n data = np.ascontiguousarray(data, dtype=np.float32)\r\n return data\r\n\r\n def __len__(self):\r\n return len(self.left_filenames)\r\n\r\n def __getitem__(self, index):\r\n left_img = self.load_image(os.path.join(self.datapath, self.left_filenames[index]))\r\n right_img = self.load_image(os.path.join(self.datapath, self.right_filenames[index]))\r\n disparity = self.load_disp(os.path.join(self.datapath, self.disp_filenames[index]))\r\n left_img_np = np.array(left_img)\r\n dx_imgL = cv2.Sobel(left_img_np,cv2.CV_32F,1,0,ksize=3)\r\n dy_imgL = cv2.Sobel(left_img_np,cv2.CV_32F,0,1,ksize=3)\r\n dxy_imgL=np.sqrt(np.sum(np.square(dx_imgL),axis=-1)+np.sum(np.square(dy_imgL),axis=-1))\r\n dxy_imgL = dxy_imgL/(np.max(dxy_imgL)+1e-5)\r\n\r\n if self.training:\r\n w, h = left_img.size\r\n crop_w, crop_h = 512, 256\r\n\r\n x1 = random.randint(0, w - crop_w)\r\n y1 = random.randint(0, h - crop_h)\r\n\r\n # random crop\r\n left_img = left_img.crop((x1, y1, x1 + crop_w, y1 + crop_h))\r\n right_img = right_img.crop((x1, y1, x1 + crop_w, y1 + crop_h))\r\n disparity = disparity[y1:y1 + crop_h, x1:x1 + crop_w]\r\n disparity_low = cv2.resize(disparity, (crop_w//4, crop_h//4), interpolation=cv2.INTER_NEAREST)\r\n disparity_low_r8 = cv2.resize(disparity, (crop_w//8, crop_h//8), interpolation=cv2.INTER_NEAREST)\r\n gradient_map = dxy_imgL[y1:y1 + crop_h, x1:x1 + crop_w]\r\n\r\n # to tensor, normalize\r\n processed = get_transform()\r\n left_img = processed(left_img)\r\n right_img = processed(right_img)\r\n gradient_map = torch.from_numpy(gradient_map)\r\n\r\n return {\"left\": left_img,\r\n \"right\": right_img,\r\n \"disparity\": disparity,\r\n \"gradient_map\":gradient_map,\r\n \"disparity_low\":disparity_low,\r\n \"disparity_low_r8\":disparity_low_r8}\r\n else:\r\n w, h = left_img.size\r\n crop_w, crop_h = 960, 512\r\n\r\n left_img = left_img.crop((w - crop_w, h - crop_h, w, h))\r\n right_img = right_img.crop((w - crop_w, h - crop_h, w, h))\r\n disparity = disparity[h - crop_h:h, w - crop_w: w]\r\n gradient_map = dxy_imgL[h - crop_h:h, w - crop_w: w]\r\n disparity_low = cv2.resize(disparity, (crop_w//4, crop_h//4), interpolation=cv2.INTER_NEAREST)\r\n\r\n processed = get_transform()\r\n left_img = processed(left_img)\r\n right_img = processed(right_img)\r\n\r\n return {\"left\": left_img,\r\n \"right\": right_img,\r\n \"disparity\": disparity,\r\n \"top_pad\": 0,\r\n \"right_pad\": 0,\r\n \"gradient_map\":gradient_map,\r\n \"disparity_low\":disparity_low,\r\n \"left_filename\": self.left_filenames[index]}\r\n" }, { "path": "datasets/sceneflow_dataset_augmentation.py", "content": "import os\nimport random\nfrom torch.utils.data import Dataset\nfrom PIL import Image\nimport numpy as np\nfrom datasets.data_io import get_transform, read_all_lines, pfm_imread\nfrom . import flow_transforms\nimport torchvision\nimport cv2\nimport copy\n\nclass SceneFlowDatset(Dataset):\n def __init__(self, datapath, list_filename, training):\n self.datapath = datapath\n self.left_filenames, self.right_filenames, self.disp_filenames = self.load_path(list_filename)\n self.training = training\n\n def load_path(self, list_filename):\n lines = read_all_lines(list_filename)\n splits = [line.split() for line in lines]\n left_images = [x[0] for x in splits]\n right_images = [x[1] for x in splits]\n disp_images = [x[2] for x in splits]\n return left_images, right_images, disp_images\n\n def load_image(self, filename):\n return Image.open(filename).convert('RGB')\n\n def load_disp(self, filename):\n data, scale = pfm_imread(filename)\n data = np.ascontiguousarray(data, dtype=np.float32)\n return data\n\n def __len__(self):\n return len(self.left_filenames)\n\n def __getitem__(self, index):\n left_img = self.load_image(os.path.join(self.datapath, self.left_filenames[index]))\n right_img = self.load_image(os.path.join(self.datapath, self.right_filenames[index]))\n disparity = self.load_disp(os.path.join(self.datapath, self.disp_filenames[index]))\n\n if self.training:\n\n th, tw = 256, 512\n #th, tw = 288, 512\n random_brightness = np.random.uniform(0.5, 2.0, 2)\n random_gamma = np.random.uniform(0.8, 1.2, 2)\n random_contrast = np.random.uniform(0.8, 1.2, 2)\n random_saturation = np.random.uniform(0, 1.4, 2)\n left_img = torchvision.transforms.functional.adjust_brightness(left_img, random_brightness[0])\n left_img = torchvision.transforms.functional.adjust_gamma(left_img, random_gamma[0])\n left_img = torchvision.transforms.functional.adjust_contrast(left_img, random_contrast[0])\n left_img = torchvision.transforms.functional.adjust_contrast(left_img, random_saturation[0])\n\n right_img = torchvision.transforms.functional.adjust_brightness(right_img, random_brightness[1])\n right_img = torchvision.transforms.functional.adjust_gamma(right_img, random_gamma[1])\n right_img = torchvision.transforms.functional.adjust_contrast(right_img, random_contrast[1])\n right_img = torchvision.transforms.functional.adjust_contrast(right_img, random_saturation[1])\n\n left_img = np.array(left_img)\n right_img = np.array(right_img)\n\n # geometric unsymmetric-augmentation\n angle = 0;\n px = 0\n if np.random.binomial(1, 0.5):\n # angle = 0.1;\n # px = 2\n angle = 0.05\n px = 1\n co_transform = flow_transforms.Compose([\n flow_transforms.RandomCrop((th, tw)),\n ])\n augmented, disparity = co_transform([left_img, right_img], disparity)\n left_img = augmented[0]\n right_img = augmented[1]\n\n # randomly occlude a region\n right_img.flags.writeable = True\n if np.random.binomial(1,0.5):\n sx = int(np.random.uniform(35,100))\n sy = int(np.random.uniform(25,75))\n cx = int(np.random.uniform(sx,right_img.shape[0]-sx))\n cy = int(np.random.uniform(sy,right_img.shape[1]-sy))\n right_img[cx-sx:cx+sx,cy-sy:cy+sy] = np.mean(np.mean(right_img,0),0)[np.newaxis,np.newaxis]\n\n # w, h = left_img.size\n\n disparity = np.ascontiguousarray(disparity, dtype=np.float32)\n disparity_low = cv2.resize(disparity, (tw//4, th//4), interpolation=cv2.INTER_NEAREST)\n\n processed = get_transform()\n left_img = processed(left_img)\n right_img = processed(right_img)\n\n\n\n return {\"left\": left_img,\n \"right\": right_img,\n \"disparity\": disparity,\n \"disparity_low\": disparity_low}\n else:\n w, h = left_img.size\n crop_w, crop_h = 960, 512\n\n left_img = left_img.crop((w - crop_w, h - crop_h, w, h))\n right_img = right_img.crop((w - crop_w, h - crop_h, w, h))\n disparity = disparity[h - crop_h:h, w - crop_w: w]\n\n processed = get_transform()\n left_img = processed(left_img)\n right_img = processed(right_img)\n\n return {\"left\": left_img,\n \"right\": right_img,\n \"disparity\": disparity,\n \"top_pad\": 0,\n \"right_pad\": 0}\n" }, { "path": "filenames/kitti12_15_all.txt", "content": "training/image_2/000000_10.png training/image_3/000000_10.png training/disp_occ_0/000000_10.png\ntraining/image_2/000002_10.png training/image_3/000002_10.png training/disp_occ_0/000002_10.png\ntraining/image_2/000003_10.png training/image_3/000003_10.png training/disp_occ_0/000003_10.png\ntraining/image_2/000004_10.png training/image_3/000004_10.png training/disp_occ_0/000004_10.png\ntraining/image_2/000005_10.png training/image_3/000005_10.png training/disp_occ_0/000005_10.png\ntraining/image_2/000007_10.png training/image_3/000007_10.png training/disp_occ_0/000007_10.png\ntraining/image_2/000008_10.png 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disparity/TRAIN/B/0007/left/0008.pfm\nframes_finalpass/TRAIN/B/0007/left/0009.png frames_finalpass/TRAIN/B/0007/right/0009.png disparity/TRAIN/B/0007/left/0009.pfm\nframes_finalpass/TRAIN/B/0007/left/0007.png frames_finalpass/TRAIN/B/0007/right/0007.png disparity/TRAIN/B/0007/left/0007.pfm\nframes_finalpass/TRAIN/B/0007/left/0012.png frames_finalpass/TRAIN/B/0007/right/0012.png disparity/TRAIN/B/0007/left/0012.pfm\nframes_finalpass/TRAIN/B/0007/left/0013.png frames_finalpass/TRAIN/B/0007/right/0013.png disparity/TRAIN/B/0007/left/0013.pfm\nframes_finalpass/TRAIN/B/0007/left/0015.png frames_finalpass/TRAIN/B/0007/right/0015.png disparity/TRAIN/B/0007/left/0015.pfm\nframes_finalpass/TRAIN/B/0007/left/0011.png frames_finalpass/TRAIN/B/0007/right/0011.png disparity/TRAIN/B/0007/left/0011.pfm\nframes_finalpass/TRAIN/B/0007/left/0014.png frames_finalpass/TRAIN/B/0007/right/0014.png disparity/TRAIN/B/0007/left/0014.pfm\nframes_finalpass/TRAIN/B/0007/left/0006.png frames_finalpass/TRAIN/B/0007/right/0006.png disparity/TRAIN/B/0007/left/0006.pfm\nframes_finalpass/TRAIN/B/0007/left/0010.png frames_finalpass/TRAIN/B/0007/right/0010.png disparity/TRAIN/B/0007/left/0010.pfm\nframes_finalpass/TRAIN/B/0049/left/0008.png frames_finalpass/TRAIN/B/0049/right/0008.png disparity/TRAIN/B/0049/left/0008.pfm\nframes_finalpass/TRAIN/B/0049/left/0009.png frames_finalpass/TRAIN/B/0049/right/0009.png disparity/TRAIN/B/0049/left/0009.pfm\nframes_finalpass/TRAIN/B/0049/left/0007.png frames_finalpass/TRAIN/B/0049/right/0007.png disparity/TRAIN/B/0049/left/0007.pfm\nframes_finalpass/TRAIN/B/0049/left/0012.png frames_finalpass/TRAIN/B/0049/right/0012.png disparity/TRAIN/B/0049/left/0012.pfm\nframes_finalpass/TRAIN/B/0049/left/0013.png frames_finalpass/TRAIN/B/0049/right/0013.png disparity/TRAIN/B/0049/left/0013.pfm\nframes_finalpass/TRAIN/B/0049/left/0015.png frames_finalpass/TRAIN/B/0049/right/0015.png disparity/TRAIN/B/0049/left/0015.pfm\nframes_finalpass/TRAIN/B/0049/left/0011.png frames_finalpass/TRAIN/B/0049/right/0011.png disparity/TRAIN/B/0049/left/0011.pfm\nframes_finalpass/TRAIN/B/0049/left/0014.png frames_finalpass/TRAIN/B/0049/right/0014.png disparity/TRAIN/B/0049/left/0014.pfm\nframes_finalpass/TRAIN/B/0049/left/0006.png frames_finalpass/TRAIN/B/0049/right/0006.png disparity/TRAIN/B/0049/left/0006.pfm\nframes_finalpass/TRAIN/B/0049/left/0010.png frames_finalpass/TRAIN/B/0049/right/0010.png disparity/TRAIN/B/0049/left/0010.pfm\nframes_finalpass/TRAIN/B/0748/left/0008.png frames_finalpass/TRAIN/B/0748/right/0008.png disparity/TRAIN/B/0748/left/0008.pfm\nframes_finalpass/TRAIN/B/0748/left/0009.png frames_finalpass/TRAIN/B/0748/right/0009.png disparity/TRAIN/B/0748/left/0009.pfm\nframes_finalpass/TRAIN/B/0748/left/0007.png frames_finalpass/TRAIN/B/0748/right/0007.png disparity/TRAIN/B/0748/left/0007.pfm\nframes_finalpass/TRAIN/B/0748/left/0012.png frames_finalpass/TRAIN/B/0748/right/0012.png disparity/TRAIN/B/0748/left/0012.pfm\nframes_finalpass/TRAIN/B/0748/left/0013.png frames_finalpass/TRAIN/B/0748/right/0013.png disparity/TRAIN/B/0748/left/0013.pfm\nframes_finalpass/TRAIN/B/0748/left/0015.png frames_finalpass/TRAIN/B/0748/right/0015.png disparity/TRAIN/B/0748/left/0015.pfm\nframes_finalpass/TRAIN/B/0748/left/0011.png frames_finalpass/TRAIN/B/0748/right/0011.png disparity/TRAIN/B/0748/left/0011.pfm\nframes_finalpass/TRAIN/B/0748/left/0014.png frames_finalpass/TRAIN/B/0748/right/0014.png disparity/TRAIN/B/0748/left/0014.pfm\nframes_finalpass/TRAIN/B/0748/left/0006.png frames_finalpass/TRAIN/B/0748/right/0006.png disparity/TRAIN/B/0748/left/0006.pfm\nframes_finalpass/TRAIN/B/0748/left/0010.png frames_finalpass/TRAIN/B/0748/right/0010.png disparity/TRAIN/B/0748/left/0010.pfm\nframes_finalpass/TRAIN/B/0410/left/0008.png frames_finalpass/TRAIN/B/0410/right/0008.png disparity/TRAIN/B/0410/left/0008.pfm\nframes_finalpass/TRAIN/B/0410/left/0009.png frames_finalpass/TRAIN/B/0410/right/0009.png disparity/TRAIN/B/0410/left/0009.pfm\nframes_finalpass/TRAIN/B/0410/left/0007.png frames_finalpass/TRAIN/B/0410/right/0007.png disparity/TRAIN/B/0410/left/0007.pfm\nframes_finalpass/TRAIN/B/0410/left/0012.png frames_finalpass/TRAIN/B/0410/right/0012.png disparity/TRAIN/B/0410/left/0012.pfm\nframes_finalpass/TRAIN/B/0410/left/0013.png frames_finalpass/TRAIN/B/0410/right/0013.png disparity/TRAIN/B/0410/left/0013.pfm\nframes_finalpass/TRAIN/B/0410/left/0015.png frames_finalpass/TRAIN/B/0410/right/0015.png disparity/TRAIN/B/0410/left/0015.pfm\nframes_finalpass/TRAIN/B/0410/left/0011.png frames_finalpass/TRAIN/B/0410/right/0011.png disparity/TRAIN/B/0410/left/0011.pfm\nframes_finalpass/TRAIN/B/0410/left/0014.png frames_finalpass/TRAIN/B/0410/right/0014.png disparity/TRAIN/B/0410/left/0014.pfm\nframes_finalpass/TRAIN/B/0410/left/0006.png frames_finalpass/TRAIN/B/0410/right/0006.png disparity/TRAIN/B/0410/left/0006.pfm\nframes_finalpass/TRAIN/B/0410/left/0010.png frames_finalpass/TRAIN/B/0410/right/0010.png disparity/TRAIN/B/0410/left/0010.pfm\nframes_finalpass/TRAIN/B/0268/left/0008.png frames_finalpass/TRAIN/B/0268/right/0008.png disparity/TRAIN/B/0268/left/0008.pfm\nframes_finalpass/TRAIN/B/0268/left/0009.png frames_finalpass/TRAIN/B/0268/right/0009.png disparity/TRAIN/B/0268/left/0009.pfm\nframes_finalpass/TRAIN/B/0268/left/0007.png frames_finalpass/TRAIN/B/0268/right/0007.png disparity/TRAIN/B/0268/left/0007.pfm\nframes_finalpass/TRAIN/B/0268/left/0012.png frames_finalpass/TRAIN/B/0268/right/0012.png disparity/TRAIN/B/0268/left/0012.pfm\nframes_finalpass/TRAIN/B/0268/left/0013.png frames_finalpass/TRAIN/B/0268/right/0013.png disparity/TRAIN/B/0268/left/0013.pfm\nframes_finalpass/TRAIN/B/0268/left/0015.png frames_finalpass/TRAIN/B/0268/right/0015.png disparity/TRAIN/B/0268/left/0015.pfm\nframes_finalpass/TRAIN/B/0268/left/0011.png frames_finalpass/TRAIN/B/0268/right/0011.png disparity/TRAIN/B/0268/left/0011.pfm\nframes_finalpass/TRAIN/B/0268/left/0014.png frames_finalpass/TRAIN/B/0268/right/0014.png disparity/TRAIN/B/0268/left/0014.pfm\nframes_finalpass/TRAIN/B/0268/left/0006.png frames_finalpass/TRAIN/B/0268/right/0006.png disparity/TRAIN/B/0268/left/0006.pfm\nframes_finalpass/TRAIN/B/0268/left/0010.png frames_finalpass/TRAIN/B/0268/right/0010.png disparity/TRAIN/B/0268/left/0010.pfm\nframes_finalpass/TRAIN/B/0703/left/0008.png frames_finalpass/TRAIN/B/0703/right/0008.png disparity/TRAIN/B/0703/left/0008.pfm\nframes_finalpass/TRAIN/B/0703/left/0009.png frames_finalpass/TRAIN/B/0703/right/0009.png disparity/TRAIN/B/0703/left/0009.pfm\nframes_finalpass/TRAIN/B/0703/left/0007.png frames_finalpass/TRAIN/B/0703/right/0007.png disparity/TRAIN/B/0703/left/0007.pfm\nframes_finalpass/TRAIN/B/0703/left/0012.png frames_finalpass/TRAIN/B/0703/right/0012.png disparity/TRAIN/B/0703/left/0012.pfm\nframes_finalpass/TRAIN/B/0703/left/0013.png frames_finalpass/TRAIN/B/0703/right/0013.png disparity/TRAIN/B/0703/left/0013.pfm\nframes_finalpass/TRAIN/B/0703/left/0015.png frames_finalpass/TRAIN/B/0703/right/0015.png disparity/TRAIN/B/0703/left/0015.pfm\nframes_finalpass/TRAIN/B/0703/left/0011.png frames_finalpass/TRAIN/B/0703/right/0011.png disparity/TRAIN/B/0703/left/0011.pfm\nframes_finalpass/TRAIN/B/0703/left/0014.png frames_finalpass/TRAIN/B/0703/right/0014.png disparity/TRAIN/B/0703/left/0014.pfm\nframes_finalpass/TRAIN/B/0703/left/0006.png frames_finalpass/TRAIN/B/0703/right/0006.png disparity/TRAIN/B/0703/left/0006.pfm\nframes_finalpass/TRAIN/B/0703/left/0010.png frames_finalpass/TRAIN/B/0703/right/0010.png disparity/TRAIN/B/0703/left/0010.pfm\nframes_finalpass/TRAIN/B/0395/left/0008.png frames_finalpass/TRAIN/B/0395/right/0008.png disparity/TRAIN/B/0395/left/0008.pfm\nframes_finalpass/TRAIN/B/0395/left/0009.png frames_finalpass/TRAIN/B/0395/right/0009.png disparity/TRAIN/B/0395/left/0009.pfm\nframes_finalpass/TRAIN/B/0395/left/0007.png frames_finalpass/TRAIN/B/0395/right/0007.png disparity/TRAIN/B/0395/left/0007.pfm\nframes_finalpass/TRAIN/B/0395/left/0012.png frames_finalpass/TRAIN/B/0395/right/0012.png disparity/TRAIN/B/0395/left/0012.pfm\nframes_finalpass/TRAIN/B/0395/left/0013.png frames_finalpass/TRAIN/B/0395/right/0013.png disparity/TRAIN/B/0395/left/0013.pfm\nframes_finalpass/TRAIN/B/0395/left/0015.png frames_finalpass/TRAIN/B/0395/right/0015.png disparity/TRAIN/B/0395/left/0015.pfm\nframes_finalpass/TRAIN/B/0395/left/0011.png frames_finalpass/TRAIN/B/0395/right/0011.png disparity/TRAIN/B/0395/left/0011.pfm\nframes_finalpass/TRAIN/B/0395/left/0014.png frames_finalpass/TRAIN/B/0395/right/0014.png disparity/TRAIN/B/0395/left/0014.pfm\nframes_finalpass/TRAIN/B/0395/left/0006.png frames_finalpass/TRAIN/B/0395/right/0006.png disparity/TRAIN/B/0395/left/0006.pfm\nframes_finalpass/TRAIN/B/0395/left/0010.png frames_finalpass/TRAIN/B/0395/right/0010.png disparity/TRAIN/B/0395/left/0010.pfm\nframes_finalpass/TRAIN/B/0575/left/0008.png frames_finalpass/TRAIN/B/0575/right/0008.png disparity/TRAIN/B/0575/left/0008.pfm\nframes_finalpass/TRAIN/B/0575/left/0009.png frames_finalpass/TRAIN/B/0575/right/0009.png disparity/TRAIN/B/0575/left/0009.pfm\nframes_finalpass/TRAIN/B/0575/left/0007.png frames_finalpass/TRAIN/B/0575/right/0007.png disparity/TRAIN/B/0575/left/0007.pfm\nframes_finalpass/TRAIN/B/0575/left/0012.png frames_finalpass/TRAIN/B/0575/right/0012.png disparity/TRAIN/B/0575/left/0012.pfm\nframes_finalpass/TRAIN/B/0575/left/0013.png frames_finalpass/TRAIN/B/0575/right/0013.png disparity/TRAIN/B/0575/left/0013.pfm\nframes_finalpass/TRAIN/B/0575/left/0015.png frames_finalpass/TRAIN/B/0575/right/0015.png disparity/TRAIN/B/0575/left/0015.pfm\nframes_finalpass/TRAIN/B/0575/left/0011.png frames_finalpass/TRAIN/B/0575/right/0011.png disparity/TRAIN/B/0575/left/0011.pfm\nframes_finalpass/TRAIN/B/0575/left/0014.png frames_finalpass/TRAIN/B/0575/right/0014.png disparity/TRAIN/B/0575/left/0014.pfm\nframes_finalpass/TRAIN/B/0575/left/0006.png frames_finalpass/TRAIN/B/0575/right/0006.png disparity/TRAIN/B/0575/left/0006.pfm\nframes_finalpass/TRAIN/B/0575/left/0010.png frames_finalpass/TRAIN/B/0575/right/0010.png disparity/TRAIN/B/0575/left/0010.pfm\nframes_finalpass/TRAIN/B/0340/left/0008.png frames_finalpass/TRAIN/B/0340/right/0008.png disparity/TRAIN/B/0340/left/0008.pfm\nframes_finalpass/TRAIN/B/0340/left/0009.png frames_finalpass/TRAIN/B/0340/right/0009.png disparity/TRAIN/B/0340/left/0009.pfm\nframes_finalpass/TRAIN/B/0340/left/0007.png frames_finalpass/TRAIN/B/0340/right/0007.png disparity/TRAIN/B/0340/left/0007.pfm\nframes_finalpass/TRAIN/B/0340/left/0012.png frames_finalpass/TRAIN/B/0340/right/0012.png disparity/TRAIN/B/0340/left/0012.pfm\nframes_finalpass/TRAIN/B/0340/left/0013.png frames_finalpass/TRAIN/B/0340/right/0013.png disparity/TRAIN/B/0340/left/0013.pfm\nframes_finalpass/TRAIN/B/0340/left/0015.png frames_finalpass/TRAIN/B/0340/right/0015.png disparity/TRAIN/B/0340/left/0015.pfm\nframes_finalpass/TRAIN/B/0340/left/0011.png frames_finalpass/TRAIN/B/0340/right/0011.png disparity/TRAIN/B/0340/left/0011.pfm\nframes_finalpass/TRAIN/B/0340/left/0014.png frames_finalpass/TRAIN/B/0340/right/0014.png disparity/TRAIN/B/0340/left/0014.pfm\nframes_finalpass/TRAIN/B/0340/left/0006.png frames_finalpass/TRAIN/B/0340/right/0006.png disparity/TRAIN/B/0340/left/0006.pfm\nframes_finalpass/TRAIN/B/0340/left/0010.png frames_finalpass/TRAIN/B/0340/right/0010.png disparity/TRAIN/B/0340/left/0010.pfm\n" }, { "path": "filenames/test_eth3d_files.txt", "content": "terrace_1s\nplayground_3s\nforest_2s\ndelivery_area_1l\nterrains_1l\nelectro_3s\nforest_1s\nterrains_2l\ndelivery_area_2l\nterrace_2s\nelectro_2l\ndelivery_area_3s\nplayground_1l\nelectro_1l\nplayground_2l\nplayground_3l\ndelivery_area_1s\nterrains_1s\nelectro_3l\nterrains_2s\ndelivery_area_2s\nfacade_1s\nelectro_2s\ndelivery_area_3l\nplayground_1s\nelectro_1s\nplayground_2s\n" }, { "path": "main_kitti.py", "content": "# from __future__ import print_function, division\r\nimport argparse\r\nimport os\r\nimport torch\r\nimport torch.nn as nn\r\nimport torch.nn.parallel\r\nimport torch.backends.cudnn as cudnn\r\nimport torch.optim as optim\r\nimport torch.utils.data\r\nfrom torch.autograd import Variable\r\nimport torchvision.utils as vutils\r\nimport torch.nn.functional as F\r\nimport numpy as np\r\nimport time\r\nfrom tensorboardX import SummaryWriter\r\nfrom datasets import __datasets__\r\nfrom models import __models__, model_loss_train, model_loss_test\r\nfrom utils import *\r\nfrom torch.utils.data import DataLoader\r\nimport gc\r\nimport cv2\r\n\r\ncudnn.benchmark = True\r\nos.environ['CUDA_VISIBLE_DEVICES'] = '0, 1'\r\n\r\nparser = argparse.ArgumentParser(description='Accurate and Efficient Stereo Matching via Attention Concatenation Volume (Fast-ACV)')\r\nparser.add_argument('--model', default='Fast_ACVNet_plus', help='select a model structure', choices=__models__.keys())\r\nparser.add_argument('--maxdisp', type=int, default=192, help='maximum disparity')\r\n\r\nparser.add_argument('--dataset', default='kitti', help='dataset name', choices=__datasets__.keys())\r\nparser.add_argument('--kitti12_datapath', default='/data/KITTI/KITTI_2012/', help='data path')\r\nparser.add_argument('--kitti15_datapath', default='/data/KITTI/KITTI_2015/', help='data path')\r\nparser.add_argument('--trainlist', default='./filenames/kitti12_15_all.txt', help='training list')\r\nparser.add_argument('--testlist',default='./filenames/kitti15_val.txt', help='testing list')\r\n\r\nparser.add_argument('--lr', type=float, default=0.001, help='base learning rate')\r\nparser.add_argument('--batch_size', type=int, default=20, help='training batch size')\r\nparser.add_argument('--test_batch_size', type=int, default=20, help='testing batch size')\r\nparser.add_argument('--epochs', type=int, default=500, help='number of epochs to train')\r\nparser.add_argument('--lrepochs',default=\"300:10\", type=str, help='the epochs to decay lr: the downscale rate')\r\nparser.add_argument('--attention_weights_only', default=False, type=str, help='only train attention weights')\r\nparser.add_argument('--logdir',default='./checkpoints', help='the directory to save logs and checkpoints')\r\nparser.add_argument('--loadckpt', default='',help='load the weights from a specific checkpoint')\r\nparser.add_argument('--resume', action='store_true', help='continue training the model')\r\nparser.add_argument('--seed', type=int, default=1, metavar='S', help='random seed (default: 1)')\r\nparser.add_argument('--summary_freq', type=int, default=20, help='the frequency of saving summary')\r\nparser.add_argument('--save_freq', type=int, default=1, help='the frequency of saving checkpoint')\r\n\r\n# parse arguments, set seeds\r\nargs = parser.parse_args()\r\ntorch.manual_seed(args.seed)\r\ntorch.cuda.manual_seed(args.seed)\r\nos.makedirs(args.logdir, exist_ok=True)\r\n\r\n# create summary logger\r\nprint(\"creating new summary file\")\r\nlogger = SummaryWriter(args.logdir)\r\n\r\n# dataset, dataloader\r\nStereoDataset = __datasets__[args.dataset]\r\ntrain_dataset = StereoDataset(args.kitti15_datapath, args.kitti12_datapath, args.trainlist, True)\r\ntest_dataset = StereoDataset(args.kitti15_datapath, args.kitti12_datapath, args.testlist, False)\r\nTrainImgLoader = DataLoader(train_dataset, args.batch_size, shuffle=True, num_workers=24, drop_last=True)\r\nTestImgLoader = DataLoader(test_dataset, args.test_batch_size, shuffle=False, num_workers=24, drop_last=False)\r\n\r\n# model, optimizer\r\nmodel = __models__[args.model](args.maxdisp, args.attention_weights_only)\r\nmodel = nn.DataParallel(model)\r\nmodel.cuda()\r\noptimizer = optim.Adam(model.parameters(), lr=args.lr, betas=(0.9, 0.999))\r\n# optimizer = optim.SGD(model.parameters(), lr = args.lr, momentum=0.9)\r\n# load parameters\r\nstart_epoch = 0\r\nif args.resume:\r\n # find all checkpoints file and sort according to epoch id\r\n all_saved_ckpts = [fn for fn in os.listdir(args.logdir) if fn.endswith(\".ckpt\")]\r\n all_saved_ckpts = sorted(all_saved_ckpts, key=lambda x: int(x.split('_')[-1].split('.')[0]))\r\n # use the latest checkpoint file\r\n loadckpt = os.path.join(args.logdir, all_saved_ckpts[-1])\r\n print(\"loading the lastest model in logdir: {}\".format(loadckpt))\r\n state_dict = torch.load(loadckpt)\r\n model.load_state_dict(state_dict['model'])\r\n optimizer.load_state_dict(state_dict['optimizer'])\r\n start_epoch = state_dict['epoch'] + 1\r\nelif args.loadckpt:\r\n # load the checkpoint file specified by args.loadckpt\r\n print(\"loading model {}\".format(args.loadckpt))\r\n state_dict = torch.load(args.loadckpt)\r\n model_dict = model.state_dict()\r\n pre_dict = {k: v for k, v in state_dict['model'].items() if k in model_dict}\r\n model_dict.update(pre_dict) \r\n model.load_state_dict(model_dict)\r\nprint(\"start at epoch {}\".format(start_epoch))\r\n\r\ndef train():\r\n for epoch_idx in range(start_epoch, args.epochs):\r\n adjust_learning_rate(optimizer, epoch_idx, args.lr, args.lrepochs)\r\n\r\n # training\r\n for batch_idx, sample in enumerate(TrainImgLoader):\r\n global_step = len(TrainImgLoader) * epoch_idx + batch_idx\r\n start_time = time.time()\r\n do_summary = global_step % args.summary_freq == 0\r\n loss, scalar_outputs, image_outputs = train_sample(sample, compute_metrics=do_summary)\r\n if do_summary:\r\n save_scalars(logger, 'train', scalar_outputs, global_step)\r\n save_images(logger, 'train', image_outputs, global_step)\r\n del scalar_outputs, image_outputs\r\n print('Epoch {}/{}, Iter {}/{}, train loss = {:.3f}, time = {:.3f}'.format(epoch_idx, args.epochs,\r\n batch_idx,\r\n len(TrainImgLoader), loss,\r\n time.time() - start_time))\r\n\r\n \r\n # saving checkpoints\r\n\r\n if (epoch_idx + 1) % args.save_freq == 0:\r\n checkpoint_data = {'epoch': epoch_idx, 'model': model.state_dict(), 'optimizer': optimizer.state_dict()}\r\n #id_epoch = (epoch_idx + 1) % 100\r\n torch.save(checkpoint_data, \"{}/checkpoint_{:0>6}.ckpt\".format(args.logdir, epoch_idx))\r\n gc.collect()\r\n\r\n # # testing\r\n avg_test_scalars = AverageMeterDict()\r\n for batch_idx, sample in enumerate(TestImgLoader):\r\n global_step = len(TestImgLoader) * epoch_idx + batch_idx\r\n start_time = time.time()\r\n # do_summary = global_step % args.summary_freq == 0\r\n do_summary = global_step % 1 == 0\r\n loss, scalar_outputs, image_outputs = test_sample(sample, compute_metrics=do_summary)\r\n if do_summary:\r\n save_scalars(logger, 'test', scalar_outputs, global_step)\r\n save_images(logger, 'test', image_outputs, global_step)\r\n avg_test_scalars.update(scalar_outputs)\r\n del scalar_outputs, image_outputs\r\n print('Epoch {}/{}, Iter {}/{}, test loss = {:.3f}, time = {:3f}'.format(epoch_idx, args.epochs,\r\n batch_idx,\r\n len(TestImgLoader), loss,\r\n time.time() - start_time))\r\n avg_test_scalars = avg_test_scalars.mean()\r\n save_scalars(logger, 'fulltest', avg_test_scalars, len(TrainImgLoader) * (epoch_idx + 1))\r\n print(\"avg_test_scalars\", avg_test_scalars)\r\n gc.collect()\r\n\r\n\r\n# train one sample\r\ndef train_sample(sample, compute_metrics=False):\r\n model.train()\r\n imgL, imgR, disp_gt, disp_gt_low = sample['left'], sample['right'], sample['disparity'], sample['disparity_low']\r\n imgL = imgL.cuda()\r\n imgR = imgR.cuda()\r\n disp_gt = disp_gt.cuda()\r\n disp_gt_low = disp_gt_low.cuda()\r\n optimizer.zero_grad()\r\n disp_ests = model(imgL, imgR)\r\n mask = (disp_gt < args.maxdisp) & (disp_gt > 0)\r\n mask_low = (disp_gt_low < args.maxdisp) & (disp_gt_low > 0)\r\n masks = [mask, mask_low, mask, mask_low]\r\n disp_gts = [disp_gt, disp_gt_low, disp_gt, disp_gt_low] \r\n loss = model_loss_train(disp_ests, disp_gts, masks)\r\n scalar_outputs = {\"loss\": loss}\r\n image_outputs = {\"disp_est\": disp_ests, \"disp_gt\": disp_gt, \"imgL\": imgL, \"imgR\": imgR}\r\n if compute_metrics:\r\n with torch.no_grad():\r\n image_outputs[\"errormap\"] = [disp_error_image_func.apply(disp_ests[0], disp_gt)]\r\n scalar_outputs[\"EPE\"] = [EPE_metric(disp_ests[0], disp_gt, mask)]\r\n scalar_outputs[\"D1\"] = [D1_metric(disp_ests[0], disp_gt, mask)]\r\n scalar_outputs[\"Thres1\"] = [Thres_metric(disp_ests[0], disp_gt, mask, 1.0)]\r\n scalar_outputs[\"Thres2\"] = [Thres_metric(disp_ests[0], disp_gt, mask, 2.0)]\r\n scalar_outputs[\"Thres3\"] = [Thres_metric(disp_ests[0], disp_gt, mask, 3.0)]\r\n loss.backward()\r\n optimizer.step()\r\n\r\n return tensor2float(loss), tensor2float(scalar_outputs), image_outputs\r\n\r\n\r\n# test one sample\r\n@make_nograd_func\r\ndef test_sample(sample, compute_metrics=True):\r\n model.eval()\r\n imgL, imgR, disp_gt = sample['left'], sample['right'], sample['disparity']\r\n imgL = imgL.cuda()\r\n imgR = imgR.cuda()\r\n disp_gt = disp_gt.cuda()\r\n mask = (disp_gt < args.maxdisp) & (disp_gt > 0)\r\n disp_ests = model(imgL, imgR)\r\n disp_gts = [disp_gt]\r\n masks = [mask]\r\n loss = model_loss_test(disp_ests, disp_gts, masks)\r\n scalar_outputs = {\"loss\": loss}\r\n image_outputs = {\"disp_est\": disp_ests, \"disp_gt\": disp_gt, \"imgL\": imgL, \"imgR\": imgR}\r\n scalar_outputs[\"D1\"] = [D1_metric(disp_est, disp_gt, mask) for disp_est in disp_ests]\r\n scalar_outputs[\"EPE\"] = [EPE_metric(disp_est, disp_gt, mask) for disp_est in disp_ests]\r\n scalar_outputs[\"Thres1\"] = [Thres_metric(disp_est, disp_gt, mask, 1.0) for disp_est in disp_ests]\r\n scalar_outputs[\"Thres2\"] = [Thres_metric(disp_est, disp_gt, mask, 2.0) for disp_est in disp_ests]\r\n scalar_outputs[\"Thres3\"] = [Thres_metric(disp_est, disp_gt, mask, 3.0) for disp_est in disp_ests]\r\n\r\n if compute_metrics:\r\n image_outputs[\"errormap\"] = [disp_error_image_func.apply(disp_est, disp_gt) for disp_est in disp_ests]\r\n return tensor2float(loss), tensor2float(scalar_outputs), image_outputs\r\n\r\nif __name__ == '__main__':\r\n train()\r\n" }, { "path": "main_sceneflow.py", "content": "# from __future__ import print_function, division\r\nimport argparse\r\nimport os\r\nos.environ['CUDA_VISIBLE_DEVICES'] = '0,1'\r\nimport torch\r\nimport torch.nn as nn\r\nimport torch.nn.parallel\r\nimport torch.backends.cudnn as cudnn\r\nimport torch.optim as optim\r\nimport torch.utils.data\r\nfrom torch.autograd import Variable\r\nimport torchvision.utils as vutils\r\nimport torch.nn.functional as F\r\nimport numpy as np\r\nimport time\r\nfrom tensorboardX import SummaryWriter\r\nfrom datasets import __datasets__\r\nfrom models import __models__, model_loss_train, model_loss_test\r\nfrom utils import *\r\nfrom torch.utils.data import DataLoader\r\nimport gc\r\nimport cv2\r\n\r\ncudnn.benchmark = True\r\n\r\nparser = argparse.ArgumentParser(description='Accurate and Efficient Stereo Matching via Attention Concatenation Volume (Fast-ACV)')\r\nparser.add_argument('--model', default='Fast_ACVNet_plus', help='select a model structure', choices=__models__.keys())\r\nparser.add_argument('--maxdisp', type=int, default=192, help='maximum disparity')\r\nparser.add_argument('--dataset', default='sceneflow', help='dataset name', choices=__datasets__.keys())\r\nparser.add_argument('--datapath', default=\"/data/sceneflow/\", help='data path')\r\nparser.add_argument('--trainlist', default='./filenames/sceneflow_train.txt', help='training list')\r\nparser.add_argument('--testlist',default='./filenames/sceneflow_test.txt', help='testing list')\r\nparser.add_argument('--lr', type=float, default=0.001, help='base learning rate')\r\nparser.add_argument('--batch_size', type=int, default=20, help='training batch size')\r\nparser.add_argument('--test_batch_size', type=int, default=20, help='testing batch size')\r\nparser.add_argument('--epochs', type=int, default=24, help='number of epochs to train')\r\nparser.add_argument('--lrepochs',default=\"10,15,18,21:2\", type=str, help='the epochs to decay lr: the downscale rate')\r\nparser.add_argument('--attention_weights_only', default=False, type=str, help='only train attention weights')\r\nparser.add_argument('--logdir',default='./checkpoints', help='the directory to save logs and checkpoints')\r\nparser.add_argument('--loadckpt', default='',help='load the weights from a specific checkpoint')\r\nparser.add_argument('--resume', action='store_true', help='continue training the model')\r\nparser.add_argument('--seed', type=int, default=1, metavar='S', help='random seed (default: 1)')\r\nparser.add_argument('--summary_freq', type=int, default=20, help='the frequency of saving summary')\r\nparser.add_argument('--save_freq', type=int, default=1, help='the frequency of saving checkpoint')\r\n\r\n# parse arguments, set seeds\r\nargs = parser.parse_args()\r\ntorch.manual_seed(args.seed)\r\ntorch.cuda.manual_seed(args.seed)\r\nos.makedirs(args.logdir, exist_ok=True)\r\n\r\n# create summary logger\r\nprint(\"creating new summary file\")\r\nlogger = SummaryWriter(args.logdir)\r\n\r\n# dataset, dataloader\r\nStereoDataset = __datasets__[args.dataset]\r\ntrain_dataset = StereoDataset(args.datapath, args.trainlist, True)\r\ntest_dataset = StereoDataset(args.datapath, args.testlist, False)\r\nTrainImgLoader = DataLoader(train_dataset, args.batch_size, shuffle=True, num_workers=24, drop_last=True)\r\nTestImgLoader = DataLoader(test_dataset, args.test_batch_size, shuffle=False, num_workers=24, drop_last=False)\r\n\r\n# model, optimizer\r\nmodel = __models__[args.model](args.maxdisp, args.attention_weights_only)\r\nmodel = nn.DataParallel(model)\r\nmodel.cuda()\r\noptimizer = optim.Adam(model.parameters(), lr=args.lr, betas=(0.9, 0.999))\r\n#optimizer = optim.SGD(model.parameters(), lr = args.lr, momentum=0.9)\r\n# load parameters\r\nstart_epoch = 0\r\nif args.resume:\r\n # find all checkpoints file and sort according to epoch id\r\n all_saved_ckpts = [fn for fn in os.listdir(args.logdir) if fn.endswith(\".ckpt\")]\r\n all_saved_ckpts = sorted(all_saved_ckpts, key=lambda x: int(x.split('_')[-1].split('.')[0]))\r\n # use the latest checkpoint file\r\n loadckpt = os.path.join(args.logdir, all_saved_ckpts[-1])\r\n print(\"loading the lastest model in logdir: {}\".format(loadckpt))\r\n state_dict = torch.load(loadckpt)\r\n model.load_state_dict(state_dict['model'])\r\n optimizer.load_state_dict(state_dict['optimizer'])\r\n start_epoch = state_dict['epoch'] + 1\r\nelif args.loadckpt:\r\n # load the checkpoint file specified by args.loadckpt\r\n print(\"loading model {}\".format(args.loadckpt))\r\n state_dict = torch.load(args.loadckpt)\r\n model_dict = model.state_dict()\r\n pre_dict = {k: v for k, v in state_dict['model'].items() if k in model_dict}\r\n model_dict.update(pre_dict) \r\n model.load_state_dict(model_dict)\r\nprint(\"start at epoch {}\".format(start_epoch))\r\n\r\ndef train():\r\n #for epoch_idx in range(start_epoch, args.epochs):\r\n for epoch_idx in range(start_epoch, args.epochs):\r\n adjust_learning_rate(optimizer, epoch_idx, args.lr, args.lrepochs)\r\n\r\n # training\r\n for batch_idx, sample in enumerate(TrainImgLoader):\r\n global_step = len(TrainImgLoader) * epoch_idx + batch_idx\r\n start_time = time.time()\r\n do_summary = global_step % args.summary_freq == 0\r\n loss, scalar_outputs, image_outputs = train_sample(sample, compute_metrics=do_summary)\r\n if do_summary:\r\n save_scalars(logger, 'train', scalar_outputs, global_step)\r\n save_images(logger, 'train', image_outputs, global_step)\r\n del scalar_outputs, image_outputs\r\n print('Epoch {}/{}, Iter {}/{}, train loss = {:.3f}, time = {:.3f}'.format(epoch_idx, args.epochs,\r\n batch_idx,\r\n len(TrainImgLoader), loss,\r\n time.time() - start_time))\r\n\r\n \r\n\r\n \r\n # saving checkpoints\r\n\r\n if (epoch_idx + 1) % args.save_freq == 0:\r\n checkpoint_data = {'epoch': epoch_idx, 'model': model.state_dict(), 'optimizer': optimizer.state_dict()}\r\n #id_epoch = (epoch_idx + 1) % 100\r\n torch.save(checkpoint_data, \"{}/checkpoint_{:0>6}.ckpt\".format(args.logdir, epoch_idx))\r\n gc.collect()\r\n\r\n # # testing\r\n avg_test_scalars = AverageMeterDict()\r\n for batch_idx, sample in enumerate(TestImgLoader):\r\n\r\n global_step = len(TestImgLoader) * epoch_idx + batch_idx\r\n start_time = time.time()\r\n # do_summary = global_step % args.summary_freq == 0\r\n do_summary = global_step % 1 == 0\r\n loss, scalar_outputs, image_outputs = test_sample(sample, compute_metrics=do_summary)\r\n if do_summary:\r\n save_scalars(logger, 'test', scalar_outputs, global_step)\r\n save_images(logger, 'test', image_outputs, global_step)\r\n avg_test_scalars.update(scalar_outputs)\r\n del scalar_outputs, image_outputs\r\n print('Epoch {}/{}, Iter {}/{}, test loss = {:.3f}, time = {:3f}'.format(epoch_idx, args.epochs,\r\n batch_idx,\r\n len(TestImgLoader), loss,\r\n time.time() - start_time))\r\n avg_test_scalars = avg_test_scalars.mean()\r\n save_scalars(logger, 'fulltest', avg_test_scalars, len(TrainImgLoader) * (epoch_idx + 1))\r\n print(\"avg_test_scalars\", avg_test_scalars)\r\n gc.collect()\r\n\r\n\r\n# train one sample\r\ndef train_sample(sample, compute_metrics=False):\r\n model.train()\r\n imgL, imgR, disp_gt, disp_gt_low = sample['left'], sample['right'], sample['disparity'], sample['disparity_low']\r\n imgL = imgL.cuda()\r\n imgR = imgR.cuda()\r\n disp_gt = disp_gt.cuda()\r\n disp_gt_low = disp_gt_low.cuda()\r\n optimizer.zero_grad()\r\n disp_ests = model(imgL, imgR)\r\n mask = (disp_gt < args.maxdisp) & (disp_gt > 0)\r\n mask_low = (disp_gt_low < args.maxdisp) & (disp_gt_low > 0)\r\n masks = [mask, mask_low, mask, mask_low]\r\n disp_gts = [disp_gt, disp_gt_low, disp_gt, disp_gt_low] \r\n loss = model_loss_train(disp_ests, disp_gts, masks)\r\n scalar_outputs = {\"loss\": loss}\r\n image_outputs = {\"disp_est\": disp_ests, \"disp_gt\": disp_gt, \"imgL\": imgL, \"imgR\": imgR}\r\n if compute_metrics:\r\n with torch.no_grad():\r\n image_outputs[\"errormap\"] = [disp_error_image_func.apply(disp_ests[0], disp_gt)]\r\n scalar_outputs[\"EPE\"] = [EPE_metric(disp_ests[0], disp_gt, mask)]\r\n scalar_outputs[\"D1\"] = [D1_metric(disp_ests[0], disp_gt, mask)]\r\n scalar_outputs[\"Thres1\"] = [Thres_metric(disp_ests[0], disp_gt, mask, 1.0)]\r\n scalar_outputs[\"Thres2\"] = [Thres_metric(disp_ests[0], disp_gt, mask, 2.0)]\r\n scalar_outputs[\"Thres3\"] = [Thres_metric(disp_ests[0], disp_gt, mask, 3.0)]\r\n loss.backward()\r\n optimizer.step()\r\n\r\n return tensor2float(loss), tensor2float(scalar_outputs), image_outputs\r\n\r\n# test one sample\r\n@make_nograd_func\r\ndef test_sample(sample, compute_metrics=True):\r\n model.eval()\r\n imgL, imgR, disp_gt = sample['left'], sample['right'], sample['disparity']\r\n imgL = imgL.cuda()\r\n imgR = imgR.cuda()\r\n disp_gt = disp_gt.cuda()\r\n mask = (disp_gt < args.maxdisp) & (disp_gt > 0)\r\n disp_ests = model(imgL, imgR)\r\n disp_gts = [disp_gt]\r\n masks = [mask]\r\n loss = model_loss_test(disp_ests, disp_gts, masks)\r\n scalar_outputs = {\"loss\": loss}\r\n image_outputs = {\"disp_est\": disp_ests, \"disp_gt\": disp_gt, \"imgL\": imgL, \"imgR\": imgR}\r\n scalar_outputs[\"D1\"] = [D1_metric(disp_est, disp_gt, mask) for disp_est in disp_ests]\r\n scalar_outputs[\"EPE\"] = [EPE_metric(disp_est, disp_gt, mask) for disp_est in disp_ests]\r\n scalar_outputs[\"Thres1\"] = [Thres_metric(disp_est, disp_gt, mask, 1.0) for disp_est in disp_ests]\r\n scalar_outputs[\"Thres2\"] = [Thres_metric(disp_est, disp_gt, mask, 2.0) for disp_est in disp_ests]\r\n scalar_outputs[\"Thres3\"] = [Thres_metric(disp_est, disp_gt, mask, 3.0) for disp_est in disp_ests]\r\n if compute_metrics:\r\n image_outputs[\"errormap\"] = [disp_error_image_func.apply(disp_est, disp_gt) for disp_est in disp_ests]\r\n return tensor2float(loss), tensor2float(scalar_outputs), image_outputs\r\n\r\nif __name__ == '__main__':\r\n train()\r\n" }, { "path": "models/Fast_ACV.py", "content": "from __future__ import print_function\r\nimport torch\r\nimport torch.nn as nn\r\nimport torch.utils.data\r\nfrom torch.autograd import Variable\r\nimport torch.nn.functional as F\r\nfrom models.submodule import *\r\nimport math\r\nimport gc\r\nimport time\r\nimport timm\r\n\r\nclass SubModule(nn.Module):\r\n def __init__(self):\r\n super(SubModule, self).__init__()\r\n\r\n def weight_init(self):\r\n for m in self.modules():\r\n if isinstance(m, nn.Conv2d):\r\n n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels\r\n m.weight.data.normal_(0, math.sqrt(2. / n))\r\n elif isinstance(m, nn.Conv3d):\r\n n = m.kernel_size[0] * m.kernel_size[1] * m.kernel_size[2] * m.out_channels\r\n m.weight.data.normal_(0, math.sqrt(2. / n))\r\n elif isinstance(m, nn.BatchNorm2d):\r\n m.weight.data.fill_(1)\r\n m.bias.data.zero_()\r\n elif isinstance(m, nn.BatchNorm3d):\r\n m.weight.data.fill_(1)\r\n m.bias.data.zero_()\r\n\r\n\r\nclass Feature(SubModule):\r\n def __init__(self):\r\n super(Feature, self).__init__()\r\n pretrained = True\r\n model = timm.create_model('mobilenetv2_100', pretrained=pretrained, features_only=True)\r\n layers = [1,2,3,5,6]\r\n chans = [16, 24, 32, 96, 160]\r\n self.conv_stem = model.conv_stem\r\n self.bn1 = model.bn1\r\n self.act1 = model.act1\r\n\r\n self.block0 = torch.nn.Sequential(*model.blocks[0:layers[0]])\r\n self.block1 = torch.nn.Sequential(*model.blocks[layers[0]:layers[1]])\r\n self.block2 = torch.nn.Sequential(*model.blocks[layers[1]:layers[2]])\r\n self.block3 = torch.nn.Sequential(*model.blocks[layers[2]:layers[3]])\r\n self.block4 = torch.nn.Sequential(*model.blocks[layers[3]:layers[4]])\r\n\r\n def forward(self, x):\r\n x = self.act1(self.bn1(self.conv_stem(x)))\r\n x2 = self.block0(x)\r\n x4 = self.block1(x2)\r\n x8 = self.block2(x4)\r\n x16 = self.block3(x8)\r\n x32 = self.block4(x16)\r\n return [x4, x8, x16, x32]\r\n\r\nclass FeatUp(SubModule):\r\n def __init__(self):\r\n super(FeatUp, self).__init__()\r\n chans = [16, 24, 32, 96, 160]\r\n self.deconv32_16 = Conv2x(chans[4], chans[3], deconv=True, concat=True)\r\n self.deconv16_8 = Conv2x(chans[3]*2, chans[2], deconv=True, concat=True)\r\n self.deconv8_4 = Conv2x(chans[2]*2, chans[1], deconv=True, concat=True)\r\n self.conv4 = BasicConv(chans[1]*2, chans[1]*2, kernel_size=3, stride=1, padding=1)\r\n\r\n self.weight_init()\r\n\r\n def forward(self, featL, featR=None):\r\n x4, x8, x16, x32 = featL\r\n y4, y8, y16, y32 = featR\r\n\r\n x16 = self.deconv32_16(x32, x16)\r\n y16 = self.deconv32_16(y32, y16)\r\n \r\n x8 = self.deconv16_8(x16, x8)\r\n y8 = self.deconv16_8(y16, y8)\r\n\r\n x4 = self.deconv8_4(x8, x4)\r\n y4 = self.deconv8_4(y8, y4)\r\n\r\n x4 = self.conv4(x4)\r\n y4 = self.conv4(y4)\r\n\r\n return [x4, x8, x16, x32], [y4, y8, y16, y32]\r\n\r\nclass channelAtt(SubModule):\r\n def __init__(self, cv_chan, im_chan):\r\n super(channelAtt, self).__init__()\r\n\r\n self.im_att = nn.Sequential(\r\n BasicConv(im_chan, im_chan//2, kernel_size=1, stride=1, padding=0),\r\n nn.Conv2d(im_chan//2, cv_chan, 1))\r\n\r\n self.weight_init()\r\n\r\n def forward(self, cv, im):\r\n\r\n channel_att = self.im_att(im).unsqueeze(2)\r\n cv = torch.sigmoid(channel_att)*cv\r\n return cv\r\n\r\nclass hourglass(nn.Module):\r\n def __init__(self, in_channels):\r\n super(hourglass, self).__init__()\r\n\r\n self.conv1 = nn.Sequential(BasicConv(in_channels, in_channels*2, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=2, dilation=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=1, dilation=1))\r\n \r\n self.conv2 = nn.Sequential(BasicConv(in_channels*2, in_channels*4, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=2, dilation=1),\r\n BasicConv(in_channels*4, in_channels*4, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=1, dilation=1)) \r\n\r\n self.conv2_up = BasicConv(in_channels*4, in_channels*2, deconv=True, is_3d=True, bn=True,\r\n relu=True, kernel_size=(4, 4, 4), padding=(1, 1, 1), stride=(2, 2, 2))\r\n\r\n self.conv1_up = BasicConv(in_channels*2, 1, deconv=True, is_3d=True, bn=False,\r\n relu=False, kernel_size=(4, 4, 4), padding=(1, 1, 1), stride=(2, 2, 2))\r\n\r\n self.agg = nn.Sequential(BasicConv(in_channels*4, in_channels*2, is_3d=True, kernel_size=1, padding=0, stride=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, kernel_size=3, padding=1, stride=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, kernel_size=3, padding=1, stride=1),)\r\n\r\n\r\n self.feature_att_8 = channelAtt(in_channels*2, 96)\r\n self.feature_att_16 = channelAtt(in_channels*4, 192)\r\n self.feature_att_up_8 = channelAtt(in_channels*2, 96)\r\n\r\n def forward(self, x, imgs):\r\n conv1 = self.conv1(x)\r\n conv1 = self.feature_att_8(conv1, imgs[1])\r\n\r\n conv2 = self.conv2(conv1)\r\n conv2 = self.feature_att_16(conv2, imgs[2])\r\n\r\n conv2_up = self.conv2_up(conv2)\r\n conv1 = torch.cat((conv2_up, conv1), dim=1)\r\n conv1 = self.agg(conv1)\r\n conv1 = self.feature_att_up_8(conv1, imgs[1])\r\n\r\n conv = self.conv1_up(conv1)\r\n\r\n return conv\r\n\r\n\r\nclass hourglass_att(nn.Module):\r\n def __init__(self, in_channels):\r\n super(hourglass_att, self).__init__()\r\n\r\n self.conv1 = nn.Sequential(BasicConv(in_channels, in_channels*2, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=2, dilation=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=1, dilation=1))\r\n \r\n self.conv2 = nn.Sequential(BasicConv(in_channels*2, in_channels*4, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=2, dilation=1),\r\n BasicConv(in_channels*4, in_channels*4, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=1, dilation=1)) \r\n\r\n self.conv2_up = BasicConv(in_channels*4, in_channels*2, deconv=True, is_3d=True, bn=True,\r\n relu=True, kernel_size=(4, 4, 4), padding=(1, 1, 1), stride=(2, 2, 2))\r\n\r\n self.conv1_up_ = BasicConv(in_channels*2, in_channels, deconv=True, is_3d=True, bn=True,\r\n relu=True, kernel_size=(4, 4, 4), padding=(1, 1, 1), stride=(2, 2, 2))\r\n self.conv_final = nn.Conv3d(in_channels, 1, 3, 1, 1, bias=False)\r\n\r\n self.agg = nn.Sequential(BasicConv(in_channels*4, in_channels*2, is_3d=True, kernel_size=1, padding=0, stride=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, kernel_size=3, padding=1, stride=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, kernel_size=3, padding=1, stride=1),)\r\n\r\n self.feature_att_16 = channelAtt(in_channels*2, 192)\r\n self.feature_att_32 = channelAtt(in_channels*4, 160)\r\n self.feature_att_up_16 = channelAtt(in_channels*2, 192)\r\n\r\n def forward(self, x, imgs):\r\n conv1 = self.conv1(x)\r\n conv1 = self.feature_att_16(conv1, imgs[2])\r\n\r\n conv2 = self.conv2(conv1)\r\n conv2 = self.feature_att_32(conv2, imgs[3])\r\n\r\n conv2_up = self.conv2_up(conv2)\r\n conv1 = torch.cat((conv2_up, conv1), dim=1)\r\n conv1 = self.agg(conv1)\r\n conv1 = self.feature_att_up_16(conv1, imgs[2])\r\n\r\n conv = self.conv1_up_(conv1)\r\n conv = self.conv_final(conv)\r\n\r\n return conv\r\n\r\nclass Fast_ACVNet(nn.Module):\r\n def __init__(self, maxdisp, att_weights_only):\r\n super(Fast_ACVNet, self).__init__()\r\n self.att_weights_only = att_weights_only\r\n self.maxdisp = maxdisp \r\n self.feature = Feature()\r\n self.feature_up = FeatUp()\r\n self.gamma = nn.Parameter(torch.zeros(1))\r\n self.beta = nn.Parameter(2*torch.ones(1))\r\n chans = [16, 24, 32, 96, 160]\r\n\r\n self.patch = nn.Conv3d(12, 12, kernel_size=(1,3,3), stride=1, dilation=1, groups=12, padding=(0,1,1), bias=False)\r\n\r\n\r\n self.stem_2 = nn.Sequential(\r\n BasicConv(3, 32, kernel_size=3, stride=2, padding=1),\r\n nn.Conv2d(32, 32, 3, 1, 1, bias=False),\r\n nn.BatchNorm2d(32), nn.ReLU())\r\n self.stem_4 = nn.Sequential(\r\n BasicConv(32, 48, kernel_size=3, stride=2, padding=1),\r\n nn.Conv2d(48, 48, 3, 1, 1, bias=False),\r\n nn.BatchNorm2d(48), nn.ReLU())\r\n\r\n self.stem_8 = nn.Sequential(\r\n BasicConv(48, 48, kernel_size=3, stride=2, padding=1),\r\n nn.Conv2d(48, 32, 3, 1, 1, bias=False),\r\n nn.BatchNorm2d(32), nn.ReLU())\r\n\r\n self.concat_feature = nn.Sequential(\r\n BasicConv(96, 32, kernel_size=3, stride=1, padding=1),\r\n nn.Conv2d(32, 16, 3, 1, 1, bias=False))\r\n\r\n self.spx = nn.Sequential(nn.ConvTranspose2d(2*32, 9, kernel_size=4, stride=2, padding=1),)\r\n self.spx_2 = Conv2x(24, 32, True)\r\n self.spx_4 = nn.Sequential(\r\n BasicConv(96, 24, kernel_size=3, stride=1, padding=1),\r\n nn.Conv2d(24, 24, 3, 1, 1, bias=False),\r\n nn.BatchNorm2d(24), nn.ReLU())\r\n\r\n self.corr_feature_att_8 = channelAtt(12, 96)\r\n self.concat_feature_att_4 = channelAtt(16, 96)\r\n self.hourglass_att = hourglass_att(12)\r\n self.hourglass = hourglass(16)\r\n self.concat_stem = BasicConv(32, 16, is_3d=True, kernel_size=3, stride=1, padding=1)\r\n self.propagation = Propagation()\r\n self.propagation_prob = Propagation_prob()\r\n\r\n def concat_volume_generator(self, left_input, right_input, disparity_samples):\r\n right_feature_map, left_feature_map = SpatialTransformer_grid(left_input,\r\n right_input, disparity_samples)\r\n concat_volume = torch.cat((left_feature_map, right_feature_map), dim=1)\r\n return concat_volume\r\n\r\n def forward(self, left, right):\r\n\r\n features_left = self.feature(left)\r\n features_right = self.feature(right)\r\n features_left, features_right = self.feature_up(features_left, features_right)\r\n\r\n stem_2x = self.stem_2(left)\r\n stem_4x = self.stem_4(stem_2x)\r\n stem_8x = self.stem_8(stem_4x)\r\n\r\n stem_2y = self.stem_2(right)\r\n stem_4y = self.stem_4(stem_2y)\r\n stem_8y = self.stem_8(stem_4y)\r\n\r\n features_left[0] = torch.cat((features_left[0], stem_4x), 1)\r\n features_right[0] = torch.cat((features_right[0], stem_4y), 1)\r\n\r\n features_left[1] = torch.cat((features_left[1], stem_8x), 1)\r\n features_right[1] = torch.cat((features_right[1], stem_8y), 1)\r\n\r\n corr_volume = build_gwc_volume_norm(features_left[1], features_right[1], self.maxdisp//8, 12)\r\n corr_volume = self.patch(corr_volume)\r\n cost_att = self.corr_feature_att_8(corr_volume, features_left[1])\r\n cost_att = self.hourglass_att(cost_att, features_left)\r\n att_weights = F.interpolate(cost_att, [self.maxdisp//4, left.size()[2]//4, left.size()[3]//4], mode='trilinear')\r\n \r\n pred_att = torch.squeeze(att_weights, 1)\r\n pred_att_prob = F.softmax(pred_att, dim=1)\r\n pred_att = disparity_regression(pred_att_prob, self.maxdisp // 4)\r\n pred_variance = disparity_variance(pred_att_prob, self.maxdisp // 4, pred_att.unsqueeze(1))\r\n pred_variance = self.beta + self.gamma * pred_variance\r\n pred_variance = torch.sigmoid(pred_variance)\r\n pred_variance_samples = self.propagation(pred_variance)\r\n\r\n disparity_samples = self.propagation(pred_att.unsqueeze(1))\r\n right_feature_x4, left_feature_x4 = SpatialTransformer_grid(stem_4x, stem_4y, disparity_samples)\r\n disparity_sample_strength = (left_feature_x4 * right_feature_x4).mean(dim=1)\r\n disparity_sample_strength = torch.softmax(disparity_sample_strength*pred_variance_samples, dim=1)\r\n att_weights = self.propagation_prob(att_weights)\r\n att_weights = att_weights * disparity_sample_strength.unsqueeze(2)\r\n att_weights = torch.sum(att_weights, dim=1, keepdim=True)\r\n att_weights_prob = F.softmax(att_weights, dim=2)\r\n\r\n _, ind = att_weights_prob.sort(2, True)\r\n k = 24\r\n ind_k = ind[:, :, :k]\r\n ind_k = ind_k.sort(2, False)[0]\r\n att_topk = torch.gather(att_weights_prob, 2, ind_k)\r\n\r\n disparity_sample_topk = ind_k.squeeze(1).float()\r\n\r\n if not self.att_weights_only:\r\n concat_features_left = self.concat_feature(features_left[0])\r\n concat_features_right = self.concat_feature(features_right[0])\r\n concat_volume = self.concat_volume_generator(concat_features_left, concat_features_right, disparity_sample_topk)\r\n volume = att_topk * concat_volume \r\n volume = self.concat_stem(volume)\r\n volume = self.concat_feature_att_4(volume, features_left[0])\r\n cost = self.hourglass(volume, features_left)\r\n \r\n xspx = self.spx_4(features_left[0])\r\n xspx = self.spx_2(xspx, stem_2x)\r\n spx_pred = self.spx(xspx)\r\n spx_pred = F.softmax(spx_pred, 1)\r\n\r\n if self.training:\r\n att_prob = torch.gather(att_weights, 2, ind_k).squeeze(1)\r\n att_prob = F.softmax(att_prob, dim=1)\r\n pred_att = torch.sum(att_prob*disparity_sample_topk, dim=1)\r\n pred_att_up = context_upsample(pred_att.unsqueeze(1), spx_pred)\r\n if self.att_weights_only:\r\n return [pred_att_up*4, pred_att*4]\r\n else:\r\n pred = regression_topk(cost.squeeze(1), disparity_sample_topk, 2)\r\n pred_up = context_upsample(pred, spx_pred)\r\n return [pred_up*4, pred.squeeze(1)*4, pred_att_up*4, pred_att*4]\r\n\r\n else:\r\n if self.att_weights_only:\r\n att_prob = torch.gather(att_weights, 2, ind_k).squeeze(1)\r\n att_prob = F.softmax(att_prob, dim=1)\r\n pred_att = torch.sum(att_prob*disparity_sample_topk, dim=1)\r\n pred_att_up = context_upsample(pred_att.unsqueeze(1), spx_pred)\r\n return [pred_att_up*4]\r\n\r\n pred = regression_topk(cost.squeeze(1), disparity_sample_topk, 2)\r\n pred_up = context_upsample(pred, spx_pred)\r\n return [pred_up*4]\r\n" }, { "path": "models/Fast_ACV_plus.py", "content": "from __future__ import print_function\r\nimport torch\r\nimport torch.nn as nn\r\nimport torch.utils.data\r\nfrom torch.autograd import Variable\r\nimport torch.nn.functional as F\r\nfrom models.submodule import *\r\nimport math\r\nimport gc\r\nimport time\r\nimport timm\r\n\r\nclass SubModule(nn.Module):\r\n def __init__(self):\r\n super(SubModule, self).__init__()\r\n\r\n def weight_init(self):\r\n for m in self.modules():\r\n if isinstance(m, nn.Conv2d):\r\n n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels\r\n m.weight.data.normal_(0, math.sqrt(2. / n))\r\n elif isinstance(m, nn.Conv3d):\r\n n = m.kernel_size[0] * m.kernel_size[1] * m.kernel_size[2] * m.out_channels\r\n m.weight.data.normal_(0, math.sqrt(2. / n))\r\n elif isinstance(m, nn.BatchNorm2d):\r\n m.weight.data.fill_(1)\r\n m.bias.data.zero_()\r\n elif isinstance(m, nn.BatchNorm3d):\r\n m.weight.data.fill_(1)\r\n m.bias.data.zero_()\r\n\r\n\r\nclass Feature(SubModule):\r\n def __init__(self):\r\n super(Feature, self).__init__()\r\n pretrained = True\r\n model = timm.create_model('mobilenetv2_100', pretrained=pretrained, features_only=True)\r\n layers = [1,2,3,5,6]\r\n chans = [16, 24, 32, 96, 160]\r\n self.conv_stem = model.conv_stem\r\n self.bn1 = model.bn1\r\n self.act1 = model.act1\r\n\r\n self.block0 = torch.nn.Sequential(*model.blocks[0:layers[0]])\r\n self.block1 = torch.nn.Sequential(*model.blocks[layers[0]:layers[1]])\r\n self.block2 = torch.nn.Sequential(*model.blocks[layers[1]:layers[2]])\r\n self.block3 = torch.nn.Sequential(*model.blocks[layers[2]:layers[3]])\r\n self.block4 = torch.nn.Sequential(*model.blocks[layers[3]:layers[4]])\r\n def forward(self, x):\r\n x = self.act1(self.bn1(self.conv_stem(x)))\r\n x2 = self.block0(x)\r\n x4 = self.block1(x2)\r\n x8 = self.block2(x4)\r\n x16 = self.block3(x8)\r\n x32 = self.block4(x16)\r\n return [x4, x8, x16, x32]\r\n\r\nclass FeatUp(SubModule):\r\n def __init__(self):\r\n super(FeatUp, self).__init__()\r\n chans = [16, 24, 32, 96, 160]\r\n self.deconv32_16 = Conv2x(chans[4], chans[3], deconv=True, concat=True)\r\n self.deconv16_8 = Conv2x(chans[3]*2, chans[2], deconv=True, concat=True)\r\n self.deconv8_4 = Conv2x(chans[2]*2, chans[1], deconv=True, concat=True)\r\n self.conv4 = BasicConv(chans[1]*2, chans[1]*2, kernel_size=3, stride=1, padding=1)\r\n\r\n self.weight_init()\r\n\r\n def forward(self, featL, featR=None):\r\n x4, x8, x16, x32 = featL\r\n\r\n y4, y8, y16, y32 = featR\r\n x16 = self.deconv32_16(x32, x16)\r\n y16 = self.deconv32_16(y32, y16) \r\n x8 = self.deconv16_8(x16, x8)\r\n y8 = self.deconv16_8(y16, y8)\r\n x4 = self.deconv8_4(x8, x4)\r\n y4 = self.deconv8_4(y8, y4)\r\n x4 = self.conv4(x4)\r\n y4 = self.conv4(y4)\r\n\r\n return [x4, x8, x16, x32], [y4, y8, y16, y32]\r\n\r\nclass channelAtt(SubModule):\r\n def __init__(self, cv_chan, im_chan):\r\n super(channelAtt, self).__init__()\r\n\r\n self.im_att = nn.Sequential(\r\n BasicConv(im_chan, im_chan//2, kernel_size=1, stride=1, padding=0),\r\n nn.Conv2d(im_chan//2, cv_chan, 1))\r\n\r\n self.weight_init()\r\n\r\n def forward(self, cv, im):\r\n channel_att = self.im_att(im).unsqueeze(2)\r\n cv = torch.sigmoid(channel_att)*cv\r\n return cv\r\n\r\nclass hourglass(nn.Module):\r\n def __init__(self, in_channels):\r\n super(hourglass, self).__init__()\r\n\r\n self.conv1 = nn.Sequential(BasicConv(in_channels, in_channels*2, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=2, dilation=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=1, dilation=1))\r\n \r\n self.conv2 = nn.Sequential(BasicConv(in_channels*2, in_channels*4, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=2, dilation=1),\r\n BasicConv(in_channels*4, in_channels*4, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=1, dilation=1)) \r\n\r\n self.conv2_up = BasicConv(in_channels*4, in_channels*2, deconv=True, is_3d=True, bn=True,\r\n relu=True, kernel_size=(4, 4, 4), padding=(1, 1, 1), stride=(2, 2, 2))\r\n\r\n self.conv1_up = BasicConv(in_channels*2, 1, deconv=True, is_3d=True, bn=False,\r\n relu=False, kernel_size=(4, 4, 4), padding=(1, 1, 1), stride=(2, 2, 2))\r\n\r\n self.agg = nn.Sequential(BasicConv(in_channels*4, in_channels*2, is_3d=True, kernel_size=1, padding=0, stride=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, kernel_size=3, padding=1, stride=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, kernel_size=3, padding=1, stride=1),)\r\n\r\n self.feature_att_8 = channelAtt(in_channels*2, 64)\r\n self.feature_att_16 = channelAtt(in_channels*4, 192)\r\n self.feature_att_up_8 = channelAtt(in_channels*2, 64)\r\n\r\n def forward(self, x, imgs):\r\n conv1 = self.conv1(x)\r\n conv1 = self.feature_att_8(conv1, imgs[1])\r\n\r\n conv2 = self.conv2(conv1)\r\n conv2 = self.feature_att_16(conv2, imgs[2])\r\n\r\n conv2_up = self.conv2_up(conv2)\r\n conv1 = torch.cat((conv2_up, conv1), dim=1)\r\n conv1 = self.agg(conv1)\r\n conv1 = self.feature_att_up_8(conv1, imgs[1])\r\n\r\n conv = self.conv1_up(conv1)\r\n\r\n return conv\r\n\r\nclass hourglass_att(nn.Module):\r\n def __init__(self, in_channels):\r\n super(hourglass_att, self).__init__()\r\n\r\n self.conv1 = nn.Sequential(BasicConv(in_channels, in_channels*2, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=2, dilation=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=1, dilation=1))\r\n \r\n self.conv2 = nn.Sequential(BasicConv(in_channels*2, in_channels*4, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=2, dilation=1),\r\n BasicConv(in_channels*4, in_channels*4, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=1, dilation=1)) \r\n\r\n self.conv3 = nn.Sequential(BasicConv(in_channels*4, in_channels*6, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=2, dilation=1),\r\n BasicConv(in_channels*6, in_channels*6, is_3d=True, bn=True, relu=True, kernel_size=3,\r\n padding=1, stride=1, dilation=1)) \r\n\r\n self.conv3_up = BasicConv(in_channels*6, in_channels*4, deconv=True, is_3d=True, bn=True,\r\n relu=True, kernel_size=(4, 4, 4), padding=(1, 1, 1), stride=(2, 2, 2))\r\n\r\n self.conv2_up = BasicConv(in_channels*4, in_channels*2, deconv=True, is_3d=True, bn=True,\r\n relu=True, kernel_size=(4, 4, 4), padding=(1, 1, 1), stride=(2, 2, 2))\r\n\r\n self.conv1_up = BasicConv(in_channels*2, 1, deconv=True, is_3d=True, bn=False,\r\n relu=False, kernel_size=(4, 4, 4), padding=(1, 1, 1), stride=(2, 2, 2))\r\n\r\n\r\n self.agg_0 = nn.Sequential(BasicConv(in_channels*8, in_channels*4, is_3d=True, kernel_size=1, padding=0, stride=1),\r\n BasicConv(in_channels*4, in_channels*4, is_3d=True, kernel_size=3, padding=1, stride=1),\r\n BasicConv(in_channels*4, in_channels*4, is_3d=True, kernel_size=3, padding=1, stride=1),)\r\n\r\n self.agg_1 = nn.Sequential(BasicConv(in_channels*4, in_channels*2, is_3d=True, kernel_size=1, padding=0, stride=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, kernel_size=3, padding=1, stride=1),\r\n BasicConv(in_channels*2, in_channels*2, is_3d=True, kernel_size=3, padding=1, stride=1),)\r\n\r\n self.feature_att_8 = channelAtt(in_channels*2, 64)\r\n self.feature_att_16 = channelAtt(in_channels*4, 192)\r\n self.feature_att_32 = channelAtt(in_channels*6, 160)\r\n self.feature_att_up_16 = channelAtt(in_channels*4, 192)\r\n self.feature_att_up_8 = channelAtt(in_channels*2, 64)\r\n\r\n def forward(self, x, imgs):\r\n conv1 = self.conv1(x)\r\n conv1 = self.feature_att_8(conv1, imgs[1])\r\n\r\n conv2 = self.conv2(conv1)\r\n conv2 = self.feature_att_16(conv2, imgs[2])\r\n\r\n conv3 = self.conv3(conv2)\r\n conv3 = self.feature_att_32(conv3, imgs[3])\r\n\r\n conv3_up = self.conv3_up(conv3)\r\n\r\n conv2 = torch.cat((conv3_up, conv2), dim=1)\r\n conv2 = self.agg_0(conv2)\r\n conv2 = self.feature_att_up_16(conv2, imgs[2])\r\n\r\n conv2_up = self.conv2_up(conv2)\r\n\r\n conv1 = torch.cat((conv2_up, conv1), dim=1)\r\n conv1 = self.agg_1(conv1)\r\n conv1 = self.feature_att_up_8(conv1, imgs[1])\r\n\r\n conv = self.conv1_up(conv1)\r\n\r\n return conv\r\n\r\nclass Fast_ACVNet_plus(nn.Module):\r\n def __init__(self, maxdisp, att_weights_only):\r\n super(Fast_ACVNet_plus, self).__init__()\r\n self.maxdisp = maxdisp\r\n self.att_weights_only = att_weights_only\r\n self.feature = Feature()\r\n self.feature_up = FeatUp()\r\n chans = [16, 24, 32, 96, 160]\r\n\r\n self.stem_2 = nn.Sequential(\r\n BasicConv(3, 32, kernel_size=3, stride=2, padding=1),\r\n nn.Conv2d(32, 32, 3, 1, 1, bias=False),\r\n nn.BatchNorm2d(32), nn.ReLU())\r\n self.stem_4 = nn.Sequential(\r\n BasicConv(32, 48, kernel_size=3, stride=2, padding=1),\r\n nn.Conv2d(48, 48, 3, 1, 1, bias=False),\r\n nn.BatchNorm2d(48), nn.ReLU())\r\n self.spx = nn.Sequential(nn.ConvTranspose2d(2*32, 9, kernel_size=4, stride=2, padding=1),)\r\n self.spx_2 = Conv2x(24, 32, True)\r\n self.spx_4 = nn.Sequential(\r\n BasicConv(96, 24, kernel_size=3, stride=1, padding=1),\r\n nn.Conv2d(24, 24, 3, 1, 1, bias=False),\r\n nn.BatchNorm2d(24), nn.ReLU())\r\n self.conv = BasicConv(96, 48, kernel_size=3, padding=1, stride=1)\r\n self.desc = nn.Conv2d(48, 48, kernel_size=1, padding=0, stride=1)\r\n self.corr_stem = BasicConv(1, 8, is_3d=True, kernel_size=3, stride=1, padding=1)\r\n self.corr_feature_att_4 = channelAtt(8, 96)\r\n self.hourglass_att = hourglass_att(8)\r\n \r\n self.concat_feature = nn.Sequential(\r\n BasicConv(96, 32, kernel_size=3, stride=1, padding=1),\r\n nn.Conv2d(32, 16, 3, 1, 1, bias=False))\r\n self.concat_stem = BasicConv(32, 16, is_3d=True, kernel_size=3, stride=1, padding=1)\r\n self.concat_feature_att_4 = channelAtt(16, 96)\r\n self.hourglass = hourglass(16)\r\n\r\n def concat_volume_generator(self, left_input, right_input, disparity_samples):\r\n\r\n\r\n right_feature_map, left_feature_map = SpatialTransformer_grid(left_input,\r\n right_input, disparity_samples)\r\n concat_volume = torch.cat((left_feature_map, right_feature_map), dim=1)\r\n return concat_volume\r\n\r\n def forward(self, left, right):\r\n\r\n features_left = self.feature(left)\r\n features_right = self.feature(right)\r\n features_left, features_right = self.feature_up(features_left, features_right)\r\n stem_2x = self.stem_2(left)\r\n stem_4x = self.stem_4(stem_2x)\r\n stem_2y = self.stem_2(right)\r\n stem_4y = self.stem_4(stem_2y)\r\n\r\n features_left[0] = torch.cat((features_left[0], stem_4x), 1)\r\n features_right[0] = torch.cat((features_right[0], stem_4y), 1)\r\n\r\n match_left = self.desc(self.conv(features_left[0]))\r\n match_right = self.desc(self.conv(features_right[0]))\r\n\r\n corr_volume = build_norm_correlation_volume(match_left, match_right, self.maxdisp//4)\r\n corr_volume = self.corr_stem(corr_volume)\r\n cost_att = self.corr_feature_att_4(corr_volume, features_left[0])\r\n att_weights = self.hourglass_att(cost_att, features_left)\r\n att_weights_prob = F.softmax(att_weights, dim=2)\r\n _, ind = att_weights_prob.sort(2, True)\r\n k = 24\r\n ind_k = ind[:, :, :k]\r\n ind_k = ind_k.sort(2, False)[0]\r\n att_topk = torch.gather(att_weights_prob, 2, ind_k)\r\n disparity_sample_topk = ind_k.squeeze(1).float()\r\n\r\n if not self.att_weights_only:\r\n concat_features_left = self.concat_feature(features_left[0])\r\n concat_features_right = self.concat_feature(features_right[0])\r\n concat_volume = self.concat_volume_generator(concat_features_left, concat_features_right, disparity_sample_topk)\r\n volume = att_topk * concat_volume \r\n\r\n volume = self.concat_stem(volume)\r\n volume = self.concat_feature_att_4(volume, features_left[0])\r\n cost = self.hourglass(volume, features_left)\r\n\r\n xspx = self.spx_4(features_left[0])\r\n xspx = self.spx_2(xspx, stem_2x)\r\n spx_pred = self.spx(xspx)\r\n spx_pred = F.softmax(spx_pred, 1)\r\n\r\n if self.training:\r\n # prob = att_weights_prob.squeeze(1)\r\n att_prob = torch.gather(att_weights, 2, ind_k).squeeze(1)\r\n att_prob = F.softmax(att_prob, dim=1)\r\n pred_att = torch.sum(att_prob*disparity_sample_topk, dim=1)\r\n pred_att_up = context_upsample(pred_att.unsqueeze(1), spx_pred)\r\n if self.att_weights_only:\r\n return [pred_att_up*4, pred_att*4]\r\n else:\r\n pred = regression_topk(cost.squeeze(1), disparity_sample_topk, 2)\r\n pred_up = context_upsample(pred, spx_pred)\r\n return [pred_up*4, pred.squeeze(1)*4, pred_att_up*4, pred_att*4]\r\n\r\n else:\r\n if self.att_weights_only:\r\n att_prob = torch.gather(att_weights, 2, ind_k).squeeze(1)\r\n att_prob = F.softmax(att_prob, dim=1)\r\n pred_att = torch.sum(att_prob*disparity_sample_topk, dim=1)\r\n pred_att_up = context_upsample(pred_att.unsqueeze(1), spx_pred)\r\n return [pred_att_up*4]\r\n pred = regression_topk(cost.squeeze(1), disparity_sample_topk, 2)\r\n pred_up = context_upsample(pred, spx_pred)\r\n return [pred_up*4]\r\n" }, { "path": "models/__init__.py", "content": "from .Fast_ACV import Fast_ACVNet\nfrom .Fast_ACV_plus import Fast_ACVNet_plus\nfrom .loss import model_loss_train, model_loss_test\n\n__models__ = {\n \"Fast_ACVNet\": Fast_ACVNet, \n \"Fast_ACVNet_plus\": Fast_ACVNet_plus\n}\n" }, { "path": "models/loss.py", "content": "import torch.nn.functional as F\nimport torch\n\ndef model_loss_train(disp_ests, disp_gts, img_masks):\n weights = [1.0, 0.3, 0.5, 0.3]\n all_losses = []\n for disp_est, disp_gt, weight, mask_img in zip(disp_ests, disp_gts, weights, img_masks):\n all_losses.append(weight * F.smooth_l1_loss(disp_est[mask_img], disp_gt[mask_img], size_average=True))\n return sum(all_losses)\n\ndef model_loss_test(disp_ests, disp_gts,img_masks):\n weights = [1.0]\n all_losses = []\n for disp_est, disp_gt, weight, mask_img in zip(disp_ests, disp_gts, weights, img_masks):\n all_losses.append(weight * F.l1_loss(disp_est[mask_img], disp_gt[mask_img], size_average=True))\n return sum(all_losses)" }, { "path": "models/submodule.py", "content": "from __future__ import print_function\nimport torch\nimport torch.nn as nn\nimport torch.utils.data\nfrom torch.autograd import Variable\nfrom torch.autograd.function import Function\nimport torch.nn.functional as F\nimport numpy as np\n\n\n\nclass BasicConv(nn.Module):\n\n def __init__(self, in_channels, out_channels, deconv=False, is_3d=False, bn=True, relu=True, **kwargs):\n super(BasicConv, self).__init__()\n\n self.relu = relu\n self.use_bn = bn\n if is_3d:\n if deconv:\n self.conv = nn.ConvTranspose3d(in_channels, out_channels, bias=False, **kwargs)\n else:\n self.conv = nn.Conv3d(in_channels, out_channels, bias=False, **kwargs)\n self.bn = nn.BatchNorm3d(out_channels)\n else:\n if deconv:\n self.conv = nn.ConvTranspose2d(in_channels, out_channels, bias=False, **kwargs)\n else:\n self.conv = nn.Conv2d(in_channels, out_channels, bias=False, **kwargs)\n self.bn = nn.BatchNorm2d(out_channels)\n\n def forward(self, x):\n x = self.conv(x)\n if self.use_bn:\n x = self.bn(x)\n if self.relu:\n x = nn.LeakyReLU()(x)#, inplace=True)\n return x\n\n\nclass Conv2x(nn.Module):\n\n def __init__(self, in_channels, out_channels, deconv=False, is_3d=False, concat=True, keep_concat=True, bn=True, relu=True, keep_dispc=False):\n super(Conv2x, self).__init__()\n self.concat = concat\n self.is_3d = is_3d \n if deconv and is_3d: \n kernel = (4, 4, 4)\n elif deconv:\n kernel = 4\n else:\n kernel = 3\n\n if deconv and is_3d and keep_dispc:\n kernel = (1, 4, 4)\n stride = (1, 2, 2)\n padding = (0, 1, 1)\n self.conv1 = BasicConv(in_channels, out_channels, deconv, is_3d, bn=True, relu=True, kernel_size=kernel, stride=stride, padding=padding)\n else:\n self.conv1 = BasicConv(in_channels, out_channels, deconv, is_3d, bn=True, relu=True, kernel_size=kernel, stride=2, padding=1)\n\n if self.concat: \n mul = 2 if keep_concat else 1\n self.conv2 = BasicConv(out_channels*2, out_channels*mul, False, is_3d, bn, relu, kernel_size=3, stride=1, padding=1)\n else:\n self.conv2 = BasicConv(out_channels, out_channels, False, is_3d, bn, relu, kernel_size=3, stride=1, padding=1)\n\n def forward(self, x, rem):\n x = self.conv1(x)\n if x.shape != rem.shape:\n x = F.interpolate(\n x,\n size=(rem.shape[-2], rem.shape[-1]),\n mode='nearest')\n if self.concat:\n x = torch.cat((x, rem), 1)\n else: \n x = x + rem\n x = self.conv2(x)\n return x\n\n\ndef disparity_regression(x, maxdisp):\n assert len(x.shape) == 4\n disp_values = torch.arange(0, maxdisp, dtype=x.dtype, device=x.device)\n disp_values = disp_values.view(1, maxdisp, 1, 1)\n return torch.sum(x * disp_values, 1, keepdim=False)\n\n\ndef build_concat_volume(refimg_fea, targetimg_fea, maxdisp):\n B, C, H, W = refimg_fea.shape\n volume = refimg_fea.new_zeros([B, 2 * C, maxdisp, H, W])\n for i in range(maxdisp):\n if i > 0:\n volume[:, :C, i, :, :] = refimg_fea[:, :, :, :]\n volume[:, C:, i, :, i:] = targetimg_fea[:, :, :, :-i]\n else:\n volume[:, :C, i, :, :] = refimg_fea\n volume[:, C:, i, :, :] = targetimg_fea\n volume = volume.contiguous()\n return volume\n\n\ndef groupwise_correlation(fea1, fea2, num_groups):\n B, C, H, W = fea1.shape\n assert C % num_groups == 0\n channels_per_group = C // num_groups\n cost = (fea1 * fea2).view([B, num_groups, channels_per_group, H, W]).mean(dim=2)\n assert cost.shape == (B, num_groups, H, W)\n return cost\n\ndef build_gwc_volume(refimg_fea, targetimg_fea, maxdisp, num_groups):\n B, C, H, W = refimg_fea.shape\n volume = refimg_fea.new_zeros([B, num_groups, maxdisp, H, W])\n for i in range(maxdisp):\n if i > 0:\n volume[:, :, i, :, i:] = groupwise_correlation(refimg_fea[:, :, :, i:], targetimg_fea[:, :, :, :-i],\n num_groups)\n else:\n volume[:, :, i, :, :] = groupwise_correlation(refimg_fea, targetimg_fea, num_groups)\n volume = volume.contiguous()\n return volume\n\ndef groupwise_correlation_norm(fea1, fea2, num_groups):\n B, C, H, W = fea1.shape\n assert C % num_groups == 0\n channels_per_group = C // num_groups\n fea1 = fea1.view([B, num_groups, channels_per_group, H, W])\n fea2 = fea2.view([B, num_groups, channels_per_group, H, W])\n cost = ((fea1/(torch.norm(fea1, 2, 2, True)+1e-05)) * (fea2/(torch.norm(fea2, 2, 2, True)+1e-05))).mean(dim=2)\n assert cost.shape == (B, num_groups, H, W)\n return cost\n\n\ndef build_gwc_volume_norm(refimg_fea, targetimg_fea, maxdisp, num_groups):\n B, C, H, W = refimg_fea.shape\n volume = refimg_fea.new_zeros([B, num_groups, maxdisp, H, W])\n for i in range(maxdisp):\n if i > 0:\n volume[:, :, i, :, i:] = groupwise_correlation_norm(refimg_fea[:, :, :, i:], targetimg_fea[:, :, :, :-i],\n num_groups)\n else:\n volume[:, :, i, :, :] = groupwise_correlation_norm(refimg_fea, targetimg_fea, num_groups)\n volume = volume.contiguous()\n return volume\n\n\ndef norm_correlation(fea1, fea2):\n cost = torch.mean(((fea1/(torch.norm(fea1, 2, 1, True)+1e-05)) * (fea2/(torch.norm(fea2, 2, 1, True)+1e-05))), dim=1, keepdim=True)\n return cost\n\ndef build_norm_correlation_volume(refimg_fea, targetimg_fea, maxdisp):\n B, C, H, W = refimg_fea.shape\n volume = refimg_fea.new_zeros([B, 1, maxdisp, H, W])\n for i in range(maxdisp):\n if i > 0:\n volume[:, :, i, :, i:] = norm_correlation(refimg_fea[:, :, :, i:], targetimg_fea[:, :, :, :-i])\n else:\n volume[:, :, i, :, :] = norm_correlation(refimg_fea, targetimg_fea)\n volume = volume.contiguous()\n return volume\n\ndef disparity_variance(x, maxdisp, disparity):\n # the shape of disparity should be B,1,H,W, return is the variance of the cost volume [B,1,H,W]\n assert len(x.shape) == 4\n disp_values = torch.arange(0, maxdisp, dtype=x.dtype, device=x.device)\n disp_values = disp_values.view(1, maxdisp, 1, 1)\n disp_values = (disp_values - disparity) ** 2\n return torch.sum(x * disp_values, 1, keepdim=True)\n\ndef SpatialTransformer_grid(x, y, disp_range_samples):\n\n bs, channels, height, width = y.size()\n ndisp = disp_range_samples.size()[1]\n\n mh, mw = torch.meshgrid([torch.arange(0, height, dtype=x.dtype, device=x.device),\n torch.arange(0, width, dtype=x.dtype, device=x.device)]) # (H *W)\n\n mh = mh.reshape(1, 1, height, width).repeat(bs, ndisp, 1, 1)\n mw = mw.reshape(1, 1, height, width).repeat(bs, ndisp, 1, 1) # (B, D, H, W)\n\n cur_disp_coords_y = mh\n cur_disp_coords_x = mw - disp_range_samples\n\n coords_x = cur_disp_coords_x / ((width - 1.0) / 2.0) - 1.0 # trans to -1 - 1\n coords_y = cur_disp_coords_y / ((height - 1.0) / 2.0) - 1.0\n grid = torch.stack([coords_x, coords_y], dim=4) #(B, D, H, W, 2)\n\n y_warped = F.grid_sample(y, grid.view(bs, ndisp * height, width, 2), mode='bilinear',\n padding_mode='zeros', align_corners=True).view(bs, channels, ndisp, height, width) #(B, C, D, H, W)\n\n x_warped = x.unsqueeze(2).repeat(1, 1, ndisp, 1, 1) #(B, C, D, H, W)\n\n return y_warped, x_warped\n\nclass Propagation(nn.Module):\n def __init__(self):\n super(Propagation, self).__init__()\n self.replicationpad = nn.ReplicationPad2d(1)\n\n def forward(self, disparity_samples):\n\n one_hot_filter = torch.zeros(5, 1, 3, 3, device=disparity_samples.device).float()\n one_hot_filter[0, 0, 0, 0] = 1.0\n one_hot_filter[1, 0, 1, 1] = 1.0\n one_hot_filter[2, 0, 2, 2] = 1.0\n one_hot_filter[3, 0, 2, 0] = 1.0\n one_hot_filter[4, 0, 0, 2] = 1.0\n disparity_samples = self.replicationpad(disparity_samples)\n aggregated_disparity_samples = F.conv2d(disparity_samples,\n one_hot_filter,padding=0)\n \n return aggregated_disparity_samples\n \n\nclass Propagation_prob(nn.Module):\n def __init__(self):\n super(Propagation_prob, self).__init__()\n self.replicationpad = nn.ReplicationPad3d((1, 1, 1, 1, 0, 0))\n\n def forward(self, prob_volume):\n one_hot_filter = torch.zeros(5, 1, 1, 3, 3, device=prob_volume.device).float()\n one_hot_filter[0, 0, 0, 0, 0] = 1.0\n one_hot_filter[1, 0, 0, 1, 1] = 1.0\n one_hot_filter[2, 0, 0, 2, 2] = 1.0\n one_hot_filter[3, 0, 0, 2, 0] = 1.0\n one_hot_filter[4, 0, 0, 0, 2] = 1.0\n\n prob_volume = self.replicationpad(prob_volume)\n prob_volume_propa = F.conv3d(prob_volume, one_hot_filter,padding=0)\n\n\n return prob_volume_propa\n \n \ndef context_upsample(depth_low, up_weights):\n ###\n # cv (b,1,h,w)\n # sp (b,9,4*h,4*w)\n ###\n b, c, h, w = depth_low.shape\n \n depth_unfold = F.unfold(depth_low.reshape(b,c,h,w),3,1,1).reshape(b,-1,h,w)\n depth_unfold = F.interpolate(depth_unfold,(h*4,w*4),mode='nearest').reshape(b,9,h*4,w*4)\n\n depth = (depth_unfold*up_weights).sum(1)\n \n return depth\n\n\ndef regression_topk(cost, disparity_samples, k):\n\n _, ind = cost.sort(1, True)\n pool_ind = ind[:, :k]\n cost = torch.gather(cost, 1, pool_ind)\n prob = F.softmax(cost, 1)\n disparity_samples = torch.gather(disparity_samples, 1, pool_ind) \n pred = torch.sum(disparity_samples * prob, dim=1, keepdim=True)\n return pred\n \n\n\n" }, { "path": "save_disp.py", "content": "from __future__ import print_function, division\r\nimport argparse\r\nimport os\r\nimport torch\r\nimport torch.nn as nn\r\nimport torch.nn.parallel\r\nimport torch.backends.cudnn as cudnn\r\nimport torch.optim as optim\r\nimport torch.utils.data\r\nfrom torch.autograd import Variable\r\nimport torchvision.utils as vutils\r\nimport torch.nn.functional as F\r\nimport numpy as np\r\nimport time\r\nfrom tensorboardX import SummaryWriter\r\nfrom datasets import __datasets__\r\nfrom models import __models__\r\nfrom utils import *\r\nfrom torch.utils.data import DataLoader\r\nimport gc\r\nimport skimage\r\nimport skimage.io\r\nimport cv2\r\n# cudnn.benchmark = True\r\n\r\nos.environ['CUDA_VISIBLE_DEVICES'] = '0'\r\n\r\nparser = argparse.ArgumentParser(description='Accurate and Efficient Stereo Matching via Attention Concatenation Volume (Fast-ACV)')\r\nparser.add_argument('--model', default='Fast_ACVNet_plus', help='select a model structure', choices=__models__.keys())\r\nparser.add_argument('--maxdisp', type=int, default=192, help='maximum disparity')\r\nparser.add_argument('--dataset', default='kitti', help='dataset name', choices=__datasets__.keys())\r\nparser.add_argument('--kitti15_datapath', default='/data/KITTI/KITTI_2015/', help='data path')\r\nparser.add_argument('--kitti12_datapath', default='/data/KITTI/KITTI_2012/', help='data path')\r\nparser.add_argument('--testlist', default='./filenames/kitti15_test.txt', help='testing list')\r\nparser.add_argument('--loadckpt', default='',help='load the weights from a specific checkpoint')\r\nparser.add_argument('--attention_weights_only', default=False, type=str, help='only train attention weights')\r\n# parse arguments\r\nargs = parser.parse_args()\r\n\r\n# dataset, dataloader\r\nStereoDataset = __datasets__[args.dataset]\r\ntest_dataset = StereoDataset(args.kitti15_datapath, args.kitti12_datapath, args.testlist, False)\r\nTestImgLoader = DataLoader(test_dataset, 1, shuffle=False, num_workers=4, drop_last=False)\r\n\r\n# model, optimizer\r\nmodel = __models__[args.model](args.maxdisp, args.attention_weights_only)\r\nmodel = nn.DataParallel(model)\r\nmodel.cuda()\r\n\r\n#load parameters\r\nprint(\"loading model {}\".format(args.loadckpt))\r\nstate_dict = torch.load(args.loadckpt)\r\nmodel.load_state_dict(state_dict['model'])\r\n\r\n\r\nsave_dir = './output/kitti15/disp_0'\r\n\r\n\r\ndef test():\r\n os.makedirs(save_dir, exist_ok=True)\r\n for batch_idx, sample in enumerate(TestImgLoader):\r\n start_time = time.time()\r\n disp_est_np = tensor2numpy(test_sample(sample))\r\n print('Iter {}/{}, time = {:3f}'.format(batch_idx, len(TestImgLoader),\r\n time.time() - start_time))\r\n top_pad_np = tensor2numpy(sample[\"top_pad\"])\r\n right_pad_np = tensor2numpy(sample[\"right_pad\"])\r\n left_filenames = sample[\"left_filename\"]\r\n\r\n for disp_est, top_pad, right_pad, fn in zip(disp_est_np, top_pad_np, right_pad_np, left_filenames):\r\n assert len(disp_est.shape) == 2\r\n disp_est = np.array(disp_est[top_pad:, :-right_pad], dtype=np.float32)\r\n fn = os.path.join(save_dir, fn.split('/')[-1])\r\n print(\"saving to\", fn, disp_est.shape)\r\n disp_est_uint = np.round(disp_est * 256).astype(np.uint16)\r\n skimage.io.imsave(fn, disp_est_uint)\r\n # cv2.imwrite(fn, cv2.applyColorMap(cv2.convertScaleAbs(disp_est_uint, alpha=0.01),cv2.COLORMAP_JET))\r\n\r\n\r\n# test one sample\r\n@make_nograd_func\r\ndef test_sample(sample):\r\n model.eval()\r\n disp_ests = model(sample['left'].cuda(), sample['right'].cuda())\r\n return disp_ests[-1]\r\n\r\n\r\nif __name__ == '__main__':\r\n test()\r\n" }, { "path": "test_mid.py", "content": "from __future__ import print_function, division\r\nimport argparse\r\nimport os\r\nimport torch\r\nimport torch.nn as nn\r\nimport torch.nn.parallel\r\nimport torch.backends.cudnn as cudnn\r\nimport torch.optim as optim\r\nimport torch.utils.data\r\nfrom torch.autograd import Variable\r\nimport torchvision.utils as vutils\r\nimport torch.nn.functional as F\r\nimport numpy as np\r\nimport time\r\nfrom tqdm import tqdm, trange\r\nfrom datasets import middlebury_loader as mb\r\nfrom models import __models__\r\nfrom utils import *\r\nfrom torch.utils.data import DataLoader\r\nimport gc\r\nimport skimage\r\nimport skimage.io\r\nimport cv2\r\nfrom PIL import Image\r\nfrom torchvision import transforms\r\nfrom datasets import readpfm as rp\r\n# cudnn.benchmark = True\r\n\r\nos.environ['CUDA_VISIBLE_DEVICES'] = '0'\r\n\r\nparser = argparse.ArgumentParser(description='Accurate and Efficient Stereo Matching via Attention Concatenation Volume (Fast-ACV)')\r\nparser.add_argument('--model', default='Fast_ACVNet', help='select a model structure', choices=__models__.keys())\r\nparser.add_argument('--maxdisp', type=int, default=192, help='maximum disparity')\r\nparser.add_argument('--datapath', default=\"/data/Middlebury/\", help='data path')\r\nparser.add_argument('--resolution', type=str, default='H')\r\nparser.add_argument('--loadckpt', default='./pretrained_models/Fast_ACV/generalization.ckpt',help='load the weights from a specific checkpoint')\r\n\r\n# parse arguments\r\nargs = parser.parse_args()\r\ntrain_limg, train_rimg, train_gt, test_limg, test_rimg = mb.mb_loader(args.datapath, res=args.resolution)\r\nmodel = __models__[args.model](args.maxdisp, False)\r\nmodel = nn.DataParallel(model)\r\nmodel.cuda()\r\nstate_dict = torch.load(args.loadckpt)\r\nmodel.load_state_dict(state_dict['model'])\r\nmodel.eval()\r\n\r\nos.makedirs('./demo-imgs/', exist_ok=True)\r\n\r\ndef test_trainset():\r\n op = 0\r\n mae = 0\r\n\r\n for i in trange(len(train_limg)):\r\n\r\n limg_path = train_limg[i]\r\n rimg_path = train_rimg[i]\r\n\r\n limg = Image.open(limg_path).convert('RGB')\r\n rimg = Image.open(rimg_path).convert('RGB')\r\n\r\n w, h = limg.size\r\n wi, hi = (w // 32 + 1) * 32, (h // 32 + 1) * 32\r\n\r\n limg = limg.crop((w - wi, h - hi, w, h))\r\n rimg = rimg.crop((w - wi, h - hi, w, h))\r\n\r\n limg_tensor = transforms.Compose([\r\n transforms.ToTensor(),\r\n transforms.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])])(limg)\r\n rimg_tensor = transforms.Compose([\r\n transforms.ToTensor(),\r\n transforms.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])])(rimg)\r\n limg_tensor = limg_tensor.unsqueeze(0).cuda()\r\n rimg_tensor = rimg_tensor.unsqueeze(0).cuda()\r\n\r\n with torch.no_grad():\r\n pred_disp = model(limg_tensor, rimg_tensor)[-1]\r\n\r\n pred_disp = pred_disp[:, hi - h:, wi - w:]\r\n\r\n pred_np = pred_disp.squeeze().cpu().numpy()\r\n\r\n torch.cuda.empty_cache()\r\n\r\n disp_gt, _ = rp.readPFM(train_gt[i])\r\n disp_gt = np.ascontiguousarray(disp_gt, dtype=np.float32)\r\n disp_gt[disp_gt == np.inf] = 0\r\n\r\n occ_mask = Image.open(train_gt[i].replace('disp0GT.pfm', 'mask0nocc.png')).convert('L')\r\n occ_mask = np.ascontiguousarray(occ_mask, dtype=np.float32)\r\n\r\n mask = (disp_gt <= 0) | (occ_mask != 255) | (disp_gt >= args.maxdisp)\r\n # mask = (disp_gt <= 0) | (disp_gt >= maxdisp)\r\n\r\n error = np.abs(pred_np - disp_gt)\r\n error[mask] = 0\r\n \r\n print(\"#######Bad\", limg_path, np.sum(error > 2.0) / (w * h - np.sum(mask)))\r\n\r\n op += np.sum(error > 2.0) / (w * h - np.sum(mask))\r\n mae += np.sum(error) / (w * h - np.sum(mask))\r\n\r\n ########save\r\n\r\n filename = os.path.join('./demo-imgs/', limg_path.split('/')[-2]+limg_path.split('/')[-1])\r\n pred_np_save = np.round(pred_np * 256).astype(np.uint16) \r\n cv2.imwrite(filename, cv2.applyColorMap(cv2.convertScaleAbs(pred_np_save, alpha=0.01),cv2.COLORMAP_JET), [int(cv2.IMWRITE_PNG_COMPRESSION), 0])\r\n\r\n print(\"######Bad 2.0\", op / 15 * 100)\r\n print(\"######EPE\", mae / 15)\r\n\r\n\r\nif __name__ == '__main__':\r\n test_trainset()\r\n" }, { "path": "utils/__init__.py", "content": "from utils.experiment import *\nfrom utils.visualization import *\nfrom utils.metrics import D1_metric, Thres_metric, EPE_metric, EPE_metric_mask, Thres_metric_mask, D1_metric_mask\nfrom utils.misc import init_distributed_mode" }, { "path": "utils/experiment.py", "content": "from __future__ import print_function, division\nimport torch\nimport torch.nn as nn\nimport torch.nn.parallel\nimport torch.utils.data\nfrom torch.autograd import Variable\nimport torchvision.utils as vutils\nimport torch.nn.functional as F\nimport numpy as np\nimport copy\n\n\ndef make_iterative_func(func):\n def wrapper(vars):\n if isinstance(vars, list):\n return [wrapper(x) for x in vars]\n elif isinstance(vars, tuple):\n return tuple([wrapper(x) for x in vars])\n elif isinstance(vars, dict):\n return {k: wrapper(v) for k, v in vars.items()}\n else:\n return func(vars)\n\n return wrapper\n\n\ndef make_nograd_func(func):\n def wrapper(*f_args, **f_kwargs):\n with torch.no_grad():\n ret = func(*f_args, **f_kwargs)\n return ret\n\n return wrapper\n\n\n@make_iterative_func\ndef tensor2float(vars):\n if isinstance(vars, float):\n return vars\n elif isinstance(vars, torch.Tensor):\n return vars.data.item()\n else:\n raise NotImplementedError(\"invalid input type for tensor2float\")\n\n\n@make_iterative_func\ndef tensor2numpy(vars):\n if isinstance(vars, np.ndarray):\n return vars\n elif isinstance(vars, torch.Tensor):\n return vars.data.cpu().numpy()\n else:\n raise NotImplementedError(\"invalid input type for tensor2numpy\")\n\n\n@make_iterative_func\ndef check_allfloat(vars):\n assert isinstance(vars, float)\n\n\ndef save_scalars(logger, mode_tag, scalar_dict, global_step):\n scalar_dict = tensor2float(scalar_dict)\n for tag, values in scalar_dict.items():\n if not isinstance(values, list) and not isinstance(values, tuple):\n values = [values]\n for idx, value in enumerate(values):\n scalar_name = '{}/{}'.format(mode_tag, tag)\n # if len(values) > 1:\n scalar_name = scalar_name + \"_\" + str(idx)\n logger.add_scalar(scalar_name, value, global_step)\n\n\ndef save_images(logger, mode_tag, images_dict, global_step):\n images_dict = tensor2numpy(images_dict)\n for tag, values in images_dict.items():\n if not isinstance(values, list) and not isinstance(values, tuple):\n values = [values]\n for idx, value in enumerate(values):\n if len(value.shape) == 3:\n value = value[:, np.newaxis, :, :]\n value = value[:1]\n value = torch.from_numpy(value)\n\n image_name = '{}/{}'.format(mode_tag, tag)\n if len(values) > 1:\n image_name = image_name + \"_\" + str(idx)\n logger.add_image(image_name, vutils.make_grid(value, padding=0, nrow=1, normalize=True, scale_each=True),\n global_step)\n\n\ndef adjust_learning_rate(optimizer, epoch, base_lr, lrepochs):\n splits = lrepochs.split(':')\n assert len(splits) == 2\n\n # parse the epochs to downscale the learning rate (before :)\n downscale_epochs = [int(eid_str) for eid_str in splits[0].split(',')]\n # parse downscale rate (after :)\n downscale_rate = float(splits[1])\n print(\"downscale epochs: {}, downscale rate: {}\".format(downscale_epochs, downscale_rate))\n\n lr = base_lr\n for eid in downscale_epochs:\n if epoch >= eid:\n lr /= downscale_rate\n else:\n break\n print(\"setting learning rate to {}\".format(lr))\n for param_group in optimizer.param_groups:\n param_group['lr'] = lr\n\n\nclass AverageMeter(object):\n def __init__(self):\n self.sum_value = 0.\n self.count = 0\n\n def update(self, x):\n check_allfloat(x)\n self.sum_value += x\n self.count += 1\n\n def mean(self):\n return self.sum_value / self.count\n\n\nclass AverageMeterDict(object):\n def __init__(self):\n self.data = None\n self.count = 0\n\n def update(self, x):\n check_allfloat(x)\n self.count += 1\n if self.data is None:\n self.data = copy.deepcopy(x)\n else:\n for k1, v1 in x.items():\n if isinstance(v1, float):\n self.data[k1] += v1\n elif isinstance(v1, tuple) or isinstance(v1, list):\n for idx, v2 in enumerate(v1):\n self.data[k1][idx] += v2\n else:\n assert NotImplementedError(\"error input type for update AvgMeterDict\")\n\n def mean(self):\n @make_iterative_func\n def get_mean(v):\n return v / float(self.count)\n\n return get_mean(self.data)\n\n\nimport torch.distributed as dist\ndef get_world_size():\n if not dist.is_available():\n return 1\n if not dist.is_initialized():\n return 1\n return dist.get_world_size()\n\n\nfrom collections import defaultdict\ndef reduce_scalar_outputs(scalar_outputs):\n world_size = get_world_size()\n if world_size < 2:\n return scalar_outputs\n with torch.no_grad():\n names = []\n scalars = []\n for k in sorted(scalar_outputs.keys()):\n if isinstance(scalar_outputs[k], (list, tuple)):\n for sub_var in scalar_outputs[k]:\n names.append(k)\n scalars.append(sub_var)\n else:\n names.append(k)\n scalars.append(scalar_outputs[k])\n\n scalars = torch.stack(scalars, dim=0)\n dist.reduce(scalars, dst=0)\n if dist.get_rank() == 0:\n # only main process gets accumulated, so only divide by\n # world_size in this case\n scalars /= world_size\n\n reduced_scalars = defaultdict(list)\n for name, scalar in zip(names, scalars):\n reduced_scalars[name].append(scalar)\n\n return dict(reduced_scalars)" }, { "path": "utils/metrics.py", "content": "import torch\nimport torch.nn.functional as F\nfrom utils.experiment import make_nograd_func\nfrom torch.autograd import Variable\nfrom torch import Tensor\n\n\n# Update D1 from >3px to >=3px & >5%\n# matlab code:\n# E = abs(D_gt - D_est);\n# n_err = length(find(D_gt > 0 & E > tau(1) & E. / abs(D_gt) > tau(2)));\n# n_total = length(find(D_gt > 0));\n# d_err = n_err / n_total;\n\ndef check_shape_for_metric_computation(*vars):\n assert isinstance(vars, tuple)\n for var in vars:\n assert len(var.size()) == 3\n assert var.size() == vars[0].size()\n\n# a wrapper to compute metrics for each image individually\ndef compute_metric_for_each_image(metric_func):\n def wrapper(D_ests, D_gts, masks, *nargs):\n check_shape_for_metric_computation(D_ests, D_gts, masks)\n bn = D_gts.shape[0] # batch size\n results = [] # a list to store results for each image\n # compute result one by one\n for idx in range(bn):\n # if tensor, then pick idx, else pass the same value\n cur_nargs = [x[idx] if isinstance(x, (Tensor, Variable)) else x for x in nargs]\n if masks[idx].float().mean() / (D_gts[idx] > 0).float().mean() < 0.1:\n print(\"masks[idx].float().mean() too small, skip\")\n else:\n ret = metric_func(D_ests[idx], D_gts[idx], masks[idx], *cur_nargs)\n results.append(ret)\n if len(results) == 0:\n print(\"masks[idx].float().mean() too small for all images in this batch, return 0\")\n return torch.tensor(0, dtype=torch.float32, device=D_gts.device)\n else:\n return torch.stack(results).mean()\n return wrapper\n\n@make_nograd_func\n@compute_metric_for_each_image\ndef D1_metric(D_est, D_gt, mask):\n D_est, D_gt = D_est[mask], D_gt[mask]\n E = torch.abs(D_gt - D_est)\n err_mask = (E > 3) & (E / D_gt.abs() > 0.05)\n return torch.mean(err_mask.float())\n\n@make_nograd_func\n@compute_metric_for_each_image\ndef Thres_metric(D_est, D_gt, mask, thres):\n assert isinstance(thres, (int, float))\n D_est, D_gt = D_est[mask], D_gt[mask]\n E = torch.abs(D_gt - D_est)\n err_mask = E > thres\n return torch.mean(err_mask.float())\n\n# NOTE: please do not use this to build up training loss\n@make_nograd_func\n@compute_metric_for_each_image\ndef EPE_metric(D_est, D_gt, mask):\n D_est, D_gt = D_est[mask], D_gt[mask]\n return F.l1_loss(D_est, D_gt, size_average=True)\n\n\n\n@make_nograd_func\n@compute_metric_for_each_image\ndef D1_metric_mask(D_est, D_gt, mask, mask_img):\n # D_est, D_gt = D_est[(mask&mask_img)], D_gt[(mask&mask_img)]\n D_est, D_gt = D_est[mask_img], D_gt[mask_img]\n E = torch.abs(D_gt - D_est)\n err_mask = (E > 3) & (E / D_gt.abs() > 0.05)\n return torch.mean(err_mask.float())\n\n@make_nograd_func\n@compute_metric_for_each_image\ndef Thres_metric_mask(D_est, D_gt, mask, thres, mask_img):\n assert isinstance(thres, (int, float))\n # D_est, D_gt = D_est[(mask&mask_img)], D_gt[(mask&mask_img)]\n D_est, D_gt = D_est[mask_img], D_gt[mask_img]\n E = torch.abs(D_gt - D_est)\n err_mask = E > thres\n return torch.mean(err_mask.float())\n\n# NOTE: please do not use this to build up training loss\n@make_nograd_func\n@compute_metric_for_each_image\ndef EPE_metric_mask(D_est, D_gt, mask, mask_img):\n # print((mask&mask_img).size(), D_est.size(), mask, mask_img)\n # D_est, D_gt = D_est[(mask&mask_img)], D_gt[(mask&mask_img)]\n D_est, D_gt = D_est[mask_img], D_gt[mask_img]\n return F.l1_loss(D_est, D_gt, size_average=True)\n\n" }, { "path": "utils/misc.py", "content": "import os\nimport torch\n\n\ndef setup_for_distributed(is_master):\n \"\"\"\n This function disables printing when not in master process\n \"\"\"\n import builtins as __builtin__\n builtin_print = __builtin__.print\n\n def print(*args, **kwargs):\n force = kwargs.pop('force', False)\n if is_master or force:\n builtin_print(*args, **kwargs)\n\n __builtin__.print = print\n\n\ndef init_distributed_mode(args):\n if 'RANK' in os.environ and 'WORLD_SIZE' in os.environ:\n args.rank = int(os.environ[\"RANK\"])\n args.world_size = int(os.environ['WORLD_SIZE'])\n args.gpu = args.local_rank\n args.dist_url = 'env://'\n os.environ['LOCAL_SIZE'] = str(torch.cuda.device_count())\n else:\n print('Not using distributed mode')\n args.distributed = False\n return\n\n args.distributed = True\n\n torch.cuda.set_device(args.gpu)\n args.dist_backend = 'nccl'\n print('| distributed init (rank {}): {}'.format(\n args.rank, args.dist_url), flush=True)\n torch.distributed.init_process_group(backend=args.dist_backend, init_method=args.dist_url,\n world_size=args.world_size, rank=args.rank)\n torch.distributed.barrier()\n setup_for_distributed(args.rank == 0)\n" }, { "path": "utils/visualization.py", "content": "from __future__ import print_function\nimport torch\nimport torch.nn as nn\nimport torch.utils.data\nfrom torch.autograd import Variable, Function\nimport torch.nn.functional as F\nimport math\nimport numpy as np\n\n\ndef gen_error_colormap():\n cols = np.array(\n [[0 / 3.0, 0.1875 / 3.0, 49, 54, 149],\n [0.1875 / 3.0, 0.375 / 3.0, 69, 117, 180],\n [0.375 / 3.0, 0.75 / 3.0, 116, 173, 209],\n [0.75 / 3.0, 1.5 / 3.0, 171, 217, 233],\n [1.5 / 3.0, 3 / 3.0, 224, 243, 248],\n [3 / 3.0, 6 / 3.0, 254, 224, 144],\n [6 / 3.0, 12 / 3.0, 253, 174, 97],\n [12 / 3.0, 24 / 3.0, 244, 109, 67],\n [24 / 3.0, 48 / 3.0, 215, 48, 39],\n [48 / 3.0, np.inf, 165, 0, 38]], dtype=np.float32)\n cols[:, 2: 5] /= 255.\n return cols\n\n\nerror_colormap = gen_error_colormap()\n\n\nclass disp_error_image_func(Function):\n def forward(self, D_est_tensor, D_gt_tensor, abs_thres=3., rel_thres=0.05, dilate_radius=1):\n D_gt_np = D_gt_tensor.detach().cpu().numpy()\n D_est_np = D_est_tensor.detach().cpu().numpy()\n B, H, W = D_gt_np.shape\n # valid mask\n mask = D_gt_np > 0\n # error in percentage. When error <= 1, the pixel is valid since <= 3px & 5%\n error = np.abs(D_gt_np - D_est_np)\n error[np.logical_not(mask)] = 0\n error[mask] = np.minimum(error[mask] / abs_thres, (error[mask] / D_gt_np[mask]) / rel_thres)\n # get colormap\n cols = error_colormap\n # create error image\n error_image = np.zeros([B, H, W, 3], dtype=np.float32)\n for i in range(cols.shape[0]):\n error_image[np.logical_and(error >= cols[i][0], error < cols[i][1])] = cols[i, 2:]\n # TODO: imdilate\n # error_image = cv2.imdilate(D_err, strel('disk', dilate_radius));\n error_image[np.logical_not(mask)] = 0.\n # show color tag in the top-left cornor of the image\n for i in range(cols.shape[0]):\n distance = 20\n error_image[:, :10, i * distance:(i + 1) * distance, :] = cols[i, 2:]\n\n return torch.from_numpy(np.ascontiguousarray(error_image.transpose([0, 3, 1, 2])))\n\n def backward(self, grad_output):\n return None\n" } ]