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Repository: haofeixu/aanet
Branch: master
Commit: 8d0d747e69bb
Files: 62
Total size: 7.2 MB
Directory structure:
gitextract_wv5jlz84/
├── LICENSE
├── MODEL_ZOO.md
├── README.md
├── dataloader/
│ ├── __init__.py
│ ├── dataloader.py
│ └── transforms.py
├── environment.yml
├── filenames/
│ ├── KITTI_2012_test.txt
│ ├── KITTI_2012_train.txt
│ ├── KITTI_2012_train_all.txt
│ ├── KITTI_2012_val.txt
│ ├── KITTI_2015_test.txt
│ ├── KITTI_2015_train.txt
│ ├── KITTI_2015_train_all.txt
│ ├── KITTI_2015_val.txt
│ ├── KITTI_mix.txt
│ ├── SceneFlow_finalpass_test.txt
│ ├── SceneFlow_finalpass_train.txt
│ ├── SceneFlow_finalpass_val.txt
│ └── generate_filenames.py
├── inference.py
├── metric.py
├── model.py
├── nets/
│ ├── __init__.py
│ ├── aanet.py
│ ├── aggregation.py
│ ├── cost.py
│ ├── deform.py
│ ├── deform_conv/
│ │ ├── __init__.py
│ │ ├── build.sh
│ │ ├── deform_conv.py
│ │ ├── setup.py
│ │ └── src/
│ │ ├── deform_conv_cuda.cpp
│ │ └── deform_conv_cuda_kernel.cu
│ ├── estimation.py
│ ├── feature.py
│ ├── refinement.py
│ ├── resnet.py
│ └── warp.py
├── predict.py
├── scripts/
│ ├── aanet+_evaluate.sh
│ ├── aanet+_inference.sh
│ ├── aanet+_predict.sh
│ ├── aanet+_timing.sh
│ ├── aanet+_train.sh
│ ├── aanet_evaluate.sh
│ ├── aanet_inference.sh
│ ├── aanet_predict.sh
│ ├── aanet_timing.sh
│ ├── aanet_train.sh
│ ├── ganet-aa_inference.sh
│ ├── gcnet-aa_inference.sh
│ ├── psmnet-aa_inference.sh
│ └── stereonet-aa_inference.sh
├── thop/
│ ├── __init__.py
│ ├── count_hooks.py
│ └── profile.py
├── train.py
└── utils/
├── __init__.py
├── file_io.py
├── utils.py
└── visualization.py
================================================
FILE CONTENTS
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FILE: LICENSE
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Copyright 2020 Haofei Xu
Licensed under the Apache License, Version 2.0 (the "License");
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================================================
FILE: MODEL_ZOO.md
================================================
# Model Zoo
## Settings
- For all datasets, the results are reported on the test set.
- The inference time is averaged over 100 runs, with batch size 1 on a single NVIDIA V100 GPU.
For Scene Flow dataset, the inference resolution is 576x960. For KITTI dataset, the resolution is 384x1248.
## Scene Flow
| Method | EPE | > 1px | Params | Time(ms) | Download |
| ------------ | :--: | :---: | :----: | :------: | :----------------------------------------------------------: |
| StereoNet-AA | 1.08 | 12.9 | 0.53M | 17 | [model](https://drive.google.com/open?id=1CimLtdQvh1dl60rCyVZZCojF4XNmFkj3) |
| GC-Net-AA | 0.98 | 10.8 | 2.15M | 91 | [model](https://drive.google.com/open?id=18NisQ6vp4oMrv-cVARLmlRe8prIfdGIL) |
| PSMNet-AA | 0.97 | 10.2 | 4.15M | 77 | [model](https://drive.google.com/open?id=1m5swiWdJ7PK9Oei0NK8osTFWwq2n14Ri) |
| GA-Net-AA | 0.87 | 9.2 | 3.68M | 57 | [model](https://drive.google.com/open?id=1i7PJ8YVbviJe7Xc_RhBYxfvLD9QTjsBM) |
| AANet | 0.87 | 9.3 | 3.93M | 68 | [model](https://drive.google.com/open?id=1_OuMEE5v5DcSUuKUZeCBZ17TZgxi4--h) |
| AANet+ | 0.72 | 7.4 | 8.44M | 64 | [model](https://drive.google.com/open?id=1m3Wo2k7w3OlVaDYdIm-x9K8_frQ4Vq9u) |
## KITTI 2012
| Method | Out-Noc | Out-All | Params | Time(ms) | Download |
| ------ | :-----: | :-----: | :----: | :------: | :----------------------------------------------------------: |
| AANet | 1.91 | 2.42 | 3.93M | 62 | [model](https://drive.google.com/open?id=1G2M6w0RIe6kZU_iHpOyrYg_cVd1Jc34Q) |
| AANet+ | 1.55 | 2.04 | 8.44M | 60 | [model](https://drive.google.com/open?id=1a2P41zmaNVVcU-Yux1AMXtgMS1fPlsGj) |
## KITTI 2015
| Method | D1-bg | D1-all | Params | Time(ms) | Download |
| ------ | :---: | :----: | :----: | :------: | :----------------------------------------------------------: |
| AANet | 1.99 | 2.55 | 3.93M | 62 | [model](https://drive.google.com/open?id=1Qa1rSWQDBcW4D6LvvjDztfTLNGA_rgGn) |
| AANet+ | 1.65 | 2.03 | 8.44M | 60 | [model](https://drive.google.com/open?id=1m0z8e2Ndau_eFR3BETffzjkNXhJNHAiS) |
================================================
FILE: README.md
================================================
# AANet
PyTorch implementation of our paper:
**[AANet: Adaptive Aggregation Network for Efficient Stereo Matching](https://arxiv.org/abs/2004.09548)**, [CVPR 2020](http://cvpr2020.thecvf.com/)
Authors: [Haofei Xu](https://haofeixu.github.io/) and [Juyong Zhang](http://staff.ustc.edu.cn/~juyong/)
**11/15/2022 Update: Check out our new work: [Unifying Flow, Stereo and Depth Estimation](https://haofeixu.github.io/unimatch/) and code: [unimatch](https://github.com/autonomousvision/unimatch) for performing stereo matching with our new GMStereo model. The CUDA op in AANet is no longer required. [10 pretrained GMStereo models](https://github.com/autonomousvision/unimatch/blob/master/MODEL_ZOO.md) with different speed-accuracy trade-offs are also released. Check out our [Colab](https://colab.research.google.com/drive/1r5m-xVy3Kw60U-m5VB-aQ98oqqg_6cab?usp=sharing) and [HuggingFace](https://huggingface.co/spaces/haofeixu/unimatch) demo to play with GMStereo in your browser!**
We propose a sparse points based intra-scale cost aggregation (ISA) module and a cross-scale cost aggregation (CSA) module for efficient and accurate stereo matching.
The implementation of improved version **AANet+ (stronger performance & slightly faster speed)** is also included in this repo.
<p align="center"><img width=80% src="assets/overview.png"></p>
## Highlights
- **Modular design**
We decompose the end-to-end stereo matching framework into five components:
**feature extraction**, **cost volume construction**, **cost aggregation**, **disparity computation** and **disparity refinement.**
One can easily construct a customized stereo matching model by combining different components.
- **High efficiency**
Our method can run at **60ms** for a KITTI stereo pair (384x1248 resolution)!
- **Full framework**
All codes for training, validating, evaluating, inferencing and predicting on any stereo pair are provided!
## Installation
Our code is based on PyTorch 1.2.0, CUDA 10.0 and python 3.7.
We recommend using [conda](https://www.anaconda.com/distribution/) for installation:
```shell
conda env create -f environment.yml
```
After installing dependencies, build deformable convolution:
```shell
cd nets/deform_conv && bash build.sh
```
## Dataset Preparation
Download [Scene Flow](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) and [KITTI 2015](http://www.cvlibs.net/datasets/kitti/eval_scene_flow.php?benchmark=stereo) datasets.
Our folder structure is as follows:
```
data
├── KITTI
│ ├── kitti_2012
│ │ └── data_stereo_flow
│ ├── kitti_2015
│ │ └── data_scene_flow
└── SceneFlow
├── Driving
│ ├── disparity
│ └── frames_finalpass
├── FlyingThings3D
│ ├── disparity
│ └── frames_finalpass
└── Monkaa
├── disparity
└── frames_finalpass
```
If you would like to use the pseudo ground truth supervision introduced in our paper, you can download the pre-computed disparity on KITTI 2012 and KITTI 2015 training set here: [KITTI 2012](https://drive.google.com/open?id=1ZJhraqgY1sL4UfHBrVojttCbvNAXfdj0), [KITTI 2015](https://drive.google.com/open?id=14NGQp9CwIVNAK8ZQ6GSNeGraFGtVGOce).
For KITTI 2012, you should place the unzipped file `disp_occ_pseudo_gt` under `kitti_2012/data_stereo_flow/training` directory.
For KITTI 2015, you should place `disp_occ_0_pseudo_gt` under `kitti_2015/data_scene_flow/training`.
It is recommended to symlink your dataset root to `$AANET/data`:
```shell
ln -s $YOUR_DATASET_ROOT data
```
Otherwise, you may need to change the corresponding paths in the scripts.
## Model Zoo
All pretrained models are available in the [model zoo](MODEL_ZOO.md).
We assume the downloaded weights are located under the `pretrained` directory.
Otherwise, you may need to change the corresponding paths in the scripts.
## Inference
To generate prediction results on the test set of Scene Flow and KITTI dataset, you can run [scripts/aanet_inference.sh](scripts/aanet_inference.sh).
The inference results on KITTI dataset can be directly submitted to the online evaluation server for benchmarking.
## Prediction
We also support predicting on any rectified stereo pairs. [scripts/aanet_predict.sh](scripts/aanet_predict.sh) provides an example usage.
## Training
All training scripts on Scene Flow and KITTI datasets are provided in [scripts/aanet_train.sh](scripts/aanet_train.sh).
Note that we use 4 NVIDIA V100 GPUs (32G) with batch size 64 for training, you may need to tune the batch size according to your hardware.
We support using tensorboard to monitor and visualize the training process. You can first start a tensorboard session with
```shell
tensorboard --logdir checkpoints
```
and then access [http://localhost:6006](http://localhost:6006) in your browser.
- **How to train on my own data?**
You can first generate a filename list by creating a data reading function in [filenames/generate_filenames.py](filenames/generate_filenames.py) (an example on KITTI dataset is provided), and then create a new dataset dictionary in [dataloader/dataloader.py](dataloader/dataloader.py).
- **How to develop new components?**
Our framework is flexible to develop new components, e.g., new feature extractor, cost aggregation module or refinement architecture. You can 1) create a new file (e.g., `my_aggregation.py`) under `nets` directory, 2) import the module in `nets/aanet.py` and 3) use it in the model definition.
## Evaluation
To enable fast experimenting, evaluation runs on-the-fly without saving the intermediate results.
We provide two types of evaluation setting:
- After training, evaluate the model with best validation results
- Evaluate a pretrained model
Check [scripts/aanet_evaluate.sh](scripts/aanet_evaluate.sh) for an example usage.
## Citation
If you find our work useful in your research, please consider citing our paper:
```
@inproceedings{xu2020aanet,
title={AANet: Adaptive Aggregation Network for Efficient Stereo Matching},
author={Xu, Haofei and Zhang, Juyong},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
pages={1959--1968},
year={2020}
}
```
## Acknowledgements
Part of the code is adopted from previous works: [PSMNet](https://github.com/JiaRenChang/PSMNet), [GwcNet](https://github.com/xy-guo/GwcNet) and [GA-Net](https://github.com/feihuzhang/GANet). We thank the original authors for their awesome repos. The deformable convolution op is taken from [mmdetection](https://github.com/open-mmlab/mmdetection). The FLOPs counting code is modified from [pytorch-OpCounter](https://github.com/Lyken17/pytorch-OpCounter). The code structure is partially inspired by [mmdetection](https://github.com/open-mmlab/mmdetection) and our previous work [rdn4depth](https://github.com/haofeixu/rdn4depth).
================================================
FILE: dataloader/__init__.py
================================================
from .dataloader import StereoDataset
================================================
FILE: dataloader/dataloader.py
================================================
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
from torch.utils.data import Dataset
import os
from utils import utils
from utils.file_io import read_img, read_disp
class StereoDataset(Dataset):
def __init__(self, data_dir,
dataset_name='SceneFlow',
mode='train',
save_filename=False,
load_pseudo_gt=False,
transform=None):
super(StereoDataset, self).__init__()
self.data_dir = data_dir
self.dataset_name = dataset_name
self.mode = mode
self.save_filename = save_filename
self.transform = transform
sceneflow_finalpass_dict = {
'train': 'filenames/SceneFlow_finalpass_train.txt',
'val': 'filenames/SceneFlow_finalpass_val.txt',
'test': 'filenames/SceneFlow_finalpass_test.txt'
}
kitti_2012_dict = {
'train': 'filenames/KITTI_2012_train.txt',
'train_all': 'filenames/KITTI_2012_train_all.txt',
'val': 'filenames/KITTI_2012_val.txt',
'test': 'filenames/KITTI_2012_test.txt'
}
kitti_2015_dict = {
'train': 'filenames/KITTI_2015_train.txt',
'train_all': 'filenames/KITTI_2015_train_all.txt',
'val': 'filenames/KITTI_2015_val.txt',
'test': 'filenames/KITTI_2015_test.txt'
}
kitti_mix_dict = {
'train': 'filenames/KITTI_mix.txt',
'test': 'filenames/KITTI_2015_test.txt'
}
dataset_name_dict = {
'SceneFlow': sceneflow_finalpass_dict,
'KITTI2012': kitti_2012_dict,
'KITTI2015': kitti_2015_dict,
'KITTI_mix': kitti_mix_dict,
}
assert dataset_name in dataset_name_dict.keys()
self.dataset_name = dataset_name
self.samples = []
data_filenames = dataset_name_dict[dataset_name][mode]
lines = utils.read_text_lines(data_filenames)
for line in lines:
splits = line.split()
left_img, right_img = splits[:2]
gt_disp = None if len(splits) == 2 else splits[2]
sample = dict()
if self.save_filename:
sample['left_name'] = left_img.split('/', 1)[1]
sample['left'] = os.path.join(data_dir, left_img)
sample['right'] = os.path.join(data_dir, right_img)
sample['disp'] = os.path.join(data_dir, gt_disp) if gt_disp is not None else None
if load_pseudo_gt and sample['disp'] is not None:
# KITTI 2015
if 'disp_occ_0' in sample['disp']:
sample['pseudo_disp'] = (sample['disp']).replace('disp_occ_0',
'disp_occ_0_pseudo_gt')
# KITTI 2012
elif 'disp_occ' in sample['disp']:
sample['pseudo_disp'] = (sample['disp']).replace('disp_occ',
'disp_occ_pseudo_gt')
else:
raise NotImplementedError
else:
sample['pseudo_disp'] = None
self.samples.append(sample)
def __getitem__(self, index):
sample = {}
sample_path = self.samples[index]
if self.save_filename:
sample['left_name'] = sample_path['left_name']
sample['left'] = read_img(sample_path['left']) # [H, W, 3]
sample['right'] = read_img(sample_path['right'])
# GT disparity of subset if negative, finalpass and cleanpass is positive
subset = True if 'subset' in self.dataset_name else False
if sample_path['disp'] is not None:
sample['disp'] = read_disp(sample_path['disp'], subset=subset) # [H, W]
if sample_path['pseudo_disp'] is not None:
sample['pseudo_disp'] = read_disp(sample_path['pseudo_disp'], subset=subset) # [H, W]
if self.transform is not None:
sample = self.transform(sample)
return sample
def __len__(self):
return len(self.samples)
================================================
FILE: dataloader/transforms.py
================================================
from __future__ import division
import torch
import numpy as np
from PIL import Image
import torchvision.transforms.functional as F
import random
class Compose(object):
def __init__(self, transforms):
self.transforms = transforms
def __call__(self, sample):
for t in self.transforms:
sample = t(sample)
return sample
class ToTensor(object):
"""Convert numpy array to torch tensor"""
def __call__(self, sample):
left = np.transpose(sample['left'], (2, 0, 1)) # [3, H, W]
sample['left'] = torch.from_numpy(left) / 255.
right = np.transpose(sample['right'], (2, 0, 1))
sample['right'] = torch.from_numpy(right) / 255.
# disp = np.expand_dims(sample['disp'], axis=0) # [1, H, W]
if 'disp' in sample.keys():
disp = sample['disp'] # [H, W]
sample['disp'] = torch.from_numpy(disp)
if 'pseudo_disp' in sample.keys():
disp = sample['pseudo_disp'] # [H, W]
sample['pseudo_disp'] = torch.from_numpy(disp)
return sample
class Normalize(object):
"""Normalize image, with type tensor"""
def __init__(self, mean, std):
self.mean = mean
self.std = std
def __call__(self, sample):
norm_keys = ['left', 'right']
for key in norm_keys:
# Images have converted to tensor, with shape [C, H, W]
for t, m, s in zip(sample[key], self.mean, self.std):
t.sub_(m).div_(s)
return sample
class RandomCrop(object):
def __init__(self, img_height, img_width, validate=False):
self.img_height = img_height
self.img_width = img_width
self.validate = validate
def __call__(self, sample):
ori_height, ori_width = sample['left'].shape[:2]
if self.img_height > ori_height or self.img_width > ori_width:
top_pad = self.img_height - ori_height
right_pad = self.img_width - ori_width
assert top_pad >= 0 and right_pad >= 0
sample['left'] = np.lib.pad(sample['left'],
((top_pad, 0), (0, right_pad), (0, 0)),
mode='constant',
constant_values=0)
sample['right'] = np.lib.pad(sample['right'],
((top_pad, 0), (0, right_pad), (0, 0)),
mode='constant',
constant_values=0)
if 'disp' in sample.keys():
sample['disp'] = np.lib.pad(sample['disp'],
((top_pad, 0), (0, right_pad)),
mode='constant',
constant_values=0)
if 'pseudo_disp' in sample.keys():
sample['pseudo_disp'] = np.lib.pad(sample['pseudo_disp'],
((top_pad, 0), (0, right_pad)),
mode='constant',
constant_values=0)
else:
assert self.img_height <= ori_height and self.img_width <= ori_width
# Training: random crop
if not self.validate:
self.offset_x = np.random.randint(ori_width - self.img_width + 1)
start_height = 0
assert ori_height - start_height >= self.img_height
self.offset_y = np.random.randint(start_height, ori_height - self.img_height + 1)
# Validatoin, center crop
else:
self.offset_x = (ori_width - self.img_width) // 2
self.offset_y = (ori_height - self.img_height) // 2
sample['left'] = self.crop_img(sample['left'])
sample['right'] = self.crop_img(sample['right'])
if 'disp' in sample.keys():
sample['disp'] = self.crop_img(sample['disp'])
if 'pseudo_disp' in sample.keys():
sample['pseudo_disp'] = self.crop_img(sample['pseudo_disp'])
return sample
def crop_img(self, img):
return img[self.offset_y:self.offset_y + self.img_height,
self.offset_x:self.offset_x + self.img_width]
class RandomVerticalFlip(object):
"""Randomly vertically filps"""
def __call__(self, sample):
if np.random.random() < 0.5:
sample['left'] = np.copy(np.flipud(sample['left']))
sample['right'] = np.copy(np.flipud(sample['right']))
sample['disp'] = np.copy(np.flipud(sample['disp']))
if 'pseudo_disp' in sample.keys():
sample['pseudo_disp'] = np.copy(np.flipud(sample['pseudo_disp']))
return sample
class ToPILImage(object):
def __call__(self, sample):
sample['left'] = Image.fromarray(sample['left'].astype('uint8'))
sample['right'] = Image.fromarray(sample['right'].astype('uint8'))
return sample
class ToNumpyArray(object):
def __call__(self, sample):
sample['left'] = np.array(sample['left']).astype(np.float32)
sample['right'] = np.array(sample['right']).astype(np.float32)
return sample
# Random coloring
class RandomContrast(object):
"""Random contrast"""
def __call__(self, sample):
if np.random.random() < 0.5:
contrast_factor = np.random.uniform(0.8, 1.2)
sample['left'] = F.adjust_contrast(sample['left'], contrast_factor)
sample['right'] = F.adjust_contrast(sample['right'], contrast_factor)
return sample
class RandomGamma(object):
def __call__(self, sample):
if np.random.random() < 0.5:
gamma = np.random.uniform(0.7, 1.5) # adopted from FlowNet
sample['left'] = F.adjust_gamma(sample['left'], gamma)
sample['right'] = F.adjust_gamma(sample['right'], gamma)
return sample
class RandomBrightness(object):
def __call__(self, sample):
if np.random.random() < 0.5:
brightness = np.random.uniform(0.5, 2.0)
sample['left'] = F.adjust_brightness(sample['left'], brightness)
sample['right'] = F.adjust_brightness(sample['right'], brightness)
return sample
class RandomHue(object):
def __call__(self, sample):
if np.random.random() < 0.5:
hue = np.random.uniform(-0.1, 0.1)
sample['left'] = F.adjust_hue(sample['left'], hue)
sample['right'] = F.adjust_hue(sample['right'], hue)
return sample
class RandomSaturation(object):
def __call__(self, sample):
if np.random.random() < 0.5:
saturation = np.random.uniform(0.8, 1.2)
sample['left'] = F.adjust_saturation(sample['left'], saturation)
sample['right'] = F.adjust_saturation(sample['right'], saturation)
return sample
class RandomColor(object):
def __call__(self, sample):
transforms = [RandomContrast(),
RandomGamma(),
RandomBrightness(),
RandomHue(),
RandomSaturation()]
sample = ToPILImage()(sample)
if np.random.random() < 0.5:
# A single transform
t = random.choice(transforms)
sample = t(sample)
else:
# Combination of transforms
# Random order
random.shuffle(transforms)
for t in transforms:
sample = t(sample)
sample = ToNumpyArray()(sample)
return sample
================================================
FILE: environment.yml
================================================
name: aanet
channels:
- pytorch
- anaconda
- defaults
dependencies:
- _libgcc_mutex=0.1=main
- blas=1.0=mkl
- bzip2=1.0.8=h7b6447c_0
- ca-certificates=2019.10.16=0
- cairo=1.14.12=h8948797_3
- certifi=2019.9.11=py37_0
- cffi=1.12.3=py37h2e261b9_0
- cloudpickle=1.2.1=py_0
- cudatoolkit=10.0.130=0
- cycler=0.10.0=py37_0
- cytoolz=0.10.0=py37h7b6447c_0
- dask-core=2.3.0=py_0
- dbus=1.13.6=h746ee38_0
- decorator=4.4.0=py37_1
- expat=2.2.6=he6710b0_0
- ffmpeg=4.0=hcdf2ecd_0
- fontconfig=2.13.0=h9420a91_0
- freeglut=3.0.0=hf484d3e_5
- freetype=2.9.1=h8a8886c_1
- glib=2.56.2=hd408876_0
- graphite2=1.3.13=h23475e2_0
- gst-plugins-base=1.14.0=hbbd80ab_1
- gstreamer=1.14.0=hb453b48_1
- harfbuzz=1.8.8=hffaf4a1_0
- hdf5=1.10.2=hba1933b_1
- icu=58.2=h9c2bf20_1
- imageio=2.5.0=py37_0
- intel-openmp=2019.4=243
- jasper=2.0.14=h07fcdf6_1
- jpeg=9b=h024ee3a_2
- kiwisolver=1.1.0=py37he6710b0_0
- libedit=3.1.20181209=hc058e9b_0
- libffi=3.2.1=hd88cf55_4
- libgcc-ng=9.1.0=hdf63c60_0
- libgfortran-ng=7.3.0=hdf63c60_0
- libglu=9.0.0=hf484d3e_1
- libopencv=3.4.2=hb342d67_1
- libopus=1.3=h7b6447c_0
- libpng=1.6.37=hbc83047_0
- libstdcxx-ng=9.1.0=hdf63c60_0
- libtiff=4.0.10=h2733197_2
- libuuid=1.0.3=h1bed415_2
- libvpx=1.7.0=h439df22_0
- libxcb=1.13=h1bed415_1
- libxml2=2.9.9=hea5a465_1
- matplotlib=3.1.1=py37h5429711_0
- mkl=2019.4=243
- mkl-service=2.0.2=py37h7b6447c_0
- mkl_fft=1.0.14=py37ha843d7b_0
- mkl_random=1.0.2=py37hd81dba3_0
- ncurses=6.1=he6710b0_1
- networkx=2.3=py_0
- ninja=1.9.0=py37hfd86e86_0
- numpy=1.16.4=py37h7e9f1db_0
- numpy-base=1.16.4=py37hde5b4d6_0
- olefile=0.46=py37_0
- opencv=3.4.2=py37h6fd60c2_1
- openssl=1.1.1=h7b6447c_0
- pcre=8.43=he6710b0_0
- pillow=6.1.0=py37h34e0f95_0
- pip=19.2.2=py37_0
- pixman=0.38.0=h7b6447c_0
- py-opencv=3.4.2=py37hb342d67_1
- pycparser=2.19=py37_0
- pyparsing=2.4.2=py_0
- pyqt=5.9.2=py37h05f1152_2
- python=3.7.4=h265db76_1
- python-dateutil=2.8.0=py37_0
- pytorch=1.2.0=py3.7_cuda10.0.130_cudnn7.6.2_0
- pytz=2019.2=py_0
- pywavelets=1.0.3=py37hdd07704_1
- qt=5.9.7=h5867ecd_1
- readline=7.0=h7b6447c_5
- scikit-image=0.15.0=py37he6710b0_0
- scipy=1.3.1=py37h7c811a0_0
- setuptools=41.0.1=py37_0
- sip=4.19.8=py37hf484d3e_0
- six=1.12.0=py37_0
- sqlite=3.29.0=h7b6447c_0
- tk=8.6.8=hbc83047_0
- toolz=0.10.0=py_0
- torchvision=0.4.0=py37_cu100
- tornado=6.0.3=py37h7b6447c_0
- wheel=0.33.4=py37_0
- xz=5.2.4=h14c3975_4
- zlib=1.2.11=h7b6447c_3
- zstd=1.3.7=h0b5b093_0
- pip:
- absl-py==0.8.0
- astor==0.8.0
- bleach==1.5.0
- future==0.17.1
- gast==0.2.2
- google-pasta==0.1.7
- grpcio==1.23.0
- h5py==2.9.0
- html5lib==0.9999999
- keras-applications==1.0.8
- keras-preprocessing==1.1.0
- markdown==3.1.1
- protobuf==3.9.1
- tb-nightly==1.15.0a20190902
- termcolor==1.1.0
- werkzeug==0.15.5
- wrapt==1.11.2
================================================
FILE: filenames/KITTI_2012_test.txt
================================================
testing/colored_0/000000_10.png testing/colored_1/000000_10.png
testing/colored_0/000001_10.png testing/colored_1/000001_10.png
testing/colored_0/000002_10.png testing/colored_1/000002_10.png
testing/colored_0/000003_10.png testing/colored_1/000003_10.png
testing/colored_0/000004_10.png testing/colored_1/000004_10.png
testing/colored_0/000005_10.png testing/colored_1/000005_10.png
testing/colored_0/000006_10.png testing/colored_1/000006_10.png
testing/colored_0/000007_10.png testing/colored_1/000007_10.png
testing/colored_0/000008_10.png testing/colored_1/000008_10.png
testing/colored_0/000009_10.png testing/colored_1/000009_10.png
testing/colored_0/000010_10.png testing/colored_1/000010_10.png
testing/colored_0/000011_10.png testing/colored_1/000011_10.png
testing/colored_0/000012_10.png testing/colored_1/000012_10.png
testing/colored_0/000013_10.png testing/colored_1/000013_10.png
testing/colored_0/000014_10.png testing/colored_1/000014_10.png
testing/colored_0/000015_10.png testing/colored_1/000015_10.png
testing/colored_0/000016_10.png testing/colored_1/000016_10.png
testing/colored_0/000017_10.png testing/colored_1/000017_10.png
testing/colored_0/000018_10.png testing/colored_1/000018_10.png
testing/colored_0/000019_10.png testing/colored_1/000019_10.png
testing/colored_0/000020_10.png testing/colored_1/000020_10.png
testing/colored_0/000021_10.png testing/colored_1/000021_10.png
testing/colored_0/000022_10.png testing/colored_1/000022_10.png
testing/colored_0/000023_10.png testing/colored_1/000023_10.png
testing/colored_0/000024_10.png testing/colored_1/000024_10.png
testing/colored_0/000025_10.png testing/colored_1/000025_10.png
testing/colored_0/000026_10.png testing/colored_1/000026_10.png
testing/colored_0/000027_10.png testing/colored_1/000027_10.png
testing/colored_0/000028_10.png testing/colored_1/000028_10.png
testing/colored_0/000029_10.png testing/colored_1/000029_10.png
testing/colored_0/000030_10.png testing/colored_1/000030_10.png
testing/colored_0/000031_10.png testing/colored_1/000031_10.png
testing/colored_0/000032_10.png testing/colored_1/000032_10.png
testing/colored_0/000033_10.png testing/colored_1/000033_10.png
testing/colored_0/000034_10.png testing/colored_1/000034_10.png
testing/colored_0/000035_10.png testing/colored_1/000035_10.png
testing/colored_0/000036_10.png testing/colored_1/000036_10.png
testing/colored_0/000037_10.png testing/colored_1/000037_10.png
testing/colored_0/000038_10.png testing/colored_1/000038_10.png
testing/colored_0/000039_10.png testing/colored_1/000039_10.png
testing/colored_0/000040_10.png testing/colored_1/000040_10.png
testing/colored_0/000041_10.png testing/colored_1/000041_10.png
testing/colored_0/000042_10.png testing/colored_1/000042_10.png
testing/colored_0/000043_10.png testing/colored_1/000043_10.png
testing/colored_0/000044_10.png testing/colored_1/000044_10.png
testing/colored_0/000045_10.png testing/colored_1/000045_10.png
testing/colored_0/000046_10.png testing/colored_1/000046_10.png
testing/colored_0/000047_10.png testing/colored_1/000047_10.png
testing/colored_0/000048_10.png testing/colored_1/000048_10.png
testing/colored_0/000049_10.png testing/colored_1/000049_10.png
testing/colored_0/000050_10.png testing/colored_1/000050_10.png
testing/colored_0/000051_10.png testing/colored_1/000051_10.png
testing/colored_0/000052_10.png testing/colored_1/000052_10.png
testing/colored_0/000053_10.png testing/colored_1/000053_10.png
testing/colored_0/000054_10.png testing/colored_1/000054_10.png
testing/colored_0/000055_10.png testing/colored_1/000055_10.png
testing/colored_0/000056_10.png testing/colored_1/000056_10.png
testing/colored_0/000057_10.png testing/colored_1/000057_10.png
testing/colored_0/000058_10.png testing/colored_1/000058_10.png
testing/colored_0/000059_10.png testing/colored_1/000059_10.png
testing/colored_0/000060_10.png testing/colored_1/000060_10.png
testing/colored_0/000061_10.png testing/colored_1/000061_10.png
testing/colored_0/000062_10.png testing/colored_1/000062_10.png
testing/colored_0/000063_10.png testing/colored_1/000063_10.png
testing/colored_0/000064_10.png testing/colored_1/000064_10.png
testing/colored_0/000065_10.png testing/colored_1/000065_10.png
testing/colored_0/000066_10.png testing/colored_1/000066_10.png
testing/colored_0/000067_10.png testing/colored_1/000067_10.png
testing/colored_0/000068_10.png testing/colored_1/000068_10.png
testing/colored_0/000069_10.png testing/colored_1/000069_10.png
testing/colored_0/000070_10.png testing/colored_1/000070_10.png
testing/colored_0/000071_10.png testing/colored_1/000071_10.png
testing/colored_0/000072_10.png testing/colored_1/000072_10.png
testing/colored_0/000073_10.png testing/colored_1/000073_10.png
testing/colored_0/000074_10.png testing/colored_1/000074_10.png
testing/colored_0/000075_10.png testing/colored_1/000075_10.png
testing/colored_0/000076_10.png testing/colored_1/000076_10.png
testing/colored_0/000077_10.png testing/colored_1/000077_10.png
testing/colored_0/000078_10.png testing/colored_1/000078_10.png
testing/colored_0/000079_10.png testing/colored_1/000079_10.png
testing/colored_0/000080_10.png testing/colored_1/000080_10.png
testing/colored_0/000081_10.png testing/colored_1/000081_10.png
testing/colored_0/000082_10.png testing/colored_1/000082_10.png
testing/colored_0/000083_10.png testing/colored_1/000083_10.png
testing/colored_0/000084_10.png testing/colored_1/000084_10.png
testing/colored_0/000085_10.png testing/colored_1/000085_10.png
testing/colored_0/000086_10.png testing/colored_1/000086_10.png
testing/colored_0/000087_10.png testing/colored_1/000087_10.png
testing/colored_0/000088_10.png testing/colored_1/000088_10.png
testing/colored_0/000089_10.png testing/colored_1/000089_10.png
testing/colored_0/000090_10.png testing/colored_1/000090_10.png
testing/colored_0/000091_10.png testing/colored_1/000091_10.png
testing/colored_0/000092_10.png testing/colored_1/000092_10.png
testing/colored_0/000093_10.png testing/colored_1/000093_10.png
testing/colored_0/000094_10.png testing/colored_1/000094_10.png
testing/colored_0/000095_10.png testing/colored_1/000095_10.png
testing/colored_0/000096_10.png testing/colored_1/000096_10.png
testing/colored_0/000097_10.png testing/colored_1/000097_10.png
testing/colored_0/000098_10.png testing/colored_1/000098_10.png
testing/colored_0/000099_10.png testing/colored_1/000099_10.png
testing/colored_0/000100_10.png testing/colored_1/000100_10.png
testing/colored_0/000101_10.png testing/colored_1/000101_10.png
testing/colored_0/000102_10.png testing/colored_1/000102_10.png
testing/colored_0/000103_10.png testing/colored_1/000103_10.png
testing/colored_0/000104_10.png testing/colored_1/000104_10.png
testing/colored_0/000105_10.png testing/colored_1/000105_10.png
testing/colored_0/000106_10.png testing/colored_1/000106_10.png
testing/colored_0/000107_10.png testing/colored_1/000107_10.png
testing/colored_0/000108_10.png testing/colored_1/000108_10.png
testing/colored_0/000109_10.png testing/colored_1/000109_10.png
testing/colored_0/000110_10.png testing/colored_1/000110_10.png
testing/colored_0/000111_10.png testing/colored_1/000111_10.png
testing/colored_0/000112_10.png testing/colored_1/000112_10.png
testing/colored_0/000113_10.png testing/colored_1/000113_10.png
testing/colored_0/000114_10.png testing/colored_1/000114_10.png
testing/colored_0/000115_10.png testing/colored_1/000115_10.png
testing/colored_0/000116_10.png testing/colored_1/000116_10.png
testing/colored_0/000117_10.png testing/colored_1/000117_10.png
testing/colored_0/000118_10.png testing/colored_1/000118_10.png
testing/colored_0/000119_10.png testing/colored_1/000119_10.png
testing/colored_0/000120_10.png testing/colored_1/000120_10.png
testing/colored_0/000121_10.png testing/colored_1/000121_10.png
testing/colored_0/000122_10.png testing/colored_1/000122_10.png
testing/colored_0/000123_10.png testing/colored_1/000123_10.png
testing/colored_0/000124_10.png testing/colored_1/000124_10.png
testing/colored_0/000125_10.png testing/colored_1/000125_10.png
testing/colored_0/000126_10.png testing/colored_1/000126_10.png
testing/colored_0/000127_10.png testing/colored_1/000127_10.png
testing/colored_0/000128_10.png testing/colored_1/000128_10.png
testing/colored_0/000129_10.png testing/colored_1/000129_10.png
testing/colored_0/000130_10.png testing/colored_1/000130_10.png
testing/colored_0/000131_10.png testing/colored_1/000131_10.png
testing/colored_0/000132_10.png testing/colored_1/000132_10.png
testing/colored_0/000133_10.png testing/colored_1/000133_10.png
testing/colored_0/000134_10.png testing/colored_1/000134_10.png
testing/colored_0/000135_10.png testing/colored_1/000135_10.png
testing/colored_0/000136_10.png testing/colored_1/000136_10.png
testing/colored_0/000137_10.png testing/colored_1/000137_10.png
testing/colored_0/000138_10.png testing/colored_1/000138_10.png
testing/colored_0/000139_10.png testing/colored_1/000139_10.png
testing/colored_0/000140_10.png testing/colored_1/000140_10.png
testing/colored_0/000141_10.png testing/colored_1/000141_10.png
testing/colored_0/000142_10.png testing/colored_1/000142_10.png
testing/colored_0/000143_10.png testing/colored_1/000143_10.png
testing/colored_0/000144_10.png testing/colored_1/000144_10.png
testing/colored_0/000145_10.png testing/colored_1/000145_10.png
testing/colored_0/000146_10.png testing/colored_1/000146_10.png
testing/colored_0/000147_10.png testing/colored_1/000147_10.png
testing/colored_0/000148_10.png testing/colored_1/000148_10.png
testing/colored_0/000149_10.png testing/colored_1/000149_10.png
testing/colored_0/000150_10.png testing/colored_1/000150_10.png
testing/colored_0/000151_10.png testing/colored_1/000151_10.png
testing/colored_0/000152_10.png testing/colored_1/000152_10.png
testing/colored_0/000153_10.png testing/colored_1/000153_10.png
testing/colored_0/000154_10.png testing/colored_1/000154_10.png
testing/colored_0/000155_10.png testing/colored_1/000155_10.png
testing/colored_0/000156_10.png testing/colored_1/000156_10.png
testing/colored_0/000157_10.png testing/colored_1/000157_10.png
testing/colored_0/000158_10.png testing/colored_1/000158_10.png
testing/colored_0/000159_10.png testing/colored_1/000159_10.png
testing/colored_0/000160_10.png testing/colored_1/000160_10.png
testing/colored_0/000161_10.png testing/colored_1/000161_10.png
testing/colored_0/000162_10.png testing/colored_1/000162_10.png
testing/colored_0/000163_10.png testing/colored_1/000163_10.png
testing/colored_0/000164_10.png testing/colored_1/000164_10.png
testing/colored_0/000165_10.png testing/colored_1/000165_10.png
testing/colored_0/000166_10.png testing/colored_1/000166_10.png
testing/colored_0/000167_10.png testing/colored_1/000167_10.png
testing/colored_0/000168_10.png testing/colored_1/000168_10.png
testing/colored_0/000169_10.png testing/colored_1/000169_10.png
testing/colored_0/000170_10.png testing/colored_1/000170_10.png
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FILE: filenames/KITTI_2012_train.txt
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FILE: filenames/KITTI_2012_train_all.txt
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================================================
FILE: filenames/KITTI_2012_val.txt
================================================
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================================================
FILE: filenames/KITTI_2015_test.txt
================================================
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================================================
FILE: filenames/KITTI_2015_train.txt
================================================
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FILE: filenames/KITTI_2015_train_all.txt
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FILE: filenames/KITTI_2015_val.txt
================================================
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FILE: filenames/KITTI_mix.txt
================================================
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gitextract_wv5jlz84/
├── LICENSE
├── MODEL_ZOO.md
├── README.md
├── dataloader/
│ ├── __init__.py
│ ├── dataloader.py
│ └── transforms.py
├── environment.yml
├── filenames/
│ ├── KITTI_2012_test.txt
│ ├── KITTI_2012_train.txt
│ ├── KITTI_2012_train_all.txt
│ ├── KITTI_2012_val.txt
│ ├── KITTI_2015_test.txt
│ ├── KITTI_2015_train.txt
│ ├── KITTI_2015_train_all.txt
│ ├── KITTI_2015_val.txt
│ ├── KITTI_mix.txt
│ ├── SceneFlow_finalpass_test.txt
│ ├── SceneFlow_finalpass_train.txt
│ ├── SceneFlow_finalpass_val.txt
│ └── generate_filenames.py
├── inference.py
├── metric.py
├── model.py
├── nets/
│ ├── __init__.py
│ ├── aanet.py
│ ├── aggregation.py
│ ├── cost.py
│ ├── deform.py
│ ├── deform_conv/
│ │ ├── __init__.py
│ │ ├── build.sh
│ │ ├── deform_conv.py
│ │ ├── setup.py
│ │ └── src/
│ │ ├── deform_conv_cuda.cpp
│ │ └── deform_conv_cuda_kernel.cu
│ ├── estimation.py
│ ├── feature.py
│ ├── refinement.py
│ ├── resnet.py
│ └── warp.py
├── predict.py
├── scripts/
│ ├── aanet+_evaluate.sh
│ ├── aanet+_inference.sh
│ ├── aanet+_predict.sh
│ ├── aanet+_timing.sh
│ ├── aanet+_train.sh
│ ├── aanet_evaluate.sh
│ ├── aanet_inference.sh
│ ├── aanet_predict.sh
│ ├── aanet_timing.sh
│ ├── aanet_train.sh
│ ├── ganet-aa_inference.sh
│ ├── gcnet-aa_inference.sh
│ ├── psmnet-aa_inference.sh
│ └── stereonet-aa_inference.sh
├── thop/
│ ├── __init__.py
│ ├── count_hooks.py
│ └── profile.py
├── train.py
└── utils/
├── __init__.py
├── file_io.py
├── utils.py
└── visualization.py
SYMBOL INDEX (226 symbols across 24 files)
FILE: dataloader/dataloader.py
class StereoDataset (line 12) | class StereoDataset(Dataset):
method __init__ (line 13) | def __init__(self, data_dir,
method __getitem__ (line 99) | def __getitem__(self, index):
method __len__ (line 121) | def __len__(self):
FILE: dataloader/transforms.py
class Compose (line 9) | class Compose(object):
method __init__ (line 10) | def __init__(self, transforms):
method __call__ (line 13) | def __call__(self, sample):
class ToTensor (line 19) | class ToTensor(object):
method __call__ (line 22) | def __call__(self, sample):
class Normalize (line 40) | class Normalize(object):
method __init__ (line 43) | def __init__(self, mean, std):
method __call__ (line 47) | def __call__(self, sample):
class RandomCrop (line 59) | class RandomCrop(object):
method __init__ (line 60) | def __init__(self, img_height, img_width, validate=False):
method __call__ (line 65) | def __call__(self, sample):
method crop_img (line 120) | def crop_img(self, img):
class RandomVerticalFlip (line 125) | class RandomVerticalFlip(object):
method __call__ (line 128) | def __call__(self, sample):
class ToPILImage (line 141) | class ToPILImage(object):
method __call__ (line 143) | def __call__(self, sample):
class ToNumpyArray (line 150) | class ToNumpyArray(object):
method __call__ (line 152) | def __call__(self, sample):
class RandomContrast (line 160) | class RandomContrast(object):
method __call__ (line 163) | def __call__(self, sample):
class RandomGamma (line 173) | class RandomGamma(object):
method __call__ (line 175) | def __call__(self, sample):
class RandomBrightness (line 185) | class RandomBrightness(object):
method __call__ (line 187) | def __call__(self, sample):
class RandomHue (line 197) | class RandomHue(object):
method __call__ (line 199) | def __call__(self, sample):
class RandomSaturation (line 209) | class RandomSaturation(object):
method __call__ (line 211) | def __call__(self, sample):
class RandomColor (line 221) | class RandomColor(object):
method __call__ (line 223) | def __call__(self, sample):
FILE: filenames/generate_filenames.py
function gen_kitti_2015 (line 5) | def gen_kitti_2015():
FILE: inference.py
function main (line 80) | def main():
FILE: metric.py
function epe_metric (line 7) | def epe_metric(d_est, d_gt, mask, use_np=False):
function d1_metric (line 17) | def d1_metric(d_est, d_gt, mask, use_np=False):
function thres_metric (line 33) | def thres_metric(d_est, d_gt, mask, thres, use_np=False):
FILE: model.py
class Model (line 12) | class Model(object):
method __init__ (line 13) | def __init__(self, args, logger, optimizer, aanet, device, start_iter=...
method train (line 29) | def train(self, train_loader):
method validate (line 198) | def validate(self, val_loader):
FILE: nets/aanet.py
class AANet (line 14) | class AANet(nn.Module):
method __init__ (line 15) | def __init__(self, max_disp,
method feature_extraction (line 133) | def feature_extraction(self, img):
method cost_volume_construction (line 139) | def cost_volume_construction(self, left_feature, right_feature):
method disparity_computation (line 149) | def disparity_computation(self, aggregation):
method disparity_refinement (line 162) | def disparity_refinement(self, left_img, right_img, disparity):
method forward (line 206) | def forward(self, left_img, right_img):
FILE: nets/aggregation.py
function conv3d (line 8) | def conv3d(in_channels, out_channels, kernel_size=3, stride=1, dilation=...
function convbn_3d (line 17) | def convbn_3d(in_planes, out_planes, kernel_size, stride, pad):
function conv2d (line 23) | def conv2d(in_channels, out_channels, kernel_size=3, stride=1, dilation=...
function conv1x1 (line 31) | def conv1x1(in_planes, out_planes):
function conv3x3 (line 40) | def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1, with_...
function conv3x3_3d (line 52) | def conv3x3_3d(in_planes, out_planes, stride=1, groups=1, dilation=1):
function trans_conv3x3_3d (line 60) | def trans_conv3x3_3d(in_channels, out_channels, stride=1, groups=1, dila...
class StereoNetAggregation (line 70) | class StereoNetAggregation(nn.Module):
method __init__ (line 71) | def __init__(self, in_channels=32):
method forward (line 84) | def forward(self, cost_volume):
class PSMNetBasicAggregation (line 94) | class PSMNetBasicAggregation(nn.Module):
method __init__ (line 97) | def __init__(self, max_disp):
method forward (line 131) | def forward(self, cost):
class PSMNetHourglass (line 147) | class PSMNetHourglass(nn.Module):
method __init__ (line 148) | def __init__(self, inplanes):
method forward (line 172) | def forward(self, x, presqu, postsqu):
class PSMNetHGAggregation (line 194) | class PSMNetHGAggregation(nn.Module):
method __init__ (line 197) | def __init__(self, max_disp):
method forward (line 228) | def forward(self, cost):
class GCNetAggregation (line 260) | class GCNetAggregation(nn.Module):
method __init__ (line 261) | def __init__(self):
method forward (line 291) | def forward(self, cost_volume):
class AdaptiveAggregationModule (line 313) | class AdaptiveAggregationModule(nn.Module):
method __init__ (line 314) | def __init__(self, num_scales, num_output_branches, max_disp,
method forward (line 375) | def forward(self, x):
class AdaptiveAggregation (line 406) | class AdaptiveAggregation(nn.Module):
method __init__ (line 407) | def __init__(self, max_disp, num_scales=3, num_fusions=6,
method forward (line 451) | def forward(self, cost_volume):
FILE: nets/cost.py
class CostVolume (line 5) | class CostVolume(nn.Module):
method __init__ (line 6) | def __init__(self, max_disp, feature_similarity='correlation'):
method forward (line 19) | def forward(self, left_feature, right_feature):
class CostVolumePyramid (line 58) | class CostVolumePyramid(nn.Module):
method __init__ (line 59) | def __init__(self, max_disp, feature_similarity='correlation'):
method forward (line 64) | def forward(self, left_feature_pyramid, right_feature_pyramid):
FILE: nets/deform.py
function conv3x3 (line 6) | def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1):
function conv1x1 (line 12) | def conv1x1(in_planes, out_planes, stride=1):
class DeformConv2d (line 17) | class DeformConv2d(nn.Module):
method __init__ (line 20) | def __init__(self, in_channels,
method forward (line 71) | def forward(self, x):
class DeformBottleneck (line 93) | class DeformBottleneck(nn.Module):
method __init__ (line 97) | def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
method forward (line 114) | def forward(self, x):
class SimpleBottleneck (line 137) | class SimpleBottleneck(nn.Module):
method __init__ (line 140) | def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
method forward (line 157) | def forward(self, x):
class DeformSimpleBottleneck (line 180) | class DeformSimpleBottleneck(nn.Module):
method __init__ (line 183) | def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
method forward (line 209) | def forward(self, x):
FILE: nets/deform_conv/deform_conv.py
class DeformConvFunction (line 12) | class DeformConvFunction(Function):
method forward (line 15) | def forward(ctx,
method backward (line 60) | def backward(ctx, grad_output):
method _output_size (line 97) | def _output_size(input, weight, padding, dilation, stride):
class ModulatedDeformConvFunction (line 113) | class ModulatedDeformConvFunction(Function):
method forward (line 116) | def forward(ctx,
method backward (line 152) | def backward(ctx, grad_output):
method _infer_shape (line 174) | def _infer_shape(ctx, input, weight):
class DeformConv (line 190) | class DeformConv(nn.Module):
method __init__ (line 192) | def __init__(self,
method reset_parameters (line 230) | def reset_parameters(self):
method forward (line 237) | def forward(self, x, offset):
class DeformConvPack (line 242) | class DeformConvPack(DeformConv):
method __init__ (line 260) | def __init__(self, *args, **kwargs):
method init_offset (line 273) | def init_offset(self):
method forward (line 277) | def forward(self, x):
method _load_from_state_dict (line 282) | def _load_from_state_dict(self, state_dict, prefix, local_metadata, st...
class ModulatedDeformConv (line 304) | class ModulatedDeformConv(nn.Module):
method __init__ (line 306) | def __init__(self,
method reset_parameters (line 339) | def reset_parameters(self):
method forward (line 348) | def forward(self, x, offset, mask):
class ModulatedDeformConvPack (line 354) | class ModulatedDeformConvPack(ModulatedDeformConv):
method __init__ (line 372) | def __init__(self, *args, **kwargs):
method init_offset (line 385) | def init_offset(self):
method forward (line 389) | def forward(self, x):
method _load_from_state_dict (line 398) | def _load_from_state_dict(self, state_dict, prefix, local_metadata, st...
FILE: nets/deform_conv/src/deform_conv_cuda.cpp
function shape_check (line 62) | void shape_check(at::Tensor input, at::Tensor offset, at::Tensor *gradOu...
function deform_conv_forward_cuda (line 152) | int deform_conv_forward_cuda(at::Tensor input, at::Tensor weight,
function deform_conv_backward_input_cuda (line 262) | int deform_conv_backward_input_cuda(at::Tensor input, at::Tensor offset,
function deform_conv_backward_parameters_cuda (line 376) | int deform_conv_backward_parameters_cuda(
function modulated_deform_conv_cuda_forward (line 490) | void modulated_deform_conv_cuda_forward(
function modulated_deform_conv_cuda_backward (line 571) | void modulated_deform_conv_cuda_backward(
function PYBIND11_MODULE (line 687) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
FILE: nets/estimation.py
class DisparityEstimation (line 6) | class DisparityEstimation(nn.Module):
method __init__ (line 7) | def __init__(self, max_disp, match_similarity=True):
method forward (line 13) | def forward(self, cost_volume):
FILE: nets/feature.py
function conv1x1 (line 8) | def conv1x1(in_channels, out_channels):
function conv3x3 (line 15) | def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1, with_...
function conv5x5 (line 27) | def conv5x5(in_channels, out_channels, stride=2,
class BasicBlock (line 42) | class BasicBlock(nn.Module):
method __init__ (line 45) | def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
method forward (line 60) | def forward(self, x):
class StereoNetFeature (line 79) | class StereoNetFeature(nn.Module):
method __init__ (line 80) | def __init__(self, num_downsample=3):
method forward (line 108) | def forward(self, img):
function convbn (line 117) | def convbn(in_planes, out_planes, kernel_size, stride, pad, dilation):
class PSMNetBasicBlock (line 123) | class PSMNetBasicBlock(nn.Module):
method __init__ (line 126) | def __init__(self, inplanes, planes, stride, downsample, pad, dilation):
method forward (line 137) | def forward(self, x):
class FeaturePyrmaid (line 149) | class FeaturePyrmaid(nn.Module):
method __init__ (line 150) | def __init__(self, in_channel=32):
method forward (line 173) | def forward(self, x):
class FeaturePyramidNetwork (line 181) | class FeaturePyramidNetwork(nn.Module):
method __init__ (line 182) | def __init__(self, in_channels, out_channels=128,
method forward (line 211) | def forward(self, inputs):
class PSMNetFeature (line 233) | class PSMNetFeature(nn.Module):
method __init__ (line 234) | def __init__(self):
method _make_layer (line 270) | def _make_layer(self, block, planes, blocks, stride, pad, dilation):
method forward (line 286) | def forward(self, x):
class BasicConv (line 313) | class BasicConv(nn.Module):
method __init__ (line 315) | def __init__(self, in_channels, out_channels, deconv=False, is_3d=Fals...
method forward (line 332) | def forward(self, x):
class Conv2x (line 341) | class Conv2x(nn.Module):
method __init__ (line 343) | def __init__(self, in_channels, out_channels, deconv=False, is_3d=Fals...
method forward (line 367) | def forward(self, x, rem):
class GANetFeature (line 378) | class GANetFeature(nn.Module):
method __init__ (line 381) | def __init__(self, feature_mdconv=False):
method forward (line 425) | def forward(self, x):
class GCNetFeature (line 462) | class GCNetFeature(nn.Module):
method __init__ (line 463) | def __init__(self):
method _make_layer (line 471) | def _make_layer(self, block, planes, blocks, stride, pad, dilation):
method forward (line 487) | def forward(self, x):
FILE: nets/refinement.py
function conv2d (line 10) | def conv2d(in_channels, out_channels, kernel_size=3, stride=1, dilation=...
class StereoNetRefinement (line 18) | class StereoNetRefinement(nn.Module):
method __init__ (line 19) | def __init__(self):
method forward (line 35) | def forward(self, low_disp, left_img, right_img=None):
class StereoDRNetRefinement (line 60) | class StereoDRNetRefinement(nn.Module):
method __init__ (line 61) | def __init__(self):
method forward (line 80) | def forward(self, low_disp, left_img, right_img):
class HourglassRefinement (line 109) | class HourglassRefinement(nn.Module):
method __init__ (line 112) | def __init__(self):
method forward (line 144) | def forward(self, low_disp, left_img, right_img):
FILE: nets/resnet.py
function conv3x3 (line 6) | def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1):
function conv1x1 (line 12) | def conv1x1(in_planes, out_planes, stride=1):
class BasicBlock (line 17) | class BasicBlock(nn.Module):
method __init__ (line 21) | def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
method forward (line 39) | def forward(self, x):
class Bottleneck (line 58) | class Bottleneck(nn.Module):
method __init__ (line 62) | def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
method forward (line 79) | def forward(self, x):
class AANetFeature (line 102) | class AANetFeature(nn.Module):
method __init__ (line 103) | def __init__(self, in_channels=32,
method _make_layer (line 153) | def _make_layer(self, block, planes, blocks, stride=1, dilate=False):
method forward (line 177) | def forward(self, x):
FILE: nets/warp.py
function normalize_coords (line 5) | def normalize_coords(grid):
function meshgrid (line 18) | def meshgrid(img, homogeneous=False):
function disp_warp (line 41) | def disp_warp(img, disp, padding_mode='border'):
FILE: predict.py
function main (line 72) | def main():
FILE: thop/count_hooks.py
function count_convNd (line 9) | def count_convNd(m, x, y):
function count_dconv2d (line 21) | def count_dconv2d(m, x, y):
function count_mdconv2d (line 41) | def count_mdconv2d(m, x, y):
function count_conv2d (line 65) | def count_conv2d(m, x, y):
function count_convtranspose2d (line 88) | def count_convtranspose2d(m, x, y):
FILE: thop/profile.py
function profile (line 23) | def profile(model, inputs, custom_ops={}, verbose=True):
function clever_format (line 84) | def clever_format(num):
FILE: train.py
function main (line 99) | def main():
FILE: utils/file_io.py
function read_img (line 11) | def read_img(filename):
function read_disp (line 17) | def read_disp(filename, subset=False):
function _read_pfm (line 34) | def _read_pfm(file):
function write_pfm (line 72) | def write_pfm(file, image, scale=1):
function _read_kitti_disp (line 104) | def _read_kitti_disp(filename):
FILE: utils/utils.py
function read_text_lines (line 9) | def read_text_lines(filepath):
function check_path (line 16) | def check_path(path):
function save_command (line 21) | def save_command(save_path, filename='command_train.txt'):
function save_args (line 29) | def save_args(args, filename='args.json'):
function int_list (line 38) | def int_list(s):
function save_checkpoint (line 43) | def save_checkpoint(save_path, optimizer, aanet, epoch, num_iter,
function load_pretrained_net (line 73) | def load_pretrained_net(net, pretrained_path, return_epoch_iter=False, r...
function resume_latest_ckpt (line 103) | def resume_latest_ckpt(checkpoint_dir, net, net_name):
function fix_net_parameters (line 116) | def fix_net_parameters(net):
function count_parameters (line 121) | def count_parameters(model):
function filter_specific_params (line 126) | def filter_specific_params(kv):
function filter_base_params (line 134) | def filter_base_params(kv):
function get_logger (line 142) | def get_logger():
FILE: utils/visualization.py
function gen_error_colormap (line 9) | def gen_error_colormap():
function disp_error_img (line 25) | def disp_error_img(D_est_tensor, D_gt_tensor, abs_thres=3., rel_thres=0....
function save_images (line 52) | def save_images(logger, mode_tag, images_dict, global_step):
function tensor2numpy (line 70) | def tensor2numpy(var_dict):
Condensed preview — 62 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (7,634K chars).
[
{
"path": "LICENSE",
"chars": 11342,
"preview": " Apache License\n Version 2.0, January 2004\n "
},
{
"path": "MODEL_ZOO.md",
"chars": 2316,
"preview": "# Model Zoo\n\n## Settings\n\n- For all datasets, the results are reported on the test set.\n\n- The inference time is average"
},
{
"path": "README.md",
"chars": 6981,
"preview": "# AANet\n\nPyTorch implementation of our paper: \n\n**[AANet: Adaptive Aggregation Network for Efficient Stereo Matching](ht"
},
{
"path": "dataloader/__init__.py",
"chars": 38,
"preview": "from .dataloader import StereoDataset\n"
},
{
"path": "dataloader/dataloader.py",
"chars": 4223,
"preview": "from __future__ import absolute_import\nfrom __future__ import division\nfrom __future__ import print_function\n\nfrom torch"
},
{
"path": "dataloader/transforms.py",
"chars": 7700,
"preview": "from __future__ import division\nimport torch\nimport numpy as np\nfrom PIL import Image\nimport torchvision.transforms.func"
},
{
"path": "environment.yml",
"chars": 3022,
"preview": "name: aanet\nchannels:\n - pytorch\n - anaconda\n - defaults\ndependencies:\n - _libgcc_mutex=0.1=main\n - blas=1.0=mkl\n "
},
{
"path": "filenames/KITTI_2012_test.txt",
"chars": 12480,
"preview": "testing/colored_0/000000_10.png testing/colored_1/000000_10.png\ntesting/colored_0/000001_10.png testing/colored_1/000001"
},
{
"path": "filenames/KITTI_2012_train.txt",
"chars": 15092,
"preview": "training/colored_0/000001_10.png training/colored_1/000001_10.png training/disp_occ/000001_10.png\ntraining/colored_0/000"
},
{
"path": "filenames/KITTI_2012_train_all.txt",
"chars": 19012,
"preview": "training/colored_0/000000_10.png training/colored_1/000000_10.png training/disp_occ/000000_10.png\ntraining/colored_0/000"
},
{
"path": "filenames/KITTI_2012_val.txt",
"chars": 3920,
"preview": "training/colored_0/000000_10.png training/colored_1/000000_10.png training/disp_occ/000000_10.png\ntraining/colored_0/000"
},
{
"path": "filenames/KITTI_2015_test.txt",
"chars": 12000,
"preview": "testing/image_2/000000_10.png testing/image_3/000000_10.png\ntesting/image_2/000001_10.png testing/image_3/000001_10.png\n"
},
{
"path": "filenames/KITTI_2015_train.txt",
"chars": 15360,
"preview": "training/image_2/000001_10.png training/image_3/000001_10.png training/disp_occ_0/000001_10.png\ntraining/image_2/000002_"
},
{
"path": "filenames/KITTI_2015_train_all.txt",
"chars": 19200,
"preview": "training/image_2/000000_10.png training/image_3/000000_10.png training/disp_occ_0/000000_10.png\ntraining/image_2/000001_"
},
{
"path": "filenames/KITTI_2015_val.txt",
"chars": 3840,
"preview": "training/image_2/000000_10.png training/image_3/000000_10.png training/disp_occ_0/000000_10.png\ntraining/image_2/000005_"
},
{
"path": "filenames/KITTI_mix.txt",
"chars": 70708,
"preview": "kitti_2012/data_stereo_flow/training/colored_0/000000_10.png kitti_2012/data_stereo_flow/training/colored_1/000000_10.pn"
},
{
"path": "filenames/SceneFlow_finalpass_test.txt",
"chars": 734160,
"preview": "FlyingThings3D/frames_finalpass/TEST/A/0000/left/0006.png FlyingThings3D/frames_finalpass/TEST/A/0000/right/0006.png Fly"
},
{
"path": "filenames/SceneFlow_finalpass_train.txt",
"chars": 6313686,
"preview": "FlyingThings3D/frames_finalpass/TRAIN/C/0740/left/0014.png FlyingThings3D/frames_finalpass/TRAIN/C/0740/right/0014.png F"
},
{
"path": "filenames/SceneFlow_finalpass_val.txt",
"chars": 86016,
"preview": "FlyingThings3D/frames_finalpass/TEST/A/0107/left/0014.png FlyingThings3D/frames_finalpass/TEST/A/0107/right/0014.png Fly"
},
{
"path": "filenames/generate_filenames.py",
"chars": 1326,
"preview": "import os\nfrom glob import glob\n\n\ndef gen_kitti_2015():\n data_dir = 'data/KITTI/kitti_2015/data_scene_flow'\n\n trai"
},
{
"path": "inference.py",
"chars": 9366,
"preview": "import torch\nimport torch.nn.functional as F\nfrom torch.utils.data import DataLoader\n\nimport skimage.io\nimport argparse\n"
},
{
"path": "metric.py",
"chars": 1041,
"preview": "import torch\nimport numpy as np\n\nEPSILON = 1e-8\n\n\ndef epe_metric(d_est, d_gt, mask, use_np=False):\n d_est, d_gt = d_e"
},
{
"path": "model.py",
"chars": 16058,
"preview": "import torch\nimport time\nfrom torch.utils.tensorboard import SummaryWriter\nimport torch.nn.functional as F\nimport os\n\nfr"
},
{
"path": "nets/__init__.py",
"chars": 25,
"preview": "from .aanet import AANet\n"
},
{
"path": "nets/aanet.py",
"chars": 10211,
"preview": "import torch.nn as nn\nimport torch.nn.functional as F\n\nfrom nets.feature import (StereoNetFeature, PSMNetFeature, GANetF"
},
{
"path": "nets/aggregation.py",
"chars": 18737,
"preview": "import torch\nimport torch.nn as nn\nimport torch.nn.functional as F\n\nfrom nets.deform import SimpleBottleneck, DeformSimp"
},
{
"path": "nets/cost.py",
"chars": 2921,
"preview": "import torch\nimport torch.nn as nn\n\n\nclass CostVolume(nn.Module):\n def __init__(self, max_disp, feature_similarity='c"
},
{
"path": "nets/deform.py",
"chars": 7990,
"preview": "import torch.nn as nn\n\nfrom nets.deform_conv import DeformConv, ModulatedDeformConv\n\n\ndef conv3x3(in_planes, out_planes,"
},
{
"path": "nets/deform_conv/__init__.py",
"chars": 333,
"preview": "from .deform_conv import (DeformConv, DeformConvPack, ModulatedDeformConv,\n ModulatedDeformConv"
},
{
"path": "nets/deform_conv/build.sh",
"chars": 129,
"preview": "#!/usr/bin/env bash\n\nPYTHON=${PYTHON:-\"python\"}\n\nif [ -d \"build\" ]; then\n rm -r build\nfi\n$PYTHON setup.py build_ext -"
},
{
"path": "nets/deform_conv/deform_conv.py",
"chars": 16366,
"preview": "import math\n\nimport torch\nimport torch.nn as nn\nfrom torch.autograd import Function\nfrom torch.autograd.function import "
},
{
"path": "nets/deform_conv/setup.py",
"chars": 340,
"preview": "from setuptools import setup\nfrom torch.utils.cpp_extension import BuildExtension, CUDAExtension\n\nsetup(\n name='defor"
},
{
"path": "nets/deform_conv/src/deform_conv_cuda.cpp",
"chars": 29475,
"preview": "// modify from\n// https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/blob/mmdetection/mmdet/ops/dcn/src/def"
},
{
"path": "nets/deform_conv/src/deform_conv_cuda_kernel.cu",
"chars": 42525,
"preview": "/*!\n ******************* BEGIN Caffe Copyright Notice and Disclaimer ****************\n *\n * COPYRIGHT\n *\n * All contribu"
},
{
"path": "nets/estimation.py",
"chars": 1045,
"preview": "import torch\nimport torch.nn as nn\nimport torch.nn.functional as F\n\n\nclass DisparityEstimation(nn.Module):\n def __ini"
},
{
"path": "nets/feature.py",
"chars": 18100,
"preview": "import torch\nimport torch.nn as nn\nimport torch.nn.functional as F\n\nfrom nets.deform import DeformConv2d\n\n\ndef conv1x1(i"
},
{
"path": "nets/refinement.py",
"chars": 6999,
"preview": "import torch\nimport torch.nn as nn\nimport torch.nn.functional as F\n\nfrom nets.feature import BasicBlock, BasicConv, Conv"
},
{
"path": "nets/resnet.py",
"chars": 6476,
"preview": "import torch.nn as nn\n\nfrom nets.deform import DeformBottleneck\n\n\ndef conv3x3(in_planes, out_planes, stride=1, groups=1,"
},
{
"path": "nets/warp.py",
"chars": 2157,
"preview": "import torch\nimport torch.nn.functional as F\n\n\ndef normalize_coords(grid):\n \"\"\"Normalize coordinates of image scale t"
},
{
"path": "predict.py",
"chars": 8427,
"preview": "import torch\nimport torch.nn.functional as F\n\nimport skimage.io\nimport argparse\nimport numpy as np\nimport os\nimport math"
},
{
"path": "scripts/aanet+_evaluate.sh",
"chars": 914,
"preview": "#!/usr/bin/env bash\n\n# Evaluate the best validation model on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python train.py "
},
{
"path": "scripts/aanet+_inference.sh",
"chars": 1217,
"preview": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pre"
},
{
"path": "scripts/aanet+_predict.sh",
"chars": 255,
"preview": "#!/usr/bin/env bash\n\n# Predict\nCUDA_VISIBLE_DEVICES=0 python predict.py \\\n--data_dir demo \\\n--pretrained_aanet pretraine"
},
{
"path": "scripts/aanet+_timing.sh",
"chars": 784,
"preview": "#!/usr/bin/env bash\n\n# Timing on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pretra"
},
{
"path": "scripts/aanet+_train.sh",
"chars": 2283,
"preview": "#!/usr/bin/env bash\n\n# Train on Scene Flow training set\nCUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \\\n--mode val \\\n--ch"
},
{
"path": "scripts/aanet_evaluate.sh",
"chars": 867,
"preview": "#!/usr/bin/env bash\n\n# Evaluate the best validation model on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python train.py "
},
{
"path": "scripts/aanet_inference.sh",
"chars": 1148,
"preview": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pre"
},
{
"path": "scripts/aanet_predict.sh",
"chars": 232,
"preview": "#!/usr/bin/env bash\n\n# Predict\nCUDA_VISIBLE_DEVICES=0 python predict.py \\\n--data_dir demo \\\n--pretrained_aanet pretraine"
},
{
"path": "scripts/aanet_timing.sh",
"chars": 738,
"preview": "#!/usr/bin/env bash\n\n# Timing on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pretra"
},
{
"path": "scripts/aanet_train.sh",
"chars": 2185,
"preview": "#!/usr/bin/env bash\n\n# Train on Scene Flow training set\nCUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \\\n--mode val \\\n--da"
},
{
"path": "scripts/ganet-aa_inference.sh",
"chars": 306,
"preview": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pre"
},
{
"path": "scripts/gcnet-aa_inference.sh",
"chars": 327,
"preview": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pre"
},
{
"path": "scripts/psmnet-aa_inference.sh",
"chars": 308,
"preview": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pre"
},
{
"path": "scripts/stereonet-aa_inference.sh",
"chars": 351,
"preview": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pre"
},
{
"path": "thop/__init__.py",
"chars": 29,
"preview": "from .profile import profile\n"
},
{
"path": "thop/count_hooks.py",
"chars": 2869,
"preview": "import argparse\n\nimport torch\nimport torch.nn as nn\n\nmultiply_adds = 1\n\n\ndef count_convNd(m, x, y):\n cin = m.in_chann"
},
{
"path": "thop/profile.py",
"chars": 2574,
"preview": "import logging\n\nimport torch\nimport torch.nn as nn\nfrom torch.nn.modules.conv import _ConvNd\n\nfrom nets.deform_conv impo"
},
{
"path": "train.py",
"chars": 12034,
"preview": "import torch\nfrom torch.utils.data import DataLoader\n\nimport argparse\nimport numpy as np\nimport os\n\nimport nets\nimport d"
},
{
"path": "utils/__init__.py",
"chars": 0,
"preview": ""
},
{
"path": "utils/file_io.py",
"chars": 2794,
"preview": "from __future__ import absolute_import\nfrom __future__ import division\nfrom __future__ import print_function\n\nimport num"
},
{
"path": "utils/utils.py",
"chars": 4835,
"preview": "import os\nimport sys\nimport json\nimport torch\nfrom glob import glob\nimport logging\n\n\ndef read_text_lines(filepath):\n "
},
{
"path": "utils/visualization.py",
"chars": 3017,
"preview": "from __future__ import print_function\n\nimport torch\nimport torch.utils.data\nimport numpy as np\nimport torchvision.utils "
}
]
About this extraction
This page contains the full source code of the haofeixu/aanet GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 62 files (7.2 MB), approximately 1.9M tokens, and a symbol index with 226 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.