[
  {
    "path": "LICENSE",
    "content": "                                 Apache License\n                           Version 2.0, January 2004\n                        http://www.apache.org/licenses/\n\n   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION\n\n   1. Definitions.\n\n      \"License\" shall mean the terms and conditions for use, reproduction,\n      and distribution as defined by Sections 1 through 9 of this document.\n\n      \"Licensor\" shall mean the copyright owner or entity authorized by\n      the copyright owner that is granting the License.\n\n      \"Legal Entity\" shall mean the union of the acting entity and all\n      other entities that control, are controlled by, or are under common\n      control with that entity. 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The text should be enclosed in the appropriate\n      comment syntax for the file format. We also recommend that a\n      file or class name and description of purpose be included on the\n      same \"printed page\" as the copyright notice for easier\n      identification within third-party archives.\n\n   Copyright 2020 Haofei Xu\n   \n   Licensed under the Apache License, Version 2.0 (the \"License\");\n   you may not use this file except in compliance with the License.\n   You may obtain a copy of the License at\n\n       http://www.apache.org/licenses/LICENSE-2.0\n\n   Unless required by applicable law or agreed to in writing, software\n   distributed under the License is distributed on an \"AS IS\" BASIS,\n   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n   See the License for the specific language governing permissions and\n   limitations under the License.\n"
  },
  {
    "path": "MODEL_ZOO.md",
    "content": "# Model Zoo\n\n## Settings\n\n- For all datasets, the results are reported on the test set.\n\n- The inference time is averaged over 100 runs, with batch size 1 on a single NVIDIA V100 GPU.\n\n  For Scene Flow dataset, the inference resolution is 576x960. For KITTI dataset, the resolution is 384x1248.\n\n## Scene Flow\n\n| Method       | EPE  | > 1px | Params | Time(ms) |                           Download                           |\n| ------------ | :--: | :---: | :----: | :------: | :----------------------------------------------------------: |\n| StereoNet-AA | 1.08 | 12.9  | 0.53M  |    17    | [model](https://drive.google.com/open?id=1CimLtdQvh1dl60rCyVZZCojF4XNmFkj3) |\n| GC-Net-AA    | 0.98 | 10.8  | 2.15M  |    91    | [model](https://drive.google.com/open?id=18NisQ6vp4oMrv-cVARLmlRe8prIfdGIL) |\n| PSMNet-AA    | 0.97 | 10.2  | 4.15M  |    77    | [model](https://drive.google.com/open?id=1m5swiWdJ7PK9Oei0NK8osTFWwq2n14Ri) |\n| GA-Net-AA    | 0.87 |  9.2  | 3.68M  |    57    | [model](https://drive.google.com/open?id=1i7PJ8YVbviJe7Xc_RhBYxfvLD9QTjsBM) |\n| AANet        | 0.87 |  9.3  | 3.93M  |    68    | [model](https://drive.google.com/open?id=1_OuMEE5v5DcSUuKUZeCBZ17TZgxi4--h) |\n| AANet+       | 0.72 |  7.4  | 8.44M  |    64    | [model](https://drive.google.com/open?id=1m3Wo2k7w3OlVaDYdIm-x9K8_frQ4Vq9u) |\n\n## KITTI 2012\n\n| Method | Out-Noc | Out-All | Params | Time(ms) |                           Download                           |\n| ------ | :-----: | :-----: | :----: | :------: | :----------------------------------------------------------: |\n| AANet  |  1.91   |  2.42   | 3.93M  |    62    | [model](https://drive.google.com/open?id=1G2M6w0RIe6kZU_iHpOyrYg_cVd1Jc34Q) |\n| AANet+ |  1.55   |  2.04   | 8.44M  |    60    | [model](https://drive.google.com/open?id=1a2P41zmaNVVcU-Yux1AMXtgMS1fPlsGj) |\n\n## KITTI 2015\n\n| Method | D1-bg | D1-all | Params | Time(ms) |                           Download                           |\n| ------ | :---: | :----: | :----: | :------: | :----------------------------------------------------------: |\n| AANet  | 1.99  |  2.55  | 3.93M  |    62    | [model](https://drive.google.com/open?id=1Qa1rSWQDBcW4D6LvvjDztfTLNGA_rgGn) |\n| AANet+ | 1.65  |  2.03  | 8.44M  |    60    | [model](https://drive.google.com/open?id=1m0z8e2Ndau_eFR3BETffzjkNXhJNHAiS) |\n\n\n\n"
  },
  {
    "path": "README.md",
    "content": "# AANet\n\nPyTorch implementation of our paper: \n\n**[AANet: Adaptive Aggregation Network for Efficient Stereo Matching](https://arxiv.org/abs/2004.09548)**, [CVPR 2020](http://cvpr2020.thecvf.com/)\n\nAuthors: [Haofei Xu](https://haofeixu.github.io/) and [Juyong Zhang](http://staff.ustc.edu.cn/~juyong/)\n\n**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!**\n\nWe 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. \n\nThe implementation of improved version **AANet+ (stronger performance & slightly faster speed)** is also included in this repo.\n\n<p align=\"center\"><img width=80% src=\"assets/overview.png\"></p>\n\n## Highlights\n\n- **Modular design**\n\n  We decompose the end-to-end stereo matching framework into five components: \n\n  **feature extraction**, **cost volume construction**, **cost aggregation**, **disparity computation** and **disparity refinement.** \n\n  One can easily construct a customized stereo matching model by combining different components.\n\n- **High efficiency**\n\n  Our method can run at **60ms** for a KITTI stereo pair (384x1248 resolution)!\n\n- **Full framework**\n\n  All codes for training, validating, evaluating, inferencing and predicting on any stereo pair are provided!\n\n## Installation\n\nOur code is based on PyTorch 1.2.0, CUDA 10.0 and python 3.7. \n\nWe recommend using [conda](https://www.anaconda.com/distribution/) for installation: \n\n```shell\nconda env create -f environment.yml\n```\n\nAfter installing dependencies, build deformable convolution:\n\n```shell\ncd nets/deform_conv && bash build.sh\n```\n\n## Dataset Preparation\n\nDownload [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. \n\nOur folder structure is as follows:\n\n```\ndata\n├── KITTI\n│   ├── kitti_2012\n│   │   └── data_stereo_flow\n│   ├── kitti_2015\n│   │   └── data_scene_flow\n└── SceneFlow\n    ├── Driving\n    │   ├── disparity\n    │   └── frames_finalpass\n    ├── FlyingThings3D\n    │   ├── disparity\n    │   └── frames_finalpass\n    └── Monkaa\n        ├── disparity\n        └── frames_finalpass\n```\n\nIf 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). \n\nFor KITTI 2012, you should place the unzipped file `disp_occ_pseudo_gt` under `kitti_2012/data_stereo_flow/training` directory. \n\nFor KITTI 2015, you should place `disp_occ_0_pseudo_gt` under `kitti_2015/data_scene_flow/training`.\n\nIt is recommended to symlink your dataset root to `$AANET/data`:\n\n```shell\nln -s $YOUR_DATASET_ROOT data\n```\n\nOtherwise, you may need to change the corresponding paths in the scripts.\n\n## Model Zoo\n\nAll pretrained models are available in the [model zoo](MODEL_ZOO.md).\n\nWe assume the downloaded weights are located under the `pretrained` directory. \n\nOtherwise, you may need to change the corresponding paths in the scripts.\n\n## Inference\n\nTo generate prediction results on the test set of Scene Flow and KITTI dataset, you can run [scripts/aanet_inference.sh](scripts/aanet_inference.sh). \n\nThe inference results on KITTI dataset can be directly submitted to the online evaluation server for benchmarking.\n\n## Prediction\n\nWe also support predicting on any rectified stereo pairs. [scripts/aanet_predict.sh](scripts/aanet_predict.sh) provides an example usage.\n\n## Training\n\nAll training scripts on Scene Flow and KITTI datasets are provided in [scripts/aanet_train.sh](scripts/aanet_train.sh). \n\nNote 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. \n\nWe support using tensorboard to monitor and visualize the training process. You can first start a tensorboard session with\n\n```shell\ntensorboard --logdir checkpoints\n```\n\nand then access [http://localhost:6006](http://localhost:6006) in your browser.\n\n- **How to train on my own data?**\n\n  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).\n\n- **How to develop new components?**\n\n  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.\n\n## Evaluation\n\nTo enable fast experimenting, evaluation runs on-the-fly without saving the intermediate results. \n\nWe provide two types of evaluation setting:\n\n- After training, evaluate the model with best validation results\n- Evaluate a pretrained model\n\nCheck [scripts/aanet_evaluate.sh](scripts/aanet_evaluate.sh) for an example usage.\n\n## Citation\n\nIf you find our work useful in your research, please consider citing our paper:\n\n```\n@inproceedings{xu2020aanet,\n  title={AANet: Adaptive Aggregation Network for Efficient Stereo Matching},\n  author={Xu, Haofei and Zhang, Juyong},\n  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},\n  pages={1959--1968},\n  year={2020}\n}\n```\n\n\n## Acknowledgements\n\nPart 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).\n\n\n\n\n\n"
  },
  {
    "path": "dataloader/__init__.py",
    "content": "from .dataloader import StereoDataset\n"
  },
  {
    "path": "dataloader/dataloader.py",
    "content": "from __future__ import absolute_import\nfrom __future__ import division\nfrom __future__ import print_function\n\nfrom torch.utils.data import Dataset\nimport os\n\nfrom utils import utils\nfrom utils.file_io import read_img, read_disp\n\n\nclass StereoDataset(Dataset):\n    def __init__(self, data_dir,\n                 dataset_name='SceneFlow',\n                 mode='train',\n                 save_filename=False,\n                 load_pseudo_gt=False,\n                 transform=None):\n        super(StereoDataset, self).__init__()\n\n        self.data_dir = data_dir\n        self.dataset_name = dataset_name\n        self.mode = mode\n        self.save_filename = save_filename\n        self.transform = transform\n\n        sceneflow_finalpass_dict = {\n            'train': 'filenames/SceneFlow_finalpass_train.txt',\n            'val': 'filenames/SceneFlow_finalpass_val.txt',\n            'test': 'filenames/SceneFlow_finalpass_test.txt'\n        }\n\n        kitti_2012_dict = {\n            'train': 'filenames/KITTI_2012_train.txt',\n            'train_all': 'filenames/KITTI_2012_train_all.txt',\n            'val': 'filenames/KITTI_2012_val.txt',\n            'test': 'filenames/KITTI_2012_test.txt'\n        }\n\n        kitti_2015_dict = {\n            'train': 'filenames/KITTI_2015_train.txt',\n            'train_all': 'filenames/KITTI_2015_train_all.txt',\n            'val': 'filenames/KITTI_2015_val.txt',\n            'test': 'filenames/KITTI_2015_test.txt'\n        }\n\n        kitti_mix_dict = {\n            'train': 'filenames/KITTI_mix.txt',\n            'test': 'filenames/KITTI_2015_test.txt'\n        }\n\n        dataset_name_dict = {\n            'SceneFlow': sceneflow_finalpass_dict,\n            'KITTI2012': kitti_2012_dict,\n            'KITTI2015': kitti_2015_dict,\n            'KITTI_mix': kitti_mix_dict,\n        }\n\n        assert dataset_name in dataset_name_dict.keys()\n        self.dataset_name = dataset_name\n\n        self.samples = []\n\n        data_filenames = dataset_name_dict[dataset_name][mode]\n\n        lines = utils.read_text_lines(data_filenames)\n\n        for line in lines:\n            splits = line.split()\n\n            left_img, right_img = splits[:2]\n            gt_disp = None if len(splits) == 2 else splits[2]\n\n            sample = dict()\n\n            if self.save_filename:\n                sample['left_name'] = left_img.split('/', 1)[1]\n\n            sample['left'] = os.path.join(data_dir, left_img)\n            sample['right'] = os.path.join(data_dir, right_img)\n            sample['disp'] = os.path.join(data_dir, gt_disp) if gt_disp is not None else None\n\n            if load_pseudo_gt and sample['disp'] is not None:\n                # KITTI 2015\n                if 'disp_occ_0' in sample['disp']:\n                    sample['pseudo_disp'] = (sample['disp']).replace('disp_occ_0',\n                                                                     'disp_occ_0_pseudo_gt')\n                # KITTI 2012\n                elif 'disp_occ' in sample['disp']:\n                    sample['pseudo_disp'] = (sample['disp']).replace('disp_occ',\n                                                                     'disp_occ_pseudo_gt')\n                else:\n                    raise NotImplementedError\n            else:\n                sample['pseudo_disp'] = None\n\n            self.samples.append(sample)\n\n    def __getitem__(self, index):\n        sample = {}\n        sample_path = self.samples[index]\n\n        if self.save_filename:\n            sample['left_name'] = sample_path['left_name']\n\n        sample['left'] = read_img(sample_path['left'])  # [H, W, 3]\n        sample['right'] = read_img(sample_path['right'])\n\n        # GT disparity of subset if negative, finalpass and cleanpass is positive\n        subset = True if 'subset' in self.dataset_name else False\n        if sample_path['disp'] is not None:\n            sample['disp'] = read_disp(sample_path['disp'], subset=subset)  # [H, W]\n        if sample_path['pseudo_disp'] is not None:\n            sample['pseudo_disp'] = read_disp(sample_path['pseudo_disp'], subset=subset)  # [H, W]\n\n        if self.transform is not None:\n            sample = self.transform(sample)\n\n        return sample\n\n    def __len__(self):\n        return len(self.samples)\n"
  },
  {
    "path": "dataloader/transforms.py",
    "content": "from __future__ import division\nimport torch\nimport numpy as np\nfrom PIL import Image\nimport torchvision.transforms.functional as F\nimport random\n\n\nclass Compose(object):\n    def __init__(self, transforms):\n        self.transforms = transforms\n\n    def __call__(self, sample):\n        for t in self.transforms:\n            sample = t(sample)\n        return sample\n\n\nclass ToTensor(object):\n    \"\"\"Convert numpy array to torch tensor\"\"\"\n\n    def __call__(self, sample):\n        left = np.transpose(sample['left'], (2, 0, 1))  # [3, H, W]\n        sample['left'] = torch.from_numpy(left) / 255.\n        right = np.transpose(sample['right'], (2, 0, 1))\n        sample['right'] = torch.from_numpy(right) / 255.\n\n        # disp = np.expand_dims(sample['disp'], axis=0)  # [1, H, W]\n        if 'disp' in sample.keys():\n            disp = sample['disp']  # [H, W]\n            sample['disp'] = torch.from_numpy(disp)\n\n        if 'pseudo_disp' in sample.keys():\n            disp = sample['pseudo_disp']  # [H, W]\n            sample['pseudo_disp'] = torch.from_numpy(disp)\n\n        return sample\n\n\nclass Normalize(object):\n    \"\"\"Normalize image, with type tensor\"\"\"\n\n    def __init__(self, mean, std):\n        self.mean = mean\n        self.std = std\n\n    def __call__(self, sample):\n\n        norm_keys = ['left', 'right']\n\n        for key in norm_keys:\n            # Images have converted to tensor, with shape [C, H, W]\n            for t, m, s in zip(sample[key], self.mean, self.std):\n                t.sub_(m).div_(s)\n\n        return sample\n\n\nclass RandomCrop(object):\n    def __init__(self, img_height, img_width, validate=False):\n        self.img_height = img_height\n        self.img_width = img_width\n        self.validate = validate\n\n    def __call__(self, sample):\n        ori_height, ori_width = sample['left'].shape[:2]\n        if self.img_height > ori_height or self.img_width > ori_width:\n            top_pad = self.img_height - ori_height\n            right_pad = self.img_width - ori_width\n\n            assert top_pad >= 0 and right_pad >= 0\n\n            sample['left'] = np.lib.pad(sample['left'],\n                                        ((top_pad, 0), (0, right_pad), (0, 0)),\n                                        mode='constant',\n                                        constant_values=0)\n            sample['right'] = np.lib.pad(sample['right'],\n                                         ((top_pad, 0), (0, right_pad), (0, 0)),\n                                         mode='constant',\n                                         constant_values=0)\n            if 'disp' in sample.keys():\n                sample['disp'] = np.lib.pad(sample['disp'],\n                                            ((top_pad, 0), (0, right_pad)),\n                                            mode='constant',\n                                            constant_values=0)\n\n            if 'pseudo_disp' in sample.keys():\n                sample['pseudo_disp'] = np.lib.pad(sample['pseudo_disp'],\n                                                   ((top_pad, 0), (0, right_pad)),\n                                                   mode='constant',\n                                                   constant_values=0)\n\n        else:\n            assert self.img_height <= ori_height and self.img_width <= ori_width\n\n            # Training: random crop\n            if not self.validate:\n\n                self.offset_x = np.random.randint(ori_width - self.img_width + 1)\n\n                start_height = 0\n                assert ori_height - start_height >= self.img_height\n\n                self.offset_y = np.random.randint(start_height, ori_height - self.img_height + 1)\n\n            # Validatoin, center crop\n            else:\n                self.offset_x = (ori_width - self.img_width) // 2\n                self.offset_y = (ori_height - self.img_height) // 2\n\n            sample['left'] = self.crop_img(sample['left'])\n            sample['right'] = self.crop_img(sample['right'])\n            if 'disp' in sample.keys():\n                sample['disp'] = self.crop_img(sample['disp'])\n            if 'pseudo_disp' in sample.keys():\n                sample['pseudo_disp'] = self.crop_img(sample['pseudo_disp'])\n\n        return sample\n\n    def crop_img(self, img):\n        return img[self.offset_y:self.offset_y + self.img_height,\n               self.offset_x:self.offset_x + self.img_width]\n\n\nclass RandomVerticalFlip(object):\n    \"\"\"Randomly vertically filps\"\"\"\n\n    def __call__(self, sample):\n        if np.random.random() < 0.5:\n            sample['left'] = np.copy(np.flipud(sample['left']))\n            sample['right'] = np.copy(np.flipud(sample['right']))\n\n            sample['disp'] = np.copy(np.flipud(sample['disp']))\n\n            if 'pseudo_disp' in sample.keys():\n                sample['pseudo_disp'] = np.copy(np.flipud(sample['pseudo_disp']))\n\n        return sample\n\n\nclass ToPILImage(object):\n\n    def __call__(self, sample):\n        sample['left'] = Image.fromarray(sample['left'].astype('uint8'))\n        sample['right'] = Image.fromarray(sample['right'].astype('uint8'))\n\n        return sample\n\n\nclass ToNumpyArray(object):\n\n    def __call__(self, sample):\n        sample['left'] = np.array(sample['left']).astype(np.float32)\n        sample['right'] = np.array(sample['right']).astype(np.float32)\n\n        return sample\n\n\n# Random coloring\nclass RandomContrast(object):\n    \"\"\"Random contrast\"\"\"\n\n    def __call__(self, sample):\n        if np.random.random() < 0.5:\n            contrast_factor = np.random.uniform(0.8, 1.2)\n\n            sample['left'] = F.adjust_contrast(sample['left'], contrast_factor)\n            sample['right'] = F.adjust_contrast(sample['right'], contrast_factor)\n\n        return sample\n\n\nclass RandomGamma(object):\n\n    def __call__(self, sample):\n        if np.random.random() < 0.5:\n            gamma = np.random.uniform(0.7, 1.5)  # adopted from FlowNet\n\n            sample['left'] = F.adjust_gamma(sample['left'], gamma)\n            sample['right'] = F.adjust_gamma(sample['right'], gamma)\n\n        return sample\n\n\nclass RandomBrightness(object):\n\n    def __call__(self, sample):\n        if np.random.random() < 0.5:\n            brightness = np.random.uniform(0.5, 2.0)\n\n            sample['left'] = F.adjust_brightness(sample['left'], brightness)\n            sample['right'] = F.adjust_brightness(sample['right'], brightness)\n\n        return sample\n\n\nclass RandomHue(object):\n\n    def __call__(self, sample):\n        if np.random.random() < 0.5:\n            hue = np.random.uniform(-0.1, 0.1)\n\n            sample['left'] = F.adjust_hue(sample['left'], hue)\n            sample['right'] = F.adjust_hue(sample['right'], hue)\n\n        return sample\n\n\nclass RandomSaturation(object):\n\n    def __call__(self, sample):\n        if np.random.random() < 0.5:\n            saturation = np.random.uniform(0.8, 1.2)\n\n            sample['left'] = F.adjust_saturation(sample['left'], saturation)\n            sample['right'] = F.adjust_saturation(sample['right'], saturation)\n\n        return sample\n\n\nclass RandomColor(object):\n\n    def __call__(self, sample):\n        transforms = [RandomContrast(),\n                      RandomGamma(),\n                      RandomBrightness(),\n                      RandomHue(),\n                      RandomSaturation()]\n\n        sample = ToPILImage()(sample)\n\n        if np.random.random() < 0.5:\n            # A single transform\n            t = random.choice(transforms)\n            sample = t(sample)\n        else:\n            # Combination of transforms\n            # Random order\n            random.shuffle(transforms)\n            for t in transforms:\n                sample = t(sample)\n\n        sample = ToNumpyArray()(sample)\n\n        return sample\n"
  },
  {
    "path": "environment.yml",
    "content": "name: aanet\nchannels:\n  - pytorch\n  - anaconda\n  - defaults\ndependencies:\n  - _libgcc_mutex=0.1=main\n  - blas=1.0=mkl\n  - bzip2=1.0.8=h7b6447c_0\n  - ca-certificates=2019.10.16=0\n  - cairo=1.14.12=h8948797_3\n  - certifi=2019.9.11=py37_0\n  - cffi=1.12.3=py37h2e261b9_0\n  - cloudpickle=1.2.1=py_0\n  - cudatoolkit=10.0.130=0\n  - cycler=0.10.0=py37_0\n  - cytoolz=0.10.0=py37h7b6447c_0\n  - dask-core=2.3.0=py_0\n  - dbus=1.13.6=h746ee38_0\n  - decorator=4.4.0=py37_1\n  - expat=2.2.6=he6710b0_0\n  - ffmpeg=4.0=hcdf2ecd_0\n  - fontconfig=2.13.0=h9420a91_0\n  - freeglut=3.0.0=hf484d3e_5\n  - freetype=2.9.1=h8a8886c_1\n  - glib=2.56.2=hd408876_0\n  - graphite2=1.3.13=h23475e2_0\n  - gst-plugins-base=1.14.0=hbbd80ab_1\n  - gstreamer=1.14.0=hb453b48_1\n  - harfbuzz=1.8.8=hffaf4a1_0\n  - hdf5=1.10.2=hba1933b_1\n  - icu=58.2=h9c2bf20_1\n  - imageio=2.5.0=py37_0\n  - intel-openmp=2019.4=243\n  - jasper=2.0.14=h07fcdf6_1\n  - jpeg=9b=h024ee3a_2\n  - kiwisolver=1.1.0=py37he6710b0_0\n  - libedit=3.1.20181209=hc058e9b_0\n  - libffi=3.2.1=hd88cf55_4\n  - libgcc-ng=9.1.0=hdf63c60_0\n  - libgfortran-ng=7.3.0=hdf63c60_0\n  - libglu=9.0.0=hf484d3e_1\n  - libopencv=3.4.2=hb342d67_1\n  - libopus=1.3=h7b6447c_0\n  - libpng=1.6.37=hbc83047_0\n  - libstdcxx-ng=9.1.0=hdf63c60_0\n  - libtiff=4.0.10=h2733197_2\n  - libuuid=1.0.3=h1bed415_2\n  - libvpx=1.7.0=h439df22_0\n  - libxcb=1.13=h1bed415_1\n  - libxml2=2.9.9=hea5a465_1\n  - matplotlib=3.1.1=py37h5429711_0\n  - mkl=2019.4=243\n  - mkl-service=2.0.2=py37h7b6447c_0\n  - mkl_fft=1.0.14=py37ha843d7b_0\n  - mkl_random=1.0.2=py37hd81dba3_0\n  - ncurses=6.1=he6710b0_1\n  - networkx=2.3=py_0\n  - ninja=1.9.0=py37hfd86e86_0\n  - numpy=1.16.4=py37h7e9f1db_0\n  - numpy-base=1.16.4=py37hde5b4d6_0\n  - olefile=0.46=py37_0\n  - opencv=3.4.2=py37h6fd60c2_1\n  - openssl=1.1.1=h7b6447c_0\n  - pcre=8.43=he6710b0_0\n  - pillow=6.1.0=py37h34e0f95_0\n  - pip=19.2.2=py37_0\n  - pixman=0.38.0=h7b6447c_0\n  - py-opencv=3.4.2=py37hb342d67_1\n  - pycparser=2.19=py37_0\n  - pyparsing=2.4.2=py_0\n  - pyqt=5.9.2=py37h05f1152_2\n  - python=3.7.4=h265db76_1\n  - python-dateutil=2.8.0=py37_0\n  - pytorch=1.2.0=py3.7_cuda10.0.130_cudnn7.6.2_0\n  - pytz=2019.2=py_0\n  - pywavelets=1.0.3=py37hdd07704_1\n  - qt=5.9.7=h5867ecd_1\n  - readline=7.0=h7b6447c_5\n  - scikit-image=0.15.0=py37he6710b0_0\n  - scipy=1.3.1=py37h7c811a0_0\n  - setuptools=41.0.1=py37_0\n  - sip=4.19.8=py37hf484d3e_0\n  - six=1.12.0=py37_0\n  - sqlite=3.29.0=h7b6447c_0\n  - tk=8.6.8=hbc83047_0\n  - toolz=0.10.0=py_0\n  - torchvision=0.4.0=py37_cu100\n  - tornado=6.0.3=py37h7b6447c_0\n  - wheel=0.33.4=py37_0\n  - xz=5.2.4=h14c3975_4\n  - zlib=1.2.11=h7b6447c_3\n  - zstd=1.3.7=h0b5b093_0\n  - pip:\n    - absl-py==0.8.0\n    - astor==0.8.0\n    - bleach==1.5.0\n    - future==0.17.1\n    - gast==0.2.2\n    - google-pasta==0.1.7\n    - grpcio==1.23.0\n    - h5py==2.9.0\n    - html5lib==0.9999999\n    - keras-applications==1.0.8\n    - keras-preprocessing==1.1.0\n    - markdown==3.1.1\n    - protobuf==3.9.1\n    - tb-nightly==1.15.0a20190902\n    - termcolor==1.1.0\n    - werkzeug==0.15.5\n    - wrapt==1.11.2\n\n"
  },
  {
    "path": "filenames/KITTI_2012_test.txt",
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FlyingThings3D/disparity/TEST/B/0107/left/0010.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0031/left/0009.png FlyingThings3D/frames_finalpass/TEST/C/0031/right/0009.png FlyingThings3D/disparity/TEST/C/0031/left/0009.pfm\nFlyingThings3D/frames_finalpass/TEST/B/0001/left/0010.png FlyingThings3D/frames_finalpass/TEST/B/0001/right/0010.png FlyingThings3D/disparity/TEST/B/0001/left/0010.pfm\nFlyingThings3D/frames_finalpass/TEST/B/0105/left/0012.png FlyingThings3D/frames_finalpass/TEST/B/0105/right/0012.png FlyingThings3D/disparity/TEST/B/0105/left/0012.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0141/left/0008.png FlyingThings3D/frames_finalpass/TEST/C/0141/right/0008.png FlyingThings3D/disparity/TEST/C/0141/left/0008.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0105/left/0007.png FlyingThings3D/frames_finalpass/TEST/C/0105/right/0007.png FlyingThings3D/disparity/TEST/C/0105/left/0007.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0148/left/0009.png FlyingThings3D/frames_finalpass/TEST/C/0148/right/0009.png FlyingThings3D/disparity/TEST/C/0148/left/0009.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0107/left/0006.png FlyingThings3D/frames_finalpass/TEST/C/0107/right/0006.png FlyingThings3D/disparity/TEST/C/0107/left/0006.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0000/left/0011.png FlyingThings3D/frames_finalpass/TEST/C/0000/right/0011.png FlyingThings3D/disparity/TEST/C/0000/left/0011.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0010/left/0011.png FlyingThings3D/frames_finalpass/TEST/A/0010/right/0011.png FlyingThings3D/disparity/TEST/A/0010/left/0011.pfm\nFlyingThings3D/frames_finalpass/TEST/B/0060/left/0012.png FlyingThings3D/frames_finalpass/TEST/B/0060/right/0012.png FlyingThings3D/disparity/TEST/B/0060/left/0012.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0069/left/0006.png FlyingThings3D/frames_finalpass/TEST/C/0069/right/0006.png FlyingThings3D/disparity/TEST/C/0069/left/0006.pfm\nFlyingThings3D/frames_finalpass/TEST/B/0035/left/0013.png FlyingThings3D/frames_finalpass/TEST/B/0035/right/0013.png FlyingThings3D/disparity/TEST/B/0035/left/0013.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0106/left/0009.png FlyingThings3D/frames_finalpass/TEST/A/0106/right/0009.png FlyingThings3D/disparity/TEST/A/0106/left/0009.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0144/left/0012.png FlyingThings3D/frames_finalpass/TEST/A/0144/right/0012.png FlyingThings3D/disparity/TEST/A/0144/left/0012.pfm\nFlyingThings3D/frames_finalpass/TEST/B/0067/left/0015.png FlyingThings3D/frames_finalpass/TEST/B/0067/right/0015.png FlyingThings3D/disparity/TEST/B/0067/left/0015.pfm\nFlyingThings3D/frames_finalpass/TEST/B/0069/left/0007.png FlyingThings3D/frames_finalpass/TEST/B/0069/right/0007.png FlyingThings3D/disparity/TEST/B/0069/left/0007.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0030/left/0008.png FlyingThings3D/frames_finalpass/TEST/C/0030/right/0008.png FlyingThings3D/disparity/TEST/C/0030/left/0008.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0017/left/0010.png FlyingThings3D/frames_finalpass/TEST/C/0017/right/0010.png FlyingThings3D/disparity/TEST/C/0017/left/0010.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0078/left/0006.png FlyingThings3D/frames_finalpass/TEST/A/0078/right/0006.png FlyingThings3D/disparity/TEST/A/0078/left/0006.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0070/left/0013.png FlyingThings3D/frames_finalpass/TEST/A/0070/right/0013.png FlyingThings3D/disparity/TEST/A/0070/left/0013.pfm\nFlyingThings3D/frames_finalpass/TEST/B/0108/left/0015.png FlyingThings3D/frames_finalpass/TEST/B/0108/right/0015.png FlyingThings3D/disparity/TEST/B/0108/left/0015.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0008/left/0009.png FlyingThings3D/frames_finalpass/TEST/C/0008/right/0009.png FlyingThings3D/disparity/TEST/C/0008/left/0009.pfm\nFlyingThings3D/frames_finalpass/TEST/B/0037/left/0011.png FlyingThings3D/frames_finalpass/TEST/B/0037/right/0011.png FlyingThings3D/disparity/TEST/B/0037/left/0011.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0020/left/0013.png FlyingThings3D/frames_finalpass/TEST/A/0020/right/0013.png FlyingThings3D/disparity/TEST/A/0020/left/0013.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0028/left/0010.png FlyingThings3D/frames_finalpass/TEST/C/0028/right/0010.png FlyingThings3D/disparity/TEST/C/0028/left/0010.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0121/left/0014.png FlyingThings3D/frames_finalpass/TEST/A/0121/right/0014.png FlyingThings3D/disparity/TEST/A/0121/left/0014.pfm\nFlyingThings3D/frames_finalpass/TEST/B/0066/left/0006.png FlyingThings3D/frames_finalpass/TEST/B/0066/right/0006.png FlyingThings3D/disparity/TEST/B/0066/left/0006.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0008/left/0010.png FlyingThings3D/frames_finalpass/TEST/A/0008/right/0010.png FlyingThings3D/disparity/TEST/A/0008/left/0010.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0064/left/0006.png FlyingThings3D/frames_finalpass/TEST/A/0064/right/0006.png FlyingThings3D/disparity/TEST/A/0064/left/0006.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0001/left/0010.png FlyingThings3D/frames_finalpass/TEST/C/0001/right/0010.png FlyingThings3D/disparity/TEST/C/0001/left/0010.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0113/left/0008.png FlyingThings3D/frames_finalpass/TEST/C/0113/right/0008.png FlyingThings3D/disparity/TEST/C/0113/left/0008.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0145/left/0012.png FlyingThings3D/frames_finalpass/TEST/C/0145/right/0012.png FlyingThings3D/disparity/TEST/C/0145/left/0012.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0059/left/0014.png FlyingThings3D/frames_finalpass/TEST/C/0059/right/0014.png FlyingThings3D/disparity/TEST/C/0059/left/0014.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0008/left/0012.png FlyingThings3D/frames_finalpass/TEST/A/0008/right/0012.png FlyingThings3D/disparity/TEST/A/0008/left/0012.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0069/left/0014.png FlyingThings3D/frames_finalpass/TEST/C/0069/right/0014.png FlyingThings3D/disparity/TEST/C/0069/left/0014.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0143/left/0012.png FlyingThings3D/frames_finalpass/TEST/C/0143/right/0012.png FlyingThings3D/disparity/TEST/C/0143/left/0012.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0140/left/0010.png FlyingThings3D/frames_finalpass/TEST/C/0140/right/0010.png FlyingThings3D/disparity/TEST/C/0140/left/0010.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0024/left/0013.png FlyingThings3D/frames_finalpass/TEST/C/0024/right/0013.png FlyingThings3D/disparity/TEST/C/0024/left/0013.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0121/left/0012.png FlyingThings3D/frames_finalpass/TEST/C/0121/right/0012.png FlyingThings3D/disparity/TEST/C/0121/left/0012.pfm\nFlyingThings3D/frames_finalpass/TEST/C/0110/left/0015.png FlyingThings3D/frames_finalpass/TEST/C/0110/right/0015.png FlyingThings3D/disparity/TEST/C/0110/left/0015.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0111/left/0009.png FlyingThings3D/frames_finalpass/TEST/A/0111/right/0009.png FlyingThings3D/disparity/TEST/A/0111/left/0009.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0052/left/0013.png FlyingThings3D/frames_finalpass/TEST/A/0052/right/0013.png FlyingThings3D/disparity/TEST/A/0052/left/0013.pfm\nFlyingThings3D/frames_finalpass/TEST/B/0000/left/0006.png FlyingThings3D/frames_finalpass/TEST/B/0000/right/0006.png FlyingThings3D/disparity/TEST/B/0000/left/0006.pfm\nFlyingThings3D/frames_finalpass/TEST/A/0118/left/0006.png FlyingThings3D/frames_finalpass/TEST/A/0118/right/0006.png FlyingThings3D/disparity/TEST/A/0118/left/0006.pfm\n"
  },
  {
    "path": "filenames/generate_filenames.py",
    "content": "import os\nfrom glob import glob\n\n\ndef gen_kitti_2015():\n    data_dir = 'data/KITTI/kitti_2015/data_scene_flow'\n\n    train_file = 'KITTI_2015_train.txt'\n    val_file = 'KITTI_2015_val.txt'\n\n    # Split the training set with 4:1 raito (160 for training, 40 for validation)\n    with open(train_file, 'w') as train_f, open(val_file, 'w') as val_f:\n        dir_name = 'image_2'\n        left_dir = os.path.join(data_dir, 'training', dir_name)\n        left_imgs = sorted(glob(left_dir + '/*_10.png'))\n\n        print('Number of images: %d' % len(left_imgs))\n\n        for left_img in left_imgs:\n            right_img = left_img.replace(dir_name, 'image_3')\n            disp_path = left_img.replace(dir_name, 'disp_occ_0')\n\n            img_id = int(os.path.basename(left_img).split('_')[0])\n\n            if img_id % 5 == 0:\n                val_f.write(left_img.replace(data_dir + '/', '') + ' ')\n                val_f.write(right_img.replace(data_dir + '/', '') + ' ')\n                val_f.write(disp_path.replace(data_dir + '/', '') + '\\n')\n            else:\n                train_f.write(left_img.replace(data_dir + '/', '') + ' ')\n                train_f.write(right_img.replace(data_dir + '/', '') + ' ')\n                train_f.write(disp_path.replace(data_dir + '/', '') + '\\n')\n\n\nif __name__ == '__main__':\n    gen_kitti_2015()\n"
  },
  {
    "path": "inference.py",
    "content": "import torch\nimport torch.nn.functional as F\nfrom torch.utils.data import DataLoader\n\nimport skimage.io\nimport argparse\nimport numpy as np\nimport time\nimport os\n\nimport nets\nimport dataloader\nfrom dataloader import transforms\nfrom utils import utils\nfrom utils.file_io import write_pfm\n\nIMAGENET_MEAN = [0.485, 0.456, 0.406]\nIMAGENET_STD = [0.229, 0.224, 0.225]\n\nparser = argparse.ArgumentParser()\n\nparser.add_argument('--mode', default='test', type=str,\n                    help='Validation mode on small subset or test mode on full test data')\n\n# Training data\nparser.add_argument('--data_dir', default='data/SceneFlow',\n                    type=str, help='Training dataset')\nparser.add_argument('--dataset_name', default='SceneFlow', type=str, help='Dataset name')\n\nparser.add_argument('--batch_size', default=1, type=int, help='Batch size for inference')\nparser.add_argument('--num_workers', default=0, type=int, help='Number of workers for data loading')\nparser.add_argument('--img_height', default=576, type=int, help='Image height for inference')\nparser.add_argument('--img_width', default=960, type=int, help='Image width for inference')\n\n# Model\nparser.add_argument('--seed', default=326, type=int, help='Random seed for reproducibility')\nparser.add_argument('--output_dir', default='output', type=str,\n                    help='Directory to save inference results')\nparser.add_argument('--max_disp', default=192, type=int, help='Max disparity')\n\n# AANet\nparser.add_argument('--feature_type', default='aanet', type=str, help='Type of feature extractor')\nparser.add_argument('--no_feature_mdconv', action='store_true', help='Whether to use mdconv for feature extraction')\nparser.add_argument('--feature_pyramid', action='store_true', help='Use pyramid feature')\nparser.add_argument('--feature_pyramid_network', action='store_true', help='Use FPN')\nparser.add_argument('--feature_similarity', default='correlation', type=str,\n                    help='Similarity measure for matching cost')\nparser.add_argument('--num_downsample', default=2, type=int, help='Number of downsample layer for feature extraction')\nparser.add_argument('--aggregation_type', default='adaptive', type=str, help='Type of cost aggregation')\nparser.add_argument('--num_scales', default=3, type=int, help='Number of stages when using parallel aggregation')\nparser.add_argument('--num_fusions', default=6, type=int, help='Number of multi-scale fusions when using parallel'\n                                                               'aggragetion')\nparser.add_argument('--num_stage_blocks', default=1, type=int, help='Number of deform blocks for ISA')\nparser.add_argument('--num_deform_blocks', default=3, type=int, help='Number of DeformBlocks for aggregation')\nparser.add_argument('--no_intermediate_supervision', action='store_true',\n                    help='Whether to add intermediate supervision')\nparser.add_argument('--deformable_groups', default=2, type=int, help='Number of deformable groups')\nparser.add_argument('--mdconv_dilation', default=2, type=int, help='Dilation rate for deformable conv')\nparser.add_argument('--refinement_type', default='stereodrnet', help='Type of refinement module')\n\nparser.add_argument('--pretrained_aanet', default=None, type=str, help='Pretrained network')\n\nparser.add_argument('--save_type', default='png', choices=['pfm', 'png', 'npy'], help='Save file type')\nparser.add_argument('--visualize', action='store_true', help='Visualize disparity map')\n\n# Log\nparser.add_argument('--count_time', action='store_true', help='Inference on a subset for time counting only')\nparser.add_argument('--num_images', default=100, type=int, help='Number of images for inference')\n\nargs = parser.parse_args()\n\nmodel_name = os.path.basename(args.pretrained_aanet)[:-4]\nmodel_dir = os.path.basename(os.path.dirname(args.pretrained_aanet))\nargs.output_dir = os.path.join(args.output_dir, model_dir + '-' + model_name)\n\nutils.check_path(args.output_dir)\nutils.save_command(args.output_dir)\n\n\ndef main():\n    # For reproducibility\n    torch.manual_seed(args.seed)\n    torch.cuda.manual_seed(args.seed)\n    np.random.seed(args.seed)\n\n    torch.backends.cudnn.benchmark = True\n\n    device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')\n\n    # Test loader\n    test_transform = transforms.Compose([\n        transforms.ToTensor(),\n        transforms.Normalize(mean=IMAGENET_MEAN, std=IMAGENET_STD)])\n    test_data = dataloader.StereoDataset(data_dir=args.data_dir,\n                                         dataset_name=args.dataset_name,\n                                         mode=args.mode,\n                                         save_filename=True,\n                                         transform=test_transform)\n    test_loader = DataLoader(dataset=test_data, batch_size=args.batch_size, shuffle=False,\n                             num_workers=args.num_workers, pin_memory=True, drop_last=False)\n\n    aanet = nets.AANet(args.max_disp,\n                       num_downsample=args.num_downsample,\n                       feature_type=args.feature_type,\n                       no_feature_mdconv=args.no_feature_mdconv,\n                       feature_pyramid=args.feature_pyramid,\n                       feature_pyramid_network=args.feature_pyramid_network,\n                       feature_similarity=args.feature_similarity,\n                       aggregation_type=args.aggregation_type,\n                       num_scales=args.num_scales,\n                       num_fusions=args.num_fusions,\n                       num_stage_blocks=args.num_stage_blocks,\n                       num_deform_blocks=args.num_deform_blocks,\n                       no_intermediate_supervision=args.no_intermediate_supervision,\n                       refinement_type=args.refinement_type,\n                       mdconv_dilation=args.mdconv_dilation,\n                       deformable_groups=args.deformable_groups).to(device)\n\n    # print(aanet)\n\n    if os.path.exists(args.pretrained_aanet):\n        print('=> Loading pretrained AANet:', args.pretrained_aanet)\n        utils.load_pretrained_net(aanet, args.pretrained_aanet, no_strict=True)\n    else:\n        print('=> Using random initialization')\n\n    # Save parameters\n    num_params = utils.count_parameters(aanet)\n    print('=> Number of trainable parameters: %d' % num_params)\n\n    if torch.cuda.device_count() > 1:\n        print('=> Use %d GPUs' % torch.cuda.device_count())\n        aanet = torch.nn.DataParallel(aanet)\n\n    # Inference\n    aanet.eval()\n\n    inference_time = 0\n    num_imgs = 0\n\n    num_samples = len(test_loader)\n    print('=> %d samples found in the test set' % num_samples)\n\n    for i, sample in enumerate(test_loader):\n        if args.count_time and i == args.num_images:  # testing time only\n            break\n\n        if i % 100 == 0:\n            print('=> Inferencing %d/%d' % (i, num_samples))\n\n        left = sample['left'].to(device)  # [B, 3, H, W]\n        right = sample['right'].to(device)\n\n        # Pad\n        ori_height, ori_width = left.size()[2:]\n        if ori_height < args.img_height or ori_width < args.img_width:\n            top_pad = args.img_height - ori_height\n            right_pad = args.img_width - ori_width\n\n            # Pad size: (left_pad, right_pad, top_pad, bottom_pad)\n            left = F.pad(left, (0, right_pad, top_pad, 0))\n            right = F.pad(right, (0, right_pad, top_pad, 0))\n\n        # Warpup\n        if i == 0 and args.count_time:\n            with torch.no_grad():\n                for _ in range(10):\n                    aanet(left, right)\n\n        num_imgs += left.size(0)\n\n        with torch.no_grad():\n            time_start = time.perf_counter()\n            pred_disp = aanet(left, right)[-1]  # [B, H, W]\n            inference_time += time.perf_counter() - time_start\n\n        if pred_disp.size(-1) < left.size(-1):\n            pred_disp = pred_disp.unsqueeze(1)  # [B, 1, H, W]\n            pred_disp = F.interpolate(pred_disp, (left.size(-2), left.size(-1)),\n                                      mode='bilinear') * (left.size(-1) / pred_disp.size(-1))\n            pred_disp = pred_disp.squeeze(1)  # [B, H, W]\n\n        # Crop\n        if ori_height < args.img_height or ori_width < args.img_width:\n            if right_pad != 0:\n                pred_disp = pred_disp[:, top_pad:, :-right_pad]\n            else:\n                pred_disp = pred_disp[:, top_pad:]\n\n        for b in range(pred_disp.size(0)):\n            disp = pred_disp[b].detach().cpu().numpy()  # [H, W]\n            save_name = sample['left_name'][b]\n            save_name = os.path.join(args.output_dir, save_name)\n            utils.check_path(os.path.dirname(save_name))\n            if not args.count_time:\n                if args.save_type == 'pfm':\n                    if args.visualize:\n                        skimage.io.imsave(save_name, (disp * 256.).astype(np.uint16))\n\n                    save_name = save_name[:-3] + 'pfm'\n                    write_pfm(save_name, disp)\n                elif args.save_type == 'npy':\n                    save_name = save_name[:-3] + 'npy'\n                    np.save(save_name, disp)\n                else:\n                    skimage.io.imsave(save_name, (disp * 256.).astype(np.uint16))\n\n    print('=> Mean inference time for %d images: %.3fs' % (num_imgs, inference_time / num_imgs))\n\n\nif __name__ == '__main__':\n    main()\n"
  },
  {
    "path": "metric.py",
    "content": "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_est[mask], d_gt[mask]\n    if use_np:\n        epe = np.mean(np.abs(d_est - d_gt))\n    else:\n        epe = torch.mean(torch.abs(d_est - d_gt))\n\n    return epe\n\n\ndef d1_metric(d_est, d_gt, mask, use_np=False):\n    d_est, d_gt = d_est[mask], d_gt[mask]\n    if use_np:\n        e = np.abs(d_gt - d_est)\n    else:\n        e = torch.abs(d_gt - d_est)\n    err_mask = (e > 3) & (e / d_gt > 0.05)\n\n    if use_np:\n        mean = np.mean(err_mask.astype('float'))\n    else:\n        mean = torch.mean(err_mask.float())\n\n    return mean\n\n\ndef thres_metric(d_est, d_gt, mask, thres, use_np=False):\n    assert isinstance(thres, (int, float))\n    d_est, d_gt = d_est[mask], d_gt[mask]\n    if use_np:\n        e = np.abs(d_gt - d_est)\n    else:\n        e = torch.abs(d_gt - d_est)\n    err_mask = e > thres\n\n    if use_np:\n        mean = np.mean(err_mask.astype('float'))\n    else:\n        mean = torch.mean(err_mask.float())\n\n    return mean\n"
  },
  {
    "path": "model.py",
    "content": "import torch\nimport time\nfrom torch.utils.tensorboard import SummaryWriter\nimport torch.nn.functional as F\nimport os\n\nfrom utils import utils\nfrom utils.visualization import disp_error_img, save_images\nfrom metric import d1_metric, thres_metric\n\n\nclass Model(object):\n    def __init__(self, args, logger, optimizer, aanet, device, start_iter=0, start_epoch=0,\n                 best_epe=None, best_epoch=None):\n        self.args = args\n        self.logger = logger\n        self.optimizer = optimizer\n        self.aanet = aanet\n        self.device = device\n        self.num_iter = start_iter\n        self.epoch = start_epoch\n\n        self.best_epe = 999. if best_epe is None else best_epe\n        self.best_epoch = -1 if best_epoch is None else best_epoch\n\n        if not args.evaluate_only:\n            self.train_writer = SummaryWriter(self.args.checkpoint_dir)\n\n    def train(self, train_loader):\n        args = self.args\n        logger = self.logger\n\n        steps_per_epoch = len(train_loader)\n        device = self.device\n\n        self.aanet.train()\n\n        if args.freeze_bn:\n            def set_bn_eval(m):\n                classname = m.__class__.__name__\n                if classname.find('BatchNorm') != -1:\n                    m.eval()\n\n            self.aanet.apply(set_bn_eval)\n\n        # Learning rate summary\n        base_lr = self.optimizer.param_groups[0]['lr']\n        offset_lr = self.optimizer.param_groups[1]['lr']\n        self.train_writer.add_scalar('base_lr', base_lr, self.epoch + 1)\n        self.train_writer.add_scalar('offset_lr', offset_lr, self.epoch + 1)\n\n        last_print_time = time.time()\n\n        for i, sample in enumerate(train_loader):\n            left = sample['left'].to(device)  # [B, 3, H, W]\n            right = sample['right'].to(device)\n            gt_disp = sample['disp'].to(device)  # [B, H, W]\n\n            mask = (gt_disp > 0) & (gt_disp < args.max_disp)\n\n            if args.load_pseudo_gt:\n                pseudo_gt_disp = sample['pseudo_disp'].to(device)\n                pseudo_mask = (pseudo_gt_disp > 0) & (pseudo_gt_disp < args.max_disp) & (~mask)  # inverse mask\n\n            if not mask.any():\n                continue\n\n            pred_disp_pyramid = self.aanet(left, right)  # list of H/12, H/6, H/3, H/2, H\n\n            if args.highest_loss_only:\n                pred_disp_pyramid = [pred_disp_pyramid[-1]]  # only the last highest resolution output\n\n            disp_loss = 0\n            pseudo_disp_loss = 0\n            pyramid_loss = []\n            pseudo_pyramid_loss = []\n\n            # Loss weights\n            if len(pred_disp_pyramid) == 5:\n                pyramid_weight = [1 / 3, 2 / 3, 1.0, 1.0, 1.0]  # AANet and AANet+\n            elif len(pred_disp_pyramid) == 4:\n                pyramid_weight = [1 / 3, 2 / 3, 1.0, 1.0]\n            elif len(pred_disp_pyramid) == 3:\n                pyramid_weight = [1.0, 1.0, 1.0]  # 1 scale only\n            elif len(pred_disp_pyramid) == 1:\n                pyramid_weight = [1.0]  # highest loss only\n            else:\n                raise NotImplementedError\n\n            assert len(pyramid_weight) == len(pred_disp_pyramid)\n            for k in range(len(pred_disp_pyramid)):\n                pred_disp = pred_disp_pyramid[k]\n                weight = pyramid_weight[k]\n\n                if pred_disp.size(-1) != gt_disp.size(-1):\n                    pred_disp = pred_disp.unsqueeze(1)  # [B, 1, H, W]\n                    pred_disp = F.interpolate(pred_disp, size=(gt_disp.size(-2), gt_disp.size(-1)),\n                                              mode='bilinear', align_corners=False) * (gt_disp.size(-1) / pred_disp.size(-1))\n                    pred_disp = pred_disp.squeeze(1)  # [B, H, W]\n\n                curr_loss = F.smooth_l1_loss(pred_disp[mask], gt_disp[mask],\n                                             reduction='mean')\n                disp_loss += weight * curr_loss\n                pyramid_loss.append(curr_loss)\n\n                # Pseudo gt loss\n                if args.load_pseudo_gt:\n                    pseudo_curr_loss = F.smooth_l1_loss(pred_disp[pseudo_mask], pseudo_gt_disp[pseudo_mask],\n                                                        reduction='mean')\n                    pseudo_disp_loss += weight * pseudo_curr_loss\n\n                    pseudo_pyramid_loss.append(pseudo_curr_loss)\n\n            total_loss = disp_loss + pseudo_disp_loss\n\n            self.optimizer.zero_grad()\n            total_loss.backward()\n            self.optimizer.step()\n\n            self.num_iter += 1\n\n            if self.num_iter % args.print_freq == 0:\n                this_cycle = time.time() - last_print_time\n                last_print_time += this_cycle\n\n                logger.info('Epoch: [%3d/%3d] [%5d/%5d] time: %4.2fs disp_loss: %.3f' %\n                            (self.epoch + 1, args.max_epoch, i + 1, steps_per_epoch, this_cycle,\n                             disp_loss.item()))\n\n            if self.num_iter % args.summary_freq == 0:\n                img_summary = dict()\n                img_summary['left'] = left\n                img_summary['right'] = right\n                img_summary['gt_disp'] = gt_disp\n\n                if args.load_pseudo_gt:\n                    img_summary['pseudo_gt_disp'] = pseudo_gt_disp\n\n                # Save pyramid disparity prediction\n                for s in range(len(pred_disp_pyramid)):\n                    # Scale from low to high, reverse\n                    save_name = 'pred_disp' + str(len(pred_disp_pyramid) - s - 1)\n                    save_value = pred_disp_pyramid[s]\n                    img_summary[save_name] = save_value\n\n                pred_disp = pred_disp_pyramid[-1]\n\n                if pred_disp.size(-1) != gt_disp.size(-1):\n                    pred_disp = pred_disp.unsqueeze(1)  # [B, 1, H, W]\n                    pred_disp = F.interpolate(pred_disp, size=(gt_disp.size(-2), gt_disp.size(-1)),\n                                              mode='bilinear', align_corners=False) * (gt_disp.size(-1) / pred_disp.size(-1))\n                    pred_disp = pred_disp.squeeze(1)  # [B, H, W]\n                img_summary['disp_error'] = disp_error_img(pred_disp, gt_disp)\n\n                save_images(self.train_writer, 'train', img_summary, self.num_iter)\n\n                epe = F.l1_loss(gt_disp[mask], pred_disp[mask], reduction='mean')\n\n                self.train_writer.add_scalar('train/epe', epe.item(), self.num_iter)\n                self.train_writer.add_scalar('train/disp_loss', disp_loss.item(), self.num_iter)\n                self.train_writer.add_scalar('train/total_loss', total_loss.item(), self.num_iter)\n\n                # Save loss of different scale\n                for s in range(len(pyramid_loss)):\n                    save_name = 'train/loss' + str(len(pyramid_loss) - s - 1)\n                    save_value = pyramid_loss[s]\n                    self.train_writer.add_scalar(save_name, save_value, self.num_iter)\n\n                d1 = d1_metric(pred_disp, gt_disp, mask)\n                self.train_writer.add_scalar('train/d1', d1.item(), self.num_iter)\n                thres1 = thres_metric(pred_disp, gt_disp, mask, 1.0)\n                thres2 = thres_metric(pred_disp, gt_disp, mask, 2.0)\n                thres3 = thres_metric(pred_disp, gt_disp, mask, 3.0)\n                self.train_writer.add_scalar('train/thres1', thres1.item(), self.num_iter)\n                self.train_writer.add_scalar('train/thres2', thres2.item(), self.num_iter)\n                self.train_writer.add_scalar('train/thres3', thres3.item(), self.num_iter)\n\n        self.epoch += 1\n\n        # Always save the latest model for resuming training\n        if args.no_validate:\n            utils.save_checkpoint(args.checkpoint_dir, self.optimizer, self.aanet,\n                                  epoch=self.epoch, num_iter=self.num_iter,\n                                  epe=-1, best_epe=self.best_epe,\n                                  best_epoch=self.best_epoch,\n                                  filename='aanet_latest.pth')\n\n            # Save checkpoint of specific epoch\n            if self.epoch % args.save_ckpt_freq == 0:\n                model_dir = os.path.join(args.checkpoint_dir, 'models')\n                utils.check_path(model_dir)\n                utils.save_checkpoint(model_dir, self.optimizer, self.aanet,\n                                      epoch=self.epoch, num_iter=self.num_iter,\n                                      epe=-1, best_epe=self.best_epe,\n                                      best_epoch=self.best_epoch,\n                                      save_optimizer=False)\n\n    def validate(self, val_loader):\n        args = self.args\n        logger = self.logger\n        logger.info('=> Start validation...')\n\n        if args.evaluate_only is True:\n            if args.pretrained_aanet is not None:\n                pretrained_aanet = args.pretrained_aanet\n            else:\n                model_name = 'aanet_best.pth'\n                pretrained_aanet = os.path.join(args.checkpoint_dir, model_name)\n                if not os.path.exists(pretrained_aanet):  # KITTI without validation\n                    pretrained_aanet = pretrained_aanet.replace(model_name, 'aanet_latest.pth')\n\n            logger.info('=> loading pretrained aanet: %s' % pretrained_aanet)\n            utils.load_pretrained_net(self.aanet, pretrained_aanet, no_strict=True)\n\n        self.aanet.eval()\n\n        num_samples = len(val_loader)\n        logger.info('=> %d samples found in the validation set' % num_samples)\n\n        val_epe = 0\n        val_d1 = 0\n        val_thres1 = 0\n        val_thres2 = 0\n        val_thres3 = 0\n\n        val_count = 0\n\n        val_file = os.path.join(args.checkpoint_dir, 'val_results.txt')\n\n        num_imgs = 0\n        valid_samples = 0\n\n        for i, sample in enumerate(val_loader):\n            if i % 100 == 0:\n                logger.info('=> Validating %d/%d' % (i, num_samples))\n\n            left = sample['left'].to(self.device)  # [B, 3, H, W]\n            right = sample['right'].to(self.device)\n            gt_disp = sample['disp'].to(self.device)  # [B, H, W]\n            mask = (gt_disp > 0) & (gt_disp < args.max_disp)\n\n            if not mask.any():\n                continue\n\n            valid_samples += 1\n\n            num_imgs += gt_disp.size(0)\n\n            with torch.no_grad():\n                pred_disp = self.aanet(left, right)[-1]  # [B, H, W]\n\n            if pred_disp.size(-1) < gt_disp.size(-1):\n                pred_disp = pred_disp.unsqueeze(1)  # [B, 1, H, W]\n                pred_disp = F.interpolate(pred_disp, (gt_disp.size(-2), gt_disp.size(-1)),\n                                          mode='bilinear', align_corners=False) * (gt_disp.size(-1) / pred_disp.size(-1))\n                pred_disp = pred_disp.squeeze(1)  # [B, H, W]\n\n            epe = F.l1_loss(gt_disp[mask], pred_disp[mask], reduction='mean')\n            d1 = d1_metric(pred_disp, gt_disp, mask)\n            thres1 = thres_metric(pred_disp, gt_disp, mask, 1.0)\n            thres2 = thres_metric(pred_disp, gt_disp, mask, 2.0)\n            thres3 = thres_metric(pred_disp, gt_disp, mask, 3.0)\n\n            val_epe += epe.item()\n            val_d1 += d1.item()\n            val_thres1 += thres1.item()\n            val_thres2 += thres2.item()\n            val_thres3 += thres3.item()\n\n            # Save 3 images for visualization\n            if not args.evaluate_only:\n                if i in [num_samples // 4, num_samples // 2, num_samples // 4 * 3]:\n                    img_summary = dict()\n                    img_summary['disp_error'] = disp_error_img(pred_disp, gt_disp)\n                    img_summary['left'] = left\n                    img_summary['right'] = right\n                    img_summary['gt_disp'] = gt_disp\n                    img_summary['pred_disp'] = pred_disp\n                    save_images(self.train_writer, 'val' + str(val_count), img_summary, self.epoch)\n                    val_count += 1\n\n        logger.info('=> Validation done!')\n\n        mean_epe = val_epe / valid_samples\n        mean_d1 = val_d1 / valid_samples\n        mean_thres1 = val_thres1 / valid_samples\n        mean_thres2 = val_thres2 / valid_samples\n        mean_thres3 = val_thres3 / valid_samples\n\n        # Save validation results\n        with open(val_file, 'a') as f:\n            f.write('epoch: %03d\\t' % self.epoch)\n            f.write('epe: %.3f\\t' % mean_epe)\n            f.write('d1: %.4f\\t' % mean_d1)\n            f.write('thres1: %.4f\\t' % mean_thres1)\n            f.write('thres2: %.4f\\t' % mean_thres2)\n            f.write('thres3: %.4f\\n' % mean_thres3)\n\n        logger.info('=> Mean validation epe of epoch %d: %.3f' % (self.epoch, mean_epe))\n\n        if not args.evaluate_only:\n            self.train_writer.add_scalar('val/epe', mean_epe, self.epoch)\n            self.train_writer.add_scalar('val/d1', mean_d1, self.epoch)\n            self.train_writer.add_scalar('val/thres1', mean_thres1, self.epoch)\n            self.train_writer.add_scalar('val/thres2', mean_thres2, self.epoch)\n            self.train_writer.add_scalar('val/thres3', mean_thres3, self.epoch)\n\n        if not args.evaluate_only:\n            if args.val_metric == 'd1':\n                if mean_d1 < self.best_epe:\n                    # Actually best_epe here is d1\n                    self.best_epe = mean_d1\n                    self.best_epoch = self.epoch\n\n                    utils.save_checkpoint(args.checkpoint_dir, self.optimizer, self.aanet,\n                                          epoch=self.epoch, num_iter=self.num_iter,\n                                          epe=mean_d1, best_epe=self.best_epe,\n                                          best_epoch=self.best_epoch,\n                                          filename='aanet_best.pth')\n            elif args.val_metric == 'epe':\n                if mean_epe < self.best_epe:\n                    self.best_epe = mean_epe\n                    self.best_epoch = self.epoch\n\n                    utils.save_checkpoint(args.checkpoint_dir, self.optimizer, self.aanet,\n                                          epoch=self.epoch, num_iter=self.num_iter,\n                                          epe=mean_epe, best_epe=self.best_epe,\n                                          best_epoch=self.best_epoch,\n                                          filename='aanet_best.pth')\n            else:\n                raise NotImplementedError\n\n        if self.epoch == args.max_epoch:\n            # Save best validation results\n            with open(val_file, 'a') as f:\n                f.write('\\nbest epoch: %03d \\t best %s: %.3f\\n\\n' % (self.best_epoch,\n                                                                     args.val_metric,\n                                                                     self.best_epe))\n\n            logger.info('=> best epoch: %03d \\t best %s: %.3f\\n' % (self.best_epoch,\n                                                                    args.val_metric,\n                                                                    self.best_epe))\n\n        # Always save the latest model for resuming training\n        if not args.evaluate_only:\n            utils.save_checkpoint(args.checkpoint_dir, self.optimizer, self.aanet,\n                                  epoch=self.epoch, num_iter=self.num_iter,\n                                  epe=mean_epe, best_epe=self.best_epe,\n                                  best_epoch=self.best_epoch,\n                                  filename='aanet_latest.pth')\n\n            # Save checkpoint of specific epochs\n            if self.epoch % args.save_ckpt_freq == 0:\n                model_dir = os.path.join(args.checkpoint_dir, 'models')\n                utils.check_path(model_dir)\n                utils.save_checkpoint(model_dir, self.optimizer, self.aanet,\n                                      epoch=self.epoch, num_iter=self.num_iter,\n                                      epe=mean_epe, best_epe=self.best_epe,\n                                      best_epoch=self.best_epoch,\n                                      save_optimizer=False)\n"
  },
  {
    "path": "nets/__init__.py",
    "content": "from .aanet import AANet\n"
  },
  {
    "path": "nets/aanet.py",
    "content": "import torch.nn as nn\nimport torch.nn.functional as F\n\nfrom nets.feature import (StereoNetFeature, PSMNetFeature, GANetFeature, GCNetFeature,\n                          FeaturePyrmaid, FeaturePyramidNetwork)\nfrom nets.resnet import AANetFeature\nfrom nets.cost import CostVolume, CostVolumePyramid\nfrom nets.aggregation import (StereoNetAggregation, GCNetAggregation, PSMNetBasicAggregation,\n                              PSMNetHGAggregation, AdaptiveAggregation)\nfrom nets.estimation import DisparityEstimation\nfrom nets.refinement import StereoNetRefinement, StereoDRNetRefinement, HourglassRefinement\n\n\nclass AANet(nn.Module):\n    def __init__(self, max_disp,\n                 num_downsample=2,\n                 feature_type='aanet',\n                 no_feature_mdconv=False,\n                 feature_pyramid=False,\n                 feature_pyramid_network=False,\n                 feature_similarity='correlation',\n                 aggregation_type='adaptive',\n                 num_scales=3,\n                 num_fusions=6,\n                 deformable_groups=2,\n                 mdconv_dilation=2,\n                 refinement_type='stereodrnet',\n                 no_intermediate_supervision=False,\n                 num_stage_blocks=1,\n                 num_deform_blocks=3):\n        super(AANet, self).__init__()\n\n        self.refinement_type = refinement_type\n        self.feature_type = feature_type\n        self.feature_pyramid = feature_pyramid\n        self.feature_pyramid_network = feature_pyramid_network\n        self.num_downsample = num_downsample\n        self.aggregation_type = aggregation_type\n        self.num_scales = num_scales\n\n        # Feature extractor\n        if feature_type == 'stereonet':\n            self.max_disp = max_disp // (2 ** num_downsample)\n            self.num_downsample = num_downsample\n            self.feature_extractor = StereoNetFeature(self.num_downsample)\n        elif feature_type == 'psmnet':\n            self.feature_extractor = PSMNetFeature()\n            self.max_disp = max_disp // (2 ** num_downsample)\n        elif feature_type == 'gcnet':\n            self.feature_extractor = GCNetFeature()\n            self.max_disp = max_disp // 2\n        elif feature_type == 'ganet':\n            self.feature_extractor = GANetFeature(feature_mdconv=(not no_feature_mdconv))\n            self.max_disp = max_disp // 3\n        elif feature_type == 'aanet':\n            self.feature_extractor = AANetFeature(feature_mdconv=(not no_feature_mdconv))\n            self.max_disp = max_disp // 3\n        else:\n            raise NotImplementedError\n\n        if feature_pyramid_network:\n            if feature_type == 'aanet':\n                in_channels = [32 * 4, 32 * 8, 32 * 16, ]\n            else:\n                in_channels = [32, 64, 128]\n            self.fpn = FeaturePyramidNetwork(in_channels=in_channels,\n                                             out_channels=32 * 4)\n        elif feature_pyramid:\n            self.fpn = FeaturePyrmaid()\n\n        # Cost volume construction\n        if feature_type == 'aanet' or feature_pyramid or feature_pyramid_network:\n            cost_volume_module = CostVolumePyramid\n        else:\n            cost_volume_module = CostVolume\n        self.cost_volume = cost_volume_module(self.max_disp,\n                                              feature_similarity=feature_similarity)\n\n        # Cost aggregation\n        max_disp = self.max_disp\n        if feature_similarity == 'concat':\n            in_channels = 64\n        else:\n            in_channels = 32  # StereoNet uses feature difference\n\n        if aggregation_type == 'adaptive':\n            self.aggregation = AdaptiveAggregation(max_disp=max_disp,\n                                                   num_scales=num_scales,\n                                                   num_fusions=num_fusions,\n                                                   num_stage_blocks=num_stage_blocks,\n                                                   num_deform_blocks=num_deform_blocks,\n                                                   mdconv_dilation=mdconv_dilation,\n                                                   deformable_groups=deformable_groups,\n                                                   intermediate_supervision=not no_intermediate_supervision)\n        elif aggregation_type == 'psmnet_basic':\n            self.aggregation = PSMNetBasicAggregation(max_disp=max_disp)\n        elif aggregation_type == 'psmnet_hourglass':\n            self.aggregation = PSMNetHGAggregation(max_disp=max_disp)\n        elif aggregation_type == 'gcnet':\n            self.aggregation = GCNetAggregation()\n        elif aggregation_type == 'stereonet':\n            self.aggregation = StereoNetAggregation(in_channels=in_channels)\n        else:\n            raise NotImplementedError\n\n        match_similarity = False if feature_similarity in ['difference', 'concat'] else True\n\n        if 'psmnet' in self.aggregation_type:\n            max_disp = self.max_disp * 4  # PSMNet directly upsamples cost volume\n            match_similarity = True  # PSMNet learns similarity for concatenation\n\n        # Disparity estimation\n        self.disparity_estimation = DisparityEstimation(max_disp, match_similarity)\n\n        # Refinement\n        if self.refinement_type is not None and self.refinement_type != 'None':\n            if self.refinement_type in ['stereonet', 'stereodrnet', 'hourglass']:\n                refine_module_list = nn.ModuleList()\n                for i in range(num_downsample):\n                    if self.refinement_type == 'stereonet':\n                        refine_module_list.append(StereoNetRefinement())\n                    elif self.refinement_type == 'stereodrnet':\n                        refine_module_list.append(StereoDRNetRefinement())\n                    elif self.refinement_type == 'hourglass':\n                        refine_module_list.append(HourglassRefinement())\n                    else:\n                        raise NotImplementedError\n\n                self.refinement = refine_module_list\n            else:\n                raise NotImplementedError\n\n    def feature_extraction(self, img):\n        feature = self.feature_extractor(img)\n        if self.feature_pyramid_network or self.feature_pyramid:\n            feature = self.fpn(feature)\n        return feature\n\n    def cost_volume_construction(self, left_feature, right_feature):\n        cost_volume = self.cost_volume(left_feature, right_feature)\n\n        if isinstance(cost_volume, list):\n            if self.num_scales == 1:\n                cost_volume = [cost_volume[0]]  # ablation purpose for 1 scale only\n        elif self.aggregation_type == 'adaptive':\n            cost_volume = [cost_volume]\n        return cost_volume\n\n    def disparity_computation(self, aggregation):\n        if isinstance(aggregation, list):\n            disparity_pyramid = []\n            length = len(aggregation)  # D/3, D/6, D/12\n            for i in range(length):\n                disp = self.disparity_estimation(aggregation[length - 1 - i])  # reverse\n                disparity_pyramid.append(disp)  # D/12, D/6, D/3\n        else:\n            disparity = self.disparity_estimation(aggregation)\n            disparity_pyramid = [disparity]\n\n        return disparity_pyramid\n\n    def disparity_refinement(self, left_img, right_img, disparity):\n        disparity_pyramid = []\n        if self.refinement_type is not None and self.refinement_type != 'None':\n            if self.refinement_type == 'stereonet':\n                for i in range(self.num_downsample):\n                    # Hierarchical refinement\n                    scale_factor = 1. / pow(2, self.num_downsample - i - 1)\n                    if scale_factor == 1.0:\n                        curr_left_img = left_img\n                        curr_right_img = right_img\n                    else:\n                        curr_left_img = F.interpolate(left_img,\n                                                      scale_factor=scale_factor,\n                                                      mode='bilinear', align_corners=False)\n                        curr_right_img = F.interpolate(right_img,\n                                                       scale_factor=scale_factor,\n                                                       mode='bilinear', align_corners=False)\n                    inputs = (disparity, curr_left_img, curr_right_img)\n                    disparity = self.refinement[i](*inputs)\n                    disparity_pyramid.append(disparity)  # [H/2, H]\n\n            elif self.refinement_type in ['stereodrnet', 'hourglass']:\n                for i in range(self.num_downsample):\n                    scale_factor = 1. / pow(2, self.num_downsample - i - 1)\n\n                    if scale_factor == 1.0:\n                        curr_left_img = left_img\n                        curr_right_img = right_img\n                    else:\n                        curr_left_img = F.interpolate(left_img,\n                                                      scale_factor=scale_factor,\n                                                      mode='bilinear', align_corners=False)\n                        curr_right_img = F.interpolate(right_img,\n                                                       scale_factor=scale_factor,\n                                                       mode='bilinear', align_corners=False)\n                    inputs = (disparity, curr_left_img, curr_right_img)\n                    disparity = self.refinement[i](*inputs)\n                    disparity_pyramid.append(disparity)  # [H/2, H]\n\n            else:\n                raise NotImplementedError\n\n        return disparity_pyramid\n\n    def forward(self, left_img, right_img):\n        left_feature = self.feature_extraction(left_img)\n        right_feature = self.feature_extraction(right_img)\n        cost_volume = self.cost_volume_construction(left_feature, right_feature)\n        aggregation = self.aggregation(cost_volume)\n        disparity_pyramid = self.disparity_computation(aggregation)\n        disparity_pyramid += self.disparity_refinement(left_img, right_img,\n                                                       disparity_pyramid[-1])\n\n        return disparity_pyramid\n"
  },
  {
    "path": "nets/aggregation.py",
    "content": "import torch\nimport torch.nn as nn\nimport torch.nn.functional as F\n\nfrom nets.deform import SimpleBottleneck, DeformSimpleBottleneck\n\n\ndef conv3d(in_channels, out_channels, kernel_size=3, stride=1, dilation=1, groups=1):\n    return nn.Sequential(nn.Conv3d(in_channels, out_channels, kernel_size=kernel_size,\n                                   stride=stride, padding=dilation, dilation=dilation,\n                                   bias=False, groups=groups),\n                         nn.BatchNorm3d(out_channels),\n                         nn.LeakyReLU(0.2, inplace=True))\n\n\n# Used in PSMNet\ndef convbn_3d(in_planes, out_planes, kernel_size, stride, pad):\n    return nn.Sequential(\n        nn.Conv3d(in_planes, out_planes, kernel_size=kernel_size, padding=pad, stride=stride, bias=False),\n        nn.BatchNorm3d(out_planes))\n\n\ndef conv2d(in_channels, out_channels, kernel_size=3, stride=1, dilation=1, groups=1):\n    return nn.Sequential(nn.Conv2d(in_channels, out_channels, kernel_size=kernel_size,\n                                   stride=stride, padding=dilation, dilation=dilation,\n                                   bias=False, groups=groups),\n                         nn.BatchNorm2d(out_channels),\n                         nn.LeakyReLU(0.2, inplace=True))\n\n\ndef conv1x1(in_planes, out_planes):\n    \"\"\"1x1 convolution, used for pointwise conv\"\"\"\n    return nn.Sequential(nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=1,\n                                   padding=0, bias=False),\n                         nn.BatchNorm2d(out_planes),\n                         nn.LeakyReLU(0.2, inplace=True))\n\n\n# Used for StereoNet feature extractor\ndef conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1, with_bn_relu=False):\n    \"\"\"3x3 convolution with padding\"\"\"\n    conv = nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride,\n                     padding=dilation, groups=groups, bias=False, dilation=dilation)\n    if with_bn_relu:\n        conv = nn.Sequential(conv,\n                             nn.BatchNorm2d(out_planes),\n                             nn.ReLU(inplace=True))\n    return conv\n\n\n# Used for GCNet for aggregation\ndef conv3x3_3d(in_planes, out_planes, stride=1, groups=1, dilation=1):\n    return nn.Sequential(nn.Conv3d(in_planes, out_planes, kernel_size=3,\n                                   stride=stride, padding=dilation, dilation=dilation,\n                                   groups=groups, bias=False),\n                         nn.BatchNorm3d(out_planes),\n                         nn.ReLU(inplace=True))\n\n\ndef trans_conv3x3_3d(in_channels, out_channels, stride=1, groups=1, dilation=1):\n    return nn.Sequential(nn.ConvTranspose3d(in_channels, out_channels, kernel_size=3,\n                                            stride=stride, padding=dilation,\n                                            output_padding=dilation,\n                                            groups=groups, dilation=dilation,\n                                            bias=False),\n                         nn.BatchNorm3d(out_channels),\n                         nn.ReLU(inplace=True))\n\n\nclass StereoNetAggregation(nn.Module):\n    def __init__(self, in_channels=32):\n        super(StereoNetAggregation, self).__init__()\n\n        aggregation_modules = nn.ModuleList()\n\n        # StereoNet uses four 3d conv\n        for _ in range(4):\n            aggregation_modules.append(conv3d(in_channels, in_channels))\n        self.aggregation_layer = nn.Sequential(*aggregation_modules)\n\n        self.final_conv = nn.Conv3d(in_channels, 1, kernel_size=3, stride=1,\n                                    padding=1, bias=True)\n\n    def forward(self, cost_volume):\n        assert cost_volume.dim() == 5  # [B, C, D, H, W]\n\n        out = self.aggregation_layer(cost_volume)\n        out = self.final_conv(out)  # [B, 1, D, H, W]\n        out = out.squeeze(1)  # [B, D, H, W]\n\n        return out\n\n\nclass PSMNetBasicAggregation(nn.Module):\n    \"\"\"12 3D conv\"\"\"\n\n    def __init__(self, max_disp):\n        super(PSMNetBasicAggregation, self).__init__()\n        self.max_disp = max_disp\n\n        conv0 = convbn_3d(64, 32, 3, 1, 1)\n        conv1 = convbn_3d(32, 32, 3, 1, 1)\n\n        final_conv = nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False)\n\n        self.dres0 = nn.Sequential(conv0,\n                                   nn.ReLU(inplace=True),\n                                   conv1,\n                                   nn.ReLU(inplace=True))\n\n        self.dres1 = nn.Sequential(conv1,\n                                   nn.ReLU(inplace=True),\n                                   conv1)\n\n        self.dres2 = nn.Sequential(conv1,\n                                   nn.ReLU(inplace=True),\n                                   conv1)\n\n        self.dres3 = nn.Sequential(conv1,\n                                   nn.ReLU(inplace=True),\n                                   conv1)\n\n        self.dres4 = nn.Sequential(conv1,\n                                   nn.ReLU(inplace=True),\n                                   conv1)\n\n        self.classify = nn.Sequential(conv1,\n                                      nn.ReLU(inplace=True),\n                                      final_conv)\n\n    def forward(self, cost):\n        cost0 = self.dres0(cost)\n        cost0 = self.dres1(cost0) + cost0\n        cost0 = self.dres2(cost0) + cost0\n        cost0 = self.dres3(cost0) + cost0\n        cost0 = self.dres4(cost0) + cost0\n\n        cost = self.classify(cost0)  # [B, 1, 48, H/4, W/4]\n        cost = F.interpolate(cost, scale_factor=4, mode='trilinear')\n\n        cost = torch.squeeze(cost, 1)  # [B, 192, H, W]\n\n        return [cost]\n\n\n# PSMNet Hourglass network\nclass PSMNetHourglass(nn.Module):\n    def __init__(self, inplanes):\n        super(PSMNetHourglass, self).__init__()\n\n        self.conv1 = nn.Sequential(convbn_3d(inplanes, inplanes * 2, kernel_size=3, stride=2, pad=1),\n                                   nn.ReLU(inplace=True))\n\n        self.conv2 = convbn_3d(inplanes * 2, inplanes * 2, kernel_size=3, stride=1, pad=1)\n\n        self.conv3 = nn.Sequential(convbn_3d(inplanes * 2, inplanes * 2, kernel_size=3, stride=2, pad=1),\n                                   nn.ReLU(inplace=True))\n\n        self.conv4 = nn.Sequential(convbn_3d(inplanes * 2, inplanes * 2, kernel_size=3, stride=1, pad=1),\n                                   nn.ReLU(inplace=True))\n\n        self.conv5 = nn.Sequential(\n            nn.ConvTranspose3d(inplanes * 2, inplanes * 2, kernel_size=3, padding=1, output_padding=1, stride=2,\n                               bias=False),\n            nn.BatchNorm3d(inplanes * 2))  # +conv2\n\n        self.conv6 = nn.Sequential(\n            nn.ConvTranspose3d(inplanes * 2, inplanes, kernel_size=3, padding=1, output_padding=1, stride=2,\n                               bias=False),\n            nn.BatchNorm3d(inplanes))  # +x\n\n    def forward(self, x, presqu, postsqu):\n\n        out = self.conv1(x)  # in:1/4 out:1/8\n        pre = self.conv2(out)  # in:1/8 out:1/8\n        if postsqu is not None:\n            pre = F.relu(pre + postsqu, inplace=True)\n        else:\n            pre = F.relu(pre, inplace=True)\n\n        out = self.conv3(pre)  # in:1/8 out:1/16\n        out = self.conv4(out)  # in:1/16 out:1/16\n\n        if presqu is not None:\n            post = F.relu(self.conv5(out) + presqu, inplace=True)  # in:1/16 out:1/8\n        else:\n            post = F.relu(self.conv5(out) + pre, inplace=True)\n\n        out = self.conv6(post)  # in:1/8 out:1/4\n\n        return out, pre, post\n\n\nclass PSMNetHGAggregation(nn.Module):\n    \"\"\"22 3D conv\"\"\"\n\n    def __init__(self, max_disp):\n        super(PSMNetHGAggregation, self).__init__()\n        self.max_disp = max_disp\n\n        self.dres0 = nn.Sequential(convbn_3d(64, 32, 3, 1, 1),\n                                   nn.ReLU(inplace=True),\n                                   convbn_3d(32, 32, 3, 1, 1),\n                                   nn.ReLU(inplace=True))  # [B, 32, D/4, H/4, W/4]\n\n        self.dres1 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1),\n                                   nn.ReLU(inplace=True),\n                                   convbn_3d(32, 32, 3, 1, 1))  # [B, 32, D/4, H/4, W/4]\n\n        self.dres2 = PSMNetHourglass(32)\n\n        self.dres3 = PSMNetHourglass(32)\n\n        self.dres4 = PSMNetHourglass(32)\n\n        self.classif1 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1),\n                                      nn.ReLU(inplace=True),\n                                      nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False))\n\n        self.classif2 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1),\n                                      nn.ReLU(inplace=True),\n                                      nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False))\n\n        self.classif3 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1),\n                                      nn.ReLU(inplace=True),\n                                      nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False))\n\n    def forward(self, cost):\n        cost0 = self.dres0(cost)\n        cost0 = self.dres1(cost0) + cost0\n\n        out1, pre1, post1 = self.dres2(cost0, None, None)\n        out1 = out1 + cost0\n\n        out2, pre2, post2 = self.dres3(out1, pre1, post1)\n        out2 = out2 + cost0\n\n        out3, pre3, post3 = self.dres4(out2, pre1, post2)\n        out3 = out3 + cost0\n\n        cost1 = self.classif1(out1)\n        cost2 = self.classif2(out2) + cost1\n        cost3 = self.classif3(out3) + cost2\n\n        cost3 = F.interpolate(cost3, scale_factor=4, mode='trilinear')\n        cost3 = torch.squeeze(cost3, 1)\n\n        if self.training:\n            cost1 = F.interpolate(cost1, scale_factor=4, mode='trilinear')\n            cost2 = F.interpolate(cost2, scale_factor=4, mode='trilinear')\n\n            cost1 = torch.squeeze(cost1, 1)\n            cost2 = torch.squeeze(cost2, 1)\n\n            return [cost1, cost2, cost3]\n\n        return [cost3]\n\n\nclass GCNetAggregation(nn.Module):\n    def __init__(self):\n        super(GCNetAggregation, self).__init__()\n        self.conv1 = nn.Sequential(conv3x3_3d(64, 32),\n                                   conv3x3_3d(32, 32))  # H/2\n\n        self.conv2a = conv3x3_3d(64, 64, stride=2)  # H/4\n        self.conv2b = nn.Sequential(conv3x3_3d(64, 64),\n                                    conv3x3_3d(64, 64))  # H/4\n\n        self.conv3a = conv3x3_3d(64, 64, stride=2)  # H/8\n        self.conv3b = nn.Sequential(conv3x3_3d(64, 64),\n                                    conv3x3_3d(64, 64))  # H/8\n\n        self.conv4a = conv3x3_3d(64, 64, stride=2)  # H/16\n        self.conv4b = nn.Sequential(conv3x3_3d(64, 64),\n                                    conv3x3_3d(64, 64))  # H/16\n\n        self.conv5a = conv3x3_3d(64, 128, stride=2)  # H/32\n        self.conv5b = nn.Sequential(conv3x3_3d(128, 128),\n                                    conv3x3_3d(128, 128))  # H/32\n\n        self.trans_conv1 = trans_conv3x3_3d(128, 64, stride=2)  # H/16\n        self.trans_conv2 = trans_conv3x3_3d(64, 64, stride=2)  # H/8\n        self.trans_conv3 = trans_conv3x3_3d(64, 64, stride=2)  # H/4\n        self.trans_conv4 = trans_conv3x3_3d(64, 32, stride=2)  # H/2\n        self.trans_conv5 = nn.ConvTranspose3d(32, 1, kernel_size=3,\n                                              stride=2, padding=1,\n                                              groups=1, dilation=1,\n                                              bias=False)  # H\n\n    def forward(self, cost_volume):\n        conv1 = self.conv1(cost_volume)  # H/2\n        conv2a = self.conv2a(cost_volume)  # H/4\n        conv2b = self.conv2b(conv2a)  # H/4\n        conv3a = self.conv3a(conv2a)  # H/8\n        conv3b = self.conv3b(conv3a)  # H/8\n        conv4a = self.conv4a(conv3a)  # H/16\n        conv4b = self.conv4b(conv4a)  # H/16\n        conv5a = self.conv5a(conv4a)  # H/32\n        conv5b = self.conv5b(conv5a)  # H/32\n        trans_conv1 = self.trans_conv1(conv5b)  # H/16\n        trans_conv2 = self.trans_conv2(trans_conv1 + conv4b)  # H/8\n        trans_conv3 = self.trans_conv3(trans_conv2 + conv3b)  # H/4\n        trans_conv4 = self.trans_conv4(trans_conv3 + conv2b)  # H/2\n        trans_conv5 = self.trans_conv5(trans_conv4 + conv1)  # H\n\n        out = torch.squeeze(trans_conv5, 1)  # [B, D, H, W]\n\n        return out\n\n\n# Adaptive intra-scale aggregation & adaptive cross-scale aggregation\nclass AdaptiveAggregationModule(nn.Module):\n    def __init__(self, num_scales, num_output_branches, max_disp,\n                 num_blocks=1,\n                 simple_bottleneck=False,\n                 deformable_groups=2,\n                 mdconv_dilation=2):\n        super(AdaptiveAggregationModule, self).__init__()\n\n        self.num_scales = num_scales\n        self.num_output_branches = num_output_branches\n        self.max_disp = max_disp\n        self.num_blocks = num_blocks\n\n        self.branches = nn.ModuleList()\n\n        # Adaptive intra-scale aggregation\n        for i in range(self.num_scales):\n            num_candidates = max_disp // (2 ** i)\n            branch = nn.ModuleList()\n            for j in range(num_blocks):\n                if simple_bottleneck:\n                    branch.append(SimpleBottleneck(num_candidates, num_candidates))\n                else:\n                    branch.append(DeformSimpleBottleneck(num_candidates, num_candidates, modulation=True,\n                                                         mdconv_dilation=mdconv_dilation,\n                                                         deformable_groups=deformable_groups))\n\n            self.branches.append(nn.Sequential(*branch))\n\n        self.fuse_layers = nn.ModuleList()\n\n        # Adaptive cross-scale aggregation\n        # For each output branch\n        for i in range(self.num_output_branches):\n            self.fuse_layers.append(nn.ModuleList())\n            # For each branch (different scale)\n            for j in range(self.num_scales):\n                if i == j:\n                    # Identity\n                    self.fuse_layers[-1].append(nn.Identity())\n                elif i < j:\n                    self.fuse_layers[-1].append(\n                        nn.Sequential(nn.Conv2d(max_disp // (2 ** j), max_disp // (2 ** i),\n                                                kernel_size=1, bias=False),\n                                      nn.BatchNorm2d(max_disp // (2 ** i)),\n                                      ))\n                elif i > j:\n                    layers = nn.ModuleList()\n                    for k in range(i - j - 1):\n                        layers.append(nn.Sequential(nn.Conv2d(max_disp // (2 ** j), max_disp // (2 ** j),\n                                                              kernel_size=3, stride=2, padding=1, bias=False),\n                                                    nn.BatchNorm2d(max_disp // (2 ** j)),\n                                                    nn.LeakyReLU(0.2, inplace=True),\n                                                    ))\n\n                    layers.append(nn.Sequential(nn.Conv2d(max_disp // (2 ** j), max_disp // (2 ** i),\n                                                          kernel_size=3, stride=2, padding=1, bias=False),\n                                                nn.BatchNorm2d(max_disp // (2 ** i))))\n                    self.fuse_layers[-1].append(nn.Sequential(*layers))\n\n        self.relu = nn.LeakyReLU(0.2, inplace=True)\n\n    def forward(self, x):\n        assert len(self.branches) == len(x)\n\n        for i in range(len(self.branches)):\n            branch = self.branches[i]\n            for j in range(self.num_blocks):\n                dconv = branch[j]\n                x[i] = dconv(x[i])\n\n        if self.num_scales == 1:  # without fusions\n            return x\n\n        x_fused = []\n        for i in range(len(self.fuse_layers)):\n            for j in range(len(self.branches)):\n                if j == 0:\n                    x_fused.append(self.fuse_layers[i][0](x[0]))\n                else:\n                    exchange = self.fuse_layers[i][j](x[j])\n                    if exchange.size()[2:] != x_fused[i].size()[2:]:\n                        exchange = F.interpolate(exchange, size=x_fused[i].size()[2:],\n                                                 mode='bilinear', align_corners=False)\n                    x_fused[i] = x_fused[i] + exchange\n\n        for i in range(len(x_fused)):\n            x_fused[i] = self.relu(x_fused[i])\n\n        return x_fused\n\n\n# Stacked AAModules\nclass AdaptiveAggregation(nn.Module):\n    def __init__(self, max_disp, num_scales=3, num_fusions=6,\n                 num_stage_blocks=1,\n                 num_deform_blocks=2,\n                 intermediate_supervision=True,\n                 deformable_groups=2,\n                 mdconv_dilation=2):\n        super(AdaptiveAggregation, self).__init__()\n\n        self.max_disp = max_disp\n        self.num_scales = num_scales\n        self.num_fusions = num_fusions\n        self.intermediate_supervision = intermediate_supervision\n\n        fusions = nn.ModuleList()\n        for i in range(num_fusions):\n            if self.intermediate_supervision:\n                num_out_branches = self.num_scales\n            else:\n                num_out_branches = 1 if i == num_fusions - 1 else self.num_scales\n\n            if i >= num_fusions - num_deform_blocks:\n                simple_bottleneck_module = False\n            else:\n                simple_bottleneck_module = True\n\n            fusions.append(AdaptiveAggregationModule(num_scales=self.num_scales,\n                                                     num_output_branches=num_out_branches,\n                                                     max_disp=max_disp,\n                                                     num_blocks=num_stage_blocks,\n                                                     mdconv_dilation=mdconv_dilation,\n                                                     deformable_groups=deformable_groups,\n                                                     simple_bottleneck=simple_bottleneck_module))\n\n        self.fusions = nn.Sequential(*fusions)\n\n        self.final_conv = nn.ModuleList()\n        for i in range(self.num_scales):\n            in_channels = max_disp // (2 ** i)\n\n            self.final_conv.append(nn.Conv2d(in_channels, max_disp // (2 ** i), kernel_size=1))\n\n            if not self.intermediate_supervision:\n                break\n\n    def forward(self, cost_volume):\n        assert isinstance(cost_volume, list)\n\n        for i in range(self.num_fusions):\n            fusion = self.fusions[i]\n            cost_volume = fusion(cost_volume)\n\n        # Make sure the final output is in the first position\n        out = []  # 1/3, 1/6, 1/12\n        for i in range(len(self.final_conv)):\n            out = out + [self.final_conv[i](cost_volume[i])]\n\n        return out\n"
  },
  {
    "path": "nets/cost.py",
    "content": "import torch\nimport torch.nn as nn\n\n\nclass CostVolume(nn.Module):\n    def __init__(self, max_disp, feature_similarity='correlation'):\n        \"\"\"Construct cost volume based on different\n        similarity measures\n\n        Args:\n            max_disp: max disparity candidate\n            feature_similarity: type of similarity measure\n        \"\"\"\n        super(CostVolume, self).__init__()\n\n        self.max_disp = max_disp\n        self.feature_similarity = feature_similarity\n\n    def forward(self, left_feature, right_feature):\n        b, c, h, w = left_feature.size()\n\n        if self.feature_similarity == 'difference':\n            cost_volume = left_feature.new_zeros(b, c, self.max_disp, h, w)\n\n            for i in range(self.max_disp):\n                if i > 0:\n                    cost_volume[:, :, i, :, i:] = left_feature[:, :, :, i:] - right_feature[:, :, :, :-i]\n                else:\n                    cost_volume[:, :, i, :, :] = left_feature - right_feature\n\n        elif self.feature_similarity == 'concat':\n            cost_volume = left_feature.new_zeros(b, 2 * c, self.max_disp, h, w)\n            for i in range(self.max_disp):\n                if i > 0:\n                    cost_volume[:, :, i, :, i:] = torch.cat((left_feature[:, :, :, i:], right_feature[:, :, :, :-i]),\n                                                            dim=1)\n                else:\n                    cost_volume[:, :, i, :, :] = torch.cat((left_feature, right_feature), dim=1)\n\n        elif self.feature_similarity == 'correlation':\n            cost_volume = left_feature.new_zeros(b, self.max_disp, h, w)\n\n            for i in range(self.max_disp):\n                if i > 0:\n                    cost_volume[:, i, :, i:] = (left_feature[:, :, :, i:] *\n                                                right_feature[:, :, :, :-i]).mean(dim=1)\n                else:\n                    cost_volume[:, i, :, :] = (left_feature * right_feature).mean(dim=1)\n\n        else:\n            raise NotImplementedError\n\n        cost_volume = cost_volume.contiguous()  # [B, C, D, H, W] or [B, D, H, W]\n\n        return cost_volume\n\n\nclass CostVolumePyramid(nn.Module):\n    def __init__(self, max_disp, feature_similarity='correlation'):\n        super(CostVolumePyramid, self).__init__()\n        self.max_disp = max_disp\n        self.feature_similarity = feature_similarity\n\n    def forward(self, left_feature_pyramid, right_feature_pyramid):\n        num_scales = len(left_feature_pyramid)\n\n        cost_volume_pyramid = []\n        for s in range(num_scales):\n            max_disp = self.max_disp // (2 ** s)\n            cost_volume_module = CostVolume(max_disp, self.feature_similarity)\n            cost_volume = cost_volume_module(left_feature_pyramid[s],\n                                             right_feature_pyramid[s])\n            cost_volume_pyramid.append(cost_volume)\n\n        return cost_volume_pyramid  # H/3, H/6, H/12\n"
  },
  {
    "path": "nets/deform.py",
    "content": "import torch.nn as nn\n\nfrom nets.deform_conv import DeformConv, ModulatedDeformConv\n\n\ndef conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1):\n    \"\"\"3x3 convolution with padding\"\"\"\n    return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride,\n                     padding=dilation, groups=groups, bias=False, dilation=dilation)\n\n\ndef conv1x1(in_planes, out_planes, stride=1):\n    \"\"\"1x1 convolution\"\"\"\n    return nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=stride, bias=False)\n\n\nclass DeformConv2d(nn.Module):\n    \"\"\"A single (modulated) deformable conv layer\"\"\"\n\n    def __init__(self, in_channels,\n                 out_channels,\n                 kernel_size=3,\n                 stride=1,\n                 dilation=2,\n                 groups=1,\n                 deformable_groups=2,\n                 modulation=True,\n                 double_mask=True,\n                 bias=False):\n        super(DeformConv2d, self).__init__()\n\n        self.modulation = modulation\n        self.deformable_groups = deformable_groups\n        self.kernel_size = kernel_size\n        self.double_mask = double_mask\n\n        if self.modulation:\n            self.deform_conv = ModulatedDeformConv(in_channels,\n                                                   out_channels,\n                                                   kernel_size=kernel_size,\n                                                   stride=stride,\n                                                   padding=dilation,\n                                                   dilation=dilation,\n                                                   groups=groups,\n                                                   deformable_groups=deformable_groups,\n                                                   bias=bias)\n        else:\n            self.deform_conv = DeformConv(in_channels,\n                                          out_channels,\n                                          kernel_size=kernel_size,\n                                          stride=stride,\n                                          padding=dilation,\n                                          dilation=dilation,\n                                          groups=groups,\n                                          deformable_groups=deformable_groups,\n                                          bias=bias)\n\n        k = 3 if self.modulation else 2\n\n        offset_out_channels = deformable_groups * k * kernel_size * kernel_size\n\n        # Group-wise offset leraning when deformable_groups > 1\n        self.offset_conv = nn.Conv2d(in_channels, offset_out_channels, kernel_size=kernel_size,\n                                     stride=stride, padding=dilation, dilation=dilation,\n                                     groups=deformable_groups, bias=True)\n\n        # Initialize the weight for offset_conv as 0 to act like regular conv\n        nn.init.constant_(self.offset_conv.weight, 0.)\n        nn.init.constant_(self.offset_conv.bias, 0.)\n\n    def forward(self, x):\n        if self.modulation:\n            offset_mask = self.offset_conv(x)\n\n            offset_channel = self.deformable_groups * 2 * self.kernel_size * self.kernel_size\n            offset = offset_mask[:, :offset_channel, :, :]\n\n            mask = offset_mask[:, offset_channel:, :, :]\n            mask = mask.sigmoid()  # [0, 1]\n\n            if self.double_mask:\n                mask = mask * 2  # initialize as 1 to work as regular conv\n\n            out = self.deform_conv(x, offset, mask)\n\n        else:\n            offset = self.offset_conv(x)\n            out = self.deform_conv(x, offset)\n\n        return out\n\n\nclass DeformBottleneck(nn.Module):\n    expansion = 4\n    __constants__ = ['downsample']\n\n    def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,\n                 base_width=64, dilation=1, norm_layer=None):\n        super(DeformBottleneck, self).__init__()\n        if norm_layer is None:\n            norm_layer = nn.BatchNorm2d\n        width = int(planes * (base_width / 64.)) * groups\n        # Both self.conv2 and self.downsample layers downsample the input when stride != 1\n        self.conv1 = conv1x1(inplanes, width)\n        self.bn1 = norm_layer(width)\n        self.conv2 = DeformConv2d(width, width, stride=stride)\n        self.bn2 = norm_layer(width)\n        self.conv3 = conv1x1(width, planes * self.expansion)\n        self.bn3 = norm_layer(planes * self.expansion)\n        self.relu = nn.ReLU(inplace=True)\n        self.downsample = downsample\n        self.stride = stride\n\n    def forward(self, x):\n        identity = x\n\n        out = self.conv1(x)\n        out = self.bn1(out)\n        out = self.relu(out)\n\n        out = self.conv2(out)\n        out = self.bn2(out)\n        out = self.relu(out)\n\n        out = self.conv3(out)\n        out = self.bn3(out)\n\n        if self.downsample is not None:\n            identity = self.downsample(x)\n\n        out += identity\n        out = self.relu(out)\n\n        return out\n\n\nclass SimpleBottleneck(nn.Module):\n    \"\"\"Simple bottleneck block without channel expansion\"\"\"\n\n    def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,\n                 base_width=64, dilation=1, norm_layer=None):\n        super(SimpleBottleneck, self).__init__()\n        if norm_layer is None:\n            norm_layer = nn.BatchNorm2d\n        width = int(planes * (base_width / 64.)) * groups\n        # Both self.conv2 and self.downsample layers downsample the input when stride != 1\n        self.conv1 = conv1x1(inplanes, width)\n        self.bn1 = norm_layer(width)\n        self.conv2 = conv3x3(width, width, stride, groups, dilation)\n        self.bn2 = norm_layer(width)\n        self.conv3 = conv1x1(width, planes)\n        self.bn3 = norm_layer(planes)\n        self.relu = nn.ReLU(inplace=True)\n        self.downsample = downsample\n        self.stride = stride\n\n    def forward(self, x):\n        identity = x\n\n        out = self.conv1(x)\n        out = self.bn1(out)\n        out = self.relu(out)\n\n        out = self.conv2(out)\n        out = self.bn2(out)\n        out = self.relu(out)\n\n        out = self.conv3(out)\n        out = self.bn3(out)\n\n        if self.downsample is not None:\n            identity = self.downsample(x)\n\n        out += identity\n        out = self.relu(out)\n\n        return out\n\n\nclass DeformSimpleBottleneck(nn.Module):\n    \"\"\"Used for cost aggregation\"\"\"\n\n    def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,\n                 base_width=64, norm_layer=None,\n                 mdconv_dilation=2,\n                 deformable_groups=2,\n                 modulation=True,\n                 double_mask=True,\n                 ):\n        super(DeformSimpleBottleneck, self).__init__()\n        if norm_layer is None:\n            norm_layer = nn.BatchNorm2d\n        width = int(planes * (base_width / 64.)) * groups\n        # Both self.conv2 and self.downsample layers downsample the input when stride != 1\n        self.conv1 = conv1x1(inplanes, width)\n        self.bn1 = norm_layer(width)\n        self.conv2 = DeformConv2d(width, width, stride=stride,\n                                  dilation=mdconv_dilation,\n                                  deformable_groups=deformable_groups,\n                                  modulation=modulation,\n                                  double_mask=double_mask)\n        self.bn2 = norm_layer(width)\n        self.conv3 = conv1x1(width, planes)\n        self.bn3 = norm_layer(planes)\n        self.relu = nn.ReLU(inplace=True)\n        self.downsample = downsample\n        self.stride = stride\n\n    def forward(self, x):\n        identity = x\n\n        out = self.conv1(x)\n        out = self.bn1(out)\n        out = self.relu(out)\n\n        out = self.conv2(out)\n        out = self.bn2(out)\n        out = self.relu(out)\n\n        out = self.conv3(out)\n        out = self.bn3(out)\n\n        if self.downsample is not None:\n            identity = self.downsample(x)\n\n        out += identity\n        out = self.relu(out)\n\n        return out\n"
  },
  {
    "path": "nets/deform_conv/__init__.py",
    "content": "from .deform_conv import (DeformConv, DeformConvPack, ModulatedDeformConv,\n                          ModulatedDeformConvPack, deform_conv,\n                          modulated_deform_conv)\n\n__all__ = [\n    'DeformConv', 'DeformConvPack', 'ModulatedDeformConv',\n    'ModulatedDeformConvPack', 'deform_conv', 'modulated_deform_conv',\n]\n"
  },
  {
    "path": "nets/deform_conv/build.sh",
    "content": "#!/usr/bin/env bash\n\nPYTHON=${PYTHON:-\"python\"}\n\nif [ -d \"build\" ]; then\n    rm -r build\nfi\n$PYTHON setup.py build_ext --inplace\n"
  },
  {
    "path": "nets/deform_conv/deform_conv.py",
    "content": "import math\n\nimport torch\nimport torch.nn as nn\nfrom torch.autograd import Function\nfrom torch.autograd.function import once_differentiable\nfrom torch.nn.modules.utils import _pair, _single\n\nfrom . import deform_conv_cuda\n\n\nclass DeformConvFunction(Function):\n\n    @staticmethod\n    def forward(ctx,\n                input,\n                offset,\n                weight,\n                stride=1,\n                padding=0,\n                dilation=1,\n                groups=1,\n                deformable_groups=1,\n                im2col_step=64):\n        if input is not None and input.dim() != 4:\n            raise ValueError(\n                'Expected 4D tensor as input, got {}D tensor instead.'.format(\n                    input.dim()))\n        ctx.stride = _pair(stride)\n        ctx.padding = _pair(padding)\n        ctx.dilation = _pair(dilation)\n        ctx.groups = groups\n        ctx.deformable_groups = deformable_groups\n        ctx.im2col_step = im2col_step\n\n        ctx.save_for_backward(input, offset, weight)\n\n        output = input.new_empty(\n            DeformConvFunction._output_size(input, weight, ctx.padding,\n                                            ctx.dilation, ctx.stride))\n\n        ctx.bufs_ = [input.new_empty(0), input.new_empty(0)]  # columns, ones\n\n        if not input.is_cuda:\n            raise NotImplementedError\n        else:\n            cur_im2col_step = min(ctx.im2col_step, input.shape[0])\n            assert (input.shape[0] %\n                    cur_im2col_step) == 0, 'im2col step must divide batchsize'\n            deform_conv_cuda.deform_conv_forward_cuda(\n                input, weight, offset, output, ctx.bufs_[0], ctx.bufs_[1],\n                weight.size(3), weight.size(2), ctx.stride[1], ctx.stride[0],\n                ctx.padding[1], ctx.padding[0], ctx.dilation[1],\n                ctx.dilation[0], ctx.groups, ctx.deformable_groups,\n                cur_im2col_step)\n        return output\n\n    @staticmethod\n    @once_differentiable\n    def backward(ctx, grad_output):\n        input, offset, weight = ctx.saved_tensors\n\n        grad_input = grad_offset = grad_weight = None\n\n        if not grad_output.is_cuda:\n            raise NotImplementedError\n        else:\n            cur_im2col_step = min(ctx.im2col_step, input.shape[0])\n            assert (input.shape[0] %\n                    cur_im2col_step) == 0, 'im2col step must divide batchsize'\n\n            if ctx.needs_input_grad[0] or ctx.needs_input_grad[1]:\n                grad_input = torch.zeros_like(input)\n                grad_offset = torch.zeros_like(offset)\n                deform_conv_cuda.deform_conv_backward_input_cuda(\n                    input, offset, grad_output, grad_input,\n                    grad_offset, weight, ctx.bufs_[0], weight.size(3),\n                    weight.size(2), ctx.stride[1], ctx.stride[0],\n                    ctx.padding[1], ctx.padding[0], ctx.dilation[1],\n                    ctx.dilation[0], ctx.groups, ctx.deformable_groups,\n                    cur_im2col_step)\n\n            if ctx.needs_input_grad[2]:\n                grad_weight = torch.zeros_like(weight)\n                deform_conv_cuda.deform_conv_backward_parameters_cuda(\n                    input, offset, grad_output,\n                    grad_weight, ctx.bufs_[0], ctx.bufs_[1], weight.size(3),\n                    weight.size(2), ctx.stride[1], ctx.stride[0],\n                    ctx.padding[1], ctx.padding[0], ctx.dilation[1],\n                    ctx.dilation[0], ctx.groups, ctx.deformable_groups, 1,\n                    cur_im2col_step)\n\n        return (grad_input, grad_offset, grad_weight, None, None, None, None,\n                None)\n\n    @staticmethod\n    def _output_size(input, weight, padding, dilation, stride):\n        channels = weight.size(0)\n        output_size = (input.size(0), channels)\n        for d in range(input.dim() - 2):\n            in_size = input.size(d + 2)\n            pad = padding[d]\n            kernel = dilation[d] * (weight.size(d + 2) - 1) + 1\n            stride_ = stride[d]\n            output_size += ((in_size + (2 * pad) - kernel) // stride_ + 1,)\n        if not all(map(lambda s: s > 0, output_size)):\n            raise ValueError(\n                'convolution input is too small (output would be {})'.format(\n                    'x'.join(map(str, output_size))))\n        return output_size\n\n\nclass ModulatedDeformConvFunction(Function):\n\n    @staticmethod\n    def forward(ctx,\n                input,\n                offset,\n                mask,\n                weight,\n                bias=None,\n                stride=1,\n                padding=0,\n                dilation=1,\n                groups=1,\n                deformable_groups=1):\n        ctx.stride = stride\n        ctx.padding = padding\n        ctx.dilation = dilation\n        ctx.groups = groups\n        ctx.deformable_groups = deformable_groups\n        ctx.with_bias = bias is not None\n        if not ctx.with_bias:\n            bias = input.new_empty(1)  # fake tensor\n        if not input.is_cuda:\n            raise NotImplementedError\n        if weight.requires_grad or mask.requires_grad or offset.requires_grad \\\n                or input.requires_grad:\n            ctx.save_for_backward(input, offset, mask, weight, bias)\n        output = input.new_empty(\n            ModulatedDeformConvFunction._infer_shape(ctx, input, weight))\n        ctx._bufs = [input.new_empty(0), input.new_empty(0)]\n        deform_conv_cuda.modulated_deform_conv_cuda_forward(\n            input, weight, bias, ctx._bufs[0], offset, mask, output,\n            ctx._bufs[1], weight.shape[2], weight.shape[3], ctx.stride,\n            ctx.stride, ctx.padding, ctx.padding, ctx.dilation, ctx.dilation,\n            ctx.groups, ctx.deformable_groups, ctx.with_bias)\n        return output\n\n    @staticmethod\n    @once_differentiable\n    def backward(ctx, grad_output):\n        if not grad_output.is_cuda:\n            raise NotImplementedError\n        input, offset, mask, weight, bias = ctx.saved_tensors\n        grad_input = torch.zeros_like(input)\n        grad_offset = torch.zeros_like(offset)\n        grad_mask = torch.zeros_like(mask)\n        grad_weight = torch.zeros_like(weight)\n        grad_bias = torch.zeros_like(bias)\n        deform_conv_cuda.modulated_deform_conv_cuda_backward(\n            input, weight, bias, ctx._bufs[0], offset, mask, ctx._bufs[1],\n            grad_input, grad_weight, grad_bias, grad_offset, grad_mask,\n            grad_output, weight.shape[2], weight.shape[3], ctx.stride,\n            ctx.stride, ctx.padding, ctx.padding, ctx.dilation, ctx.dilation,\n            ctx.groups, ctx.deformable_groups, ctx.with_bias)\n        if not ctx.with_bias:\n            grad_bias = None\n\n        return (grad_input, grad_offset, grad_mask, grad_weight, grad_bias,\n                None, None, None, None, None)\n\n    @staticmethod\n    def _infer_shape(ctx, input, weight):\n        n = input.size(0)\n        channels_out = weight.size(0)\n        height, width = input.shape[2:4]\n        kernel_h, kernel_w = weight.shape[2:4]\n        height_out = (height + 2 * ctx.padding -\n                      (ctx.dilation * (kernel_h - 1) + 1)) // ctx.stride + 1\n        width_out = (width + 2 * ctx.padding -\n                     (ctx.dilation * (kernel_w - 1) + 1)) // ctx.stride + 1\n        return n, channels_out, height_out, width_out\n\n\ndeform_conv = DeformConvFunction.apply\nmodulated_deform_conv = ModulatedDeformConvFunction.apply\n\n\nclass DeformConv(nn.Module):\n\n    def __init__(self,\n                 in_channels,\n                 out_channels,\n                 kernel_size,\n                 stride=1,\n                 padding=0,\n                 dilation=1,\n                 groups=1,\n                 deformable_groups=1,\n                 bias=False):\n        super(DeformConv, self).__init__()\n\n        assert not bias\n        assert in_channels % groups == 0, \\\n            'in_channels {} cannot be divisible by groups {}'.format(\n                in_channels, groups)\n        assert out_channels % groups == 0, \\\n            'out_channels {} cannot be divisible by groups {}'.format(\n                out_channels, groups)\n\n        self.in_channels = in_channels\n        self.out_channels = out_channels\n        self.kernel_size = _pair(kernel_size)\n        self.stride = _pair(stride)\n        self.padding = _pair(padding)\n        self.dilation = _pair(dilation)\n        self.groups = groups\n        self.deformable_groups = deformable_groups\n        # enable compatibility with nn.Conv2d\n        self.transposed = False\n        self.output_padding = _single(0)\n\n        self.weight = nn.Parameter(\n            torch.Tensor(out_channels, in_channels // self.groups,\n                         *self.kernel_size))\n\n        self.reset_parameters()\n\n    def reset_parameters(self):\n        n = self.in_channels\n        for k in self.kernel_size:\n            n *= k\n        stdv = 1. / math.sqrt(n)\n        self.weight.data.uniform_(-stdv, stdv)\n\n    def forward(self, x, offset):\n        return deform_conv(x, offset, self.weight, self.stride, self.padding,\n                           self.dilation, self.groups, self.deformable_groups)\n\n\nclass DeformConvPack(DeformConv):\n    \"\"\"A Deformable Conv Encapsulation that acts as normal Conv layers.\n\n    Args:\n        in_channels (int): Same as nn.Conv2d.\n        out_channels (int): Same as nn.Conv2d.\n        kernel_size (int or tuple[int]): Same as nn.Conv2d.\n        stride (int or tuple[int]): Same as nn.Conv2d.\n        padding (int or tuple[int]): Same as nn.Conv2d.\n        dilation (int or tuple[int]): Same as nn.Conv2d.\n        groups (int): Same as nn.Conv2d.\n        bias (bool or str): If specified as `auto`, it will be decided by the\n            norm_cfg. Bias will be set as True if norm_cfg is None, otherwise\n            False.\n    \"\"\"\n\n    _version = 2\n\n    def __init__(self, *args, **kwargs):\n        super(DeformConvPack, self).__init__(*args, **kwargs)\n\n        self.conv_offset = nn.Conv2d(\n            self.in_channels,\n            self.deformable_groups * 2 * self.kernel_size[0] *\n            self.kernel_size[1],\n            kernel_size=self.kernel_size,\n            stride=_pair(self.stride),\n            padding=_pair(self.padding),\n            bias=True)\n        self.init_offset()\n\n    def init_offset(self):\n        self.conv_offset.weight.data.zero_()\n        self.conv_offset.bias.data.zero_()\n\n    def forward(self, x):\n        offset = self.conv_offset(x)\n        return deform_conv(x, offset, self.weight, self.stride, self.padding,\n                           self.dilation, self.groups, self.deformable_groups)\n\n    def _load_from_state_dict(self, state_dict, prefix, local_metadata, strict,\n                              missing_keys, unexpected_keys, error_msgs):\n        version = local_metadata.get('version', None)\n\n        if version is None or version < 2:\n            # the key is different in early versions\n            # In version < 2, DeformConvPack loads previous benchmark models.\n            if (prefix + 'conv_offset.weight' not in state_dict\n                    and prefix[:-1] + '_offset.weight' in state_dict):\n                state_dict[prefix + 'conv_offset.weight'] = state_dict.pop(\n                    prefix[:-1] + '_offset.weight')\n            if (prefix + 'conv_offset.bias' not in state_dict\n                    and prefix[:-1] + '_offset.bias' in state_dict):\n                state_dict[prefix +\n                           'conv_offset.bias'] = state_dict.pop(prefix[:-1] +\n                                                                '_offset.bias')\n\n        super()._load_from_state_dict(state_dict, prefix, local_metadata,\n                                      strict, missing_keys, unexpected_keys,\n                                      error_msgs)\n\n\nclass ModulatedDeformConv(nn.Module):\n\n    def __init__(self,\n                 in_channels,\n                 out_channels,\n                 kernel_size,\n                 stride=1,\n                 padding=0,\n                 dilation=1,\n                 groups=1,\n                 deformable_groups=1,\n                 bias=True):\n        super(ModulatedDeformConv, self).__init__()\n        self.in_channels = in_channels\n        self.out_channels = out_channels\n        self.kernel_size = _pair(kernel_size)\n        self.stride = stride\n        self.padding = padding\n        self.dilation = dilation\n        self.groups = groups\n        self.deformable_groups = deformable_groups\n        self.with_bias = bias\n        # enable compatibility with nn.Conv2d\n        self.transposed = False\n        self.output_padding = _single(0)\n\n        self.weight = nn.Parameter(\n            torch.Tensor(out_channels, in_channels // groups,\n                         *self.kernel_size))\n        if bias:\n            self.bias = nn.Parameter(torch.Tensor(out_channels))\n        else:\n            self.register_parameter('bias', None)\n        self.reset_parameters()\n\n    def reset_parameters(self):\n        n = self.in_channels\n        for k in self.kernel_size:\n            n *= k\n        stdv = 1. / math.sqrt(n)\n        self.weight.data.uniform_(-stdv, stdv)\n        if self.bias is not None:\n            self.bias.data.zero_()\n\n    def forward(self, x, offset, mask):\n        return modulated_deform_conv(x, offset, mask, self.weight, self.bias,\n                                     self.stride, self.padding, self.dilation,\n                                     self.groups, self.deformable_groups)\n\n\nclass ModulatedDeformConvPack(ModulatedDeformConv):\n    \"\"\"A ModulatedDeformable Conv Encapsulation that acts as normal Conv layers.\n\n    Args:\n        in_channels (int): Same as nn.Conv2d.\n        out_channels (int): Same as nn.Conv2d.\n        kernel_size (int or tuple[int]): Same as nn.Conv2d.\n        stride (int or tuple[int]): Same as nn.Conv2d.\n        padding (int or tuple[int]): Same as nn.Conv2d.\n        dilation (int or tuple[int]): Same as nn.Conv2d.\n        groups (int): Same as nn.Conv2d.\n        bias (bool or str): If specified as `auto`, it will be decided by the\n            norm_cfg. Bias will be set as True if norm_cfg is None, otherwise\n            False.\n    \"\"\"\n\n    _version = 2\n\n    def __init__(self, *args, **kwargs):\n        super(ModulatedDeformConvPack, self).__init__(*args, **kwargs)\n\n        self.conv_offset = nn.Conv2d(\n            self.in_channels,\n            self.deformable_groups * 3 * self.kernel_size[0] *\n            self.kernel_size[1],\n            kernel_size=self.kernel_size,\n            stride=_pair(self.stride),\n            padding=_pair(self.padding),\n            bias=True)\n        self.init_offset()\n\n    def init_offset(self):\n        self.conv_offset.weight.data.zero_()\n        self.conv_offset.bias.data.zero_()\n\n    def forward(self, x):\n        out = self.conv_offset(x)\n        o1, o2, mask = torch.chunk(out, 3, dim=1)\n        offset = torch.cat((o1, o2), dim=1)\n        mask = torch.sigmoid(mask)\n        return modulated_deform_conv(x, offset, mask, self.weight, self.bias,\n                                     self.stride, self.padding, self.dilation,\n                                     self.groups, self.deformable_groups)\n\n    def _load_from_state_dict(self, state_dict, prefix, local_metadata, strict,\n                              missing_keys, unexpected_keys, error_msgs):\n        version = local_metadata.get('version', None)\n\n        if version is None or version < 2:\n            # the key is different in early versions\n            # In version < 2, ModulatedDeformConvPack\n            # loads previous benchmark models.\n            if (prefix + 'conv_offset.weight' not in state_dict\n                    and prefix[:-1] + '_offset.weight' in state_dict):\n                state_dict[prefix + 'conv_offset.weight'] = state_dict.pop(\n                    prefix[:-1] + '_offset.weight')\n            if (prefix + 'conv_offset.bias' not in state_dict\n                    and prefix[:-1] + '_offset.bias' in state_dict):\n                state_dict[prefix +\n                           'conv_offset.bias'] = state_dict.pop(prefix[:-1] +\n                                                                '_offset.bias')\n\n        super()._load_from_state_dict(state_dict, prefix, local_metadata,\n                                      strict, missing_keys, unexpected_keys,\n                                      error_msgs)\n"
  },
  {
    "path": "nets/deform_conv/setup.py",
    "content": "from setuptools import setup\nfrom torch.utils.cpp_extension import BuildExtension, CUDAExtension\n\nsetup(\n    name='deform_conv',\n    ext_modules=[\n        CUDAExtension('deform_conv_cuda', [\n            'src/deform_conv_cuda.cpp',\n            'src/deform_conv_cuda_kernel.cu',\n        ]),\n    ],\n    cmdclass={'build_ext': BuildExtension})\n"
  },
  {
    "path": "nets/deform_conv/src/deform_conv_cuda.cpp",
    "content": "// modify from\n// https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/blob/mmdetection/mmdet/ops/dcn/src/deform_conv_cuda.c\n\n#include <torch/extension.h>\n#include <ATen/DeviceGuard.h>\n\n#include <cmath>\n#include <vector>\n\nvoid deformable_im2col(const at::Tensor data_im, const at::Tensor data_offset,\n                       const int channels, const int height, const int width,\n                       const int ksize_h, const int ksize_w, const int pad_h,\n                       const int pad_w, const int stride_h, const int stride_w,\n                       const int dilation_h, const int dilation_w,\n                       const int parallel_imgs, const int deformable_group,\n                       at::Tensor data_col);\n\nvoid deformable_col2im(const at::Tensor data_col, const at::Tensor data_offset,\n                       const int channels, const int height, const int width,\n                       const int ksize_h, const int ksize_w, const int pad_h,\n                       const int pad_w, const int stride_h, const int stride_w,\n                       const int dilation_h, const int dilation_w,\n                       const int parallel_imgs, const int deformable_group,\n                       at::Tensor grad_im);\n\nvoid deformable_col2im_coord(\n    const at::Tensor data_col, const at::Tensor data_im,\n    const at::Tensor data_offset, const int channels, const int height,\n    const int width, const int ksize_h, const int ksize_w, const int pad_h,\n    const int pad_w, const int stride_h, const int stride_w,\n    const int dilation_h, const int dilation_w, const int parallel_imgs,\n    const int deformable_group, at::Tensor grad_offset);\n\nvoid modulated_deformable_im2col_cuda(\n    const at::Tensor data_im, const at::Tensor data_offset,\n    const at::Tensor data_mask, const int batch_size, const int channels,\n    const int height_im, const int width_im, const int height_col,\n    const int width_col, const int kernel_h, const int kenerl_w,\n    const int pad_h, const int pad_w, const int stride_h, const int stride_w,\n    const int dilation_h, const int dilation_w, const int deformable_group,\n    at::Tensor data_col);\n\nvoid modulated_deformable_col2im_cuda(\n    const at::Tensor data_col, const at::Tensor data_offset,\n    const at::Tensor data_mask, const int batch_size, const int channels,\n    const int height_im, const int width_im, const int height_col,\n    const int width_col, const int kernel_h, const int kenerl_w,\n    const int pad_h, const int pad_w, const int stride_h, const int stride_w,\n    const int dilation_h, const int dilation_w, const int deformable_group,\n    at::Tensor grad_im);\n\nvoid modulated_deformable_col2im_coord_cuda(\n    const at::Tensor data_col, const at::Tensor data_im,\n    const at::Tensor data_offset, const at::Tensor data_mask,\n    const int batch_size, const int channels, const int height_im,\n    const int width_im, const int height_col, const int width_col,\n    const int kernel_h, const int kenerl_w, const int pad_h, const int pad_w,\n    const int stride_h, const int stride_w, const int dilation_h,\n    const int dilation_w, const int deformable_group, at::Tensor grad_offset,\n    at::Tensor grad_mask);\n\nvoid shape_check(at::Tensor input, at::Tensor offset, at::Tensor *gradOutput,\n                 at::Tensor weight, int kH, int kW, int dH, int dW, int padH,\n                 int padW, int dilationH, int dilationW, int group,\n                 int deformable_group) {\n  AT_CHECK(weight.ndimension() == 4,\n           \"4D weight tensor (nOutputPlane,nInputPlane,kH,kW) expected, \"\n           \"but got: %s\",\n           weight.ndimension());\n\n  AT_CHECK(weight.is_contiguous(), \"weight tensor has to be contiguous\");\n\n  AT_CHECK(kW > 0 && kH > 0,\n           \"kernel size should be greater than zero, but got kH: %d kW: %d\", kH,\n           kW);\n\n  AT_CHECK((weight.size(2) == kH && weight.size(3) == kW),\n           \"kernel size should be consistent with weight, \",\n           \"but got kH: %d kW: %d weight.size(2): %d, weight.size(3): %d\", kH,\n           kW, weight.size(2), weight.size(3));\n\n  AT_CHECK(dW > 0 && dH > 0,\n           \"stride should be greater than zero, but got dH: %d dW: %d\", dH, dW);\n\n  AT_CHECK(\n      dilationW > 0 && dilationH > 0,\n      \"dilation should be greater than 0, but got dilationH: %d dilationW: %d\",\n      dilationH, dilationW);\n\n  int ndim = input.ndimension();\n  int dimf = 0;\n  int dimh = 1;\n  int dimw = 2;\n\n  if (ndim == 4) {\n    dimf++;\n    dimh++;\n    dimw++;\n  }\n\n  AT_CHECK(ndim == 3 || ndim == 4, \"3D or 4D input tensor expected but got: %s\",\n           ndim);\n\n  long nInputPlane = weight.size(1) * group;\n  long inputHeight = input.size(dimh);\n  long inputWidth = input.size(dimw);\n  long nOutputPlane = weight.size(0);\n  long outputHeight =\n      (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1;\n  long outputWidth =\n      (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1;\n\n  AT_CHECK(nInputPlane % deformable_group == 0,\n           \"input channels must divide deformable group size\");\n\n  if (outputWidth < 1 || outputHeight < 1)\n    AT_ERROR(\n        \"Given input size: (%ld x %ld x %ld). \"\n        \"Calculated output size: (%ld x %ld x %ld). Output size is too small\",\n        nInputPlane, inputHeight, inputWidth, nOutputPlane, outputHeight,\n        outputWidth);\n\n  AT_CHECK(input.size(1) == nInputPlane,\n           \"invalid number of input planes, expected: %d, but got: %d\",\n           nInputPlane, input.size(1));\n\n  AT_CHECK((inputHeight >= kH && inputWidth >= kW),\n           \"input image is smaller than kernel\");\n\n  AT_CHECK((offset.size(2) == outputHeight && offset.size(3) == outputWidth),\n           \"invalid spatial size of offset, expected height: %d width: %d, but \"\n           \"got height: %d width: %d\",\n           outputHeight, outputWidth, offset.size(2), offset.size(3));\n\n  AT_CHECK((offset.size(1) == deformable_group * 2 * kH * kW),\n           \"invalid number of channels of offset\");\n\n  if (gradOutput != NULL) {\n    AT_CHECK(gradOutput->size(dimf) == nOutputPlane,\n             \"invalid number of gradOutput planes, expected: %d, but got: %d\",\n             nOutputPlane, gradOutput->size(dimf));\n\n    AT_CHECK((gradOutput->size(dimh) == outputHeight &&\n              gradOutput->size(dimw) == outputWidth),\n             \"invalid size of gradOutput, expected height: %d width: %d , but \"\n             \"got height: %d width: %d\",\n             outputHeight, outputWidth, gradOutput->size(dimh),\n             gradOutput->size(dimw));\n  }\n}\n\nint deform_conv_forward_cuda(at::Tensor input, at::Tensor weight,\n                             at::Tensor offset, at::Tensor output,\n                             at::Tensor columns, at::Tensor ones, int kW,\n                             int kH, int dW, int dH, int padW, int padH,\n                             int dilationW, int dilationH, int group,\n                             int deformable_group, int im2col_step) {\n  // todo: resize columns to include im2col: done\n  // todo: add im2col_step as input\n  // todo: add new output buffer and transpose it to output (or directly\n  // transpose output) todo: possibly change data indexing because of\n  // parallel_imgs\n\n  shape_check(input, offset, NULL, weight, kH, kW, dH, dW, padH, padW,\n              dilationH, dilationW, group, deformable_group);\n  at::DeviceGuard guard(input.device());\n  \n  input = input.contiguous();\n  offset = offset.contiguous();\n  weight = weight.contiguous();\n\n  int batch = 1;\n  if (input.ndimension() == 3) {\n    // Force batch\n    batch = 0;\n    input.unsqueeze_(0);\n    offset.unsqueeze_(0);\n  }\n\n  // todo: assert batchsize dividable by im2col_step\n\n  long batchSize = input.size(0);\n  long nInputPlane = input.size(1);\n  long inputHeight = input.size(2);\n  long inputWidth = input.size(3);\n\n  long nOutputPlane = weight.size(0);\n\n  long outputWidth =\n      (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1;\n  long outputHeight =\n      (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1;\n\n  AT_CHECK((offset.size(0) == batchSize), \"invalid batch size of offset\");\n\n  output = output.view({batchSize / im2col_step, im2col_step, nOutputPlane,\n                        outputHeight, outputWidth});\n  columns = at::zeros(\n      {nInputPlane * kW * kH, im2col_step * outputHeight * outputWidth},\n      input.options());\n\n  if (ones.ndimension() != 2 ||\n      ones.size(0) * ones.size(1) < outputHeight * outputWidth) {\n    ones = at::ones({outputHeight, outputWidth}, input.options());\n  }\n\n  input = input.view({batchSize / im2col_step, im2col_step, nInputPlane,\n                      inputHeight, inputWidth});\n  offset =\n      offset.view({batchSize / im2col_step, im2col_step,\n                   deformable_group * 2 * kH * kW, outputHeight, outputWidth});\n\n  at::Tensor output_buffer =\n      at::zeros({batchSize / im2col_step, nOutputPlane,\n                 im2col_step * outputHeight, outputWidth},\n                output.options());\n\n  output_buffer = output_buffer.view(\n      {output_buffer.size(0), group, output_buffer.size(1) / group,\n       output_buffer.size(2), output_buffer.size(3)});\n\n  for (int elt = 0; elt < batchSize / im2col_step; elt++) {\n    deformable_im2col(input[elt], offset[elt], nInputPlane, inputHeight,\n                      inputWidth, kH, kW, padH, padW, dH, dW, dilationH,\n                      dilationW, im2col_step, deformable_group, columns);\n\n    columns = columns.view({group, columns.size(0) / group, columns.size(1)});\n    weight = weight.view({group, weight.size(0) / group, weight.size(1),\n                          weight.size(2), weight.size(3)});\n\n    for (int g = 0; g < group; g++) {\n      output_buffer[elt][g] = output_buffer[elt][g]\n                                  .flatten(1)\n                                  .addmm_(weight[g].flatten(1), columns[g])\n                                  .view_as(output_buffer[elt][g]);\n    }\n  }\n\n  output_buffer = output_buffer.view(\n      {output_buffer.size(0), output_buffer.size(1) * output_buffer.size(2),\n       output_buffer.size(3), output_buffer.size(4)});\n\n  output_buffer = output_buffer.view({batchSize / im2col_step, nOutputPlane,\n                                      im2col_step, outputHeight, outputWidth});\n  output_buffer.transpose_(1, 2);\n  output.copy_(output_buffer);\n  output = output.view({batchSize, nOutputPlane, outputHeight, outputWidth});\n\n  input = input.view({batchSize, nInputPlane, inputHeight, inputWidth});\n  offset = offset.view(\n      {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth});\n\n  if (batch == 0) {\n    output = output.view({nOutputPlane, outputHeight, outputWidth});\n    input = input.view({nInputPlane, inputHeight, inputWidth});\n    offset = offset.view({offset.size(1), offset.size(2), offset.size(3)});\n  }\n\n  return 1;\n}\n\nint deform_conv_backward_input_cuda(at::Tensor input, at::Tensor offset,\n                                    at::Tensor gradOutput, at::Tensor gradInput,\n                                    at::Tensor gradOffset, at::Tensor weight,\n                                    at::Tensor columns, int kW, int kH, int dW,\n                                    int dH, int padW, int padH, int dilationW,\n                                    int dilationH, int group,\n                                    int deformable_group, int im2col_step) {\n  shape_check(input, offset, &gradOutput, weight, kH, kW, dH, dW, padH, padW,\n              dilationH, dilationW, group, deformable_group);\n  at::DeviceGuard guard(input.device());\n\n  input = input.contiguous();\n  offset = offset.contiguous();\n  gradOutput = gradOutput.contiguous();\n  weight = weight.contiguous();\n\n  int batch = 1;\n\n  if (input.ndimension() == 3) {\n    // Force batch\n    batch = 0;\n    input = input.view({1, input.size(0), input.size(1), input.size(2)});\n    offset = offset.view({1, offset.size(0), offset.size(1), offset.size(2)});\n    gradOutput = gradOutput.view(\n        {1, gradOutput.size(0), gradOutput.size(1), gradOutput.size(2)});\n  }\n\n  long batchSize = input.size(0);\n  long nInputPlane = input.size(1);\n  long inputHeight = input.size(2);\n  long inputWidth = input.size(3);\n\n  long nOutputPlane = weight.size(0);\n\n  long outputWidth =\n      (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1;\n  long outputHeight =\n      (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1;\n\n  AT_CHECK((offset.size(0) == batchSize), 3, \"invalid batch size of offset\");\n  gradInput = gradInput.view({batchSize, nInputPlane, inputHeight, inputWidth});\n  columns = at::zeros(\n      {nInputPlane * kW * kH, im2col_step * outputHeight * outputWidth},\n      input.options());\n\n  // change order of grad output\n  gradOutput = gradOutput.view({batchSize / im2col_step, im2col_step,\n                                nOutputPlane, outputHeight, outputWidth});\n  gradOutput.transpose_(1, 2);\n\n  gradInput = gradInput.view({batchSize / im2col_step, im2col_step, nInputPlane,\n                              inputHeight, inputWidth});\n  input = input.view({batchSize / im2col_step, im2col_step, nInputPlane,\n                      inputHeight, inputWidth});\n  gradOffset = gradOffset.view({batchSize / im2col_step, im2col_step,\n                                deformable_group * 2 * kH * kW, outputHeight,\n                                outputWidth});\n  offset =\n      offset.view({batchSize / im2col_step, im2col_step,\n                   deformable_group * 2 * kH * kW, outputHeight, outputWidth});\n\n  for (int elt = 0; elt < batchSize / im2col_step; elt++) {\n    // divide into groups\n    columns = columns.view({group, columns.size(0) / group, columns.size(1)});\n    weight = weight.view({group, weight.size(0) / group, weight.size(1),\n                          weight.size(2), weight.size(3)});\n    gradOutput = gradOutput.view(\n        {gradOutput.size(0), group, gradOutput.size(1) / group,\n         gradOutput.size(2), gradOutput.size(3), gradOutput.size(4)});\n\n    for (int g = 0; g < group; g++) {\n      columns[g] = columns[g].addmm_(weight[g].flatten(1).transpose(0, 1),\n                                     gradOutput[elt][g].flatten(1), 0.0f, 1.0f);\n    }\n\n    columns =\n        columns.view({columns.size(0) * columns.size(1), columns.size(2)});\n    gradOutput = gradOutput.view(\n        {gradOutput.size(0), gradOutput.size(1) * gradOutput.size(2),\n         gradOutput.size(3), gradOutput.size(4), gradOutput.size(5)});\n\n    deformable_col2im_coord(columns, input[elt], offset[elt], nInputPlane,\n                            inputHeight, inputWidth, kH, kW, padH, padW, dH, dW,\n                            dilationH, dilationW, im2col_step, deformable_group,\n                            gradOffset[elt]);\n\n    deformable_col2im(columns, offset[elt], nInputPlane, inputHeight,\n                      inputWidth, kH, kW, padH, padW, dH, dW, dilationH,\n                      dilationW, im2col_step, deformable_group, gradInput[elt]);\n  }\n\n  gradOutput.transpose_(1, 2);\n  gradOutput =\n      gradOutput.view({batchSize, nOutputPlane, outputHeight, outputWidth});\n\n  gradInput = gradInput.view({batchSize, nInputPlane, inputHeight, inputWidth});\n  input = input.view({batchSize, nInputPlane, inputHeight, inputWidth});\n  gradOffset = gradOffset.view(\n      {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth});\n  offset = offset.view(\n      {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth});\n\n  if (batch == 0) {\n    gradOutput = gradOutput.view({nOutputPlane, outputHeight, outputWidth});\n    input = input.view({nInputPlane, inputHeight, inputWidth});\n    gradInput = gradInput.view({nInputPlane, inputHeight, inputWidth});\n    offset = offset.view({offset.size(1), offset.size(2), offset.size(3)});\n    gradOffset =\n        gradOffset.view({offset.size(1), offset.size(2), offset.size(3)});\n  }\n\n  return 1;\n}\n\nint deform_conv_backward_parameters_cuda(\n    at::Tensor input, at::Tensor offset, at::Tensor gradOutput,\n    at::Tensor gradWeight,  // at::Tensor gradBias,\n    at::Tensor columns, at::Tensor ones, int kW, int kH, int dW, int dH,\n    int padW, int padH, int dilationW, int dilationH, int group,\n    int deformable_group, float scale, int im2col_step) {\n  // todo: transpose and reshape outGrad\n  // todo: reshape columns\n  // todo: add im2col_step as input\n\n  shape_check(input, offset, &gradOutput, gradWeight, kH, kW, dH, dW, padH,\n              padW, dilationH, dilationW, group, deformable_group);\n  at::DeviceGuard guard(input.device());\n  \n  input = input.contiguous();\n  offset = offset.contiguous();\n  gradOutput = gradOutput.contiguous();\n\n  int batch = 1;\n\n  if (input.ndimension() == 3) {\n    // Force batch\n    batch = 0;\n    input = input.view(\n        at::IntList({1, input.size(0), input.size(1), input.size(2)}));\n    gradOutput = gradOutput.view(\n        {1, gradOutput.size(0), gradOutput.size(1), gradOutput.size(2)});\n  }\n\n  long batchSize = input.size(0);\n  long nInputPlane = input.size(1);\n  long inputHeight = input.size(2);\n  long inputWidth = input.size(3);\n\n  long nOutputPlane = gradWeight.size(0);\n\n  long outputWidth =\n      (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1;\n  long outputHeight =\n      (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1;\n\n  AT_CHECK((offset.size(0) == batchSize), \"invalid batch size of offset\");\n\n  columns = at::zeros(\n      {nInputPlane * kW * kH, im2col_step * outputHeight * outputWidth},\n      input.options());\n\n  gradOutput = gradOutput.view({batchSize / im2col_step, im2col_step,\n                                nOutputPlane, outputHeight, outputWidth});\n  gradOutput.transpose_(1, 2);\n\n  at::Tensor gradOutputBuffer = at::zeros_like(gradOutput);\n  gradOutputBuffer =\n      gradOutputBuffer.view({batchSize / im2col_step, nOutputPlane, im2col_step,\n                             outputHeight, outputWidth});\n  gradOutputBuffer.copy_(gradOutput);\n  gradOutputBuffer =\n      gradOutputBuffer.view({batchSize / im2col_step, nOutputPlane,\n                             im2col_step * outputHeight, outputWidth});\n\n  gradOutput.transpose_(1, 2);\n  gradOutput =\n      gradOutput.view({batchSize, nOutputPlane, outputHeight, outputWidth});\n\n  input = input.view({batchSize / im2col_step, im2col_step, nInputPlane,\n                      inputHeight, inputWidth});\n  offset =\n      offset.view({batchSize / im2col_step, im2col_step,\n                   deformable_group * 2 * kH * kW, outputHeight, outputWidth});\n\n  for (int elt = 0; elt < batchSize / im2col_step; elt++) {\n    deformable_im2col(input[elt], offset[elt], nInputPlane, inputHeight,\n                      inputWidth, kH, kW, padH, padW, dH, dW, dilationH,\n                      dilationW, im2col_step, deformable_group, columns);\n\n    // divide into group\n    gradOutputBuffer = gradOutputBuffer.view(\n        {gradOutputBuffer.size(0), group, gradOutputBuffer.size(1) / group,\n         gradOutputBuffer.size(2), gradOutputBuffer.size(3)});\n    columns = columns.view({group, columns.size(0) / group, columns.size(1)});\n    gradWeight =\n        gradWeight.view({group, gradWeight.size(0) / group, gradWeight.size(1),\n                         gradWeight.size(2), gradWeight.size(3)});\n\n    for (int g = 0; g < group; g++) {\n      gradWeight[g] = gradWeight[g]\n                          .flatten(1)\n                          .addmm_(gradOutputBuffer[elt][g].flatten(1),\n                                  columns[g].transpose(1, 0), 1.0, scale)\n                          .view_as(gradWeight[g]);\n    }\n    gradOutputBuffer = gradOutputBuffer.view(\n        {gradOutputBuffer.size(0),\n         gradOutputBuffer.size(1) * gradOutputBuffer.size(2),\n         gradOutputBuffer.size(3), gradOutputBuffer.size(4)});\n    columns =\n        columns.view({columns.size(0) * columns.size(1), columns.size(2)});\n    gradWeight = gradWeight.view({gradWeight.size(0) * gradWeight.size(1),\n                                  gradWeight.size(2), gradWeight.size(3),\n                                  gradWeight.size(4)});\n  }\n\n  input = input.view({batchSize, nInputPlane, inputHeight, inputWidth});\n  offset = offset.view(\n      {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth});\n\n  if (batch == 0) {\n    gradOutput = gradOutput.view({nOutputPlane, outputHeight, outputWidth});\n    input = input.view({nInputPlane, inputHeight, inputWidth});\n  }\n\n  return 1;\n}\n\nvoid modulated_deform_conv_cuda_forward(\n    at::Tensor input, at::Tensor weight, at::Tensor bias, at::Tensor ones,\n    at::Tensor offset, at::Tensor mask, at::Tensor output, at::Tensor columns,\n    int kernel_h, int kernel_w, const int stride_h, const int stride_w,\n    const int pad_h, const int pad_w, const int dilation_h,\n    const int dilation_w, const int group, const int deformable_group,\n    const bool with_bias) {\n  AT_CHECK(input.is_contiguous(), \"input tensor has to be contiguous\");\n  AT_CHECK(weight.is_contiguous(), \"weight tensor has to be contiguous\");\n  at::DeviceGuard guard(input.device());\n  \n  const int batch = input.size(0);\n  const int channels = input.size(1);\n  const int height = input.size(2);\n  const int width = input.size(3);\n\n  const int channels_out = weight.size(0);\n  const int channels_kernel = weight.size(1);\n  const int kernel_h_ = weight.size(2);\n  const int kernel_w_ = weight.size(3);\n\n  if (kernel_h_ != kernel_h || kernel_w_ != kernel_w)\n    AT_ERROR(\"Input shape and kernel shape wont match: (%d x %d vs %d x %d).\",\n             kernel_h_, kernel_w, kernel_h_, kernel_w_);\n  if (channels != channels_kernel * group)\n    AT_ERROR(\"Input shape and kernel channels wont match: (%d vs %d).\",\n             channels, channels_kernel * group);\n\n  const int height_out =\n      (height + 2 * pad_h - (dilation_h * (kernel_h - 1) + 1)) / stride_h + 1;\n  const int width_out =\n      (width + 2 * pad_w - (dilation_w * (kernel_w - 1) + 1)) / stride_w + 1;\n\n  if (ones.ndimension() != 2 ||\n      ones.size(0) * ones.size(1) < height_out * width_out) {\n    // Resize plane and fill with ones...\n    ones = at::ones({height_out, width_out}, input.options());\n  }\n\n  // resize output\n  output = output.view({batch, channels_out, height_out, width_out}).zero_();\n  // resize temporary columns\n  columns =\n      at::zeros({channels * kernel_h * kernel_w, 1 * height_out * width_out},\n                input.options());\n\n  output = output.view({output.size(0), group, output.size(1) / group,\n                        output.size(2), output.size(3)});\n\n  for (int b = 0; b < batch; b++) {\n    modulated_deformable_im2col_cuda(\n        input[b], offset[b], mask[b], 1, channels, height, width, height_out,\n        width_out, kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w,\n        dilation_h, dilation_w, deformable_group, columns);\n\n    // divide into group\n    weight = weight.view({group, weight.size(0) / group, weight.size(1),\n                          weight.size(2), weight.size(3)});\n    columns = columns.view({group, columns.size(0) / group, columns.size(1)});\n\n    for (int g = 0; g < group; g++) {\n      output[b][g] = output[b][g]\n                         .flatten(1)\n                         .addmm_(weight[g].flatten(1), columns[g])\n                         .view_as(output[b][g]);\n    }\n\n    weight = weight.view({weight.size(0) * weight.size(1), weight.size(2),\n                          weight.size(3), weight.size(4)});\n    columns =\n        columns.view({columns.size(0) * columns.size(1), columns.size(2)});\n  }\n\n  output = output.view({output.size(0), output.size(1) * output.size(2),\n                        output.size(3), output.size(4)});\n\n  if (with_bias) {\n    output += bias.view({1, bias.size(0), 1, 1});\n  }\n}\n\nvoid modulated_deform_conv_cuda_backward(\n    at::Tensor input, at::Tensor weight, at::Tensor bias, at::Tensor ones,\n    at::Tensor offset, at::Tensor mask, at::Tensor columns,\n    at::Tensor grad_input, at::Tensor grad_weight, at::Tensor grad_bias,\n    at::Tensor grad_offset, at::Tensor grad_mask, at::Tensor grad_output,\n    int kernel_h, int kernel_w, int stride_h, int stride_w, int pad_h,\n    int pad_w, int dilation_h, int dilation_w, int group, int deformable_group,\n    const bool with_bias) {\n  AT_CHECK(input.is_contiguous(), \"input tensor has to be contiguous\");\n  AT_CHECK(weight.is_contiguous(), \"weight tensor has to be contiguous\");\n  at::DeviceGuard guard(input.device());\n\n  const int batch = input.size(0);\n  const int channels = input.size(1);\n  const int height = input.size(2);\n  const int width = input.size(3);\n\n  const int channels_kernel = weight.size(1);\n  const int kernel_h_ = weight.size(2);\n  const int kernel_w_ = weight.size(3);\n  if (kernel_h_ != kernel_h || kernel_w_ != kernel_w)\n    AT_ERROR(\"Input shape and kernel shape wont match: (%d x %d vs %d x %d).\",\n             kernel_h_, kernel_w, kernel_h_, kernel_w_);\n  if (channels != channels_kernel * group)\n    AT_ERROR(\"Input shape and kernel channels wont match: (%d vs %d).\",\n             channels, channels_kernel * group);\n\n  const int height_out =\n      (height + 2 * pad_h - (dilation_h * (kernel_h - 1) + 1)) / stride_h + 1;\n  const int width_out =\n      (width + 2 * pad_w - (dilation_w * (kernel_w - 1) + 1)) / stride_w + 1;\n\n  if (ones.ndimension() != 2 ||\n      ones.size(0) * ones.size(1) < height_out * width_out) {\n    // Resize plane and fill with ones...\n    ones = at::ones({height_out, width_out}, input.options());\n  }\n\n  grad_input = grad_input.view({batch, channels, height, width});\n  columns = at::zeros({channels * kernel_h * kernel_w, height_out * width_out},\n                      input.options());\n\n  grad_output =\n      grad_output.view({grad_output.size(0), group, grad_output.size(1) / group,\n                        grad_output.size(2), grad_output.size(3)});\n\n  for (int b = 0; b < batch; b++) {\n    // divide int group\n    columns = columns.view({group, columns.size(0) / group, columns.size(1)});\n    weight = weight.view({group, weight.size(0) / group, weight.size(1),\n                          weight.size(2), weight.size(3)});\n\n    for (int g = 0; g < group; g++) {\n      columns[g].addmm_(weight[g].flatten(1).transpose(0, 1),\n                        grad_output[b][g].flatten(1), 0.0f, 1.0f);\n    }\n\n    columns =\n        columns.view({columns.size(0) * columns.size(1), columns.size(2)});\n    weight = weight.view({weight.size(0) * weight.size(1), weight.size(2),\n                          weight.size(3), weight.size(4)});\n\n    // gradient w.r.t. input coordinate data\n    modulated_deformable_col2im_coord_cuda(\n        columns, input[b], offset[b], mask[b], 1, channels, height, width,\n        height_out, width_out, kernel_h, kernel_w, pad_h, pad_w, stride_h,\n        stride_w, dilation_h, dilation_w, deformable_group, grad_offset[b],\n        grad_mask[b]);\n    // gradient w.r.t. input data\n    modulated_deformable_col2im_cuda(\n        columns, offset[b], mask[b], 1, channels, height, width, height_out,\n        width_out, kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w,\n        dilation_h, dilation_w, deformable_group, grad_input[b]);\n\n    // gradient w.r.t. weight, dWeight should accumulate across the batch and\n    // group\n    modulated_deformable_im2col_cuda(\n        input[b], offset[b], mask[b], 1, channels, height, width, height_out,\n        width_out, kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w,\n        dilation_h, dilation_w, deformable_group, columns);\n\n    columns = columns.view({group, columns.size(0) / group, columns.size(1)});\n    grad_weight = grad_weight.view({group, grad_weight.size(0) / group,\n                                    grad_weight.size(1), grad_weight.size(2),\n                                    grad_weight.size(3)});\n    if (with_bias)\n      grad_bias = grad_bias.view({group, grad_bias.size(0) / group});\n\n    for (int g = 0; g < group; g++) {\n      grad_weight[g] =\n          grad_weight[g]\n              .flatten(1)\n              .addmm_(grad_output[b][g].flatten(1), columns[g].transpose(0, 1))\n              .view_as(grad_weight[g]);\n      if (with_bias) {\n        grad_bias[g] =\n            grad_bias[g]\n                .view({-1, 1})\n                .addmm_(grad_output[b][g].flatten(1), ones.view({-1, 1}))\n                .view(-1);\n      }\n    }\n\n    columns =\n        columns.view({columns.size(0) * columns.size(1), columns.size(2)});\n    grad_weight = grad_weight.view({grad_weight.size(0) * grad_weight.size(1),\n                                    grad_weight.size(2), grad_weight.size(3),\n                                    grad_weight.size(4)});\n    if (with_bias)\n      grad_bias = grad_bias.view({grad_bias.size(0) * grad_bias.size(1)});\n  }\n  grad_output = grad_output.view({grad_output.size(0) * grad_output.size(1),\n                                  grad_output.size(2), grad_output.size(3),\n                                  grad_output.size(4)});\n}\n\nPYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {\n  m.def(\"deform_conv_forward_cuda\", &deform_conv_forward_cuda,\n        \"deform forward (CUDA)\");\n  m.def(\"deform_conv_backward_input_cuda\", &deform_conv_backward_input_cuda,\n        \"deform_conv_backward_input (CUDA)\");\n  m.def(\"deform_conv_backward_parameters_cuda\",\n        &deform_conv_backward_parameters_cuda,\n        \"deform_conv_backward_parameters (CUDA)\");\n  m.def(\"modulated_deform_conv_cuda_forward\",\n        &modulated_deform_conv_cuda_forward,\n        \"modulated deform conv forward (CUDA)\");\n  m.def(\"modulated_deform_conv_cuda_backward\",\n        &modulated_deform_conv_cuda_backward,\n        \"modulated deform conv backward (CUDA)\");\n}"
  },
  {
    "path": "nets/deform_conv/src/deform_conv_cuda_kernel.cu",
    "content": "/*!\n ******************* BEGIN Caffe Copyright Notice and Disclaimer ****************\n *\n * COPYRIGHT\n *\n * All contributions by the University of California:\n * Copyright (c) 2014-2017 The Regents of the University of California (Regents)\n * All rights reserved.\n *\n * All other contributions:\n * Copyright (c) 2014-2017, the respective contributors\n * All rights reserved.\n *\n * Caffe uses a shared copyright model: each contributor holds copyright over\n * their contributions to Caffe. The project versioning records all such\n * contribution and copyright details. If a contributor wants to further mark\n * their specific copyright on a particular contribution, they should indicate\n * their copyright solely in the commit message of the change when it is\n * committed.\n *\n * LICENSE\n *\n * Redistribution and use in source and binary forms, with or without\n * modification, are permitted provided that the following conditions are met:\n *\n * 1. Redistributions of source code must retain the above copyright notice, this\n * list of conditions and the following disclaimer.\n * 2. Redistributions in binary form must reproduce the above copyright notice,\n * this list of conditions and the following disclaimer in the documentation\n * and/or other materials provided with the distribution.\n *\n * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\" AND\n * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED\n * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\n * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR\n * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES\n * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\n * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND\n * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT\n * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS\n * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n *\n * CONTRIBUTION AGREEMENT\n *\n * By contributing to the BVLC/caffe repository through pull-request, comment,\n * or otherwise, the contributor releases their content to the\n * license and copyright terms herein.\n *\n ***************** END Caffe Copyright Notice and Disclaimer ********************\n *\n * Copyright (c) 2018 Microsoft\n * Licensed under The MIT License [see LICENSE for details]\n * \\file modulated_deformable_im2col.cuh\n * \\brief Function definitions of converting an image to\n * column matrix based on kernel, padding, dilation, and offset.\n * These functions are mainly used in deformable convolution operators.\n * \\ref: https://arxiv.org/abs/1703.06211\n * \\author Yuwen Xiong, Haozhi Qi, Jifeng Dai, Xizhou Zhu, Han Hu, Dazhi Cheng\n */\n\n// modified from https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/blob/mmdetection/mmdet/ops/dcn/src/deform_conv_cuda_kernel.cu\n\n#include <ATen/ATen.h>\n#include <ATen/cuda/CUDAContext.h>\n#include <THC/THCAtomics.cuh>\n#include <stdio.h>\n#include <math.h>\n#include <float.h>\n\nusing namespace at;\n\n#define CUDA_KERNEL_LOOP(i, n)                                 \\\n  for (int i = blockIdx.x * blockDim.x + threadIdx.x; i < (n); \\\n       i += blockDim.x * gridDim.x)\n\nconst int CUDA_NUM_THREADS = 1024;\nconst int kMaxGridNum = 65535;\n\ninline int GET_BLOCKS(const int N)\n{\n  return std::min(kMaxGridNum, (N + CUDA_NUM_THREADS - 1) / CUDA_NUM_THREADS);\n}\n\ntemplate <typename scalar_t>\n__device__ scalar_t deformable_im2col_bilinear(const scalar_t *bottom_data, const int data_width,\n                                               const int height, const int width, scalar_t h, scalar_t w)\n{\n\n  int h_low = floor(h);\n  int w_low = floor(w);\n  int h_high = h_low + 1;\n  int w_high = w_low + 1;\n\n  scalar_t lh = h - h_low;\n  scalar_t lw = w - w_low;\n  scalar_t hh = 1 - lh, hw = 1 - lw;\n\n  scalar_t v1 = 0;\n  if (h_low >= 0 && w_low >= 0)\n    v1 = bottom_data[h_low * data_width + w_low];\n  scalar_t v2 = 0;\n  if (h_low >= 0 && w_high <= width - 1)\n    v2 = bottom_data[h_low * data_width + w_high];\n  scalar_t v3 = 0;\n  if (h_high <= height - 1 && w_low >= 0)\n    v3 = bottom_data[h_high * data_width + w_low];\n  scalar_t v4 = 0;\n  if (h_high <= height - 1 && w_high <= width - 1)\n    v4 = bottom_data[h_high * data_width + w_high];\n\n  scalar_t w1 = hh * hw, w2 = hh * lw, w3 = lh * hw, w4 = lh * lw;\n\n  scalar_t val = (w1 * v1 + w2 * v2 + w3 * v3 + w4 * v4);\n  return val;\n}\n\ntemplate <typename scalar_t>\n__device__ scalar_t get_gradient_weight(scalar_t argmax_h, scalar_t argmax_w,\n                                        const int h, const int w, const int height, const int width)\n{\n\n  if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 || argmax_w >= width)\n  {\n    //empty\n    return 0;\n  }\n\n  int argmax_h_low = floor(argmax_h);\n  int argmax_w_low = floor(argmax_w);\n  int argmax_h_high = argmax_h_low + 1;\n  int argmax_w_high = argmax_w_low + 1;\n\n  scalar_t weight = 0;\n  if (h == argmax_h_low && w == argmax_w_low)\n    weight = (h + 1 - argmax_h) * (w + 1 - argmax_w);\n  if (h == argmax_h_low && w == argmax_w_high)\n    weight = (h + 1 - argmax_h) * (argmax_w + 1 - w);\n  if (h == argmax_h_high && w == argmax_w_low)\n    weight = (argmax_h + 1 - h) * (w + 1 - argmax_w);\n  if (h == argmax_h_high && w == argmax_w_high)\n    weight = (argmax_h + 1 - h) * (argmax_w + 1 - w);\n  return weight;\n}\n\ntemplate <typename scalar_t>\n__device__ scalar_t get_coordinate_weight(scalar_t argmax_h, scalar_t argmax_w,\n                                          const int height, const int width, const scalar_t *im_data,\n                                          const int data_width, const int bp_dir)\n{\n\n  if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 || argmax_w >= width)\n  {\n    //empty\n    return 0;\n  }\n\n  int argmax_h_low = floor(argmax_h);\n  int argmax_w_low = floor(argmax_w);\n  int argmax_h_high = argmax_h_low + 1;\n  int argmax_w_high = argmax_w_low + 1;\n\n  scalar_t weight = 0;\n\n  if (bp_dir == 0)\n  {\n    if (argmax_h_low >= 0 && argmax_w_low >= 0)\n      weight += -1 * (argmax_w_low + 1 - argmax_w) * im_data[argmax_h_low * data_width + argmax_w_low];\n    if (argmax_h_low >= 0 && argmax_w_high <= width - 1)\n      weight += -1 * (argmax_w - argmax_w_low) * im_data[argmax_h_low * data_width + argmax_w_high];\n    if (argmax_h_high <= height - 1 && argmax_w_low >= 0)\n      weight += (argmax_w_low + 1 - argmax_w) * im_data[argmax_h_high * data_width + argmax_w_low];\n    if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1)\n      weight += (argmax_w - argmax_w_low) * im_data[argmax_h_high * data_width + argmax_w_high];\n  }\n  else if (bp_dir == 1)\n  {\n    if (argmax_h_low >= 0 && argmax_w_low >= 0)\n      weight += -1 * (argmax_h_low + 1 - argmax_h) * im_data[argmax_h_low * data_width + argmax_w_low];\n    if (argmax_h_low >= 0 && argmax_w_high <= width - 1)\n      weight += (argmax_h_low + 1 - argmax_h) * im_data[argmax_h_low * data_width + argmax_w_high];\n    if (argmax_h_high <= height - 1 && argmax_w_low >= 0)\n      weight += -1 * (argmax_h - argmax_h_low) * im_data[argmax_h_high * data_width + argmax_w_low];\n    if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1)\n      weight += (argmax_h - argmax_h_low) * im_data[argmax_h_high * data_width + argmax_w_high];\n  }\n\n  return weight;\n}\n\ntemplate <typename scalar_t>\n__global__ void deformable_im2col_gpu_kernel(const int n, const scalar_t *data_im, const scalar_t *data_offset,\n                                             const int height, const int width, const int kernel_h, const int kernel_w,\n                                             const int pad_h, const int pad_w, const int stride_h, const int stride_w,\n                                             const int dilation_h, const int dilation_w, const int channel_per_deformable_group,\n                                             const int batch_size, const int num_channels, const int deformable_group,\n                                             const int height_col, const int width_col,\n                                             scalar_t *data_col)\n{\n  CUDA_KERNEL_LOOP(index, n)\n  {\n    // index index of output matrix\n    const int w_col = index % width_col;\n    const int h_col = (index / width_col) % height_col;\n    const int b_col = (index / width_col / height_col) % batch_size;\n    const int c_im = (index / width_col / height_col) / batch_size;\n    const int c_col = c_im * kernel_h * kernel_w;\n\n    // compute deformable group index\n    const int deformable_group_index = c_im / channel_per_deformable_group;\n\n    const int h_in = h_col * stride_h - pad_h;\n    const int w_in = w_col * stride_w - pad_w;\n    scalar_t *data_col_ptr = data_col + ((c_col * batch_size + b_col) * height_col + h_col) * width_col + w_col;\n    //const scalar_t* data_im_ptr = data_im + ((b_col * num_channels + c_im) * height + h_in) * width + w_in;\n    const scalar_t *data_im_ptr = data_im + (b_col * num_channels + c_im) * height * width;\n    const scalar_t *data_offset_ptr = data_offset + (b_col * deformable_group + deformable_group_index) * 2 * kernel_h * kernel_w * height_col * width_col;\n\n    for (int i = 0; i < kernel_h; ++i)\n    {\n      for (int j = 0; j < kernel_w; ++j)\n      {\n        const int data_offset_h_ptr = ((2 * (i * kernel_w + j)) * height_col + h_col) * width_col + w_col;\n        const int data_offset_w_ptr = ((2 * (i * kernel_w + j) + 1) * height_col + h_col) * width_col + w_col;\n        const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];\n        const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];\n        scalar_t val = static_cast<scalar_t>(0);\n        const scalar_t h_im = h_in + i * dilation_h + offset_h;\n        const scalar_t w_im = w_in + j * dilation_w + offset_w;\n        if (h_im > -1 && w_im > -1 && h_im < height && w_im < width)\n        {\n          //const scalar_t map_h = i * dilation_h + offset_h;\n          //const scalar_t map_w = j * dilation_w + offset_w;\n          //const int cur_height = height - h_in;\n          //const int cur_width = width - w_in;\n          //val = deformable_im2col_bilinear(data_im_ptr, width, cur_height, cur_width, map_h, map_w);\n          val = deformable_im2col_bilinear(data_im_ptr, width, height, width, h_im, w_im);\n        }\n        *data_col_ptr = val;\n        data_col_ptr += batch_size * height_col * width_col;\n      }\n    }\n  }\n}\n\nvoid deformable_im2col(\n    const at::Tensor data_im, const at::Tensor data_offset, const int channels,\n    const int height, const int width, const int ksize_h, const int ksize_w,\n    const int pad_h, const int pad_w, const int stride_h, const int stride_w,\n    const int dilation_h, const int dilation_w, const int parallel_imgs,\n    const int deformable_group, at::Tensor data_col)\n{\n  // num_axes should be smaller than block size\n  // todo: check parallel_imgs is correctly passed in\n  int height_col = (height + 2 * pad_h - (dilation_h * (ksize_h - 1) + 1)) / stride_h + 1;\n  int width_col = (width + 2 * pad_w - (dilation_w * (ksize_w - 1) + 1)) / stride_w + 1;\n  int num_kernels = channels * height_col * width_col * parallel_imgs;\n  int channel_per_deformable_group = channels / deformable_group;\n\n  AT_DISPATCH_FLOATING_TYPES_AND_HALF(\n      data_im.scalar_type(), \"deformable_im2col_gpu\", ([&] {\n        const scalar_t *data_im_ = data_im.data<scalar_t>();\n        const scalar_t *data_offset_ = data_offset.data<scalar_t>();\n        scalar_t *data_col_ = data_col.data<scalar_t>();\n\n        deformable_im2col_gpu_kernel<<<GET_BLOCKS(num_kernels), CUDA_NUM_THREADS, 0, at::cuda::getCurrentCUDAStream()>>>(\n            num_kernels, data_im_, data_offset_, height, width, ksize_h, ksize_w,\n            pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w,\n            channel_per_deformable_group, parallel_imgs, channels, deformable_group,\n            height_col, width_col, data_col_);\n      }));\n\n  cudaError_t err = cudaGetLastError();\n  if (err != cudaSuccess)\n  {\n    printf(\"error in deformable_im2col: %s\\n\", cudaGetErrorString(err));\n  }\n}\n\ntemplate <typename scalar_t>\n__global__ void deformable_col2im_gpu_kernel(\n    const int n, const scalar_t *data_col, const scalar_t *data_offset,\n    const int channels, const int height, const int width,\n    const int kernel_h, const int kernel_w,\n    const int pad_h, const int pad_w,\n    const int stride_h, const int stride_w,\n    const int dilation_h, const int dilation_w,\n    const int channel_per_deformable_group,\n    const int batch_size, const int deformable_group,\n    const int height_col, const int width_col,\n    scalar_t *grad_im)\n{\n  CUDA_KERNEL_LOOP(index, n)\n  {\n    const int j = (index / width_col / height_col / batch_size) % kernel_w;\n    const int i = (index / width_col / height_col / batch_size / kernel_w) % kernel_h;\n    const int c = index / width_col / height_col / batch_size / kernel_w / kernel_h;\n    // compute the start and end of the output\n\n    const int deformable_group_index = c / channel_per_deformable_group;\n\n    int w_out = index % width_col;\n    int h_out = (index / width_col) % height_col;\n    int b = (index / width_col / height_col) % batch_size;\n    int w_in = w_out * stride_w - pad_w;\n    int h_in = h_out * stride_h - pad_h;\n\n    const scalar_t *data_offset_ptr = data_offset + (b * deformable_group + deformable_group_index) *\n                                                        2 * kernel_h * kernel_w * height_col * width_col;\n    const int data_offset_h_ptr = ((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out;\n    const int data_offset_w_ptr = ((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col + w_out;\n    const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];\n    const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];\n    const scalar_t cur_inv_h_data = h_in + i * dilation_h + offset_h;\n    const scalar_t cur_inv_w_data = w_in + j * dilation_w + offset_w;\n\n    const scalar_t cur_top_grad = data_col[index];\n    const int cur_h = (int)cur_inv_h_data;\n    const int cur_w = (int)cur_inv_w_data;\n    for (int dy = -2; dy <= 2; dy++)\n    {\n      for (int dx = -2; dx <= 2; dx++)\n      {\n        if (cur_h + dy >= 0 && cur_h + dy < height &&\n            cur_w + dx >= 0 && cur_w + dx < width &&\n            abs(cur_inv_h_data - (cur_h + dy)) < 1 &&\n            abs(cur_inv_w_data - (cur_w + dx)) < 1)\n        {\n          int cur_bottom_grad_pos = ((b * channels + c) * height + cur_h + dy) * width + cur_w + dx;\n          scalar_t weight = get_gradient_weight(cur_inv_h_data, cur_inv_w_data, cur_h + dy, cur_w + dx, height, width);\n          atomicAdd(grad_im + cur_bottom_grad_pos, weight * cur_top_grad);\n        }\n      }\n    }\n  }\n}\n\nvoid deformable_col2im(\n    const at::Tensor data_col, const at::Tensor data_offset, const int channels,\n    const int height, const int width, const int ksize_h,\n    const int ksize_w, const int pad_h, const int pad_w,\n    const int stride_h, const int stride_w,\n    const int dilation_h, const int dilation_w,\n    const int parallel_imgs, const int deformable_group,\n    at::Tensor grad_im)\n{\n\n  // todo: make sure parallel_imgs is passed in correctly\n  int height_col = (height + 2 * pad_h - (dilation_h * (ksize_h - 1) + 1)) / stride_h + 1;\n  int width_col = (width + 2 * pad_w - (dilation_w * (ksize_w - 1) + 1)) / stride_w + 1;\n  int num_kernels = channels * ksize_h * ksize_w * height_col * width_col * parallel_imgs;\n  int channel_per_deformable_group = channels / deformable_group;\n\n  AT_DISPATCH_FLOATING_TYPES_AND_HALF(\n      data_col.scalar_type(), \"deformable_col2im_gpu\", ([&] {\n        const scalar_t *data_col_ = data_col.data<scalar_t>();\n        const scalar_t *data_offset_ = data_offset.data<scalar_t>();\n        scalar_t *grad_im_ = grad_im.data<scalar_t>();\n\n        deformable_col2im_gpu_kernel<<<GET_BLOCKS(num_kernels), CUDA_NUM_THREADS, 0, at::cuda::getCurrentCUDAStream()>>>(\n            num_kernels, data_col_, data_offset_, channels, height, width, ksize_h,\n            ksize_w, pad_h, pad_w, stride_h, stride_w,\n            dilation_h, dilation_w, channel_per_deformable_group,\n            parallel_imgs, deformable_group, height_col, width_col, grad_im_);\n      }));\n\n  cudaError_t err = cudaGetLastError();\n  if (err != cudaSuccess)\n  {\n    printf(\"error in deformable_col2im: %s\\n\", cudaGetErrorString(err));\n  }\n}\n\ntemplate <typename scalar_t>\n__global__ void deformable_col2im_coord_gpu_kernel(const int n, const scalar_t *data_col,\n                                                   const scalar_t *data_im, const scalar_t *data_offset,\n                                                   const int channels, const int height, const int width,\n                                                   const int kernel_h, const int kernel_w,\n                                                   const int pad_h, const int pad_w,\n                                                   const int stride_h, const int stride_w,\n                                                   const int dilation_h, const int dilation_w,\n                                                   const int channel_per_deformable_group,\n                                                   const int batch_size, const int offset_channels, const int deformable_group,\n                                                   const int height_col, const int width_col, scalar_t *grad_offset)\n{\n  CUDA_KERNEL_LOOP(index, n)\n  {\n    scalar_t val = 0;\n    int w = index % width_col;\n    int h = (index / width_col) % height_col;\n    int c = (index / width_col / height_col) % offset_channels;\n    int b = (index / width_col / height_col) / offset_channels;\n    // compute the start and end of the output\n\n    const int deformable_group_index = c / (2 * kernel_h * kernel_w);\n    const int col_step = kernel_h * kernel_w;\n    int cnt = 0;\n    const scalar_t *data_col_ptr = data_col + deformable_group_index * channel_per_deformable_group *\n                                                  batch_size * width_col * height_col;\n    const scalar_t *data_im_ptr = data_im + (b * deformable_group + deformable_group_index) *\n                                                channel_per_deformable_group / kernel_h / kernel_w * height * width;\n    const scalar_t *data_offset_ptr = data_offset + (b * deformable_group + deformable_group_index) * 2 *\n                                                        kernel_h * kernel_w * height_col * width_col;\n\n    const int offset_c = c - deformable_group_index * 2 * kernel_h * kernel_w;\n\n    for (int col_c = (offset_c / 2); col_c < channel_per_deformable_group; col_c += col_step)\n    {\n      const int col_pos = (((col_c * batch_size + b) * height_col) + h) * width_col + w;\n      const int bp_dir = offset_c % 2;\n\n      int j = (col_pos / width_col / height_col / batch_size) % kernel_w;\n      int i = (col_pos / width_col / height_col / batch_size / kernel_w) % kernel_h;\n      int w_out = col_pos % width_col;\n      int h_out = (col_pos / width_col) % height_col;\n      int w_in = w_out * stride_w - pad_w;\n      int h_in = h_out * stride_h - pad_h;\n      const int data_offset_h_ptr = (((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out);\n      const int data_offset_w_ptr = (((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col + w_out);\n      const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];\n      const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];\n      scalar_t inv_h = h_in + i * dilation_h + offset_h;\n      scalar_t inv_w = w_in + j * dilation_w + offset_w;\n      if (inv_h <= -1 || inv_w <= -1 || inv_h >= height || inv_w >= width)\n      {\n        inv_h = inv_w = -2;\n      }\n      const scalar_t weight = get_coordinate_weight(\n          inv_h, inv_w,\n          height, width, data_im_ptr + cnt * height * width, width, bp_dir);\n      val += weight * data_col_ptr[col_pos];\n      cnt += 1;\n    }\n\n    grad_offset[index] = val;\n  }\n}\n\nvoid deformable_col2im_coord(\n    const at::Tensor data_col, const at::Tensor data_im, const at::Tensor data_offset,\n    const int channels, const int height, const int width, const int ksize_h,\n    const int ksize_w, const int pad_h, const int pad_w, const int stride_h,\n    const int stride_w, const int dilation_h, const int dilation_w,\n    const int parallel_imgs, const int deformable_group, at::Tensor grad_offset)\n{\n\n  int height_col = (height + 2 * pad_h - (dilation_h * (ksize_h - 1) + 1)) / stride_h + 1;\n  int width_col = (width + 2 * pad_w - (dilation_w * (ksize_w - 1) + 1)) / stride_w + 1;\n  int num_kernels = height_col * width_col * 2 * ksize_h * ksize_w * deformable_group * parallel_imgs;\n  int channel_per_deformable_group = channels * ksize_h * ksize_w / deformable_group;\n\n  AT_DISPATCH_FLOATING_TYPES_AND_HALF(\n      data_col.scalar_type(), \"deformable_col2im_coord_gpu\", ([&] {\n        const scalar_t *data_col_ = data_col.data<scalar_t>();\n        const scalar_t *data_im_ = data_im.data<scalar_t>();\n        const scalar_t *data_offset_ = data_offset.data<scalar_t>();\n        scalar_t *grad_offset_ = grad_offset.data<scalar_t>();\n\n        deformable_col2im_coord_gpu_kernel<<<GET_BLOCKS(num_kernels), CUDA_NUM_THREADS, 0, at::cuda::getCurrentCUDAStream()>>>(\n            num_kernels, data_col_, data_im_, data_offset_, channels, height, width,\n            ksize_h, ksize_w, pad_h, pad_w, stride_h, stride_w,\n            dilation_h, dilation_w, channel_per_deformable_group,\n            parallel_imgs, 2 * ksize_h * ksize_w * deformable_group, deformable_group,\n            height_col, width_col, grad_offset_);\n      }));\n}\n\ntemplate <typename scalar_t>\n__device__ scalar_t dmcn_im2col_bilinear(const scalar_t *bottom_data, const int data_width,\n                                         const int height, const int width, scalar_t h, scalar_t w)\n{\n  int h_low = floor(h);\n  int w_low = floor(w);\n  int h_high = h_low + 1;\n  int w_high = w_low + 1;\n\n  scalar_t lh = h - h_low;\n  scalar_t lw = w - w_low;\n  scalar_t hh = 1 - lh, hw = 1 - lw;\n\n  scalar_t v1 = 0;\n  if (h_low >= 0 && w_low >= 0)\n    v1 = bottom_data[h_low * data_width + w_low];\n  scalar_t v2 = 0;\n  if (h_low >= 0 && w_high <= width - 1)\n    v2 = bottom_data[h_low * data_width + w_high];\n  scalar_t v3 = 0;\n  if (h_high <= height - 1 && w_low >= 0)\n    v3 = bottom_data[h_high * data_width + w_low];\n  scalar_t v4 = 0;\n  if (h_high <= height - 1 && w_high <= width - 1)\n    v4 = bottom_data[h_high * data_width + w_high];\n\n  scalar_t w1 = hh * hw, w2 = hh * lw, w3 = lh * hw, w4 = lh * lw;\n\n  scalar_t val = (w1 * v1 + w2 * v2 + w3 * v3 + w4 * v4);\n  return val;\n}\n\ntemplate <typename scalar_t>\n__device__ scalar_t dmcn_get_gradient_weight(scalar_t argmax_h, scalar_t argmax_w,\n                                             const int h, const int w, const int height, const int width)\n{\n  if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 || argmax_w >= width)\n  {\n    //empty\n    return 0;\n  }\n\n  int argmax_h_low = floor(argmax_h);\n  int argmax_w_low = floor(argmax_w);\n  int argmax_h_high = argmax_h_low + 1;\n  int argmax_w_high = argmax_w_low + 1;\n\n  scalar_t weight = 0;\n  if (h == argmax_h_low && w == argmax_w_low)\n    weight = (h + 1 - argmax_h) * (w + 1 - argmax_w);\n  if (h == argmax_h_low && w == argmax_w_high)\n    weight = (h + 1 - argmax_h) * (argmax_w + 1 - w);\n  if (h == argmax_h_high && w == argmax_w_low)\n    weight = (argmax_h + 1 - h) * (w + 1 - argmax_w);\n  if (h == argmax_h_high && w == argmax_w_high)\n    weight = (argmax_h + 1 - h) * (argmax_w + 1 - w);\n  return weight;\n}\n\ntemplate <typename scalar_t>\n__device__ scalar_t dmcn_get_coordinate_weight(scalar_t argmax_h, scalar_t argmax_w,\n                                               const int height, const int width, const scalar_t *im_data,\n                                               const int data_width, const int bp_dir)\n{\n  if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 || argmax_w >= width)\n  {\n    //empty\n    return 0;\n  }\n\n  int argmax_h_low = floor(argmax_h);\n  int argmax_w_low = floor(argmax_w);\n  int argmax_h_high = argmax_h_low + 1;\n  int argmax_w_high = argmax_w_low + 1;\n\n  scalar_t weight = 0;\n\n  if (bp_dir == 0)\n  {\n    if (argmax_h_low >= 0 && argmax_w_low >= 0)\n      weight += -1 * (argmax_w_low + 1 - argmax_w) * im_data[argmax_h_low * data_width + argmax_w_low];\n    if (argmax_h_low >= 0 && argmax_w_high <= width - 1)\n      weight += -1 * (argmax_w - argmax_w_low) * im_data[argmax_h_low * data_width + argmax_w_high];\n    if (argmax_h_high <= height - 1 && argmax_w_low >= 0)\n      weight += (argmax_w_low + 1 - argmax_w) * im_data[argmax_h_high * data_width + argmax_w_low];\n    if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1)\n      weight += (argmax_w - argmax_w_low) * im_data[argmax_h_high * data_width + argmax_w_high];\n  }\n  else if (bp_dir == 1)\n  {\n    if (argmax_h_low >= 0 && argmax_w_low >= 0)\n      weight += -1 * (argmax_h_low + 1 - argmax_h) * im_data[argmax_h_low * data_width + argmax_w_low];\n    if (argmax_h_low >= 0 && argmax_w_high <= width - 1)\n      weight += (argmax_h_low + 1 - argmax_h) * im_data[argmax_h_low * data_width + argmax_w_high];\n    if (argmax_h_high <= height - 1 && argmax_w_low >= 0)\n      weight += -1 * (argmax_h - argmax_h_low) * im_data[argmax_h_high * data_width + argmax_w_low];\n    if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1)\n      weight += (argmax_h - argmax_h_low) * im_data[argmax_h_high * data_width + argmax_w_high];\n  }\n\n  return weight;\n}\n\ntemplate <typename scalar_t>\n__global__ void modulated_deformable_im2col_gpu_kernel(const int n,\n                                                       const scalar_t *data_im, const scalar_t *data_offset, const scalar_t *data_mask,\n                                                       const int height, const int width, const int kernel_h, const int kernel_w,\n                                                       const int pad_h, const int pad_w,\n                                                       const int stride_h, const int stride_w,\n                                                       const int dilation_h, const int dilation_w,\n                                                       const int channel_per_deformable_group,\n                                                       const int batch_size, const int num_channels, const int deformable_group,\n                                                       const int height_col, const int width_col,\n                                                       scalar_t *data_col)\n{\n  CUDA_KERNEL_LOOP(index, n)\n  {\n    // index index of output matrix\n    const int w_col = index % width_col;\n    const int h_col = (index / width_col) % height_col;\n    const int b_col = (index / width_col / height_col) % batch_size;\n    const int c_im = (index / width_col / height_col) / batch_size;\n    const int c_col = c_im * kernel_h * kernel_w;\n\n    // compute deformable group index\n    const int deformable_group_index = c_im / channel_per_deformable_group;\n\n    const int h_in = h_col * stride_h - pad_h;\n    const int w_in = w_col * stride_w - pad_w;\n\n    scalar_t *data_col_ptr = data_col + ((c_col * batch_size + b_col) * height_col + h_col) * width_col + w_col;\n    //const float* data_im_ptr = data_im + ((b_col * num_channels + c_im) * height + h_in) * width + w_in;\n    const scalar_t *data_im_ptr = data_im + (b_col * num_channels + c_im) * height * width;\n    const scalar_t *data_offset_ptr = data_offset + (b_col * deformable_group + deformable_group_index) * 2 * kernel_h * kernel_w * height_col * width_col;\n\n    const scalar_t *data_mask_ptr = data_mask + (b_col * deformable_group + deformable_group_index) * kernel_h * kernel_w * height_col * width_col;\n\n    for (int i = 0; i < kernel_h; ++i)\n    {\n      for (int j = 0; j < kernel_w; ++j)\n      {\n        const int data_offset_h_ptr = ((2 * (i * kernel_w + j)) * height_col + h_col) * width_col + w_col;\n        const int data_offset_w_ptr = ((2 * (i * kernel_w + j) + 1) * height_col + h_col) * width_col + w_col;\n        const int data_mask_hw_ptr = ((i * kernel_w + j) * height_col + h_col) * width_col + w_col;\n        const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];\n        const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];\n        const scalar_t mask = data_mask_ptr[data_mask_hw_ptr];\n        scalar_t val = static_cast<scalar_t>(0);\n        const scalar_t h_im = h_in + i * dilation_h + offset_h;\n        const scalar_t w_im = w_in + j * dilation_w + offset_w;\n        //if (h_im >= 0 && w_im >= 0 && h_im < height && w_im < width) {\n        if (h_im > -1 && w_im > -1 && h_im < height && w_im < width)\n        {\n          //const float map_h = i * dilation_h + offset_h;\n          //const float map_w = j * dilation_w + offset_w;\n          //const int cur_height = height - h_in;\n          //const int cur_width = width - w_in;\n          //val = dmcn_im2col_bilinear(data_im_ptr, width, cur_height, cur_width, map_h, map_w);\n          val = dmcn_im2col_bilinear(data_im_ptr, width, height, width, h_im, w_im);\n        }\n        *data_col_ptr = val * mask;\n        data_col_ptr += batch_size * height_col * width_col;\n        //data_col_ptr += height_col * width_col;\n      }\n    }\n  }\n}\n\ntemplate <typename scalar_t>\n__global__ void modulated_deformable_col2im_gpu_kernel(const int n,\n                                                       const scalar_t *data_col, const scalar_t *data_offset, const scalar_t *data_mask,\n                                                       const int channels, const int height, const int width,\n                                                       const int kernel_h, const int kernel_w,\n                                                       const int pad_h, const int pad_w,\n                                                       const int stride_h, const int stride_w,\n                                                       const int dilation_h, const int dilation_w,\n                                                       const int channel_per_deformable_group,\n                                                       const int batch_size, const int deformable_group,\n                                                       const int height_col, const int width_col,\n                                                       scalar_t *grad_im)\n{\n  CUDA_KERNEL_LOOP(index, n)\n  {\n    const int j = (index / width_col / height_col / batch_size) % kernel_w;\n    const int i = (index / width_col / height_col / batch_size / kernel_w) % kernel_h;\n    const int c = index / width_col / height_col / batch_size / kernel_w / kernel_h;\n    // compute the start and end of the output\n\n    const int deformable_group_index = c / channel_per_deformable_group;\n\n    int w_out = index % width_col;\n    int h_out = (index / width_col) % height_col;\n    int b = (index / width_col / height_col) % batch_size;\n    int w_in = w_out * stride_w - pad_w;\n    int h_in = h_out * stride_h - pad_h;\n\n    const scalar_t *data_offset_ptr = data_offset + (b * deformable_group + deformable_group_index) * 2 * kernel_h * kernel_w * height_col * width_col;\n    const scalar_t *data_mask_ptr = data_mask + (b * deformable_group + deformable_group_index) * kernel_h * kernel_w * height_col * width_col;\n    const int data_offset_h_ptr = ((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out;\n    const int data_offset_w_ptr = ((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col + w_out;\n    const int data_mask_hw_ptr = ((i * kernel_w + j) * height_col + h_out) * width_col + w_out;\n    const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];\n    const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];\n    const scalar_t mask = data_mask_ptr[data_mask_hw_ptr];\n    const scalar_t cur_inv_h_data = h_in + i * dilation_h + offset_h;\n    const scalar_t cur_inv_w_data = w_in + j * dilation_w + offset_w;\n\n    const scalar_t cur_top_grad = data_col[index] * mask;\n    const int cur_h = (int)cur_inv_h_data;\n    const int cur_w = (int)cur_inv_w_data;\n    for (int dy = -2; dy <= 2; dy++)\n    {\n      for (int dx = -2; dx <= 2; dx++)\n      {\n        if (cur_h + dy >= 0 && cur_h + dy < height &&\n            cur_w + dx >= 0 && cur_w + dx < width &&\n            abs(cur_inv_h_data - (cur_h + dy)) < 1 &&\n            abs(cur_inv_w_data - (cur_w + dx)) < 1)\n        {\n          int cur_bottom_grad_pos = ((b * channels + c) * height + cur_h + dy) * width + cur_w + dx;\n          scalar_t weight = dmcn_get_gradient_weight(cur_inv_h_data, cur_inv_w_data, cur_h + dy, cur_w + dx, height, width);\n          atomicAdd(grad_im + cur_bottom_grad_pos, weight * cur_top_grad);\n        }\n      }\n    }\n  }\n}\n\ntemplate <typename scalar_t>\n__global__ void modulated_deformable_col2im_coord_gpu_kernel(const int n,\n                                                             const scalar_t *data_col, const scalar_t *data_im,\n                                                             const scalar_t *data_offset, const scalar_t *data_mask,\n                                                             const int channels, const int height, const int width,\n                                                             const int kernel_h, const int kernel_w,\n                                                             const int pad_h, const int pad_w,\n                                                             const int stride_h, const int stride_w,\n                                                             const int dilation_h, const int dilation_w,\n                                                             const int channel_per_deformable_group,\n                                                             const int batch_size, const int offset_channels, const int deformable_group,\n                                                             const int height_col, const int width_col,\n                                                             scalar_t *grad_offset, scalar_t *grad_mask)\n{\n  CUDA_KERNEL_LOOP(index, n)\n  {\n    scalar_t val = 0, mval = 0;\n    int w = index % width_col;\n    int h = (index / width_col) % height_col;\n    int c = (index / width_col / height_col) % offset_channels;\n    int b = (index / width_col / height_col) / offset_channels;\n    // compute the start and end of the output\n\n    const int deformable_group_index = c / (2 * kernel_h * kernel_w);\n    const int col_step = kernel_h * kernel_w;\n    int cnt = 0;\n    const scalar_t *data_col_ptr = data_col + deformable_group_index * channel_per_deformable_group * batch_size * width_col * height_col;\n    const scalar_t *data_im_ptr = data_im + (b * deformable_group + deformable_group_index) * channel_per_deformable_group / kernel_h / kernel_w * height * width;\n    const scalar_t *data_offset_ptr = data_offset + (b * deformable_group + deformable_group_index) * 2 * kernel_h * kernel_w * height_col * width_col;\n    const scalar_t *data_mask_ptr = data_mask + (b * deformable_group + deformable_group_index) * kernel_h * kernel_w * height_col * width_col;\n\n    const int offset_c = c - deformable_group_index * 2 * kernel_h * kernel_w;\n\n    for (int col_c = (offset_c / 2); col_c < channel_per_deformable_group; col_c += col_step)\n    {\n      const int col_pos = (((col_c * batch_size + b) * height_col) + h) * width_col + w;\n      const int bp_dir = offset_c % 2;\n\n      int j = (col_pos / width_col / height_col / batch_size) % kernel_w;\n      int i = (col_pos / width_col / height_col / batch_size / kernel_w) % kernel_h;\n      int w_out = col_pos % width_col;\n      int h_out = (col_pos / width_col) % height_col;\n      int w_in = w_out * stride_w - pad_w;\n      int h_in = h_out * stride_h - pad_h;\n      const int data_offset_h_ptr = (((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out);\n      const int data_offset_w_ptr = (((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col + w_out);\n      const int data_mask_hw_ptr = (((i * kernel_w + j) * height_col + h_out) * width_col + w_out);\n      const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr];\n      const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr];\n      const scalar_t mask = data_mask_ptr[data_mask_hw_ptr];\n      scalar_t inv_h = h_in + i * dilation_h + offset_h;\n      scalar_t inv_w = w_in + j * dilation_w + offset_w;\n      if (inv_h <= -1 || inv_w <= -1 || inv_h >= height || inv_w >= width)\n      {\n        inv_h = inv_w = -2;\n      }\n      else\n      {\n        mval += data_col_ptr[col_pos] * dmcn_im2col_bilinear(data_im_ptr + cnt * height * width, width, height, width, inv_h, inv_w);\n      }\n      const scalar_t weight = dmcn_get_coordinate_weight(\n          inv_h, inv_w,\n          height, width, data_im_ptr + cnt * height * width, width, bp_dir);\n      val += weight * data_col_ptr[col_pos] * mask;\n      cnt += 1;\n    }\n    // KERNEL_ASSIGN(grad_offset[index], offset_req, val);\n    grad_offset[index] = val;\n    if (offset_c % 2 == 0)\n      // KERNEL_ASSIGN(grad_mask[(((b * deformable_group + deformable_group_index) * kernel_h * kernel_w + offset_c / 2) * height_col + h) * width_col + w], mask_req, mval);\n      grad_mask[(((b * deformable_group + deformable_group_index) * kernel_h * kernel_w + offset_c / 2) * height_col + h) * width_col + w] = mval;\n  }\n}\n\nvoid modulated_deformable_im2col_cuda(\n    const at::Tensor data_im, const at::Tensor data_offset, const at::Tensor data_mask,\n    const int batch_size, const int channels, const int height_im, const int width_im,\n    const int height_col, const int width_col, const int kernel_h, const int kenerl_w,\n    const int pad_h, const int pad_w, const int stride_h, const int stride_w,\n    const int dilation_h, const int dilation_w,\n    const int deformable_group, at::Tensor data_col)\n{\n  // num_axes should be smaller than block size\n  const int channel_per_deformable_group = channels / deformable_group;\n  const int num_kernels = channels * batch_size * height_col * width_col;\n\n  AT_DISPATCH_FLOATING_TYPES_AND_HALF(\n      data_im.scalar_type(), \"modulated_deformable_im2col_gpu\", ([&] {\n        const scalar_t *data_im_ = data_im.data<scalar_t>();\n        const scalar_t *data_offset_ = data_offset.data<scalar_t>();\n        const scalar_t *data_mask_ = data_mask.data<scalar_t>();\n        scalar_t *data_col_ = data_col.data<scalar_t>();\n\n        modulated_deformable_im2col_gpu_kernel<<<GET_BLOCKS(num_kernels), CUDA_NUM_THREADS, 0, at::cuda::getCurrentCUDAStream()>>>(\n            num_kernels, data_im_, data_offset_, data_mask_, height_im, width_im, kernel_h, kenerl_w,\n            pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, channel_per_deformable_group,\n            batch_size, channels, deformable_group, height_col, width_col, data_col_);\n      }));\n\n  cudaError_t err = cudaGetLastError();\n  if (err != cudaSuccess)\n  {\n    printf(\"error in modulated_deformable_im2col_cuda: %s\\n\", cudaGetErrorString(err));\n  }\n}\n\nvoid modulated_deformable_col2im_cuda(\n    const at::Tensor data_col, const at::Tensor data_offset, const at::Tensor data_mask,\n    const int batch_size, const int channels, const int height_im, const int width_im,\n    const int height_col, const int width_col, const int kernel_h, const int kernel_w,\n    const int pad_h, const int pad_w, const int stride_h, const int stride_w,\n    const int dilation_h, const int dilation_w,\n    const int deformable_group, at::Tensor grad_im)\n{\n\n  const int channel_per_deformable_group = channels / deformable_group;\n  const int num_kernels = channels * kernel_h * kernel_w * batch_size * height_col * width_col;\n\n  AT_DISPATCH_FLOATING_TYPES_AND_HALF(\n      data_col.scalar_type(), \"modulated_deformable_col2im_gpu\", ([&] {\n        const scalar_t *data_col_ = data_col.data<scalar_t>();\n        const scalar_t *data_offset_ = data_offset.data<scalar_t>();\n        const scalar_t *data_mask_ = data_mask.data<scalar_t>();\n        scalar_t *grad_im_ = grad_im.data<scalar_t>();\n\n        modulated_deformable_col2im_gpu_kernel<<<GET_BLOCKS(num_kernels), CUDA_NUM_THREADS, 0, at::cuda::getCurrentCUDAStream()>>>(\n            num_kernels, data_col_, data_offset_, data_mask_, channels, height_im, width_im,\n            kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w,\n            dilation_h, dilation_w, channel_per_deformable_group,\n            batch_size, deformable_group, height_col, width_col, grad_im_);\n      }));\n\n  cudaError_t err = cudaGetLastError();\n  if (err != cudaSuccess)\n  {\n    printf(\"error in modulated_deformable_col2im_cuda: %s\\n\", cudaGetErrorString(err));\n  }\n}\n\nvoid modulated_deformable_col2im_coord_cuda(\n    const at::Tensor data_col, const at::Tensor data_im, const at::Tensor data_offset, const at::Tensor data_mask,\n    const int batch_size, const int channels, const int height_im, const int width_im,\n    const int height_col, const int width_col, const int kernel_h, const int kernel_w,\n    const int pad_h, const int pad_w, const int stride_h, const int stride_w,\n    const int dilation_h, const int dilation_w,\n    const int deformable_group,\n    at::Tensor grad_offset, at::Tensor grad_mask)\n{\n  const int num_kernels = batch_size * height_col * width_col * 2 * kernel_h * kernel_w * deformable_group;\n  const int channel_per_deformable_group = channels * kernel_h * kernel_w / deformable_group;\n\n  AT_DISPATCH_FLOATING_TYPES_AND_HALF(\n      data_col.scalar_type(), \"modulated_deformable_col2im_coord_gpu\", ([&] {\n        const scalar_t *data_col_ = data_col.data<scalar_t>();\n        const scalar_t *data_im_ = data_im.data<scalar_t>();\n        const scalar_t *data_offset_ = data_offset.data<scalar_t>();\n        const scalar_t *data_mask_ = data_mask.data<scalar_t>();\n        scalar_t *grad_offset_ = grad_offset.data<scalar_t>();\n        scalar_t *grad_mask_ = grad_mask.data<scalar_t>();\n\n        modulated_deformable_col2im_coord_gpu_kernel<<<GET_BLOCKS(num_kernels), CUDA_NUM_THREADS, 0, at::cuda::getCurrentCUDAStream()>>>(\n            num_kernels, data_col_, data_im_, data_offset_, data_mask_, channels, height_im, width_im,\n            kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w,\n            dilation_h, dilation_w, channel_per_deformable_group,\n            batch_size, 2 * kernel_h * kernel_w * deformable_group, deformable_group, height_col, width_col,\n            grad_offset_, grad_mask_);\n      }));\n  cudaError_t err = cudaGetLastError();\n  if (err != cudaSuccess)\n  {\n    printf(\"error in modulated_deformable_col2im_coord_cuda: %s\\n\", cudaGetErrorString(err));\n  }\n}"
  },
  {
    "path": "nets/estimation.py",
    "content": "import torch\nimport torch.nn as nn\nimport torch.nn.functional as F\n\n\nclass DisparityEstimation(nn.Module):\n    def __init__(self, max_disp, match_similarity=True):\n        super(DisparityEstimation, self).__init__()\n\n        self.max_disp = max_disp\n        self.match_similarity = match_similarity\n\n    def forward(self, cost_volume):\n        assert cost_volume.dim() == 4\n\n        # Matching similarity or matching cost\n        cost_volume = cost_volume if self.match_similarity else -cost_volume\n\n        prob_volume = F.softmax(cost_volume, dim=1)  # [B, D, H, W]\n\n        if cost_volume.size(1) == self.max_disp:\n            disp_candidates = torch.arange(0, self.max_disp).type_as(prob_volume)\n        else:\n            max_disp = prob_volume.size(1)  # current max disparity\n            disp_candidates = torch.arange(0, max_disp).type_as(prob_volume)\n\n        disp_candidates = disp_candidates.view(1, cost_volume.size(1), 1, 1)\n        disp = torch.sum(prob_volume * disp_candidates, 1, keepdim=False)  # [B, H, W]\n\n        return disp\n"
  },
  {
    "path": "nets/feature.py",
    "content": "import torch\nimport torch.nn as nn\nimport torch.nn.functional as F\n\nfrom nets.deform import DeformConv2d\n\n\ndef conv1x1(in_channels, out_channels):\n    return nn.Sequential(nn.Conv2d(in_channels, out_channels, kernel_size=1, bias=False),\n                         nn.BatchNorm2d(out_channels),\n                         nn.ReLU(inplace=True))\n\n\n# Used for StereoNet feature extractor\ndef conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1, with_bn_relu=False, leaky_relu=False):\n    \"\"\"3x3 convolution with padding\"\"\"\n    conv = nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride,\n                     padding=dilation, groups=groups, bias=False, dilation=dilation)\n    if with_bn_relu:\n        relu = nn.LeakyReLU(0.2, inplace=True) if leaky_relu else nn.ReLU(inplace=True)\n        conv = nn.Sequential(conv,\n                             nn.BatchNorm2d(out_planes),\n                             relu)\n    return conv\n\n\ndef conv5x5(in_channels, out_channels, stride=2,\n            dilation=1, use_bn=True):\n    bias = False if use_bn else True\n    conv = nn.Conv2d(in_channels, out_channels, kernel_size=5, stride=stride,\n                     padding=2, dilation=dilation, bias=bias)\n    relu = nn.ReLU(inplace=True)\n    if use_bn:\n        out = nn.Sequential(conv,\n                            nn.BatchNorm2d(out_channels),\n                            relu)\n    else:\n        out = nn.Sequential(conv, relu)\n    return out\n\n\nclass BasicBlock(nn.Module):\n    expansion = 1\n\n    def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,\n                 base_width=64, dilation=1, norm_layer=None, leaky_relu=True):\n        \"\"\"StereoNet uses leaky relu (alpha = 0.2)\"\"\"\n        super(BasicBlock, self).__init__()\n        if norm_layer is None:\n            norm_layer = nn.BatchNorm2d\n        # Both self.conv1 and self.downsample layers downsample the input when stride != 1\n        self.conv1 = conv3x3(inplanes, planes, stride=stride, dilation=dilation)\n        self.bn1 = norm_layer(planes)\n        self.relu = nn.LeakyReLU(0.2, inplace=True) if leaky_relu else nn.ReLU(inplace=True)\n        self.conv2 = conv3x3(planes, planes, dilation=dilation)\n        self.bn2 = norm_layer(planes)\n        self.downsample = downsample\n        self.stride = stride\n\n    def forward(self, x):\n        identity = x\n\n        out = self.conv1(x)\n        out = self.bn1(out)\n        out = self.relu(out)\n\n        out = self.conv2(out)\n        out = self.bn2(out)\n\n        if self.downsample is not None:\n            identity = self.downsample(x)\n\n        out += identity\n        out = self.relu(out)\n\n        return out\n\n\nclass StereoNetFeature(nn.Module):\n    def __init__(self, num_downsample=3):\n        \"\"\"Feature extractor of StereoNet\n        Args:\n            num_downsample: 2, 3 or 4\n        \"\"\"\n        super(StereoNetFeature, self).__init__()\n\n        self.num_downsample = num_downsample\n\n        downsample = nn.ModuleList()\n\n        in_channels = 3\n        out_channels = 32\n        for _ in range(num_downsample):\n            downsample.append(conv5x5(in_channels, out_channels))\n            in_channels = 32\n\n        self.downsample = nn.Sequential(*downsample)\n\n        residual_blocks = nn.ModuleList()\n\n        for _ in range(6):\n            residual_blocks.append(BasicBlock(out_channels, out_channels))\n        self.residual_blocks = nn.Sequential(*residual_blocks)\n\n        # StereoNet has no bn and relu for last conv layer,\n        self.final_conv = conv3x3(out_channels, out_channels)\n\n    def forward(self, img):\n        out = self.downsample(img)  # [B, 32, H/8, W/8]\n        out = self.residual_blocks(out)  # [B, 32, H/8, W/8]\n        out = self.final_conv(out)  # [B, 32, H/8, W/8]\n\n        return out\n\n\n# Used for PSMNet feature extractor\ndef convbn(in_planes, out_planes, kernel_size, stride, pad, dilation):\n    return nn.Sequential(nn.Conv2d(in_planes, out_planes, kernel_size=kernel_size, stride=stride,\n                                   padding=dilation if dilation > 1 else pad, dilation=dilation, bias=False),\n                         nn.BatchNorm2d(out_planes))\n\n\nclass PSMNetBasicBlock(nn.Module):\n    expansion = 1\n\n    def __init__(self, inplanes, planes, stride, downsample, pad, dilation):\n        super(PSMNetBasicBlock, self).__init__()\n\n        self.conv1 = nn.Sequential(convbn(inplanes, planes, 3, stride, pad, dilation),\n                                   nn.ReLU(inplace=True))\n\n        self.conv2 = convbn(planes, planes, 3, 1, pad, dilation)\n\n        self.downsample = downsample\n        self.stride = stride\n\n    def forward(self, x):\n        out = self.conv1(x)\n        out = self.conv2(out)\n\n        if self.downsample is not None:\n            x = self.downsample(x)\n\n        out += x\n\n        return out\n\n\nclass FeaturePyrmaid(nn.Module):\n    def __init__(self, in_channel=32):\n        super(FeaturePyrmaid, self).__init__()\n\n        self.out1 = nn.Sequential(nn.Conv2d(in_channel, in_channel * 2, kernel_size=3,\n                                            stride=2, padding=1, bias=False),\n                                  nn.BatchNorm2d(in_channel * 2),\n                                  nn.LeakyReLU(0.2, inplace=True),\n                                  nn.Conv2d(in_channel * 2, in_channel * 2, kernel_size=1,\n                                            stride=1, padding=0, bias=False),\n                                  nn.BatchNorm2d(in_channel * 2),\n                                  nn.LeakyReLU(0.2, inplace=True),\n                                  )\n\n        self.out2 = nn.Sequential(nn.Conv2d(in_channel * 2, in_channel * 4, kernel_size=3,\n                                            stride=2, padding=1, bias=False),\n                                  nn.BatchNorm2d(in_channel * 4),\n                                  nn.LeakyReLU(0.2, inplace=True),\n                                  nn.Conv2d(in_channel * 4, in_channel * 4, kernel_size=1,\n                                            stride=1, padding=0, bias=False),\n                                  nn.BatchNorm2d(in_channel * 4),\n                                  nn.LeakyReLU(0.2, inplace=True),\n                                  )\n\n    def forward(self, x):\n        # x: [B, 32, H, W]\n        out1 = self.out1(x)  # [B, 64, H/2, W/2]\n        out2 = self.out2(out1)  # [B, 128, H/4, W/4]\n\n        return [x, out1, out2]\n\n\nclass FeaturePyramidNetwork(nn.Module):\n    def __init__(self, in_channels, out_channels=128,\n                 num_levels=3):\n        # FPN paper uses 256 out channels by default\n        super(FeaturePyramidNetwork, self).__init__()\n\n        assert isinstance(in_channels, list)\n\n        self.in_channels = in_channels\n\n        self.lateral_convs = nn.ModuleList()\n        self.fpn_convs = nn.ModuleList()\n\n        for i in range(num_levels):\n            lateral_conv = nn.Conv2d(in_channels[i], out_channels, 1)\n            fpn_conv = nn.Sequential(\n                nn.Conv2d(out_channels, out_channels, 3, padding=1),\n                nn.BatchNorm2d(out_channels),\n                nn.ReLU(inplace=True))\n\n            self.lateral_convs.append(lateral_conv)\n            self.fpn_convs.append(fpn_conv)\n\n        # Initialize weights\n        for m in self.modules():\n            if isinstance(m, nn.Conv2d):\n                nn.init.xavier_uniform_(m.weight, gain=1)\n                if hasattr(m, 'bias'):\n                    nn.init.constant_(m.bias, 0)\n\n    def forward(self, inputs):\n        # Inputs: resolution high -> low\n        assert len(self.in_channels) == len(inputs)\n\n        # Build laterals\n        laterals = [lateral_conv(inputs[i])\n                    for i, lateral_conv in enumerate(self.lateral_convs)]\n\n        # Build top-down path\n        used_backbone_levels = len(laterals)\n        for i in range(used_backbone_levels - 1, 0, -1):\n            laterals[i - 1] += F.interpolate(\n                laterals[i], scale_factor=2, mode='nearest')\n\n        # Build outputs\n        out = [\n            self.fpn_convs[i](laterals[i]) for i in range(used_backbone_levels)\n        ]\n\n        return out\n\n\nclass PSMNetFeature(nn.Module):\n    def __init__(self):\n        super(PSMNetFeature, self).__init__()\n        self.inplanes = 32\n\n        self.firstconv = nn.Sequential(convbn(3, 32, 3, 2, 1, 1),\n                                       nn.ReLU(inplace=True),\n                                       convbn(32, 32, 3, 1, 1, 1),\n                                       nn.ReLU(inplace=True),\n                                       convbn(32, 32, 3, 1, 1, 1),\n                                       nn.ReLU(inplace=True))  # H/2\n\n        self.layer1 = self._make_layer(PSMNetBasicBlock, 32, 3, 1, 1, 1)\n        self.layer2 = self._make_layer(PSMNetBasicBlock, 64, 16, 2, 1, 1)  # H/4\n        self.layer3 = self._make_layer(PSMNetBasicBlock, 128, 3, 1, 1, 1)\n        self.layer4 = self._make_layer(PSMNetBasicBlock, 128, 3, 1, 1, 2)\n\n        self.branch1 = nn.Sequential(nn.AvgPool2d((64, 64), stride=(64, 64)),\n                                     convbn(128, 32, 1, 1, 0, 1),\n                                     nn.ReLU(inplace=True))\n\n        self.branch2 = nn.Sequential(nn.AvgPool2d((32, 32), stride=(32, 32)),\n                                     convbn(128, 32, 1, 1, 0, 1),\n                                     nn.ReLU(inplace=True))\n\n        self.branch3 = nn.Sequential(nn.AvgPool2d((16, 16), stride=(16, 16)),\n                                     convbn(128, 32, 1, 1, 0, 1),\n                                     nn.ReLU(inplace=True))\n\n        self.branch4 = nn.Sequential(nn.AvgPool2d((8, 8), stride=(8, 8)),\n                                     convbn(128, 32, 1, 1, 0, 1),\n                                     nn.ReLU(inplace=True))\n\n        self.lastconv = nn.Sequential(convbn(320, 128, 3, 1, 1, 1),\n                                      nn.ReLU(inplace=True),\n                                      nn.Conv2d(128, 32, kernel_size=1, padding=0, stride=1, bias=False))\n\n    def _make_layer(self, block, planes, blocks, stride, pad, dilation):\n        downsample = None\n        if stride != 1 or self.inplanes != planes * block.expansion:\n            downsample = nn.Sequential(\n                nn.Conv2d(self.inplanes, planes * block.expansion,\n                          kernel_size=1, stride=stride, bias=False),\n                nn.BatchNorm2d(planes * block.expansion), )\n\n        layers = []\n        layers.append(block(self.inplanes, planes, stride, downsample, pad, dilation))\n        self.inplanes = planes * block.expansion\n        for i in range(1, blocks):\n            layers.append(block(self.inplanes, planes, 1, None, pad, dilation))\n\n        return nn.Sequential(*layers)\n\n    def forward(self, x):\n        output = self.firstconv(x)\n        output = self.layer1(output)\n        output_raw = self.layer2(output)\n        output = self.layer3(output_raw)\n        output_skip = self.layer4(output)\n\n        output_branch1 = self.branch1(output_skip)\n        output_branch1 = F.interpolate(output_branch1, (output_skip.size()[2], output_skip.size()[3]), mode='bilinear', align_corners=False)\n\n        output_branch2 = self.branch2(output_skip)\n        output_branch2 = F.interpolate(output_branch2, (output_skip.size()[2], output_skip.size()[3]), mode='bilinear', align_corners=False)\n\n        output_branch3 = self.branch3(output_skip)\n        output_branch3 = F.interpolate(output_branch3, (output_skip.size()[2], output_skip.size()[3]), mode='bilinear', align_corners=False)\n\n        output_branch4 = self.branch4(output_skip)\n        output_branch4 = F.interpolate(output_branch4, (output_skip.size()[2], output_skip.size()[3]), mode='bilinear', align_corners=False)\n\n        output_feature = torch.cat(\n            (output_raw, output_skip, output_branch4, output_branch3, output_branch2, output_branch1), 1)\n        output_feature = self.lastconv(output_feature)  # [32, H/4, W/4]\n\n        return output_feature\n\n\n# GANet feature\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        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 = F.relu(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, bn=True, relu=True,\n                 mdconv=False):\n        super(Conv2x, self).__init__()\n        self.concat = concat\n\n        if deconv and is_3d:\n            kernel = (3, 4, 4)\n        elif deconv:\n            kernel = 4\n        else:\n            kernel = 3\n        self.conv1 = BasicConv(in_channels, out_channels, deconv, is_3d, bn=True, relu=True, kernel_size=kernel,\n                               stride=2, padding=1)\n\n        if self.concat:\n            if mdconv:\n                self.conv2 = DeformConv2d(out_channels * 2, out_channels, kernel_size=3, stride=1)\n            else:\n                self.conv2 = BasicConv(out_channels * 2, out_channels, False, is_3d, bn, relu, kernel_size=3,\n                                       stride=1, padding=1)\n        else:\n            self.conv2 = BasicConv(out_channels, out_channels, False, is_3d, bn, relu, kernel_size=3, stride=1,\n                                   padding=1)\n\n    def forward(self, x, rem):\n        x = self.conv1(x)\n        assert (x.size() == rem.size())\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\nclass GANetFeature(nn.Module):\n    \"\"\"Height and width need to be divided by 48, downsampled by 1/3\"\"\"\n\n    def __init__(self, feature_mdconv=False):\n        super(GANetFeature, self).__init__()\n\n        if feature_mdconv:\n            self.conv_start = nn.Sequential(\n                BasicConv(3, 32, kernel_size=3, padding=1),\n                BasicConv(32, 32, kernel_size=5, stride=3, padding=2),\n                DeformConv2d(32, 32))\n        else:\n            self.conv_start = nn.Sequential(\n                BasicConv(3, 32, kernel_size=3, padding=1),\n                BasicConv(32, 32, kernel_size=5, stride=3, padding=2),\n                BasicConv(32, 32, kernel_size=3, padding=1))\n\n        self.conv1a = BasicConv(32, 48, kernel_size=3, stride=2, padding=1)\n        self.conv2a = BasicConv(48, 64, kernel_size=3, stride=2, padding=1)\n\n        if feature_mdconv:\n            self.conv3a = DeformConv2d(64, 96, kernel_size=3, stride=2)\n            self.conv4a = DeformConv2d(96, 128, kernel_size=3, stride=2)\n        else:\n            self.conv3a = BasicConv(64, 96, kernel_size=3, stride=2, padding=1)\n            self.conv4a = BasicConv(96, 128, kernel_size=3, stride=2, padding=1)\n\n        self.deconv4a = Conv2x(128, 96, deconv=True)\n        self.deconv3a = Conv2x(96, 64, deconv=True)\n        self.deconv2a = Conv2x(64, 48, deconv=True)\n        self.deconv1a = Conv2x(48, 32, deconv=True)\n\n        self.conv1b = Conv2x(32, 48)\n        self.conv2b = Conv2x(48, 64)\n\n        if feature_mdconv:\n            self.conv3b = Conv2x(64, 96, mdconv=True)\n            self.conv4b = Conv2x(96, 128, mdconv=True)\n        else:\n            self.conv3b = Conv2x(64, 96)\n            self.conv4b = Conv2x(96, 128)\n\n        self.deconv4b = Conv2x(128, 96, deconv=True)\n        self.deconv3b = Conv2x(96, 64, deconv=True)\n        self.deconv2b = Conv2x(64, 48, deconv=True)\n        self.deconv1b = Conv2x(48, 32, deconv=True)\n\n    def forward(self, x):\n        x = self.conv_start(x)\n        rem0 = x\n        x = self.conv1a(x)\n        rem1 = x\n        x = self.conv2a(x)\n        rem2 = x\n        x = self.conv3a(x)\n        rem3 = x\n        x = self.conv4a(x)\n        rem4 = x\n        x = self.deconv4a(x, rem3)\n        rem3 = x\n\n        x = self.deconv3a(x, rem2)\n        rem2 = x\n        x = self.deconv2a(x, rem1)\n        rem1 = x\n        x = self.deconv1a(x, rem0)\n        rem0 = x\n\n        x = self.conv1b(x, rem1)\n        rem1 = x\n        x = self.conv2b(x, rem2)\n        rem2 = x\n        x = self.conv3b(x, rem3)\n        rem3 = x\n        x = self.conv4b(x, rem4)\n\n        x = self.deconv4b(x, rem3)\n        x = self.deconv3b(x, rem2)\n        x = self.deconv2b(x, rem1)\n        x = self.deconv1b(x, rem0)  # [B, 32, H/3, W/3]\n\n        return x\n\n\nclass GCNetFeature(nn.Module):\n    def __init__(self):\n        super(GCNetFeature, self).__init__()\n\n        self.inplanes = 32\n        self.conv1 = conv5x5(3, 32)\n        self.conv2 = self._make_layer(PSMNetBasicBlock, 32, 8, 1, 1, 1)\n        self.conv3 = conv3x3(32, 32)\n\n    def _make_layer(self, block, planes, blocks, stride, pad, dilation):\n        downsample = None\n        if stride != 1 or self.inplanes != planes * block.expansion:\n            downsample = nn.Sequential(\n                nn.Conv2d(self.inplanes, planes * block.expansion,\n                          kernel_size=1, stride=stride, bias=False),\n                nn.BatchNorm2d(planes * block.expansion), )\n\n        layers = []\n        layers.append(block(self.inplanes, planes, stride, downsample, pad, dilation))\n        self.inplanes = planes * block.expansion\n        for i in range(1, blocks):\n            layers.append(block(self.inplanes, planes, 1, None, pad, dilation))\n\n        return nn.Sequential(*layers)\n\n    def forward(self, x):\n        x = self.conv1(x)\n        x = self.conv2(x)\n        x = self.conv3(x)  # [32, H/2, W/2]\n\n        return x\n"
  },
  {
    "path": "nets/refinement.py",
    "content": "import torch\nimport torch.nn as nn\nimport torch.nn.functional as F\n\nfrom nets.feature import BasicBlock, BasicConv, Conv2x\nfrom nets.deform import DeformConv2d\nfrom nets.warp import disp_warp\n\n\ndef conv2d(in_channels, out_channels, kernel_size=3, stride=1, dilation=1, groups=1):\n    return nn.Sequential(nn.Conv2d(in_channels, out_channels, kernel_size=kernel_size,\n                                   stride=stride, padding=dilation, dilation=dilation,\n                                   bias=False, groups=groups),\n                         nn.BatchNorm2d(out_channels),\n                         nn.LeakyReLU(0.2, inplace=True))\n\n\nclass StereoNetRefinement(nn.Module):\n    def __init__(self):\n        super(StereoNetRefinement, self).__init__()\n\n        # Original StereoNet: left, disp\n        self.conv = conv2d(4, 32)\n\n        self.dilation_list = [1, 2, 4, 8, 1, 1]\n        self.dilated_blocks = nn.ModuleList()\n\n        for dilation in self.dilation_list:\n            self.dilated_blocks.append(BasicBlock(32, 32, stride=1, dilation=dilation))\n\n        self.dilated_blocks = nn.Sequential(*self.dilated_blocks)\n\n        self.final_conv = nn.Conv2d(32, 1, 3, 1, 1)\n\n    def forward(self, low_disp, left_img, right_img=None):\n        \"\"\"Upsample low resolution disparity prediction to\n        corresponding resolution as image size\n        Args:\n            low_disp: [B, H, W]\n            left_img: [B, 3, H, W]\n            right_img: [B, 3, H, W]\n        \"\"\"\n        assert low_disp.dim() == 3\n        low_disp = low_disp.unsqueeze(1)  # [B, 1, H, W]\n        scale_factor = left_img.size(-1) / low_disp.size(-1)\n        disp = F.interpolate(low_disp, size=left_img.size()[-2:], mode='bilinear', align_corners=False)\n        disp = disp * scale_factor  # scale correspondingly\n\n        concat = torch.cat((disp, left_img), dim=1)  # [B, 4, H, W]\n        out = self.conv(concat)\n        out = self.dilated_blocks(out)\n        residual_disp = self.final_conv(out)\n\n        disp = F.relu(disp + residual_disp, inplace=True)  # [B, 1, H, W]\n        disp = disp.squeeze(1)  # [B, H, W]\n\n        return disp\n\n\nclass StereoDRNetRefinement(nn.Module):\n    def __init__(self):\n        super(StereoDRNetRefinement, self).__init__()\n\n        # Left and warped error\n        in_channels = 6\n\n        self.conv1 = conv2d(in_channels, 16)\n        self.conv2 = conv2d(1, 16)  # on low disparity\n\n        self.dilation_list = [1, 2, 4, 8, 1, 1]\n        self.dilated_blocks = nn.ModuleList()\n\n        for dilation in self.dilation_list:\n            self.dilated_blocks.append(BasicBlock(32, 32, stride=1, dilation=dilation))\n\n        self.dilated_blocks = nn.Sequential(*self.dilated_blocks)\n\n        self.final_conv = nn.Conv2d(32, 1, 3, 1, 1)\n\n    def forward(self, low_disp, left_img, right_img):\n        assert low_disp.dim() == 3\n        low_disp = low_disp.unsqueeze(1)  # [B, 1, H, W]\n        scale_factor = left_img.size(-1) / low_disp.size(-1)\n        if scale_factor == 1.0:\n            disp = low_disp\n        else:\n            disp = F.interpolate(low_disp, size=left_img.size()[-2:], mode='bilinear', align_corners=False)\n            disp = disp * scale_factor\n\n        # Warp right image to left view with current disparity\n        warped_right = disp_warp(right_img, disp)[0]  # [B, C, H, W]\n        error = warped_right - left_img  # [B, C, H, W]\n\n        concat1 = torch.cat((error, left_img), dim=1)  # [B, 6, H, W]\n\n        conv1 = self.conv1(concat1)  # [B, 16, H, W]\n        conv2 = self.conv2(disp)  # [B, 16, H, W]\n        concat2 = torch.cat((conv1, conv2), dim=1)  # [B, 32, H, W]\n\n        out = self.dilated_blocks(concat2)  # [B, 32, H, W]\n        residual_disp = self.final_conv(out)  # [B, 1, H, W]\n\n        disp = F.relu(disp + residual_disp, inplace=True)  # [B, 1, H, W]\n        disp = disp.squeeze(1)  # [B, H, W]\n\n        return disp\n\n\nclass HourglassRefinement(nn.Module):\n    \"\"\"Height and width need to be divided by 16\"\"\"\n\n    def __init__(self):\n        super(HourglassRefinement, self).__init__()\n\n        # Left and warped error\n        in_channels = 6\n        self.conv1 = conv2d(in_channels, 16)\n        self.conv2 = conv2d(1, 16)  # on low disparity\n\n        self.conv_start = DeformConv2d(32, 32)\n\n        self.conv1a = BasicConv(32, 48, kernel_size=3, stride=2, padding=1)\n        self.conv2a = BasicConv(48, 64, kernel_size=3, stride=2, padding=1)\n        self.conv3a = DeformConv2d(64, 96, kernel_size=3, stride=2)\n        self.conv4a = DeformConv2d(96, 128, kernel_size=3, stride=2)\n\n        self.deconv4a = Conv2x(128, 96, deconv=True)\n        self.deconv3a = Conv2x(96, 64, deconv=True)\n        self.deconv2a = Conv2x(64, 48, deconv=True)\n        self.deconv1a = Conv2x(48, 32, deconv=True)\n\n        self.conv1b = Conv2x(32, 48)\n        self.conv2b = Conv2x(48, 64)\n        self.conv3b = Conv2x(64, 96, mdconv=True)\n        self.conv4b = Conv2x(96, 128, mdconv=True)\n\n        self.deconv4b = Conv2x(128, 96, deconv=True)\n        self.deconv3b = Conv2x(96, 64, deconv=True)\n        self.deconv2b = Conv2x(64, 48, deconv=True)\n        self.deconv1b = Conv2x(48, 32, deconv=True)\n\n        self.final_conv = nn.Conv2d(32, 1, 3, 1, 1)\n\n    def forward(self, low_disp, left_img, right_img):\n\n        assert low_disp.dim() == 3\n        low_disp = low_disp.unsqueeze(1)  # [B, 1, H, W]\n        scale_factor = left_img.size(-1) / low_disp.size(-1)\n        if scale_factor == 1.0:\n            disp = low_disp\n        else:\n            disp = F.interpolate(low_disp, size=left_img.size()[-2:], mode='bilinear', align_corners=False)\n            disp = disp * scale_factor\n\n        # Warp right image to left view with current disparity\n        warped_right = disp_warp(right_img, disp)[0]  # [B, C, H, W]\n        error = warped_right - left_img  # [B, C, H, W]\n        concat1 = torch.cat((error, left_img), dim=1)  # [B, 6, H, W]\n        conv1 = self.conv1(concat1)  # [B, 16, H, W]\n        conv2 = self.conv2(disp)  # [B, 16, H, W]\n        x = torch.cat((conv1, conv2), dim=1)  # [B, 32, H, W]\n\n        x = self.conv_start(x)\n        rem0 = x\n        x = self.conv1a(x)\n        rem1 = x\n        x = self.conv2a(x)\n        rem2 = x\n        x = self.conv3a(x)\n        rem3 = x\n        x = self.conv4a(x)\n        rem4 = x\n        x = self.deconv4a(x, rem3)\n        rem3 = x\n\n        x = self.deconv3a(x, rem2)\n        rem2 = x\n        x = self.deconv2a(x, rem1)\n        rem1 = x\n        x = self.deconv1a(x, rem0)\n        rem0 = x\n\n        x = self.conv1b(x, rem1)\n        rem1 = x\n        x = self.conv2b(x, rem2)\n        rem2 = x\n        x = self.conv3b(x, rem3)\n        rem3 = x\n        x = self.conv4b(x, rem4)\n\n        x = self.deconv4b(x, rem3)\n        x = self.deconv3b(x, rem2)\n        x = self.deconv2b(x, rem1)\n        x = self.deconv1b(x, rem0)  # [B, 32, H, W]\n\n        residual_disp = self.final_conv(x)  # [B, 1, H, W]\n\n        disp = F.relu(disp + residual_disp, inplace=True)  # [B, 1, H, W]\n        disp = disp.squeeze(1)  # [B, H, W]\n\n        return disp\n"
  },
  {
    "path": "nets/resnet.py",
    "content": "import torch.nn as nn\n\nfrom nets.deform import DeformBottleneck\n\n\ndef conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1):\n    \"\"\"3x3 convolution with padding\"\"\"\n    return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride,\n                     padding=dilation, groups=groups, bias=False, dilation=dilation)\n\n\ndef conv1x1(in_planes, out_planes, stride=1):\n    \"\"\"1x1 convolution\"\"\"\n    return nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=stride, bias=False)\n\n\nclass BasicBlock(nn.Module):\n    expansion = 1\n    __constants__ = ['downsample']\n\n    def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,\n                 base_width=64, dilation=1, norm_layer=None):\n        super(BasicBlock, self).__init__()\n        if norm_layer is None:\n            norm_layer = nn.BatchNorm2d\n        if groups != 1 or base_width != 64:\n            raise ValueError('BasicBlock only supports groups=1 and base_width=64')\n        if dilation > 1:\n            raise NotImplementedError(\"Dilation > 1 not supported in BasicBlock\")\n        # Both self.conv1 and self.downsample layers downsample the input when stride != 1\n        self.conv1 = conv3x3(inplanes, planes, stride)\n        self.bn1 = norm_layer(planes)\n        self.relu = nn.ReLU(inplace=True)\n        self.conv2 = conv3x3(planes, planes)\n        self.bn2 = norm_layer(planes)\n        self.downsample = downsample\n        self.stride = stride\n\n    def forward(self, x):\n        identity = x\n\n        out = self.conv1(x)\n        out = self.bn1(out)\n        out = self.relu(out)\n\n        out = self.conv2(out)\n        out = self.bn2(out)\n\n        if self.downsample is not None:\n            identity = self.downsample(x)\n\n        out += identity\n        out = self.relu(out)\n\n        return out\n\n\nclass Bottleneck(nn.Module):\n    expansion = 4\n    __constants__ = ['downsample']\n\n    def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,\n                 base_width=64, dilation=1, norm_layer=None):\n        super(Bottleneck, self).__init__()\n        if norm_layer is None:\n            norm_layer = nn.BatchNorm2d\n        width = int(planes * (base_width / 64.)) * groups\n        # Both self.conv2 and self.downsample layers downsample the input when stride != 1\n        self.conv1 = conv1x1(inplanes, width)\n        self.bn1 = norm_layer(width)\n        self.conv2 = conv3x3(width, width, stride, groups, dilation)\n        self.bn2 = norm_layer(width)\n        self.conv3 = conv1x1(width, planes * self.expansion)\n        self.bn3 = norm_layer(planes * self.expansion)\n        self.relu = nn.ReLU(inplace=True)\n        self.downsample = downsample\n        self.stride = stride\n\n    def forward(self, x):\n        identity = x\n\n        out = self.conv1(x)\n        out = self.bn1(out)\n        out = self.relu(out)\n\n        out = self.conv2(out)\n        out = self.bn2(out)\n        out = self.relu(out)\n\n        out = self.conv3(out)\n        out = self.bn3(out)\n\n        if self.downsample is not None:\n            identity = self.downsample(x)\n\n        out += identity\n        out = self.relu(out)\n\n        return out\n\n\nclass AANetFeature(nn.Module):\n    def __init__(self, in_channels=32,\n                 zero_init_residual=True,\n                 groups=1,\n                 width_per_group=64,\n                 feature_mdconv=True,\n                 norm_layer=None):\n        super(AANetFeature, self).__init__()\n\n        if norm_layer is None:\n            norm_layer = nn.BatchNorm2d\n        self._norm_layer = norm_layer\n\n        layers = [3, 4, 6]  # ResNet-40\n\n        # self.inplanes = 64\n        self.inplanes = in_channels\n        self.dilation = 1\n\n        self.groups = groups\n        self.base_width = width_per_group\n\n        stride = 3\n        self.conv1 = nn.Sequential(nn.Conv2d(3, self.inplanes, kernel_size=7, stride=stride,\n                                             padding=3, bias=False),\n                                   nn.BatchNorm2d(self.inplanes),\n                                   nn.ReLU(inplace=True))  # H/3\n\n        self.layer1 = self._make_layer(Bottleneck, in_channels, layers[0])  # H/3\n        self.layer2 = self._make_layer(Bottleneck, in_channels * 2, layers[1], stride=2)  # H/6\n\n        block = DeformBottleneck if feature_mdconv else Bottleneck\n        self.layer3 = self._make_layer(block, in_channels * 4, layers[2], stride=2)  # H/12\n\n        for m in self.modules():\n            if isinstance(m, nn.Conv2d):\n                nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu')\n            elif isinstance(m, (nn.BatchNorm2d, nn.GroupNorm)):\n                nn.init.constant_(m.weight, 1)\n                nn.init.constant_(m.bias, 0)\n\n        # Zero-initialize the last BN in each residual branch,\n        # so that the residual branch starts with zeros, and each residual block behaves like an identity.\n        # This improves the model by 0.2~0.3% according to https://arxiv.org/abs/1706.02677\n        if zero_init_residual:\n            for m in self.modules():\n                if isinstance(m, Bottleneck):\n                    nn.init.constant_(m.bn3.weight, 0)\n                elif isinstance(m, BasicBlock):\n                    nn.init.constant_(m.bn2.weight, 0)\n\n    def _make_layer(self, block, planes, blocks, stride=1, dilate=False):\n        norm_layer = self._norm_layer\n        downsample = None\n        previous_dilation = self.dilation\n        if dilate:\n            self.dilation *= stride\n            stride = 1\n        if stride != 1 or self.inplanes != planes * block.expansion:\n            downsample = nn.Sequential(\n                conv1x1(self.inplanes, planes * block.expansion, stride),\n                norm_layer(planes * block.expansion),\n            )\n\n        layers = []\n        layers.append(block(self.inplanes, planes, stride, downsample, self.groups,\n                            self.base_width, previous_dilation, norm_layer))\n        self.inplanes = planes * block.expansion\n        for _ in range(1, blocks):\n            layers.append(block(self.inplanes, planes, groups=self.groups,\n                                base_width=self.base_width, dilation=self.dilation,\n                                norm_layer=norm_layer))\n\n        return nn.Sequential(*layers)\n\n    def forward(self, x):\n        x = self.conv1(x)\n        layer1 = self.layer1(x)\n        layer2 = self.layer2(layer1)\n        layer3 = self.layer3(layer2)\n\n        return [layer1, layer2, layer3]\n"
  },
  {
    "path": "nets/warp.py",
    "content": "import torch\nimport torch.nn.functional as F\n\n\ndef normalize_coords(grid):\n    \"\"\"Normalize coordinates of image scale to [-1, 1]\n    Args:\n        grid: [B, 2, H, W]\n    \"\"\"\n    assert grid.size(1) == 2\n    h, w = grid.size()[2:]\n    grid[:, 0, :, :] = 2 * (grid[:, 0, :, :].clone() / (w - 1)) - 1  # x: [-1, 1]\n    grid[:, 1, :, :] = 2 * (grid[:, 1, :, :].clone() / (h - 1)) - 1  # y: [-1, 1]\n    grid = grid.permute((0, 2, 3, 1))  # [B, H, W, 2]\n    return grid\n\n\ndef meshgrid(img, homogeneous=False):\n    \"\"\"Generate meshgrid in image scale\n    Args:\n        img: [B, _, H, W]\n        homogeneous: whether to return homogeneous coordinates\n    Return:\n        grid: [B, 2, H, W]\n    \"\"\"\n    b, _, h, w = img.size()\n\n    x_range = torch.arange(0, w).view(1, 1, w).expand(1, h, w).type_as(img)  # [1, H, W]\n    y_range = torch.arange(0, h).view(1, h, 1).expand(1, h, w).type_as(img)\n\n    grid = torch.cat((x_range, y_range), dim=0)  # [2, H, W], grid[:, i, j] = [j, i]\n    grid = grid.unsqueeze(0).expand(b, 2, h, w)  # [B, 2, H, W]\n\n    if homogeneous:\n        ones = torch.ones_like(x_range).unsqueeze(0).expand(b, 1, h, w)  # [B, 1, H, W]\n        grid = torch.cat((grid, ones), dim=1)  # [B, 3, H, W]\n        assert grid.size(1) == 3\n    return grid\n\n\ndef disp_warp(img, disp, padding_mode='border'):\n    \"\"\"Warping by disparity\n    Args:\n        img: [B, 3, H, W]\n        disp: [B, 1, H, W], positive\n        padding_mode: 'zeros' or 'border'\n    Returns:\n        warped_img: [B, 3, H, W]\n        valid_mask: [B, 3, H, W]\n    \"\"\"\n    assert disp.min() >= 0\n\n    grid = meshgrid(img)  # [B, 2, H, W] in image scale\n    # Note that -disp here\n    offset = torch.cat((-disp, torch.zeros_like(disp)), dim=1)  # [B, 2, H, W]\n    sample_grid = grid + offset\n    sample_grid = normalize_coords(sample_grid)  # [B, H, W, 2] in [-1, 1]\n    warped_img = F.grid_sample(img, sample_grid, mode='bilinear', padding_mode=padding_mode)\n\n    mask = torch.ones_like(img)\n    valid_mask = F.grid_sample(mask, sample_grid, mode='bilinear', padding_mode='zeros')\n    valid_mask[valid_mask < 0.9999] = 0\n    valid_mask[valid_mask > 0] = 1\n    return warped_img, valid_mask\n"
  },
  {
    "path": "predict.py",
    "content": "import torch\nimport torch.nn.functional as F\n\nimport skimage.io\nimport argparse\nimport numpy as np\nimport os\nimport math\n\nimport nets\nfrom dataloader import transforms\nfrom utils import utils\nfrom utils.file_io import write_pfm\nfrom glob import glob\nfrom utils.file_io import read_img\nfrom numpy import savez_compressed\n\nIMAGENET_MEAN = [0.485, 0.456, 0.406]\nIMAGENET_STD = [0.229, 0.224, 0.225]\n\nparser = argparse.ArgumentParser()\n\n# Training data\nparser.add_argument('--data_dir', default=None, required=True, type=str, help='Data directory for prediction')\n\nparser.add_argument('--num_workers', default=0, type=int, help='Number of workers for data loading')\nparser.add_argument('--img_height', default=544, type=int, help='Image height for inference')\nparser.add_argument('--img_width', default=960, type=int, help='Image width for inference')\n\n# Model\nparser.add_argument('--seed', default=326, type=int, help='Random seed for reproducibility')\nparser.add_argument('--output_dir', default=None, type=str,\n                    help='Directory to save inference results')\nparser.add_argument('--max_disp', default=192, type=int, help='Max disparity')\n\n# AANet\nparser.add_argument('--feature_type', default='aanet', type=str, help='Type of feature extractor')\nparser.add_argument('--no_feature_mdconv', action='store_true', help='Whether to use mdconv for feature extraction')\nparser.add_argument('--feature_pyramid', action='store_true', help='Use pyramid feature')\nparser.add_argument('--feature_pyramid_network', action='store_true', help='Use FPN')\nparser.add_argument('--feature_similarity', default='correlation', type=str,\n                    help='Similarity measure for matching cost')\nparser.add_argument('--num_downsample', default=2, type=int, help='Number of downsample layer for feature extraction')\nparser.add_argument('--aggregation_type', default='adaptive', type=str, help='Type of cost aggregation')\nparser.add_argument('--num_scales', default=3, type=int, help='Number of stages when using parallel aggregation')\nparser.add_argument('--num_fusions', default=6, type=int, help='Number of multi-scale fusions when using parallel'\n                                                               'aggragetion')\nparser.add_argument('--num_stage_blocks', default=1, type=int, help='Number of deform blocks for ISA')\nparser.add_argument('--num_deform_blocks', default=3, type=int, help='Number of DeformBlocks for aggregation')\nparser.add_argument('--no_intermediate_supervision', action='store_true',\n                    help='Whether to add intermediate supervision')\nparser.add_argument('--deformable_groups', default=2, type=int, help='Number of deformable groups')\nparser.add_argument('--mdconv_dilation', default=2, type=int, help='Dilation rate for deformable conv')\nparser.add_argument('--refinement_type', default='stereodrnet', help='Type of refinement module')\n\nparser.add_argument('--pretrained_aanet', default=None, type=str, help='Pretrained network')\n\nparser.add_argument('--save_type', default='png', choices=['pfm', 'png', 'npy', 'npz'], help='Save file type')\nparser.add_argument('--visualize', action='store_true', help='Visualize disparity map')\n\n# Log\nparser.add_argument('--save_suffix', default='pred', type=str, help='Suffix of save filename')\nparser.add_argument('--save_dir', default='pred', type=str, help='Save prediction directory')\n\nargs = parser.parse_args()\n\nargs.output_dir = os.path.join(args.data_dir, args.save_dir)\n\nutils.check_path(args.output_dir)\n\n\ndef main():\n    # For reproducibility\n    torch.manual_seed(args.seed)\n    torch.cuda.manual_seed(args.seed)\n    np.random.seed(args.seed)\n\n    torch.backends.cudnn.benchmark = True\n\n    device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')\n\n    # Test loader\n    test_transform = transforms.Compose([\n        transforms.ToTensor(),\n        transforms.Normalize(mean=IMAGENET_MEAN, std=IMAGENET_STD)])\n\n    aanet = nets.AANet(args.max_disp,\n                       num_downsample=args.num_downsample,\n                       feature_type=args.feature_type,\n                       no_feature_mdconv=args.no_feature_mdconv,\n                       feature_pyramid=args.feature_pyramid,\n                       feature_pyramid_network=args.feature_pyramid_network,\n                       feature_similarity=args.feature_similarity,\n                       aggregation_type=args.aggregation_type,\n                       num_scales=args.num_scales,\n                       num_fusions=args.num_fusions,\n                       num_stage_blocks=args.num_stage_blocks,\n                       num_deform_blocks=args.num_deform_blocks,\n                       no_intermediate_supervision=args.no_intermediate_supervision,\n                       refinement_type=args.refinement_type,\n                       mdconv_dilation=args.mdconv_dilation,\n                       deformable_groups=args.deformable_groups).to(device)\n\n    if os.path.exists(args.pretrained_aanet):\n        print('=> Loading pretrained AANet:', args.pretrained_aanet)\n        utils.load_pretrained_net(aanet, args.pretrained_aanet, no_strict=True)\n    else:\n        print('=> Using random initialization')\n\n    if torch.cuda.device_count() > 1:\n        print('=> Use %d GPUs' % torch.cuda.device_count())\n        aanet = torch.nn.DataParallel(aanet)\n\n    # Inference\n    aanet.eval()\n\n    if args.data_dir.endswith('/'):\n        args.data_dir = args.data_dir[:-1]\n\n    # all_samples = sorted(glob(args.data_dir + '/*left.png'))\n    all_samples = sorted(glob(args.data_dir + '/left/*.png'))\n\n    num_samples = len(all_samples)\n    print('=> %d samples found in the data dir' % num_samples)\n\n    for i, sample_name in enumerate(all_samples):\n        if i % 100 == 0:\n            print('=> Inferencing %d/%d' % (i, num_samples))\n\n        left_name = sample_name\n\n        right_name = left_name.replace('left', 'right')\n\n        left = read_img(left_name)\n        right = read_img(right_name)\n        sample = {'left': left,\n                  'right': right}\n        sample = test_transform(sample)  # to tensor and normalize\n\n        left = sample['left'].to(device)  # [3, H, W]\n        left = left.unsqueeze(0)  # [1, 3, H, W]\n        right = sample['right'].to(device)\n        right = right.unsqueeze(0)\n\n        # Pad\n        ori_height, ori_width = left.size()[2:]\n\n        # Automatic\n        factor = 48 if args.refinement_type != 'hourglass' else 96\n        args.img_height = math.ceil(ori_height / factor) * factor\n        args.img_width = math.ceil(ori_width / factor) * factor\n\n        if ori_height < args.img_height or ori_width < args.img_width:\n            top_pad = args.img_height - ori_height\n            right_pad = args.img_width - ori_width\n\n            # Pad size: (left_pad, right_pad, top_pad, bottom_pad)\n            left = F.pad(left, (0, right_pad, top_pad, 0))\n            right = F.pad(right, (0, right_pad, top_pad, 0))\n\n        with torch.no_grad():\n            pred_disp = aanet(left, right)[-1]  # [B, H, W]\n\n        if pred_disp.size(-1) < left.size(-1):\n            pred_disp = pred_disp.unsqueeze(1)  # [B, 1, H, W]\n            pred_disp = F.interpolate(pred_disp, (left.size(-2), left.size(-1)),\n                                      mode='bilinear') * (left.size(-1) / pred_disp.size(-1))\n            pred_disp = pred_disp.squeeze(1)  # [B, H, W]\n\n        # Crop\n        if ori_height < args.img_height or ori_width < args.img_width:\n            if right_pad != 0:\n                pred_disp = pred_disp[:, top_pad:, :-right_pad]\n            else:\n                pred_disp = pred_disp[:, top_pad:]\n\n        disp = pred_disp[0].detach().cpu().numpy()  # [H, W]\n\n        save_name = os.path.basename(left_name)[:-4] + '_' + args.save_suffix + '.png'\n        save_name = os.path.join(args.output_dir, save_name)\n\n        if args.save_type == 'pfm':\n            if args.visualize:\n                skimage.io.imsave(save_name, (disp * 256.).astype(np.uint16))\n\n            save_name = save_name[:-3] + 'pfm'\n            write_pfm(save_name, disp)\n        elif args.save_type == 'npy':\n            save_name = save_name[:-3] + 'npy'\n            np.save(save_name, disp)\n        elif args.save_type == 'npz':\n            save_name = save_name[:-3] + 'npz'\n            savez_compressed(save_name, disp)\n        else:\n            skimage.io.imsave(save_name, (disp * 256.).astype(np.uint16))\n\n\nif __name__ == '__main__':\n    main()\n"
  },
  {
    "path": "scripts/aanet+_evaluate.sh",
    "content": "#!/usr/bin/env bash\n\n# Evaluate the best validation model on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python train.py \\\n--mode test \\\n--checkpoint_dir checkpoints/aanet+_sceneflow \\\n--batch_size 64 \\\n--val_batch_size 1 \\\n--img_height 288 \\\n--img_width 576 \\\n--val_img_height 576 \\\n--val_img_width 960 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--milestones 20,30,40,50,60 \\\n--max_epoch 64 \\\n--evaluate_only\n\n# Evaluate a specific model on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python train.py \\\n--mode test \\\n--checkpoint_dir checkpoints/aanet+_sceneflow \\\n--pretrained_aanet pretrained/aanet+_sceneflow-d3e13ef0.pth \\\n--batch_size 64 \\\n--val_batch_size 1 \\\n--img_height 288 \\\n--img_width 576 \\\n--val_img_height 576 \\\n--val_img_width 960 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--milestones 20,30,40,50,60 \\\n--max_epoch 64 \\\n--evaluate_only"
  },
  {
    "path": "scripts/aanet+_inference.sh",
    "content": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pretrained_aanet pretrained/aanet+_sceneflow-d3e13ef0.pth \\\n--batch_size 1 \\\n--img_height 576 \\\n--img_width 960 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--no_intermediate_supervision\n\n# Inference on KITTI 2015 test set for submission\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--data_dir data/KITTI/kitti_2015/data_scene_flow \\\n--dataset_name KITTI2015 \\\n--pretrained_aanet pretrained/aanet+_kitti15-2075aea1.pth \\\n--batch_size 1 \\\n--img_height 384 \\\n--img_width 1248 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--no_intermediate_supervision \\\n--output_dir output/kitti15_test\n\n# Inference on KITTI 2012 test set for submission\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--data_dir data/KITTI/kitti_2012/data_stereo_flow \\\n--dataset_name KITTI2012 \\\n--pretrained_aanet pretrained/aanet+_kitti12-56157808.pth \\\n--batch_size 1 \\\n--img_height 384 \\\n--img_width 1248 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--no_intermediate_supervision \\\n--output_dir output/kitti12_test\n"
  },
  {
    "path": "scripts/aanet+_predict.sh",
    "content": "#!/usr/bin/env bash\n\n# Predict\nCUDA_VISIBLE_DEVICES=0 python predict.py \\\n--data_dir demo \\\n--pretrained_aanet pretrained/aanet+_kitti15-2075aea1.pth \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--no_intermediate_supervision\n"
  },
  {
    "path": "scripts/aanet+_timing.sh",
    "content": "#!/usr/bin/env bash\n\n# Timing on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pretrained_aanet pretrained/aanet+_sceneflow-d3e13ef0.pth \\\n--batch_size 1 \\\n--img_height 576 \\\n--img_width 960 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--no_intermediate_supervision \\\n--count_time\n\n# Timing on KITTI 2015 test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--data_dir data/KITTI/kitti_2015/data_scene_flow \\\n--dataset_name KITTI2015 \\\n--pretrained_aanet pretrained/aanet+_kitti15-2075aea1.pth \\\n--batch_size 1 \\\n--img_height 384 \\\n--img_width 1248 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--no_intermediate_supervision \\\n--output_dir output/kitti15_test \\\n--count_time\n"
  },
  {
    "path": "scripts/aanet+_train.sh",
    "content": "#!/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--checkpoint_dir checkpoints/aanet+_sceneflow \\\n--batch_size 64 \\\n--val_batch_size 64 \\\n--img_height 288 \\\n--img_width 576 \\\n--val_img_height 576 \\\n--val_img_width 960 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--milestones 20,30,40,50,60 \\\n--max_epoch 64\n\n# Train on mixed KITTI 2012 and KITTI 2015 training set\nCUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \\\n--data_dir data/KITTI \\\n--dataset_name KITTI_mix \\\n--checkpoint_dir checkpoints/aanet+_kittimix \\\n--pretrained_aanet checkpoints/aanet+_sceneflow/aanet_best.pth \\\n--batch_size 32 \\\n--val_batch_size 32 \\\n--img_height 288 \\\n--img_width 1152 \\\n--val_img_height 384 \\\n--val_img_width 1248 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--load_pseudo_gt \\\n--milestones 400,600,800,900 \\\n--max_epoch 1000 \\\n--save_ckpt_freq 100 \\\n--no_validate\n\n# Train on KITTI 2015 training set\nCUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \\\n--data_dir data/KITTI/kitti_2015/data_scene_flow \\\n--dataset_name KITTI2015 \\\n--mode train_all \\\n--checkpoint_dir checkpoints/aanet+_kitti15 \\\n--pretrained_aanet checkpoints/aanet+_kittimix/aanet_latest.pth \\\n--batch_size 28 \\\n--val_batch_size 32 \\\n--img_height 384 \\\n--img_width 1248 \\\n--val_img_height 384 \\\n--val_img_width 1248 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--load_pseudo_gt \\\n--highest_loss_only \\\n--freeze_bn \\\n--learning_rate 1e-4 \\\n--milestones 400,600,800,900 \\\n--max_epoch 1000 \\\n--save_ckpt_freq 100 \\\n--no_validate\n\n# Train on KITTI 2012 training set\nCUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \\\n--data_dir data/KITTI/kitti_2012/data_stereo_flow \\\n--dataset_name KITTI2012 \\\n--mode train_all \\\n--checkpoint_dir checkpoints/aanet+_kitti12 \\\n--pretrained_aanet checkpoints/aanet+_kittimix/aanet_latest.pth \\\n--batch_size 28 \\\n--val_batch_size 32 \\\n--img_height 384 \\\n--img_width 1248 \\\n--val_img_height 384 \\\n--val_img_width 1248 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--refinement_type hourglass \\\n--highest_loss_only \\\n--load_pseudo_gt \\\n--freeze_bn \\\n--learning_rate 1e-4 \\\n--milestones 400,600,800,900 \\\n--max_epoch 1000 \\\n--save_ckpt_freq 100 \\\n--no_validate\n"
  },
  {
    "path": "scripts/aanet_evaluate.sh",
    "content": "#!/usr/bin/env bash\n\n# Evaluate the best validation model on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python train.py \\\n--mode test \\\n--checkpoint_dir checkpoints/aanet_sceneflow \\\n--batch_size 64 \\\n--val_batch_size 1 \\\n--img_height 288 \\\n--img_width 576 \\\n--val_img_height 576 \\\n--val_img_width 960 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--milestones 20,30,40,50,60 \\\n--max_epoch 64 \\\n--evaluate_only\n\n# Evaluate a specific model on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python train.py \\\n--mode test \\\n--checkpoint_dir checkpoints/aanet_sceneflow \\\n--pretrained_aanet pretrained/aanet_sceneflow-5aa5a24e.pth \\\n--batch_size 64 \\\n--val_batch_size 1 \\\n--img_height 288 \\\n--img_width 576 \\\n--val_img_height 576 \\\n--val_img_width 960 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--milestones 20,30,40,50,60 \\\n--max_epoch 64 \\\n--evaluate_only"
  },
  {
    "path": "scripts/aanet_inference.sh",
    "content": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pretrained_aanet pretrained/aanet_sceneflow-5aa5a24e.pth \\\n--batch_size 1 \\\n--img_height 576 \\\n--img_width 960 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--no_intermediate_supervision\n\n# Inference on KITTI 2015 test set for submission\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--data_dir data/KITTI/kitti_2015/data_scene_flow \\\n--dataset_name KITTI2015 \\\n--pretrained_aanet pretrained/aanet_kitti15-fb2a0d23.pth \\\n--batch_size 1 \\\n--img_height 384 \\\n--img_width 1248 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--no_intermediate_supervision \\\n--output_dir output/kitti15_test\n\n# Inference on KITTI 2012 test set for submission\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--data_dir data/KITTI/kitti_2012/data_stereo_flow \\\n--dataset_name KITTI2012 \\\n--pretrained_aanet pretrained/aanet_kitti12-e20bb24d.pth \\\n--batch_size 1 \\\n--img_height 384 \\\n--img_width 1248 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--no_intermediate_supervision \\\n--output_dir output/kitti12_test\n"
  },
  {
    "path": "scripts/aanet_predict.sh",
    "content": "#!/usr/bin/env bash\n\n# Predict\nCUDA_VISIBLE_DEVICES=0 python predict.py \\\n--data_dir demo \\\n--pretrained_aanet pretrained/aanet_kitti15-fb2a0d23.pth \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--no_intermediate_supervision\n"
  },
  {
    "path": "scripts/aanet_timing.sh",
    "content": "#!/usr/bin/env bash\n\n# Timing on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pretrained_aanet pretrained/aanet_sceneflow-5aa5a24e.pth \\\n--batch_size 1 \\\n--img_height 576 \\\n--img_width 960 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--no_intermediate_supervision \\\n--count_time\n\n# Timing on KITTI 2015 test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--data_dir data/KITTI/kitti_2015/data_scene_flow \\\n--dataset_name KITTI2015 \\\n--pretrained_aanet pretrained/aanet_kitti15-fb2a0d23.pth \\\n--batch_size 1 \\\n--img_height 384 \\\n--img_width 1248 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--no_intermediate_supervision \\\n--output_dir output/kitti15_test \\\n--count_time\n"
  },
  {
    "path": "scripts/aanet_train.sh",
    "content": "#!/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--data_dir data/SceneFlow \\\n--checkpoint_dir checkpoints/aanet_sceneflow \\\n--batch_size 64 \\\n--val_batch_size 64 \\\n--img_height 288 \\\n--img_width 576 \\\n--val_img_height 576 \\\n--val_img_width 960 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--milestones 20,30,40,50,60 \\\n--max_epoch 64\n\n# Train on mixed KITTI 2012 and KITTI 2015 training set\nCUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \\\n--data_dir data/KITTI \\\n--dataset_name KITTI_mix \\\n--checkpoint_dir checkpoints/aanet_kittimix \\\n--pretrained_aanet checkpoints/aanet_sceneflow/aanet_best.pth \\\n--batch_size 32 \\\n--val_batch_size 32 \\\n--img_height 336 \\\n--img_width 960 \\\n--val_img_height 384 \\\n--val_img_width 1248 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--load_pseudo_gt \\\n--milestones 400,600,800,900 \\\n--max_epoch 1000 \\\n--save_ckpt_freq 100 \\\n--no_validate\n\n# Train on KITTI 2015 training set\nCUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \\\n--data_dir data/KITTI/kitti_2015/data_scene_flow \\\n--dataset_name KITTI2015 \\\n--mode train_all \\\n--checkpoint_dir checkpoints/aanet_kitti15 \\\n--pretrained_aanet checkpoints/aanet_kittimix/aanet_latest.pth \\\n--batch_size 32 \\\n--val_batch_size 32 \\\n--img_height 336 \\\n--img_width 960 \\\n--val_img_height 384 \\\n--val_img_width 1248 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--load_pseudo_gt \\\n--highest_loss_only \\\n--learning_rate 1e-4 \\\n--milestones 400,600,800,900 \\\n--max_epoch 1000 \\\n--save_ckpt_freq 100 \\\n--no_validate\n\n# Train on KITTI 2012 training set\nCUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \\\n--data_dir data/KITTI/kitti_2012/data_stereo_flow \\\n--dataset_name KITTI2012 \\\n--mode train_all \\\n--checkpoint_dir checkpoints/aanet_kitti12 \\\n--pretrained_aanet checkpoints/aanet_kittimix/aanet_latest.pth \\\n--batch_size 32 \\\n--val_batch_size 32 \\\n--img_height 336 \\\n--img_width 960 \\\n--val_img_height 384 \\\n--val_img_width 1248 \\\n--feature_type aanet \\\n--feature_pyramid_network \\\n--load_pseudo_gt \\\n--highest_loss_only \\\n--learning_rate 1e-4 \\\n--milestones 400,600,800,900 \\\n--max_epoch 1000 \\\n--save_ckpt_freq 100 \\\n--no_validate\n"
  },
  {
    "path": "scripts/ganet-aa_inference.sh",
    "content": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pretrained_aanet pretrained/ganet-aa_sceneflow-a27abfeb.pth \\\n--batch_size 1 \\\n--img_height 576 \\\n--img_width 960 \\\n--feature_type ganet \\\n--feature_pyramid \\\n--no_intermediate_supervision\n"
  },
  {
    "path": "scripts/gcnet-aa_inference.sh",
    "content": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pretrained_aanet pretrained/gcnet-aa_sceneflow-0d6d65fa.pth \\\n--batch_size 1 \\\n--img_height 576 \\\n--img_width 960 \\\n--feature_type gcnet \\\n--feature_pyramid \\\n--num_downsample 1 \\\n--no_intermediate_supervision\n"
  },
  {
    "path": "scripts/psmnet-aa_inference.sh",
    "content": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pretrained_aanet pretrained/psmnet-aa_sceneflow-a71fa3ff.pth \\\n--batch_size 1 \\\n--img_height 576 \\\n--img_width 960 \\\n--feature_type psmnet \\\n--feature_pyramid \\\n--no_intermediate_supervision\n"
  },
  {
    "path": "scripts/stereonet-aa_inference.sh",
    "content": "#!/usr/bin/env bash\n\n# Inference on Scene Flow test set\nCUDA_VISIBLE_DEVICES=0 python inference.py \\\n--mode test \\\n--pretrained_aanet pretrained/stereonet-aa_sceneflow-1fbe2dea.pth \\\n--batch_size 1 \\\n--img_height 576 \\\n--img_width 960 \\\n--feature_type stereonet \\\n--num_scales 1 \\\n--num_fusions 4 \\\n--num_deform_blocks 4 \\\n--refinement_type stereonet\n"
  },
  {
    "path": "thop/__init__.py",
    "content": "from .profile import profile\n"
  },
  {
    "path": "thop/count_hooks.py",
    "content": "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_channels\n\n    kernel_ops = m.weight.size()[2:].numel()\n    ops_per_element = cin * kernel_ops\n    output_elements = y.nelement()\n\n    # cout x oW x oH\n    total_ops = output_elements * ops_per_element // m.groups\n    m.total_ops = torch.Tensor([int(total_ops)])\n\n\ndef count_dconv2d(m, x, y):\n    x = x[0]  # two inputs\n\n    batch_size = x.size(0)\n\n    height_in, width_in = x.size()[2:]\n    cin = m.in_channels\n    kernel_ops = m.weight.size()[2:].numel()\n\n    # Add offset ops\n    # Offset: [B, 18, H, W]\n    add_offset_ops = 2 * kernel_ops * cin * batch_size * height_in * width_in\n\n    ops_per_element = cin * kernel_ops\n    output_elements = y.nelement()\n    conv_ops = output_elements * ops_per_element // m.groups\n\n    m.total_ops = torch.Tensor([int(add_offset_ops + conv_ops)])\n\n\ndef count_mdconv2d(m, x, y):\n    x = x[0]  # three inputs\n\n    batch_size = x.size(0)\n\n    height_in, width_in = x.size()[2:]\n    cin = m.in_channels\n    kernel_ops = m.weight.size()[2:].numel()\n\n    # Add offset ops\n    # Offset: [B, 18, H, W]\n    add_offset_ops = 2 * kernel_ops * cin * batch_size * height_in * width_in\n\n    # Modulation ops\n    # Modulation: [B, 9, H, W]\n    modulation_ops = kernel_ops * cin * batch_size * height_in * width_in\n\n    ops_per_element = cin * kernel_ops\n    output_elements = y.nelement()\n    conv_ops = output_elements * ops_per_element // m.groups\n\n    m.total_ops = torch.Tensor([int(add_offset_ops + conv_ops + modulation_ops)])\n\n\ndef count_conv2d(m, x, y):\n    x = x[0]\n\n    cin = m.in_channels\n    cout = m.out_channels\n    kh, kw = m.kernel_size\n    batch_size = x.size()[0]\n\n    out_h = y.size(2)\n    out_w = y.size(3)\n\n    kernel_ops = multiply_adds * kh * kw\n    bias_ops = 1 if m.bias is not None else 0\n    ops_per_element = kernel_ops + bias_ops\n\n    # total ops\n    # num_out_elements = y.numel()\n    output_elements = batch_size * out_w * out_h * cout\n    total_ops = output_elements * ops_per_element * cin // m.groups\n\n    m.total_ops = torch.Tensor([int(total_ops)])\n\n\ndef count_convtranspose2d(m, x, y):\n    x = x[0]\n\n    cin = m.in_channels\n    cout = m.out_channels\n    kh, kw = m.kernel_size\n    # batch_size = x.size()[0]\n\n    out_h = y.size(2)\n    out_w = y.size(3)\n\n    # ops per output element\n    # kernel_mul = kh * kw * cin\n    # kernel_add = kh * kw * cin - 1\n    kernel_ops = multiply_adds * kh * kw * cin // m.groups\n    bias_ops = 1 if m.bias is not None else 0\n    ops_per_element = kernel_ops + bias_ops\n\n    # total ops\n    # num_out_elements = y.numel()\n    # output_elements = batch_size * out_w * out_h * cout\n    # ops_per_element = m.weight.nelement()\n\n    output_elements = y.nelement()\n    total_ops = output_elements * ops_per_element\n\n    m.total_ops = torch.Tensor([int(total_ops)])\n\n"
  },
  {
    "path": "thop/profile.py",
    "content": "import logging\n\nimport torch\nimport torch.nn as nn\nfrom torch.nn.modules.conv import _ConvNd\n\nfrom nets.deform_conv import DeformConv, ModulatedDeformConv\n\nfrom thop.count_hooks import *\n\nregister_hooks = {\n    nn.Conv1d: count_convNd,\n    nn.Conv2d: count_convNd,\n    nn.Conv3d: count_convNd,\n    nn.ConvTranspose2d: count_convtranspose2d,\n\n    DeformConv: count_dconv2d,\n    ModulatedDeformConv: count_mdconv2d,\n\n}\n\n\ndef profile(model, inputs, custom_ops={}, verbose=True):\n    handler_collection = []\n\n    def add_hooks(m):\n        if len(list(m.children())) > 0:\n            return\n\n        # if hasattr(m, \"total_ops\") or hasattr(m, \"total_params\"):\n        #     raise Warning(\"Either .total_ops or .total_params is already defined in %s.\\n\"\n        #                   \"Be careful, it might change your code's behavior.\" % str(m))\n\n        m.register_buffer('total_ops', torch.zeros(1))\n        m.register_buffer('total_params', torch.zeros(1))\n\n        for p in m.parameters():\n            m.total_params += torch.Tensor([p.numel()])\n\n        m_type = type(m)\n        fn = None\n        if m_type in custom_ops:  # if defined both op maps, use custom_ops to overwrite.\n            fn = custom_ops[m_type]\n        elif m_type in register_hooks:\n            fn = register_hooks[m_type]\n\n        if fn is None:\n            if verbose:\n                print(\"THOP has not implemented counting method for\", m)\n        else:\n            if verbose:\n                print(\"Register FLOP counter for module %s\" % str(m))\n            handler = m.register_forward_hook(fn)\n            handler_collection.append(handler)\n\n    # original_device = model.parameters().__next__().device\n    training = model.training\n\n    model.eval()\n    model.apply(add_hooks)\n\n    with torch.no_grad():\n        model(*inputs)\n\n    total_ops = 0\n    total_params = 0\n    for m in model.modules():\n        if len(list(m.children())) > 0:  # skip for non-leaf module\n            continue\n        total_ops += m.total_ops\n        total_params += m.total_params\n\n    total_ops = total_ops.item()\n    total_params = total_params.item()\n\n    # reset model to original status\n    model.train(training)\n    for handler in handler_collection:\n        handler.remove()\n\n    return clever_format(total_ops), clever_format(total_params)\n\n\ndef clever_format(num):\n    # if num > 1e12:\n    #     return \"%.2f\" % (num / 1e12) + \"T\"\n    if num > 1e9:\n        return \"%.2f\" % (num / 1e9) + \"G\"\n    if num > 1e6:\n        return \"%.2f\" % (num / 1e6) + \"M\"\n    if num > 1e3:\n        return \"%.2f\" % (num / 1e3) + \"K\"\n"
  },
  {
    "path": "train.py",
    "content": "import torch\nfrom torch.utils.data import DataLoader\n\nimport argparse\nimport numpy as np\nimport os\n\nimport nets\nimport dataloader\nfrom dataloader import transforms\nfrom utils import utils\nimport model\n\nIMAGENET_MEAN = [0.485, 0.456, 0.406]\nIMAGENET_STD = [0.229, 0.224, 0.225]\n\nparser = argparse.ArgumentParser()\n\nparser.add_argument('--mode', default='test', type=str,\n                    help='Validation mode on small subset or test mode on full test data')\n\n# Training data\nparser.add_argument('--data_dir', default='data/SceneFlow', type=str, help='Training dataset')\nparser.add_argument('--dataset_name', default='SceneFlow', type=str, help='Dataset name')\n\nparser.add_argument('--batch_size', default=64, type=int, help='Batch size for training')\nparser.add_argument('--val_batch_size', default=64, type=int, help='Batch size for validation')\nparser.add_argument('--num_workers', default=8, type=int, help='Number of workers for data loading')\nparser.add_argument('--img_height', default=288, type=int, help='Image height for training')\nparser.add_argument('--img_width', default=512, type=int, help='Image width for training')\n\n# For KITTI, using 384x1248 for validation\nparser.add_argument('--val_img_height', default=576, type=int, help='Image height for validation')\nparser.add_argument('--val_img_width', default=960, type=int, help='Image width for validation')\n\n# Model\nparser.add_argument('--seed', default=326, type=int, help='Random seed for reproducibility')\nparser.add_argument('--checkpoint_dir', default=None, type=str, required=True,\n                    help='Directory to save model checkpoints and logs')\nparser.add_argument('--learning_rate', default=1e-3, type=float, help='Learning rate')\nparser.add_argument('--weight_decay', default=1e-4, type=float, help='Weight decay for optimizer')\nparser.add_argument('--max_disp', default=192, type=int, help='Max disparity')\nparser.add_argument('--max_epoch', default=64, type=int, help='Maximum epoch number for training')\nparser.add_argument('--resume', action='store_true', help='Resume training from latest checkpoint')\n\n# AANet\nparser.add_argument('--feature_type', default='aanet', type=str, help='Type of feature extractor')\nparser.add_argument('--no_feature_mdconv', action='store_true', help='Whether to use mdconv for feature extraction')\nparser.add_argument('--feature_pyramid', action='store_true', help='Use pyramid feature')\nparser.add_argument('--feature_pyramid_network', action='store_true', help='Use FPN')\nparser.add_argument('--feature_similarity', default='correlation', type=str,\n                    help='Similarity measure for matching cost')\nparser.add_argument('--num_downsample', default=2, type=int, help='Number of downsample layer for feature extraction')\nparser.add_argument('--aggregation_type', default='adaptive', type=str, help='Type of cost aggregation')\nparser.add_argument('--num_scales', default=3, type=int, help='Number of stages when using parallel aggregation')\nparser.add_argument('--num_fusions', default=6, type=int, help='Number of multi-scale fusions when using parallel'\n                                                               'aggragetion')\nparser.add_argument('--num_stage_blocks', default=1, type=int, help='Number of deform blocks for ISA')\nparser.add_argument('--num_deform_blocks', default=3, type=int, help='Number of DeformBlocks for aggregation')\nparser.add_argument('--no_intermediate_supervision', action='store_true',\n                    help='Whether to add intermediate supervision')\nparser.add_argument('--deformable_groups', default=2, type=int, help='Number of deformable groups')\nparser.add_argument('--mdconv_dilation', default=2, type=int, help='Dilation rate for deformable conv')\nparser.add_argument('--refinement_type', default='stereodrnet', help='Type of refinement module')\n\nparser.add_argument('--pretrained_aanet', default=None, type=str, help='Pretrained network')\nparser.add_argument('--freeze_bn', action='store_true', help='Switch BN to eval mode to fix running statistics')\n\n# Learning rate\nparser.add_argument('--lr_decay_gamma', default=0.5, type=float, help='Decay gamma')\nparser.add_argument('--lr_scheduler_type', default='MultiStepLR', help='Type of learning rate scheduler')\nparser.add_argument('--milestones', default=None, type=str, help='Milestones for MultiStepLR')\n\n# Loss\nparser.add_argument('--highest_loss_only', action='store_true', help='Only use loss on highest scale for finetuning')\nparser.add_argument('--load_pseudo_gt', action='store_true', help='Load pseudo gt for supervision')\n\n# Log\nparser.add_argument('--print_freq', default=100, type=int, help='Print frequency to screen (iterations)')\nparser.add_argument('--summary_freq', default=100, type=int, help='Summary frequency to tensorboard (iterations)')\nparser.add_argument('--no_build_summary', action='store_true', help='Dont save sammary when training to save space')\nparser.add_argument('--save_ckpt_freq', default=10, type=int, help='Save checkpoint frequency (epochs)')\n\nparser.add_argument('--evaluate_only', action='store_true', help='Evaluate pretrained models')\nparser.add_argument('--no_validate', action='store_true', help='No validation')\nparser.add_argument('--strict', action='store_true', help='Strict mode when loading checkpoints')\nparser.add_argument('--val_metric', default='epe', help='Validation metric to select best model')\n\nargs = parser.parse_args()\nlogger = utils.get_logger()\n\nutils.check_path(args.checkpoint_dir)\nutils.save_args(args)\n\nfilename = 'command_test.txt' if args.mode == 'test' else 'command_train.txt'\nutils.save_command(args.checkpoint_dir, filename)\n\n\ndef main():\n    # For reproducibility\n    torch.manual_seed(args.seed)\n    torch.cuda.manual_seed(args.seed)\n    np.random.seed(args.seed)\n\n    torch.backends.cudnn.benchmark = True\n\n    device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')\n\n    # Train loader\n    train_transform_list = [transforms.RandomCrop(args.img_height, args.img_width),\n                            transforms.RandomColor(),\n                            transforms.RandomVerticalFlip(),\n                            transforms.ToTensor(),\n                            transforms.Normalize(mean=IMAGENET_MEAN, std=IMAGENET_STD)\n                            ]\n    train_transform = transforms.Compose(train_transform_list)\n\n    train_data = dataloader.StereoDataset(data_dir=args.data_dir,\n                                          dataset_name=args.dataset_name,\n                                          mode='train' if args.mode != 'train_all' else 'train_all',\n                                          load_pseudo_gt=args.load_pseudo_gt,\n                                          transform=train_transform)\n\n    logger.info('=> {} training samples found in the training set'.format(len(train_data)))\n\n    train_loader = DataLoader(dataset=train_data, batch_size=args.batch_size, shuffle=True,\n                              num_workers=args.num_workers, pin_memory=True, drop_last=True)\n\n    # Validation loader\n    val_transform_list = [transforms.RandomCrop(args.val_img_height, args.val_img_width, validate=True),\n                          transforms.ToTensor(),\n                          transforms.Normalize(mean=IMAGENET_MEAN, std=IMAGENET_STD)\n                         ]\n    val_transform = transforms.Compose(val_transform_list)\n    val_data = dataloader.StereoDataset(data_dir=args.data_dir,\n                                        dataset_name=args.dataset_name,\n                                        mode=args.mode,\n                                        transform=val_transform)\n\n    val_loader = DataLoader(dataset=val_data, batch_size=args.val_batch_size, shuffle=False,\n                            num_workers=args.num_workers, pin_memory=True, drop_last=False)\n\n    # Network\n    aanet = nets.AANet(args.max_disp,\n                       num_downsample=args.num_downsample,\n                       feature_type=args.feature_type,\n                       no_feature_mdconv=args.no_feature_mdconv,\n                       feature_pyramid=args.feature_pyramid,\n                       feature_pyramid_network=args.feature_pyramid_network,\n                       feature_similarity=args.feature_similarity,\n                       aggregation_type=args.aggregation_type,\n                       num_scales=args.num_scales,\n                       num_fusions=args.num_fusions,\n                       num_stage_blocks=args.num_stage_blocks,\n                       num_deform_blocks=args.num_deform_blocks,\n                       no_intermediate_supervision=args.no_intermediate_supervision,\n                       refinement_type=args.refinement_type,\n                       mdconv_dilation=args.mdconv_dilation,\n                       deformable_groups=args.deformable_groups).to(device)\n\n    logger.info('%s' % aanet)\n\n    if args.pretrained_aanet is not None:\n        logger.info('=> Loading pretrained AANet: %s' % args.pretrained_aanet)\n        # Enable training from a partially pretrained model\n        utils.load_pretrained_net(aanet, args.pretrained_aanet, no_strict=(not args.strict))\n\n    if torch.cuda.device_count() > 1:\n        logger.info('=> Use %d GPUs' % torch.cuda.device_count())\n        aanet = torch.nn.DataParallel(aanet)\n\n    # Save parameters\n    num_params = utils.count_parameters(aanet)\n    logger.info('=> Number of trainable parameters: %d' % num_params)\n    save_name = '%d_parameters' % num_params\n    open(os.path.join(args.checkpoint_dir, save_name), 'a').close()\n\n    # Optimizer\n    # Learning rate for offset learning is set 0.1 times those of existing layers\n    specific_params = list(filter(utils.filter_specific_params,\n                                  aanet.named_parameters()))\n    base_params = list(filter(utils.filter_base_params,\n                              aanet.named_parameters()))\n\n    specific_params = [kv[1] for kv in specific_params]  # kv is a tuple (key, value)\n    base_params = [kv[1] for kv in base_params]\n\n    specific_lr = args.learning_rate * 0.1\n    params_group = [\n        {'params': base_params, 'lr': args.learning_rate},\n        {'params': specific_params, 'lr': specific_lr},\n    ]\n\n    optimizer = torch.optim.Adam(params_group, weight_decay=args.weight_decay)\n\n    # Resume training\n    if args.resume:\n        # AANet\n        start_epoch, start_iter, best_epe, best_epoch = utils.resume_latest_ckpt(\n            args.checkpoint_dir, aanet, 'aanet')\n\n        # Optimizer\n        utils.resume_latest_ckpt(args.checkpoint_dir, optimizer, 'optimizer')\n    else:\n        start_epoch = 0\n        start_iter = 0\n        best_epe = None\n        best_epoch = None\n\n    # LR scheduler\n    if args.lr_scheduler_type is not None:\n        last_epoch = start_epoch if args.resume else start_epoch - 1\n        if args.lr_scheduler_type == 'MultiStepLR':\n            milestones = [int(step) for step in args.milestones.split(',')]\n            lr_scheduler = torch.optim.lr_scheduler.MultiStepLR(optimizer,\n                                                                milestones=milestones,\n                                                                gamma=args.lr_decay_gamma,\n                                                                last_epoch=last_epoch)\n        else:\n            raise NotImplementedError\n\n    train_model = model.Model(args, logger, optimizer, aanet, device, start_iter, start_epoch,\n                              best_epe=best_epe, best_epoch=best_epoch)\n\n    logger.info('=> Start training...')\n\n    if args.evaluate_only:\n        assert args.val_batch_size == 1\n        train_model.validate(val_loader)\n    else:\n        for _ in range(start_epoch, args.max_epoch):\n            if not args.evaluate_only:\n                train_model.train(train_loader)\n            if not args.no_validate:\n                train_model.validate(val_loader)\n            if args.lr_scheduler_type is not None:\n                lr_scheduler.step()\n\n        logger.info('=> End training\\n\\n')\n\n\nif __name__ == '__main__':\n    main()\n"
  },
  {
    "path": "utils/__init__.py",
    "content": ""
  },
  {
    "path": "utils/file_io.py",
    "content": "from __future__ import absolute_import\nfrom __future__ import division\nfrom __future__ import print_function\n\nimport numpy as np\nimport re\nfrom PIL import Image\nimport sys\n\n\ndef read_img(filename):\n    # Convert to RGB for scene flow finalpass data\n    img = np.array(Image.open(filename).convert('RGB')).astype(np.float32)\n    return img\n\n\ndef read_disp(filename, subset=False):\n    # Scene Flow dataset\n    if filename.endswith('pfm'):\n        # For finalpass and cleanpass, gt disparity is positive, subset is negative\n        disp = np.ascontiguousarray(_read_pfm(filename)[0])\n        if subset:\n            disp = -disp\n    # KITTI\n    elif filename.endswith('png'):\n        disp = _read_kitti_disp(filename)\n    elif filename.endswith('npy'):\n        disp = np.load(filename)\n    else:\n        raise Exception('Invalid disparity file format!')\n    return disp  # [H, W]\n\n\ndef _read_pfm(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 header.decode(\"ascii\") == 'PF':\n        color = True\n    elif header.decode(\"ascii\") == '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(\"ascii\"))\n    if dim_match:\n        width, height = list(map(int, dim_match.groups()))\n    else:\n        raise Exception('Malformed PFM header.')\n\n    scale = float(file.readline().decode(\"ascii\").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\n\ndef write_pfm(file, image, scale=1):\n    file = open(file, 'wb')\n\n    color = None\n\n    if image.dtype.name != 'float32':\n        raise Exception('Image dtype must be float32.')\n\n    image = np.flipud(image)\n\n    if len(image.shape) == 3 and image.shape[2] == 3:  # color image\n        color = True\n    elif len(image.shape) == 2 or len(\n            image.shape) == 3 and image.shape[2] == 1:  # greyscale\n        color = False\n    else:\n        raise Exception(\n            'Image must have H x W x 3, H x W x 1 or H x W dimensions.')\n\n    file.write(b'PF\\n' if color else b'Pf\\n')\n    file.write(b'%d %d\\n' % (image.shape[1], image.shape[0]))\n\n    endian = image.dtype.byteorder\n\n    if endian == '<' or endian == '=' and sys.byteorder == 'little':\n        scale = -scale\n\n    file.write(b'%f\\n' % scale)\n\n    image.tofile(file)\n\n\ndef _read_kitti_disp(filename):\n    depth = np.array(Image.open(filename))\n    depth = depth.astype(np.float32) / 256.\n    return depth\n"
  },
  {
    "path": "utils/utils.py",
    "content": "import os\nimport sys\nimport json\nimport torch\nfrom glob import glob\nimport logging\n\n\ndef read_text_lines(filepath):\n    with open(filepath, 'r') as f:\n        lines = f.readlines()\n    lines = [l.rstrip() for l in lines]\n    return lines\n\n\ndef check_path(path):\n    if not os.path.exists(path):\n        os.makedirs(path, exist_ok=True)  # explicitly set exist_ok when multi-processing\n\n\ndef save_command(save_path, filename='command_train.txt'):\n    check_path(save_path)\n    command = sys.argv\n    save_file = os.path.join(save_path, filename)\n    with open(save_file, 'w') as f:\n        f.write(' '.join(command))\n\n\ndef save_args(args, filename='args.json'):\n    args_dict = vars(args)\n    check_path(args.checkpoint_dir)\n    save_path = os.path.join(args.checkpoint_dir, filename)\n\n    with open(save_path, 'w') as f:\n        json.dump(args_dict, f, indent=4, sort_keys=False)\n\n\ndef int_list(s):\n    \"\"\"Convert string to int list\"\"\"\n    return [int(x) for x in s.split(',')]\n\n\ndef save_checkpoint(save_path, optimizer, aanet, epoch, num_iter,\n                    epe, best_epe, best_epoch, filename=None, save_optimizer=True):\n    # AANet\n    aanet_state = {\n        'epoch': epoch,\n        'num_iter': num_iter,\n        'epe': epe,\n        'best_epe': best_epe,\n        'best_epoch': best_epoch,\n        'state_dict': aanet.state_dict()\n    }\n    aanet_filename = 'aanet_epoch_{:0>3d}.pth'.format(epoch) if filename is None else filename\n    aanet_save_path = os.path.join(save_path, aanet_filename)\n    torch.save(aanet_state, aanet_save_path)\n\n    # Optimizer\n    if save_optimizer:\n        optimizer_state = {\n            'epoch': epoch,\n            'num_iter': num_iter,\n            'epe': epe,\n            'best_epe': best_epe,\n            'best_epoch': best_epoch,\n            'state_dict': optimizer.state_dict()\n        }\n        optimizer_name = aanet_filename.replace('aanet', 'optimizer')\n        optimizer_save_path = os.path.join(save_path, optimizer_name)\n        torch.save(optimizer_state, optimizer_save_path)\n\n\ndef load_pretrained_net(net, pretrained_path, return_epoch_iter=False, resume=False,\n                        no_strict=False):\n    if pretrained_path is not None:\n        if torch.cuda.is_available():\n            state = torch.load(pretrained_path, map_location='cuda')\n        else:\n            state = torch.load(pretrained_path, map_location='cpu')\n\n        from collections import OrderedDict\n        new_state_dict = OrderedDict()\n\n        weights = state['state_dict'] if 'state_dict' in state.keys() else state\n\n        for k, v in weights.items():\n            name = k[7:] if 'module' in k and not resume else k\n            new_state_dict[name] = v\n\n        if no_strict:\n            net.load_state_dict(new_state_dict, strict=False)  # ignore intermediate output\n        else:\n            net.load_state_dict(new_state_dict)  # optimizer has no argument `strict`\n\n        if return_epoch_iter:\n            epoch = state['epoch'] if 'epoch' in state.keys() else None\n            num_iter = state['num_iter'] if 'num_iter' in state.keys() else None\n            best_epe = state['best_epe'] if 'best_epe' in state.keys() else None\n            best_epoch = state['best_epoch'] if 'best_epoch' in state.keys() else None\n            return epoch, num_iter, best_epe, best_epoch\n\n\ndef resume_latest_ckpt(checkpoint_dir, net, net_name):\n    ckpts = sorted(glob(checkpoint_dir + '/' + net_name + '*.pth'))\n\n    if len(ckpts) == 0:\n        raise RuntimeError('=> No checkpoint found while resuming training')\n\n    latest_ckpt = ckpts[-1]\n    print('=> Resume latest %s checkpoint: %s' % (net_name, os.path.basename(latest_ckpt)))\n    epoch, num_iter, best_epe, best_epoch = load_pretrained_net(net, latest_ckpt, True, True)\n\n    return epoch, num_iter, best_epe, best_epoch\n\n\ndef fix_net_parameters(net):\n    for param in net.parameters():\n        param.requires_grad = False\n\n\ndef count_parameters(model):\n    num = sum(p.numel() for p in model.parameters() if p.requires_grad)\n    return num\n\n\ndef filter_specific_params(kv):\n    specific_layer_name = ['offset_conv.weight', 'offset_conv.bias']\n    for name in specific_layer_name:\n        if name in kv[0]:\n            return True\n    return False\n\n\ndef filter_base_params(kv):\n    specific_layer_name = ['offset_conv.weight', 'offset_conv.bias']\n    for name in specific_layer_name:\n        if name in kv[0]:\n            return False\n    return True\n\n\ndef get_logger():\n    logger_name = \"main-logger\"\n    logger = logging.getLogger(logger_name)\n    logger.setLevel(logging.INFO)\n    handler = logging.StreamHandler()\n    # fmt = \"[%(asctime)s %(levelname)s %(filename)s line %(lineno)d %(process)d] %(message)s\"\n    fmt = \"[%(asctime)s] %(message)s\"\n    handler.setFormatter(logging.Formatter(fmt))\n    logger.addHandler(handler)\n    return logger\n"
  },
  {
    "path": "utils/visualization.py",
    "content": "from __future__ import print_function\n\nimport torch\nimport torch.utils.data\nimport numpy as np\nimport torchvision.utils as vutils\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\ndef disp_error_img(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 = gen_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\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 tensor2numpy(var_dict):\n    for key, vars in var_dict.items():\n        if isinstance(vars, np.ndarray):\n            var_dict[key] = vars\n        elif isinstance(vars, torch.Tensor):\n            var_dict[key] = vars.data.cpu().numpy()\n        else:\n            raise NotImplementedError(\"invalid input type for tensor2numpy\")\n\n    return var_dict\n"
  }
]