Repository: haofeixu/aanet Branch: master Commit: 8d0d747e69bb Files: 62 Total size: 7.2 MB Directory structure: gitextract_wv5jlz84/ ├── LICENSE ├── MODEL_ZOO.md ├── README.md ├── dataloader/ │ ├── __init__.py │ ├── dataloader.py │ └── transforms.py ├── environment.yml ├── filenames/ │ ├── KITTI_2012_test.txt │ ├── KITTI_2012_train.txt │ ├── KITTI_2012_train_all.txt │ ├── KITTI_2012_val.txt │ ├── KITTI_2015_test.txt │ ├── KITTI_2015_train.txt │ ├── KITTI_2015_train_all.txt │ ├── KITTI_2015_val.txt │ ├── KITTI_mix.txt │ ├── SceneFlow_finalpass_test.txt │ ├── SceneFlow_finalpass_train.txt │ ├── SceneFlow_finalpass_val.txt │ └── generate_filenames.py ├── inference.py ├── metric.py ├── model.py ├── nets/ │ ├── __init__.py │ ├── aanet.py │ ├── aggregation.py │ ├── cost.py │ ├── deform.py │ ├── deform_conv/ │ │ ├── __init__.py │ │ ├── build.sh │ │ ├── deform_conv.py │ │ ├── setup.py │ │ └── src/ │ │ ├── deform_conv_cuda.cpp │ │ └── deform_conv_cuda_kernel.cu │ ├── estimation.py │ ├── feature.py │ ├── refinement.py │ ├── resnet.py │ └── warp.py ├── predict.py ├── scripts/ │ ├── aanet+_evaluate.sh │ ├── aanet+_inference.sh │ ├── aanet+_predict.sh │ ├── aanet+_timing.sh │ ├── aanet+_train.sh │ ├── aanet_evaluate.sh │ ├── aanet_inference.sh │ ├── aanet_predict.sh │ ├── aanet_timing.sh │ ├── aanet_train.sh │ ├── ganet-aa_inference.sh │ ├── gcnet-aa_inference.sh │ ├── psmnet-aa_inference.sh │ └── stereonet-aa_inference.sh ├── thop/ │ ├── __init__.py │ ├── count_hooks.py │ └── profile.py ├── train.py └── utils/ ├── __init__.py ├── file_io.py ├── utils.py └── visualization.py ================================================ FILE CONTENTS ================================================ ================================================ FILE: LICENSE ================================================ Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. 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See the License for the specific language governing permissions and limitations under the License. ================================================ FILE: MODEL_ZOO.md ================================================ # Model Zoo ## Settings - For all datasets, the results are reported on the test set. - The inference time is averaged over 100 runs, with batch size 1 on a single NVIDIA V100 GPU. For Scene Flow dataset, the inference resolution is 576x960. For KITTI dataset, the resolution is 384x1248. ## Scene Flow | Method | EPE | > 1px | Params | Time(ms) | Download | | ------------ | :--: | :---: | :----: | :------: | :----------------------------------------------------------: | | StereoNet-AA | 1.08 | 12.9 | 0.53M | 17 | [model](https://drive.google.com/open?id=1CimLtdQvh1dl60rCyVZZCojF4XNmFkj3) | | GC-Net-AA | 0.98 | 10.8 | 2.15M | 91 | [model](https://drive.google.com/open?id=18NisQ6vp4oMrv-cVARLmlRe8prIfdGIL) | | PSMNet-AA | 0.97 | 10.2 | 4.15M | 77 | [model](https://drive.google.com/open?id=1m5swiWdJ7PK9Oei0NK8osTFWwq2n14Ri) | | GA-Net-AA | 0.87 | 9.2 | 3.68M | 57 | [model](https://drive.google.com/open?id=1i7PJ8YVbviJe7Xc_RhBYxfvLD9QTjsBM) | | AANet | 0.87 | 9.3 | 3.93M | 68 | [model](https://drive.google.com/open?id=1_OuMEE5v5DcSUuKUZeCBZ17TZgxi4--h) | | AANet+ | 0.72 | 7.4 | 8.44M | 64 | [model](https://drive.google.com/open?id=1m3Wo2k7w3OlVaDYdIm-x9K8_frQ4Vq9u) | ## KITTI 2012 | Method | Out-Noc | Out-All | Params | Time(ms) | Download | | ------ | :-----: | :-----: | :----: | :------: | :----------------------------------------------------------: | | AANet | 1.91 | 2.42 | 3.93M | 62 | [model](https://drive.google.com/open?id=1G2M6w0RIe6kZU_iHpOyrYg_cVd1Jc34Q) | | AANet+ | 1.55 | 2.04 | 8.44M | 60 | [model](https://drive.google.com/open?id=1a2P41zmaNVVcU-Yux1AMXtgMS1fPlsGj) | ## KITTI 2015 | Method | D1-bg | D1-all | Params | Time(ms) | Download | | ------ | :---: | :----: | :----: | :------: | :----------------------------------------------------------: | | AANet | 1.99 | 2.55 | 3.93M | 62 | [model](https://drive.google.com/open?id=1Qa1rSWQDBcW4D6LvvjDztfTLNGA_rgGn) | | AANet+ | 1.65 | 2.03 | 8.44M | 60 | [model](https://drive.google.com/open?id=1m0z8e2Ndau_eFR3BETffzjkNXhJNHAiS) | ================================================ FILE: README.md ================================================ # AANet PyTorch implementation of our paper: **[AANet: Adaptive Aggregation Network for Efficient Stereo Matching](https://arxiv.org/abs/2004.09548)**, [CVPR 2020](http://cvpr2020.thecvf.com/) Authors: [Haofei Xu](https://haofeixu.github.io/) and [Juyong Zhang](http://staff.ustc.edu.cn/~juyong/) **11/15/2022 Update: Check out our new work: [Unifying Flow, Stereo and Depth Estimation](https://haofeixu.github.io/unimatch/) and code: [unimatch](https://github.com/autonomousvision/unimatch) for performing stereo matching with our new GMStereo model. The CUDA op in AANet is no longer required. [10 pretrained GMStereo models](https://github.com/autonomousvision/unimatch/blob/master/MODEL_ZOO.md) with different speed-accuracy trade-offs are also released. Check out our [Colab](https://colab.research.google.com/drive/1r5m-xVy3Kw60U-m5VB-aQ98oqqg_6cab?usp=sharing) and [HuggingFace](https://huggingface.co/spaces/haofeixu/unimatch) demo to play with GMStereo in your browser!** We propose a sparse points based intra-scale cost aggregation (ISA) module and a cross-scale cost aggregation (CSA) module for efficient and accurate stereo matching. The implementation of improved version **AANet+ (stronger performance & slightly faster speed)** is also included in this repo.

## Highlights - **Modular design** We decompose the end-to-end stereo matching framework into five components: **feature extraction**, **cost volume construction**, **cost aggregation**, **disparity computation** and **disparity refinement.** One can easily construct a customized stereo matching model by combining different components. - **High efficiency** Our method can run at **60ms** for a KITTI stereo pair (384x1248 resolution)! - **Full framework** All codes for training, validating, evaluating, inferencing and predicting on any stereo pair are provided! ## Installation Our code is based on PyTorch 1.2.0, CUDA 10.0 and python 3.7. We recommend using [conda](https://www.anaconda.com/distribution/) for installation: ```shell conda env create -f environment.yml ``` After installing dependencies, build deformable convolution: ```shell cd nets/deform_conv && bash build.sh ``` ## Dataset Preparation Download [Scene Flow](https://lmb.informatik.uni-freiburg.de/resources/datasets/SceneFlowDatasets.en.html), [KITTI 2012](http://www.cvlibs.net/datasets/kitti/eval_stereo_flow.php?benchmark=stereo) and [KITTI 2015](http://www.cvlibs.net/datasets/kitti/eval_scene_flow.php?benchmark=stereo) datasets. Our folder structure is as follows: ``` data ├── KITTI │   ├── kitti_2012 │   │   └── data_stereo_flow │   ├── kitti_2015 │   │   └── data_scene_flow └── SceneFlow    ├── Driving    │   ├── disparity    │   └── frames_finalpass    ├── FlyingThings3D    │   ├── disparity    │   └── frames_finalpass    └── Monkaa    ├── disparity    └── frames_finalpass ``` If you would like to use the pseudo ground truth supervision introduced in our paper, you can download the pre-computed disparity on KITTI 2012 and KITTI 2015 training set here: [KITTI 2012](https://drive.google.com/open?id=1ZJhraqgY1sL4UfHBrVojttCbvNAXfdj0), [KITTI 2015](https://drive.google.com/open?id=14NGQp9CwIVNAK8ZQ6GSNeGraFGtVGOce). For KITTI 2012, you should place the unzipped file `disp_occ_pseudo_gt` under `kitti_2012/data_stereo_flow/training` directory. For KITTI 2015, you should place `disp_occ_0_pseudo_gt` under `kitti_2015/data_scene_flow/training`. It is recommended to symlink your dataset root to `$AANET/data`: ```shell ln -s $YOUR_DATASET_ROOT data ``` Otherwise, you may need to change the corresponding paths in the scripts. ## Model Zoo All pretrained models are available in the [model zoo](MODEL_ZOO.md). We assume the downloaded weights are located under the `pretrained` directory. Otherwise, you may need to change the corresponding paths in the scripts. ## Inference To generate prediction results on the test set of Scene Flow and KITTI dataset, you can run [scripts/aanet_inference.sh](scripts/aanet_inference.sh). The inference results on KITTI dataset can be directly submitted to the online evaluation server for benchmarking. ## Prediction We also support predicting on any rectified stereo pairs. [scripts/aanet_predict.sh](scripts/aanet_predict.sh) provides an example usage. ## Training All training scripts on Scene Flow and KITTI datasets are provided in [scripts/aanet_train.sh](scripts/aanet_train.sh). Note that we use 4 NVIDIA V100 GPUs (32G) with batch size 64 for training, you may need to tune the batch size according to your hardware. We support using tensorboard to monitor and visualize the training process. You can first start a tensorboard session with ```shell tensorboard --logdir checkpoints ``` and then access [http://localhost:6006](http://localhost:6006) in your browser. - **How to train on my own data?** You can first generate a filename list by creating a data reading function in [filenames/generate_filenames.py](filenames/generate_filenames.py) (an example on KITTI dataset is provided), and then create a new dataset dictionary in [dataloader/dataloader.py](dataloader/dataloader.py). - **How to develop new components?** Our framework is flexible to develop new components, e.g., new feature extractor, cost aggregation module or refinement architecture. You can 1) create a new file (e.g., `my_aggregation.py`) under `nets` directory, 2) import the module in `nets/aanet.py` and 3) use it in the model definition. ## Evaluation To enable fast experimenting, evaluation runs on-the-fly without saving the intermediate results. We provide two types of evaluation setting: - After training, evaluate the model with best validation results - Evaluate a pretrained model Check [scripts/aanet_evaluate.sh](scripts/aanet_evaluate.sh) for an example usage. ## Citation If you find our work useful in your research, please consider citing our paper: ``` @inproceedings{xu2020aanet, title={AANet: Adaptive Aggregation Network for Efficient Stereo Matching}, author={Xu, Haofei and Zhang, Juyong}, booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition}, pages={1959--1968}, year={2020} } ``` ## Acknowledgements Part of the code is adopted from previous works: [PSMNet](https://github.com/JiaRenChang/PSMNet), [GwcNet](https://github.com/xy-guo/GwcNet) and [GA-Net](https://github.com/feihuzhang/GANet). We thank the original authors for their awesome repos. The deformable convolution op is taken from [mmdetection](https://github.com/open-mmlab/mmdetection). The FLOPs counting code is modified from [pytorch-OpCounter](https://github.com/Lyken17/pytorch-OpCounter). The code structure is partially inspired by [mmdetection](https://github.com/open-mmlab/mmdetection) and our previous work [rdn4depth](https://github.com/haofeixu/rdn4depth). ================================================ FILE: dataloader/__init__.py ================================================ from .dataloader import StereoDataset ================================================ FILE: dataloader/dataloader.py ================================================ from __future__ import absolute_import from __future__ import division from __future__ import print_function from torch.utils.data import Dataset import os from utils import utils from utils.file_io import read_img, read_disp class StereoDataset(Dataset): def __init__(self, data_dir, dataset_name='SceneFlow', mode='train', save_filename=False, load_pseudo_gt=False, transform=None): super(StereoDataset, self).__init__() self.data_dir = data_dir self.dataset_name = dataset_name self.mode = mode self.save_filename = save_filename self.transform = transform sceneflow_finalpass_dict = { 'train': 'filenames/SceneFlow_finalpass_train.txt', 'val': 'filenames/SceneFlow_finalpass_val.txt', 'test': 'filenames/SceneFlow_finalpass_test.txt' } kitti_2012_dict = { 'train': 'filenames/KITTI_2012_train.txt', 'train_all': 'filenames/KITTI_2012_train_all.txt', 'val': 'filenames/KITTI_2012_val.txt', 'test': 'filenames/KITTI_2012_test.txt' } kitti_2015_dict = { 'train': 'filenames/KITTI_2015_train.txt', 'train_all': 'filenames/KITTI_2015_train_all.txt', 'val': 'filenames/KITTI_2015_val.txt', 'test': 'filenames/KITTI_2015_test.txt' } kitti_mix_dict = { 'train': 'filenames/KITTI_mix.txt', 'test': 'filenames/KITTI_2015_test.txt' } dataset_name_dict = { 'SceneFlow': sceneflow_finalpass_dict, 'KITTI2012': kitti_2012_dict, 'KITTI2015': kitti_2015_dict, 'KITTI_mix': kitti_mix_dict, } assert dataset_name in dataset_name_dict.keys() self.dataset_name = dataset_name self.samples = [] data_filenames = dataset_name_dict[dataset_name][mode] lines = utils.read_text_lines(data_filenames) for line in lines: splits = line.split() left_img, right_img = splits[:2] gt_disp = None if len(splits) == 2 else splits[2] sample = dict() if self.save_filename: sample['left_name'] = left_img.split('/', 1)[1] sample['left'] = os.path.join(data_dir, left_img) sample['right'] = os.path.join(data_dir, right_img) sample['disp'] = os.path.join(data_dir, gt_disp) if gt_disp is not None else None if load_pseudo_gt and sample['disp'] is not None: # KITTI 2015 if 'disp_occ_0' in sample['disp']: sample['pseudo_disp'] = (sample['disp']).replace('disp_occ_0', 'disp_occ_0_pseudo_gt') # KITTI 2012 elif 'disp_occ' in sample['disp']: sample['pseudo_disp'] = (sample['disp']).replace('disp_occ', 'disp_occ_pseudo_gt') else: raise NotImplementedError else: sample['pseudo_disp'] = None self.samples.append(sample) def __getitem__(self, index): sample = {} sample_path = self.samples[index] if self.save_filename: sample['left_name'] = sample_path['left_name'] sample['left'] = read_img(sample_path['left']) # [H, W, 3] sample['right'] = read_img(sample_path['right']) # GT disparity of subset if negative, finalpass and cleanpass is positive subset = True if 'subset' in self.dataset_name else False if sample_path['disp'] is not None: sample['disp'] = read_disp(sample_path['disp'], subset=subset) # [H, W] if sample_path['pseudo_disp'] is not None: sample['pseudo_disp'] = read_disp(sample_path['pseudo_disp'], subset=subset) # [H, W] if self.transform is not None: sample = self.transform(sample) return sample def __len__(self): return len(self.samples) ================================================ FILE: dataloader/transforms.py ================================================ from __future__ import division import torch import numpy as np from PIL import Image import torchvision.transforms.functional as F import random class Compose(object): def __init__(self, transforms): self.transforms = transforms def __call__(self, sample): for t in self.transforms: sample = t(sample) return sample class ToTensor(object): """Convert numpy array to torch tensor""" def __call__(self, sample): left = np.transpose(sample['left'], (2, 0, 1)) # [3, H, W] sample['left'] = torch.from_numpy(left) / 255. right = np.transpose(sample['right'], (2, 0, 1)) sample['right'] = torch.from_numpy(right) / 255. # disp = np.expand_dims(sample['disp'], axis=0) # [1, H, W] if 'disp' in sample.keys(): disp = sample['disp'] # [H, W] sample['disp'] = torch.from_numpy(disp) if 'pseudo_disp' in sample.keys(): disp = sample['pseudo_disp'] # [H, W] sample['pseudo_disp'] = torch.from_numpy(disp) return sample class Normalize(object): """Normalize image, with type tensor""" def __init__(self, mean, std): self.mean = mean self.std = std def __call__(self, sample): norm_keys = ['left', 'right'] for key in norm_keys: # Images have converted to tensor, with shape [C, H, W] for t, m, s in zip(sample[key], self.mean, self.std): t.sub_(m).div_(s) return sample class RandomCrop(object): def __init__(self, img_height, img_width, validate=False): self.img_height = img_height self.img_width = img_width self.validate = validate def __call__(self, sample): ori_height, ori_width = sample['left'].shape[:2] if self.img_height > ori_height or self.img_width > ori_width: top_pad = self.img_height - ori_height right_pad = self.img_width - ori_width assert top_pad >= 0 and right_pad >= 0 sample['left'] = np.lib.pad(sample['left'], ((top_pad, 0), (0, right_pad), (0, 0)), mode='constant', constant_values=0) sample['right'] = np.lib.pad(sample['right'], ((top_pad, 0), (0, right_pad), (0, 0)), mode='constant', constant_values=0) if 'disp' in sample.keys(): sample['disp'] = np.lib.pad(sample['disp'], ((top_pad, 0), (0, right_pad)), mode='constant', constant_values=0) if 'pseudo_disp' in sample.keys(): sample['pseudo_disp'] = np.lib.pad(sample['pseudo_disp'], ((top_pad, 0), (0, right_pad)), mode='constant', constant_values=0) else: assert self.img_height <= ori_height and self.img_width <= ori_width # Training: random crop if not self.validate: self.offset_x = np.random.randint(ori_width - self.img_width + 1) start_height = 0 assert ori_height - start_height >= self.img_height self.offset_y = np.random.randint(start_height, ori_height - self.img_height + 1) # Validatoin, center crop else: self.offset_x = (ori_width - self.img_width) // 2 self.offset_y = (ori_height - self.img_height) // 2 sample['left'] = self.crop_img(sample['left']) sample['right'] = self.crop_img(sample['right']) if 'disp' in sample.keys(): sample['disp'] = self.crop_img(sample['disp']) if 'pseudo_disp' in sample.keys(): sample['pseudo_disp'] = self.crop_img(sample['pseudo_disp']) return sample def crop_img(self, img): return img[self.offset_y:self.offset_y + self.img_height, self.offset_x:self.offset_x + self.img_width] class RandomVerticalFlip(object): """Randomly vertically filps""" def __call__(self, sample): if np.random.random() < 0.5: sample['left'] = np.copy(np.flipud(sample['left'])) sample['right'] = np.copy(np.flipud(sample['right'])) sample['disp'] = np.copy(np.flipud(sample['disp'])) if 'pseudo_disp' in sample.keys(): sample['pseudo_disp'] = np.copy(np.flipud(sample['pseudo_disp'])) return sample class ToPILImage(object): def __call__(self, sample): sample['left'] = Image.fromarray(sample['left'].astype('uint8')) sample['right'] = Image.fromarray(sample['right'].astype('uint8')) return sample class ToNumpyArray(object): def __call__(self, sample): sample['left'] = np.array(sample['left']).astype(np.float32) sample['right'] = np.array(sample['right']).astype(np.float32) return sample # Random coloring class RandomContrast(object): """Random contrast""" def __call__(self, sample): if np.random.random() < 0.5: contrast_factor = np.random.uniform(0.8, 1.2) sample['left'] = F.adjust_contrast(sample['left'], contrast_factor) sample['right'] = F.adjust_contrast(sample['right'], contrast_factor) return sample class RandomGamma(object): def __call__(self, sample): if np.random.random() < 0.5: gamma = np.random.uniform(0.7, 1.5) # adopted from FlowNet sample['left'] = F.adjust_gamma(sample['left'], gamma) sample['right'] = F.adjust_gamma(sample['right'], gamma) return sample class RandomBrightness(object): def __call__(self, sample): if np.random.random() < 0.5: brightness = np.random.uniform(0.5, 2.0) sample['left'] = F.adjust_brightness(sample['left'], brightness) sample['right'] = F.adjust_brightness(sample['right'], brightness) return sample class RandomHue(object): def __call__(self, sample): if np.random.random() < 0.5: hue = np.random.uniform(-0.1, 0.1) sample['left'] = F.adjust_hue(sample['left'], hue) sample['right'] = F.adjust_hue(sample['right'], hue) return sample class RandomSaturation(object): def __call__(self, sample): if np.random.random() < 0.5: saturation = np.random.uniform(0.8, 1.2) sample['left'] = F.adjust_saturation(sample['left'], saturation) sample['right'] = F.adjust_saturation(sample['right'], saturation) return sample class RandomColor(object): def __call__(self, sample): transforms = [RandomContrast(), RandomGamma(), RandomBrightness(), RandomHue(), RandomSaturation()] sample = ToPILImage()(sample) if np.random.random() < 0.5: # A single transform t = random.choice(transforms) sample = t(sample) else: # Combination of transforms # Random order random.shuffle(transforms) for t in transforms: sample = t(sample) sample = ToNumpyArray()(sample) return sample ================================================ FILE: environment.yml ================================================ name: aanet channels: - pytorch - anaconda - defaults dependencies: - _libgcc_mutex=0.1=main - blas=1.0=mkl - bzip2=1.0.8=h7b6447c_0 - ca-certificates=2019.10.16=0 - cairo=1.14.12=h8948797_3 - certifi=2019.9.11=py37_0 - cffi=1.12.3=py37h2e261b9_0 - cloudpickle=1.2.1=py_0 - cudatoolkit=10.0.130=0 - cycler=0.10.0=py37_0 - cytoolz=0.10.0=py37h7b6447c_0 - dask-core=2.3.0=py_0 - dbus=1.13.6=h746ee38_0 - decorator=4.4.0=py37_1 - expat=2.2.6=he6710b0_0 - ffmpeg=4.0=hcdf2ecd_0 - fontconfig=2.13.0=h9420a91_0 - freeglut=3.0.0=hf484d3e_5 - freetype=2.9.1=h8a8886c_1 - glib=2.56.2=hd408876_0 - graphite2=1.3.13=h23475e2_0 - gst-plugins-base=1.14.0=hbbd80ab_1 - gstreamer=1.14.0=hb453b48_1 - harfbuzz=1.8.8=hffaf4a1_0 - hdf5=1.10.2=hba1933b_1 - icu=58.2=h9c2bf20_1 - imageio=2.5.0=py37_0 - intel-openmp=2019.4=243 - jasper=2.0.14=h07fcdf6_1 - jpeg=9b=h024ee3a_2 - kiwisolver=1.1.0=py37he6710b0_0 - libedit=3.1.20181209=hc058e9b_0 - libffi=3.2.1=hd88cf55_4 - libgcc-ng=9.1.0=hdf63c60_0 - libgfortran-ng=7.3.0=hdf63c60_0 - libglu=9.0.0=hf484d3e_1 - libopencv=3.4.2=hb342d67_1 - libopus=1.3=h7b6447c_0 - libpng=1.6.37=hbc83047_0 - libstdcxx-ng=9.1.0=hdf63c60_0 - libtiff=4.0.10=h2733197_2 - libuuid=1.0.3=h1bed415_2 - libvpx=1.7.0=h439df22_0 - libxcb=1.13=h1bed415_1 - libxml2=2.9.9=hea5a465_1 - matplotlib=3.1.1=py37h5429711_0 - mkl=2019.4=243 - mkl-service=2.0.2=py37h7b6447c_0 - mkl_fft=1.0.14=py37ha843d7b_0 - mkl_random=1.0.2=py37hd81dba3_0 - ncurses=6.1=he6710b0_1 - networkx=2.3=py_0 - ninja=1.9.0=py37hfd86e86_0 - numpy=1.16.4=py37h7e9f1db_0 - numpy-base=1.16.4=py37hde5b4d6_0 - olefile=0.46=py37_0 - opencv=3.4.2=py37h6fd60c2_1 - openssl=1.1.1=h7b6447c_0 - pcre=8.43=he6710b0_0 - pillow=6.1.0=py37h34e0f95_0 - pip=19.2.2=py37_0 - pixman=0.38.0=h7b6447c_0 - py-opencv=3.4.2=py37hb342d67_1 - pycparser=2.19=py37_0 - pyparsing=2.4.2=py_0 - pyqt=5.9.2=py37h05f1152_2 - python=3.7.4=h265db76_1 - python-dateutil=2.8.0=py37_0 - pytorch=1.2.0=py3.7_cuda10.0.130_cudnn7.6.2_0 - pytz=2019.2=py_0 - pywavelets=1.0.3=py37hdd07704_1 - qt=5.9.7=h5867ecd_1 - readline=7.0=h7b6447c_5 - scikit-image=0.15.0=py37he6710b0_0 - scipy=1.3.1=py37h7c811a0_0 - setuptools=41.0.1=py37_0 - sip=4.19.8=py37hf484d3e_0 - six=1.12.0=py37_0 - sqlite=3.29.0=h7b6447c_0 - tk=8.6.8=hbc83047_0 - toolz=0.10.0=py_0 - torchvision=0.4.0=py37_cu100 - tornado=6.0.3=py37h7b6447c_0 - wheel=0.33.4=py37_0 - xz=5.2.4=h14c3975_4 - zlib=1.2.11=h7b6447c_3 - zstd=1.3.7=h0b5b093_0 - pip: - absl-py==0.8.0 - astor==0.8.0 - bleach==1.5.0 - future==0.17.1 - gast==0.2.2 - google-pasta==0.1.7 - grpcio==1.23.0 - h5py==2.9.0 - html5lib==0.9999999 - keras-applications==1.0.8 - keras-preprocessing==1.1.0 - markdown==3.1.1 - protobuf==3.9.1 - tb-nightly==1.15.0a20190902 - termcolor==1.1.0 - werkzeug==0.15.5 - wrapt==1.11.2 ================================================ FILE: filenames/KITTI_2012_test.txt ================================================ testing/colored_0/000000_10.png testing/colored_1/000000_10.png testing/colored_0/000001_10.png testing/colored_1/000001_10.png testing/colored_0/000002_10.png testing/colored_1/000002_10.png testing/colored_0/000003_10.png testing/colored_1/000003_10.png testing/colored_0/000004_10.png testing/colored_1/000004_10.png testing/colored_0/000005_10.png testing/colored_1/000005_10.png 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Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0086.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0086.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0086.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0393/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/B/0393/right/0009.png FlyingThings3D/disparity/TRAIN/B/0393/left/0009.pfm Monkaa/frames_finalpass/treeflight_x2/left/0109.png Monkaa/frames_finalpass/treeflight_x2/right/0109.png Monkaa/disparity/treeflight_x2/left/0109.pfm Monkaa/frames_finalpass/funnyworld_augmented1_x2/left/0490.png Monkaa/frames_finalpass/funnyworld_augmented1_x2/right/0490.png Monkaa/disparity/funnyworld_augmented1_x2/left/0490.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0287.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0287.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0287.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0183/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/A/0183/right/0015.png FlyingThings3D/disparity/TRAIN/A/0183/left/0015.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0409/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/B/0409/right/0015.png FlyingThings3D/disparity/TRAIN/B/0409/left/0015.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0553/left/0014.png FlyingThings3D/frames_finalpass/TRAIN/C/0553/right/0014.png FlyingThings3D/disparity/TRAIN/C/0553/left/0014.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0267/left/0007.png FlyingThings3D/frames_finalpass/TRAIN/B/0267/right/0007.png FlyingThings3D/disparity/TRAIN/B/0267/left/0007.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0203/left/0007.png FlyingThings3D/frames_finalpass/TRAIN/A/0203/right/0007.png FlyingThings3D/disparity/TRAIN/A/0203/left/0007.pfm Monkaa/frames_finalpass/funnyworld_camera2_augmented1_x2/left/0357.png Monkaa/frames_finalpass/funnyworld_camera2_augmented1_x2/right/0357.png 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FlyingThings3D/frames_finalpass/TRAIN/B/0424/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/B/0424/right/0010.png FlyingThings3D/disparity/TRAIN/B/0424/left/0010.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0501/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/C/0501/right/0010.png FlyingThings3D/disparity/TRAIN/C/0501/left/0010.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0439/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/A/0439/right/0006.png FlyingThings3D/disparity/TRAIN/A/0439/left/0006.pfm Monkaa/frames_finalpass/funnyworld_camera2_augmented1_x2/left/0309.png Monkaa/frames_finalpass/funnyworld_camera2_augmented1_x2/right/0309.png Monkaa/disparity/funnyworld_camera2_augmented1_x2/left/0309.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0244/left/0011.png FlyingThings3D/frames_finalpass/TRAIN/C/0244/right/0011.png FlyingThings3D/disparity/TRAIN/C/0244/left/0011.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0672/left/0013.png 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Monkaa/frames_finalpass/lonetree_difftex2_x2/left/0307.png Monkaa/frames_finalpass/lonetree_difftex2_x2/right/0307.png Monkaa/disparity/lonetree_difftex2_x2/left/0307.pfm Monkaa/frames_finalpass/lonetree_augmented0_x2/left/0017.png Monkaa/frames_finalpass/lonetree_augmented0_x2/right/0017.png Monkaa/disparity/lonetree_augmented0_x2/left/0017.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0431/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/B/0431/right/0009.png FlyingThings3D/disparity/TRAIN/B/0431/left/0009.pfm Driving/frames_finalpass/15mm_focallength/scene_backwards/fast/left/0171.png Driving/frames_finalpass/15mm_focallength/scene_backwards/fast/right/0171.png Driving/disparity/15mm_focallength/scene_backwards/fast/left/0171.pfm Monkaa/frames_finalpass/funnyworld_x2/left/0474.png Monkaa/frames_finalpass/funnyworld_x2/right/0474.png Monkaa/disparity/funnyworld_x2/left/0474.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0146/left/0007.png 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FlyingThings3D/frames_finalpass/TRAIN/B/0008/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/B/0008/right/0015.png FlyingThings3D/disparity/TRAIN/B/0008/left/0015.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0529/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/B/0529/right/0010.png FlyingThings3D/disparity/TRAIN/B/0529/left/0010.pfm Monkaa/frames_finalpass/lonetree_difftex_x2/left/0126.png Monkaa/frames_finalpass/lonetree_difftex_x2/right/0126.png Monkaa/disparity/lonetree_difftex_x2/left/0126.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0433/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/A/0433/right/0009.png FlyingThings3D/disparity/TRAIN/A/0433/left/0009.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0256/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/B/0256/right/0009.png FlyingThings3D/disparity/TRAIN/B/0256/left/0009.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0009/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/B/0009/right/0015.png 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Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0136.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0136.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0136.pfm Monkaa/frames_finalpass/funnyworld_camera2_x2/left/0024.png Monkaa/frames_finalpass/funnyworld_camera2_x2/right/0024.png Monkaa/disparity/funnyworld_camera2_x2/left/0024.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0430/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/B/0430/right/0012.png FlyingThings3D/disparity/TRAIN/B/0430/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0058/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/C/0058/right/0012.png FlyingThings3D/disparity/TRAIN/C/0058/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0255/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/A/0255/right/0013.png FlyingThings3D/disparity/TRAIN/A/0255/left/0013.pfm Monkaa/frames_finalpass/lonetree_x2/left/0271.png 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FlyingThings3D/frames_finalpass/TRAIN/A/0072/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/A/0072/right/0010.png FlyingThings3D/disparity/TRAIN/A/0072/left/0010.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0380/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/A/0380/right/0009.png FlyingThings3D/disparity/TRAIN/A/0380/left/0009.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0098/left/0007.png FlyingThings3D/frames_finalpass/TRAIN/C/0098/right/0007.png FlyingThings3D/disparity/TRAIN/C/0098/left/0007.pfm Driving/frames_finalpass/15mm_focallength/scene_backwards/fast/left/0077.png Driving/frames_finalpass/15mm_focallength/scene_backwards/fast/right/0077.png Driving/disparity/15mm_focallength/scene_backwards/fast/left/0077.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0089/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/C/0089/right/0010.png FlyingThings3D/disparity/TRAIN/C/0089/left/0010.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0312/left/0012.png 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Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0124.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0124.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0124.pfm Monkaa/frames_finalpass/funnyworld_augmented1_x2/left/0310.png Monkaa/frames_finalpass/funnyworld_augmented1_x2/right/0310.png Monkaa/disparity/funnyworld_augmented1_x2/left/0310.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0422.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0422.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0422.pfm Monkaa/frames_finalpass/lonetree_winter_x2/left/0020.png Monkaa/frames_finalpass/lonetree_winter_x2/right/0020.png Monkaa/disparity/lonetree_winter_x2/left/0020.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0444/left/0007.png FlyingThings3D/frames_finalpass/TRAIN/C/0444/right/0007.png FlyingThings3D/disparity/TRAIN/C/0444/left/0007.pfm 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Driving/frames_finalpass/15mm_focallength/scene_forwards/slow/left/0169.png Driving/frames_finalpass/15mm_focallength/scene_forwards/slow/right/0169.png Driving/disparity/15mm_focallength/scene_forwards/slow/left/0169.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0151/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/C/0151/right/0015.png FlyingThings3D/disparity/TRAIN/C/0151/left/0015.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0617/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/A/0617/right/0012.png FlyingThings3D/disparity/TRAIN/A/0617/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0160/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/C/0160/right/0009.png FlyingThings3D/disparity/TRAIN/C/0160/left/0009.pfm Driving/frames_finalpass/15mm_focallength/scene_backwards/slow/left/0409.png Driving/frames_finalpass/15mm_focallength/scene_backwards/slow/right/0409.png Driving/disparity/15mm_focallength/scene_backwards/slow/left/0409.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0398/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/B/0398/right/0012.png FlyingThings3D/disparity/TRAIN/B/0398/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0236/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/B/0236/right/0012.png FlyingThings3D/disparity/TRAIN/B/0236/left/0012.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0715.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0715.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0715.pfm Monkaa/frames_finalpass/treeflight_x2/left/0198.png Monkaa/frames_finalpass/treeflight_x2/right/0198.png Monkaa/disparity/treeflight_x2/left/0198.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0532/left/0008.png FlyingThings3D/frames_finalpass/TRAIN/A/0532/right/0008.png FlyingThings3D/disparity/TRAIN/A/0532/left/0008.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0303/left/0015.png 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FlyingThings3D/frames_finalpass/TRAIN/A/0543/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/A/0543/right/0010.png FlyingThings3D/disparity/TRAIN/A/0543/left/0010.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0205/left/0008.png FlyingThings3D/frames_finalpass/TRAIN/C/0205/right/0008.png FlyingThings3D/disparity/TRAIN/C/0205/left/0008.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0147/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/C/0147/right/0013.png FlyingThings3D/disparity/TRAIN/C/0147/left/0013.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/fast/left/0100.png Driving/frames_finalpass/35mm_focallength/scene_backwards/fast/right/0100.png Driving/disparity/35mm_focallength/scene_backwards/fast/left/0100.pfm Driving/frames_finalpass/35mm_focallength/scene_forwards/fast/left/0075.png Driving/frames_finalpass/35mm_focallength/scene_forwards/fast/right/0075.png Driving/disparity/35mm_focallength/scene_forwards/fast/left/0075.pfm 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FlyingThings3D/frames_finalpass/TRAIN/B/0303/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/B/0303/right/0006.png FlyingThings3D/disparity/TRAIN/B/0303/left/0006.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0119/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/A/0119/right/0006.png FlyingThings3D/disparity/TRAIN/A/0119/left/0006.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0568/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/B/0568/right/0012.png FlyingThings3D/disparity/TRAIN/B/0568/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0599/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/A/0599/right/0006.png FlyingThings3D/disparity/TRAIN/A/0599/left/0006.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0101/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/C/0101/right/0006.png FlyingThings3D/disparity/TRAIN/C/0101/left/0006.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0089/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/B/0089/right/0006.png 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FlyingThings3D/frames_finalpass/TRAIN/C/0517/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/C/0517/right/0006.png FlyingThings3D/disparity/TRAIN/C/0517/left/0006.pfm Monkaa/frames_finalpass/eating_naked_camera2_x2/left/0068.png Monkaa/frames_finalpass/eating_naked_camera2_x2/right/0068.png Monkaa/disparity/eating_naked_camera2_x2/left/0068.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0107/left/0014.png FlyingThings3D/frames_finalpass/TRAIN/A/0107/right/0014.png FlyingThings3D/disparity/TRAIN/A/0107/left/0014.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0595/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/A/0595/right/0009.png FlyingThings3D/disparity/TRAIN/A/0595/left/0009.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0700/left/0011.png FlyingThings3D/frames_finalpass/TRAIN/B/0700/right/0011.png FlyingThings3D/disparity/TRAIN/B/0700/left/0011.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0153/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/C/0153/right/0010.png 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Driving/frames_finalpass/35mm_focallength/scene_forwards/slow/left/0575.png Driving/frames_finalpass/35mm_focallength/scene_forwards/slow/right/0575.png Driving/disparity/35mm_focallength/scene_forwards/slow/left/0575.pfm Monkaa/frames_finalpass/flower_storm_x2/left/0093.png Monkaa/frames_finalpass/flower_storm_x2/right/0093.png Monkaa/disparity/flower_storm_x2/left/0093.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0056/left/0008.png FlyingThings3D/frames_finalpass/TRAIN/A/0056/right/0008.png FlyingThings3D/disparity/TRAIN/A/0056/left/0008.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0187.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0187.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0187.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0368/left/0011.png FlyingThings3D/frames_finalpass/TRAIN/A/0368/right/0011.png FlyingThings3D/disparity/TRAIN/A/0368/left/0011.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0507/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/A/0507/right/0009.png FlyingThings3D/disparity/TRAIN/A/0507/left/0009.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0025/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/A/0025/right/0006.png FlyingThings3D/disparity/TRAIN/A/0025/left/0006.pfm Monkaa/frames_finalpass/funnyworld_x2/left/0147.png Monkaa/frames_finalpass/funnyworld_x2/right/0147.png Monkaa/disparity/funnyworld_x2/left/0147.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0682/left/0007.png FlyingThings3D/frames_finalpass/TRAIN/A/0682/right/0007.png FlyingThings3D/disparity/TRAIN/A/0682/left/0007.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0337/left/0011.png FlyingThings3D/frames_finalpass/TRAIN/B/0337/right/0011.png FlyingThings3D/disparity/TRAIN/B/0337/left/0011.pfm Monkaa/frames_finalpass/funnyworld_camera2_augmented0_x2/left/0348.png Monkaa/frames_finalpass/funnyworld_camera2_augmented0_x2/right/0348.png 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Driving/frames_finalpass/15mm_focallength/scene_forwards/slow/left/0135.png Driving/frames_finalpass/15mm_focallength/scene_forwards/slow/right/0135.png Driving/disparity/15mm_focallength/scene_forwards/slow/left/0135.pfm Monkaa/frames_finalpass/funnyworld_camera2_augmented0_x2/left/0140.png Monkaa/frames_finalpass/funnyworld_camera2_augmented0_x2/right/0140.png Monkaa/disparity/funnyworld_camera2_augmented0_x2/left/0140.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0420/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/C/0420/right/0006.png FlyingThings3D/disparity/TRAIN/C/0420/left/0006.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0465/left/0014.png FlyingThings3D/frames_finalpass/TRAIN/C/0465/right/0014.png FlyingThings3D/disparity/TRAIN/C/0465/left/0014.pfm Monkaa/frames_finalpass/lonetree_augmented0_x2/left/0340.png Monkaa/frames_finalpass/lonetree_augmented0_x2/right/0340.png Monkaa/disparity/lonetree_augmented0_x2/left/0340.pfm 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Monkaa/frames_finalpass/lonetree_difftex_x2/left/0265.png Monkaa/frames_finalpass/lonetree_difftex_x2/right/0265.png Monkaa/disparity/lonetree_difftex_x2/left/0265.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0106/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/C/0106/right/0015.png FlyingThings3D/disparity/TRAIN/C/0106/left/0015.pfm Monkaa/frames_finalpass/funnyworld_camera2_x2/left/0442.png Monkaa/frames_finalpass/funnyworld_camera2_x2/right/0442.png Monkaa/disparity/funnyworld_camera2_x2/left/0442.pfm Monkaa/frames_finalpass/funnyworld_augmented0_x2/left/0041.png Monkaa/frames_finalpass/funnyworld_augmented0_x2/right/0041.png Monkaa/disparity/funnyworld_augmented0_x2/left/0041.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0288/left/0014.png FlyingThings3D/frames_finalpass/TRAIN/C/0288/right/0014.png FlyingThings3D/disparity/TRAIN/C/0288/left/0014.pfm Monkaa/frames_finalpass/funnyworld_camera2_x2/left/0082.png Monkaa/frames_finalpass/funnyworld_camera2_x2/right/0082.png 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Monkaa/frames_finalpass/lonetree_augmented0_x2/left/0348.png Monkaa/frames_finalpass/lonetree_augmented0_x2/right/0348.png Monkaa/disparity/lonetree_augmented0_x2/left/0348.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0625/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/B/0625/right/0013.png FlyingThings3D/disparity/TRAIN/B/0625/left/0013.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0102/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/B/0102/right/0010.png FlyingThings3D/disparity/TRAIN/B/0102/left/0010.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0259/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/C/0259/right/0015.png FlyingThings3D/disparity/TRAIN/C/0259/left/0015.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0246/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/B/0246/right/0009.png FlyingThings3D/disparity/TRAIN/B/0246/left/0009.pfm Driving/frames_finalpass/15mm_focallength/scene_backwards/slow/left/0465.png 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FlyingThings3D/frames_finalpass/TRAIN/B/0401/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/B/0401/right/0009.png FlyingThings3D/disparity/TRAIN/B/0401/left/0009.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0382/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/A/0382/right/0006.png FlyingThings3D/disparity/TRAIN/A/0382/left/0006.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0109/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/C/0109/right/0015.png FlyingThings3D/disparity/TRAIN/C/0109/left/0015.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0487.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0487.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0487.pfm Monkaa/frames_finalpass/flower_storm_augmented0_x2/left/0021.png Monkaa/frames_finalpass/flower_storm_augmented0_x2/right/0021.png Monkaa/disparity/flower_storm_augmented0_x2/left/0021.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0616/left/0014.png 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Driving/frames_finalpass/35mm_focallength/scene_forwards/slow/left/0429.png Driving/frames_finalpass/35mm_focallength/scene_forwards/slow/right/0429.png Driving/disparity/35mm_focallength/scene_forwards/slow/left/0429.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0789.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0789.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0789.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0445/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/C/0445/right/0006.png FlyingThings3D/disparity/TRAIN/C/0445/left/0006.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0084/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/C/0084/right/0009.png FlyingThings3D/disparity/TRAIN/C/0084/left/0009.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0104/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/A/0104/right/0015.png FlyingThings3D/disparity/TRAIN/A/0104/left/0015.pfm 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FlyingThings3D/frames_finalpass/TRAIN/A/0163/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/A/0163/right/0015.png FlyingThings3D/disparity/TRAIN/A/0163/left/0015.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0217/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/B/0217/right/0006.png FlyingThings3D/disparity/TRAIN/B/0217/left/0006.pfm Monkaa/frames_finalpass/lonetree_difftex_x2/left/0238.png Monkaa/frames_finalpass/lonetree_difftex_x2/right/0238.png Monkaa/disparity/lonetree_difftex_x2/left/0238.pfm Driving/frames_finalpass/15mm_focallength/scene_forwards/fast/left/0216.png Driving/frames_finalpass/15mm_focallength/scene_forwards/fast/right/0216.png Driving/disparity/15mm_focallength/scene_forwards/fast/left/0216.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0137/left/0014.png FlyingThings3D/frames_finalpass/TRAIN/C/0137/right/0014.png FlyingThings3D/disparity/TRAIN/C/0137/left/0014.pfm Driving/frames_finalpass/15mm_focallength/scene_backwards/slow/left/0791.png 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Monkaa/frames_finalpass/funnyworld_camera2_augmented1_x2/left/0048.png Monkaa/frames_finalpass/funnyworld_camera2_augmented1_x2/right/0048.png Monkaa/disparity/funnyworld_camera2_augmented1_x2/left/0048.pfm Driving/frames_finalpass/15mm_focallength/scene_backwards/fast/left/0177.png Driving/frames_finalpass/15mm_focallength/scene_backwards/fast/right/0177.png Driving/disparity/15mm_focallength/scene_backwards/fast/left/0177.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0341/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/C/0341/right/0006.png FlyingThings3D/disparity/TRAIN/C/0341/left/0006.pfm Monkaa/frames_finalpass/lonetree_x2/left/0467.png Monkaa/frames_finalpass/lonetree_x2/right/0467.png Monkaa/disparity/lonetree_x2/left/0467.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0584.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0584.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0584.pfm 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Driving/frames_finalpass/35mm_focallength/scene_forwards/slow/left/0039.png Driving/frames_finalpass/35mm_focallength/scene_forwards/slow/right/0039.png Driving/disparity/35mm_focallength/scene_forwards/slow/left/0039.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0374/left/0011.png FlyingThings3D/frames_finalpass/TRAIN/C/0374/right/0011.png FlyingThings3D/disparity/TRAIN/C/0374/left/0011.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0457/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/B/0457/right/0013.png FlyingThings3D/disparity/TRAIN/B/0457/left/0013.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0498/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/B/0498/right/0010.png FlyingThings3D/disparity/TRAIN/B/0498/left/0010.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0432/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/C/0432/right/0013.png FlyingThings3D/disparity/TRAIN/C/0432/left/0013.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0691.png 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FlyingThings3D/frames_finalpass/TRAIN/B/0591/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/B/0591/right/0012.png FlyingThings3D/disparity/TRAIN/B/0591/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0395/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/B/0395/right/0010.png FlyingThings3D/disparity/TRAIN/B/0395/left/0010.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0419.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0419.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0419.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0576/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/C/0576/right/0006.png FlyingThings3D/disparity/TRAIN/C/0576/left/0006.pfm Monkaa/frames_finalpass/lonetree_augmented1_x2/left/0162.png Monkaa/frames_finalpass/lonetree_augmented1_x2/right/0162.png Monkaa/disparity/lonetree_augmented1_x2/left/0162.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0650/left/0007.png 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Driving/frames_finalpass/35mm_focallength/scene_forwards/fast/left/0008.png Driving/frames_finalpass/35mm_focallength/scene_forwards/fast/right/0008.png Driving/disparity/35mm_focallength/scene_forwards/fast/left/0008.pfm Driving/frames_finalpass/15mm_focallength/scene_backwards/slow/left/0081.png Driving/frames_finalpass/15mm_focallength/scene_backwards/slow/right/0081.png Driving/disparity/15mm_focallength/scene_backwards/slow/left/0081.pfm Monkaa/frames_finalpass/lonetree_winter_x2/left/0307.png Monkaa/frames_finalpass/lonetree_winter_x2/right/0307.png Monkaa/disparity/lonetree_winter_x2/left/0307.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0277/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/B/0277/right/0012.png FlyingThings3D/disparity/TRAIN/B/0277/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0248/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/A/0248/right/0013.png FlyingThings3D/disparity/TRAIN/A/0248/left/0013.pfm 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FlyingThings3D/frames_finalpass/TRAIN/A/0410/left/0008.png FlyingThings3D/frames_finalpass/TRAIN/A/0410/right/0008.png FlyingThings3D/disparity/TRAIN/A/0410/left/0008.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0682/left/0011.png FlyingThings3D/frames_finalpass/TRAIN/C/0682/right/0011.png FlyingThings3D/disparity/TRAIN/C/0682/left/0011.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0172/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/C/0172/right/0012.png FlyingThings3D/disparity/TRAIN/C/0172/left/0012.pfm Monkaa/frames_finalpass/funnyworld_x2/left/0234.png Monkaa/frames_finalpass/funnyworld_x2/right/0234.png Monkaa/disparity/funnyworld_x2/left/0234.pfm Monkaa/frames_finalpass/treeflight_augmented1_x2/left/0197.png Monkaa/frames_finalpass/treeflight_augmented1_x2/right/0197.png Monkaa/disparity/treeflight_augmented1_x2/left/0197.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0365/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/B/0365/right/0013.png 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Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0630.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0630.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0630.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0550/left/0008.png FlyingThings3D/frames_finalpass/TRAIN/A/0550/right/0008.png FlyingThings3D/disparity/TRAIN/A/0550/left/0008.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0664/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/C/0664/right/0015.png FlyingThings3D/disparity/TRAIN/C/0664/left/0015.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0397/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/C/0397/right/0012.png FlyingThings3D/disparity/TRAIN/C/0397/left/0012.pfm Monkaa/frames_finalpass/funnyworld_camera2_x2/left/0361.png Monkaa/frames_finalpass/funnyworld_camera2_x2/right/0361.png Monkaa/disparity/funnyworld_camera2_x2/left/0361.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0725/left/0015.png 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Monkaa/frames_finalpass/funnyworld_augmented1_x2/left/0127.png Monkaa/frames_finalpass/funnyworld_augmented1_x2/right/0127.png Monkaa/disparity/funnyworld_augmented1_x2/left/0127.pfm Monkaa/frames_finalpass/family_x2/left/0049.png Monkaa/frames_finalpass/family_x2/right/0049.png Monkaa/disparity/family_x2/left/0049.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0005/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/B/0005/right/0006.png FlyingThings3D/disparity/TRAIN/B/0005/left/0006.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0614/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/C/0614/right/0009.png FlyingThings3D/disparity/TRAIN/C/0614/left/0009.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0170/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/A/0170/right/0012.png FlyingThings3D/disparity/TRAIN/A/0170/left/0012.pfm Monkaa/frames_finalpass/funnyworld_x2/left/0065.png Monkaa/frames_finalpass/funnyworld_x2/right/0065.png Monkaa/disparity/funnyworld_x2/left/0065.pfm 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FlyingThings3D/frames_finalpass/TRAIN/B/0342/left/0007.png FlyingThings3D/frames_finalpass/TRAIN/B/0342/right/0007.png FlyingThings3D/disparity/TRAIN/B/0342/left/0007.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0236/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/A/0236/right/0012.png FlyingThings3D/disparity/TRAIN/A/0236/left/0012.pfm Driving/frames_finalpass/15mm_focallength/scene_forwards/slow/left/0175.png Driving/frames_finalpass/15mm_focallength/scene_forwards/slow/right/0175.png Driving/disparity/15mm_focallength/scene_forwards/slow/left/0175.pfm Monkaa/frames_finalpass/funnyworld_camera2_augmented1_x2/left/0265.png Monkaa/frames_finalpass/funnyworld_camera2_augmented1_x2/right/0265.png Monkaa/disparity/funnyworld_camera2_augmented1_x2/left/0265.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0157/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/C/0157/right/0013.png FlyingThings3D/disparity/TRAIN/C/0157/left/0013.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0546/left/0007.png 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FlyingThings3D/frames_finalpass/TRAIN/C/0135/left/0008.png FlyingThings3D/frames_finalpass/TRAIN/C/0135/right/0008.png FlyingThings3D/disparity/TRAIN/C/0135/left/0008.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0436/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/C/0436/right/0012.png FlyingThings3D/disparity/TRAIN/C/0436/left/0012.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0037.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0037.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0037.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0306/left/0007.png FlyingThings3D/frames_finalpass/TRAIN/A/0306/right/0007.png FlyingThings3D/disparity/TRAIN/A/0306/left/0007.pfm Monkaa/frames_finalpass/flower_storm_augmented0_x2/left/0060.png Monkaa/frames_finalpass/flower_storm_augmented0_x2/right/0060.png Monkaa/disparity/flower_storm_augmented0_x2/left/0060.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0111/left/0008.png 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Monkaa/frames_finalpass/lonetree_x2/left/0319.png Monkaa/frames_finalpass/lonetree_x2/right/0319.png Monkaa/disparity/lonetree_x2/left/0319.pfm Monkaa/frames_finalpass/treeflight_augmented0_x2/left/0103.png Monkaa/frames_finalpass/treeflight_augmented0_x2/right/0103.png Monkaa/disparity/treeflight_augmented0_x2/left/0103.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0376/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/B/0376/right/0015.png FlyingThings3D/disparity/TRAIN/B/0376/left/0015.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0320/left/0008.png FlyingThings3D/frames_finalpass/TRAIN/C/0320/right/0008.png FlyingThings3D/disparity/TRAIN/C/0320/left/0008.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0700/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/A/0700/right/0012.png FlyingThings3D/disparity/TRAIN/A/0700/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0429/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/A/0429/right/0015.png 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Monkaa/frames_finalpass/treeflight_augmented1_x2/left/0367.png Monkaa/frames_finalpass/treeflight_augmented1_x2/right/0367.png Monkaa/disparity/treeflight_augmented1_x2/left/0367.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0621/left/0010.png FlyingThings3D/frames_finalpass/TRAIN/A/0621/right/0010.png FlyingThings3D/disparity/TRAIN/A/0621/left/0010.pfm Monkaa/frames_finalpass/treeflight_x2/left/0213.png Monkaa/frames_finalpass/treeflight_x2/right/0213.png Monkaa/disparity/treeflight_x2/left/0213.pfm Driving/frames_finalpass/35mm_focallength/scene_forwards/slow/left/0290.png Driving/frames_finalpass/35mm_focallength/scene_forwards/slow/right/0290.png Driving/disparity/35mm_focallength/scene_forwards/slow/left/0290.pfm Monkaa/frames_finalpass/eating_x2/left/0078.png Monkaa/frames_finalpass/eating_x2/right/0078.png Monkaa/disparity/eating_x2/left/0078.pfm Monkaa/frames_finalpass/treeflight_x2/left/0084.png Monkaa/frames_finalpass/treeflight_x2/right/0084.png 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FlyingThings3D/frames_finalpass/TRAIN/B/0402/left/0008.png FlyingThings3D/frames_finalpass/TRAIN/B/0402/right/0008.png FlyingThings3D/disparity/TRAIN/B/0402/left/0008.pfm Monkaa/frames_finalpass/treeflight_augmented1_x2/left/0091.png Monkaa/frames_finalpass/treeflight_augmented1_x2/right/0091.png Monkaa/disparity/treeflight_augmented1_x2/left/0091.pfm Monkaa/frames_finalpass/eating_naked_camera2_x2/left/0035.png Monkaa/frames_finalpass/eating_naked_camera2_x2/right/0035.png Monkaa/disparity/eating_naked_camera2_x2/left/0035.pfm Driving/frames_finalpass/35mm_focallength/scene_forwards/slow/left/0257.png Driving/frames_finalpass/35mm_focallength/scene_forwards/slow/right/0257.png Driving/disparity/35mm_focallength/scene_forwards/slow/left/0257.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0141/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/B/0141/right/0012.png FlyingThings3D/disparity/TRAIN/B/0141/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0690/left/0013.png 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FlyingThings3D/frames_finalpass/TRAIN/C/0587/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/C/0587/right/0013.png FlyingThings3D/disparity/TRAIN/C/0587/left/0013.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0561/left/0008.png FlyingThings3D/frames_finalpass/TRAIN/B/0561/right/0008.png FlyingThings3D/disparity/TRAIN/B/0561/left/0008.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0489/left/0009.png FlyingThings3D/frames_finalpass/TRAIN/A/0489/right/0009.png FlyingThings3D/disparity/TRAIN/A/0489/left/0009.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0109/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/B/0109/right/0012.png FlyingThings3D/disparity/TRAIN/B/0109/left/0012.pfm Monkaa/frames_finalpass/lonetree_augmented1_x2/left/0061.png Monkaa/frames_finalpass/lonetree_augmented1_x2/right/0061.png Monkaa/disparity/lonetree_augmented1_x2/left/0061.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0695/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/B/0695/right/0015.png 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FlyingThings3D/frames_finalpass/TRAIN/B/0421/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/B/0421/right/0006.png FlyingThings3D/disparity/TRAIN/B/0421/left/0006.pfm Monkaa/frames_finalpass/lonetree_augmented0_x2/left/0497.png Monkaa/frames_finalpass/lonetree_augmented0_x2/right/0497.png Monkaa/disparity/lonetree_augmented0_x2/left/0497.pfm Monkaa/frames_finalpass/treeflight_augmented1_x2/left/0317.png Monkaa/frames_finalpass/treeflight_augmented1_x2/right/0317.png Monkaa/disparity/treeflight_augmented1_x2/left/0317.pfm Monkaa/frames_finalpass/funnyworld_x2/left/0274.png Monkaa/frames_finalpass/funnyworld_x2/right/0274.png Monkaa/disparity/funnyworld_x2/left/0274.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0394/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/C/0394/right/0013.png FlyingThings3D/disparity/TRAIN/C/0394/left/0013.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0677/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/A/0677/right/0015.png 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Monkaa/frames_finalpass/lonetree_x2/left/0359.png Monkaa/frames_finalpass/lonetree_x2/right/0359.png Monkaa/disparity/lonetree_x2/left/0359.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0026/left/0013.png FlyingThings3D/frames_finalpass/TRAIN/C/0026/right/0013.png FlyingThings3D/disparity/TRAIN/C/0026/left/0013.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0213/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/A/0213/right/0006.png FlyingThings3D/disparity/TRAIN/A/0213/left/0006.pfm Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/left/0503.png Driving/frames_finalpass/35mm_focallength/scene_backwards/slow/right/0503.png Driving/disparity/35mm_focallength/scene_backwards/slow/left/0503.pfm Monkaa/frames_finalpass/treeflight_augmented0_x2/left/0496.png Monkaa/frames_finalpass/treeflight_augmented0_x2/right/0496.png Monkaa/disparity/treeflight_augmented0_x2/left/0496.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0682/left/0011.png 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Monkaa/frames_finalpass/lonetree_difftex2_x2/left/0354.png Monkaa/frames_finalpass/lonetree_difftex2_x2/right/0354.png Monkaa/disparity/lonetree_difftex2_x2/left/0354.pfm FlyingThings3D/frames_finalpass/TRAIN/C/0508/left/0006.png FlyingThings3D/frames_finalpass/TRAIN/C/0508/right/0006.png FlyingThings3D/disparity/TRAIN/C/0508/left/0006.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0394/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/B/0394/right/0012.png FlyingThings3D/disparity/TRAIN/B/0394/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0591/left/0008.png FlyingThings3D/frames_finalpass/TRAIN/A/0591/right/0008.png FlyingThings3D/disparity/TRAIN/A/0591/left/0008.pfm FlyingThings3D/frames_finalpass/TRAIN/A/0299/left/0012.png FlyingThings3D/frames_finalpass/TRAIN/A/0299/right/0012.png FlyingThings3D/disparity/TRAIN/A/0299/left/0012.pfm FlyingThings3D/frames_finalpass/TRAIN/B/0534/left/0015.png FlyingThings3D/frames_finalpass/TRAIN/B/0534/right/0015.png 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FlyingThings3D/frames_finalpass/TEST/C/0127/left/0008.png FlyingThings3D/frames_finalpass/TEST/C/0127/right/0008.png FlyingThings3D/disparity/TEST/C/0127/left/0008.pfm FlyingThings3D/frames_finalpass/TEST/C/0100/left/0009.png FlyingThings3D/frames_finalpass/TEST/C/0100/right/0009.png FlyingThings3D/disparity/TEST/C/0100/left/0009.pfm FlyingThings3D/frames_finalpass/TEST/C/0138/left/0008.png FlyingThings3D/frames_finalpass/TEST/C/0138/right/0008.png FlyingThings3D/disparity/TEST/C/0138/left/0008.pfm FlyingThings3D/frames_finalpass/TEST/A/0141/left/0012.png FlyingThings3D/frames_finalpass/TEST/A/0141/right/0012.png FlyingThings3D/disparity/TEST/A/0141/left/0012.pfm FlyingThings3D/frames_finalpass/TEST/A/0032/left/0007.png FlyingThings3D/frames_finalpass/TEST/A/0032/right/0007.png FlyingThings3D/disparity/TEST/A/0032/left/0007.pfm FlyingThings3D/frames_finalpass/TEST/B/0016/left/0011.png FlyingThings3D/frames_finalpass/TEST/B/0016/right/0011.png FlyingThings3D/disparity/TEST/B/0016/left/0011.pfm FlyingThings3D/frames_finalpass/TEST/B/0081/left/0010.png FlyingThings3D/frames_finalpass/TEST/B/0081/right/0010.png FlyingThings3D/disparity/TEST/B/0081/left/0010.pfm FlyingThings3D/frames_finalpass/TEST/A/0124/left/0006.png FlyingThings3D/frames_finalpass/TEST/A/0124/right/0006.png FlyingThings3D/disparity/TEST/A/0124/left/0006.pfm FlyingThings3D/frames_finalpass/TEST/A/0026/left/0006.png FlyingThings3D/frames_finalpass/TEST/A/0026/right/0006.png FlyingThings3D/disparity/TEST/A/0026/left/0006.pfm FlyingThings3D/frames_finalpass/TEST/B/0027/left/0014.png FlyingThings3D/frames_finalpass/TEST/B/0027/right/0014.png FlyingThings3D/disparity/TEST/B/0027/left/0014.pfm FlyingThings3D/frames_finalpass/TEST/A/0032/left/0013.png FlyingThings3D/frames_finalpass/TEST/A/0032/right/0013.png FlyingThings3D/disparity/TEST/A/0032/left/0013.pfm FlyingThings3D/frames_finalpass/TEST/C/0143/left/0006.png FlyingThings3D/frames_finalpass/TEST/C/0143/right/0006.png FlyingThings3D/disparity/TEST/C/0143/left/0006.pfm FlyingThings3D/frames_finalpass/TEST/C/0128/left/0006.png FlyingThings3D/frames_finalpass/TEST/C/0128/right/0006.png FlyingThings3D/disparity/TEST/C/0128/left/0006.pfm FlyingThings3D/frames_finalpass/TEST/A/0129/left/0014.png FlyingThings3D/frames_finalpass/TEST/A/0129/right/0014.png FlyingThings3D/disparity/TEST/A/0129/left/0014.pfm FlyingThings3D/frames_finalpass/TEST/B/0092/left/0009.png FlyingThings3D/frames_finalpass/TEST/B/0092/right/0009.png FlyingThings3D/disparity/TEST/B/0092/left/0009.pfm FlyingThings3D/frames_finalpass/TEST/B/0147/left/0013.png FlyingThings3D/frames_finalpass/TEST/B/0147/right/0013.png FlyingThings3D/disparity/TEST/B/0147/left/0013.pfm FlyingThings3D/frames_finalpass/TEST/C/0040/left/0014.png FlyingThings3D/frames_finalpass/TEST/C/0040/right/0014.png FlyingThings3D/disparity/TEST/C/0040/left/0014.pfm FlyingThings3D/frames_finalpass/TEST/A/0120/left/0014.png FlyingThings3D/frames_finalpass/TEST/A/0120/right/0014.png FlyingThings3D/disparity/TEST/A/0120/left/0014.pfm FlyingThings3D/frames_finalpass/TEST/B/0111/left/0012.png FlyingThings3D/frames_finalpass/TEST/B/0111/right/0012.png FlyingThings3D/disparity/TEST/B/0111/left/0012.pfm FlyingThings3D/frames_finalpass/TEST/C/0126/left/0009.png FlyingThings3D/frames_finalpass/TEST/C/0126/right/0009.png FlyingThings3D/disparity/TEST/C/0126/left/0009.pfm FlyingThings3D/frames_finalpass/TEST/B/0107/left/0010.png FlyingThings3D/frames_finalpass/TEST/B/0107/right/0010.png FlyingThings3D/disparity/TEST/B/0107/left/0010.pfm FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 FlyingThings3D/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 ================================================ FILE: filenames/generate_filenames.py ================================================ import os from glob import glob def gen_kitti_2015(): data_dir = 'data/KITTI/kitti_2015/data_scene_flow' train_file = 'KITTI_2015_train.txt' val_file = 'KITTI_2015_val.txt' # Split the training set with 4:1 raito (160 for training, 40 for validation) with open(train_file, 'w') as train_f, open(val_file, 'w') as val_f: dir_name = 'image_2' left_dir = os.path.join(data_dir, 'training', dir_name) left_imgs = sorted(glob(left_dir + '/*_10.png')) print('Number of images: %d' % len(left_imgs)) for left_img in left_imgs: right_img = left_img.replace(dir_name, 'image_3') disp_path = left_img.replace(dir_name, 'disp_occ_0') img_id = int(os.path.basename(left_img).split('_')[0]) if img_id % 5 == 0: val_f.write(left_img.replace(data_dir + '/', '') + ' ') val_f.write(right_img.replace(data_dir + '/', '') + ' ') val_f.write(disp_path.replace(data_dir + '/', '') + '\n') else: train_f.write(left_img.replace(data_dir + '/', '') + ' ') train_f.write(right_img.replace(data_dir + '/', '') + ' ') train_f.write(disp_path.replace(data_dir + '/', '') + '\n') if __name__ == '__main__': gen_kitti_2015() ================================================ FILE: inference.py ================================================ import torch import torch.nn.functional as F from torch.utils.data import DataLoader import skimage.io import argparse import numpy as np import time import os import nets import dataloader from dataloader import transforms from utils import utils from utils.file_io import write_pfm IMAGENET_MEAN = [0.485, 0.456, 0.406] IMAGENET_STD = [0.229, 0.224, 0.225] parser = argparse.ArgumentParser() parser.add_argument('--mode', default='test', type=str, help='Validation mode on small subset or test mode on full test data') # Training data parser.add_argument('--data_dir', default='data/SceneFlow', type=str, help='Training dataset') parser.add_argument('--dataset_name', default='SceneFlow', type=str, help='Dataset name') parser.add_argument('--batch_size', default=1, type=int, help='Batch size for inference') parser.add_argument('--num_workers', default=0, type=int, help='Number of workers for data loading') parser.add_argument('--img_height', default=576, type=int, help='Image height for inference') parser.add_argument('--img_width', default=960, type=int, help='Image width for inference') # Model parser.add_argument('--seed', default=326, type=int, help='Random seed for reproducibility') parser.add_argument('--output_dir', default='output', type=str, help='Directory to save inference results') parser.add_argument('--max_disp', default=192, type=int, help='Max disparity') # AANet parser.add_argument('--feature_type', default='aanet', type=str, help='Type of feature extractor') parser.add_argument('--no_feature_mdconv', action='store_true', help='Whether to use mdconv for feature extraction') parser.add_argument('--feature_pyramid', action='store_true', help='Use pyramid feature') parser.add_argument('--feature_pyramid_network', action='store_true', help='Use FPN') parser.add_argument('--feature_similarity', default='correlation', type=str, help='Similarity measure for matching cost') parser.add_argument('--num_downsample', default=2, type=int, help='Number of downsample layer for feature extraction') parser.add_argument('--aggregation_type', default='adaptive', type=str, help='Type of cost aggregation') parser.add_argument('--num_scales', default=3, type=int, help='Number of stages when using parallel aggregation') parser.add_argument('--num_fusions', default=6, type=int, help='Number of multi-scale fusions when using parallel' 'aggragetion') parser.add_argument('--num_stage_blocks', default=1, type=int, help='Number of deform blocks for ISA') parser.add_argument('--num_deform_blocks', default=3, type=int, help='Number of DeformBlocks for aggregation') parser.add_argument('--no_intermediate_supervision', action='store_true', help='Whether to add intermediate supervision') parser.add_argument('--deformable_groups', default=2, type=int, help='Number of deformable groups') parser.add_argument('--mdconv_dilation', default=2, type=int, help='Dilation rate for deformable conv') parser.add_argument('--refinement_type', default='stereodrnet', help='Type of refinement module') parser.add_argument('--pretrained_aanet', default=None, type=str, help='Pretrained network') parser.add_argument('--save_type', default='png', choices=['pfm', 'png', 'npy'], help='Save file type') parser.add_argument('--visualize', action='store_true', help='Visualize disparity map') # Log parser.add_argument('--count_time', action='store_true', help='Inference on a subset for time counting only') parser.add_argument('--num_images', default=100, type=int, help='Number of images for inference') args = parser.parse_args() model_name = os.path.basename(args.pretrained_aanet)[:-4] model_dir = os.path.basename(os.path.dirname(args.pretrained_aanet)) args.output_dir = os.path.join(args.output_dir, model_dir + '-' + model_name) utils.check_path(args.output_dir) utils.save_command(args.output_dir) def main(): # For reproducibility torch.manual_seed(args.seed) torch.cuda.manual_seed(args.seed) np.random.seed(args.seed) torch.backends.cudnn.benchmark = True device = torch.device('cuda' if torch.cuda.is_available() else 'cpu') # Test loader test_transform = transforms.Compose([ transforms.ToTensor(), transforms.Normalize(mean=IMAGENET_MEAN, std=IMAGENET_STD)]) test_data = dataloader.StereoDataset(data_dir=args.data_dir, dataset_name=args.dataset_name, mode=args.mode, save_filename=True, transform=test_transform) test_loader = DataLoader(dataset=test_data, batch_size=args.batch_size, shuffle=False, num_workers=args.num_workers, pin_memory=True, drop_last=False) aanet = nets.AANet(args.max_disp, num_downsample=args.num_downsample, feature_type=args.feature_type, no_feature_mdconv=args.no_feature_mdconv, feature_pyramid=args.feature_pyramid, feature_pyramid_network=args.feature_pyramid_network, feature_similarity=args.feature_similarity, aggregation_type=args.aggregation_type, num_scales=args.num_scales, num_fusions=args.num_fusions, num_stage_blocks=args.num_stage_blocks, num_deform_blocks=args.num_deform_blocks, no_intermediate_supervision=args.no_intermediate_supervision, refinement_type=args.refinement_type, mdconv_dilation=args.mdconv_dilation, deformable_groups=args.deformable_groups).to(device) # print(aanet) if os.path.exists(args.pretrained_aanet): print('=> Loading pretrained AANet:', args.pretrained_aanet) utils.load_pretrained_net(aanet, args.pretrained_aanet, no_strict=True) else: print('=> Using random initialization') # Save parameters num_params = utils.count_parameters(aanet) print('=> Number of trainable parameters: %d' % num_params) if torch.cuda.device_count() > 1: print('=> Use %d GPUs' % torch.cuda.device_count()) aanet = torch.nn.DataParallel(aanet) # Inference aanet.eval() inference_time = 0 num_imgs = 0 num_samples = len(test_loader) print('=> %d samples found in the test set' % num_samples) for i, sample in enumerate(test_loader): if args.count_time and i == args.num_images: # testing time only break if i % 100 == 0: print('=> Inferencing %d/%d' % (i, num_samples)) left = sample['left'].to(device) # [B, 3, H, W] right = sample['right'].to(device) # Pad ori_height, ori_width = left.size()[2:] if ori_height < args.img_height or ori_width < args.img_width: top_pad = args.img_height - ori_height right_pad = args.img_width - ori_width # Pad size: (left_pad, right_pad, top_pad, bottom_pad) left = F.pad(left, (0, right_pad, top_pad, 0)) right = F.pad(right, (0, right_pad, top_pad, 0)) # Warpup if i == 0 and args.count_time: with torch.no_grad(): for _ in range(10): aanet(left, right) num_imgs += left.size(0) with torch.no_grad(): time_start = time.perf_counter() pred_disp = aanet(left, right)[-1] # [B, H, W] inference_time += time.perf_counter() - time_start if pred_disp.size(-1) < left.size(-1): pred_disp = pred_disp.unsqueeze(1) # [B, 1, H, W] pred_disp = F.interpolate(pred_disp, (left.size(-2), left.size(-1)), mode='bilinear') * (left.size(-1) / pred_disp.size(-1)) pred_disp = pred_disp.squeeze(1) # [B, H, W] # Crop if ori_height < args.img_height or ori_width < args.img_width: if right_pad != 0: pred_disp = pred_disp[:, top_pad:, :-right_pad] else: pred_disp = pred_disp[:, top_pad:] for b in range(pred_disp.size(0)): disp = pred_disp[b].detach().cpu().numpy() # [H, W] save_name = sample['left_name'][b] save_name = os.path.join(args.output_dir, save_name) utils.check_path(os.path.dirname(save_name)) if not args.count_time: if args.save_type == 'pfm': if args.visualize: skimage.io.imsave(save_name, (disp * 256.).astype(np.uint16)) save_name = save_name[:-3] + 'pfm' write_pfm(save_name, disp) elif args.save_type == 'npy': save_name = save_name[:-3] + 'npy' np.save(save_name, disp) else: skimage.io.imsave(save_name, (disp * 256.).astype(np.uint16)) print('=> Mean inference time for %d images: %.3fs' % (num_imgs, inference_time / num_imgs)) if __name__ == '__main__': main() ================================================ FILE: metric.py ================================================ import torch import numpy as np EPSILON = 1e-8 def epe_metric(d_est, d_gt, mask, use_np=False): d_est, d_gt = d_est[mask], d_gt[mask] if use_np: epe = np.mean(np.abs(d_est - d_gt)) else: epe = torch.mean(torch.abs(d_est - d_gt)) return epe def d1_metric(d_est, d_gt, mask, use_np=False): d_est, d_gt = d_est[mask], d_gt[mask] if use_np: e = np.abs(d_gt - d_est) else: e = torch.abs(d_gt - d_est) err_mask = (e > 3) & (e / d_gt > 0.05) if use_np: mean = np.mean(err_mask.astype('float')) else: mean = torch.mean(err_mask.float()) return mean def thres_metric(d_est, d_gt, mask, thres, use_np=False): assert isinstance(thres, (int, float)) d_est, d_gt = d_est[mask], d_gt[mask] if use_np: e = np.abs(d_gt - d_est) else: e = torch.abs(d_gt - d_est) err_mask = e > thres if use_np: mean = np.mean(err_mask.astype('float')) else: mean = torch.mean(err_mask.float()) return mean ================================================ FILE: model.py ================================================ import torch import time from torch.utils.tensorboard import SummaryWriter import torch.nn.functional as F import os from utils import utils from utils.visualization import disp_error_img, save_images from metric import d1_metric, thres_metric class Model(object): def __init__(self, args, logger, optimizer, aanet, device, start_iter=0, start_epoch=0, best_epe=None, best_epoch=None): self.args = args self.logger = logger self.optimizer = optimizer self.aanet = aanet self.device = device self.num_iter = start_iter self.epoch = start_epoch self.best_epe = 999. if best_epe is None else best_epe self.best_epoch = -1 if best_epoch is None else best_epoch if not args.evaluate_only: self.train_writer = SummaryWriter(self.args.checkpoint_dir) def train(self, train_loader): args = self.args logger = self.logger steps_per_epoch = len(train_loader) device = self.device self.aanet.train() if args.freeze_bn: def set_bn_eval(m): classname = m.__class__.__name__ if classname.find('BatchNorm') != -1: m.eval() self.aanet.apply(set_bn_eval) # Learning rate summary base_lr = self.optimizer.param_groups[0]['lr'] offset_lr = self.optimizer.param_groups[1]['lr'] self.train_writer.add_scalar('base_lr', base_lr, self.epoch + 1) self.train_writer.add_scalar('offset_lr', offset_lr, self.epoch + 1) last_print_time = time.time() for i, sample in enumerate(train_loader): left = sample['left'].to(device) # [B, 3, H, W] right = sample['right'].to(device) gt_disp = sample['disp'].to(device) # [B, H, W] mask = (gt_disp > 0) & (gt_disp < args.max_disp) if args.load_pseudo_gt: pseudo_gt_disp = sample['pseudo_disp'].to(device) pseudo_mask = (pseudo_gt_disp > 0) & (pseudo_gt_disp < args.max_disp) & (~mask) # inverse mask if not mask.any(): continue pred_disp_pyramid = self.aanet(left, right) # list of H/12, H/6, H/3, H/2, H if args.highest_loss_only: pred_disp_pyramid = [pred_disp_pyramid[-1]] # only the last highest resolution output disp_loss = 0 pseudo_disp_loss = 0 pyramid_loss = [] pseudo_pyramid_loss = [] # Loss weights if len(pred_disp_pyramid) == 5: pyramid_weight = [1 / 3, 2 / 3, 1.0, 1.0, 1.0] # AANet and AANet+ elif len(pred_disp_pyramid) == 4: pyramid_weight = [1 / 3, 2 / 3, 1.0, 1.0] elif len(pred_disp_pyramid) == 3: pyramid_weight = [1.0, 1.0, 1.0] # 1 scale only elif len(pred_disp_pyramid) == 1: pyramid_weight = [1.0] # highest loss only else: raise NotImplementedError assert len(pyramid_weight) == len(pred_disp_pyramid) for k in range(len(pred_disp_pyramid)): pred_disp = pred_disp_pyramid[k] weight = pyramid_weight[k] if pred_disp.size(-1) != gt_disp.size(-1): pred_disp = pred_disp.unsqueeze(1) # [B, 1, H, W] pred_disp = F.interpolate(pred_disp, size=(gt_disp.size(-2), gt_disp.size(-1)), mode='bilinear', align_corners=False) * (gt_disp.size(-1) / pred_disp.size(-1)) pred_disp = pred_disp.squeeze(1) # [B, H, W] curr_loss = F.smooth_l1_loss(pred_disp[mask], gt_disp[mask], reduction='mean') disp_loss += weight * curr_loss pyramid_loss.append(curr_loss) # Pseudo gt loss if args.load_pseudo_gt: pseudo_curr_loss = F.smooth_l1_loss(pred_disp[pseudo_mask], pseudo_gt_disp[pseudo_mask], reduction='mean') pseudo_disp_loss += weight * pseudo_curr_loss pseudo_pyramid_loss.append(pseudo_curr_loss) total_loss = disp_loss + pseudo_disp_loss self.optimizer.zero_grad() total_loss.backward() self.optimizer.step() self.num_iter += 1 if self.num_iter % args.print_freq == 0: this_cycle = time.time() - last_print_time last_print_time += this_cycle logger.info('Epoch: [%3d/%3d] [%5d/%5d] time: %4.2fs disp_loss: %.3f' % (self.epoch + 1, args.max_epoch, i + 1, steps_per_epoch, this_cycle, disp_loss.item())) if self.num_iter % args.summary_freq == 0: img_summary = dict() img_summary['left'] = left img_summary['right'] = right img_summary['gt_disp'] = gt_disp if args.load_pseudo_gt: img_summary['pseudo_gt_disp'] = pseudo_gt_disp # Save pyramid disparity prediction for s in range(len(pred_disp_pyramid)): # Scale from low to high, reverse save_name = 'pred_disp' + str(len(pred_disp_pyramid) - s - 1) save_value = pred_disp_pyramid[s] img_summary[save_name] = save_value pred_disp = pred_disp_pyramid[-1] if pred_disp.size(-1) != gt_disp.size(-1): pred_disp = pred_disp.unsqueeze(1) # [B, 1, H, W] pred_disp = F.interpolate(pred_disp, size=(gt_disp.size(-2), gt_disp.size(-1)), mode='bilinear', align_corners=False) * (gt_disp.size(-1) / pred_disp.size(-1)) pred_disp = pred_disp.squeeze(1) # [B, H, W] img_summary['disp_error'] = disp_error_img(pred_disp, gt_disp) save_images(self.train_writer, 'train', img_summary, self.num_iter) epe = F.l1_loss(gt_disp[mask], pred_disp[mask], reduction='mean') self.train_writer.add_scalar('train/epe', epe.item(), self.num_iter) self.train_writer.add_scalar('train/disp_loss', disp_loss.item(), self.num_iter) self.train_writer.add_scalar('train/total_loss', total_loss.item(), self.num_iter) # Save loss of different scale for s in range(len(pyramid_loss)): save_name = 'train/loss' + str(len(pyramid_loss) - s - 1) save_value = pyramid_loss[s] self.train_writer.add_scalar(save_name, save_value, self.num_iter) d1 = d1_metric(pred_disp, gt_disp, mask) self.train_writer.add_scalar('train/d1', d1.item(), self.num_iter) thres1 = thres_metric(pred_disp, gt_disp, mask, 1.0) thres2 = thres_metric(pred_disp, gt_disp, mask, 2.0) thres3 = thres_metric(pred_disp, gt_disp, mask, 3.0) self.train_writer.add_scalar('train/thres1', thres1.item(), self.num_iter) self.train_writer.add_scalar('train/thres2', thres2.item(), self.num_iter) self.train_writer.add_scalar('train/thres3', thres3.item(), self.num_iter) self.epoch += 1 # Always save the latest model for resuming training if args.no_validate: utils.save_checkpoint(args.checkpoint_dir, self.optimizer, self.aanet, epoch=self.epoch, num_iter=self.num_iter, epe=-1, best_epe=self.best_epe, best_epoch=self.best_epoch, filename='aanet_latest.pth') # Save checkpoint of specific epoch if self.epoch % args.save_ckpt_freq == 0: model_dir = os.path.join(args.checkpoint_dir, 'models') utils.check_path(model_dir) utils.save_checkpoint(model_dir, self.optimizer, self.aanet, epoch=self.epoch, num_iter=self.num_iter, epe=-1, best_epe=self.best_epe, best_epoch=self.best_epoch, save_optimizer=False) def validate(self, val_loader): args = self.args logger = self.logger logger.info('=> Start validation...') if args.evaluate_only is True: if args.pretrained_aanet is not None: pretrained_aanet = args.pretrained_aanet else: model_name = 'aanet_best.pth' pretrained_aanet = os.path.join(args.checkpoint_dir, model_name) if not os.path.exists(pretrained_aanet): # KITTI without validation pretrained_aanet = pretrained_aanet.replace(model_name, 'aanet_latest.pth') logger.info('=> loading pretrained aanet: %s' % pretrained_aanet) utils.load_pretrained_net(self.aanet, pretrained_aanet, no_strict=True) self.aanet.eval() num_samples = len(val_loader) logger.info('=> %d samples found in the validation set' % num_samples) val_epe = 0 val_d1 = 0 val_thres1 = 0 val_thres2 = 0 val_thres3 = 0 val_count = 0 val_file = os.path.join(args.checkpoint_dir, 'val_results.txt') num_imgs = 0 valid_samples = 0 for i, sample in enumerate(val_loader): if i % 100 == 0: logger.info('=> Validating %d/%d' % (i, num_samples)) left = sample['left'].to(self.device) # [B, 3, H, W] right = sample['right'].to(self.device) gt_disp = sample['disp'].to(self.device) # [B, H, W] mask = (gt_disp > 0) & (gt_disp < args.max_disp) if not mask.any(): continue valid_samples += 1 num_imgs += gt_disp.size(0) with torch.no_grad(): pred_disp = self.aanet(left, right)[-1] # [B, H, W] if pred_disp.size(-1) < gt_disp.size(-1): pred_disp = pred_disp.unsqueeze(1) # [B, 1, H, W] pred_disp = F.interpolate(pred_disp, (gt_disp.size(-2), gt_disp.size(-1)), mode='bilinear', align_corners=False) * (gt_disp.size(-1) / pred_disp.size(-1)) pred_disp = pred_disp.squeeze(1) # [B, H, W] epe = F.l1_loss(gt_disp[mask], pred_disp[mask], reduction='mean') d1 = d1_metric(pred_disp, gt_disp, mask) thres1 = thres_metric(pred_disp, gt_disp, mask, 1.0) thres2 = thres_metric(pred_disp, gt_disp, mask, 2.0) thres3 = thres_metric(pred_disp, gt_disp, mask, 3.0) val_epe += epe.item() val_d1 += d1.item() val_thres1 += thres1.item() val_thres2 += thres2.item() val_thres3 += thres3.item() # Save 3 images for visualization if not args.evaluate_only: if i in [num_samples // 4, num_samples // 2, num_samples // 4 * 3]: img_summary = dict() img_summary['disp_error'] = disp_error_img(pred_disp, gt_disp) img_summary['left'] = left img_summary['right'] = right img_summary['gt_disp'] = gt_disp img_summary['pred_disp'] = pred_disp save_images(self.train_writer, 'val' + str(val_count), img_summary, self.epoch) val_count += 1 logger.info('=> Validation done!') mean_epe = val_epe / valid_samples mean_d1 = val_d1 / valid_samples mean_thres1 = val_thres1 / valid_samples mean_thres2 = val_thres2 / valid_samples mean_thres3 = val_thres3 / valid_samples # Save validation results with open(val_file, 'a') as f: f.write('epoch: %03d\t' % self.epoch) f.write('epe: %.3f\t' % mean_epe) f.write('d1: %.4f\t' % mean_d1) f.write('thres1: %.4f\t' % mean_thres1) f.write('thres2: %.4f\t' % mean_thres2) f.write('thres3: %.4f\n' % mean_thres3) logger.info('=> Mean validation epe of epoch %d: %.3f' % (self.epoch, mean_epe)) if not args.evaluate_only: self.train_writer.add_scalar('val/epe', mean_epe, self.epoch) self.train_writer.add_scalar('val/d1', mean_d1, self.epoch) self.train_writer.add_scalar('val/thres1', mean_thres1, self.epoch) self.train_writer.add_scalar('val/thres2', mean_thres2, self.epoch) self.train_writer.add_scalar('val/thres3', mean_thres3, self.epoch) if not args.evaluate_only: if args.val_metric == 'd1': if mean_d1 < self.best_epe: # Actually best_epe here is d1 self.best_epe = mean_d1 self.best_epoch = self.epoch utils.save_checkpoint(args.checkpoint_dir, self.optimizer, self.aanet, epoch=self.epoch, num_iter=self.num_iter, epe=mean_d1, best_epe=self.best_epe, best_epoch=self.best_epoch, filename='aanet_best.pth') elif args.val_metric == 'epe': if mean_epe < self.best_epe: self.best_epe = mean_epe self.best_epoch = self.epoch utils.save_checkpoint(args.checkpoint_dir, self.optimizer, self.aanet, epoch=self.epoch, num_iter=self.num_iter, epe=mean_epe, best_epe=self.best_epe, best_epoch=self.best_epoch, filename='aanet_best.pth') else: raise NotImplementedError if self.epoch == args.max_epoch: # Save best validation results with open(val_file, 'a') as f: f.write('\nbest epoch: %03d \t best %s: %.3f\n\n' % (self.best_epoch, args.val_metric, self.best_epe)) logger.info('=> best epoch: %03d \t best %s: %.3f\n' % (self.best_epoch, args.val_metric, self.best_epe)) # Always save the latest model for resuming training if not args.evaluate_only: utils.save_checkpoint(args.checkpoint_dir, self.optimizer, self.aanet, epoch=self.epoch, num_iter=self.num_iter, epe=mean_epe, best_epe=self.best_epe, best_epoch=self.best_epoch, filename='aanet_latest.pth') # Save checkpoint of specific epochs if self.epoch % args.save_ckpt_freq == 0: model_dir = os.path.join(args.checkpoint_dir, 'models') utils.check_path(model_dir) utils.save_checkpoint(model_dir, self.optimizer, self.aanet, epoch=self.epoch, num_iter=self.num_iter, epe=mean_epe, best_epe=self.best_epe, best_epoch=self.best_epoch, save_optimizer=False) ================================================ FILE: nets/__init__.py ================================================ from .aanet import AANet ================================================ FILE: nets/aanet.py ================================================ import torch.nn as nn import torch.nn.functional as F from nets.feature import (StereoNetFeature, PSMNetFeature, GANetFeature, GCNetFeature, FeaturePyrmaid, FeaturePyramidNetwork) from nets.resnet import AANetFeature from nets.cost import CostVolume, CostVolumePyramid from nets.aggregation import (StereoNetAggregation, GCNetAggregation, PSMNetBasicAggregation, PSMNetHGAggregation, AdaptiveAggregation) from nets.estimation import DisparityEstimation from nets.refinement import StereoNetRefinement, StereoDRNetRefinement, HourglassRefinement class AANet(nn.Module): def __init__(self, max_disp, num_downsample=2, feature_type='aanet', no_feature_mdconv=False, feature_pyramid=False, feature_pyramid_network=False, feature_similarity='correlation', aggregation_type='adaptive', num_scales=3, num_fusions=6, deformable_groups=2, mdconv_dilation=2, refinement_type='stereodrnet', no_intermediate_supervision=False, num_stage_blocks=1, num_deform_blocks=3): super(AANet, self).__init__() self.refinement_type = refinement_type self.feature_type = feature_type self.feature_pyramid = feature_pyramid self.feature_pyramid_network = feature_pyramid_network self.num_downsample = num_downsample self.aggregation_type = aggregation_type self.num_scales = num_scales # Feature extractor if feature_type == 'stereonet': self.max_disp = max_disp // (2 ** num_downsample) self.num_downsample = num_downsample self.feature_extractor = StereoNetFeature(self.num_downsample) elif feature_type == 'psmnet': self.feature_extractor = PSMNetFeature() self.max_disp = max_disp // (2 ** num_downsample) elif feature_type == 'gcnet': self.feature_extractor = GCNetFeature() self.max_disp = max_disp // 2 elif feature_type == 'ganet': self.feature_extractor = GANetFeature(feature_mdconv=(not no_feature_mdconv)) self.max_disp = max_disp // 3 elif feature_type == 'aanet': self.feature_extractor = AANetFeature(feature_mdconv=(not no_feature_mdconv)) self.max_disp = max_disp // 3 else: raise NotImplementedError if feature_pyramid_network: if feature_type == 'aanet': in_channels = [32 * 4, 32 * 8, 32 * 16, ] else: in_channels = [32, 64, 128] self.fpn = FeaturePyramidNetwork(in_channels=in_channels, out_channels=32 * 4) elif feature_pyramid: self.fpn = FeaturePyrmaid() # Cost volume construction if feature_type == 'aanet' or feature_pyramid or feature_pyramid_network: cost_volume_module = CostVolumePyramid else: cost_volume_module = CostVolume self.cost_volume = cost_volume_module(self.max_disp, feature_similarity=feature_similarity) # Cost aggregation max_disp = self.max_disp if feature_similarity == 'concat': in_channels = 64 else: in_channels = 32 # StereoNet uses feature difference if aggregation_type == 'adaptive': self.aggregation = AdaptiveAggregation(max_disp=max_disp, num_scales=num_scales, num_fusions=num_fusions, num_stage_blocks=num_stage_blocks, num_deform_blocks=num_deform_blocks, mdconv_dilation=mdconv_dilation, deformable_groups=deformable_groups, intermediate_supervision=not no_intermediate_supervision) elif aggregation_type == 'psmnet_basic': self.aggregation = PSMNetBasicAggregation(max_disp=max_disp) elif aggregation_type == 'psmnet_hourglass': self.aggregation = PSMNetHGAggregation(max_disp=max_disp) elif aggregation_type == 'gcnet': self.aggregation = GCNetAggregation() elif aggregation_type == 'stereonet': self.aggregation = StereoNetAggregation(in_channels=in_channels) else: raise NotImplementedError match_similarity = False if feature_similarity in ['difference', 'concat'] else True if 'psmnet' in self.aggregation_type: max_disp = self.max_disp * 4 # PSMNet directly upsamples cost volume match_similarity = True # PSMNet learns similarity for concatenation # Disparity estimation self.disparity_estimation = DisparityEstimation(max_disp, match_similarity) # Refinement if self.refinement_type is not None and self.refinement_type != 'None': if self.refinement_type in ['stereonet', 'stereodrnet', 'hourglass']: refine_module_list = nn.ModuleList() for i in range(num_downsample): if self.refinement_type == 'stereonet': refine_module_list.append(StereoNetRefinement()) elif self.refinement_type == 'stereodrnet': refine_module_list.append(StereoDRNetRefinement()) elif self.refinement_type == 'hourglass': refine_module_list.append(HourglassRefinement()) else: raise NotImplementedError self.refinement = refine_module_list else: raise NotImplementedError def feature_extraction(self, img): feature = self.feature_extractor(img) if self.feature_pyramid_network or self.feature_pyramid: feature = self.fpn(feature) return feature def cost_volume_construction(self, left_feature, right_feature): cost_volume = self.cost_volume(left_feature, right_feature) if isinstance(cost_volume, list): if self.num_scales == 1: cost_volume = [cost_volume[0]] # ablation purpose for 1 scale only elif self.aggregation_type == 'adaptive': cost_volume = [cost_volume] return cost_volume def disparity_computation(self, aggregation): if isinstance(aggregation, list): disparity_pyramid = [] length = len(aggregation) # D/3, D/6, D/12 for i in range(length): disp = self.disparity_estimation(aggregation[length - 1 - i]) # reverse disparity_pyramid.append(disp) # D/12, D/6, D/3 else: disparity = self.disparity_estimation(aggregation) disparity_pyramid = [disparity] return disparity_pyramid def disparity_refinement(self, left_img, right_img, disparity): disparity_pyramid = [] if self.refinement_type is not None and self.refinement_type != 'None': if self.refinement_type == 'stereonet': for i in range(self.num_downsample): # Hierarchical refinement scale_factor = 1. / pow(2, self.num_downsample - i - 1) if scale_factor == 1.0: curr_left_img = left_img curr_right_img = right_img else: curr_left_img = F.interpolate(left_img, scale_factor=scale_factor, mode='bilinear', align_corners=False) curr_right_img = F.interpolate(right_img, scale_factor=scale_factor, mode='bilinear', align_corners=False) inputs = (disparity, curr_left_img, curr_right_img) disparity = self.refinement[i](*inputs) disparity_pyramid.append(disparity) # [H/2, H] elif self.refinement_type in ['stereodrnet', 'hourglass']: for i in range(self.num_downsample): scale_factor = 1. / pow(2, self.num_downsample - i - 1) if scale_factor == 1.0: curr_left_img = left_img curr_right_img = right_img else: curr_left_img = F.interpolate(left_img, scale_factor=scale_factor, mode='bilinear', align_corners=False) curr_right_img = F.interpolate(right_img, scale_factor=scale_factor, mode='bilinear', align_corners=False) inputs = (disparity, curr_left_img, curr_right_img) disparity = self.refinement[i](*inputs) disparity_pyramid.append(disparity) # [H/2, H] else: raise NotImplementedError return disparity_pyramid def forward(self, left_img, right_img): left_feature = self.feature_extraction(left_img) right_feature = self.feature_extraction(right_img) cost_volume = self.cost_volume_construction(left_feature, right_feature) aggregation = self.aggregation(cost_volume) disparity_pyramid = self.disparity_computation(aggregation) disparity_pyramid += self.disparity_refinement(left_img, right_img, disparity_pyramid[-1]) return disparity_pyramid ================================================ FILE: nets/aggregation.py ================================================ import torch import torch.nn as nn import torch.nn.functional as F from nets.deform import SimpleBottleneck, DeformSimpleBottleneck def conv3d(in_channels, out_channels, kernel_size=3, stride=1, dilation=1, groups=1): return nn.Sequential(nn.Conv3d(in_channels, out_channels, kernel_size=kernel_size, stride=stride, padding=dilation, dilation=dilation, bias=False, groups=groups), nn.BatchNorm3d(out_channels), nn.LeakyReLU(0.2, inplace=True)) # Used in PSMNet def convbn_3d(in_planes, out_planes, kernel_size, stride, pad): return nn.Sequential( nn.Conv3d(in_planes, out_planes, kernel_size=kernel_size, padding=pad, stride=stride, bias=False), nn.BatchNorm3d(out_planes)) def conv2d(in_channels, out_channels, kernel_size=3, stride=1, dilation=1, groups=1): return nn.Sequential(nn.Conv2d(in_channels, out_channels, kernel_size=kernel_size, stride=stride, padding=dilation, dilation=dilation, bias=False, groups=groups), nn.BatchNorm2d(out_channels), nn.LeakyReLU(0.2, inplace=True)) def conv1x1(in_planes, out_planes): """1x1 convolution, used for pointwise conv""" return nn.Sequential(nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=1, padding=0, bias=False), nn.BatchNorm2d(out_planes), nn.LeakyReLU(0.2, inplace=True)) # Used for StereoNet feature extractor def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1, with_bn_relu=False): """3x3 convolution with padding""" conv = nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride, padding=dilation, groups=groups, bias=False, dilation=dilation) if with_bn_relu: conv = nn.Sequential(conv, nn.BatchNorm2d(out_planes), nn.ReLU(inplace=True)) return conv # Used for GCNet for aggregation def conv3x3_3d(in_planes, out_planes, stride=1, groups=1, dilation=1): return nn.Sequential(nn.Conv3d(in_planes, out_planes, kernel_size=3, stride=stride, padding=dilation, dilation=dilation, groups=groups, bias=False), nn.BatchNorm3d(out_planes), nn.ReLU(inplace=True)) def trans_conv3x3_3d(in_channels, out_channels, stride=1, groups=1, dilation=1): return nn.Sequential(nn.ConvTranspose3d(in_channels, out_channels, kernel_size=3, stride=stride, padding=dilation, output_padding=dilation, groups=groups, dilation=dilation, bias=False), nn.BatchNorm3d(out_channels), nn.ReLU(inplace=True)) class StereoNetAggregation(nn.Module): def __init__(self, in_channels=32): super(StereoNetAggregation, self).__init__() aggregation_modules = nn.ModuleList() # StereoNet uses four 3d conv for _ in range(4): aggregation_modules.append(conv3d(in_channels, in_channels)) self.aggregation_layer = nn.Sequential(*aggregation_modules) self.final_conv = nn.Conv3d(in_channels, 1, kernel_size=3, stride=1, padding=1, bias=True) def forward(self, cost_volume): assert cost_volume.dim() == 5 # [B, C, D, H, W] out = self.aggregation_layer(cost_volume) out = self.final_conv(out) # [B, 1, D, H, W] out = out.squeeze(1) # [B, D, H, W] return out class PSMNetBasicAggregation(nn.Module): """12 3D conv""" def __init__(self, max_disp): super(PSMNetBasicAggregation, self).__init__() self.max_disp = max_disp conv0 = convbn_3d(64, 32, 3, 1, 1) conv1 = convbn_3d(32, 32, 3, 1, 1) final_conv = nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False) self.dres0 = nn.Sequential(conv0, nn.ReLU(inplace=True), conv1, nn.ReLU(inplace=True)) self.dres1 = nn.Sequential(conv1, nn.ReLU(inplace=True), conv1) self.dres2 = nn.Sequential(conv1, nn.ReLU(inplace=True), conv1) self.dres3 = nn.Sequential(conv1, nn.ReLU(inplace=True), conv1) self.dres4 = nn.Sequential(conv1, nn.ReLU(inplace=True), conv1) self.classify = nn.Sequential(conv1, nn.ReLU(inplace=True), final_conv) def forward(self, cost): cost0 = self.dres0(cost) cost0 = self.dres1(cost0) + cost0 cost0 = self.dres2(cost0) + cost0 cost0 = self.dres3(cost0) + cost0 cost0 = self.dres4(cost0) + cost0 cost = self.classify(cost0) # [B, 1, 48, H/4, W/4] cost = F.interpolate(cost, scale_factor=4, mode='trilinear') cost = torch.squeeze(cost, 1) # [B, 192, H, W] return [cost] # PSMNet Hourglass network class PSMNetHourglass(nn.Module): def __init__(self, inplanes): super(PSMNetHourglass, self).__init__() self.conv1 = nn.Sequential(convbn_3d(inplanes, inplanes * 2, kernel_size=3, stride=2, pad=1), nn.ReLU(inplace=True)) self.conv2 = convbn_3d(inplanes * 2, inplanes * 2, kernel_size=3, stride=1, pad=1) self.conv3 = nn.Sequential(convbn_3d(inplanes * 2, inplanes * 2, kernel_size=3, stride=2, pad=1), nn.ReLU(inplace=True)) self.conv4 = nn.Sequential(convbn_3d(inplanes * 2, inplanes * 2, kernel_size=3, stride=1, pad=1), nn.ReLU(inplace=True)) self.conv5 = nn.Sequential( nn.ConvTranspose3d(inplanes * 2, inplanes * 2, kernel_size=3, padding=1, output_padding=1, stride=2, bias=False), nn.BatchNorm3d(inplanes * 2)) # +conv2 self.conv6 = nn.Sequential( nn.ConvTranspose3d(inplanes * 2, inplanes, kernel_size=3, padding=1, output_padding=1, stride=2, bias=False), nn.BatchNorm3d(inplanes)) # +x def forward(self, x, presqu, postsqu): out = self.conv1(x) # in:1/4 out:1/8 pre = self.conv2(out) # in:1/8 out:1/8 if postsqu is not None: pre = F.relu(pre + postsqu, inplace=True) else: pre = F.relu(pre, inplace=True) out = self.conv3(pre) # in:1/8 out:1/16 out = self.conv4(out) # in:1/16 out:1/16 if presqu is not None: post = F.relu(self.conv5(out) + presqu, inplace=True) # in:1/16 out:1/8 else: post = F.relu(self.conv5(out) + pre, inplace=True) out = self.conv6(post) # in:1/8 out:1/4 return out, pre, post class PSMNetHGAggregation(nn.Module): """22 3D conv""" def __init__(self, max_disp): super(PSMNetHGAggregation, self).__init__() self.max_disp = max_disp self.dres0 = nn.Sequential(convbn_3d(64, 32, 3, 1, 1), nn.ReLU(inplace=True), convbn_3d(32, 32, 3, 1, 1), nn.ReLU(inplace=True)) # [B, 32, D/4, H/4, W/4] self.dres1 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1), nn.ReLU(inplace=True), convbn_3d(32, 32, 3, 1, 1)) # [B, 32, D/4, H/4, W/4] self.dres2 = PSMNetHourglass(32) self.dres3 = PSMNetHourglass(32) self.dres4 = PSMNetHourglass(32) self.classif1 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1), nn.ReLU(inplace=True), nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False)) self.classif2 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1), nn.ReLU(inplace=True), nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False)) self.classif3 = nn.Sequential(convbn_3d(32, 32, 3, 1, 1), nn.ReLU(inplace=True), nn.Conv3d(32, 1, kernel_size=3, padding=1, stride=1, bias=False)) def forward(self, cost): cost0 = self.dres0(cost) cost0 = self.dres1(cost0) + cost0 out1, pre1, post1 = self.dres2(cost0, None, None) out1 = out1 + cost0 out2, pre2, post2 = self.dres3(out1, pre1, post1) out2 = out2 + cost0 out3, pre3, post3 = self.dres4(out2, pre1, post2) out3 = out3 + cost0 cost1 = self.classif1(out1) cost2 = self.classif2(out2) + cost1 cost3 = self.classif3(out3) + cost2 cost3 = F.interpolate(cost3, scale_factor=4, mode='trilinear') cost3 = torch.squeeze(cost3, 1) if self.training: cost1 = F.interpolate(cost1, scale_factor=4, mode='trilinear') cost2 = F.interpolate(cost2, scale_factor=4, mode='trilinear') cost1 = torch.squeeze(cost1, 1) cost2 = torch.squeeze(cost2, 1) return [cost1, cost2, cost3] return [cost3] class GCNetAggregation(nn.Module): def __init__(self): super(GCNetAggregation, self).__init__() self.conv1 = nn.Sequential(conv3x3_3d(64, 32), conv3x3_3d(32, 32)) # H/2 self.conv2a = conv3x3_3d(64, 64, stride=2) # H/4 self.conv2b = nn.Sequential(conv3x3_3d(64, 64), conv3x3_3d(64, 64)) # H/4 self.conv3a = conv3x3_3d(64, 64, stride=2) # H/8 self.conv3b = nn.Sequential(conv3x3_3d(64, 64), conv3x3_3d(64, 64)) # H/8 self.conv4a = conv3x3_3d(64, 64, stride=2) # H/16 self.conv4b = nn.Sequential(conv3x3_3d(64, 64), conv3x3_3d(64, 64)) # H/16 self.conv5a = conv3x3_3d(64, 128, stride=2) # H/32 self.conv5b = nn.Sequential(conv3x3_3d(128, 128), conv3x3_3d(128, 128)) # H/32 self.trans_conv1 = trans_conv3x3_3d(128, 64, stride=2) # H/16 self.trans_conv2 = trans_conv3x3_3d(64, 64, stride=2) # H/8 self.trans_conv3 = trans_conv3x3_3d(64, 64, stride=2) # H/4 self.trans_conv4 = trans_conv3x3_3d(64, 32, stride=2) # H/2 self.trans_conv5 = nn.ConvTranspose3d(32, 1, kernel_size=3, stride=2, padding=1, groups=1, dilation=1, bias=False) # H def forward(self, cost_volume): conv1 = self.conv1(cost_volume) # H/2 conv2a = self.conv2a(cost_volume) # H/4 conv2b = self.conv2b(conv2a) # H/4 conv3a = self.conv3a(conv2a) # H/8 conv3b = self.conv3b(conv3a) # H/8 conv4a = self.conv4a(conv3a) # H/16 conv4b = self.conv4b(conv4a) # H/16 conv5a = self.conv5a(conv4a) # H/32 conv5b = self.conv5b(conv5a) # H/32 trans_conv1 = self.trans_conv1(conv5b) # H/16 trans_conv2 = self.trans_conv2(trans_conv1 + conv4b) # H/8 trans_conv3 = self.trans_conv3(trans_conv2 + conv3b) # H/4 trans_conv4 = self.trans_conv4(trans_conv3 + conv2b) # H/2 trans_conv5 = self.trans_conv5(trans_conv4 + conv1) # H out = torch.squeeze(trans_conv5, 1) # [B, D, H, W] return out # Adaptive intra-scale aggregation & adaptive cross-scale aggregation class AdaptiveAggregationModule(nn.Module): def __init__(self, num_scales, num_output_branches, max_disp, num_blocks=1, simple_bottleneck=False, deformable_groups=2, mdconv_dilation=2): super(AdaptiveAggregationModule, self).__init__() self.num_scales = num_scales self.num_output_branches = num_output_branches self.max_disp = max_disp self.num_blocks = num_blocks self.branches = nn.ModuleList() # Adaptive intra-scale aggregation for i in range(self.num_scales): num_candidates = max_disp // (2 ** i) branch = nn.ModuleList() for j in range(num_blocks): if simple_bottleneck: branch.append(SimpleBottleneck(num_candidates, num_candidates)) else: branch.append(DeformSimpleBottleneck(num_candidates, num_candidates, modulation=True, mdconv_dilation=mdconv_dilation, deformable_groups=deformable_groups)) self.branches.append(nn.Sequential(*branch)) self.fuse_layers = nn.ModuleList() # Adaptive cross-scale aggregation # For each output branch for i in range(self.num_output_branches): self.fuse_layers.append(nn.ModuleList()) # For each branch (different scale) for j in range(self.num_scales): if i == j: # Identity self.fuse_layers[-1].append(nn.Identity()) elif i < j: self.fuse_layers[-1].append( nn.Sequential(nn.Conv2d(max_disp // (2 ** j), max_disp // (2 ** i), kernel_size=1, bias=False), nn.BatchNorm2d(max_disp // (2 ** i)), )) elif i > j: layers = nn.ModuleList() for k in range(i - j - 1): layers.append(nn.Sequential(nn.Conv2d(max_disp // (2 ** j), max_disp // (2 ** j), kernel_size=3, stride=2, padding=1, bias=False), nn.BatchNorm2d(max_disp // (2 ** j)), nn.LeakyReLU(0.2, inplace=True), )) layers.append(nn.Sequential(nn.Conv2d(max_disp // (2 ** j), max_disp // (2 ** i), kernel_size=3, stride=2, padding=1, bias=False), nn.BatchNorm2d(max_disp // (2 ** i)))) self.fuse_layers[-1].append(nn.Sequential(*layers)) self.relu = nn.LeakyReLU(0.2, inplace=True) def forward(self, x): assert len(self.branches) == len(x) for i in range(len(self.branches)): branch = self.branches[i] for j in range(self.num_blocks): dconv = branch[j] x[i] = dconv(x[i]) if self.num_scales == 1: # without fusions return x x_fused = [] for i in range(len(self.fuse_layers)): for j in range(len(self.branches)): if j == 0: x_fused.append(self.fuse_layers[i][0](x[0])) else: exchange = self.fuse_layers[i][j](x[j]) if exchange.size()[2:] != x_fused[i].size()[2:]: exchange = F.interpolate(exchange, size=x_fused[i].size()[2:], mode='bilinear', align_corners=False) x_fused[i] = x_fused[i] + exchange for i in range(len(x_fused)): x_fused[i] = self.relu(x_fused[i]) return x_fused # Stacked AAModules class AdaptiveAggregation(nn.Module): def __init__(self, max_disp, num_scales=3, num_fusions=6, num_stage_blocks=1, num_deform_blocks=2, intermediate_supervision=True, deformable_groups=2, mdconv_dilation=2): super(AdaptiveAggregation, self).__init__() self.max_disp = max_disp self.num_scales = num_scales self.num_fusions = num_fusions self.intermediate_supervision = intermediate_supervision fusions = nn.ModuleList() for i in range(num_fusions): if self.intermediate_supervision: num_out_branches = self.num_scales else: num_out_branches = 1 if i == num_fusions - 1 else self.num_scales if i >= num_fusions - num_deform_blocks: simple_bottleneck_module = False else: simple_bottleneck_module = True fusions.append(AdaptiveAggregationModule(num_scales=self.num_scales, num_output_branches=num_out_branches, max_disp=max_disp, num_blocks=num_stage_blocks, mdconv_dilation=mdconv_dilation, deformable_groups=deformable_groups, simple_bottleneck=simple_bottleneck_module)) self.fusions = nn.Sequential(*fusions) self.final_conv = nn.ModuleList() for i in range(self.num_scales): in_channels = max_disp // (2 ** i) self.final_conv.append(nn.Conv2d(in_channels, max_disp // (2 ** i), kernel_size=1)) if not self.intermediate_supervision: break def forward(self, cost_volume): assert isinstance(cost_volume, list) for i in range(self.num_fusions): fusion = self.fusions[i] cost_volume = fusion(cost_volume) # Make sure the final output is in the first position out = [] # 1/3, 1/6, 1/12 for i in range(len(self.final_conv)): out = out + [self.final_conv[i](cost_volume[i])] return out ================================================ FILE: nets/cost.py ================================================ import torch import torch.nn as nn class CostVolume(nn.Module): def __init__(self, max_disp, feature_similarity='correlation'): """Construct cost volume based on different similarity measures Args: max_disp: max disparity candidate feature_similarity: type of similarity measure """ super(CostVolume, self).__init__() self.max_disp = max_disp self.feature_similarity = feature_similarity def forward(self, left_feature, right_feature): b, c, h, w = left_feature.size() if self.feature_similarity == 'difference': cost_volume = left_feature.new_zeros(b, c, self.max_disp, h, w) for i in range(self.max_disp): if i > 0: cost_volume[:, :, i, :, i:] = left_feature[:, :, :, i:] - right_feature[:, :, :, :-i] else: cost_volume[:, :, i, :, :] = left_feature - right_feature elif self.feature_similarity == 'concat': cost_volume = left_feature.new_zeros(b, 2 * c, self.max_disp, h, w) for i in range(self.max_disp): if i > 0: cost_volume[:, :, i, :, i:] = torch.cat((left_feature[:, :, :, i:], right_feature[:, :, :, :-i]), dim=1) else: cost_volume[:, :, i, :, :] = torch.cat((left_feature, right_feature), dim=1) elif self.feature_similarity == 'correlation': cost_volume = left_feature.new_zeros(b, self.max_disp, h, w) for i in range(self.max_disp): if i > 0: cost_volume[:, i, :, i:] = (left_feature[:, :, :, i:] * right_feature[:, :, :, :-i]).mean(dim=1) else: cost_volume[:, i, :, :] = (left_feature * right_feature).mean(dim=1) else: raise NotImplementedError cost_volume = cost_volume.contiguous() # [B, C, D, H, W] or [B, D, H, W] return cost_volume class CostVolumePyramid(nn.Module): def __init__(self, max_disp, feature_similarity='correlation'): super(CostVolumePyramid, self).__init__() self.max_disp = max_disp self.feature_similarity = feature_similarity def forward(self, left_feature_pyramid, right_feature_pyramid): num_scales = len(left_feature_pyramid) cost_volume_pyramid = [] for s in range(num_scales): max_disp = self.max_disp // (2 ** s) cost_volume_module = CostVolume(max_disp, self.feature_similarity) cost_volume = cost_volume_module(left_feature_pyramid[s], right_feature_pyramid[s]) cost_volume_pyramid.append(cost_volume) return cost_volume_pyramid # H/3, H/6, H/12 ================================================ FILE: nets/deform.py ================================================ import torch.nn as nn from nets.deform_conv import DeformConv, ModulatedDeformConv def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1): """3x3 convolution with padding""" return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride, padding=dilation, groups=groups, bias=False, dilation=dilation) def conv1x1(in_planes, out_planes, stride=1): """1x1 convolution""" return nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=stride, bias=False) class DeformConv2d(nn.Module): """A single (modulated) deformable conv layer""" def __init__(self, in_channels, out_channels, kernel_size=3, stride=1, dilation=2, groups=1, deformable_groups=2, modulation=True, double_mask=True, bias=False): super(DeformConv2d, self).__init__() self.modulation = modulation self.deformable_groups = deformable_groups self.kernel_size = kernel_size self.double_mask = double_mask if self.modulation: self.deform_conv = ModulatedDeformConv(in_channels, out_channels, kernel_size=kernel_size, stride=stride, padding=dilation, dilation=dilation, groups=groups, deformable_groups=deformable_groups, bias=bias) else: self.deform_conv = DeformConv(in_channels, out_channels, kernel_size=kernel_size, stride=stride, padding=dilation, dilation=dilation, groups=groups, deformable_groups=deformable_groups, bias=bias) k = 3 if self.modulation else 2 offset_out_channels = deformable_groups * k * kernel_size * kernel_size # Group-wise offset leraning when deformable_groups > 1 self.offset_conv = nn.Conv2d(in_channels, offset_out_channels, kernel_size=kernel_size, stride=stride, padding=dilation, dilation=dilation, groups=deformable_groups, bias=True) # Initialize the weight for offset_conv as 0 to act like regular conv nn.init.constant_(self.offset_conv.weight, 0.) nn.init.constant_(self.offset_conv.bias, 0.) def forward(self, x): if self.modulation: offset_mask = self.offset_conv(x) offset_channel = self.deformable_groups * 2 * self.kernel_size * self.kernel_size offset = offset_mask[:, :offset_channel, :, :] mask = offset_mask[:, offset_channel:, :, :] mask = mask.sigmoid() # [0, 1] if self.double_mask: mask = mask * 2 # initialize as 1 to work as regular conv out = self.deform_conv(x, offset, mask) else: offset = self.offset_conv(x) out = self.deform_conv(x, offset) return out class DeformBottleneck(nn.Module): expansion = 4 __constants__ = ['downsample'] def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1, base_width=64, dilation=1, norm_layer=None): super(DeformBottleneck, self).__init__() if norm_layer is None: norm_layer = nn.BatchNorm2d width = int(planes * (base_width / 64.)) * groups # Both self.conv2 and self.downsample layers downsample the input when stride != 1 self.conv1 = conv1x1(inplanes, width) self.bn1 = norm_layer(width) self.conv2 = DeformConv2d(width, width, stride=stride) self.bn2 = norm_layer(width) self.conv3 = conv1x1(width, planes * self.expansion) self.bn3 = norm_layer(planes * self.expansion) self.relu = nn.ReLU(inplace=True) self.downsample = downsample self.stride = stride def forward(self, x): identity = x out = self.conv1(x) out = self.bn1(out) out = self.relu(out) out = self.conv2(out) out = self.bn2(out) out = self.relu(out) out = self.conv3(out) out = self.bn3(out) if self.downsample is not None: identity = self.downsample(x) out += identity out = self.relu(out) return out class SimpleBottleneck(nn.Module): """Simple bottleneck block without channel expansion""" def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1, base_width=64, dilation=1, norm_layer=None): super(SimpleBottleneck, self).__init__() if norm_layer is None: norm_layer = nn.BatchNorm2d width = int(planes * (base_width / 64.)) * groups # Both self.conv2 and self.downsample layers downsample the input when stride != 1 self.conv1 = conv1x1(inplanes, width) self.bn1 = norm_layer(width) self.conv2 = conv3x3(width, width, stride, groups, dilation) self.bn2 = norm_layer(width) self.conv3 = conv1x1(width, planes) self.bn3 = norm_layer(planes) self.relu = nn.ReLU(inplace=True) self.downsample = downsample self.stride = stride def forward(self, x): identity = x out = self.conv1(x) out = self.bn1(out) out = self.relu(out) out = self.conv2(out) out = self.bn2(out) out = self.relu(out) out = self.conv3(out) out = self.bn3(out) if self.downsample is not None: identity = self.downsample(x) out += identity out = self.relu(out) return out class DeformSimpleBottleneck(nn.Module): """Used for cost aggregation""" def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1, base_width=64, norm_layer=None, mdconv_dilation=2, deformable_groups=2, modulation=True, double_mask=True, ): super(DeformSimpleBottleneck, self).__init__() if norm_layer is None: norm_layer = nn.BatchNorm2d width = int(planes * (base_width / 64.)) * groups # Both self.conv2 and self.downsample layers downsample the input when stride != 1 self.conv1 = conv1x1(inplanes, width) self.bn1 = norm_layer(width) self.conv2 = DeformConv2d(width, width, stride=stride, dilation=mdconv_dilation, deformable_groups=deformable_groups, modulation=modulation, double_mask=double_mask) self.bn2 = norm_layer(width) self.conv3 = conv1x1(width, planes) self.bn3 = norm_layer(planes) self.relu = nn.ReLU(inplace=True) self.downsample = downsample self.stride = stride def forward(self, x): identity = x out = self.conv1(x) out = self.bn1(out) out = self.relu(out) out = self.conv2(out) out = self.bn2(out) out = self.relu(out) out = self.conv3(out) out = self.bn3(out) if self.downsample is not None: identity = self.downsample(x) out += identity out = self.relu(out) return out ================================================ FILE: nets/deform_conv/__init__.py ================================================ from .deform_conv import (DeformConv, DeformConvPack, ModulatedDeformConv, ModulatedDeformConvPack, deform_conv, modulated_deform_conv) __all__ = [ 'DeformConv', 'DeformConvPack', 'ModulatedDeformConv', 'ModulatedDeformConvPack', 'deform_conv', 'modulated_deform_conv', ] ================================================ FILE: nets/deform_conv/build.sh ================================================ #!/usr/bin/env bash PYTHON=${PYTHON:-"python"} if [ -d "build" ]; then rm -r build fi $PYTHON setup.py build_ext --inplace ================================================ FILE: nets/deform_conv/deform_conv.py ================================================ import math import torch import torch.nn as nn from torch.autograd import Function from torch.autograd.function import once_differentiable from torch.nn.modules.utils import _pair, _single from . import deform_conv_cuda class DeformConvFunction(Function): @staticmethod def forward(ctx, input, offset, weight, stride=1, padding=0, dilation=1, groups=1, deformable_groups=1, im2col_step=64): if input is not None and input.dim() != 4: raise ValueError( 'Expected 4D tensor as input, got {}D tensor instead.'.format( input.dim())) ctx.stride = _pair(stride) ctx.padding = _pair(padding) ctx.dilation = _pair(dilation) ctx.groups = groups ctx.deformable_groups = deformable_groups ctx.im2col_step = im2col_step ctx.save_for_backward(input, offset, weight) output = input.new_empty( DeformConvFunction._output_size(input, weight, ctx.padding, ctx.dilation, ctx.stride)) ctx.bufs_ = [input.new_empty(0), input.new_empty(0)] # columns, ones if not input.is_cuda: raise NotImplementedError else: cur_im2col_step = min(ctx.im2col_step, input.shape[0]) assert (input.shape[0] % cur_im2col_step) == 0, 'im2col step must divide batchsize' deform_conv_cuda.deform_conv_forward_cuda( input, weight, offset, output, ctx.bufs_[0], ctx.bufs_[1], weight.size(3), weight.size(2), ctx.stride[1], ctx.stride[0], ctx.padding[1], ctx.padding[0], ctx.dilation[1], ctx.dilation[0], ctx.groups, ctx.deformable_groups, cur_im2col_step) return output @staticmethod @once_differentiable def backward(ctx, grad_output): input, offset, weight = ctx.saved_tensors grad_input = grad_offset = grad_weight = None if not grad_output.is_cuda: raise NotImplementedError else: cur_im2col_step = min(ctx.im2col_step, input.shape[0]) assert (input.shape[0] % cur_im2col_step) == 0, 'im2col step must divide batchsize' if ctx.needs_input_grad[0] or ctx.needs_input_grad[1]: grad_input = torch.zeros_like(input) grad_offset = torch.zeros_like(offset) deform_conv_cuda.deform_conv_backward_input_cuda( input, offset, grad_output, grad_input, grad_offset, weight, ctx.bufs_[0], weight.size(3), weight.size(2), ctx.stride[1], ctx.stride[0], ctx.padding[1], ctx.padding[0], ctx.dilation[1], ctx.dilation[0], ctx.groups, ctx.deformable_groups, cur_im2col_step) if ctx.needs_input_grad[2]: grad_weight = torch.zeros_like(weight) deform_conv_cuda.deform_conv_backward_parameters_cuda( input, offset, grad_output, grad_weight, ctx.bufs_[0], ctx.bufs_[1], weight.size(3), weight.size(2), ctx.stride[1], ctx.stride[0], ctx.padding[1], ctx.padding[0], ctx.dilation[1], ctx.dilation[0], ctx.groups, ctx.deformable_groups, 1, cur_im2col_step) return (grad_input, grad_offset, grad_weight, None, None, None, None, None) @staticmethod def _output_size(input, weight, padding, dilation, stride): channels = weight.size(0) output_size = (input.size(0), channels) for d in range(input.dim() - 2): in_size = input.size(d + 2) pad = padding[d] kernel = dilation[d] * (weight.size(d + 2) - 1) + 1 stride_ = stride[d] output_size += ((in_size + (2 * pad) - kernel) // stride_ + 1,) if not all(map(lambda s: s > 0, output_size)): raise ValueError( 'convolution input is too small (output would be {})'.format( 'x'.join(map(str, output_size)))) return output_size class ModulatedDeformConvFunction(Function): @staticmethod def forward(ctx, input, offset, mask, weight, bias=None, stride=1, padding=0, dilation=1, groups=1, deformable_groups=1): ctx.stride = stride ctx.padding = padding ctx.dilation = dilation ctx.groups = groups ctx.deformable_groups = deformable_groups ctx.with_bias = bias is not None if not ctx.with_bias: bias = input.new_empty(1) # fake tensor if not input.is_cuda: raise NotImplementedError if weight.requires_grad or mask.requires_grad or offset.requires_grad \ or input.requires_grad: ctx.save_for_backward(input, offset, mask, weight, bias) output = input.new_empty( ModulatedDeformConvFunction._infer_shape(ctx, input, weight)) ctx._bufs = [input.new_empty(0), input.new_empty(0)] deform_conv_cuda.modulated_deform_conv_cuda_forward( input, weight, bias, ctx._bufs[0], offset, mask, output, ctx._bufs[1], weight.shape[2], weight.shape[3], ctx.stride, ctx.stride, ctx.padding, ctx.padding, ctx.dilation, ctx.dilation, ctx.groups, ctx.deformable_groups, ctx.with_bias) return output @staticmethod @once_differentiable def backward(ctx, grad_output): if not grad_output.is_cuda: raise NotImplementedError input, offset, mask, weight, bias = ctx.saved_tensors grad_input = torch.zeros_like(input) grad_offset = torch.zeros_like(offset) grad_mask = torch.zeros_like(mask) grad_weight = torch.zeros_like(weight) grad_bias = torch.zeros_like(bias) deform_conv_cuda.modulated_deform_conv_cuda_backward( input, weight, bias, ctx._bufs[0], offset, mask, ctx._bufs[1], grad_input, grad_weight, grad_bias, grad_offset, grad_mask, grad_output, weight.shape[2], weight.shape[3], ctx.stride, ctx.stride, ctx.padding, ctx.padding, ctx.dilation, ctx.dilation, ctx.groups, ctx.deformable_groups, ctx.with_bias) if not ctx.with_bias: grad_bias = None return (grad_input, grad_offset, grad_mask, grad_weight, grad_bias, None, None, None, None, None) @staticmethod def _infer_shape(ctx, input, weight): n = input.size(0) channels_out = weight.size(0) height, width = input.shape[2:4] kernel_h, kernel_w = weight.shape[2:4] height_out = (height + 2 * ctx.padding - (ctx.dilation * (kernel_h - 1) + 1)) // ctx.stride + 1 width_out = (width + 2 * ctx.padding - (ctx.dilation * (kernel_w - 1) + 1)) // ctx.stride + 1 return n, channels_out, height_out, width_out deform_conv = DeformConvFunction.apply modulated_deform_conv = ModulatedDeformConvFunction.apply class DeformConv(nn.Module): def __init__(self, in_channels, out_channels, kernel_size, stride=1, padding=0, dilation=1, groups=1, deformable_groups=1, bias=False): super(DeformConv, self).__init__() assert not bias assert in_channels % groups == 0, \ 'in_channels {} cannot be divisible by groups {}'.format( in_channels, groups) assert out_channels % groups == 0, \ 'out_channels {} cannot be divisible by groups {}'.format( out_channels, groups) self.in_channels = in_channels self.out_channels = out_channels self.kernel_size = _pair(kernel_size) self.stride = _pair(stride) self.padding = _pair(padding) self.dilation = _pair(dilation) self.groups = groups self.deformable_groups = deformable_groups # enable compatibility with nn.Conv2d self.transposed = False self.output_padding = _single(0) self.weight = nn.Parameter( torch.Tensor(out_channels, in_channels // self.groups, *self.kernel_size)) self.reset_parameters() def reset_parameters(self): n = self.in_channels for k in self.kernel_size: n *= k stdv = 1. / math.sqrt(n) self.weight.data.uniform_(-stdv, stdv) def forward(self, x, offset): return deform_conv(x, offset, self.weight, self.stride, self.padding, self.dilation, self.groups, self.deformable_groups) class DeformConvPack(DeformConv): """A Deformable Conv Encapsulation that acts as normal Conv layers. Args: in_channels (int): Same as nn.Conv2d. out_channels (int): Same as nn.Conv2d. kernel_size (int or tuple[int]): Same as nn.Conv2d. stride (int or tuple[int]): Same as nn.Conv2d. padding (int or tuple[int]): Same as nn.Conv2d. dilation (int or tuple[int]): Same as nn.Conv2d. groups (int): Same as nn.Conv2d. bias (bool or str): If specified as `auto`, it will be decided by the norm_cfg. Bias will be set as True if norm_cfg is None, otherwise False. """ _version = 2 def __init__(self, *args, **kwargs): super(DeformConvPack, self).__init__(*args, **kwargs) self.conv_offset = nn.Conv2d( self.in_channels, self.deformable_groups * 2 * self.kernel_size[0] * self.kernel_size[1], kernel_size=self.kernel_size, stride=_pair(self.stride), padding=_pair(self.padding), bias=True) self.init_offset() def init_offset(self): self.conv_offset.weight.data.zero_() self.conv_offset.bias.data.zero_() def forward(self, x): offset = self.conv_offset(x) return deform_conv(x, offset, self.weight, self.stride, self.padding, self.dilation, self.groups, self.deformable_groups) def _load_from_state_dict(self, state_dict, prefix, local_metadata, strict, missing_keys, unexpected_keys, error_msgs): version = local_metadata.get('version', None) if version is None or version < 2: # the key is different in early versions # In version < 2, DeformConvPack loads previous benchmark models. if (prefix + 'conv_offset.weight' not in state_dict and prefix[:-1] + '_offset.weight' in state_dict): state_dict[prefix + 'conv_offset.weight'] = state_dict.pop( prefix[:-1] + '_offset.weight') if (prefix + 'conv_offset.bias' not in state_dict and prefix[:-1] + '_offset.bias' in state_dict): state_dict[prefix + 'conv_offset.bias'] = state_dict.pop(prefix[:-1] + '_offset.bias') super()._load_from_state_dict(state_dict, prefix, local_metadata, strict, missing_keys, unexpected_keys, error_msgs) class ModulatedDeformConv(nn.Module): def __init__(self, in_channels, out_channels, kernel_size, stride=1, padding=0, dilation=1, groups=1, deformable_groups=1, bias=True): super(ModulatedDeformConv, self).__init__() self.in_channels = in_channels self.out_channels = out_channels self.kernel_size = _pair(kernel_size) self.stride = stride self.padding = padding self.dilation = dilation self.groups = groups self.deformable_groups = deformable_groups self.with_bias = bias # enable compatibility with nn.Conv2d self.transposed = False self.output_padding = _single(0) self.weight = nn.Parameter( torch.Tensor(out_channels, in_channels // groups, *self.kernel_size)) if bias: self.bias = nn.Parameter(torch.Tensor(out_channels)) else: self.register_parameter('bias', None) self.reset_parameters() def reset_parameters(self): n = self.in_channels for k in self.kernel_size: n *= k stdv = 1. / math.sqrt(n) self.weight.data.uniform_(-stdv, stdv) if self.bias is not None: self.bias.data.zero_() def forward(self, x, offset, mask): return modulated_deform_conv(x, offset, mask, self.weight, self.bias, self.stride, self.padding, self.dilation, self.groups, self.deformable_groups) class ModulatedDeformConvPack(ModulatedDeformConv): """A ModulatedDeformable Conv Encapsulation that acts as normal Conv layers. Args: in_channels (int): Same as nn.Conv2d. out_channels (int): Same as nn.Conv2d. kernel_size (int or tuple[int]): Same as nn.Conv2d. stride (int or tuple[int]): Same as nn.Conv2d. padding (int or tuple[int]): Same as nn.Conv2d. dilation (int or tuple[int]): Same as nn.Conv2d. groups (int): Same as nn.Conv2d. bias (bool or str): If specified as `auto`, it will be decided by the norm_cfg. Bias will be set as True if norm_cfg is None, otherwise False. """ _version = 2 def __init__(self, *args, **kwargs): super(ModulatedDeformConvPack, self).__init__(*args, **kwargs) self.conv_offset = nn.Conv2d( self.in_channels, self.deformable_groups * 3 * self.kernel_size[0] * self.kernel_size[1], kernel_size=self.kernel_size, stride=_pair(self.stride), padding=_pair(self.padding), bias=True) self.init_offset() def init_offset(self): self.conv_offset.weight.data.zero_() self.conv_offset.bias.data.zero_() def forward(self, x): out = self.conv_offset(x) o1, o2, mask = torch.chunk(out, 3, dim=1) offset = torch.cat((o1, o2), dim=1) mask = torch.sigmoid(mask) return modulated_deform_conv(x, offset, mask, self.weight, self.bias, self.stride, self.padding, self.dilation, self.groups, self.deformable_groups) def _load_from_state_dict(self, state_dict, prefix, local_metadata, strict, missing_keys, unexpected_keys, error_msgs): version = local_metadata.get('version', None) if version is None or version < 2: # the key is different in early versions # In version < 2, ModulatedDeformConvPack # loads previous benchmark models. if (prefix + 'conv_offset.weight' not in state_dict and prefix[:-1] + '_offset.weight' in state_dict): state_dict[prefix + 'conv_offset.weight'] = state_dict.pop( prefix[:-1] + '_offset.weight') if (prefix + 'conv_offset.bias' not in state_dict and prefix[:-1] + '_offset.bias' in state_dict): state_dict[prefix + 'conv_offset.bias'] = state_dict.pop(prefix[:-1] + '_offset.bias') super()._load_from_state_dict(state_dict, prefix, local_metadata, strict, missing_keys, unexpected_keys, error_msgs) ================================================ FILE: nets/deform_conv/setup.py ================================================ from setuptools import setup from torch.utils.cpp_extension import BuildExtension, CUDAExtension setup( name='deform_conv', ext_modules=[ CUDAExtension('deform_conv_cuda', [ 'src/deform_conv_cuda.cpp', 'src/deform_conv_cuda_kernel.cu', ]), ], cmdclass={'build_ext': BuildExtension}) ================================================ FILE: nets/deform_conv/src/deform_conv_cuda.cpp ================================================ // modify from // https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/blob/mmdetection/mmdet/ops/dcn/src/deform_conv_cuda.c #include #include #include #include void deformable_im2col(const at::Tensor data_im, const at::Tensor data_offset, const int channels, const int height, const int width, const int ksize_h, const int ksize_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int parallel_imgs, const int deformable_group, at::Tensor data_col); void deformable_col2im(const at::Tensor data_col, const at::Tensor data_offset, const int channels, const int height, const int width, const int ksize_h, const int ksize_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int parallel_imgs, const int deformable_group, at::Tensor grad_im); void deformable_col2im_coord( const at::Tensor data_col, const at::Tensor data_im, const at::Tensor data_offset, const int channels, const int height, const int width, const int ksize_h, const int ksize_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int parallel_imgs, const int deformable_group, at::Tensor grad_offset); void modulated_deformable_im2col_cuda( const at::Tensor data_im, const at::Tensor data_offset, const at::Tensor data_mask, const int batch_size, const int channels, const int height_im, const int width_im, const int height_col, const int width_col, const int kernel_h, const int kenerl_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int deformable_group, at::Tensor data_col); void modulated_deformable_col2im_cuda( const at::Tensor data_col, const at::Tensor data_offset, const at::Tensor data_mask, const int batch_size, const int channels, const int height_im, const int width_im, const int height_col, const int width_col, const int kernel_h, const int kenerl_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int deformable_group, at::Tensor grad_im); void modulated_deformable_col2im_coord_cuda( const at::Tensor data_col, const at::Tensor data_im, const at::Tensor data_offset, const at::Tensor data_mask, const int batch_size, const int channels, const int height_im, const int width_im, const int height_col, const int width_col, const int kernel_h, const int kenerl_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int deformable_group, at::Tensor grad_offset, at::Tensor grad_mask); void shape_check(at::Tensor input, at::Tensor offset, at::Tensor *gradOutput, at::Tensor weight, int kH, int kW, int dH, int dW, int padH, int padW, int dilationH, int dilationW, int group, int deformable_group) { AT_CHECK(weight.ndimension() == 4, "4D weight tensor (nOutputPlane,nInputPlane,kH,kW) expected, " "but got: %s", weight.ndimension()); AT_CHECK(weight.is_contiguous(), "weight tensor has to be contiguous"); AT_CHECK(kW > 0 && kH > 0, "kernel size should be greater than zero, but got kH: %d kW: %d", kH, kW); AT_CHECK((weight.size(2) == kH && weight.size(3) == kW), "kernel size should be consistent with weight, ", "but got kH: %d kW: %d weight.size(2): %d, weight.size(3): %d", kH, kW, weight.size(2), weight.size(3)); AT_CHECK(dW > 0 && dH > 0, "stride should be greater than zero, but got dH: %d dW: %d", dH, dW); AT_CHECK( dilationW > 0 && dilationH > 0, "dilation should be greater than 0, but got dilationH: %d dilationW: %d", dilationH, dilationW); int ndim = input.ndimension(); int dimf = 0; int dimh = 1; int dimw = 2; if (ndim == 4) { dimf++; dimh++; dimw++; } AT_CHECK(ndim == 3 || ndim == 4, "3D or 4D input tensor expected but got: %s", ndim); long nInputPlane = weight.size(1) * group; long inputHeight = input.size(dimh); long inputWidth = input.size(dimw); long nOutputPlane = weight.size(0); long outputHeight = (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1; long outputWidth = (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1; AT_CHECK(nInputPlane % deformable_group == 0, "input channels must divide deformable group size"); if (outputWidth < 1 || outputHeight < 1) AT_ERROR( "Given input size: (%ld x %ld x %ld). " "Calculated output size: (%ld x %ld x %ld). Output size is too small", nInputPlane, inputHeight, inputWidth, nOutputPlane, outputHeight, outputWidth); AT_CHECK(input.size(1) == nInputPlane, "invalid number of input planes, expected: %d, but got: %d", nInputPlane, input.size(1)); AT_CHECK((inputHeight >= kH && inputWidth >= kW), "input image is smaller than kernel"); AT_CHECK((offset.size(2) == outputHeight && offset.size(3) == outputWidth), "invalid spatial size of offset, expected height: %d width: %d, but " "got height: %d width: %d", outputHeight, outputWidth, offset.size(2), offset.size(3)); AT_CHECK((offset.size(1) == deformable_group * 2 * kH * kW), "invalid number of channels of offset"); if (gradOutput != NULL) { AT_CHECK(gradOutput->size(dimf) == nOutputPlane, "invalid number of gradOutput planes, expected: %d, but got: %d", nOutputPlane, gradOutput->size(dimf)); AT_CHECK((gradOutput->size(dimh) == outputHeight && gradOutput->size(dimw) == outputWidth), "invalid size of gradOutput, expected height: %d width: %d , but " "got height: %d width: %d", outputHeight, outputWidth, gradOutput->size(dimh), gradOutput->size(dimw)); } } int deform_conv_forward_cuda(at::Tensor input, at::Tensor weight, at::Tensor offset, at::Tensor output, at::Tensor columns, at::Tensor ones, int kW, int kH, int dW, int dH, int padW, int padH, int dilationW, int dilationH, int group, int deformable_group, int im2col_step) { // todo: resize columns to include im2col: done // todo: add im2col_step as input // todo: add new output buffer and transpose it to output (or directly // transpose output) todo: possibly change data indexing because of // parallel_imgs shape_check(input, offset, NULL, weight, kH, kW, dH, dW, padH, padW, dilationH, dilationW, group, deformable_group); at::DeviceGuard guard(input.device()); input = input.contiguous(); offset = offset.contiguous(); weight = weight.contiguous(); int batch = 1; if (input.ndimension() == 3) { // Force batch batch = 0; input.unsqueeze_(0); offset.unsqueeze_(0); } // todo: assert batchsize dividable by im2col_step long batchSize = input.size(0); long nInputPlane = input.size(1); long inputHeight = input.size(2); long inputWidth = input.size(3); long nOutputPlane = weight.size(0); long outputWidth = (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1; long outputHeight = (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1; AT_CHECK((offset.size(0) == batchSize), "invalid batch size of offset"); output = output.view({batchSize / im2col_step, im2col_step, nOutputPlane, outputHeight, outputWidth}); columns = at::zeros( {nInputPlane * kW * kH, im2col_step * outputHeight * outputWidth}, input.options()); if (ones.ndimension() != 2 || ones.size(0) * ones.size(1) < outputHeight * outputWidth) { ones = at::ones({outputHeight, outputWidth}, input.options()); } input = input.view({batchSize / im2col_step, im2col_step, nInputPlane, inputHeight, inputWidth}); offset = offset.view({batchSize / im2col_step, im2col_step, deformable_group * 2 * kH * kW, outputHeight, outputWidth}); at::Tensor output_buffer = at::zeros({batchSize / im2col_step, nOutputPlane, im2col_step * outputHeight, outputWidth}, output.options()); output_buffer = output_buffer.view( {output_buffer.size(0), group, output_buffer.size(1) / group, output_buffer.size(2), output_buffer.size(3)}); for (int elt = 0; elt < batchSize / im2col_step; elt++) { deformable_im2col(input[elt], offset[elt], nInputPlane, inputHeight, inputWidth, kH, kW, padH, padW, dH, dW, dilationH, dilationW, im2col_step, deformable_group, columns); columns = columns.view({group, columns.size(0) / group, columns.size(1)}); weight = weight.view({group, weight.size(0) / group, weight.size(1), weight.size(2), weight.size(3)}); for (int g = 0; g < group; g++) { output_buffer[elt][g] = output_buffer[elt][g] .flatten(1) .addmm_(weight[g].flatten(1), columns[g]) .view_as(output_buffer[elt][g]); } } output_buffer = output_buffer.view( {output_buffer.size(0), output_buffer.size(1) * output_buffer.size(2), output_buffer.size(3), output_buffer.size(4)}); output_buffer = output_buffer.view({batchSize / im2col_step, nOutputPlane, im2col_step, outputHeight, outputWidth}); output_buffer.transpose_(1, 2); output.copy_(output_buffer); output = output.view({batchSize, nOutputPlane, outputHeight, outputWidth}); input = input.view({batchSize, nInputPlane, inputHeight, inputWidth}); offset = offset.view( {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth}); if (batch == 0) { output = output.view({nOutputPlane, outputHeight, outputWidth}); input = input.view({nInputPlane, inputHeight, inputWidth}); offset = offset.view({offset.size(1), offset.size(2), offset.size(3)}); } return 1; } int deform_conv_backward_input_cuda(at::Tensor input, at::Tensor offset, at::Tensor gradOutput, at::Tensor gradInput, at::Tensor gradOffset, at::Tensor weight, at::Tensor columns, int kW, int kH, int dW, int dH, int padW, int padH, int dilationW, int dilationH, int group, int deformable_group, int im2col_step) { shape_check(input, offset, &gradOutput, weight, kH, kW, dH, dW, padH, padW, dilationH, dilationW, group, deformable_group); at::DeviceGuard guard(input.device()); input = input.contiguous(); offset = offset.contiguous(); gradOutput = gradOutput.contiguous(); weight = weight.contiguous(); int batch = 1; if (input.ndimension() == 3) { // Force batch batch = 0; input = input.view({1, input.size(0), input.size(1), input.size(2)}); offset = offset.view({1, offset.size(0), offset.size(1), offset.size(2)}); gradOutput = gradOutput.view( {1, gradOutput.size(0), gradOutput.size(1), gradOutput.size(2)}); } long batchSize = input.size(0); long nInputPlane = input.size(1); long inputHeight = input.size(2); long inputWidth = input.size(3); long nOutputPlane = weight.size(0); long outputWidth = (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1; long outputHeight = (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1; AT_CHECK((offset.size(0) == batchSize), 3, "invalid batch size of offset"); gradInput = gradInput.view({batchSize, nInputPlane, inputHeight, inputWidth}); columns = at::zeros( {nInputPlane * kW * kH, im2col_step * outputHeight * outputWidth}, input.options()); // change order of grad output gradOutput = gradOutput.view({batchSize / im2col_step, im2col_step, nOutputPlane, outputHeight, outputWidth}); gradOutput.transpose_(1, 2); gradInput = gradInput.view({batchSize / im2col_step, im2col_step, nInputPlane, inputHeight, inputWidth}); input = input.view({batchSize / im2col_step, im2col_step, nInputPlane, inputHeight, inputWidth}); gradOffset = gradOffset.view({batchSize / im2col_step, im2col_step, deformable_group * 2 * kH * kW, outputHeight, outputWidth}); offset = offset.view({batchSize / im2col_step, im2col_step, deformable_group * 2 * kH * kW, outputHeight, outputWidth}); for (int elt = 0; elt < batchSize / im2col_step; elt++) { // divide into groups columns = columns.view({group, columns.size(0) / group, columns.size(1)}); weight = weight.view({group, weight.size(0) / group, weight.size(1), weight.size(2), weight.size(3)}); gradOutput = gradOutput.view( {gradOutput.size(0), group, gradOutput.size(1) / group, gradOutput.size(2), gradOutput.size(3), gradOutput.size(4)}); for (int g = 0; g < group; g++) { columns[g] = columns[g].addmm_(weight[g].flatten(1).transpose(0, 1), gradOutput[elt][g].flatten(1), 0.0f, 1.0f); } columns = columns.view({columns.size(0) * columns.size(1), columns.size(2)}); gradOutput = gradOutput.view( {gradOutput.size(0), gradOutput.size(1) * gradOutput.size(2), gradOutput.size(3), gradOutput.size(4), gradOutput.size(5)}); deformable_col2im_coord(columns, input[elt], offset[elt], nInputPlane, inputHeight, inputWidth, kH, kW, padH, padW, dH, dW, dilationH, dilationW, im2col_step, deformable_group, gradOffset[elt]); deformable_col2im(columns, offset[elt], nInputPlane, inputHeight, inputWidth, kH, kW, padH, padW, dH, dW, dilationH, dilationW, im2col_step, deformable_group, gradInput[elt]); } gradOutput.transpose_(1, 2); gradOutput = gradOutput.view({batchSize, nOutputPlane, outputHeight, outputWidth}); gradInput = gradInput.view({batchSize, nInputPlane, inputHeight, inputWidth}); input = input.view({batchSize, nInputPlane, inputHeight, inputWidth}); gradOffset = gradOffset.view( {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth}); offset = offset.view( {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth}); if (batch == 0) { gradOutput = gradOutput.view({nOutputPlane, outputHeight, outputWidth}); input = input.view({nInputPlane, inputHeight, inputWidth}); gradInput = gradInput.view({nInputPlane, inputHeight, inputWidth}); offset = offset.view({offset.size(1), offset.size(2), offset.size(3)}); gradOffset = gradOffset.view({offset.size(1), offset.size(2), offset.size(3)}); } return 1; } int deform_conv_backward_parameters_cuda( at::Tensor input, at::Tensor offset, at::Tensor gradOutput, at::Tensor gradWeight, // at::Tensor gradBias, at::Tensor columns, at::Tensor ones, int kW, int kH, int dW, int dH, int padW, int padH, int dilationW, int dilationH, int group, int deformable_group, float scale, int im2col_step) { // todo: transpose and reshape outGrad // todo: reshape columns // todo: add im2col_step as input shape_check(input, offset, &gradOutput, gradWeight, kH, kW, dH, dW, padH, padW, dilationH, dilationW, group, deformable_group); at::DeviceGuard guard(input.device()); input = input.contiguous(); offset = offset.contiguous(); gradOutput = gradOutput.contiguous(); int batch = 1; if (input.ndimension() == 3) { // Force batch batch = 0; input = input.view( at::IntList({1, input.size(0), input.size(1), input.size(2)})); gradOutput = gradOutput.view( {1, gradOutput.size(0), gradOutput.size(1), gradOutput.size(2)}); } long batchSize = input.size(0); long nInputPlane = input.size(1); long inputHeight = input.size(2); long inputWidth = input.size(3); long nOutputPlane = gradWeight.size(0); long outputWidth = (inputWidth + 2 * padW - (dilationW * (kW - 1) + 1)) / dW + 1; long outputHeight = (inputHeight + 2 * padH - (dilationH * (kH - 1) + 1)) / dH + 1; AT_CHECK((offset.size(0) == batchSize), "invalid batch size of offset"); columns = at::zeros( {nInputPlane * kW * kH, im2col_step * outputHeight * outputWidth}, input.options()); gradOutput = gradOutput.view({batchSize / im2col_step, im2col_step, nOutputPlane, outputHeight, outputWidth}); gradOutput.transpose_(1, 2); at::Tensor gradOutputBuffer = at::zeros_like(gradOutput); gradOutputBuffer = gradOutputBuffer.view({batchSize / im2col_step, nOutputPlane, im2col_step, outputHeight, outputWidth}); gradOutputBuffer.copy_(gradOutput); gradOutputBuffer = gradOutputBuffer.view({batchSize / im2col_step, nOutputPlane, im2col_step * outputHeight, outputWidth}); gradOutput.transpose_(1, 2); gradOutput = gradOutput.view({batchSize, nOutputPlane, outputHeight, outputWidth}); input = input.view({batchSize / im2col_step, im2col_step, nInputPlane, inputHeight, inputWidth}); offset = offset.view({batchSize / im2col_step, im2col_step, deformable_group * 2 * kH * kW, outputHeight, outputWidth}); for (int elt = 0; elt < batchSize / im2col_step; elt++) { deformable_im2col(input[elt], offset[elt], nInputPlane, inputHeight, inputWidth, kH, kW, padH, padW, dH, dW, dilationH, dilationW, im2col_step, deformable_group, columns); // divide into group gradOutputBuffer = gradOutputBuffer.view( {gradOutputBuffer.size(0), group, gradOutputBuffer.size(1) / group, gradOutputBuffer.size(2), gradOutputBuffer.size(3)}); columns = columns.view({group, columns.size(0) / group, columns.size(1)}); gradWeight = gradWeight.view({group, gradWeight.size(0) / group, gradWeight.size(1), gradWeight.size(2), gradWeight.size(3)}); for (int g = 0; g < group; g++) { gradWeight[g] = gradWeight[g] .flatten(1) .addmm_(gradOutputBuffer[elt][g].flatten(1), columns[g].transpose(1, 0), 1.0, scale) .view_as(gradWeight[g]); } gradOutputBuffer = gradOutputBuffer.view( {gradOutputBuffer.size(0), gradOutputBuffer.size(1) * gradOutputBuffer.size(2), gradOutputBuffer.size(3), gradOutputBuffer.size(4)}); columns = columns.view({columns.size(0) * columns.size(1), columns.size(2)}); gradWeight = gradWeight.view({gradWeight.size(0) * gradWeight.size(1), gradWeight.size(2), gradWeight.size(3), gradWeight.size(4)}); } input = input.view({batchSize, nInputPlane, inputHeight, inputWidth}); offset = offset.view( {batchSize, deformable_group * 2 * kH * kW, outputHeight, outputWidth}); if (batch == 0) { gradOutput = gradOutput.view({nOutputPlane, outputHeight, outputWidth}); input = input.view({nInputPlane, inputHeight, inputWidth}); } return 1; } void modulated_deform_conv_cuda_forward( at::Tensor input, at::Tensor weight, at::Tensor bias, at::Tensor ones, at::Tensor offset, at::Tensor mask, at::Tensor output, at::Tensor columns, int kernel_h, int kernel_w, const int stride_h, const int stride_w, const int pad_h, const int pad_w, const int dilation_h, const int dilation_w, const int group, const int deformable_group, const bool with_bias) { AT_CHECK(input.is_contiguous(), "input tensor has to be contiguous"); AT_CHECK(weight.is_contiguous(), "weight tensor has to be contiguous"); at::DeviceGuard guard(input.device()); const int batch = input.size(0); const int channels = input.size(1); const int height = input.size(2); const int width = input.size(3); const int channels_out = weight.size(0); const int channels_kernel = weight.size(1); const int kernel_h_ = weight.size(2); const int kernel_w_ = weight.size(3); if (kernel_h_ != kernel_h || kernel_w_ != kernel_w) AT_ERROR("Input shape and kernel shape wont match: (%d x %d vs %d x %d).", kernel_h_, kernel_w, kernel_h_, kernel_w_); if (channels != channels_kernel * group) AT_ERROR("Input shape and kernel channels wont match: (%d vs %d).", channels, channels_kernel * group); const int height_out = (height + 2 * pad_h - (dilation_h * (kernel_h - 1) + 1)) / stride_h + 1; const int width_out = (width + 2 * pad_w - (dilation_w * (kernel_w - 1) + 1)) / stride_w + 1; if (ones.ndimension() != 2 || ones.size(0) * ones.size(1) < height_out * width_out) { // Resize plane and fill with ones... ones = at::ones({height_out, width_out}, input.options()); } // resize output output = output.view({batch, channels_out, height_out, width_out}).zero_(); // resize temporary columns columns = at::zeros({channels * kernel_h * kernel_w, 1 * height_out * width_out}, input.options()); output = output.view({output.size(0), group, output.size(1) / group, output.size(2), output.size(3)}); for (int b = 0; b < batch; b++) { modulated_deformable_im2col_cuda( input[b], offset[b], mask[b], 1, channels, height, width, height_out, width_out, kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, deformable_group, columns); // divide into group weight = weight.view({group, weight.size(0) / group, weight.size(1), weight.size(2), weight.size(3)}); columns = columns.view({group, columns.size(0) / group, columns.size(1)}); for (int g = 0; g < group; g++) { output[b][g] = output[b][g] .flatten(1) .addmm_(weight[g].flatten(1), columns[g]) .view_as(output[b][g]); } weight = weight.view({weight.size(0) * weight.size(1), weight.size(2), weight.size(3), weight.size(4)}); columns = columns.view({columns.size(0) * columns.size(1), columns.size(2)}); } output = output.view({output.size(0), output.size(1) * output.size(2), output.size(3), output.size(4)}); if (with_bias) { output += bias.view({1, bias.size(0), 1, 1}); } } void modulated_deform_conv_cuda_backward( at::Tensor input, at::Tensor weight, at::Tensor bias, at::Tensor ones, at::Tensor offset, at::Tensor mask, at::Tensor columns, at::Tensor grad_input, at::Tensor grad_weight, at::Tensor grad_bias, at::Tensor grad_offset, at::Tensor grad_mask, at::Tensor grad_output, int kernel_h, int kernel_w, int stride_h, int stride_w, int pad_h, int pad_w, int dilation_h, int dilation_w, int group, int deformable_group, const bool with_bias) { AT_CHECK(input.is_contiguous(), "input tensor has to be contiguous"); AT_CHECK(weight.is_contiguous(), "weight tensor has to be contiguous"); at::DeviceGuard guard(input.device()); const int batch = input.size(0); const int channels = input.size(1); const int height = input.size(2); const int width = input.size(3); const int channels_kernel = weight.size(1); const int kernel_h_ = weight.size(2); const int kernel_w_ = weight.size(3); if (kernel_h_ != kernel_h || kernel_w_ != kernel_w) AT_ERROR("Input shape and kernel shape wont match: (%d x %d vs %d x %d).", kernel_h_, kernel_w, kernel_h_, kernel_w_); if (channels != channels_kernel * group) AT_ERROR("Input shape and kernel channels wont match: (%d vs %d).", channels, channels_kernel * group); const int height_out = (height + 2 * pad_h - (dilation_h * (kernel_h - 1) + 1)) / stride_h + 1; const int width_out = (width + 2 * pad_w - (dilation_w * (kernel_w - 1) + 1)) / stride_w + 1; if (ones.ndimension() != 2 || ones.size(0) * ones.size(1) < height_out * width_out) { // Resize plane and fill with ones... ones = at::ones({height_out, width_out}, input.options()); } grad_input = grad_input.view({batch, channels, height, width}); columns = at::zeros({channels * kernel_h * kernel_w, height_out * width_out}, input.options()); grad_output = grad_output.view({grad_output.size(0), group, grad_output.size(1) / group, grad_output.size(2), grad_output.size(3)}); for (int b = 0; b < batch; b++) { // divide int group columns = columns.view({group, columns.size(0) / group, columns.size(1)}); weight = weight.view({group, weight.size(0) / group, weight.size(1), weight.size(2), weight.size(3)}); for (int g = 0; g < group; g++) { columns[g].addmm_(weight[g].flatten(1).transpose(0, 1), grad_output[b][g].flatten(1), 0.0f, 1.0f); } columns = columns.view({columns.size(0) * columns.size(1), columns.size(2)}); weight = weight.view({weight.size(0) * weight.size(1), weight.size(2), weight.size(3), weight.size(4)}); // gradient w.r.t. input coordinate data modulated_deformable_col2im_coord_cuda( columns, input[b], offset[b], mask[b], 1, channels, height, width, height_out, width_out, kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, deformable_group, grad_offset[b], grad_mask[b]); // gradient w.r.t. input data modulated_deformable_col2im_cuda( columns, offset[b], mask[b], 1, channels, height, width, height_out, width_out, kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, deformable_group, grad_input[b]); // gradient w.r.t. weight, dWeight should accumulate across the batch and // group modulated_deformable_im2col_cuda( input[b], offset[b], mask[b], 1, channels, height, width, height_out, width_out, kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, deformable_group, columns); columns = columns.view({group, columns.size(0) / group, columns.size(1)}); grad_weight = grad_weight.view({group, grad_weight.size(0) / group, grad_weight.size(1), grad_weight.size(2), grad_weight.size(3)}); if (with_bias) grad_bias = grad_bias.view({group, grad_bias.size(0) / group}); for (int g = 0; g < group; g++) { grad_weight[g] = grad_weight[g] .flatten(1) .addmm_(grad_output[b][g].flatten(1), columns[g].transpose(0, 1)) .view_as(grad_weight[g]); if (with_bias) { grad_bias[g] = grad_bias[g] .view({-1, 1}) .addmm_(grad_output[b][g].flatten(1), ones.view({-1, 1})) .view(-1); } } columns = columns.view({columns.size(0) * columns.size(1), columns.size(2)}); grad_weight = grad_weight.view({grad_weight.size(0) * grad_weight.size(1), grad_weight.size(2), grad_weight.size(3), grad_weight.size(4)}); if (with_bias) grad_bias = grad_bias.view({grad_bias.size(0) * grad_bias.size(1)}); } grad_output = grad_output.view({grad_output.size(0) * grad_output.size(1), grad_output.size(2), grad_output.size(3), grad_output.size(4)}); } PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) { m.def("deform_conv_forward_cuda", &deform_conv_forward_cuda, "deform forward (CUDA)"); m.def("deform_conv_backward_input_cuda", &deform_conv_backward_input_cuda, "deform_conv_backward_input (CUDA)"); m.def("deform_conv_backward_parameters_cuda", &deform_conv_backward_parameters_cuda, "deform_conv_backward_parameters (CUDA)"); m.def("modulated_deform_conv_cuda_forward", &modulated_deform_conv_cuda_forward, "modulated deform conv forward (CUDA)"); m.def("modulated_deform_conv_cuda_backward", &modulated_deform_conv_cuda_backward, "modulated deform conv backward (CUDA)"); } ================================================ FILE: nets/deform_conv/src/deform_conv_cuda_kernel.cu ================================================ /*! ******************* BEGIN Caffe Copyright Notice and Disclaimer **************** * * COPYRIGHT * * All contributions by the University of California: * Copyright (c) 2014-2017 The Regents of the University of California (Regents) * All rights reserved. * * All other contributions: * Copyright (c) 2014-2017, the respective contributors * All rights reserved. * * Caffe uses a shared copyright model: each contributor holds copyright over * their contributions to Caffe. The project versioning records all such * contribution and copyright details. If a contributor wants to further mark * their specific copyright on a particular contribution, they should indicate * their copyright solely in the commit message of the change when it is * committed. * * LICENSE * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, this * list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * * CONTRIBUTION AGREEMENT * * By contributing to the BVLC/caffe repository through pull-request, comment, * or otherwise, the contributor releases their content to the * license and copyright terms herein. * ***************** END Caffe Copyright Notice and Disclaimer ******************** * * Copyright (c) 2018 Microsoft * Licensed under The MIT License [see LICENSE for details] * \file modulated_deformable_im2col.cuh * \brief Function definitions of converting an image to * column matrix based on kernel, padding, dilation, and offset. * These functions are mainly used in deformable convolution operators. * \ref: https://arxiv.org/abs/1703.06211 * \author Yuwen Xiong, Haozhi Qi, Jifeng Dai, Xizhou Zhu, Han Hu, Dazhi Cheng */ // modified from https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/blob/mmdetection/mmdet/ops/dcn/src/deform_conv_cuda_kernel.cu #include #include #include #include #include #include using namespace at; #define CUDA_KERNEL_LOOP(i, n) \ for (int i = blockIdx.x * blockDim.x + threadIdx.x; i < (n); \ i += blockDim.x * gridDim.x) const int CUDA_NUM_THREADS = 1024; const int kMaxGridNum = 65535; inline int GET_BLOCKS(const int N) { return std::min(kMaxGridNum, (N + CUDA_NUM_THREADS - 1) / CUDA_NUM_THREADS); } template __device__ scalar_t deformable_im2col_bilinear(const scalar_t *bottom_data, const int data_width, const int height, const int width, scalar_t h, scalar_t w) { int h_low = floor(h); int w_low = floor(w); int h_high = h_low + 1; int w_high = w_low + 1; scalar_t lh = h - h_low; scalar_t lw = w - w_low; scalar_t hh = 1 - lh, hw = 1 - lw; scalar_t v1 = 0; if (h_low >= 0 && w_low >= 0) v1 = bottom_data[h_low * data_width + w_low]; scalar_t v2 = 0; if (h_low >= 0 && w_high <= width - 1) v2 = bottom_data[h_low * data_width + w_high]; scalar_t v3 = 0; if (h_high <= height - 1 && w_low >= 0) v3 = bottom_data[h_high * data_width + w_low]; scalar_t v4 = 0; if (h_high <= height - 1 && w_high <= width - 1) v4 = bottom_data[h_high * data_width + w_high]; scalar_t w1 = hh * hw, w2 = hh * lw, w3 = lh * hw, w4 = lh * lw; scalar_t val = (w1 * v1 + w2 * v2 + w3 * v3 + w4 * v4); return val; } template __device__ scalar_t get_gradient_weight(scalar_t argmax_h, scalar_t argmax_w, const int h, const int w, const int height, const int width) { if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 || argmax_w >= width) { //empty return 0; } int argmax_h_low = floor(argmax_h); int argmax_w_low = floor(argmax_w); int argmax_h_high = argmax_h_low + 1; int argmax_w_high = argmax_w_low + 1; scalar_t weight = 0; if (h == argmax_h_low && w == argmax_w_low) weight = (h + 1 - argmax_h) * (w + 1 - argmax_w); if (h == argmax_h_low && w == argmax_w_high) weight = (h + 1 - argmax_h) * (argmax_w + 1 - w); if (h == argmax_h_high && w == argmax_w_low) weight = (argmax_h + 1 - h) * (w + 1 - argmax_w); if (h == argmax_h_high && w == argmax_w_high) weight = (argmax_h + 1 - h) * (argmax_w + 1 - w); return weight; } template __device__ scalar_t get_coordinate_weight(scalar_t argmax_h, scalar_t argmax_w, const int height, const int width, const scalar_t *im_data, const int data_width, const int bp_dir) { if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 || argmax_w >= width) { //empty return 0; } int argmax_h_low = floor(argmax_h); int argmax_w_low = floor(argmax_w); int argmax_h_high = argmax_h_low + 1; int argmax_w_high = argmax_w_low + 1; scalar_t weight = 0; if (bp_dir == 0) { if (argmax_h_low >= 0 && argmax_w_low >= 0) weight += -1 * (argmax_w_low + 1 - argmax_w) * im_data[argmax_h_low * data_width + argmax_w_low]; if (argmax_h_low >= 0 && argmax_w_high <= width - 1) weight += -1 * (argmax_w - argmax_w_low) * im_data[argmax_h_low * data_width + argmax_w_high]; if (argmax_h_high <= height - 1 && argmax_w_low >= 0) weight += (argmax_w_low + 1 - argmax_w) * im_data[argmax_h_high * data_width + argmax_w_low]; if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1) weight += (argmax_w - argmax_w_low) * im_data[argmax_h_high * data_width + argmax_w_high]; } else if (bp_dir == 1) { if (argmax_h_low >= 0 && argmax_w_low >= 0) weight += -1 * (argmax_h_low + 1 - argmax_h) * im_data[argmax_h_low * data_width + argmax_w_low]; if (argmax_h_low >= 0 && argmax_w_high <= width - 1) weight += (argmax_h_low + 1 - argmax_h) * im_data[argmax_h_low * data_width + argmax_w_high]; if (argmax_h_high <= height - 1 && argmax_w_low >= 0) weight += -1 * (argmax_h - argmax_h_low) * im_data[argmax_h_high * data_width + argmax_w_low]; if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1) weight += (argmax_h - argmax_h_low) * im_data[argmax_h_high * data_width + argmax_w_high]; } return weight; } template __global__ void deformable_im2col_gpu_kernel(const int n, const scalar_t *data_im, const scalar_t *data_offset, const int height, const int width, const int kernel_h, const int kernel_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int channel_per_deformable_group, const int batch_size, const int num_channels, const int deformable_group, const int height_col, const int width_col, scalar_t *data_col) { CUDA_KERNEL_LOOP(index, n) { // index index of output matrix const int w_col = index % width_col; const int h_col = (index / width_col) % height_col; const int b_col = (index / width_col / height_col) % batch_size; const int c_im = (index / width_col / height_col) / batch_size; const int c_col = c_im * kernel_h * kernel_w; // compute deformable group index const int deformable_group_index = c_im / channel_per_deformable_group; const int h_in = h_col * stride_h - pad_h; const int w_in = w_col * stride_w - pad_w; scalar_t *data_col_ptr = data_col + ((c_col * batch_size + b_col) * height_col + h_col) * width_col + w_col; //const scalar_t* data_im_ptr = data_im + ((b_col * num_channels + c_im) * height + h_in) * width + w_in; const scalar_t *data_im_ptr = data_im + (b_col * num_channels + c_im) * height * width; const scalar_t *data_offset_ptr = data_offset + (b_col * deformable_group + deformable_group_index) * 2 * kernel_h * kernel_w * height_col * width_col; for (int i = 0; i < kernel_h; ++i) { for (int j = 0; j < kernel_w; ++j) { const int data_offset_h_ptr = ((2 * (i * kernel_w + j)) * height_col + h_col) * width_col + w_col; const int data_offset_w_ptr = ((2 * (i * kernel_w + j) + 1) * height_col + h_col) * width_col + w_col; const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr]; const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr]; scalar_t val = static_cast(0); const scalar_t h_im = h_in + i * dilation_h + offset_h; const scalar_t w_im = w_in + j * dilation_w + offset_w; if (h_im > -1 && w_im > -1 && h_im < height && w_im < width) { //const scalar_t map_h = i * dilation_h + offset_h; //const scalar_t map_w = j * dilation_w + offset_w; //const int cur_height = height - h_in; //const int cur_width = width - w_in; //val = deformable_im2col_bilinear(data_im_ptr, width, cur_height, cur_width, map_h, map_w); val = deformable_im2col_bilinear(data_im_ptr, width, height, width, h_im, w_im); } *data_col_ptr = val; data_col_ptr += batch_size * height_col * width_col; } } } } void deformable_im2col( const at::Tensor data_im, const at::Tensor data_offset, const int channels, const int height, const int width, const int ksize_h, const int ksize_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int parallel_imgs, const int deformable_group, at::Tensor data_col) { // num_axes should be smaller than block size // todo: check parallel_imgs is correctly passed in int height_col = (height + 2 * pad_h - (dilation_h * (ksize_h - 1) + 1)) / stride_h + 1; int width_col = (width + 2 * pad_w - (dilation_w * (ksize_w - 1) + 1)) / stride_w + 1; int num_kernels = channels * height_col * width_col * parallel_imgs; int channel_per_deformable_group = channels / deformable_group; AT_DISPATCH_FLOATING_TYPES_AND_HALF( data_im.scalar_type(), "deformable_im2col_gpu", ([&] { const scalar_t *data_im_ = data_im.data(); const scalar_t *data_offset_ = data_offset.data(); scalar_t *data_col_ = data_col.data(); deformable_im2col_gpu_kernel<<>>( num_kernels, data_im_, data_offset_, height, width, ksize_h, ksize_w, pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, channel_per_deformable_group, parallel_imgs, channels, deformable_group, height_col, width_col, data_col_); })); cudaError_t err = cudaGetLastError(); if (err != cudaSuccess) { printf("error in deformable_im2col: %s\n", cudaGetErrorString(err)); } } template __global__ void deformable_col2im_gpu_kernel( const int n, const scalar_t *data_col, const scalar_t *data_offset, const int channels, const int height, const int width, const int kernel_h, const int kernel_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int channel_per_deformable_group, const int batch_size, const int deformable_group, const int height_col, const int width_col, scalar_t *grad_im) { CUDA_KERNEL_LOOP(index, n) { const int j = (index / width_col / height_col / batch_size) % kernel_w; const int i = (index / width_col / height_col / batch_size / kernel_w) % kernel_h; const int c = index / width_col / height_col / batch_size / kernel_w / kernel_h; // compute the start and end of the output const int deformable_group_index = c / channel_per_deformable_group; int w_out = index % width_col; int h_out = (index / width_col) % height_col; int b = (index / width_col / height_col) % batch_size; int w_in = w_out * stride_w - pad_w; int h_in = h_out * stride_h - pad_h; const scalar_t *data_offset_ptr = data_offset + (b * deformable_group + deformable_group_index) * 2 * kernel_h * kernel_w * height_col * width_col; const int data_offset_h_ptr = ((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out; const int data_offset_w_ptr = ((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col + w_out; const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr]; const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr]; const scalar_t cur_inv_h_data = h_in + i * dilation_h + offset_h; const scalar_t cur_inv_w_data = w_in + j * dilation_w + offset_w; const scalar_t cur_top_grad = data_col[index]; const int cur_h = (int)cur_inv_h_data; const int cur_w = (int)cur_inv_w_data; for (int dy = -2; dy <= 2; dy++) { for (int dx = -2; dx <= 2; dx++) { if (cur_h + dy >= 0 && cur_h + dy < height && cur_w + dx >= 0 && cur_w + dx < width && abs(cur_inv_h_data - (cur_h + dy)) < 1 && abs(cur_inv_w_data - (cur_w + dx)) < 1) { int cur_bottom_grad_pos = ((b * channels + c) * height + cur_h + dy) * width + cur_w + dx; scalar_t weight = get_gradient_weight(cur_inv_h_data, cur_inv_w_data, cur_h + dy, cur_w + dx, height, width); atomicAdd(grad_im + cur_bottom_grad_pos, weight * cur_top_grad); } } } } } void deformable_col2im( const at::Tensor data_col, const at::Tensor data_offset, const int channels, const int height, const int width, const int ksize_h, const int ksize_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int parallel_imgs, const int deformable_group, at::Tensor grad_im) { // todo: make sure parallel_imgs is passed in correctly int height_col = (height + 2 * pad_h - (dilation_h * (ksize_h - 1) + 1)) / stride_h + 1; int width_col = (width + 2 * pad_w - (dilation_w * (ksize_w - 1) + 1)) / stride_w + 1; int num_kernels = channels * ksize_h * ksize_w * height_col * width_col * parallel_imgs; int channel_per_deformable_group = channels / deformable_group; AT_DISPATCH_FLOATING_TYPES_AND_HALF( data_col.scalar_type(), "deformable_col2im_gpu", ([&] { const scalar_t *data_col_ = data_col.data(); const scalar_t *data_offset_ = data_offset.data(); scalar_t *grad_im_ = grad_im.data(); deformable_col2im_gpu_kernel<<>>( num_kernels, data_col_, data_offset_, channels, height, width, ksize_h, ksize_w, pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, channel_per_deformable_group, parallel_imgs, deformable_group, height_col, width_col, grad_im_); })); cudaError_t err = cudaGetLastError(); if (err != cudaSuccess) { printf("error in deformable_col2im: %s\n", cudaGetErrorString(err)); } } template __global__ void deformable_col2im_coord_gpu_kernel(const int n, const scalar_t *data_col, const scalar_t *data_im, const scalar_t *data_offset, const int channels, const int height, const int width, const int kernel_h, const int kernel_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int channel_per_deformable_group, const int batch_size, const int offset_channels, const int deformable_group, const int height_col, const int width_col, scalar_t *grad_offset) { CUDA_KERNEL_LOOP(index, n) { scalar_t val = 0; int w = index % width_col; int h = (index / width_col) % height_col; int c = (index / width_col / height_col) % offset_channels; int b = (index / width_col / height_col) / offset_channels; // compute the start and end of the output const int deformable_group_index = c / (2 * kernel_h * kernel_w); const int col_step = kernel_h * kernel_w; int cnt = 0; const scalar_t *data_col_ptr = data_col + deformable_group_index * channel_per_deformable_group * batch_size * width_col * height_col; const scalar_t *data_im_ptr = data_im + (b * deformable_group + deformable_group_index) * channel_per_deformable_group / kernel_h / kernel_w * height * width; const scalar_t *data_offset_ptr = data_offset + (b * deformable_group + deformable_group_index) * 2 * kernel_h * kernel_w * height_col * width_col; const int offset_c = c - deformable_group_index * 2 * kernel_h * kernel_w; for (int col_c = (offset_c / 2); col_c < channel_per_deformable_group; col_c += col_step) { const int col_pos = (((col_c * batch_size + b) * height_col) + h) * width_col + w; const int bp_dir = offset_c % 2; int j = (col_pos / width_col / height_col / batch_size) % kernel_w; int i = (col_pos / width_col / height_col / batch_size / kernel_w) % kernel_h; int w_out = col_pos % width_col; int h_out = (col_pos / width_col) % height_col; int w_in = w_out * stride_w - pad_w; int h_in = h_out * stride_h - pad_h; const int data_offset_h_ptr = (((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out); const int data_offset_w_ptr = (((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col + w_out); const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr]; const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr]; scalar_t inv_h = h_in + i * dilation_h + offset_h; scalar_t inv_w = w_in + j * dilation_w + offset_w; if (inv_h <= -1 || inv_w <= -1 || inv_h >= height || inv_w >= width) { inv_h = inv_w = -2; } const scalar_t weight = get_coordinate_weight( inv_h, inv_w, height, width, data_im_ptr + cnt * height * width, width, bp_dir); val += weight * data_col_ptr[col_pos]; cnt += 1; } grad_offset[index] = val; } } void deformable_col2im_coord( const at::Tensor data_col, const at::Tensor data_im, const at::Tensor data_offset, const int channels, const int height, const int width, const int ksize_h, const int ksize_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int parallel_imgs, const int deformable_group, at::Tensor grad_offset) { int height_col = (height + 2 * pad_h - (dilation_h * (ksize_h - 1) + 1)) / stride_h + 1; int width_col = (width + 2 * pad_w - (dilation_w * (ksize_w - 1) + 1)) / stride_w + 1; int num_kernels = height_col * width_col * 2 * ksize_h * ksize_w * deformable_group * parallel_imgs; int channel_per_deformable_group = channels * ksize_h * ksize_w / deformable_group; AT_DISPATCH_FLOATING_TYPES_AND_HALF( data_col.scalar_type(), "deformable_col2im_coord_gpu", ([&] { const scalar_t *data_col_ = data_col.data(); const scalar_t *data_im_ = data_im.data(); const scalar_t *data_offset_ = data_offset.data(); scalar_t *grad_offset_ = grad_offset.data(); deformable_col2im_coord_gpu_kernel<<>>( num_kernels, data_col_, data_im_, data_offset_, channels, height, width, ksize_h, ksize_w, pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, channel_per_deformable_group, parallel_imgs, 2 * ksize_h * ksize_w * deformable_group, deformable_group, height_col, width_col, grad_offset_); })); } template __device__ scalar_t dmcn_im2col_bilinear(const scalar_t *bottom_data, const int data_width, const int height, const int width, scalar_t h, scalar_t w) { int h_low = floor(h); int w_low = floor(w); int h_high = h_low + 1; int w_high = w_low + 1; scalar_t lh = h - h_low; scalar_t lw = w - w_low; scalar_t hh = 1 - lh, hw = 1 - lw; scalar_t v1 = 0; if (h_low >= 0 && w_low >= 0) v1 = bottom_data[h_low * data_width + w_low]; scalar_t v2 = 0; if (h_low >= 0 && w_high <= width - 1) v2 = bottom_data[h_low * data_width + w_high]; scalar_t v3 = 0; if (h_high <= height - 1 && w_low >= 0) v3 = bottom_data[h_high * data_width + w_low]; scalar_t v4 = 0; if (h_high <= height - 1 && w_high <= width - 1) v4 = bottom_data[h_high * data_width + w_high]; scalar_t w1 = hh * hw, w2 = hh * lw, w3 = lh * hw, w4 = lh * lw; scalar_t val = (w1 * v1 + w2 * v2 + w3 * v3 + w4 * v4); return val; } template __device__ scalar_t dmcn_get_gradient_weight(scalar_t argmax_h, scalar_t argmax_w, const int h, const int w, const int height, const int width) { if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 || argmax_w >= width) { //empty return 0; } int argmax_h_low = floor(argmax_h); int argmax_w_low = floor(argmax_w); int argmax_h_high = argmax_h_low + 1; int argmax_w_high = argmax_w_low + 1; scalar_t weight = 0; if (h == argmax_h_low && w == argmax_w_low) weight = (h + 1 - argmax_h) * (w + 1 - argmax_w); if (h == argmax_h_low && w == argmax_w_high) weight = (h + 1 - argmax_h) * (argmax_w + 1 - w); if (h == argmax_h_high && w == argmax_w_low) weight = (argmax_h + 1 - h) * (w + 1 - argmax_w); if (h == argmax_h_high && w == argmax_w_high) weight = (argmax_h + 1 - h) * (argmax_w + 1 - w); return weight; } template __device__ scalar_t dmcn_get_coordinate_weight(scalar_t argmax_h, scalar_t argmax_w, const int height, const int width, const scalar_t *im_data, const int data_width, const int bp_dir) { if (argmax_h <= -1 || argmax_h >= height || argmax_w <= -1 || argmax_w >= width) { //empty return 0; } int argmax_h_low = floor(argmax_h); int argmax_w_low = floor(argmax_w); int argmax_h_high = argmax_h_low + 1; int argmax_w_high = argmax_w_low + 1; scalar_t weight = 0; if (bp_dir == 0) { if (argmax_h_low >= 0 && argmax_w_low >= 0) weight += -1 * (argmax_w_low + 1 - argmax_w) * im_data[argmax_h_low * data_width + argmax_w_low]; if (argmax_h_low >= 0 && argmax_w_high <= width - 1) weight += -1 * (argmax_w - argmax_w_low) * im_data[argmax_h_low * data_width + argmax_w_high]; if (argmax_h_high <= height - 1 && argmax_w_low >= 0) weight += (argmax_w_low + 1 - argmax_w) * im_data[argmax_h_high * data_width + argmax_w_low]; if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1) weight += (argmax_w - argmax_w_low) * im_data[argmax_h_high * data_width + argmax_w_high]; } else if (bp_dir == 1) { if (argmax_h_low >= 0 && argmax_w_low >= 0) weight += -1 * (argmax_h_low + 1 - argmax_h) * im_data[argmax_h_low * data_width + argmax_w_low]; if (argmax_h_low >= 0 && argmax_w_high <= width - 1) weight += (argmax_h_low + 1 - argmax_h) * im_data[argmax_h_low * data_width + argmax_w_high]; if (argmax_h_high <= height - 1 && argmax_w_low >= 0) weight += -1 * (argmax_h - argmax_h_low) * im_data[argmax_h_high * data_width + argmax_w_low]; if (argmax_h_high <= height - 1 && argmax_w_high <= width - 1) weight += (argmax_h - argmax_h_low) * im_data[argmax_h_high * data_width + argmax_w_high]; } return weight; } template __global__ void modulated_deformable_im2col_gpu_kernel(const int n, const scalar_t *data_im, const scalar_t *data_offset, const scalar_t *data_mask, const int height, const int width, const int kernel_h, const int kernel_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int channel_per_deformable_group, const int batch_size, const int num_channels, const int deformable_group, const int height_col, const int width_col, scalar_t *data_col) { CUDA_KERNEL_LOOP(index, n) { // index index of output matrix const int w_col = index % width_col; const int h_col = (index / width_col) % height_col; const int b_col = (index / width_col / height_col) % batch_size; const int c_im = (index / width_col / height_col) / batch_size; const int c_col = c_im * kernel_h * kernel_w; // compute deformable group index const int deformable_group_index = c_im / channel_per_deformable_group; const int h_in = h_col * stride_h - pad_h; const int w_in = w_col * stride_w - pad_w; scalar_t *data_col_ptr = data_col + ((c_col * batch_size + b_col) * height_col + h_col) * width_col + w_col; //const float* data_im_ptr = data_im + ((b_col * num_channels + c_im) * height + h_in) * width + w_in; const scalar_t *data_im_ptr = data_im + (b_col * num_channels + c_im) * height * width; const scalar_t *data_offset_ptr = data_offset + (b_col * deformable_group + deformable_group_index) * 2 * kernel_h * kernel_w * height_col * width_col; const scalar_t *data_mask_ptr = data_mask + (b_col * deformable_group + deformable_group_index) * kernel_h * kernel_w * height_col * width_col; for (int i = 0; i < kernel_h; ++i) { for (int j = 0; j < kernel_w; ++j) { const int data_offset_h_ptr = ((2 * (i * kernel_w + j)) * height_col + h_col) * width_col + w_col; const int data_offset_w_ptr = ((2 * (i * kernel_w + j) + 1) * height_col + h_col) * width_col + w_col; const int data_mask_hw_ptr = ((i * kernel_w + j) * height_col + h_col) * width_col + w_col; const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr]; const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr]; const scalar_t mask = data_mask_ptr[data_mask_hw_ptr]; scalar_t val = static_cast(0); const scalar_t h_im = h_in + i * dilation_h + offset_h; const scalar_t w_im = w_in + j * dilation_w + offset_w; //if (h_im >= 0 && w_im >= 0 && h_im < height && w_im < width) { if (h_im > -1 && w_im > -1 && h_im < height && w_im < width) { //const float map_h = i * dilation_h + offset_h; //const float map_w = j * dilation_w + offset_w; //const int cur_height = height - h_in; //const int cur_width = width - w_in; //val = dmcn_im2col_bilinear(data_im_ptr, width, cur_height, cur_width, map_h, map_w); val = dmcn_im2col_bilinear(data_im_ptr, width, height, width, h_im, w_im); } *data_col_ptr = val * mask; data_col_ptr += batch_size * height_col * width_col; //data_col_ptr += height_col * width_col; } } } } template __global__ void modulated_deformable_col2im_gpu_kernel(const int n, const scalar_t *data_col, const scalar_t *data_offset, const scalar_t *data_mask, const int channels, const int height, const int width, const int kernel_h, const int kernel_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int channel_per_deformable_group, const int batch_size, const int deformable_group, const int height_col, const int width_col, scalar_t *grad_im) { CUDA_KERNEL_LOOP(index, n) { const int j = (index / width_col / height_col / batch_size) % kernel_w; const int i = (index / width_col / height_col / batch_size / kernel_w) % kernel_h; const int c = index / width_col / height_col / batch_size / kernel_w / kernel_h; // compute the start and end of the output const int deformable_group_index = c / channel_per_deformable_group; int w_out = index % width_col; int h_out = (index / width_col) % height_col; int b = (index / width_col / height_col) % batch_size; int w_in = w_out * stride_w - pad_w; int h_in = h_out * stride_h - pad_h; const scalar_t *data_offset_ptr = data_offset + (b * deformable_group + deformable_group_index) * 2 * kernel_h * kernel_w * height_col * width_col; const scalar_t *data_mask_ptr = data_mask + (b * deformable_group + deformable_group_index) * kernel_h * kernel_w * height_col * width_col; const int data_offset_h_ptr = ((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out; const int data_offset_w_ptr = ((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col + w_out; const int data_mask_hw_ptr = ((i * kernel_w + j) * height_col + h_out) * width_col + w_out; const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr]; const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr]; const scalar_t mask = data_mask_ptr[data_mask_hw_ptr]; const scalar_t cur_inv_h_data = h_in + i * dilation_h + offset_h; const scalar_t cur_inv_w_data = w_in + j * dilation_w + offset_w; const scalar_t cur_top_grad = data_col[index] * mask; const int cur_h = (int)cur_inv_h_data; const int cur_w = (int)cur_inv_w_data; for (int dy = -2; dy <= 2; dy++) { for (int dx = -2; dx <= 2; dx++) { if (cur_h + dy >= 0 && cur_h + dy < height && cur_w + dx >= 0 && cur_w + dx < width && abs(cur_inv_h_data - (cur_h + dy)) < 1 && abs(cur_inv_w_data - (cur_w + dx)) < 1) { int cur_bottom_grad_pos = ((b * channels + c) * height + cur_h + dy) * width + cur_w + dx; scalar_t weight = dmcn_get_gradient_weight(cur_inv_h_data, cur_inv_w_data, cur_h + dy, cur_w + dx, height, width); atomicAdd(grad_im + cur_bottom_grad_pos, weight * cur_top_grad); } } } } } template __global__ void modulated_deformable_col2im_coord_gpu_kernel(const int n, const scalar_t *data_col, const scalar_t *data_im, const scalar_t *data_offset, const scalar_t *data_mask, const int channels, const int height, const int width, const int kernel_h, const int kernel_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int channel_per_deformable_group, const int batch_size, const int offset_channels, const int deformable_group, const int height_col, const int width_col, scalar_t *grad_offset, scalar_t *grad_mask) { CUDA_KERNEL_LOOP(index, n) { scalar_t val = 0, mval = 0; int w = index % width_col; int h = (index / width_col) % height_col; int c = (index / width_col / height_col) % offset_channels; int b = (index / width_col / height_col) / offset_channels; // compute the start and end of the output const int deformable_group_index = c / (2 * kernel_h * kernel_w); const int col_step = kernel_h * kernel_w; int cnt = 0; const scalar_t *data_col_ptr = data_col + deformable_group_index * channel_per_deformable_group * batch_size * width_col * height_col; const scalar_t *data_im_ptr = data_im + (b * deformable_group + deformable_group_index) * channel_per_deformable_group / kernel_h / kernel_w * height * width; const scalar_t *data_offset_ptr = data_offset + (b * deformable_group + deformable_group_index) * 2 * kernel_h * kernel_w * height_col * width_col; const scalar_t *data_mask_ptr = data_mask + (b * deformable_group + deformable_group_index) * kernel_h * kernel_w * height_col * width_col; const int offset_c = c - deformable_group_index * 2 * kernel_h * kernel_w; for (int col_c = (offset_c / 2); col_c < channel_per_deformable_group; col_c += col_step) { const int col_pos = (((col_c * batch_size + b) * height_col) + h) * width_col + w; const int bp_dir = offset_c % 2; int j = (col_pos / width_col / height_col / batch_size) % kernel_w; int i = (col_pos / width_col / height_col / batch_size / kernel_w) % kernel_h; int w_out = col_pos % width_col; int h_out = (col_pos / width_col) % height_col; int w_in = w_out * stride_w - pad_w; int h_in = h_out * stride_h - pad_h; const int data_offset_h_ptr = (((2 * (i * kernel_w + j)) * height_col + h_out) * width_col + w_out); const int data_offset_w_ptr = (((2 * (i * kernel_w + j) + 1) * height_col + h_out) * width_col + w_out); const int data_mask_hw_ptr = (((i * kernel_w + j) * height_col + h_out) * width_col + w_out); const scalar_t offset_h = data_offset_ptr[data_offset_h_ptr]; const scalar_t offset_w = data_offset_ptr[data_offset_w_ptr]; const scalar_t mask = data_mask_ptr[data_mask_hw_ptr]; scalar_t inv_h = h_in + i * dilation_h + offset_h; scalar_t inv_w = w_in + j * dilation_w + offset_w; if (inv_h <= -1 || inv_w <= -1 || inv_h >= height || inv_w >= width) { inv_h = inv_w = -2; } else { mval += data_col_ptr[col_pos] * dmcn_im2col_bilinear(data_im_ptr + cnt * height * width, width, height, width, inv_h, inv_w); } const scalar_t weight = dmcn_get_coordinate_weight( inv_h, inv_w, height, width, data_im_ptr + cnt * height * width, width, bp_dir); val += weight * data_col_ptr[col_pos] * mask; cnt += 1; } // KERNEL_ASSIGN(grad_offset[index], offset_req, val); grad_offset[index] = val; if (offset_c % 2 == 0) // 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); grad_mask[(((b * deformable_group + deformable_group_index) * kernel_h * kernel_w + offset_c / 2) * height_col + h) * width_col + w] = mval; } } void modulated_deformable_im2col_cuda( const at::Tensor data_im, const at::Tensor data_offset, const at::Tensor data_mask, const int batch_size, const int channels, const int height_im, const int width_im, const int height_col, const int width_col, const int kernel_h, const int kenerl_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int deformable_group, at::Tensor data_col) { // num_axes should be smaller than block size const int channel_per_deformable_group = channels / deformable_group; const int num_kernels = channels * batch_size * height_col * width_col; AT_DISPATCH_FLOATING_TYPES_AND_HALF( data_im.scalar_type(), "modulated_deformable_im2col_gpu", ([&] { const scalar_t *data_im_ = data_im.data(); const scalar_t *data_offset_ = data_offset.data(); const scalar_t *data_mask_ = data_mask.data(); scalar_t *data_col_ = data_col.data(); modulated_deformable_im2col_gpu_kernel<<>>( num_kernels, data_im_, data_offset_, data_mask_, height_im, width_im, kernel_h, kenerl_w, pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, channel_per_deformable_group, batch_size, channels, deformable_group, height_col, width_col, data_col_); })); cudaError_t err = cudaGetLastError(); if (err != cudaSuccess) { printf("error in modulated_deformable_im2col_cuda: %s\n", cudaGetErrorString(err)); } } void modulated_deformable_col2im_cuda( const at::Tensor data_col, const at::Tensor data_offset, const at::Tensor data_mask, const int batch_size, const int channels, const int height_im, const int width_im, const int height_col, const int width_col, const int kernel_h, const int kernel_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int deformable_group, at::Tensor grad_im) { const int channel_per_deformable_group = channels / deformable_group; const int num_kernels = channels * kernel_h * kernel_w * batch_size * height_col * width_col; AT_DISPATCH_FLOATING_TYPES_AND_HALF( data_col.scalar_type(), "modulated_deformable_col2im_gpu", ([&] { const scalar_t *data_col_ = data_col.data(); const scalar_t *data_offset_ = data_offset.data(); const scalar_t *data_mask_ = data_mask.data(); scalar_t *grad_im_ = grad_im.data(); modulated_deformable_col2im_gpu_kernel<<>>( num_kernels, data_col_, data_offset_, data_mask_, channels, height_im, width_im, kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, channel_per_deformable_group, batch_size, deformable_group, height_col, width_col, grad_im_); })); cudaError_t err = cudaGetLastError(); if (err != cudaSuccess) { printf("error in modulated_deformable_col2im_cuda: %s\n", cudaGetErrorString(err)); } } void modulated_deformable_col2im_coord_cuda( const at::Tensor data_col, const at::Tensor data_im, const at::Tensor data_offset, const at::Tensor data_mask, const int batch_size, const int channels, const int height_im, const int width_im, const int height_col, const int width_col, const int kernel_h, const int kernel_w, const int pad_h, const int pad_w, const int stride_h, const int stride_w, const int dilation_h, const int dilation_w, const int deformable_group, at::Tensor grad_offset, at::Tensor grad_mask) { const int num_kernels = batch_size * height_col * width_col * 2 * kernel_h * kernel_w * deformable_group; const int channel_per_deformable_group = channels * kernel_h * kernel_w / deformable_group; AT_DISPATCH_FLOATING_TYPES_AND_HALF( data_col.scalar_type(), "modulated_deformable_col2im_coord_gpu", ([&] { const scalar_t *data_col_ = data_col.data(); const scalar_t *data_im_ = data_im.data(); const scalar_t *data_offset_ = data_offset.data(); const scalar_t *data_mask_ = data_mask.data(); scalar_t *grad_offset_ = grad_offset.data(); scalar_t *grad_mask_ = grad_mask.data(); modulated_deformable_col2im_coord_gpu_kernel<<>>( num_kernels, data_col_, data_im_, data_offset_, data_mask_, channels, height_im, width_im, kernel_h, kernel_w, pad_h, pad_w, stride_h, stride_w, dilation_h, dilation_w, channel_per_deformable_group, batch_size, 2 * kernel_h * kernel_w * deformable_group, deformable_group, height_col, width_col, grad_offset_, grad_mask_); })); cudaError_t err = cudaGetLastError(); if (err != cudaSuccess) { printf("error in modulated_deformable_col2im_coord_cuda: %s\n", cudaGetErrorString(err)); } } ================================================ FILE: nets/estimation.py ================================================ import torch import torch.nn as nn import torch.nn.functional as F class DisparityEstimation(nn.Module): def __init__(self, max_disp, match_similarity=True): super(DisparityEstimation, self).__init__() self.max_disp = max_disp self.match_similarity = match_similarity def forward(self, cost_volume): assert cost_volume.dim() == 4 # Matching similarity or matching cost cost_volume = cost_volume if self.match_similarity else -cost_volume prob_volume = F.softmax(cost_volume, dim=1) # [B, D, H, W] if cost_volume.size(1) == self.max_disp: disp_candidates = torch.arange(0, self.max_disp).type_as(prob_volume) else: max_disp = prob_volume.size(1) # current max disparity disp_candidates = torch.arange(0, max_disp).type_as(prob_volume) disp_candidates = disp_candidates.view(1, cost_volume.size(1), 1, 1) disp = torch.sum(prob_volume * disp_candidates, 1, keepdim=False) # [B, H, W] return disp ================================================ FILE: nets/feature.py ================================================ import torch import torch.nn as nn import torch.nn.functional as F from nets.deform import DeformConv2d def conv1x1(in_channels, out_channels): return nn.Sequential(nn.Conv2d(in_channels, out_channels, kernel_size=1, bias=False), nn.BatchNorm2d(out_channels), nn.ReLU(inplace=True)) # Used for StereoNet feature extractor def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1, with_bn_relu=False, leaky_relu=False): """3x3 convolution with padding""" conv = nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride, padding=dilation, groups=groups, bias=False, dilation=dilation) if with_bn_relu: relu = nn.LeakyReLU(0.2, inplace=True) if leaky_relu else nn.ReLU(inplace=True) conv = nn.Sequential(conv, nn.BatchNorm2d(out_planes), relu) return conv def conv5x5(in_channels, out_channels, stride=2, dilation=1, use_bn=True): bias = False if use_bn else True conv = nn.Conv2d(in_channels, out_channels, kernel_size=5, stride=stride, padding=2, dilation=dilation, bias=bias) relu = nn.ReLU(inplace=True) if use_bn: out = nn.Sequential(conv, nn.BatchNorm2d(out_channels), relu) else: out = nn.Sequential(conv, relu) return out class BasicBlock(nn.Module): expansion = 1 def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1, base_width=64, dilation=1, norm_layer=None, leaky_relu=True): """StereoNet uses leaky relu (alpha = 0.2)""" super(BasicBlock, self).__init__() if norm_layer is None: norm_layer = nn.BatchNorm2d # Both self.conv1 and self.downsample layers downsample the input when stride != 1 self.conv1 = conv3x3(inplanes, planes, stride=stride, dilation=dilation) self.bn1 = norm_layer(planes) self.relu = nn.LeakyReLU(0.2, inplace=True) if leaky_relu else nn.ReLU(inplace=True) self.conv2 = conv3x3(planes, planes, dilation=dilation) self.bn2 = norm_layer(planes) self.downsample = downsample self.stride = stride def forward(self, x): identity = x out = self.conv1(x) out = self.bn1(out) out = self.relu(out) out = self.conv2(out) out = self.bn2(out) if self.downsample is not None: identity = self.downsample(x) out += identity out = self.relu(out) return out class StereoNetFeature(nn.Module): def __init__(self, num_downsample=3): """Feature extractor of StereoNet Args: num_downsample: 2, 3 or 4 """ super(StereoNetFeature, self).__init__() self.num_downsample = num_downsample downsample = nn.ModuleList() in_channels = 3 out_channels = 32 for _ in range(num_downsample): downsample.append(conv5x5(in_channels, out_channels)) in_channels = 32 self.downsample = nn.Sequential(*downsample) residual_blocks = nn.ModuleList() for _ in range(6): residual_blocks.append(BasicBlock(out_channels, out_channels)) self.residual_blocks = nn.Sequential(*residual_blocks) # StereoNet has no bn and relu for last conv layer, self.final_conv = conv3x3(out_channels, out_channels) def forward(self, img): out = self.downsample(img) # [B, 32, H/8, W/8] out = self.residual_blocks(out) # [B, 32, H/8, W/8] out = self.final_conv(out) # [B, 32, H/8, W/8] return out # Used for PSMNet feature extractor def convbn(in_planes, out_planes, kernel_size, stride, pad, dilation): return nn.Sequential(nn.Conv2d(in_planes, out_planes, kernel_size=kernel_size, stride=stride, padding=dilation if dilation > 1 else pad, dilation=dilation, bias=False), nn.BatchNorm2d(out_planes)) class PSMNetBasicBlock(nn.Module): expansion = 1 def __init__(self, inplanes, planes, stride, downsample, pad, dilation): super(PSMNetBasicBlock, self).__init__() self.conv1 = nn.Sequential(convbn(inplanes, planes, 3, stride, pad, dilation), nn.ReLU(inplace=True)) self.conv2 = convbn(planes, planes, 3, 1, pad, dilation) self.downsample = downsample self.stride = stride def forward(self, x): out = self.conv1(x) out = self.conv2(out) if self.downsample is not None: x = self.downsample(x) out += x return out class FeaturePyrmaid(nn.Module): def __init__(self, in_channel=32): super(FeaturePyrmaid, self).__init__() self.out1 = nn.Sequential(nn.Conv2d(in_channel, in_channel * 2, kernel_size=3, stride=2, padding=1, bias=False), nn.BatchNorm2d(in_channel * 2), nn.LeakyReLU(0.2, inplace=True), nn.Conv2d(in_channel * 2, in_channel * 2, kernel_size=1, stride=1, padding=0, bias=False), nn.BatchNorm2d(in_channel * 2), nn.LeakyReLU(0.2, inplace=True), ) self.out2 = nn.Sequential(nn.Conv2d(in_channel * 2, in_channel * 4, kernel_size=3, stride=2, padding=1, bias=False), nn.BatchNorm2d(in_channel * 4), nn.LeakyReLU(0.2, inplace=True), nn.Conv2d(in_channel * 4, in_channel * 4, kernel_size=1, stride=1, padding=0, bias=False), nn.BatchNorm2d(in_channel * 4), nn.LeakyReLU(0.2, inplace=True), ) def forward(self, x): # x: [B, 32, H, W] out1 = self.out1(x) # [B, 64, H/2, W/2] out2 = self.out2(out1) # [B, 128, H/4, W/4] return [x, out1, out2] class FeaturePyramidNetwork(nn.Module): def __init__(self, in_channels, out_channels=128, num_levels=3): # FPN paper uses 256 out channels by default super(FeaturePyramidNetwork, self).__init__() assert isinstance(in_channels, list) self.in_channels = in_channels self.lateral_convs = nn.ModuleList() self.fpn_convs = nn.ModuleList() for i in range(num_levels): lateral_conv = nn.Conv2d(in_channels[i], out_channels, 1) fpn_conv = nn.Sequential( nn.Conv2d(out_channels, out_channels, 3, padding=1), nn.BatchNorm2d(out_channels), nn.ReLU(inplace=True)) self.lateral_convs.append(lateral_conv) self.fpn_convs.append(fpn_conv) # Initialize weights for m in self.modules(): if isinstance(m, nn.Conv2d): nn.init.xavier_uniform_(m.weight, gain=1) if hasattr(m, 'bias'): nn.init.constant_(m.bias, 0) def forward(self, inputs): # Inputs: resolution high -> low assert len(self.in_channels) == len(inputs) # Build laterals laterals = [lateral_conv(inputs[i]) for i, lateral_conv in enumerate(self.lateral_convs)] # Build top-down path used_backbone_levels = len(laterals) for i in range(used_backbone_levels - 1, 0, -1): laterals[i - 1] += F.interpolate( laterals[i], scale_factor=2, mode='nearest') # Build outputs out = [ self.fpn_convs[i](laterals[i]) for i in range(used_backbone_levels) ] return out class PSMNetFeature(nn.Module): def __init__(self): super(PSMNetFeature, self).__init__() self.inplanes = 32 self.firstconv = nn.Sequential(convbn(3, 32, 3, 2, 1, 1), nn.ReLU(inplace=True), convbn(32, 32, 3, 1, 1, 1), nn.ReLU(inplace=True), convbn(32, 32, 3, 1, 1, 1), nn.ReLU(inplace=True)) # H/2 self.layer1 = self._make_layer(PSMNetBasicBlock, 32, 3, 1, 1, 1) self.layer2 = self._make_layer(PSMNetBasicBlock, 64, 16, 2, 1, 1) # H/4 self.layer3 = self._make_layer(PSMNetBasicBlock, 128, 3, 1, 1, 1) self.layer4 = self._make_layer(PSMNetBasicBlock, 128, 3, 1, 1, 2) self.branch1 = nn.Sequential(nn.AvgPool2d((64, 64), stride=(64, 64)), convbn(128, 32, 1, 1, 0, 1), nn.ReLU(inplace=True)) self.branch2 = nn.Sequential(nn.AvgPool2d((32, 32), stride=(32, 32)), convbn(128, 32, 1, 1, 0, 1), nn.ReLU(inplace=True)) self.branch3 = nn.Sequential(nn.AvgPool2d((16, 16), stride=(16, 16)), convbn(128, 32, 1, 1, 0, 1), nn.ReLU(inplace=True)) self.branch4 = nn.Sequential(nn.AvgPool2d((8, 8), stride=(8, 8)), convbn(128, 32, 1, 1, 0, 1), nn.ReLU(inplace=True)) self.lastconv = nn.Sequential(convbn(320, 128, 3, 1, 1, 1), nn.ReLU(inplace=True), nn.Conv2d(128, 32, kernel_size=1, padding=0, stride=1, bias=False)) def _make_layer(self, block, planes, blocks, stride, pad, dilation): downsample = None if stride != 1 or self.inplanes != planes * block.expansion: downsample = nn.Sequential( nn.Conv2d(self.inplanes, planes * block.expansion, kernel_size=1, stride=stride, bias=False), nn.BatchNorm2d(planes * block.expansion), ) layers = [] layers.append(block(self.inplanes, planes, stride, downsample, pad, dilation)) self.inplanes = planes * block.expansion for i in range(1, blocks): layers.append(block(self.inplanes, planes, 1, None, pad, dilation)) return nn.Sequential(*layers) def forward(self, x): output = self.firstconv(x) output = self.layer1(output) output_raw = self.layer2(output) output = self.layer3(output_raw) output_skip = self.layer4(output) output_branch1 = self.branch1(output_skip) output_branch1 = F.interpolate(output_branch1, (output_skip.size()[2], output_skip.size()[3]), mode='bilinear', align_corners=False) output_branch2 = self.branch2(output_skip) output_branch2 = F.interpolate(output_branch2, (output_skip.size()[2], output_skip.size()[3]), mode='bilinear', align_corners=False) output_branch3 = self.branch3(output_skip) output_branch3 = F.interpolate(output_branch3, (output_skip.size()[2], output_skip.size()[3]), mode='bilinear', align_corners=False) output_branch4 = self.branch4(output_skip) output_branch4 = F.interpolate(output_branch4, (output_skip.size()[2], output_skip.size()[3]), mode='bilinear', align_corners=False) output_feature = torch.cat( (output_raw, output_skip, output_branch4, output_branch3, output_branch2, output_branch1), 1) output_feature = self.lastconv(output_feature) # [32, H/4, W/4] return output_feature # GANet feature class BasicConv(nn.Module): def __init__(self, in_channels, out_channels, deconv=False, is_3d=False, bn=True, relu=True, **kwargs): super(BasicConv, self).__init__() self.relu = relu self.use_bn = bn if is_3d: if deconv: self.conv = nn.ConvTranspose3d(in_channels, out_channels, bias=False, **kwargs) else: self.conv = nn.Conv3d(in_channels, out_channels, bias=False, **kwargs) self.bn = nn.BatchNorm3d(out_channels) else: if deconv: self.conv = nn.ConvTranspose2d(in_channels, out_channels, bias=False, **kwargs) else: self.conv = nn.Conv2d(in_channels, out_channels, bias=False, **kwargs) self.bn = nn.BatchNorm2d(out_channels) def forward(self, x): x = self.conv(x) if self.use_bn: x = self.bn(x) if self.relu: x = F.relu(x, inplace=True) return x class Conv2x(nn.Module): def __init__(self, in_channels, out_channels, deconv=False, is_3d=False, concat=True, bn=True, relu=True, mdconv=False): super(Conv2x, self).__init__() self.concat = concat if deconv and is_3d: kernel = (3, 4, 4) elif deconv: kernel = 4 else: kernel = 3 self.conv1 = BasicConv(in_channels, out_channels, deconv, is_3d, bn=True, relu=True, kernel_size=kernel, stride=2, padding=1) if self.concat: if mdconv: self.conv2 = DeformConv2d(out_channels * 2, out_channels, kernel_size=3, stride=1) else: self.conv2 = BasicConv(out_channels * 2, out_channels, False, is_3d, bn, relu, kernel_size=3, stride=1, padding=1) else: self.conv2 = BasicConv(out_channels, out_channels, False, is_3d, bn, relu, kernel_size=3, stride=1, padding=1) def forward(self, x, rem): x = self.conv1(x) assert (x.size() == rem.size()) if self.concat: x = torch.cat((x, rem), 1) else: x = x + rem x = self.conv2(x) return x class GANetFeature(nn.Module): """Height and width need to be divided by 48, downsampled by 1/3""" def __init__(self, feature_mdconv=False): super(GANetFeature, self).__init__() if feature_mdconv: self.conv_start = nn.Sequential( BasicConv(3, 32, kernel_size=3, padding=1), BasicConv(32, 32, kernel_size=5, stride=3, padding=2), DeformConv2d(32, 32)) else: self.conv_start = nn.Sequential( BasicConv(3, 32, kernel_size=3, padding=1), BasicConv(32, 32, kernel_size=5, stride=3, padding=2), BasicConv(32, 32, kernel_size=3, padding=1)) self.conv1a = BasicConv(32, 48, kernel_size=3, stride=2, padding=1) self.conv2a = BasicConv(48, 64, kernel_size=3, stride=2, padding=1) if feature_mdconv: self.conv3a = DeformConv2d(64, 96, kernel_size=3, stride=2) self.conv4a = DeformConv2d(96, 128, kernel_size=3, stride=2) else: self.conv3a = BasicConv(64, 96, kernel_size=3, stride=2, padding=1) self.conv4a = BasicConv(96, 128, kernel_size=3, stride=2, padding=1) self.deconv4a = Conv2x(128, 96, deconv=True) self.deconv3a = Conv2x(96, 64, deconv=True) self.deconv2a = Conv2x(64, 48, deconv=True) self.deconv1a = Conv2x(48, 32, deconv=True) self.conv1b = Conv2x(32, 48) self.conv2b = Conv2x(48, 64) if feature_mdconv: self.conv3b = Conv2x(64, 96, mdconv=True) self.conv4b = Conv2x(96, 128, mdconv=True) else: self.conv3b = Conv2x(64, 96) self.conv4b = Conv2x(96, 128) self.deconv4b = Conv2x(128, 96, deconv=True) self.deconv3b = Conv2x(96, 64, deconv=True) self.deconv2b = Conv2x(64, 48, deconv=True) self.deconv1b = Conv2x(48, 32, deconv=True) def forward(self, x): x = self.conv_start(x) rem0 = x x = self.conv1a(x) rem1 = x x = self.conv2a(x) rem2 = x x = self.conv3a(x) rem3 = x x = self.conv4a(x) rem4 = x x = self.deconv4a(x, rem3) rem3 = x x = self.deconv3a(x, rem2) rem2 = x x = self.deconv2a(x, rem1) rem1 = x x = self.deconv1a(x, rem0) rem0 = x x = self.conv1b(x, rem1) rem1 = x x = self.conv2b(x, rem2) rem2 = x x = self.conv3b(x, rem3) rem3 = x x = self.conv4b(x, rem4) x = self.deconv4b(x, rem3) x = self.deconv3b(x, rem2) x = self.deconv2b(x, rem1) x = self.deconv1b(x, rem0) # [B, 32, H/3, W/3] return x class GCNetFeature(nn.Module): def __init__(self): super(GCNetFeature, self).__init__() self.inplanes = 32 self.conv1 = conv5x5(3, 32) self.conv2 = self._make_layer(PSMNetBasicBlock, 32, 8, 1, 1, 1) self.conv3 = conv3x3(32, 32) def _make_layer(self, block, planes, blocks, stride, pad, dilation): downsample = None if stride != 1 or self.inplanes != planes * block.expansion: downsample = nn.Sequential( nn.Conv2d(self.inplanes, planes * block.expansion, kernel_size=1, stride=stride, bias=False), nn.BatchNorm2d(planes * block.expansion), ) layers = [] layers.append(block(self.inplanes, planes, stride, downsample, pad, dilation)) self.inplanes = planes * block.expansion for i in range(1, blocks): layers.append(block(self.inplanes, planes, 1, None, pad, dilation)) return nn.Sequential(*layers) def forward(self, x): x = self.conv1(x) x = self.conv2(x) x = self.conv3(x) # [32, H/2, W/2] return x ================================================ FILE: nets/refinement.py ================================================ import torch import torch.nn as nn import torch.nn.functional as F from nets.feature import BasicBlock, BasicConv, Conv2x from nets.deform import DeformConv2d from nets.warp import disp_warp def conv2d(in_channels, out_channels, kernel_size=3, stride=1, dilation=1, groups=1): return nn.Sequential(nn.Conv2d(in_channels, out_channels, kernel_size=kernel_size, stride=stride, padding=dilation, dilation=dilation, bias=False, groups=groups), nn.BatchNorm2d(out_channels), nn.LeakyReLU(0.2, inplace=True)) class StereoNetRefinement(nn.Module): def __init__(self): super(StereoNetRefinement, self).__init__() # Original StereoNet: left, disp self.conv = conv2d(4, 32) self.dilation_list = [1, 2, 4, 8, 1, 1] self.dilated_blocks = nn.ModuleList() for dilation in self.dilation_list: self.dilated_blocks.append(BasicBlock(32, 32, stride=1, dilation=dilation)) self.dilated_blocks = nn.Sequential(*self.dilated_blocks) self.final_conv = nn.Conv2d(32, 1, 3, 1, 1) def forward(self, low_disp, left_img, right_img=None): """Upsample low resolution disparity prediction to corresponding resolution as image size Args: low_disp: [B, H, W] left_img: [B, 3, H, W] right_img: [B, 3, H, W] """ assert low_disp.dim() == 3 low_disp = low_disp.unsqueeze(1) # [B, 1, H, W] scale_factor = left_img.size(-1) / low_disp.size(-1) disp = F.interpolate(low_disp, size=left_img.size()[-2:], mode='bilinear', align_corners=False) disp = disp * scale_factor # scale correspondingly concat = torch.cat((disp, left_img), dim=1) # [B, 4, H, W] out = self.conv(concat) out = self.dilated_blocks(out) residual_disp = self.final_conv(out) disp = F.relu(disp + residual_disp, inplace=True) # [B, 1, H, W] disp = disp.squeeze(1) # [B, H, W] return disp class StereoDRNetRefinement(nn.Module): def __init__(self): super(StereoDRNetRefinement, self).__init__() # Left and warped error in_channels = 6 self.conv1 = conv2d(in_channels, 16) self.conv2 = conv2d(1, 16) # on low disparity self.dilation_list = [1, 2, 4, 8, 1, 1] self.dilated_blocks = nn.ModuleList() for dilation in self.dilation_list: self.dilated_blocks.append(BasicBlock(32, 32, stride=1, dilation=dilation)) self.dilated_blocks = nn.Sequential(*self.dilated_blocks) self.final_conv = nn.Conv2d(32, 1, 3, 1, 1) def forward(self, low_disp, left_img, right_img): assert low_disp.dim() == 3 low_disp = low_disp.unsqueeze(1) # [B, 1, H, W] scale_factor = left_img.size(-1) / low_disp.size(-1) if scale_factor == 1.0: disp = low_disp else: disp = F.interpolate(low_disp, size=left_img.size()[-2:], mode='bilinear', align_corners=False) disp = disp * scale_factor # Warp right image to left view with current disparity warped_right = disp_warp(right_img, disp)[0] # [B, C, H, W] error = warped_right - left_img # [B, C, H, W] concat1 = torch.cat((error, left_img), dim=1) # [B, 6, H, W] conv1 = self.conv1(concat1) # [B, 16, H, W] conv2 = self.conv2(disp) # [B, 16, H, W] concat2 = torch.cat((conv1, conv2), dim=1) # [B, 32, H, W] out = self.dilated_blocks(concat2) # [B, 32, H, W] residual_disp = self.final_conv(out) # [B, 1, H, W] disp = F.relu(disp + residual_disp, inplace=True) # [B, 1, H, W] disp = disp.squeeze(1) # [B, H, W] return disp class HourglassRefinement(nn.Module): """Height and width need to be divided by 16""" def __init__(self): super(HourglassRefinement, self).__init__() # Left and warped error in_channels = 6 self.conv1 = conv2d(in_channels, 16) self.conv2 = conv2d(1, 16) # on low disparity self.conv_start = DeformConv2d(32, 32) self.conv1a = BasicConv(32, 48, kernel_size=3, stride=2, padding=1) self.conv2a = BasicConv(48, 64, kernel_size=3, stride=2, padding=1) self.conv3a = DeformConv2d(64, 96, kernel_size=3, stride=2) self.conv4a = DeformConv2d(96, 128, kernel_size=3, stride=2) self.deconv4a = Conv2x(128, 96, deconv=True) self.deconv3a = Conv2x(96, 64, deconv=True) self.deconv2a = Conv2x(64, 48, deconv=True) self.deconv1a = Conv2x(48, 32, deconv=True) self.conv1b = Conv2x(32, 48) self.conv2b = Conv2x(48, 64) self.conv3b = Conv2x(64, 96, mdconv=True) self.conv4b = Conv2x(96, 128, mdconv=True) self.deconv4b = Conv2x(128, 96, deconv=True) self.deconv3b = Conv2x(96, 64, deconv=True) self.deconv2b = Conv2x(64, 48, deconv=True) self.deconv1b = Conv2x(48, 32, deconv=True) self.final_conv = nn.Conv2d(32, 1, 3, 1, 1) def forward(self, low_disp, left_img, right_img): assert low_disp.dim() == 3 low_disp = low_disp.unsqueeze(1) # [B, 1, H, W] scale_factor = left_img.size(-1) / low_disp.size(-1) if scale_factor == 1.0: disp = low_disp else: disp = F.interpolate(low_disp, size=left_img.size()[-2:], mode='bilinear', align_corners=False) disp = disp * scale_factor # Warp right image to left view with current disparity warped_right = disp_warp(right_img, disp)[0] # [B, C, H, W] error = warped_right - left_img # [B, C, H, W] concat1 = torch.cat((error, left_img), dim=1) # [B, 6, H, W] conv1 = self.conv1(concat1) # [B, 16, H, W] conv2 = self.conv2(disp) # [B, 16, H, W] x = torch.cat((conv1, conv2), dim=1) # [B, 32, H, W] x = self.conv_start(x) rem0 = x x = self.conv1a(x) rem1 = x x = self.conv2a(x) rem2 = x x = self.conv3a(x) rem3 = x x = self.conv4a(x) rem4 = x x = self.deconv4a(x, rem3) rem3 = x x = self.deconv3a(x, rem2) rem2 = x x = self.deconv2a(x, rem1) rem1 = x x = self.deconv1a(x, rem0) rem0 = x x = self.conv1b(x, rem1) rem1 = x x = self.conv2b(x, rem2) rem2 = x x = self.conv3b(x, rem3) rem3 = x x = self.conv4b(x, rem4) x = self.deconv4b(x, rem3) x = self.deconv3b(x, rem2) x = self.deconv2b(x, rem1) x = self.deconv1b(x, rem0) # [B, 32, H, W] residual_disp = self.final_conv(x) # [B, 1, H, W] disp = F.relu(disp + residual_disp, inplace=True) # [B, 1, H, W] disp = disp.squeeze(1) # [B, H, W] return disp ================================================ FILE: nets/resnet.py ================================================ import torch.nn as nn from nets.deform import DeformBottleneck def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1): """3x3 convolution with padding""" return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride, padding=dilation, groups=groups, bias=False, dilation=dilation) def conv1x1(in_planes, out_planes, stride=1): """1x1 convolution""" return nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=stride, bias=False) class BasicBlock(nn.Module): expansion = 1 __constants__ = ['downsample'] def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1, base_width=64, dilation=1, norm_layer=None): super(BasicBlock, self).__init__() if norm_layer is None: norm_layer = nn.BatchNorm2d if groups != 1 or base_width != 64: raise ValueError('BasicBlock only supports groups=1 and base_width=64') if dilation > 1: raise NotImplementedError("Dilation > 1 not supported in BasicBlock") # Both self.conv1 and self.downsample layers downsample the input when stride != 1 self.conv1 = conv3x3(inplanes, planes, stride) self.bn1 = norm_layer(planes) self.relu = nn.ReLU(inplace=True) self.conv2 = conv3x3(planes, planes) self.bn2 = norm_layer(planes) self.downsample = downsample self.stride = stride def forward(self, x): identity = x out = self.conv1(x) out = self.bn1(out) out = self.relu(out) out = self.conv2(out) out = self.bn2(out) if self.downsample is not None: identity = self.downsample(x) out += identity out = self.relu(out) return out class Bottleneck(nn.Module): expansion = 4 __constants__ = ['downsample'] def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1, base_width=64, dilation=1, norm_layer=None): super(Bottleneck, self).__init__() if norm_layer is None: norm_layer = nn.BatchNorm2d width = int(planes * (base_width / 64.)) * groups # Both self.conv2 and self.downsample layers downsample the input when stride != 1 self.conv1 = conv1x1(inplanes, width) self.bn1 = norm_layer(width) self.conv2 = conv3x3(width, width, stride, groups, dilation) self.bn2 = norm_layer(width) self.conv3 = conv1x1(width, planes * self.expansion) self.bn3 = norm_layer(planes * self.expansion) self.relu = nn.ReLU(inplace=True) self.downsample = downsample self.stride = stride def forward(self, x): identity = x out = self.conv1(x) out = self.bn1(out) out = self.relu(out) out = self.conv2(out) out = self.bn2(out) out = self.relu(out) out = self.conv3(out) out = self.bn3(out) if self.downsample is not None: identity = self.downsample(x) out += identity out = self.relu(out) return out class AANetFeature(nn.Module): def __init__(self, in_channels=32, zero_init_residual=True, groups=1, width_per_group=64, feature_mdconv=True, norm_layer=None): super(AANetFeature, self).__init__() if norm_layer is None: norm_layer = nn.BatchNorm2d self._norm_layer = norm_layer layers = [3, 4, 6] # ResNet-40 # self.inplanes = 64 self.inplanes = in_channels self.dilation = 1 self.groups = groups self.base_width = width_per_group stride = 3 self.conv1 = nn.Sequential(nn.Conv2d(3, self.inplanes, kernel_size=7, stride=stride, padding=3, bias=False), nn.BatchNorm2d(self.inplanes), nn.ReLU(inplace=True)) # H/3 self.layer1 = self._make_layer(Bottleneck, in_channels, layers[0]) # H/3 self.layer2 = self._make_layer(Bottleneck, in_channels * 2, layers[1], stride=2) # H/6 block = DeformBottleneck if feature_mdconv else Bottleneck self.layer3 = self._make_layer(block, in_channels * 4, layers[2], stride=2) # H/12 for m in self.modules(): if isinstance(m, nn.Conv2d): nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu') elif isinstance(m, (nn.BatchNorm2d, nn.GroupNorm)): nn.init.constant_(m.weight, 1) nn.init.constant_(m.bias, 0) # Zero-initialize the last BN in each residual branch, # so that the residual branch starts with zeros, and each residual block behaves like an identity. # This improves the model by 0.2~0.3% according to https://arxiv.org/abs/1706.02677 if zero_init_residual: for m in self.modules(): if isinstance(m, Bottleneck): nn.init.constant_(m.bn3.weight, 0) elif isinstance(m, BasicBlock): nn.init.constant_(m.bn2.weight, 0) def _make_layer(self, block, planes, blocks, stride=1, dilate=False): norm_layer = self._norm_layer downsample = None previous_dilation = self.dilation if dilate: self.dilation *= stride stride = 1 if stride != 1 or self.inplanes != planes * block.expansion: downsample = nn.Sequential( conv1x1(self.inplanes, planes * block.expansion, stride), norm_layer(planes * block.expansion), ) layers = [] layers.append(block(self.inplanes, planes, stride, downsample, self.groups, self.base_width, previous_dilation, norm_layer)) self.inplanes = planes * block.expansion for _ in range(1, blocks): layers.append(block(self.inplanes, planes, groups=self.groups, base_width=self.base_width, dilation=self.dilation, norm_layer=norm_layer)) return nn.Sequential(*layers) def forward(self, x): x = self.conv1(x) layer1 = self.layer1(x) layer2 = self.layer2(layer1) layer3 = self.layer3(layer2) return [layer1, layer2, layer3] ================================================ FILE: nets/warp.py ================================================ import torch import torch.nn.functional as F def normalize_coords(grid): """Normalize coordinates of image scale to [-1, 1] Args: grid: [B, 2, H, W] """ assert grid.size(1) == 2 h, w = grid.size()[2:] grid[:, 0, :, :] = 2 * (grid[:, 0, :, :].clone() / (w - 1)) - 1 # x: [-1, 1] grid[:, 1, :, :] = 2 * (grid[:, 1, :, :].clone() / (h - 1)) - 1 # y: [-1, 1] grid = grid.permute((0, 2, 3, 1)) # [B, H, W, 2] return grid def meshgrid(img, homogeneous=False): """Generate meshgrid in image scale Args: img: [B, _, H, W] homogeneous: whether to return homogeneous coordinates Return: grid: [B, 2, H, W] """ b, _, h, w = img.size() x_range = torch.arange(0, w).view(1, 1, w).expand(1, h, w).type_as(img) # [1, H, W] y_range = torch.arange(0, h).view(1, h, 1).expand(1, h, w).type_as(img) grid = torch.cat((x_range, y_range), dim=0) # [2, H, W], grid[:, i, j] = [j, i] grid = grid.unsqueeze(0).expand(b, 2, h, w) # [B, 2, H, W] if homogeneous: ones = torch.ones_like(x_range).unsqueeze(0).expand(b, 1, h, w) # [B, 1, H, W] grid = torch.cat((grid, ones), dim=1) # [B, 3, H, W] assert grid.size(1) == 3 return grid def disp_warp(img, disp, padding_mode='border'): """Warping by disparity Args: img: [B, 3, H, W] disp: [B, 1, H, W], positive padding_mode: 'zeros' or 'border' Returns: warped_img: [B, 3, H, W] valid_mask: [B, 3, H, W] """ assert disp.min() >= 0 grid = meshgrid(img) # [B, 2, H, W] in image scale # Note that -disp here offset = torch.cat((-disp, torch.zeros_like(disp)), dim=1) # [B, 2, H, W] sample_grid = grid + offset sample_grid = normalize_coords(sample_grid) # [B, H, W, 2] in [-1, 1] warped_img = F.grid_sample(img, sample_grid, mode='bilinear', padding_mode=padding_mode) mask = torch.ones_like(img) valid_mask = F.grid_sample(mask, sample_grid, mode='bilinear', padding_mode='zeros') valid_mask[valid_mask < 0.9999] = 0 valid_mask[valid_mask > 0] = 1 return warped_img, valid_mask ================================================ FILE: predict.py ================================================ import torch import torch.nn.functional as F import skimage.io import argparse import numpy as np import os import math import nets from dataloader import transforms from utils import utils from utils.file_io import write_pfm from glob import glob from utils.file_io import read_img from numpy import savez_compressed IMAGENET_MEAN = [0.485, 0.456, 0.406] IMAGENET_STD = [0.229, 0.224, 0.225] parser = argparse.ArgumentParser() # Training data parser.add_argument('--data_dir', default=None, required=True, type=str, help='Data directory for prediction') parser.add_argument('--num_workers', default=0, type=int, help='Number of workers for data loading') parser.add_argument('--img_height', default=544, type=int, help='Image height for inference') parser.add_argument('--img_width', default=960, type=int, help='Image width for inference') # Model parser.add_argument('--seed', default=326, type=int, help='Random seed for reproducibility') parser.add_argument('--output_dir', default=None, type=str, help='Directory to save inference results') parser.add_argument('--max_disp', default=192, type=int, help='Max disparity') # AANet parser.add_argument('--feature_type', default='aanet', type=str, help='Type of feature extractor') parser.add_argument('--no_feature_mdconv', action='store_true', help='Whether to use mdconv for feature extraction') parser.add_argument('--feature_pyramid', action='store_true', help='Use pyramid feature') parser.add_argument('--feature_pyramid_network', action='store_true', help='Use FPN') parser.add_argument('--feature_similarity', default='correlation', type=str, help='Similarity measure for matching cost') parser.add_argument('--num_downsample', default=2, type=int, help='Number of downsample layer for feature extraction') parser.add_argument('--aggregation_type', default='adaptive', type=str, help='Type of cost aggregation') parser.add_argument('--num_scales', default=3, type=int, help='Number of stages when using parallel aggregation') parser.add_argument('--num_fusions', default=6, type=int, help='Number of multi-scale fusions when using parallel' 'aggragetion') parser.add_argument('--num_stage_blocks', default=1, type=int, help='Number of deform blocks for ISA') parser.add_argument('--num_deform_blocks', default=3, type=int, help='Number of DeformBlocks for aggregation') parser.add_argument('--no_intermediate_supervision', action='store_true', help='Whether to add intermediate supervision') parser.add_argument('--deformable_groups', default=2, type=int, help='Number of deformable groups') parser.add_argument('--mdconv_dilation', default=2, type=int, help='Dilation rate for deformable conv') parser.add_argument('--refinement_type', default='stereodrnet', help='Type of refinement module') parser.add_argument('--pretrained_aanet', default=None, type=str, help='Pretrained network') parser.add_argument('--save_type', default='png', choices=['pfm', 'png', 'npy', 'npz'], help='Save file type') parser.add_argument('--visualize', action='store_true', help='Visualize disparity map') # Log parser.add_argument('--save_suffix', default='pred', type=str, help='Suffix of save filename') parser.add_argument('--save_dir', default='pred', type=str, help='Save prediction directory') args = parser.parse_args() args.output_dir = os.path.join(args.data_dir, args.save_dir) utils.check_path(args.output_dir) def main(): # For reproducibility torch.manual_seed(args.seed) torch.cuda.manual_seed(args.seed) np.random.seed(args.seed) torch.backends.cudnn.benchmark = True device = torch.device('cuda' if torch.cuda.is_available() else 'cpu') # Test loader test_transform = transforms.Compose([ transforms.ToTensor(), transforms.Normalize(mean=IMAGENET_MEAN, std=IMAGENET_STD)]) aanet = nets.AANet(args.max_disp, num_downsample=args.num_downsample, feature_type=args.feature_type, no_feature_mdconv=args.no_feature_mdconv, feature_pyramid=args.feature_pyramid, feature_pyramid_network=args.feature_pyramid_network, feature_similarity=args.feature_similarity, aggregation_type=args.aggregation_type, num_scales=args.num_scales, num_fusions=args.num_fusions, num_stage_blocks=args.num_stage_blocks, num_deform_blocks=args.num_deform_blocks, no_intermediate_supervision=args.no_intermediate_supervision, refinement_type=args.refinement_type, mdconv_dilation=args.mdconv_dilation, deformable_groups=args.deformable_groups).to(device) if os.path.exists(args.pretrained_aanet): print('=> Loading pretrained AANet:', args.pretrained_aanet) utils.load_pretrained_net(aanet, args.pretrained_aanet, no_strict=True) else: print('=> Using random initialization') if torch.cuda.device_count() > 1: print('=> Use %d GPUs' % torch.cuda.device_count()) aanet = torch.nn.DataParallel(aanet) # Inference aanet.eval() if args.data_dir.endswith('/'): args.data_dir = args.data_dir[:-1] # all_samples = sorted(glob(args.data_dir + '/*left.png')) all_samples = sorted(glob(args.data_dir + '/left/*.png')) num_samples = len(all_samples) print('=> %d samples found in the data dir' % num_samples) for i, sample_name in enumerate(all_samples): if i % 100 == 0: print('=> Inferencing %d/%d' % (i, num_samples)) left_name = sample_name right_name = left_name.replace('left', 'right') left = read_img(left_name) right = read_img(right_name) sample = {'left': left, 'right': right} sample = test_transform(sample) # to tensor and normalize left = sample['left'].to(device) # [3, H, W] left = left.unsqueeze(0) # [1, 3, H, W] right = sample['right'].to(device) right = right.unsqueeze(0) # Pad ori_height, ori_width = left.size()[2:] # Automatic factor = 48 if args.refinement_type != 'hourglass' else 96 args.img_height = math.ceil(ori_height / factor) * factor args.img_width = math.ceil(ori_width / factor) * factor if ori_height < args.img_height or ori_width < args.img_width: top_pad = args.img_height - ori_height right_pad = args.img_width - ori_width # Pad size: (left_pad, right_pad, top_pad, bottom_pad) left = F.pad(left, (0, right_pad, top_pad, 0)) right = F.pad(right, (0, right_pad, top_pad, 0)) with torch.no_grad(): pred_disp = aanet(left, right)[-1] # [B, H, W] if pred_disp.size(-1) < left.size(-1): pred_disp = pred_disp.unsqueeze(1) # [B, 1, H, W] pred_disp = F.interpolate(pred_disp, (left.size(-2), left.size(-1)), mode='bilinear') * (left.size(-1) / pred_disp.size(-1)) pred_disp = pred_disp.squeeze(1) # [B, H, W] # Crop if ori_height < args.img_height or ori_width < args.img_width: if right_pad != 0: pred_disp = pred_disp[:, top_pad:, :-right_pad] else: pred_disp = pred_disp[:, top_pad:] disp = pred_disp[0].detach().cpu().numpy() # [H, W] save_name = os.path.basename(left_name)[:-4] + '_' + args.save_suffix + '.png' save_name = os.path.join(args.output_dir, save_name) if args.save_type == 'pfm': if args.visualize: skimage.io.imsave(save_name, (disp * 256.).astype(np.uint16)) save_name = save_name[:-3] + 'pfm' write_pfm(save_name, disp) elif args.save_type == 'npy': save_name = save_name[:-3] + 'npy' np.save(save_name, disp) elif args.save_type == 'npz': save_name = save_name[:-3] + 'npz' savez_compressed(save_name, disp) else: skimage.io.imsave(save_name, (disp * 256.).astype(np.uint16)) if __name__ == '__main__': main() ================================================ FILE: scripts/aanet+_evaluate.sh ================================================ #!/usr/bin/env bash # Evaluate the best validation model on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python train.py \ --mode test \ --checkpoint_dir checkpoints/aanet+_sceneflow \ --batch_size 64 \ --val_batch_size 1 \ --img_height 288 \ --img_width 576 \ --val_img_height 576 \ --val_img_width 960 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --milestones 20,30,40,50,60 \ --max_epoch 64 \ --evaluate_only # Evaluate a specific model on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python train.py \ --mode test \ --checkpoint_dir checkpoints/aanet+_sceneflow \ --pretrained_aanet pretrained/aanet+_sceneflow-d3e13ef0.pth \ --batch_size 64 \ --val_batch_size 1 \ --img_height 288 \ --img_width 576 \ --val_img_height 576 \ --val_img_width 960 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --milestones 20,30,40,50,60 \ --max_epoch 64 \ --evaluate_only ================================================ FILE: scripts/aanet+_inference.sh ================================================ #!/usr/bin/env bash # Inference on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --pretrained_aanet pretrained/aanet+_sceneflow-d3e13ef0.pth \ --batch_size 1 \ --img_height 576 \ --img_width 960 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --no_intermediate_supervision # Inference on KITTI 2015 test set for submission CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --data_dir data/KITTI/kitti_2015/data_scene_flow \ --dataset_name KITTI2015 \ --pretrained_aanet pretrained/aanet+_kitti15-2075aea1.pth \ --batch_size 1 \ --img_height 384 \ --img_width 1248 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --no_intermediate_supervision \ --output_dir output/kitti15_test # Inference on KITTI 2012 test set for submission CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --data_dir data/KITTI/kitti_2012/data_stereo_flow \ --dataset_name KITTI2012 \ --pretrained_aanet pretrained/aanet+_kitti12-56157808.pth \ --batch_size 1 \ --img_height 384 \ --img_width 1248 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --no_intermediate_supervision \ --output_dir output/kitti12_test ================================================ FILE: scripts/aanet+_predict.sh ================================================ #!/usr/bin/env bash # Predict CUDA_VISIBLE_DEVICES=0 python predict.py \ --data_dir demo \ --pretrained_aanet pretrained/aanet+_kitti15-2075aea1.pth \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --no_intermediate_supervision ================================================ FILE: scripts/aanet+_timing.sh ================================================ #!/usr/bin/env bash # Timing on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --pretrained_aanet pretrained/aanet+_sceneflow-d3e13ef0.pth \ --batch_size 1 \ --img_height 576 \ --img_width 960 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --no_intermediate_supervision \ --count_time # Timing on KITTI 2015 test set CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --data_dir data/KITTI/kitti_2015/data_scene_flow \ --dataset_name KITTI2015 \ --pretrained_aanet pretrained/aanet+_kitti15-2075aea1.pth \ --batch_size 1 \ --img_height 384 \ --img_width 1248 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --no_intermediate_supervision \ --output_dir output/kitti15_test \ --count_time ================================================ FILE: scripts/aanet+_train.sh ================================================ #!/usr/bin/env bash # Train on Scene Flow training set CUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \ --mode val \ --checkpoint_dir checkpoints/aanet+_sceneflow \ --batch_size 64 \ --val_batch_size 64 \ --img_height 288 \ --img_width 576 \ --val_img_height 576 \ --val_img_width 960 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --milestones 20,30,40,50,60 \ --max_epoch 64 # Train on mixed KITTI 2012 and KITTI 2015 training set CUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \ --data_dir data/KITTI \ --dataset_name KITTI_mix \ --checkpoint_dir checkpoints/aanet+_kittimix \ --pretrained_aanet checkpoints/aanet+_sceneflow/aanet_best.pth \ --batch_size 32 \ --val_batch_size 32 \ --img_height 288 \ --img_width 1152 \ --val_img_height 384 \ --val_img_width 1248 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --load_pseudo_gt \ --milestones 400,600,800,900 \ --max_epoch 1000 \ --save_ckpt_freq 100 \ --no_validate # Train on KITTI 2015 training set CUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \ --data_dir data/KITTI/kitti_2015/data_scene_flow \ --dataset_name KITTI2015 \ --mode train_all \ --checkpoint_dir checkpoints/aanet+_kitti15 \ --pretrained_aanet checkpoints/aanet+_kittimix/aanet_latest.pth \ --batch_size 28 \ --val_batch_size 32 \ --img_height 384 \ --img_width 1248 \ --val_img_height 384 \ --val_img_width 1248 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --load_pseudo_gt \ --highest_loss_only \ --freeze_bn \ --learning_rate 1e-4 \ --milestones 400,600,800,900 \ --max_epoch 1000 \ --save_ckpt_freq 100 \ --no_validate # Train on KITTI 2012 training set CUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \ --data_dir data/KITTI/kitti_2012/data_stereo_flow \ --dataset_name KITTI2012 \ --mode train_all \ --checkpoint_dir checkpoints/aanet+_kitti12 \ --pretrained_aanet checkpoints/aanet+_kittimix/aanet_latest.pth \ --batch_size 28 \ --val_batch_size 32 \ --img_height 384 \ --img_width 1248 \ --val_img_height 384 \ --val_img_width 1248 \ --feature_type ganet \ --feature_pyramid \ --refinement_type hourglass \ --highest_loss_only \ --load_pseudo_gt \ --freeze_bn \ --learning_rate 1e-4 \ --milestones 400,600,800,900 \ --max_epoch 1000 \ --save_ckpt_freq 100 \ --no_validate ================================================ FILE: scripts/aanet_evaluate.sh ================================================ #!/usr/bin/env bash # Evaluate the best validation model on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python train.py \ --mode test \ --checkpoint_dir checkpoints/aanet_sceneflow \ --batch_size 64 \ --val_batch_size 1 \ --img_height 288 \ --img_width 576 \ --val_img_height 576 \ --val_img_width 960 \ --feature_type aanet \ --feature_pyramid_network \ --milestones 20,30,40,50,60 \ --max_epoch 64 \ --evaluate_only # Evaluate a specific model on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python train.py \ --mode test \ --checkpoint_dir checkpoints/aanet_sceneflow \ --pretrained_aanet pretrained/aanet_sceneflow-5aa5a24e.pth \ --batch_size 64 \ --val_batch_size 1 \ --img_height 288 \ --img_width 576 \ --val_img_height 576 \ --val_img_width 960 \ --feature_type aanet \ --feature_pyramid_network \ --milestones 20,30,40,50,60 \ --max_epoch 64 \ --evaluate_only ================================================ FILE: scripts/aanet_inference.sh ================================================ #!/usr/bin/env bash # Inference on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --pretrained_aanet pretrained/aanet_sceneflow-5aa5a24e.pth \ --batch_size 1 \ --img_height 576 \ --img_width 960 \ --feature_type aanet \ --feature_pyramid_network \ --no_intermediate_supervision # Inference on KITTI 2015 test set for submission CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --data_dir data/KITTI/kitti_2015/data_scene_flow \ --dataset_name KITTI2015 \ --pretrained_aanet pretrained/aanet_kitti15-fb2a0d23.pth \ --batch_size 1 \ --img_height 384 \ --img_width 1248 \ --feature_type aanet \ --feature_pyramid_network \ --no_intermediate_supervision \ --output_dir output/kitti15_test # Inference on KITTI 2012 test set for submission CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --data_dir data/KITTI/kitti_2012/data_stereo_flow \ --dataset_name KITTI2012 \ --pretrained_aanet pretrained/aanet_kitti12-e20bb24d.pth \ --batch_size 1 \ --img_height 384 \ --img_width 1248 \ --feature_type aanet \ --feature_pyramid_network \ --no_intermediate_supervision \ --output_dir output/kitti12_test ================================================ FILE: scripts/aanet_predict.sh ================================================ #!/usr/bin/env bash # Predict CUDA_VISIBLE_DEVICES=0 python predict.py \ --data_dir demo \ --pretrained_aanet pretrained/aanet_kitti15-fb2a0d23.pth \ --feature_type aanet \ --feature_pyramid_network \ --no_intermediate_supervision ================================================ FILE: scripts/aanet_timing.sh ================================================ #!/usr/bin/env bash # Timing on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --pretrained_aanet pretrained/aanet_sceneflow-5aa5a24e.pth \ --batch_size 1 \ --img_height 576 \ --img_width 960 \ --feature_type aanet \ --feature_pyramid_network \ --no_intermediate_supervision \ --count_time # Timing on KITTI 2015 test set CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --data_dir data/KITTI/kitti_2015/data_scene_flow \ --dataset_name KITTI2015 \ --pretrained_aanet pretrained/aanet_kitti15-fb2a0d23.pth \ --batch_size 1 \ --img_height 384 \ --img_width 1248 \ --feature_type aanet \ --feature_pyramid_network \ --no_intermediate_supervision \ --output_dir output/kitti15_test \ --count_time ================================================ FILE: scripts/aanet_train.sh ================================================ #!/usr/bin/env bash # Train on Scene Flow training set CUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \ --mode val \ --data_dir data/SceneFlow \ --checkpoint_dir checkpoints/aanet_sceneflow \ --batch_size 64 \ --val_batch_size 64 \ --img_height 288 \ --img_width 576 \ --val_img_height 576 \ --val_img_width 960 \ --feature_type aanet \ --feature_pyramid_network \ --milestones 20,30,40,50,60 \ --max_epoch 64 # Train on mixed KITTI 2012 and KITTI 2015 training set CUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \ --data_dir data/KITTI \ --dataset_name KITTI_mix \ --checkpoint_dir checkpoints/aanet_kittimix \ --pretrained_aanet checkpoints/aanet_sceneflow/aanet_best.pth \ --batch_size 32 \ --val_batch_size 32 \ --img_height 336 \ --img_width 960 \ --val_img_height 384 \ --val_img_width 1248 \ --feature_type aanet \ --feature_pyramid_network \ --load_pseudo_gt \ --milestones 400,600,800,900 \ --max_epoch 1000 \ --save_ckpt_freq 100 \ --no_validate # Train on KITTI 2015 training set CUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \ --data_dir data/KITTI/kitti_2015/data_scene_flow \ --dataset_name KITTI2015 \ --mode train_all \ --checkpoint_dir checkpoints/aanet_kitti15 \ --pretrained_aanet checkpoints/aanet_kittimix/aanet_latest.pth \ --batch_size 32 \ --val_batch_size 32 \ --img_height 336 \ --img_width 960 \ --val_img_height 384 \ --val_img_width 1248 \ --feature_type aanet \ --feature_pyramid_network \ --load_pseudo_gt \ --highest_loss_only \ --learning_rate 1e-4 \ --milestones 400,600,800,900 \ --max_epoch 1000 \ --save_ckpt_freq 100 \ --no_validate # Train on KITTI 2012 training set CUDA_VISIBLE_DEVICES=0,1,2,3 python train.py \ --data_dir data/KITTI/kitti_2012/data_stereo_flow \ --dataset_name KITTI2012 \ --mode train_all \ --checkpoint_dir checkpoints/aanet_kitti12 \ --pretrained_aanet checkpoints/aanet_kittimix/aanet_latest.pth \ --batch_size 32 \ --val_batch_size 32 \ --img_height 336 \ --img_width 960 \ --val_img_height 384 \ --val_img_width 1248 \ --feature_type aanet \ --feature_pyramid_network \ --load_pseudo_gt \ --highest_loss_only \ --learning_rate 1e-4 \ --milestones 400,600,800,900 \ --max_epoch 1000 \ --save_ckpt_freq 100 \ --no_validate ================================================ FILE: scripts/ganet-aa_inference.sh ================================================ #!/usr/bin/env bash # Inference on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --pretrained_aanet pretrained/ganet-aa_sceneflow-a27abfeb.pth \ --batch_size 1 \ --img_height 576 \ --img_width 960 \ --feature_type ganet \ --feature_pyramid \ --no_intermediate_supervision ================================================ FILE: scripts/gcnet-aa_inference.sh ================================================ #!/usr/bin/env bash # Inference on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --pretrained_aanet pretrained/gcnet-aa_sceneflow-0d6d65fa.pth \ --batch_size 1 \ --img_height 576 \ --img_width 960 \ --feature_type gcnet \ --feature_pyramid \ --num_downsample 1 \ --no_intermediate_supervision ================================================ FILE: scripts/psmnet-aa_inference.sh ================================================ #!/usr/bin/env bash # Inference on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --pretrained_aanet pretrained/psmnet-aa_sceneflow-a71fa3ff.pth \ --batch_size 1 \ --img_height 576 \ --img_width 960 \ --feature_type psmnet \ --feature_pyramid \ --no_intermediate_supervision ================================================ FILE: scripts/stereonet-aa_inference.sh ================================================ #!/usr/bin/env bash # Inference on Scene Flow test set CUDA_VISIBLE_DEVICES=0 python inference.py \ --mode test \ --pretrained_aanet pretrained/stereonet-aa_sceneflow-1fbe2dea.pth \ --batch_size 1 \ --img_height 576 \ --img_width 960 \ --feature_type stereonet \ --num_scales 1 \ --num_fusions 4 \ --num_deform_blocks 4 \ --refinement_type stereonet ================================================ FILE: thop/__init__.py ================================================ from .profile import profile ================================================ FILE: thop/count_hooks.py ================================================ import argparse import torch import torch.nn as nn multiply_adds = 1 def count_convNd(m, x, y): cin = m.in_channels kernel_ops = m.weight.size()[2:].numel() ops_per_element = cin * kernel_ops output_elements = y.nelement() # cout x oW x oH total_ops = output_elements * ops_per_element // m.groups m.total_ops = torch.Tensor([int(total_ops)]) def count_dconv2d(m, x, y): x = x[0] # two inputs batch_size = x.size(0) height_in, width_in = x.size()[2:] cin = m.in_channels kernel_ops = m.weight.size()[2:].numel() # Add offset ops # Offset: [B, 18, H, W] add_offset_ops = 2 * kernel_ops * cin * batch_size * height_in * width_in ops_per_element = cin * kernel_ops output_elements = y.nelement() conv_ops = output_elements * ops_per_element // m.groups m.total_ops = torch.Tensor([int(add_offset_ops + conv_ops)]) def count_mdconv2d(m, x, y): x = x[0] # three inputs batch_size = x.size(0) height_in, width_in = x.size()[2:] cin = m.in_channels kernel_ops = m.weight.size()[2:].numel() # Add offset ops # Offset: [B, 18, H, W] add_offset_ops = 2 * kernel_ops * cin * batch_size * height_in * width_in # Modulation ops # Modulation: [B, 9, H, W] modulation_ops = kernel_ops * cin * batch_size * height_in * width_in ops_per_element = cin * kernel_ops output_elements = y.nelement() conv_ops = output_elements * ops_per_element // m.groups m.total_ops = torch.Tensor([int(add_offset_ops + conv_ops + modulation_ops)]) def count_conv2d(m, x, y): x = x[0] cin = m.in_channels cout = m.out_channels kh, kw = m.kernel_size batch_size = x.size()[0] out_h = y.size(2) out_w = y.size(3) kernel_ops = multiply_adds * kh * kw bias_ops = 1 if m.bias is not None else 0 ops_per_element = kernel_ops + bias_ops # total ops # num_out_elements = y.numel() output_elements = batch_size * out_w * out_h * cout total_ops = output_elements * ops_per_element * cin // m.groups m.total_ops = torch.Tensor([int(total_ops)]) def count_convtranspose2d(m, x, y): x = x[0] cin = m.in_channels cout = m.out_channels kh, kw = m.kernel_size # batch_size = x.size()[0] out_h = y.size(2) out_w = y.size(3) # ops per output element # kernel_mul = kh * kw * cin # kernel_add = kh * kw * cin - 1 kernel_ops = multiply_adds * kh * kw * cin // m.groups bias_ops = 1 if m.bias is not None else 0 ops_per_element = kernel_ops + bias_ops # total ops # num_out_elements = y.numel() # output_elements = batch_size * out_w * out_h * cout # ops_per_element = m.weight.nelement() output_elements = y.nelement() total_ops = output_elements * ops_per_element m.total_ops = torch.Tensor([int(total_ops)]) ================================================ FILE: thop/profile.py ================================================ import logging import torch import torch.nn as nn from torch.nn.modules.conv import _ConvNd from nets.deform_conv import DeformConv, ModulatedDeformConv from thop.count_hooks import * register_hooks = { nn.Conv1d: count_convNd, nn.Conv2d: count_convNd, nn.Conv3d: count_convNd, nn.ConvTranspose2d: count_convtranspose2d, DeformConv: count_dconv2d, ModulatedDeformConv: count_mdconv2d, } def profile(model, inputs, custom_ops={}, verbose=True): handler_collection = [] def add_hooks(m): if len(list(m.children())) > 0: return # if hasattr(m, "total_ops") or hasattr(m, "total_params"): # raise Warning("Either .total_ops or .total_params is already defined in %s.\n" # "Be careful, it might change your code's behavior." % str(m)) m.register_buffer('total_ops', torch.zeros(1)) m.register_buffer('total_params', torch.zeros(1)) for p in m.parameters(): m.total_params += torch.Tensor([p.numel()]) m_type = type(m) fn = None if m_type in custom_ops: # if defined both op maps, use custom_ops to overwrite. fn = custom_ops[m_type] elif m_type in register_hooks: fn = register_hooks[m_type] if fn is None: if verbose: print("THOP has not implemented counting method for", m) else: if verbose: print("Register FLOP counter for module %s" % str(m)) handler = m.register_forward_hook(fn) handler_collection.append(handler) # original_device = model.parameters().__next__().device training = model.training model.eval() model.apply(add_hooks) with torch.no_grad(): model(*inputs) total_ops = 0 total_params = 0 for m in model.modules(): if len(list(m.children())) > 0: # skip for non-leaf module continue total_ops += m.total_ops total_params += m.total_params total_ops = total_ops.item() total_params = total_params.item() # reset model to original status model.train(training) for handler in handler_collection: handler.remove() return clever_format(total_ops), clever_format(total_params) def clever_format(num): # if num > 1e12: # return "%.2f" % (num / 1e12) + "T" if num > 1e9: return "%.2f" % (num / 1e9) + "G" if num > 1e6: return "%.2f" % (num / 1e6) + "M" if num > 1e3: return "%.2f" % (num / 1e3) + "K" ================================================ FILE: train.py ================================================ import torch from torch.utils.data import DataLoader import argparse import numpy as np import os import nets import dataloader from dataloader import transforms from utils import utils import model IMAGENET_MEAN = [0.485, 0.456, 0.406] IMAGENET_STD = [0.229, 0.224, 0.225] parser = argparse.ArgumentParser() parser.add_argument('--mode', default='test', type=str, help='Validation mode on small subset or test mode on full test data') # Training data parser.add_argument('--data_dir', default='data/SceneFlow', type=str, help='Training dataset') parser.add_argument('--dataset_name', default='SceneFlow', type=str, help='Dataset name') parser.add_argument('--batch_size', default=64, type=int, help='Batch size for training') parser.add_argument('--val_batch_size', default=64, type=int, help='Batch size for validation') parser.add_argument('--num_workers', default=8, type=int, help='Number of workers for data loading') parser.add_argument('--img_height', default=288, type=int, help='Image height for training') parser.add_argument('--img_width', default=512, type=int, help='Image width for training') # For KITTI, using 384x1248 for validation parser.add_argument('--val_img_height', default=576, type=int, help='Image height for validation') parser.add_argument('--val_img_width', default=960, type=int, help='Image width for validation') # Model parser.add_argument('--seed', default=326, type=int, help='Random seed for reproducibility') parser.add_argument('--checkpoint_dir', default=None, type=str, required=True, help='Directory to save model checkpoints and logs') parser.add_argument('--learning_rate', default=1e-3, type=float, help='Learning rate') parser.add_argument('--weight_decay', default=1e-4, type=float, help='Weight decay for optimizer') parser.add_argument('--max_disp', default=192, type=int, help='Max disparity') parser.add_argument('--max_epoch', default=64, type=int, help='Maximum epoch number for training') parser.add_argument('--resume', action='store_true', help='Resume training from latest checkpoint') # AANet parser.add_argument('--feature_type', default='aanet', type=str, help='Type of feature extractor') parser.add_argument('--no_feature_mdconv', action='store_true', help='Whether to use mdconv for feature extraction') parser.add_argument('--feature_pyramid', action='store_true', help='Use pyramid feature') parser.add_argument('--feature_pyramid_network', action='store_true', help='Use FPN') parser.add_argument('--feature_similarity', default='correlation', type=str, help='Similarity measure for matching cost') parser.add_argument('--num_downsample', default=2, type=int, help='Number of downsample layer for feature extraction') parser.add_argument('--aggregation_type', default='adaptive', type=str, help='Type of cost aggregation') parser.add_argument('--num_scales', default=3, type=int, help='Number of stages when using parallel aggregation') parser.add_argument('--num_fusions', default=6, type=int, help='Number of multi-scale fusions when using parallel' 'aggragetion') parser.add_argument('--num_stage_blocks', default=1, type=int, help='Number of deform blocks for ISA') parser.add_argument('--num_deform_blocks', default=3, type=int, help='Number of DeformBlocks for aggregation') parser.add_argument('--no_intermediate_supervision', action='store_true', help='Whether to add intermediate supervision') parser.add_argument('--deformable_groups', default=2, type=int, help='Number of deformable groups') parser.add_argument('--mdconv_dilation', default=2, type=int, help='Dilation rate for deformable conv') parser.add_argument('--refinement_type', default='stereodrnet', help='Type of refinement module') parser.add_argument('--pretrained_aanet', default=None, type=str, help='Pretrained network') parser.add_argument('--freeze_bn', action='store_true', help='Switch BN to eval mode to fix running statistics') # Learning rate parser.add_argument('--lr_decay_gamma', default=0.5, type=float, help='Decay gamma') parser.add_argument('--lr_scheduler_type', default='MultiStepLR', help='Type of learning rate scheduler') parser.add_argument('--milestones', default=None, type=str, help='Milestones for MultiStepLR') # Loss parser.add_argument('--highest_loss_only', action='store_true', help='Only use loss on highest scale for finetuning') parser.add_argument('--load_pseudo_gt', action='store_true', help='Load pseudo gt for supervision') # Log parser.add_argument('--print_freq', default=100, type=int, help='Print frequency to screen (iterations)') parser.add_argument('--summary_freq', default=100, type=int, help='Summary frequency to tensorboard (iterations)') parser.add_argument('--no_build_summary', action='store_true', help='Dont save sammary when training to save space') parser.add_argument('--save_ckpt_freq', default=10, type=int, help='Save checkpoint frequency (epochs)') parser.add_argument('--evaluate_only', action='store_true', help='Evaluate pretrained models') parser.add_argument('--no_validate', action='store_true', help='No validation') parser.add_argument('--strict', action='store_true', help='Strict mode when loading checkpoints') parser.add_argument('--val_metric', default='epe', help='Validation metric to select best model') args = parser.parse_args() logger = utils.get_logger() utils.check_path(args.checkpoint_dir) utils.save_args(args) filename = 'command_test.txt' if args.mode == 'test' else 'command_train.txt' utils.save_command(args.checkpoint_dir, filename) def main(): # For reproducibility torch.manual_seed(args.seed) torch.cuda.manual_seed(args.seed) np.random.seed(args.seed) torch.backends.cudnn.benchmark = True device = torch.device('cuda' if torch.cuda.is_available() else 'cpu') # Train loader train_transform_list = [transforms.RandomCrop(args.img_height, args.img_width), transforms.RandomColor(), transforms.RandomVerticalFlip(), transforms.ToTensor(), transforms.Normalize(mean=IMAGENET_MEAN, std=IMAGENET_STD) ] train_transform = transforms.Compose(train_transform_list) train_data = dataloader.StereoDataset(data_dir=args.data_dir, dataset_name=args.dataset_name, mode='train' if args.mode != 'train_all' else 'train_all', load_pseudo_gt=args.load_pseudo_gt, transform=train_transform) logger.info('=> {} training samples found in the training set'.format(len(train_data))) train_loader = DataLoader(dataset=train_data, batch_size=args.batch_size, shuffle=True, num_workers=args.num_workers, pin_memory=True, drop_last=True) # Validation loader val_transform_list = [transforms.RandomCrop(args.val_img_height, args.val_img_width, validate=True), transforms.ToTensor(), transforms.Normalize(mean=IMAGENET_MEAN, std=IMAGENET_STD) ] val_transform = transforms.Compose(val_transform_list) val_data = dataloader.StereoDataset(data_dir=args.data_dir, dataset_name=args.dataset_name, mode=args.mode, transform=val_transform) val_loader = DataLoader(dataset=val_data, batch_size=args.val_batch_size, shuffle=False, num_workers=args.num_workers, pin_memory=True, drop_last=False) # Network aanet = nets.AANet(args.max_disp, num_downsample=args.num_downsample, feature_type=args.feature_type, no_feature_mdconv=args.no_feature_mdconv, feature_pyramid=args.feature_pyramid, feature_pyramid_network=args.feature_pyramid_network, feature_similarity=args.feature_similarity, aggregation_type=args.aggregation_type, num_scales=args.num_scales, num_fusions=args.num_fusions, num_stage_blocks=args.num_stage_blocks, num_deform_blocks=args.num_deform_blocks, no_intermediate_supervision=args.no_intermediate_supervision, refinement_type=args.refinement_type, mdconv_dilation=args.mdconv_dilation, deformable_groups=args.deformable_groups).to(device) logger.info('%s' % aanet) if args.pretrained_aanet is not None: logger.info('=> Loading pretrained AANet: %s' % args.pretrained_aanet) # Enable training from a partially pretrained model utils.load_pretrained_net(aanet, args.pretrained_aanet, no_strict=(not args.strict)) if torch.cuda.device_count() > 1: logger.info('=> Use %d GPUs' % torch.cuda.device_count()) aanet = torch.nn.DataParallel(aanet) # Save parameters num_params = utils.count_parameters(aanet) logger.info('=> Number of trainable parameters: %d' % num_params) save_name = '%d_parameters' % num_params open(os.path.join(args.checkpoint_dir, save_name), 'a').close() # Optimizer # Learning rate for offset learning is set 0.1 times those of existing layers specific_params = list(filter(utils.filter_specific_params, aanet.named_parameters())) base_params = list(filter(utils.filter_base_params, aanet.named_parameters())) specific_params = [kv[1] for kv in specific_params] # kv is a tuple (key, value) base_params = [kv[1] for kv in base_params] specific_lr = args.learning_rate * 0.1 params_group = [ {'params': base_params, 'lr': args.learning_rate}, {'params': specific_params, 'lr': specific_lr}, ] optimizer = torch.optim.Adam(params_group, weight_decay=args.weight_decay) # Resume training if args.resume: # AANet start_epoch, start_iter, best_epe, best_epoch = utils.resume_latest_ckpt( args.checkpoint_dir, aanet, 'aanet') # Optimizer utils.resume_latest_ckpt(args.checkpoint_dir, optimizer, 'optimizer') else: start_epoch = 0 start_iter = 0 best_epe = None best_epoch = None # LR scheduler if args.lr_scheduler_type is not None: last_epoch = start_epoch if args.resume else start_epoch - 1 if args.lr_scheduler_type == 'MultiStepLR': milestones = [int(step) for step in args.milestones.split(',')] lr_scheduler = torch.optim.lr_scheduler.MultiStepLR(optimizer, milestones=milestones, gamma=args.lr_decay_gamma, last_epoch=last_epoch) else: raise NotImplementedError train_model = model.Model(args, logger, optimizer, aanet, device, start_iter, start_epoch, best_epe=best_epe, best_epoch=best_epoch) logger.info('=> Start training...') if args.evaluate_only: assert args.val_batch_size == 1 train_model.validate(val_loader) else: for _ in range(start_epoch, args.max_epoch): if not args.evaluate_only: train_model.train(train_loader) if not args.no_validate: train_model.validate(val_loader) if args.lr_scheduler_type is not None: lr_scheduler.step() logger.info('=> End training\n\n') if __name__ == '__main__': main() ================================================ FILE: utils/__init__.py ================================================ ================================================ FILE: utils/file_io.py ================================================ from __future__ import absolute_import from __future__ import division from __future__ import print_function import numpy as np import re from PIL import Image import sys def read_img(filename): # Convert to RGB for scene flow finalpass data img = np.array(Image.open(filename).convert('RGB')).astype(np.float32) return img def read_disp(filename, subset=False): # Scene Flow dataset if filename.endswith('pfm'): # For finalpass and cleanpass, gt disparity is positive, subset is negative disp = np.ascontiguousarray(_read_pfm(filename)[0]) if subset: disp = -disp # KITTI elif filename.endswith('png'): disp = _read_kitti_disp(filename) elif filename.endswith('npy'): disp = np.load(filename) else: raise Exception('Invalid disparity file format!') return disp # [H, W] def _read_pfm(file): file = open(file, 'rb') color = None width = None height = None scale = None endian = None header = file.readline().rstrip() if header.decode("ascii") == 'PF': color = True elif header.decode("ascii") == 'Pf': color = False else: raise Exception('Not a PFM file.') dim_match = re.match(r'^(\d+)\s(\d+)\s$', file.readline().decode("ascii")) if dim_match: width, height = list(map(int, dim_match.groups())) else: raise Exception('Malformed PFM header.') scale = float(file.readline().decode("ascii").rstrip()) if scale < 0: # little-endian endian = '<' scale = -scale else: endian = '>' # big-endian data = np.fromfile(file, endian + 'f') shape = (height, width, 3) if color else (height, width) data = np.reshape(data, shape) data = np.flipud(data) return data, scale def write_pfm(file, image, scale=1): file = open(file, 'wb') color = None if image.dtype.name != 'float32': raise Exception('Image dtype must be float32.') image = np.flipud(image) if len(image.shape) == 3 and image.shape[2] == 3: # color image color = True elif len(image.shape) == 2 or len( image.shape) == 3 and image.shape[2] == 1: # greyscale color = False else: raise Exception( 'Image must have H x W x 3, H x W x 1 or H x W dimensions.') file.write(b'PF\n' if color else b'Pf\n') file.write(b'%d %d\n' % (image.shape[1], image.shape[0])) endian = image.dtype.byteorder if endian == '<' or endian == '=' and sys.byteorder == 'little': scale = -scale file.write(b'%f\n' % scale) image.tofile(file) def _read_kitti_disp(filename): depth = np.array(Image.open(filename)) depth = depth.astype(np.float32) / 256. return depth ================================================ FILE: utils/utils.py ================================================ import os import sys import json import torch from glob import glob import logging def read_text_lines(filepath): with open(filepath, 'r') as f: lines = f.readlines() lines = [l.rstrip() for l in lines] return lines def check_path(path): if not os.path.exists(path): os.makedirs(path, exist_ok=True) # explicitly set exist_ok when multi-processing def save_command(save_path, filename='command_train.txt'): check_path(save_path) command = sys.argv save_file = os.path.join(save_path, filename) with open(save_file, 'w') as f: f.write(' '.join(command)) def save_args(args, filename='args.json'): args_dict = vars(args) check_path(args.checkpoint_dir) save_path = os.path.join(args.checkpoint_dir, filename) with open(save_path, 'w') as f: json.dump(args_dict, f, indent=4, sort_keys=False) def int_list(s): """Convert string to int list""" return [int(x) for x in s.split(',')] def save_checkpoint(save_path, optimizer, aanet, epoch, num_iter, epe, best_epe, best_epoch, filename=None, save_optimizer=True): # AANet aanet_state = { 'epoch': epoch, 'num_iter': num_iter, 'epe': epe, 'best_epe': best_epe, 'best_epoch': best_epoch, 'state_dict': aanet.state_dict() } aanet_filename = 'aanet_epoch_{:0>3d}.pth'.format(epoch) if filename is None else filename aanet_save_path = os.path.join(save_path, aanet_filename) torch.save(aanet_state, aanet_save_path) # Optimizer if save_optimizer: optimizer_state = { 'epoch': epoch, 'num_iter': num_iter, 'epe': epe, 'best_epe': best_epe, 'best_epoch': best_epoch, 'state_dict': optimizer.state_dict() } optimizer_name = aanet_filename.replace('aanet', 'optimizer') optimizer_save_path = os.path.join(save_path, optimizer_name) torch.save(optimizer_state, optimizer_save_path) def load_pretrained_net(net, pretrained_path, return_epoch_iter=False, resume=False, no_strict=False): if pretrained_path is not None: if torch.cuda.is_available(): state = torch.load(pretrained_path, map_location='cuda') else: state = torch.load(pretrained_path, map_location='cpu') from collections import OrderedDict new_state_dict = OrderedDict() weights = state['state_dict'] if 'state_dict' in state.keys() else state for k, v in weights.items(): name = k[7:] if 'module' in k and not resume else k new_state_dict[name] = v if no_strict: net.load_state_dict(new_state_dict, strict=False) # ignore intermediate output else: net.load_state_dict(new_state_dict) # optimizer has no argument `strict` if return_epoch_iter: epoch = state['epoch'] if 'epoch' in state.keys() else None num_iter = state['num_iter'] if 'num_iter' in state.keys() else None best_epe = state['best_epe'] if 'best_epe' in state.keys() else None best_epoch = state['best_epoch'] if 'best_epoch' in state.keys() else None return epoch, num_iter, best_epe, best_epoch def resume_latest_ckpt(checkpoint_dir, net, net_name): ckpts = sorted(glob(checkpoint_dir + '/' + net_name + '*.pth')) if len(ckpts) == 0: raise RuntimeError('=> No checkpoint found while resuming training') latest_ckpt = ckpts[-1] print('=> Resume latest %s checkpoint: %s' % (net_name, os.path.basename(latest_ckpt))) epoch, num_iter, best_epe, best_epoch = load_pretrained_net(net, latest_ckpt, True, True) return epoch, num_iter, best_epe, best_epoch def fix_net_parameters(net): for param in net.parameters(): param.requires_grad = False def count_parameters(model): num = sum(p.numel() for p in model.parameters() if p.requires_grad) return num def filter_specific_params(kv): specific_layer_name = ['offset_conv.weight', 'offset_conv.bias'] for name in specific_layer_name: if name in kv[0]: return True return False def filter_base_params(kv): specific_layer_name = ['offset_conv.weight', 'offset_conv.bias'] for name in specific_layer_name: if name in kv[0]: return False return True def get_logger(): logger_name = "main-logger" logger = logging.getLogger(logger_name) logger.setLevel(logging.INFO) handler = logging.StreamHandler() # fmt = "[%(asctime)s %(levelname)s %(filename)s line %(lineno)d %(process)d] %(message)s" fmt = "[%(asctime)s] %(message)s" handler.setFormatter(logging.Formatter(fmt)) logger.addHandler(handler) return logger ================================================ FILE: utils/visualization.py ================================================ from __future__ import print_function import torch import torch.utils.data import numpy as np import torchvision.utils as vutils def gen_error_colormap(): cols = np.array( [[0 / 3.0, 0.1875 / 3.0, 49, 54, 149], [0.1875 / 3.0, 0.375 / 3.0, 69, 117, 180], [0.375 / 3.0, 0.75 / 3.0, 116, 173, 209], [0.75 / 3.0, 1.5 / 3.0, 171, 217, 233], [1.5 / 3.0, 3 / 3.0, 224, 243, 248], [3 / 3.0, 6 / 3.0, 254, 224, 144], [6 / 3.0, 12 / 3.0, 253, 174, 97], [12 / 3.0, 24 / 3.0, 244, 109, 67], [24 / 3.0, 48 / 3.0, 215, 48, 39], [48 / 3.0, np.inf, 165, 0, 38]], dtype=np.float32) cols[:, 2: 5] /= 255. return cols def disp_error_img(D_est_tensor, D_gt_tensor, abs_thres=3., rel_thres=0.05, dilate_radius=1): D_gt_np = D_gt_tensor.detach().cpu().numpy() D_est_np = D_est_tensor.detach().cpu().numpy() B, H, W = D_gt_np.shape # valid mask mask = D_gt_np > 0 # error in percentage. When error <= 1, the pixel is valid since <= 3px & 5% error = np.abs(D_gt_np - D_est_np) error[np.logical_not(mask)] = 0 error[mask] = np.minimum(error[mask] / abs_thres, (error[mask] / D_gt_np[mask]) / rel_thres) # get colormap cols = gen_error_colormap() # create error image error_image = np.zeros([B, H, W, 3], dtype=np.float32) for i in range(cols.shape[0]): error_image[np.logical_and(error >= cols[i][0], error < cols[i][1])] = cols[i, 2:] # TODO: imdilate # error_image = cv2.imdilate(D_err, strel('disk', dilate_radius)); error_image[np.logical_not(mask)] = 0. # show color tag in the top-left cornor of the image for i in range(cols.shape[0]): distance = 20 error_image[:, :10, i * distance:(i + 1) * distance, :] = cols[i, 2:] return torch.from_numpy(np.ascontiguousarray(error_image.transpose([0, 3, 1, 2]))) def save_images(logger, mode_tag, images_dict, global_step): images_dict = tensor2numpy(images_dict) for tag, values in images_dict.items(): if not isinstance(values, list) and not isinstance(values, tuple): values = [values] for idx, value in enumerate(values): if len(value.shape) == 3: value = value[:, np.newaxis, :, :] value = value[:1] value = torch.from_numpy(value) image_name = '{}/{}'.format(mode_tag, tag) if len(values) > 1: image_name = image_name + "_" + str(idx) logger.add_image(image_name, vutils.make_grid(value, padding=0, nrow=1, normalize=True, scale_each=True), global_step) def tensor2numpy(var_dict): for key, vars in var_dict.items(): if isinstance(vars, np.ndarray): var_dict[key] = vars elif isinstance(vars, torch.Tensor): var_dict[key] = vars.data.cpu().numpy() else: raise NotImplementedError("invalid input type for tensor2numpy") return var_dict