[
  {
    "path": ".github/workflows/codeql-analysis.yml",
    "content": "# For most projects, this workflow file will not need changing; you simply need\n# to commit it to your repository.\n#\n# You may wish to alter this file to override the set of languages analyzed,\n# or to provide custom queries or build logic.\n#\n# ******** NOTE ********\n# We have attempted to detect the languages in your repository. Please check\n# the `language` matrix defined below to confirm you have the correct set of\n# supported CodeQL languages.\n#\nname: \"CodeQL\"\n\non:\n  push:\n    branches: [ main ]\n  pull_request:\n    # The branches below must be a subset of the branches above\n    branches: [ main ]\n  schedule:\n    - cron: '26 22 * * 4'\n\njobs:\n  analyze:\n    name: Analyze\n    runs-on: ubuntu-latest\n    permissions:\n      actions: read\n      contents: read\n      security-events: write\n\n    strategy:\n      fail-fast: false\n      matrix:\n        language: [ 'python' ]\n        # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python' ]\n        # Learn more:\n        # https://docs.github.com/en/free-pro-team@latest/github/finding-security-vulnerabilities-and-errors-in-your-code/configuring-code-scanning#changing-the-languages-that-are-analyzed\n\n    steps:\n    - name: Checkout repository\n      uses: actions/checkout@v2\n\n    # Initializes the CodeQL tools for scanning.\n    - name: Initialize CodeQL\n      uses: github/codeql-action/init@v1\n      with:\n        languages: ${{ matrix.language }}\n        # If you wish to specify custom queries, you can do so here or in a config file.\n        # By default, queries listed here will override any specified in a config file.\n        # Prefix the list here with \"+\" to use these queries and those in the config file.\n        # queries: ./path/to/local/query, your-org/your-repo/queries@main\n\n    # Autobuild attempts to build any compiled languages  (C/C++, C#, or Java).\n    # If this step fails, then you should remove it and run the build manually (see below)\n    - name: Autobuild\n      uses: github/codeql-action/autobuild@v1\n\n    # ℹ️ Command-line programs to run using the OS shell.\n    # 📚 https://git.io/JvXDl\n\n    # ✏️ If the Autobuild fails above, remove it and uncomment the following three lines\n    #    and modify them (or add more) to build your code if your project\n    #    uses a compiled language\n\n    #- run: |\n    #   make bootstrap\n    #   make release\n\n    - name: Perform CodeQL Analysis\n      uses: github/codeql-action/analyze@v1\n"
  },
  {
    "path": ".gitignore",
    "content": "## Ignore Visual Studio temporary files, build results, and\n## files generated by popular Visual Studio add-ons.\n##\n## Get latest from https://github.com/github/gitignore/blob/master/VisualStudio.gitignore\n\n# User-specific files\n*.rsuser\n*.suo\n*.user\n*.userosscache\n*.sln.docstates\n\n# User-specific files (MonoDevelop/Xamarin Studio)\n*.userprefs\n\n# Mono auto generated files\nmono_crash.*\n\n# Build results\n[Dd]ebug/\n[Dd]ebugPublic/\n[Rr]elease/\n[Rr]eleases/\nx64/\nx86/\n[Aa][Rr][Mm]/\n[Aa][Rr][Mm]64/\nbld/\n[Bb]in/\n[Oo]bj/\n[Ll]og/\n[Ll]ogs/\n\n# Visual Studio 2015/2017 cache/options directory\n.vs/\n# Uncomment if you have tasks that create the project's static files in wwwroot\n#wwwroot/\n\n# Visual Studio 2017 auto generated files\nGenerated\\ Files/\n\n# MSTest test Results\n[Tt]est[Rr]esult*/\n[Bb]uild[Ll]og.*\n\n# NUnit\n*.VisualState.xml\nTestResult.xml\nnunit-*.xml\n\n# Build Results of an ATL Project\n[Dd]ebugPS/\n[Rr]eleasePS/\ndlldata.c\n\n# Benchmark Results\nBenchmarkDotNet.Artifacts/\n\n# .NET Core\nproject.lock.json\nproject.fragment.lock.json\nartifacts/\n\n# StyleCop\nStyleCopReport.xml\n\n# Files built by Visual Studio\n*_i.c\n*_p.c\n*_h.h\n*.ilk\n*.meta\n*.obj\n*.iobj\n*.pch\n*.pdb\n*.ipdb\n*.pgc\n*.pgd\n*.rsp\n*.sbr\n*.tlb\n*.tli\n*.tlh\n*.tmp\n*.tmp_proj\n*_wpftmp.csproj\n*.log\n*.vspscc\n*.vssscc\n.builds\n*.pidb\n*.svclog\n*.scc\n\n# Chutzpah Test files\n_Chutzpah*\n\n# Visual C++ cache files\nipch/\n*.aps\n*.ncb\n*.opendb\n*.opensdf\n*.sdf\n*.cachefile\n*.VC.db\n*.VC.VC.opendb\n\n# Visual Studio profiler\n*.psess\n*.vsp\n*.vspx\n*.sap\n\n# Visual Studio Trace Files\n*.e2e\n\n# TFS 2012 Local Workspace\n$tf/\n\n# Guidance Automation Toolkit\n*.gpState\n\n# ReSharper is a .NET coding add-in\n_ReSharper*/\n*.[Rr]e[Ss]harper\n*.DotSettings.user\n\n# TeamCity is a build add-in\n_TeamCity*\n\n# DotCover is a Code Coverage Tool\n*.dotCover\n\n# AxoCover is a Code Coverage Tool\n.axoCover/*\n!.axoCover/settings.json\n\n# Visual Studio code coverage results\n*.coverage\n*.coveragexml\n\n# NCrunch\n_NCrunch_*\n.*crunch*.local.xml\nnCrunchTemp_*\n\n# MightyMoose\n*.mm.*\nAutoTest.Net/\n\n# Web workbench (sass)\n.sass-cache/\n\n# Installshield output folder\n[Ee]xpress/\n\n# DocProject is a documentation generator add-in\nDocProject/buildhelp/\nDocProject/Help/*.HxT\nDocProject/Help/*.HxC\nDocProject/Help/*.hhc\nDocProject/Help/*.hhk\nDocProject/Help/*.hhp\nDocProject/Help/Html2\nDocProject/Help/html\n\n# Click-Once directory\npublish/\n\n# Publish Web Output\n*.[Pp]ublish.xml\n*.azurePubxml\n# Note: Comment the next line if you want to checkin your web deploy settings,\n# but database connection strings (with potential passwords) will be unencrypted\n*.pubxml\n*.publishproj\n\n# Microsoft Azure Web App publish settings. Comment the next line if you want to\n# checkin your Azure Web App publish settings, but sensitive information contained\n# in these scripts will be unencrypted\nPublishScripts/\n\n# NuGet Packages\n*.nupkg\n# NuGet Symbol Packages\n*.snupkg\n# The packages folder can be ignored because of Package Restore\n**/[Pp]ackages/*\n# except build/, which is used as an MSBuild target.\n!**/[Pp]ackages/build/\n# Uncomment if necessary however generally it will be regenerated when needed\n#!**/[Pp]ackages/repositories.config\n# NuGet v3's project.json files produces more ignorable files\n*.nuget.props\n*.nuget.targets\n\n# Microsoft Azure Build Output\ncsx/\n*.build.csdef\n\n# Microsoft Azure Emulator\necf/\nrcf/\n\n# Windows Store app package directories and files\nAppPackages/\nBundleArtifacts/\nPackage.StoreAssociation.xml\n_pkginfo.txt\n*.appx\n*.appxbundle\n*.appxupload\n\n# Visual Studio cache files\n# files ending in .cache can be ignored\n*.[Cc]ache\n# but keep track of directories ending in .cache\n!?*.[Cc]ache/\n\n# Others\nClientBin/\n~$*\n*~\n*.dbmdl\n*.dbproj.schemaview\n*.jfm\n*.pfx\n*.publishsettings\norleans.codegen.cs\n\n# Including strong name files can present a security risk\n# (https://github.com/github/gitignore/pull/2483#issue-259490424)\n#*.snk\n\n# Since there are multiple workflows, uncomment next line to ignore bower_components\n# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)\n#bower_components/\n\n# RIA/Silverlight projects\nGenerated_Code/\n\n# Backup & report files from converting an old project file\n# to a newer Visual Studio version. Backup files are not needed,\n# because we have git ;-)\n_UpgradeReport_Files/\nBackup*/\nUpgradeLog*.XML\nUpgradeLog*.htm\nServiceFabricBackup/\n*.rptproj.bak\n\n# SQL Server files\n*.mdf\n*.ldf\n*.ndf\n\n# Business Intelligence projects\n*.rdl.data\n*.bim.layout\n*.bim_*.settings\n*.rptproj.rsuser\n*- [Bb]ackup.rdl\n*- [Bb]ackup ([0-9]).rdl\n*- [Bb]ackup ([0-9][0-9]).rdl\n\n# Microsoft Fakes\nFakesAssemblies/\n\n# GhostDoc plugin setting file\n*.GhostDoc.xml\n\n# Node.js Tools for Visual Studio\n.ntvs_analysis.dat\nnode_modules/\n\n# Visual Studio 6 build log\n*.plg\n\n# Visual Studio 6 workspace options file\n*.opt\n\n# Visual Studio 6 auto-generated workspace file (contains which files were open etc.)\n*.vbw\n\n# Visual Studio LightSwitch build output\n**/*.HTMLClient/GeneratedArtifacts\n**/*.DesktopClient/GeneratedArtifacts\n**/*.DesktopClient/ModelManifest.xml\n**/*.Server/GeneratedArtifacts\n**/*.Server/ModelManifest.xml\n_Pvt_Extensions\n\n# Paket dependency manager\n.paket/paket.exe\npaket-files/\n\n# FAKE - F# Make\n.fake/\n\n# CodeRush personal settings\n.cr/personal\n\n# Python Tools for Visual Studio (PTVS)\n__pycache__/\n*.pyc\n\n# Cake - Uncomment if you are using it\n# tools/**\n# !tools/packages.config\n\n# Tabs Studio\n*.tss\n\n# Telerik's JustMock configuration file\n*.jmconfig\n\n# BizTalk build output\n*.btp.cs\n*.btm.cs\n*.odx.cs\n*.xsd.cs\n\n# OpenCover UI analysis results\nOpenCover/\n\n# Azure Stream Analytics local run output\nASALocalRun/\n\n# MSBuild Binary and Structured Log\n*.binlog\n\n# NVidia Nsight GPU debugger configuration file\n*.nvuser\n\n# MFractors (Xamarin productivity tool) working folder\n.mfractor/\n\n# Local History for Visual Studio\n.localhistory/\n\n# BeatPulse healthcheck temp database\nhealthchecksdb\n\n# Backup folder for Package Reference Convert tool in Visual Studio 2017\nMigrationBackup/\n\n# Ionide (cross platform F# VS Code tools) working folder\n.ionide/\n"
  },
  {
    "path": "CODE_OF_CONDUCT.md",
    "content": "# Microsoft Open Source Code of Conduct\n\nThis project has adopted the [Microsoft Open Source Code of Conduct](https://opensource.microsoft.com/codeofconduct/).\n\nResources:\n\n- [Microsoft Open Source Code of Conduct](https://opensource.microsoft.com/codeofconduct/)\n- [Microsoft Code of Conduct FAQ](https://opensource.microsoft.com/codeofconduct/faq/)\n- Contact [opencode@microsoft.com](mailto:opencode@microsoft.com) with questions or concerns\n"
  },
  {
    "path": "DSAModules.py",
    "content": "# https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html\nimport torch.nn as nn\nimport math\nimport torch.utils.model_zoo as model_zoo\nimport torch.nn.functional as F\nimport torch\nBatchNorm = nn.BatchNorm2d\n\n\n# __all__ = ['DRN', 'drn26', 'drn42', 'drn58']\n\n\nwebroot = 'https://tigress-web.princeton.edu/~fy/drn/models/'\n\nmodel_urls = {\n    'resnet50': 'https://download.pytorch.org/models/resnet50-19c8e357.pth',\n    'drn-c-26': webroot + 'drn_c_26-ddedf421.pth',\n    'drn-c-42': webroot + 'drn_c_42-9d336e8c.pth',\n    'drn-c-58': webroot + 'drn_c_58-0a53a92c.pth',\n    'drn-d-22': webroot + 'drn_d_22-4bd2f8ea.pth',\n    'drn-d-38': webroot + 'drn_d_38-eebb45f0.pth',\n    'drn-d-54': webroot + 'drn_d_54-0e0534ff.pth',\n    'drn-d-105': webroot + 'drn_d_105-12b40979.pth',\n    'drn-d-105_ms': webroot + 'drn-d-105_ms_cityscapes.pth'\n}\n\n\ndef conv3x3(in_planes, out_planes, stride=1, padding=1, dilation=1):\n    return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride,\n                     padding=padding, bias=False, dilation=dilation)\n\n\nclass BasicBlock(nn.Module):\n    expansion = 1\n\n    def __init__(self, inplanes, planes, stride=1, downsample=None,\n                 dilation=(1, 1), residual=True):\n        super(BasicBlock, self).__init__()\n        self.conv1 = conv3x3(inplanes, planes, stride,\n                             padding=dilation[0], dilation=dilation[0])\n        self.bn1 = BatchNorm(planes)\n        self.relu = nn.ReLU(inplace=True)\n        self.conv2 = conv3x3(planes, planes,\n                             padding=dilation[1], dilation=dilation[1])\n        self.bn2 = BatchNorm(planes)\n        self.downsample = downsample\n        self.stride = stride\n        self.residual = residual\n\n    def forward(self, x):\n        residual = x\n\n        out = self.conv1(x)   # 32/64 1/2   \n        out = self.bn1(out)\n        out = self.relu(out)\n\n        out = self.conv2(out)\n        out = self.bn2(out)\n\n        if self.downsample is not None:\n            residual = self.downsample(x)\n        if self.residual:\n            out += residual\n        out = self.relu(out)\n\n        return out\n\n\nclass Bottleneck(nn.Module):\n    expansion = 4\n\n    def __init__(self, inplanes, planes, stride=1, downsample=None,\n                 dilation=(1, 1), residual=True):\n        super(Bottleneck, self).__init__()\n        self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=1, bias=False)\n        self.bn1 = BatchNorm(planes)\n        self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, stride=stride,\n                               padding=dilation[1], bias=False,\n                               dilation=dilation[1])\n        self.bn2 = BatchNorm(planes)\n        self.conv3 = nn.Conv2d(planes, planes * 4, kernel_size=1, bias=False)\n        self.bn3 = BatchNorm(planes * 4)\n        self.relu = nn.ReLU(inplace=True)\n        self.downsample = downsample\n        self.stride = stride\n\n    def forward(self, x):\n        residual = x\n\n        out = self.conv1(x)\n        out = self.bn1(out)\n        out = self.relu(out)\n\n        out = self.conv2(out)\n        out = self.bn2(out)\n        out = self.relu(out)\n\n        out = self.conv3(out)\n        out = self.bn3(out)\n\n        if self.downsample is not None:\n            residual = self.downsample(x)\n\n        out += residual\n        out = self.relu(out)\n\n        return out\n\n\nclass DRN(nn.Module):\n    # BasicBlock, [1, 1, 2, 2, 2, 2, 1, 1], arch='D', **kwargs\n    def __init__(self, block, layers, num_classes=1000,\n                 channels=(16, 32, 64, 128, 256, 512, 512, 512),\n                 out_map=False, out_middle=False, pool_size=28, arch='D'):\n        super(DRN, self).__init__()\n        self.inplanes = channels[0]    # 16\n        self.out_map = out_map\n        self.out_dim = channels[-1]\n        self.out_middle = out_middle\n        self.arch = arch\n\n        if arch == 'C':\n            self.conv1 = nn.Conv2d(3, channels[0], kernel_size=7, stride=1,\n                                   padding=3, bias=False)\n            self.bn1 = BatchNorm(channels[0])\n            self.relu = nn.ReLU(inplace=True)\n\n            self.layer1 = self._make_layer(\n                BasicBlock, channels[0], layers[0], stride=1)\n            self.layer2 = self._make_layer(\n                BasicBlock, channels[1], layers[1], stride=2)\n        elif arch == 'D':\n            self.layer0 = nn.Sequential(\n                nn.Conv2d(3, channels[0], kernel_size=7, stride=1, padding=3,   # 3/16 7x7 \n                          bias=False),\n                BatchNorm(channels[0]),\n                nn.ReLU(inplace=True)\n            )\n\n            self.layer1 = self._make_conv_layers(\n                channels[0], layers[0], stride=1)            # (16, 1, stride=1)\n            self.layer2 = self._make_conv_layers(\n                channels[1], layers[1], stride=2)            # (32, 1, stride=2)\n\n        self.layer3 = self._make_layer(block, channels[2], layers[2], stride=2)  # (64, 2)\n        self.layer4 = self._make_layer(block, channels[3], layers[3], stride=2)  # (128, 2)\n        self.layer5 = self._make_layer(block, channels[4], layers[4],\n                                       dilation=2, new_level=False)              # (256, 2)\n        self.layer6 = None if layers[5] == 0 else \\\n            self._make_layer(block, channels[5], layers[5], dilation=4,          # (512, 2)\n                             new_level=False)\n\n        if arch == 'C':\n            self.layer7 = None if layers[6] == 0 else \\\n                self._make_layer(BasicBlock, channels[6], layers[6], dilation=2,\n                                 new_level=False, residual=False)\n            self.layer8 = None if layers[7] == 0 else \\\n                self._make_layer(BasicBlock, channels[7], layers[7], dilation=1,\n                                 new_level=False, residual=False)\n        elif arch == 'D':\n            self.layer7 = None if layers[6] == 0 else \\\n                self._make_conv_layers(channels[6], layers[6], dilation=2)     # (512,1)\n            self.layer8 = None if layers[7] == 0 else \\\n                self._make_conv_layers(channels[7], layers[7], dilation=1)     # (512,1)\n\n        if num_classes > 0:\n            self.avgpool = nn.AvgPool2d(pool_size)\n            self.fc = nn.Conv2d(self.out_dim, num_classes, kernel_size=1,\n                                stride=1, padding=0, bias=True)\n        for m in self.modules():\n            if isinstance(m, nn.Conv2d):\n                n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels\n                m.weight.data.normal_(0, math.sqrt(2. / n))\n            elif isinstance(m, BatchNorm):\n                m.weight.data.fill_(1)\n                m.bias.data.zero_()\n\n    def _make_layer(self, block, planes, blocks, stride=1, dilation=1,\n                    new_level=True, residual=True):\n        assert dilation == 1 or dilation % 2 == 0\n        downsample = None\n\n        if stride != 1 or self.inplanes != planes * block.expansion:\n            # 32/64 stride=2\n            # 128/256\n            downsample = nn.Sequential(\n                nn.Conv2d(self.inplanes, planes * block.expansion,       # \n                          kernel_size=1, stride=stride, bias=False),\n                BatchNorm(planes * block.expansion),\n            )\n        ## 32/64\n        ## 128/256 dilation=(2,2)\n        layers = list()\n        layers.append(block(\n            self.inplanes, planes, stride, downsample,\n            dilation=(1, 1) if dilation == 1 else (\n                dilation // 2 if new_level else dilation, dilation),\n            residual=residual))\n        self.inplanes = planes * block.expansion\n        for i in range(1, blocks):\n            layers.append(block(self.inplanes, planes, residual=residual,\n                                dilation=(dilation, dilation)))\n\n        return nn.Sequential(*layers)\n\n    def _make_conv_layers(self, channels, convs, stride=1, dilation=1):\n        modules = []\n        # 16\n        for i in range(convs):\n            modules.extend([\n                nn.Conv2d(self.inplanes, channels, kernel_size=3,\n                          stride=stride if i == 0 else 1,\n                          padding=dilation, bias=False, dilation=dilation),      # 16/16 3x3 16/32\n                BatchNorm(channels),\n                nn.ReLU(inplace=True)])\n            self.inplanes = channels\n        return nn.Sequential(*modules)\n\n    def forward(self, x):\n        y = list()\n\n        if self.arch == 'C':\n            x = self.conv1(x)\n            x = self.bn1(x)\n            x = self.relu(x)\n        elif self.arch == 'D':\n            x = self.layer0(x)           # 3/16 7x7\n\n        x = self.layer1(x)               # 16/16\n        y.append(x)\n        x = self.layer2(x)               # 16/32 (1/2)\n        y.append(x)\n\n        x = self.layer3(x)               # 32/64 (1/4)\n        y.append(x)\n\n        x = self.layer4(x)               # 64/128 (1/8)\n        y.append(x)\n\n        x = self.layer5(x)               # 128/256 (1/8)\n        y.append(x)\n\n        if self.layer6 is not None:\n            x = self.layer6(x)           # 256/512  (1/8)\n            y.append(x)\n\n        if self.layer7 is not None:\n            x = self.layer7(x)           # 512/512  (1/8)\n            y.append(x)\n\n        if self.layer8 is not None:\n            x = self.layer8(x)           # 512/512 (1/8)\n            y.append(x)\n\n        if self.out_map:\n            x = self.fc(x)\n        else:\n            x = self.avgpool(x)          # \n            x = self.fc(x)\n            x = x.view(x.size(0), -1)\n\n        if self.out_middle:\n            return x, y\n        else:\n            return x\n\nclass _UpProjection(nn.Sequential):\n\n    def __init__(self, num_input_features, num_output_features):\n        super(_UpProjection, self).__init__()\n        #self.reflect_pad_1 = nn.ReflectionPad2d(2)\n        self.conv1 = nn.Conv2d(num_input_features, num_output_features,\n                               kernel_size=5, stride=1, padding=2, bias=False)\n        self.bn1 = nn.BatchNorm2d(num_output_features)\n        self.relu = nn.ReLU(inplace=True)\n\n        #self.reflect_pad_2 = nn.ReflectionPad2d(1)\n        self.conv1_2 = nn.Conv2d(num_output_features, num_output_features,\n                                 kernel_size=3, stride=1, padding=1, bias=False)\n        self.bn1_2 = nn.BatchNorm2d(num_output_features)\n\n        #self.reflect_pad_3 = nn.ReflectionPad2d(2)\n        self.conv2 = nn.Conv2d(num_input_features, num_output_features,\n                               kernel_size=5, stride=1, padding=2, bias=False)\n        self.bn2 = nn.BatchNorm2d(num_output_features)\n\n    def forward(self, x, size):\n        x = F.interpolate(x, size=size, mode='bilinear',align_corners=True)\n        #x = F.upsample(x, size=size, mode='bilinear')\n        x_conv1 = self.relu(self.bn1(self.conv1(x)))\n        bran1 = self.bn1_2(self.conv1_2(x_conv1))\n        bran2 = self.bn2(self.conv2(x))\n\n        out = self.relu(bran1 + bran2)\n\n        return out\n\n\n\nclass AutoED(nn.Module):\n    def __init__(self, model):\n        super(AutoED, self).__init__()\n        self.E = _E(model)\n        self.D = _D()\n\n    def freeze_bn(self):\n        for m in self.modules():\n            if isinstance(m, nn.BatchNorm2d):\n                m.eval()\n\n\n    def forward(self, x):\n        x_, size1, size2, size3 = self.E(x) \n        out = self.D(x_, size1, size2, size3)\n  \n        return out\n\n\nclass _E(nn.Module):\n    def __init__(self, model):\n        super(_E, self).__init__()\n        self.base = nn.Sequential(*list(model.children())[:-2])\n        \n    def forward(self, x):\n        x1 = self.base[0](x)        \n        x2 = self.base[1](x1)\n        x3 = self.base[2](x2)\n        x4 = self.base[3](x3)\n        x5 = self.base[4](x4)\n        x6 = self.base[5](x5)\n        x7 = self.base[6](x6)\n        x8 = self.base[7](x7)\n        x9 = self.base[8](x8)\n\n        return x9,[x4.size(2),x4.size(3)],[x3.size(2),x3.size(3)], [x.size(2),x.size(3)]\n\n\nclass _D(nn.Module):\n    def __init__(self):\n        super(_D, self).__init__()\n        num_features = 512\n        self.up1 = _UpProjection(num_input_features=num_features, num_output_features=num_features // 2)\n        num_features = num_features // 2\n\n        self.up2 = _UpProjection(num_input_features=num_features, num_output_features=num_features // 2)\n        num_features = num_features // 2\n\n        self.up3 = _UpProjection(num_input_features=num_features, num_output_features=num_features // 2)\n        num_features = num_features // 2\n\n        self.conv = nn.Conv2d(num_features, 1, kernel_size=3, stride=1, bias=True)\n\n        self.reflect_pad = nn.ReflectionPad2d(1)\n        \n    def forward(self, x, size1, size2, size3):\n\n\n        u1 = self.up1(x, size1)\n        u2 = self.up2(u1, size2)\n        u3 = self.up3(u2, size3)\n        u4 = self.reflect_pad(u3)\n\n        out = torch.sigmoid(self.conv(u4))\n        return out\n\n\n\n\nclass DRN_A(nn.Module):\n\n    def __init__(self, block, layers, num_classes=1000):\n        self.inplanes = 64\n        super(DRN_A, self).__init__()\n        self.out_dim = 512 * block.expansion\n        self.conv1 = nn.Conv2d(3, 64, kernel_size=7, stride=2, padding=3,\n                               bias=False)\n        self.bn1 = nn.BatchNorm2d(64)\n        self.relu = nn.ReLU(inplace=True)\n        self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1)\n        self.layer1 = self._make_layer(block, 64, layers[0])\n        self.layer2 = self._make_layer(block, 128, layers[1], stride=2)\n        self.layer3 = self._make_layer(block, 256, layers[2], stride=1,\n                                       dilation=2)\n        self.layer4 = self._make_layer(block, 512, layers[3], stride=1,\n                                       dilation=4)\n        self.avgpool = nn.AvgPool2d(28, stride=1)\n        self.fc = nn.Linear(512 * block.expansion, num_classes)\n\n        for m in self.modules():\n            if isinstance(m, nn.Conv2d):\n                n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels\n                m.weight.data.normal_(0, math.sqrt(2. / n))\n            elif isinstance(m, BatchNorm):\n                m.weight.data.fill_(1)\n                m.bias.data.zero_()\n\n        # for m in self.modules():\n        #     if isinstance(m, nn.Conv2d):\n        #         nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu')\n        #     elif isinstance(m, nn.BatchNorm2d):\n        #         nn.init.constant_(m.weight, 1)\n        #         nn.init.constant_(m.bias, 0)\n\n    def _make_layer(self, block, planes, blocks, stride=1, dilation=1):\n        downsample = None\n        if stride != 1 or self.inplanes != planes * block.expansion:\n            downsample = nn.Sequential(\n                nn.Conv2d(self.inplanes, planes * block.expansion,\n                          kernel_size=1, stride=stride, bias=False),\n                nn.BatchNorm2d(planes * block.expansion),\n            )\n\n        layers = []\n        layers.append(block(self.inplanes, planes, stride, downsample))\n        self.inplanes = planes * block.expansion\n        for i in range(1, blocks):\n            layers.append(block(self.inplanes, planes,\n                                dilation=(dilation, dilation)))\n\n        return nn.Sequential(*layers)\n\n    def forward(self, x):\n        x = self.conv1(x)\n        x = self.bn1(x)\n        x = self.relu(x)\n        x = self.maxpool(x)\n\n        x = self.layer1(x)\n        x = self.layer2(x)\n        x = self.layer3(x)\n        x = self.layer4(x)\n\n        x = self.avgpool(x)\n        x = x.view(x.size(0), -1)\n        x = self.fc(x)\n\n        return x\n\n\ndef drn_a_50(pretrained=False, **kwargs):\n    model = DRN_A(Bottleneck, [3, 4, 6, 3], **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['resnet50']))\n    return model\n\n\ndef drn_c_26(pretrained=False, **kwargs):\n    model = DRN(BasicBlock, [1, 1, 2, 2, 2, 2, 1, 1], arch='C', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-c-26']))\n    return model\n\n\ndef drn_c_42(pretrained=False, **kwargs):\n    model = DRN(BasicBlock, [1, 1, 3, 4, 6, 3, 1, 1], arch='C', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-c-42']))\n    return model\n\n\ndef drn_c_58(pretrained=False, **kwargs):\n    model = DRN(Bottleneck, [1, 1, 3, 4, 6, 3, 1, 1], arch='C', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-c-58']))\n    return model\n\n\ndef drn_d_22(pretrained=False, **kwargs):\n    model = DRN(BasicBlock, [1, 1, 2, 2, 2, 2, 1, 1], arch='D', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-d-22'], 'DSAEncoder'))\n    return model\n\n\ndef drn_d_24(pretrained=False, **kwargs):\n    model = DRN(BasicBlock, [1, 1, 2, 2, 2, 2, 2, 2], arch='D', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-d-24', 'DSAEncoder']))\n    return model\n\n\ndef drn_d_38(pretrained=False, **kwargs):\n    model = DRN(BasicBlock, [1, 1, 3, 4, 6, 3, 1, 1], arch='D', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-d-38'], 'DSAEncoder'))\n    return model\n\n\ndef drn_d_40(pretrained=False, **kwargs):\n    model = DRN(BasicBlock, [1, 1, 3, 4, 6, 3, 2, 2], arch='D', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-d-40'], 'DSAEncoder'))\n    return model\n\n\ndef drn_d_54(pretrained=False, **kwargs):\n    model = DRN(Bottleneck, [1, 1, 3, 4, 6, 3, 1, 1], arch='D', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-d-54'], 'DSAEncoder'))\n    return model\n\n\ndef drn_d_56(pretrained=False, **kwargs):\n    model = DRN(Bottleneck, [1, 1, 3, 4, 6, 3, 2, 2], arch='D', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-d-56'], 'DSAEncoder'))\n    return model\n\n\ndef drn_d_105(pretrained=False, **kwargs):\n    model = DRN(Bottleneck, [1, 1, 3, 4, 23, 3, 1, 1], arch='D', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-d-105'], 'DSAEncoder'))\n    return model\n\n\ndef drn_d_107(pretrained=False, **kwargs):\n    model = DRN(Bottleneck, [1, 1, 3, 4, 23, 3, 2, 2], arch='D', **kwargs)\n    if pretrained:\n        model.load_state_dict(model_zoo.load_url(model_urls['drn-d-107'], 'DSAEncoder'))\n    return model\n"
  },
  {
    "path": "LICENSE",
    "content": "    MIT License\n\n    Copyright (c) Microsoft Corporation.\n\n    Permission is hereby granted, free of charge, to any person obtaining a copy\n    of this software and associated documentation files (the \"Software\"), to deal\n    in the Software without restriction, including without limitation the rights\n    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n    copies of the Software, and to permit persons to whom the Software is\n    furnished to do so, subject to the following conditions:\n\n    The above copyright notice and this permission notice shall be included in all\n    copies or substantial portions of the Software.\n\n    THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n    SOFTWARE\n"
  },
  {
    "path": "README.md",
    "content": "# S2R-DepthNet: Learning a Generalizable Depth-specific Structural Representation\n\nThis is the official PyTorch implementation of the paper [***S2R-DepthNet: Learning a Generalizable Depth-specific Structural Representation***](https://arxiv.org/pdf/2104.00877v2.pdf), ***CVPR 2021 (Oral), Xiaotian Chen, Yuwang Wang, Xuejin Chen, and Wenjun Zeng.***\n\n\n## Citation\n\n```\n@inproceedings{Chen2021S2R-DepthNet,\n             title = {S2R-DepthNet: Learning a Generalizable Depth-specific Structural Representation},\n             author = {Chen, Xiaotian and Wang , Yuwang and Chen, Xuejin and Zeng, Wenjun},\n\t     conference={IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},\n             year = {2021}   \n}\n```\n\n## Introduction\nHuman can infer the 3D geometry of a scene from a sketch instead of a realistic image, which indicates that the spatial structure plays a fundamental role in understanding the depth of scenes. We are the first to explore the learning of a depth-specific structural representation, which captures the essential feature for depth estimation and ignores irrelevant style information. Our S2R-DepthNet (Synthetic to Real DepthNet) can be well generalized to unseen real-world data directly even though it is only trained on synthetic data. S2R-DepthNet consists of: a) a Structure Extraction (STE) module which extracts a domaininvariant structural representation from an image by disentangling the image into domain-invariant structure and domain-specific style components, b) a Depth-specific Attention (DSA) module, which learns task-specific knowledge to suppress depth-irrelevant structures for better depth estimation and generalization, and c) a depth prediction module (DP) to predict depth from the depth-specific representation. Without access of any real-world images, our method even outperforms the state-of-the-art unsupervised domain adaptation methods which use real-world images of the target domain for training. In addition, when using a small amount of labeled real-world data, we achieve the state-of-the-art performance under the semi-supervised setting.\n<br>\n#### The following figure shows the overview of S2RDepthNet.\n![figure](./img/overview.png)\n<br>\n#### Examples of Depth-specific Structural Representation.<br>\n<div align=center><img width=\"616\" height=\"351\" src=\"./img/intro.PNG\"/></div>\n\n\n## Usage\n### Dependencies\n- [Python3.6.9](https://www.python.org/downloads/)\n- [PyTorch(1.7.1)](https://pytorch.org/)\n- [torchvision(0.8.2+cu101)](https://pypi.org/project/torchvision/)\n- [TensorboardX(2.1)](https://pypi.org/project/tensorboardX/)\n- [matplotlib(3.3.4)](https://matplotlib.org/)\n- [Pillow(8.1.2)](https://pypi.org/project/Pillow/)\n\n## Datasets\nThe outdoor Synthetic Dataset is [vKITTI](http://www.europe.naverlabs.com/Research/Computer-Vision/Proxy-Virtual-Worlds) and outdoor Real dataset is [KITTI](http://www.cvlibs.net/datasets/kitti/)\n\n## TODO\n\n- [x] Trianing Structure Encoder\n## Pretrained Models\nWe also provide our trained models for inference(outdoor and indoor scenes). [Models Link](https://1drv.ms/u/s!AlwUS_9Kpa8qgkb9ldQbMAMgNd_I?e=aX2PWY)\n\n### Train\nAs an example, use the following command to train S2RDepthNet on vKITTI.<br>\n#### *Train Structure Decoder*\n\n\tpython train.py --syn_dataset VKITTI \\            \n\t\t        --syn_root \"the path of vKITTI dataset\" \\\n\t\t        --syn_train_datafile datasets/vkitti/train.txt \\\n\t\t        --batchSize 32 \\\n\t\t        --loadSize 192 640 \\          \n\t\t        --Shared_Struct_Encoder_path \"the path of pretrained Struct encoder(.pth)\" \\\n\t\t        --train_stage TrainStructDecoder                  \n\t\t\t\n#### *Train DSA Module and DP module*\n\n\tpython train.py --syn_dataset VKITTI \\\n\t\t        --syn_root \"the path of vKITTI dataset\" \\\n\t\t        --syn_train_datafile datasets/vkitti/train.txt \\\n\t\t        --batchSize 32 \\\n\t\t        --loadSize 192 640 \\\n\t\t        --Shared_Struct_Encoder_path \"the path of pretrained Struct encoder(.pth)\" \\\n\t\t\t--Struct_Decoder_path \"the path of pretrained Structure decoder(.pth)\" \\\n\t\t        --train_stage TrainDSAandDPModule \n\t\n### Evaluation\nUse the following command to evaluate the trained S2RDepthNet on KITTI test data.<br>\n\n\t python test.py --dataset KITTI --root \"the path of kitti dataset\" --test_datafile datasets/kitti/test.txt --loadSize 192 640 --Shared_Struct_Encoder_path \"the path of pretrained Struct encoder(.pth)\" --Struct_Decoder_path \"the path of pretrained Structure decoder(.pth)\" --DSAModle_path \"the path of pretrained DSAModle(.pth)\" --DepthNet_path \"the path of pretrained DepthNet(.pth)\" --out_dir \"Path to save results\"\n\t\t\t\nUse the following command to evaluate the trained S2RDepthNet on NYUD-v2 test data.<br>\n\n\t python test.py --dataset NYUD_V2 --root \"the path of NYUD_V2 dataset\" --test_datafile datasets/nyudv2/nyu2_test.csv --loadSize 192 256 --Shared_Struct_Encoder_path \"the path of pretrained Struct encoder(.pth)\" --Struct_Decoder_path \"the path of pretrained Structure decoder(.pth)\" --DSAModle_path \"the path of pretrained DSAModle(.pth)\" --DepthNet_path \"the path of pretrained DepthNet(.pth)\" --out_dir \"Path to save results\"\n\t\n## Acknowledgement\nWe borrowed code from [GASDA](https://github.com/sshan-zhao/GASDA) and [VisualizationOC](https://github.com/JunjH/Visualizing-CNNs-for-monocular-depth-estimation).\n\t\t\t\t\t\t       \n\t\t\t\t\t\t                      \n"
  },
  {
    "path": "SECURITY.md",
    "content": "<!-- BEGIN MICROSOFT SECURITY.MD V0.0.5 BLOCK -->\n\n## Security\n\nMicrosoft takes the security of our software products and services seriously, which includes all source code repositories managed through our GitHub organizations, which include [Microsoft](https://github.com/Microsoft), [Azure](https://github.com/Azure), [DotNet](https://github.com/dotnet), [AspNet](https://github.com/aspnet), [Xamarin](https://github.com/xamarin), and [our GitHub organizations](https://opensource.microsoft.com/).\n\nIf you believe you have found a security vulnerability in any Microsoft-owned repository that meets [Microsoft's definition of a security vulnerability](https://docs.microsoft.com/en-us/previous-versions/tn-archive/cc751383(v=technet.10)), please report it to us as described below.\n\n## Reporting Security Issues\n\n**Please do not report security vulnerabilities through public GitHub issues.**\n\nInstead, please report them to the Microsoft Security Response Center (MSRC) at [https://msrc.microsoft.com/create-report](https://msrc.microsoft.com/create-report).\n\nIf you prefer to submit without logging in, send email to [secure@microsoft.com](mailto:secure@microsoft.com).  If possible, encrypt your message with our PGP key; please download it from the [Microsoft Security Response Center PGP Key page](https://www.microsoft.com/en-us/msrc/pgp-key-msrc).\n\nYou should receive a response within 24 hours. If for some reason you do not, please follow up via email to ensure we received your original message. Additional information can be found at [microsoft.com/msrc](https://www.microsoft.com/msrc). \n\nPlease include the requested information listed below (as much as you can provide) to help us better understand the nature and scope of the possible issue:\n\n  * Type of issue (e.g. buffer overflow, SQL injection, cross-site scripting, etc.)\n  * Full paths of source file(s) related to the manifestation of the issue\n  * The location of the affected source code (tag/branch/commit or direct URL)\n  * Any special configuration required to reproduce the issue\n  * Step-by-step instructions to reproduce the issue\n  * Proof-of-concept or exploit code (if possible)\n  * Impact of the issue, including how an attacker might exploit the issue\n\nThis information will help us triage your report more quickly.\n\nIf you are reporting for a bug bounty, more complete reports can contribute to a higher bounty award. Please visit our [Microsoft Bug Bounty Program](https://microsoft.com/msrc/bounty) page for more details about our active programs.\n\n## Preferred Languages\n\nWe prefer all communications to be in English.\n\n## Policy\n\nMicrosoft follows the principle of [Coordinated Vulnerability Disclosure](https://www.microsoft.com/en-us/msrc/cvd).\n\n<!-- END MICROSOFT SECURITY.MD BLOCK -->"
  },
  {
    "path": "SUPPORT.md",
    "content": "# TODO: The maintainer of this repo has not yet edited this file\r\n\r\n**REPO OWNER**: Do you want Customer Service & Support (CSS) support for this product/project?\r\n\r\n- **No CSS support:** Fill out this template with information about how to file issues and get help.\r\n- **Yes CSS support:** Fill out an intake form at [aka.ms/spot](https://aka.ms/spot). CSS will work with/help you to determine next steps. More details also available at [aka.ms/onboardsupport](https://aka.ms/onboardsupport).\r\n- **Not sure?** Fill out a SPOT intake as though the answer were \"Yes\". CSS will help you decide.\r\n\r\n*Then remove this first heading from this SUPPORT.MD file before publishing your repo.*\r\n\r\n# Support\r\n\r\n## How to file issues and get help  \r\n\r\nThis project uses GitHub Issues to track bugs and feature requests. Please search the existing \r\nissues before filing new issues to avoid duplicates.  For new issues, file your bug or \r\nfeature request as a new Issue.\r\n\r\nFor help and questions about using this project, please **REPO MAINTAINER: INSERT INSTRUCTIONS HERE \r\nFOR HOW TO ENGAGE REPO OWNERS OR COMMUNITY FOR HELP. COULD BE A STACK OVERFLOW TAG OR OTHER\r\nCHANNEL. WHERE WILL YOU HELP PEOPLE?**.\r\n\r\n## Microsoft Support Policy  \r\n\r\nSupport for this **PROJECT or PRODUCT** is limited to the resources listed above.\r\n"
  },
  {
    "path": "datasets/kitti/test.txt",
    "content": "2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000069.png 2011_09_26/2011_09_26_drive_0002_sync/image_03/data/0000000069.png 2011_09_26 2011_09_26/2011_09_26_drive_0002_sync/velodyne_points/data/0000000069.bin\n2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000054.png 2011_09_26/2011_09_26_drive_0002_sync/image_03/data/0000000054.png 2011_09_26 2011_09_26/2011_09_26_drive_0002_sync/velodyne_points/data/0000000054.bin\n2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000042.png 2011_09_26/2011_09_26_drive_0002_sync/image_03/data/0000000042.png 2011_09_26 2011_09_26/2011_09_26_drive_0002_sync/velodyne_points/data/0000000042.bin\n2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000057.png 2011_09_26/2011_09_26_drive_0002_sync/image_03/data/0000000057.png 2011_09_26 2011_09_26/2011_09_26_drive_0002_sync/velodyne_points/data/0000000057.bin\n2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000030.png 2011_09_26/2011_09_26_drive_0002_sync/image_03/data/0000000030.png 2011_09_26 2011_09_26/2011_09_26_drive_0002_sync/velodyne_points/data/0000000030.bin\n2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000027.png 2011_09_26/2011_09_26_drive_0002_sync/image_03/data/0000000027.png 2011_09_26 2011_09_26/2011_09_26_drive_0002_sync/velodyne_points/data/0000000027.bin\n2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000012.png 2011_09_26/2011_09_26_drive_0002_sync/image_03/data/0000000012.png 2011_09_26 2011_09_26/2011_09_26_drive_0002_sync/velodyne_points/data/0000000012.bin\n2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000075.png 2011_09_26/2011_09_26_drive_0002_sync/image_03/data/0000000075.png 2011_09_26 2011_09_26/2011_09_26_drive_0002_sync/velodyne_points/data/0000000075.bin\n2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000036.png 2011_09_26/2011_09_26_drive_0002_sync/image_03/data/0000000036.png 2011_09_26 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  {
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  },
  {
    "path": "loaddata.py",
    "content": "# https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html\nimport os \nimport torch\nimport random\nimport transform\nimport numpy as np\nimport pandas as pd\nfrom PIL import Image\nfrom torch.utils import data\nfrom collections import Counter\nfrom torchvision.transforms import Compose, Normalize, ToTensor\n\n\n\n\n\n\ndef get_dataset(root, data_file='train.list', \n\t\t\t\tdataset='vkitti', phase='train', \n\t\t\t\timg_transform=None, \n\t\t\t\tdepth_transform=None,\n\t\t\t\tjoint_transform=None\n\t\t\t\t):\n\tDEFINED_DATASET = {'KITTI', 'VKITTI', 'SUNCG', 'NYUD_V2'}\n\tassert dataset.upper() in DEFINED_DATASET\n\tprint(\"name:\", dataset.upper())\n\tname2obj = {'KITTI': KittiDataset,\n\t\t\t\t'VKITTI': VKittiDataset,\n\t\t\t\t'SUNCG': SUNCGDataset,\n\t\t\t\t'NYUD_V2': NYUD_V2Dataset\n\t\t\t\t}\n\treturn name2obj[dataset.upper()](root=root, data_file=data_file, phase=phase,\n\t\t\t\t\t\t\t\t\t img_transform=img_transform,\n\t\t\t\t\t\t\t\t\t depth_transform=depth_transform,\n\t\t\t\t\t\t\t\t\t joint_transform=joint_transform)\n\n\n\nclass KittiDataset(data.Dataset):\n\tdef __init__(self, root='./datasets', data_file='tgt_train.list', phase='train',\n\t\t\t\t img_transform=None, joint_transform=None, depth_transform=None):\n\t\tself.root = root\n\t\tself.data_file = data_file\n\t\tself.files = []\n\t\tself.phase = phase\n\t\tself.img_transform = img_transform\n\t\tself.joint_transform = joint_transform\n\t\tself.depth_transform = depth_transform\n\n\t\twith open(self.data_file, 'r') as f:\n\t\t\tdata_list = f.read().split('\\n')\n\t\t\tfor data in data_list:\n\t\t\t\tif len(data) == 0:\n\t\t\t\t\tcontinue\n\t\t\t\tdata_info = data.split(' ')\n\n\t\t\t\tself.files.append({\n\t\t\t\t\t\"l_rgb\": data_info[0],\n\t\t\t\t\t\"r_rgb\": data_info[1],\n\t\t\t\t\t\"cam_intrin\": data_info[2],\n\t\t\t\t\t\"depth\": data_info[3]\n\t\t\t\t\t})\n\n\tdef __len__(self):\n\t\treturn len(self.files)\n\n\tdef read_data(self, datafiles):\n\t\tassert os.path.exists(os.path.join(self.root, datafiles['l_rgb'])), \"Image does not exist\"\n\t\tl_rgb = Image.open(os.path.join(self.root, datafiles['l_rgb'])).convert('RGB')\n\t\tw = l_rgb.size[0]\n\t\th = l_rgb.size[1]\n\t\tassert os.path.exists(os.path.join(self.root, datafiles['r_rgb'])), \"Image does not exist\"\n\t\tr_rgb = Image.open(os.path.join(self.root, datafiles['r_rgb'])).convert('RGB')\n\n\t\tkitti = KITTI()\n\t\tassert os.path.exists(os.path.join(self.root, datafiles['cam_intrin'])), \"Camera info does not exist\"\n\t\tfb = kitti.get_fb(os.path.join(self.root, datafiles['cam_intrin']))   # get focal_length * baseline\n\t\tassert os.path.exists(os.path.join(self.root, datafiles['depth'])), \"Depth does not exist\"\n\n\t\tdepth, depth_interp = kitti.get_depth(os.path.join(self.root, datafiles['cam_intrin']),\n\t\t\t\t\t\t\t\tos.path.join(self.root, datafiles['depth']), [h, w], interp=True)\n\n\t\treturn l_rgb, r_rgb, fb, depth, depth_interp\n\n\tdef __getitem__(self, index):\n\t\tif self.phase == 'train':\n\t\t\tindex = random.randint(0, len(self)-1)\n\t\tif index > len(self)-1:\n\t\t\tindex = index % len(self)\n\t\tdatafiles = self.files[index]\n\t\tl_img, r_img , fb, depth, depth_interp = self.read_data(datafiles)\n\n\t\tif self.joint_transform is not None:\n\t\t\tif self.phase == 'train':\n\t\t\t\tl_img, r_img, _, fb = self.joint_transform((l_img, r_img, None, 'train', fb))\n\t\t\telse:\n\t\t\t\tl_img, r_img, _, fb = self.joint_transform((l_img, r_img, None, 'test', fb))\n\t\tif self.img_transform is not None:\n\t\t\tl_img = self.img_transform(l_img)\n\t\t\tif r_img is not None:\n\t\t\t\tr_img = self.img_transform(r_img)\n\n\t\tif self.phase == 'test':\n\t\t\tdata = {}\n\t\t\tdata['left_img'] = l_img\n\t\t\tdata['right_img'] = r_img\n\t\t\tdata['depth'] = depth\n\t\t\tdata['fb'] = fb\n\t\t\tdata['depth_interp'] = depth_interp\n\t\t\treturn data\n\n\t\tdata = {}\n\t\tif l_img is not None:\n\t\t\tdata['left_img'] = l_img\n\t\tif r_img is not None:\n\t\t\tdata['right_img'] = r_img\n\t\tif fb is not None:\n\t\t\tdata['fb'] = fb\n\n\t\treturn {'tgt': data}\n\n\nclass VKittiDataset(data.Dataset):\n\tdef __init__(self, root='./datasets', data_file='src_train.list',\n\t\t\t\t phase='train', img_transform=None, depth_transform=None,\n\t\t\t\t joint_transform=None):\n\n\t\tself.root = root\n\t\tself.data_file = data_file\n\t\tself.files = []\n\t\tself.phase = phase\n\t\tself.img_transform = img_transform\n\t\tself.depth_transform = depth_transform\n\t\tself.joint_transform = joint_transform\n\n\t\twith open(self.data_file, 'r') as f:\n\t\t\tdata_list = f.read().split('\\n')\n\t\t\tfor data in data_list:\n\t\t\t\tif len(data) == 0:\n\t\t\t\t\tcontinue\n\t\t\t\tdata_info = data.split(' ')\n\n\t\t\t\tself.files.append({\n\t\t\t\t\t\"rgb\": data_info[0],\n\t\t\t\t\t\"depth\": data_info[1]\n\t\t\t\t\t})\n\n\tdef __len__(self):\n\t\treturn len(self.files)\n\n\tdef read_data(self, datafiles):\n\t\tassert os.path.exists(os.path.join(self.root, datafiles['rgb'])), \"Image does not exist\"\n\t\trgb = Image.open(os.path.join(self.root, datafiles['rgb'])).convert('RGB')\n\t\tassert os.path.exists(os.path.join(self.root, datafiles['depth'])), 'Depth does not exist'\n\t\tdepth = Image.open(os.path.join(self.root, datafiles['depth']))\n\n\t\treturn rgb, depth\n\n\tdef __getitem__(self, index):\n\t\tif self.phase == 'train':\n\t\t\tindex = random.randint(0, len(self)-1)\n\t\tif index > len(self) - 1:\n\t\t\tindex = index % len(self)\n\t\tdatafiles = self.files[index]\n\t\timg, depth = self.read_data(datafiles)\n\n\t\tif self.joint_transform is not None:\n\t\t\tif self.phase == 'train':\n\t\t\t\timg, _, depth, _ = self.joint_transform((img, None, depth, self.phase, None))\n\t\t\telse:\n\t\t\t\timg, _, depth, _ = self.joint_transform((img, None, depth, 'test', None))\n\n\t\tif self.img_transform is not None:\n\t\t\timg = self.img_transform(img)\n\n\t\tif self.depth_transform is not None:\n\t\t\tdepth = self.depth_transform(depth)\n\n\t\tif self.phase == 'test':\n\t\t\tdata = {}\n\t\t\tdata['img'] = img\n\t\t\tdata['depth'] = depth\n\t\t\treturn data \n\t\tdata = {}\n\n\t\tif img is not None:\n\t\t\tdata['img'] = img\n\t\tif depth is not None:\n\t\t\tdata['depth'] = depth\n\t\treturn  {'src': data} \n\nclass NYUD_V2Dataset(data.Dataset):\n\tdef __init__(self, root='./datasets', data_file='nyu_data.txt', phase='train',\n\t\t\t\t img_transform=None, joint_transform=None, depth_transform=None):\n\t\tself.root = root\n\t\tself.data_file = data_file\n\t\tself.phase = phase\n\t\tself.img_transform = img_transform\n\t\tself.joint_transform = joint_transform\n\t\tself.depth_transform = depth_transform\n\n\t\tself.frame = pd.read_csv(self.data_file, header=None)\n\n\tdef __len__(self):\n\t\treturn len(self.frame)\n\n\tdef read_data(self, datafiles):\n\t\tassert os.path.exists(os.path.join(self.root, datafiles['rgb'])), \"Image does not exist\"\n\t\trgb = Image.open(os.path.join(self.root, datafiles['rgb'])).convert('RGB')\n\t\tassert os.path.exists(os.path.join(self.root, datafiles['depth'])), 'Depth does not exist'\n\t\tdepth = Image.open(os.path.join(self.root, datafiles['depth']))\n\n\t\treturn rgb, depth\n\n\tdef __getitem__(self, index):\n\t\tif self.phase == 'train':\n\t\t\tindex = random.randint(0, len(self)-1)\n\t\tif index > len(self) - 1:\n\t\t\tindex = index % len(self)\n\t\timage_name = self.frame.loc[index, 0]\n\t\tdepth_name = self.frame.loc[index, 1]\n\t\tdatafiles = {\"rgb\": image_name, \"depth\": depth_name}\n\t\timg, depth = self.read_data(datafiles)\n\n\t\tif self.joint_transform is not None:\n\t\t\tif self.phase == 'train':\n\t\t\t\timg, _, depth, _ = self.joint_transform((img, None, depth, self.phase, None))\n\t\t\telse:\n\t\t\t\timg, _, depth, _ = self.joint_transform((img, None, depth, 'test', None))\n\n\t\tif self.img_transform is not None:\n\t\t\timg = self.img_transform(img)\n\n\t\tif self.depth_transform is not None:\n\t\t\tdepth = self.depth_transform(depth)\n\n\t\tif self.phase == 'test':\n\t\t\tdata = {}\n\t\t\tdata['img'] = img\n\t\t\tdata['depth'] = depth\n\t\t\treturn data \n\n\t\tdata = {}\n\t\tif img is not None:\n\t\t\tdata['img'] = img\n\t\tif depth is not None:\n\t\t\tdata['depth'] = depth\n\t\treturn  {'src': data} \n\n\nclass SUNCGDataset(data.Dataset):\n\tdef __init__(self, root='./suncg_datasets', data_file='suncg_train.txt',\n\t\t\t\t phase='train', img_transform=None, depth_transform=None,\n\t\t\t\t joint_transform=None):\n\n\t\tself.root = root      \n\t\tself.data_file = data_file\n\t\tself.files = []\n\t\tself.phase = phase\n\t\tself.img_transform = img_transform             ## img_transform\n\t\tself.depth_transform = depth_transform         ## depth_transform\n\t\tself.joint_transform = joint_transform         ## joint_transform\n\n\t\twith open(self.data_file, 'r') as f:\n\t\t\tdata_list = f.read().split('\\n')\n\t\t\tfor data in data_list:\n\t\t\t\tif len(data) == 0:\n\t\t\t\t\tcontinue \n\t\t\t\tdata_info = data.split(',')\n\t\t\t\tself.files.append({\n\t\t\t\t\t\"rgb\":data_info[0],\n\t\t\t\t\t\"depth\":data_info[1]\n\t\t\t\t\t})\n\n\tdef __len__(self):\n\t\treturn len(self.files)\n\n\tdef read_data(self, datafiles):\n\t\timage_path = os.path.join(self.root, \"trainA_SYN10/trainA_SYN10\", datafiles['rgb'])\n\t\tdepth_path = os.path.join(self.root, \"trainC_SYN10/trainC_SYN10\", datafiles['depth'])\n\t\t\n\t\tassert os.path.exists(image_path), \"Image does not exist\"\n\t\trgb = Image.open(image_path).convert('RGB')\n\t\tassert os.path.exists(depth_path), 'Depth does not exist'\n\t\tdepth = Image.open(depth_path)\n\t\treturn rgb, depth\n \n\tdef __getitem__(self, index):\n\t\tif self.phase == 'train':\n\t\t\tindex = random.randint(0, len(self)-1)\n\t\tif index > len(self) - 1:\n\t\t\tindex = index % len(self)\n\t\tdatafiles = self.files[index]\n\t\timg, depth = self.read_data(datafiles)\n\n\t\tif self.joint_transform is not None:\n\t\t\tif self.phase == 'train':\n\t\t\t\timg, _, depth, _ = self.joint_transform((img, None, depth, self.phase, None))\n\t\t\telse:\n\t\t\t\timg, _, depth, _ = self.joint_transform((img, None, depth, 'test', None))\n\n\t\tif self.img_transform is not None:\n\t\t\timg = self.img_transform(img)\n\n\t\tif self.depth_transform is not None:\n\t\t\tdepth = self.depth_transform(depth)\n\n\t\tif self.phase == 'test':\n\t\t\tdata = {}\n\t\t\tdata['img'] = img\n\t\t\tdata['depth'] = depth\n\t\t\treturn data \n\t\tdata = {}\n\t\tif img is not None:\n\t\t\tdata['img'] = img\n\t\tif depth is not None:\n\t\t\tdata['depth'] = depth\n\t\treturn  {'src': data}   \n\n\n\nclass DepthToTensor(object):\n\tdef __call__(self, input):\n\t\tarr_input = np.array(input)\n\t\ttensors = torch.from_numpy(arr_input.reshape((1, arr_input.shape[0], arr_input.shape[1]))).float()\n\t\treturn tensors\n\n\n\ndef creat_train_dataloader(dataset, root, data_file, batchsize, nThreads, \n\t\t\t\t\t\t   no_flip, no_rotation, no_augment, loadSize):\n\t\n\tjoint_transform_list = [transform.RandomImgAugment(no_flip, no_rotation, no_augment, loadSize, dataset)]\n\n\timg_transform_list = [ToTensor(), Normalize([.5, .5, .5], [.5, .5, .5])]\n\tjoint_transform = Compose(joint_transform_list)\n\timg_transform = Compose(img_transform_list)\n\tdepth_transform = Compose([DepthToTensor()])\n\n\tdataset = get_dataset(root=root, data_file=data_file, phase='train',\n\t\t\t\t\t\t  dataset=dataset,\n\t\t\t\t\t\t  img_transform=img_transform, depth_transform=depth_transform,\n\t\t\t\t\t\t  joint_transform=joint_transform)\n\tloader = torch.utils.data.DataLoader(dataset, batch_size=batchsize,\n\t\t\t\t\t\t\t\t\t\t shuffle=True, num_workers=int(nThreads),\n\t\t\t\t\t\t\t\t\t\t pin_memory=True)\n\treturn loader\n\ndef create_test_dataloader(dataset, root, data_file, batchsize, nThreads, loadSize):\n\n\t\n\tjoint_transform_list = [transform.RandomImgAugment(True, True, True, loadSize, dataset)]\n\n\timg_transform_list = [ToTensor(), Normalize([.5, .5, .5], [.5, .5, .5])]\n\tjoint_transform = Compose(joint_transform_list)\n\timg_transform = Compose(img_transform_list)\n\tdepth_transform = Compose([DepthToTensor()])\n\n\tdataset = get_dataset(root=root, data_file=data_file, phase='test',\n\t\t\t\t\t\tdataset=dataset, img_transform=img_transform, depth_transform=depth_transform,\n\t\t\t\t\t\tjoint_transform=joint_transform)\n\t\n\tloader = torch.utils.data.DataLoader(\n\t\t\t\t\t\t\t\tdataset,batch_size=1, \n\t\t\t\t\t\t\t\tshuffle=False,\n\t\t\t\t\t\t\t\tnum_workers=int(nThreads),\n\t\t\t\t\t\t\t\tpin_memory=True)\n\treturn loader\n\n\n\n\n\n\n\nclass KITTI:\n\tdef read_calib_file(self, path):\n\t\t# taken from https://github.com/hunse/kitti\n\t\tfloat_chars = set(\"0123456789.e+- \")\n\t\tdata = {}\n\t\twith open(path, 'r') as f:\n\t\t\tfor line in f.readlines():\n\t\t\t\tkey, value = line.split(':', 1)\n\t\t\t\tvalue = value.strip()\n\t\t\t\tdata[key] = value\n\t\t\t\tif float_chars.issuperset(value):\n\t\t\t\t\t# try to cast to float array\n\t\t\t\t\ttry:\n\t\t\t\t\t\tdata[key] = np.array(list(map(float, value.split(' '))))\n\t\t\t\t\texcept ValueError:\n\t\t\t\t\t\t# casting error: data[key] already eq.value, so pass\n\t\t\t\t\t\tpass\n\t\treturn data\n\n\tdef get_fb(self, calib_dir, cam=2):\n\t\tcam2cam = self.read_calib_file(os.path.join(calib_dir, 'calib_cam_to_cam.txt'))\n\t\tP2_rect = cam2cam['P_rect_02'].reshape(3, 4)   # Projection matrix of the left camera\n\t\tP3_rect = cam2cam['P_rect_03'].reshape(3, 4)   # Projection matrix of the right camera\n\n\t\t# cam 2 is left of cam 0 -6cm\n\t\t# cam 3 is to the right +54cm\n\n\t\tb2 = P2_rect[0, 3] / -P2_rect[0,0]       # offset of cam 2 relative to cam0\n\t\tb3 = P3_rect[0, 3] / -P3_rect[0,0] \t\t # offset of cam 3 relative to cam0\n\n\t\tbaseline = b3 - b2\n\n\t\tif cam == 2:\n\t\t\tfocal_length = P2_rect[0, 0]         # focal_length of cam 2\n\t\telif cam == 3:\n\t\t\tfocal_length = P3_rect[0, 0]         # focal_length of cam 3\n\t\treturn focal_length * baseline\n\n\tdef load_velodyne_points(self, file_name):\n\t\t# adapted from https://github.com/hunse/kitti\n\t\tpoints = np.fromfile(file_name, dtype=np.float32).reshape(-1, 4)\n\t\tpoints[:, 3] = 1.0\n\t\treturn points\n\n\tdef lin_interp(self, shape, xyd):\n\t\t# taken from https://github.com/hunse/kitti\n\t\tfrom scipy.interpolate import LinearNDInterpolator\n\t\t## m=h, n=w xyd\n\t\tm, n = shape\n\t\tij, d = xyd[:, 1::-1], xyd[:, 2]\n\t\tf = LinearNDInterpolator(ij, d, fill_value=0)\n\t\t# h, w\n\t\tJ, I = np.meshgrid(np.arange(n), np.arange(m))\n\t\tIJ = np.vstack([I.flatten(), J.flatten()]).T\n\t\tdisparity = f(IJ).reshape(shape)\n\t\treturn disparity\n\n\tdef sub2ind(self, metrixSize, rowSub, colSub):\n\t\t# m=h, n=w\n\t\t# rowsub y\n\t\t# colsub x\n\t\tm, n = metrixSize\n\n\t\treturn rowSub * (n-1) + colSub - 1  # num \n\n\tdef get_depth(self, calib_dir, velo_file_name, im_shape, cam=2, interp=False, vel_depth=False):\n\t\t# load calibration files\n\t\tcam2cam = self.read_calib_file(os.path.join(calib_dir, 'calib_cam_to_cam.txt'))\n\t\tvelo2cam = self.read_calib_file(os.path.join(calib_dir, 'calib_velo_to_cam.txt'))\n\t\tvelo2cam = np.hstack((velo2cam['R'].reshape(3, 3), velo2cam['T'][..., np.newaxis]))\n\t\tvelo2cam = np.vstack((velo2cam, np.array([0, 0, 0, 1.0])))   # Projection matrix of Point cloud to cam  \n\n\t\t# compute projection matrix velodyne --> image plane\n\t\tR_cam2rect = np.eye(4)\n\t\tR_cam2rect[:3,:3] = cam2cam['R_rect_00'].reshape(3, 3) # Corrected rotation matrix for camera 0 to camera 0\n\t\tP_rect = cam2cam['P_rect_0'+str(cam)].reshape(3, 4)    # Projection matrix of the left camera\n\t\tP_velo2im = np.dot(np.dot(P_rect, R_cam2rect), velo2cam)\n\n\t\t# load velodyne points and remove all behind image plane (approximation)\n\t\t# each row of the velodyne data is forward, left, up, reflectance\n\t\tvelo = self.load_velodyne_points(velo_file_name)\n\t\tvelo = velo[velo[:, 0]>=0, :]  # remove all behind image plane\n\n\t\t# project the points to camera\n\t\tvelo_pts_im = np.dot(P_velo2im, velo.T).T\n\t\tvelo_pts_im[:, :2] = velo_pts_im[:, :2] / velo_pts_im[:, 2][..., np.newaxis] #homogenous --> not homogenous\n\n\t\tif vel_depth:\n\t\t\tvelo_pts_im[:, 2] = velo[:, 0]\n\n\t\t# check is in bounds\n\t\t# use minus 1 to get the exact same value as KITTI matlab code\n\n\t\tvelo_pts_im[:, 0] = np.round(velo_pts_im[:, 0]) - 1\n\t\tvelo_pts_im[:, 1] = np.round(velo_pts_im[:, 1]) - 1\n\t\tval_inds = (velo_pts_im[:, 0] >= 0) & (velo_pts_im[:, 1] >= 0)\n\t\tval_inds = val_inds & (velo_pts_im[:, 0] < im_shape[1]) & (velo_pts_im[:, 1]<im_shape[0])\n\t\tvelo_pts_im = velo_pts_im[val_inds, :]\n\n\t\t# project to image\n\t\tdepth = np.zeros((im_shape))   # h, w\n\t\tdepth[velo_pts_im[:, 1].astype(np.int), velo_pts_im[:, 0].astype(np.int)] = velo_pts_im[:, 2]\n\n\t\t# find the duplicate points and choose the closest depth\n\t\t# depth_shape = (h, w)   velo_pts_im[:, 1] y  velo_pts_im[:, 0] x\n\t\tinds = self.sub2ind(depth.shape, velo_pts_im[:, 1], velo_pts_im[:, 0])\n\t\tdupe_inds = [item for item, count in Counter(inds).items() if count > 1]\n\t\tfor dd in dupe_inds:\n\t\t\tpts = np.where(inds==dd)[0] \n\t\t\tx_loc = int(velo_pts_im[pts[0], 0])   # x\n\t\t\ty_loc = int(velo_pts_im[pts[0], 1])   # y\n\t\t\tdepth[y_loc, x_loc] = velo_pts_im[pts, 2].min()\n\t\tdepth[depth<0] = 0\n\n\t\tif interp:\n\t\t\t# interpolate the depth map to fill in holes\n\t\t\tdepth_interp = self.lin_interp(im_shape, velo_pts_im)\n\t\t\treturn depth, depth_interp\n\t\telse:\n\t\t\treturn depth"
  },
  {
    "path": "models/modules.py",
    "content": "# https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html\nimport torch\nimport functools\nimport torch.nn as nn\nimport torch.nn.functional as F\n\n\n\n\nclass AdaptiveInstanceNorm2d(nn.Module):\n    def __init__(self, num_features, eps=1e-5, momentum=0.1):\n        super(AdaptiveInstanceNorm2d, self).__init__()\n        self.num_features = num_features\n        self.eps = eps\n        self.momentum = momentum\n        # weight and bias are dynamically assigned\n        self.weight = None\n        self.bias = None\n        # just dummy buffers, not used\n        self.register_buffer('running_mean', torch.zeros(num_features))\n        self.register_buffer('running_var', torch.ones(num_features))\n\n    def forward(self, x):\n        assert self.weight is not None and self.bias is not None, \"Please assign weight and bias before calling AdaIN!\"\n        b, c = x.size(0), x.size(1)\n        running_mean = self.running_mean.repeat(b)   \n        running_var = self.running_var.repeat(b)\n\n        # Apply instance norm\n        x_reshaped = x.contiguous().view(1, b * c, *x.size()[2:])\n\n        out = F.batch_norm(\n            x_reshaped, running_mean, running_var, self.weight, self.bias,\n            True, self.momentum, self.eps)\n\n        return out.view(b, c, *x.size()[2:])\n\n    def __repr__(self):\n        return self.__class__.__name__ + '(' + str(self.num_features) + ')'\n\nclass ResBlocks(nn.Module):\n    def __init__(self, num_blocks, dim, norm='in', activation='relu', pad_type='zero'):\n        super(ResBlocks, self).__init__()\n        self.model = []\n        # num_blocks=4\n        # \n        for i in range(num_blocks):\n            self.model += [ResBlock(dim, norm=norm, activation=activation, pad_type=pad_type)]\n        self.model = nn.Sequential(*self.model)\n\n    def forward(self, x):\n        return self.model(x)\n\n\nclass ResBlock(nn.Module):\n    def __init__(self, dim, norm='in', activation='relu', pad_type='zero'):\n        super(ResBlock, self).__init__()\n\n        # initialize padding\n        padding = 1\n        if pad_type == 'reflect':\n            self.pad = nn.ReflectionPad2d(padding)\n        elif pad_type == 'replicate':\n            self.pad = nn.ReplicationPad2d(padding)\n        elif pad_type == 'zero':\n            self.pad = nn.ZeroPad2d(padding)\n        else:\n            assert 0, \"Unsupported padding type: {}\".format(pad_type)\n\n        self.conv1 = nn.Conv2d(dim, dim, 3, 1, bias=True)\n        #print(\"res_norm:\", norm)\n        if norm==\"in\":\n            self.norm1 = nn.InstanceNorm2d(dim)\n        elif norm=='adain':\n            self.norm1 = AdaptiveInstanceNorm2d(dim)\n        self.relu1 = nn.LeakyReLU(0.2, inplace=True)\n\n        self.conv2 = nn.Conv2d(dim, dim, 3, 1, bias=True)\n        if norm==\"in\":\n            self.norm2 = nn.InstanceNorm2d(dim)\n        elif norm=='adain':\n            self.norm2 = AdaptiveInstanceNorm2d(dim)\n\n    def forward(self, x):\n        residual = x\n\n        x = self.conv1(self.pad(x))\n        x = self.norm1(x)\n        x = self.relu1(x)\n        x = self.conv2(self.pad(x))\n        out = self.norm2(x)\n\n        out += residual\n        return out\n\ndef get_nonlinearity_layer(activation_type='PReLU'):\n    if activation_type == 'ReLU':\n        nonlinearity_layer = nn.ReLU(True)\n    elif activation_type == 'SELU':\n        nonlinearity_layer = nn.SELU(True)\n    elif activation_type == 'LeakyReLU':\n        nonlinearity_layer = nn.LeakyReLU(0.1, True)\n    elif activation_type == 'PReLU':\n        nonlinearity_layer = nn.PReLU()\n    else:\n        raise NotImplementedError('activation layer [%s] is not found' % activation_type)\n    return nonlinearity_layer\n\nclass Conv2dBlock(nn.Module):\n    # input_dim=3, dim=64, 7, 1, 3, none, lrelu, reflect\n    def __init__(self, input_dim ,output_dim, kernel_size, stride,\n                 padding=0, norm='none', activation='relu', pad_type='zero'):\n        super(Conv2dBlock, self).__init__()\n        self.use_bias = True\n        # initialize padding\n        if pad_type == 'reflect':\n            self.pad = nn.ReflectionPad2d(padding)\n        elif pad_type == 'replicate':\n            self.pad = nn.ReplicationPad2d(padding)\n        elif pad_type == 'zero':\n            self.pad = nn.ZeroPad2d(padding)\n        else:\n            assert 0, \"Unsupported padding type: {}\".format(pad_type)\n\n        # initialize normalization\n        norm_dim = output_dim                # 64\n        #print(\"norm_dim:\", norm_dim)\n        if norm == 'bn':\n            self.norm = nn.BatchNorm2d(norm_dim)\n        elif norm == 'in':\n            #self.norm = nn.InstanceNorm2d(norm_dim, track_running_stats=True)\n            self.norm = nn.InstanceNorm2d(norm_dim)\n        elif norm == 'ln':\n            self.norm = LayerNorm(norm_dim)\n        elif norm == 'adain':\n            self.norm = AdaptiveInstanceNorm2d(norm_dim)\n        elif norm == 'none' or norm == 'sn':\n            self.norm = None\n        else:\n            assert 0, \"Unsupported normalization: {}\".format(norm)\n\n        # initialize activation\n        if activation == 'relu':\n            self.activation = nn.ReLU(inplace=True)\n        elif activation == 'lrelu':\n            self.activation = nn.LeakyReLU(0.2, inplace=True)\n        elif activation == 'prelu':\n            self.activation = nn.PReLU()\n        elif activation == 'selu':\n            self.activation = nn.SELU(inplace=True)\n        elif activation == 'tanh':\n            self.activation = nn.Tanh()\n        elif activation == 'none':\n            self.activation = None\n        else:\n            assert 0, \"Unsupported activation: {}\".format(activation)\n\n        # initialize convolution\n        if norm == 'sn':\n            self.conv = SpectralNorm(nn.Conv2d(input_dim, output_dim, kernel_size, stride, bias=self.use_bias))\n        else:\n            self.conv = nn.Conv2d(input_dim, output_dim, kernel_size, stride, bias=self.use_bias)\n\n    def forward(self, x):\n        x = self.pad(x)\n        x = self.conv(x)\n        if self.norm:\n            x = self.norm(x)\n        if self.activation:\n            x = self.activation(x)\n        return x\n\nclass LayerNorm(nn.Module):\n    def __init__(self, num_features, eps=1e-5, affine=True):\n        super(LayerNorm, self).__init__()\n        self.num_features = num_features\n        self.affine = affine\n        self.eps = eps\n\n        if self.affine:\n            self.gamma = nn.Parameter(torch.Tensor(num_features).uniform_())\n            self.beta = nn.Parameter(torch.zeros(num_features))\n\n    def forward(self, x):\n        shape = [-1] + [1] * (x.dim() - 1)\n        # print(x.size())\n        if x.size(0) == 1:\n            # These two lines run much faster in pytorch 0.4 than the two lines listed below.\n            mean = x.view(-1).mean().view(*shape)\n            std = x.view(-1).std().view(*shape)\n        else:\n            mean = x.view(x.size(0), -1).mean(1).view(*shape)\n            std = x.view(x.size(0), -1).std(1).view(*shape)\n\n        x = (x - mean) / (std + self.eps)\n\n        if self.affine:\n            shape = [1, -1] + [1] * (x.dim() - 2)\n            x = x * self.gamma.view(*shape) + self.beta.view(*shape)\n        return x\n\n\n\nclass Struct_Encoder(nn.Module):\n    def __init__(self, n_downsample, n_res, input_dim, dim, norm, activ, pad_type):\n        super(Struct_Encoder, self).__init__()\n        self.conv = Conv2dBlock(input_dim, dim, 7, 1, 3, norm=norm, activation=activ, pad_type=pad_type)\n        self.model = []\n        self.conv1 = Conv2dBlock(dim, 2*dim, 4, 2, 1, norm=norm, activation=activ, pad_type=pad_type)\n        dim *= 2\n        self.conv2 =  Conv2dBlock(dim, 2*dim, 4, 2, 1, norm=norm, activation=activ, pad_type=pad_type)\n        dim *= 2\n        self.resblock = ResBlocks(n_res, dim, norm=norm, activation=activ, pad_type=pad_type)\n        self.output_dim = dim\n\n    def forward(self, x):\n        x1 = self.conv(x)\n        x2 = self.conv1(x1)\n        x3 = self.conv2(x2)\n        x4 = self.resblock(x3)\n        return  x4\n\n\nclass _UpProjection(nn.Sequential):\n\n    def __init__(self, num_input_features, num_output_features):\n        super(_UpProjection, self).__init__()\n\n        self.conv1 = nn.Conv2d(num_input_features, num_output_features,\n                               kernel_size=5, stride=1, padding=2, bias=False)\n        self.bn1 = nn.BatchNorm2d(num_output_features)\n        self.relu = nn.ReLU(inplace=True)\n        self.conv1_2 = nn.Conv2d(num_output_features, num_output_features,\n                                 kernel_size=3, stride=1, padding=1, bias=False)\n        self.bn1_2 = nn.BatchNorm2d(num_output_features)\n\n        self.conv2 = nn.Conv2d(num_input_features, num_output_features,\n                               kernel_size=5, stride=1, padding=2, bias=False)\n        self.bn2 = nn.BatchNorm2d(num_output_features)\n\n    def forward(self, x, size):\n        x = F.interpolate(x, size=size, mode='bilinear',align_corners=True)\n        #x = F.upsample(x, size=size, mode='bilinear')\n        x_conv1 = self.relu(self.bn1(self.conv1(x)))\n        bran1 = self.bn1_2(self.conv1_2(x_conv1))\n        bran2 = self.bn2(self.conv2(x))\n\n        out = self.relu(bran1 + bran2)\n\n        return out\n\n\nclass _EncoderBlock(nn.Module):\n    def __init__(self, input_nc, middle_nc, output_nc, norm_layer=nn.BatchNorm2d, nonlinearity=nn.PReLU(), use_bias=False):\n        super(_EncoderBlock, self).__init__()\n\n        model = [\n            nn.Conv2d(input_nc, middle_nc, kernel_size=3, stride=1, padding=1, bias=use_bias),\n            norm_layer(middle_nc),\n            nonlinearity,\n            nn.Conv2d(middle_nc, output_nc, kernel_size=3, stride=1, padding=1, bias=use_bias),\n            norm_layer(output_nc),\n            nonlinearity\n        ]\n\n        self.model = nn.Sequential(*model)\n\n    def forward(self, x):\n        return self.model(x) \n\nclass _InceptionBlock(nn.Module):\n    def __init__(self, input_nc, output_nc, norm_layer=nn.BatchNorm2d, nonlinearity=nn.PReLU(), width=1, drop_rate=0, use_bias=False):\n        super(_InceptionBlock, self).__init__()\n\n        self.width = width\n        self.drop_rate = drop_rate\n\n        for i in range(width):     # 0, 1, 2\n            layer = nn.Sequential(\n                nn.ReflectionPad2d(i*2+1), \n                nn.Conv2d(input_nc, output_nc, kernel_size=3, padding=0, dilation=i*2+1, bias=use_bias)\n                )\n            setattr(self, 'layer'+str(i), layer)\n\n        self.norm1 = norm_layer(output_nc*width)\n        self.norm2 = norm_layer(output_nc)\n        self.nonlinearity = nonlinearity\n        self.branch1x1 = nn.Sequential(\n            nn.ReflectionPad2d(1),\n            nn.Conv2d(output_nc*width, output_nc, kernel_size=3, padding=0, bias=use_bias)\n            )\n    def forward(self, x):\n        result = []\n\n        for i in range(self.width):\n            layer = getattr(self, 'layer'+str(i))\n            result.append(layer(x))\n        output = torch.cat(result, 1)\n        output = self.nonlinearity(self.norm1(output))\n        output = self.norm2(self.branch1x1(output))\n        if self.drop_rate > 0:\n            output = F.dropout(output, p=self.drop_rate, training=self.training)\n\n        return self.nonlinearity(output+x)\n\nclass GaussianNoiseLayer(nn.Module):\n    def __init__(self):\n        super(GaussianNoiseLayer, self).__init__()\n\n    def forward(self, x):\n        if self.training == False:\n            return x\n        noise = Variable((torch.randn(x.size()).cuda(x.data.get_device()) - 0.5) / 10.0)\n        return x+noise\n\n\nclass _DecoderUpBlock(nn.Module):\n    def __init__(self, input_nc, middle_nc, output_nc, norm_layer=nn.BatchNorm2d, nonlinearity=nn.PReLU(), use_bias=False):\n        super(_DecoderUpBlock, self).__init__()\n\n        model = [\n            nn.ReflectionPad2d(1),\n            nn.Conv2d(input_nc, middle_nc, kernel_size=3, stride=1, padding=0, bias=use_bias),\n            norm_layer(middle_nc),\n            nonlinearity,\n            nn.ConvTranspose2d(middle_nc, output_nc, kernel_size=3, stride=2, padding=1, output_padding=1),\n            norm_layer(output_nc),\n            nonlinearity\n        ]\n\n        self.model = nn.Sequential(*model)\n\n    def forward(self, x):\n        return self.model(x)\n\nclass _OutputBlock(nn.Module):\n    def __init__(self, input_nc, output_nc, kernel_size=3, use_bias=False):\n        super(_OutputBlock, self).__init__()\n        model = [\n            nn.ReflectionPad2d(int(kernel_size/2)),\n                nn.Conv2d(input_nc, output_nc, kernel_size=kernel_size, padding=0, bias=use_bias),\n                nn.Tanh()\n            ]\n\n        self.model = nn.Sequential(*model)\n\n    def forward(self, x):\n        return self.model(x)\n\n\nclass Struct_Decoder(nn.Module):\n    def __init__(self):\n        super(Struct_Decoder, self).__init__()\n        num_features = 256\n\n        self.up1 = _UpProjection(num_input_features=num_features, num_output_features=num_features // 2)\n        num_features = num_features // 2           # 128\n\n        self.up2 = _UpProjection(num_input_features=num_features, num_output_features=num_features // 2)\n        num_features = num_features // 2           # 64\n\n        self.conv = nn.Conv2d(num_features, 1, kernel_size=3, stride=1, bias=True)\n        self.reflect_pad = nn.ReflectionPad2d(1)\n\n\n    def forward(self, x):\n        u1 = self.up1(x, (x.size(2)*2, x.size(3)*2))\n        u2 = self.up2(u1, (x.size(2)*4, x.size(3)*4))\n        u3 = self.reflect_pad(u2)\n        out = torch.sigmoid(self.conv(u3))\n        return out\n\ndef get_norm_layer(norm_type='instance'):\n    if norm_type == 'batch':\n        norm_layer = functools.partial(nn.BatchNorm2d, affine=True)\n    elif norm_type == 'instance':\n        norm_layer = functools.partial(nn.InstanceNorm2d, affine=False, track_running_stats=True)\n    elif norm_layer == 'none':\n        norm_layer = None\n    else:\n        raise NotImplementedError('normalization layer [%s] is not found'% norm_type)\n    return norm_layer\n\n\nclass Depth_Net(nn.Module):\n    def __init__(self, input_nc=1, output_nc=1, ngf=64, layers=4, norm='batch', drop_rate=0, add_noise=False, weight=0.1):\n        super(Depth_Net, self).__init__()\n\n        self.layers = layers\n        self.weight = weight\n        norm_layer = get_norm_layer(norm_type=norm)\n        nonlinearity = get_nonlinearity_layer(activation_type='PReLU')\n\n        if type(norm_layer) == functools.partial:\n            use_bias = norm_layer.func == nn.InstanceNorm2d\n        else:\n            use_bias = norm_layer == nn.InstanceNorm2d\n\n        # encoder part \n        self.pool = nn.AvgPool2d(kernel_size=2, stride=2)\n        self.conv1 = nn.Sequential(nn.ReflectionPad2d(3),\n                                   nn.Conv2d(input_nc, ngf, kernel_size=7, padding=0, bias=use_bias),\n                                   norm_layer(ngf),\n                                   nonlinearity)\n        self.conv2 = _EncoderBlock(ngf, ngf*2, ngf*2, norm_layer, nonlinearity, use_bias)    # 64/128/128\n        self.conv3 = _EncoderBlock(ngf*2, ngf*4, ngf*4, norm_layer, nonlinearity, use_bias)  # 128/256/256\n        self.conv4 = _EncoderBlock(ngf*4, ngf*8, ngf*8, norm_layer, nonlinearity, use_bias)  # 256/512/512\n\n        for i in range(layers - 4):\n            conv = _EncoderBlock(ngf*8, ngf*8, ngf*8, norm_layer, nonlinearity, use_bias)\n            setattr(self, 'down'+str(i), conv.model)\n\n        center = []\n        for i in range(7 - layers):   # 0, 1, 2\n            center += [\n                    _InceptionBlock(ngf*8, ngf*8, norm_layer, nonlinearity, 7-layers, drop_rate, use_bias)\n                ]\n\n        center += [\n        _DecoderUpBlock(ngf*8, ngf*8, ngf*4, norm_layer, nonlinearity, use_bias)\n        ]\n\n        if add_noise:\n            center += [GaussianNoiseLayer()]\n        self.center = nn.Sequential(*center)\n\n        for i in range(layers-4):\n            upconv = _DecoderUpBlock(ngf*(8+4), ngf*8, ngf*4, norm_layer, nonlinearity, use_bias)\n            setattr(self, 'up'+str(i), upconv.model)\n\n        self.deconv4 = _DecoderUpBlock(ngf*(4+4), ngf*8, ngf*2, norm_layer, nonlinearity, use_bias)\n        self.deconv3 = _DecoderUpBlock(ngf*(2+2)+output_nc, ngf*4, ngf, norm_layer, nonlinearity, use_bias)\n        self.deconv2 = _DecoderUpBlock(ngf*(1+1)+output_nc, ngf*2, int(ngf/2), norm_layer, nonlinearity, use_bias)\n\n        self.output4 = _OutputBlock(ngf*(4+4), output_nc, 3, use_bias)\n        self.output3 = _OutputBlock(ngf*(2+2)+output_nc, output_nc, 3, use_bias)\n        self.output2 = _OutputBlock(ngf*(1+1)+output_nc, output_nc, 3, use_bias)\n        self.output1 = _OutputBlock(int(ngf/2)+output_nc, output_nc, 7, use_bias)\n\n        self.upsample = nn.Upsample(scale_factor=2, mode='nearest')\n\n    def forward(self, input):\n        conv1 = self.pool(self.conv1(input))          # 3/64 1/2\n        conv2 = self.pool(self.conv2.forward(conv1))  # 64/128 1/4\n        conv3 = self.pool(self.conv3.forward(conv2))  # 128/256 1/8\n        \n        center_in = self.pool(self.conv4.forward(conv3))   # 256/512 1/16\n\n        middle = [center_in]\n        for i in range(self.layers-4):\n            model = getattr(self, 'down'+str(i))\n            center_in = self.pool(model.forward(center_in))\n            middle.append(center_in)\n        center_out = self.center.forward(center_in)\n\n        for i in range(self.layers-4):\n            model = getattr(self, 'up'+str(i))\n            center_out = model.forward(torch.cat([center_out, middle[self.layers-5-i]], 1))\n\n        scale = 1.0\n        result= []\n        deconv4 = self.deconv4.forward(torch.cat([center_out, conv3 * self.weight], 1))\n        output4 = scale * self.output4.forward(torch.cat([center_out, conv3 * self.weight], 1))\n        result.append(output4)\n        deconv3 = self.deconv3.forward(torch.cat([deconv4, conv2 * self.weight * 0.5, self.upsample(output4)], 1))\n        output3 = scale * self.output3.forward(torch.cat([deconv4, conv2 * self.weight * 0.5, self.upsample(output4)], 1))\n        result.append(output3)\n        deconv2 = self.deconv2.forward(torch.cat([deconv3, conv1 * self.weight * 0.1, self.upsample(output3)], 1))\n        output2 = scale * self.output2.forward(torch.cat([deconv3, conv1 * self.weight * 0.1, self.upsample(output3)], 1))\n        result.append(output2)\n        output1 = scale * self.output1.forward(torch.cat([deconv2, self.upsample(output2)], 1))\n        result.append(output1)\n\n        return result"
  },
  {
    "path": "test.py",
    "content": "# https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html\nimport os \nimport torch\nimport argparse\nimport loaddata\nimport matplotlib\nimport numpy as np\nfrom utils import *\nimport matplotlib.cm\nimport torch.nn as nn\nimport DSAModules\n\nimport torch.nn.parallel\nimport matplotlib as mpl\nfrom models import modules\nimport matplotlib.pyplot as plt\nimport matplotlib.image as mpimg\n\nfrom torch.autograd import Variable\nimport torch.backends.cudnn as cudnn\n\nplt.switch_backend('agg')\nplt.set_cmap(\"jet\")\n\n## =========================== Parameters =================\nparser = argparse.ArgumentParser(description=\"S2R-DepthNet-Test.\")\nparser.add_argument('--dataset', type=str, default='VKITTI', help='synthetic domain')                       # *******\nparser.add_argument('--root',  type=str, default='', help='path to source dataset.')                        # *******\nparser.add_argument('--test_datafile', type=str, default='', help='stores data list, in syn_root')         # *******\nparser.add_argument('--batchSize', type=int, default=1, help='input batch size')                                # *******\nparser.add_argument('--nThreads', default=8, type=int, help='# threads for loading data')                       # *******\nparser.add_argument('--loadSize', nargs='+', type=int, default=286, help='scale images to this size')           # *******\nparser.add_argument('--out_dir', type=str, default=\"out\", help=\"the path of log\")\nparser.add_argument('--Shared_Struct_Encoder_path', type=str, default=\"\", help='the path of Shared_Struct_Encoder models')\nparser.add_argument('--Struct_Decoder_path', type=str, default=\"\", help='the path of Struct_Decoder models')\nparser.add_argument('--DepthNet_path', type=str, default=\"\", help='the path of DepthNet models')\nparser.add_argument('--DSAModle_path', type=str, default='', help='the path of DSAModle')\n\n\ndef save_test(handle, result1_log):\n\t'''\n\tThis function save the test metrics in a given file.\n\t------\n\thandle: text file handle\n\tresult_log: the metrics results, a 2D list\n\t'''\n\tabs_rel_1 = np.array(result1_log[0]).mean()\n\tsq_rel_1 = np.array(result1_log[1]).mean()\n\trmse_1 = np.array(result1_log[2]).mean()\n\trmse_log_1 = np.array(result1_log[3]).mean()\n\ta1_1 = np.array(result1_log[4]).mean()\n\ta2_1 = np.array(result1_log[5]).mean()\n\ta3_1 = np.array(result1_log[6]).mean()\n\n\n\t# write test result to test file by using handle\n\thandle.write(\"{:>10}, {:>10}, {:>10}, {:>10}, {:>10}, {:>10}, {:>10}\\n\" \\\n\t\t\t.format('abs_rel', 'sq_rel', 'rmse', 'rmse_log', 'a1', 'a2', 'a3'))\n\n\thandle.write(\"{:10.4f}, {:10.4f}, {:10.4f}, {:10.4f}, {:10.4f}, {:10.4f}, {:10.4f}\\n\"\\\n\t\t\t.format(abs_rel_1, sq_rel_1, rmse_1, rmse_log_1, a1_1, a2_1, a3_1))\n\n\n\ndef kitti_metrics_preprocess(pred, gt):\n\t'''\n\tThis function do some preprocessing before metrics calculation\n\t- check zero value to avoid numerical problems;\n\t-\n\tNote that the input 'pred' and 'gt' are both 4D nparrays\n\treturn the corresponding image pair \n\t'''\n\t# squeeze the first and last idx(which is one in test processing)\n\n\tpred = np.squeeze(pred)\n\tgt = np.squeeze(gt)\n\n\tmin_depth = 1e-3\n\tmax_depth = 80\n\tpred[pred < min_depth] = min_depth\n\tpred[pred > max_depth] = max_depth\n\n\tmask = np.logical_and(gt > min_depth, gt < max_depth)\n\tgt_height, gt_width = gt.shape\n\tcrop = np.array([0.40810811 * gt_height,  0.99189189 * gt_height,\n\t\t\t\t 0.03594771 * gt_width,   0.96405229 * gt_width]).astype(np.int32)\n\tcrop_mask = np.zeros(mask.shape)\n\tcrop_mask[crop[0]:crop[1],crop[2]:crop[3]] = 1\n\tmask = np.logical_and(mask, crop_mask)\n\tscalar = np.median(gt[mask])/np.median(pred[mask])\n\tpred[mask] *= scalar\n\n\treturn pred[mask], gt[mask]\n\n\n\ndef kitti_compute_metrics(pred, gt):\n\t\"\"\"\n\tThis function computes the metrics value on a pair of (pred, gt).\n\tNote that the input 'pred' and 'gt' are both nparrays\n\tReturn a list of result float-values which correspond to MAE, MSE, RMSE, and a1, a2, a3\n\t\"\"\"\n\t# test image pre-processing \n\tpred, gt = kitti_metrics_preprocess(pred, gt)\n\n\t## compute MSE and RMSE\n\tmse = ((gt - pred) ** 2).mean()\n\trmse = np.sqrt(mse)\n\t\n\trmse_log = (np.log(gt) - np.log(pred)) ** 2\n\trmse_log = np.sqrt(rmse_log.mean())\n\n\t# compute ap accuracy\n\tthresh = np.maximum((gt/pred), (pred/gt))\n\ta1 = (thresh < 1.25).mean()\n\ta2 = (thresh < 1.25 ** 2).mean()\n\ta3 = (thresh < 1.25 ** 3).mean()\n\n\tabs_rel = np.mean((np.abs(gt - pred) / gt))\n\tsq_rel = np.mean(((gt - pred) ** 2) / gt)\n\t#print(\"sq_rel:\", sq_rel)\n\n\treturn [abs_rel, sq_rel, rmse, rmse_log, a1, a2, a3]\n\ndef nyu_compute_metrics(pred, gt):\n\t\"\"\"\n\tThis function computes the metrics value on a pair of (pred, gt).\n\tNote that the input 'pred' and 'gt' are both nparrays\n\tReturn a list of result float-values which correspond to MAE, MSE, RMSE, and a1, a2, a3\n\t\"\"\"\n\t# test image pre-processing \n\tpred, gt = nyu_metrics_preprocess(pred, gt)\n\t#print(\"pred:\", pred)\n\t#print(\"gt:\", gt)\n\t#print(\"++++++++++++++++++++++++++++++++==\")\n\n\t## compute MSE and RMSE\n\tmse = ((gt - pred) ** 2).mean()\n\trmse = np.sqrt(mse)\n\n\t#print(\"rmse:\", rmse)\n\t\n\trmse_log = (np.log(gt) - np.log(pred)) ** 2\n\trmse_log = np.sqrt(rmse_log.mean())\n\n\t# compute ap accuracy\n\tthresh = np.maximum((gt/pred), (pred/gt))\n\ta1 = (thresh < 1.25).mean()\n\ta2 = (thresh < 1.25 ** 2).mean()\n\ta3 = (thresh < 1.25 ** 3).mean()\n\n\tabs_rel = np.mean((np.abs(gt - pred) / gt))\n\tsq_rel = np.mean(((gt - pred) ** 2) / gt)\n\t#print(\"sq_rel:\", sq_rel)\n\tprint(abs_rel, sq_rel, rmse, rmse_log, a1, a2, a3)\n\n\treturn [abs_rel, sq_rel, rmse, rmse_log, a1, a2, a3]\n\n\ndef nyu_metrics_preprocess(pred, gt):\n\t'''\n\tThis function do some preprocessing before metrics calculation\n\t- check zero value to avoid numerical problems;\n\t-\n\tNote that the input 'pred' and 'gt' are both 4D nparrays\n\treturn the corresponding image pair \n\t'''\n\t# squeeze the first and last idx(which is one in test processing)\n\n\tpred = np.squeeze(pred)\n\tgt = np.squeeze(gt)\n\t#print(\"gt1:\", gt)\n\n\n\tmin_depth = 1e-3\n\tmax_depth = 8\n\tpred[pred < min_depth] = min_depth\n\tpred[pred > max_depth] = max_depth\n\n\tmask = np.logical_and(gt > min_depth, gt < max_depth)\n\n\tscalar = np.median(gt[mask])/np.median(pred[mask])\n\tpred[mask] *= scalar\n\t\t# gtiheight, gt_width = gt.shape\n\n\t#print(\"gt2:\", gt[mask])\n\treturn pred[mask], gt[mask]\n\n\ndef main():\n\tglobal args\n\targs = parser.parse_args()\n\t\t# =========================== DataLoader ===============================\n\t# syn_dataset \"VKITTI\"\n\t# syn_root path\n\tprint(\"Loading the dataset ...\")\n\n\n\treal_loader = loaddata.create_test_dataloader(dataset=args.dataset,\n\t\t\t\t\t\t\t\t\t\t\t\t  root=args.root,\n\t\t\t\t\t\t\t\t\t\t\t\t  data_file=args.test_datafile,\n\t\t\t\t\t\t\t\t\t\t\t\t  batchsize=args.batchSize,\n\t\t\t\t\t\t\t\t\t\t\t\t  nThreads=args.nThreads,\n\t\t\t\t\t\t\t\t\t\t\t\t  loadSize=args.loadSize)\n\t\n\tprint(\"Loading data set is complete!\")\n\tprint(\"=======================================================================================\")\n\tprint(\"Building models ...\")\n\n\t# Define Shared Structure Encoder\n\tShared_Struct_Encoder = modules.Struct_Encoder(n_downsample=2, n_res=4, \n\t\t\t\t\t\t\t\t\t\t\t\tinput_dim=3, dim=64, \n\t\t\t\t\t\t\t\t\t\t\t\tnorm='in', activ='lrelu', \n\t\t\t\t\t\t\t\t\t\t\t\tpad_type='reflect')\n\t\n\n\t# Define Structure Decoder\n\tStruct_Decoder = modules.Struct_Decoder()\n\n\t# Define Depth-specific Attention (DSA) module\n\n\tAttention_Model = DSAModules.drn_d_22(pretrained=True)\n\tDSAModle = DSAModules.AutoED(Attention_Model)\n\n\n\t# Define DepthNet\n\tDepthNet = modules.Depth_Net()\n\tinit_weights(DepthNet, init_type='normal')\n\t\n\t\n\tShared_Struct_Encoder = Shared_Struct_Encoder.cuda()\t\n\tStruct_Decoder = torch.nn.DataParallel(Struct_Decoder).cuda()\n\tDSAModle = torch.nn.DataParallel(DSAModle).cuda()\n\tDepthNet = torch.nn.DataParallel(DepthNet).cuda()\t\n\t\n\t# Load models\n\tShared_Struct_Encoder.load_state_dict(torch.load(args.Shared_Struct_Encoder_path))\n\tStruct_Decoder.load_state_dict(torch.load(args.Struct_Decoder_path))\n\tDSAModle.load_state_dict(torch.load(args.DSAModle_path))\n\tDepthNet.load_state_dict(torch.load(args.DepthNet_path))\n\t\n\tif not os.path.exists(args.out_dir):\n\t\tos.mkdir(args.out_dir)\n\t\n\t\n\tif args.dataset == \"KITTI\":\n\t\tShared_Struct_Encoder.eval()\n\t\tStruct_Decoder.eval()\n\t\tDSAModle.eval()\n\t\tDepthNet.eval()\n\n\t\tresult_log = [[] for i in range(7)]\n\n\t\tstep = 0\n\n\t\tfor i, real_batched in enumerate(real_loader):\n\t\t\tprint(\"step:\", step+1)\n\t\t\timage, depth_, depth_interp_ = real_batched['left_img'], real_batched['depth'], real_batched['depth_interp']\n\n\t\t\timage = torch.autograd.Variable(image).cuda()\n\t\t\tdepth_ = torch.autograd.Variable(depth_).cuda()\n\n\t\t\t# predict\n\t\t\tstruct_code = Shared_Struct_Encoder(image)\n\t\t\tstructure_map = Struct_Decoder(struct_code)\n\t\t\t\n\t\t\tattention_map = DSAModle(image)\n\n\t\t\tdepth_specific_structure = attention_map * structure_map\n\n\t\t\tpred_depth = DepthNet(depth_specific_structure)\n\t\t\tpred_depth = torch.nn.functional.interpolate(pred_depth[-1], size=[depth_.size(1),depth_.size(2)], mode='bilinear',align_corners=True)\n\t\n\t\t\tpred_depth_np = np.squeeze(pred_depth.cpu().detach().numpy())\n\t\t\tgt_np = np.squeeze(depth_.cpu().detach().numpy())\n\n\t\t\tdepth_interp_np = np.squeeze(depth_interp_.cpu().detach().numpy())\n\n\t\t\tpred_depth_np += 1.0\n\t\t\tpred_depth_np /= 2.0\n\t\t\tpred_depth_np *= 80.0\n\n\t\t\ttest_result = kitti_compute_metrics(pred_depth_np, gt_np)   # list1 \n\n\t\t\tfor it, item in enumerate(test_result):\n\t\t\t\tresult_log[it].append(item)\n\n\t\t\tstep = step + 1\n\n\n\t\tf = open(args.out_dir + \"/evalog.txt\", 'w')\n\t\tf.write('Done testing -- epoch limit reached')\n\t\tf.write(\"after %d iteration \\n\\n\" % (step))\n\t\tsave_test(f, result_log)\n\t\tf.close()\n\n\n\tif args.dataset == \"NYUD_V2\":\n\t\tShared_Struct_Encoder.eval()\n\t\tStruct_Decoder.eval()\n\t\tDSAModle.eval()\n\t\tDepthNet.eval()\n\n\t\tresult_log = [[] for i in range(7)]\n\n\t\tstep = 0\n\t\tfor i, real_batched in enumerate(real_loader):\n\t\t\tprint(\"step:\", step+1)\n\t\t\timage, depth_ = real_batched['img'], real_batched['depth']\n\n\t\t\timage = torch.autograd.Variable(image).cuda()\n\t\t\tdepth_ = torch.autograd.Variable(depth_).cuda()\n\n\t\t\tstruct_code = Shared_Struct_Encoder(image)\n\t\t\tstructure_map = Struct_Decoder(struct_code)\n\t\t\tattention_map = DSAModle(image)\n\t\t\tdepth_specific_structure = attention_map * structure_map\n\t\t\tpred_depth = DepthNet(depth_specific_structure)\n\t\t\tpred_depth = torch.nn.functional.interpolate(pred_depth[-1], size=[depth_.size(2),depth_.size(3)], mode='bilinear',align_corners=True)\n\t\t\t\n\n\t\t\tpred_depth_np = np.squeeze(pred_depth.cpu().detach().numpy())\n\t\t\tgt_np = np.squeeze(depth_.cpu().detach().numpy())\n\n\t\t\tpred_depth_np += 1.0\n\t\t\tpred_depth_np /= 2.0\n\t\t\tpred_depth_np *= 8.0\n\t\t\tgt_np /= 1000.0\n\n\n\t\t\ttest_result = nyu_compute_metrics(pred_depth_np, gt_np)   # list1 \n\n\t\t\tfor it, item in enumerate(test_result):\n\n\t\t\t\tresult_log[it].append(item)\n\n\t\t\tstep = step + 1\n\n\n\t\tf = open(args.out_dir + \"/evalog.txt\", 'w')\n\t\tf.write('Done testing -- epoch limit reached')\n\t\tf.write(\"after %d iteration \\n\\n\" % (step))\n\t\tsave_test(f, result_log)\n\t\tf.close()\n\n\n\t\nif __name__ == '__main__':\n\tmain()\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
  },
  {
    "path": "train.py",
    "content": "# https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html\nimport os \nimport time\nimport torch\nimport argparse\nimport loaddata\nimport DSAModules\nimport itertools\nimport train_loss\nimport numpy as np\nfrom utils import *\nimport torch.nn as nn\nimport torch.nn.parallel\nfrom models import modules\nfrom itertools import chain\nimport torchvision.utils as vutils\nimport torch.backends.cudnn as cudnn\nfrom tensorboardX import SummaryWriter\n\n## =========================== Parameters =================\nparser = argparse.ArgumentParser(description=\"Domian transfer on depth estimation.\")\nparser.add_argument('--start-epoch', default=0, type=int, help='manual epoch number (useful on restarts)')\nparser.add_argument('--epochs', default=120, type=int, help='number of total epochs to run')\t\t\nparser.add_argument('--syn_dataset', type=str, default='VKITTI', help='synthetic domain')                       # *******\nparser.add_argument('--syn_root',  type=str, default='', help='path to source dataset.')                        # *******\nparser.add_argument('--syn_train_datafile', type=str, default='', help='stores data list, in syn_root')         # *******\nparser.add_argument('--batchSize', type=int, default=1, help='input batch size')                                # *******\nparser.add_argument('--nThreads', default=8, type=int, help='# threads for loading data')                       # *******\nparser.add_argument('--no_flip', action='store_true', help='if specified, do not flip the images for data augmentation')           # *******\nparser.add_argument('--no_rotation', action='store_true', help='if specified, do not rotate the images for data augmentation')     # *******\nparser.add_argument('--no_augment', action='store_true', help='if specified, do not use data augmentation, e.g., randomly shifting gamma')  # *******\nparser.add_argument('--loadSize', nargs='+', type=int, default=286, help='scale images to this size')           # *******\nparser.add_argument('--checkpoint_dir', type=str, default=\"./checkpoints/\", help='the path of saving models')\nparser.add_argument('--log_dir', type=str, default=\"./log\", help=\"the path of log\")\nparser.add_argument('--lr', type=float, default=0.0001, help='initial learning rate of network')                # *******\nparser.add_argument('--Shared_Struct_Encoder_path', type=str, default='', help='the path of shared geo encoder')\nparser.add_argument('--Struct_Decoder_path', type=str, default='', help=\"the path of Struct_Decoder\")\nparser.add_argument('--lr_policy', type=str, default='step', help='learning rate policy: lambda|step|plateau')\nparser.add_argument('--lr_decay_iters', type=int, default=10, help='multiply by a gamma every lr_decay_iters iterations')\nparser.add_argument('--lambda_w', type=float, default=1.0, help='the weight parameters of structure map.')\nparser.add_argument('--hyper_w', type=float, default=0.001, help='the weight parameters.')\nparser.add_argument('--train_stage', type=str, default='TrainStructDecoder', help='train stage(TrainStructDecoder/TrainDSAandDPModule).')\n\n\ndef main():\n\tglobal args\n\targs = parser.parse_args()\n\t# make log_dir and checkpoint_dir\n\tmakedir(args.log_dir)\n\tmakedir(args.checkpoint_dir)\n\t# =========================== DataLoader ===============================\n\t# syn_dataset \"VKITTI\"\n\t# syn_root path\n\tprint(\"Loading the dataset ...\")\n\tsynthetic_loader = loaddata.creat_train_dataloader(dataset=args.syn_dataset,\n\t\t\t\t\t\t\t\t\t\t\t\t\t   root=args.syn_root,\n\t\t\t\t\t\t\t\t\t\t\t\t\t   data_file=args.syn_train_datafile,\n\t\t\t\t\t\t\t\t\t\t\t\t\t   batchsize=args.batchSize,\n\t\t\t\t\t\t\t\t\t\t\t\t\t   nThreads=args.nThreads,\n\t\t\t\t\t\t\t\t\t\t\t\t\t   no_flip=args.no_flip,\n\t\t\t\t\t\t\t\t\t\t\t\t\t   no_rotation=args.no_rotation,\n\t\t\t\t\t\t\t\t\t\t\t\t\t   no_augment=args.no_augment,\n\t\t\t\t\t\t\t\t\t\t\t\t\t   loadSize=args.loadSize)\n\n\tprint(\"Loading datasets is complete!\")\n\tprint(\"=======================================================================================\")\n\tprint(\"Building models ...\")\n\n\t### ================================= STE Module ==================================================\n\n\t# Define Shared Structure Encoder\n\tShared_Struct_Encoder = modules.Struct_Encoder(n_downsample=2, n_res=4, \n\t\t\t\t\t\t\t\t\t\t\tinput_dim=3, dim=64, \n\t\t\t\t\t\t\t\t\t\t\tnorm='in', activ='lrelu', \n\t\t\t\t\t\t\t\t\t\t\tpad_type='reflect')\n\t# Define Structure Decoder\n\tStruct_Decoder = modules.Struct_Decoder()\n\n\t### ================================ DSA Module ===================================================\n\n\t# Define Depth-specific Attention (DSA) module\n\tAttention_Model = DSAModules.drn_d_22(pretrained=True)\n\tDSAModle = DSAModules.AutoED(Attention_Model)\n\n\t# Define DepthNet\n\tDepthNet = modules.Depth_Net()\n\tinit_weights(DepthNet, init_type='normal')\n\n\n\tcudnn.enabled = True\n\tcudnn.benchmark = True\n\n\tif args.train_stage == 'TrainStructDecoder':\n\t\t## Load pretrained shared_geo_encoder\n\t\tShared_Struct_Encoder.load_state_dict(torch.load(args.Shared_Struct_Encoder_path))\n\n\t\t# =============================== Multi-GPU ======================\n\t\tprint(\"GPU num:\", torch.cuda.device_count())\n\t\tif torch.cuda.device_count() == 8:\n\t\t\tShared_Struct_Encoder = torch.nn.DataParallel(Shared_Struct_Encoder, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda()\n\t\t\tStruct_Decoder = torch.nn.DataParallel(Struct_Decoder, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda()\n\t\t\tDepthNet = torch.nn.DataParallel(DepthNet, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda()\n\n\t\telif torch.cuda.device_count() == 4:\n\t\t\tShared_Struct_Encoder = torch.nn.DataParallel(Shared_Struct_Encoder, device_ids=[0, 1, 2, 3]).cuda()\n\t\t\tStruct_Decoder = torch.nn.DataParallel(Struct_Decoder, device_ids=[0, 1, 2, 3]).cuda()\n\t\t\tDepthNet = torch.nn.DataParallel(DepthNet, device_ids=[0, 1, 2, 3]).cuda()\n\n\t\telse:\n\t\t\tShared_Struct_Encoder = Shared_Struct_Encoder.cuda()\n\t\t\tStruct_Decoder = Struct_Decoder.cuda()\n\t\t\tDepthNet = DepthNet.cuda()\n\t\t\n\telif args.train_stage == 'TrainDSAandDPModule':\n\t\t## Load pretrained shared_geo_encoder\n\t\tShared_Struct_Encoder.load_state_dict(torch.load(args.Shared_Struct_Encoder_path))\n\n\t\t# =============================== Multi-GPU ======================\n\t\tprint(\"GPU num:\", torch.cuda.device_count())\n\t\tif torch.cuda.device_count() == 8:\n\t\t\tShared_Struct_Encoder = torch.nn.DataParallel(Shared_Struct_Encoder, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda()\n\t\t\tStruct_Decoder = torch.nn.DataParallel(Struct_Decoder, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda()\n\t\t\tDSAModle = torch.nn.DataParallel(DSAModle, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda()\n\t\t\tDepthNet = torch.nn.DataParallel(DepthNet, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda()\n\n\t\telif torch.cuda.device_count() == 4:\n\t\t\tShared_Struct_Encoder = torch.nn.DataParallel(Shared_Struct_Encoder, device_ids=[0, 1, 2, 3]).cuda()\n\t\t\tStruct_Decoder = torch.nn.DataParallel(Struct_Decoder, device_ids=[0, 1, 2, 3]).cuda()\n\t\t\tDSAModle = torch.nn.DataParallel(DSAModle, device_ids=[0, 1, 2, 3]).cuda()\n\t\t\tDepthNet = torch.nn.DataParallel(DepthNet, device_ids=[0, 1, 2, 3]).cuda()\n\n\t\telse:\n\t\t\tShared_Struct_Encoder = Shared_Struct_Encoder.cuda()\n\t\t\tStruct_Decoder = Struct_Decoder.cuda()\n\t\t\tDSAModle = DSAModle.cuda()\n\t\t\tDepthNet = DepthNet.cuda()\n\n\t\t## Load Struct_Decoder\n\t\tStruct_Decoder.load_state_dict(torch.load(args.Struct_Decoder_path))\n\n\tif args.train_stage == 'TrainStructDecoder':\n\t\t# =============================== Optim ============================================\n\t\toptimizer = torch.optim.Adam(itertools.chain(Struct_Decoder.parameters(), DepthNet.parameters()), lr=args.lr, betas=(0.9, 0.999))\n\telif args.train_stage == 'TrainDSAandDPModule':\n\t\t# =============================== Optim ============================================\n\t\toptimizer = torch.optim.Adam(itertools.chain(DSAModle.parameters(), DepthNet.parameters()), lr=args.lr, betas=(0.9, 0.999))\n\n\t# Set logger\n\twriter = SummaryWriter(log_dir=args.log_dir)\n\n\t# Set scheduler\n\tscheduler = get_scheduler(optimizer, args)\n\t\n\tlr = args.lr\n\n\t#   train process\n\tfor epoch in range(args.start_epoch, args.epochs):\n\n\t\tbatch_time = AverageMeter()\n\t\tlosses = AverageMeter()\n\n\t\tif args.train_stage == 'TrainStructDecoder':\n\t\t\tShared_Struct_Encoder.eval()\n\t\t\tStruct_Decoder.train()\n\t\t\tDepthNet.train()\n\n\t\telif args.train_stage == 'TrainDSAandDPModule':\n\t\t\tShared_Struct_Encoder.eval()\n\t\t\tStruct_Decoder.eval()\n\t\t\tDSAModle.train()\n\t\t\tDepthNet.train()\n\n\t\tend = time.time()\n\n\t\tfor i, sample_batched in enumerate(synthetic_loader):\n\t\t\timage, depth = sample_batched['src']['img'], sample_batched['src']['depth']\n\t\t\ttrain_iteration = epoch * len(synthetic_loader) + i\n\n\t\t\timage = torch.autograd.Variable(image).cuda()       # image\n\t\t\tdepth = torch.autograd.Variable(depth).cuda()       # depth\n\t\t\tif args.train_stage == 'TrainStructDecoder':\n \t\t\t\t# Fix Shared Structure Encoder\n\t\t\t\tstruct_code = Shared_Struct_Encoder(image).detach()\n\t\t\telif args.train_stage == 'TrainDSAandDPModule':\n\t\t\t\t# Fix Shared Structure Encoder\n\t\t\t\tstruct_code = Shared_Struct_Encoder(image).detach()\n\t\t\t\tstructure_map = Struct_Decoder(struct_code).detach()\n\t\t\t\t\n\t\t\toptimizer.zero_grad()\n\n\t\t\tif args.train_stage == 'TrainStructDecoder':\n\t\t\t\tstructure_map = Struct_Decoder(struct_code)\n\t\t\t\tpred_depth = DepthNet(structure_map)\n\n\t\t\telif args.train_stage == 'TrainDSAandDPModule':\n\t\t\t\tattention_map = DSAModle(image)\n\t\t\t\tdepth_specific_structure = attention_map * structure_map\n\t\t\t\tpred_depth = DepthNet(depth_specific_structure)\n\n\n\t\t\tgt_depth = adjust_gt(depth, pred_depth)\n\n\n\t\t\tdepth_loss = train_loss.depth_loss(pred_depth, gt_depth)\n\t\t\tif args.train_stage == 'TrainStructDecoder':\n\t\t\t\tstruct_weighted_loss = train_loss.struct_weighted_loss(structure_map, depth, train_iteration, args.hyper_w)\n\t\t\t\ttotal_loss = depth_loss + args.lambda_w * struct_weighted_loss\n\t\t\telif args.train_stage == 'TrainDSAandDPModule':\n\t\t\t\ttotal_loss = depth_loss\n\n\t\t\tlosses.update(total_loss.item(), image.size(0))\n\t\t\ttotal_loss.backward()\n\t\t\toptimizer.step()\n\n\t\t\tbatch_time.update(time.time() - end)\n\t\t\tend = time.time()\n\n\t\t\tbatchSize = depth.size(0)\n\t\t\tif train_iteration % 30 == 0:\n\t\t\t\twriter.add_scalar('train/total_loss', total_loss, train_iteration)\n\t\t\t\twriter.add_scalar('train/batches_loss_avg', losses.avg, train_iteration)\n\t\t\t\twriter.add_scalar('train/depth_loss', depth_loss, train_iteration)\n\t\t\t\tif args.train_stage == 'TrainStructDecoder':\n\t\t\t\t\twriter.add_scalar('train/struct_weighted_loss', struct_weighted_loss, train_iteration)\n\n\t\t\t\twriter.add_image('train/image', vutils.make_grid(image*0.5+0.5), train_iteration)\n\t\t\t\twriter.add_image('train/pred_depth', vutils.make_grid(colormap(pred_depth[-1])), train_iteration)\n\t\t\t\twriter.add_image('train/depth_gt', vutils.make_grid(colormap(depth)), train_iteration)\n\t\t\t\twriter.add_image('train/structure_map', vutils.make_grid(colormap(structure_map, 'viridis')), train_iteration)\n\t\t\t\tif args.train_stage == 'TrainDSAandDPModule':\n\t\t\t\t\twriter.add_image('train/attention_map', vutils.make_grid(colormap(attention_map, 'viridis')), train_iteration)\n\t\t\t\t\twriter.add_image('train/depth_specific_structure', vutils.make_grid(colormap(depth_specific_structure, 'viridis')), train_iteration)\n\n\n\t\t\tprint('Epoch: [{0}][{1}/{2}]\\t'\n\t\t\t\t  'Time {batch_time.val:.3f} ({batch_time.sum:.3f})\\t'\n\t\t\t\t  'Loss {loss.val:.4f} ({loss.avg:.4f})'\n\t\t\t\t  .format(epoch, i, len(synthetic_loader), batch_time=batch_time, loss=losses))\n\n\t\tlr = update_learning_rate(optimizer, scheduler)   \n\t\tif (epoch+1) % 1 == 0:\n\t\t\tif args.train_stage == 'TrainStructDecoder':\n\t\t\t\ttorch.save(Struct_Decoder.state_dict(), args.checkpoint_dir + 'struct_decoder_'+str(epoch+1) + \".pth\")\n\t\t\t\ttorch.save(DepthNet.state_dict(), args.checkpoint_dir + 'depth_net_'+str(epoch+1) + \".pth\")\n\t\t\tif args.train_stage == 'TrainDSAandDPModule':\n\t\t\t\ttorch.save(DSAModle.state_dict(), args.checkpoint_dir + 'dsa_modle_'+str(epoch+1) + \".pth\")\n\t\t\t\ttorch.save(DepthNet.state_dict(), args.checkpoint_dir + 'depth_net_'+str(epoch+1) + \".pth\")\n\n\n\n\nif __name__ == '__main__':\n\tmain()\n"
  },
  {
    "path": "train_loss.py",
    "content": "# https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html\nimport os\nimport torch\nimport torch.nn as nn\nimport torch.nn.functional as F\n\n\n\n\n\ndef depth_loss(output, depth_gt):\n\n\tlosses=[]\n\n\tdepth_loss = torch.nn.L1Loss()\n\n\tfor depth_index in range(len(output)):\n\n\t\tloss = depth_loss(output[depth_index], depth_gt[depth_index])\n\n\t\tlosses.append(loss)\n\n\n\ttotal_loss = sum(losses)\n\t\n\treturn total_loss\n\n\ndef gradient_x(img):\n        # Pad input to keep output size consistent\n        img = F.pad(img, (0, 1, 0, 0), mode=\"replicate\")\n        gx = img[:, :, :, :-1] - img[:, :, :, 1:]  # NCHW\n        return gx\n\ndef gradient_y(img):\n        # Pad input to keep output size consistent\n        img = F.pad(img, (0, 0, 0, 1), mode=\"replicate\")\n        gy = img[:, :, :-1, :] - img[:, :, 1:, :]  # NCHW\n        return gy\n\n\n\n\ndef struct_weighted_loss(struct_map, depth, train_iteration, hyper_w):\n\n\tdepth_grad_dx = gradient_x(depth)\n\t\n\tdepth_grad_dy = gradient_y(depth)\n\t\n\tdepth_grad = torch.abs(depth_grad_dx) + torch.abs(depth_grad_dy)\n\t\n\tweight = torch.exp(-torch.mean(depth_grad, 1, keepdim=True) * hyper_w)\n\t\n\tweighted_struct = struct_map * weight\n\n\treturn torch.mean(torch.abs(weighted_struct))"
  },
  {
    "path": "transform.py",
    "content": "# https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html\nimport math\nimport random\nimport numpy as np\nfrom PIL import Image\nimport torchvision.transforms as transforms\nimport torchvision.transforms.functional as F\n\n\nclass RandomHorizontalFlip(object):\n\tdef __init__(self, prob=None):\n\t\tself.prob = prob\n\tdef __call__(self, img):\n\t\tif (self.prob is None and random.random()<0.5) or self.prob<0.5:\n\t\t\treturn img.transpose(Image.FLIP_LEFT_RIGHT)\n\t\treturn img\n\nclass RandomVerticalFlip(object):\n\tdef __init__(self, img):\n\t\tif (self.prob is None and random.random()<0.5) or self.prob < 0.5:\n\t\t\treturn img.transpose(Image.FLIP_TOP_BOTTOM)\n\t\treturn img\n\n\nclass RandomImgAugment(object):\n\n\tdef __init__(self, no_flip, no_rotation, no_augment, size=None, dataset=None):\n\t\tself.flip = not no_flip                          ## default all run\n\t\tself.augment = not no_augment\n\t\tself.rotation = not no_rotation \n\t\tself.size = size\n\t\tself.dataset = dataset\n\n\tdef __call__(self, inputs):\n\t\timg1 = inputs[0]                            # Image\n\t\timg2 = inputs[1]                            # None\n\t\tdepth = inputs[2]                           # Depth\n\t\tphase = inputs[3]                           # train/test\n\t\tfb = inputs[4]                              # focallength*baseline\n\n\t\th = img1.height                             # height\n\t\tw = img1.width\t\t\t\t\t\t\t\t# width\n\t\tw0 = w                                      # w0\n\t\t\n\t\tif self.size == [-1]:                       \n\t\t\tdivisor = 32.0                                      # divisor                  \n\t\t\th = int(math.ceil(h/divisor) * divisor)\n\t\t\tw = int(math.ceil(w/divisor) * divisor)\n\t\t\tself.size = (h, w)\n\t\t\n\n\t\t## resize to 256 1024\n\t\tscale_transform = transforms.Compose([transforms.Resize(self.size, Image.BICUBIC)])\n\t\timg1 = scale_transform(img1)              ## RGB image\n\t\tif img2 is not None:                      \n\t\t\timg2 = scale_transform(img2)\n\t\tif fb is not None:                              ## fb is None\n\t\t\tscale = float(self.size[1]) / float(w0)     ## \n\t\t\tfb = fb * scale\n\t\tif phase == 'test':                             ## phase train\n\t\t\treturn img1, img2, depth, fb\n\t\tif depth is not None:\n\t\t\tscale_transform_d = transforms.Compose([transforms.Resize(self.size, Image.BICUBIC)])\n\t\t\tdepth = scale_transform_d(depth)\n\t\tif not self.size == 0:\n\t\t\tif depth is not None:\n\t\t\t\tif self.dataset.upper() == 'KITTI' or self.dataset.upper() == 'VKITTI':\n\t\t\t\t\t#print(\"Using outdoor scene transform.\")\n\t\t\t\t\tarr_depth = np.array(depth, dtype=np.float32)\n\t\t\t\t\tarr_depth[arr_depth>8000.0]=8000.0\n\t\t\t\t\tarr_depth /= 8000.0   # cm -> m \n\t\t\t\t\tarr_depth[arr_depth<0.0] = 0.0\n\t\t\t\tif self.dataset.upper() == 'NYUD_V2' or self.dataset.upper() == 'SUNCG':\n\t\t\t\t\t#print(\"Using indoor scene transform.\")\n\t\t\t\t\tarr_depth = np.array(depth, dtype=np.float32)\n\t\t\t\t\tarr_depth /= 255.0       ## normalize to (0, 1)\n\t\t\t\t\tarr_depth[arr_depth<0.0] = 0.0\n\n\t\t\t\tdepth = Image.fromarray(arr_depth, 'F')\n\t\t## random horizontal flip\n\t\tif self.flip and not (img2 is not None and depth is not None):\n\t\t\tflip_prob = random.random()\n\t\t\tflip_transform = transforms.Compose([RandomHorizontalFlip(flip_prob)])\n\t\t\tif img2 is None:\n\t\t\t\timg1 = flip_transform(img1)\n\t\t\telse:\n\t\t\t\tif flip_prob < 0.5:\n\t\t\t\t\timg1_ = img1\n\t\t\t\t\timg2_ = img2\n\t\t\t\t\timg1 = flip_transform(img2_)\n\t\t\t\t\timg2 = flip_transform(img1_)\n\n\t\t\tif depth is not None:\n\t\t\t\tdepth = flip_transform(depth)\n\n\n\t\t### rotation\n\t\tif self.rotation and not (img2 is not None and depth is not None):\n\t\t\tif random.random() < 0.5:\n\t\t\t\tdegree = random.randrange(-500, 500)/100\n\t\t\t\timg1 = F.rotate(img1, degree, Image.BICUBIC)\n\t\t\t\tif depth is not None:\n\t\t\t\t\tdepth = F.rotate(depth, degree, Image.BICUBIC)\n\t\t\t\tif img2 is not None:\n\t\t\t\t\timg2 = F.rotate(img2, degree, Image.BICUBIC)\n\t\t# convert depth to range [-1, 1]\n\t\tif depth is not None:\n\t\t\tdepth = np.array(depth, dtype=np.float32)\n\t\t\tdepth = depth * 2.0\n\t\t\tdepth -= 1.0\n\n\t\tif self.augment:\n\t\t\tif random.random() < 0.5:\n\n\t\t\t\tbrightness = random.uniform(0.8, 1.0)\n\t\t\t\tcontrast = random.uniform(0.8, 1.0)\n\t\t\t\tsaturation = random.uniform(0.8, 1.0)\n\n\t\t\t\timg1 = F.adjust_brightness(img1, brightness)\n\t\t\t\timg1 = F.adjust_contrast(img1, contrast)\n\t\t\t\timg1 = F.adjust_saturation(img1, saturation)\n\n\t\t\t\tif img2 is not None:\n\t\t\t\t\timg2 = F.adjust_brightness(img2, brightness)\n\t\t\t\t\timg2 = F.adjust_contrast(img2, contrast)\n\t\t\t\t\timg2 = F.adjust_saturation(img2, saturation)\n\n\t\treturn img1, img2, depth, fb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
  },
  {
    "path": "utils.py",
    "content": "# https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html\nimport os\nimport torch\nimport matplotlib\nimport numpy as np\nimport matplotlib.cm\nfrom torch.nn import init\nimport torch.nn.functional as F\nfrom torch.optim import lr_scheduler\n\ndef makedir(directory):\n    if not os.path.exists(directory):\n        os.makedirs(directory)\n\n\ndef colormap(image, cmap=\"jet\"):\n\timage_min = torch.min(image)\n\timage_max = torch.max(image)\n\timage = (image - image_min) / (image_max - image_min)\n\timage = torch.squeeze(image)\n\n\tif len(image.shape) == 2:\n\t\timage = image.unsqueeze(0)\n\n\t# quantize \n\tindices = torch.round(image * 255).long()\n\t# gather\n\tcm = matplotlib.cm.get_cmap(cmap if cmap is not None else 'gray')\n\n\tcolors = cm(np.arange(256))[:, :3]\n\tcolors = torch.cuda.FloatTensor(colors)\n\tcolor_map = colors[indices].transpose(2, 3).transpose(1, 2)\n\n\treturn color_map\n\ndef update_learning_rate(optimizers, scheduler):\n    scheduler.step()\n    lr = optimizers.param_groups[0]['lr']\n    print('learning rate = %.7f' % lr)\n\n    return lr\n\ndef get_scheduler(optimizer, opt):\n    if opt.lr_policy == 'lambda':\n        def lambda_rule(epoch):\n            lr_l = 1.0 - max(0, epoch + 1 + opt.epoch_count - opt.niter) / float(opt.niter_decay + 1)\n            return lr_l\n        scheduler = lr_scheduler.LambdaLR(optimizer, lr_lambda=lambda_rule)\n    elif opt.lr_policy == 'step':\n        scheduler = lr_scheduler.StepLR(optimizer, step_size=opt.lr_decay_iters, gamma=0.5)\n    elif opt.lr_policy == 'plateau':\n        scheduler = lr_scheduler.ReduceLROnPlateau(optimizer, mode='min', factor=0.2, threshold=0.01, patience=5)\n    else:\n        return NotImplementedError('learning rate policy [%s] is not implemented', opt.lr_policy)\n    return scheduler\n\ndef adjust_gt(gt_depth, pred_depth):\n\tadjusted_gt = []\n\tfor each_depth in pred_depth:\n\t\tadjusted_gt.append(F.interpolate(gt_depth, size=[each_depth.size(2), each_depth.size(3)],\n\t\t\t\t\t\t\t\t   mode='bilinear', align_corners=True))\n\treturn adjusted_gt\n\n\ndef init_weights(net, init_type='normal', gain=0.02):\n    def init_func(m):\n        classname = m.__class__.__name__\n        if hasattr(m, 'weight') and (classname.find('Conv') != -1 or classname.find('Linear') != -1):\n            if init_type == 'normal':\n                init.normal_(m.weight.data, 0.0, gain)\n            elif init_type == 'xavier':\n                init.xavier_normal_(m.weight.data, gain=gain)\n            elif init_type == 'kaiming':\n                init.kaiming_normal_(m.weight.data, a=0, mode='fan_in')\n            elif init_type == 'orthogonal':\n                init.orthogonal_(m.weight.data, gain=gain)\n            else:\n                raise NotImplementedError('initialization method [%s] is not implemented' % init_type)\n            if hasattr(m, 'bias') and m.bias is not None:\n                init.constant_(m.bias.data, 0.0)\n        elif classname.find('BatchNorm2d') != -1:\n            init.normal_(m.weight.data, 1.0, gain)\n            init.constant_(m.bias.data, 0.0)\n\n    print('initialize network with %s' % init_type)\n    net.apply(init_func)\n\nclass AverageMeter(object):\n\tdef __init__(self):\n\t\tself.reset()\n\n\tdef reset(self):\n\t\tself.val = 0\n\t\tself.avg = 0\n\t\tself.sum = 0\n\t\tself.count = 0\n\n\tdef update(self, val, n=1):\n\t\tself.val = val\n\t\tself.sum += val * n\n\t\tself.count += n\n\t\tself.avg = self.sum / self.count"
  }
]