Repository: microsoft/S2R-DepthNet Branch: main Commit: aebc931c7e8c Files: 22 Total size: 68.9 MB Directory structure: gitextract_h1a_g1sl/ ├── .github/ │ └── workflows/ │ └── codeql-analysis.yml ├── .gitignore ├── CODE_OF_CONDUCT.md ├── DSAEncoder/ │ └── drn_d_22-4bd2f8ea.pth ├── DSAModules.py ├── LICENSE ├── README.md ├── SECURITY.md ├── SUPPORT.md ├── datasets/ │ ├── kitti/ │ │ ├── test.txt │ │ ├── train.txt │ │ └── val.txt │ └── vkitti/ │ ├── test.txt │ ├── train.txt │ └── val.txt ├── loaddata.py ├── models/ │ └── modules.py ├── test.py ├── train.py ├── train_loss.py ├── transform.py └── utils.py ================================================ FILE CONTENTS ================================================ ================================================ FILE: .github/workflows/codeql-analysis.yml ================================================ # For most projects, this workflow file will not need changing; you simply need # to commit it to your repository. # # You may wish to alter this file to override the set of languages analyzed, # or to provide custom queries or build logic. # # ******** NOTE ******** # We have attempted to detect the languages in your repository. 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Resources: - [Microsoft Open Source Code of Conduct](https://opensource.microsoft.com/codeofconduct/) - [Microsoft Code of Conduct FAQ](https://opensource.microsoft.com/codeofconduct/faq/) - Contact [opencode@microsoft.com](mailto:opencode@microsoft.com) with questions or concerns ================================================ FILE: DSAEncoder/drn_d_22-4bd2f8ea.pth ================================================ [File too large to display: 62.6 MB] ================================================ FILE: DSAModules.py ================================================ # https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html import torch.nn as nn import math import torch.utils.model_zoo as model_zoo import torch.nn.functional as F import torch BatchNorm = nn.BatchNorm2d # __all__ = ['DRN', 'drn26', 'drn42', 'drn58'] webroot = 'https://tigress-web.princeton.edu/~fy/drn/models/' model_urls = { 'resnet50': 'https://download.pytorch.org/models/resnet50-19c8e357.pth', 'drn-c-26': webroot + 'drn_c_26-ddedf421.pth', 'drn-c-42': webroot + 'drn_c_42-9d336e8c.pth', 'drn-c-58': webroot + 'drn_c_58-0a53a92c.pth', 'drn-d-22': webroot + 'drn_d_22-4bd2f8ea.pth', 'drn-d-38': webroot + 'drn_d_38-eebb45f0.pth', 'drn-d-54': webroot + 'drn_d_54-0e0534ff.pth', 'drn-d-105': webroot + 'drn_d_105-12b40979.pth', 'drn-d-105_ms': webroot + 'drn-d-105_ms_cityscapes.pth' } def conv3x3(in_planes, out_planes, stride=1, padding=1, dilation=1): return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride, padding=padding, bias=False, dilation=dilation) class BasicBlock(nn.Module): expansion = 1 def __init__(self, inplanes, planes, stride=1, downsample=None, dilation=(1, 1), residual=True): super(BasicBlock, self).__init__() self.conv1 = conv3x3(inplanes, planes, stride, padding=dilation[0], dilation=dilation[0]) self.bn1 = BatchNorm(planes) self.relu = nn.ReLU(inplace=True) self.conv2 = conv3x3(planes, planes, padding=dilation[1], dilation=dilation[1]) self.bn2 = BatchNorm(planes) self.downsample = downsample self.stride = stride self.residual = residual def forward(self, x): residual = x out = self.conv1(x) # 32/64 1/2 out = self.bn1(out) out = self.relu(out) out = self.conv2(out) out = self.bn2(out) if self.downsample is not None: residual = self.downsample(x) if self.residual: out += residual out = self.relu(out) return out class Bottleneck(nn.Module): expansion = 4 def __init__(self, inplanes, planes, stride=1, downsample=None, dilation=(1, 1), residual=True): super(Bottleneck, self).__init__() self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=1, bias=False) self.bn1 = BatchNorm(planes) self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, stride=stride, padding=dilation[1], bias=False, dilation=dilation[1]) self.bn2 = BatchNorm(planes) self.conv3 = nn.Conv2d(planes, planes * 4, kernel_size=1, bias=False) self.bn3 = BatchNorm(planes * 4) self.relu = nn.ReLU(inplace=True) self.downsample = downsample self.stride = stride def forward(self, x): residual = x out = self.conv1(x) out = self.bn1(out) out = self.relu(out) out = self.conv2(out) out = self.bn2(out) out = self.relu(out) out = self.conv3(out) out = self.bn3(out) if self.downsample is not None: residual = self.downsample(x) out += residual out = self.relu(out) return out class DRN(nn.Module): # BasicBlock, [1, 1, 2, 2, 2, 2, 1, 1], arch='D', **kwargs def __init__(self, block, layers, num_classes=1000, channels=(16, 32, 64, 128, 256, 512, 512, 512), out_map=False, out_middle=False, pool_size=28, arch='D'): super(DRN, self).__init__() self.inplanes = channels[0] # 16 self.out_map = out_map self.out_dim = channels[-1] self.out_middle = out_middle self.arch = arch if arch == 'C': self.conv1 = nn.Conv2d(3, channels[0], kernel_size=7, stride=1, padding=3, bias=False) self.bn1 = BatchNorm(channels[0]) self.relu = nn.ReLU(inplace=True) self.layer1 = self._make_layer( BasicBlock, channels[0], layers[0], stride=1) self.layer2 = self._make_layer( BasicBlock, channels[1], layers[1], stride=2) elif arch == 'D': self.layer0 = nn.Sequential( nn.Conv2d(3, channels[0], kernel_size=7, stride=1, padding=3, # 3/16 7x7 bias=False), BatchNorm(channels[0]), nn.ReLU(inplace=True) ) self.layer1 = self._make_conv_layers( channels[0], layers[0], stride=1) # (16, 1, stride=1) self.layer2 = self._make_conv_layers( channels[1], layers[1], stride=2) # (32, 1, stride=2) self.layer3 = self._make_layer(block, channels[2], layers[2], stride=2) # (64, 2) self.layer4 = self._make_layer(block, channels[3], layers[3], stride=2) # (128, 2) self.layer5 = self._make_layer(block, channels[4], layers[4], dilation=2, new_level=False) # (256, 2) self.layer6 = None if layers[5] == 0 else \ self._make_layer(block, channels[5], layers[5], dilation=4, # (512, 2) new_level=False) if arch == 'C': self.layer7 = None if layers[6] == 0 else \ self._make_layer(BasicBlock, channels[6], layers[6], dilation=2, new_level=False, residual=False) self.layer8 = None if layers[7] == 0 else \ self._make_layer(BasicBlock, channels[7], layers[7], dilation=1, new_level=False, residual=False) elif arch == 'D': self.layer7 = None if layers[6] == 0 else \ self._make_conv_layers(channels[6], layers[6], dilation=2) # (512,1) self.layer8 = None if layers[7] == 0 else \ self._make_conv_layers(channels[7], layers[7], dilation=1) # (512,1) if num_classes > 0: self.avgpool = nn.AvgPool2d(pool_size) self.fc = nn.Conv2d(self.out_dim, num_classes, kernel_size=1, stride=1, padding=0, bias=True) for m in self.modules(): if isinstance(m, nn.Conv2d): n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels m.weight.data.normal_(0, math.sqrt(2. / n)) elif isinstance(m, BatchNorm): m.weight.data.fill_(1) m.bias.data.zero_() def _make_layer(self, block, planes, blocks, stride=1, dilation=1, new_level=True, residual=True): assert dilation == 1 or dilation % 2 == 0 downsample = None if stride != 1 or self.inplanes != planes * block.expansion: # 32/64 stride=2 # 128/256 downsample = nn.Sequential( nn.Conv2d(self.inplanes, planes * block.expansion, # kernel_size=1, stride=stride, bias=False), BatchNorm(planes * block.expansion), ) ## 32/64 ## 128/256 dilation=(2,2) layers = list() layers.append(block( self.inplanes, planes, stride, downsample, dilation=(1, 1) if dilation == 1 else ( dilation // 2 if new_level else dilation, dilation), residual=residual)) self.inplanes = planes * block.expansion for i in range(1, blocks): layers.append(block(self.inplanes, planes, residual=residual, dilation=(dilation, dilation))) return nn.Sequential(*layers) def _make_conv_layers(self, channels, convs, stride=1, dilation=1): modules = [] # 16 for i in range(convs): modules.extend([ nn.Conv2d(self.inplanes, channels, kernel_size=3, stride=stride if i == 0 else 1, padding=dilation, bias=False, dilation=dilation), # 16/16 3x3 16/32 BatchNorm(channels), nn.ReLU(inplace=True)]) self.inplanes = channels return nn.Sequential(*modules) def forward(self, x): y = list() if self.arch == 'C': x = self.conv1(x) x = self.bn1(x) x = self.relu(x) elif self.arch == 'D': x = self.layer0(x) # 3/16 7x7 x = self.layer1(x) # 16/16 y.append(x) x = self.layer2(x) # 16/32 (1/2) y.append(x) x = self.layer3(x) # 32/64 (1/4) y.append(x) x = self.layer4(x) # 64/128 (1/8) y.append(x) x = self.layer5(x) # 128/256 (1/8) y.append(x) if self.layer6 is not None: x = self.layer6(x) # 256/512 (1/8) y.append(x) if self.layer7 is not None: x = self.layer7(x) # 512/512 (1/8) y.append(x) if self.layer8 is not None: x = self.layer8(x) # 512/512 (1/8) y.append(x) if self.out_map: x = self.fc(x) else: x = self.avgpool(x) # x = self.fc(x) x = x.view(x.size(0), -1) if self.out_middle: return x, y else: return x class _UpProjection(nn.Sequential): def __init__(self, num_input_features, num_output_features): super(_UpProjection, self).__init__() #self.reflect_pad_1 = nn.ReflectionPad2d(2) self.conv1 = nn.Conv2d(num_input_features, num_output_features, kernel_size=5, stride=1, padding=2, bias=False) self.bn1 = nn.BatchNorm2d(num_output_features) self.relu = nn.ReLU(inplace=True) #self.reflect_pad_2 = nn.ReflectionPad2d(1) self.conv1_2 = nn.Conv2d(num_output_features, num_output_features, kernel_size=3, stride=1, padding=1, bias=False) self.bn1_2 = nn.BatchNorm2d(num_output_features) #self.reflect_pad_3 = nn.ReflectionPad2d(2) self.conv2 = nn.Conv2d(num_input_features, num_output_features, kernel_size=5, stride=1, padding=2, bias=False) self.bn2 = nn.BatchNorm2d(num_output_features) def forward(self, x, size): x = F.interpolate(x, size=size, mode='bilinear',align_corners=True) #x = F.upsample(x, size=size, mode='bilinear') x_conv1 = self.relu(self.bn1(self.conv1(x))) bran1 = self.bn1_2(self.conv1_2(x_conv1)) bran2 = self.bn2(self.conv2(x)) out = self.relu(bran1 + bran2) return out class AutoED(nn.Module): def __init__(self, model): super(AutoED, self).__init__() self.E = _E(model) self.D = _D() def freeze_bn(self): for m in self.modules(): if isinstance(m, nn.BatchNorm2d): m.eval() def forward(self, x): x_, size1, size2, size3 = self.E(x) out = self.D(x_, size1, size2, size3) return out class _E(nn.Module): def __init__(self, model): super(_E, self).__init__() self.base = nn.Sequential(*list(model.children())[:-2]) def forward(self, x): x1 = self.base[0](x) x2 = self.base[1](x1) x3 = self.base[2](x2) x4 = self.base[3](x3) x5 = self.base[4](x4) x6 = self.base[5](x5) x7 = self.base[6](x6) x8 = self.base[7](x7) x9 = self.base[8](x8) return x9,[x4.size(2),x4.size(3)],[x3.size(2),x3.size(3)], [x.size(2),x.size(3)] class _D(nn.Module): def __init__(self): super(_D, self).__init__() num_features = 512 self.up1 = _UpProjection(num_input_features=num_features, num_output_features=num_features // 2) num_features = num_features // 2 self.up2 = _UpProjection(num_input_features=num_features, num_output_features=num_features // 2) num_features = num_features // 2 self.up3 = _UpProjection(num_input_features=num_features, num_output_features=num_features // 2) num_features = num_features // 2 self.conv = nn.Conv2d(num_features, 1, kernel_size=3, stride=1, bias=True) self.reflect_pad = nn.ReflectionPad2d(1) def forward(self, x, size1, size2, size3): u1 = self.up1(x, size1) u2 = self.up2(u1, size2) u3 = self.up3(u2, size3) u4 = self.reflect_pad(u3) out = torch.sigmoid(self.conv(u4)) return out class DRN_A(nn.Module): def __init__(self, block, layers, num_classes=1000): self.inplanes = 64 super(DRN_A, self).__init__() self.out_dim = 512 * block.expansion self.conv1 = nn.Conv2d(3, 64, kernel_size=7, stride=2, padding=3, bias=False) self.bn1 = nn.BatchNorm2d(64) self.relu = nn.ReLU(inplace=True) self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1) self.layer1 = self._make_layer(block, 64, layers[0]) self.layer2 = self._make_layer(block, 128, layers[1], stride=2) self.layer3 = self._make_layer(block, 256, layers[2], stride=1, dilation=2) self.layer4 = self._make_layer(block, 512, layers[3], stride=1, dilation=4) self.avgpool = nn.AvgPool2d(28, stride=1) self.fc = nn.Linear(512 * block.expansion, num_classes) for m in self.modules(): if isinstance(m, nn.Conv2d): n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels m.weight.data.normal_(0, math.sqrt(2. / n)) elif isinstance(m, BatchNorm): m.weight.data.fill_(1) m.bias.data.zero_() # for m in self.modules(): # if isinstance(m, nn.Conv2d): # nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu') # elif isinstance(m, nn.BatchNorm2d): # nn.init.constant_(m.weight, 1) # nn.init.constant_(m.bias, 0) def _make_layer(self, block, planes, blocks, stride=1, dilation=1): downsample = None if stride != 1 or self.inplanes != planes * block.expansion: downsample = nn.Sequential( nn.Conv2d(self.inplanes, planes * block.expansion, kernel_size=1, stride=stride, bias=False), nn.BatchNorm2d(planes * block.expansion), ) layers = [] layers.append(block(self.inplanes, planes, stride, downsample)) self.inplanes = planes * block.expansion for i in range(1, blocks): layers.append(block(self.inplanes, planes, dilation=(dilation, dilation))) return nn.Sequential(*layers) def forward(self, x): x = self.conv1(x) x = self.bn1(x) x = self.relu(x) x = self.maxpool(x) x = self.layer1(x) x = self.layer2(x) x = self.layer3(x) x = self.layer4(x) x = self.avgpool(x) x = x.view(x.size(0), -1) x = self.fc(x) return x def drn_a_50(pretrained=False, **kwargs): model = DRN_A(Bottleneck, [3, 4, 6, 3], **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['resnet50'])) return model def drn_c_26(pretrained=False, **kwargs): model = DRN(BasicBlock, [1, 1, 2, 2, 2, 2, 1, 1], arch='C', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-c-26'])) return model def drn_c_42(pretrained=False, **kwargs): model = DRN(BasicBlock, [1, 1, 3, 4, 6, 3, 1, 1], arch='C', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-c-42'])) return model def drn_c_58(pretrained=False, **kwargs): model = DRN(Bottleneck, [1, 1, 3, 4, 6, 3, 1, 1], arch='C', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-c-58'])) return model def drn_d_22(pretrained=False, **kwargs): model = DRN(BasicBlock, [1, 1, 2, 2, 2, 2, 1, 1], arch='D', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-d-22'], 'DSAEncoder')) return model def drn_d_24(pretrained=False, **kwargs): model = DRN(BasicBlock, [1, 1, 2, 2, 2, 2, 2, 2], arch='D', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-d-24', 'DSAEncoder'])) return model def drn_d_38(pretrained=False, **kwargs): model = DRN(BasicBlock, [1, 1, 3, 4, 6, 3, 1, 1], arch='D', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-d-38'], 'DSAEncoder')) return model def drn_d_40(pretrained=False, **kwargs): model = DRN(BasicBlock, [1, 1, 3, 4, 6, 3, 2, 2], arch='D', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-d-40'], 'DSAEncoder')) return model def drn_d_54(pretrained=False, **kwargs): model = DRN(Bottleneck, [1, 1, 3, 4, 6, 3, 1, 1], arch='D', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-d-54'], 'DSAEncoder')) return model def drn_d_56(pretrained=False, **kwargs): model = DRN(Bottleneck, [1, 1, 3, 4, 6, 3, 2, 2], arch='D', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-d-56'], 'DSAEncoder')) return model def drn_d_105(pretrained=False, **kwargs): model = DRN(Bottleneck, [1, 1, 3, 4, 23, 3, 1, 1], arch='D', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-d-105'], 'DSAEncoder')) return model def drn_d_107(pretrained=False, **kwargs): model = DRN(Bottleneck, [1, 1, 3, 4, 23, 3, 2, 2], arch='D', **kwargs) if pretrained: model.load_state_dict(model_zoo.load_url(model_urls['drn-d-107'], 'DSAEncoder')) return model ================================================ FILE: LICENSE ================================================ MIT License Copyright (c) Microsoft Corporation. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE ================================================ FILE: README.md ================================================ # S2R-DepthNet: Learning a Generalizable Depth-specific Structural Representation This 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.*** ## Citation ``` @inproceedings{Chen2021S2R-DepthNet, title = {S2R-DepthNet: Learning a Generalizable Depth-specific Structural Representation}, author = {Chen, Xiaotian and Wang , Yuwang and Chen, Xuejin and Zeng, Wenjun}, conference={IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, year = {2021} } ``` ## Introduction Human 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.
#### The following figure shows the overview of S2RDepthNet. ![figure](./img/overview.png)
#### Examples of Depth-specific Structural Representation.
## Usage ### Dependencies - [Python3.6.9](https://www.python.org/downloads/) - [PyTorch(1.7.1)](https://pytorch.org/) - [torchvision(0.8.2+cu101)](https://pypi.org/project/torchvision/) - [TensorboardX(2.1)](https://pypi.org/project/tensorboardX/) - [matplotlib(3.3.4)](https://matplotlib.org/) - [Pillow(8.1.2)](https://pypi.org/project/Pillow/) ## Datasets The 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/) ## TODO - [x] Trianing Structure Encoder ## Pretrained Models We also provide our trained models for inference(outdoor and indoor scenes). [Models Link](https://1drv.ms/u/s!AlwUS_9Kpa8qgkb9ldQbMAMgNd_I?e=aX2PWY) ### Train As an example, use the following command to train S2RDepthNet on vKITTI.
#### *Train Structure Decoder* python train.py --syn_dataset VKITTI \ --syn_root "the path of vKITTI dataset" \ --syn_train_datafile datasets/vkitti/train.txt \ --batchSize 32 \ --loadSize 192 640 \ --Shared_Struct_Encoder_path "the path of pretrained Struct encoder(.pth)" \ --train_stage TrainStructDecoder #### *Train DSA Module and DP module* python train.py --syn_dataset VKITTI \ --syn_root "the path of vKITTI dataset" \ --syn_train_datafile datasets/vkitti/train.txt \ --batchSize 32 \ --loadSize 192 640 \ --Shared_Struct_Encoder_path "the path of pretrained Struct encoder(.pth)" \ --Struct_Decoder_path "the path of pretrained Structure decoder(.pth)" \ --train_stage TrainDSAandDPModule ### Evaluation Use the following command to evaluate the trained S2RDepthNet on KITTI test data.
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" Use the following command to evaluate the trained S2RDepthNet on NYUD-v2 test data.
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" ## Acknowledgement We borrowed code from [GASDA](https://github.com/sshan-zhao/GASDA) and [VisualizationOC](https://github.com/JunjH/Visualizing-CNNs-for-monocular-depth-estimation). ================================================ FILE: SECURITY.md ================================================ ## Security Microsoft 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/). If 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. ## Reporting Security Issues **Please do not report security vulnerabilities through public GitHub issues.** Instead, please report them to the Microsoft Security Response Center (MSRC) at [https://msrc.microsoft.com/create-report](https://msrc.microsoft.com/create-report). If 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). You 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). Please 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: * Type of issue (e.g. buffer overflow, SQL injection, cross-site scripting, etc.) * Full paths of source file(s) related to the manifestation of the issue * The location of the affected source code (tag/branch/commit or direct URL) * Any special configuration required to reproduce the issue * Step-by-step instructions to reproduce the issue * Proof-of-concept or exploit code (if possible) * Impact of the issue, including how an attacker might exploit the issue This information will help us triage your report more quickly. If 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. ## Preferred Languages We prefer all communications to be in English. ## Policy Microsoft follows the principle of [Coordinated Vulnerability Disclosure](https://www.microsoft.com/en-us/msrc/cvd). ================================================ FILE: SUPPORT.md ================================================ # TODO: The maintainer of this repo has not yet edited this file **REPO OWNER**: Do you want Customer Service & Support (CSS) support for this product/project? - **No CSS support:** Fill out this template with information about how to file issues and get help. - **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). - **Not sure?** Fill out a SPOT intake as though the answer were "Yes". CSS will help you decide. *Then remove this first heading from this SUPPORT.MD file before publishing your repo.* # Support ## How to file issues and get help This project uses GitHub Issues to track bugs and feature requests. Please search the existing issues before filing new issues to avoid duplicates. For new issues, file your bug or feature request as a new Issue. For help and questions about using this project, please **REPO MAINTAINER: INSERT INSTRUCTIONS HERE FOR HOW TO ENGAGE REPO OWNERS OR COMMUNITY FOR HELP. COULD BE A STACK OVERFLOW TAG OR OTHER CHANNEL. WHERE WILL YOU HELP PEOPLE?**. ## Microsoft Support Policy Support for this **PROJECT or PRODUCT** is limited to the resources listed above. ================================================ FILE: datasets/kitti/test.txt ================================================ 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 2011_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 2011_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 2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000057.png 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depth/0020/fog/00110.png rgb/0020/fog/00427.png depth/0020/fog/00427.png rgb/0020/fog/00820.png depth/0020/fog/00820.png rgb/0020/fog/00101.png depth/0020/fog/00101.png rgb/0020/fog/00201.png depth/0020/fog/00201.png rgb/0020/fog/00536.png depth/0020/fog/00536.png rgb/0020/fog/00704.png depth/0020/fog/00704.png rgb/0020/fog/00061.png depth/0020/fog/00061.png rgb/0020/30-deg-left/00294.png depth/0020/30-deg-left/00294.png rgb/0020/30-deg-left/00384.png depth/0020/30-deg-left/00384.png rgb/0020/30-deg-left/00031.png depth/0020/30-deg-left/00031.png rgb/0020/30-deg-left/00804.png depth/0020/30-deg-left/00804.png rgb/0020/30-deg-left/00335.png depth/0020/30-deg-left/00335.png rgb/0020/30-deg-left/00476.png depth/0020/30-deg-left/00476.png rgb/0020/30-deg-left/00285.png depth/0020/30-deg-left/00285.png ================================================ FILE: loaddata.py ================================================ # https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html import os import torch import random import transform import numpy as np import pandas as pd from PIL import Image from torch.utils import data from collections import Counter from torchvision.transforms import Compose, Normalize, ToTensor def get_dataset(root, data_file='train.list', dataset='vkitti', phase='train', img_transform=None, depth_transform=None, joint_transform=None ): DEFINED_DATASET = {'KITTI', 'VKITTI', 'SUNCG', 'NYUD_V2'} assert dataset.upper() in DEFINED_DATASET print("name:", dataset.upper()) name2obj = {'KITTI': KittiDataset, 'VKITTI': VKittiDataset, 'SUNCG': SUNCGDataset, 'NYUD_V2': NYUD_V2Dataset } return name2obj[dataset.upper()](root=root, data_file=data_file, phase=phase, img_transform=img_transform, depth_transform=depth_transform, joint_transform=joint_transform) class KittiDataset(data.Dataset): def __init__(self, root='./datasets', data_file='tgt_train.list', phase='train', img_transform=None, joint_transform=None, depth_transform=None): self.root = root self.data_file = data_file self.files = [] self.phase = phase self.img_transform = img_transform self.joint_transform = joint_transform self.depth_transform = depth_transform with open(self.data_file, 'r') as f: data_list = f.read().split('\n') for data in data_list: if len(data) == 0: continue data_info = data.split(' ') self.files.append({ "l_rgb": data_info[0], "r_rgb": data_info[1], "cam_intrin": data_info[2], "depth": data_info[3] }) def __len__(self): return len(self.files) def read_data(self, datafiles): assert os.path.exists(os.path.join(self.root, datafiles['l_rgb'])), "Image does not exist" l_rgb = Image.open(os.path.join(self.root, datafiles['l_rgb'])).convert('RGB') w = l_rgb.size[0] h = l_rgb.size[1] assert os.path.exists(os.path.join(self.root, datafiles['r_rgb'])), "Image does not exist" r_rgb = Image.open(os.path.join(self.root, datafiles['r_rgb'])).convert('RGB') kitti = KITTI() assert os.path.exists(os.path.join(self.root, datafiles['cam_intrin'])), "Camera info does not exist" fb = kitti.get_fb(os.path.join(self.root, datafiles['cam_intrin'])) # get focal_length * baseline assert os.path.exists(os.path.join(self.root, datafiles['depth'])), "Depth does not exist" depth, depth_interp = kitti.get_depth(os.path.join(self.root, datafiles['cam_intrin']), os.path.join(self.root, datafiles['depth']), [h, w], interp=True) return l_rgb, r_rgb, fb, depth, depth_interp def __getitem__(self, index): if self.phase == 'train': index = random.randint(0, len(self)-1) if index > len(self)-1: index = index % len(self) datafiles = self.files[index] l_img, r_img , fb, depth, depth_interp = self.read_data(datafiles) if self.joint_transform is not None: if self.phase == 'train': l_img, r_img, _, fb = self.joint_transform((l_img, r_img, None, 'train', fb)) else: l_img, r_img, _, fb = self.joint_transform((l_img, r_img, None, 'test', fb)) if self.img_transform is not None: l_img = self.img_transform(l_img) if r_img is not None: r_img = self.img_transform(r_img) if self.phase == 'test': data = {} data['left_img'] = l_img data['right_img'] = r_img data['depth'] = depth data['fb'] = fb data['depth_interp'] = depth_interp return data data = {} if l_img is not None: data['left_img'] = l_img if r_img is not None: data['right_img'] = r_img if fb is not None: data['fb'] = fb return {'tgt': data} class VKittiDataset(data.Dataset): def __init__(self, root='./datasets', data_file='src_train.list', phase='train', img_transform=None, depth_transform=None, joint_transform=None): self.root = root self.data_file = data_file self.files = [] self.phase = phase self.img_transform = img_transform self.depth_transform = depth_transform self.joint_transform = joint_transform with open(self.data_file, 'r') as f: data_list = f.read().split('\n') for data in data_list: if len(data) == 0: continue data_info = data.split(' ') self.files.append({ "rgb": data_info[0], "depth": data_info[1] }) def __len__(self): return len(self.files) def read_data(self, datafiles): assert os.path.exists(os.path.join(self.root, datafiles['rgb'])), "Image does not exist" rgb = Image.open(os.path.join(self.root, datafiles['rgb'])).convert('RGB') assert os.path.exists(os.path.join(self.root, datafiles['depth'])), 'Depth does not exist' depth = Image.open(os.path.join(self.root, datafiles['depth'])) return rgb, depth def __getitem__(self, index): if self.phase == 'train': index = random.randint(0, len(self)-1) if index > len(self) - 1: index = index % len(self) datafiles = self.files[index] img, depth = self.read_data(datafiles) if self.joint_transform is not None: if self.phase == 'train': img, _, depth, _ = self.joint_transform((img, None, depth, self.phase, None)) else: img, _, depth, _ = self.joint_transform((img, None, depth, 'test', None)) if self.img_transform is not None: img = self.img_transform(img) if self.depth_transform is not None: depth = self.depth_transform(depth) if self.phase == 'test': data = {} data['img'] = img data['depth'] = depth return data data = {} if img is not None: data['img'] = img if depth is not None: data['depth'] = depth return {'src': data} class NYUD_V2Dataset(data.Dataset): def __init__(self, root='./datasets', data_file='nyu_data.txt', phase='train', img_transform=None, joint_transform=None, depth_transform=None): self.root = root self.data_file = data_file self.phase = phase self.img_transform = img_transform self.joint_transform = joint_transform self.depth_transform = depth_transform self.frame = pd.read_csv(self.data_file, header=None) def __len__(self): return len(self.frame) def read_data(self, datafiles): assert os.path.exists(os.path.join(self.root, datafiles['rgb'])), "Image does not exist" rgb = Image.open(os.path.join(self.root, datafiles['rgb'])).convert('RGB') assert os.path.exists(os.path.join(self.root, datafiles['depth'])), 'Depth does not exist' depth = Image.open(os.path.join(self.root, datafiles['depth'])) return rgb, depth def __getitem__(self, index): if self.phase == 'train': index = random.randint(0, len(self)-1) if index > len(self) - 1: index = index % len(self) image_name = self.frame.loc[index, 0] depth_name = self.frame.loc[index, 1] datafiles = {"rgb": image_name, "depth": depth_name} img, depth = self.read_data(datafiles) if self.joint_transform is not None: if self.phase == 'train': img, _, depth, _ = self.joint_transform((img, None, depth, self.phase, None)) else: img, _, depth, _ = self.joint_transform((img, None, depth, 'test', None)) if self.img_transform is not None: img = self.img_transform(img) if self.depth_transform is not None: depth = self.depth_transform(depth) if self.phase == 'test': data = {} data['img'] = img data['depth'] = depth return data data = {} if img is not None: data['img'] = img if depth is not None: data['depth'] = depth return {'src': data} class SUNCGDataset(data.Dataset): def __init__(self, root='./suncg_datasets', data_file='suncg_train.txt', phase='train', img_transform=None, depth_transform=None, joint_transform=None): self.root = root self.data_file = data_file self.files = [] self.phase = phase self.img_transform = img_transform ## img_transform self.depth_transform = depth_transform ## depth_transform self.joint_transform = joint_transform ## joint_transform with open(self.data_file, 'r') as f: data_list = f.read().split('\n') for data in data_list: if len(data) == 0: continue data_info = data.split(',') self.files.append({ "rgb":data_info[0], "depth":data_info[1] }) def __len__(self): return len(self.files) def read_data(self, datafiles): image_path = os.path.join(self.root, "trainA_SYN10/trainA_SYN10", datafiles['rgb']) depth_path = os.path.join(self.root, "trainC_SYN10/trainC_SYN10", datafiles['depth']) assert os.path.exists(image_path), "Image does not exist" rgb = Image.open(image_path).convert('RGB') assert os.path.exists(depth_path), 'Depth does not exist' depth = Image.open(depth_path) return rgb, depth def __getitem__(self, index): if self.phase == 'train': index = random.randint(0, len(self)-1) if index > len(self) - 1: index = index % len(self) datafiles = self.files[index] img, depth = self.read_data(datafiles) if self.joint_transform is not None: if self.phase == 'train': img, _, depth, _ = self.joint_transform((img, None, depth, self.phase, None)) else: img, _, depth, _ = self.joint_transform((img, None, depth, 'test', None)) if self.img_transform is not None: img = self.img_transform(img) if self.depth_transform is not None: depth = self.depth_transform(depth) if self.phase == 'test': data = {} data['img'] = img data['depth'] = depth return data data = {} if img is not None: data['img'] = img if depth is not None: data['depth'] = depth return {'src': data} class DepthToTensor(object): def __call__(self, input): arr_input = np.array(input) tensors = torch.from_numpy(arr_input.reshape((1, arr_input.shape[0], arr_input.shape[1]))).float() return tensors def creat_train_dataloader(dataset, root, data_file, batchsize, nThreads, no_flip, no_rotation, no_augment, loadSize): joint_transform_list = [transform.RandomImgAugment(no_flip, no_rotation, no_augment, loadSize, dataset)] img_transform_list = [ToTensor(), Normalize([.5, .5, .5], [.5, .5, .5])] joint_transform = Compose(joint_transform_list) img_transform = Compose(img_transform_list) depth_transform = Compose([DepthToTensor()]) dataset = get_dataset(root=root, data_file=data_file, phase='train', dataset=dataset, img_transform=img_transform, depth_transform=depth_transform, joint_transform=joint_transform) loader = torch.utils.data.DataLoader(dataset, batch_size=batchsize, shuffle=True, num_workers=int(nThreads), pin_memory=True) return loader def create_test_dataloader(dataset, root, data_file, batchsize, nThreads, loadSize): joint_transform_list = [transform.RandomImgAugment(True, True, True, loadSize, dataset)] img_transform_list = [ToTensor(), Normalize([.5, .5, .5], [.5, .5, .5])] joint_transform = Compose(joint_transform_list) img_transform = Compose(img_transform_list) depth_transform = Compose([DepthToTensor()]) dataset = get_dataset(root=root, data_file=data_file, phase='test', dataset=dataset, img_transform=img_transform, depth_transform=depth_transform, joint_transform=joint_transform) loader = torch.utils.data.DataLoader( dataset,batch_size=1, shuffle=False, num_workers=int(nThreads), pin_memory=True) return loader class KITTI: def read_calib_file(self, path): # taken from https://github.com/hunse/kitti float_chars = set("0123456789.e+- ") data = {} with open(path, 'r') as f: for line in f.readlines(): key, value = line.split(':', 1) value = value.strip() data[key] = value if float_chars.issuperset(value): # try to cast to float array try: data[key] = np.array(list(map(float, value.split(' ')))) except ValueError: # casting error: data[key] already eq.value, so pass pass return data def get_fb(self, calib_dir, cam=2): cam2cam = self.read_calib_file(os.path.join(calib_dir, 'calib_cam_to_cam.txt')) P2_rect = cam2cam['P_rect_02'].reshape(3, 4) # Projection matrix of the left camera P3_rect = cam2cam['P_rect_03'].reshape(3, 4) # Projection matrix of the right camera # cam 2 is left of cam 0 -6cm # cam 3 is to the right +54cm b2 = P2_rect[0, 3] / -P2_rect[0,0] # offset of cam 2 relative to cam0 b3 = P3_rect[0, 3] / -P3_rect[0,0] # offset of cam 3 relative to cam0 baseline = b3 - b2 if cam == 2: focal_length = P2_rect[0, 0] # focal_length of cam 2 elif cam == 3: focal_length = P3_rect[0, 0] # focal_length of cam 3 return focal_length * baseline def load_velodyne_points(self, file_name): # adapted from https://github.com/hunse/kitti points = np.fromfile(file_name, dtype=np.float32).reshape(-1, 4) points[:, 3] = 1.0 return points def lin_interp(self, shape, xyd): # taken from https://github.com/hunse/kitti from scipy.interpolate import LinearNDInterpolator ## m=h, n=w xyd m, n = shape ij, d = xyd[:, 1::-1], xyd[:, 2] f = LinearNDInterpolator(ij, d, fill_value=0) # h, w J, I = np.meshgrid(np.arange(n), np.arange(m)) IJ = np.vstack([I.flatten(), J.flatten()]).T disparity = f(IJ).reshape(shape) return disparity def sub2ind(self, metrixSize, rowSub, colSub): # m=h, n=w # rowsub y # colsub x m, n = metrixSize return rowSub * (n-1) + colSub - 1 # num def get_depth(self, calib_dir, velo_file_name, im_shape, cam=2, interp=False, vel_depth=False): # load calibration files cam2cam = self.read_calib_file(os.path.join(calib_dir, 'calib_cam_to_cam.txt')) velo2cam = self.read_calib_file(os.path.join(calib_dir, 'calib_velo_to_cam.txt')) velo2cam = np.hstack((velo2cam['R'].reshape(3, 3), velo2cam['T'][..., np.newaxis])) velo2cam = np.vstack((velo2cam, np.array([0, 0, 0, 1.0]))) # Projection matrix of Point cloud to cam # compute projection matrix velodyne --> image plane R_cam2rect = np.eye(4) R_cam2rect[:3,:3] = cam2cam['R_rect_00'].reshape(3, 3) # Corrected rotation matrix for camera 0 to camera 0 P_rect = cam2cam['P_rect_0'+str(cam)].reshape(3, 4) # Projection matrix of the left camera P_velo2im = np.dot(np.dot(P_rect, R_cam2rect), velo2cam) # load velodyne points and remove all behind image plane (approximation) # each row of the velodyne data is forward, left, up, reflectance velo = self.load_velodyne_points(velo_file_name) velo = velo[velo[:, 0]>=0, :] # remove all behind image plane # project the points to camera velo_pts_im = np.dot(P_velo2im, velo.T).T velo_pts_im[:, :2] = velo_pts_im[:, :2] / velo_pts_im[:, 2][..., np.newaxis] #homogenous --> not homogenous if vel_depth: velo_pts_im[:, 2] = velo[:, 0] # check is in bounds # use minus 1 to get the exact same value as KITTI matlab code velo_pts_im[:, 0] = np.round(velo_pts_im[:, 0]) - 1 velo_pts_im[:, 1] = np.round(velo_pts_im[:, 1]) - 1 val_inds = (velo_pts_im[:, 0] >= 0) & (velo_pts_im[:, 1] >= 0) val_inds = val_inds & (velo_pts_im[:, 0] < im_shape[1]) & (velo_pts_im[:, 1] 1] for dd in dupe_inds: pts = np.where(inds==dd)[0] x_loc = int(velo_pts_im[pts[0], 0]) # x y_loc = int(velo_pts_im[pts[0], 1]) # y depth[y_loc, x_loc] = velo_pts_im[pts, 2].min() depth[depth<0] = 0 if interp: # interpolate the depth map to fill in holes depth_interp = self.lin_interp(im_shape, velo_pts_im) return depth, depth_interp else: return depth ================================================ FILE: models/modules.py ================================================ # https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html import torch import functools import torch.nn as nn import torch.nn.functional as F class AdaptiveInstanceNorm2d(nn.Module): def __init__(self, num_features, eps=1e-5, momentum=0.1): super(AdaptiveInstanceNorm2d, self).__init__() self.num_features = num_features self.eps = eps self.momentum = momentum # weight and bias are dynamically assigned self.weight = None self.bias = None # just dummy buffers, not used self.register_buffer('running_mean', torch.zeros(num_features)) self.register_buffer('running_var', torch.ones(num_features)) def forward(self, x): assert self.weight is not None and self.bias is not None, "Please assign weight and bias before calling AdaIN!" b, c = x.size(0), x.size(1) running_mean = self.running_mean.repeat(b) running_var = self.running_var.repeat(b) # Apply instance norm x_reshaped = x.contiguous().view(1, b * c, *x.size()[2:]) out = F.batch_norm( x_reshaped, running_mean, running_var, self.weight, self.bias, True, self.momentum, self.eps) return out.view(b, c, *x.size()[2:]) def __repr__(self): return self.__class__.__name__ + '(' + str(self.num_features) + ')' class ResBlocks(nn.Module): def __init__(self, num_blocks, dim, norm='in', activation='relu', pad_type='zero'): super(ResBlocks, self).__init__() self.model = [] # num_blocks=4 # for i in range(num_blocks): self.model += [ResBlock(dim, norm=norm, activation=activation, pad_type=pad_type)] self.model = nn.Sequential(*self.model) def forward(self, x): return self.model(x) class ResBlock(nn.Module): def __init__(self, dim, norm='in', activation='relu', pad_type='zero'): super(ResBlock, self).__init__() # initialize padding padding = 1 if pad_type == 'reflect': self.pad = nn.ReflectionPad2d(padding) elif pad_type == 'replicate': self.pad = nn.ReplicationPad2d(padding) elif pad_type == 'zero': self.pad = nn.ZeroPad2d(padding) else: assert 0, "Unsupported padding type: {}".format(pad_type) self.conv1 = nn.Conv2d(dim, dim, 3, 1, bias=True) #print("res_norm:", norm) if norm=="in": self.norm1 = nn.InstanceNorm2d(dim) elif norm=='adain': self.norm1 = AdaptiveInstanceNorm2d(dim) self.relu1 = nn.LeakyReLU(0.2, inplace=True) self.conv2 = nn.Conv2d(dim, dim, 3, 1, bias=True) if norm=="in": self.norm2 = nn.InstanceNorm2d(dim) elif norm=='adain': self.norm2 = AdaptiveInstanceNorm2d(dim) def forward(self, x): residual = x x = self.conv1(self.pad(x)) x = self.norm1(x) x = self.relu1(x) x = self.conv2(self.pad(x)) out = self.norm2(x) out += residual return out def get_nonlinearity_layer(activation_type='PReLU'): if activation_type == 'ReLU': nonlinearity_layer = nn.ReLU(True) elif activation_type == 'SELU': nonlinearity_layer = nn.SELU(True) elif activation_type == 'LeakyReLU': nonlinearity_layer = nn.LeakyReLU(0.1, True) elif activation_type == 'PReLU': nonlinearity_layer = nn.PReLU() else: raise NotImplementedError('activation layer [%s] is not found' % activation_type) return nonlinearity_layer class Conv2dBlock(nn.Module): # input_dim=3, dim=64, 7, 1, 3, none, lrelu, reflect def __init__(self, input_dim ,output_dim, kernel_size, stride, padding=0, norm='none', activation='relu', pad_type='zero'): super(Conv2dBlock, self).__init__() self.use_bias = True # initialize padding if pad_type == 'reflect': self.pad = nn.ReflectionPad2d(padding) elif pad_type == 'replicate': self.pad = nn.ReplicationPad2d(padding) elif pad_type == 'zero': self.pad = nn.ZeroPad2d(padding) else: assert 0, "Unsupported padding type: {}".format(pad_type) # initialize normalization norm_dim = output_dim # 64 #print("norm_dim:", norm_dim) if norm == 'bn': self.norm = nn.BatchNorm2d(norm_dim) elif norm == 'in': #self.norm = nn.InstanceNorm2d(norm_dim, track_running_stats=True) self.norm = nn.InstanceNorm2d(norm_dim) elif norm == 'ln': self.norm = LayerNorm(norm_dim) elif norm == 'adain': self.norm = AdaptiveInstanceNorm2d(norm_dim) elif norm == 'none' or norm == 'sn': self.norm = None else: assert 0, "Unsupported normalization: {}".format(norm) # initialize activation if activation == 'relu': self.activation = nn.ReLU(inplace=True) elif activation == 'lrelu': self.activation = nn.LeakyReLU(0.2, inplace=True) elif activation == 'prelu': self.activation = nn.PReLU() elif activation == 'selu': self.activation = nn.SELU(inplace=True) elif activation == 'tanh': self.activation = nn.Tanh() elif activation == 'none': self.activation = None else: assert 0, "Unsupported activation: {}".format(activation) # initialize convolution if norm == 'sn': self.conv = SpectralNorm(nn.Conv2d(input_dim, output_dim, kernel_size, stride, bias=self.use_bias)) else: self.conv = nn.Conv2d(input_dim, output_dim, kernel_size, stride, bias=self.use_bias) def forward(self, x): x = self.pad(x) x = self.conv(x) if self.norm: x = self.norm(x) if self.activation: x = self.activation(x) return x class LayerNorm(nn.Module): def __init__(self, num_features, eps=1e-5, affine=True): super(LayerNorm, self).__init__() self.num_features = num_features self.affine = affine self.eps = eps if self.affine: self.gamma = nn.Parameter(torch.Tensor(num_features).uniform_()) self.beta = nn.Parameter(torch.zeros(num_features)) def forward(self, x): shape = [-1] + [1] * (x.dim() - 1) # print(x.size()) if x.size(0) == 1: # These two lines run much faster in pytorch 0.4 than the two lines listed below. mean = x.view(-1).mean().view(*shape) std = x.view(-1).std().view(*shape) else: mean = x.view(x.size(0), -1).mean(1).view(*shape) std = x.view(x.size(0), -1).std(1).view(*shape) x = (x - mean) / (std + self.eps) if self.affine: shape = [1, -1] + [1] * (x.dim() - 2) x = x * self.gamma.view(*shape) + self.beta.view(*shape) return x class Struct_Encoder(nn.Module): def __init__(self, n_downsample, n_res, input_dim, dim, norm, activ, pad_type): super(Struct_Encoder, self).__init__() self.conv = Conv2dBlock(input_dim, dim, 7, 1, 3, norm=norm, activation=activ, pad_type=pad_type) self.model = [] self.conv1 = Conv2dBlock(dim, 2*dim, 4, 2, 1, norm=norm, activation=activ, pad_type=pad_type) dim *= 2 self.conv2 = Conv2dBlock(dim, 2*dim, 4, 2, 1, norm=norm, activation=activ, pad_type=pad_type) dim *= 2 self.resblock = ResBlocks(n_res, dim, norm=norm, activation=activ, pad_type=pad_type) self.output_dim = dim def forward(self, x): x1 = self.conv(x) x2 = self.conv1(x1) x3 = self.conv2(x2) x4 = self.resblock(x3) return x4 class _UpProjection(nn.Sequential): def __init__(self, num_input_features, num_output_features): super(_UpProjection, self).__init__() self.conv1 = nn.Conv2d(num_input_features, num_output_features, kernel_size=5, stride=1, padding=2, bias=False) self.bn1 = nn.BatchNorm2d(num_output_features) self.relu = nn.ReLU(inplace=True) self.conv1_2 = nn.Conv2d(num_output_features, num_output_features, kernel_size=3, stride=1, padding=1, bias=False) self.bn1_2 = nn.BatchNorm2d(num_output_features) self.conv2 = nn.Conv2d(num_input_features, num_output_features, kernel_size=5, stride=1, padding=2, bias=False) self.bn2 = nn.BatchNorm2d(num_output_features) def forward(self, x, size): x = F.interpolate(x, size=size, mode='bilinear',align_corners=True) #x = F.upsample(x, size=size, mode='bilinear') x_conv1 = self.relu(self.bn1(self.conv1(x))) bran1 = self.bn1_2(self.conv1_2(x_conv1)) bran2 = self.bn2(self.conv2(x)) out = self.relu(bran1 + bran2) return out class _EncoderBlock(nn.Module): def __init__(self, input_nc, middle_nc, output_nc, norm_layer=nn.BatchNorm2d, nonlinearity=nn.PReLU(), use_bias=False): super(_EncoderBlock, self).__init__() model = [ nn.Conv2d(input_nc, middle_nc, kernel_size=3, stride=1, padding=1, bias=use_bias), norm_layer(middle_nc), nonlinearity, nn.Conv2d(middle_nc, output_nc, kernel_size=3, stride=1, padding=1, bias=use_bias), norm_layer(output_nc), nonlinearity ] self.model = nn.Sequential(*model) def forward(self, x): return self.model(x) class _InceptionBlock(nn.Module): def __init__(self, input_nc, output_nc, norm_layer=nn.BatchNorm2d, nonlinearity=nn.PReLU(), width=1, drop_rate=0, use_bias=False): super(_InceptionBlock, self).__init__() self.width = width self.drop_rate = drop_rate for i in range(width): # 0, 1, 2 layer = nn.Sequential( nn.ReflectionPad2d(i*2+1), nn.Conv2d(input_nc, output_nc, kernel_size=3, padding=0, dilation=i*2+1, bias=use_bias) ) setattr(self, 'layer'+str(i), layer) self.norm1 = norm_layer(output_nc*width) self.norm2 = norm_layer(output_nc) self.nonlinearity = nonlinearity self.branch1x1 = nn.Sequential( nn.ReflectionPad2d(1), nn.Conv2d(output_nc*width, output_nc, kernel_size=3, padding=0, bias=use_bias) ) def forward(self, x): result = [] for i in range(self.width): layer = getattr(self, 'layer'+str(i)) result.append(layer(x)) output = torch.cat(result, 1) output = self.nonlinearity(self.norm1(output)) output = self.norm2(self.branch1x1(output)) if self.drop_rate > 0: output = F.dropout(output, p=self.drop_rate, training=self.training) return self.nonlinearity(output+x) class GaussianNoiseLayer(nn.Module): def __init__(self): super(GaussianNoiseLayer, self).__init__() def forward(self, x): if self.training == False: return x noise = Variable((torch.randn(x.size()).cuda(x.data.get_device()) - 0.5) / 10.0) return x+noise class _DecoderUpBlock(nn.Module): def __init__(self, input_nc, middle_nc, output_nc, norm_layer=nn.BatchNorm2d, nonlinearity=nn.PReLU(), use_bias=False): super(_DecoderUpBlock, self).__init__() model = [ nn.ReflectionPad2d(1), nn.Conv2d(input_nc, middle_nc, kernel_size=3, stride=1, padding=0, bias=use_bias), norm_layer(middle_nc), nonlinearity, nn.ConvTranspose2d(middle_nc, output_nc, kernel_size=3, stride=2, padding=1, output_padding=1), norm_layer(output_nc), nonlinearity ] self.model = nn.Sequential(*model) def forward(self, x): return self.model(x) class _OutputBlock(nn.Module): def __init__(self, input_nc, output_nc, kernel_size=3, use_bias=False): super(_OutputBlock, self).__init__() model = [ nn.ReflectionPad2d(int(kernel_size/2)), nn.Conv2d(input_nc, output_nc, kernel_size=kernel_size, padding=0, bias=use_bias), nn.Tanh() ] self.model = nn.Sequential(*model) def forward(self, x): return self.model(x) class Struct_Decoder(nn.Module): def __init__(self): super(Struct_Decoder, self).__init__() num_features = 256 self.up1 = _UpProjection(num_input_features=num_features, num_output_features=num_features // 2) num_features = num_features // 2 # 128 self.up2 = _UpProjection(num_input_features=num_features, num_output_features=num_features // 2) num_features = num_features // 2 # 64 self.conv = nn.Conv2d(num_features, 1, kernel_size=3, stride=1, bias=True) self.reflect_pad = nn.ReflectionPad2d(1) def forward(self, x): u1 = self.up1(x, (x.size(2)*2, x.size(3)*2)) u2 = self.up2(u1, (x.size(2)*4, x.size(3)*4)) u3 = self.reflect_pad(u2) out = torch.sigmoid(self.conv(u3)) return out def get_norm_layer(norm_type='instance'): if norm_type == 'batch': norm_layer = functools.partial(nn.BatchNorm2d, affine=True) elif norm_type == 'instance': norm_layer = functools.partial(nn.InstanceNorm2d, affine=False, track_running_stats=True) elif norm_layer == 'none': norm_layer = None else: raise NotImplementedError('normalization layer [%s] is not found'% norm_type) return norm_layer class Depth_Net(nn.Module): def __init__(self, input_nc=1, output_nc=1, ngf=64, layers=4, norm='batch', drop_rate=0, add_noise=False, weight=0.1): super(Depth_Net, self).__init__() self.layers = layers self.weight = weight norm_layer = get_norm_layer(norm_type=norm) nonlinearity = get_nonlinearity_layer(activation_type='PReLU') if type(norm_layer) == functools.partial: use_bias = norm_layer.func == nn.InstanceNorm2d else: use_bias = norm_layer == nn.InstanceNorm2d # encoder part self.pool = nn.AvgPool2d(kernel_size=2, stride=2) self.conv1 = nn.Sequential(nn.ReflectionPad2d(3), nn.Conv2d(input_nc, ngf, kernel_size=7, padding=0, bias=use_bias), norm_layer(ngf), nonlinearity) self.conv2 = _EncoderBlock(ngf, ngf*2, ngf*2, norm_layer, nonlinearity, use_bias) # 64/128/128 self.conv3 = _EncoderBlock(ngf*2, ngf*4, ngf*4, norm_layer, nonlinearity, use_bias) # 128/256/256 self.conv4 = _EncoderBlock(ngf*4, ngf*8, ngf*8, norm_layer, nonlinearity, use_bias) # 256/512/512 for i in range(layers - 4): conv = _EncoderBlock(ngf*8, ngf*8, ngf*8, norm_layer, nonlinearity, use_bias) setattr(self, 'down'+str(i), conv.model) center = [] for i in range(7 - layers): # 0, 1, 2 center += [ _InceptionBlock(ngf*8, ngf*8, norm_layer, nonlinearity, 7-layers, drop_rate, use_bias) ] center += [ _DecoderUpBlock(ngf*8, ngf*8, ngf*4, norm_layer, nonlinearity, use_bias) ] if add_noise: center += [GaussianNoiseLayer()] self.center = nn.Sequential(*center) for i in range(layers-4): upconv = _DecoderUpBlock(ngf*(8+4), ngf*8, ngf*4, norm_layer, nonlinearity, use_bias) setattr(self, 'up'+str(i), upconv.model) self.deconv4 = _DecoderUpBlock(ngf*(4+4), ngf*8, ngf*2, norm_layer, nonlinearity, use_bias) self.deconv3 = _DecoderUpBlock(ngf*(2+2)+output_nc, ngf*4, ngf, norm_layer, nonlinearity, use_bias) self.deconv2 = _DecoderUpBlock(ngf*(1+1)+output_nc, ngf*2, int(ngf/2), norm_layer, nonlinearity, use_bias) self.output4 = _OutputBlock(ngf*(4+4), output_nc, 3, use_bias) self.output3 = _OutputBlock(ngf*(2+2)+output_nc, output_nc, 3, use_bias) self.output2 = _OutputBlock(ngf*(1+1)+output_nc, output_nc, 3, use_bias) self.output1 = _OutputBlock(int(ngf/2)+output_nc, output_nc, 7, use_bias) self.upsample = nn.Upsample(scale_factor=2, mode='nearest') def forward(self, input): conv1 = self.pool(self.conv1(input)) # 3/64 1/2 conv2 = self.pool(self.conv2.forward(conv1)) # 64/128 1/4 conv3 = self.pool(self.conv3.forward(conv2)) # 128/256 1/8 center_in = self.pool(self.conv4.forward(conv3)) # 256/512 1/16 middle = [center_in] for i in range(self.layers-4): model = getattr(self, 'down'+str(i)) center_in = self.pool(model.forward(center_in)) middle.append(center_in) center_out = self.center.forward(center_in) for i in range(self.layers-4): model = getattr(self, 'up'+str(i)) center_out = model.forward(torch.cat([center_out, middle[self.layers-5-i]], 1)) scale = 1.0 result= [] deconv4 = self.deconv4.forward(torch.cat([center_out, conv3 * self.weight], 1)) output4 = scale * self.output4.forward(torch.cat([center_out, conv3 * self.weight], 1)) result.append(output4) deconv3 = self.deconv3.forward(torch.cat([deconv4, conv2 * self.weight * 0.5, self.upsample(output4)], 1)) output3 = scale * self.output3.forward(torch.cat([deconv4, conv2 * self.weight * 0.5, self.upsample(output4)], 1)) result.append(output3) deconv2 = self.deconv2.forward(torch.cat([deconv3, conv1 * self.weight * 0.1, self.upsample(output3)], 1)) output2 = scale * self.output2.forward(torch.cat([deconv3, conv1 * self.weight * 0.1, self.upsample(output3)], 1)) result.append(output2) output1 = scale * self.output1.forward(torch.cat([deconv2, self.upsample(output2)], 1)) result.append(output1) return result ================================================ FILE: test.py ================================================ # https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html import os import torch import argparse import loaddata import matplotlib import numpy as np from utils import * import matplotlib.cm import torch.nn as nn import DSAModules import torch.nn.parallel import matplotlib as mpl from models import modules import matplotlib.pyplot as plt import matplotlib.image as mpimg from torch.autograd import Variable import torch.backends.cudnn as cudnn plt.switch_backend('agg') plt.set_cmap("jet") ## =========================== Parameters ================= parser = argparse.ArgumentParser(description="S2R-DepthNet-Test.") parser.add_argument('--dataset', type=str, default='VKITTI', help='synthetic domain') # ******* parser.add_argument('--root', type=str, default='', help='path to source dataset.') # ******* parser.add_argument('--test_datafile', type=str, default='', help='stores data list, in syn_root') # ******* parser.add_argument('--batchSize', type=int, default=1, help='input batch size') # ******* parser.add_argument('--nThreads', default=8, type=int, help='# threads for loading data') # ******* parser.add_argument('--loadSize', nargs='+', type=int, default=286, help='scale images to this size') # ******* parser.add_argument('--out_dir', type=str, default="out", help="the path of log") parser.add_argument('--Shared_Struct_Encoder_path', type=str, default="", help='the path of Shared_Struct_Encoder models') parser.add_argument('--Struct_Decoder_path', type=str, default="", help='the path of Struct_Decoder models') parser.add_argument('--DepthNet_path', type=str, default="", help='the path of DepthNet models') parser.add_argument('--DSAModle_path', type=str, default='', help='the path of DSAModle') def save_test(handle, result1_log): ''' This function save the test metrics in a given file. ------ handle: text file handle result_log: the metrics results, a 2D list ''' abs_rel_1 = np.array(result1_log[0]).mean() sq_rel_1 = np.array(result1_log[1]).mean() rmse_1 = np.array(result1_log[2]).mean() rmse_log_1 = np.array(result1_log[3]).mean() a1_1 = np.array(result1_log[4]).mean() a2_1 = np.array(result1_log[5]).mean() a3_1 = np.array(result1_log[6]).mean() # write test result to test file by using handle handle.write("{:>10}, {:>10}, {:>10}, {:>10}, {:>10}, {:>10}, {:>10}\n" \ .format('abs_rel', 'sq_rel', 'rmse', 'rmse_log', 'a1', 'a2', 'a3')) handle.write("{:10.4f}, {:10.4f}, {:10.4f}, {:10.4f}, {:10.4f}, {:10.4f}, {:10.4f}\n"\ .format(abs_rel_1, sq_rel_1, rmse_1, rmse_log_1, a1_1, a2_1, a3_1)) def kitti_metrics_preprocess(pred, gt): ''' This function do some preprocessing before metrics calculation - check zero value to avoid numerical problems; - Note that the input 'pred' and 'gt' are both 4D nparrays return the corresponding image pair ''' # squeeze the first and last idx(which is one in test processing) pred = np.squeeze(pred) gt = np.squeeze(gt) min_depth = 1e-3 max_depth = 80 pred[pred < min_depth] = min_depth pred[pred > max_depth] = max_depth mask = np.logical_and(gt > min_depth, gt < max_depth) gt_height, gt_width = gt.shape crop = np.array([0.40810811 * gt_height, 0.99189189 * gt_height, 0.03594771 * gt_width, 0.96405229 * gt_width]).astype(np.int32) crop_mask = np.zeros(mask.shape) crop_mask[crop[0]:crop[1],crop[2]:crop[3]] = 1 mask = np.logical_and(mask, crop_mask) scalar = np.median(gt[mask])/np.median(pred[mask]) pred[mask] *= scalar return pred[mask], gt[mask] def kitti_compute_metrics(pred, gt): """ This function computes the metrics value on a pair of (pred, gt). Note that the input 'pred' and 'gt' are both nparrays Return a list of result float-values which correspond to MAE, MSE, RMSE, and a1, a2, a3 """ # test image pre-processing pred, gt = kitti_metrics_preprocess(pred, gt) ## compute MSE and RMSE mse = ((gt - pred) ** 2).mean() rmse = np.sqrt(mse) rmse_log = (np.log(gt) - np.log(pred)) ** 2 rmse_log = np.sqrt(rmse_log.mean()) # compute ap accuracy thresh = np.maximum((gt/pred), (pred/gt)) a1 = (thresh < 1.25).mean() a2 = (thresh < 1.25 ** 2).mean() a3 = (thresh < 1.25 ** 3).mean() abs_rel = np.mean((np.abs(gt - pred) / gt)) sq_rel = np.mean(((gt - pred) ** 2) / gt) #print("sq_rel:", sq_rel) return [abs_rel, sq_rel, rmse, rmse_log, a1, a2, a3] def nyu_compute_metrics(pred, gt): """ This function computes the metrics value on a pair of (pred, gt). Note that the input 'pred' and 'gt' are both nparrays Return a list of result float-values which correspond to MAE, MSE, RMSE, and a1, a2, a3 """ # test image pre-processing pred, gt = nyu_metrics_preprocess(pred, gt) #print("pred:", pred) #print("gt:", gt) #print("++++++++++++++++++++++++++++++++==") ## compute MSE and RMSE mse = ((gt - pred) ** 2).mean() rmse = np.sqrt(mse) #print("rmse:", rmse) rmse_log = (np.log(gt) - np.log(pred)) ** 2 rmse_log = np.sqrt(rmse_log.mean()) # compute ap accuracy thresh = np.maximum((gt/pred), (pred/gt)) a1 = (thresh < 1.25).mean() a2 = (thresh < 1.25 ** 2).mean() a3 = (thresh < 1.25 ** 3).mean() abs_rel = np.mean((np.abs(gt - pred) / gt)) sq_rel = np.mean(((gt - pred) ** 2) / gt) #print("sq_rel:", sq_rel) print(abs_rel, sq_rel, rmse, rmse_log, a1, a2, a3) return [abs_rel, sq_rel, rmse, rmse_log, a1, a2, a3] def nyu_metrics_preprocess(pred, gt): ''' This function do some preprocessing before metrics calculation - check zero value to avoid numerical problems; - Note that the input 'pred' and 'gt' are both 4D nparrays return the corresponding image pair ''' # squeeze the first and last idx(which is one in test processing) pred = np.squeeze(pred) gt = np.squeeze(gt) #print("gt1:", gt) min_depth = 1e-3 max_depth = 8 pred[pred < min_depth] = min_depth pred[pred > max_depth] = max_depth mask = np.logical_and(gt > min_depth, gt < max_depth) scalar = np.median(gt[mask])/np.median(pred[mask]) pred[mask] *= scalar # gtiheight, gt_width = gt.shape #print("gt2:", gt[mask]) return pred[mask], gt[mask] def main(): global args args = parser.parse_args() # =========================== DataLoader =============================== # syn_dataset "VKITTI" # syn_root path print("Loading the dataset ...") real_loader = loaddata.create_test_dataloader(dataset=args.dataset, root=args.root, data_file=args.test_datafile, batchsize=args.batchSize, nThreads=args.nThreads, loadSize=args.loadSize) print("Loading data set is complete!") print("=======================================================================================") print("Building models ...") # Define Shared Structure Encoder Shared_Struct_Encoder = modules.Struct_Encoder(n_downsample=2, n_res=4, input_dim=3, dim=64, norm='in', activ='lrelu', pad_type='reflect') # Define Structure Decoder Struct_Decoder = modules.Struct_Decoder() # Define Depth-specific Attention (DSA) module Attention_Model = DSAModules.drn_d_22(pretrained=True) DSAModle = DSAModules.AutoED(Attention_Model) # Define DepthNet DepthNet = modules.Depth_Net() init_weights(DepthNet, init_type='normal') Shared_Struct_Encoder = Shared_Struct_Encoder.cuda() Struct_Decoder = torch.nn.DataParallel(Struct_Decoder).cuda() DSAModle = torch.nn.DataParallel(DSAModle).cuda() DepthNet = torch.nn.DataParallel(DepthNet).cuda() # Load models Shared_Struct_Encoder.load_state_dict(torch.load(args.Shared_Struct_Encoder_path)) Struct_Decoder.load_state_dict(torch.load(args.Struct_Decoder_path)) DSAModle.load_state_dict(torch.load(args.DSAModle_path)) DepthNet.load_state_dict(torch.load(args.DepthNet_path)) if not os.path.exists(args.out_dir): os.mkdir(args.out_dir) if args.dataset == "KITTI": Shared_Struct_Encoder.eval() Struct_Decoder.eval() DSAModle.eval() DepthNet.eval() result_log = [[] for i in range(7)] step = 0 for i, real_batched in enumerate(real_loader): print("step:", step+1) image, depth_, depth_interp_ = real_batched['left_img'], real_batched['depth'], real_batched['depth_interp'] image = torch.autograd.Variable(image).cuda() depth_ = torch.autograd.Variable(depth_).cuda() # predict struct_code = Shared_Struct_Encoder(image) structure_map = Struct_Decoder(struct_code) attention_map = DSAModle(image) depth_specific_structure = attention_map * structure_map pred_depth = DepthNet(depth_specific_structure) pred_depth = torch.nn.functional.interpolate(pred_depth[-1], size=[depth_.size(1),depth_.size(2)], mode='bilinear',align_corners=True) pred_depth_np = np.squeeze(pred_depth.cpu().detach().numpy()) gt_np = np.squeeze(depth_.cpu().detach().numpy()) depth_interp_np = np.squeeze(depth_interp_.cpu().detach().numpy()) pred_depth_np += 1.0 pred_depth_np /= 2.0 pred_depth_np *= 80.0 test_result = kitti_compute_metrics(pred_depth_np, gt_np) # list1 for it, item in enumerate(test_result): result_log[it].append(item) step = step + 1 f = open(args.out_dir + "/evalog.txt", 'w') f.write('Done testing -- epoch limit reached') f.write("after %d iteration \n\n" % (step)) save_test(f, result_log) f.close() if args.dataset == "NYUD_V2": Shared_Struct_Encoder.eval() Struct_Decoder.eval() DSAModle.eval() DepthNet.eval() result_log = [[] for i in range(7)] step = 0 for i, real_batched in enumerate(real_loader): print("step:", step+1) image, depth_ = real_batched['img'], real_batched['depth'] image = torch.autograd.Variable(image).cuda() depth_ = torch.autograd.Variable(depth_).cuda() struct_code = Shared_Struct_Encoder(image) structure_map = Struct_Decoder(struct_code) attention_map = DSAModle(image) depth_specific_structure = attention_map * structure_map pred_depth = DepthNet(depth_specific_structure) pred_depth = torch.nn.functional.interpolate(pred_depth[-1], size=[depth_.size(2),depth_.size(3)], mode='bilinear',align_corners=True) pred_depth_np = np.squeeze(pred_depth.cpu().detach().numpy()) gt_np = np.squeeze(depth_.cpu().detach().numpy()) pred_depth_np += 1.0 pred_depth_np /= 2.0 pred_depth_np *= 8.0 gt_np /= 1000.0 test_result = nyu_compute_metrics(pred_depth_np, gt_np) # list1 for it, item in enumerate(test_result): result_log[it].append(item) step = step + 1 f = open(args.out_dir + "/evalog.txt", 'w') f.write('Done testing -- epoch limit reached') f.write("after %d iteration \n\n" % (step)) save_test(f, result_log) f.close() if __name__ == '__main__': main() ================================================ FILE: train.py ================================================ # https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html import os import time import torch import argparse import loaddata import DSAModules import itertools import train_loss import numpy as np from utils import * import torch.nn as nn import torch.nn.parallel from models import modules from itertools import chain import torchvision.utils as vutils import torch.backends.cudnn as cudnn from tensorboardX import SummaryWriter ## =========================== Parameters ================= parser = argparse.ArgumentParser(description="Domian transfer on depth estimation.") parser.add_argument('--start-epoch', default=0, type=int, help='manual epoch number (useful on restarts)') parser.add_argument('--epochs', default=120, type=int, help='number of total epochs to run') parser.add_argument('--syn_dataset', type=str, default='VKITTI', help='synthetic domain') # ******* parser.add_argument('--syn_root', type=str, default='', help='path to source dataset.') # ******* parser.add_argument('--syn_train_datafile', type=str, default='', help='stores data list, in syn_root') # ******* parser.add_argument('--batchSize', type=int, default=1, help='input batch size') # ******* parser.add_argument('--nThreads', default=8, type=int, help='# threads for loading data') # ******* parser.add_argument('--no_flip', action='store_true', help='if specified, do not flip the images for data augmentation') # ******* parser.add_argument('--no_rotation', action='store_true', help='if specified, do not rotate the images for data augmentation') # ******* parser.add_argument('--no_augment', action='store_true', help='if specified, do not use data augmentation, e.g., randomly shifting gamma') # ******* parser.add_argument('--loadSize', nargs='+', type=int, default=286, help='scale images to this size') # ******* parser.add_argument('--checkpoint_dir', type=str, default="./checkpoints/", help='the path of saving models') parser.add_argument('--log_dir', type=str, default="./log", help="the path of log") parser.add_argument('--lr', type=float, default=0.0001, help='initial learning rate of network') # ******* parser.add_argument('--Shared_Struct_Encoder_path', type=str, default='', help='the path of shared geo encoder') parser.add_argument('--Struct_Decoder_path', type=str, default='', help="the path of Struct_Decoder") parser.add_argument('--lr_policy', type=str, default='step', help='learning rate policy: lambda|step|plateau') parser.add_argument('--lr_decay_iters', type=int, default=10, help='multiply by a gamma every lr_decay_iters iterations') parser.add_argument('--lambda_w', type=float, default=1.0, help='the weight parameters of structure map.') parser.add_argument('--hyper_w', type=float, default=0.001, help='the weight parameters.') parser.add_argument('--train_stage', type=str, default='TrainStructDecoder', help='train stage(TrainStructDecoder/TrainDSAandDPModule).') def main(): global args args = parser.parse_args() # make log_dir and checkpoint_dir makedir(args.log_dir) makedir(args.checkpoint_dir) # =========================== DataLoader =============================== # syn_dataset "VKITTI" # syn_root path print("Loading the dataset ...") synthetic_loader = loaddata.creat_train_dataloader(dataset=args.syn_dataset, root=args.syn_root, data_file=args.syn_train_datafile, batchsize=args.batchSize, nThreads=args.nThreads, no_flip=args.no_flip, no_rotation=args.no_rotation, no_augment=args.no_augment, loadSize=args.loadSize) print("Loading datasets is complete!") print("=======================================================================================") print("Building models ...") ### ================================= STE Module ================================================== # Define Shared Structure Encoder Shared_Struct_Encoder = modules.Struct_Encoder(n_downsample=2, n_res=4, input_dim=3, dim=64, norm='in', activ='lrelu', pad_type='reflect') # Define Structure Decoder Struct_Decoder = modules.Struct_Decoder() ### ================================ DSA Module =================================================== # Define Depth-specific Attention (DSA) module Attention_Model = DSAModules.drn_d_22(pretrained=True) DSAModle = DSAModules.AutoED(Attention_Model) # Define DepthNet DepthNet = modules.Depth_Net() init_weights(DepthNet, init_type='normal') cudnn.enabled = True cudnn.benchmark = True if args.train_stage == 'TrainStructDecoder': ## Load pretrained shared_geo_encoder Shared_Struct_Encoder.load_state_dict(torch.load(args.Shared_Struct_Encoder_path)) # =============================== Multi-GPU ====================== print("GPU num:", torch.cuda.device_count()) if torch.cuda.device_count() == 8: Shared_Struct_Encoder = torch.nn.DataParallel(Shared_Struct_Encoder, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda() Struct_Decoder = torch.nn.DataParallel(Struct_Decoder, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda() DepthNet = torch.nn.DataParallel(DepthNet, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda() elif torch.cuda.device_count() == 4: Shared_Struct_Encoder = torch.nn.DataParallel(Shared_Struct_Encoder, device_ids=[0, 1, 2, 3]).cuda() Struct_Decoder = torch.nn.DataParallel(Struct_Decoder, device_ids=[0, 1, 2, 3]).cuda() DepthNet = torch.nn.DataParallel(DepthNet, device_ids=[0, 1, 2, 3]).cuda() else: Shared_Struct_Encoder = Shared_Struct_Encoder.cuda() Struct_Decoder = Struct_Decoder.cuda() DepthNet = DepthNet.cuda() elif args.train_stage == 'TrainDSAandDPModule': ## Load pretrained shared_geo_encoder Shared_Struct_Encoder.load_state_dict(torch.load(args.Shared_Struct_Encoder_path)) # =============================== Multi-GPU ====================== print("GPU num:", torch.cuda.device_count()) if torch.cuda.device_count() == 8: Shared_Struct_Encoder = torch.nn.DataParallel(Shared_Struct_Encoder, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda() Struct_Decoder = torch.nn.DataParallel(Struct_Decoder, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda() DSAModle = torch.nn.DataParallel(DSAModle, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda() DepthNet = torch.nn.DataParallel(DepthNet, device_ids=[0, 1, 2, 3, 4, 5, 6, 7]).cuda() elif torch.cuda.device_count() == 4: Shared_Struct_Encoder = torch.nn.DataParallel(Shared_Struct_Encoder, device_ids=[0, 1, 2, 3]).cuda() Struct_Decoder = torch.nn.DataParallel(Struct_Decoder, device_ids=[0, 1, 2, 3]).cuda() DSAModle = torch.nn.DataParallel(DSAModle, device_ids=[0, 1, 2, 3]).cuda() DepthNet = torch.nn.DataParallel(DepthNet, device_ids=[0, 1, 2, 3]).cuda() else: Shared_Struct_Encoder = Shared_Struct_Encoder.cuda() Struct_Decoder = Struct_Decoder.cuda() DSAModle = DSAModle.cuda() DepthNet = DepthNet.cuda() ## Load Struct_Decoder Struct_Decoder.load_state_dict(torch.load(args.Struct_Decoder_path)) if args.train_stage == 'TrainStructDecoder': # =============================== Optim ============================================ optimizer = torch.optim.Adam(itertools.chain(Struct_Decoder.parameters(), DepthNet.parameters()), lr=args.lr, betas=(0.9, 0.999)) elif args.train_stage == 'TrainDSAandDPModule': # =============================== Optim ============================================ optimizer = torch.optim.Adam(itertools.chain(DSAModle.parameters(), DepthNet.parameters()), lr=args.lr, betas=(0.9, 0.999)) # Set logger writer = SummaryWriter(log_dir=args.log_dir) # Set scheduler scheduler = get_scheduler(optimizer, args) lr = args.lr # train process for epoch in range(args.start_epoch, args.epochs): batch_time = AverageMeter() losses = AverageMeter() if args.train_stage == 'TrainStructDecoder': Shared_Struct_Encoder.eval() Struct_Decoder.train() DepthNet.train() elif args.train_stage == 'TrainDSAandDPModule': Shared_Struct_Encoder.eval() Struct_Decoder.eval() DSAModle.train() DepthNet.train() end = time.time() for i, sample_batched in enumerate(synthetic_loader): image, depth = sample_batched['src']['img'], sample_batched['src']['depth'] train_iteration = epoch * len(synthetic_loader) + i image = torch.autograd.Variable(image).cuda() # image depth = torch.autograd.Variable(depth).cuda() # depth if args.train_stage == 'TrainStructDecoder': # Fix Shared Structure Encoder struct_code = Shared_Struct_Encoder(image).detach() elif args.train_stage == 'TrainDSAandDPModule': # Fix Shared Structure Encoder struct_code = Shared_Struct_Encoder(image).detach() structure_map = Struct_Decoder(struct_code).detach() optimizer.zero_grad() if args.train_stage == 'TrainStructDecoder': structure_map = Struct_Decoder(struct_code) pred_depth = DepthNet(structure_map) elif args.train_stage == 'TrainDSAandDPModule': attention_map = DSAModle(image) depth_specific_structure = attention_map * structure_map pred_depth = DepthNet(depth_specific_structure) gt_depth = adjust_gt(depth, pred_depth) depth_loss = train_loss.depth_loss(pred_depth, gt_depth) if args.train_stage == 'TrainStructDecoder': struct_weighted_loss = train_loss.struct_weighted_loss(structure_map, depth, train_iteration, args.hyper_w) total_loss = depth_loss + args.lambda_w * struct_weighted_loss elif args.train_stage == 'TrainDSAandDPModule': total_loss = depth_loss losses.update(total_loss.item(), image.size(0)) total_loss.backward() optimizer.step() batch_time.update(time.time() - end) end = time.time() batchSize = depth.size(0) if train_iteration % 30 == 0: writer.add_scalar('train/total_loss', total_loss, train_iteration) writer.add_scalar('train/batches_loss_avg', losses.avg, train_iteration) writer.add_scalar('train/depth_loss', depth_loss, train_iteration) if args.train_stage == 'TrainStructDecoder': writer.add_scalar('train/struct_weighted_loss', struct_weighted_loss, train_iteration) writer.add_image('train/image', vutils.make_grid(image*0.5+0.5), train_iteration) writer.add_image('train/pred_depth', vutils.make_grid(colormap(pred_depth[-1])), train_iteration) writer.add_image('train/depth_gt', vutils.make_grid(colormap(depth)), train_iteration) writer.add_image('train/structure_map', vutils.make_grid(colormap(structure_map, 'viridis')), train_iteration) if args.train_stage == 'TrainDSAandDPModule': writer.add_image('train/attention_map', vutils.make_grid(colormap(attention_map, 'viridis')), train_iteration) writer.add_image('train/depth_specific_structure', vutils.make_grid(colormap(depth_specific_structure, 'viridis')), train_iteration) print('Epoch: [{0}][{1}/{2}]\t' 'Time {batch_time.val:.3f} ({batch_time.sum:.3f})\t' 'Loss {loss.val:.4f} ({loss.avg:.4f})' .format(epoch, i, len(synthetic_loader), batch_time=batch_time, loss=losses)) lr = update_learning_rate(optimizer, scheduler) if (epoch+1) % 1 == 0: if args.train_stage == 'TrainStructDecoder': torch.save(Struct_Decoder.state_dict(), args.checkpoint_dir + 'struct_decoder_'+str(epoch+1) + ".pth") torch.save(DepthNet.state_dict(), args.checkpoint_dir + 'depth_net_'+str(epoch+1) + ".pth") if args.train_stage == 'TrainDSAandDPModule': torch.save(DSAModle.state_dict(), args.checkpoint_dir + 'dsa_modle_'+str(epoch+1) + ".pth") torch.save(DepthNet.state_dict(), args.checkpoint_dir + 'depth_net_'+str(epoch+1) + ".pth") if __name__ == '__main__': main() ================================================ FILE: train_loss.py ================================================ # https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html import os import torch import torch.nn as nn import torch.nn.functional as F def depth_loss(output, depth_gt): losses=[] depth_loss = torch.nn.L1Loss() for depth_index in range(len(output)): loss = depth_loss(output[depth_index], depth_gt[depth_index]) losses.append(loss) total_loss = sum(losses) return total_loss def gradient_x(img): # Pad input to keep output size consistent img = F.pad(img, (0, 1, 0, 0), mode="replicate") gx = img[:, :, :, :-1] - img[:, :, :, 1:] # NCHW return gx def gradient_y(img): # Pad input to keep output size consistent img = F.pad(img, (0, 0, 0, 1), mode="replicate") gy = img[:, :, :-1, :] - img[:, :, 1:, :] # NCHW return gy def struct_weighted_loss(struct_map, depth, train_iteration, hyper_w): depth_grad_dx = gradient_x(depth) depth_grad_dy = gradient_y(depth) depth_grad = torch.abs(depth_grad_dx) + torch.abs(depth_grad_dy) weight = torch.exp(-torch.mean(depth_grad, 1, keepdim=True) * hyper_w) weighted_struct = struct_map * weight return torch.mean(torch.abs(weighted_struct)) ================================================ FILE: transform.py ================================================ # https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html import math import random import numpy as np from PIL import Image import torchvision.transforms as transforms import torchvision.transforms.functional as F class RandomHorizontalFlip(object): def __init__(self, prob=None): self.prob = prob def __call__(self, img): if (self.prob is None and random.random()<0.5) or self.prob<0.5: return img.transpose(Image.FLIP_LEFT_RIGHT) return img class RandomVerticalFlip(object): def __init__(self, img): if (self.prob is None and random.random()<0.5) or self.prob < 0.5: return img.transpose(Image.FLIP_TOP_BOTTOM) return img class RandomImgAugment(object): def __init__(self, no_flip, no_rotation, no_augment, size=None, dataset=None): self.flip = not no_flip ## default all run self.augment = not no_augment self.rotation = not no_rotation self.size = size self.dataset = dataset def __call__(self, inputs): img1 = inputs[0] # Image img2 = inputs[1] # None depth = inputs[2] # Depth phase = inputs[3] # train/test fb = inputs[4] # focallength*baseline h = img1.height # height w = img1.width # width w0 = w # w0 if self.size == [-1]: divisor = 32.0 # divisor h = int(math.ceil(h/divisor) * divisor) w = int(math.ceil(w/divisor) * divisor) self.size = (h, w) ## resize to 256 1024 scale_transform = transforms.Compose([transforms.Resize(self.size, Image.BICUBIC)]) img1 = scale_transform(img1) ## RGB image if img2 is not None: img2 = scale_transform(img2) if fb is not None: ## fb is None scale = float(self.size[1]) / float(w0) ## fb = fb * scale if phase == 'test': ## phase train return img1, img2, depth, fb if depth is not None: scale_transform_d = transforms.Compose([transforms.Resize(self.size, Image.BICUBIC)]) depth = scale_transform_d(depth) if not self.size == 0: if depth is not None: if self.dataset.upper() == 'KITTI' or self.dataset.upper() == 'VKITTI': #print("Using outdoor scene transform.") arr_depth = np.array(depth, dtype=np.float32) arr_depth[arr_depth>8000.0]=8000.0 arr_depth /= 8000.0 # cm -> m arr_depth[arr_depth<0.0] = 0.0 if self.dataset.upper() == 'NYUD_V2' or self.dataset.upper() == 'SUNCG': #print("Using indoor scene transform.") arr_depth = np.array(depth, dtype=np.float32) arr_depth /= 255.0 ## normalize to (0, 1) arr_depth[arr_depth<0.0] = 0.0 depth = Image.fromarray(arr_depth, 'F') ## random horizontal flip if self.flip and not (img2 is not None and depth is not None): flip_prob = random.random() flip_transform = transforms.Compose([RandomHorizontalFlip(flip_prob)]) if img2 is None: img1 = flip_transform(img1) else: if flip_prob < 0.5: img1_ = img1 img2_ = img2 img1 = flip_transform(img2_) img2 = flip_transform(img1_) if depth is not None: depth = flip_transform(depth) ### rotation if self.rotation and not (img2 is not None and depth is not None): if random.random() < 0.5: degree = random.randrange(-500, 500)/100 img1 = F.rotate(img1, degree, Image.BICUBIC) if depth is not None: depth = F.rotate(depth, degree, Image.BICUBIC) if img2 is not None: img2 = F.rotate(img2, degree, Image.BICUBIC) # convert depth to range [-1, 1] if depth is not None: depth = np.array(depth, dtype=np.float32) depth = depth * 2.0 depth -= 1.0 if self.augment: if random.random() < 0.5: brightness = random.uniform(0.8, 1.0) contrast = random.uniform(0.8, 1.0) saturation = random.uniform(0.8, 1.0) img1 = F.adjust_brightness(img1, brightness) img1 = F.adjust_contrast(img1, contrast) img1 = F.adjust_saturation(img1, saturation) if img2 is not None: img2 = F.adjust_brightness(img2, brightness) img2 = F.adjust_contrast(img2, contrast) img2 = F.adjust_saturation(img2, saturation) return img1, img2, depth, fb ================================================ FILE: utils.py ================================================ # https://docs.opensource.microsoft.com/content/releasing/copyright-headers.html import os import torch import matplotlib import numpy as np import matplotlib.cm from torch.nn import init import torch.nn.functional as F from torch.optim import lr_scheduler def makedir(directory): if not os.path.exists(directory): os.makedirs(directory) def colormap(image, cmap="jet"): image_min = torch.min(image) image_max = torch.max(image) image = (image - image_min) / (image_max - image_min) image = torch.squeeze(image) if len(image.shape) == 2: image = image.unsqueeze(0) # quantize indices = torch.round(image * 255).long() # gather cm = matplotlib.cm.get_cmap(cmap if cmap is not None else 'gray') colors = cm(np.arange(256))[:, :3] colors = torch.cuda.FloatTensor(colors) color_map = colors[indices].transpose(2, 3).transpose(1, 2) return color_map def update_learning_rate(optimizers, scheduler): scheduler.step() lr = optimizers.param_groups[0]['lr'] print('learning rate = %.7f' % lr) return lr def get_scheduler(optimizer, opt): if opt.lr_policy == 'lambda': def lambda_rule(epoch): lr_l = 1.0 - max(0, epoch + 1 + opt.epoch_count - opt.niter) / float(opt.niter_decay + 1) return lr_l scheduler = lr_scheduler.LambdaLR(optimizer, lr_lambda=lambda_rule) elif opt.lr_policy == 'step': scheduler = lr_scheduler.StepLR(optimizer, step_size=opt.lr_decay_iters, gamma=0.5) elif opt.lr_policy == 'plateau': scheduler = lr_scheduler.ReduceLROnPlateau(optimizer, mode='min', factor=0.2, threshold=0.01, patience=5) else: return NotImplementedError('learning rate policy [%s] is not implemented', opt.lr_policy) return scheduler def adjust_gt(gt_depth, pred_depth): adjusted_gt = [] for each_depth in pred_depth: adjusted_gt.append(F.interpolate(gt_depth, size=[each_depth.size(2), each_depth.size(3)], mode='bilinear', align_corners=True)) return adjusted_gt def init_weights(net, init_type='normal', gain=0.02): def init_func(m): classname = m.__class__.__name__ if hasattr(m, 'weight') and (classname.find('Conv') != -1 or classname.find('Linear') != -1): if init_type == 'normal': init.normal_(m.weight.data, 0.0, gain) elif init_type == 'xavier': init.xavier_normal_(m.weight.data, gain=gain) elif init_type == 'kaiming': init.kaiming_normal_(m.weight.data, a=0, mode='fan_in') elif init_type == 'orthogonal': init.orthogonal_(m.weight.data, gain=gain) else: raise NotImplementedError('initialization method [%s] is not implemented' % init_type) if hasattr(m, 'bias') and m.bias is not None: init.constant_(m.bias.data, 0.0) elif classname.find('BatchNorm2d') != -1: init.normal_(m.weight.data, 1.0, gain) init.constant_(m.bias.data, 0.0) print('initialize network with %s' % init_type) net.apply(init_func) class AverageMeter(object): def __init__(self): self.reset() def reset(self): self.val = 0 self.avg = 0 self.sum = 0 self.count = 0 def update(self, val, n=1): self.val = val self.sum += val * n self.count += n self.avg = self.sum / self.count