diff --git a/.gitattributes b/.gitattributes
index a6344aac8c09253b3b630fb776ae94478aa0275b..d93a30cf95aeb8131180f6aae49018d7f170be5a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
*.zip filter=lfs diff=lfs merge=lfs -text
*.zst filter=lfs diff=lfs merge=lfs -text
*tfevents* filter=lfs diff=lfs merge=lfs -text
+Marigold-main/doc/teaser_collage_transparant.png filter=lfs diff=lfs merge=lfs -text
diff --git a/Marigold-main/.github/workflows/pr_ruff.yml b/Marigold-main/.github/workflows/pr_ruff.yml
new file mode 100644
index 0000000000000000000000000000000000000000..12b0d9575aed637406cfbf4a369155e7bfb4820f
--- /dev/null
+++ b/Marigold-main/.github/workflows/pr_ruff.yml
@@ -0,0 +1,32 @@
+name: Run code quality check with Ruff
+
+run-name: Checking code quality.
+on:
+ pull_request:
+ branches:
+ - main
+ push:
+ branches:
+ - main
+
+concurrency:
+ group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+ cancel-in-progress: true
+
+jobs:
+ check_code_quality:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/checkout@v3
+ - name: Set up Python
+ uses: actions/setup-python@v4
+ with:
+ python-version: "3.10"
+ - name: Install dependencies
+ run: |
+ python -m pip install --upgrade pip
+ pip install ruff==0.3.7
+ - name: Check quality
+ run: |
+ ruff check .
+ ruff format . --check
\ No newline at end of file
diff --git a/Marigold-main/.gitignore b/Marigold-main/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..331500dbadbcc6799b53c88d4b83357b011d1499
--- /dev/null
+++ b/Marigold-main/.gitignore
@@ -0,0 +1,22 @@
+
+# ignore these folders
+/checkpoint
+/data
+/input
+/output
+/temp
+/wandb
+/venv
+/cache
+
+**/.ipynb_checkpoints/
+.vscode/
+.idea
+
+# ignore these types
+*.pyc
+*.out
+*.log
+*.mexa64
+*.pdf
+*.tar
diff --git a/Marigold-main/CONTRIBUTING.md b/Marigold-main/CONTRIBUTING.md
new file mode 100644
index 0000000000000000000000000000000000000000..ad68fb2f88de6c027dfcf18b62a1224d76f0e3e6
--- /dev/null
+++ b/Marigold-main/CONTRIBUTING.md
@@ -0,0 +1,15 @@
+## Contributing instructions
+
+We appreciate your interest in contributing. Please follow these guidelines:
+
+1. **Discuss Changes:** Start a GitHub issue to talk about your proposed change before proceeding.
+
+2. **Pull Requests:** Avoid unsolicited PRs. Discussion helps align with project goals.
+
+3. **License Agreement:** By submitting a PR, you accept our LICENSE terms.
+
+4. **Legal Compatibility:** Ensure your change complies with our project's objectives and licensing.
+
+5. **Attribution:** Credit third-party code in your PR if used.
+
+Please, feel free to reach out for questions or assistance. Your contributions are valued, and we're excited to work together to enhance this project!
diff --git a/Marigold-main/LICENSE.txt b/Marigold-main/LICENSE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4947287f7b5ccb5d1e8b7b2d3aa5d89f322c160d
--- /dev/null
+++ b/Marigold-main/LICENSE.txt
@@ -0,0 +1,177 @@
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
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+ 6. Trademarks. This License does not grant permission to use the trade
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+ END OF TERMS AND CONDITIONS
\ No newline at end of file
diff --git a/Marigold-main/README.md b/Marigold-main/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..c4c824ab3924a70dae768cf399a46dfa65e88dfe
--- /dev/null
+++ b/Marigold-main/README.md
@@ -0,0 +1,296 @@
+# Marigold: Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation
+
+**CVPR 2024 (Oral, Best Paper Award Candidate)**
+
+This repository represents the official implementation of the paper titled "Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation".
+
+[![Website](doc/badges/badge-website.svg)](https://marigoldmonodepth.github.io)
+[![Paper](https://img.shields.io/badge/arXiv-PDF-b31b1b)](https://arxiv.org/abs/2312.02145)
+[![Hugging Face (LCM) Space](https://img.shields.io/badge/๐ค%20Hugging%20Face%20(LCM)-Space-yellow)](https://huggingface.co/spaces/prs-eth/marigold-lcm)
+[![Hugging Face (LCM) Model](https://img.shields.io/badge/๐ค%20Hugging%20Face%20(LCM)-Model-green)](https://huggingface.co/prs-eth/marigold-lcm-v1-0)
+[![Open In Colab](doc/badges/badge-colab.svg)](https://colab.research.google.com/drive/12G8reD13DdpMie5ZQlaFNo2WCGeNUH-u?usp=sharing)
+[![License](https://img.shields.io/badge/License-Apache--2.0-929292)](https://www.apache.org/licenses/LICENSE-2.0)
+
+
+
+
+
+
+[Bingxin Ke](http://www.kebingxin.com/),
+[Anton Obukhov](https://www.obukhov.ai/),
+[Shengyu Huang](https://shengyuh.github.io/),
+[Nando Metzger](https://nandometzger.github.io/),
+[Rodrigo Caye Daudt](https://rcdaudt.github.io/),
+[Konrad Schindler](https://scholar.google.com/citations?user=FZuNgqIAAAAJ&hl=en )
+
+We present Marigold, a diffusion model, and associated fine-tuning protocol for monocular depth estimation. Its core principle is to leverage the rich visual knowledge stored in modern generative image models. Our model, derived from Stable Diffusion and fine-tuned with synthetic data, can zero-shot transfer to unseen data, offering state-of-the-art monocular depth estimation results.
+
+![teaser](doc/teaser_collage_transparant.png)
+
+## ๐ข News
+2024-05-28: Training code is released.
+2024-03-23: Added [LCM v1.0](https://huggingface.co/prs-eth/marigold-lcm-v1-0) for faster inference - try it out at
+2024-03-04: Accepted to CVPR 2024.
+2023-12-22: Contributed to Diffusers [community pipeline](https://github.com/huggingface/diffusers/tree/main/examples/community#marigold-depth-estimation).
+2023-12-19: Updated [license](LICENSE.txt) to Apache License, Version 2.0.
+2023-12-08: Added
+ - try it out with your images for free!
+2023-12-05: Added - dive deeper into our inference pipeline!
+2023-12-04: Added
+paper and inference code (this repository).
+
+## ๐ Usage
+
+**We offer several ways to interact with Marigold**:
+
+1. We integrated [Marigold Pipelines into diffusers ๐งจ](https://huggingface.co/docs/diffusers/api/pipelines/marigold). Check out many exciting usage scenarios in [this diffusers tutorial](https://huggingface.co/docs/diffusers/using-diffusers/marigold_usage).
+
+1. A free online interactive demo is available here: (kudos to the HF team for the GPU grant)
+
+1. Run the demo locally (requires a GPU and an `nvidia-docker2`, see [Installation Guide](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)):
+ 1. Paper version: `docker run -it -p 7860:7860 --platform=linux/amd64 --gpus all registry.hf.space/toshas-marigold:latest python app.py`
+ 1. LCM version: `docker run -it -p 7860:7860 --platform=linux/amd64 --gpus all registry.hf.space/prs-eth-marigold-lcm:latest python app.py`
+
+1. Extended demo on a Google Colab:
+
+1. If you just want to see the examples, visit our gallery:
+
+1. Finally, local development instructions with this codebase are given below.
+
+## ๐ ๏ธ Setup
+
+The inference code was tested on:
+
+- Ubuntu 22.04 LTS, Python 3.10.12, CUDA 11.7, GeForce RTX 3090 (pip, Mamba)
+- CentOS Linux 7, Python 3.10.4, CUDA 11.7, GeForce RTX 4090 (pip)
+- Windows 11 22H2, Python 3.10.12, CUDA 12.3, GeForce RTX 3080 (Mamba)
+- MacOS 14.2, Python 3.10.12, M1 16G (pip)
+
+### ๐ชง A Note for Windows users
+
+We recommend running the code in WSL2:
+
+1. Install WSL following [installation guide](https://learn.microsoft.com/en-us/windows/wsl/install#install-wsl-command).
+1. Install CUDA support for WSL following [installation guide](https://docs.nvidia.com/cuda/wsl-user-guide/index.html#cuda-support-for-wsl-2).
+1. Find your drives in `/mnt//`; check [WSL FAQ](https://learn.microsoft.com/en-us/windows/wsl/faq#how-do-i-access-my-c--drive-) for more details. Navigate to the working directory of choice.
+
+### ๐ฆ Repository
+
+Clone the repository (requires git):
+
+```bash
+git clone https://github.com/prs-eth/Marigold.git
+cd Marigold
+```
+
+### ๐ป Dependencies
+
+We provide several ways to install the dependencies.
+
+1. **Using [Mamba](https://github.com/mamba-org/mamba)**, which can installed together with [Miniforge3](https://github.com/conda-forge/miniforge?tab=readme-ov-file#miniforge3).
+
+ Windows users: Install the Linux version into the WSL.
+
+ After the installation, Miniforge needs to be activated first: `source /home/$USER/miniforge3/bin/activate`.
+
+ Create the environment and install dependencies into it:
+
+ ```bash
+ mamba env create -n marigold --file environment.yaml
+ conda activate marigold
+ ```
+
+2. **Using pip:**
+ Alternatively, create a Python native virtual environment and install dependencies into it:
+
+ ```bash
+ python -m venv venv/marigold
+ source venv/marigold/bin/activate
+ pip install -r requirements.txt
+ ```
+
+Keep the environment activated before running the inference script.
+Activate the environment again after restarting the terminal session.
+
+## ๐ Testing on your images
+
+### ๐ท Prepare images
+
+1. Use selected images from our paper:
+
+ ```bash
+ bash script/download_sample_data.sh
+ ```
+
+1. Or place your images in a directory, for example, under `input/in-the-wild_example`, and run the following inference command.
+
+### ๐ Run inference with LCM (faster)
+
+The [LCM checkpoint](https://huggingface.co/prs-eth/marigold-lcm-v1-0) is distilled from our original checkpoint towards faster inference speed (by reducing inference steps). The inference steps can be as few as 1 (default) to 4. Run with default LCM setting:
+
+```bash
+ python run.py \
+ --input_rgb_dir input/in-the-wild_example \
+ --output_dir output/in-the-wild_example_lcm
+ ```
+
+### ๐ฎ Run inference with DDIM (paper setting)
+
+This setting corresponds to our paper. For academic comparison, please run with this setting.
+
+```bash
+python run.py \
+ --checkpoint prs-eth/marigold-v1-0 \
+ --denoise_steps 50 \
+ --ensemble_size 10 \
+ --input_rgb_dir input/in-the-wild_example \
+ --output_dir output/in-the-wild_example
+```
+
+You can find all results in `output/in-the-wild_example`. Enjoy!
+
+### โ๏ธ Inference settings
+
+The default settings are optimized for the best result. However, the behavior of the code can be customized:
+
+- Trade-offs between the **accuracy** and **speed** (for both options, larger values result in better accuracy at the cost of slower inference.)
+ - `--ensemble_size`: Number of inference passes in the ensemble. For LCM `ensemble_size` is more important than `denoise_steps`. Default: ~~10~~ 5 (for LCM).
+ - `--denoise_steps`: Number of denoising steps of each inference pass. For the original (DDIM) version, it's recommended to use 10-50 steps, while for LCM 1-4 steps. When unassigned (`None`), will read default setting from model config. Default: ~~10 4 (for LCM)~~ `None`.
+
+- By default, the inference script resizes input images to the *processing resolution*, and then resizes the prediction back to the original resolution. This gives the best quality, as Stable Diffusion, from which Marigold is derived, performs best at 768x768 resolution.
+
+ - `--processing_res`: the processing resolution; set as 0 to process the input resolution directly. When unassigned (`None`), will read default setting from model config. Default: ~~768~~ `None`.
+ - `--output_processing_res`: produce output at the processing resolution instead of upsampling it to the input resolution. Default: False.
+ - `--resample_method`: the resampling method used to resize images and depth predictions. This can be one of `bilinear`, `bicubic`, or `nearest`. Default: `bilinear`.
+
+- `--half_precision` or `--fp16`: Run with half-precision (16-bit float) to have faster speed and reduced VRAM usage, but might lead to suboptimal results.
+- `--seed`: Random seed can be set to ensure additional reproducibility. Default: None (unseeded). Note: forcing `--batch_size 1` helps to increase reproducibility. To ensure full reproducibility, [deterministic mode](https://pytorch.org/docs/stable/notes/randomness.html#avoiding-nondeterministic-algorithms) needs to be used.
+- `--batch_size`: Batch size of repeated inference. Default: 0 (best value determined automatically).
+- `--color_map`: [Colormap](https://matplotlib.org/stable/users/explain/colors/colormaps.html) used to colorize the depth prediction. Default: Spectral. Set to `None` to skip colored depth map generation.
+- `--apple_silicon`: Use Apple Silicon MPS acceleration.
+
+### โฌ Checkpoint cache
+
+By default, the [checkpoint](https://huggingface.co/prs-eth/marigold-v1-0) is stored in the Hugging Face cache.
+The `HF_HOME` environment variable defines its location and can be overridden, e.g.:
+
+```bash
+export HF_HOME=$(pwd)/cache
+```
+
+Alternatively, use the following script to download the checkpoint weights locally:
+
+```bash
+bash script/download_weights.sh marigold-v1-0
+# or LCM checkpoint
+bash script/download_weights.sh marigold-lcm-v1-0
+```
+
+At inference, specify the checkpoint path:
+
+```bash
+python run.py \
+ --checkpoint checkpoint/marigold-v1-0 \
+ --denoise_steps 50 \
+ --ensemble_size 10 \
+ --input_rgb_dir input/in-the-wild_example\
+ --output_dir output/in-the-wild_example
+```
+
+## ๐ฆฟ Evaluation on test datasets
+
+Install additional dependencies:
+
+```bash
+pip install -r requirements+.txt -r requirements.txt
+```
+
+Set data directory variable (also needed in evaluation scripts) and download [evaluation datasets](https://share.phys.ethz.ch/~pf/bingkedata/marigold/evaluation_dataset) into corresponding subfolders:
+
+```bash
+export BASE_DATA_DIR= # Set target data directory
+
+wget -r -np -nH --cut-dirs=4 -R "index.html*" -P ${BASE_DATA_DIR} https://share.phys.ethz.ch/~pf/bingkedata/marigold/evaluation_dataset/
+```
+
+Run inference and evaluation scripts, for example:
+
+```bash
+# Run inference
+bash script/eval/11_infer_nyu.sh
+
+# Evaluate predictions
+bash script/eval/12_eval_nyu.sh
+```
+
+Note: although the seed has been set, the results might still be slightly different on different hardware.
+
+## ๐๏ธ Training
+
+Based on the previously created environment, install extended requirements:
+
+```bash
+pip install -r requirements++.txt -r requirements+.txt -r requirements.txt
+```
+
+Set environment parameters for the data directory:
+
+```bash
+export BASE_DATA_DIR=YOUR_DATA_DIR # directory of training data
+export BASE_CKPT_DIR=YOUR_CHECKPOINT_DIR # directory of pretrained checkpoint
+```
+
+Download Stable Diffusion v2 [checkpoint](https://huggingface.co/stabilityai/stable-diffusion-2) into `${BASE_CKPT_DIR}`
+
+Prepare for [Hypersim](https://github.com/apple/ml-hypersim) and [Virtual KITTI 2](https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/) datasets and save into `${BASE_DATA_DIR}`. Please refer to [this README](script/dataset_preprocess/hypersim/README.md) for Hypersim preprocessing.
+
+Run training script
+
+```bash
+python train.py --config config/train_marigold.yaml
+```
+
+Resume from a checkpoint, e.g.
+
+```bash
+python train.py --resume_run output/marigold_base/checkpoint/latest
+```
+
+Evaluating results
+
+Only the U-Net is updated and saved during training. To use the inference pipeline with your training result, replace `unet` folder in Marigold checkpoints with that in the `checkpoint` output folder. Then refer to [this section](#evaluation) for evaluation.
+
+**Note**: Although random seeds have been set, the training result might be slightly different on different hardwares. It's recommended to train without interruption.
+
+## โ๏ธ Contributing
+
+Please refer to [this](CONTRIBUTING.md) instruction.
+
+## ๐ค Troubleshooting
+
+| Problem | Solution |
+|----------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------|
+| (Windows) Invalid DOS bash script on WSL | Run `dos2unix ` to convert script format |
+| (Windows) error on WSL: `Could not load library libcudnn_cnn_infer.so.8. Error: libcuda.so: cannot open shared object file: No such file or directory` | Run `export LD_LIBRARY_PATH=/usr/lib/wsl/lib:$LD_LIBRARY_PATH` |
+
+
+## ๐ Citation
+
+Please cite our paper:
+
+```bibtex
+@InProceedings{ke2023repurposing,
+ title={Repurposing Diffusion-Based Image Generators for Monocular Depth Estimation},
+ author={Bingxin Ke and Anton Obukhov and Shengyu Huang and Nando Metzger and Rodrigo Caye Daudt and Konrad Schindler},
+ booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
+ year={2024}
+}
+```
+
+## ๐ซ License
+
+This work is licensed under the Apache License, Version 2.0 (as defined in the [LICENSE](LICENSE.txt)).
+
+By downloading and using the code and model you agree to the terms in the [LICENSE](LICENSE.txt).
+
+[![License](https://img.shields.io/badge/License-Apache--2.0-929292)](https://www.apache.org/licenses/LICENSE-2.0)
diff --git a/Marigold-main/config/dataset/data_diode_all.yaml b/Marigold-main/config/dataset/data_diode_all.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b95258d88ec3a34f40a4607d524c06061d580f29
--- /dev/null
+++ b/Marigold-main/config/dataset/data_diode_all.yaml
@@ -0,0 +1,4 @@
+name: diode
+disp_name: diode_val_all
+dir: diode/diode_val.tar
+filenames: data_split/diode/diode_val_all_filename_list.txt
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/data_eth3d.yaml b/Marigold-main/config/dataset/data_eth3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b8c9fc46d94ebfd39c95b70bc3ce1f329bd9fcc1
--- /dev/null
+++ b/Marigold-main/config/dataset/data_eth3d.yaml
@@ -0,0 +1,4 @@
+name: eth3d
+disp_name: eth3d_full
+dir: eth3d/eth3d.tar
+filenames: data_split/eth3d/eth3d_filename_list.txt
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/data_hypersim_train.yaml b/Marigold-main/config/dataset/data_hypersim_train.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..589a189e3eea3b30eae519f476154464e0ac5892
--- /dev/null
+++ b/Marigold-main/config/dataset/data_hypersim_train.yaml
@@ -0,0 +1,4 @@
+name: hypersim
+disp_name: hypersim_train
+dir: hypersim/hypersim_processed_train.tar
+filenames: data_split/hypersim/filename_list_train_filtered.txt
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/data_hypersim_val.yaml b/Marigold-main/config/dataset/data_hypersim_val.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fe26bdca44d3fc49329a6e199fb6ac608d12aa80
--- /dev/null
+++ b/Marigold-main/config/dataset/data_hypersim_val.yaml
@@ -0,0 +1,4 @@
+name: hypersim
+disp_name: hypersim_val
+dir: hypersim/hypersim_processed_val.tar
+filenames: data_split/hypersim/filename_list_val_filtered.txt
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/data_kitti_eigen_test.yaml b/Marigold-main/config/dataset/data_kitti_eigen_test.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3e13c91415cc81965369facd75f83684bde764a6
--- /dev/null
+++ b/Marigold-main/config/dataset/data_kitti_eigen_test.yaml
@@ -0,0 +1,6 @@
+name: kitti
+disp_name: kitti_eigen_test_full
+dir: kitti/kitti_eigen_split_test.tar
+filenames: data_split/kitti/eigen_test_files_with_gt.txt
+kitti_bm_crop: true
+valid_mask_crop: eigen
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/data_kitti_val.yaml b/Marigold-main/config/dataset/data_kitti_val.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fc6c3a2c107d04c58e8a7421bf7f8177788e038f
--- /dev/null
+++ b/Marigold-main/config/dataset/data_kitti_val.yaml
@@ -0,0 +1,6 @@
+name: kitti
+disp_name: kitti_val800_from_eigen_train
+dir: kitti/kitti_sampled_val_800.tar
+filenames: data_split/kitti/eigen_val_from_train_800.txt
+kitti_bm_crop: true
+valid_mask_crop: eigen
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/data_nyu_test.yaml b/Marigold-main/config/dataset/data_nyu_test.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..81a0f00108ca9f981bb67155505142f15732a8da
--- /dev/null
+++ b/Marigold-main/config/dataset/data_nyu_test.yaml
@@ -0,0 +1,5 @@
+name: nyu_v2
+disp_name: nyu_test_full
+dir: nyuv2/nyu_labeled_extracted.tar
+filenames: data_split/nyu/labeled/filename_list_test.txt
+eigen_valid_mask: true
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/data_nyu_train.yaml b/Marigold-main/config/dataset/data_nyu_train.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..185ff589de80834707a8700ca445804849fdfa8e
--- /dev/null
+++ b/Marigold-main/config/dataset/data_nyu_train.yaml
@@ -0,0 +1,5 @@
+name: nyu_v2
+disp_name: nyu_train_full
+dir: nyuv2/nyu_labeled_extracted.tar
+filenames: data_split/nyu/labeled/filename_list_train.txt
+eigen_valid_mask: true
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/data_scannet_val.yaml b/Marigold-main/config/dataset/data_scannet_val.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..202e70e3a7f3fd81c93d2af004f7c2fb1eaff22e
--- /dev/null
+++ b/Marigold-main/config/dataset/data_scannet_val.yaml
@@ -0,0 +1,4 @@
+name: scannet
+disp_name: scannet_val_800_1
+dir: scannet/scannet_val_sampled_800_1.tar
+filenames: data_split/scannet/scannet_val_sampled_list_800_1.txt
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/data_vkitti_train.yaml b/Marigold-main/config/dataset/data_vkitti_train.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8c089c41492b9f2ee443ffa28741f2b5492031cf
--- /dev/null
+++ b/Marigold-main/config/dataset/data_vkitti_train.yaml
@@ -0,0 +1,6 @@
+name: vkitti
+disp_name: vkitti_train
+dir: vkitti/vkitti.tar
+filenames: data_split/vkitti/vkitti_train.txt
+kitti_bm_crop: true
+valid_mask_crop: null # no valid_mask_crop for training
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/data_vkitti_val.yaml b/Marigold-main/config/dataset/data_vkitti_val.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..257e9f134bfacaf8eb93a8dda9b8fdba9043c3c3
--- /dev/null
+++ b/Marigold-main/config/dataset/data_vkitti_val.yaml
@@ -0,0 +1,6 @@
+name: vkitti
+disp_name: vkitti_val
+dir: vkitti/vkitti.tar
+filenames: data_split/vkitti/vkitti_val.txt
+kitti_bm_crop: true
+valid_mask_crop: eigen
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/dataset_train.yaml b/Marigold-main/config/dataset/dataset_train.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..03819484cb1c3a5e4d69cdba5881716e746cc51f
--- /dev/null
+++ b/Marigold-main/config/dataset/dataset_train.yaml
@@ -0,0 +1,18 @@
+dataset:
+ train:
+ name: mixed
+ prob_ls: [0.9, 0.1]
+ dataset_list:
+ - name: hypersim
+ disp_name: hypersim_train
+ dir: hypersim/hypersim_processed_train.tar
+ filenames: data_split/hypersim/filename_list_train_filtered.txt
+ resize_to_hw:
+ - 480
+ - 640
+ - name: vkitti
+ disp_name: vkitti_train
+ dir: vkitti/vkitti.tar
+ filenames: data_split/vkitti/vkitti_train.txt
+ kitti_bm_crop: true
+ valid_mask_crop: null
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/dataset_val.yaml b/Marigold-main/config/dataset/dataset_val.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f70d90d83aa3809ad663a8f21aa15cda30a11c7a
--- /dev/null
+++ b/Marigold-main/config/dataset/dataset_val.yaml
@@ -0,0 +1,45 @@
+dataset:
+ val:
+ # - name: hypersim
+ # disp_name: hypersim_val
+ # dir: hypersim/hypersim_processed_val.tar
+ # filenames: data_split/hypersim/filename_list_val_filtered.txt
+ # resize_to_hw:
+ # - 480
+ # - 640
+
+ # - name: nyu_v2
+ # disp_name: nyu_train_full
+ # dir: nyuv2/nyu_labeled_extracted.tar
+ # filenames: data_split/nyu/labeled/filename_list_train.txt
+ # eigen_valid_mask: true
+
+ # - name: kitti
+ # disp_name: kitti_val800_from_eigen_train
+ # dir: kitti/kitti_sampled_val_800.tar
+ # filenames: data_split/kitti/eigen_val_from_train_800.txt
+ # kitti_bm_crop: true
+ # valid_mask_crop: eigen
+
+ # Smaller subsets for faster validation during training
+ # The first dataset is used to calculate main eval metric.
+ - name: hypersim
+ disp_name: hypersim_val_small_80
+ dir: hypersim/hypersim_processed_val.tar
+ filenames: data_split/hypersim/filename_list_val_filtered_small_80.txt
+ resize_to_hw:
+ - 480
+ - 640
+
+ - name: nyu_v2
+ disp_name: nyu_train_small_100
+ dir: nyuv2/nyu_labeled_extracted.tar
+ filenames: data_split/nyu/labeled/filename_list_train_small_100.txt
+ eigen_valid_mask: true
+
+ - name: kitti
+ disp_name: kitti_val_from_train_sub_100
+ dir: kitti/kitti_sampled_val_800.tar
+ filenames: data_split/kitti/eigen_val_from_train_sub_100.txt
+ kitti_bm_crop: true
+ valid_mask_crop: eigen
\ No newline at end of file
diff --git a/Marigold-main/config/dataset/dataset_vis.yaml b/Marigold-main/config/dataset/dataset_vis.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c11dc8e6c6403e0095e275923a82aad658b088c2
--- /dev/null
+++ b/Marigold-main/config/dataset/dataset_vis.yaml
@@ -0,0 +1,9 @@
+dataset:
+ vis:
+ - name: hypersim
+ disp_name: hypersim_vis
+ dir: hypersim/hypersim_processed_val.tar
+ filenames: data_split/hypersim/selected_vis_sample.txt
+ resize_to_hw:
+ - 480
+ - 640
diff --git a/Marigold-main/config/logging.yaml b/Marigold-main/config/logging.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8cecbaeca91f2ae38677336b4dc7dcc5ad020f60
--- /dev/null
+++ b/Marigold-main/config/logging.yaml
@@ -0,0 +1,5 @@
+logging:
+ filename: logging.log
+ format: ' %(asctime)s - %(levelname)s -%(filename)s - %(funcName)s >> %(message)s'
+ console_level: 20
+ file_level: 10
diff --git a/Marigold-main/config/model_sdv2.yaml b/Marigold-main/config/model_sdv2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ce58c5e569cbfdb2eab0a90fe99b30377ad0ade9
--- /dev/null
+++ b/Marigold-main/config/model_sdv2.yaml
@@ -0,0 +1,4 @@
+model:
+ name: marigold_pipeline
+ pretrained_path: stable-diffusion-2
+ latent_scale_factor: 0.18215
\ No newline at end of file
diff --git a/Marigold-main/config/train_debug.yaml b/Marigold-main/config/train_debug.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7c21ed14d8fb59fc95c8164ed9bd2d4633dadbed
--- /dev/null
+++ b/Marigold-main/config/train_debug.yaml
@@ -0,0 +1,12 @@
+base_config:
+- config/train_marigold.yaml
+
+
+# Training settings
+trainer:
+ save_period: 5
+ backup_period: 10
+ validation_period: 5
+ visualization_period: 5
+
+max_iter: 50
\ No newline at end of file
diff --git a/Marigold-main/config/train_marigold.yaml b/Marigold-main/config/train_marigold.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..defb4c78ec35cfd2c41b97595ffa872fd93f4375
--- /dev/null
+++ b/Marigold-main/config/train_marigold.yaml
@@ -0,0 +1,94 @@
+base_config:
+- config/logging.yaml
+- config/wandb.yaml
+- config/dataset/dataset_train.yaml
+- config/dataset/dataset_val.yaml
+- config/dataset/dataset_vis.yaml
+- config/model_sdv2.yaml
+
+
+pipeline:
+ name: MarigoldPipeline
+ kwargs:
+ scale_invariant: true
+ shift_invariant: true
+
+depth_normalization:
+ type: scale_shift_depth
+ clip: true
+ norm_min: -1.0
+ norm_max: 1.0
+ min_max_quantile: 0.02
+
+augmentation:
+ lr_flip_p: 0.5
+
+dataloader:
+ num_workers: 2
+ effective_batch_size: 32
+ max_train_batch_size: 2
+ seed: 2024 # to ensure continuity when resuming from checkpoint
+
+# Training settings
+trainer:
+ name: MarigoldTrainer
+ training_noise_scheduler:
+ pretrained_path: stable-diffusion-2
+ init_seed: 2024 # use null to train w/o seeding
+ save_period: 50
+ backup_period: 2000
+ validation_period: 2000
+ visualization_period: 2000
+
+multi_res_noise:
+ strength: 0.9
+ annealed: true
+ downscale_strategy: original
+
+gt_depth_type: depth_raw_norm
+gt_mask_type: valid_mask_raw
+
+max_epoch: 10000 # a large enough number
+max_iter: 30000 # usually converges at around 20k
+
+optimizer:
+ name: Adam
+
+loss:
+ name: mse_loss
+ kwargs:
+ reduction: mean
+
+lr: 3.0e-05
+lr_scheduler:
+ name: IterExponential
+ kwargs:
+ total_iter: 25000
+ final_ratio: 0.01
+ warmup_steps: 100
+
+# Validation (and visualization) settings
+validation:
+ denoising_steps: 50
+ ensemble_size: 1 # simplified setting for on-training validation
+ processing_res: 0
+ match_input_res: false
+ resample_method: bilinear
+ main_val_metric: abs_relative_difference
+ main_val_metric_goal: minimize
+ init_seed: 2024
+
+eval:
+ alignment: least_square
+ align_max_res: null
+ eval_metrics:
+ - abs_relative_difference
+ - squared_relative_difference
+ - rmse_linear
+ - rmse_log
+ - log10
+ - delta1_acc
+ - delta2_acc
+ - delta3_acc
+ - i_rmse
+ - silog_rmse
diff --git a/Marigold-main/config/wandb.yaml b/Marigold-main/config/wandb.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5631cfb7a5d90d73e9210864321579ee2676203e
--- /dev/null
+++ b/Marigold-main/config/wandb.yaml
@@ -0,0 +1,3 @@
+wandb:
+ # entity: your_entity
+ project: marigold
\ No newline at end of file
diff --git a/Marigold-main/data_split/diode/diode_val_all_filename_list.txt b/Marigold-main/data_split/diode/diode_val_all_filename_list.txt
new file mode 100644
index 0000000000000000000000000000000000000000..99142cec3a4060a9cc2acfc5a5158fce83d81f99
--- /dev/null
+++ b/Marigold-main/data_split/diode/diode_val_all_filename_list.txt
@@ -0,0 +1,771 @@
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diff --git a/Marigold-main/data_split/diode/diode_val_indoor_filename_list.txt b/Marigold-main/data_split/diode/diode_val_indoor_filename_list.txt
new file mode 100644
index 0000000000000000000000000000000000000000..78226d7ccd9696724df7fa67c6785a41289b17ee
--- /dev/null
+++ b/Marigold-main/data_split/diode/diode_val_indoor_filename_list.txt
@@ -0,0 +1,325 @@
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diff --git a/Marigold-main/data_split/diode/diode_val_outdoor_filename_list.txt b/Marigold-main/data_split/diode/diode_val_outdoor_filename_list.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a553915d9d836bbac272c536ae5110a61f531b6a
--- /dev/null
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diff --git a/Marigold-main/data_split/eth3d/eth3d_filename_list.txt b/Marigold-main/data_split/eth3d/eth3d_filename_list.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9fca405a88543dc50b0828ebe6f2597911872ca
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diff --git a/Marigold-main/data_split/hypersim/filename_list_train_filtered.txt b/Marigold-main/data_split/hypersim/filename_list_train_filtered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..98de329fe44c63cdb306d9be27b448ea33f28f1f
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\ No newline at end of file
diff --git a/Marigold-main/data_split/hypersim/filename_list_val_filtered.txt b/Marigold-main/data_split/hypersim/filename_list_val_filtered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..db172a80e6256ae430b1eb8e1a3aa418c0b58248
--- /dev/null
+++ b/Marigold-main/data_split/hypersim/filename_list_val_filtered.txt
@@ -0,0 +1,7370 @@
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+ai_055_009/rgb_cam_00_fr0098.png ai_055_009/depth_plane_cam_00_fr0098.png
+ai_055_009/rgb_cam_00_fr0099.png ai_055_009/depth_plane_cam_00_fr0099.png
+ai_055_009/rgb_cam_01_fr0000.png ai_055_009/depth_plane_cam_01_fr0000.png
+ai_055_009/rgb_cam_01_fr0001.png ai_055_009/depth_plane_cam_01_fr0001.png
+ai_055_009/rgb_cam_01_fr0002.png ai_055_009/depth_plane_cam_01_fr0002.png
+ai_055_009/rgb_cam_01_fr0003.png ai_055_009/depth_plane_cam_01_fr0003.png
+ai_055_009/rgb_cam_01_fr0004.png ai_055_009/depth_plane_cam_01_fr0004.png
+ai_055_009/rgb_cam_01_fr0005.png ai_055_009/depth_plane_cam_01_fr0005.png
+ai_055_009/rgb_cam_01_fr0006.png ai_055_009/depth_plane_cam_01_fr0006.png
+ai_055_009/rgb_cam_01_fr0007.png ai_055_009/depth_plane_cam_01_fr0007.png
+ai_055_009/rgb_cam_01_fr0008.png ai_055_009/depth_plane_cam_01_fr0008.png
+ai_055_009/rgb_cam_01_fr0009.png ai_055_009/depth_plane_cam_01_fr0009.png
+ai_055_009/rgb_cam_01_fr0010.png ai_055_009/depth_plane_cam_01_fr0010.png
+ai_055_009/rgb_cam_01_fr0011.png ai_055_009/depth_plane_cam_01_fr0011.png
+ai_055_009/rgb_cam_01_fr0012.png ai_055_009/depth_plane_cam_01_fr0012.png
+ai_055_009/rgb_cam_01_fr0013.png ai_055_009/depth_plane_cam_01_fr0013.png
+ai_055_009/rgb_cam_01_fr0014.png ai_055_009/depth_plane_cam_01_fr0014.png
+ai_055_009/rgb_cam_01_fr0015.png ai_055_009/depth_plane_cam_01_fr0015.png
+ai_055_009/rgb_cam_01_fr0016.png ai_055_009/depth_plane_cam_01_fr0016.png
+ai_055_009/rgb_cam_01_fr0017.png ai_055_009/depth_plane_cam_01_fr0017.png
+ai_055_009/rgb_cam_01_fr0018.png ai_055_009/depth_plane_cam_01_fr0018.png
+ai_055_009/rgb_cam_01_fr0019.png ai_055_009/depth_plane_cam_01_fr0019.png
+ai_055_009/rgb_cam_01_fr0020.png ai_055_009/depth_plane_cam_01_fr0020.png
+ai_055_009/rgb_cam_01_fr0021.png ai_055_009/depth_plane_cam_01_fr0021.png
+ai_055_009/rgb_cam_01_fr0022.png ai_055_009/depth_plane_cam_01_fr0022.png
+ai_055_009/rgb_cam_01_fr0023.png ai_055_009/depth_plane_cam_01_fr0023.png
+ai_055_009/rgb_cam_01_fr0024.png ai_055_009/depth_plane_cam_01_fr0024.png
+ai_055_009/rgb_cam_01_fr0025.png ai_055_009/depth_plane_cam_01_fr0025.png
+ai_055_009/rgb_cam_01_fr0026.png ai_055_009/depth_plane_cam_01_fr0026.png
+ai_055_009/rgb_cam_01_fr0027.png ai_055_009/depth_plane_cam_01_fr0027.png
+ai_055_009/rgb_cam_01_fr0028.png ai_055_009/depth_plane_cam_01_fr0028.png
+ai_055_009/rgb_cam_01_fr0029.png ai_055_009/depth_plane_cam_01_fr0029.png
+ai_055_009/rgb_cam_01_fr0030.png ai_055_009/depth_plane_cam_01_fr0030.png
+ai_055_009/rgb_cam_01_fr0031.png ai_055_009/depth_plane_cam_01_fr0031.png
+ai_055_009/rgb_cam_01_fr0032.png ai_055_009/depth_plane_cam_01_fr0032.png
+ai_055_009/rgb_cam_01_fr0033.png ai_055_009/depth_plane_cam_01_fr0033.png
+ai_055_009/rgb_cam_01_fr0034.png ai_055_009/depth_plane_cam_01_fr0034.png
+ai_055_009/rgb_cam_01_fr0035.png ai_055_009/depth_plane_cam_01_fr0035.png
+ai_055_009/rgb_cam_01_fr0036.png ai_055_009/depth_plane_cam_01_fr0036.png
+ai_055_009/rgb_cam_01_fr0037.png ai_055_009/depth_plane_cam_01_fr0037.png
+ai_055_009/rgb_cam_01_fr0038.png ai_055_009/depth_plane_cam_01_fr0038.png
+ai_055_009/rgb_cam_01_fr0039.png ai_055_009/depth_plane_cam_01_fr0039.png
+ai_055_009/rgb_cam_01_fr0040.png ai_055_009/depth_plane_cam_01_fr0040.png
+ai_055_009/rgb_cam_01_fr0041.png ai_055_009/depth_plane_cam_01_fr0041.png
+ai_055_009/rgb_cam_01_fr0042.png ai_055_009/depth_plane_cam_01_fr0042.png
+ai_055_009/rgb_cam_01_fr0043.png ai_055_009/depth_plane_cam_01_fr0043.png
+ai_055_009/rgb_cam_01_fr0049.png ai_055_009/depth_plane_cam_01_fr0049.png
+ai_055_009/rgb_cam_01_fr0050.png ai_055_009/depth_plane_cam_01_fr0050.png
+ai_055_009/rgb_cam_01_fr0051.png ai_055_009/depth_plane_cam_01_fr0051.png
+ai_055_009/rgb_cam_01_fr0052.png ai_055_009/depth_plane_cam_01_fr0052.png
+ai_055_009/rgb_cam_01_fr0053.png ai_055_009/depth_plane_cam_01_fr0053.png
+ai_055_009/rgb_cam_01_fr0054.png ai_055_009/depth_plane_cam_01_fr0054.png
+ai_055_009/rgb_cam_01_fr0055.png ai_055_009/depth_plane_cam_01_fr0055.png
+ai_055_009/rgb_cam_01_fr0056.png ai_055_009/depth_plane_cam_01_fr0056.png
+ai_055_009/rgb_cam_01_fr0057.png ai_055_009/depth_plane_cam_01_fr0057.png
+ai_055_009/rgb_cam_01_fr0058.png ai_055_009/depth_plane_cam_01_fr0058.png
+ai_055_009/rgb_cam_01_fr0059.png ai_055_009/depth_plane_cam_01_fr0059.png
+ai_055_009/rgb_cam_01_fr0060.png ai_055_009/depth_plane_cam_01_fr0060.png
+ai_055_009/rgb_cam_01_fr0061.png ai_055_009/depth_plane_cam_01_fr0061.png
+ai_055_009/rgb_cam_01_fr0062.png ai_055_009/depth_plane_cam_01_fr0062.png
+ai_055_009/rgb_cam_01_fr0063.png ai_055_009/depth_plane_cam_01_fr0063.png
+ai_055_009/rgb_cam_01_fr0064.png ai_055_009/depth_plane_cam_01_fr0064.png
+ai_055_009/rgb_cam_01_fr0065.png ai_055_009/depth_plane_cam_01_fr0065.png
+ai_055_009/rgb_cam_01_fr0066.png ai_055_009/depth_plane_cam_01_fr0066.png
+ai_055_009/rgb_cam_01_fr0067.png ai_055_009/depth_plane_cam_01_fr0067.png
+ai_055_009/rgb_cam_01_fr0068.png ai_055_009/depth_plane_cam_01_fr0068.png
+ai_055_009/rgb_cam_01_fr0069.png ai_055_009/depth_plane_cam_01_fr0069.png
+ai_055_009/rgb_cam_01_fr0070.png ai_055_009/depth_plane_cam_01_fr0070.png
+ai_055_009/rgb_cam_01_fr0071.png ai_055_009/depth_plane_cam_01_fr0071.png
+ai_055_009/rgb_cam_01_fr0072.png ai_055_009/depth_plane_cam_01_fr0072.png
+ai_055_009/rgb_cam_01_fr0073.png ai_055_009/depth_plane_cam_01_fr0073.png
+ai_055_009/rgb_cam_01_fr0074.png ai_055_009/depth_plane_cam_01_fr0074.png
+ai_055_009/rgb_cam_01_fr0075.png ai_055_009/depth_plane_cam_01_fr0075.png
+ai_055_009/rgb_cam_01_fr0076.png ai_055_009/depth_plane_cam_01_fr0076.png
+ai_055_009/rgb_cam_01_fr0077.png ai_055_009/depth_plane_cam_01_fr0077.png
+ai_055_009/rgb_cam_01_fr0078.png ai_055_009/depth_plane_cam_01_fr0078.png
+ai_055_009/rgb_cam_01_fr0079.png ai_055_009/depth_plane_cam_01_fr0079.png
+ai_055_009/rgb_cam_01_fr0080.png ai_055_009/depth_plane_cam_01_fr0080.png
+ai_055_009/rgb_cam_01_fr0082.png ai_055_009/depth_plane_cam_01_fr0082.png
+ai_055_009/rgb_cam_01_fr0084.png ai_055_009/depth_plane_cam_01_fr0084.png
+ai_055_009/rgb_cam_01_fr0085.png ai_055_009/depth_plane_cam_01_fr0085.png
+ai_055_009/rgb_cam_01_fr0086.png ai_055_009/depth_plane_cam_01_fr0086.png
+ai_055_009/rgb_cam_01_fr0087.png ai_055_009/depth_plane_cam_01_fr0087.png
+ai_055_009/rgb_cam_01_fr0088.png ai_055_009/depth_plane_cam_01_fr0088.png
+ai_055_009/rgb_cam_01_fr0089.png ai_055_009/depth_plane_cam_01_fr0089.png
+ai_055_009/rgb_cam_01_fr0090.png ai_055_009/depth_plane_cam_01_fr0090.png
+ai_055_009/rgb_cam_01_fr0091.png ai_055_009/depth_plane_cam_01_fr0091.png
+ai_055_009/rgb_cam_01_fr0092.png ai_055_009/depth_plane_cam_01_fr0092.png
+ai_055_009/rgb_cam_01_fr0093.png ai_055_009/depth_plane_cam_01_fr0093.png
+ai_055_009/rgb_cam_01_fr0094.png ai_055_009/depth_plane_cam_01_fr0094.png
+ai_055_009/rgb_cam_01_fr0095.png ai_055_009/depth_plane_cam_01_fr0095.png
+ai_055_009/rgb_cam_01_fr0096.png ai_055_009/depth_plane_cam_01_fr0096.png
+ai_055_009/rgb_cam_01_fr0097.png ai_055_009/depth_plane_cam_01_fr0097.png
+ai_055_009/rgb_cam_01_fr0098.png ai_055_009/depth_plane_cam_01_fr0098.png
+ai_055_009/rgb_cam_01_fr0099.png ai_055_009/depth_plane_cam_01_fr0099.png
\ No newline at end of file
diff --git a/Marigold-main/data_split/hypersim/filename_list_val_filtered_small_80.txt b/Marigold-main/data_split/hypersim/filename_list_val_filtered_small_80.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b240c2d1a6af35ee996c2ea5d7c7b8d1a0a148f3
--- /dev/null
+++ b/Marigold-main/data_split/hypersim/filename_list_val_filtered_small_80.txt
@@ -0,0 +1,80 @@
+ai_003_010/rgb_cam_00_fr0047.png ai_003_010/depth_plane_cam_00_fr0047.png
+ai_003_010/rgb_cam_00_fr0048.png ai_003_010/depth_plane_cam_00_fr0048.png
+ai_003_010/rgb_cam_01_fr0098.png ai_003_010/depth_plane_cam_01_fr0098.png
+ai_004_003/rgb_cam_01_fr0008.png ai_004_003/depth_plane_cam_01_fr0008.png
+ai_004_004/rgb_cam_00_fr0025.png ai_004_004/depth_plane_cam_00_fr0025.png
+ai_004_004/rgb_cam_00_fr0046.png ai_004_004/depth_plane_cam_00_fr0046.png
+ai_004_004/rgb_cam_00_fr0049.png ai_004_004/depth_plane_cam_00_fr0049.png
+ai_004_004/rgb_cam_01_fr0023.png ai_004_004/depth_plane_cam_01_fr0023.png
+ai_005_005/rgb_cam_00_fr0032.png ai_005_005/depth_plane_cam_00_fr0032.png
+ai_006_007/rgb_cam_00_fr0022.png ai_006_007/depth_plane_cam_00_fr0022.png
+ai_006_007/rgb_cam_00_fr0095.png ai_006_007/depth_plane_cam_00_fr0095.png
+ai_007_001/rgb_cam_00_fr0044.png ai_007_001/depth_plane_cam_00_fr0044.png
+ai_007_001/rgb_cam_00_fr0048.png ai_007_001/depth_plane_cam_00_fr0048.png
+ai_009_007/rgb_cam_00_fr0017.png ai_009_007/depth_plane_cam_00_fr0017.png
+ai_009_007/rgb_cam_00_fr0097.png ai_009_007/depth_plane_cam_00_fr0097.png
+ai_009_009/rgb_cam_00_fr0094.png ai_009_009/depth_plane_cam_00_fr0094.png
+ai_015_001/rgb_cam_00_fr0058.png ai_015_001/depth_plane_cam_00_fr0058.png
+ai_015_001/rgb_cam_00_fr0089.png ai_015_001/depth_plane_cam_00_fr0089.png
+ai_017_007/rgb_cam_01_fr0064.png ai_017_007/depth_plane_cam_01_fr0064.png
+ai_018_005/rgb_cam_00_fr0014.png ai_018_005/depth_plane_cam_00_fr0014.png
+ai_018_005/rgb_cam_00_fr0059.png ai_018_005/depth_plane_cam_00_fr0059.png
+ai_022_010/rgb_cam_00_fr0097.png ai_022_010/depth_plane_cam_00_fr0097.png
+ai_022_010/rgb_cam_00_fr0099.png ai_022_010/depth_plane_cam_00_fr0099.png
+ai_023_003/rgb_cam_00_fr0013.png ai_023_003/depth_plane_cam_00_fr0013.png
+ai_023_003/rgb_cam_00_fr0015.png ai_023_003/depth_plane_cam_00_fr0015.png
+ai_023_003/rgb_cam_00_fr0036.png ai_023_003/depth_plane_cam_00_fr0036.png
+ai_023_003/rgb_cam_00_fr0095.png ai_023_003/depth_plane_cam_00_fr0095.png
+ai_023_003/rgb_cam_01_fr0029.png ai_023_003/depth_plane_cam_01_fr0029.png
+ai_023_003/rgb_cam_01_fr0036.png ai_023_003/depth_plane_cam_01_fr0036.png
+ai_023_003/rgb_cam_01_fr0071.png ai_023_003/depth_plane_cam_01_fr0071.png
+ai_032_007/rgb_cam_00_fr0031.png ai_032_007/depth_plane_cam_00_fr0031.png
+ai_032_007/rgb_cam_00_fr0040.png ai_032_007/depth_plane_cam_00_fr0040.png
+ai_032_007/rgb_cam_00_fr0075.png ai_032_007/depth_plane_cam_00_fr0075.png
+ai_035_003/rgb_cam_00_fr0054.png ai_035_003/depth_plane_cam_00_fr0054.png
+ai_035_004/rgb_cam_00_fr0077.png ai_035_004/depth_plane_cam_00_fr0077.png
+ai_038_009/rgb_cam_00_fr0031.png ai_038_009/depth_plane_cam_00_fr0031.png
+ai_038_009/rgb_cam_01_fr0010.png ai_038_009/depth_plane_cam_01_fr0010.png
+ai_038_009/rgb_cam_01_fr0088.png ai_038_009/depth_plane_cam_01_fr0088.png
+ai_039_003/rgb_cam_01_fr0042.png ai_039_003/depth_plane_cam_01_fr0042.png
+ai_039_003/rgb_cam_01_fr0097.png ai_039_003/depth_plane_cam_01_fr0097.png
+ai_044_001/rgb_cam_00_fr0043.png ai_044_001/depth_plane_cam_00_fr0043.png
+ai_044_001/rgb_cam_01_fr0018.png ai_044_001/depth_plane_cam_01_fr0018.png
+ai_044_003/rgb_cam_01_fr0082.png ai_044_003/depth_plane_cam_01_fr0082.png
+ai_044_003/rgb_cam_01_fr0087.png ai_044_003/depth_plane_cam_01_fr0087.png
+ai_044_003/rgb_cam_02_fr0086.png ai_044_003/depth_plane_cam_02_fr0086.png
+ai_044_003/rgb_cam_03_fr0022.png ai_044_003/depth_plane_cam_03_fr0022.png
+ai_044_003/rgb_cam_03_fr0063.png ai_044_003/depth_plane_cam_03_fr0063.png
+ai_045_008/rgb_cam_00_fr0015.png ai_045_008/depth_plane_cam_00_fr0015.png
+ai_045_008/rgb_cam_00_fr0030.png ai_045_008/depth_plane_cam_00_fr0030.png
+ai_045_008/rgb_cam_01_fr0029.png ai_045_008/depth_plane_cam_01_fr0029.png
+ai_045_008/rgb_cam_01_fr0052.png ai_045_008/depth_plane_cam_01_fr0052.png
+ai_045_008/rgb_cam_01_fr0088.png ai_045_008/depth_plane_cam_01_fr0088.png
+ai_047_009/rgb_cam_00_fr0097.png ai_047_009/depth_plane_cam_00_fr0097.png
+ai_048_001/rgb_cam_00_fr0014.png ai_048_001/depth_plane_cam_00_fr0014.png
+ai_048_001/rgb_cam_00_fr0088.png ai_048_001/depth_plane_cam_00_fr0088.png
+ai_048_001/rgb_cam_01_fr0045.png ai_048_001/depth_plane_cam_01_fr0045.png
+ai_048_001/rgb_cam_02_fr0031.png ai_048_001/depth_plane_cam_02_fr0031.png
+ai_048_001/rgb_cam_03_fr0005.png ai_048_001/depth_plane_cam_03_fr0005.png
+ai_048_001/rgb_cam_03_fr0045.png ai_048_001/depth_plane_cam_03_fr0045.png
+ai_048_001/rgb_cam_03_fr0054.png ai_048_001/depth_plane_cam_03_fr0054.png
+ai_048_001/rgb_cam_03_fr0061.png ai_048_001/depth_plane_cam_03_fr0061.png
+ai_050_002/rgb_cam_01_fr0016.png ai_050_002/depth_plane_cam_01_fr0016.png
+ai_050_002/rgb_cam_02_fr0053.png ai_050_002/depth_plane_cam_02_fr0053.png
+ai_050_002/rgb_cam_03_fr0082.png ai_050_002/depth_plane_cam_03_fr0082.png
+ai_050_002/rgb_cam_04_fr0033.png ai_050_002/depth_plane_cam_04_fr0033.png
+ai_051_004/rgb_cam_00_fr0028.png ai_051_004/depth_plane_cam_00_fr0028.png
+ai_051_004/rgb_cam_01_fr0065.png ai_051_004/depth_plane_cam_01_fr0065.png
+ai_051_004/rgb_cam_02_fr0054.png ai_051_004/depth_plane_cam_02_fr0054.png
+ai_051_004/rgb_cam_02_fr0056.png ai_051_004/depth_plane_cam_02_fr0056.png
+ai_051_004/rgb_cam_03_fr0037.png ai_051_004/depth_plane_cam_03_fr0037.png
+ai_051_004/rgb_cam_04_fr0083.png ai_051_004/depth_plane_cam_04_fr0083.png
+ai_051_004/rgb_cam_05_fr0003.png ai_051_004/depth_plane_cam_05_fr0003.png
+ai_052_001/rgb_cam_00_fr0008.png ai_052_001/depth_plane_cam_00_fr0008.png
+ai_052_003/rgb_cam_00_fr0097.png ai_052_003/depth_plane_cam_00_fr0097.png
+ai_052_003/rgb_cam_01_fr0081.png ai_052_003/depth_plane_cam_01_fr0081.png
+ai_052_007/rgb_cam_01_fr0001.png ai_052_007/depth_plane_cam_01_fr0001.png
+ai_053_003/rgb_cam_00_fr0005.png ai_053_003/depth_plane_cam_00_fr0005.png
+ai_053_005/rgb_cam_00_fr0080.png ai_053_005/depth_plane_cam_00_fr0080.png
+ai_055_009/rgb_cam_01_fr0070.png ai_055_009/depth_plane_cam_01_fr0070.png
+ai_055_009/rgb_cam_01_fr0086.png ai_055_009/depth_plane_cam_01_fr0086.png
\ No newline at end of file
diff --git a/Marigold-main/data_split/hypersim/selected_vis_sample.txt b/Marigold-main/data_split/hypersim/selected_vis_sample.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0ebd78ddbb5060276d4e42b3991af4e22d8471be
--- /dev/null
+++ b/Marigold-main/data_split/hypersim/selected_vis_sample.txt
@@ -0,0 +1,3 @@
+ai_015_004/rgb_cam_00_fr0002.png ai_015_004/depth_plane_cam_00_fr0002.png (val)
+ai_044_003/rgb_cam_01_fr0063.png ai_044_003/depth_plane_cam_01_fr0063.png (val)
+ai_052_003/rgb_cam_01_fr0076.png ai_052_003/depth_plane_cam_01_fr0076.png (val)
\ No newline at end of file
diff --git a/Marigold-main/data_split/kitti/eigen_test_files_with_gt.txt b/Marigold-main/data_split/kitti/eigen_test_files_with_gt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..575b66115c160f6c9df37a206ac8ba17e6771ccc
--- /dev/null
+++ b/Marigold-main/data_split/kitti/eigen_test_files_with_gt.txt
@@ -0,0 +1,697 @@
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000069.png 2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000069.png 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000054.png 2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000054.png 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000042.png 2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000042.png 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000057.png 2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000057.png 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000030.png 2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000030.png 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000027.png 2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000027.png 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000012.png 2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000012.png 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000075.png None 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000036.png 2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000036.png 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000033.png 2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000033.png 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000015.png 2011_09_26_drive_0002_sync/proj_depth/groundtruth/image_02/0000000015.png 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000072.png None 721.5377
+2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000003.png None 721.5377
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\ No newline at end of file
diff --git a/Marigold-main/data_split/kitti/eigen_val_from_train_800.txt b/Marigold-main/data_split/kitti/eigen_val_from_train_800.txt
new file mode 100644
index 0000000000000000000000000000000000000000..25aae20ab6031895bc1cd122338527db921e2825
--- /dev/null
+++ b/Marigold-main/data_split/kitti/eigen_val_from_train_800.txt
@@ -0,0 +1,800 @@
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\ No newline at end of file
diff --git a/Marigold-main/data_split/kitti/eigen_val_from_train_sub_100.txt b/Marigold-main/data_split/kitti/eigen_val_from_train_sub_100.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa0ebc4e9f6061f988959b93fcf1378807817700
--- /dev/null
+++ b/Marigold-main/data_split/kitti/eigen_val_from_train_sub_100.txt
@@ -0,0 +1,100 @@
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\ No newline at end of file
diff --git a/Marigold-main/data_split/nyu/labeled/filename_list_test.txt b/Marigold-main/data_split/nyu/labeled/filename_list_test.txt
new file mode 100644
index 0000000000000000000000000000000000000000..697d553ae7f83fad65dd5b8bdd981dbd2e34003a
--- /dev/null
+++ b/Marigold-main/data_split/nyu/labeled/filename_list_test.txt
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\ No newline at end of file
diff --git a/Marigold-main/data_split/nyu/labeled/filename_list_train.txt b/Marigold-main/data_split/nyu/labeled/filename_list_train.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fcc58846091b6b3f98822921aa58b50816272d4a
--- /dev/null
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diff --git a/Marigold-main/data_split/nyu/labeled/filename_list_train_small_100.txt b/Marigold-main/data_split/nyu/labeled/filename_list_train_small_100.txt
new file mode 100644
index 0000000000000000000000000000000000000000..61103d402c2f0929d2693a1bce6ec5406c5e024d
--- /dev/null
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diff --git a/Marigold-main/data_split/scannet/scannet_val_sampled_list_800_1.txt b/Marigold-main/data_split/scannet/scannet_val_sampled_list_800_1.txt
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index 0000000000000000000000000000000000000000..b220dcdf98f7543922a5ca5ca226952a5e5b5b3f
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diff --git a/Marigold-main/data_split/vkitti/vkitti_train.txt b/Marigold-main/data_split/vkitti/vkitti_train.txt
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+version https://git-lfs.github.com/spec/v1
+oid sha256:9ac22708df13690f231aae38a833a49efb38ce0479e3aa14213034fda7aac970
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diff --git a/Marigold-main/environment.yaml b/Marigold-main/environment.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9c5d44e58d34773ebbba88cad81f13342283083d
--- /dev/null
+++ b/Marigold-main/environment.yaml
@@ -0,0 +1,16 @@
+name: marigold
+channels:
+ - conda-forge
+ - nvidia
+ - pytorch
+dependencies:
+ - accelerate>=0.22.0
+ - diffusers>=0.25.0
+ - matplotlib>=3.8.2
+ - scipy>=1.11.4
+ - python=3.10.12
+ - pytorch=2.2.1
+ - pytorch-cuda=11.7
+ - torchvision=0.15.2
+ - pip:
+ - transformers==4.32.1
diff --git a/Marigold-main/eval.py b/Marigold-main/eval.py
new file mode 100644
index 0000000000000000000000000000000000000000..2cde0b234668e27521bead91002276ab8acf6545
--- /dev/null
+++ b/Marigold-main/eval.py
@@ -0,0 +1,248 @@
+# Last modified: 2024-03-11
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+import argparse
+import logging
+import os
+
+import numpy as np
+import torch
+from omegaconf import OmegaConf
+from tabulate import tabulate
+from torch.utils.data import DataLoader
+from tqdm.auto import tqdm
+
+from src.dataset import (
+ BaseDepthDataset,
+ DatasetMode,
+ get_dataset,
+ get_pred_name,
+)
+from src.util import metric
+from src.util.alignment import (
+ align_depth_least_square,
+ depth2disparity,
+ disparity2depth,
+)
+from src.util.metric import MetricTracker
+
+eval_metrics = [
+ "abs_relative_difference",
+ "squared_relative_difference",
+ "rmse_linear",
+ "rmse_log",
+ "log10",
+ "delta1_acc",
+ "delta2_acc",
+ "delta3_acc",
+ "i_rmse",
+ "silog_rmse",
+]
+
+if "__main__" == __name__:
+ parser = argparse.ArgumentParser()
+ # input
+ parser.add_argument(
+ "--prediction_dir",
+ type=str,
+ required=True,
+ help="Directory of depth predictions",
+ )
+ parser.add_argument(
+ "--output_dir", type=str, required=True, help="Output directory."
+ )
+
+ # dataset setting
+ parser.add_argument(
+ "--dataset_config",
+ type=str,
+ required=True,
+ help="Path to config file of evaluation dataset.",
+ )
+ parser.add_argument(
+ "--base_data_dir",
+ type=str,
+ required=True,
+ help="Path to base data directory.",
+ )
+
+ # LS depth alignment
+ parser.add_argument(
+ "--alignment",
+ choices=[None, "least_square", "least_square_disparity"],
+ default=None,
+ help="Method to estimate scale and shift between predictions and ground truth.",
+ )
+ parser.add_argument(
+ "--alignment_max_res",
+ type=int,
+ default=None,
+ help="Max operating resolution used for LS alignment",
+ )
+
+ parser.add_argument("--no_cuda", action="store_true", help="Run without cuda")
+
+ args = parser.parse_args()
+
+ prediction_dir = args.prediction_dir
+ output_dir = args.output_dir
+
+ dataset_config = args.dataset_config
+ base_data_dir = args.base_data_dir
+
+ alignment = args.alignment
+ alignment_max_res = args.alignment_max_res
+
+ no_cuda = args.no_cuda
+ pred_suffix = ".npy"
+
+ os.makedirs(output_dir, exist_ok=True)
+
+ # -------------------- Device --------------------
+ cuda_avail = torch.cuda.is_available() and not no_cuda
+ device = torch.device("cuda" if cuda_avail else "cpu")
+ logging.info(f"Device: {device}")
+
+ # -------------------- Data --------------------
+ cfg_data = OmegaConf.load(dataset_config)
+
+ dataset: BaseDepthDataset = get_dataset(
+ cfg_data, base_data_dir=base_data_dir, mode=DatasetMode.EVAL
+ )
+
+ dataloader = DataLoader(dataset, batch_size=1, num_workers=0)
+
+ # -------------------- Eval metrics --------------------
+ metric_funcs = [getattr(metric, _met) for _met in eval_metrics]
+
+ metric_tracker = MetricTracker(*[m.__name__ for m in metric_funcs])
+ metric_tracker.reset()
+
+ # -------------------- Per-sample metric file head --------------------
+ per_sample_filename = os.path.join(output_dir, "per_sample_metrics.csv")
+ # write title
+ with open(per_sample_filename, "w+") as f:
+ f.write("filename,")
+ f.write(",".join([m.__name__ for m in metric_funcs]))
+ f.write("\n")
+
+ # -------------------- Evaluate --------------------
+ for data in tqdm(dataloader, desc="Evaluating"):
+ # GT data
+ depth_raw_ts = data["depth_raw_linear"].squeeze()
+ valid_mask_ts = data["valid_mask_raw"].squeeze()
+ rgb_name = data["rgb_relative_path"][0]
+
+ depth_raw = depth_raw_ts.numpy()
+ valid_mask = valid_mask_ts.numpy()
+
+ depth_raw_ts = depth_raw_ts.to(device)
+ valid_mask_ts = valid_mask_ts.to(device)
+
+ # Load predictions
+ rgb_basename = os.path.basename(rgb_name)
+ pred_basename = get_pred_name(
+ rgb_basename, dataset.name_mode, suffix=pred_suffix
+ )
+ pred_name = os.path.join(os.path.dirname(rgb_name), pred_basename)
+ pred_path = os.path.join(prediction_dir, pred_name)
+ depth_pred = np.load(pred_path)
+
+ if not os.path.exists(pred_path):
+ logging.warn(f"Can't find prediction: {pred_path}")
+ continue
+
+ # Align with GT using least square
+ if "least_square" == alignment:
+ depth_pred, scale, shift = align_depth_least_square(
+ gt_arr=depth_raw,
+ pred_arr=depth_pred,
+ valid_mask_arr=valid_mask,
+ return_scale_shift=True,
+ max_resolution=alignment_max_res,
+ )
+ elif "least_square_disparity" == alignment:
+ # convert GT depth -> GT disparity
+ gt_disparity, gt_non_neg_mask = depth2disparity(
+ depth=depth_raw, return_mask=True
+ )
+ # LS alignment in disparity space
+ pred_non_neg_mask = depth_pred > 0
+ valid_nonnegative_mask = valid_mask & gt_non_neg_mask & pred_non_neg_mask
+
+ disparity_pred, scale, shift = align_depth_least_square(
+ gt_arr=gt_disparity,
+ pred_arr=depth_pred,
+ valid_mask_arr=valid_nonnegative_mask,
+ return_scale_shift=True,
+ max_resolution=alignment_max_res,
+ )
+ # convert to depth
+ disparity_pred = np.clip(
+ disparity_pred, a_min=1e-3, a_max=None
+ ) # avoid 0 disparity
+ depth_pred = disparity2depth(disparity_pred)
+
+ # Clip to dataset min max
+ depth_pred = np.clip(
+ depth_pred, a_min=dataset.min_depth, a_max=dataset.max_depth
+ )
+
+ # clip to d > 0 for evaluation
+ depth_pred = np.clip(depth_pred, a_min=1e-6, a_max=None)
+
+ # Evaluate (using CUDA if available)
+ sample_metric = []
+ depth_pred_ts = torch.from_numpy(depth_pred).to(device)
+
+ for met_func in metric_funcs:
+ _metric_name = met_func.__name__
+ _metric = met_func(depth_pred_ts, depth_raw_ts, valid_mask_ts).item()
+ sample_metric.append(_metric.__str__())
+ metric_tracker.update(_metric_name, _metric)
+
+ # Save per-sample metric
+ with open(per_sample_filename, "a+") as f:
+ f.write(pred_name + ",")
+ f.write(",".join(sample_metric))
+ f.write("\n")
+
+ # -------------------- Save metrics to file --------------------
+ eval_text = f"Evaluation metrics:\n\
+ of predictions: {prediction_dir}\n\
+ on dataset: {dataset.disp_name}\n\
+ with samples in: {dataset.filename_ls_path}\n"
+
+ eval_text += f"min_depth = {dataset.min_depth}\n"
+ eval_text += f"max_depth = {dataset.max_depth}\n"
+
+ eval_text += tabulate(
+ [metric_tracker.result().keys(), metric_tracker.result().values()]
+ )
+
+ metrics_filename = "eval_metrics"
+ if alignment:
+ metrics_filename += f"-{alignment}"
+ metrics_filename += ".txt"
+
+ _save_to = os.path.join(output_dir, metrics_filename)
+ with open(_save_to, "w+") as f:
+ f.write(eval_text)
+ logging.info(f"Evaluation metrics saved to {_save_to}")
diff --git a/Marigold-main/infer.py b/Marigold-main/infer.py
new file mode 100644
index 0000000000000000000000000000000000000000..4f88721d3fc4cf76c53f11820f67f3ffcbd0adac
--- /dev/null
+++ b/Marigold-main/infer.py
@@ -0,0 +1,258 @@
+# Last modified: 2024-05-24
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+
+import argparse
+import logging
+import os
+
+import numpy as np
+import torch
+from omegaconf import OmegaConf
+from PIL import Image
+from torch.utils.data import DataLoader
+from tqdm.auto import tqdm
+
+from marigold import MarigoldPipeline
+from src.util.seeding import seed_all
+from src.dataset import (
+ BaseDepthDataset,
+ DatasetMode,
+ get_dataset,
+ get_pred_name,
+)
+
+if "__main__" == __name__:
+ logging.basicConfig(level=logging.INFO)
+
+ # -------------------- Arguments --------------------
+ parser = argparse.ArgumentParser(
+ description="Run single-image depth estimation using Marigold."
+ )
+ parser.add_argument(
+ "--checkpoint",
+ type=str,
+ default="prs-eth/marigold-v1-0",
+ help="Checkpoint path or hub name.",
+ )
+
+ # dataset setting
+ parser.add_argument(
+ "--dataset_config",
+ type=str,
+ required=True,
+ help="Path to config file of evaluation dataset.",
+ )
+ parser.add_argument(
+ "--base_data_dir",
+ type=str,
+ required=True,
+ help="Path to base data directory.",
+ )
+
+ parser.add_argument(
+ "--output_dir", type=str, required=True, help="Output directory."
+ )
+
+ # inference setting
+ parser.add_argument(
+ "--denoise_steps",
+ type=int,
+ default=50, # quantitative evaluation uses 50 steps
+ help="Diffusion denoising steps, more steps results in higher accuracy but slower inference speed.",
+ )
+ parser.add_argument(
+ "--ensemble_size",
+ type=int,
+ default=10,
+ help="Number of predictions to be ensembled, more inference gives better results but runs slower.",
+ )
+ parser.add_argument(
+ "--half_precision",
+ "--fp16",
+ action="store_true",
+ help="Run with half-precision (16-bit float), might lead to suboptimal result.",
+ )
+
+ # resolution setting
+ parser.add_argument(
+ "--processing_res",
+ type=int,
+ default=0,
+ help="Maximum resolution of processing. 0 for using input image resolution. Default: 0.",
+ )
+ parser.add_argument(
+ "--output_processing_res",
+ action="store_true",
+ help="When input is resized, out put depth at resized operating resolution. Default: False.",
+ )
+ parser.add_argument(
+ "--resample_method",
+ type=str,
+ default="bilinear",
+ help="Resampling method used to resize images. This can be one of 'bilinear' or 'nearest'.",
+ )
+
+ parser.add_argument("--seed", type=int, default=None, help="Random seed.")
+
+ args = parser.parse_args()
+
+ checkpoint_path = args.checkpoint
+ dataset_config = args.dataset_config
+ base_data_dir = args.base_data_dir
+ output_dir = args.output_dir
+
+ denoise_steps = args.denoise_steps
+ ensemble_size = args.ensemble_size
+ if ensemble_size > 15:
+ logging.warning("Running with large ensemble size will be slow.")
+ half_precision = args.half_precision
+
+ processing_res = args.processing_res
+ match_input_res = not args.output_processing_res
+ if 0 == processing_res and match_input_res is False:
+ logging.warning(
+ "Processing at native resolution without resizing output might NOT lead to exactly the same resolution, due to the padding and pooling properties of conv layers."
+ )
+ resample_method = args.resample_method
+
+ seed = args.seed
+
+ print(f"arguments: {args}")
+
+ # -------------------- Preparation --------------------
+ # Print out config
+ logging.info(
+ f"Inference settings: checkpoint = `{checkpoint_path}`, "
+ f"with denoise_steps = {denoise_steps}, ensemble_size = {ensemble_size}, "
+ f"processing resolution = {processing_res}, seed = {seed}; "
+ f"dataset config = `{dataset_config}`."
+ )
+
+ # Random seed
+ if seed is None:
+ import time
+
+ seed = int(time.time())
+ seed_all(seed)
+
+ def check_directory(directory):
+ if os.path.exists(directory):
+ response = (
+ input(
+ f"The directory '{directory}' already exists. Are you sure to continue? (y/n): "
+ )
+ .strip()
+ .lower()
+ )
+ if "y" == response:
+ pass
+ elif "n" == response:
+ print("Exiting...")
+ exit()
+ else:
+ print("Invalid input. Please enter 'y' (for Yes) or 'n' (for No).")
+ check_directory(directory) # Recursive call to ask again
+
+ check_directory(output_dir)
+ os.makedirs(output_dir, exist_ok=True)
+ logging.info(f"output dir = {output_dir}")
+
+ # -------------------- Device --------------------
+ if torch.cuda.is_available():
+ device = torch.device("cuda")
+ else:
+ device = torch.device("cpu")
+ logging.warning("CUDA is not available. Running on CPU will be slow.")
+ logging.info(f"device = {device}")
+
+ # -------------------- Data --------------------
+ cfg_data = OmegaConf.load(dataset_config)
+
+ dataset: BaseDepthDataset = get_dataset(
+ cfg_data, base_data_dir=base_data_dir, mode=DatasetMode.RGB_ONLY
+ )
+
+ dataloader = DataLoader(dataset, batch_size=1, num_workers=0)
+
+ # -------------------- Model --------------------
+ if half_precision:
+ dtype = torch.float16
+ variant = "fp16"
+ logging.warning(
+ f"Running with half precision ({dtype}), might lead to suboptimal result."
+ )
+ else:
+ dtype = torch.float32
+ variant = None
+
+ pipe = MarigoldPipeline.from_pretrained(
+ checkpoint_path, variant=variant, torch_dtype=dtype
+ )
+
+ try:
+ pipe.enable_xformers_memory_efficient_attention()
+ except ImportError:
+ logging.debug("run without xformers")
+
+ pipe = pipe.to(device)
+ logging.info(
+ f"scale_invariant: {pipe.scale_invariant}, shift_invariant: {pipe.shift_invariant}"
+ )
+
+ # -------------------- Inference and saving --------------------
+ with torch.no_grad():
+ for batch in tqdm(
+ dataloader, desc=f"Inferencing on {dataset.disp_name}", leave=True
+ ):
+ # Read input image
+ rgb_int = batch["rgb_int"].squeeze().numpy().astype(np.uint8) # [3, H, W]
+ rgb_int = np.moveaxis(rgb_int, 0, -1) # [H, W, 3]
+ input_image = Image.fromarray(rgb_int)
+
+ # Predict depth
+ pipe_out = pipe(
+ input_image,
+ denoising_steps=denoise_steps,
+ ensemble_size=ensemble_size,
+ processing_res=processing_res,
+ match_input_res=match_input_res,
+ batch_size=0,
+ color_map=None,
+ show_progress_bar=False,
+ resample_method=resample_method,
+ )
+
+ depth_pred: np.ndarray = pipe_out.depth_np
+
+ # Save predictions
+ rgb_filename = batch["rgb_relative_path"][0]
+ rgb_basename = os.path.basename(rgb_filename)
+ scene_dir = os.path.join(output_dir, os.path.dirname(rgb_filename))
+ if not os.path.exists(scene_dir):
+ os.makedirs(scene_dir)
+ pred_basename = get_pred_name(
+ rgb_basename, dataset.name_mode, suffix=".npy"
+ )
+ save_to = os.path.join(scene_dir, pred_basename)
+ if os.path.exists(save_to):
+ logging.warning(f"Existing file: '{save_to}' will be overwritten")
+
+ np.save(save_to, depth_pred)
diff --git a/Marigold-main/marigold/__init__.py b/Marigold-main/marigold/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..c32ac37064024815d11933b4659076e9436c0ef8
--- /dev/null
+++ b/Marigold-main/marigold/__init__.py
@@ -0,0 +1,21 @@
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+
+from .marigold_pipeline import MarigoldPipeline, MarigoldDepthOutput # noqa: F401
diff --git a/Marigold-main/marigold/marigold_pipeline.py b/Marigold-main/marigold/marigold_pipeline.py
new file mode 100644
index 0000000000000000000000000000000000000000..9410b32a6566f99293d365a6d09890a3fae8876d
--- /dev/null
+++ b/Marigold-main/marigold/marigold_pipeline.py
@@ -0,0 +1,489 @@
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+# Last modified: 2024-05-24
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+
+import logging
+from typing import Dict, Optional, Union
+
+import numpy as np
+import torch
+from diffusers import (
+ AutoencoderKL,
+ DDIMScheduler,
+ DiffusionPipeline,
+ LCMScheduler,
+ UNet2DConditionModel,
+)
+from diffusers.utils import BaseOutput
+from PIL import Image
+from torch.utils.data import DataLoader, TensorDataset
+from torchvision.transforms import InterpolationMode
+from torchvision.transforms.functional import pil_to_tensor, resize
+from tqdm.auto import tqdm
+from transformers import CLIPTextModel, CLIPTokenizer
+
+from .util.batchsize import find_batch_size
+from .util.ensemble import ensemble_depth
+from .util.image_util import (
+ chw2hwc,
+ colorize_depth_maps,
+ get_tv_resample_method,
+ resize_max_res,
+)
+
+
+class MarigoldDepthOutput(BaseOutput):
+ """
+ Output class for Marigold monocular depth prediction pipeline.
+
+ Args:
+ depth_np (`np.ndarray`):
+ Predicted depth map, with depth values in the range of [0, 1].
+ depth_colored (`PIL.Image.Image`):
+ Colorized depth map, with the shape of [3, H, W] and values in [0, 1].
+ uncertainty (`None` or `np.ndarray`):
+ Uncalibrated uncertainty(MAD, median absolute deviation) coming from ensembling.
+ """
+
+ depth_np: np.ndarray
+ depth_colored: Union[None, Image.Image]
+ uncertainty: Union[None, np.ndarray]
+
+
+class MarigoldPipeline(DiffusionPipeline):
+ """
+ Pipeline for monocular depth estimation using Marigold: https://marigoldmonodepth.github.io.
+
+ This model inherits from [`DiffusionPipeline`]. Check the superclass documentation for the generic methods the
+ library implements for all the pipelines (such as downloading or saving, running on a particular device, etc.)
+
+ Args:
+ unet (`UNet2DConditionModel`):
+ Conditional U-Net to denoise the depth latent, conditioned on image latent.
+ vae (`AutoencoderKL`):
+ Variational Auto-Encoder (VAE) Model to encode and decode images and depth maps
+ to and from latent representations.
+ scheduler (`DDIMScheduler`):
+ A scheduler to be used in combination with `unet` to denoise the encoded image latents.
+ text_encoder (`CLIPTextModel`):
+ Text-encoder, for empty text embedding.
+ tokenizer (`CLIPTokenizer`):
+ CLIP tokenizer.
+ scale_invariant (`bool`, *optional*):
+ A model property specifying whether the predicted depth maps are scale-invariant. This value must be set in
+ the model config. When used together with the `shift_invariant=True` flag, the model is also called
+ "affine-invariant". NB: overriding this value is not supported.
+ shift_invariant (`bool`, *optional*):
+ A model property specifying whether the predicted depth maps are shift-invariant. This value must be set in
+ the model config. When used together with the `scale_invariant=True` flag, the model is also called
+ "affine-invariant". NB: overriding this value is not supported.
+ default_denoising_steps (`int`, *optional*):
+ The minimum number of denoising diffusion steps that are required to produce a prediction of reasonable
+ quality with the given model. This value must be set in the model config. When the pipeline is called
+ without explicitly setting `num_inference_steps`, the default value is used. This is required to ensure
+ reasonable results with various model flavors compatible with the pipeline, such as those relying on very
+ short denoising schedules (`LCMScheduler`) and those with full diffusion schedules (`DDIMScheduler`).
+ default_processing_resolution (`int`, *optional*):
+ The recommended value of the `processing_resolution` parameter of the pipeline. This value must be set in
+ the model config. When the pipeline is called without explicitly setting `processing_resolution`, the
+ default value is used. This is required to ensure reasonable results with various model flavors trained
+ with varying optimal processing resolution values.
+ """
+
+ rgb_latent_scale_factor = 0.18215
+ depth_latent_scale_factor = 0.18215
+
+ def __init__(
+ self,
+ unet: UNet2DConditionModel,
+ vae: AutoencoderKL,
+ scheduler: Union[DDIMScheduler, LCMScheduler],
+ text_encoder: CLIPTextModel,
+ tokenizer: CLIPTokenizer,
+ scale_invariant: Optional[bool] = True,
+ shift_invariant: Optional[bool] = True,
+ default_denoising_steps: Optional[int] = None,
+ default_processing_resolution: Optional[int] = None,
+ ):
+ super().__init__()
+ self.register_modules(
+ unet=unet,
+ vae=vae,
+ scheduler=scheduler,
+ text_encoder=text_encoder,
+ tokenizer=tokenizer,
+ )
+ self.register_to_config(
+ scale_invariant=scale_invariant,
+ shift_invariant=shift_invariant,
+ default_denoising_steps=default_denoising_steps,
+ default_processing_resolution=default_processing_resolution,
+ )
+
+ self.scale_invariant = scale_invariant
+ self.shift_invariant = shift_invariant
+ self.default_denoising_steps = default_denoising_steps
+ self.default_processing_resolution = default_processing_resolution
+
+ self.empty_text_embed = None
+
+ @torch.no_grad()
+ def __call__(
+ self,
+ input_image: Union[Image.Image, torch.Tensor],
+ denoising_steps: Optional[int] = None,
+ ensemble_size: int = 5,
+ processing_res: Optional[int] = None,
+ match_input_res: bool = True,
+ resample_method: str = "bilinear",
+ batch_size: int = 0,
+ generator: Union[torch.Generator, None] = None,
+ color_map: str = "Spectral",
+ show_progress_bar: bool = True,
+ ensemble_kwargs: Dict = None,
+ ) -> MarigoldDepthOutput:
+ """
+ Function invoked when calling the pipeline.
+
+ Args:
+ input_image (`Image`):
+ Input RGB (or gray-scale) image.
+ denoising_steps (`int`, *optional*, defaults to `None`):
+ Number of denoising diffusion steps during inference. The default value `None` results in automatic
+ selection. The number of steps should be at least 10 with the full Marigold models, and between 1 and 4
+ for Marigold-LCM models.
+ ensemble_size (`int`, *optional*, defaults to `10`):
+ Number of predictions to be ensembled.
+ processing_res (`int`, *optional*, defaults to `None`):
+ Effective processing resolution. When set to `0`, processes at the original image resolution. This
+ produces crisper predictions, but may also lead to the overall loss of global context. The default
+ value `None` resolves to the optimal value from the model config.
+ match_input_res (`bool`, *optional*, defaults to `True`):
+ Resize depth prediction to match input resolution.
+ Only valid if `processing_res` > 0.
+ resample_method: (`str`, *optional*, defaults to `bilinear`):
+ Resampling method used to resize images and depth predictions. This can be one of `bilinear`, `bicubic` or `nearest`, defaults to: `bilinear`.
+ batch_size (`int`, *optional*, defaults to `0`):
+ Inference batch size, no bigger than `num_ensemble`.
+ If set to 0, the script will automatically decide the proper batch size.
+ generator (`torch.Generator`, *optional*, defaults to `None`)
+ Random generator for initial noise generation.
+ show_progress_bar (`bool`, *optional*, defaults to `True`):
+ Display a progress bar of diffusion denoising.
+ color_map (`str`, *optional*, defaults to `"Spectral"`, pass `None` to skip colorized depth map generation):
+ Colormap used to colorize the depth map.
+ scale_invariant (`str`, *optional*, defaults to `True`):
+ Flag of scale-invariant prediction, if True, scale will be adjusted from the raw prediction.
+ shift_invariant (`str`, *optional*, defaults to `True`):
+ Flag of shift-invariant prediction, if True, shift will be adjusted from the raw prediction, if False, near plane will be fixed at 0m.
+ ensemble_kwargs (`dict`, *optional*, defaults to `None`):
+ Arguments for detailed ensembling settings.
+ Returns:
+ `MarigoldDepthOutput`: Output class for Marigold monocular depth prediction pipeline, including:
+ - **depth_np** (`np.ndarray`) Predicted depth map, with depth values in the range of [0, 1]
+ - **depth_colored** (`PIL.Image.Image`) Colorized depth map, with the shape of [3, H, W] and values in [0, 1], None if `color_map` is `None`
+ - **uncertainty** (`None` or `np.ndarray`) Uncalibrated uncertainty(MAD, median absolute deviation)
+ coming from ensembling. None if `ensemble_size = 1`
+ """
+ # Model-specific optimal default values leading to fast and reasonable results.
+ if denoising_steps is None:
+ denoising_steps = self.default_denoising_steps
+ if processing_res is None:
+ processing_res = self.default_processing_resolution
+
+ assert processing_res >= 0
+ assert ensemble_size >= 1
+
+ # Check if denoising step is reasonable
+ self._check_inference_step(denoising_steps)
+
+ resample_method: InterpolationMode = get_tv_resample_method(resample_method)
+
+ # ----------------- Image Preprocess -----------------
+ # Convert to torch tensor
+ if isinstance(input_image, Image.Image):
+ input_image = input_image.convert("RGB")
+ # convert to torch tensor [H, W, rgb] -> [rgb, H, W]
+ rgb = pil_to_tensor(input_image)
+ rgb = rgb.unsqueeze(0) # [1, rgb, H, W]
+ elif isinstance(input_image, torch.Tensor):
+ rgb = input_image
+ else:
+ raise TypeError(f"Unknown input type: {type(input_image) = }")
+ input_size = rgb.shape
+ assert (
+ 4 == rgb.dim() and 3 == input_size[-3]
+ ), f"Wrong input shape {input_size}, expected [1, rgb, H, W]"
+
+ # Resize image
+ if processing_res > 0:
+ rgb = resize_max_res(
+ rgb,
+ max_edge_resolution=processing_res,
+ resample_method=resample_method,
+ )
+
+ # Normalize rgb values
+ rgb_norm: torch.Tensor = rgb / 255.0 * 2.0 - 1.0 # [0, 255] -> [-1, 1]
+ rgb_norm = rgb_norm.to(self.dtype)
+ assert rgb_norm.min() >= -1.0 and rgb_norm.max() <= 1.0
+
+ # ----------------- Predicting depth -----------------
+ # Batch repeated input image
+ duplicated_rgb = rgb_norm.expand(ensemble_size, -1, -1, -1)
+ single_rgb_dataset = TensorDataset(duplicated_rgb)
+ if batch_size > 0:
+ _bs = batch_size
+ else:
+ _bs = find_batch_size(
+ ensemble_size=ensemble_size,
+ input_res=max(rgb_norm.shape[1:]),
+ dtype=self.dtype,
+ )
+
+ single_rgb_loader = DataLoader(
+ single_rgb_dataset, batch_size=_bs, shuffle=False
+ )
+
+ # Predict depth maps (batched)
+ depth_pred_ls = []
+ if show_progress_bar:
+ iterable = tqdm(
+ single_rgb_loader, desc=" " * 2 + "Inference batches", leave=False
+ )
+ else:
+ iterable = single_rgb_loader
+ for batch in iterable:
+ (batched_img,) = batch
+ depth_pred_raw = self.single_infer(
+ rgb_in=batched_img,
+ num_inference_steps=denoising_steps,
+ show_pbar=show_progress_bar,
+ generator=generator,
+ )
+ depth_pred_ls.append(depth_pred_raw.detach())
+ depth_preds = torch.concat(depth_pred_ls, dim=0)
+ torch.cuda.empty_cache() # clear vram cache for ensembling
+
+ # ----------------- Test-time ensembling -----------------
+ if ensemble_size > 1:
+ depth_pred, pred_uncert = ensemble_depth(
+ depth_preds,
+ scale_invariant=self.scale_invariant,
+ shift_invariant=self.shift_invariant,
+ max_res=50,
+ **(ensemble_kwargs or {}),
+ )
+ else:
+ depth_pred = depth_preds
+ pred_uncert = None
+
+ # Resize back to original resolution
+ if match_input_res:
+ depth_pred = resize(
+ depth_pred,
+ input_size[-2:],
+ interpolation=resample_method,
+ antialias=True,
+ )
+
+ # Convert to numpy
+ depth_pred = depth_pred.squeeze()
+ depth_pred = depth_pred.cpu().numpy()
+ if pred_uncert is not None:
+ pred_uncert = pred_uncert.squeeze().cpu().numpy()
+
+ # Clip output range
+ depth_pred = depth_pred.clip(0, 1)
+
+ # Colorize
+ if color_map is not None:
+ depth_colored = colorize_depth_maps(
+ depth_pred, 0, 1, cmap=color_map
+ ).squeeze() # [3, H, W], value in (0, 1)
+ depth_colored = (depth_colored * 255).astype(np.uint8)
+ depth_colored_hwc = chw2hwc(depth_colored)
+ depth_colored_img = Image.fromarray(depth_colored_hwc)
+ else:
+ depth_colored_img = None
+
+ return MarigoldDepthOutput(
+ depth_np=depth_pred,
+ depth_colored=depth_colored_img,
+ uncertainty=pred_uncert,
+ )
+
+ def _check_inference_step(self, n_step: int) -> None:
+ """
+ Check if denoising step is reasonable
+ Args:
+ n_step (`int`): denoising steps
+ """
+ assert n_step >= 1
+
+ if isinstance(self.scheduler, DDIMScheduler):
+ if n_step < 10:
+ logging.warning(
+ f"Too few denoising steps: {n_step}. Recommended to use the LCM checkpoint for few-step inference."
+ )
+ elif isinstance(self.scheduler, LCMScheduler):
+ if not 1 <= n_step <= 4:
+ logging.warning(
+ f"Non-optimal setting of denoising steps: {n_step}. Recommended setting is 1-4 steps."
+ )
+ else:
+ raise RuntimeError(f"Unsupported scheduler type: {type(self.scheduler)}")
+
+ def encode_empty_text(self):
+ """
+ Encode text embedding for empty prompt
+ """
+ prompt = ""
+ text_inputs = self.tokenizer(
+ prompt,
+ padding="do_not_pad",
+ max_length=self.tokenizer.model_max_length,
+ truncation=True,
+ return_tensors="pt",
+ )
+ text_input_ids = text_inputs.input_ids.to(self.text_encoder.device)
+ self.empty_text_embed = self.text_encoder(text_input_ids)[0].to(self.dtype)
+
+ @torch.no_grad()
+ def single_infer(
+ self,
+ rgb_in: torch.Tensor,
+ num_inference_steps: int,
+ generator: Union[torch.Generator, None],
+ show_pbar: bool,
+ ) -> torch.Tensor:
+ """
+ Perform an individual depth prediction without ensembling.
+
+ Args:
+ rgb_in (`torch.Tensor`):
+ Input RGB image.
+ num_inference_steps (`int`):
+ Number of diffusion denoisign steps (DDIM) during inference.
+ show_pbar (`bool`):
+ Display a progress bar of diffusion denoising.
+ generator (`torch.Generator`)
+ Random generator for initial noise generation.
+ Returns:
+ `torch.Tensor`: Predicted depth map.
+ """
+ device = self.device
+ rgb_in = rgb_in.to(device)
+
+ # Set timesteps
+ self.scheduler.set_timesteps(num_inference_steps, device=device)
+ timesteps = self.scheduler.timesteps # [T]
+
+ # Encode image
+ rgb_latent = self.encode_rgb(rgb_in)
+
+ # Initial depth map (noise)
+ depth_latent = torch.randn(
+ rgb_latent.shape,
+ device=device,
+ dtype=self.dtype,
+ generator=generator,
+ ) # [B, 4, h, w]
+
+ # Batched empty text embedding
+ if self.empty_text_embed is None:
+ self.encode_empty_text()
+ batch_empty_text_embed = self.empty_text_embed.repeat(
+ (rgb_latent.shape[0], 1, 1)
+ ).to(device) # [B, 2, 1024]
+
+ # Denoising loop
+ if show_pbar:
+ iterable = tqdm(
+ enumerate(timesteps),
+ total=len(timesteps),
+ leave=False,
+ desc=" " * 4 + "Diffusion denoising",
+ )
+ else:
+ iterable = enumerate(timesteps)
+
+ for i, t in iterable:
+ unet_input = torch.cat(
+ [rgb_latent, depth_latent], dim=1
+ ) # this order is important
+
+ # predict the noise residual
+ noise_pred = self.unet(
+ unet_input, t, encoder_hidden_states=batch_empty_text_embed
+ ).sample # [B, 4, h, w]
+
+ # compute the previous noisy sample x_t -> x_t-1
+ depth_latent = self.scheduler.step(
+ noise_pred, t, depth_latent, generator=generator
+ ).prev_sample
+
+ depth = self.decode_depth(depth_latent)
+
+ # clip prediction
+ depth = torch.clip(depth, -1.0, 1.0)
+ # shift to [0, 1]
+ depth = (depth + 1.0) / 2.0
+
+ return depth
+
+ def encode_rgb(self, rgb_in: torch.Tensor) -> torch.Tensor:
+ """
+ Encode RGB image into latent.
+
+ Args:
+ rgb_in (`torch.Tensor`):
+ Input RGB image to be encoded.
+
+ Returns:
+ `torch.Tensor`: Image latent.
+ """
+ # encode
+ h = self.vae.encoder(rgb_in)
+ moments = self.vae.quant_conv(h)
+ mean, logvar = torch.chunk(moments, 2, dim=1)
+ # scale latent
+ rgb_latent = mean * self.rgb_latent_scale_factor
+ return rgb_latent
+
+ def decode_depth(self, depth_latent: torch.Tensor) -> torch.Tensor:
+ """
+ Decode depth latent into depth map.
+
+ Args:
+ depth_latent (`torch.Tensor`):
+ Depth latent to be decoded.
+
+ Returns:
+ `torch.Tensor`: Decoded depth map.
+ """
+ # scale latent
+ depth_latent = depth_latent / self.depth_latent_scale_factor
+ # decode
+ z = self.vae.post_quant_conv(depth_latent)
+ stacked = self.vae.decoder(z)
+ # mean of output channels
+ depth_mean = stacked.mean(dim=1, keepdim=True)
+ return depth_mean
diff --git a/Marigold-main/marigold/util/batchsize.py b/Marigold-main/marigold/util/batchsize.py
new file mode 100644
index 0000000000000000000000000000000000000000..380a35733512dec6c51048cc2d4afee1f4a4ebc4
--- /dev/null
+++ b/Marigold-main/marigold/util/batchsize.py
@@ -0,0 +1,81 @@
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+
+import torch
+import math
+
+
+# Search table for suggested max. inference batch size
+bs_search_table = [
+ # tested on A100-PCIE-80GB
+ {"res": 768, "total_vram": 79, "bs": 35, "dtype": torch.float32},
+ {"res": 1024, "total_vram": 79, "bs": 20, "dtype": torch.float32},
+ # tested on A100-PCIE-40GB
+ {"res": 768, "total_vram": 39, "bs": 15, "dtype": torch.float32},
+ {"res": 1024, "total_vram": 39, "bs": 8, "dtype": torch.float32},
+ {"res": 768, "total_vram": 39, "bs": 30, "dtype": torch.float16},
+ {"res": 1024, "total_vram": 39, "bs": 15, "dtype": torch.float16},
+ # tested on RTX3090, RTX4090
+ {"res": 512, "total_vram": 23, "bs": 20, "dtype": torch.float32},
+ {"res": 768, "total_vram": 23, "bs": 7, "dtype": torch.float32},
+ {"res": 1024, "total_vram": 23, "bs": 3, "dtype": torch.float32},
+ {"res": 512, "total_vram": 23, "bs": 40, "dtype": torch.float16},
+ {"res": 768, "total_vram": 23, "bs": 18, "dtype": torch.float16},
+ {"res": 1024, "total_vram": 23, "bs": 10, "dtype": torch.float16},
+ # tested on GTX1080Ti
+ {"res": 512, "total_vram": 10, "bs": 5, "dtype": torch.float32},
+ {"res": 768, "total_vram": 10, "bs": 2, "dtype": torch.float32},
+ {"res": 512, "total_vram": 10, "bs": 10, "dtype": torch.float16},
+ {"res": 768, "total_vram": 10, "bs": 5, "dtype": torch.float16},
+ {"res": 1024, "total_vram": 10, "bs": 3, "dtype": torch.float16},
+]
+
+
+def find_batch_size(ensemble_size: int, input_res: int, dtype: torch.dtype) -> int:
+ """
+ Automatically search for suitable operating batch size.
+
+ Args:
+ ensemble_size (`int`):
+ Number of predictions to be ensembled.
+ input_res (`int`):
+ Operating resolution of the input image.
+
+ Returns:
+ `int`: Operating batch size.
+ """
+ if not torch.cuda.is_available():
+ return 1
+
+ total_vram = torch.cuda.mem_get_info()[1] / 1024.0**3
+ filtered_bs_search_table = [s for s in bs_search_table if s["dtype"] == dtype]
+ for settings in sorted(
+ filtered_bs_search_table,
+ key=lambda k: (k["res"], -k["total_vram"]),
+ ):
+ if input_res <= settings["res"] and total_vram >= settings["total_vram"]:
+ bs = settings["bs"]
+ if bs > ensemble_size:
+ bs = ensemble_size
+ elif bs > math.ceil(ensemble_size / 2) and bs < ensemble_size:
+ bs = math.ceil(ensemble_size / 2)
+ return bs
+
+ return 1
diff --git a/Marigold-main/marigold/util/ensemble.py b/Marigold-main/marigold/util/ensemble.py
new file mode 100644
index 0000000000000000000000000000000000000000..d8c087b076b67d9fe5112858d766466f70d96000
--- /dev/null
+++ b/Marigold-main/marigold/util/ensemble.py
@@ -0,0 +1,200 @@
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+
+from functools import partial
+from typing import Optional, Tuple
+
+import numpy as np
+import torch
+
+from .image_util import get_tv_resample_method, resize_max_res
+
+
+def inter_distances(tensors: torch.Tensor):
+ """
+ To calculate the distance between each two depth maps.
+ """
+ distances = []
+ for i, j in torch.combinations(torch.arange(tensors.shape[0])):
+ arr1 = tensors[i : i + 1]
+ arr2 = tensors[j : j + 1]
+ distances.append(arr1 - arr2)
+ dist = torch.concatenate(distances, dim=0)
+ return dist
+
+
+def ensemble_depth(
+ depth: torch.Tensor,
+ scale_invariant: bool = True,
+ shift_invariant: bool = True,
+ output_uncertainty: bool = False,
+ reduction: str = "median",
+ regularizer_strength: float = 0.02,
+ max_iter: int = 2,
+ tol: float = 1e-3,
+ max_res: int = 1024,
+) -> Tuple[torch.Tensor, Optional[torch.Tensor]]:
+ """
+ Ensembles depth maps represented by the `depth` tensor with expected shape `(B, 1, H, W)`, where B is the
+ number of ensemble members for a given prediction of size `(H x W)`. Even though the function is designed for
+ depth maps, it can also be used with disparity maps as long as the input tensor values are non-negative. The
+ alignment happens when the predictions have one or more degrees of freedom, that is when they are either
+ affine-invariant (`scale_invariant=True` and `shift_invariant=True`), or just scale-invariant (only
+ `scale_invariant=True`). For absolute predictions (`scale_invariant=False` and `shift_invariant=False`)
+ alignment is skipped and only ensembling is performed.
+
+ Args:
+ depth (`torch.Tensor`):
+ Input ensemble depth maps.
+ scale_invariant (`bool`, *optional*, defaults to `True`):
+ Whether to treat predictions as scale-invariant.
+ shift_invariant (`bool`, *optional*, defaults to `True`):
+ Whether to treat predictions as shift-invariant.
+ output_uncertainty (`bool`, *optional*, defaults to `False`):
+ Whether to output uncertainty map.
+ reduction (`str`, *optional*, defaults to `"median"`):
+ Reduction method used to ensemble aligned predictions. The accepted values are: `"mean"` and
+ `"median"`.
+ regularizer_strength (`float`, *optional*, defaults to `0.02`):
+ Strength of the regularizer that pulls the aligned predictions to the unit range from 0 to 1.
+ max_iter (`int`, *optional*, defaults to `2`):
+ Maximum number of the alignment solver steps. Refer to `scipy.optimize.minimize` function, `options`
+ argument.
+ tol (`float`, *optional*, defaults to `1e-3`):
+ Alignment solver tolerance. The solver stops when the tolerance is reached.
+ max_res (`int`, *optional*, defaults to `1024`):
+ Resolution at which the alignment is performed; `None` matches the `processing_resolution`.
+ Returns:
+ A tensor of aligned and ensembled depth maps and optionally a tensor of uncertainties of the same shape:
+ `(1, 1, H, W)`.
+ """
+ if depth.dim() != 4 or depth.shape[1] != 1:
+ raise ValueError(f"Expecting 4D tensor of shape [B,1,H,W]; got {depth.shape}.")
+ if reduction not in ("mean", "median"):
+ raise ValueError(f"Unrecognized reduction method: {reduction}.")
+ if not scale_invariant and shift_invariant:
+ raise ValueError("Pure shift-invariant ensembling is not supported.")
+
+ def init_param(depth: torch.Tensor):
+ init_min = depth.reshape(ensemble_size, -1).min(dim=1).values
+ init_max = depth.reshape(ensemble_size, -1).max(dim=1).values
+
+ if scale_invariant and shift_invariant:
+ init_s = 1.0 / (init_max - init_min).clamp(min=1e-6)
+ init_t = -init_s * init_min
+ param = torch.cat((init_s, init_t)).cpu().numpy()
+ elif scale_invariant:
+ init_s = 1.0 / init_max.clamp(min=1e-6)
+ param = init_s.cpu().numpy()
+ else:
+ raise ValueError("Unrecognized alignment.")
+
+ return param
+
+ def align(depth: torch.Tensor, param: np.ndarray) -> torch.Tensor:
+ if scale_invariant and shift_invariant:
+ s, t = np.split(param, 2)
+ s = torch.from_numpy(s).to(depth).view(ensemble_size, 1, 1, 1)
+ t = torch.from_numpy(t).to(depth).view(ensemble_size, 1, 1, 1)
+ out = depth * s + t
+ elif scale_invariant:
+ s = torch.from_numpy(param).to(depth).view(ensemble_size, 1, 1, 1)
+ out = depth * s
+ else:
+ raise ValueError("Unrecognized alignment.")
+ return out
+
+ def ensemble(
+ depth_aligned: torch.Tensor, return_uncertainty: bool = False
+ ) -> Tuple[torch.Tensor, Optional[torch.Tensor]]:
+ uncertainty = None
+ if reduction == "mean":
+ prediction = torch.mean(depth_aligned, dim=0, keepdim=True)
+ if return_uncertainty:
+ uncertainty = torch.std(depth_aligned, dim=0, keepdim=True)
+ elif reduction == "median":
+ prediction = torch.median(depth_aligned, dim=0, keepdim=True).values
+ if return_uncertainty:
+ uncertainty = torch.median(
+ torch.abs(depth_aligned - prediction), dim=0, keepdim=True
+ ).values
+ else:
+ raise ValueError(f"Unrecognized reduction method: {reduction}.")
+ return prediction, uncertainty
+
+ def cost_fn(param: np.ndarray, depth: torch.Tensor) -> float:
+ cost = 0.0
+ depth_aligned = align(depth, param)
+
+ for i, j in torch.combinations(torch.arange(ensemble_size)):
+ diff = depth_aligned[i] - depth_aligned[j]
+ cost += (diff**2).mean().sqrt().item()
+
+ if regularizer_strength > 0:
+ prediction, _ = ensemble(depth_aligned, return_uncertainty=False)
+ err_near = (0.0 - prediction.min()).abs().item()
+ err_far = (1.0 - prediction.max()).abs().item()
+ cost += (err_near + err_far) * regularizer_strength
+
+ return cost
+
+ def compute_param(depth: torch.Tensor):
+ import scipy
+
+ depth_to_align = depth.to(torch.float32)
+ if max_res is not None and max(depth_to_align.shape[2:]) > max_res:
+ depth_to_align = resize_max_res(
+ depth_to_align, max_res, get_tv_resample_method("nearest-exact")
+ )
+
+ param = init_param(depth_to_align)
+
+ res = scipy.optimize.minimize(
+ partial(cost_fn, depth=depth_to_align),
+ param,
+ method="BFGS",
+ tol=tol,
+ options={"maxiter": max_iter, "disp": False},
+ )
+
+ return res.x
+
+ requires_aligning = scale_invariant or shift_invariant
+ ensemble_size = depth.shape[0]
+
+ if requires_aligning:
+ param = compute_param(depth)
+ depth = align(depth, param)
+
+ depth, uncertainty = ensemble(depth, return_uncertainty=output_uncertainty)
+
+ depth_max = depth.max()
+ if scale_invariant and shift_invariant:
+ depth_min = depth.min()
+ elif scale_invariant:
+ depth_min = 0
+ else:
+ raise ValueError("Unrecognized alignment.")
+ depth_range = (depth_max - depth_min).clamp(min=1e-6)
+ depth = (depth - depth_min) / depth_range
+ if output_uncertainty:
+ uncertainty /= depth_range
+
+ return depth, uncertainty # [1,1,H,W], [1,1,H,W]
diff --git a/Marigold-main/marigold/util/image_util.py b/Marigold-main/marigold/util/image_util.py
new file mode 100644
index 0000000000000000000000000000000000000000..82078fe930990d0d9ae3470c6bd17150d50ea18c
--- /dev/null
+++ b/Marigold-main/marigold/util/image_util.py
@@ -0,0 +1,123 @@
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+# Last modified: 2024-05-24
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+
+import matplotlib
+import numpy as np
+import torch
+from torchvision.transforms import InterpolationMode
+from torchvision.transforms.functional import resize
+
+
+def colorize_depth_maps(
+ depth_map, min_depth, max_depth, cmap="Spectral", valid_mask=None
+):
+ """
+ Colorize depth maps.
+ """
+ assert len(depth_map.shape) >= 2, "Invalid dimension"
+
+ if isinstance(depth_map, torch.Tensor):
+ depth = depth_map.detach().squeeze().numpy()
+ elif isinstance(depth_map, np.ndarray):
+ depth = depth_map.copy().squeeze()
+ # reshape to [ (B,) H, W ]
+ if depth.ndim < 3:
+ depth = depth[np.newaxis, :, :]
+
+ # colorize
+ cm = matplotlib.colormaps[cmap]
+ depth = ((depth - min_depth) / (max_depth - min_depth)).clip(0, 1)
+ img_colored_np = cm(depth, bytes=False)[:, :, :, 0:3] # value from 0 to 1
+ img_colored_np = np.rollaxis(img_colored_np, 3, 1)
+
+ if valid_mask is not None:
+ if isinstance(depth_map, torch.Tensor):
+ valid_mask = valid_mask.detach().numpy()
+ valid_mask = valid_mask.squeeze() # [H, W] or [B, H, W]
+ if valid_mask.ndim < 3:
+ valid_mask = valid_mask[np.newaxis, np.newaxis, :, :]
+ else:
+ valid_mask = valid_mask[:, np.newaxis, :, :]
+ valid_mask = np.repeat(valid_mask, 3, axis=1)
+ img_colored_np[~valid_mask] = 0
+
+ if isinstance(depth_map, torch.Tensor):
+ img_colored = torch.from_numpy(img_colored_np).float()
+ elif isinstance(depth_map, np.ndarray):
+ img_colored = img_colored_np
+
+ return img_colored
+
+
+def chw2hwc(chw):
+ assert 3 == len(chw.shape)
+ if isinstance(chw, torch.Tensor):
+ hwc = torch.permute(chw, (1, 2, 0))
+ elif isinstance(chw, np.ndarray):
+ hwc = np.moveaxis(chw, 0, -1)
+ return hwc
+
+
+def resize_max_res(
+ img: torch.Tensor,
+ max_edge_resolution: int,
+ resample_method: InterpolationMode = InterpolationMode.BILINEAR,
+) -> torch.Tensor:
+ """
+ Resize image to limit maximum edge length while keeping aspect ratio.
+
+ Args:
+ img (`torch.Tensor`):
+ Image tensor to be resized. Expected shape: [B, C, H, W]
+ max_edge_resolution (`int`):
+ Maximum edge length (pixel).
+ resample_method (`PIL.Image.Resampling`):
+ Resampling method used to resize images.
+
+ Returns:
+ `torch.Tensor`: Resized image.
+ """
+ assert 4 == img.dim(), f"Invalid input shape {img.shape}"
+
+ original_height, original_width = img.shape[-2:]
+ downscale_factor = min(
+ max_edge_resolution / original_width, max_edge_resolution / original_height
+ )
+
+ new_width = int(original_width * downscale_factor)
+ new_height = int(original_height * downscale_factor)
+
+ resized_img = resize(img, (new_height, new_width), resample_method, antialias=True)
+ return resized_img
+
+
+def get_tv_resample_method(method_str: str) -> InterpolationMode:
+ resample_method_dict = {
+ "bilinear": InterpolationMode.BILINEAR,
+ "bicubic": InterpolationMode.BICUBIC,
+ "nearest": InterpolationMode.NEAREST_EXACT,
+ "nearest-exact": InterpolationMode.NEAREST_EXACT,
+ }
+ resample_method = resample_method_dict.get(method_str, None)
+ if resample_method is None:
+ raise ValueError(f"Unknown resampling method: {resample_method}")
+ else:
+ return resample_method
diff --git a/Marigold-main/requirements++.txt b/Marigold-main/requirements++.txt
new file mode 100644
index 0000000000000000000000000000000000000000..492dd06a5d613cc7433166e5fb0db022503c1afb
--- /dev/null
+++ b/Marigold-main/requirements++.txt
@@ -0,0 +1,6 @@
+h5py
+opencv-python
+tensorboard
+wandb
+xformers==0.0.21
+
diff --git a/Marigold-main/requirements+.txt b/Marigold-main/requirements+.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed03f66e4695d57c5bf2ae5c25e5d7a5daed779c
--- /dev/null
+++ b/Marigold-main/requirements+.txt
@@ -0,0 +1,3 @@
+omegaconf
+pandas
+tabulate
\ No newline at end of file
diff --git a/Marigold-main/requirements.txt b/Marigold-main/requirements.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02e2cb45a27e1dfaffb4f13834b1de74ddfc3743
--- /dev/null
+++ b/Marigold-main/requirements.txt
@@ -0,0 +1,7 @@
+accelerate>=0.22.0
+diffusers>=0.25.0
+matplotlib
+scipy
+torch==2.2.0
+torchvision==0.15.2
+transformers>=4.32.1
\ No newline at end of file
diff --git a/Marigold-main/run.py b/Marigold-main/run.py
new file mode 100644
index 0000000000000000000000000000000000000000..029e9fbd3587fa6c2aac140f1d841b5fa9a10343
--- /dev/null
+++ b/Marigold-main/run.py
@@ -0,0 +1,284 @@
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+
+import argparse
+import logging
+import os
+from glob import glob
+
+import numpy as np
+import torch
+from PIL import Image
+from tqdm.auto import tqdm
+
+from marigold import MarigoldPipeline
+
+EXTENSION_LIST = [".jpg", ".jpeg", ".png"]
+
+
+if "__main__" == __name__:
+ logging.basicConfig(level=logging.INFO)
+
+ # -------------------- Arguments --------------------
+ parser = argparse.ArgumentParser(
+ description="Run single-image depth estimation using Marigold."
+ )
+ parser.add_argument(
+ "--checkpoint",
+ type=str,
+ default="prs-eth/marigold-lcm-v1-0",
+ help="Checkpoint path or hub name.",
+ )
+
+ parser.add_argument(
+ "--input_rgb_dir",
+ type=str,
+ required=True,
+ help="Path to the input image folder.",
+ )
+
+ parser.add_argument(
+ "--output_dir", type=str, required=True, help="Output directory."
+ )
+
+ # inference setting
+ parser.add_argument(
+ "--denoise_steps",
+ type=int,
+ default=None,
+ help="Diffusion denoising steps, more steps results in higher accuracy but slower inference speed. For the original (DDIM) version, it's recommended to use 10-50 steps, while for LCM 1-4 steps.",
+ )
+ parser.add_argument(
+ "--ensemble_size",
+ type=int,
+ default=5,
+ help="Number of predictions to be ensembled, more inference gives better results but runs slower.",
+ )
+ parser.add_argument(
+ "--half_precision",
+ "--fp16",
+ action="store_true",
+ help="Run with half-precision (16-bit float), might lead to suboptimal result.",
+ )
+
+ # resolution setting
+ parser.add_argument(
+ "--processing_res",
+ type=int,
+ default=None,
+ help="Maximum resolution of processing. 0 for using input image resolution. Default: 768.",
+ )
+ parser.add_argument(
+ "--output_processing_res",
+ action="store_true",
+ help="When input is resized, out put depth at resized operating resolution. Default: False.",
+ )
+ parser.add_argument(
+ "--resample_method",
+ choices=["bilinear", "bicubic", "nearest"],
+ default="bilinear",
+ help="Resampling method used to resize images and depth predictions. This can be one of `bilinear`, `bicubic` or `nearest`. Default: `bilinear`",
+ )
+
+ # depth map colormap
+ parser.add_argument(
+ "--color_map",
+ type=str,
+ default="Spectral",
+ help="Colormap used to render depth predictions.",
+ )
+
+ # other settings
+ parser.add_argument(
+ "--seed",
+ type=int,
+ default=None,
+ help="Reproducibility seed. Set to `None` for unseeded inference.",
+ )
+
+ parser.add_argument(
+ "--batch_size",
+ type=int,
+ default=0,
+ help="Inference batch size. Default: 0 (will be set automatically).",
+ )
+ parser.add_argument(
+ "--apple_silicon",
+ action="store_true",
+ help="Flag of running on Apple Silicon.",
+ )
+
+ args = parser.parse_args()
+
+ checkpoint_path = args.checkpoint
+ input_rgb_dir = args.input_rgb_dir
+ output_dir = args.output_dir
+
+ denoise_steps = args.denoise_steps
+ ensemble_size = args.ensemble_size
+ if ensemble_size > 15:
+ logging.warning("Running with large ensemble size will be slow.")
+ half_precision = args.half_precision
+
+ processing_res = args.processing_res
+ match_input_res = not args.output_processing_res
+ if 0 == processing_res and match_input_res is False:
+ logging.warning(
+ "Processing at native resolution without resizing output might NOT lead to exactly the same resolution, due to the padding and pooling properties of conv layers."
+ )
+ resample_method = args.resample_method
+
+ color_map = args.color_map
+ seed = args.seed
+ batch_size = args.batch_size
+ apple_silicon = args.apple_silicon
+ if apple_silicon and 0 == batch_size:
+ batch_size = 1 # set default batchsize
+
+ # -------------------- Preparation --------------------
+ # Output directories
+ output_dir_color = os.path.join(output_dir, "depth_colored")
+ output_dir_tif = os.path.join(output_dir, "depth_bw")
+ output_dir_npy = os.path.join(output_dir, "depth_npy")
+ os.makedirs(output_dir, exist_ok=True)
+ os.makedirs(output_dir_color, exist_ok=True)
+ os.makedirs(output_dir_tif, exist_ok=True)
+ os.makedirs(output_dir_npy, exist_ok=True)
+ logging.info(f"output dir = {output_dir}")
+
+ # -------------------- Device --------------------
+ if apple_silicon:
+ if torch.backends.mps.is_available() and torch.backends.mps.is_built():
+ device = torch.device("mps:0")
+ else:
+ device = torch.device("cpu")
+ logging.warning("MPS is not available. Running on CPU will be slow.")
+ else:
+ if torch.cuda.is_available():
+ device = torch.device("cuda")
+ else:
+ device = torch.device("cpu")
+ logging.warning("CUDA is not available. Running on CPU will be slow.")
+ logging.info(f"device = {device}")
+
+ # -------------------- Data --------------------
+ rgb_filename_list = glob(os.path.join(input_rgb_dir, "*"))
+ rgb_filename_list = [
+ f for f in rgb_filename_list if os.path.splitext(f)[1].lower() in EXTENSION_LIST
+ ]
+ rgb_filename_list = sorted(rgb_filename_list)
+ n_images = len(rgb_filename_list)
+ if n_images > 0:
+ logging.info(f"Found {n_images} images")
+ else:
+ logging.error(f"No image found in '{input_rgb_dir}'")
+ exit(1)
+
+ # -------------------- Model --------------------
+ if half_precision:
+ dtype = torch.float16
+ variant = "fp16"
+ logging.info(
+ f"Running with half precision ({dtype}), might lead to suboptimal result."
+ )
+ else:
+ dtype = torch.float32
+ variant = None
+
+ pipe: MarigoldPipeline = MarigoldPipeline.from_pretrained(
+ checkpoint_path, variant=variant, torch_dtype=dtype
+ )
+
+ try:
+ pipe.enable_xformers_memory_efficient_attention()
+ except ImportError:
+ pass # run without xformers
+
+ pipe = pipe.to(device)
+ logging.info(
+ f"scale_invariant: {pipe.scale_invariant}, shift_invariant: {pipe.shift_invariant}"
+ )
+
+ # Print out config
+ logging.info(
+ f"Inference settings: checkpoint = `{checkpoint_path}`, "
+ f"with denoise_steps = {denoise_steps or pipe.default_denoising_steps}, "
+ f"ensemble_size = {ensemble_size}, "
+ f"processing resolution = {processing_res or pipe.default_processing_resolution}, "
+ f"seed = {seed}; "
+ f"color_map = {color_map}."
+ )
+
+ # -------------------- Inference and saving --------------------
+ with torch.no_grad():
+ os.makedirs(output_dir, exist_ok=True)
+
+ for rgb_path in tqdm(rgb_filename_list, desc="Estimating depth", leave=True):
+ # Read input image
+ input_image = Image.open(rgb_path)
+
+ # Random number generator
+ if seed is None:
+ generator = None
+ else:
+ generator = torch.Generator(device=device)
+ generator.manual_seed(seed)
+
+ # Predict depth
+ pipe_out = pipe(
+ input_image,
+ denoising_steps=denoise_steps,
+ ensemble_size=ensemble_size,
+ processing_res=processing_res,
+ match_input_res=match_input_res,
+ batch_size=batch_size,
+ color_map=color_map,
+ show_progress_bar=True,
+ resample_method=resample_method,
+ generator=generator,
+ )
+
+ depth_pred: np.ndarray = pipe_out.depth_np
+ depth_colored: Image.Image = pipe_out.depth_colored
+
+ # Save as npy
+ rgb_name_base = os.path.splitext(os.path.basename(rgb_path))[0]
+ pred_name_base = rgb_name_base + "_pred"
+ npy_save_path = os.path.join(output_dir_npy, f"{pred_name_base}.npy")
+ if os.path.exists(npy_save_path):
+ logging.warning(f"Existing file: '{npy_save_path}' will be overwritten")
+ np.save(npy_save_path, depth_pred)
+
+ # Save as 16-bit uint png
+ depth_to_save = (depth_pred * 65535.0).astype(np.uint16)
+ png_save_path = os.path.join(output_dir_tif, f"{pred_name_base}.png")
+ if os.path.exists(png_save_path):
+ logging.warning(f"Existing file: '{png_save_path}' will be overwritten")
+ Image.fromarray(depth_to_save).save(png_save_path, mode="I;16")
+
+ # Colorize
+ colored_save_path = os.path.join(
+ output_dir_color, f"{pred_name_base}_colored.png"
+ )
+ if os.path.exists(colored_save_path):
+ logging.warning(
+ f"Existing file: '{colored_save_path}' will be overwritten"
+ )
+ depth_colored.save(colored_save_path)
diff --git a/Marigold-main/script/dataset_preprocess/hypersim/README.md b/Marigold-main/script/dataset_preprocess/hypersim/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..f7e89a09b0371b4887d0814448f52e417301c4b4
--- /dev/null
+++ b/Marigold-main/script/dataset_preprocess/hypersim/README.md
@@ -0,0 +1,22 @@
+# Hypersim preprocessing
+
+## Download
+
+Download [Hypersim](https://github.com/apple/ml-hypersim) dataset using [this script](https://github.com/apple/ml-hypersim/blob/20f398f4387aeca73175494d6a2568f37f372150/code/python/tools/dataset_download_images.py).
+
+Download the scene split file from [here](https://github.com/apple/ml-hypersim/blob/main/evermotion_dataset/analysis/metadata_images_split_scene_v1.csv).
+
+## Process dataset
+
+Run the preprocessing script:
+
+```bash
+python script/dataset_preprocess/hypersim/preprocess_hypersim.py --split_csv /path/to/metadata_images_split_scene_v1.csv
+```
+
+(optional) Tar the processed data, for example:
+
+```bash
+cd data/Hypersim/processed/train
+tar -cf ../../hypersim_processed_train.tar .
+```
diff --git a/Marigold-main/script/dataset_preprocess/hypersim/hypersim_util.py b/Marigold-main/script/dataset_preprocess/hypersim/hypersim_util.py
new file mode 100644
index 0000000000000000000000000000000000000000..2bedaed8cc15e60a59882f2ec913beee59fd0a7c
--- /dev/null
+++ b/Marigold-main/script/dataset_preprocess/hypersim/hypersim_util.py
@@ -0,0 +1,69 @@
+# Author: Bingxin Ke
+# Last modified: 2024-02-19
+
+
+from pylab import count_nonzero, clip, np
+
+
+# Adapted from https://github.com/apple/ml-hypersim/blob/main/code/python/tools/scene_generate_images_tonemap.py
+def tone_map(rgb, entity_id_map):
+ assert (entity_id_map != 0).all()
+
+ gamma = 1.0 / 2.2 # standard gamma correction exponent
+ inv_gamma = 1.0 / gamma
+ percentile = (
+ 90 # we want this percentile brightness value in the unmodified image...
+ )
+ brightness_nth_percentile_desired = 0.8 # ...to be this bright after scaling
+
+ valid_mask = entity_id_map != -1
+
+ if count_nonzero(valid_mask) == 0:
+ scale = 1.0 # if there are no valid pixels, then set scale to 1.0
+ else:
+ brightness = (
+ 0.3 * rgb[:, :, 0] + 0.59 * rgb[:, :, 1] + 0.11 * rgb[:, :, 2]
+ ) # "CCIR601 YIQ" method for computing brightness
+ brightness_valid = brightness[valid_mask]
+
+ eps = 0.0001 # if the kth percentile brightness value in the unmodified image is less than this, set the scale to 0.0 to avoid divide-by-zero
+ brightness_nth_percentile_current = np.percentile(brightness_valid, percentile)
+
+ if brightness_nth_percentile_current < eps:
+ scale = 0.0
+ else:
+ # Snavely uses the following expression in the code at https://github.com/snavely/pbrs_tonemapper/blob/master/tonemap_rgbe.py:
+ # scale = np.exp(np.log(brightness_nth_percentile_desired)*inv_gamma - np.log(brightness_nth_percentile_current))
+ #
+ # Our expression below is equivalent, but is more intuitive, because it follows more directly from the expression:
+ # (scale*brightness_nth_percentile_current)^gamma = brightness_nth_percentile_desired
+
+ scale = (
+ np.power(brightness_nth_percentile_desired, inv_gamma)
+ / brightness_nth_percentile_current
+ )
+
+ rgb_color_tm = np.power(np.maximum(scale * rgb, 0), gamma)
+ rgb_color_tm = clip(rgb_color_tm, 0, 1)
+ return rgb_color_tm
+
+
+# According to https://github.com/apple/ml-hypersim/issues/9
+def dist_2_depth(width, height, flt_focal, distance):
+ img_plane_x = (
+ np.linspace((-0.5 * width) + 0.5, (0.5 * width) - 0.5, width)
+ .reshape(1, width)
+ .repeat(height, 0)
+ .astype(np.float32)[:, :, None]
+ )
+ img_plane_y = (
+ np.linspace((-0.5 * height) + 0.5, (0.5 * height) - 0.5, height)
+ .reshape(height, 1)
+ .repeat(width, 1)
+ .astype(np.float32)[:, :, None]
+ )
+ img_plane_z = np.full([height, width, 1], flt_focal, np.float32)
+ img_plane = np.concatenate([img_plane_x, img_plane_y, img_plane_z], 2)
+
+ depth = distance / np.linalg.norm(img_plane, 2, 2) * flt_focal
+ return depth
diff --git a/Marigold-main/script/dataset_preprocess/hypersim/preprocess_hypersim.py b/Marigold-main/script/dataset_preprocess/hypersim/preprocess_hypersim.py
new file mode 100644
index 0000000000000000000000000000000000000000..c818f01783f4fea325aec907e39d3452cbc2a6da
--- /dev/null
+++ b/Marigold-main/script/dataset_preprocess/hypersim/preprocess_hypersim.py
@@ -0,0 +1,149 @@
+# Author: Bingxin Ke
+# Last modified: 2024-02-19
+
+import argparse
+import os
+
+import cv2
+import h5py
+import numpy as np
+import pandas as pd
+from hypersim_util import dist_2_depth, tone_map
+from tqdm import tqdm
+
+IMG_WIDTH = 1024
+IMG_HEIGHT = 768
+FOCAL_LENGTH = 886.81
+
+if "__main__" == __name__:
+ parser = argparse.ArgumentParser()
+ parser.add_argument(
+ "--split_csv",
+ type=str,
+ default="data/Hypersim/metadata_images_split_scene_v1.csv",
+ )
+ parser.add_argument("--dataset_dir", type=str, default="data/Hypersim/raw_data")
+ parser.add_argument("--output_dir", type=str, default="data/Hypersim/processed")
+
+ args = parser.parse_args()
+
+ split_csv = args.split_csv
+ dataset_dir = args.dataset_dir
+ output_dir = args.output_dir
+
+ # %%
+ raw_meta_df = pd.read_csv(split_csv)
+ meta_df = raw_meta_df[raw_meta_df.included_in_public_release].copy()
+
+ # %%
+ for split in ["train", "val", "test"]:
+ split_output_dir = os.path.join(output_dir, split)
+ os.makedirs(split_output_dir)
+
+ split_meta_df = meta_df[meta_df.split_partition_name == split].copy()
+ split_meta_df["rgb_path"] = None
+ split_meta_df["rgb_mean"] = np.nan
+ split_meta_df["rgb_std"] = np.nan
+ split_meta_df["rgb_min"] = np.nan
+ split_meta_df["rgb_max"] = np.nan
+ split_meta_df["depth_path"] = None
+ split_meta_df["depth_mean"] = np.nan
+ split_meta_df["depth_std"] = np.nan
+ split_meta_df["depth_min"] = np.nan
+ split_meta_df["depth_max"] = np.nan
+ split_meta_df["invalid_ratio"] = np.nan
+
+ for i, row in tqdm(split_meta_df.iterrows(), total=len(split_meta_df)):
+ # Load data
+ rgb_path = os.path.join(
+ row.scene_name,
+ "images",
+ f"scene_{row.camera_name}_final_hdf5",
+ f"frame.{row.frame_id:04d}.color.hdf5",
+ )
+ dist_path = os.path.join(
+ row.scene_name,
+ "images",
+ f"scene_{row.camera_name}_geometry_hdf5",
+ f"frame.{row.frame_id:04d}.depth_meters.hdf5",
+ )
+ render_entity_id_path = os.path.join(
+ row.scene_name,
+ "images",
+ f"scene_{row.camera_name}_geometry_hdf5",
+ f"frame.{row.frame_id:04d}.render_entity_id.hdf5",
+ )
+ assert os.path.exists(os.path.join(dataset_dir, rgb_path))
+ assert os.path.exists(os.path.join(dataset_dir, dist_path))
+
+ with h5py.File(os.path.join(dataset_dir, rgb_path), "r") as f:
+ rgb = np.array(f["dataset"]).astype(float)
+ with h5py.File(os.path.join(dataset_dir, dist_path), "r") as f:
+ dist_from_center = np.array(f["dataset"]).astype(float)
+ with h5py.File(os.path.join(dataset_dir, render_entity_id_path), "r") as f:
+ render_entity_id = np.array(f["dataset"]).astype(int)
+
+ # Tone map
+ rgb_color_tm = tone_map(rgb, render_entity_id)
+ rgb_int = (rgb_color_tm * 255).astype(np.uint8) # [H, W, RGB]
+
+ # Distance -> depth
+ plane_depth = dist_2_depth(
+ IMG_WIDTH, IMG_HEIGHT, FOCAL_LENGTH, dist_from_center
+ )
+ valid_mask = render_entity_id != -1
+
+ # Record invalid ratio
+ invalid_ratio = (np.prod(valid_mask.shape) - valid_mask.sum()) / np.prod(
+ valid_mask.shape
+ )
+ plane_depth[~valid_mask] = 0
+
+ # Save as png
+ scene_path = row.scene_name
+ if not os.path.exists(os.path.join(split_output_dir, row.scene_name)):
+ os.makedirs(os.path.join(split_output_dir, row.scene_name))
+
+ rgb_name = f"rgb_{row.camera_name}_fr{row.frame_id:04d}.png"
+ rgb_path = os.path.join(scene_path, rgb_name)
+ cv2.imwrite(
+ os.path.join(split_output_dir, rgb_path),
+ cv2.cvtColor(rgb_int, cv2.COLOR_RGB2BGR),
+ )
+
+ plane_depth *= 1000.0
+ plane_depth = plane_depth.astype(np.uint16)
+ depth_name = f"depth_plane_{row.camera_name}_fr{row.frame_id:04d}.png"
+ depth_path = os.path.join(scene_path, depth_name)
+ cv2.imwrite(os.path.join(split_output_dir, depth_path), plane_depth)
+
+ # Meta data
+ split_meta_df.at[i, "rgb_path"] = rgb_path
+ split_meta_df.at[i, "rgb_mean"] = np.mean(rgb_int)
+ split_meta_df.at[i, "rgb_std"] = np.std(rgb_int)
+ split_meta_df.at[i, "rgb_min"] = np.min(rgb_int)
+ split_meta_df.at[i, "rgb_max"] = np.max(rgb_int)
+
+ split_meta_df.at[i, "depth_path"] = depth_path
+ restored_depth = plane_depth / 1000.0
+ split_meta_df.at[i, "depth_mean"] = np.mean(restored_depth)
+ split_meta_df.at[i, "depth_std"] = np.std(restored_depth)
+ split_meta_df.at[i, "depth_min"] = np.min(restored_depth)
+ split_meta_df.at[i, "depth_max"] = np.max(restored_depth)
+
+ split_meta_df.at[i, "invalid_ratio"] = invalid_ratio
+
+ with open(
+ os.path.join(split_output_dir, f"filename_list_{split}.txt"), "w+"
+ ) as f:
+ lines = split_meta_df.apply(
+ lambda r: f"{r['rgb_path']} {r['depth_path']}", axis=1
+ ).tolist()
+ f.writelines("\n".join(lines))
+
+ with open(
+ os.path.join(split_output_dir, f"filename_meta_{split}.csv"), "w+"
+ ) as f:
+ split_meta_df.to_csv(f, header=True)
+
+ print("Preprocess finished")
diff --git a/Marigold-main/script/download_sample_data.sh b/Marigold-main/script/download_sample_data.sh
new file mode 100644
index 0000000000000000000000000000000000000000..2915094ac4a1832e25b58b156ca5d78336906f45
--- /dev/null
+++ b/Marigold-main/script/download_sample_data.sh
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+data_dir=input
+mkdir -p $data_dir
+cd $data_dir
+
+if test -f "in-the-wild_example.tar" ; then
+ echo "Tar file exists: in-the-wild_example.tar"
+ exit 1
+fi
+
+wget -nv --show-progress https://share.phys.ethz.ch/~pf/bingkedata/marigold/in-the-wild_example.tar
+
+tar -xf in-the-wild_example.tar
+rm in-the-wild_example.tar
diff --git a/Marigold-main/script/download_weights.sh b/Marigold-main/script/download_weights.sh
new file mode 100644
index 0000000000000000000000000000000000000000..6e1384241b9e156521ce89e48334b88ffe77d3a0
--- /dev/null
+++ b/Marigold-main/script/download_weights.sh
@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+ckpt_dir=${ckpt_dir:-checkpoint}
+mkdir -p $ckpt_dir
+cd $ckpt_dir
+
+checkpoint_name=$1
+
+if [ -d $checkpoint_name ]; then
+ exit 0
+fi
+
+wget -nv --show-progress https://share.phys.ethz.ch/~pf/bingkedata/marigold/checkpoint/${checkpoint_name}.tar
+
+tar -xf ${checkpoint_name}.tar
+rm ${checkpoint_name}.tar
diff --git a/Marigold-main/script/eval/0_infer_eval_all.sh b/Marigold-main/script/eval/0_infer_eval_all.sh
new file mode 100644
index 0000000000000000000000000000000000000000..1e25bd54b9c42ef868adf74f07d108d2b9e1e1f2
--- /dev/null
+++ b/Marigold-main/script/eval/0_infer_eval_all.sh
@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+bash script/eval/11_infer_nyu.sh
+bash script/eval/12_eval_nyu.sh
+
+bash script/eval/21_infer_kitti.sh
+bash script/eval/22_eval_kitti.sh
+
+bash script/eval/31_infer_eth3d.sh
+bash script/eval/32_eval_eth3d.sh
+
+bash script/eval/41_infer_scannet.sh
+bash script/eval/42_eval_scannet.sh
+
+bash script/eval/51_infer_diode.sh
+bash script/eval/52_eval_diode.sh
\ No newline at end of file
diff --git a/Marigold-main/script/eval/11_infer_nyu.sh b/Marigold-main/script/eval/11_infer_nyu.sh
new file mode 100644
index 0000000000000000000000000000000000000000..ad36be524ec992de0d02243c022eb28c9a4e0e9e
--- /dev/null
+++ b/Marigold-main/script/eval/11_infer_nyu.sh
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+# Use specified checkpoint path, otherwise, default value
+ckpt=${1:-"prs-eth/marigold-v1-0"}
+subfolder=${2:-"eval"}
+
+python infer.py \
+ --checkpoint $ckpt \
+ --seed 1234 \
+ --base_data_dir $BASE_DATA_DIR \
+ --denoise_steps 50 \
+ --ensemble_size 10 \
+ --processing_res 0 \
+ --dataset_config config/dataset/data_nyu_test.yaml \
+ --output_dir output/${subfolder}/nyu_test/prediction \
diff --git a/Marigold-main/script/eval/12_eval_nyu.sh b/Marigold-main/script/eval/12_eval_nyu.sh
new file mode 100644
index 0000000000000000000000000000000000000000..69e52b928bb9137a81b0597f42589682df2f97a9
--- /dev/null
+++ b/Marigold-main/script/eval/12_eval_nyu.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+subfolder=${1:-"eval"}
+
+python eval.py \
+ --base_data_dir $BASE_DATA_DIR \
+ --dataset_config config/dataset/data_nyu_test.yaml \
+ --alignment least_square \
+ --prediction_dir output/${subfolder}/nyu_test/prediction \
+ --output_dir output/${subfolder}/nyu_test/eval_metric \
diff --git a/Marigold-main/script/eval/21_infer_kitti.sh b/Marigold-main/script/eval/21_infer_kitti.sh
new file mode 100644
index 0000000000000000000000000000000000000000..0eb66344d4f5b749005a7c9c112a29da6a6a94ad
--- /dev/null
+++ b/Marigold-main/script/eval/21_infer_kitti.sh
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+# Use specified checkpoint path, otherwise, default value
+ckpt=${1:-"prs-eth/marigold-v1-0"}
+subfolder=${2:-"eval"}
+
+python infer.py \
+ --checkpoint $ckpt \
+ --seed 1234 \
+ --base_data_dir $BASE_DATA_DIR \
+ --denoise_steps 50 \
+ --ensemble_size 10 \
+ --processing_res 0 \
+ --dataset_config config/dataset/data_kitti_eigen_test.yaml \
+ --output_dir output/${subfolder}/kitti_eigen_test/prediction \
diff --git a/Marigold-main/script/eval/22_eval_kitti.sh b/Marigold-main/script/eval/22_eval_kitti.sh
new file mode 100644
index 0000000000000000000000000000000000000000..69828e71692f31b722ebf99ab9c3ca6fe92ff9f7
--- /dev/null
+++ b/Marigold-main/script/eval/22_eval_kitti.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+subfolder=${1:-"eval"}
+
+python eval.py \
+ --base_data_dir $BASE_DATA_DIR \
+ --dataset_config config/dataset/data_kitti_eigen_test.yaml \
+ --alignment least_square \
+ --prediction_dir output/${subfolder}/kitti_eigen_test/prediction \
+ --output_dir output/${subfolder}/kitti_eigen_test/eval_metric \
diff --git a/Marigold-main/script/eval/31_infer_eth3d.sh b/Marigold-main/script/eval/31_infer_eth3d.sh
new file mode 100644
index 0000000000000000000000000000000000000000..1dc7efad962a47002ea798b2641161eb8b953583
--- /dev/null
+++ b/Marigold-main/script/eval/31_infer_eth3d.sh
@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+# Use specified checkpoint path, otherwise, default value
+ckpt=${1:-"prs-eth/marigold-v1-0"}
+subfolder=${2:-"eval"}
+
+python infer.py \
+ --checkpoint $ckpt \
+ --seed 1234 \
+ --base_data_dir $BASE_DATA_DIR \
+ --denoise_steps 50 \
+ --ensemble_size 10 \
+ --dataset_config config/dataset/data_eth3d.yaml \
+ --output_dir output/${subfolder}/eth3d/prediction \
+ --processing_res 756 \
+ --resample_method bilinear \
\ No newline at end of file
diff --git a/Marigold-main/script/eval/32_eval_eth3d.sh b/Marigold-main/script/eval/32_eval_eth3d.sh
new file mode 100644
index 0000000000000000000000000000000000000000..f25c3468e5e8562a9d7f3681c203a00d69619249
--- /dev/null
+++ b/Marigold-main/script/eval/32_eval_eth3d.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+subfolder=${1:-"eval"}
+
+python eval.py \
+ --base_data_dir $BASE_DATA_DIR \
+ --dataset_config config/dataset/data_eth3d.yaml \
+ --alignment least_square \
+ --prediction_dir output/${subfolder}/eth3d/prediction \
+ --output_dir output/${subfolder}/eth3d/eval_metric \
+ --alignment_max_res 1024 \
\ No newline at end of file
diff --git a/Marigold-main/script/eval/41_infer_scannet.sh b/Marigold-main/script/eval/41_infer_scannet.sh
new file mode 100644
index 0000000000000000000000000000000000000000..15006eab013a28557f699e917453a800eb90da0c
--- /dev/null
+++ b/Marigold-main/script/eval/41_infer_scannet.sh
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+# Use specified checkpoint path, otherwise, default value
+ckpt=${1:-"prs-eth/marigold-v1-0"}
+subfolder=${2:-"eval"}
+
+python infer.py \
+ --checkpoint $ckpt \
+ --seed 1234 \
+ --base_data_dir $BASE_DATA_DIR \
+ --denoise_steps 50 \
+ --ensemble_size 10 \
+ --processing_res 0 \
+ --dataset_config config/dataset/data_scannet_val.yaml \
+ --output_dir output/${subfolder}/scannet/prediction \
diff --git a/Marigold-main/script/eval/42_eval_scannet.sh b/Marigold-main/script/eval/42_eval_scannet.sh
new file mode 100644
index 0000000000000000000000000000000000000000..da4c784b703df4076cf23870fb5fc74f5d2f3ae6
--- /dev/null
+++ b/Marigold-main/script/eval/42_eval_scannet.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+subfolder=${1:-"eval"}
+
+python eval.py \
+ --base_data_dir $BASE_DATA_DIR \
+ --dataset_config config/dataset/data_scannet_val.yaml \
+ --alignment least_square \
+ --prediction_dir output/${subfolder}/scannet/prediction \
+ --output_dir output/${subfolder}/scannet/eval_metric \
diff --git a/Marigold-main/script/eval/51_infer_diode.sh b/Marigold-main/script/eval/51_infer_diode.sh
new file mode 100644
index 0000000000000000000000000000000000000000..2ec6cc2884d443f224ef044e4060b6332e621b39
--- /dev/null
+++ b/Marigold-main/script/eval/51_infer_diode.sh
@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+# Use specified checkpoint path, otherwise, default value
+ckpt=${1:-"prs-eth/marigold-v1-0"}
+subfolder=${2:-"eval"}
+
+python infer.py \
+ --checkpoint $ckpt \
+ --seed 1234 \
+ --base_data_dir $BASE_DATA_DIR \
+ --denoise_steps 50 \
+ --ensemble_size 10 \
+ --dataset_config config/dataset/data_diode_all.yaml \
+ --output_dir output/${subfolder}/diode/prediction \
+ --processing_res 640 \
+ --resample_method bilinear \
diff --git a/Marigold-main/script/eval/52_eval_diode.sh b/Marigold-main/script/eval/52_eval_diode.sh
new file mode 100644
index 0000000000000000000000000000000000000000..c10c6723dd0800e602661ecbe696020eedbd90a7
--- /dev/null
+++ b/Marigold-main/script/eval/52_eval_diode.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+subfolder=${1:-"eval"}
+
+python eval.py \
+ --base_data_dir $BASE_DATA_DIR \
+ --dataset_config config/dataset/data_diode_all.yaml \
+ --alignment least_square \
+ --prediction_dir output/${subfolder}/diode/prediction \
+ --output_dir output/${subfolder}/diode/eval_metric \
diff --git a/Marigold-main/src/__init__.py b/Marigold-main/src/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Marigold-main/src/dataset/__init__.py b/Marigold-main/src/dataset/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..6c57addea0debd30bda6c2bd3ebe43f9c2c02fda
--- /dev/null
+++ b/Marigold-main/src/dataset/__init__.py
@@ -0,0 +1,68 @@
+# Last modified: 2024-04-16
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+import os
+
+from .base_depth_dataset import BaseDepthDataset, get_pred_name, DatasetMode # noqa: F401
+from .diode_dataset import DIODEDataset
+from .eth3d_dataset import ETH3DDataset
+from .hypersim_dataset import HypersimDataset
+from .kitti_dataset import KITTIDataset
+from .nyu_dataset import NYUDataset
+from .scannet_dataset import ScanNetDataset
+from .vkitti_dataset import VirtualKITTIDataset
+
+
+dataset_name_class_dict = {
+ "hypersim": HypersimDataset,
+ "vkitti": VirtualKITTIDataset,
+ "nyu_v2": NYUDataset,
+ "kitti": KITTIDataset,
+ "eth3d": ETH3DDataset,
+ "diode": DIODEDataset,
+ "scannet": ScanNetDataset,
+}
+
+
+def get_dataset(
+ cfg_data_split, base_data_dir: str, mode: DatasetMode, **kwargs
+) -> BaseDepthDataset:
+ if "mixed" == cfg_data_split.name:
+ assert DatasetMode.TRAIN == mode, "Only training mode supports mixed datasets."
+ dataset_ls = [
+ get_dataset(_cfg, base_data_dir, mode, **kwargs)
+ for _cfg in cfg_data_split.dataset_list
+ ]
+ return dataset_ls
+ elif cfg_data_split.name in dataset_name_class_dict.keys():
+ dataset_class = dataset_name_class_dict[cfg_data_split.name]
+ dataset = dataset_class(
+ mode=mode,
+ filename_ls_path=cfg_data_split.filenames,
+ dataset_dir=os.path.join(base_data_dir, cfg_data_split.dir),
+ **cfg_data_split,
+ **kwargs,
+ )
+ else:
+ raise NotImplementedError
+
+ return dataset
diff --git a/Marigold-main/src/dataset/base_depth_dataset.py b/Marigold-main/src/dataset/base_depth_dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..11efb7f9188ff24a0e534ee0846c32a28ef90e07
--- /dev/null
+++ b/Marigold-main/src/dataset/base_depth_dataset.py
@@ -0,0 +1,284 @@
+# Last modified: 2024-04-30
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+import io
+import os
+import random
+import tarfile
+from enum import Enum
+from typing import Union
+
+import numpy as np
+import torch
+from PIL import Image
+from torch.utils.data import Dataset
+from torchvision.transforms import InterpolationMode, Resize
+
+from src.util.depth_transform import DepthNormalizerBase
+
+
+class DatasetMode(Enum):
+ RGB_ONLY = "rgb_only"
+ EVAL = "evaluate"
+ TRAIN = "train"
+
+
+class DepthFileNameMode(Enum):
+ """Prediction file naming modes"""
+
+ id = 1 # id.png
+ rgb_id = 2 # rgb_id.png
+ i_d_rgb = 3 # i_d_1_rgb.png
+ rgb_i_d = 4
+
+
+def read_image_from_tar(tar_obj, img_rel_path):
+ image = tar_obj.extractfile("./" + img_rel_path)
+ image = image.read()
+ image = Image.open(io.BytesIO(image))
+
+
+class BaseDepthDataset(Dataset):
+ def __init__(
+ self,
+ mode: DatasetMode,
+ filename_ls_path: str,
+ dataset_dir: str,
+ disp_name: str,
+ min_depth: float,
+ max_depth: float,
+ has_filled_depth: bool,
+ name_mode: DepthFileNameMode,
+ depth_transform: Union[DepthNormalizerBase, None] = None,
+ augmentation_args: dict = None,
+ resize_to_hw=None,
+ move_invalid_to_far_plane: bool = True,
+ rgb_transform=lambda x: x / 255.0 * 2 - 1, # [0, 255] -> [-1, 1],
+ **kwargs,
+ ) -> None:
+ super().__init__()
+ self.mode = mode
+ # dataset info
+ self.filename_ls_path = filename_ls_path
+ self.dataset_dir = dataset_dir
+ assert os.path.exists(
+ self.dataset_dir
+ ), f"Dataset does not exist at: {self.dataset_dir}"
+ self.disp_name = disp_name
+ self.has_filled_depth = has_filled_depth
+ self.name_mode: DepthFileNameMode = name_mode
+ self.min_depth = min_depth
+ self.max_depth = max_depth
+
+ # training arguments
+ self.depth_transform: DepthNormalizerBase = depth_transform
+ self.augm_args = augmentation_args
+ self.resize_to_hw = resize_to_hw
+ self.rgb_transform = rgb_transform
+ self.move_invalid_to_far_plane = move_invalid_to_far_plane
+
+ # Load filenames
+ with open(self.filename_ls_path, "r") as f:
+ self.filenames = [
+ s.split() for s in f.readlines()
+ ] # [['rgb.png', 'depth.tif'], [], ...]
+
+ # Tar dataset
+ self.tar_obj = None
+ self.is_tar = (
+ True
+ if os.path.isfile(dataset_dir) and tarfile.is_tarfile(dataset_dir)
+ else False
+ )
+
+ def __len__(self):
+ return len(self.filenames)
+
+ def __getitem__(self, index):
+ rasters, other = self._get_data_item(index)
+ if DatasetMode.TRAIN == self.mode:
+ rasters = self._training_preprocess(rasters)
+ # merge
+ outputs = rasters
+ outputs.update(other)
+ return outputs
+
+ def _get_data_item(self, index):
+ rgb_rel_path, depth_rel_path, filled_rel_path = self._get_data_path(index=index)
+
+ rasters = {}
+
+ # RGB data
+ rasters.update(self._load_rgb_data(rgb_rel_path=rgb_rel_path))
+
+ # Depth data
+ if DatasetMode.RGB_ONLY != self.mode:
+ # load data
+ depth_data = self._load_depth_data(
+ depth_rel_path=depth_rel_path, filled_rel_path=filled_rel_path
+ )
+ rasters.update(depth_data)
+ # valid mask
+ rasters["valid_mask_raw"] = self._get_valid_mask(
+ rasters["depth_raw_linear"]
+ ).clone()
+ rasters["valid_mask_filled"] = self._get_valid_mask(
+ rasters["depth_filled_linear"]
+ ).clone()
+
+ other = {"index": index, "rgb_relative_path": rgb_rel_path}
+
+ return rasters, other
+
+ def _load_rgb_data(self, rgb_rel_path):
+ # Read RGB data
+ rgb = self._read_rgb_file(rgb_rel_path)
+ rgb_norm = rgb / 255.0 * 2.0 - 1.0 # [0, 255] -> [-1, 1]
+
+ outputs = {
+ "rgb_int": torch.from_numpy(rgb).int(),
+ "rgb_norm": torch.from_numpy(rgb_norm).float(),
+ }
+ return outputs
+
+ def _load_depth_data(self, depth_rel_path, filled_rel_path):
+ # Read depth data
+ outputs = {}
+ depth_raw = self._read_depth_file(depth_rel_path).squeeze()
+ depth_raw_linear = torch.from_numpy(depth_raw).float().unsqueeze(0) # [1, H, W]
+ outputs["depth_raw_linear"] = depth_raw_linear.clone()
+
+ if self.has_filled_depth:
+ depth_filled = self._read_depth_file(filled_rel_path).squeeze()
+ depth_filled_linear = torch.from_numpy(depth_filled).float().unsqueeze(0)
+ outputs["depth_filled_linear"] = depth_filled_linear
+ else:
+ outputs["depth_filled_linear"] = depth_raw_linear.clone()
+
+ return outputs
+
+ def _get_data_path(self, index):
+ filename_line = self.filenames[index]
+
+ # Get data path
+ rgb_rel_path = filename_line[0]
+
+ depth_rel_path, filled_rel_path = None, None
+ if DatasetMode.RGB_ONLY != self.mode:
+ depth_rel_path = filename_line[1]
+ if self.has_filled_depth:
+ filled_rel_path = filename_line[2]
+ return rgb_rel_path, depth_rel_path, filled_rel_path
+
+ def _read_image(self, img_rel_path) -> np.ndarray:
+ if self.is_tar:
+ if self.tar_obj is None:
+ self.tar_obj = tarfile.open(self.dataset_dir)
+ image_to_read = self.tar_obj.extractfile("./" + img_rel_path)
+ image_to_read = image_to_read.read()
+ image_to_read = io.BytesIO(image_to_read)
+ else:
+ image_to_read = os.path.join(self.dataset_dir, img_rel_path)
+ image = Image.open(image_to_read) # [H, W, rgb]
+ image = np.asarray(image)
+ return image
+
+ def _read_rgb_file(self, rel_path) -> np.ndarray:
+ rgb = self._read_image(rel_path)
+ rgb = np.transpose(rgb, (2, 0, 1)).astype(int) # [rgb, H, W]
+ return rgb
+
+ def _read_depth_file(self, rel_path):
+ depth_in = self._read_image(rel_path)
+ # Replace code below to decode depth according to dataset definition
+ depth_decoded = depth_in
+
+ return depth_decoded
+
+ def _get_valid_mask(self, depth: torch.Tensor):
+ valid_mask = torch.logical_and(
+ (depth > self.min_depth), (depth < self.max_depth)
+ ).bool()
+ return valid_mask
+
+ def _training_preprocess(self, rasters):
+ # Augmentation
+ if self.augm_args is not None:
+ rasters = self._augment_data(rasters)
+
+ # Normalization
+ rasters["depth_raw_norm"] = self.depth_transform(
+ rasters["depth_raw_linear"], rasters["valid_mask_raw"]
+ ).clone()
+ rasters["depth_filled_norm"] = self.depth_transform(
+ rasters["depth_filled_linear"], rasters["valid_mask_filled"]
+ ).clone()
+
+ # Set invalid pixel to far plane
+ if self.move_invalid_to_far_plane:
+ if self.depth_transform.far_plane_at_max:
+ rasters["depth_filled_norm"][~rasters["valid_mask_filled"]] = (
+ self.depth_transform.norm_max
+ )
+ else:
+ rasters["depth_filled_norm"][~rasters["valid_mask_filled"]] = (
+ self.depth_transform.norm_min
+ )
+
+ # Resize
+ if self.resize_to_hw is not None:
+ resize_transform = Resize(
+ size=self.resize_to_hw, interpolation=InterpolationMode.NEAREST_EXACT
+ )
+ rasters = {k: resize_transform(v) for k, v in rasters.items()}
+
+ return rasters
+
+ def _augment_data(self, rasters_dict):
+ # lr flipping
+ lr_flip_p = self.augm_args.lr_flip_p
+ if random.random() < lr_flip_p:
+ rasters_dict = {k: v.flip(-1) for k, v in rasters_dict.items()}
+
+ return rasters_dict
+
+ def __del__(self):
+ if hasattr(self, "tar_obj") and self.tar_obj is not None:
+ self.tar_obj.close()
+ self.tar_obj = None
+
+
+def get_pred_name(rgb_basename, name_mode, suffix=".png"):
+ if DepthFileNameMode.rgb_id == name_mode:
+ pred_basename = "pred_" + rgb_basename.split("_")[1]
+ elif DepthFileNameMode.i_d_rgb == name_mode:
+ pred_basename = rgb_basename.replace("_rgb.", "_pred.")
+ elif DepthFileNameMode.id == name_mode:
+ pred_basename = "pred_" + rgb_basename
+ elif DepthFileNameMode.rgb_i_d == name_mode:
+ pred_basename = "pred_" + "_".join(rgb_basename.split("_")[1:])
+ else:
+ raise NotImplementedError
+ # change suffix
+ pred_basename = os.path.splitext(pred_basename)[0] + suffix
+
+ return pred_basename
diff --git a/Marigold-main/src/dataset/diode_dataset.py b/Marigold-main/src/dataset/diode_dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..509fb1077067417a97a9518d4b405e61238dbcf2
--- /dev/null
+++ b/Marigold-main/src/dataset/diode_dataset.py
@@ -0,0 +1,91 @@
+# Last modified: 2024-02-26
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+import os
+import tarfile
+from io import BytesIO
+
+import numpy as np
+import torch
+
+from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode, DatasetMode
+
+
+class DIODEDataset(BaseDepthDataset):
+ def __init__(
+ self,
+ **kwargs,
+ ) -> None:
+ super().__init__(
+ # DIODE data parameter
+ min_depth=0.6,
+ max_depth=350,
+ has_filled_depth=False,
+ name_mode=DepthFileNameMode.id,
+ **kwargs,
+ )
+
+ def _read_npy_file(self, rel_path):
+ if self.is_tar:
+ if self.tar_obj is None:
+ self.tar_obj = tarfile.open(self.dataset_dir)
+ fileobj = self.tar_obj.extractfile("./" + rel_path)
+ npy_path_or_content = BytesIO(fileobj.read())
+ else:
+ npy_path_or_content = os.path.join(self.dataset_dir, rel_path)
+ data = np.load(npy_path_or_content).squeeze()[np.newaxis, :, :]
+ return data
+
+ def _read_depth_file(self, rel_path):
+ depth = self._read_npy_file(rel_path)
+ return depth
+
+ def _get_data_path(self, index):
+ return self.filenames[index]
+
+ def _get_data_item(self, index):
+ # Special: depth mask is read from data
+
+ rgb_rel_path, depth_rel_path, mask_rel_path = self._get_data_path(index=index)
+
+ rasters = {}
+
+ # RGB data
+ rasters.update(self._load_rgb_data(rgb_rel_path=rgb_rel_path))
+
+ # Depth data
+ if DatasetMode.RGB_ONLY != self.mode:
+ # load data
+ depth_data = self._load_depth_data(
+ depth_rel_path=depth_rel_path, filled_rel_path=None
+ )
+ rasters.update(depth_data)
+
+ # valid mask
+ mask = self._read_npy_file(mask_rel_path).astype(bool)
+ mask = torch.from_numpy(mask).bool()
+ rasters["valid_mask_raw"] = mask.clone()
+ rasters["valid_mask_filled"] = mask.clone()
+
+ other = {"index": index, "rgb_relative_path": rgb_rel_path}
+
+ return rasters, other
diff --git a/Marigold-main/src/dataset/eth3d_dataset.py b/Marigold-main/src/dataset/eth3d_dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..02810b8f10d683fd2cc815f17b271e51779f065a
--- /dev/null
+++ b/Marigold-main/src/dataset/eth3d_dataset.py
@@ -0,0 +1,65 @@
+# Last modified: 2024-02-08
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+import torch
+import tarfile
+import os
+import numpy as np
+
+from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode
+
+
+class ETH3DDataset(BaseDepthDataset):
+ HEIGHT, WIDTH = 4032, 6048
+
+ def __init__(
+ self,
+ **kwargs,
+ ) -> None:
+ super().__init__(
+ # ETH3D data parameter
+ min_depth=1e-5,
+ max_depth=torch.inf,
+ has_filled_depth=False,
+ name_mode=DepthFileNameMode.id,
+ **kwargs,
+ )
+
+ def _read_depth_file(self, rel_path):
+ # Read special binary data: https://www.eth3d.net/documentation#format-of-multi-view-data-image-formats
+ if self.is_tar:
+ if self.tar_obj is None:
+ self.tar_obj = tarfile.open(self.dataset_dir)
+ binary_data = self.tar_obj.extractfile("./" + rel_path)
+ binary_data = binary_data.read()
+
+ else:
+ depth_path = os.path.join(self.dataset_dir, rel_path)
+ with open(depth_path, "rb") as file:
+ binary_data = file.read()
+ # Convert the binary data to a numpy array of 32-bit floats
+ depth_decoded = np.frombuffer(binary_data, dtype=np.float32).copy()
+
+ depth_decoded[depth_decoded == torch.inf] = 0.0
+
+ depth_decoded = depth_decoded.reshape((self.HEIGHT, self.WIDTH))
+ return depth_decoded
diff --git a/Marigold-main/src/dataset/hypersim_dataset.py b/Marigold-main/src/dataset/hypersim_dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..886a2be4622c656de25f756e7db8b56997aaa29f
--- /dev/null
+++ b/Marigold-main/src/dataset/hypersim_dataset.py
@@ -0,0 +1,45 @@
+# Last modified: 2024-02-08
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+
+from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode
+
+
+class HypersimDataset(BaseDepthDataset):
+ def __init__(
+ self,
+ **kwargs,
+ ) -> None:
+ super().__init__(
+ # Hypersim data parameter
+ min_depth=1e-5,
+ max_depth=65.0,
+ has_filled_depth=False,
+ name_mode=DepthFileNameMode.rgb_i_d,
+ **kwargs,
+ )
+
+ def _read_depth_file(self, rel_path):
+ depth_in = self._read_image(rel_path)
+ # Decode Hypersim depth
+ depth_decoded = depth_in / 1000.0
+ return depth_decoded
diff --git a/Marigold-main/src/dataset/kitti_dataset.py b/Marigold-main/src/dataset/kitti_dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..5daa760b33f8a509ee726958bd9251e62177c688
--- /dev/null
+++ b/Marigold-main/src/dataset/kitti_dataset.py
@@ -0,0 +1,124 @@
+# Last modified: 2024-02-08
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+import torch
+
+from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode
+
+
+class KITTIDataset(BaseDepthDataset):
+ def __init__(
+ self,
+ kitti_bm_crop, # Crop to KITTI benchmark size
+ valid_mask_crop, # Evaluation mask. [None, garg or eigen]
+ **kwargs,
+ ) -> None:
+ super().__init__(
+ # KITTI data parameter
+ min_depth=1e-5,
+ max_depth=80,
+ has_filled_depth=False,
+ name_mode=DepthFileNameMode.id,
+ **kwargs,
+ )
+ self.kitti_bm_crop = kitti_bm_crop
+ self.valid_mask_crop = valid_mask_crop
+ assert self.valid_mask_crop in [
+ None,
+ "garg", # set evaluation mask according to Garg ECCV16
+ "eigen", # set evaluation mask according to Eigen NIPS14
+ ], f"Unknown crop type: {self.valid_mask_crop}"
+
+ # Filter out empty depth
+ self.filenames = [f for f in self.filenames if "None" != f[1]]
+
+ def _read_depth_file(self, rel_path):
+ depth_in = self._read_image(rel_path)
+ # Decode KITTI depth
+ depth_decoded = depth_in / 256.0
+ return depth_decoded
+
+ def _load_rgb_data(self, rgb_rel_path):
+ rgb_data = super()._load_rgb_data(rgb_rel_path)
+ if self.kitti_bm_crop:
+ rgb_data = {k: self.kitti_benchmark_crop(v) for k, v in rgb_data.items()}
+ return rgb_data
+
+ def _load_depth_data(self, depth_rel_path, filled_rel_path):
+ depth_data = super()._load_depth_data(depth_rel_path, filled_rel_path)
+ if self.kitti_bm_crop:
+ depth_data = {
+ k: self.kitti_benchmark_crop(v) for k, v in depth_data.items()
+ }
+ return depth_data
+
+ @staticmethod
+ def kitti_benchmark_crop(input_img):
+ """
+ Crop images to KITTI benchmark size
+ Args:
+ `input_img` (torch.Tensor): Input image to be cropped.
+
+ Returns:
+ torch.Tensor:Cropped image.
+ """
+ KB_CROP_HEIGHT = 352
+ KB_CROP_WIDTH = 1216
+
+ height, width = input_img.shape[-2:]
+ top_margin = int(height - KB_CROP_HEIGHT)
+ left_margin = int((width - KB_CROP_WIDTH) / 2)
+ if 2 == len(input_img.shape):
+ out = input_img[
+ top_margin : top_margin + KB_CROP_HEIGHT,
+ left_margin : left_margin + KB_CROP_WIDTH,
+ ]
+ elif 3 == len(input_img.shape):
+ out = input_img[
+ :,
+ top_margin : top_margin + KB_CROP_HEIGHT,
+ left_margin : left_margin + KB_CROP_WIDTH,
+ ]
+ return out
+
+ def _get_valid_mask(self, depth: torch.Tensor):
+ # reference: https://github.com/cleinc/bts/blob/master/pytorch/bts_eval.py
+ valid_mask = super()._get_valid_mask(depth) # [1, H, W]
+
+ if self.valid_mask_crop is not None:
+ eval_mask = torch.zeros_like(valid_mask.squeeze()).bool()
+ gt_height, gt_width = eval_mask.shape
+
+ if "garg" == self.valid_mask_crop:
+ eval_mask[
+ int(0.40810811 * gt_height) : int(0.99189189 * gt_height),
+ int(0.03594771 * gt_width) : int(0.96405229 * gt_width),
+ ] = 1
+ elif "eigen" == self.valid_mask_crop:
+ eval_mask[
+ int(0.3324324 * gt_height) : int(0.91351351 * gt_height),
+ int(0.0359477 * gt_width) : int(0.96405229 * gt_width),
+ ] = 1
+
+ eval_mask.reshape(valid_mask.shape)
+ valid_mask = torch.logical_and(valid_mask, eval_mask)
+ return valid_mask
diff --git a/Marigold-main/src/dataset/mixed_sampler.py b/Marigold-main/src/dataset/mixed_sampler.py
new file mode 100644
index 0000000000000000000000000000000000000000..3abc60f50b3374fe4b836ac45846e67366491941
--- /dev/null
+++ b/Marigold-main/src/dataset/mixed_sampler.py
@@ -0,0 +1,149 @@
+# Last modified: 2024-04-18
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+import torch
+from torch.utils.data import (
+ BatchSampler,
+ RandomSampler,
+ SequentialSampler,
+)
+
+
+class MixedBatchSampler(BatchSampler):
+ """Sample one batch from a selected dataset with given probability.
+ Compatible with datasets at different resolution
+ """
+
+ def __init__(
+ self, src_dataset_ls, batch_size, drop_last, shuffle, prob=None, generator=None
+ ):
+ self.base_sampler = None
+ self.batch_size = batch_size
+ self.shuffle = shuffle
+ self.drop_last = drop_last
+ self.generator = generator
+
+ self.src_dataset_ls = src_dataset_ls
+ self.n_dataset = len(self.src_dataset_ls)
+
+ # Dataset length
+ self.dataset_length = [len(ds) for ds in self.src_dataset_ls]
+ self.cum_dataset_length = [
+ sum(self.dataset_length[:i]) for i in range(self.n_dataset)
+ ] # cumulative dataset length
+
+ # BatchSamplers for each source dataset
+ if self.shuffle:
+ self.src_batch_samplers = [
+ BatchSampler(
+ sampler=RandomSampler(
+ ds, replacement=False, generator=self.generator
+ ),
+ batch_size=self.batch_size,
+ drop_last=self.drop_last,
+ )
+ for ds in self.src_dataset_ls
+ ]
+ else:
+ self.src_batch_samplers = [
+ BatchSampler(
+ sampler=SequentialSampler(ds),
+ batch_size=self.batch_size,
+ drop_last=self.drop_last,
+ )
+ for ds in self.src_dataset_ls
+ ]
+ self.raw_batches = [
+ list(bs) for bs in self.src_batch_samplers
+ ] # index in original dataset
+ self.n_batches = [len(b) for b in self.raw_batches]
+ self.n_total_batch = sum(self.n_batches)
+
+ # sampling probability
+ if prob is None:
+ # if not given, decide by dataset length
+ self.prob = torch.tensor(self.n_batches) / self.n_total_batch
+ else:
+ self.prob = torch.as_tensor(prob)
+
+ def __iter__(self):
+ """_summary_
+
+ Yields:
+ list(int): a batch of indics, corresponding to ConcatDataset of src_dataset_ls
+ """
+ for _ in range(self.n_total_batch):
+ idx_ds = torch.multinomial(
+ self.prob, 1, replacement=True, generator=self.generator
+ ).item()
+ # if batch list is empty, generate new list
+ if 0 == len(self.raw_batches[idx_ds]):
+ self.raw_batches[idx_ds] = list(self.src_batch_samplers[idx_ds])
+ # get a batch from list
+ batch_raw = self.raw_batches[idx_ds].pop()
+ # shift by cumulative dataset length
+ shift = self.cum_dataset_length[idx_ds]
+ batch = [n + shift for n in batch_raw]
+
+ yield batch
+
+ def __len__(self):
+ return self.n_total_batch
+
+
+# Unit test
+if "__main__" == __name__:
+ from torch.utils.data import ConcatDataset, DataLoader, Dataset
+
+ class SimpleDataset(Dataset):
+ def __init__(self, start, len) -> None:
+ super().__init__()
+ self.start = start
+ self.len = len
+
+ def __len__(self):
+ return self.len
+
+ def __getitem__(self, index):
+ return self.start + index
+
+ dataset_1 = SimpleDataset(0, 10)
+ dataset_2 = SimpleDataset(200, 20)
+ dataset_3 = SimpleDataset(1000, 50)
+
+ concat_dataset = ConcatDataset(
+ [dataset_1, dataset_2, dataset_3]
+ ) # will directly concatenate
+
+ mixed_sampler = MixedBatchSampler(
+ src_dataset_ls=[dataset_1, dataset_2, dataset_3],
+ batch_size=4,
+ drop_last=True,
+ shuffle=False,
+ prob=[0.6, 0.3, 0.1],
+ generator=torch.Generator().manual_seed(0),
+ )
+
+ loader = DataLoader(concat_dataset, batch_sampler=mixed_sampler)
+
+ for d in loader:
+ print(d)
diff --git a/Marigold-main/src/dataset/nyu_dataset.py b/Marigold-main/src/dataset/nyu_dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..e3f1e80ae53635150ae3f12ed604d78e252e7db6
--- /dev/null
+++ b/Marigold-main/src/dataset/nyu_dataset.py
@@ -0,0 +1,61 @@
+# Last modified: 2024-02-08
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+import torch
+
+from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode
+
+
+class NYUDataset(BaseDepthDataset):
+ def __init__(
+ self,
+ eigen_valid_mask: bool,
+ **kwargs,
+ ) -> None:
+ super().__init__(
+ # NYUv2 dataset parameter
+ min_depth=1e-3,
+ max_depth=10.0,
+ has_filled_depth=True,
+ name_mode=DepthFileNameMode.rgb_id,
+ **kwargs,
+ )
+
+ self.eigen_valid_mask = eigen_valid_mask
+
+ def _read_depth_file(self, rel_path):
+ depth_in = self._read_image(rel_path)
+ # Decode NYU depth
+ depth_decoded = depth_in / 1000.0
+ return depth_decoded
+
+ def _get_valid_mask(self, depth: torch.Tensor):
+ valid_mask = super()._get_valid_mask(depth)
+
+ # Eigen crop for evaluation
+ if self.eigen_valid_mask:
+ eval_mask = torch.zeros_like(valid_mask.squeeze()).bool()
+ eval_mask[45:471, 41:601] = 1
+ eval_mask.reshape(valid_mask.shape)
+ valid_mask = torch.logical_and(valid_mask, eval_mask)
+
+ return valid_mask
diff --git a/Marigold-main/src/dataset/scannet_dataset.py b/Marigold-main/src/dataset/scannet_dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..c401f923095ba2a8849fa46e78309a9d7b276d56
--- /dev/null
+++ b/Marigold-main/src/dataset/scannet_dataset.py
@@ -0,0 +1,44 @@
+# Last modified: 2024-02-08
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode
+
+
+class ScanNetDataset(BaseDepthDataset):
+ def __init__(
+ self,
+ **kwargs,
+ ) -> None:
+ super().__init__(
+ # ScanNet data parameter
+ min_depth=1e-3,
+ max_depth=10,
+ has_filled_depth=False,
+ name_mode=DepthFileNameMode.id,
+ **kwargs,
+ )
+
+ def _read_depth_file(self, rel_path):
+ depth_in = self._read_image(rel_path)
+ # Decode ScanNet depth
+ depth_decoded = depth_in / 1000.0
+ return depth_decoded
diff --git a/Marigold-main/src/dataset/vkitti_dataset.py b/Marigold-main/src/dataset/vkitti_dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..ceb79033f088df8d9e76e8fdb340da8970885c2f
--- /dev/null
+++ b/Marigold-main/src/dataset/vkitti_dataset.py
@@ -0,0 +1,98 @@
+# Last modified: 2024-02-08
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+import torch
+
+from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode
+from .kitti_dataset import KITTIDataset
+
+
+class VirtualKITTIDataset(BaseDepthDataset):
+ def __init__(
+ self,
+ kitti_bm_crop, # Crop to KITTI benchmark size
+ valid_mask_crop, # Evaluation mask. [None, garg or eigen]
+ **kwargs,
+ ) -> None:
+ super().__init__(
+ # virtual KITTI data parameter
+ min_depth=1e-5,
+ max_depth=80, # 655.35
+ has_filled_depth=False,
+ name_mode=DepthFileNameMode.id,
+ **kwargs,
+ )
+ self.kitti_bm_crop = kitti_bm_crop
+ self.valid_mask_crop = valid_mask_crop
+ assert self.valid_mask_crop in [
+ None,
+ "garg", # set evaluation mask according to Garg ECCV16
+ "eigen", # set evaluation mask according to Eigen NIPS14
+ ], f"Unknown crop type: {self.valid_mask_crop}"
+
+ # Filter out empty depth
+ self.filenames = [f for f in self.filenames if "None" != f[1]]
+
+ def _read_depth_file(self, rel_path):
+ depth_in = self._read_image(rel_path)
+ # Decode vKITTI depth
+ depth_decoded = depth_in / 100.0
+ return depth_decoded
+
+ def _load_rgb_data(self, rgb_rel_path):
+ rgb_data = super()._load_rgb_data(rgb_rel_path)
+ if self.kitti_bm_crop:
+ rgb_data = {
+ k: KITTIDataset.kitti_benchmark_crop(v) for k, v in rgb_data.items()
+ }
+ return rgb_data
+
+ def _load_depth_data(self, depth_rel_path, filled_rel_path):
+ depth_data = super()._load_depth_data(depth_rel_path, filled_rel_path)
+ if self.kitti_bm_crop:
+ depth_data = {
+ k: KITTIDataset.kitti_benchmark_crop(v) for k, v in depth_data.items()
+ }
+ return depth_data
+
+ def _get_valid_mask(self, depth: torch.Tensor):
+ # reference: https://github.com/cleinc/bts/blob/master/pytorch/bts_eval.py
+ valid_mask = super()._get_valid_mask(depth) # [1, H, W]
+
+ if self.valid_mask_crop is not None:
+ eval_mask = torch.zeros_like(valid_mask.squeeze()).bool()
+ gt_height, gt_width = eval_mask.shape
+
+ if "garg" == self.valid_mask_crop:
+ eval_mask[
+ int(0.40810811 * gt_height) : int(0.99189189 * gt_height),
+ int(0.03594771 * gt_width) : int(0.96405229 * gt_width),
+ ] = 1
+ elif "eigen" == self.valid_mask_crop:
+ eval_mask[
+ int(0.3324324 * gt_height) : int(0.91351351 * gt_height),
+ int(0.0359477 * gt_width) : int(0.96405229 * gt_width),
+ ] = 1
+
+ eval_mask.reshape(valid_mask.shape)
+ valid_mask = torch.logical_and(valid_mask, eval_mask)
+ return valid_mask
diff --git a/Marigold-main/src/trainer/__init__.py b/Marigold-main/src/trainer/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..435ea49ec1378450b24b0fd814f7b2f883218007
--- /dev/null
+++ b/Marigold-main/src/trainer/__init__.py
@@ -0,0 +1,13 @@
+# Author: Bingxin Ke
+# Last modified: 2024-05-17
+
+from .marigold_trainer import MarigoldTrainer
+
+
+trainer_cls_name_dict = {
+ "MarigoldTrainer": MarigoldTrainer,
+}
+
+
+def get_trainer_cls(trainer_name):
+ return trainer_cls_name_dict[trainer_name]
diff --git a/Marigold-main/src/trainer/marigold_trainer.py b/Marigold-main/src/trainer/marigold_trainer.py
new file mode 100644
index 0000000000000000000000000000000000000000..8be2dee28c8cdb933e7aacf4b073cc65b8cfbdb8
--- /dev/null
+++ b/Marigold-main/src/trainer/marigold_trainer.py
@@ -0,0 +1,674 @@
+# An official reimplemented version of Marigold training script.
+# Last modified: 2024-08-16
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# If you use or adapt this code, please attribute to https://github.com/prs-eth/marigold.
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+
+import logging
+import os
+import shutil
+from datetime import datetime
+from typing import List, Union
+
+import numpy as np
+import torch
+from diffusers import DDPMScheduler
+from omegaconf import OmegaConf
+from torch.nn import Conv2d
+from torch.nn.parameter import Parameter
+from torch.optim import Adam
+from torch.optim.lr_scheduler import LambdaLR
+from torch.utils.data import DataLoader
+from tqdm import tqdm
+from PIL import Image
+
+from marigold.marigold_pipeline import MarigoldPipeline, MarigoldDepthOutput
+from src.util import metric
+from src.util.data_loader import skip_first_batches
+from src.util.logging_util import tb_logger, eval_dic_to_text
+from src.util.loss import get_loss
+from src.util.lr_scheduler import IterExponential
+from src.util.metric import MetricTracker
+from src.util.multi_res_noise import multi_res_noise_like
+from src.util.alignment import align_depth_least_square
+from src.util.seeding import generate_seed_sequence
+
+
+class MarigoldTrainer:
+ def __init__(
+ self,
+ cfg: OmegaConf,
+ model: MarigoldPipeline,
+ train_dataloader: DataLoader,
+ device,
+ base_ckpt_dir,
+ out_dir_ckpt,
+ out_dir_eval,
+ out_dir_vis,
+ accumulation_steps: int,
+ val_dataloaders: List[DataLoader] = None,
+ vis_dataloaders: List[DataLoader] = None,
+ ):
+ self.cfg: OmegaConf = cfg
+ self.model: MarigoldPipeline = model
+ self.device = device
+ self.seed: Union[int, None] = (
+ self.cfg.trainer.init_seed
+ ) # used to generate seed sequence, set to `None` to train w/o seeding
+ self.out_dir_ckpt = out_dir_ckpt
+ self.out_dir_eval = out_dir_eval
+ self.out_dir_vis = out_dir_vis
+ self.train_loader: DataLoader = train_dataloader
+ self.val_loaders: List[DataLoader] = val_dataloaders
+ self.vis_loaders: List[DataLoader] = vis_dataloaders
+ self.accumulation_steps: int = accumulation_steps
+
+ # Adapt input layers
+ if 8 != self.model.unet.config["in_channels"]:
+ self._replace_unet_conv_in()
+
+ # Encode empty text prompt
+ self.model.encode_empty_text()
+ self.empty_text_embed = self.model.empty_text_embed.detach().clone().to(device)
+
+ self.model.unet.enable_xformers_memory_efficient_attention()
+
+ # Trainability
+ self.model.vae.requires_grad_(False)
+ self.model.text_encoder.requires_grad_(False)
+ self.model.unet.requires_grad_(True)
+
+ # Optimizer !should be defined after input layer is adapted
+ lr = self.cfg.lr
+ self.optimizer = Adam(self.model.unet.parameters(), lr=lr)
+
+ # LR scheduler
+ lr_func = IterExponential(
+ total_iter_length=self.cfg.lr_scheduler.kwargs.total_iter,
+ final_ratio=self.cfg.lr_scheduler.kwargs.final_ratio,
+ warmup_steps=self.cfg.lr_scheduler.kwargs.warmup_steps,
+ )
+ self.lr_scheduler = LambdaLR(optimizer=self.optimizer, lr_lambda=lr_func)
+
+ # Loss
+ self.loss = get_loss(loss_name=self.cfg.loss.name, **self.cfg.loss.kwargs)
+
+ # Training noise scheduler
+ self.training_noise_scheduler: DDPMScheduler = DDPMScheduler.from_pretrained(
+ os.path.join(
+ base_ckpt_dir,
+ cfg.trainer.training_noise_scheduler.pretrained_path,
+ "scheduler",
+ )
+ )
+ self.prediction_type = self.training_noise_scheduler.config.prediction_type
+ assert (
+ self.prediction_type == self.model.scheduler.config.prediction_type
+ ), "Different prediction types"
+ self.scheduler_timesteps = (
+ self.training_noise_scheduler.config.num_train_timesteps
+ )
+
+ # Eval metrics
+ self.metric_funcs = [getattr(metric, _met) for _met in cfg.eval.eval_metrics]
+ self.train_metrics = MetricTracker(*["loss"])
+ self.val_metrics = MetricTracker(*[m.__name__ for m in self.metric_funcs])
+ # main metric for best checkpoint saving
+ self.main_val_metric = cfg.validation.main_val_metric
+ self.main_val_metric_goal = cfg.validation.main_val_metric_goal
+ assert (
+ self.main_val_metric in cfg.eval.eval_metrics
+ ), f"Main eval metric `{self.main_val_metric}` not found in evaluation metrics."
+ self.best_metric = 1e8 if "minimize" == self.main_val_metric_goal else -1e8
+
+ # Settings
+ self.max_epoch = self.cfg.max_epoch
+ self.max_iter = self.cfg.max_iter
+ self.gradient_accumulation_steps = accumulation_steps
+ self.gt_depth_type = self.cfg.gt_depth_type
+ self.gt_mask_type = self.cfg.gt_mask_type
+ self.save_period = self.cfg.trainer.save_period
+ self.backup_period = self.cfg.trainer.backup_period
+ self.val_period = self.cfg.trainer.validation_period
+ self.vis_period = self.cfg.trainer.visualization_period
+
+ # Multi-resolution noise
+ self.apply_multi_res_noise = self.cfg.multi_res_noise is not None
+ if self.apply_multi_res_noise:
+ self.mr_noise_strength = self.cfg.multi_res_noise.strength
+ self.annealed_mr_noise = self.cfg.multi_res_noise.annealed
+ self.mr_noise_downscale_strategy = (
+ self.cfg.multi_res_noise.downscale_strategy
+ )
+
+ # Internal variables
+ self.epoch = 1
+ self.n_batch_in_epoch = 0 # batch index in the epoch, used when resume training
+ self.effective_iter = 0 # how many times optimizer.step() is called
+ self.in_evaluation = False
+ self.global_seed_sequence: List = [] # consistent global seed sequence, used to seed random generator, to ensure consistency when resuming
+
+ def _replace_unet_conv_in(self):
+ # replace the first layer to accept 8 in_channels
+ _weight = self.model.unet.conv_in.weight.clone() # [320, 4, 3, 3]
+ _bias = self.model.unet.conv_in.bias.clone() # [320]
+ _weight = _weight.repeat((1, 2, 1, 1)) # Keep selected channel(s)
+ # half the activation magnitude
+ _weight *= 0.5
+ # new conv_in channel
+ _n_convin_out_channel = self.model.unet.conv_in.out_channels
+ _new_conv_in = Conv2d(
+ 8, _n_convin_out_channel, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)
+ )
+ _new_conv_in.weight = Parameter(_weight)
+ _new_conv_in.bias = Parameter(_bias)
+ self.model.unet.conv_in = _new_conv_in
+ logging.info("Unet conv_in layer is replaced")
+ # replace config
+ self.model.unet.config["in_channels"] = 8
+ logging.info("Unet config is updated")
+ return
+
+ def train(self, t_end=None):
+ logging.info("Start training")
+
+ device = self.device
+ self.model.to(device)
+
+ if self.in_evaluation:
+ logging.info(
+ "Last evaluation was not finished, will do evaluation before continue training."
+ )
+ self.validate()
+
+ self.train_metrics.reset()
+ accumulated_step = 0
+
+ for epoch in range(self.epoch, self.max_epoch + 1):
+ self.epoch = epoch
+ logging.debug(f"epoch: {self.epoch}")
+
+ # Skip previous batches when resume
+ for batch in skip_first_batches(self.train_loader, self.n_batch_in_epoch):
+ self.model.unet.train()
+
+ # globally consistent random generators
+ if self.seed is not None:
+ local_seed = self._get_next_seed()
+ rand_num_generator = torch.Generator(device=device)
+ rand_num_generator.manual_seed(local_seed)
+ else:
+ rand_num_generator = None
+
+ # >>> With gradient accumulation >>>
+
+ # Get data
+ rgb = batch["rgb_norm"].to(device)
+ depth_gt_for_latent = batch[self.gt_depth_type].to(device)
+
+ if self.gt_mask_type is not None:
+ valid_mask_for_latent = batch[self.gt_mask_type].to(device)
+ invalid_mask = ~valid_mask_for_latent
+ valid_mask_down = ~torch.max_pool2d(
+ invalid_mask.float(), 8, 8
+ ).bool()
+ valid_mask_down = valid_mask_down.repeat((1, 4, 1, 1))
+ else:
+ raise NotImplementedError
+
+ batch_size = rgb.shape[0]
+
+ with torch.no_grad():
+ # Encode image
+ rgb_latent = self.model.encode_rgb(rgb) # [B, 4, h, w]
+ # Encode GT depth
+ gt_depth_latent = self.encode_depth(
+ depth_gt_for_latent
+ ) # [B, 4, h, w]
+
+ # Sample a random timestep for each image
+ timesteps = torch.randint(
+ 0,
+ self.scheduler_timesteps,
+ (batch_size,),
+ device=device,
+ generator=rand_num_generator,
+ ).long() # [B]
+
+ # Sample noise
+ if self.apply_multi_res_noise:
+ strength = self.mr_noise_strength
+ if self.annealed_mr_noise:
+ # calculate strength depending on t
+ strength = strength * (timesteps / self.scheduler_timesteps)
+ noise = multi_res_noise_like(
+ gt_depth_latent,
+ strength=strength,
+ downscale_strategy=self.mr_noise_downscale_strategy,
+ generator=rand_num_generator,
+ device=device,
+ )
+ else:
+ noise = torch.randn(
+ gt_depth_latent.shape,
+ device=device,
+ generator=rand_num_generator,
+ ) # [B, 4, h, w]
+
+ # Add noise to the latents (diffusion forward process)
+ noisy_latents = self.training_noise_scheduler.add_noise(
+ gt_depth_latent, noise, timesteps
+ ) # [B, 4, h, w]
+
+ # Text embedding
+ text_embed = self.empty_text_embed.to(device).repeat(
+ (batch_size, 1, 1)
+ ) # [B, 77, 1024]
+
+ # Concat rgb and depth latents
+ cat_latents = torch.cat(
+ [rgb_latent, noisy_latents], dim=1
+ ) # [B, 8, h, w]
+ cat_latents = cat_latents.float()
+
+ # Predict the noise residual
+ model_pred = self.model.unet(
+ cat_latents, timesteps, text_embed
+ ).sample # [B, 4, h, w]
+ if torch.isnan(model_pred).any():
+ logging.warning("model_pred contains NaN.")
+
+ # Get the target for loss depending on the prediction type
+ if "sample" == self.prediction_type:
+ target = gt_depth_latent
+ elif "epsilon" == self.prediction_type:
+ target = noise
+ elif "v_prediction" == self.prediction_type:
+ target = self.training_noise_scheduler.get_velocity(
+ gt_depth_latent, noise, timesteps
+ ) # [B, 4, h, w]
+ else:
+ raise ValueError(f"Unknown prediction type {self.prediction_type}")
+
+ # Masked latent loss
+ if self.gt_mask_type is not None:
+ latent_loss = self.loss(
+ model_pred[valid_mask_down].float(),
+ target[valid_mask_down].float(),
+ )
+ else:
+ latent_loss = self.loss(model_pred.float(), target.float())
+
+ loss = latent_loss.mean()
+
+ self.train_metrics.update("loss", loss.item())
+
+ loss = loss / self.gradient_accumulation_steps
+ loss.backward()
+ accumulated_step += 1
+
+ self.n_batch_in_epoch += 1
+ # Practical batch end
+
+ # Perform optimization step
+ if accumulated_step >= self.gradient_accumulation_steps:
+ self.optimizer.step()
+ self.lr_scheduler.step()
+ self.optimizer.zero_grad()
+ accumulated_step = 0
+
+ self.effective_iter += 1
+
+ # Log to tensorboard
+ accumulated_loss = self.train_metrics.result()["loss"]
+ tb_logger.log_dic(
+ {
+ f"train/{k}": v
+ for k, v in self.train_metrics.result().items()
+ },
+ global_step=self.effective_iter,
+ )
+ tb_logger.writer.add_scalar(
+ "lr",
+ self.lr_scheduler.get_last_lr()[0],
+ global_step=self.effective_iter,
+ )
+ tb_logger.writer.add_scalar(
+ "n_batch_in_epoch",
+ self.n_batch_in_epoch,
+ global_step=self.effective_iter,
+ )
+ logging.info(
+ f"iter {self.effective_iter:5d} (epoch {epoch:2d}): loss={accumulated_loss:.5f}"
+ )
+ self.train_metrics.reset()
+
+ # Per-step callback
+ self._train_step_callback()
+
+ # End of training
+ if self.max_iter > 0 and self.effective_iter >= self.max_iter:
+ self.save_checkpoint(
+ ckpt_name=self._get_backup_ckpt_name(),
+ save_train_state=False,
+ )
+ logging.info("Training ended.")
+ return
+ # Time's up
+ elif t_end is not None and datetime.now() >= t_end:
+ self.save_checkpoint(ckpt_name="latest", save_train_state=True)
+ logging.info("Time is up, training paused.")
+ return
+
+ torch.cuda.empty_cache()
+ # <<< Effective batch end <<<
+
+ # Epoch end
+ self.n_batch_in_epoch = 0
+
+ def encode_depth(self, depth_in):
+ # stack depth into 3-channel
+ stacked = self.stack_depth_images(depth_in)
+ # encode using VAE encoder
+ depth_latent = self.model.encode_rgb(stacked)
+ return depth_latent
+
+ @staticmethod
+ def stack_depth_images(depth_in):
+ if 4 == len(depth_in.shape):
+ stacked = depth_in.repeat(1, 3, 1, 1)
+ elif 3 == len(depth_in.shape):
+ stacked = depth_in.unsqueeze(1)
+ stacked = depth_in.repeat(1, 3, 1, 1)
+ return stacked
+
+ def _train_step_callback(self):
+ """Executed after every iteration"""
+ # Save backup (with a larger interval, without training states)
+ if self.backup_period > 0 and 0 == self.effective_iter % self.backup_period:
+ self.save_checkpoint(
+ ckpt_name=self._get_backup_ckpt_name(), save_train_state=False
+ )
+
+ _is_latest_saved = False
+ # Validation
+ if self.val_period > 0 and 0 == self.effective_iter % self.val_period:
+ self.in_evaluation = True # flag to do evaluation in resume run if validation is not finished
+ self.save_checkpoint(ckpt_name="latest", save_train_state=True)
+ _is_latest_saved = True
+ self.validate()
+ self.in_evaluation = False
+ self.save_checkpoint(ckpt_name="latest", save_train_state=True)
+
+ # Save training checkpoint (can be resumed)
+ if (
+ self.save_period > 0
+ and 0 == self.effective_iter % self.save_period
+ and not _is_latest_saved
+ ):
+ self.save_checkpoint(ckpt_name="latest", save_train_state=True)
+
+ # Visualization
+ if self.vis_period > 0 and 0 == self.effective_iter % self.vis_period:
+ self.visualize()
+
+ def validate(self):
+ for i, val_loader in enumerate(self.val_loaders):
+ val_dataset_name = val_loader.dataset.disp_name
+ val_metric_dic = self.validate_single_dataset(
+ data_loader=val_loader, metric_tracker=self.val_metrics
+ )
+ logging.info(
+ f"Iter {self.effective_iter}. Validation metrics on `{val_dataset_name}`: {val_metric_dic}"
+ )
+ tb_logger.log_dic(
+ {f"val/{val_dataset_name}/{k}": v for k, v in val_metric_dic.items()},
+ global_step=self.effective_iter,
+ )
+ # save to file
+ eval_text = eval_dic_to_text(
+ val_metrics=val_metric_dic,
+ dataset_name=val_dataset_name,
+ sample_list_path=val_loader.dataset.filename_ls_path,
+ )
+ _save_to = os.path.join(
+ self.out_dir_eval,
+ f"eval-{val_dataset_name}-iter{self.effective_iter:06d}.txt",
+ )
+ with open(_save_to, "w+") as f:
+ f.write(eval_text)
+
+ # Update main eval metric
+ if 0 == i:
+ main_eval_metric = val_metric_dic[self.main_val_metric]
+ if (
+ "minimize" == self.main_val_metric_goal
+ and main_eval_metric < self.best_metric
+ or "maximize" == self.main_val_metric_goal
+ and main_eval_metric > self.best_metric
+ ):
+ self.best_metric = main_eval_metric
+ logging.info(
+ f"Best metric: {self.main_val_metric} = {self.best_metric} at iteration {self.effective_iter}"
+ )
+ # Save a checkpoint
+ self.save_checkpoint(
+ ckpt_name=self._get_backup_ckpt_name(), save_train_state=False
+ )
+
+ def visualize(self):
+ for val_loader in self.vis_loaders:
+ vis_dataset_name = val_loader.dataset.disp_name
+ vis_out_dir = os.path.join(
+ self.out_dir_vis, self._get_backup_ckpt_name(), vis_dataset_name
+ )
+ os.makedirs(vis_out_dir, exist_ok=True)
+ _ = self.validate_single_dataset(
+ data_loader=val_loader,
+ metric_tracker=self.val_metrics,
+ save_to_dir=vis_out_dir,
+ )
+
+ @torch.no_grad()
+ def validate_single_dataset(
+ self,
+ data_loader: DataLoader,
+ metric_tracker: MetricTracker,
+ save_to_dir: str = None,
+ ):
+ self.model.to(self.device)
+ metric_tracker.reset()
+
+ # Generate seed sequence for consistent evaluation
+ val_init_seed = self.cfg.validation.init_seed
+ val_seed_ls = generate_seed_sequence(val_init_seed, len(data_loader))
+
+ for i, batch in enumerate(
+ tqdm(data_loader, desc=f"evaluating on {data_loader.dataset.disp_name}"),
+ start=1,
+ ):
+ assert 1 == data_loader.batch_size
+ # Read input image
+ rgb_int = batch["rgb_int"] # [B, 3, H, W]
+ # GT depth
+ depth_raw_ts = batch["depth_raw_linear"].squeeze()
+ depth_raw = depth_raw_ts.numpy()
+ depth_raw_ts = depth_raw_ts.to(self.device)
+ valid_mask_ts = batch["valid_mask_raw"].squeeze()
+ valid_mask = valid_mask_ts.numpy()
+ valid_mask_ts = valid_mask_ts.to(self.device)
+
+ # Random number generator
+ seed = val_seed_ls.pop()
+ if seed is None:
+ generator = None
+ else:
+ generator = torch.Generator(device=self.device)
+ generator.manual_seed(seed)
+
+ # Predict depth
+ pipe_out: MarigoldDepthOutput = self.model(
+ rgb_int,
+ denoising_steps=self.cfg.validation.denoising_steps,
+ ensemble_size=self.cfg.validation.ensemble_size,
+ processing_res=self.cfg.validation.processing_res,
+ match_input_res=self.cfg.validation.match_input_res,
+ generator=generator,
+ batch_size=1, # use batch size 1 to increase reproducibility
+ color_map=None,
+ show_progress_bar=False,
+ resample_method=self.cfg.validation.resample_method,
+ )
+
+ depth_pred: np.ndarray = pipe_out.depth_np
+
+ if "least_square" == self.cfg.eval.alignment:
+ depth_pred, scale, shift = align_depth_least_square(
+ gt_arr=depth_raw,
+ pred_arr=depth_pred,
+ valid_mask_arr=valid_mask,
+ return_scale_shift=True,
+ max_resolution=self.cfg.eval.align_max_res,
+ )
+ else:
+ raise RuntimeError(f"Unknown alignment type: {self.cfg.eval.alignment}")
+
+ # Clip to dataset min max
+ depth_pred = np.clip(
+ depth_pred,
+ a_min=data_loader.dataset.min_depth,
+ a_max=data_loader.dataset.max_depth,
+ )
+
+ # clip to d > 0 for evaluation
+ depth_pred = np.clip(depth_pred, a_min=1e-6, a_max=None)
+
+ # Evaluate
+ sample_metric = []
+ depth_pred_ts = torch.from_numpy(depth_pred).to(self.device)
+
+ for met_func in self.metric_funcs:
+ _metric_name = met_func.__name__
+ _metric = met_func(depth_pred_ts, depth_raw_ts, valid_mask_ts).item()
+ sample_metric.append(_metric.__str__())
+ metric_tracker.update(_metric_name, _metric)
+
+ # Save as 16-bit uint png
+ if save_to_dir is not None:
+ img_name = batch["rgb_relative_path"][0].replace("/", "_")
+ png_save_path = os.path.join(save_to_dir, f"{img_name}.png")
+ depth_to_save = (pipe_out.depth_np * 65535.0).astype(np.uint16)
+ Image.fromarray(depth_to_save).save(png_save_path, mode="I;16")
+
+ return metric_tracker.result()
+
+ def _get_next_seed(self):
+ if 0 == len(self.global_seed_sequence):
+ self.global_seed_sequence = generate_seed_sequence(
+ initial_seed=self.seed,
+ length=self.max_iter * self.gradient_accumulation_steps,
+ )
+ logging.info(
+ f"Global seed sequence is generated, length={len(self.global_seed_sequence)}"
+ )
+ return self.global_seed_sequence.pop()
+
+ def save_checkpoint(self, ckpt_name, save_train_state):
+ ckpt_dir = os.path.join(self.out_dir_ckpt, ckpt_name)
+ logging.info(f"Saving checkpoint to: {ckpt_dir}")
+ # Backup previous checkpoint
+ temp_ckpt_dir = None
+ if os.path.exists(ckpt_dir) and os.path.isdir(ckpt_dir):
+ temp_ckpt_dir = os.path.join(
+ os.path.dirname(ckpt_dir), f"_old_{os.path.basename(ckpt_dir)}"
+ )
+ if os.path.exists(temp_ckpt_dir):
+ shutil.rmtree(temp_ckpt_dir, ignore_errors=True)
+ os.rename(ckpt_dir, temp_ckpt_dir)
+ logging.debug(f"Old checkpoint is backed up at: {temp_ckpt_dir}")
+
+ # Save UNet
+ unet_path = os.path.join(ckpt_dir, "unet")
+ self.model.unet.save_pretrained(unet_path, safe_serialization=False)
+ logging.info(f"UNet is saved to: {unet_path}")
+
+ if save_train_state:
+ state = {
+ "optimizer": self.optimizer.state_dict(),
+ "lr_scheduler": self.lr_scheduler.state_dict(),
+ "config": self.cfg,
+ "effective_iter": self.effective_iter,
+ "epoch": self.epoch,
+ "n_batch_in_epoch": self.n_batch_in_epoch,
+ "best_metric": self.best_metric,
+ "in_evaluation": self.in_evaluation,
+ "global_seed_sequence": self.global_seed_sequence,
+ }
+ train_state_path = os.path.join(ckpt_dir, "trainer.ckpt")
+ torch.save(state, train_state_path)
+ # iteration indicator
+ f = open(os.path.join(ckpt_dir, self._get_backup_ckpt_name()), "w")
+ f.close()
+
+ logging.info(f"Trainer state is saved to: {train_state_path}")
+
+ # Remove temp ckpt
+ if temp_ckpt_dir is not None and os.path.exists(temp_ckpt_dir):
+ shutil.rmtree(temp_ckpt_dir, ignore_errors=True)
+ logging.debug("Old checkpoint backup is removed.")
+
+ def load_checkpoint(
+ self, ckpt_path, load_trainer_state=True, resume_lr_scheduler=True
+ ):
+ logging.info(f"Loading checkpoint from: {ckpt_path}")
+ # Load UNet
+ _model_path = os.path.join(ckpt_path, "unet", "diffusion_pytorch_model.bin")
+ self.model.unet.load_state_dict(
+ torch.load(_model_path, map_location=self.device)
+ )
+ self.model.unet.to(self.device)
+ logging.info(f"UNet parameters are loaded from {_model_path}")
+
+ # Load training states
+ if load_trainer_state:
+ checkpoint = torch.load(os.path.join(ckpt_path, "trainer.ckpt"))
+ self.effective_iter = checkpoint["effective_iter"]
+ self.epoch = checkpoint["epoch"]
+ self.n_batch_in_epoch = checkpoint["n_batch_in_epoch"]
+ self.in_evaluation = checkpoint["in_evaluation"]
+ self.global_seed_sequence = checkpoint["global_seed_sequence"]
+
+ self.best_metric = checkpoint["best_metric"]
+
+ self.optimizer.load_state_dict(checkpoint["optimizer"])
+ logging.info(f"optimizer state is loaded from {ckpt_path}")
+
+ if resume_lr_scheduler:
+ self.lr_scheduler.load_state_dict(checkpoint["lr_scheduler"])
+ logging.info(f"LR scheduler state is loaded from {ckpt_path}")
+
+ logging.info(
+ f"Checkpoint loaded from: {ckpt_path}. Resume from iteration {self.effective_iter} (epoch {self.epoch})"
+ )
+ return
+
+ def _get_backup_ckpt_name(self):
+ return f"iter_{self.effective_iter:06d}"
diff --git a/Marigold-main/src/util/alignment.py b/Marigold-main/src/util/alignment.py
new file mode 100644
index 0000000000000000000000000000000000000000..df91f6b7edf0fee6447395cc83e24cbe486cb6c1
--- /dev/null
+++ b/Marigold-main/src/util/alignment.py
@@ -0,0 +1,73 @@
+# Author: Bingxin Ke
+# Last modified: 2024-01-11
+
+import numpy as np
+import torch
+
+
+def align_depth_least_square(
+ gt_arr: np.ndarray,
+ pred_arr: np.ndarray,
+ valid_mask_arr: np.ndarray,
+ return_scale_shift=True,
+ max_resolution=None,
+):
+ ori_shape = pred_arr.shape # input shape
+
+ gt = gt_arr.squeeze() # [H, W]
+ pred = pred_arr.squeeze()
+ valid_mask = valid_mask_arr.squeeze()
+
+ # Downsample
+ if max_resolution is not None:
+ scale_factor = np.min(max_resolution / np.array(ori_shape[-2:]))
+ if scale_factor < 1:
+ downscaler = torch.nn.Upsample(scale_factor=scale_factor, mode="nearest")
+ gt = downscaler(torch.as_tensor(gt).unsqueeze(0)).numpy()
+ pred = downscaler(torch.as_tensor(pred).unsqueeze(0)).numpy()
+ valid_mask = (
+ downscaler(torch.as_tensor(valid_mask).unsqueeze(0).float())
+ .bool()
+ .numpy()
+ )
+
+ assert (
+ gt.shape == pred.shape == valid_mask.shape
+ ), f"{gt.shape}, {pred.shape}, {valid_mask.shape}"
+
+ gt_masked = gt[valid_mask].reshape((-1, 1))
+ pred_masked = pred[valid_mask].reshape((-1, 1))
+
+ # numpy solver
+ _ones = np.ones_like(pred_masked)
+ A = np.concatenate([pred_masked, _ones], axis=-1)
+ X = np.linalg.lstsq(A, gt_masked, rcond=None)[0]
+ scale, shift = X
+
+ aligned_pred = pred_arr * scale + shift
+
+ # restore dimensions
+ aligned_pred = aligned_pred.reshape(ori_shape)
+
+ if return_scale_shift:
+ return aligned_pred, scale, shift
+ else:
+ return aligned_pred
+
+
+# ******************** disparity space ********************
+def depth2disparity(depth, return_mask=False):
+ if isinstance(depth, torch.Tensor):
+ disparity = torch.zeros_like(depth)
+ elif isinstance(depth, np.ndarray):
+ disparity = np.zeros_like(depth)
+ non_negtive_mask = depth > 0
+ disparity[non_negtive_mask] = 1.0 / depth[non_negtive_mask]
+ if return_mask:
+ return disparity, non_negtive_mask
+ else:
+ return disparity
+
+
+def disparity2depth(disparity, **kwargs):
+ return depth2disparity(disparity, **kwargs)
diff --git a/Marigold-main/src/util/config_util.py b/Marigold-main/src/util/config_util.py
new file mode 100644
index 0000000000000000000000000000000000000000..0e9fa45676d0f01d9d5fd62b251eeeceec60e243
--- /dev/null
+++ b/Marigold-main/src/util/config_util.py
@@ -0,0 +1,49 @@
+# Author: Bingxin Ke
+# Last modified: 2024-02-14
+
+import omegaconf
+from omegaconf import OmegaConf
+
+
+def recursive_load_config(config_path: str) -> OmegaConf:
+ conf = OmegaConf.load(config_path)
+
+ output_conf = OmegaConf.create({})
+
+ # Load base config. Later configs on the list will overwrite previous
+ base_configs = conf.get("base_config", default_value=None)
+ if base_configs is not None:
+ assert isinstance(base_configs, omegaconf.listconfig.ListConfig)
+ for _path in base_configs:
+ assert (
+ _path != config_path
+ ), "Circulate merging, base_config should not include itself."
+ _base_conf = recursive_load_config(_path)
+ output_conf = OmegaConf.merge(output_conf, _base_conf)
+
+ # Merge configs and overwrite values
+ output_conf = OmegaConf.merge(output_conf, conf)
+
+ return output_conf
+
+
+def find_value_in_omegaconf(search_key, config):
+ result_list = []
+
+ if isinstance(config, omegaconf.DictConfig):
+ for key, value in config.items():
+ if key == search_key:
+ result_list.append(value)
+ elif isinstance(value, (omegaconf.DictConfig, omegaconf.ListConfig)):
+ result_list.extend(find_value_in_omegaconf(search_key, value))
+ elif isinstance(config, omegaconf.ListConfig):
+ for item in config:
+ if isinstance(item, (omegaconf.DictConfig, omegaconf.ListConfig)):
+ result_list.extend(find_value_in_omegaconf(search_key, item))
+
+ return result_list
+
+
+if "__main__" == __name__:
+ conf = recursive_load_config("config/train_base.yaml")
+ print(OmegaConf.to_yaml(conf))
diff --git a/Marigold-main/src/util/data_loader.py b/Marigold-main/src/util/data_loader.py
new file mode 100644
index 0000000000000000000000000000000000000000..0fe42abfa55c0a5a76844153961e942c2e133bb4
--- /dev/null
+++ b/Marigold-main/src/util/data_loader.py
@@ -0,0 +1,111 @@
+# Copied from https://github.com/huggingface/accelerate/blob/e2ae254008061b3e53fc1c97f88d65743a857e75/src/accelerate/data_loader.py
+
+from torch.utils.data import BatchSampler, DataLoader, IterableDataset
+
+# kwargs of the DataLoader in min version 1.4.0.
+_PYTORCH_DATALOADER_KWARGS = {
+ "batch_size": 1,
+ "shuffle": False,
+ "sampler": None,
+ "batch_sampler": None,
+ "num_workers": 0,
+ "collate_fn": None,
+ "pin_memory": False,
+ "drop_last": False,
+ "timeout": 0,
+ "worker_init_fn": None,
+ "multiprocessing_context": None,
+ "generator": None,
+ "prefetch_factor": 2,
+ "persistent_workers": False,
+}
+
+
+class SkipBatchSampler(BatchSampler):
+ """
+ A `torch.utils.data.BatchSampler` that skips the first `n` batches of another `torch.utils.data.BatchSampler`.
+ """
+
+ def __init__(self, batch_sampler, skip_batches=0):
+ self.batch_sampler = batch_sampler
+ self.skip_batches = skip_batches
+
+ def __iter__(self):
+ for index, samples in enumerate(self.batch_sampler):
+ if index >= self.skip_batches:
+ yield samples
+
+ @property
+ def total_length(self):
+ return len(self.batch_sampler)
+
+ def __len__(self):
+ return len(self.batch_sampler) - self.skip_batches
+
+
+class SkipDataLoader(DataLoader):
+ """
+ Subclass of a PyTorch `DataLoader` that will skip the first batches.
+
+ Args:
+ dataset (`torch.utils.data.dataset.Dataset`):
+ The dataset to use to build this datalaoder.
+ skip_batches (`int`, *optional*, defaults to 0):
+ The number of batches to skip at the beginning.
+ kwargs:
+ All other keyword arguments to pass to the regular `DataLoader` initialization.
+ """
+
+ def __init__(self, dataset, skip_batches=0, **kwargs):
+ super().__init__(dataset, **kwargs)
+ self.skip_batches = skip_batches
+
+ def __iter__(self):
+ for index, batch in enumerate(super().__iter__()):
+ if index >= self.skip_batches:
+ yield batch
+
+
+# Adapted from https://github.com/huggingface/accelerate
+def skip_first_batches(dataloader, num_batches=0):
+ """
+ Creates a `torch.utils.data.DataLoader` that will efficiently skip the first `num_batches`.
+ """
+ dataset = dataloader.dataset
+ sampler_is_batch_sampler = False
+ if isinstance(dataset, IterableDataset):
+ new_batch_sampler = None
+ else:
+ sampler_is_batch_sampler = isinstance(dataloader.sampler, BatchSampler)
+ batch_sampler = (
+ dataloader.sampler if sampler_is_batch_sampler else dataloader.batch_sampler
+ )
+ new_batch_sampler = SkipBatchSampler(batch_sampler, skip_batches=num_batches)
+
+ # We ignore all of those since they are all dealt with by our new_batch_sampler
+ ignore_kwargs = [
+ "batch_size",
+ "shuffle",
+ "sampler",
+ "batch_sampler",
+ "drop_last",
+ ]
+
+ kwargs = {
+ k: getattr(dataloader, k, _PYTORCH_DATALOADER_KWARGS[k])
+ for k in _PYTORCH_DATALOADER_KWARGS
+ if k not in ignore_kwargs
+ }
+
+ # Need to provide batch_size as batch_sampler is None for Iterable dataset
+ if new_batch_sampler is None:
+ kwargs["drop_last"] = dataloader.drop_last
+ kwargs["batch_size"] = dataloader.batch_size
+
+ if new_batch_sampler is None:
+ # Need to manually skip batches in the dataloader
+ dataloader = SkipDataLoader(dataset, skip_batches=num_batches, **kwargs)
+ else:
+ dataloader = DataLoader(dataset, batch_sampler=new_batch_sampler, **kwargs)
+
+ return dataloader
diff --git a/Marigold-main/src/util/depth_transform.py b/Marigold-main/src/util/depth_transform.py
new file mode 100644
index 0000000000000000000000000000000000000000..ac9d626870019ddd36edb5c0ac9e35937b0f9eca
--- /dev/null
+++ b/Marigold-main/src/util/depth_transform.py
@@ -0,0 +1,103 @@
+# Author: Bingxin Ke
+# Last modified: 2024-04-18
+
+import torch
+import logging
+
+
+def get_depth_normalizer(cfg_normalizer):
+ if cfg_normalizer is None:
+
+ def identical(x):
+ return x
+
+ depth_transform = identical
+
+ elif "scale_shift_depth" == cfg_normalizer.type:
+ depth_transform = ScaleShiftDepthNormalizer(
+ norm_min=cfg_normalizer.norm_min,
+ norm_max=cfg_normalizer.norm_max,
+ min_max_quantile=cfg_normalizer.min_max_quantile,
+ clip=cfg_normalizer.clip,
+ )
+ else:
+ raise NotImplementedError
+ return depth_transform
+
+
+class DepthNormalizerBase:
+ is_absolute = None
+ far_plane_at_max = None
+
+ def __init__(
+ self,
+ norm_min=-1.0,
+ norm_max=1.0,
+ ) -> None:
+ self.norm_min = norm_min
+ self.norm_max = norm_max
+ raise NotImplementedError
+
+ def __call__(self, depth, valid_mask=None, clip=None):
+ raise NotImplementedError
+
+ def denormalize(self, depth_norm, **kwargs):
+ # For metric depth: convert prediction back to metric depth
+ # For relative depth: convert prediction to [0, 1]
+ raise NotImplementedError
+
+
+class ScaleShiftDepthNormalizer(DepthNormalizerBase):
+ """
+ Use near and far plane to linearly normalize depth,
+ i.e. d' = d * s + t,
+ where near plane is mapped to `norm_min`, and far plane is mapped to `norm_max`
+ Near and far planes are determined by taking quantile values.
+ """
+
+ is_absolute = False
+ far_plane_at_max = True
+
+ def __init__(
+ self, norm_min=-1.0, norm_max=1.0, min_max_quantile=0.02, clip=True
+ ) -> None:
+ self.norm_min = norm_min
+ self.norm_max = norm_max
+ self.norm_range = self.norm_max - self.norm_min
+ self.min_quantile = min_max_quantile
+ self.max_quantile = 1.0 - self.min_quantile
+ self.clip = clip
+
+ def __call__(self, depth_linear, valid_mask=None, clip=None):
+ clip = clip if clip is not None else self.clip
+
+ if valid_mask is None:
+ valid_mask = torch.ones_like(depth_linear).bool()
+ valid_mask = valid_mask & (depth_linear > 0)
+
+ # Take quantiles as min and max
+ _min, _max = torch.quantile(
+ depth_linear[valid_mask],
+ torch.tensor([self.min_quantile, self.max_quantile]),
+ )
+
+ # scale and shift
+ depth_norm_linear = (depth_linear - _min) / (
+ _max - _min
+ ) * self.norm_range + self.norm_min
+
+ if clip:
+ depth_norm_linear = torch.clip(
+ depth_norm_linear, self.norm_min, self.norm_max
+ )
+
+ return depth_norm_linear
+
+ def scale_back(self, depth_norm):
+ # scale to [0, 1]
+ depth_linear = (depth_norm - self.norm_min) / self.norm_range
+ return depth_linear
+
+ def denormalize(self, depth_norm, **kwargs):
+ logging.warning(f"{self.__class__} is not revertible without GT")
+ return self.scale_back(depth_norm=depth_norm)
diff --git a/Marigold-main/src/util/logging_util.py b/Marigold-main/src/util/logging_util.py
new file mode 100644
index 0000000000000000000000000000000000000000..37dd103baa1958397b150eb9e07a11c02027ba6a
--- /dev/null
+++ b/Marigold-main/src/util/logging_util.py
@@ -0,0 +1,102 @@
+# Author: Bingxin Ke
+# Last modified: 2024-03-12
+
+import logging
+import os
+import sys
+import wandb
+from tabulate import tabulate
+from torch.utils.tensorboard import SummaryWriter
+
+
+def config_logging(cfg_logging, out_dir=None):
+ file_level = cfg_logging.get("file_level", 10)
+ console_level = cfg_logging.get("console_level", 10)
+
+ log_formatter = logging.Formatter(cfg_logging["format"])
+
+ root_logger = logging.getLogger()
+ root_logger.handlers.clear()
+
+ root_logger.setLevel(min(file_level, console_level))
+
+ if out_dir is not None:
+ _logging_file = os.path.join(
+ out_dir, cfg_logging.get("filename", "logging.log")
+ )
+ file_handler = logging.FileHandler(_logging_file)
+ file_handler.setFormatter(log_formatter)
+ file_handler.setLevel(file_level)
+ root_logger.addHandler(file_handler)
+
+ console_handler = logging.StreamHandler(sys.stdout)
+ console_handler.setFormatter(log_formatter)
+ console_handler.setLevel(console_level)
+ root_logger.addHandler(console_handler)
+
+ # Avoid pollution by packages
+ logging.getLogger("PIL").setLevel(logging.INFO)
+ logging.getLogger("matplotlib").setLevel(logging.INFO)
+
+
+class MyTrainingLogger:
+ """Tensorboard + wandb logger"""
+
+ writer: SummaryWriter
+ is_initialized = False
+
+ def __init__(self) -> None:
+ pass
+
+ def set_dir(self, tb_log_dir):
+ if self.is_initialized:
+ raise ValueError("Do not initialize writer twice")
+ self.writer = SummaryWriter(tb_log_dir)
+ self.is_initialized = True
+
+ def log_dic(self, scalar_dic, global_step, walltime=None):
+ for k, v in scalar_dic.items():
+ self.writer.add_scalar(k, v, global_step=global_step, walltime=walltime)
+ return
+
+
+# global instance
+tb_logger = MyTrainingLogger()
+
+
+# -------------- wandb tools --------------
+def init_wandb(enable: bool, **kwargs):
+ if enable:
+ run = wandb.init(sync_tensorboard=True, **kwargs)
+ else:
+ run = wandb.init(mode="disabled")
+ return run
+
+
+def log_slurm_job_id(step):
+ global tb_logger
+ _jobid = os.getenv("SLURM_JOB_ID")
+ if _jobid is None:
+ _jobid = -1
+ tb_logger.writer.add_scalar("job_id", int(_jobid), global_step=step)
+ logging.debug(f"Slurm job_id: {_jobid}")
+
+
+def load_wandb_job_id(out_dir):
+ with open(os.path.join(out_dir, "WANDB_ID"), "r") as f:
+ wandb_id = f.read()
+ return wandb_id
+
+
+def save_wandb_job_id(run, out_dir):
+ with open(os.path.join(out_dir, "WANDB_ID"), "w+") as f:
+ f.write(run.id)
+
+
+def eval_dic_to_text(val_metrics: dict, dataset_name: str, sample_list_path: str):
+ eval_text = f"Evaluation metrics:\n\
+ on dataset: {dataset_name}\n\
+ over samples in: {sample_list_path}\n"
+
+ eval_text += tabulate([val_metrics.keys(), val_metrics.values()])
+ return eval_text
diff --git a/Marigold-main/src/util/loss.py b/Marigold-main/src/util/loss.py
new file mode 100644
index 0000000000000000000000000000000000000000..ee6dace55ed155a691d527bfe45ef3d87823a65e
--- /dev/null
+++ b/Marigold-main/src/util/loss.py
@@ -0,0 +1,124 @@
+# Author: Bingxin Ke
+# Last modified: 2024-02-22
+
+import torch
+
+
+def get_loss(loss_name, **kwargs):
+ if "silog_mse" == loss_name:
+ criterion = SILogMSELoss(**kwargs)
+ elif "silog_rmse" == loss_name:
+ criterion = SILogRMSELoss(**kwargs)
+ elif "mse_loss" == loss_name:
+ criterion = torch.nn.MSELoss(**kwargs)
+ elif "l1_loss" == loss_name:
+ criterion = torch.nn.L1Loss(**kwargs)
+ elif "l1_loss_with_mask" == loss_name:
+ criterion = L1LossWithMask(**kwargs)
+ elif "mean_abs_rel" == loss_name:
+ criterion = MeanAbsRelLoss()
+ else:
+ raise NotImplementedError
+
+ return criterion
+
+
+class L1LossWithMask:
+ def __init__(self, batch_reduction=False):
+ self.batch_reduction = batch_reduction
+
+ def __call__(self, depth_pred, depth_gt, valid_mask=None):
+ diff = depth_pred - depth_gt
+ if valid_mask is not None:
+ diff[~valid_mask] = 0
+ n = valid_mask.sum((-1, -2))
+ else:
+ n = depth_gt.shape[-2] * depth_gt.shape[-1]
+
+ loss = torch.sum(torch.abs(diff)) / n
+ if self.batch_reduction:
+ loss = loss.mean()
+ return loss
+
+
+class MeanAbsRelLoss:
+ def __init__(self) -> None:
+ # super().__init__()
+ pass
+
+ def __call__(self, pred, gt):
+ diff = pred - gt
+ rel_abs = torch.abs(diff / gt)
+ loss = torch.mean(rel_abs, dim=0)
+ return loss
+
+
+class SILogMSELoss:
+ def __init__(self, lamb, log_pred=True, batch_reduction=True):
+ """Scale Invariant Log MSE Loss
+
+ Args:
+ lamb (_type_): lambda, lambda=1 -> scale invariant, lambda=0 -> L2 loss
+ log_pred (bool, optional): True if model prediction is logarithmic depht. Will not do log for depth_pred
+ """
+ super(SILogMSELoss, self).__init__()
+ self.lamb = lamb
+ self.pred_in_log = log_pred
+ self.batch_reduction = batch_reduction
+
+ def __call__(self, depth_pred, depth_gt, valid_mask=None):
+ log_depth_pred = (
+ depth_pred if self.pred_in_log else torch.log(torch.clip(depth_pred, 1e-8))
+ )
+ log_depth_gt = torch.log(depth_gt)
+
+ diff = log_depth_pred - log_depth_gt
+ if valid_mask is not None:
+ diff[~valid_mask] = 0
+ n = valid_mask.sum((-1, -2))
+ else:
+ n = depth_gt.shape[-2] * depth_gt.shape[-1]
+
+ diff2 = torch.pow(diff, 2)
+
+ first_term = torch.sum(diff2, (-1, -2)) / n
+ second_term = self.lamb * torch.pow(torch.sum(diff, (-1, -2)), 2) / (n**2)
+ loss = first_term - second_term
+ if self.batch_reduction:
+ loss = loss.mean()
+ return loss
+
+
+class SILogRMSELoss:
+ def __init__(self, lamb, alpha, log_pred=True):
+ """Scale Invariant Log RMSE Loss
+
+ Args:
+ lamb (_type_): lambda, lambda=1 -> scale invariant, lambda=0 -> L2 loss
+ alpha:
+ log_pred (bool, optional): True if model prediction is logarithmic depht. Will not do log for depth_pred
+ """
+ super(SILogRMSELoss, self).__init__()
+ self.lamb = lamb
+ self.alpha = alpha
+ self.pred_in_log = log_pred
+
+ def __call__(self, depth_pred, depth_gt, valid_mask):
+ log_depth_pred = depth_pred if self.pred_in_log else torch.log(depth_pred)
+ log_depth_gt = torch.log(depth_gt)
+ # borrowed from https://github.com/aliyun/NeWCRFs
+ # diff = log_depth_pred[valid_mask] - log_depth_gt[valid_mask]
+ # return torch.sqrt((diff ** 2).mean() - self.lamb * (diff.mean() ** 2)) * self.alpha
+
+ diff = log_depth_pred - log_depth_gt
+ if valid_mask is not None:
+ diff[~valid_mask] = 0
+ n = valid_mask.sum((-1, -2))
+ else:
+ n = depth_gt.shape[-2] * depth_gt.shape[-1]
+
+ diff2 = torch.pow(diff, 2)
+ first_term = torch.sum(diff2, (-1, -2)) / n
+ second_term = self.lamb * torch.pow(torch.sum(diff, (-1, -2)), 2) / (n**2)
+ loss = torch.sqrt(first_term - second_term).mean() * self.alpha
+ return loss
diff --git a/Marigold-main/src/util/lr_scheduler.py b/Marigold-main/src/util/lr_scheduler.py
new file mode 100644
index 0000000000000000000000000000000000000000..cd2d67f512723c31966498616511202eed4d9806
--- /dev/null
+++ b/Marigold-main/src/util/lr_scheduler.py
@@ -0,0 +1,48 @@
+# Author: Bingxin Ke
+# Last modified: 2024-02-22
+
+import numpy as np
+
+
+class IterExponential:
+ def __init__(self, total_iter_length, final_ratio, warmup_steps=0) -> None:
+ """
+ Customized iteration-wise exponential scheduler.
+ Re-calculate for every step, to reduce error accumulation
+
+ Args:
+ total_iter_length (int): Expected total iteration number
+ final_ratio (float): Expected LR ratio at n_iter = total_iter_length
+ """
+ self.total_length = total_iter_length
+ self.effective_length = total_iter_length - warmup_steps
+ self.final_ratio = final_ratio
+ self.warmup_steps = warmup_steps
+
+ def __call__(self, n_iter) -> float:
+ if n_iter < self.warmup_steps:
+ alpha = 1.0 * n_iter / self.warmup_steps
+ elif n_iter >= self.total_length:
+ alpha = self.final_ratio
+ else:
+ actual_iter = n_iter - self.warmup_steps
+ alpha = np.exp(
+ actual_iter / self.effective_length * np.log(self.final_ratio)
+ )
+ return alpha
+
+
+if "__main__" == __name__:
+ lr_scheduler = IterExponential(
+ total_iter_length=50000, final_ratio=0.01, warmup_steps=200
+ )
+ lr_scheduler = IterExponential(
+ total_iter_length=50000, final_ratio=0.01, warmup_steps=0
+ )
+
+ x = np.arange(100000)
+ alphas = [lr_scheduler(i) for i in x]
+ import matplotlib.pyplot as plt
+
+ plt.plot(alphas)
+ plt.savefig("lr_scheduler.png")
diff --git a/Marigold-main/src/util/metric.py b/Marigold-main/src/util/metric.py
new file mode 100644
index 0000000000000000000000000000000000000000..4221ba7515010a95d5d21234a207c3e911a8d685
--- /dev/null
+++ b/Marigold-main/src/util/metric.py
@@ -0,0 +1,158 @@
+# Author: Bingxin Ke
+# Last modified: 2024-02-15
+
+
+import pandas as pd
+import torch
+
+
+# Adapted from: https://github.com/victoresque/pytorch-template/blob/master/utils/util.py
+class MetricTracker:
+ def __init__(self, *keys, writer=None):
+ self.writer = writer
+ self._data = pd.DataFrame(index=keys, columns=["total", "counts", "average"])
+ self.reset()
+
+ def reset(self):
+ for col in self._data.columns:
+ self._data[col].values[:] = 0
+
+ def update(self, key, value, n=1):
+ if self.writer is not None:
+ self.writer.add_scalar(key, value)
+ self._data.loc[key, "total"] += value * n
+ self._data.loc[key, "counts"] += n
+ self._data.loc[key, "average"] = self._data.total[key] / self._data.counts[key]
+
+ def avg(self, key):
+ return self._data.average[key]
+
+ def result(self):
+ return dict(self._data.average)
+
+
+def abs_relative_difference(output, target, valid_mask=None):
+ actual_output = output
+ actual_target = target
+ abs_relative_diff = torch.abs(actual_output - actual_target) / actual_target
+ if valid_mask is not None:
+ abs_relative_diff[~valid_mask] = 0
+ n = valid_mask.sum((-1, -2))
+ else:
+ n = output.shape[-1] * output.shape[-2]
+ abs_relative_diff = torch.sum(abs_relative_diff, (-1, -2)) / n
+ return abs_relative_diff.mean()
+
+
+def squared_relative_difference(output, target, valid_mask=None):
+ actual_output = output
+ actual_target = target
+ square_relative_diff = (
+ torch.pow(torch.abs(actual_output - actual_target), 2) / actual_target
+ )
+ if valid_mask is not None:
+ square_relative_diff[~valid_mask] = 0
+ n = valid_mask.sum((-1, -2))
+ else:
+ n = output.shape[-1] * output.shape[-2]
+ square_relative_diff = torch.sum(square_relative_diff, (-1, -2)) / n
+ return square_relative_diff.mean()
+
+
+def rmse_linear(output, target, valid_mask=None):
+ actual_output = output
+ actual_target = target
+ diff = actual_output - actual_target
+ if valid_mask is not None:
+ diff[~valid_mask] = 0
+ n = valid_mask.sum((-1, -2))
+ else:
+ n = output.shape[-1] * output.shape[-2]
+ diff2 = torch.pow(diff, 2)
+ mse = torch.sum(diff2, (-1, -2)) / n
+ rmse = torch.sqrt(mse)
+ return rmse.mean()
+
+
+def rmse_log(output, target, valid_mask=None):
+ diff = torch.log(output) - torch.log(target)
+ if valid_mask is not None:
+ diff[~valid_mask] = 0
+ n = valid_mask.sum((-1, -2))
+ else:
+ n = output.shape[-1] * output.shape[-2]
+ diff2 = torch.pow(diff, 2)
+ mse = torch.sum(diff2, (-1, -2)) / n # [B]
+ rmse = torch.sqrt(mse)
+ return rmse.mean()
+
+
+def log10(output, target, valid_mask=None):
+ if valid_mask is not None:
+ diff = torch.abs(
+ torch.log10(output[valid_mask]) - torch.log10(target[valid_mask])
+ )
+ else:
+ diff = torch.abs(torch.log10(output) - torch.log10(target))
+ return diff.mean()
+
+
+# adapt from: https://github.com/imran3180/depth-map-prediction/blob/master/main.py
+def threshold_percentage(output, target, threshold_val, valid_mask=None):
+ d1 = output / target
+ d2 = target / output
+ max_d1_d2 = torch.max(d1, d2)
+ zero = torch.zeros(*output.shape)
+ one = torch.ones(*output.shape)
+ bit_mat = torch.where(max_d1_d2.cpu() < threshold_val, one, zero)
+ if valid_mask is not None:
+ bit_mat[~valid_mask] = 0
+ n = valid_mask.sum((-1, -2))
+ else:
+ n = output.shape[-1] * output.shape[-2]
+ count_mat = torch.sum(bit_mat, (-1, -2))
+ threshold_mat = count_mat / n.cpu()
+ return threshold_mat.mean()
+
+
+def delta1_acc(pred, gt, valid_mask):
+ return threshold_percentage(pred, gt, 1.25, valid_mask)
+
+
+def delta2_acc(pred, gt, valid_mask):
+ return threshold_percentage(pred, gt, 1.25**2, valid_mask)
+
+
+def delta3_acc(pred, gt, valid_mask):
+ return threshold_percentage(pred, gt, 1.25**3, valid_mask)
+
+
+def i_rmse(output, target, valid_mask=None):
+ output_inv = 1.0 / output
+ target_inv = 1.0 / target
+ diff = output_inv - target_inv
+ if valid_mask is not None:
+ diff[~valid_mask] = 0
+ n = valid_mask.sum((-1, -2))
+ else:
+ n = output.shape[-1] * output.shape[-2]
+ diff2 = torch.pow(diff, 2)
+ mse = torch.sum(diff2, (-1, -2)) / n # [B]
+ rmse = torch.sqrt(mse)
+ return rmse.mean()
+
+
+def silog_rmse(depth_pred, depth_gt, valid_mask=None):
+ diff = torch.log(depth_pred) - torch.log(depth_gt)
+ if valid_mask is not None:
+ diff[~valid_mask] = 0
+ n = valid_mask.sum((-1, -2))
+ else:
+ n = depth_gt.shape[-2] * depth_gt.shape[-1]
+
+ diff2 = torch.pow(diff, 2)
+
+ first_term = torch.sum(diff2, (-1, -2)) / n
+ second_term = torch.pow(torch.sum(diff, (-1, -2)), 2) / (n**2)
+ loss = torch.sqrt(torch.mean(first_term - second_term)) * 100
+ return loss
diff --git a/Marigold-main/src/util/multi_res_noise.py b/Marigold-main/src/util/multi_res_noise.py
new file mode 100644
index 0000000000000000000000000000000000000000..e4d0ee057ec0a02a527c04fc9cd2f1c53252d51c
--- /dev/null
+++ b/Marigold-main/src/util/multi_res_noise.py
@@ -0,0 +1,75 @@
+# Author: Bingxin Ke
+# Last modified: 2024-04-18
+
+import torch
+import math
+
+
+# adapted from: https://wandb.ai/johnowhitaker/multires_noise/reports/Multi-Resolution-Noise-for-Diffusion-Model-Training--VmlldzozNjYyOTU2?s=31
+def multi_res_noise_like(
+ x, strength=0.9, downscale_strategy="original", generator=None, device=None
+):
+ if torch.is_tensor(strength):
+ strength = strength.reshape((-1, 1, 1, 1))
+ b, c, w, h = x.shape
+
+ if device is None:
+ device = x.device
+
+ up_sampler = torch.nn.Upsample(size=(w, h), mode="bilinear")
+ noise = torch.randn(x.shape, device=x.device, generator=generator)
+
+ if "original" == downscale_strategy:
+ for i in range(10):
+ r = (
+ torch.rand(1, generator=generator, device=device) * 2 + 2
+ ) # Rather than always going 2x,
+ w, h = max(1, int(w / (r**i))), max(1, int(h / (r**i)))
+ noise += (
+ up_sampler(
+ torch.randn(b, c, w, h, generator=generator, device=device).to(x)
+ )
+ * strength**i
+ )
+ if w == 1 or h == 1:
+ break # Lowest resolution is 1x1
+ elif "every_layer" == downscale_strategy:
+ for i in range(int(math.log2(min(w, h)))):
+ w, h = max(1, int(w / 2)), max(1, int(h / 2))
+ noise += (
+ up_sampler(
+ torch.randn(b, c, w, h, generator=generator, device=device).to(x)
+ )
+ * strength**i
+ )
+ elif "power_of_two" == downscale_strategy:
+ for i in range(10):
+ r = 2
+ w, h = max(1, int(w / (r**i))), max(1, int(h / (r**i)))
+ noise += (
+ up_sampler(
+ torch.randn(b, c, w, h, generator=generator, device=device).to(x)
+ )
+ * strength**i
+ )
+ if w == 1 or h == 1:
+ break # Lowest resolution is 1x1
+ elif "random_step" == downscale_strategy:
+ for i in range(10):
+ r = (
+ torch.rand(1, generator=generator, device=device) * 2 + 2
+ ) # Rather than always going 2x,
+ w, h = max(1, int(w / (r))), max(1, int(h / (r)))
+ noise += (
+ up_sampler(
+ torch.randn(b, c, w, h, generator=generator, device=device).to(x)
+ )
+ * strength**i
+ )
+ if w == 1 or h == 1:
+ break # Lowest resolution is 1x1
+ else:
+ raise ValueError(f"unknown downscale strategy: {downscale_strategy}")
+
+ noise = noise / noise.std() # Scaled back to roughly unit variance
+ return noise
diff --git a/Marigold-main/src/util/seeding.py b/Marigold-main/src/util/seeding.py
new file mode 100644
index 0000000000000000000000000000000000000000..b63a778d28be5d094dff083d411d8edeef2d5604
--- /dev/null
+++ b/Marigold-main/src/util/seeding.py
@@ -0,0 +1,54 @@
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+
+import numpy as np
+import random
+import torch
+import logging
+
+
+def seed_all(seed: int = 0):
+ """
+ Set random seeds of all components.
+ """
+ random.seed(seed)
+ np.random.seed(seed)
+ torch.manual_seed(seed)
+ torch.cuda.manual_seed_all(seed)
+
+
+def generate_seed_sequence(
+ initial_seed: int,
+ length: int,
+ min_val=-0x8000_0000_0000_0000,
+ max_val=0xFFFF_FFFF_FFFF_FFFF,
+):
+ if initial_seed is None:
+ logging.warning("initial_seed is None, reproducibility is not guaranteed")
+ random.seed(initial_seed)
+
+ seed_sequence = []
+
+ for _ in range(length):
+ seed = random.randint(min_val, max_val)
+
+ seed_sequence.append(seed)
+
+ return seed_sequence
diff --git a/Marigold-main/src/util/slurm_util.py b/Marigold-main/src/util/slurm_util.py
new file mode 100644
index 0000000000000000000000000000000000000000..a983d86c03f11569add80001d230aced342ceeac
--- /dev/null
+++ b/Marigold-main/src/util/slurm_util.py
@@ -0,0 +1,15 @@
+# Author: Bingxin Ke
+# Last modified: 2024-02-22
+
+import os
+
+
+def is_on_slurm():
+ cluster_name = os.getenv("SLURM_CLUSTER_NAME")
+ is_on_slurm = cluster_name is not None
+ return is_on_slurm
+
+
+def get_local_scratch_dir():
+ local_scratch_dir = os.getenv("TMPDIR")
+ return local_scratch_dir
diff --git a/Marigold-main/train.py b/Marigold-main/train.py
new file mode 100644
index 0000000000000000000000000000000000000000..47bd87d60c0967f2044c98df9ddb6754debe2eb8
--- /dev/null
+++ b/Marigold-main/train.py
@@ -0,0 +1,363 @@
+# An official reimplemented version of Marigold training script
+# Last modified: 2024-05-17
+#
+# Copyright 2023 Bingxin Ke, ETH Zurich. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# --------------------------------------------------------------------------
+# If you find this code useful, we kindly ask you to cite our paper in your work.
+# Please find bibtex at: https://github.com/prs-eth/Marigold#-citation
+# More information about the method can be found at https://marigoldmonodepth.github.io
+# --------------------------------------------------------------------------
+
+import argparse
+import logging
+import os
+import shutil
+from datetime import datetime, timedelta
+from typing import List
+
+import torch
+from omegaconf import OmegaConf
+from torch.utils.data import ConcatDataset, DataLoader
+from tqdm import tqdm
+
+from marigold.marigold_pipeline import MarigoldPipeline
+from src.dataset import BaseDepthDataset, DatasetMode, get_dataset
+from src.dataset.mixed_sampler import MixedBatchSampler
+from src.trainer import get_trainer_cls
+from src.util.config_util import (
+ find_value_in_omegaconf,
+ recursive_load_config,
+)
+from src.util.depth_transform import (
+ DepthNormalizerBase,
+ get_depth_normalizer,
+)
+from src.util.logging_util import (
+ config_logging,
+ init_wandb,
+ load_wandb_job_id,
+ log_slurm_job_id,
+ save_wandb_job_id,
+ tb_logger,
+)
+from src.util.slurm_util import get_local_scratch_dir, is_on_slurm
+
+if "__main__" == __name__:
+ t_start = datetime.now()
+ print(f"start at {t_start}")
+
+ # -------------------- Arguments --------------------
+ parser = argparse.ArgumentParser(description="Train your cute model!")
+ parser.add_argument(
+ "--config",
+ type=str,
+ default="config/train_marigold.yaml",
+ help="Path to config file.",
+ )
+ parser.add_argument(
+ "--resume_run",
+ action="store",
+ default=None,
+ help="Path of checkpoint to be resumed. If given, will ignore --config, and checkpoint in the config",
+ )
+ parser.add_argument(
+ "--output_dir", type=str, default=None, help="directory to save checkpoints"
+ )
+ parser.add_argument("--no_cuda", action="store_true", help="Do not use cuda.")
+ parser.add_argument(
+ "--exit_after",
+ type=int,
+ default=-1,
+ help="Save checkpoint and exit after X minutes.",
+ )
+ parser.add_argument("--no_wandb", action="store_true", help="run without wandb")
+ parser.add_argument(
+ "--do_not_copy_data",
+ action="store_true",
+ help="On Slurm cluster, do not copy data to local scratch",
+ )
+ parser.add_argument(
+ "--base_data_dir", type=str, default=None, help="directory of training data"
+ )
+ parser.add_argument(
+ "--base_ckpt_dir",
+ type=str,
+ default=None,
+ help="directory of pretrained checkpoint",
+ )
+ parser.add_argument(
+ "--add_datetime_prefix",
+ action="store_true",
+ help="Add datetime to the output folder name",
+ )
+
+ args = parser.parse_args()
+ resume_run = args.resume_run
+ output_dir = args.output_dir
+ base_data_dir = (
+ args.base_data_dir
+ if args.base_data_dir is not None
+ else os.environ["BASE_DATA_DIR"]
+ )
+ base_ckpt_dir = (
+ args.base_ckpt_dir
+ if args.base_ckpt_dir is not None
+ else os.environ["BASE_CKPT_DIR"]
+ )
+
+ # -------------------- Initialization --------------------
+ # Resume previous run
+ if resume_run is not None:
+ print(f"Resume run: {resume_run}")
+ out_dir_run = os.path.dirname(os.path.dirname(resume_run))
+ job_name = os.path.basename(out_dir_run)
+ # Resume config file
+ cfg = OmegaConf.load(os.path.join(out_dir_run, "config.yaml"))
+ else:
+ # Run from start
+ cfg = recursive_load_config(args.config)
+ # Full job name
+ pure_job_name = os.path.basename(args.config).split(".")[0]
+ # Add time prefix
+ if args.add_datetime_prefix:
+ job_name = f"{t_start.strftime('%y_%m_%d-%H_%M_%S')}-{pure_job_name}"
+ else:
+ job_name = pure_job_name
+
+ # Output dir
+ if output_dir is not None:
+ out_dir_run = os.path.join(output_dir, job_name)
+ else:
+ out_dir_run = os.path.join("./output", job_name)
+ os.makedirs(out_dir_run, exist_ok=False)
+
+ cfg_data = cfg.dataset
+
+ # Other directories
+ out_dir_ckpt = os.path.join(out_dir_run, "checkpoint")
+ if not os.path.exists(out_dir_ckpt):
+ os.makedirs(out_dir_ckpt)
+ out_dir_tb = os.path.join(out_dir_run, "tensorboard")
+ if not os.path.exists(out_dir_tb):
+ os.makedirs(out_dir_tb)
+ out_dir_eval = os.path.join(out_dir_run, "evaluation")
+ if not os.path.exists(out_dir_eval):
+ os.makedirs(out_dir_eval)
+ out_dir_vis = os.path.join(out_dir_run, "visualization")
+ if not os.path.exists(out_dir_vis):
+ os.makedirs(out_dir_vis)
+
+ # -------------------- Logging settings --------------------
+ config_logging(cfg.logging, out_dir=out_dir_run)
+ logging.debug(f"config: {cfg}")
+
+ # Initialize wandb
+ if not args.no_wandb:
+ if resume_run is not None:
+ wandb_id = load_wandb_job_id(out_dir_run)
+ wandb_cfg_dic = {
+ "id": wandb_id,
+ "resume": "must",
+ **cfg.wandb,
+ }
+ else:
+ wandb_cfg_dic = {
+ "config": dict(cfg),
+ "name": job_name,
+ "mode": "online",
+ **cfg.wandb,
+ }
+ wandb_cfg_dic.update({"dir": out_dir_run})
+ wandb_run = init_wandb(enable=True, **wandb_cfg_dic)
+ save_wandb_job_id(wandb_run, out_dir_run)
+ else:
+ init_wandb(enable=False)
+
+ # Tensorboard (should be initialized after wandb)
+ tb_logger.set_dir(out_dir_tb)
+
+ log_slurm_job_id(step=0)
+
+ # -------------------- Device --------------------
+ cuda_avail = torch.cuda.is_available() and not args.no_cuda
+ device = torch.device("cuda" if cuda_avail else "cpu")
+ logging.info(f"device = {device}")
+
+ # -------------------- Snapshot of code and config --------------------
+ if resume_run is None:
+ _output_path = os.path.join(out_dir_run, "config.yaml")
+ with open(_output_path, "w+") as f:
+ OmegaConf.save(config=cfg, f=f)
+ logging.info(f"Config saved to {_output_path}")
+ # Copy and tar code on the first run
+ _temp_code_dir = os.path.join(out_dir_run, "code_tar")
+ _code_snapshot_path = os.path.join(out_dir_run, "code_snapshot.tar")
+ os.system(
+ f"rsync --relative -arhvz --quiet --filter=':- .gitignore' --exclude '.git' . '{_temp_code_dir}'"
+ )
+ os.system(f"tar -cf {_code_snapshot_path} {_temp_code_dir}")
+ os.system(f"rm -rf {_temp_code_dir}")
+ logging.info(f"Code snapshot saved to: {_code_snapshot_path}")
+
+ # -------------------- Copy data to local scratch (Slurm) --------------------
+ if is_on_slurm() and (not args.do_not_copy_data):
+ # local scratch dir
+ original_data_dir = base_data_dir
+ base_data_dir = os.path.join(get_local_scratch_dir(), "Marigold_data")
+ # copy data
+ required_data_list = find_value_in_omegaconf("dir", cfg_data)
+ # if cfg_train.visualize.init_latent_path is not None:
+ # required_data_list.append(cfg_train.visualize.init_latent_path)
+ required_data_list = list(set(required_data_list))
+ logging.info(f"Required_data_list: {required_data_list}")
+ for d in tqdm(required_data_list, desc="Copy data to local scratch"):
+ ori_dir = os.path.join(original_data_dir, d)
+ dst_dir = os.path.join(base_data_dir, d)
+ os.makedirs(os.path.dirname(dst_dir), exist_ok=True)
+ if os.path.isfile(ori_dir):
+ shutil.copyfile(ori_dir, dst_dir)
+ elif os.path.isdir(ori_dir):
+ shutil.copytree(ori_dir, dst_dir)
+ logging.info(f"Data copied to: {base_data_dir}")
+
+ # -------------------- Gradient accumulation steps --------------------
+ eff_bs = cfg.dataloader.effective_batch_size
+ accumulation_steps = eff_bs / cfg.dataloader.max_train_batch_size
+ assert int(accumulation_steps) == accumulation_steps
+ accumulation_steps = int(accumulation_steps)
+
+ logging.info(
+ f"Effective batch size: {eff_bs}, accumulation steps: {accumulation_steps}"
+ )
+
+ # -------------------- Data --------------------
+ loader_seed = cfg.dataloader.seed
+ if loader_seed is None:
+ loader_generator = None
+ else:
+ loader_generator = torch.Generator().manual_seed(loader_seed)
+
+ # Training dataset
+ depth_transform: DepthNormalizerBase = get_depth_normalizer(
+ cfg_normalizer=cfg.depth_normalization
+ )
+ train_dataset: BaseDepthDataset = get_dataset(
+ cfg_data.train,
+ base_data_dir=base_data_dir,
+ mode=DatasetMode.TRAIN,
+ augmentation_args=cfg.augmentation,
+ depth_transform=depth_transform,
+ )
+ logging.debug("Augmentation: ", cfg.augmentation)
+ if "mixed" == cfg_data.train.name:
+ dataset_ls = train_dataset
+ assert len(cfg_data.train.prob_ls) == len(
+ dataset_ls
+ ), "Lengths don't match: `prob_ls` and `dataset_list`"
+ concat_dataset = ConcatDataset(dataset_ls)
+ mixed_sampler = MixedBatchSampler(
+ src_dataset_ls=dataset_ls,
+ batch_size=cfg.dataloader.max_train_batch_size,
+ drop_last=True,
+ prob=cfg_data.train.prob_ls,
+ shuffle=True,
+ generator=loader_generator,
+ )
+ train_loader = DataLoader(
+ concat_dataset,
+ batch_sampler=mixed_sampler,
+ num_workers=cfg.dataloader.num_workers,
+ )
+ else:
+ train_loader = DataLoader(
+ dataset=train_dataset,
+ batch_size=cfg.dataloader.max_train_batch_size,
+ num_workers=cfg.dataloader.num_workers,
+ shuffle=True,
+ generator=loader_generator,
+ )
+ # Validation dataset
+ val_loaders: List[DataLoader] = []
+ for _val_dic in cfg_data.val:
+ _val_dataset = get_dataset(
+ _val_dic,
+ base_data_dir=base_data_dir,
+ mode=DatasetMode.EVAL,
+ )
+ _val_loader = DataLoader(
+ dataset=_val_dataset,
+ batch_size=1,
+ shuffle=False,
+ num_workers=cfg.dataloader.num_workers,
+ )
+ val_loaders.append(_val_loader)
+
+ # Visualization dataset
+ vis_loaders: List[DataLoader] = []
+ for _vis_dic in cfg_data.vis:
+ _vis_dataset = get_dataset(
+ _vis_dic,
+ base_data_dir=base_data_dir,
+ mode=DatasetMode.EVAL,
+ )
+ _vis_loader = DataLoader(
+ dataset=_vis_dataset,
+ batch_size=1,
+ shuffle=False,
+ num_workers=cfg.dataloader.num_workers,
+ )
+ vis_loaders.append(_vis_loader)
+
+ # -------------------- Model --------------------
+ _pipeline_kwargs = cfg.pipeline.kwargs if cfg.pipeline.kwargs is not None else {}
+ model = MarigoldPipeline.from_pretrained(
+ os.path.join(base_ckpt_dir, cfg.model.pretrained_path), **_pipeline_kwargs
+ )
+
+ # -------------------- Trainer --------------------
+ # Exit time
+ if args.exit_after > 0:
+ t_end = t_start + timedelta(minutes=args.exit_after)
+ logging.info(f"Will exit at {t_end}")
+ else:
+ t_end = None
+
+ trainer_cls = get_trainer_cls(cfg.trainer.name)
+ logging.debug(f"Trainer: {trainer_cls}")
+ trainer = trainer_cls(
+ cfg=cfg,
+ model=model,
+ train_dataloader=train_loader,
+ device=device,
+ base_ckpt_dir=base_ckpt_dir,
+ out_dir_ckpt=out_dir_ckpt,
+ out_dir_eval=out_dir_eval,
+ out_dir_vis=out_dir_vis,
+ accumulation_steps=accumulation_steps,
+ val_dataloaders=val_loaders,
+ vis_dataloaders=vis_loaders,
+ )
+
+ # -------------------- Checkpoint --------------------
+ if resume_run is not None:
+ trainer.load_checkpoint(
+ resume_run, load_trainer_state=True, resume_lr_scheduler=True
+ )
+
+ # -------------------- Training & Evaluation Loop --------------------
+ try:
+ trainer.train(t_end=t_end)
+ except Exception as e:
+ logging.exception(e)