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 + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + 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/๐Ÿค—%20Hugging%20Face%20(LCM)-Space-yellow)](https://huggingface.co/spaces/prs-eth/marigold-lcm) +[![Hugging Face (LCM) Model](https://img.shields.io/badge/๐Ÿค—%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) + +## ๐Ÿ“ข 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). + +## ๐Ÿš€ Usage + +**We offer several ways to interact with Marigold**: + +1. We integrated [Marigold Pipelines into diffusers ๐Ÿงจ](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. + +## ๐Ÿ› ๏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) + +### ๐Ÿชง 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. + +### ๐Ÿ“ฆ Repository + +Clone the repository (requires git): + +```bash +git clone https://github.com/prs-eth/Marigold.git +cd Marigold +``` + +### ๐Ÿ’ป 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. + +## ๐Ÿƒ Testing on your images + +### ๐Ÿ“ท 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. + +### ๐Ÿš€ 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 + ``` + +### ๐ŸŽฎ 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! + +### โš™๏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 +``` + +## ๐Ÿฆฟ 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 ${BASE_DATA_DIR} https://share.phys.ethz.ch/~pf/bingkedata/marigold/evaluation_dataset/ +``` + +Run inference and evaluation scripts, for example: + +```bash +# Run inference +bash script/eval/11_infer_nyu.sh + +# Evaluate predictions +bash script/eval/12_eval_nyu.sh +``` + +Note: although the seed has been set, the results might still be slightly different on different hardware. + +## ๐Ÿ‹๏ธ Training + +Based on the previously created environment, install extended requirements: + +```bash +pip install -r requirements++.txt -r requirements+.txt -r requirements.txt +``` + +Set environment parameters for the data directory: + +```bash +export BASE_DATA_DIR=YOUR_DATA_DIR # directory of training data +export BASE_CKPT_DIR=YOUR_CHECKPOINT_DIR # directory of pretrained checkpoint +``` + +Download Stable Diffusion v2 [checkpoint](https://huggingface.co/stabilityai/stable-diffusion-2) into `${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 `${BASE_DATA_DIR}`. Please refer to [this README](script/dataset_preprocess/hypersim/README.md) for Hypersim preprocessing. + +Run training script + +```bash +python train.py --config config/train_marigold.yaml +``` + +Resume from a checkpoint, e.g. + +```bash +python train.py --resume_run output/marigold_base/checkpoint/latest +``` + +Evaluating results + +Only the U-Net is updated and saved during training. To use the inference pipeline with your training result, replace `unet` folder in Marigold checkpoints with that in the `checkpoint` output folder. Then refer to [this section](#evaluation) for evaluation. + +**Note**: Although random seeds have been set, the training result might be slightly different on different hardwares. It's recommended to train without interruption. + +## โœ๏ธ Contributing + +Please refer to [this](CONTRIBUTING.md) instruction. + +## ๐Ÿค” Troubleshooting + +| Problem | Solution | +|----------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------| +| (Windows) Invalid DOS bash script on WSL | Run `dos2unix ` to convert script format | +| (Windows) error on WSL: `Could not load library libcudnn_cnn_infer.so.8. Error: libcuda.so: cannot open shared object file: No such file or directory` | Run `export LD_LIBRARY_PATH=/usr/lib/wsl/lib:$LD_LIBRARY_PATH` | + + +## ๐ŸŽ“ 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} +} +``` + +## ๐ŸŽซ 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 @@ +indoors/scene_00021/scan_00189/00021_00189_indoors_200_010.png indoors/scene_00021/scan_00189/00021_00189_indoors_200_010_depth.npy indoors/scene_00021/scan_00189/00021_00189_indoors_200_010_depth_mask.npy +indoors/scene_00021/scan_00189/00021_00189_indoors_240_030.png indoors/scene_00021/scan_00189/00021_00189_indoors_240_030_depth.npy 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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 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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)