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|
|
|
| """MidashNet: Network for monocular depth estimation trained by mixing several datasets.
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| This file contains code that is adapted from
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| https://github.com/thomasjpfan/pytorch_refinenet/blob/master/pytorch_refinenet/refinenet/refinenet_4cascade.py
|
| """
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| import torch
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| import torch.nn as nn
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|
|
| from .base_model import BaseModel
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| from .blocks import FeatureFusionBlock, Interpolate, _make_encoder
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|
|
|
|
| class MidasNet(BaseModel):
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| """Network for monocular depth estimation.
|
| """
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| def __init__(self, path=None, features=256, non_negative=True):
|
| """Init.
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|
|
| Args:
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| path (str, optional): Path to saved model. Defaults to None.
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| features (int, optional): Number of features. Defaults to 256.
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| backbone (str, optional): Backbone network for encoder. Defaults to resnet50
|
| """
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| print('Loading weights: ', path)
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|
|
| super(MidasNet, self).__init__()
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|
|
| use_pretrained = False if path is None else True
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|
|
| self.pretrained, self.scratch = _make_encoder(
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| backbone='resnext101_wsl',
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| features=features,
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| use_pretrained=use_pretrained)
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|
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| self.scratch.refinenet4 = FeatureFusionBlock(features)
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| self.scratch.refinenet3 = FeatureFusionBlock(features)
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| self.scratch.refinenet2 = FeatureFusionBlock(features)
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| self.scratch.refinenet1 = FeatureFusionBlock(features)
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|
|
| self.scratch.output_conv = nn.Sequential(
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| nn.Conv2d(features, 128, kernel_size=3, stride=1, padding=1),
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| Interpolate(scale_factor=2, mode='bilinear'),
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| nn.Conv2d(128, 32, kernel_size=3, stride=1, padding=1),
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| nn.ReLU(True),
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| nn.Conv2d(32, 1, kernel_size=1, stride=1, padding=0),
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| nn.ReLU(True) if non_negative else nn.Identity(),
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| )
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|
|
| if path:
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| self.load(path)
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|
|
| def forward(self, x):
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| """Forward pass.
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|
|
| Args:
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| x (tensor): input data (image)
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|
|
| Returns:
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| tensor: depth
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| """
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|
|
| layer_1 = self.pretrained.layer1(x)
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| layer_2 = self.pretrained.layer2(layer_1)
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| layer_3 = self.pretrained.layer3(layer_2)
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| layer_4 = self.pretrained.layer4(layer_3)
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|
|
| layer_1_rn = self.scratch.layer1_rn(layer_1)
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| layer_2_rn = self.scratch.layer2_rn(layer_2)
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| layer_3_rn = self.scratch.layer3_rn(layer_3)
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| layer_4_rn = self.scratch.layer4_rn(layer_4)
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|
|
| path_4 = self.scratch.refinenet4(layer_4_rn)
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| path_3 = self.scratch.refinenet3(path_4, layer_3_rn)
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| path_2 = self.scratch.refinenet2(path_3, layer_2_rn)
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| path_1 = self.scratch.refinenet1(path_2, layer_1_rn)
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|
|
| out = self.scratch.output_conv(path_1)
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|
|
| return torch.squeeze(out, dim=1)
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|
|
