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import torch
import torch.nn as nn
import torch.nn.functional as F
from torch.autograd import Variable
import os
os.environ['PYTHON_EGG_CACHE'] = 'tmp/' # a writable directory
import numpy as np
import math
import pdb
import time
from .submodule import pspnet, bfmodule, conv
from .conv4d import sepConv4d, sepConv4dBlock, butterfly4D
class flow_reg(nn.Module):
"""
Soft winner-take-all that selects the most likely diplacement.
Set ent=True to enable entropy output.
Set maxdisp to adjust maximum allowed displacement towards one side.
maxdisp=4 searches for a 9x9 region.
Set fac to squeeze search window.
maxdisp=4 and fac=2 gives search window of 9x5
"""
def __init__(self, size, ent=False, maxdisp = int(4), fac=1):
B,W,H = size
super(flow_reg, self).__init__()
self.ent = ent
self.md = maxdisp
self.fac = fac
self.truncated = True
self.wsize = 3 # by default using truncation 7x7
flowrangey = range(-maxdisp,maxdisp+1)
flowrangex = range(-int(maxdisp//self.fac),int(maxdisp//self.fac)+1)
meshgrid = np.meshgrid(flowrangex,flowrangey)
flowy = np.tile( np.reshape(meshgrid[0],[1,2*maxdisp+1,2*int(maxdisp//self.fac)+1,1,1]), (B,1,1,H,W) )
flowx = np.tile( np.reshape(meshgrid[1],[1,2*maxdisp+1,2*int(maxdisp//self.fac)+1,1,1]), (B,1,1,H,W) )
self.register_buffer('flowx',torch.Tensor(flowx))
self.register_buffer('flowy',torch.Tensor(flowy))
self.pool3d = nn.MaxPool3d((self.wsize*2+1,self.wsize*2+1,1),stride=1,padding=(self.wsize,self.wsize,0))
def forward(self, x):
b,u,v,h,w = x.shape
oldx = x
if self.truncated:
# truncated softmax
x = x.view(b,u*v,h,w)
idx = x.argmax(1)[:,np.newaxis]
if x.is_cuda:
mask = Variable(torch.cuda.HalfTensor(b,u*v,h,w)).fill_(0)
else:
mask = Variable(torch.FloatTensor(b,u*v,h,w)).fill_(0)
mask.scatter_(1,idx,1)
mask = mask.view(b,1,u,v,-1)
mask = self.pool3d(mask)[:,0].view(b,u,v,h,w)
ninf = x.clone().fill_(-np.inf).view(b,u,v,h,w)
x = torch.where(mask.byte(),oldx,ninf)
else:
self.wsize = (np.sqrt(u*v)-1)/2
b,u,v,h,w = x.shape
x = F.softmax(x.view(b,-1,h,w),1).view(b,u,v,h,w)
outx = torch.sum(torch.sum(x*self.flowx,1),1,keepdim=True)
outy = torch.sum(torch.sum(x*self.flowy,1),1,keepdim=True)
if self.ent:
# local
local_entropy = (-x*torch.clamp(x,1e-9,1-1e-9).log()).sum(1).sum(1)[:,np.newaxis]
if self.wsize == 0:
local_entropy[:] = 1.
else:
local_entropy /= np.log((self.wsize*2+1)**2)
# global
x = F.softmax(oldx.view(b,-1,h,w),1).view(b,u,v,h,w)
global_entropy = (-x*torch.clamp(x,1e-9,1-1e-9).log()).sum(1).sum(1)[:,np.newaxis]
global_entropy /= np.log(x.shape[1]*x.shape[2])
return torch.cat([outx,outy],1),torch.cat([local_entropy, global_entropy],1)
else:
return torch.cat([outx,outy],1),None
class WarpModule(nn.Module):
"""
taken from https://github.com/NVlabs/PWC-Net/blob/master/PyTorch/models/PWCNet.py
"""
def __init__(self, size):
super(WarpModule, self).__init__()
B,W,H = size
# mesh grid
xx = torch.arange(0, W).view(1,-1).repeat(H,1)
yy = torch.arange(0, H).view(-1,1).repeat(1,W)
xx = xx.view(1,1,H,W).repeat(B,1,1,1)
yy = yy.view(1,1,H,W).repeat(B,1,1,1)
self.register_buffer('grid',torch.cat((xx,yy),1).float())
def forward(self, x, flo):
"""
warp an image/tensor (im2) back to im1, according to the optical flow
x: [B, C, H, W] (im2)
flo: [B, 2, H, W] flow
"""
B, C, H, W = x.size()
vgrid = self.grid + flo
# scale grid to [-1,1]
vgrid[:,0,:,:] = 2.0*vgrid[:,0,:,:]/max(W-1,1)-1.0
vgrid[:,1,:,:] = 2.0*vgrid[:,1,:,:]/max(H-1,1)-1.0
vgrid = vgrid.permute(0,2,3,1)
output = nn.functional.grid_sample(x, vgrid,align_corners=True)
mask = ((vgrid[:,:,:,0].abs()<1) * (vgrid[:,:,:,1].abs()<1)) >0
return output*mask.unsqueeze(1).float(), mask
def get_grid(B,H,W):
meshgrid_base = np.meshgrid(range(0,W), range(0,H))[::-1]
basey = np.reshape(meshgrid_base[0],[1,1,1,H,W])
basex = np.reshape(meshgrid_base[1],[1,1,1,H,W])
grid = torch.tensor(np.concatenate((basex.reshape((-1,H,W,1)),basey.reshape((-1,H,W,1))),-1)).cuda().float()
return grid.view(1,1,H,W,2)
class VCN(nn.Module):
"""
VCN.
md defines maximum displacement for each level, following a coarse-to-fine-warping scheme
fac defines squeeze parameter for the coarsest level
"""
def __init__(self, size, md=[4,4,4,4,4], fac=1.,exp_unc=False): # exp_uncertainty
super(VCN,self).__init__()
self.md = md
self.fac = fac
use_entropy = True
withbn = True
## pspnet
self.pspnet = pspnet(is_proj=False)
### Volumetric-UNet
fdima1 = 128 # 6/5/4
fdima2 = 64 # 3/2
fdimb1 = 16 # 6/5/4/3
fdimb2 = 12 # 2
full=False
self.f6 = butterfly4D(fdima1, fdimb1,withbn=withbn,full=full)
self.p6 = sepConv4d(fdimb1,fdimb1, with_bn=False, full=full)
self.f5 = butterfly4D(fdima1, fdimb1,withbn=withbn, full=full)
self.p5 = sepConv4d(fdimb1,fdimb1, with_bn=False,full=full)
self.f4 = butterfly4D(fdima1, fdimb1,withbn=withbn,full=full)
self.p4 = sepConv4d(fdimb1,fdimb1, with_bn=False,full=full)
self.f3 = butterfly4D(fdima2, fdimb1,withbn=withbn,full=full)
self.p3 = sepConv4d(fdimb1,fdimb1, with_bn=False,full=full)
full=True
self.f2 = butterfly4D(fdima2, fdimb2,withbn=withbn,full=full)
self.p2 = sepConv4d(fdimb2,fdimb2, with_bn=False,full=full)
self.flow_reg64 = flow_reg([fdimb1*size[0],size[1]//64,size[2]//64], ent=use_entropy, maxdisp=self.md[0], fac=self.fac)
self.flow_reg32 = flow_reg([fdimb1*size[0],size[1]//32,size[2]//32], ent=use_entropy, maxdisp=self.md[1])
self.flow_reg16 = flow_reg([fdimb1*size[0],size[1]//16,size[2]//16], ent=use_entropy, maxdisp=self.md[2])
self.flow_reg8 = flow_reg([fdimb1*size[0],size[1]//8,size[2]//8] , ent=use_entropy, maxdisp=self.md[3])
self.flow_reg4 = flow_reg([fdimb2*size[0],size[1]//4,size[2]//4] , ent=use_entropy, maxdisp=self.md[4])
self.warp5 = WarpModule([size[0],size[1]//32,size[2]//32])
self.warp4 = WarpModule([size[0],size[1]//16,size[2]//16])
self.warp3 = WarpModule([size[0],size[1]//8,size[2]//8])
self.warp2 = WarpModule([size[0],size[1]//4,size[2]//4])
## hypotheses fusion modules, adopted from the refinement module of PWCNet
# https://github.com/NVlabs/PWC-Net/blob/master/PyTorch/models/PWCNet.py
# c6
self.dc6_conv1 = conv(128+4*fdimb1, 128, kernel_size=3, stride=1, padding=1, dilation=1)
self.dc6_conv2 = conv(128, 128, kernel_size=3, stride=1, padding=2, dilation=2)
self.dc6_conv3 = conv(128, 128, kernel_size=3, stride=1, padding=4, dilation=4)
self.dc6_conv4 = conv(128, 96, kernel_size=3, stride=1, padding=8, dilation=8)
self.dc6_conv5 = conv(96, 64, kernel_size=3, stride=1, padding=16, dilation=16)
self.dc6_conv6 = conv(64, 32, kernel_size=3, stride=1, padding=1, dilation=1)
self.dc6_conv7 = nn.Conv2d(32,2*fdimb1,kernel_size=3,stride=1,padding=1,bias=True)
# c5
self.dc5_conv1 = conv(128+4*fdimb1*2, 128, kernel_size=3, stride=1, padding=1, dilation=1)
self.dc5_conv2 = conv(128, 128, kernel_size=3, stride=1, padding=2, dilation=2)
self.dc5_conv3 = conv(128, 128, kernel_size=3, stride=1, padding=4, dilation=4)
self.dc5_conv4 = conv(128, 96, kernel_size=3, stride=1, padding=8, dilation=8)
self.dc5_conv5 = conv(96, 64, kernel_size=3, stride=1, padding=16, dilation=16)
self.dc5_conv6 = conv(64, 32, kernel_size=3, stride=1, padding=1, dilation=1)
self.dc5_conv7 = nn.Conv2d(32,2*fdimb1*2,kernel_size=3,stride=1,padding=1,bias=True)
# c4
self.dc4_conv1 = conv(128+4*fdimb1*3, 128, kernel_size=3, stride=1, padding=1, dilation=1)
self.dc4_conv2 = conv(128, 128, kernel_size=3, stride=1, padding=2, dilation=2)
self.dc4_conv3 = conv(128, 128, kernel_size=3, stride=1, padding=4, dilation=4)
self.dc4_conv4 = conv(128, 96, kernel_size=3, stride=1, padding=8, dilation=8)
self.dc4_conv5 = conv(96, 64, kernel_size=3, stride=1, padding=16, dilation=16)
self.dc4_conv6 = conv(64, 32, kernel_size=3, stride=1, padding=1, dilation=1)
self.dc4_conv7 = nn.Conv2d(32,2*fdimb1*3,kernel_size=3,stride=1,padding=1,bias=True)
# c3
self.dc3_conv1 = conv(64+16*fdimb1, 128, kernel_size=3, stride=1, padding=1, dilation=1)
self.dc3_conv2 = conv(128, 128, kernel_size=3, stride=1, padding=2, dilation=2)
self.dc3_conv3 = conv(128, 128, kernel_size=3, stride=1, padding=4, dilation=4)
self.dc3_conv4 = conv(128, 96, kernel_size=3, stride=1, padding=8, dilation=8)
self.dc3_conv5 = conv(96, 64, kernel_size=3, stride=1, padding=16, dilation=16)
self.dc3_conv6 = conv(64, 32, kernel_size=3, stride=1, padding=1, dilation=1)
self.dc3_conv7 = nn.Conv2d(32,8*fdimb1,kernel_size=3,stride=1,padding=1,bias=True)
# c2
self.dc2_conv1 = conv(64+16*fdimb1+4*fdimb2, 128, kernel_size=3, stride=1, padding=1, dilation=1)
self.dc2_conv2 = conv(128, 128, kernel_size=3, stride=1, padding=2, dilation=2)
self.dc2_conv3 = conv(128, 128, kernel_size=3, stride=1, padding=4, dilation=4)
self.dc2_conv4 = conv(128, 96, kernel_size=3, stride=1, padding=8, dilation=8)
self.dc2_conv5 = conv(96, 64, kernel_size=3, stride=1, padding=16, dilation=16)
self.dc2_conv6 = conv(64, 32, kernel_size=3, stride=1, padding=1, dilation=1)
self.dc2_conv7 = nn.Conv2d(32,4*2*fdimb1 + 2*fdimb2,kernel_size=3,stride=1,padding=1,bias=True)
self.dc6_conv = nn.Sequential( self.dc6_conv1,
self.dc6_conv2,
self.dc6_conv3,
self.dc6_conv4,
self.dc6_conv5,
self.dc6_conv6,
self.dc6_conv7)
self.dc5_conv = nn.Sequential( self.dc5_conv1,
self.dc5_conv2,
self.dc5_conv3,
self.dc5_conv4,
self.dc5_conv5,
self.dc5_conv6,
self.dc5_conv7)
self.dc4_conv = nn.Sequential( self.dc4_conv1,
self.dc4_conv2,
self.dc4_conv3,
self.dc4_conv4,
self.dc4_conv5,
self.dc4_conv6,
self.dc4_conv7)
self.dc3_conv = nn.Sequential( self.dc3_conv1,
self.dc3_conv2,
self.dc3_conv3,
self.dc3_conv4,
self.dc3_conv5,
self.dc3_conv6,
self.dc3_conv7)
self.dc2_conv = nn.Sequential( self.dc2_conv1,
self.dc2_conv2,
self.dc2_conv3,
self.dc2_conv4,
self.dc2_conv5,
self.dc2_conv6,
self.dc2_conv7)
## Out-of-range detection
self.dc6_convo = nn.Sequential(conv(128+4*fdimb1, 128, kernel_size=3, stride=1, padding=1, dilation=1),
conv(128, 128, kernel_size=3, stride=1, padding=2, dilation=2),
conv(128, 128, kernel_size=3, stride=1, padding=4, dilation=4),
conv(128, 96, kernel_size=3, stride=1, padding=8, dilation=8),
conv(96, 64, kernel_size=3, stride=1, padding=16, dilation=16),
conv(64, 32, kernel_size=3, stride=1, padding=1, dilation=1),
nn.Conv2d(32,1,kernel_size=3,stride=1,padding=1,bias=True))
self.dc5_convo = nn.Sequential(conv(128+2*4*fdimb1, 128, kernel_size=3, stride=1, padding=1, dilation=1),
conv(128, 128, kernel_size=3, stride=1, padding=2, dilation=2),
conv(128, 128, kernel_size=3, stride=1, padding=4, dilation=4),
conv(128, 96, kernel_size=3, stride=1, padding=8, dilation=8),
conv(96, 64, kernel_size=3, stride=1, padding=16, dilation=16),
conv(64, 32, kernel_size=3, stride=1, padding=1, dilation=1),
nn.Conv2d(32,1,kernel_size=3,stride=1,padding=1,bias=True))
self.dc4_convo = nn.Sequential(conv(128+3*4*fdimb1, 128, kernel_size=3, stride=1, padding=1, dilation=1),
conv(128, 128, kernel_size=3, stride=1, padding=2, dilation=2),
conv(128, 128, kernel_size=3, stride=1, padding=4, dilation=4),
conv(128, 96, kernel_size=3, stride=1, padding=8, dilation=8),
conv(96, 64, kernel_size=3, stride=1, padding=16, dilation=16),
conv(64, 32, kernel_size=3, stride=1, padding=1, dilation=1),
nn.Conv2d(32,1,kernel_size=3,stride=1,padding=1,bias=True))
self.dc3_convo = nn.Sequential(conv(64+16*fdimb1, 128, kernel_size=3, stride=1, padding=1, dilation=1),
conv(128, 128, kernel_size=3, stride=1, padding=2, dilation=2),
conv(128, 128, kernel_size=3, stride=1, padding=4, dilation=4),
conv(128, 96, kernel_size=3, stride=1, padding=8, dilation=8),
conv(96, 64, kernel_size=3, stride=1, padding=16, dilation=16),
conv(64, 32, kernel_size=3, stride=1, padding=1, dilation=1),
nn.Conv2d(32,1,kernel_size=3,stride=1,padding=1,bias=True))
self.dc2_convo = nn.Sequential(conv(64+16*fdimb1+4*fdimb2, 128, kernel_size=3, stride=1, padding=1, dilation=1),
conv(128, 128, kernel_size=3, stride=1, padding=2, dilation=2),
conv(128, 128, kernel_size=3, stride=1, padding=4, dilation=4),
conv(128, 96, kernel_size=3, stride=1, padding=8, dilation=8),
conv(96, 64, kernel_size=3, stride=1, padding=16, dilation=16),
conv(64, 32, kernel_size=3, stride=1, padding=1, dilation=1),
nn.Conv2d(32,1,kernel_size=3,stride=1,padding=1,bias=True))
# affine-exp
self.f3d2v1 = conv(64, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.f3d2v2 = conv(1, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.f3d2v3 = conv(1, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.f3d2v4 = conv(1, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.f3d2v5 = conv(64, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.f3d2v6 = conv(12*81, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.f3d2 = bfmodule(128-64,1)
# depth change net
self.dcnetv1 = conv(64, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.dcnetv2 = conv(1, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.dcnetv3 = conv(1, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.dcnetv4 = conv(1, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.dcnetv5 = conv(12*81, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
self.dcnetv6 = conv(4, 32, kernel_size=3, stride=1, padding=1,dilation=1) #
if exp_unc:
self.dcnet = bfmodule(128,2)
else:
self.dcnet = bfmodule(128,1)
for m in self.modules():
if isinstance(m, nn.Conv3d):
n = m.kernel_size[0] * m.kernel_size[1]*m.kernel_size[2] * m.out_channels
m.weight.data.normal_(0, math.sqrt(2. / n))
if hasattr(m.bias,'data'):
m.bias.data.zero_()
self.facs = [self.fac,1,1,1,1]
self.warp_modules = nn.ModuleList([None, self.warp5, self.warp4, self.warp3, self.warp2])
self.f_modules = nn.ModuleList([self.f6, self.f5, self.f4, self.f3, self.f2])
self.p_modules = nn.ModuleList([self.p6, self.p5, self.p4, self.p3, self.p2])
self.reg_modules = nn.ModuleList([self.flow_reg64, self.flow_reg32, self.flow_reg16, self.flow_reg8, self.flow_reg4])
self.oor_modules = nn.ModuleList([self.dc6_convo, self.dc5_convo, self.dc4_convo, self.dc3_convo, self.dc2_convo])
self.fuse_modules = nn.ModuleList([self.dc6_conv, self.dc5_conv, self.dc4_conv, self.dc3_conv, self.dc2_conv])
def corrf(self, refimg_fea, targetimg_fea,maxdisp, fac=1):
"""
slow correlation function
"""
b,c,height,width = refimg_fea.shape
if refimg_fea.is_cuda:
cost = Variable(torch.cuda.FloatTensor(b,c,2*maxdisp+1,2*int(maxdisp//fac)+1,height,width)).fill_(0.) # b,c,u,v,h,w
else:
cost = Variable(torch.FloatTensor(b,c,2*maxdisp+1,2*int(maxdisp//fac)+1,height,width)).fill_(0.) # b,c,u,v,h,w
for i in range(2*maxdisp+1):
ind = i-maxdisp
for j in range(2*int(maxdisp//fac)+1):
indd = j-int(maxdisp//fac)
feata = refimg_fea[:,:,max(0,-indd):height-indd,max(0,-ind):width-ind]
featb = targetimg_fea[:,:,max(0,+indd):height+indd,max(0,ind):width+ind]
diff = (feata*featb)
cost[:, :, i,j,max(0,-indd):height-indd,max(0,-ind):width-ind] = diff # standard
cost = F.leaky_relu(cost, 0.1,inplace=True)
return cost
def cost_matching(self,up_flow, c1, c2, flowh, enth, level):
"""
up_flow: upsample coarse flow
c1: normalized feature of image 1
c2: normalized feature of image 2
flowh: flow hypotheses
enth: entropy
"""
# normalize
c1n = c1 / (c1.norm(dim=1, keepdim=True)+1e-9)
c2n = c2 / (c2.norm(dim=1, keepdim=True)+1e-9)
# cost volume
if level == 0:
warp = c2n
else:
warp,_ = self.warp_modules[level](c2n, up_flow)
feat = self.corrf(c1n,warp,self.md[level],fac=self.facs[level])
feat = self.f_modules[level](feat)
cost = self.p_modules[level](feat) # b, 16, u,v,h,w
# soft WTA
b,c,u,v,h,w = cost.shape
cost = cost.view(-1,u,v,h,w) # bx16, 9,9,h,w, also predict uncertainty from here
flowhh,enthh = self.reg_modules[level](cost) # bx16, 2, h, w
flowhh = flowhh.view(b,c,2,h,w)
if level > 0:
flowhh = flowhh + up_flow[:,np.newaxis]
flowhh = flowhh.view(b,-1,h,w) # b, 16*2, h, w
enthh = enthh.view(b,-1,h,w) # b, 16*1, h, w
# append coarse hypotheses
if level == 0:
flowh = flowhh
enth = enthh
else:
flowh = torch.cat((flowhh, F.upsample(flowh.detach()*2, [flowhh.shape[2],flowhh.shape[3]], mode='bilinear')),1) # b, k2--k2, h, w
enth = torch.cat((enthh, F.upsample(enth, [flowhh.shape[2],flowhh.shape[3]], mode='bilinear')),1)
if self.training or level==4:
x = torch.cat((enth.detach(), flowh.detach(), c1),1)
oor = self.oor_modules[level](x)[:,0]
else: oor = None
# hypotheses fusion
x = torch.cat((enth.detach(), flowh.detach(), c1),1)
va = self.fuse_modules[level](x)
va = va.view(b,-1,2,h,w)
flow = ( flowh.view(b,-1,2,h,w) * F.softmax(va,1) ).sum(1) # b, 2k, 2, h, w
return flow, flowh, enth, oor
def affine(self,pref,flow, pw=1):
b,_,lh,lw=flow.shape
ptar = pref + flow
pw = 1
pref = F.unfold(pref, (pw*2+1,pw*2+1), padding=(pw)).view(b,2,(pw*2+1)**2,lh,lw)-pref[:,:,np.newaxis]
ptar = F.unfold(ptar, (pw*2+1,pw*2+1), padding=(pw)).view(b,2,(pw*2+1)**2,lh,lw)-ptar[:,:,np.newaxis] # b, 2,9,h,w
pref = pref.permute(0,3,4,1,2).reshape(b*lh*lw,2,(pw*2+1)**2)
ptar = ptar.permute(0,3,4,1,2).reshape(b*lh*lw,2,(pw*2+1)**2)
prefprefT = pref.matmul(pref.permute(0,2,1))
ppdet = prefprefT[:,0,0]*prefprefT[:,1,1]-prefprefT[:,1,0]*prefprefT[:,0,1]
ppinv = torch.cat((prefprefT[:,1,1:],-prefprefT[:,0,1:], -prefprefT[:,1:,0], prefprefT[:,0:1,0]),1).view(-1,2,2)/ppdet.clamp(1e-10,np.inf)[:,np.newaxis,np.newaxis]
Affine = ptar.matmul(pref.permute(0,2,1)).matmul(ppinv)
Error = (Affine.matmul(pref)-ptar).norm(2,1).mean(1).view(b,1,lh,lw)
Avol = (Affine[:,0,0]*Affine[:,1,1]-Affine[:,1,0]*Affine[:,0,1]).view(b,1,lh,lw).abs().clamp(1e-10,np.inf)
exp = Avol.sqrt()
mask = (exp>0.5) & (exp<2) & (Error<0.1)
mask = mask[:,0]
exp = exp.clamp(0.5,2)
exp[Error>0.1]=1
return exp, Error, mask
def affine_mask(self,pref,flow, pw=3):
"""
pref: reference coordinates
pw: patch width
"""
flmask = flow[:,2:]
flow = flow[:,:2]
b,_,lh,lw=flow.shape
ptar = pref + flow
pref = F.unfold(pref, (pw*2+1,pw*2+1), padding=(pw)).view(b,2,(pw*2+1)**2,lh,lw)-pref[:,:,np.newaxis]
ptar = F.unfold(ptar, (pw*2+1,pw*2+1), padding=(pw)).view(b,2,(pw*2+1)**2,lh,lw)-ptar[:,:,np.newaxis] # b, 2,9,h,w
conf_flow = flmask
conf_flow = F.unfold(conf_flow,(pw*2+1,pw*2+1), padding=(pw)).view(b,1,(pw*2+1)**2,lh,lw)
count = conf_flow.sum(2,keepdims=True)
conf_flow = ((pw*2+1)**2)*conf_flow / count
pref = pref * conf_flow
ptar = ptar * conf_flow
pref = pref.permute(0,3,4,1,2).reshape(b*lh*lw,2,(pw*2+1)**2)
ptar = ptar.permute(0,3,4,1,2).reshape(b*lh*lw,2,(pw*2+1)**2)
prefprefT = pref.matmul(pref.permute(0,2,1))
ppdet = prefprefT[:,0,0]*prefprefT[:,1,1]-prefprefT[:,1,0]*prefprefT[:,0,1]
ppinv = torch.cat((prefprefT[:,1,1:],-prefprefT[:,0,1:], -prefprefT[:,1:,0], prefprefT[:,0:1,0]),1).view(-1,2,2)/ppdet.clamp(1e-10,np.inf)[:,np.newaxis,np.newaxis]
Affine = ptar.matmul(pref.permute(0,2,1)).matmul(ppinv)
Error = (Affine.matmul(pref)-ptar).norm(2,1).mean(1).view(b,1,lh,lw)
Avol = (Affine[:,0,0]*Affine[:,1,1]-Affine[:,1,0]*Affine[:,0,1]).view(b,1,lh,lw).abs().clamp(1e-10,np.inf)
exp = Avol.sqrt()
mask = (exp>0.5) & (exp<2) & (Error<0.2) & (flmask.bool()) & (count[:,0]>4)
mask = mask[:,0]
exp = exp.clamp(0.5,2)
exp[Error>0.2]=1
return exp, Error, mask
def weight_parameters(self):
return [param for name, param in self.named_parameters() if 'weight' in name]
def bias_parameters(self):
return [param for name, param in self.named_parameters() if 'bias' in name]
def forward(self,im,disc_aux=None):
bs = im.shape[0]//2
if self.training and disc_aux[-1]: # if only fine-tuning expansion
reset=True
self.eval()
torch.set_grad_enabled(False)
else: reset=False
c06,c05,c04,c03,c02 = self.pspnet(im)
c16 = c06[:bs]; c26 = c06[bs:]
c15 = c05[:bs]; c25 = c05[bs:]
c14 = c04[:bs]; c24 = c04[bs:]
c13 = c03[:bs]; c23 = c03[bs:]
c12 = c02[:bs]; c22 = c02[bs:]
## matching 6
flow6, flow6h, ent6h, oor6 = self.cost_matching(None, c16, c26, None, None,level=0)
## matching 5
up_flow6 = F.upsample(flow6, [im.size()[2]//32,im.size()[3]//32], mode='bilinear')*2
flow5, flow5h, ent5h, oor5 = self.cost_matching(up_flow6, c15, c25, flow6h, ent6h,level=1)
## matching 4
up_flow5 = F.upsample(flow5, [im.size()[2]//16,im.size()[3]//16], mode='bilinear')*2
flow4, flow4h, ent4h, oor4 = self.cost_matching(up_flow5, c14, c24, flow5h, ent5h,level=2)
## matching 3
up_flow4 = F.upsample(flow4, [im.size()[2]//8,im.size()[3]//8], mode='bilinear')*2
flow3, flow3h, ent3h, oor3 = self.cost_matching(up_flow4, c13, c23, flow4h, ent4h,level=3)
## matching 2
up_flow3 = F.upsample(flow3, [im.size()[2]//4,im.size()[3]//4], mode='bilinear')*2
flow2, flow2h, ent2h, oor2 = self.cost_matching(up_flow3, c12, c22, flow3h, ent3h,level=4)
if reset:
torch.set_grad_enabled(True)
self.train()
# expansion
b,_,h,w = flow2.shape
exp2,err2,_ = self.affine(get_grid(b,h,w)[:,0].permute(0,3,1,2).repeat(b,1,1,1).clone(), flow2.detach(),pw=1)
x = torch.cat((
self.f3d2v2(-exp2.log()),
self.f3d2v3(err2),
),1)
dchange2 = -exp2.log()+1./200*self.f3d2(x)[0]
# depth change net
iexp2 = F.upsample(dchange2.clone(), [im.size()[2],im.size()[3]], mode='bilinear')
x = torch.cat((self.dcnetv1(c12.detach()),
self.dcnetv2(dchange2.detach()),
self.dcnetv3(-exp2.log()),
self.dcnetv4(err2),
),1)
dcneto = 1./200*self.dcnet(x)[0]
dchange2 = dchange2.detach() + dcneto[:,:1]
flow2 = F.upsample(flow2.detach(), [im.size()[2],im.size()[3]], mode='bilinear')*4
dchange2 = F.upsample(dchange2, [im.size()[2],im.size()[3]], mode='bilinear')
if self.training:
flowl0 = disc_aux[0].permute(0,3,1,2).clone()
gt_depth = disc_aux[2][:,:,:,0]
gt_f3d = disc_aux[2][:,:,:,4:7].permute(0,3,1,2).clone()
gt_dchange = (1+gt_f3d[:,2]/gt_depth)
maskdc = (gt_dchange < 2) & (gt_dchange > 0.5) & disc_aux[1]
gt_expi,gt_expi_err,maskoe = self.affine_mask(get_grid(b,4*h,4*w)[:,0].permute(0,3,1,2).repeat(b,1,1,1), flowl0,pw=3)
gt_exp = 1./gt_expi[:,0]
loss = 0.1* (dchange2[:,0]-gt_dchange.log()).abs()[maskdc].mean()
loss += 0.1* (iexp2[:,0]-gt_exp.log()).abs()[maskoe].mean()
return flow2*4, flow3*8,flow4*16,flow5*32,flow6*64,loss, dchange2[:,0], iexp2[:,0]
else:
return flow2, oor2, dchange2, iexp2
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