iebins/utils.py

import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.distributed as dist
from torch.utils.data import Sampler
from torchvision import transforms
import matplotlib.pyplot as plt
import os, sys
import numpy as np
import math
import torch


def convert_arg_line_to_args(arg_line):
    for arg in arg_line.split():
        if not arg.strip():
            continue
        yield arg


def block_print():
    sys.stdout = open(os.devnull, 'w')


def enable_print():
    sys.stdout = sys.__stdout__


def get_num_lines(file_path):
    f = open(file_path, 'r')
    lines = f.readlines()
    f.close()
    return len(lines)


def colorize(value, vmin=None, vmax=None, cmap='Greys'):
    value = value.cpu().numpy()[:, :, :]
    value = np.log10(value)

    vmin = value.min() if vmin is None else vmin
    vmax = value.max() if vmax is None else vmax

    if vmin != vmax:
        value = (value - vmin) / (vmax - vmin)
    else:
        value = value*0.

    cmapper = matplotlib.cm.get_cmap(cmap)
    value = cmapper(value, bytes=True)

    img = value[:, :, :3]

    return img.transpose((2, 0, 1))


def normalize_result(value, vmin=None, vmax=None):
    value = value.cpu().numpy()[0, :, :]

    vmin = value.min() if vmin is None else vmin
    vmax = value.max() if vmax is None else vmax

    if vmin != vmax:
        value = (value - vmin) / (vmax - vmin)
    else:
        value = value * 0.

    return np.expand_dims(value, 0)


inv_normalize = transforms.Normalize(
    mean=[-0.485/0.229, -0.456/0.224, -0.406/0.225],
    std=[1/0.229, 1/0.224, 1/0.225]
)


eval_metrics = ['silog', 'abs_rel', 'log10', 'rms', 'sq_rel', 'log_rms', 'd1', 'd2', 'd3']


def compute_errors(gt, pred):
    thresh = np.maximum((gt / pred), (pred / gt))
    d1 = (thresh < 1.25).mean()
    d2 = (thresh < 1.25 ** 2).mean()
    d3 = (thresh < 1.25 ** 3).mean()

    rms = (gt - pred) ** 2
    rms = np.sqrt(rms.mean())

    log_rms = (np.log(gt) - np.log(pred)) ** 2
    log_rms = np.sqrt(log_rms.mean())

    abs_rel = np.mean(np.abs(gt - pred) / gt)
    sq_rel = np.mean(((gt - pred) ** 2) / gt)

    err = np.log(pred) - np.log(gt)
    silog = np.sqrt(np.mean(err ** 2) - np.mean(err) ** 2) * 100

    err = np.abs(np.log10(pred) - np.log10(gt))
    log10 = np.mean(err)

    return [silog, abs_rel, log10, rms, sq_rel, log_rms, d1, d2, d3]


class silog_loss(nn.Module):
    def __init__(self, variance_focus):
        super(silog_loss, self).__init__()
        self.variance_focus = variance_focus

    def forward(self, depth_est, depth_gt, mask):
        d = torch.log(depth_est[mask]) - torch.log(depth_gt[mask])
        return torch.sqrt((d ** 2).mean() - self.variance_focus * (d.mean() ** 2)) * 10.0


def entropy_loss(preds, gt_label, mask):
    # preds: B, C, H, W
    # gt_label: B, H, W
    # mask: B, H, W
    mask = mask > 0.0 # B, H, W
    preds = preds.permute(0, 2, 3, 1) # B, H, W, C
    preds_mask = preds[mask] # N, C
    gt_label_mask = gt_label[mask] # N
    loss = F.cross_entropy(preds_mask, gt_label_mask, reduction='mean')
    return loss


def colormap(inputs, normalize=True, torch_transpose=True):
    if isinstance(inputs, torch.Tensor):
        inputs = inputs.detach().cpu().numpy()
    _DEPTH_COLORMAP = plt.get_cmap('jet', 256)  # for plotting
    vis = inputs
    if normalize:
        ma = float(vis.max())
        mi = float(vis.min())
        d = ma - mi if ma != mi else 1e5
        vis = (vis - mi) / d

    if vis.ndim == 4:
        vis = vis.transpose([0, 2, 3, 1])
        vis = _DEPTH_COLORMAP(vis)
        vis = vis[:, :, :, 0, :3]
        if torch_transpose:
            vis = vis.transpose(0, 3, 1, 2)
    elif vis.ndim == 3:
        vis = _DEPTH_COLORMAP(vis)
        vis = vis[:, :, :, :3]
        if torch_transpose:
            vis = vis.transpose(0, 3, 1, 2)
    elif vis.ndim == 2:
        vis = _DEPTH_COLORMAP(vis)
        vis = vis[..., :3]
        if torch_transpose:
            vis = vis.transpose(2, 0, 1)

    return vis[0,:,:,:]


def colormap_magma(inputs, normalize=True, torch_transpose=True):
    if isinstance(inputs, torch.Tensor):
        inputs = inputs.detach().cpu().numpy()
    _DEPTH_COLORMAP = plt.get_cmap('magma', 256)  # for plotting
    vis = inputs
    if normalize:
        ma = float(vis.max())
        mi = float(vis.min())
        d = ma - mi if ma != mi else 1e5
        vis = (vis - mi) / d

    if vis.ndim == 4:
        vis = vis.transpose([0, 2, 3, 1])
        vis = _DEPTH_COLORMAP(vis)
        vis = vis[:, :, :, 0, :3]
        if torch_transpose:
            vis = vis.transpose(0, 3, 1, 2)
    elif vis.ndim == 3:
        vis = _DEPTH_COLORMAP(vis)
        vis = vis[:, :, :, :3]
        if torch_transpose:
            vis = vis.transpose(0, 3, 1, 2)
    elif vis.ndim == 2:
        vis = _DEPTH_COLORMAP(vis)
        vis = vis[..., :3]
        if torch_transpose:
            vis = vis.transpose(2, 0, 1)

    return vis[0,:,:,:]


def flip_lr(image):
    """
    Flip image horizontally

    Parameters
    ----------
    image : torch.Tensor [B,3,H,W]
        Image to be flipped

    Returns
    -------
    image_flipped : torch.Tensor [B,3,H,W]
        Flipped image
    """
    assert image.dim() == 4, 'You need to provide a [B,C,H,W] image to flip'
    return torch.flip(image, [3])


def fuse_inv_depth(inv_depth, inv_depth_hat, method='mean'):
    """
    Fuse inverse depth and flipped inverse depth maps

    Parameters
    ----------
    inv_depth : torch.Tensor [B,1,H,W]
        Inverse depth map
    inv_depth_hat : torch.Tensor [B,1,H,W]
        Flipped inverse depth map produced from a flipped image
    method : str
        Method that will be used to fuse the inverse depth maps

    Returns
    -------
    fused_inv_depth : torch.Tensor [B,1,H,W]
        Fused inverse depth map
    """
    if method == 'mean':
        return 0.5 * (inv_depth + inv_depth_hat)
    elif method == 'max':
        return torch.max(inv_depth, inv_depth_hat)
    elif method == 'min':
        return torch.min(inv_depth, inv_depth_hat)
    else:
        raise ValueError('Unknown post-process method {}'.format(method))


def post_process_depth(depth, depth_flipped, method='mean'):
    """
    Post-process an inverse and flipped inverse depth map

    Parameters
    ----------
    inv_depth : torch.Tensor [B,1,H,W]
        Inverse depth map
    inv_depth_flipped : torch.Tensor [B,1,H,W]
        Inverse depth map produced from a flipped image
    method : str
        Method that will be used to fuse the inverse depth maps

    Returns
    -------
    inv_depth_pp : torch.Tensor [B,1,H,W]
        Post-processed inverse depth map
    """
    B, C, H, W = depth.shape
    inv_depth_hat = flip_lr(depth_flipped)
    inv_depth_fused = fuse_inv_depth(depth, inv_depth_hat, method=method)
    xs = torch.linspace(0., 1., W, device=depth.device,
                        dtype=depth.dtype).repeat(B, C, H, 1)
    mask = 1.0 - torch.clamp(20. * (xs - 0.05), 0., 1.)
    mask_hat = flip_lr(mask)
    return mask_hat * depth + mask * inv_depth_hat + \
           (1.0 - mask - mask_hat) * inv_depth_fused


class DistributedSamplerNoEvenlyDivisible(Sampler):
    """Sampler that restricts data loading to a subset of the dataset.

    It is especially useful in conjunction with
    :class:`torch.nn.parallel.DistributedDataParallel`. In such case, each
    process can pass a DistributedSampler instance as a DataLoader sampler,
    and load a subset of the original dataset that is exclusive to it.

    .. note::
        Dataset is assumed to be of constant size.

    Arguments:
        dataset: Dataset used for sampling.
        num_replicas (optional): Number of processes participating in
            distributed training.
        rank (optional): Rank of the current process within num_replicas.
        shuffle (optional): If true (default), sampler will shuffle the indices
    """

    def __init__(self, dataset, num_replicas=None, rank=None, shuffle=True):
        if num_replicas is None:
            if not dist.is_available():
                raise RuntimeError("Requires distributed package to be available")
            num_replicas = dist.get_world_size()
        if rank is None:
            if not dist.is_available():
                raise RuntimeError("Requires distributed package to be available")
            rank = dist.get_rank()
        self.dataset = dataset
        self.num_replicas = num_replicas
        self.rank = rank
        self.epoch = 0
        num_samples = int(math.floor(len(self.dataset) * 1.0 / self.num_replicas))
        rest = len(self.dataset) - num_samples * self.num_replicas
        if self.rank < rest:
            num_samples += 1
        self.num_samples = num_samples
        self.total_size = len(dataset)
        # self.total_size = self.num_samples * self.num_replicas
        self.shuffle = shuffle

    def __iter__(self):
        # deterministically shuffle based on epoch
        g = torch.Generator()
        g.manual_seed(self.epoch)
        if self.shuffle:
            indices = torch.randperm(len(self.dataset), generator=g).tolist()
        else:
            indices = list(range(len(self.dataset)))

        # add extra samples to make it evenly divisible
        # indices += indices[:(self.total_size - len(indices))]
        # assert len(indices) == self.total_size

        # subsample
        indices = indices[self.rank:self.total_size:self.num_replicas]
        self.num_samples = len(indices)
        # assert len(indices) == self.num_samples

        return iter(indices)

    def __len__(self):
        return self.num_samples

    def set_epoch(self, epoch):
        self.epoch = epoch
    
    
class D_to_cloud(nn.Module):
    """Layer to transform depth into point cloud
    """
    def __init__(self, batch_size, height, width):
        super(D_to_cloud, self).__init__()

        self.batch_size = batch_size
        self.height = height
        self.width = width

        meshgrid = np.meshgrid(range(self.width), range(self.height), indexing='xy')
        self.id_coords = np.stack(meshgrid, axis=0).astype(np.float32) # 2, H, W    
        self.id_coords = nn.Parameter(torch.from_numpy(self.id_coords), requires_grad=False) # 2, H, W  

        self.ones = nn.Parameter(torch.ones(self.batch_size, 1, self.height * self.width),
                                 requires_grad=False) # B, 1, H, W

        self.pix_coords = torch.unsqueeze(torch.stack(
            [self.id_coords[0].view(-1), self.id_coords[1].view(-1)], 0), 0) # 1, 2, L
        self.pix_coords = self.pix_coords.repeat(batch_size, 1, 1) # B, 2, L
        self.pix_coords = nn.Parameter(torch.cat([self.pix_coords, self.ones], 1), requires_grad=False) # B, 3, L

    def forward(self, depth, inv_K):
        cam_points = torch.matmul(inv_K[:, :3, :3], self.pix_coords)
        cam_points = depth.view(self.batch_size, 1, -1) * cam_points

        return cam_points.permute(0, 2, 1)