diff --git a/Edit2Perceive/utils/visualize.py b/Edit2Perceive/utils/visualize.py new file mode 100644 index 0000000000000000000000000000000000000000..f188b64b79c3fac6d79c43ed8bf379c7f5d41bf2 --- /dev/null +++ b/Edit2Perceive/utils/visualize.py @@ -0,0 +1,54 @@ +import numpy as np +import matplotlib.pyplot as plt +import torch +def prepare_image(tensor): + """把tensor处理成matplotlib能显示的格式 (H,W,C) or (H,W)""" + if torch.is_tensor(tensor): + tensor = tensor.detach().cpu() + # 如果是 (C,H,W)，转为 (H,W,C) + # 如果是 (B,C,H,W)，取第一个样本，转为 (H,W,C) + if tensor.ndim == 4: + tensor = tensor[0] + if tensor.ndim == 3 and tensor.shape[0]>3: + # (C,H,W) but C>3, 取前3通道 + tensor = tensor[:3] + if tensor.ndim == 3: + # 归一化 -1~1 -> 0~1 + if tensor.min() < -0.1 and tensor.max() > 1.1: + tensor = (tensor + 1) / 2 + tensor = tensor.clamp(0, 1) + tensor = tensor.permute(1, 2, 0) # (H,W,C) + elif tensor.ndim == 2: + # mask, 0~1之间 + if tensor.min() < 0.05 and tensor.min()>-0.05: + tensor = tensor.clamp(0, 1) + tensor = tensor + return (tensor.numpy()*255).astype(np.uint8) +def visualize_sample(sample, figsize=(12, 4)): + """ + 智能可视化函数 + sample: dict, 包含 'kontext_images', 'image', 'mask' + """ + + kontext = prepare_image(sample["kontext_images"].to(torch.float32)) + image = prepare_image(sample["image"].to(torch.float32)) + mask = prepare_image(sample["mask"].to(torch.float32)) if "mask" in sample else None + print(f"kontext: {type(kontext)}, shape: {kontext.shape}, dtype: {kontext.dtype}") + print(f"image: {type(image)}, shape: {image.shape}, dtype: {image.dtype}") + + fig, axs = plt.subplots(1, 3, figsize=figsize) + axs[0].imshow(kontext) + axs[0].set_title("kontext_images") + axs[0].axis("off") + + axs[1].imshow(image) + axs[1].set_title("image") + axs[1].axis("off") + + axs[2].imshow((mask).astype(np.uint8), cmap="gray") + axs[2].set_title("mask") + axs[2].axis("off") + + plt.tight_layout() + plt.savefig("tmp.png") + diff --git a/Edit2Perceive/vram_management/__init__.py b/Edit2Perceive/vram_management/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..c9e4aca4937d326c08b6b0597c013cc01e2cdec0 --- /dev/null +++ b/Edit2Perceive/vram_management/__init__.py @@ -0,0 +1,2 @@ +from vram_management.layers import * +from vram_management.gradient_checkpointing import * diff --git a/Edit2Perceive/vram_management/gradient_checkpointing.py b/Edit2Perceive/vram_management/gradient_checkpointing.py new file mode 100644 index 0000000000000000000000000000000000000000..b356415a004f3d74afdd45840f1fc4caf6659e16 --- /dev/null +++ b/Edit2Perceive/vram_management/gradient_checkpointing.py @@ -0,0 +1,34 @@ +import torch + + +def create_custom_forward(module): + def custom_forward(*inputs, **kwargs): + return module(*inputs, **kwargs) + return custom_forward + + +def gradient_checkpoint_forward( + model, + use_gradient_checkpointing, + use_gradient_checkpointing_offload, + *args, + **kwargs, +): + if use_gradient_checkpointing_offload: + with torch.autograd.graph.save_on_cpu(): + model_output = torch.utils.checkpoint.checkpoint( + create_custom_forward(model), + *args, + **kwargs, + use_reentrant=False, + ) + elif use_gradient_checkpointing: + model_output = torch.utils.checkpoint.checkpoint( + create_custom_forward(model), + *args, + **kwargs, + use_reentrant=False, + ) + else: + model_output = model(*args, **kwargs) + return model_output diff --git a/Edit2Perceive/vram_management/layers.py b/Edit2Perceive/vram_management/layers.py new file mode 100644 index 0000000000000000000000000000000000000000..0bc1f51b58bcac832fe52bc8d96af560c7d0d0d2 --- /dev/null +++ b/Edit2Perceive/vram_management/layers.py @@ -0,0 +1,213 @@ +import torch, copy +from models.utils import init_weights_on_device + + +def cast_to(weight, dtype, device): + r = torch.empty_like(weight, dtype=dtype, device=device) + r.copy_(weight) + return r + + +class AutoTorchModule(torch.nn.Module): + def __init__(self): + super().__init__() + + def check_free_vram(self): + gpu_mem_state = torch.cuda.mem_get_info(self.computation_device) + used_memory = (gpu_mem_state[1] - gpu_mem_state[0]) / (1024 ** 3) + return used_memory < self.vram_limit + + def offload(self): + if self.state != 0: + self.to(dtype=self.offload_dtype, device=self.offload_device) + self.state = 0 + + def onload(self): + if self.state != 1: + self.to(dtype=self.onload_dtype, device=self.onload_device) + self.state = 1 + + def keep(self): + if self.state != 2: + self.to(dtype=self.computation_dtype, device=self.computation_device) + self.state = 2 + + +class AutoWrappedModule(AutoTorchModule): + def __init__(self, module: torch.nn.Module, offload_dtype, offload_device, onload_dtype, onload_device, computation_dtype, computation_device, vram_limit, **kwargs): + super().__init__() + self.module = module.to(dtype=offload_dtype, device=offload_device) + self.offload_dtype = offload_dtype + self.offload_device = offload_device + self.onload_dtype = onload_dtype + self.onload_device = onload_device + self.computation_dtype = computation_dtype + self.computation_device = computation_device + self.vram_limit = vram_limit + self.state = 0 + + def forward(self, *args, **kwargs): + if self.state == 2: + module = self.module + else: + if self.onload_dtype == self.computation_dtype and self.onload_device == self.computation_device: + module = self.module + elif self.vram_limit is not None and self.check_free_vram(): + self.keep() + module = self.module + else: + module = copy.deepcopy(self.module).to(dtype=self.computation_dtype, device=self.computation_device) + return module(*args, **kwargs) + + +class WanAutoCastLayerNorm(torch.nn.LayerNorm, AutoTorchModule): + def __init__(self, module: torch.nn.LayerNorm, offload_dtype, offload_device, onload_dtype, onload_device, computation_dtype, computation_device, vram_limit, **kwargs): + with init_weights_on_device(device=torch.device("meta")): + super().__init__(module.normalized_shape, eps=module.eps, elementwise_affine=module.elementwise_affine, bias=module.bias is not None, dtype=offload_dtype, device=offload_device) + self.weight = module.weight + self.bias = module.bias + self.offload_dtype = offload_dtype + self.offload_device = offload_device + self.onload_dtype = onload_dtype + self.onload_device = onload_device + self.computation_dtype = computation_dtype + self.computation_device = computation_device + self.vram_limit = vram_limit + self.state = 0 + + def forward(self, x, *args, **kwargs): + if self.state == 2: + weight, bias = self.weight, self.bias + else: + if self.onload_dtype == self.computation_dtype and self.onload_device == self.computation_device: + weight, bias = self.weight, self.bias + elif self.vram_limit is not None and self.check_free_vram(): + self.keep() + weight, bias = self.weight, self.bias + else: + weight = None if self.weight is None else cast_to(self.weight, self.computation_dtype, self.computation_device) + bias = None if self.bias is None else cast_to(self.bias, self.computation_dtype, self.computation_device) + with torch.amp.autocast(device_type=x.device.type): + x = torch.nn.functional.layer_norm(x.float(), self.normalized_shape, weight, bias, self.eps).type_as(x) + return x + + +class AutoWrappedLinear(torch.nn.Linear, AutoTorchModule): + def __init__(self, module: torch.nn.Linear, offload_dtype, offload_device, onload_dtype, onload_device, computation_dtype, computation_device, vram_limit, name="", **kwargs): + with init_weights_on_device(device=torch.device("meta")): + super().__init__(in_features=module.in_features, out_features=module.out_features, bias=module.bias is not None, dtype=offload_dtype, device=offload_device) + self.weight = module.weight + self.bias = module.bias + self.offload_dtype = offload_dtype + self.offload_device = offload_device + self.onload_dtype = onload_dtype + self.onload_device = onload_device + self.computation_dtype = computation_dtype + self.computation_device = computation_device + self.vram_limit = vram_limit + self.state = 0 + self.name = name + self.lora_A_weights = [] + self.lora_B_weights = [] + self.lora_merger = None + self.enable_fp8 = computation_dtype in [torch.float8_e4m3fn, torch.float8_e4m3fnuz] + + def fp8_linear( + self, + input: torch.Tensor, + weight: torch.Tensor, + bias: torch.Tensor | None = None, + ) -> torch.Tensor: + device = input.device + origin_dtype = input.dtype + origin_shape = input.shape + input = input.reshape(-1, origin_shape[-1]) + + x_max = torch.max(torch.abs(input), dim=-1, keepdim=True).values + fp8_max = 448.0 + # For float8_e4m3fnuz, the maximum representable value is half of that of e4m3fn. + # To avoid overflow and ensure numerical compatibility during FP8 computation, + # we scale down the input by 2.0 in advance. + # This scaling will be compensated later during the final result scaling. + if self.computation_dtype == torch.float8_e4m3fnuz: + fp8_max = fp8_max / 2.0 + scale_a = torch.clamp(x_max / fp8_max, min=1.0).float().to(device=device) + scale_b = torch.ones((weight.shape[0], 1)).to(device=device) + input = input / (scale_a + 1e-8) + input = input.to(self.computation_dtype) + weight = weight.to(self.computation_dtype) + bias = bias.to(torch.bfloat16) + + result = torch._scaled_mm( + input, + weight.T, + scale_a=scale_a, + scale_b=scale_b.T, + bias=bias, + out_dtype=origin_dtype, + ) + new_shape = origin_shape[:-1] + result.shape[-1:] + result = result.reshape(new_shape) + return result + + def forward(self, x, *args, **kwargs): + # VRAM management + if self.state == 2: + weight, bias = self.weight, self.bias + else: + if self.onload_dtype == self.computation_dtype and self.onload_device == self.computation_device: + weight, bias = self.weight, self.bias + elif self.vram_limit is not None and self.check_free_vram(): + self.keep() + weight, bias = self.weight, self.bias + else: + weight = cast_to(self.weight, self.computation_dtype, self.computation_device) + bias = None if self.bias is None else cast_to(self.bias, self.computation_dtype, self.computation_device) + + # Linear forward + if self.enable_fp8: + out = self.fp8_linear(x, weight, bias) + else: + out = torch.nn.functional.linear(x, weight, bias) + + # LoRA + if len(self.lora_A_weights) == 0: + # No LoRA + return out + elif self.lora_merger is None: + # Native LoRA inference + for lora_A, lora_B in zip(self.lora_A_weights, self.lora_B_weights): + out = out + x @ lora_A.T @ lora_B.T + else: + # LoRA fusion + lora_output = [] + for lora_A, lora_B in zip(self.lora_A_weights, self.lora_B_weights): + lora_output.append(x @ lora_A.T @ lora_B.T) + lora_output = torch.stack(lora_output) + out = self.lora_merger(out, lora_output) + return out + + +def enable_vram_management_recursively(model: torch.nn.Module, module_map: dict, module_config: dict, max_num_param=None, overflow_module_config: dict = None, total_num_param=0, vram_limit=None, name_prefix=""): + for name, module in model.named_children(): + layer_name = name if name_prefix == "" else name_prefix + "." + name + for source_module, target_module in module_map.items(): + if isinstance(module, source_module): + num_param = sum(p.numel() for p in module.parameters()) + if max_num_param is not None and total_num_param + num_param > max_num_param: + module_config_ = overflow_module_config + else: + module_config_ = module_config + module_ = target_module(module, **module_config_, vram_limit=vram_limit, name=layer_name) + setattr(model, name, module_) + total_num_param += num_param + break + else: + total_num_param = enable_vram_management_recursively(module, module_map, module_config, max_num_param, overflow_module_config, total_num_param, vram_limit=vram_limit, name_prefix=layer_name) + return total_num_param + + +def enable_vram_management(model: torch.nn.Module, module_map: dict, module_config: dict, max_num_param=None, overflow_module_config: dict = None, vram_limit=None): + enable_vram_management_recursively(model, module_map, module_config, max_num_param, overflow_module_config, total_num_param=0, vram_limit=vram_limit) + model.vram_management_enabled = True + diff --git a/Lotus-2/.gitignore b/Lotus-2/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..85f71c4786a81ab9d9beaba827428a943017ba8d --- /dev/null +++ b/Lotus-2/.gitignore @@ -0,0 +1,7 @@ +__pycache__/ +outputs/ +.DS_Store +*.tar +dsine_eval/ +vibe_edit_history/ +.gradio/ diff --git a/Lotus-2/LICENSE b/Lotus-2/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..60d716a0e1e17817f3c481a3fb3caa56279a474c --- /dev/null +++ b/Lotus-2/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. 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 + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [2025] [Jing He, Haodong Li, Mingzhi Sheng, Ying-Cong Chen] + + 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. diff --git a/Lotus-2/README.md b/Lotus-2/README.md new file mode 100644 index 0000000000000000000000000000000000000000..8646e77170282dda99072268ed7bbe7407f0a342 --- /dev/null +++ b/Lotus-2/README.md @@ -0,0 +1,100 @@ +# lotus Lotus-2: Advancing Geometric Dense Prediction with Powerful Image Generative Model + +[![Page](https://img.shields.io/badge/Project-Website-pink?logo=googlechrome&logoColor=white)](https://lotus-2.github.io/) +[![Paper](https://img.shields.io/badge/arXiv-Paper-b31b1b?logo=arxiv&logoColor=white)](https://arxiv.org/abs/2512.01030) +[![HuggingFace Demo](https://img.shields.io/badge/🤗%20HuggingFace-Demo%20(Depth)-yellow)](https://huggingface.co/spaces/haodongli/Lotus-2_Depth) +[![HuggingFace Demo](https://img.shields.io/badge/🤗%20HuggingFace-Demo%20(Normal)-yellow)](https://huggingface.co/spaces/haodongli/Lotus-2_Normal) +[![HuggingFace](https://img.shields.io/badge/🤗%20HuggingFace-Weights-blue)](https://huggingface.co/jingheya/Lotus-2/tree/main) + +[Jing He](https://scholar.google.com/citations?hl=en&user=RsLS11MAAAAJ)1, +[Haodong Li](https://haodong-li.com/)12✱, +[Mingzhi Sheng]()1✱, +[Ying-Cong Chen](https://www.yingcong.me/)13✉ + +1HKUST(GZ) +2UC San Diego +3HKUST
+ + ✱Both authors contributed equally. + ✉Corresponding author. + + +![teaser](assets/badges/teaser-1.png) + +**We present Lotus-2, a two-stage deterministic framework for monocular geometric dense prediction.** Our method leverages pre-trained generative model as a deterministic world prior to achieve **new state-of-the-art accuracy** while requiring **remarkably minimal data** (trained on only **0.66%** of the samples used by MoGe-2). This figure demonstrates Lotus-2's robust zero-shot generalization with sharp geometric details, especially in challenging cases like oil paintings and transparent objects. + +🚀🚀🚀 **Please also check the** [**Project Page**](https://lotus3d.github.io/) **and** [**Github Repo**](https://github.com/EnVision-Research/Lotus) **of our prior work: Lotus!** 🚀🚀🚀 + +## 📢 News +- 2025-12-01: [Paper](https://arxiv.org/abs/2512.01030) released!
+- 2025-11-28: The inference code and HuggingFace demo ([Depth](https://huggingface.co/spaces/haodongli/Lotus-2_Depth) & [Normal](https://huggingface.co/spaces/haodongli/Lotus-2_Normal)) are available!
+ +## 🛠️ Setup +This installation was tested on: Ubuntu 20.04 LTS, Python 3.10, CUDA 12.3, NVIDIA A800-SXM4-80GB. +1. Be sure you have a GPU with at least **40GB** memory. +2. Clone the repository (requires git): + ``` + git clone https://github.com/EnVision-Research/Lotus-2.git + cd Lotus-2 + ``` +3. Install dependencies (requires conda): + ``` + conda create -n lotus2 python=3.10 -y + conda activate lotus2 + pip install -r requirements.txt + ``` +4. Be sure you have access to [`black-forest-labs/FLUX.1-dev`](https://huggingface.co/black-forest-labs/FLUX.1-dev). +5. Login your huggingface account via (if you want to switch account, run `hf auth logout` at first): + ``` + hf auth login + ``` + +## 🤗 Gradio Demo + +1. Online demo: [Depth](https://huggingface.co/spaces/haodongli/Lotus-2_Depth) & [Normal](https://huggingface.co/spaces/haodongli/Lotus-2_Normal) +2. Local demo: +- For **depth** estimation, run: + ``` + python app.py depth + ``` +- For **normal** estimation, run: + ``` + python app.py normal + ``` + +## 🕹️ Inference +1. Place your images in a directory, for example, under `./assets/in-the-wild_example` (where we have already prepared several examples). +2. Run the inference command: + ``` + sh infer.sh + ``` +- Note: The inference code will automatically download the required model weights. You also can download them manually using the HuggingFace CLI: + ``` + hf download jingheya/Lotus-2 --local-dir + ``` + Use the following arguments to specify the paths: `--core_predictor_model_path`, `--lcm_model_path`, and `--detail_sharpener_model_path`. + +## 🚀 Evaluation +1. Prepare benchmark datasets: +- For **depth** estimation, please download the [Marigold evaluation datasets](https://share.phys.ethz.ch/~pf/bingkedata/marigold/evaluation_dataset/) via: + ``` + cd datasets/eval/depth/ + + wget -r -np -nH --cut-dirs=4 -R "index.html*" -P . https://share.phys.ethz.ch/~pf/bingkedata/marigold/evaluation_dataset/ + ``` +- For **normal** estimation, please (manually) download the [DSINE evaluation datasets](https://drive.google.com/drive/folders/1t3LMJIIrSnCGwOEf53Cyg0lkSXd3M4Hm?usp=drive_link) (`dsine_eval.zip`) under: `datasets/eval/normal/` and unzip it. +2. Run the evaluation command (modify the `TASK_NAME` in `eval.sh` to switch tasks): + ``` + sh eval.sh + ``` + +## 🎓 Citation +If you find our work useful in your research, please consider citing our paper: +```bibtex +@article{he2025lotus, + title={Lotus-2: Advancing Geometric Dense Prediction with Powerful Image Generative Model}, + author={He, Jing and Li, Haodong and Sheng, Mingzhi and Chen, Ying-Cong}, + journal={arXiv preprint arXiv:2512.01030}, + year={2025} +} +``` diff --git a/Lotus-2/app.py b/Lotus-2/app.py new file mode 100644 index 0000000000000000000000000000000000000000..adccc288255dc277e8461b0e0e79903e2a0ee185 --- /dev/null +++ b/Lotus-2/app.py @@ -0,0 +1,104 @@ +import spaces # must be first! +import sys +import os +import torch +from PIL import Image +import gradio as gr +from glob import glob +from contextlib import nullcontext +from pipeline import Lotus2Pipeline +from diffusers import ( + FlowMatchEulerDiscreteScheduler, + FluxTransformer2DModel, +) +from infer import ( + load_lora_and_lcm_weights, + process_single_image +) + +os.environ['GRADIO_TEMP_DI']="." +pipeline = None +device = "cuda" if torch.cuda.is_available() else "cpu" +weight_dtype = torch.bfloat16 +task = None + +@spaces.GPU +def load_pipeline(): + global pipeline, device, weight_dtype, task + noise_scheduler = FlowMatchEulerDiscreteScheduler.from_pretrained( + 'black-forest-labs/FLUX.1-dev', subfolder="scheduler", num_train_timesteps=10 + ) + transformer = FluxTransformer2DModel.from_pretrained( + 'black-forest-labs/FLUX.1-dev', subfolder="transformer", revision=None, variant=None + ) + transformer.requires_grad_(False) + transformer.to(device=device, dtype=weight_dtype) + transformer, local_continuity_module = load_lora_and_lcm_weights(transformer, None, None, None, task) + pipeline = Lotus2Pipeline.from_pretrained( + 'black-forest-labs/FLUX.1-dev', + scheduler=noise_scheduler, + transformer=transformer, + revision=None, + variant=None, + torch_dtype=weight_dtype, + ) + pipeline.local_continuity_module = local_continuity_module + pipeline = pipeline.to(device) + +@spaces.GPU +def fn(image_path): + global pipeline, device, task + pipeline.set_progress_bar_config(disable=True) + with nullcontext(): + _, output_vis, _ = process_single_image( + image_path, pipeline, + task_name=task, + device=device, + num_inference_steps=10, + process_res=1024 + ) + return [Image.open(image_path), output_vis] + +def build_demo(): + global task + inputs = [ + gr.Image(label="Image", type="filepath") + ] + outputs = [ + gr.ImageSlider( + label=f"{task.title()}", + type="pil", + slider_position=20, + ) + ] + examples = glob(f"assets/demo_examples/{task}/*.png") + glob(f"assets/demo_examples/{task}/*.jpg") + demo = gr.Interface( + fn=fn, + title="Lotus-2: Advancing Geometric Dense Prediction with Powerful Image Generative Model", + description=f""" + Please consider starring ★ our GitHub Repo if you find this demo useful! 😊 +
+ Current Task: {task.title()} + """, + inputs=inputs, + outputs=outputs, + examples=examples, + examples_per_page=10 + ) + return demo + +def main(task_name): + global task + task = task_name + load_pipeline() + demo = build_demo() + demo.launch( + server_name="0.0.0.0", + server_port=6381, + ) + +if __name__ == "__main__": + task_name = sys.argv[-1] + if not task_name in ['depth', 'normal']: + raise ValueError("Invalid task. Please choose from 'depth' and 'normal'.") + main(task_name) diff --git a/Lotus-2/assets/badges/lotus_icon.png b/Lotus-2/assets/badges/lotus_icon.png new file mode 100644 index 0000000000000000000000000000000000000000..e1d68384cc3e62a616f4c9026002a7c29025e019 Binary files /dev/null and b/Lotus-2/assets/badges/lotus_icon.png differ diff --git a/Lotus-2/assets/demo_examples/depth/19.jpg b/Lotus-2/assets/demo_examples/depth/19.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7dc794fc89fc31b3f9fe9c22f4bb0360393c6614 Binary files /dev/null and b/Lotus-2/assets/demo_examples/depth/19.jpg differ diff --git a/Lotus-2/assets/demo_examples/normal/flux1-dev_an-artistic-glass-vase-with-an-embossed (2).jpg b/Lotus-2/assets/demo_examples/normal/flux1-dev_an-artistic-glass-vase-with-an-embossed (2).jpg new file mode 100644 index 0000000000000000000000000000000000000000..92b305d8feac21c9b66533eccdd3accb39ea4917 Binary files /dev/null and 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b/Lotus-2/assets/in-the-wild_examples/photo-1549127024-5f213d45604a.png new file mode 100644 index 0000000000000000000000000000000000000000..92cf683c80edd1776e6fdc931f586c5bb3352c37 Binary files /dev/null and b/Lotus-2/assets/in-the-wild_examples/photo-1549127024-5f213d45604a.png differ diff --git a/Lotus-2/datasets/eval/depth/configs/data_diode_all.yaml b/Lotus-2/datasets/eval/depth/configs/data_diode_all.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df2a09c65c163b257c52b2881a28e551551c5184 --- /dev/null +++ b/Lotus-2/datasets/eval/depth/configs/data_diode_all.yaml @@ -0,0 +1,6 @@ +name: diode +disp_name: diode_val_all +# dir: diode +dir: diode/diode_val.tar +filenames: datasets/eval/depth/data_split/diode/diode_val_all_filename_list.txt +processing_res: 640 \ No newline at end of file diff --git a/Lotus-2/datasets/eval/depth/configs/data_eth3d.yaml b/Lotus-2/datasets/eval/depth/configs/data_eth3d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..257d772bb9ca442ec30d3054ed586e4dc46d8e94 --- /dev/null +++ b/Lotus-2/datasets/eval/depth/configs/data_eth3d.yaml @@ -0,0 +1,7 @@ +name: eth3d +disp_name: eth3d_full +# dir: eth3d +dir: eth3d/eth3d.tar +filenames: datasets/eval/depth/data_split/eth3d/eth3d_filename_list.txt +processing_res: 768 +alignment_max_res: 1024 diff --git a/Lotus-2/datasets/eval/depth/configs/data_kitti_eigen_test.yaml b/Lotus-2/datasets/eval/depth/configs/data_kitti_eigen_test.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aaae9620e589e10452fb9bf05d83a1b40b08dffc --- /dev/null +++ b/Lotus-2/datasets/eval/depth/configs/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: datasets/eval/depth/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/Lotus-2/datasets/eval/depth/configs/data_nyu_test.yaml b/Lotus-2/datasets/eval/depth/configs/data_nyu_test.yaml new file mode 100644 index 0000000000000000000000000000000000000000..67409aa45547b2926d1f81b42dd266acee588f97 --- /dev/null +++ b/Lotus-2/datasets/eval/depth/configs/data_nyu_test.yaml @@ -0,0 +1,5 @@ +name: nyu_v2 +disp_name: nyu_test_full +dir: nyuv2/nyu_labeled_extracted.tar +filenames: datasets/eval/depth/data_split/nyu/labeled/filename_list_test.txt +eigen_valid_mask: true \ No newline at end of file diff --git a/Lotus-2/datasets/eval/depth/configs/data_scannet_val.yaml b/Lotus-2/datasets/eval/depth/configs/data_scannet_val.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2f7d92408add91119ff817fa6a32c241251a3718 --- /dev/null +++ b/Lotus-2/datasets/eval/depth/configs/data_scannet_val.yaml @@ -0,0 +1,5 @@ +name: scannet +disp_name: scannet_val_800_1 +# dir: scannet +dir: scannet/scannet_val_sampled_800_1.tar +filenames: datasets/eval/depth/data_split/scannet/scannet_val_sampled_list_800_1.txt \ No newline at end of file diff --git a/Lotus-2/datasets/eval/depth/data_split/diode/diode_val_all_filename_list.txt b/Lotus-2/datasets/eval/depth/data_split/diode/diode_val_all_filename_list.txt new file mode 100644 index 0000000000000000000000000000000000000000..99142cec3a4060a9cc2acfc5a5158fce83d81f99 --- /dev/null +++ b/Lotus-2/datasets/eval/depth/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 indoors/scene_00021/scan_00189/00021_00189_indoors_240_030_depth_mask.npy +indoors/scene_00021/scan_00189/00021_00189_indoors_210_000.png 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--- /dev/null +++ b/Lotus-2/eval.py @@ -0,0 +1,109 @@ +import sys +import os +import torch +from PIL import Image +import gradio as gr +from glob import glob +from contextlib import nullcontext +from pipeline import Lotus2Pipeline +from diffusers import ( + FlowMatchEulerDiscreteScheduler, + FluxTransformer2DModel, +) +from infer import ( + load_lora_and_lcm_weights, + process_single_image +) +from evaluation.evaluation import evaluation_depth, evaluation_normal + + +pipeline = None +device = "cuda" if torch.cuda.is_available() else "cpu" +weight_dtype = torch.bfloat16 +task = os.environ.get("TASK_NAME", "depth") # or normal + +def load_pipeline(): + global pipeline, device, weight_dtype, task + noise_scheduler = FlowMatchEulerDiscreteScheduler.from_pretrained( + 'black-forest-labs/FLUX.1-dev', subfolder="scheduler", num_train_timesteps=10 + ) + transformer = FluxTransformer2DModel.from_pretrained( + 'black-forest-labs/FLUX.1-dev', subfolder="transformer", revision=None, variant=None + ) + transformer.requires_grad_(False) + transformer.to(device=device, dtype=weight_dtype) + transformer, local_continuity_module = load_lora_and_lcm_weights(transformer, None, None, None, task) + pipeline = Lotus2Pipeline.from_pretrained( + 'black-forest-labs/FLUX.1-dev', + scheduler=noise_scheduler, + transformer=transformer, + revision=None, + variant=None, + torch_dtype=weight_dtype, + ) + pipeline.local_continuity_module = local_continuity_module + pipeline = pipeline.to(device) + pipeline.set_progress_bar_config(disable=True) + +def eval(): + global pipeline, device, weight_dtype, task + base_test_data_dir = os.environ.get("TEST_DATA_DIR", "datasets/eval") + output_dir = os.environ.get("OUTPUT_DIR", "outputs/eval") + + def gen_fn(rgb_in): + if task == "depth": + rgb_input = rgb_in / 255.0 * 2.0 - 1.0 # [0, 255] -> [-1, 1] + output_type = "np" + elif task == "normal": + rgb_input = rgb_in + output_type = "pt" + else: + raise ValueError(f"Invalid task name: {task}") + + prediction = pipeline( + rgb_in=rgb_input, + prompt='', + num_inference_steps=10, + output_type=output_type, + process_res=None + ).images[0] + + if task == "depth": + output = prediction.mean(axis=-1) + elif task == "normal": + output = (prediction * 2.0 - 1.0).unsqueeze(0) # [0,1] -> [-1,1], (1, 3, h, w) + return output + + with torch.no_grad(): + if task == 'depth': + test_data_dir = os.path.join(base_test_data_dir, task) + test_depth_dataset_configs = { + "nyuv2": "configs/data_nyu_test.yaml", + "kitti": "configs/data_kitti_eigen_test.yaml", + "scannet": "configs/data_scannet_val.yaml", + "eth3d": "configs/data_eth3d.yaml", + "diode": "configs/data_diode_all.yaml", + } + for dataset_name, config_path in test_depth_dataset_configs.items(): + eval_dir = os.path.join(output_dir, task, dataset_name) + test_dataset_config = os.path.join(test_data_dir, config_path) + alignment_type = "least_square_disparity" + metric_tracker = evaluation_depth(eval_dir, test_dataset_config, test_data_dir, eval_mode="generate_prediction", + gen_prediction=gen_fn, pipeline=pipeline, alignment=alignment_type, processing_res=None) + print(dataset_name,',', 'abs_relative_difference: ', metric_tracker.result()['abs_relative_difference'], 'delta1_acc: ', metric_tracker.result()['delta1_acc']) + elif task == 'normal': + test_data_dir = os.path.join(base_test_data_dir, task) + dataset_split_path = "evaluation/dataset_normal" + eval_datasets = [ ('nyuv2', 'test'), ('scannet', 'test'), ('ibims', 'ibims'), ('sintel', 'sintel'), ('oasis', 'val')] + eval_dir = os.path.join(output_dir, task) + evaluation_normal(eval_dir, test_data_dir, dataset_split_path, eval_mode="generate_prediction", + gen_prediction=gen_fn, pipeline=pipeline, eval_datasets=eval_datasets, processing_res=None) + else: + raise ValueError(f"Not support predicting {task} yet. ") + + print('==> Evaluation is done. \n==> Results saved to:', output_dir) + + +if __name__ == "__main__": + load_pipeline() + eval() diff --git a/Lotus-2/eval.sh b/Lotus-2/eval.sh new file mode 100644 index 0000000000000000000000000000000000000000..f07467581aa3b2d7ca6e75d07b2959f7cfad4da3 --- /dev/null +++ b/Lotus-2/eval.sh @@ -0,0 +1,5 @@ +export TASK_NAME="depth" # or normal +export TEST_DATA_DIR="datasets/eval" +export OUTPUT_DIR="outputs/eval" + +python eval.py diff --git a/Lotus-2/evaluation/dataset_depth/__init__.py b/Lotus-2/evaluation/dataset_depth/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..847857cb2f119621dbfb006fd9ff40c77bef5abc --- /dev/null +++ b/Lotus-2/evaluation/dataset_depth/__init__.py @@ -0,0 +1,37 @@ +# Author: Bingxin Ke +# Last modified: 2024-03-30 + +import os + +from .base_depth_dataset import BaseDepthDataset, get_pred_name, DatasetMode # noqa: F401 +from .eth3d_dataset import ETH3DDataset +from .kitti_dataset import KITTIDataset +from .nyu_dataset import NYUDataset +from .scannet_dataset import ScanNetDataset +from .diode_dataset import DIODEDataset + +dataset_name_class_dict = { + "nyu_v2": NYUDataset, + "kitti": KITTIDataset, + "eth3d": ETH3DDataset, + "scannet": ScanNetDataset, + "diode": DIODEDataset, +} + + +def get_dataset( + cfg_data_split, base_data_dir: str, mode: DatasetMode, **kwargs +) -> BaseDepthDataset: + if 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/Lotus-2/evaluation/dataset_depth/base_depth_dataset.py b/Lotus-2/evaluation/dataset_depth/base_depth_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..878c03a3340079dab4dc9a98e0301266488bdbd7 --- /dev/null +++ b/Lotus-2/evaluation/dataset_depth/base_depth_dataset.py @@ -0,0 +1,256 @@ +# Author: Bingxin Ke +# Last modified: 2024-04-15 + +import io +import os +import random +import tarfile +from enum import Enum + +import numpy as np +import torch +from PIL import Image +from torch.utils.data import Dataset +from torchvision.transforms import InterpolationMode, Resize + + +class DatasetMode(Enum): + RGB_ONLY = "rgb_only" + EVAL = "evaluate" + TRAIN = "train" + + +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, + max_depth, + has_filled_depth, + name_mode, + depth_transform=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 + 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 = 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) + + outputs = { + "rgb_int": torch.from_numpy(rgb).int(), + } + 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 = self.tar_obj.extractfile("./" + img_rel_path) + image = image.read() + image = Image.open(io.BytesIO(image)) # [H, W, rgb] + else: + img_path = os.path.join(self.dataset_dir, img_rel_path) + image = Image.open(img_path) + 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 self.tar_obj is not None: + self.tar_obj.close() + self.tar_obj = None + + +# Prediction file naming modes +class DepthFileNameMode(Enum): + id = 1 # id.png + rgb_id = 2 # rgb_id.png + i_d_rgb = 3 # i_d_1_rgb.png + rgb_i_d = 4 + + +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/Lotus-2/evaluation/dataset_depth/diode_dataset.py b/Lotus-2/evaluation/dataset_depth/diode_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..81dc62f170aa13beb23f17226366de13f3c1443a --- /dev/null +++ b/Lotus-2/evaluation/dataset_depth/diode_dataset.py @@ -0,0 +1,72 @@ +# Author: Bingxin Ke +# Last modified: 2024-02-26 + +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/Lotus-2/evaluation/dataset_depth/eth3d_dataset.py b/Lotus-2/evaluation/dataset_depth/eth3d_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..34acce06a39bd3226a8f4062b799767dac29e22e --- /dev/null +++ b/Lotus-2/evaluation/dataset_depth/eth3d_dataset.py @@ -0,0 +1,46 @@ +# Author: Bingxin Ke +# Last modified: 2024-02-08 + +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/Lotus-2/evaluation/dataset_depth/kitti_dataset.py b/Lotus-2/evaluation/dataset_depth/kitti_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..7cde0bb5d3f2bf4851c476c73c75fa91f8aad742 --- /dev/null +++ b/Lotus-2/evaluation/dataset_depth/kitti_dataset.py @@ -0,0 +1,105 @@ +# Author: Bingxin Ke +# Last modified: 2024-02-08 + +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/Lotus-2/evaluation/dataset_depth/nyu_dataset.py b/Lotus-2/evaluation/dataset_depth/nyu_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..e073c4c757eab182c9385ef06f897d6a5fa16491 --- /dev/null +++ b/Lotus-2/evaluation/dataset_depth/nyu_dataset.py @@ -0,0 +1,43 @@ +# Author: Bingxin Ke +# Last modified: 2024-02-08 + + +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/Lotus-2/evaluation/dataset_depth/scannet_dataset.py b/Lotus-2/evaluation/dataset_depth/scannet_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..251ba66be02d3fcf27191af7b2a77f1fd56b1462 --- /dev/null +++ b/Lotus-2/evaluation/dataset_depth/scannet_dataset.py @@ -0,0 +1,25 @@ +# Author: Bingxin Ke +# Last modified: 2024-02-08 + +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/Lotus-2/evaluation/dataset_normal/__init__.py b/Lotus-2/evaluation/dataset_normal/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..fa59c8f842505001baa3f69d812a5afd2baf5c35 --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/__init__.py @@ -0,0 +1,27 @@ +""" data sample +""" +class Sample(): + def __init__(self, img=None, + depth=None, depth_mask=None, + normal=None, normal_mask=None, + intrins=None, flipped=False, + dataset_name='dataset', scene_name='scene', img_name='img', + info={}): + + self.img = img # input image + + self.depth = depth # depth - GT + self.depth_mask = depth_mask # depth - valid_mask + + self.normal = normal # surface normals - GT + self.normal_mask = normal_mask # surface normals - valid_mask + + self.intrins = intrins # camera intrinsics + self.flipped = flipped # True when the image is flipped during augmentation + + self.dataset_name = dataset_name + self.scene_name = scene_name + self.img_name = img_name + + # other info (this is a dict containing any additional information) + self.info = info \ No newline at end of file diff --git a/Lotus-2/evaluation/dataset_normal/aug_basic.py b/Lotus-2/evaluation/dataset_normal/aug_basic.py new file mode 100644 index 0000000000000000000000000000000000000000..1b92229f5bbadeefe2b3722f7cae5b955fb41f2c --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/aug_basic.py @@ -0,0 +1,239 @@ +""" basic augmentations +""" +import random +import numpy as np + +import torch +from torchvision import transforms +import torch.nn.functional as F +import torchvision.transforms.functional as TF + +import logging +logger = logging.getLogger('root') + + +def resize(sample, new_H, new_W): + _, orig_H, orig_W = sample.img.shape + sample.img = F.interpolate(sample.img.unsqueeze(0), size=(new_H, new_W), mode='bilinear', align_corners=False, antialias=True).squeeze(0) + if sample.depth is not None: + sample.depth = F.interpolate(sample.depth.unsqueeze(0), size=(new_H, new_W), mode='nearest').squeeze(0) + if sample.depth_mask is not None: + sample.depth_mask = F.interpolate(sample.depth_mask.unsqueeze(0).float(), size=(new_H, new_W), mode='nearest').squeeze(0) > 0.5 + if sample.normal is not None: + sample.normal = F.interpolate(sample.normal.unsqueeze(0), size=(new_H, new_W), mode='nearest').squeeze(0) + if sample.normal_mask is not None: + sample.normal_mask = F.interpolate(sample.normal_mask.unsqueeze(0).float(), size=(new_H, new_W), mode='nearest').squeeze(0) > 0.5 + if sample.intrins is not None: + # NOTE: top-left is (0,0) + sample.intrins[0, 0] = sample.intrins[0, 0] * (new_W / orig_W) # fx + sample.intrins[1, 1] = sample.intrins[1, 1] * (new_H / orig_H) # fy + sample.intrins[0, 2] = (sample.intrins[0, 2] + 0.5) * (new_W / orig_W) - 0.5 # cx + sample.intrins[1, 2] = (sample.intrins[1, 2] + 0.5) * (new_H / orig_H) - 0.5 # cy + return sample + + +def pad(sample, lrtb): + l, r, t, b = lrtb + sample.img = F.pad(sample.img, (l, r, t, b), mode="constant", value=0) + if sample.depth is not None: + sample.depth = F.pad(sample.depth, (l, r, t, b), mode="constant", value=0) + if sample.depth_mask is not None: + sample.depth_mask = F.pad(sample.depth_mask, (l, r, t, b), mode="constant", value=False) + if sample.normal is not None: + sample.normal = F.pad(sample.normal, (l, r, t, b), mode="constant", value=0) + if sample.normal_mask is not None: + sample.normal_mask = F.pad(sample.normal_mask, (l, r, t, b), mode="constant", value=False) + if sample.intrins is not None: + sample.intrins[0, 2] = sample.intrins[0, 2] + l + sample.intrins[1, 2] = sample.intrins[1, 2] + t + return sample + + +def crop(sample, y, H, x, W): + sample.img = sample.img[:, y:y+H, x:x+W] + if sample.depth is not None: + sample.depth = sample.depth[:, y:y+H, x:x+W] + if sample.depth_mask is not None: + sample.depth_mask = sample.depth_mask[:, y:y+H, x:x+W] + if sample.normal is not None: + sample.normal = sample.normal[:, y:y+H, x:x+W] + if sample.normal_mask is not None: + sample.normal_mask = sample.normal_mask[:, y:y+H, x:x+W] + if sample.intrins is not None: + sample.intrins[0, 2] = sample.intrins[0, 2] - x + sample.intrins[1, 2] = sample.intrins[1, 2] - y + return sample + + +class ToTensor(): + """ numpy arrays to torch tensors + """ + def __call__(self, sample): + sample.img = torch.from_numpy(sample.img).permute(2, 0, 1) # (3, H, W) + if sample.depth is not None: + sample.depth = torch.from_numpy(sample.depth).permute(2, 0, 1) # (1, H, W) + if sample.depth_mask is not None: + sample.depth_mask = torch.from_numpy(sample.depth_mask).permute(2, 0, 1) # (1, H, W) + if sample.normal is not None: + sample.normal = torch.from_numpy(sample.normal).permute(2, 0, 1) # (3, H, W) + if sample.normal_mask is not None: + sample.normal_mask = torch.from_numpy(sample.normal_mask).permute(2, 0, 1) # (1, H, W) + if sample.intrins is not None: + sample.intrins = torch.from_numpy(sample.intrins) # (3, 3) + return sample + + +class RandomIntrins(): + """ randomize intrinsics + sample.img is a torch tensor of shape (3, H, W), normalized to [0, 1] + """ + def __call__(self, sample): + assert 'crop_H' in sample.info.keys() + assert 'crop_W' in sample.info.keys() + crop_H = sample.info['crop_H'] + crop_W = sample.info['crop_W'] + + # height-based resizing + _, orig_H, orig_W = sample.img.shape + new_H = random.randrange(min(orig_H, crop_H), max(orig_H, crop_H)+1) + new_W = round((new_H / orig_H) * orig_W) + sample = resize(sample, new_H=new_H, new_W=new_W) + + # pad if necessary + orig_H, orig_W = sample.img.shape[1], sample.img.shape[2] + l, r, t, b = 0, 0, 0, 0 + if crop_H > orig_H: + t = b = crop_H - orig_H + if crop_W > orig_W: + l = r = crop_W - orig_W + sample = pad(sample, (l, r, t, b)) + + # crop + assert sample.img.shape[1] >= crop_H + assert sample.img.shape[2] >= crop_W + x = random.randint(0, sample.img.shape[2] - crop_W) + y = random.randint(0, sample.img.shape[1] - crop_H) + sample = crop(sample, y=y, H=crop_H, x=x, W=crop_W) + + return sample + + +class Resize(): + """ resize to (H, W) + sample.img is a torch tensor of shape (3, H, W), normalized to [0, 1] + """ + def __init__(self, H=480, W=640): + self.H = H + self.W = W + + def __call__(self, sample): + return resize(sample, new_H=self.H, new_W=self.W) + + +class RandomCrop(): + """ random crop + sample.img is a torch tensor of shape (3, H, W), normalized to [0, 1] + """ + def __init__(self, H=416, W=544): + self.H = H + self.W = W + + def __call__(self, sample): + assert sample.img.shape[1] >= self.H + assert sample.img.shape[2] >= self.W + x = random.randint(0, sample.img.shape[2] - self.W) + y = random.randint(0, sample.img.shape[1] - self.H) + return crop(sample, y=y, H=self.H, x=x, W=self.W) + + +class NyuCrop(): + """ crop image border for NYUv2 images + W = 43:608 / H = 45:472 + sample.img is a torch tensor of shape (3, H, W), normalized to [0, 1] + """ + def __call__(self, sample): + return crop(sample, y=45, H=472-45, x=43, W=608-43) + + +class HorizontalFlip(): + """ random horizontal flipping + sample.img is a torch tensor of shape (3, H, W), normalized to [0, 1] + """ + def __init__(self, p=0.5): + self.p = p + + def __call__(self, sample): + if random.random() < self.p: + sample.img = TF.hflip(sample.img) + if sample.depth is not None: + sample.depth = TF.hflip(sample.depth) + if sample.depth_mask is not None: + sample.depth_mask = TF.hflip(sample.depth_mask) + if sample.normal is not None: + sample.normal = TF.hflip(sample.normal) + sample.normal[0, :, :] = -sample.normal[0, :, :] + if sample.normal_mask is not None: + sample.normal_mask = TF.hflip(sample.normal_mask) + if sample.intrins is not None: + # NOTE: top-left is (0,0) + _, H, W = sample.img.shape + sample.intrins[0, 2] = sample.intrins[0, 2] + 0.5 # top-left is (0.5, 0.5) + sample.intrins[0, 2] = W - sample.intrins[0, 2] + sample.intrins[0, 2] = sample.intrins[0, 2] - 0.5 # top-left is (0, 0) + sample.flipped = True + return sample + + +class ColorAugmentation(): + """ color augmentation + sample.img is a torch tensor of shape (3, H, W), normalized to [0, 1] + """ + def __init__(self, gamma_range=(0.9, 1.1), + brightness_range=(0.75, 1.25), + color_range=(0.9, 1.1), + p=0.5): + self.gamma_range = gamma_range + self.brightness_range = brightness_range + self.color_range = color_range + self.p = p + + def __call__(self, sample): + if random.random() < self.p: + # gamma augmentation + gamma = random.uniform(*self.gamma_range) + sample.img = sample.img ** gamma + + # brightness augmentation + brightness = random.uniform(*self.brightness_range) + sample.img = sample.img * brightness + + # color augmentation + colors = np.random.uniform(*self.color_range, size=3).astype(np.float32) + colors = torch.from_numpy(colors).view(3, 1, 1) + sample.img = sample.img * colors + + # clip + sample.img = torch.clip(sample.img, 0, 1) + + return sample + + +class Normalize(): + """ mean & std: for image normalization + sample.img is a torch tensor of shape (3, H, W), normalized to [0, 1] + """ + def __init__(self, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)): + self.normalize = transforms.Normalize(mean=mean, std=std) + + def __call__(self, sample): + sample.img = self.normalize(torch.clip(sample.img, min=0.0, max=1.0)) + return sample + + +class ToDict(): + def __call__(self, sample): + data_dict = {} + for k, v in vars(sample).items(): + if v is not None: + data_dict[k] = v + return data_dict diff --git a/Lotus-2/evaluation/dataset_normal/ibims/__init__.py b/Lotus-2/evaluation/dataset_normal/ibims/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5a8fe11d628c2383965f5c734a2df5be60b2cea8 --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/ibims/__init__.py @@ -0,0 +1,47 @@ +""" Get samples from iBims-1 (https://paperswithcode.com/dataset/ibims-1) + NOTE: We computed the GT surface normals by doing discontinuity-aware plane fitting +""" +import os +import cv2 +import numpy as np +os.environ["OPENCV_IO_ENABLE_OPENEXR"]="1" + +from evaluation.dataset_normal import Sample + +def get_sample(base_data_dir, sample_path, info): + # e.g. sample_path = "ibims/corridor_01_img.png" + scene_name = sample_path.split('/')[0] + img_name, img_ext = sample_path.split('/')[1].split('_img') + + dataset_path = os.path.join(base_data_dir, 'dsine_eval', 'ibims') + img_path = '%s/%s' % (dataset_path, sample_path) + normal_path = img_path.replace('_img'+img_ext, '_normal.exr') + intrins_path = img_path.replace('_img'+img_ext, '_intrins.npy') + assert os.path.exists(img_path) + assert os.path.exists(normal_path) + assert os.path.exists(intrins_path) + + # read image (H, W, 3) + img = cv2.cvtColor(cv2.imread(img_path, cv2.IMREAD_UNCHANGED), cv2.COLOR_BGR2RGB) + img = img.astype(np.float32) / 255.0 + + # read normal (H, W, 3) + normal = cv2.cvtColor(cv2.imread(normal_path, cv2.IMREAD_UNCHANGED), cv2.COLOR_BGR2RGB) + normal_mask = np.linalg.norm(normal, axis=2, keepdims=True) > 0.5 + + # read intrins (3, 3) + intrins = np.load(intrins_path) + + sample = Sample( + img=img, + normal=normal, + normal_mask=normal_mask, + intrins=intrins, + + dataset_name='ibims', + scene_name=scene_name, + img_name=img_name, + info=info + ) + + return sample \ No newline at end of file diff --git a/Lotus-2/evaluation/dataset_normal/ibims/split/ibims.txt b/Lotus-2/evaluation/dataset_normal/ibims/split/ibims.txt new file mode 100644 index 0000000000000000000000000000000000000000..9cca93a5731b659bdcdf1106a7291631c9d74a95 --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/ibims/split/ibims.txt @@ -0,0 +1,100 @@ +ibims/corridor_01_img.png +ibims/corridor_02_img.png +ibims/corridor_03_img.png +ibims/corridor_04_img.png +ibims/corridor_05_img.png +ibims/corridor_06_img.png +ibims/corridor_07_img.png +ibims/corridor_08_img.png +ibims/corridor_09_img.png +ibims/corridor_10_img.png +ibims/factory_01_img.png +ibims/factory_02_img.png +ibims/factory_03_img.png +ibims/factory_04_img.png +ibims/factory_05_img.png +ibims/factory_06_img.png +ibims/factory_07_img.png +ibims/factory_08_img.png +ibims/kitchen_01_img.png +ibims/kitchen_02_img.png +ibims/kitchen_03_img.png +ibims/kitchen_04_img.png +ibims/kitchen_05_img.png +ibims/kitchen_06_img.png +ibims/kitchen_07_img.png +ibims/kitchen_08_img.png +ibims/lab_01_img.png +ibims/lab_02_img.png +ibims/lab_03_img.png +ibims/lab_04_img.png +ibims/lab_05_img.png +ibims/lab_06_img.png +ibims/lab_07_img.png +ibims/lab_08_img.png +ibims/lab_09_img.png +ibims/lab_10_img.png +ibims/lab_11_img.png +ibims/lectureroom_01_img.png +ibims/lectureroom_02_img.png +ibims/lectureroom_03_img.png +ibims/lectureroom_04_img.png +ibims/lectureroom_05_img.png +ibims/lectureroom_06_img.png +ibims/lectureroom_07_img.png +ibims/lectureroom_08_img.png +ibims/lectureroom_09_img.png +ibims/lectureroom_10_img.png +ibims/livingroom_01_img.png +ibims/livingroom_02_img.png +ibims/livingroom_03_img.png +ibims/livingroom_04_img.png +ibims/livingroom_05_img.png +ibims/livingroom_06_img.png +ibims/livingroom_07_img.png +ibims/livingroom_08_img.png +ibims/livingroom_09_img.png +ibims/livingroom_10_img.png +ibims/livingroom_11_img.png +ibims/livingroom_12_img.png +ibims/livingroom_13_img.png +ibims/livingroom_14_img.png +ibims/livingroom_15_img.png +ibims/meetingroom_01_img.png +ibims/meetingroom_02_img.png +ibims/meetingroom_03_img.png +ibims/meetingroom_04_img.png +ibims/meetingroom_05_img.png +ibims/meetingroom_06_img.png +ibims/meetingroom_07_img.png +ibims/meetingroom_08_img.png +ibims/office_01_img.png +ibims/office_02_img.png +ibims/office_03_img.png +ibims/office_04_img.png +ibims/office_05_img.png +ibims/office_06_img.png +ibims/office_07_img.png +ibims/office_08_img.png +ibims/restaurant_01_img.png +ibims/restaurant_02_img.png +ibims/restaurant_03_img.png +ibims/restaurant_04_img.png +ibims/restaurant_05_img.png +ibims/restaurant_06_img.png +ibims/restaurant_07_img.png +ibims/restaurant_08_img.png +ibims/restaurant_09_img.png +ibims/restaurant_10_img.png +ibims/restaurant_11_img.png +ibims/restaurant_12_img.png +ibims/restroom_01_img.png +ibims/restroom_02_img.png +ibims/storageroom_01_img.png +ibims/storageroom_02_img.png +ibims/storageroom_03_img.png +ibims/storageroom_04_img.png +ibims/storageroom_05_img.png +ibims/storageroom_06_img.png +ibims/storageroom_07_img.png +ibims/storageroom_08_img.png \ No newline at end of file diff --git a/Lotus-2/evaluation/dataset_normal/normal_dataloader.py b/Lotus-2/evaluation/dataset_normal/normal_dataloader.py new file mode 100644 index 0000000000000000000000000000000000000000..81b2c0a6926d98e9030b2ef008b7c513519951e1 --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/normal_dataloader.py @@ -0,0 +1,79 @@ +import os +import random + +import torch +from torch.utils.data import Dataset +from torch.utils.data import DataLoader +from torchvision import transforms + +from . import aug_basic + +import logging +logger = logging.getLogger('root') + + +def get_transform(dataset_name='hypersim', mode='test'): + assert mode in ['test'] + logger.info('Defining %s transform for %s dataset' % (mode, dataset_name)) + tf_list = [ + aug_basic.ToTensor(), + ] + tf_list += [ + aug_basic.Normalize(mean=[0.5],std=[0.5]), + aug_basic.ToDict(), + ] + logger.info('Defining %s transform for %s dataset ... DONE' % (mode, dataset_name)) + return transforms.Compose(tf_list) + + +class NormalDataset(Dataset): + def __init__(self, base_data_dir, dataset_split_path, dataset_name='nyuv2', split='test', mode='test', epoch=0): + self.split = split + self.mode = mode + self.base_data_dir = base_data_dir + assert mode in ['test'] + + # data split + split_path = os.path.join(dataset_split_path, dataset_name, 'split', split+'.txt') # dataset_split_path: eval/dataset_normal/ + assert os.path.exists(split_path) + with open(split_path, 'r') as f: + self.filenames = [i.strip() for i in f.readlines()] + self.split_path = split_path + + # get_sample function + if dataset_name == 'nyuv2': + from evaluation.dataset_normal.nyuv2 import get_sample + elif dataset_name == 'scannet': + from evaluation.dataset_normal.scannet import get_sample + elif dataset_name == 'ibims': + from evaluation.dataset_normal.ibims import get_sample + elif dataset_name == 'sintel': + from evaluation.dataset_normal.sintel import get_sample + elif dataset_name == 'vkitti': + from evaluation.dataset_normal.vkitti import get_sample + elif dataset_name == 'oasis': + from evaluation.dataset_normal.oasis import get_sample + self.get_sample = get_sample + + # data preprocessing/augmentation + self.transform = get_transform(dataset_name=dataset_name, mode=mode) + + def __len__(self): + return len(self.filenames) + + def __getitem__(self, index): + info = {} + + sample = self.transform(self.get_sample( + base_data_dir = self.base_data_dir, + sample_path=self.filenames[index], + info=info) + ) + + return sample + +class TestLoader(object): + def __init__(self, base_data_dir, dataset_split_path, dataset_name_test, test_split): + self.test_samples = NormalDataset(base_data_dir, dataset_split_path, dataset_name=dataset_name_test, + split=test_split, mode='test', epoch=None) + self.data = DataLoader(self.test_samples, 1, shuffle=False, num_workers=1, pin_memory=True) diff --git a/Lotus-2/evaluation/dataset_normal/nyuv2/__init__.py b/Lotus-2/evaluation/dataset_normal/nyuv2/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..cde15008871a6be4b3accf9a9935c91323344e00 --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/nyuv2/__init__.py @@ -0,0 +1,48 @@ +""" Get samples from NYUv2 (https://cs.nyu.edu/~fergus/datasets/nyu_depth_v2.html) + NOTE: GT surface normals are from GeoNet (CVPR 2018) - https://github.com/xjqi/GeoNet +""" +import os +import cv2 +import numpy as np + +from evaluation.dataset_normal import Sample + + +def get_sample(base_data_dir, sample_path, info): + # e.g. sample_path = "test/000000_img.png" + scene_name = sample_path.split('/')[0] + img_name, img_ext = sample_path.split('/')[1].split('_img') + + dataset_path = os.path.join(base_data_dir, 'dsine_eval', 'nyuv2') + img_path = '%s/%s' % (dataset_path, sample_path) + normal_path = img_path.replace('_img'+img_ext, '_normal.png') + intrins_path = img_path.replace('_img'+img_ext, '_intrins.npy') + assert os.path.exists(img_path) + assert os.path.exists(normal_path) + assert os.path.exists(intrins_path) + + # read image (H, W, 3) + img = cv2.cvtColor(cv2.imread(img_path, cv2.IMREAD_UNCHANGED), cv2.COLOR_BGR2RGB) + img = img.astype(np.float32) / 255.0 + + # read normal (H, W, 3) + normal = cv2.cvtColor(cv2.imread(normal_path, cv2.IMREAD_UNCHANGED), cv2.COLOR_BGR2RGB) + normal_mask = np.sum(normal, axis=2, keepdims=True) > 0 + normal = (normal.astype(np.float32) / 255.0) * 2.0 - 1.0 + + # read intrins (3, 3) + intrins = np.load(intrins_path) + + sample = Sample( + img=img, + normal=normal, + normal_mask=normal_mask, + intrins=intrins, + + dataset_name='nyuv2', + scene_name=scene_name, + img_name=img_name, + info=info + ) + + return sample \ No newline at end of file diff --git a/Lotus-2/evaluation/dataset_normal/nyuv2/split/test.txt b/Lotus-2/evaluation/dataset_normal/nyuv2/split/test.txt new file mode 100644 index 0000000000000000000000000000000000000000..1ee98378c85a069a8fae059169a1118ad50712a3 --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/nyuv2/split/test.txt @@ -0,0 +1,654 @@ +test/000000_img.png +test/000001_img.png +test/000008_img.png +test/000013_img.png +test/000014_img.png +test/000015_img.png +test/000016_img.png +test/000017_img.png +test/000020_img.png +test/000027_img.png +test/000028_img.png +test/000029_img.png +test/000030_img.png +test/000031_img.png +test/000032_img.png +test/000033_img.png +test/000034_img.png +test/000035_img.png +test/000036_img.png +test/000037_img.png +test/000038_img.png +test/000039_img.png +test/000040_img.png +test/000041_img.png +test/000042_img.png +test/000045_img.png +test/000046_img.png +test/000055_img.png +test/000056_img.png +test/000058_img.png +test/000059_img.png +test/000060_img.png +test/000061_img.png +test/000062_img.png +test/000075_img.png +test/000076_img.png +test/000077_img.png +test/000078_img.png +test/000083_img.png 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+train/001435_img.png +train/001436_img.png +train/001437_img.png +train/001438_img.png +train/001439_img.png \ No newline at end of file diff --git a/Lotus-2/evaluation/dataset_normal/oasis/__init__.py b/Lotus-2/evaluation/dataset_normal/oasis/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..ebc095b4adeae22ca29fac2ba63f18fa8157070e --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/oasis/__init__.py @@ -0,0 +1,76 @@ +""" Get samples from OASIS validation set (https://pvl.cs.princeton.edu/OASIS/) +""" +import os +import cv2 +import numpy as np +import pickle + +from evaluation.dataset_normal import Sample + + +def read_normal(path, h, w): + normal_dict = pickle.load(open(path, 'rb')) + + mask = np.zeros((h,w)) + normal = np.zeros((h,w,3)) + + # Stuff ROI normal into bounding box + min_y = normal_dict['min_y'] + max_y = normal_dict['max_y'] + min_x = normal_dict['min_x'] + max_x = normal_dict['max_x'] + roi_normal = normal_dict['normal'] + + # to LUB + normal[min_y:max_y+1, min_x:max_x+1, :] = roi_normal + normal = normal.astype(np.float32) + normal[:,:,0] *= -1 + normal[:,:,1] *= -1 + + # Make mask + roi_mask = np.logical_or(np.logical_or(roi_normal[:,:,0] != 0, roi_normal[:,:,1] != 0), roi_normal[:,:,2] != 0).astype(np.float32) + mask[min_y:max_y+1, min_x:max_x+1] = roi_mask + mask = mask[:, :, None] + mask = mask > 0.5 + + return normal, mask + + +def get_sample(base_data_dir, sample_path, info): + # e.g. sample_path = "val/100277_DT_img.png" + scene_name = sample_path.split('/')[0] + img_name, img_ext = sample_path.split('/')[-1].split('_img') + + dataset_path = os.path.join(base_data_dir, 'dsine_eval', 'oasis') + img_path = '%s/%s' % (dataset_path, sample_path) + normal_path = img_path.replace('_img'+img_ext, '_normal.pkl') + intrins_path = img_path.replace('_img'+img_ext, '_intrins.npy') + assert os.path.exists(img_path) + assert os.path.exists(normal_path) + assert os.path.exists(intrins_path) + + # read image (H, W, 3) + img = cv2.cvtColor(cv2.imread(img_path, cv2.IMREAD_UNCHANGED), cv2.COLOR_BGR2RGB) + img = img.astype(np.float32) / 255.0 + + # read normal (H, W, 3) + h = img.shape[0] + w = img.shape[1] + normal, normal_mask = read_normal(normal_path, h, w) + + # read intrins (3, 3) + intrins = np.load(intrins_path) + + sample = Sample( + img=img, + normal=normal, + normal_mask=normal_mask, + intrins=intrins, + + dataset_name='oasis', + scene_name=scene_name, + img_name=img_name, + info=info + ) + + return sample diff --git a/Lotus-2/evaluation/dataset_normal/oasis/split/val.txt b/Lotus-2/evaluation/dataset_normal/oasis/split/val.txt new file mode 100644 index 0000000000000000000000000000000000000000..4b6249b57dace276a53b7999c3d48eca1a13873f --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/oasis/split/val.txt @@ -0,0 +1,10000 @@ +val/100277_DT_img.png +val/100591_DT_img.png +val/100879_DT_img.png +val/100950_DT_img.png +val/101031_DT_img.png +val/104064_DT_img.png +val/110823_DT_img.png 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+val/297771_ALI_img.png +val/297917_ALI_img.png +val/298353_ALI_img.png +val/73717_DT_img.png +val/73771_DT_img.png +val/75799_DT_img.png +val/78120_DT_img.png +val/79685_DT_img.png +val/80847_DT_img.png +val/83994_DT_img.png +val/84262_DT_img.png +val/84335_DT_img.png +val/87932_DT_img.png +val/90896_DT_img.png +val/92174_DT_img.png +val/93302_DT_img.png +val/93871_DT_img.png +val/94887_DT_img.png +val/95307_DT_img.png +val/97627_DT_img.png +val/98901_DT_img.png +val/99353_DT_img.png +val/99660_DT_img.png \ No newline at end of file diff --git a/Lotus-2/evaluation/dataset_normal/scannet/__init__.py b/Lotus-2/evaluation/dataset_normal/scannet/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..4cba79d9fa7ceafce42fb89ec39a41ff3ab921b3 --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/scannet/__init__.py @@ -0,0 +1,48 @@ +""" Get samples from ScanNet (https://github.com/ScanNet/ScanNet) + NOTE: GT surface normals and data split are from FrameNet (ICCV 2019) - https://github.com/hjwdzh/FrameNet +""" +import os +import cv2 +import numpy as np + +from evaluation.dataset_normal import Sample + + +def get_sample(base_data_dir, sample_path, info): + # e.g. sample_path = "scene0532_00/000000_img.png" + scene_name = sample_path.split('/')[0] + img_name, img_ext = sample_path.split('/')[1].split('_img') + + dataset_path = os.path.join(base_data_dir, 'dsine_eval', 'scannet') + img_path = '%s/%s' % (dataset_path, sample_path) + normal_path = img_path.replace('_img'+img_ext, '_normal.png') + intrins_path = img_path.replace('_img'+img_ext, '_intrins.npy') + assert os.path.exists(img_path) + assert os.path.exists(normal_path) + assert os.path.exists(intrins_path) + + # read image (H, W, 3) + img = cv2.cvtColor(cv2.imread(img_path, cv2.IMREAD_UNCHANGED), cv2.COLOR_BGR2RGB) + img = img.astype(np.float32) / 255.0 + + # read normal (H, W, 3) + normal = cv2.cvtColor(cv2.imread(normal_path, cv2.IMREAD_UNCHANGED), cv2.COLOR_BGR2RGB) + normal_mask = np.sum(normal, axis=2, keepdims=True) > 0 + normal = (normal.astype(np.float32) / 255.0) * 2.0 - 1.0 + + # read intrins (3, 3) + intrins = np.load(intrins_path) + + sample = Sample( + img=img, + normal=normal, + normal_mask=normal_mask, + intrins=intrins, + + dataset_name='scannet', + scene_name=scene_name, + img_name=img_name, + info=info + ) + + return sample diff --git a/Lotus-2/evaluation/dataset_normal/sintel/__init__.py b/Lotus-2/evaluation/dataset_normal/sintel/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..f3837103cb41e38ce7c1f12544174e88883f3ec5 --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/sintel/__init__.py @@ -0,0 +1,49 @@ +""" Get samples from Sintel (http://sintel.is.tue.mpg.de/) + NOTE: We computed the GT surface normals by doing discontinuity-aware plane fitting +""" +import os +import cv2 +import numpy as np +os.environ["OPENCV_IO_ENABLE_OPENEXR"]="1" + +from evaluation.dataset_normal import Sample + + + +def get_sample(base_data_dir, sample_path, info): + # e.g. sample_path = "alley_1/frame_0001_img.png" + scene_name = sample_path.split('/')[0] + img_name, img_ext = sample_path.split('/')[1].split('_img') + + dataset_path = os.path.join(base_data_dir, 'dsine_eval', 'sintel') + img_path = '%s/%s' % (dataset_path, sample_path) + normal_path = img_path.replace('_img'+img_ext, '_normal.exr') + intrins_path = img_path.replace('_img'+img_ext, '_intrins.npy') + assert os.path.exists(img_path) + assert os.path.exists(normal_path) + assert os.path.exists(intrins_path) + + # read image (H, W, 3) + img = cv2.cvtColor(cv2.imread(img_path, cv2.IMREAD_UNCHANGED), cv2.COLOR_BGR2RGB) + img = img.astype(np.float32) / 255.0 + + # read normal (H, W, 3) + normal = cv2.cvtColor(cv2.imread(normal_path, cv2.IMREAD_UNCHANGED), cv2.COLOR_BGR2RGB) + normal_mask = np.linalg.norm(normal, axis=2, keepdims=True) > 0.5 + + # read intrins (3, 3) + intrins = np.load(intrins_path) + + sample = Sample( + img=img, + normal=normal, + normal_mask=normal_mask, + intrins=intrins, + + dataset_name='sintel', + scene_name=scene_name, + img_name=img_name, + info=info + ) + + return sample \ No newline at end of file diff --git a/Lotus-2/evaluation/dataset_normal/sintel/split/sintel.txt b/Lotus-2/evaluation/dataset_normal/sintel/split/sintel.txt new file mode 100644 index 0000000000000000000000000000000000000000..03dd29dca88d2be4b36b3177ee5608a627c22840 --- /dev/null +++ b/Lotus-2/evaluation/dataset_normal/sintel/split/sintel.txt @@ -0,0 +1,1064 @@ +alley_1/frame_0001_img.png +alley_1/frame_0002_img.png +alley_1/frame_0003_img.png +alley_1/frame_0004_img.png +alley_1/frame_0005_img.png +alley_1/frame_0006_img.png +alley_1/frame_0007_img.png +alley_1/frame_0008_img.png +alley_1/frame_0009_img.png +alley_1/frame_0010_img.png +alley_1/frame_0011_img.png +alley_1/frame_0012_img.png +alley_1/frame_0013_img.png +alley_1/frame_0014_img.png +alley_1/frame_0015_img.png +alley_1/frame_0016_img.png 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index 0000000000000000000000000000000000000000..d89f3e4c405ed1d56e9eee621da1a2a25407be85 --- /dev/null +++ b/Lotus-2/evaluation/evaluation.py @@ -0,0 +1,366 @@ + +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 torchvision.transforms.functional import pil_to_tensor, resize, InterpolationMode +from tqdm.auto import tqdm +import cv2 + +from .dataset_depth import ( + BaseDepthDataset, + DatasetMode, + get_dataset, + get_pred_name, +) +from .dataset_normal.normal_dataloader import * +from .util import metric +from .util.alignment import ( + align_depth_least_square, + depth2disparity, + disparity2depth, +) +from .util.metric import MetricTracker +from .util import normal_utils + +from utils.image_utils import concatenate_images, colorize_depth_map, resize_max_res +import utils.visualize as vis_utils + +eval_metrics = [ + "abs_relative_difference", + "squared_relative_difference", + "rmse_linear", + "rmse_log", + "log10", + "delta1_acc", + "delta2_acc", + "delta3_acc", + "i_rmse", + "silog_rmse", + # "pixel_mean", + # "pixel_var" +] + +# Referred to Marigold +def evaluation_depth(output_dir, dataset_config, base_data_dir, eval_mode, pred_suffix="", + alignment="least_square", alignment_max_res=None, prediction_dir=None, + gen_prediction=None, pipeline=None, save_pred=False, save_pred_vis=False, + processing_res=None, + ): + ''' + if eval_mode == "load_prediction": assert prediction_dir is not None + elif eval_mode == "generate_prediction": assert gen_prediction is not None and pipeline is not None + ''' + os.makedirs(output_dir, exist_ok=True) + + # -------------------- Device -------------------- + cuda_avail = torch.cuda.is_available() + device = torch.device("cuda" if cuda_avail else "cpu") + logging.info(f"Device: {device}") + + # -------------------- Data -------------------- + cfg_data = OmegaConf.load(dataset_config) + + processing_res = processing_res or cfg_data.get('processing_res',None) + logger.info(f"processing_res: {processing_res}") + + alignment_max_res = cfg_data.get('alignment_max_res', None) + + dataset: BaseDepthDataset = get_dataset( + cfg_data, base_data_dir=base_data_dir, mode=DatasetMode.EVAL + ) + + dataloader = DataLoader(dataset, batch_size=1, num_workers=8, pin_memory=True) + + # -------------------- 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") + + if save_pred_vis: + save_vis_path = os.path.join(output_dir, "vis") + os.makedirs(save_vis_path, exist_ok=True) + + # -------------------- Evaluate -------------------- + for data in tqdm(dataloader, desc=f"Evaluating {cfg_data.name}"): + # 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) + + # Get 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) + if eval_mode == "load_prediction": + raise NotImplementedError("Loading predictions is not implemented yet") + + elif eval_mode == "generate_prediction": + # resize to processing_res + input_size = data["rgb_int"].shape + if processing_res is not None: + input_rgb = resize_max_res( + data["rgb_int"], + max_edge_resolution=processing_res, + # resample_method=resample_method, + ) + else: + input_rgb = data["rgb_int"] + depth_pred = gen_prediction(input_rgb) + # resize to original res + if processing_res is not None: + depth_pred = torch.tensor(depth_pred).unsqueeze(0).unsqueeze(0) + # depth_pred = resize(depth_pred, input_size[-2:], InterpolationMode.NEAREST, antialias=True, ) + depth_pred = resize(depth_pred, input_size[-2:], antialias=True, ) + depth_pred = depth_pred.squeeze().numpy() + + + if save_pred: + # save_npy + npy_dir = os.path.join(prediction_dir, 'pred_npy', cfg_data.name) + scene_dir = os.path.join(npy_dir, os.path.dirname(rgb_name)) + 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) + + # save_color + color_dir = os.path.join(prediction_dir, 'pred_color', cfg_data.name) + scene_dir = os.path.join(color_dir, os.path.dirname(rgb_name)) + if not os.path.exists(scene_dir): + os.makedirs(scene_dir) + pred_basename = get_pred_name( + rgb_basename, dataset.name_mode, suffix=".png" + ) + 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") + depth_colored = colorize_depth_map(depth_pred) + depth_colored.save(save_to) + + + + # 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) + else: + raise ValueError(f"Invalid alignment mode: {alignment}") + + # 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) + if save_pred_vis: + depth_pred_vis = colorize_depth_map(depth_pred_ts.cpu()) + save_path = os.path.join(save_vis_path, f"{pred_name.replace('/', '_')}.png") + depth_pred_vis.save(save_path) + + 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}") + + return metric_tracker + +# Referred to DSINE +def evaluation_normal(eval_dir, base_data_dir, dataset_split_path, eval_mode="generate_prediction", + gen_prediction=None, pipeline=None, prediction_dir=None, processing_res=None, + eval_datasets=[('nyuv2', 'test'), ('scannet', 'test'), ('ibims', 'ibims'), ('sintel', 'sintel')], + save_pred_vis=False + ): + ''' + if eval_mode == "load_prediction": assert prediction_dir is not None + elif eval_mode == "generate_prediction": assert gen_prediction is not None and pipeline is not None + ''' + os.makedirs(eval_dir, exist_ok=True) + logging.info(f"processing_res: {processing_res}") + + device = torch.device('cuda') + metric_results = {} + for dataset_name, split in eval_datasets: + loader = TestLoader(base_data_dir, dataset_split_path, dataset_name_test=dataset_name, test_split=split) + test_loader = loader.data + + results_dir = None + total_normal_errors = None + + output_dir = os.path.join(eval_dir, dataset_name) + os.makedirs(output_dir, exist_ok=True) + + if save_pred_vis: + results_dir = os.path.join(output_dir, "vis") + os.makedirs(results_dir, exist_ok=True) + print(f"Saving visualizations to {results_dir}") + + for data_dict in tqdm(test_loader): + #↓↓↓↓ + #NOTE: forward pass + img = data_dict['img'].to(device) + scene_names = data_dict['scene_name'] + img_names = data_dict['img_name'] + intrins = data_dict['intrins'].to(device) + + # pad input + _, _, orig_H, orig_W = img.shape + lrtb = normal_utils.get_padding(orig_H, orig_W) + img, intrins = normal_utils.pad_input(img, intrins, lrtb) + + # forward pass + # pred_list = model(img, intrins=intrins, mode='test') + # norm_out = pred_list[-1] # [1, 3, h, w] + if eval_mode == "load_prediction": + raise NotImplementedError("Loading predictions is not implemented yet") + + elif eval_mode == "generate_prediction": + # resize to processing_res + if processing_res is not None: + input_size = img.shape + img = resize_max_res( + img, max_edge_resolution=processing_res, + # resample_method=resample_method, + ) + norm_out = gen_prediction(img) # [h, w, 3] + + # resize to original res + if processing_res is not None: + norm_out = resize(norm_out, input_size[-2:], antialias=True, ) + + # crop the padded part + norm_out = norm_out[:, :, lrtb[2]:lrtb[2]+orig_H, lrtb[0]:lrtb[0]+orig_W] + + pred_norm, pred_kappa = norm_out[:, :3, :, :], norm_out[:, 3:, :, :] + pred_kappa = None if pred_kappa.size(1) == 0 else pred_kappa + #↑↑↑↑ + + if 'normal' in data_dict.keys(): + gt_norm = data_dict['normal'].to(device) + gt_norm_mask = data_dict['normal_mask'].to(device) + + pred_error = normal_utils.compute_normal_error(pred_norm, gt_norm) + if total_normal_errors is None: + total_normal_errors = pred_error[gt_norm_mask] + else: + total_normal_errors = torch.cat((total_normal_errors, pred_error[gt_norm_mask]), dim=0) + + if results_dir is not None: + prefixs = ['%s_%s' % (i,j) for (i,j) in zip(scene_names, img_names)] + vis_utils.visualize_normal(results_dir, prefixs, img, pred_norm, pred_kappa, + gt_norm, gt_norm_mask, pred_error) + + metrics = None + if total_normal_errors is not None: + metrics = normal_utils.compute_normal_metrics(total_normal_errors) + print("Dataset: ", dataset_name) + print("mean median rmse 5 7.5 11.25 22.5 30") + print("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f" % ( + metrics['mean'], metrics['median'], metrics['rmse'], + metrics['a1'], metrics['a2'], metrics['a3'], metrics['a4'], metrics['a5'])) + + metric_results[dataset_name] = metrics + # -------------------- Save metrics to file -------------------- + eval_text = f"Evaluation metrics:\n\ + on dataset: {dataset_name}\n\ + with samples in: {loader.test_samples.split_path}\n" + + eval_text += tabulate( + [metrics.keys(), metrics.values()] + ) + + _save_to = os.path.join(output_dir, "eval_metrics.txt") + with open(_save_to, "w+") as f: + f.write(eval_text) + logging.info(f"Evaluation metrics saved to {_save_to}") + + + return metric_results \ No newline at end of file diff --git a/Lotus-2/evaluation/util/alignment.py b/Lotus-2/evaluation/util/alignment.py new file mode 100644 index 0000000000000000000000000000000000000000..df91f6b7edf0fee6447395cc83e24cbe486cb6c1 --- /dev/null +++ b/Lotus-2/evaluation/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/Lotus-2/evaluation/util/depth_transform.py b/Lotus-2/evaluation/util/depth_transform.py new file mode 100644 index 0000000000000000000000000000000000000000..6062f59d1b796c678a4f493cee5d997f02fe577a --- /dev/null +++ b/Lotus-2/evaluation/util/depth_transform.py @@ -0,0 +1,98 @@ +# Author: Bingxin Ke +# Last modified: 2024-02-08 + +import torch + + +def get_depth_normalizer(cfg_normalizer): + if cfg_normalizer is None: + + def identical(x): + return x + + depth_transform = identical + + elif "near_far_metric" == cfg_normalizer.type: + depth_transform = NearFarMetricNormalizer( + 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_relative = 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 NearFarMetricNormalizer(DepthNormalizerBase): + """ + depth in [0, d_max] -> [-1, 1] + """ + + is_relative = True + 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): + return self.scale_back(depth_norm=depth_norm) diff --git a/Lotus-2/evaluation/util/metric.py b/Lotus-2/evaluation/util/metric.py new file mode 100644 index 0000000000000000000000000000000000000000..d9bd37b12407e887607702cb57411ab04c9d5654 --- /dev/null +++ b/Lotus-2/evaluation/util/metric.py @@ -0,0 +1,193 @@ +# 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 pixel_mean(pred, gt, valid_mask): + if valid_mask is not None: + masked_pred = pred * valid_mask + masked_gt = gt * valid_mask + + valid_pixel_count = torch.sum(valid_mask, dim=(0,1)) + + pred_mean = torch.sum(masked_pred, dim=(0,1)) / valid_pixel_count + gt_mean = torch.sum(masked_gt, dim=(0,1)) / valid_pixel_count + else: + pred_mean = torch.mean(pred, dim=(0,1)) + gt_mean = torch.mean(gt, dim=(0,1)) + + mean_difference = torch.abs(pred_mean - gt_mean) + return mean_difference + +def pixel_var(pred, gt, valid_mask): + if valid_mask is not None: + masked_pred = pred * valid_mask + masked_gt = gt * valid_mask + + valid_pixel_count = torch.sum(valid_mask, dim=(0,1)) + + pred_mean = torch.sum(masked_pred, dim=(0,1)) / valid_pixel_count + gt_mean = torch.sum(masked_gt, dim=(0,1)) / valid_pixel_count + + pred_var = torch.sum(valid_mask * (pred - pred_mean)**2, dim=(0,1)) / valid_pixel_count + gt_var = torch.sum(valid_mask * (gt - gt_mean)**2, dim=(0,1)) / valid_pixel_count + else: + pred_var = torch.var(pred, dim=(0,1)) + gt_var = torch.var(gt, dim=(0,1)) + + var_difference = torch.abs(pred_var - gt_var) + + return var_difference + +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/Lotus-2/infer.py b/Lotus-2/infer.py new file mode 100644 index 0000000000000000000000000000000000000000..903661b1f0df0174f32c7ca95e982d80e2e47f6a --- /dev/null +++ b/Lotus-2/infer.py @@ -0,0 +1,468 @@ +#!/usr/bin/env python +# coding=utf-8 +""" +Lotus-2 Inference Script + +Usage: + python infer.py --pretrained_model_name_or_path [other_args] + +If --core_predictor_model_path, --lcm_model_path, or --detail_sharpener_model_path +are not provided, the script will automatically download the corresponding model +weights from the default HuggingFace repositories. +""" + +import argparse +import logging +import os +from contextlib import nullcontext +from pathlib import Path + +import numpy as np +import torch +import torch.utils.checkpoint +from peft import LoraConfig, set_peft_model_state_dict +from PIL import Image +from torch import nn +from tqdm.auto import tqdm + +from diffusers import ( + FlowMatchEulerDiscreteScheduler, + FluxTransformer2DModel, +) +from diffusers.utils import convert_unet_state_dict_to_peft +from utils.image_utils import colorize_depth_map +from pipeline import Lotus2Pipeline +from utils.seed_all import seed_all + +try: + from huggingface_hub import snapshot_download + HF_AVAILABLE = True +except ImportError: + HF_AVAILABLE = False + logging.warning("huggingface_hub not available. Model auto-download will not work.") + +# Will error if the minimal version of diffusers is not installed. Remove at your own risks. +# check_min_version("0.33.0.dev0") + +# Default HuggingFace repositories and model filenames +DEFAULT_REPO_NAME = "jingheya/Lotus-2" + +CORE_PREDICTOR_FILENAME = { + "depth": "lotus-2_core_predictor_depth.safetensors", + "normal": "lotus-2_core_predictor_normal.safetensors" +} + +LCM_FILENAME = { + "depth": "lotus-2_lcm_depth.safetensors", + "normal": "lotus-2_lcm_normal.safetensors" +} + +DETAIL_SHARPENER_FILENAME = { + "depth": "lotus-2_detail_sharpener_depth.safetensors", + "normal": "lotus-2_detail_sharpener_normal.safetensors" +} + +def get_model_path(model_path, repo_id, filename): + """ + Get the local path for a model. If model_path is None, download from HuggingFace. + + Args: + model_path: Local path to model or None to download from HF + repo_id: HuggingFace repository ID + filename: Model filename in the repository + + Returns: + Local path to the model file + """ + if model_path is not None: + return model_path + + if not HF_AVAILABLE: + raise ImportError( + f"huggingface_hub is required for auto-downloading {filename} model weights. " + "Please install it with: pip install huggingface_hub" + ) + + logging.info(f"Downloading {filename} model weights from {repo_id}/{filename}") + + try: + # Create cache directory if it doesn't exist + cache_dir = os.path.expanduser("~/.cache/huggingface/hub") + os.makedirs(cache_dir, exist_ok=True) + + # Download the entire repository and get the specific file + repo_path = snapshot_download( + repo_id=repo_id, + cache_dir=cache_dir, + local_files_only=False, + ) + + # Construct the full path to the specific file + full_path = os.path.join(repo_path, filename) + + if not os.path.exists(full_path): + # Try to find the file in the repo + for root, dirs, files in os.walk(repo_path): + if filename in files: + full_path = os.path.join(root, filename) + break + else: + raise FileNotFoundError(f"Could not find {filename} in the downloaded repository") + + logging.info(f"Successfully downloaded {filename} model to: {full_path}") + return full_path + + except Exception as e: + raise RuntimeError(f"Failed to download {filename} model from {repo_id}: {str(e)}") + +class Local_Continuity_Module(nn.Module): + def __init__(self, num_channels): + super().__init__() + self.lcm = nn.Sequential( + nn.Conv2d(num_channels, num_channels * 2, kernel_size=3, padding=1), + nn.GELU(), + nn.Conv2d(num_channels * 2, num_channels, kernel_size=3, padding=1), + ) + + def forward(self, x): + lcm_dtype = next(self.lcm.parameters()).dtype + if x.dtype != lcm_dtype: + x = x.to(dtype=lcm_dtype) + return x + self.lcm(x) + +def parse_args(input_args=None): + parser = argparse.ArgumentParser(description="Run Lotus-2.") + parser.add_argument( + "--pretrained_model_name_or_path", + type=str, + default="black-forest-labs/FLUX.1-dev", + help="Path to pretrained model or model identifier from huggingface.co/models.", + ) + parser.add_argument( + "--core_predictor_model_path", + type=str, + default=None, + help="Path to core predictor model weights", + ) + parser.add_argument( + "--lcm_model_path", + type=str, + default=None, + help="Path to local continuity module model weights", + ) + parser.add_argument( + "--detail_sharpener_model_path", + type=str, + default=None, + help="Path to detail sharpener model weights", + ) + parser.add_argument( + "--revision", + type=str, + default=None, + required=False, + help="Revision of pretrained model identifier from huggingface.co/models.", + ) + parser.add_argument( + "--variant", + type=str, + default=None, + help="Variant of the model files of the pretrained model identifier from huggingface.co/models, 'e.g.' fp16", + ) + parser.add_argument( + "--num_inference_steps", + type=int, + default=10, + help="Number of timesteps to infer the model.", + ) + parser.add_argument( + "--input_dir", + type=str, + default=None, + help="The directory where the input images are stored.", + ) + parser.add_argument( + "--output_dir", + type=str, + default="flux-dreambooth-lora", + help="The output directory where the model predictions will be written.", + ) + parser.add_argument("--seed", type=int, default=0, help="Random seed.") + parser.add_argument( + "--task_name", + type=str, + default="depth", # "normal" + ) + parser.add_argument( + "--mixed_precision", + type=str, + default="bf16", + choices=["no", "fp16", "bf16"], + help=( + "Whether to use mixed precision. Choose between fp16 and bf16 (bfloat16). Bf16 requires PyTorch >=" + " 1.10.and an Nvidia Ampere GPU. Default to the value of accelerate config of the current system or the" + " flag passed with the `accelerate.launch` command. Use this argument to override the accelerate config." + ), + ) + + if input_args is not None: + args = parser.parse_args(input_args) + else: + args = parser.parse_args() + + return args + +def process_single_image(image_path, pipeline, task_name, device, + num_inference_steps, process_res=None): + image = Image.open(image_path).convert("RGB") + image_np = np.array(image).astype(np.float32) + image_ts = torch.tensor(image_np).permute(2,0,1).unsqueeze(0) + image_ts = image_ts / 127.5 - 1.0 + image_ts = image_ts.to(device) + + height, width = image_ts.shape[2:] + max_edge = max(height, width) + if max_edge > 1024: + process_res = 1024 + elif max_edge < 512: + process_res = 512 + else: + process_res = None + + prediction = pipeline( + rgb_in=image_ts, + prompt='', + num_inference_steps=num_inference_steps, + output_type='np', + process_res=process_res, + ).images[0] + + if task_name == "depth": + output_npy = prediction.mean(axis=-1) + output_vis = colorize_depth_map(output_npy, reverse_color=True) + elif task_name == "normal": + output_npy = prediction + output_vis = Image.fromarray((output_npy * 255).astype(np.uint8)) + else: + raise ValueError(f"Invalid task name: {task_name}") + + return image, output_vis, output_npy + +def load_lora_and_lcm_weights(transformer, core_predictor_model_path, lcm_model_path, detail_sharpener_model_path, task_name): + lora_rank = 128 if task_name == 'depth' else 256 + device = transformer.device + weight_dtype = transformer.dtype + + target_lora_modules = [ + "attn.to_k", + "attn.to_q", + "attn.to_v", + "attn.to_out.0", + "attn.add_k_proj", + "attn.add_q_proj", + "attn.add_v_proj", + "attn.to_add_out", + "ff.net.0.proj", + "ff.net.2", + "ff_context.net.0.proj", + "ff_context.net.2", + ] + + # Auto-download models if paths are None + core_predictor_model_path = get_model_path( + core_predictor_model_path, + DEFAULT_REPO_NAME, + CORE_PREDICTOR_FILENAME[task_name] + ) + + lcm_model_path = get_model_path( + lcm_model_path, + DEFAULT_REPO_NAME, + LCM_FILENAME[task_name] + ) + + detail_sharpener_model_path = get_model_path( + detail_sharpener_model_path, + DEFAULT_REPO_NAME, + DETAIL_SHARPENER_FILENAME[task_name] + ) + + # load lora weights for core predictor + core_transformer_lora_config = LoraConfig( + r=lora_rank, + lora_alpha=lora_rank, + init_lora_weights="gaussian", + target_modules=target_lora_modules, + ) + transformer.add_adapter(core_transformer_lora_config, adapter_name="core_predictor") + + core_lora_state_dict = Lotus2Pipeline.lora_state_dict(core_predictor_model_path) + core_transformer_state_dict = { + f'{k.replace("transformer.", "")}': v for k, v in core_lora_state_dict.items() if k.startswith("transformer.") + } + core_transformer_state_dict = convert_unet_state_dict_to_peft(core_transformer_state_dict) + incompatible_keys = set_peft_model_state_dict(transformer, core_transformer_state_dict, adapter_name="core_predictor") + if incompatible_keys is not None: + # check only for unexpected keys + unexpected_keys = getattr(incompatible_keys, "unexpected_keys", None) + if unexpected_keys: + logging.warning( + f"Loading adapter weights from state_dict led to unexpected keys not found in the model: " + f" {unexpected_keys}. " + ) + + for name, param in transformer.named_parameters(): + if "core_predictor" in name: + param.requires_grad = False + # transformer.to(device=device, dtype=weight_dtype) + logging.info(f"Successfully loaded lora weights for [core predictor].") + + # stage1 lcm weights + local_continuity_module = Local_Continuity_Module(transformer.config.in_channels//4) + lcm_state_dict = torch.load(lcm_model_path, map_location="cpu", weights_only=True) + local_continuity_module.load_state_dict(lcm_state_dict) + local_continuity_module.requires_grad_(False) + local_continuity_module.to(device=device, dtype=weight_dtype) + logging.info(f"Successfully loaded weights for [local continuity module (LCM)].") + + # stage2 lora weights (detail sharpener) + sharpener_transformer_lora_config = LoraConfig( + r=lora_rank, + lora_alpha=lora_rank, + init_lora_weights="gaussian", + target_modules=target_lora_modules, + ) + transformer.add_adapter(sharpener_transformer_lora_config, adapter_name="detail_sharpener") + + sharpener_lora_state_dict = Lotus2Pipeline.lora_state_dict(detail_sharpener_model_path) + sharpener_transformer_state_dict = { + f'{k.replace("transformer.", "")}': v for k, v in sharpener_lora_state_dict.items() if k.startswith("transformer.") + } + sharpener_transformer_state_dict = convert_unet_state_dict_to_peft(sharpener_transformer_state_dict) + incompatible_keys = set_peft_model_state_dict(transformer, sharpener_transformer_state_dict, adapter_name="detail_sharpener") + if incompatible_keys is not None: + # check only for unexpected keys + unexpected_keys = getattr(incompatible_keys, "unexpected_keys", None) + if unexpected_keys: + logging.warning( + f"Loading adapter weights from state_dict led to unexpected keys not found in the model: " + f" {unexpected_keys}. " + ) + + # freeze the stage2 lora + for name, param in transformer.named_parameters(): + if "detail_sharpener" in name: + param.requires_grad = False + # transformer.to(device=device, dtype=weight_dtype) + logging.info(f"Successfully loaded lora weights for [detail sharpener].") + + return transformer, local_continuity_module + +def main(args): + logging.basicConfig( + format="%(asctime)s - %(levelname)s - %(name)s - %(message)s", + datefmt="%m/%d/%Y %H:%M:%S", + level=logging.INFO, + ) + logging.info("Run Lotus-2! ") + + # -------------------- Preparation -------------------- + # Check if model paths are provided, if not, they will be auto-downloaded from HuggingFace + if args.core_predictor_model_path is None or args.lcm_model_path is None or args.detail_sharpener_model_path is None: + if HF_AVAILABLE: + logging.info("Some model paths are not provided. Model weights will be automatically downloaded from HuggingFace.") + logging.info(f"Default repo: {DEFAULT_REPO_NAME}") + else: + logging.warning("Some model paths are not provided and huggingface_hub is not available.") + logging.warning("Please install huggingface_hub: pip install huggingface_hub") + logging.warning("Or provide local paths for all model weights.") + exit(1) + + # Random seed + if args.seed is not None: + seed_all(args.seed) + + # Output directories + os.makedirs(args.output_dir, exist_ok=True) + + output_dir_vis = os.path.join(args.output_dir, f'{args.task_name}_vis') + output_dir_npy = os.path.join(args.output_dir, f'{args.task_name}_npy') + if not os.path.exists(output_dir_vis): os.makedirs(output_dir_vis) + if not os.path.exists(output_dir_npy): os.makedirs(output_dir_npy) + + logging.info(f"Output dir = {args.output_dir}") + + # Mixed precision + if args.mixed_precision == "fp16": + weight_dtype = torch.float16 + elif args.mixed_precision == "bf16": + weight_dtype = torch.bfloat16 + else: + weight_dtype = torch.float32 + logging.info(f"Running with {weight_dtype} precision.") + + # 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 -------------------- + input_dir = Path(args.input_dir) + test_images = list(input_dir.rglob('*.png')) + list(input_dir.rglob('*.jpg')) + test_images = sorted(test_images) + logging.info(f'==> There are {len(test_images)} images for validation.') + + # -------------------- Load scheduler and models -------------------- + # scheduler + noise_scheduler = FlowMatchEulerDiscreteScheduler.from_pretrained( + args.pretrained_model_name_or_path, subfolder="scheduler", num_train_timesteps=10 + ) + # transformer + transformer = FluxTransformer2DModel.from_pretrained( + args.pretrained_model_name_or_path, subfolder="transformer", revision=args.revision, variant=args.variant + ) + transformer.requires_grad_(False) + transformer.to(device=device, dtype=weight_dtype) + + # load weights + transformer, local_continuity_module = load_lora_and_lcm_weights(transformer, + args.core_predictor_model_path, + args.lcm_model_path, + args.detail_sharpener_model_path, + args.task_name + ) + + # -------------------- Pipeline -------------------- + pipeline = Lotus2Pipeline.from_pretrained( + args.pretrained_model_name_or_path, + scheduler=noise_scheduler, + transformer=transformer, + revision=args.revision, + variant=args.variant, + torch_dtype=weight_dtype, + ) + pipeline.local_continuity_module = local_continuity_module + pipeline = pipeline.to(device) + + # -------------------- Run inference! -------------------- + pipeline.set_progress_bar_config(disable=True) + + with nullcontext(): + for image_path in tqdm(test_images): + # print("\n",image_path) + _, output_vis, output_npy = process_single_image( + image_path, pipeline, + task_name=args.task_name, + device=device, + num_inference_steps=args.num_inference_steps, + ) + + output_vis.save(os.path.join(output_dir_vis, f'{image_path.stem}.png')) + np.save(os.path.join(output_dir_npy, f'{image_path.stem}.npy'), output_npy) + +if __name__ == "__main__": + args = parse_args() + main(args) diff --git a/Lotus-2/infer.sh b/Lotus-2/infer.sh new file mode 100644 index 0000000000000000000000000000000000000000..3aece40928ee4363f449efbe42baedc04154163a --- /dev/null +++ b/Lotus-2/infer.sh @@ -0,0 +1,10 @@ +export TASK_NAME="depth" # or normal + +export INPUT_DIR="assets/in-the-wild_examples" +export OUTPUT_DIR="outputs/infer/" + +CUDA_VISIBLE_DEVICES=0 python infer.py \ + --input_dir=$INPUT_DIR \ + --output_dir=$OUTPUT_DIR \ + --seed="0" \ + --task_name=$TASK_NAME \ No newline at end of file diff --git a/Lotus-2/pipeline.py b/Lotus-2/pipeline.py new file mode 100644 index 0000000000000000000000000000000000000000..ae6efd1c0ba6bfb10b85d5e960ea2b0d204f5f67 --- /dev/null +++ b/Lotus-2/pipeline.py @@ -0,0 +1,214 @@ +from typing import Union, Optional, List, Dict, Any +import numpy as np +import torch +from diffusers import FluxPipeline +from diffusers.pipelines.flux import FluxPipelineOutput +from diffusers.pipelines.flux.pipeline_flux import calculate_shift, retrieve_timesteps +from diffusers.utils import is_torch_xla_available + +from utils.image_utils import resize_image, resize_image_first + +if is_torch_xla_available(): + import torch_xla.core.xla_model as xm + XLA_AVAILABLE = True +else: + XLA_AVAILABLE = False + +class Lotus2Pipeline(FluxPipeline): + @torch.no_grad() + def __call__( + self, + rgb_in: Optional[torch.FloatTensor] = None, + prompt: Union[str, List[str]] = None, + num_inference_steps: int = 10, + output_type: Optional[str] = "pil", + process_res: Optional[int] = None, + timestep_core_predictor: int = 1, + guidance_scale: float = 3.5, + return_dict: bool = True, + joint_attention_kwargs: Optional[Dict[str, Any]] = None, + ): + r""" + Function invoked when calling the pipeline for generation. + + Args: + rgb_in (`torch.FloatTensor`, *optional*): + The input image to be used for generation. + prompt (`str` or `List[str]`, *optional*): + The prompt or prompts to guide the prediction. Default is ''. + num_inference_steps (`int`, *optional*, defaults to 10): + The number of denoising steps. More denoising steps usually lead to a sharper prediction at the + expense of slower inference. + guidance_scale (`float`, *optional*, defaults to 7.0): + Guidance scale as defined in [Classifier-Free Diffusion Guidance](https://arxiv.org/abs/2207.12598). + output_type (`str`, *optional*, defaults to `"pil"`): + The output format of the generate image. Choose between + [PIL](https://pillow.readthedocs.io/en/stable/): `PIL.Image.Image` or `np.array`. + return_dict (`bool`, *optional*, defaults to `True`): + Whether or not to return a [`~pipelines.flux.FluxPipelineOutput`] instead of a plain tuple. + joint_attention_kwargs (`dict`, *optional*): + A kwargs dictionary that if specified is passed along to the `AttentionProcessor` as defined under + `self.processor` in + [diffusers.models.attention_processor](https://github.com/huggingface/diffusers/blob/main/src/diffusers/models/attention_processor.py). + + Examples: + + Returns: + [`~pipelines.flux.FluxPipelineOutput`] or `tuple`: [`~pipelines.flux.FluxPipelineOutput`] if `return_dict` + is True, otherwise a `tuple`. When returning a tuple, the first element is a list with the generated + images. + """ + # 1. prepare + batch_size = rgb_in.shape[0] + input_size = rgb_in.shape[2:] + rgb_in = resize_image_first(rgb_in, process_res) + height, width = rgb_in.shape[2:] + + self._guidance_scale = guidance_scale + self._joint_attention_kwargs = joint_attention_kwargs + self._interrupt = False + + device = self._execution_device + + # 2. encode prompt + ( + prompt_embeds, + pooled_prompt_embeds, + text_ids, + ) = self.encode_prompt( + prompt=prompt, + prompt_2=None, + device=device, + ) + + # 3. prepare latent variables + rgb_in = rgb_in.to(device=device, dtype=self.dtype) + rgb_latents = self.vae.encode(rgb_in).latent_dist.sample() + rgb_latents = (rgb_latents - self.vae.config.shift_factor) * self.vae.config.scaling_factor + + packed_rgb_latents = self._pack_latents( + rgb_latents, + batch_size=rgb_latents.shape[0], + num_channels_latents=rgb_latents.shape[1], + height=rgb_latents.shape[2], + width=rgb_latents.shape[3], + ) + + latent_image_ids_core_predictor = self._prepare_latent_image_ids(batch_size, rgb_latents.shape[2]//2, rgb_latents.shape[3]//2, device, rgb_latents.dtype) + latent_image_ids = self._prepare_latent_image_ids(batch_size, rgb_latents.shape[2]//2, rgb_latents.shape[3]//2, device, rgb_latents.dtype) + + # 4. prepare timesteps + timestep_core_predictor = torch.tensor(timestep_core_predictor).expand(batch_size).to(device=rgb_in.device, dtype=rgb_in.dtype) + + sigmas = np.linspace(1.0, 1 / num_inference_steps, num_inference_steps) + image_seq_len = packed_rgb_latents.shape[1] + mu = calculate_shift( + image_seq_len, + self.scheduler.config.base_image_seq_len, + self.scheduler.config.max_image_seq_len, + self.scheduler.config.base_shift, + self.scheduler.config.max_shift, + ) + timesteps, num_inference_steps = retrieve_timesteps( + self.scheduler, + num_inference_steps, + device, + sigmas=sigmas, + mu=mu, + ) + num_warmup_steps = max(len(timesteps) - num_inference_steps * self.scheduler.order, 0) # 0 + self._num_timesteps = len(timesteps) + + # 5. handle guidance + if self.transformer.config.guidance_embeds: + guidance = torch.full([1], guidance_scale, device=device, dtype=torch.float32) + guidance = guidance.expand(packed_rgb_latents.shape[0]) + else: + guidance = None + + if self.joint_attention_kwargs is None: + self._joint_attention_kwargs = {} + + # 6. core predictor + self.transformer.set_adapter("core_predictor") + latents = self.transformer( + hidden_states=packed_rgb_latents, + timestep=timestep_core_predictor / 1000, + guidance=guidance, + pooled_projections=pooled_prompt_embeds, + encoder_hidden_states=prompt_embeds, + txt_ids=text_ids, + img_ids=latent_image_ids_core_predictor, + joint_attention_kwargs=self.joint_attention_kwargs, # {} + return_dict=False, + )[0] + latents = self._unpack_latents(latents, height, width, self.vae_scale_factor) + latents = self.local_continuity_module(latents) + + # 7. Denoising loop for detail sharpener + self.transformer.set_adapter("detail_sharpener") + latents = self._pack_latents( + latents, + batch_size=latents.shape[0], + num_channels_latents=latents.shape[1], + height=latents.shape[2], + width=latents.shape[3], + ) + + with self.progress_bar(total=num_inference_steps) as progress_bar: + for i, t in enumerate(timesteps): + if self.interrupt: + continue + + # broadcast to batch dimension in a way that's compatible with ONNX/Core ML + timestep = t.expand(latents.shape[0]).to(latents.dtype) + + noise_pred = self.transformer( + hidden_states=latents, + timestep=timestep / 1000, + guidance=guidance, + pooled_projections=pooled_prompt_embeds, + encoder_hidden_states=prompt_embeds, + txt_ids=text_ids, + img_ids=latent_image_ids, + joint_attention_kwargs=self.joint_attention_kwargs, + return_dict=False, + )[0] + + # compute the previous noisy sample x_t -> x_t-1 + latents_dtype = latents.dtype + latents = self.scheduler.step(noise_pred, t, latents, return_dict=False)[0] + + if latents.dtype != latents_dtype: + if torch.backends.mps.is_available(): + # some platforms (eg. apple mps) misbehave due to a pytorch bug: https://github.com/pytorch/pytorch/pull/99272 + latents = latents.to(latents_dtype) + + # call the callback, if provided + if i == len(timesteps) - 1 or ((i + 1) > num_warmup_steps and (i + 1) % self.scheduler.order == 0): + progress_bar.update() + + if XLA_AVAILABLE: + xm.mark_step() + + latents = latents.to(dtype=self.dtype) + + if output_type == "latent": + image = latents + + else: + latents = self._unpack_latents(latents, height, width, self.vae_scale_factor) + latents = (latents / self.vae.config.scaling_factor) + self.vae.config.shift_factor + image = self.vae.decode(latents, return_dict=False)[0] + image = self.image_processor.postprocess(image, output_type=output_type) + + # Resize output image to match input size + image = resize_image(image, input_size) + + # Offload all models + self.maybe_free_model_hooks() + + if not return_dict: + return (image,) + + return FluxPipelineOutput(images=image) \ No newline at end of file diff --git a/Lotus-2/requirements.txt b/Lotus-2/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..73a212fef35924ef7f5102f49d2e77b7ea035b1b --- /dev/null +++ b/Lotus-2/requirements.txt @@ -0,0 +1,16 @@ +numpy==1.26.4 +matplotlib==3.10.0 +peft==0.14.0 +protobuf==5.29.0 +sentencepiece==0.2.0 +opencv-python==4.11.0.86 +huggingface-hub==0.36.0 +diffusers==0.32.2 +torch==2.5.1 --index-url https://download.pytorch.org/whl/cu121 +torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu121 +gradio==5.49.0 +gradio-client==1.13.3 +gradio-imageslider==0.0.20 +spaces==0.42.1 +omegaconf==2.3.0 +tabulate==0.9.0 diff --git a/Pixel-Perfect-Depth/ppd/data/infinigen.py b/Pixel-Perfect-Depth/ppd/data/infinigen.py new file mode 100644 index 0000000000000000000000000000000000000000..1232fec89aa507c699a1911f0f319b1a9db3a77f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/data/infinigen.py @@ -0,0 +1,46 @@ +# Infinigen dataset adapter for PPD eval. Mirrors ppd/data/nyu.py. +# Scene layout (EvalMDE convention): +# //rgb.png +# //gt_depth.npz keys: depth (H,W) f32, intr (4,) px, valid (H,W) bool +import os +from os.path import join +import numpy as np +from ppd.data.depth_estimation import Dataset as BaseDataset +from ppd.utils.logger import Log + + +class Dataset(BaseDataset): + def build_metas(self): + self.dataset_name = 'infinigen' + # split_path: optional newline-delimited scene names. If absent, auto-discover. + sp = self.cfg.get('split_path', None) + if sp and os.path.exists(sp): + scenes = [s.strip() for s in open(sp).read().splitlines() if s.strip()] + else: + root = self.cfg.data_root + scenes = sorted(d for d in os.listdir(root) + if os.path.isdir(join(root, d)) + and os.path.exists(join(root, d, 'rgb.png')) + and os.path.exists(join(root, d, 'gt_depth.npz'))) + self.rgb_files = [join(self.cfg.data_root, s, 'rgb.png') for s in scenes] + self.depth_files = [join(self.cfg.data_root, s, 'gt_depth.npz') for s in scenes] + self.scene_names = scenes + + def read_depth(self, index, depth=None): + # Infinigen gt_depth.npz uses keys 'depth' + 'valid' (not 'data' as + # depth_estimation.py default assumes). Override here. + data = np.load(self.depth_files[index]) + depth = data['depth'].astype(np.float32) + valid_mask = data['valid'].astype(bool) & np.isfinite(depth) & (depth > 0.01) + if valid_mask.sum() == 0: + Log.warn(f'No valid pixels in {self.depth_files[index]}') + # Replace invalid pixels with a finite value so downstream isn't NaN-poisoned. + if (~np.isfinite(depth)).any(): + fill = depth[valid_mask].max() if valid_mask.sum() > 0 else 1.0 + depth = np.where(np.isfinite(depth), depth, fill) + return depth, valid_mask.astype(np.uint8) + + def read_rgb_name(self, index): + # Use scene dir name as identifier (mirrors NYU two-level join, but Infinigen + # has single scene-dir layer). + return self.scene_names[index] + '.png' diff --git a/Pixel-Perfect-Depth/ppd/data/kitti.py b/Pixel-Perfect-Depth/ppd/data/kitti.py new file mode 100644 index 0000000000000000000000000000000000000000..3af9d96d92cfd91653a23326322abdbaccc74cc0 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/data/kitti.py @@ -0,0 +1,91 @@ +from ppd.data.depth_estimation import Dataset as BaseDataset +from ppd.data.depth_estimation import * +from os.path import join +import os +from torchvision.transforms import Compose +import json +import h5py +from PIL import Image +import torchvision.transforms.functional as TF + +class Dataset(BaseDataset): + + def build_metas(self): + self.dataset_name = 'kitti' + splits = open(self.cfg.split_path, 'r').readlines() + self.rgb_files = [] + self.depth_files = [] + for split in splits: + rgb_file, depth_file, _ = split.strip().split(' ') + if depth_file != 'None': + self.rgb_files.append(join(self.cfg.data_root, rgb_file)) + self.depth_files.append(join(self.cfg.data_root, depth_file)) + + def read_rgb(self, index): + img_path = self.rgb_files[index] + start_time = time.time() + rgb = cv2.imread(img_path) + end_time = time.time() + if end_time - start_time > 1: + Log.warn(f'Long time to read {img_path}: {end_time - start_time}') + rgb = cv2.cvtColor(rgb, cv2.COLOR_BGR2RGB) + rgb = np.asarray(rgb / 255.).astype(np.float32) + + ######## benchmark crop + KB_CROP_HEIGHT = 352 + KB_CROP_WIDTH = 1216 + + height, width = rgb.shape[:2] + top_margin = int(height - KB_CROP_HEIGHT) + left_margin = int((width - KB_CROP_WIDTH) / 2) + + rgb = rgb[ + top_margin : top_margin + KB_CROP_HEIGHT, + left_margin : left_margin + KB_CROP_WIDTH, + : + ] + return rgb + + def read_depth(self, index): + depth = imageio.imread(self.depth_files[index]) / 256. + + ######## benchmark crop + KB_CROP_HEIGHT = 352 + KB_CROP_WIDTH = 1216 + + height, width = depth.shape + top_margin = int(height - KB_CROP_HEIGHT) + left_margin = int((width - KB_CROP_WIDTH) / 2) + + depth = depth[ + top_margin : top_margin + KB_CROP_HEIGHT, + left_margin : left_margin + KB_CROP_WIDTH, + ] + + valid_mask = np.logical_and( + depth > 0.1, ~np.isnan(depth)) & (~np.isinf(depth)) + valid_mask = np.logical_and(valid_mask, depth < 80.) + if valid_mask.sum() == 0: + Log.warn('No valid mask in the depth map of {}'.format( + self.depth_files[index])) + if valid_mask.sum() != 0 and np.isnan(depth).sum() != 0: + depth[np.isnan(depth)] = depth[valid_mask].max() + if valid_mask.sum() != 0 and np.isinf(depth).sum() != 0: + depth[np.isinf(depth)] = depth[valid_mask].max() + + + ####### benchmark crop + eval_mask = np.zeros_like(valid_mask, dtype=bool) + gt_height, gt_width = eval_mask.shape + eval_mask[ + int(0.3324324 * gt_height) : int(0.91351351 * gt_height), + int(0.0359477 * gt_width) : int(0.96405229 * gt_width), + ] = 1 + + valid_mask = np.logical_and(valid_mask, eval_mask) + ####### benchmark crop + depth[valid_mask == 0] = 0 + return depth, valid_mask.astype(np.uint8) + + def read_rgb_name(self, index): + return '__'.join(self.rgb_files[index].split('/')[-4:]) \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/data/nyu.py b/Pixel-Perfect-Depth/ppd/data/nyu.py new file mode 100644 index 0000000000000000000000000000000000000000..a0dbc232e254e324d4cd114173c4a885dbc77ced --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/data/nyu.py @@ -0,0 +1,40 @@ +from ppd.data.depth_estimation import Dataset as BaseDataset +from ppd.data.depth_estimation import * +from os.path import join +import os +from torchvision.transforms import Compose +import json +import h5py +from PIL import Image +import torchvision.transforms.functional as TF + + +class Dataset(BaseDataset): + def build_metas(self): + self.dataset_name = 'nyuv2' + splits = open(self.cfg.split_path, 'r').readlines() + self.rgb_files = [] + self.depth_files = [] + for split in splits: + rgb_file, depth_file, _ = split.strip().split(' ') + self.rgb_files.append(join(self.cfg.data_root, rgb_file)) + self.depth_files.append(join(self.cfg.data_root, depth_file)) + + def read_depth(self, index, depth=None): + depth = (np.asarray(imageio.imread(self.depth_files[index])) / 1000.).astype(np.float32) + valid_mask = np.logical_and( + depth > 0.1, ~np.isnan(depth)) & (~np.isinf(depth)) + valid_mask = np.logical_and(valid_mask, depth < 10.) + if valid_mask.sum() == 0: + Log.warn('No valid mask in the depth map of {}'.format( + self.depth_files[index])) + if valid_mask.sum() != 0 and np.isnan(depth).sum() != 0: + depth[np.isnan(depth)] = depth[valid_mask].max() + if valid_mask.sum() != 0 and np.isinf(depth).sum() != 0: + depth[np.isinf(depth)] = depth[valid_mask].max() + return depth, valid_mask.astype(np.uint8) + + def read_rgb_name(self, index): + rgb_name = '__'.join(self.rgb_files[index].split('/')[-2:]) + return rgb_name.replace(".jpg", ".png") + diff --git a/Pixel-Perfect-Depth/ppd/data/scannet.py b/Pixel-Perfect-Depth/ppd/data/scannet.py new file mode 100644 index 0000000000000000000000000000000000000000..52682d2ddac1e4122fb0eb6ccd31a385303de6a7 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/data/scannet.py @@ -0,0 +1,41 @@ +from ppd.data.depth_estimation import Dataset as BaseDataset +from ppd.data.depth_estimation import * +from os.path import join +import os +from torchvision.transforms import Compose +import json +import h5py +from PIL import Image +import torchvision.transforms.functional as TF + + +class Dataset(BaseDataset): + def build_metas(self): + self.dataset_name = 'scannet' + splits = open(self.cfg.split_path, 'r').readlines() + self.rgb_files = [] + self.depth_files = [] + for split in splits: + rgb_file, depth_file = split.strip().split(' ') + self.rgb_files.append(join(self.cfg.data_root, rgb_file)) + self.depth_files.append(join(self.cfg.data_root, depth_file)) + + def read_depth(self, index, depth=None): + depth = (np.asarray(imageio.imread(self.depth_files[index])) / 1000.).astype(np.float32) + valid_mask = np.logical_and( + depth > 0.01, ~np.isnan(depth)) & (~np.isinf(depth)) + valid_mask = np.logical_and(valid_mask, depth < 10.) + if valid_mask.sum() == 0: + Log.warn('No valid mask in the depth map of {}'.format( + self.depth_files[index])) + if valid_mask.sum() != 0 and np.isnan(depth).sum() != 0: + depth[np.isnan(depth)] = depth[valid_mask].max() + if valid_mask.sum() != 0 and np.isinf(depth).sum() != 0: + depth[np.isinf(depth)] = depth[valid_mask].max() + + return depth, valid_mask.astype(np.uint8) + + + def read_rgb_name(self, index): + rgb_name = '__'.join(self.rgb_files[index].split('/')[-3:]) + return rgb_name.replace(".jpg", ".png") diff --git a/Pixel-Perfect-Depth/ppd/data/tartanair.py b/Pixel-Perfect-Depth/ppd/data/tartanair.py new file mode 100644 index 0000000000000000000000000000000000000000..d02ea8032dd6a2e951ce0e5e447b17e4b8feced7 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/data/tartanair.py @@ -0,0 +1,41 @@ +from ppd.data.depth_estimation import Dataset as BaseDataset +from ppd.data.depth_estimation import * +import os +import json +from ppd.utils.logger import Log + +class Dataset(BaseDataset): + + def build_metas(self): + self.dataset_name = 'tartanair' + lines = open(self.cfg.split_path).readlines() + self.rgb_files = [] + self.depth_files = [] + for line in lines: + rgb_path = line.strip() + full_rgb_path = os.path.join(self.cfg.data_root, rgb_path) + full_dpt_path = full_rgb_path.replace('image_left', 'depth_left').replace('left.png', 'left_depth.npy') + self.rgb_files.append(full_rgb_path) + self.depth_files.append(full_dpt_path) + assert len(self.rgb_files) == len(self.depth_files) + + def read_depth(self, index, depth=None): + depth = np.load(self.depth_files[index]) + min_val, max_val = 0.1, 80 + tiankong_mask = depth > 200. + valid_mask = np.logical_and( + depth > 0.1, ~np.isnan(depth)) & (~np.isinf(depth)) + valid_mask = np.logical_and(valid_mask, depth < max_val) + if valid_mask.sum() == 0: + Log.warn('No valid mask in the depth map of {}'.format( + self.depth_files[index])) + if valid_mask.sum() != 0 and np.isnan(depth).sum() != 0: + depth[np.isnan(depth)] = depth[valid_mask].max() + if valid_mask.sum() != 0 and np.isinf(depth).sum() != 0: + depth[np.isinf(depth)] = depth[valid_mask].max() + + depth = np.clip(depth, min_val, max_val) + depth[tiankong_mask] = depth.max() + 1.0 + valid_mask = np.logical_or(valid_mask, tiankong_mask) + return depth, valid_mask.astype(np.uint8) + diff --git a/Pixel-Perfect-Depth/ppd/data/transform.py b/Pixel-Perfect-Depth/ppd/data/transform.py new file mode 100644 index 0000000000000000000000000000000000000000..4d026f881f6cb2a5425882398257edd883b7779c --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/data/transform.py @@ -0,0 +1,134 @@ +import os +import cv2 +import numpy as np +from ppd.utils.logger import Log +import torch +import torch.nn.functional as F +from omegaconf.listconfig import ListConfig +EPS = 1e-4 + +class PrepareForNet(object): + """Prepare sample for usage as network input. + """ + + def __init__(self): + pass + + def __str__(self): + return "PrepareForNet" + + def __repr__(self): + return "PrepareForNet" + + def __call__(self, sample): + image = np.transpose(sample["image"], (2, 0, 1)) + sample["image"] = np.ascontiguousarray(image).astype(np.float32) + + if "mask" in sample: + sample["mask"] = sample["mask"].astype(np.uint8) + sample["mask"] = np.ascontiguousarray(sample["mask"])[None] + + if "depth" in sample: + depth = sample["depth"].astype(np.float32) + sample["depth"] = np.ascontiguousarray(depth)[None] + + return sample + + +def cv2_resize(image, size, interpolation=cv2.INTER_LINEAR): + return cv2.resize(image, size, interpolation=interpolation)[None] + + + +class Resize(object): + """Resize sample to given size (width, height). + """ + def __init__( + self, + width=None, + height=None, + # image_interpolation_method=cv2.INTER_AREA, + image_interpolation_method = cv2.INTER_LINEAR, + ): + self.width = width + self.height = height + self.__image_interpolation_method = image_interpolation_method + + def __call__(self, sample): + width, height = self.width, self.height + if width == sample['image'].shape[1] and height == sample['image'].shape[0]: + return sample + Log.debug( + 'Resize: {} -> {}'.format(sample["image"].shape, (height, width))) + # resize sample + ori_height, ori_width = sample['image'].shape[:2] + sample["image"] = cv2.resize( + sample["image"], + (width, height), + interpolation=self.__image_interpolation_method, + ) + if "depth" in sample: + sample["depth"] = cv2.resize( + sample["depth"], + (width, height), + interpolation=cv2.INTER_NEAREST) + + if "mask" in sample: + sample["mask"] = cv2.resize( + sample["mask"].astype(np.float32), + (width, height), + interpolation=cv2.INTER_NEAREST) + return sample + +class Resize_4K_Crop(object): + """Resize sample to given size (width, height). + """ + + def __init__( + self, + width=None, + height=None, + crop_type='random', + image_interpolation_method=cv2.INTER_AREA, + ): + self.width = width + self.height = height + self.crop_type = crop_type + self.__image_interpolation_method = image_interpolation_method + + def __call__(self, sample): + width, height = 1920, 1024 + sample["image"] = cv2.resize( + sample["image"], + (width, height), + interpolation=self.__image_interpolation_method, + ) + + # crop sample + crop_h = self.height + crop_w = self.width + if self.crop_type == 'random': + # random crop + top = np.random.randint(0, height - crop_h + 1) + left = np.random.randint(0, width - crop_w + 1) + else: + # center crop + top = (height - crop_h) // 2 + left = (width - crop_w) // 2 + sample["image"] = sample["image"][top:top+crop_h, left:left+crop_w] + + if "depth" in sample: + sample["depth"] = cv2.resize( + sample["depth"], (width, height), + interpolation=cv2.INTER_NEAREST + ) + # crop sample + sample["depth"] = sample["depth"][top:top+crop_h, left:left+crop_w] + if "mask" in sample: + sample["mask"] = cv2.resize( + sample["mask"].astype(np.float32), + (width, height), + interpolation=cv2.INTER_NEAREST, + ) + sample["mask"] = sample["mask"][top:top+crop_h, left:left+crop_w] + return sample \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/data/unrealstereo4k.py b/Pixel-Perfect-Depth/ppd/data/unrealstereo4k.py new file mode 100644 index 0000000000000000000000000000000000000000..bb47faa2b9841945e0c9d180009f16106b155167 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/data/unrealstereo4k.py @@ -0,0 +1,91 @@ +from ppd.data.depth_estimation import Dataset as BaseDataset +from ppd.data.depth_estimation import * +import os +import json +from ppd.utils.logger import Log + + +def load_in_extrinsic(path): + with open(path, 'r') as f: + lines = f.readlines() + lines = [line.strip() for line in lines] + lines = [line.split(' ') for line in lines] + lines = [[float(x) for x in line] for line in lines] + + intrinsic = np.array(lines[0]).reshape(3,3) + extrinsic_ = np.array(lines[1]).reshape(3,4) + extrinsic = np.eye(4) + extrinsic[:3,:3] = extrinsic_[:3,:3] + extrinsic[:3,3] = extrinsic_[:3,3] + return intrinsic, extrinsic + +def get_baseline_focal(left_path, right_path): + intrinsic0, extrinsic0 = load_in_extrinsic(left_path) + intrinsic1, extrinsic1 = load_in_extrinsic(right_path) + cam_extrinsic = extrinsic1 @ np.linalg.inv(extrinsic0) # ref:https://github.com/fabiotosi92/SMD-Nets/issues/8 + baseline = abs(cam_extrinsic[0, 3]) + return baseline, (intrinsic0[0,0] + intrinsic0[1,1]) / 2 + +def get_depth(disp, focal, baseline): + """ + get depth from reference frame disparity and camera intrinsics + """ + return focal * baseline / disp + +class Dataset(BaseDataset): + + def build_metas(self): + self.focal = 1920 + self.dataset_name = 'unrealstereo4k' + folder_names = ['00000', '00001', '00002', '00003', '00004', '00005', '00006', '00007'] + self.rgb_files = [] + self.depth_files = [] + for folder_name in folder_names: + folder_path = os.path.join(self.cfg.data_root, folder_name, 'Image0') + if not os.path.isdir(folder_path): + continue + for file_name in os.listdir(folder_path): + if file_name.endswith('.png'): + rgb_path = os.path.join(folder_path, file_name) + dpt_path = rgb_path.replace('Image0', 'Disp0').replace('.png', '.npy') + + if os.path.isfile(rgb_path) and os.path.isfile(dpt_path): + self.rgb_files.append(rgb_path) + self.depth_files.append(dpt_path) + + assert len(self.rgb_files) == len(self.depth_files) + + + def read_depth(self, index, depth=None): + disp = np.load(self.depth_files[index]) + # set nan to 0 + invalid_mask = np.isnan(disp) | (disp == 0) + disp[invalid_mask] = 1e-4 + left_extrin_path = self.depth_files[index].replace('Disp0', 'Extrinsics0').replace('.npy', '.txt') + right_extrin_path = self.depth_files[index].replace('Disp0', 'Extrinsics1').replace('.npy', '.txt') + baseline, focal = get_baseline_focal(left_extrin_path, right_extrin_path) + depth = get_depth(disp, focal, baseline).astype(np.float32) + + min_val, max_val = 0.1, 80 + tiankong_mask = depth > 200. + + valid_mask = np.logical_and( + depth > 0.1, ~np.isnan(depth)) & (~np.isinf(depth)) + valid_mask = np.logical_and(valid_mask, depth < max_val) + if valid_mask.sum() == 0: + Log.warn('No valid mask in the depth map of {}'.format( + self.depth_files[index])) + if valid_mask.sum() != 0 and np.isnan(depth).sum() != 0: + depth[np.isnan(depth)] = depth[valid_mask].max() + if valid_mask.sum() != 0 and np.isinf(depth).sum() != 0: + depth[np.isinf(depth)] = depth[valid_mask].max() + + depth = np.clip(depth, min_val, max_val) + + depth[tiankong_mask] = depth.max() + 1.0 + + valid_mask = np.logical_or(valid_mask, tiankong_mask) + + return depth, valid_mask.astype(np.uint8) + + diff --git a/Pixel-Perfect-Depth/ppd/data/urbansyn.py b/Pixel-Perfect-Depth/ppd/data/urbansyn.py new file mode 100644 index 0000000000000000000000000000000000000000..ee1f94b0135cd92ce4b6d1c5dcd76b20ccc5226f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/data/urbansyn.py @@ -0,0 +1,62 @@ +from ppd.data.depth_estimation import Dataset as BaseDataset +from ppd.data.depth_estimation import * +import os +import json +from ppd.utils.logger import Log +import OpenEXR + +def read_exr(exr_path): + exr_file = OpenEXR.InputFile(exr_path) + dw = exr_file.header()["dataWindow"] + width = dw.max.x - dw.min.x + 1 + height = dw.max.y - dw.min.y + 1 + channels = exr_file.header()["channels"] + data = {} + for channel in channels: + raw_bytes = exr_file.channel(channel) + data[channel] = np.frombuffer(raw_bytes, dtype=np.float32).reshape(height, width) + return data + +class Dataset(BaseDataset): + + def build_metas(self): + self.dataset_name = 'urbansyn' + self.rgb_files = [] + self.depth_files = [] + folder_path = os.path.join(self.cfg.data_root, 'rgb') + if not os.path.isdir(folder_path): + raise FileNotFoundError(f"RGB data folder does not exist: {folder_path}") + for file_name in os.listdir(folder_path): + if file_name.endswith('.png'): + rgb_path = os.path.join(folder_path, file_name) + dpt_path = rgb_path.replace('rgb/rgb_', 'depth/depth_').replace('.png', '.exr') + + if os.path.isfile(rgb_path) and os.path.isfile(dpt_path): + self.rgb_files.append(rgb_path) + self.depth_files.append(dpt_path) + + assert len(self.rgb_files) == len(self.depth_files) + + + def read_depth(self, index, depth=None): + data = read_exr(self.depth_files[index]) + depth = (data["Y"] * 1e5).astype(np.float32) + + min_val, max_val = 0.1, 80 + tiankong_mask = depth > 200. + valid_mask = np.logical_and( + depth > 0.1, ~np.isnan(depth)) & (~np.isinf(depth)) + valid_mask = np.logical_and(valid_mask, depth < max_val) + if valid_mask.sum() == 0: + Log.warn('No valid mask in the depth map of {}'.format( + self.depth_files[index])) + if valid_mask.sum() != 0 and np.isnan(depth).sum() != 0: + depth[np.isnan(depth)] = depth[valid_mask].max() + if valid_mask.sum() != 0 and np.isinf(depth).sum() != 0: + depth[np.isinf(depth)] = depth[valid_mask].max() + + depth = np.clip(depth, min_val, max_val) + depth[tiankong_mask] = depth.max() + 1.0 + valid_mask = np.logical_or(valid_mask, tiankong_mask) + return depth, valid_mask.astype(np.uint8) + diff --git a/Pixel-Perfect-Depth/ppd/data/vkitti.py b/Pixel-Perfect-Depth/ppd/data/vkitti.py new file mode 100644 index 0000000000000000000000000000000000000000..547c1414a379c3b99db1218b4e02894dc1a9b3ae --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/data/vkitti.py @@ -0,0 +1,38 @@ +from ppd.data.depth_estimation import Dataset as BaseDataset +from ppd.data.depth_estimation import * +import os +import json +from ppd.utils.logger import Log + + +class Dataset(BaseDataset): + def build_metas(self): + self.dataset_name = 'vkitti' + lines = open(self.cfg.split_path).readlines() + self.rgb_files = [] + self.depth_files = [] + for line in lines: + rgb_path, dpt_path = line.strip().split(' ') + self.rgb_files.append(os.path.join(self.cfg.data_root, rgb_path)) + self.depth_files.append(os.path.join(self.cfg.data_root, dpt_path)) + assert len(self.rgb_files) == len(self.depth_files) + + def read_depth(self, index, depth=None): + depth = cv2.imread(self.depth_files[index], cv2.IMREAD_ANYCOLOR | cv2.IMREAD_ANYDEPTH) / 100.0 + min_val, max_val = 0.1, 80 + tiankong_mask = depth > 200. + valid_mask = np.logical_and( + depth > min_val, ~np.isnan(depth)) & (~np.isinf(depth)) + valid_mask = np.logical_and(valid_mask, depth < max_val) + if valid_mask.sum() == 0: + Log.warn('No valid mask in the depth map of {}'.format( + self.depth_files[index])) + if valid_mask.sum() != 0 and np.isnan(depth).sum() != 0: + depth[np.isnan(depth)] = depth[valid_mask].max() + if valid_mask.sum() != 0 and np.isinf(depth).sum() != 0: + depth[np.isinf(depth)] = depth[valid_mask].max() + + depth = np.clip(depth, min_val, max_val) + depth[tiankong_mask] = depth.max() + 1.0 + valid_mask = np.logical_or(valid_mask, tiankong_mask) + return depth, valid_mask.astype(np.uint8) diff --git a/Pixel-Perfect-Depth/ppd/datasets/diode/diode_val_all_filename_list.txt b/Pixel-Perfect-Depth/ppd/datasets/diode/diode_val_all_filename_list.txt new file mode 100644 index 0000000000000000000000000000000000000000..99142cec3a4060a9cc2acfc5a5158fce83d81f99 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/datasets/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 indoors/scene_00021/scan_00189/00021_00189_indoors_240_030_depth_mask.npy +indoors/scene_00021/scan_00189/00021_00189_indoors_210_000.png indoors/scene_00021/scan_00189/00021_00189_indoors_210_000_depth.npy indoors/scene_00021/scan_00189/00021_00189_indoors_210_000_depth_mask.npy +indoors/scene_00021/scan_00189/00021_00189_indoors_350_030.png indoors/scene_00021/scan_00189/00021_00189_indoors_350_030_depth.npy indoors/scene_00021/scan_00189/00021_00189_indoors_350_030_depth_mask.npy +indoors/scene_00021/scan_00189/00021_00189_indoors_010_010.png 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+Scene20/15-deg-right/frames/rgb/Camera_1/rgb_00831.jpg Scene20/15-deg-right/frames/depth/Camera_1/depth_00831.png +Scene20/15-deg-right/frames/rgb/Camera_1/rgb_00832.jpg Scene20/15-deg-right/frames/depth/Camera_1/depth_00832.png +Scene20/15-deg-right/frames/rgb/Camera_1/rgb_00833.jpg Scene20/15-deg-right/frames/depth/Camera_1/depth_00833.png +Scene20/15-deg-right/frames/rgb/Camera_1/rgb_00834.jpg Scene20/15-deg-right/frames/depth/Camera_1/depth_00834.png +Scene20/15-deg-right/frames/rgb/Camera_1/rgb_00835.jpg Scene20/15-deg-right/frames/depth/Camera_1/depth_00835.png +Scene20/15-deg-right/frames/rgb/Camera_1/rgb_00836.jpg Scene20/15-deg-right/frames/depth/Camera_1/depth_00836.png \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/entrys/__init__.py b/Pixel-Perfect-Depth/ppd/entrys/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..ee190e907a6bc57758e0423d26dccf13e05c9ae5 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/entrys/__init__.py @@ -0,0 +1,2 @@ +from .validation import val, predict +from .train_net import train_net diff --git a/Pixel-Perfect-Depth/ppd/entrys/train_net.py b/Pixel-Perfect-Depth/ppd/entrys/train_net.py new file mode 100644 index 0000000000000000000000000000000000000000..0e93266e7cdd8a172eacf02f334bfd3dd93e01ed --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/entrys/train_net.py @@ -0,0 +1,33 @@ +import os +import hydra +import pytorch_lightning as pl +from omegaconf import DictConfig +from ppd.utils.logger import Log +from ppd.entrys.utils import get_data, get_model, get_callbacks, print_cfg, find_last_ckpt_path + + +def train_net(cfg: DictConfig) -> None: + """ + Instantiate the trainer, and then train the model. + """ + if cfg.print_cfg: print_cfg(cfg, use_rich=True) + callbacks = get_callbacks(cfg) + logger = hydra.utils.instantiate(cfg.logger, _recursive_=False) + trainer = pl.Trainer( + accelerator="gpu", + logger=logger if logger is not None else False, + callbacks=callbacks, + **cfg.pl_trainer, + ) + # seed everything before loading data + pl.seed_everything(cfg.seed) + datamodule: pl.LightningDataModule = get_data(cfg) + model: pl.LightningModule = get_model(cfg) + + # load pretrained model + ckpt_path = find_last_ckpt_path(cfg.callbacks.model_checkpoint.dirpath) + if ckpt_path: + model.load_pretrained_model(ckpt_path) + + # training loop + trainer.fit(model, datamodule, ckpt_path=None) \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/entrys/utils.py b/Pixel-Perfect-Depth/ppd/entrys/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..7c972501f1c19ec7c4230df009dc410391c926bd --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/entrys/utils.py @@ -0,0 +1,79 @@ +import hydra +import pytorch_lightning as pl +import rich +import rich.syntax +import rich.tree +import os +from pathlib import Path +from omegaconf import DictConfig, OmegaConf +from pytorch_lightning.utilities import rank_zero_only +from ppd.utils.logger import Log, monitor_process_wrapper + + +@monitor_process_wrapper +def get_data(cfg: DictConfig, wo_train: bool = False) -> pl.LightningDataModule: + datamodule = hydra.utils.instantiate(cfg.data, wo_train=wo_train, _recursive_=False) + return datamodule + + +@monitor_process_wrapper +def get_model(cfg: DictConfig) -> pl.LightningModule: + model = hydra.utils.instantiate(cfg.model, _recursive_=False) + return model + + +@monitor_process_wrapper +def get_callbacks(cfg: DictConfig) -> list: + if not hasattr(cfg, "callbacks"): + return None + callbacks = [] + for callback in cfg.callbacks.values(): + if callback is not None: + callbacks.append(hydra.utils.instantiate(callback, _recursive_=False)) + return callbacks + + +@rank_zero_only +def print_cfg(cfg: DictConfig, use_rich: bool = False): + if use_rich: + print_order = ("data", "model", "callbacks", "logger", "pl_trainer", "exp") + style = "dim" + tree = rich.tree.Tree("CONFIG", style=style, guide_style=style) + + # add fields from `print_order` to queue + # add all the other fields to queue (not specified in `print_order`) + queue = [] + for field in print_order: + queue.append(field) if field in cfg else Log.warn(f"Field '{field}' not found in config. Skipping.") + for field in cfg: + if field not in queue: + queue.append(field) + + # generate config tree from queue + for field in queue: + branch = tree.add(field, style=style, guide_style=style) + config_group = cfg[field] + if isinstance(config_group, DictConfig): + branch_content = OmegaConf.to_yaml(config_group, resolve=False) + else: + branch_content = str(config_group) + branch.add(rich.syntax.Syntax(branch_content, "yaml")) + rich.print(tree) + else: + Log.info(OmegaConf.to_yaml(cfg, resolve=False)) + +def find_last_ckpt_path(dirpath): + """ + Assume ckpt is named as e{}* or last*, following the convention of pytorch-lightning. + """ + dirpath = Path(dirpath) + model_paths = [] + for p in sorted(list(dirpath.glob("*.ckpt"))): + if "last" in p.name: + continue + model_paths.append(p) + if len(model_paths) > 0: + return model_paths[-1] + else: + Log.info("No checkpoint found, set model_path to None") + return None \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/entrys/validation.py b/Pixel-Perfect-Depth/ppd/entrys/validation.py new file mode 100644 index 0000000000000000000000000000000000000000..4fcc84eff4b70a98a9db44ff2f3f81cdf0a758ae --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/entrys/validation.py @@ -0,0 +1,53 @@ +import hydra +import pytorch_lightning as pl +import os + +from omegaconf import DictConfig +from ppd.entrys.utils import get_data, get_model, get_callbacks, print_cfg, find_last_ckpt_path +from typing import Tuple +from tqdm.auto import tqdm +from ppd.utils.logger import Log + +def setup_trainer(cfg: DictConfig) -> Tuple[pl.Trainer, pl.LightningModule, pl.LightningDataModule]: + """ + Set up the PyTorch Lightning trainer, model, and data module. + """ + if cfg.print_cfg: print_cfg(cfg, use_rich=True) + pl.seed_everything(cfg.seed) + # preparation + datamodule = get_data(cfg, wo_train=True) + model = get_model(cfg) + if cfg.pretrained_model: + model.load_pretrained_model_eval(cfg.pretrained_model) + else: + raise FileNotFoundError("Pretrained model not found. Please specify 'pretrained_model' path in config.") + + # PL callbacks and logger + callbacks = get_callbacks(cfg) + cfg_logger = DictConfig.copy(cfg.logger) + cfg_logger.update({'version': 'val_metrics'}) + logger = hydra.utils.instantiate(cfg_logger, _recursive_=False) + + # PL-Trainer + trainer = pl.Trainer( + accelerator="gpu", + logger=logger if logger is not None else False, + callbacks=callbacks, + **cfg.pl_trainer, + ) + + return trainer, model, datamodule + +def val(cfg: DictConfig) -> None: + """ + Validate the model. + """ + trainer, model, datamodule = setup_trainer(cfg) + trainer.validate(model, datamodule.val_dataloader()) + +def predict(cfg: DictConfig) -> None: + """ + Predict using the model. + """ + trainer, model, datamodule = setup_trainer(cfg) + trainer.predict(model, datamodule.val_dataloader()) diff --git a/Pixel-Perfect-Depth/ppd/models/__pycache__/attention.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/__pycache__/attention.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..b977c03827304fbc288457dec549d62e04f66302 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/__pycache__/attention.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/__pycache__/dit.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/__pycache__/dit.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..3df5a3f9d7994849eda9f680d9c5e1130b3c5538 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/__pycache__/dit.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/__pycache__/mlp.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/__pycache__/mlp.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..025d74a145caf67cc84c3b6d10b07d2a3c4106d0 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/__pycache__/mlp.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/__pycache__/patch_embed.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/__pycache__/patch_embed.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..b7e9baef56b520c5f07d4a9aaacc61853685bd8b Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/__pycache__/patch_embed.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/__pycache__/ppd.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/__pycache__/ppd.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..0bf9ad97cd38e965405cc126ef1bfb0ea8abf62c Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/__pycache__/ppd.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/__pycache__/rope.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/__pycache__/rope.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..405de845570ef95384c10edaf3ca75719470dba8 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/__pycache__/rope.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/attention.py b/Pixel-Perfect-Depth/ppd/models/attention.py new file mode 100644 index 0000000000000000000000000000000000000000..c84aee905934d05ea07656a30f4f6b7d4832744a --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/attention.py @@ -0,0 +1,59 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F + +class Attention(nn.Module): + + def __init__( + self, + dim: int, + num_heads: int = 8, + qkv_bias: bool = False, + qk_norm: bool = False, + rope=None, + fused_attn: bool = True, # use F.scaled_dot_product_attention or not + attn_drop: float = 0., + proj_drop: float = 0., + norm_layer: nn.Module = nn.LayerNorm, + ) -> None: + super().__init__() + assert dim % num_heads == 0, 'dim should be divisible by num_heads' + self.num_heads = num_heads + self.head_dim = dim // num_heads + self.scale = self.head_dim ** -0.5 + self.fused_attn = fused_attn + + self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + self.q_norm = norm_layer(self.head_dim) if qk_norm else nn.Identity() + self.k_norm = norm_layer(self.head_dim) if qk_norm else nn.Identity() + self.attn_drop = nn.Dropout(attn_drop) + self.proj = nn.Linear(dim, dim) + self.proj_drop = nn.Dropout(proj_drop) + self.rope = rope + + def forward(self, x: torch.Tensor, pos=None) -> torch.Tensor: + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, self.head_dim).permute(2, 0, 3, 1, 4) + q, k, v = qkv.unbind(0) + q, k = self.q_norm(q), self.k_norm(k) + + if self.rope is not None: + q = self.rope(q, pos) + k = self.rope(k, pos) + + if self.fused_attn: + x = F.scaled_dot_product_attention( + q, k, v, + dropout_p=self.attn_drop.p if self.training else 0., + ) + else: + q = q * self.scale + attn = q @ k.transpose(-2, -1) + attn = attn.softmax(dim=-1) + attn = self.attn_drop(attn) + x = attn @ v + + x = x.transpose(1, 2).reshape(B, N, C) + x = self.proj(x) + x = self.proj_drop(x) + return x \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/__pycache__/dinov2.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/__pycache__/dinov2.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..b314c65bcff1796b32800f720ea68513ed243d76 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/__pycache__/dinov2.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/__pycache__/dpt.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/__pycache__/dpt.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..220f1534c5c515d83e7285845d9914c30029af3c Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/__pycache__/dpt.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2.py new file mode 100644 index 0000000000000000000000000000000000000000..e12ddffdbf922505f5a99cfaa655c10685b47ee0 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2.py @@ -0,0 +1,416 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/main/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +from functools import partial +import math +import logging +from typing import Sequence, Tuple, Union, Callable + +import torch +import torch.nn as nn +import torch.utils.checkpoint +from torch.nn.init import trunc_normal_ + +from .dinov2_layers import Mlp, PatchEmbed, SwiGLUFFNFused, MemEffAttention, NestedTensorBlock as Block + + +logger = logging.getLogger("dinov2") + + +def named_apply(fn: Callable, module: nn.Module, name="", depth_first=True, include_root=False) -> nn.Module: + if not depth_first and include_root: + fn(module=module, name=name) + for child_name, child_module in module.named_children(): + child_name = ".".join((name, child_name)) if name else child_name + named_apply(fn=fn, module=child_module, name=child_name, depth_first=depth_first, include_root=True) + if depth_first and include_root: + fn(module=module, name=name) + return module + + +class BlockChunk(nn.ModuleList): + def forward(self, x): + for b in self: + x = b(x) + return x + + +class DinoVisionTransformer(nn.Module): + def __init__( + self, + img_size=224, + patch_size=16, + in_chans=3, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4.0, + qkv_bias=True, + ffn_bias=True, + proj_bias=True, + drop_path_rate=0.0, + drop_path_uniform=False, + init_values=None, # for layerscale: None or 0 => no layerscale + embed_layer=PatchEmbed, + act_layer=nn.GELU, + block_fn=Block, + ffn_layer="mlp", + block_chunks=1, + num_register_tokens=0, + interpolate_antialias=False, + interpolate_offset=0.1, + ): + """ + Args: + img_size (int, tuple): input image size + patch_size (int, tuple): patch size + in_chans (int): number of input channels + embed_dim (int): embedding dimension + depth (int): depth of transformer + num_heads (int): number of attention heads + mlp_ratio (int): ratio of mlp hidden dim to embedding dim + qkv_bias (bool): enable bias for qkv if True + proj_bias (bool): enable bias for proj in attn if True + ffn_bias (bool): enable bias for ffn if True + drop_path_rate (float): stochastic depth rate + drop_path_uniform (bool): apply uniform drop rate across blocks + weight_init (str): weight init scheme + init_values (float): layer-scale init values + embed_layer (nn.Module): patch embedding layer + act_layer (nn.Module): MLP activation layer + block_fn (nn.Module): transformer block class + ffn_layer (str): "mlp", "swiglu", "swiglufused" or "identity" + block_chunks: (int) split block sequence into block_chunks units for FSDP wrap + num_register_tokens: (int) number of extra cls tokens (so-called "registers") + interpolate_antialias: (str) flag to apply anti-aliasing when interpolating positional embeddings + interpolate_offset: (float) work-around offset to apply when interpolating positional embeddings + """ + super().__init__() + norm_layer = partial(nn.LayerNorm, eps=1e-6) + + self.num_features = self.embed_dim = embed_dim # num_features for consistency with other models + self.num_tokens = 1 + self.n_blocks = depth + self.num_heads = num_heads + self.patch_size = patch_size + self.num_register_tokens = num_register_tokens + self.interpolate_antialias = interpolate_antialias + self.interpolate_offset = interpolate_offset + + self.patch_embed = embed_layer(img_size=img_size, patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim) + num_patches = self.patch_embed.num_patches + + self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) + self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + self.num_tokens, embed_dim)) + assert num_register_tokens >= 0 + self.register_tokens = ( + nn.Parameter(torch.zeros(1, num_register_tokens, embed_dim)) if num_register_tokens else None + ) + + if drop_path_uniform is True: + dpr = [drop_path_rate] * depth + else: + dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule + + if ffn_layer == "mlp": + logger.info("using MLP layer as FFN") + ffn_layer = Mlp + elif ffn_layer == "swiglufused" or ffn_layer == "swiglu": + logger.info("using SwiGLU layer as FFN") + ffn_layer = SwiGLUFFNFused + elif ffn_layer == "identity": + logger.info("using Identity layer as FFN") + + def f(*args, **kwargs): + return nn.Identity() + + ffn_layer = f + else: + raise NotImplementedError + + blocks_list = [ + block_fn( + dim=embed_dim, + num_heads=num_heads, + mlp_ratio=mlp_ratio, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + ffn_bias=ffn_bias, + drop_path=dpr[i], + norm_layer=norm_layer, + act_layer=act_layer, + ffn_layer=ffn_layer, + init_values=init_values, + ) + for i in range(depth) + ] + if block_chunks > 0: + self.chunked_blocks = True + chunked_blocks = [] + chunksize = depth // block_chunks + for i in range(0, depth, chunksize): + # this is to keep the block index consistent if we chunk the block list + chunked_blocks.append([nn.Identity()] * i + blocks_list[i : i + chunksize]) + self.blocks = nn.ModuleList([BlockChunk(p) for p in chunked_blocks]) + else: + self.chunked_blocks = False + self.blocks = nn.ModuleList(blocks_list) + + self.norm = norm_layer(embed_dim) + self.head = nn.Identity() + + self.mask_token = nn.Parameter(torch.zeros(1, embed_dim)) + + self.init_weights() + + def init_weights(self): + trunc_normal_(self.pos_embed, std=0.02) + nn.init.normal_(self.cls_token, std=1e-6) + if self.register_tokens is not None: + nn.init.normal_(self.register_tokens, std=1e-6) + named_apply(init_weights_vit_timm, self) + + def interpolate_pos_encoding(self, x, w, h): + previous_dtype = x.dtype + npatch = x.shape[1] - 1 + N = self.pos_embed.shape[1] - 1 + if npatch == N and w == h: + return self.pos_embed + pos_embed = self.pos_embed.float() + class_pos_embed = pos_embed[:, 0] + patch_pos_embed = pos_embed[:, 1:] + dim = x.shape[-1] + w0 = w // self.patch_size + h0 = h // self.patch_size + # we add a small number to avoid floating point error in the interpolation + # see discussion at https://github.com/facebookresearch/dino/issues/8 + # DINOv2 with register modify the interpolate_offset from 0.1 to 0.0 + w0, h0 = w0 + self.interpolate_offset, h0 + self.interpolate_offset + # w0, h0 = w0 + 0.1, h0 + 0.1 + + sqrt_N = math.sqrt(N) + sx, sy = float(w0) / sqrt_N, float(h0) / sqrt_N + patch_pos_embed = nn.functional.interpolate( + patch_pos_embed.reshape(1, int(sqrt_N), int(sqrt_N), dim).permute(0, 3, 1, 2), + scale_factor=(sx, sy), + # (int(w0), int(h0)), # to solve the upsampling shape issue + mode="bicubic", + antialias=self.interpolate_antialias + ) + + assert int(w0) == patch_pos_embed.shape[-2] + assert int(h0) == patch_pos_embed.shape[-1] + patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) + return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1).to(previous_dtype) + + def prepare_tokens_with_masks(self, x, masks=None): + B, nc, w, h = x.shape + x = self.patch_embed(x) + if masks is not None: + x = torch.where(masks.unsqueeze(-1), self.mask_token.to(x.dtype).unsqueeze(0), x) + + x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1) + + x = x + self.interpolate_pos_encoding(x, w, h) + + if self.register_tokens is not None: + x = torch.cat( + ( + x[:, :1], + self.register_tokens.expand(x.shape[0], -1, -1), + x[:, 1:], + ), + dim=1, + ) + + return x + + def forward_features_list(self, x_list, masks_list): + x = [self.prepare_tokens_with_masks(x, masks) for x, masks in zip(x_list, masks_list)] + for blk in self.blocks: + x = blk(x) + + all_x = x + output = [] + for x, masks in zip(all_x, masks_list): + x_norm = self.norm(x) + output.append( + { + "x_norm_clstoken": x_norm[:, 0], + "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], + "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], + "x_prenorm": x, + "masks": masks, + } + ) + return output + + def forward_features(self, x, masks=None): + if isinstance(x, list): + return self.forward_features_list(x, masks) + + x = self.prepare_tokens_with_masks(x, masks) + + for blk in self.blocks: + x = blk(x) + + x_norm = self.norm(x) + return { + "x_norm_clstoken": x_norm[:, 0], + "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], + "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], + "x_prenorm": x, + "masks": masks, + } + + def _get_intermediate_layers_not_chunked(self, x, n=1): + x = self.prepare_tokens_with_masks(x) + # If n is an int, take the n last blocks. If it's a list, take them + output, total_block_len = [], len(self.blocks) + blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n + for i, blk in enumerate(self.blocks): + x = blk(x) + if i in blocks_to_take: + output.append(x) + assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" + return output + + def _get_intermediate_layers_chunked(self, x, n=1): + x = self.prepare_tokens_with_masks(x) + output, i, total_block_len = [], 0, len(self.blocks[-1]) + # If n is an int, take the n last blocks. If it's a list, take them + blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n + for block_chunk in self.blocks: + for blk in block_chunk[i:]: # Passing the nn.Identity() + x = blk(x) + if i in blocks_to_take: + output.append(x) + i += 1 + assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" + return output + + def get_intermediate_layers( + self, + x: torch.Tensor, + n: Union[int, Sequence] = 1, # Layers or n last layers to take + reshape: bool = False, + return_class_token: bool = False, + norm=True + ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]]]: + if self.chunked_blocks: + outputs = self._get_intermediate_layers_chunked(x, n) + else: + outputs = self._get_intermediate_layers_not_chunked(x, n) + if norm: + outputs = [self.norm(out) for out in outputs] + class_tokens = [out[:, 0] for out in outputs] + outputs = [out[:, 1 + self.num_register_tokens:] for out in outputs] + if reshape: + B, _, w, h = x.shape + outputs = [ + out.reshape(B, w // self.patch_size, h // self.patch_size, -1).permute(0, 3, 1, 2).contiguous() + for out in outputs + ] + if return_class_token: + return tuple(zip(outputs, class_tokens)) + return tuple(outputs) + + def forward(self, *args, is_training=False, **kwargs): + ret = self.forward_features(*args, **kwargs) + if is_training: + return ret + else: + return self.head(ret["x_norm_clstoken"]) + + +def init_weights_vit_timm(module: nn.Module, name: str = ""): + """ViT weight initialization, original timm impl (for reproducibility)""" + if isinstance(module, nn.Linear): + trunc_normal_(module.weight, std=0.02) + if module.bias is not None: + nn.init.zeros_(module.bias) + + +def vit_small(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=384, + depth=12, + num_heads=6, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_base(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_large(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=1024, + depth=24, + num_heads=16, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_giant2(patch_size=16, num_register_tokens=0, **kwargs): + """ + Close to ViT-giant, with embed-dim 1536 and 24 heads => embed-dim per head 64 + """ + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=1536, + depth=40, + num_heads=24, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def DINOv2(model_name): + model_zoo = { + "vits": vit_small, + "vitb": vit_base, + "vitl": vit_large, + "vitg": vit_giant2 + } + + return model_zoo[model_name]( + img_size=518, + patch_size=14, + init_values=1.0, + ffn_layer="mlp" if model_name != "vitg" else "swiglufused", + block_chunks=0, + num_register_tokens=0, + interpolate_antialias=False, + interpolate_offset=0.1 + ) diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/__init__.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..8120f4bc83066cb3f825ce32daa3b437f88486f1 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/__init__.py @@ -0,0 +1,11 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +from .mlp import Mlp +from .patch_embed import PatchEmbed +from .swiglu_ffn import SwiGLUFFN, SwiGLUFFNFused +from .block import NestedTensorBlock +from .attention import MemEffAttention diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/__pycache__/__init__.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..abb311508707610b58594e15985a09fcf4708351 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/__pycache__/__init__.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/__pycache__/attention.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/__pycache__/attention.cpython-310.pyc new file mode 100644 index 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b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/__pycache__/swiglu_ffn.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/attention.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/attention.py new file mode 100644 index 0000000000000000000000000000000000000000..815a2bf53dbec496f6a184ed7d03bcecb7124262 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/attention.py @@ -0,0 +1,83 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +import logging + +from torch import Tensor +from torch import nn + + +logger = logging.getLogger("dinov2") + + +try: + from xformers.ops import memory_efficient_attention, unbind, fmha + + XFORMERS_AVAILABLE = True +except ImportError: + logger.warning("xFormers not available") + XFORMERS_AVAILABLE = False + + +class Attention(nn.Module): + def __init__( + self, + dim: int, + num_heads: int = 8, + qkv_bias: bool = False, + proj_bias: bool = True, + attn_drop: float = 0.0, + proj_drop: float = 0.0, + ) -> None: + super().__init__() + self.num_heads = num_heads + head_dim = dim // num_heads + self.scale = head_dim**-0.5 + + self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + self.attn_drop = nn.Dropout(attn_drop) + self.proj = nn.Linear(dim, dim, bias=proj_bias) + self.proj_drop = nn.Dropout(proj_drop) + + def forward(self, x: Tensor) -> Tensor: + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) + + q, k, v = qkv[0] * self.scale, qkv[1], qkv[2] + attn = q @ k.transpose(-2, -1) + + attn = attn.softmax(dim=-1) + attn = self.attn_drop(attn) + + x = (attn @ v).transpose(1, 2).reshape(B, N, C) + x = self.proj(x) + x = self.proj_drop(x) + return x + + +class MemEffAttention(Attention): + def forward(self, x: Tensor, attn_bias=None) -> Tensor: + if not XFORMERS_AVAILABLE: + assert attn_bias is None, "xFormers is required for nested tensors usage" + return super().forward(x) + + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads) + + q, k, v = unbind(qkv, 2) + + x = memory_efficient_attention(q, k, v, attn_bias=attn_bias) + x = x.reshape([B, N, C]) + + x = self.proj(x) + x = self.proj_drop(x) + return x + + \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/block.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/block.py new file mode 100644 index 0000000000000000000000000000000000000000..25488f57cc0ad3c692f86b62555f6668e2a66db1 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/block.py @@ -0,0 +1,252 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +import logging +from typing import Callable, List, Any, Tuple, Dict + +import torch +from torch import nn, Tensor + +from .attention import Attention, MemEffAttention +from .drop_path import DropPath +from .layer_scale import LayerScale +from .mlp import Mlp + + +logger = logging.getLogger("dinov2") + + +try: + from xformers.ops import fmha + from xformers.ops import scaled_index_add, index_select_cat + + XFORMERS_AVAILABLE = True +except ImportError: + logger.warning("xFormers not available") + XFORMERS_AVAILABLE = False + + +class Block(nn.Module): + def __init__( + self, + dim: int, + num_heads: int, + mlp_ratio: float = 4.0, + qkv_bias: bool = False, + proj_bias: bool = True, + ffn_bias: bool = True, + drop: float = 0.0, + attn_drop: float = 0.0, + init_values=None, + drop_path: float = 0.0, + act_layer: Callable[..., nn.Module] = nn.GELU, + norm_layer: Callable[..., nn.Module] = nn.LayerNorm, + attn_class: Callable[..., nn.Module] = Attention, + ffn_layer: Callable[..., nn.Module] = Mlp, + ) -> None: + super().__init__() + # print(f"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}") + self.norm1 = norm_layer(dim) + self.attn = attn_class( + dim, + num_heads=num_heads, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + attn_drop=attn_drop, + proj_drop=drop, + ) + self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.drop_path1 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.norm2 = norm_layer(dim) + mlp_hidden_dim = int(dim * mlp_ratio) + self.mlp = ffn_layer( + in_features=dim, + hidden_features=mlp_hidden_dim, + act_layer=act_layer, + drop=drop, + bias=ffn_bias, + ) + self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.sample_drop_ratio = drop_path + + def forward(self, x: Tensor) -> Tensor: + def attn_residual_func(x: Tensor) -> Tensor: + return self.ls1(self.attn(self.norm1(x))) + + def ffn_residual_func(x: Tensor) -> Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + if self.training and self.sample_drop_ratio > 0.1: + # the overhead is compensated only for a drop path rate larger than 0.1 + x = drop_add_residual_stochastic_depth( + x, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + x = drop_add_residual_stochastic_depth( + x, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + elif self.training and self.sample_drop_ratio > 0.0: + x = x + self.drop_path1(attn_residual_func(x)) + x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2 + else: + x = x + attn_residual_func(x) + x = x + ffn_residual_func(x) + return x + + +def drop_add_residual_stochastic_depth( + x: Tensor, + residual_func: Callable[[Tensor], Tensor], + sample_drop_ratio: float = 0.0, +) -> Tensor: + # 1) extract subset using permutation + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + x_subset = x[brange] + + # 2) apply residual_func to get residual + residual = residual_func(x_subset) + + x_flat = x.flatten(1) + residual = residual.flatten(1) + + residual_scale_factor = b / sample_subset_size + + # 3) add the residual + x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) + return x_plus_residual.view_as(x) + + +def get_branges_scales(x, sample_drop_ratio=0.0): + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + residual_scale_factor = b / sample_subset_size + return brange, residual_scale_factor + + +def add_residual(x, brange, residual, residual_scale_factor, scaling_vector=None): + if scaling_vector is None: + x_flat = x.flatten(1) + residual = residual.flatten(1) + x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) + else: + x_plus_residual = scaled_index_add( + x, brange, residual.to(dtype=x.dtype), scaling=scaling_vector, alpha=residual_scale_factor + ) + return x_plus_residual + + +attn_bias_cache: Dict[Tuple, Any] = {} + + +def get_attn_bias_and_cat(x_list, branges=None): + """ + this will perform the index select, cat the tensors, and provide the attn_bias from cache + """ + batch_sizes = [b.shape[0] for b in branges] if branges is not None else [x.shape[0] for x in x_list] + all_shapes = tuple((b, x.shape[1]) for b, x in zip(batch_sizes, x_list)) + if all_shapes not in attn_bias_cache.keys(): + seqlens = [] + for b, x in zip(batch_sizes, x_list): + for _ in range(b): + seqlens.append(x.shape[1]) + attn_bias = fmha.BlockDiagonalMask.from_seqlens(seqlens) + attn_bias._batch_sizes = batch_sizes + attn_bias_cache[all_shapes] = attn_bias + + if branges is not None: + cat_tensors = index_select_cat([x.flatten(1) for x in x_list], branges).view(1, -1, x_list[0].shape[-1]) + else: + tensors_bs1 = tuple(x.reshape([1, -1, *x.shape[2:]]) for x in x_list) + cat_tensors = torch.cat(tensors_bs1, dim=1) + + return attn_bias_cache[all_shapes], cat_tensors + + +def drop_add_residual_stochastic_depth_list( + x_list: List[Tensor], + residual_func: Callable[[Tensor, Any], Tensor], + sample_drop_ratio: float = 0.0, + scaling_vector=None, +) -> Tensor: + # 1) generate random set of indices for dropping samples in the batch + branges_scales = [get_branges_scales(x, sample_drop_ratio=sample_drop_ratio) for x in x_list] + branges = [s[0] for s in branges_scales] + residual_scale_factors = [s[1] for s in branges_scales] + + # 2) get attention bias and index+concat the tensors + attn_bias, x_cat = get_attn_bias_and_cat(x_list, branges) + + # 3) apply residual_func to get residual, and split the result + residual_list = attn_bias.split(residual_func(x_cat, attn_bias=attn_bias)) # type: ignore + + outputs = [] + for x, brange, residual, residual_scale_factor in zip(x_list, branges, residual_list, residual_scale_factors): + outputs.append(add_residual(x, brange, residual, residual_scale_factor, scaling_vector).view_as(x)) + return outputs + + +class NestedTensorBlock(Block): + def forward_nested(self, x_list: List[Tensor]) -> List[Tensor]: + """ + x_list contains a list of tensors to nest together and run + """ + assert isinstance(self.attn, MemEffAttention) + + if self.training and self.sample_drop_ratio > 0.0: + + def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.attn(self.norm1(x), attn_bias=attn_bias) + + def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.mlp(self.norm2(x)) + + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=self.ls1.gamma if isinstance(self.ls1, LayerScale) else None, + ) + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=self.ls2.gamma if isinstance(self.ls1, LayerScale) else None, + ) + return x_list + else: + + def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias)) + + def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + attn_bias, x = get_attn_bias_and_cat(x_list) + x = x + attn_residual_func(x, attn_bias=attn_bias) + x = x + ffn_residual_func(x) + return attn_bias.split(x) + + def forward(self, x_or_x_list): + if isinstance(x_or_x_list, Tensor): + return super().forward(x_or_x_list) + elif isinstance(x_or_x_list, list): + assert XFORMERS_AVAILABLE, "Please install xFormers for nested tensors usage" + return self.forward_nested(x_or_x_list) + else: + raise AssertionError diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/drop_path.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/drop_path.py new file mode 100644 index 0000000000000000000000000000000000000000..af05625984dd14682cc96a63bf0c97bab1f123b1 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/drop_path.py @@ -0,0 +1,35 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/drop.py + + +from torch import nn + + +def drop_path(x, drop_prob: float = 0.0, training: bool = False): + if drop_prob == 0.0 or not training: + return x + keep_prob = 1 - drop_prob + shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets + random_tensor = x.new_empty(shape).bernoulli_(keep_prob) + if keep_prob > 0.0: + random_tensor.div_(keep_prob) + output = x * random_tensor + return output + + +class DropPath(nn.Module): + """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" + + def __init__(self, drop_prob=None): + super(DropPath, self).__init__() + self.drop_prob = drop_prob + + def forward(self, x): + return drop_path(x, self.drop_prob, self.training) diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/layer_scale.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/layer_scale.py new file mode 100644 index 0000000000000000000000000000000000000000..ca5daa52bd81d3581adeb2198ea5b7dba2a3aea1 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/layer_scale.py @@ -0,0 +1,28 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +# Modified from: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L103-L110 + +from typing import Union + +import torch +from torch import Tensor +from torch import nn + + +class LayerScale(nn.Module): + def __init__( + self, + dim: int, + init_values: Union[float, Tensor] = 1e-5, + inplace: bool = False, + ) -> None: + super().__init__() + self.inplace = inplace + self.gamma = nn.Parameter(init_values * torch.ones(dim)) + + def forward(self, x: Tensor) -> Tensor: + return x.mul_(self.gamma) if self.inplace else x * self.gamma diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/mlp.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/mlp.py new file mode 100644 index 0000000000000000000000000000000000000000..5e4b315f972f9a9f54aef1e4ef4e81b52976f018 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/mlp.py @@ -0,0 +1,41 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/mlp.py + + +from typing import Callable, Optional + +from torch import Tensor, nn + + +class Mlp(nn.Module): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = nn.GELU, + drop: float = 0.0, + bias: bool = True, + ) -> None: + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.fc1 = nn.Linear(in_features, hidden_features, bias=bias) + self.act = act_layer() + self.fc2 = nn.Linear(hidden_features, out_features, bias=bias) + self.drop = nn.Dropout(drop) + + def forward(self, x: Tensor) -> Tensor: + x = self.fc1(x) + x = self.act(x) + x = self.drop(x) + x = self.fc2(x) + x = self.drop(x) + return x diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/patch_embed.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/patch_embed.py new file mode 100644 index 0000000000000000000000000000000000000000..574abe41175568d700a389b8b96d1ba554914779 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/patch_embed.py @@ -0,0 +1,89 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +from typing import Callable, Optional, Tuple, Union + +from torch import Tensor +import torch.nn as nn + + +def make_2tuple(x): + if isinstance(x, tuple): + assert len(x) == 2 + return x + + assert isinstance(x, int) + return (x, x) + + +class PatchEmbed(nn.Module): + """ + 2D image to patch embedding: (B,C,H,W) -> (B,N,D) + + Args: + img_size: Image size. + patch_size: Patch token size. + in_chans: Number of input image channels. + embed_dim: Number of linear projection output channels. + norm_layer: Normalization layer. + """ + + def __init__( + self, + img_size: Union[int, Tuple[int, int]] = 224, + patch_size: Union[int, Tuple[int, int]] = 16, + in_chans: int = 3, + embed_dim: int = 768, + norm_layer: Optional[Callable] = None, + flatten_embedding: bool = True, + ) -> None: + super().__init__() + + image_HW = make_2tuple(img_size) + patch_HW = make_2tuple(patch_size) + patch_grid_size = ( + image_HW[0] // patch_HW[0], + image_HW[1] // patch_HW[1], + ) + + self.img_size = image_HW + self.patch_size = patch_HW + self.patches_resolution = patch_grid_size + self.num_patches = patch_grid_size[0] * patch_grid_size[1] + + self.in_chans = in_chans + self.embed_dim = embed_dim + + self.flatten_embedding = flatten_embedding + + self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_HW, stride=patch_HW) + self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity() + + def forward(self, x: Tensor) -> Tensor: + _, _, H, W = x.shape + patch_H, patch_W = self.patch_size + + assert H % patch_H == 0, f"Input image height {H} is not a multiple of patch height {patch_H}" + assert W % patch_W == 0, f"Input image width {W} is not a multiple of patch width: {patch_W}" + + x = self.proj(x) # B C H W + H, W = x.size(2), x.size(3) + x = x.flatten(2).transpose(1, 2) # B HW C + x = self.norm(x) + if not self.flatten_embedding: + x = x.reshape(-1, H, W, self.embed_dim) # B H W C + return x + + def flops(self) -> float: + Ho, Wo = self.patches_resolution + flops = Ho * Wo * self.embed_dim * self.in_chans * (self.patch_size[0] * self.patch_size[1]) + if self.norm is not None: + flops += Ho * Wo * self.embed_dim + return flops diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/swiglu_ffn.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/swiglu_ffn.py new file mode 100644 index 0000000000000000000000000000000000000000..b3324b266fb0a50ccf8c3a0ede2ae10ac4dfa03e --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dinov2_layers/swiglu_ffn.py @@ -0,0 +1,63 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +from typing import Callable, Optional + +from torch import Tensor, nn +import torch.nn.functional as F + + +class SwiGLUFFN(nn.Module): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = None, + drop: float = 0.0, + bias: bool = True, + ) -> None: + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.w12 = nn.Linear(in_features, 2 * hidden_features, bias=bias) + self.w3 = nn.Linear(hidden_features, out_features, bias=bias) + + def forward(self, x: Tensor) -> Tensor: + x12 = self.w12(x) + x1, x2 = x12.chunk(2, dim=-1) + hidden = F.silu(x1) * x2 + return self.w3(hidden) + + +try: + from xformers.ops import SwiGLU + + XFORMERS_AVAILABLE = True +except ImportError: + SwiGLU = SwiGLUFFN + XFORMERS_AVAILABLE = False + + +class SwiGLUFFNFused(SwiGLU): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = None, + drop: float = 0.0, + bias: bool = True, + ) -> None: + out_features = out_features or in_features + hidden_features = hidden_features or in_features + hidden_features = (int(hidden_features * 2 / 3) + 7) // 8 * 8 + super().__init__( + in_features=in_features, + hidden_features=hidden_features, + out_features=out_features, + bias=bias, + ) diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dpt.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dpt.py new file mode 100644 index 0000000000000000000000000000000000000000..55475233400c5b9ca8ec1955de7ad014b8332d24 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/dpt.py @@ -0,0 +1,219 @@ +import cv2 +import torch +import torch.nn as nn +import torch.nn.functional as F +from torchvision.transforms import Compose + +from .dinov2 import DINOv2 +from .util.blocks import FeatureFusionBlock, _make_scratch +from .util.transform import Resize, NormalizeImage, PrepareForNet +import math + + +def _make_fusion_block(features, use_bn, size=None): + return FeatureFusionBlock( + features, + nn.ReLU(False), + deconv=False, + bn=use_bn, + expand=False, + align_corners=True, + size=size, + ) + + +class ConvBlock(nn.Module): + def __init__(self, in_feature, out_feature): + super().__init__() + + self.conv_block = nn.Sequential( + nn.Conv2d(in_feature, out_feature, kernel_size=3, stride=1, padding=1), + nn.BatchNorm2d(out_feature), + nn.ReLU(True) + ) + + def forward(self, x): + return self.conv_block(x) + + +class DPTHead(nn.Module): + def __init__( + self, + in_channels, + features=256, + use_bn=False, + out_channels=[256, 512, 1024, 1024], + use_clstoken=False + ): + super(DPTHead, self).__init__() + + self.use_clstoken = use_clstoken + + self.projects = nn.ModuleList([ + nn.Conv2d( + in_channels=in_channels, + out_channels=out_channel, + kernel_size=1, + stride=1, + padding=0, + ) for out_channel in out_channels + ]) + + self.resize_layers = nn.ModuleList([ + nn.ConvTranspose2d( + in_channels=out_channels[0], + out_channels=out_channels[0], + kernel_size=4, + stride=4, + padding=0), + nn.ConvTranspose2d( + in_channels=out_channels[1], + out_channels=out_channels[1], + kernel_size=2, + stride=2, + padding=0), + nn.Identity(), + nn.Conv2d( + in_channels=out_channels[3], + out_channels=out_channels[3], + kernel_size=3, + stride=2, + padding=1) + ]) + + if use_clstoken: + self.readout_projects = nn.ModuleList() + for _ in range(len(self.projects)): + self.readout_projects.append( + nn.Sequential( + nn.Linear(2 * in_channels, in_channels), + nn.GELU())) + + self.scratch = _make_scratch( + out_channels, + features, + groups=1, + expand=False, + ) + + self.scratch.stem_transpose = None + + self.scratch.refinenet1 = _make_fusion_block(features, use_bn) + self.scratch.refinenet2 = _make_fusion_block(features, use_bn) + self.scratch.refinenet3 = _make_fusion_block(features, use_bn) + self.scratch.refinenet4 = _make_fusion_block(features, use_bn) + + head_features_1 = features + head_features_2 = 32 + + self.scratch.output_conv1 = nn.Conv2d(head_features_1, head_features_1 // 2, kernel_size=3, stride=1, padding=1) + self.scratch.output_conv2 = nn.Sequential( + nn.Conv2d(head_features_1 // 2, head_features_2, kernel_size=3, stride=1, padding=1), + nn.ReLU(True), + nn.Conv2d(head_features_2, 1, kernel_size=1, stride=1, padding=0), + nn.ReLU(True), + nn.Identity(), + ) + + def forward(self, out_features, patch_h, patch_w): + out = [] + for i, x in enumerate(out_features): + if self.use_clstoken: + x, cls_token = x[0], x[1] + readout = cls_token.unsqueeze(1).expand_as(x) + x = self.readout_projects[i](torch.cat((x, readout), -1)) + else: + x = x[0] + + x = x.permute(0, 2, 1).reshape((x.shape[0], x.shape[-1], patch_h, patch_w)) + x = self.projects[i](x) + x = self.resize_layers[i](x) + out.append(x) + + layer_1, layer_2, layer_3, layer_4 = out + + layer_1_rn = self.scratch.layer1_rn(layer_1) + layer_2_rn = self.scratch.layer2_rn(layer_2) + layer_3_rn = self.scratch.layer3_rn(layer_3) + layer_4_rn = self.scratch.layer4_rn(layer_4) + + path_4 = self.scratch.refinenet4(layer_4_rn, size=layer_3_rn.shape[2:]) + path_3 = self.scratch.refinenet3(path_4, layer_3_rn, size=layer_2_rn.shape[2:]) + path_2 = self.scratch.refinenet2(path_3, layer_2_rn, size=layer_1_rn.shape[2:]) + path_1 = self.scratch.refinenet1(path_2, layer_1_rn) + + out = self.scratch.output_conv1(path_1) + out = F.interpolate(out, (int(patch_h * 14), int(patch_w * 14)), mode="bilinear", align_corners=True) + out = self.scratch.output_conv2(out) + + return out + + +class DepthAnythingV2(nn.Module): + def __init__( + self, + encoder='vitl', + features=256, + out_channels=[256, 512, 1024, 1024], + use_bn=False, + use_clstoken=False + ): + super(DepthAnythingV2, self).__init__() + + # self.intermediate_layer_idx = { + # 'vits': [2, 5, 8, 11], + # 'vitb': [2, 5, 8, 11], + # 'vitl': [4, 11, 17, 23], + # 'vitg': [9, 19, 29, 39] + # } + + # self.encoder = encoder + self.pretrained = DINOv2(model_name=encoder) + # self.depth_head = DPTHead(self.pretrained.embed_dim, features, use_bn, out_channels=out_channels, use_clstoken=use_clstoken) + + def forward_semantics(self, x): + ori_h, ori_w = x.shape[-2:] + mean=[0.485, 0.456, 0.406] + std=[0.229, 0.224, 0.225] + mean = torch.tensor(mean).view(1, 3, 1, 1).to(x.device) + std = torch.tensor(std).view(1, 3, 1, 1).to(x.device) + x = (x - mean) / std + new_h = (ori_h // 16) * 14 + new_w = (ori_w // 16) * 14 + x = F.interpolate(x, size=(new_h, new_w), mode='bicubic', align_corners=False) + semantics = self.pretrained.forward_features(x)["x_norm_patchtokens"] + return semantics + + @torch.no_grad() + def infer_image(self, raw_image, input_size=518): + image, (h, w) = self.image2tensor(raw_image, input_size) + depth = self.forward(image) + + depth = F.interpolate(depth[:, None], (h, w), mode="bilinear", align_corners=True)[0, 0] + + return depth.cpu().numpy() + + def image2tensor(self, raw_image, input_size=518): + transform = Compose([ + Resize( + width=input_size, + height=input_size, + resize_target=False, + keep_aspect_ratio=True, + ensure_multiple_of=14, + resize_method='lower_bound', + image_interpolation_method=cv2.INTER_CUBIC, + ), + NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]), + PrepareForNet(), + ]) + h, w = raw_image.shape[:2] + image = cv2.cvtColor(raw_image, cv2.COLOR_BGR2RGB) / 255.0 + + image = transform({'image': image})['image'] + image = torch.from_numpy(image).unsqueeze(0) + + DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu' + image = image.to(DEVICE) + + return image, (h, w) diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/__pycache__/blocks.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/__pycache__/blocks.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..8589febe4a2b7ae18da9cf613ebd73e2a26a6f1c Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/__pycache__/blocks.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/__pycache__/transform.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/__pycache__/transform.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..b23ddad0e10f61d91babd8a6f982347ca6fdd38d Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/__pycache__/transform.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/blocks.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/blocks.py new file mode 100644 index 0000000000000000000000000000000000000000..382ea183a40264056142afffc201c992a2b01d37 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/blocks.py @@ -0,0 +1,148 @@ +import torch.nn as nn + + +def _make_scratch(in_shape, out_shape, groups=1, expand=False): + scratch = nn.Module() + + out_shape1 = out_shape + out_shape2 = out_shape + out_shape3 = out_shape + if len(in_shape) >= 4: + out_shape4 = out_shape + + if expand: + out_shape1 = out_shape + out_shape2 = out_shape * 2 + out_shape3 = out_shape * 4 + if len(in_shape) >= 4: + out_shape4 = out_shape * 8 + + scratch.layer1_rn = nn.Conv2d(in_shape[0], out_shape1, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) + scratch.layer2_rn = nn.Conv2d(in_shape[1], out_shape2, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) + scratch.layer3_rn = nn.Conv2d(in_shape[2], out_shape3, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) + if len(in_shape) >= 4: + scratch.layer4_rn = nn.Conv2d(in_shape[3], out_shape4, kernel_size=3, stride=1, padding=1, bias=False, groups=groups) + + return scratch + + +class ResidualConvUnit(nn.Module): + """Residual convolution module. + """ + + def __init__(self, features, activation, bn): + """Init. + + Args: + features (int): number of features + """ + super().__init__() + + self.bn = bn + + self.groups=1 + + self.conv1 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups) + + self.conv2 = nn.Conv2d(features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups) + + if self.bn == True: + self.bn1 = nn.BatchNorm2d(features) + self.bn2 = nn.BatchNorm2d(features) + + self.activation = activation + + self.skip_add = nn.quantized.FloatFunctional() + + def forward(self, x): + """Forward pass. + + Args: + x (tensor): input + + Returns: + tensor: output + """ + + out = self.activation(x) + out = self.conv1(out) + if self.bn == True: + out = self.bn1(out) + + out = self.activation(out) + out = self.conv2(out) + if self.bn == True: + out = self.bn2(out) + + if self.groups > 1: + out = self.conv_merge(out) + + return self.skip_add.add(out, x) + + +class FeatureFusionBlock(nn.Module): + """Feature fusion block. + """ + + def __init__( + self, + features, + activation, + deconv=False, + bn=False, + expand=False, + align_corners=True, + size=None + ): + """Init. + + Args: + features (int): number of features + """ + super(FeatureFusionBlock, self).__init__() + + self.deconv = deconv + self.align_corners = align_corners + + self.groups=1 + + self.expand = expand + out_features = features + if self.expand == True: + out_features = features // 2 + + self.out_conv = nn.Conv2d(features, out_features, kernel_size=1, stride=1, padding=0, bias=True, groups=1) + + self.resConfUnit1 = ResidualConvUnit(features, activation, bn) + self.resConfUnit2 = ResidualConvUnit(features, activation, bn) + + self.skip_add = nn.quantized.FloatFunctional() + + self.size=size + + def forward(self, *xs, size=None): + """Forward pass. + + Returns: + tensor: output + """ + output = xs[0] + + if len(xs) == 2: + res = self.resConfUnit1(xs[1]) + output = self.skip_add.add(output, res) + + output = self.resConfUnit2(output) + + if (size is None) and (self.size is None): + modifier = {"scale_factor": 2} + elif size is None: + modifier = {"size": self.size} + else: + modifier = {"size": size} + + output = nn.functional.interpolate(output, **modifier, mode="bilinear", align_corners=self.align_corners) + + output = self.out_conv(output) + + return output diff --git a/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/transform.py b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/transform.py new file mode 100644 index 0000000000000000000000000000000000000000..b14aacd44ea086b01725a9ca68bb49eadcf37d73 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_anything_v2/util/transform.py @@ -0,0 +1,158 @@ +import numpy as np +import cv2 + + +class Resize(object): + """Resize sample to given size (width, height). + """ + + def __init__( + self, + width, + height, + resize_target=True, + keep_aspect_ratio=False, + ensure_multiple_of=1, + resize_method="lower_bound", + image_interpolation_method=cv2.INTER_AREA, + ): + """Init. + + Args: + width (int): desired output width + height (int): desired output height + resize_target (bool, optional): + True: Resize the full sample (image, mask, target). + False: Resize image only. + Defaults to True. + keep_aspect_ratio (bool, optional): + True: Keep the aspect ratio of the input sample. + Output sample might not have the given width and height, and + resize behaviour depends on the parameter 'resize_method'. + Defaults to False. + ensure_multiple_of (int, optional): + Output width and height is constrained to be multiple of this parameter. + Defaults to 1. + resize_method (str, optional): + "lower_bound": Output will be at least as large as the given size. + "upper_bound": Output will be at max as large as the given size. (Output size might be smaller than given size.) + "minimal": Scale as least as possible. (Output size might be smaller than given size.) + Defaults to "lower_bound". + """ + self.__width = width + self.__height = height + + self.__resize_target = resize_target + self.__keep_aspect_ratio = keep_aspect_ratio + self.__multiple_of = ensure_multiple_of + self.__resize_method = resize_method + self.__image_interpolation_method = image_interpolation_method + + def constrain_to_multiple_of(self, x, min_val=0, max_val=None): + y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int) + + if max_val is not None and y > max_val: + y = (np.floor(x / self.__multiple_of) * self.__multiple_of).astype(int) + + if y < min_val: + y = (np.ceil(x / self.__multiple_of) * self.__multiple_of).astype(int) + + return y + + def get_size(self, width, height): + # determine new height and width + scale_height = self.__height / height + scale_width = self.__width / width + + if self.__keep_aspect_ratio: + if self.__resize_method == "lower_bound": + # scale such that output size is lower bound + if scale_width > scale_height: + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + elif self.__resize_method == "upper_bound": + # scale such that output size is upper bound + if scale_width < scale_height: + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + elif self.__resize_method == "minimal": + # scale as least as possbile + if abs(1 - scale_width) < abs(1 - scale_height): + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + else: + raise ValueError(f"resize_method {self.__resize_method} not implemented") + + if self.__resize_method == "lower_bound": + new_height = self.constrain_to_multiple_of(scale_height * height, min_val=self.__height) + new_width = self.constrain_to_multiple_of(scale_width * width, min_val=self.__width) + elif self.__resize_method == "upper_bound": + new_height = self.constrain_to_multiple_of(scale_height * height, max_val=self.__height) + new_width = self.constrain_to_multiple_of(scale_width * width, max_val=self.__width) + elif self.__resize_method == "minimal": + new_height = self.constrain_to_multiple_of(scale_height * height) + new_width = self.constrain_to_multiple_of(scale_width * width) + else: + raise ValueError(f"resize_method {self.__resize_method} not implemented") + + return (new_width, new_height) + + def __call__(self, sample): + width, height = self.get_size(sample["image"].shape[1], sample["image"].shape[0]) + + # resize sample + sample["image"] = cv2.resize(sample["image"], (width, height), interpolation=self.__image_interpolation_method) + + if self.__resize_target: + if "depth" in sample: + sample["depth"] = cv2.resize(sample["depth"], (width, height), interpolation=cv2.INTER_NEAREST) + + if "mask" in sample: + sample["mask"] = cv2.resize(sample["mask"].astype(np.float32), (width, height), interpolation=cv2.INTER_NEAREST) + + return sample + + +class NormalizeImage(object): + """Normlize image by given mean and std. + """ + + def __init__(self, mean, std): + self.__mean = mean + self.__std = std + + def __call__(self, sample): + sample["image"] = (sample["image"] - self.__mean) / self.__std + + return sample + + +class PrepareForNet(object): + """Prepare sample for usage as network input. + """ + + def __init__(self): + pass + + def __call__(self, sample): + image = np.transpose(sample["image"], (2, 0, 1)) + sample["image"] = np.ascontiguousarray(image).astype(np.float32) + + if "depth" in sample: + depth = sample["depth"].astype(np.float32) + sample["depth"] = np.ascontiguousarray(depth) + + if "mask" in sample: + sample["mask"] = sample["mask"].astype(np.float32) + sample["mask"] = np.ascontiguousarray(sample["mask"]) + + return sample \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/depth_estimation_model.py b/Pixel-Perfect-Depth/ppd/models/depth_estimation_model.py new file mode 100644 index 0000000000000000000000000000000000000000..9028384be996d46c296dcb1bcb886de0d03e0749 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/depth_estimation_model.py @@ -0,0 +1,255 @@ +import os +from os.path import join +import numpy as np +import imageio +import torch +import cv2 +import pytorch_lightning as pl +from hydra.utils import instantiate +from typing import Any, Dict, List + +from ppd.utils.align_depth_func import recover_metric_depth_ransac +from ppd.utils.parallel_utils import async_call +from ppd.utils.logger import Log +from ppd.utils.vis_utils import visualize_depth + + +class DepthEstimationModel(pl.LightningModule): + def __init__( + self, + pipeline, # The pipeline is the model itself + optimizer, # The optimizer is the optimizer used to train the model + lr_table, # The lr_table is the learning rate table + output_dir: str, + ignored_weights_prefix=["pipeline.sem_encoder"], + save_vis_depth=False, # Whether to save the visualized depth + save_vis_depth_and_concat_img=False, + save_vis_depth_and_concat_gt=True, + **kwargs, + ): + super().__init__() + + self.pipeline = instantiate(pipeline, _recursive_=False) + self.optimizer = instantiate(optimizer) + self.lr_table = instantiate(lr_table) + self.ignored_weights_prefix = ignored_weights_prefix + + self._save_vis_depth = save_vis_depth + self._save_vis_depth_and_concat_img = save_vis_depth_and_concat_img + self._save_vis_depth_and_concat_gt = save_vis_depth_and_concat_gt + self.align_depth_func = recover_metric_depth_ransac + self.output_dir = output_dir + + Log.info('Results will be saved to: {}'.format(self.output_dir)) + + def training_step(self, batch, batch_idx): + output = self.pipeline.forward_train(batch) + if not isinstance(self.trainer.train_dataloader, List): + B = self.trainer.train_dataloader.batch_size + else: + B = np.sum( + [dataloader.batch_size for dataloader in self.trainer.train_dataloader]) + loss = output['loss'] + if torch.isnan(loss).any() or torch.isinf(loss).any(): + raise ValueError(f"Loss is NaN or Inf: {loss}") + self.log('train/loss', loss, on_step=True, on_epoch=True, + prog_bar=True, logger=True, batch_size=B, sync_dist=True) + + lr = self.optimizers().param_groups[0]['lr'] + self.log('train/lr', lr, on_step=True, on_epoch=True, prog_bar=True, logger=True) + + # Save visualization every 100 steps + if self.global_step % 100 == 0: + if 'depth' in output and 'image' in output: + depth_np = output['depth'][0][0].float().detach().cpu().numpy() + rgb_np = output['image'][0].detach().cpu().numpy().transpose((1, 2, 0)) + depth_vis = visualize_depth(depth_np) + depth_vis = (depth_vis * 255.).astype(np.uint8) + rgb_vis = (rgb_np * 255.).astype(np.uint8) + vis_img = np.concatenate([rgb_vis, depth_vis], axis=1) + self.logger.experiment.add_image('train/depth_vis', + vis_img.transpose((2,0,1)), + self.global_step) + if 'depth' in output: del output['depth'] + return output + + def predict_step(self, batch, batch_idx, dataloader_idx=None): + output = self.pipeline.forward_test(batch) + if self._save_vis_depth: + self.save_vis_depth(output['depth'], output['image'], batch['image_name'], 'vis_depth', + gt_depth=batch['depth'] if 'depth' in batch else None) + return output + + def validation_step(self, batch, batch_idx, dataloader_idx=None) -> None: + output = self.predict_step(batch, batch_idx, dataloader_idx) + batch_size = batch['image'].shape[0] + metrics_dict = self.compute_metrics(output, batch) + for k, v in metrics_dict.items(): + self.log(f'val/{k}', np.mean(v), + on_step=False, + on_epoch=True, + prog_bar=True if 'l1' in k else False, + logger=True, + batch_size=batch_size, + sync_dist=True) + + def compute_metrics(self, output, batch): + B = batch['image'].shape[0] + metrics_dict = {} + for b in range(B): + pred_depth = output['depth'][b][0].float().detach().cpu().numpy() + gt_depth = batch['depth'][b][0].float().detach().cpu().numpy() + msk = self.create_depth_mask(batch['dataset_name'], gt_depth) + msk = msk & batch['mask'][b, 0].detach().cpu().numpy().astype(np.bool_) + gt_depth[~msk] = 0. + pred_depth = self.align_depth_func( + pred_depth, gt_depth, msk, log=True) + + metrics_dict_item = self.compute_depth_metric( + pred_depth, gt_depth, msk) + metrics_dict = self.update_metrics_dict( + metrics_dict, metrics_dict_item, 'relative') + return metrics_dict + + def update_metrics_dict(self, metrics_dict, metrics_dict_item, prefix): + for k, v in metrics_dict_item.items(): + if f'{prefix}_{k}' not in metrics_dict: + metrics_dict[f'{prefix}_{k}'] = [] + metrics_dict[f'{prefix}_{k}'].append(v) + return metrics_dict + + def create_depth_mask(self, dataset_name, gt_depth): + return gt_depth > 1e-3 + + def compute_depth_metric(self, pred_depth, gt_depth, msk): + gt = gt_depth[msk] + pred = pred_depth[msk] + thresh = np.maximum((gt / (pred + 1e-5)), (pred / (gt + 1e-5))) + d05 = (thresh < 1.25 ** 0.5).mean() + d1 = (thresh < 1.25).mean() + d2 = (thresh < 1.25 ** 2).mean() + d3 = (thresh < 1.25 ** 3).mean() + abs_rel = np.mean(np.abs(gt - pred) / (gt + 1e-5)) + + return { + 'd0.5': d05, + 'd1': d1, + 'd2': d2, + 'd3': d3, + 'abs_rel': abs_rel, + } + + @async_call + def save_depth(self, depth, name, tag) -> None: + if not isinstance(depth, torch.Tensor): + depth = torch.tensor(depth).unsqueeze(0).unsqueeze(0) + for b in range(len(depth)): + depth_np = depth[b][0].float().detach().cpu().numpy() + last_split_len = len(name[b].split('.')[-1]) + save_name = name[b][:-(last_split_len + 1)] + '.npz' + img_path = join(self.output_dir, f'{tag}/{save_name}') + os.makedirs(os.path.dirname(img_path), exist_ok=True) + np.savez_compressed(img_path, data=np.round(depth_np, 3)) + + @async_call + def save_vis_depth(self, depth, rgb, name, tag, gt_depth=None) -> None: + for b in range(len(depth)): + depth_np = depth[b][0].float().detach().cpu().numpy() + save_name = name[b] + + save_imgs = [] + save_img = visualize_depth(depth_np, + depth_np.min(), + depth_np.max() + ) + save_imgs.append(save_img) + if self._save_vis_depth_and_concat_img: + rgb_np = rgb[b].float().detach().cpu().numpy().transpose((1, 2, 0)) + + + rgb_np = cv2.resize( + rgb_np, (save_img.shape[1], save_img.shape[0]), interpolation=cv2.INTER_AREA) + + save_img = np.concatenate( + [rgb_np, save_img], axis=1) + save_imgs.append(rgb_np) + if gt_depth is not None and self._save_vis_depth_and_concat_gt: + gt_depth_np = gt_depth[b][0].float().detach().cpu().numpy() + gt_depth_vis = visualize_depth(gt_depth_np, + gt_depth_np.min(), + gt_depth_np.max() + ) + save_img = np.concatenate( + [save_img, gt_depth_vis], axis=1) + save_imgs.append(gt_depth_vis) + img_path = join(self.output_dir, f'{tag}/{save_name}') + os.makedirs(os.path.dirname(img_path), exist_ok=True) + imageio.imwrite(img_path.replace('.jpg', '.png'), + (save_img * 255.).astype(np.uint8)) + + def configure_optimizers(self): + group_table = {} + params = [] + for k, v in self.pipeline.named_parameters(): + if v.requires_grad: + group, lr = self.lr_table.get_lr(k) + if lr == 0: + v.requires_grad = False + if group not in group_table: + group_table[group] = len(group_table) + params.append({'params': [v], 'lr': lr, 'name': group}) + else: + params[group_table[group]]['params'].append(v) + optimizer = self.optimizer(params=params) + return optimizer + + def on_save_checkpoint(self, checkpoint: Dict[str, Any]) -> None: + for ig_keys in self.ignored_weights_prefix: + Log.debug(f"Remove key `{ig_keys}' from checkpoint.") + for k in list(checkpoint["state_dict"].keys()): + if k.startswith(ig_keys): + checkpoint["state_dict"].pop(k) + super().on_save_checkpoint(checkpoint) + + def load_pretrained_model(self, ckpt_path): + """Load pretrained checkpoint, and assign each weight to the corresponding part.""" + Log.info(f"Loading ckpt: {ckpt_path}") + state_dict = torch.load(ckpt_path, "cpu")["state_dict"] + missing, unexpected = self.load_state_dict(state_dict, strict=False) + real_missing = [] + for k in missing: + miss = True + for ig_keys in self.ignored_weights_prefix: + if k.startswith(ig_keys): + miss = False + if miss: + real_missing.append(k) + if len(real_missing) > 0: + Log.warn(f"Missing keys: {real_missing}") + if len(unexpected) > 0: + Log.error(f"Unexpected keys: {unexpected}") + + def load_pretrained_model_eval(self, ckpt_path): + """Load pretrained checkpoint, and assign each weight to the corresponding part.""" + Log.info(f"Loading ckpt: {ckpt_path}") + state_dict = torch.load(ckpt_path, "cpu") + fixed_state_dict = {} + for k, v in state_dict.items(): + if k.startswith("dit."): + fixed_state_dict[f"pipeline.{k}"] = v + else: + fixed_state_dict[k] = v + missing, unexpected = self.load_state_dict(fixed_state_dict, strict=False) + real_missing = [] + for k in missing: + miss = True + for ig_keys in self.ignored_weights_prefix: + if k.startswith(ig_keys): + miss = False + if miss: + real_missing.append(k) + if len(real_missing) > 0: + Log.warn(f"Missing keys: {real_missing}") + if len(unexpected) > 0: + Log.error(f"Unexpected keys: {unexpected}") + diff --git a/Pixel-Perfect-Depth/ppd/models/dit.py b/Pixel-Perfect-Depth/ppd/models/dit.py new file mode 100644 index 0000000000000000000000000000000000000000..136762a0f2dcb090c295d4505f19a1e911314e71 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/dit.py @@ -0,0 +1,237 @@ +import math +import numpy as np +import torch +import torch.nn as nn +import torch.nn.functional as F + +from .patch_embed import PatchEmbed +from .mlp import Mlp +from .attention import Attention +from .rope import RotaryPositionEmbedding2D, PositionGetter + + +def modulate(x, shift, scale): + return x * (1 + scale.unsqueeze(1)) + shift.unsqueeze(1) + + +class TimestepEmbedder(nn.Module): + """ + Embeds scalar timesteps into vector representations. + """ + + def __init__(self, hidden_size, frequency_embedding_size=256): + super().__init__() + self.mlp = nn.Sequential( + nn.Linear(frequency_embedding_size, hidden_size, bias=True), + nn.SiLU(), + nn.Linear(hidden_size, hidden_size, bias=True), + ) + self.frequency_embedding_size = frequency_embedding_size + + @staticmethod + def timestep_embedding(t, dim, max_period=10000): + """ + Create sinusoidal timestep embeddings. + :param t: a 1-D Tensor of N indices, one per batch element. + These may be fractional. + :param dim: the dimension of the output. + :param max_period: controls the minimum frequency of the embeddings. + :return: an (N, D) Tensor of positional embeddings. + """ + # https://github.com/openai/glide-text2im/blob/main/glide_text2im/nn.py + half = dim // 2 + freqs = torch.exp( + -math.log(max_period) * torch.arange(start=0, end=half, dtype=torch.float32) / half + ).to(device=t.device) + args = t[:, None].float() * freqs[None] + embedding = torch.cat([torch.cos(args), torch.sin(args)], dim=-1) + if dim % 2: + embedding = torch.cat([embedding, torch.zeros_like(embedding[:, :1])], dim=-1) + return embedding + + def forward(self, t): + t_freq = self.timestep_embedding(t, self.frequency_embedding_size) + t_emb = self.mlp(t_freq) + return t_emb + + +class DiTBlock(nn.Module): + """ + A DiT block with adaptive layer norm zero (adaLN-Zero) conditioning. + """ + + def __init__(self, hidden_size, num_heads, mlp_ratio=4.0, rope=None, **block_kwargs): + super().__init__() + self.norm1 = nn.LayerNorm(hidden_size, elementwise_affine=False, eps=1e-6) + self.attn = Attention(hidden_size, num_heads=num_heads, qkv_bias=True, qk_norm=True, rope=rope, **block_kwargs) + self.norm2 = nn.LayerNorm(hidden_size, elementwise_affine=False, eps=1e-6) + mlp_hidden_dim = int(hidden_size * mlp_ratio) + approx_gelu = nn.GELU(approximate="tanh") + self.mlp = Mlp( + in_features=hidden_size, hidden_features=mlp_hidden_dim, act_layer=approx_gelu, drop=0 + ) + self.adaLN_modulation = nn.Sequential( + nn.SiLU(), nn.Linear(hidden_size, 6 * hidden_size, bias=True) + ) + + def forward(self, x, c, pos=None): + shift_msa, scale_msa, gate_msa, shift_mlp, scale_mlp, gate_mlp = self.adaLN_modulation( + c + ).chunk(6, dim=1) + x = x + gate_msa.unsqueeze(1) * self.attn(modulate(self.norm1(x), shift_msa, scale_msa), pos=pos) + x = x + gate_mlp.unsqueeze(1) * self.mlp(modulate(self.norm2(x), shift_mlp, scale_mlp)) + return x + + +class FinalLayer(nn.Module): + """ + The final layer of DiT. + """ + + def __init__(self, hidden_size, patch_size, out_channels): + super().__init__() + self.norm_final = nn.LayerNorm(hidden_size, elementwise_affine=False, eps=1e-6) + self.linear = nn.Linear(hidden_size, patch_size * patch_size * out_channels, bias=True) + self.adaLN_modulation = nn.Sequential( + nn.SiLU(), nn.Linear(hidden_size, 2 * hidden_size, bias=True) + ) + + def forward(self, x, c): + shift, scale = self.adaLN_modulation(c).chunk(2, dim=1) + x = modulate(self.norm_final(x), shift, scale) + x = self.linear(x) + return x + + +class DiT(nn.Module): + """ + Cascade diffusion model with a transformer backbone. + """ + + def __init__( + self, + in_channels=4, + out_channels=1, + hidden_size=1024, + depth=24, + num_heads=16, + patch_size=8, + mlp_ratio=4.0, + ): + super().__init__() + self.in_channels = in_channels + self.out_channels = out_channels + self.num_heads = num_heads + self.patch_size = patch_size + self.depth = depth + + rope_freq = 100 + self.rope = RotaryPositionEmbedding2D(frequency=rope_freq) if rope_freq > 0 else None + self.position_getter = PositionGetter() if self.rope is not None else None + + self.x_embedder = PatchEmbed(patch_size=patch_size*2, in_chans=in_channels, embed_dim=hidden_size) + self.t_embedder = TimestepEmbedder(hidden_size) + + self.blocks = nn.ModuleList( + [DiTBlock(hidden_size, num_heads, mlp_ratio=mlp_ratio, rope=self.rope) for _ in range(depth)] + ) + + self.proj_fusion = nn.Sequential( + nn.Linear(hidden_size+1024, hidden_size*4), + nn.SiLU(), + nn.Linear(hidden_size*4, hidden_size*4), + nn.SiLU(), + nn.Linear(hidden_size*4, hidden_size*4), + ) + + self.final_layer = FinalLayer(hidden_size, patch_size, self.out_channels) + self.initialize_weights() + + def initialize_weights(self): + # Initialize transformer layers: + def _basic_init(module): + if isinstance(module, nn.Linear): + torch.nn.init.xavier_uniform_(module.weight) + if module.bias is not None: + nn.init.constant_(module.bias, 0) + + self.apply(_basic_init) + + # Initialize patch_embed like nn.Linear (instead of nn.Conv2d): + w = self.x_embedder.proj.weight.data + nn.init.xavier_uniform_(w.view([w.shape[0], -1])) + nn.init.constant_(self.x_embedder.proj.bias, 0) + + # Initialize timestep embedding MLP: + nn.init.normal_(self.t_embedder.mlp[0].weight, std=0.02) + nn.init.normal_(self.t_embedder.mlp[2].weight, std=0.02) + + # Zero-out adaLN modulation layers in DiT blocks: + for block in self.blocks: + nn.init.constant_(block.adaLN_modulation[-1].weight, 0) + nn.init.constant_(block.adaLN_modulation[-1].bias, 0) + + # Zero-out output layers: + nn.init.constant_(self.final_layer.adaLN_modulation[-1].weight, 0) + nn.init.constant_(self.final_layer.adaLN_modulation[-1].bias, 0) + nn.init.constant_(self.final_layer.linear.weight, 0) + nn.init.constant_(self.final_layer.linear.bias, 0) + + def unpatchify(self, x, height, width): + """ + x: (N, T, patch_size**2 * C) + imgs: (N, H, W, C) + """ + c = self.out_channels + p = self.patch_size + h = height // p + w = width // p + assert h * w == x.shape[1] + + x = x.reshape(shape=(x.shape[0], h, w, p, p, c)) + x = torch.einsum("nhwpqc->nchpwq", x) + imgs = x.reshape(shape=(x.shape[0], c, h * p, w * p)) + return imgs + + def forward(self, x=None, semantics=None, timestep=None, dropout=0.1): + """ + Forward pass of SP-DiT. + x: (N, C, H, W) tensor of spatial inputs (images or latent representations of images) + t: (N,) tensor of diffusion timesteps + """ + + N, C, H, W = x.shape + if len(timestep.shape) == 0: + timestep = timestep[None] + + pos0 = None + pos1 = None + if self.rope is not None: + pos0 = self.position_getter(N, H // 16, W // 16, device=x.device) + pos1 = self.position_getter(N, H // 8, W // 8, device=x.device) + + x = self.x_embedder(x) + N, T, D = x.shape + t = self.t_embedder(timestep) # (N, D) + + # for block in self.blocks: + for i, block in enumerate(self.blocks): + if i < (self.depth//2): + x = block(x, t, pos0) # (N, T, D) + else: + x = block(x, t, pos1) # (N, T, D) + + if i == (self.depth//2)-1: + + semantics = F.normalize(semantics, dim=-1) + x = self.proj_fusion(torch.cat([x, semantics], dim=-1)) + p = self.patch_size * 2 + x = x.reshape(shape=(N, H//p, W//p, 2, 2, D)) + x = torch.einsum("nhwpqc->nchpwq", x) + x = x.reshape(shape=(N, D, (H//p)*2, (W//p)*2)) + x = x.flatten(2).transpose(1, 2) + + x = self.final_layer(x, t) # (N, T, patch_size ** 2 * out_channels) + x = self.unpatchify(x, height=H, width=W) # (N, out_channels, H, W) + return x + diff --git a/Pixel-Perfect-Depth/ppd/models/dit_video.py b/Pixel-Perfect-Depth/ppd/models/dit_video.py new file mode 100644 index 0000000000000000000000000000000000000000..10a3269f4754437ac65ff0184aa3bacea521d007 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/dit_video.py @@ -0,0 +1,315 @@ +import math +import numpy as np +import torch +import torch.nn as nn +import torch.nn.functional as F + +from .mlp import Mlp +from timm.models.vision_transformer import Attention, PatchEmbed + + +def modulate(x, shift, scale): + return x * (1 + scale.unsqueeze(1)) + shift.unsqueeze(1) + + +class TimestepEmbedder(nn.Module): + """ + Embeds scalar timesteps into vector representations. + """ + + def __init__(self, hidden_size, frequency_embedding_size=256): + super().__init__() + self.mlp = nn.Sequential( + nn.Linear(frequency_embedding_size, hidden_size, bias=True), + nn.SiLU(), + nn.Linear(hidden_size, hidden_size, bias=True), + ) + self.frequency_embedding_size = frequency_embedding_size + + @staticmethod + def timestep_embedding(t, dim, max_period=10000): + """ + Create sinusoidal timestep embeddings. + :param t: a 1-D Tensor of N indices, one per batch element. + These may be fractional. + :param dim: the dimension of the output. + :param max_period: controls the minimum frequency of the embeddings. + :return: an (N, D) Tensor of positional embeddings. + """ + # https://github.com/openai/glide-text2im/blob/main/glide_text2im/nn.py + half = dim // 2 + freqs = torch.exp( + -math.log(max_period) * torch.arange(start=0, end=half, dtype=torch.float32) / half + ).to(device=t.device) + args = t[:, None].float() * freqs[None] + embedding = torch.cat([torch.cos(args), torch.sin(args)], dim=-1) + if dim % 2: + embedding = torch.cat([embedding, torch.zeros_like(embedding[:, :1])], dim=-1) + return embedding + + def forward(self, t): + t_freq = self.timestep_embedding(t, self.frequency_embedding_size) + t_emb = self.mlp(t_freq) + return t_emb + + +class DiTBlock(nn.Module): + """ + A DiT block with adaptive layer norm zero (adaLN-Zero) conditioning. + """ + + def __init__(self, hidden_size, num_heads, mlp_ratio=4.0, **block_kwargs): + super().__init__() + self.norm1 = nn.LayerNorm(hidden_size, elementwise_affine=False, eps=1e-6) + self.attn = Attention(hidden_size, num_heads=num_heads, qkv_bias=True, qk_norm=True, **block_kwargs) + self.norm2 = nn.LayerNorm(hidden_size, elementwise_affine=False, eps=1e-6) + mlp_hidden_dim = int(hidden_size * mlp_ratio) + approx_gelu = nn.GELU(approximate="tanh") + self.mlp = Mlp( + in_features=hidden_size, hidden_features=mlp_hidden_dim, act_layer=approx_gelu, drop=0 + ) + self.adaLN_modulation = nn.Sequential( + nn.SiLU(), nn.Linear(hidden_size, 6 * hidden_size, bias=True) + ) + + def forward(self, x, c, pos=None): + shift_msa, scale_msa, gate_msa, shift_mlp, scale_mlp, gate_mlp = self.adaLN_modulation( + c + ).chunk(6, dim=1) + x = x + gate_msa.unsqueeze(1) * self.attn(modulate(self.norm1(x), shift_msa, scale_msa)) + x = x + gate_mlp.unsqueeze(1) * self.mlp(modulate(self.norm2(x), shift_mlp, scale_mlp)) + return x + + +class FinalLayer(nn.Module): + """ + The final layer of DiT. + """ + + def __init__(self, hidden_size, patch_size, out_channels): + super().__init__() + self.norm_final = nn.LayerNorm(hidden_size, elementwise_affine=False, eps=1e-6) + self.linear = nn.Linear(hidden_size, patch_size * patch_size * out_channels, bias=True) + self.adaLN_modulation = nn.Sequential( + nn.SiLU(), nn.Linear(hidden_size, 2 * hidden_size, bias=True) + ) + + def forward(self, x, c): + shift, scale = self.adaLN_modulation(c).chunk(2, dim=1) + x = modulate(self.norm_final(x), shift, scale) + x = self.linear(x) + return x + + +class DiT_Video(nn.Module): + """ + Cascade diffusion model with a transformer backbone. + """ + + def __init__( + self, + input_size=512, + in_channels=4, + out_channels=1, + hidden_size=1024, + depth=24, + num_heads=16, + patch_size=8, + mlp_ratio=4.0, + ): + super().__init__() + self.in_channels = in_channels + self.out_channels = out_channels + self.num_heads = num_heads + self.patch_size = patch_size + self.depth = depth + + self.x_embedder = PatchEmbed(input_size, patch_size*2, in_channels, hidden_size, bias=True) + self.t_embedder = TimestepEmbedder(hidden_size) + num_patches = (512//16) ** 2 + self.pos_embed = nn.Parameter( + torch.zeros(1, num_patches, hidden_size), requires_grad=False + ) + + self.blocks = nn.ModuleList( + [DiTBlock(hidden_size, num_heads, mlp_ratio=mlp_ratio) for _ in range(depth)] + ) + + self.temporal_blocks = nn.ModuleList( + [DiTBlock(hidden_size, num_heads, mlp_ratio=mlp_ratio) for _ in range(3)] + ) + + self.proj_fusion = nn.Sequential( + nn.Linear(hidden_size+2048, hidden_size*4), + nn.SiLU(), + nn.Linear(hidden_size*4, hidden_size*4), + nn.SiLU(), + nn.Linear(hidden_size*4, hidden_size*4), + ) + + self.final_layer = FinalLayer(hidden_size, patch_size, self.out_channels) + self.initialize_weights() + + def initialize_weights(self): + # Initialize transformer layers: + def _basic_init(module): + if isinstance(module, nn.Linear): + torch.nn.init.xavier_uniform_(module.weight) + if module.bias is not None: + nn.init.constant_(module.bias, 0) + + self.apply(_basic_init) + + # Initialize (and freeze) pos_embed by sin-cos embedding: + pos_embed = get_2d_sincos_pos_embed( + self.pos_embed.shape[-1], + (512//16, 512//16) + ) + self.pos_embed.data.copy_(torch.from_numpy(pos_embed).float().unsqueeze(0)) + + # Initialize patch_embed like nn.Linear (instead of nn.Conv2d): + w = self.x_embedder.proj.weight.data + nn.init.xavier_uniform_(w.view([w.shape[0], -1])) + nn.init.constant_(self.x_embedder.proj.bias, 0) + + # Initialize timestep embedding MLP: + nn.init.normal_(self.t_embedder.mlp[0].weight, std=0.02) + nn.init.normal_(self.t_embedder.mlp[2].weight, std=0.02) + + # Zero-out adaLN modulation layers in DiT blocks: + for block in self.blocks: + nn.init.constant_(block.adaLN_modulation[-1].weight, 0) + nn.init.constant_(block.adaLN_modulation[-1].bias, 0) + + # Zero-out output layers: + nn.init.constant_(self.final_layer.adaLN_modulation[-1].weight, 0) + nn.init.constant_(self.final_layer.adaLN_modulation[-1].bias, 0) + nn.init.constant_(self.final_layer.linear.weight, 0) + nn.init.constant_(self.final_layer.linear.bias, 0) + + def unpatchify(self, x, height, width): + """ + x: (N, T, patch_size**2 * C) + imgs: (N, H, W, C) + """ + c = self.out_channels + p = self.patch_size + h = height // p + w = width // p + assert h * w == x.shape[1] + + x = x.reshape(shape=(x.shape[0], h, w, p, p, c)) + x = torch.einsum("nhwpqc->nchpwq", x) + imgs = x.reshape(shape=(x.shape[0], c, h * p, w * p)) + return imgs + + def forward(self, x=None, semantics=None, timestep=None, dropout=0.1): + """ + Forward pass of SP-DiT. + x: (N, C, H, W) tensor of spatial inputs (images or latent representations of images) + t: (N,) tensor of diffusion timesteps + """ + + N, C, H, W = x.shape + if len(timestep.shape) == 0: + timestep = timestep[None] + + x = self.x_embedder(x) + self.pos_embed + N, L, D = x.shape + t = self.t_embedder(timestep) # (N, D) + + # for block in self.blocks: + j = 0 + for i, block in enumerate(self.blocks): + if (i+1) > 21: + x = x.permute(1, 0, 2) + x = self.temporal_blocks[j](x, t) + x = x.permute(1, 0, 2) + j += 1 + + if (i+1) > 18: + ref0 = x[0].permute(1,0).reshape(1, D, H//8, W//8) + ref0 = F.avg_pool2d(ref0, kernel_size=4) + ref0 = ref0.flatten(2).permute(0, 2, 1) + ref0 = ref0.repeat(N, 1, 1) + + ref1 = x[1].permute(1,0).reshape(1, D, H//8, W//8) + ref1 = F.avg_pool2d(ref1, kernel_size=4) + ref1 = ref1.flatten(2).permute(0, 2, 1) + ref1 = ref1.repeat(N, 1, 1) + + ref2 = x[2].permute(1,0).reshape(1, D, H//8, W//8) + ref2 = F.avg_pool2d(ref2, kernel_size=4) + ref2 = ref2.flatten(2).permute(0, 2, 1) + ref2 = ref2.repeat(N, 1, 1) + + x = torch.cat([x, ref0, ref1, ref2], dim=1) + + x = block(x, t) + + if (i+1) > 18: + x = x[:, :4*L] + if i == (self.depth//2)-1: + semantics = F.normalize(semantics, dim=-1) + x = self.proj_fusion(torch.cat([x, semantics], dim=-1)) + p = self.patch_size * 2 + x = x.reshape(shape=(N, H//p, W//p, 2, 2, D)) + x = torch.einsum("nhwpqc->nchpwq", x) + x = x.reshape(shape=(N, D, (H//p)*2, (W//p)*2)) + x = x.flatten(2).transpose(1, 2) + + x = self.final_layer(x, t) + x = self.unpatchify(x, height=H, width=W) + return x + +def get_2d_sincos_pos_embed(embed_dim, grid_size, cls_token=False, extra_tokens=0): + """ + grid_size: int of the grid height and width + return: + pos_embed: [grid_size*grid_size, embed_dim] or [1+grid_size*grid_size, embed_dim] + """ + if isinstance(grid_size, int): + h, w = grid_size, grid_size + else: + h, w = grid_size + grid_h = np.arange(h, dtype=np.float32) + grid_w = np.arange(w, dtype=np.float32) + grid = np.meshgrid(grid_w, grid_h) # here w goes first + grid = np.stack(grid, axis=0) + + grid = grid.reshape([2, 1, h, w]) + pos_embed = get_2d_sincos_pos_embed_from_grid(embed_dim, grid) + if cls_token and extra_tokens > 0: + pos_embed = np.concatenate([np.zeros([extra_tokens, embed_dim]), pos_embed], axis=0) + return pos_embed + + +def get_2d_sincos_pos_embed_from_grid(embed_dim, grid): + assert embed_dim % 2 == 0 + # use half of dimensions to encode grid_h + emb_h = get_1d_sincos_pos_embed_from_grid(embed_dim // 2, grid[0]) # (H*W, D/2) + emb_w = get_1d_sincos_pos_embed_from_grid(embed_dim // 2, grid[1]) # (H*W, D/2) + emb = np.concatenate([emb_h, emb_w], axis=1) # (H*W, D) + return emb + + +def get_1d_sincos_pos_embed_from_grid(embed_dim, pos): + """ + embed_dim: output dimension for each position + pos: a list of positions to be encoded: size (M,) + out: (M, D) + """ + assert embed_dim % 2 == 0 + omega = np.arange(embed_dim // 2, dtype=np.float64) + omega /= embed_dim / 2.0 + omega = 1.0 / 10000**omega # (D/2,) + + pos = pos.reshape(-1) # (M,) + out = np.einsum("m,d->md", pos, omega) # (M, D/2), outer product + + emb_sin = np.sin(out) # (M, D/2) + emb_cos = np.cos(out) # (M, D/2) + + emb = np.concatenate([emb_sin, emb_cos], axis=1) # (M, D) + return emb + diff --git a/Pixel-Perfect-Depth/ppd/models/loss.py b/Pixel-Perfect-Depth/ppd/models/loss.py new file mode 100644 index 0000000000000000000000000000000000000000..02ab30a5e964d5201a6a3194c4ec3b2157341ceb --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/loss.py @@ -0,0 +1,24 @@ +import torch + +def multi_scale_grad_loss(prediction, target, mask): + total = 0 + for scale in range(4): + step = pow(2, scale) + total += grad_loss(prediction[:, ::step, ::step], + target[:, ::step, ::step], + mask[:, ::step, ::step]) + return total + +def grad_loss(prediction, target, mask): + M = torch.sum(mask, (1, 2)) + diff = prediction - target + diff = torch.mul(mask, diff) + grad_x = torch.abs(diff[:, :, 1:] - diff[:, :, :-1]) + mask_x = torch.mul(mask[:, :, 1:], mask[:, :, :-1]) + grad_x = torch.mul(mask_x, grad_x) + grad_y = torch.abs(diff[:, 1:, :] - diff[:, :-1, :]) + mask_y = torch.mul(mask[:, 1:, :], mask[:, :-1, :]) + grad_y = torch.mul(mask_y, grad_y) + image_loss = torch.sum(grad_x, (1, 2)) + torch.sum(grad_y, (1, 2)) + + return torch.sum(image_loss) / torch.sum(M) \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/mlp.py b/Pixel-Perfect-Depth/ppd/models/mlp.py new file mode 100644 index 0000000000000000000000000000000000000000..f73209fb401c1ec8c51bef3b05c102fc127cf87f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/mlp.py @@ -0,0 +1,261 @@ +""" MLP module w/ dropout and configurable activation layer + +Hacked together by / Copyright 2020 Ross Wightman +""" + +from functools import partial +from timm.layers.grn import GlobalResponseNorm +from timm.layers.helpers import to_2tuple +from torch import nn as nn + + +class Mlp(nn.Module): + """MLP as used in Vision Transformer, MLP-Mixer and related networks""" + + def __init__( + self, + in_features, + hidden_features=None, + out_features=None, + act_layer=nn.GELU, + norm_layer=None, + bias=True, + drop=0.0, + use_conv=False, + ): + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + bias = to_2tuple(bias) + drop_probs = to_2tuple(drop) + linear_layer = partial(nn.Conv2d, kernel_size=1) if use_conv else nn.Linear + + self.fc1 = linear_layer(in_features, hidden_features, bias=bias[0]) + self.act = act_layer + self.drop1 = nn.Dropout(drop_probs[0]) + self.norm = norm_layer(hidden_features) if norm_layer is not None else nn.Identity() + self.fc2 = linear_layer(hidden_features, out_features, bias=bias[1]) + self.drop2 = nn.Dropout(drop_probs[1]) + + def forward(self, x): + x = self.fc1(x) + x = self.act(x) + x = self.drop1(x) + x = self.norm(x) + x = self.fc2(x) + x = self.drop2(x) + return x + + +class GluMlp(nn.Module): + """MLP w/ GLU style gating + See: https://arxiv.org/abs/1612.08083, https://arxiv.org/abs/2002.05202 + """ + + def __init__( + self, + in_features, + hidden_features=None, + out_features=None, + act_layer=nn.Sigmoid, + norm_layer=None, + bias=True, + drop=0.0, + use_conv=False, + gate_last=True, + ): + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + assert hidden_features % 2 == 0 + bias = to_2tuple(bias) + drop_probs = to_2tuple(drop) + linear_layer = partial(nn.Conv2d, kernel_size=1) if use_conv else nn.Linear + self.chunk_dim = 1 if use_conv else -1 + self.gate_last = gate_last # use second half of width for gate + + self.fc1 = linear_layer(in_features, hidden_features, bias=bias[0]) + self.act = act_layer() + self.drop1 = nn.Dropout(drop_probs[0]) + self.norm = norm_layer(hidden_features // 2) if norm_layer is not None else nn.Identity() + self.fc2 = linear_layer(hidden_features // 2, out_features, bias=bias[1]) + self.drop2 = nn.Dropout(drop_probs[1]) + + def init_weights(self): + # override init of fc1 w/ gate portion set to weight near zero, bias=1 + fc1_mid = self.fc1.bias.shape[0] // 2 + nn.init.ones_(self.fc1.bias[fc1_mid:]) + nn.init.normal_(self.fc1.weight[fc1_mid:], std=1e-6) + + def forward(self, x): + x = self.fc1(x) + x1, x2 = x.chunk(2, dim=self.chunk_dim) + x = x1 * self.act(x2) if self.gate_last else self.act(x1) * x2 + x = self.drop1(x) + x = self.norm(x) + x = self.fc2(x) + x = self.drop2(x) + return x + + +SwiGLUPacked = partial(GluMlp, act_layer=nn.SiLU, gate_last=False) + + +class SwiGLU(nn.Module): + """SwiGLU + NOTE: GluMLP above can implement SwiGLU, but this impl has split fc1 and + better matches some other common impl which makes mapping checkpoints simpler. + """ + + def __init__( + self, + in_features, + hidden_features=None, + out_features=None, + act_layer=nn.SiLU, + norm_layer=None, + bias=True, + drop=0.0, + ): + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + bias = to_2tuple(bias) + drop_probs = to_2tuple(drop) + + self.fc1_g = nn.Linear(in_features, hidden_features, bias=bias[0]) + self.fc1_x = nn.Linear(in_features, hidden_features, bias=bias[0]) + self.act = act_layer() + self.drop1 = nn.Dropout(drop_probs[0]) + self.norm = norm_layer(hidden_features) if norm_layer is not None else nn.Identity() + self.fc2 = nn.Linear(hidden_features, out_features, bias=bias[1]) + self.drop2 = nn.Dropout(drop_probs[1]) + + def init_weights(self): + # override init of fc1 w/ gate portion set to weight near zero, bias=1 + nn.init.ones_(self.fc1_g.bias) + nn.init.normal_(self.fc1_g.weight, std=1e-6) + + def forward(self, x): + x_gate = self.fc1_g(x) + x = self.fc1_x(x) + x = self.act(x_gate) * x + x = self.drop1(x) + x = self.norm(x) + x = self.fc2(x) + x = self.drop2(x) + return x + + +class GatedMlp(nn.Module): + """MLP as used in gMLP""" + + def __init__( + self, + in_features, + hidden_features=None, + out_features=None, + act_layer=nn.GELU, + norm_layer=None, + gate_layer=None, + bias=True, + drop=0.0, + ): + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + bias = to_2tuple(bias) + drop_probs = to_2tuple(drop) + + self.fc1 = nn.Linear(in_features, hidden_features, bias=bias[0]) + self.act = act_layer() + self.drop1 = nn.Dropout(drop_probs[0]) + if gate_layer is not None: + assert hidden_features % 2 == 0 + self.gate = gate_layer(hidden_features) + hidden_features = hidden_features // 2 # FIXME base reduction on gate property? + else: + self.gate = nn.Identity() + self.norm = norm_layer(hidden_features) if norm_layer is not None else nn.Identity() + self.fc2 = nn.Linear(hidden_features, out_features, bias=bias[1]) + self.drop2 = nn.Dropout(drop_probs[1]) + + def forward(self, x): + x = self.fc1(x) + x = self.act(x) + x = self.drop1(x) + x = self.gate(x) + x = self.norm(x) + x = self.fc2(x) + x = self.drop2(x) + return x + + +class ConvMlp(nn.Module): + """MLP using 1x1 convs that keeps spatial dims""" + + def __init__( + self, + in_features, + hidden_features=None, + out_features=None, + act_layer=nn.ReLU, + norm_layer=None, + bias=True, + drop=0.0, + ): + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + bias = to_2tuple(bias) + + self.fc1 = nn.Conv2d(in_features, hidden_features, kernel_size=1, bias=bias[0]) + self.norm = norm_layer(hidden_features) if norm_layer else nn.Identity() + self.act = act_layer() + self.drop = nn.Dropout(drop) + self.fc2 = nn.Conv2d(hidden_features, out_features, kernel_size=1, bias=bias[1]) + + def forward(self, x): + x = self.fc1(x) + x = self.norm(x) + x = self.act(x) + x = self.drop(x) + x = self.fc2(x) + return x + + +class GlobalResponseNormMlp(nn.Module): + """MLP w/ Global Response Norm (see grn.py), nn.Linear or 1x1 Conv2d""" + + def __init__( + self, + in_features, + hidden_features=None, + out_features=None, + act_layer=nn.GELU, + bias=True, + drop=0.0, + use_conv=False, + ): + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + bias = to_2tuple(bias) + drop_probs = to_2tuple(drop) + linear_layer = partial(nn.Conv2d, kernel_size=1) if use_conv else nn.Linear + + self.fc1 = linear_layer(in_features, hidden_features, bias=bias[0]) + self.act = act_layer() + self.drop1 = nn.Dropout(drop_probs[0]) + self.grn = GlobalResponseNorm(hidden_features, channels_last=not use_conv) + self.fc2 = linear_layer(hidden_features, out_features, bias=bias[1]) + self.drop2 = nn.Dropout(drop_probs[1]) + + def forward(self, x): + x = self.fc1(x) + x = self.act(x) + x = self.drop1(x) + x = self.grn(x) + x = self.fc2(x) + x = self.drop2(x) + return x diff --git a/Pixel-Perfect-Depth/ppd/models/patch_embed.py b/Pixel-Perfect-Depth/ppd/models/patch_embed.py new file mode 100644 index 0000000000000000000000000000000000000000..f26830f45bcf2a0626874cb99dd3a729e2af22d5 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/patch_embed.py @@ -0,0 +1,86 @@ +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +from typing import Callable, Optional, Tuple, Union + +from torch import Tensor +import torch.nn as nn + + +def make_2tuple(x): + if isinstance(x, tuple): + assert len(x) == 2 + return x + + assert isinstance(x, int) + return (x, x) + + +class PatchEmbed(nn.Module): + """ + 2D image to patch embedding: (B,C,H,W) -> (B,N,D) + + Args: + img_size: Image size. + patch_size: Patch token size. + in_chans: Number of input image channels. + embed_dim: Number of linear projection output channels. + norm_layer: Normalization layer. + """ + + def __init__( + self, + img_size: Union[int, Tuple[int, int]] = 224, + patch_size: Union[int, Tuple[int, int]] = 16, + in_chans: int = 3, + embed_dim: int = 768, + norm_layer: Optional[Callable] = None, + flatten_embedding: bool = True, + ) -> None: + super().__init__() + + image_HW = make_2tuple(img_size) + patch_HW = make_2tuple(patch_size) + patch_grid_size = ( + image_HW[0] // patch_HW[0], + image_HW[1] // patch_HW[1], + ) + + self.img_size = image_HW + self.patch_size = patch_HW + self.patches_resolution = patch_grid_size + self.num_patches = patch_grid_size[0] * patch_grid_size[1] + + self.in_chans = in_chans + self.embed_dim = embed_dim + + self.flatten_embedding = flatten_embedding + + self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_HW, stride=patch_HW) + self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity() + + def forward(self, x: Tensor) -> Tensor: + _, _, H, W = x.shape + patch_H, patch_W = self.patch_size + + assert H % patch_H == 0, f"Input image height {H} is not a multiple of patch height {patch_H}" + assert W % patch_W == 0, f"Input image width {W} is not a multiple of patch width: {patch_W}" + + x = self.proj(x) # B C H W + H, W = x.size(2), x.size(3) + x = x.flatten(2).transpose(1, 2) # B HW C + x = self.norm(x) + if not self.flatten_embedding: + x = x.reshape(-1, H, W, self.embed_dim) # B H W C + return x + + def flops(self) -> float: + Ho, Wo = self.patches_resolution + flops = Ho * Wo * self.embed_dim * self.in_chans * (self.patch_size[0] * self.patch_size[1]) + if self.norm is not None: + flops += Ho * Wo * self.embed_dim + return flops diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/__init__.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..ae847e46898077fe3d8701b8a181d7b4e3d41cd9 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +__version__ = "0.0.1" diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/hub/__init__.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/hub/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..b88da6bf80be92af00b72dfdb0a806fa64a7a2d9 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/hub/__init__.py @@ -0,0 +1,4 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/hub/backbones.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/hub/backbones.py new file mode 100644 index 0000000000000000000000000000000000000000..53fe83719d5107eb77a8f25ef1814c3d73446002 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/hub/backbones.py @@ -0,0 +1,156 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +from enum import Enum +from typing import Union + +import torch + +from .utils import _DINOV2_BASE_URL, _make_dinov2_model_name + + +class Weights(Enum): + LVD142M = "LVD142M" + + +def _make_dinov2_model( + *, + arch_name: str = "vit_large", + img_size: int = 518, + patch_size: int = 14, + init_values: float = 1.0, + ffn_layer: str = "mlp", + block_chunks: int = 0, + num_register_tokens: int = 0, + interpolate_antialias: bool = False, + interpolate_offset: float = 0.1, + pretrained: bool = True, + weights: Union[Weights, str] = Weights.LVD142M, + **kwargs, +): + from ..models import vision_transformer as vits + + if isinstance(weights, str): + try: + weights = Weights[weights] + except KeyError: + raise AssertionError(f"Unsupported weights: {weights}") + + model_base_name = _make_dinov2_model_name(arch_name, patch_size) + vit_kwargs = dict( + img_size=img_size, + patch_size=patch_size, + init_values=init_values, + ffn_layer=ffn_layer, + block_chunks=block_chunks, + num_register_tokens=num_register_tokens, + interpolate_antialias=interpolate_antialias, + interpolate_offset=interpolate_offset, + ) + vit_kwargs.update(**kwargs) + model = vits.__dict__[arch_name](**vit_kwargs) + + if pretrained: + model_full_name = _make_dinov2_model_name(arch_name, patch_size, num_register_tokens) + url = _DINOV2_BASE_URL + f"/{model_base_name}/{model_full_name}_pretrain.pth" + state_dict = torch.hub.load_state_dict_from_url(url, map_location="cpu") + model.load_state_dict(state_dict, strict=True) + + return model + + +def dinov2_vits14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-S/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model(arch_name="vit_small", pretrained=pretrained, weights=weights, **kwargs) + + +def dinov2_vitb14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-B/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model(arch_name="vit_base", pretrained=pretrained, weights=weights, **kwargs) + + +def dinov2_vitl14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-L/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model(arch_name="vit_large", pretrained=pretrained, weights=weights, **kwargs) + + +def dinov2_vitg14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-g/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_giant2", + ffn_layer="swiglufused", + weights=weights, + pretrained=pretrained, + **kwargs, + ) + + +def dinov2_vits14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-S/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_small", + pretrained=pretrained, + weights=weights, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) + + +def dinov2_vitb14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-B/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_base", + pretrained=pretrained, + weights=weights, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) + + +def dinov2_vitl14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-L/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_large", + pretrained=pretrained, + weights=weights, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) + + +def dinov2_vitg14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-g/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_giant2", + ffn_layer="swiglufused", + weights=weights, + pretrained=pretrained, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/hub/utils.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/hub/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..9c6641404093652d5a2f19b4cf283d976ec39e64 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/hub/utils.py @@ -0,0 +1,39 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import itertools +import math + +import torch +import torch.nn as nn +import torch.nn.functional as F + + +_DINOV2_BASE_URL = "https://dl.fbaipublicfiles.com/dinov2" + + +def _make_dinov2_model_name(arch_name: str, patch_size: int, num_register_tokens: int = 0) -> str: + compact_arch_name = arch_name.replace("_", "")[:4] + registers_suffix = f"_reg{num_register_tokens}" if num_register_tokens else "" + return f"dinov2_{compact_arch_name}{patch_size}{registers_suffix}" + + +class CenterPadding(nn.Module): + def __init__(self, multiple): + super().__init__() + self.multiple = multiple + + def _get_pad(self, size): + new_size = math.ceil(size / self.multiple) * self.multiple + pad_size = new_size - size + pad_size_left = pad_size // 2 + pad_size_right = pad_size - pad_size_left + return pad_size_left, pad_size_right + + @torch.inference_mode() + def forward(self, x): + pads = list(itertools.chain.from_iterable(self._get_pad(m) for m in x.shape[:1:-1])) + output = F.pad(x, pads) + return output diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/__init__.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..05a0b61868e43abb821ca05a813bab2b8b43629e --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/__init__.py @@ -0,0 +1,11 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +from .dino_head import DINOHead +from .mlp import Mlp +from .patch_embed import PatchEmbed +from .swiglu_ffn import SwiGLUFFN, SwiGLUFFNFused +from .block import NestedTensorBlock +from .attention import MemEffAttention diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/attention.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/attention.py new file mode 100644 index 0000000000000000000000000000000000000000..3fed573116d5c837be46a7525d8acf77422c2400 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/attention.py @@ -0,0 +1,89 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +import logging +import os +import warnings + +from torch import Tensor +from torch import nn + + +logger = logging.getLogger("dinov2") + + +XFORMERS_ENABLED = os.environ.get("XFORMERS_DISABLED") is None +try: + if XFORMERS_ENABLED: + from xformers.ops import memory_efficient_attention, unbind + + XFORMERS_AVAILABLE = True + # warnings.warn("xFormers is available (Attention)") + else: + # warnings.warn("xFormers is disabled (Attention)") + raise ImportError +except ImportError: + XFORMERS_AVAILABLE = False + # warnings.warn("xFormers is not available (Attention)") + + +class Attention(nn.Module): + def __init__( + self, + dim: int, + num_heads: int = 8, + qkv_bias: bool = False, + proj_bias: bool = True, + attn_drop: float = 0.0, + proj_drop: float = 0.0, + ) -> None: + super().__init__() + self.num_heads = num_heads + head_dim = dim // num_heads + self.scale = head_dim**-0.5 + + self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + self.attn_drop = nn.Dropout(attn_drop) + self.proj = nn.Linear(dim, dim, bias=proj_bias) + self.proj_drop = nn.Dropout(proj_drop) + + def forward(self, x: Tensor, attn_bias=None) -> Tensor: + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) + + q, k, v = qkv[0] * self.scale, qkv[1], qkv[2] + attn = q @ k.transpose(-2, -1) + + attn = attn.softmax(dim=-1) + attn = self.attn_drop(attn) + + x = (attn @ v).transpose(1, 2).reshape(B, N, C) + x = self.proj(x) + x = self.proj_drop(x) + return x + + +class MemEffAttention(Attention): + def forward(self, x: Tensor, attn_bias=None) -> Tensor: + if not XFORMERS_AVAILABLE: + if attn_bias is not None: + raise AssertionError("xFormers is required for using nested tensors") + return super().forward(x) + + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads) + + q, k, v = unbind(qkv, 2) + + x = memory_efficient_attention(q, k, v, attn_bias=attn_bias) + x = x.reshape([B, N, C]) + + x = self.proj(x) + x = self.proj_drop(x) + return x diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/block.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/block.py new file mode 100644 index 0000000000000000000000000000000000000000..fd5b8a7bb8527b74186af7c1e060e37bdb52c73d --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/block.py @@ -0,0 +1,259 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +import logging +import os +from typing import Callable, List, Any, Tuple, Dict +import warnings + +import torch +from torch import nn, Tensor + +from .attention import Attention, MemEffAttention +from .drop_path import DropPath +from .layer_scale import LayerScale +from .mlp import Mlp + + +logger = logging.getLogger("dinov2") + + +XFORMERS_ENABLED = os.environ.get("XFORMERS_DISABLED") is None +try: + if XFORMERS_ENABLED: + from xformers.ops import fmha, scaled_index_add, index_select_cat + + XFORMERS_AVAILABLE = True + # warnings.warn("xFormers is available (Block)") + else: + # warnings.warn("xFormers is disabled (Block)") + raise ImportError +except ImportError: + XFORMERS_AVAILABLE = False + # warnings.warn("xFormers is not available (Block)") + + +class Block(nn.Module): + def __init__( + self, + dim: int, + num_heads: int, + mlp_ratio: float = 4.0, + qkv_bias: bool = False, + proj_bias: bool = True, + ffn_bias: bool = True, + drop: float = 0.0, + attn_drop: float = 0.0, + init_values=None, + drop_path: float = 0.0, + act_layer: Callable[..., nn.Module] = nn.GELU, + norm_layer: Callable[..., nn.Module] = nn.LayerNorm, + attn_class: Callable[..., nn.Module] = Attention, + ffn_layer: Callable[..., nn.Module] = Mlp, + ) -> None: + super().__init__() + # print(f"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}") + self.norm1 = norm_layer(dim) + self.attn = attn_class( + dim, + num_heads=num_heads, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + attn_drop=attn_drop, + proj_drop=drop, + ) + self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.drop_path1 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.norm2 = norm_layer(dim) + mlp_hidden_dim = int(dim * mlp_ratio) + self.mlp = ffn_layer( + in_features=dim, + hidden_features=mlp_hidden_dim, + act_layer=act_layer, + drop=drop, + bias=ffn_bias, + ) + self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.sample_drop_ratio = drop_path + + def forward(self, x: Tensor) -> Tensor: + def attn_residual_func(x: Tensor) -> Tensor: + return self.ls1(self.attn(self.norm1(x))) + + def ffn_residual_func(x: Tensor) -> Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + if self.training and self.sample_drop_ratio > 0.1: + # the overhead is compensated only for a drop path rate larger than 0.1 + x = drop_add_residual_stochastic_depth( + x, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + x = drop_add_residual_stochastic_depth( + x, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + elif self.training and self.sample_drop_ratio > 0.0: + x = x + self.drop_path1(attn_residual_func(x)) + x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2 + else: + x = x + attn_residual_func(x) + x = x + ffn_residual_func(x) + return x + + +def drop_add_residual_stochastic_depth( + x: Tensor, + residual_func: Callable[[Tensor], Tensor], + sample_drop_ratio: float = 0.0, +) -> Tensor: + # 1) extract subset using permutation + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + x_subset = x[brange] + + # 2) apply residual_func to get residual + residual = residual_func(x_subset) + + x_flat = x.flatten(1) + residual = residual.flatten(1) + + residual_scale_factor = b / sample_subset_size + + # 3) add the residual + x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) + return x_plus_residual.view_as(x) + + +def get_branges_scales(x, sample_drop_ratio=0.0): + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + residual_scale_factor = b / sample_subset_size + return brange, residual_scale_factor + + +def add_residual(x, brange, residual, residual_scale_factor, scaling_vector=None): + if scaling_vector is None: + x_flat = x.flatten(1) + residual = residual.flatten(1) + x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) + else: + x_plus_residual = scaled_index_add( + x, brange, residual.to(dtype=x.dtype), scaling=scaling_vector, alpha=residual_scale_factor + ) + return x_plus_residual + + +attn_bias_cache: Dict[Tuple, Any] = {} + + +def get_attn_bias_and_cat(x_list, branges=None): + """ + this will perform the index select, cat the tensors, and provide the attn_bias from cache + """ + batch_sizes = [b.shape[0] for b in branges] if branges is not None else [x.shape[0] for x in x_list] + all_shapes = tuple((b, x.shape[1]) for b, x in zip(batch_sizes, x_list)) + if all_shapes not in attn_bias_cache.keys(): + seqlens = [] + for b, x in zip(batch_sizes, x_list): + for _ in range(b): + seqlens.append(x.shape[1]) + attn_bias = fmha.BlockDiagonalMask.from_seqlens(seqlens) + attn_bias._batch_sizes = batch_sizes + attn_bias_cache[all_shapes] = attn_bias + + if branges is not None: + cat_tensors = index_select_cat([x.flatten(1) for x in x_list], branges).view(1, -1, x_list[0].shape[-1]) + else: + tensors_bs1 = tuple(x.reshape([1, -1, *x.shape[2:]]) for x in x_list) + cat_tensors = torch.cat(tensors_bs1, dim=1) + + return attn_bias_cache[all_shapes], cat_tensors + + +def drop_add_residual_stochastic_depth_list( + x_list: List[Tensor], + residual_func: Callable[[Tensor, Any], Tensor], + sample_drop_ratio: float = 0.0, + scaling_vector=None, +) -> Tensor: + # 1) generate random set of indices for dropping samples in the batch + branges_scales = [get_branges_scales(x, sample_drop_ratio=sample_drop_ratio) for x in x_list] + branges = [s[0] for s in branges_scales] + residual_scale_factors = [s[1] for s in branges_scales] + + # 2) get attention bias and index+concat the tensors + attn_bias, x_cat = get_attn_bias_and_cat(x_list, branges) + + # 3) apply residual_func to get residual, and split the result + residual_list = attn_bias.split(residual_func(x_cat, attn_bias=attn_bias)) # type: ignore + + outputs = [] + for x, brange, residual, residual_scale_factor in zip(x_list, branges, residual_list, residual_scale_factors): + outputs.append(add_residual(x, brange, residual, residual_scale_factor, scaling_vector).view_as(x)) + return outputs + + +class NestedTensorBlock(Block): + def forward_nested(self, x_list: List[Tensor]) -> List[Tensor]: + """ + x_list contains a list of tensors to nest together and run + """ + assert isinstance(self.attn, MemEffAttention) + + if self.training and self.sample_drop_ratio > 0.0: + + def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.attn(self.norm1(x), attn_bias=attn_bias) + + def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.mlp(self.norm2(x)) + + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=self.ls1.gamma if isinstance(self.ls1, LayerScale) else None, + ) + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=self.ls2.gamma if isinstance(self.ls1, LayerScale) else None, + ) + return x_list + else: + + def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias)) + + def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + attn_bias, x = get_attn_bias_and_cat(x_list) + x = x + attn_residual_func(x, attn_bias=attn_bias) + x = x + ffn_residual_func(x) + return attn_bias.split(x) + + def forward(self, x_or_x_list): + if isinstance(x_or_x_list, Tensor): + return super().forward(x_or_x_list) + elif isinstance(x_or_x_list, list): + if not XFORMERS_AVAILABLE: + raise AssertionError("xFormers is required for using nested tensors") + return self.forward_nested(x_or_x_list) + else: + raise AssertionError diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/dino_head.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/dino_head.py new file mode 100644 index 0000000000000000000000000000000000000000..0ace8ffd6297a1dd480b19db407b662a6ea0f565 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/dino_head.py @@ -0,0 +1,58 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import torch +import torch.nn as nn +from torch.nn.init import trunc_normal_ +from torch.nn.utils import weight_norm + + +class DINOHead(nn.Module): + def __init__( + self, + in_dim, + out_dim, + use_bn=False, + nlayers=3, + hidden_dim=2048, + bottleneck_dim=256, + mlp_bias=True, + ): + super().__init__() + nlayers = max(nlayers, 1) + self.mlp = _build_mlp(nlayers, in_dim, bottleneck_dim, hidden_dim=hidden_dim, use_bn=use_bn, bias=mlp_bias) + self.apply(self._init_weights) + self.last_layer = weight_norm(nn.Linear(bottleneck_dim, out_dim, bias=False)) + self.last_layer.weight_g.data.fill_(1) + + def _init_weights(self, m): + if isinstance(m, nn.Linear): + trunc_normal_(m.weight, std=0.02) + if isinstance(m, nn.Linear) and m.bias is not None: + nn.init.constant_(m.bias, 0) + + def forward(self, x): + x = self.mlp(x) + eps = 1e-6 if x.dtype == torch.float16 else 1e-12 + x = nn.functional.normalize(x, dim=-1, p=2, eps=eps) + x = self.last_layer(x) + return x + + +def _build_mlp(nlayers, in_dim, bottleneck_dim, hidden_dim=None, use_bn=False, bias=True): + if nlayers == 1: + return nn.Linear(in_dim, bottleneck_dim, bias=bias) + else: + layers = [nn.Linear(in_dim, hidden_dim, bias=bias)] + if use_bn: + layers.append(nn.BatchNorm1d(hidden_dim)) + layers.append(nn.GELU()) + for _ in range(nlayers - 2): + layers.append(nn.Linear(hidden_dim, hidden_dim, bias=bias)) + if use_bn: + layers.append(nn.BatchNorm1d(hidden_dim)) + layers.append(nn.GELU()) + layers.append(nn.Linear(hidden_dim, bottleneck_dim, bias=bias)) + return nn.Sequential(*layers) diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/drop_path.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/drop_path.py new file mode 100644 index 0000000000000000000000000000000000000000..1d640e0b969b8dcba96260243473700b4e5b24b5 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/drop_path.py @@ -0,0 +1,34 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/drop.py + + +from torch import nn + + +def drop_path(x, drop_prob: float = 0.0, training: bool = False): + if drop_prob == 0.0 or not training: + return x + keep_prob = 1 - drop_prob + shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets + random_tensor = x.new_empty(shape).bernoulli_(keep_prob) + if keep_prob > 0.0: + random_tensor.div_(keep_prob) + output = x * random_tensor + return output + + +class DropPath(nn.Module): + """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" + + def __init__(self, drop_prob=None): + super(DropPath, self).__init__() + self.drop_prob = drop_prob + + def forward(self, x): + return drop_path(x, self.drop_prob, self.training) diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/layer_scale.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/layer_scale.py new file mode 100644 index 0000000000000000000000000000000000000000..51df0d7ce61f2b41fa9e6369f52391dd7fe7d386 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/layer_scale.py @@ -0,0 +1,27 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# Modified from: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L103-L110 + +from typing import Union + +import torch +from torch import Tensor +from torch import nn + + +class LayerScale(nn.Module): + def __init__( + self, + dim: int, + init_values: Union[float, Tensor] = 1e-5, + inplace: bool = False, + ) -> None: + super().__init__() + self.inplace = inplace + self.gamma = nn.Parameter(init_values * torch.ones(dim)) + + def forward(self, x: Tensor) -> Tensor: + return x.mul_(self.gamma) if self.inplace else x * self.gamma diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/mlp.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/mlp.py new file mode 100644 index 0000000000000000000000000000000000000000..bbf9432aae9258612caeae910a7bde17999e328e --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/mlp.py @@ -0,0 +1,40 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/mlp.py + + +from typing import Callable, Optional + +from torch import Tensor, nn + + +class Mlp(nn.Module): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = nn.GELU, + drop: float = 0.0, + bias: bool = True, + ) -> None: + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.fc1 = nn.Linear(in_features, hidden_features, bias=bias) + self.act = act_layer() + self.fc2 = nn.Linear(hidden_features, out_features, bias=bias) + self.drop = nn.Dropout(drop) + + def forward(self, x: Tensor) -> Tensor: + x = self.fc1(x) + x = self.act(x) + x = self.drop(x) + x = self.fc2(x) + x = self.drop(x) + return x diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/patch_embed.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/patch_embed.py new file mode 100644 index 0000000000000000000000000000000000000000..8b7c0804784a42cf80c0297d110dcc68cc85b339 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/patch_embed.py @@ -0,0 +1,88 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +from typing import Callable, Optional, Tuple, Union + +from torch import Tensor +import torch.nn as nn + + +def make_2tuple(x): + if isinstance(x, tuple): + assert len(x) == 2 + return x + + assert isinstance(x, int) + return (x, x) + + +class PatchEmbed(nn.Module): + """ + 2D image to patch embedding: (B,C,H,W) -> (B,N,D) + + Args: + img_size: Image size. + patch_size: Patch token size. + in_chans: Number of input image channels. + embed_dim: Number of linear projection output channels. + norm_layer: Normalization layer. + """ + + def __init__( + self, + img_size: Union[int, Tuple[int, int]] = 224, + patch_size: Union[int, Tuple[int, int]] = 16, + in_chans: int = 3, + embed_dim: int = 768, + norm_layer: Optional[Callable] = None, + flatten_embedding: bool = True, + ) -> None: + super().__init__() + + image_HW = make_2tuple(img_size) + patch_HW = make_2tuple(patch_size) + patch_grid_size = ( + image_HW[0] // patch_HW[0], + image_HW[1] // patch_HW[1], + ) + + self.img_size = image_HW + self.patch_size = patch_HW + self.patches_resolution = patch_grid_size + self.num_patches = patch_grid_size[0] * patch_grid_size[1] + + self.in_chans = in_chans + self.embed_dim = embed_dim + + self.flatten_embedding = flatten_embedding + + self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_HW, stride=patch_HW) + self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity() + + def forward(self, x: Tensor) -> Tensor: + _, _, H, W = x.shape + patch_H, patch_W = self.patch_size + + assert H % patch_H == 0, f"Input image height {H} is not a multiple of patch height {patch_H}" + assert W % patch_W == 0, f"Input image width {W} is not a multiple of patch width: {patch_W}" + + x = self.proj(x) # B C H W + H, W = x.size(2), x.size(3) + x = x.flatten(2).transpose(1, 2) # B HW C + x = self.norm(x) + if not self.flatten_embedding: + x = x.reshape(-1, H, W, self.embed_dim) # B H W C + return x + + def flops(self) -> float: + Ho, Wo = self.patches_resolution + flops = Ho * Wo * self.embed_dim * self.in_chans * (self.patch_size[0] * self.patch_size[1]) + if self.norm is not None: + flops += Ho * Wo * self.embed_dim + return flops diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/swiglu_ffn.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/swiglu_ffn.py new file mode 100644 index 0000000000000000000000000000000000000000..5ce211515774d42e04c8b51003bae53b88f14b35 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/layers/swiglu_ffn.py @@ -0,0 +1,72 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import os +from typing import Callable, Optional +import warnings + +from torch import Tensor, nn +import torch.nn.functional as F + + +class SwiGLUFFN(nn.Module): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = None, + drop: float = 0.0, + bias: bool = True, + ) -> None: + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.w12 = nn.Linear(in_features, 2 * hidden_features, bias=bias) + self.w3 = nn.Linear(hidden_features, out_features, bias=bias) + + def forward(self, x: Tensor) -> Tensor: + x12 = self.w12(x) + x1, x2 = x12.chunk(2, dim=-1) + hidden = F.silu(x1) * x2 + return self.w3(hidden) + + +XFORMERS_ENABLED = os.environ.get("XFORMERS_DISABLED") is None +try: + if XFORMERS_ENABLED: + from xformers.ops import SwiGLU + + XFORMERS_AVAILABLE = True + # warnings.warn("xFormers is available (SwiGLU)") + else: + # warnings.warn("xFormers is disabled (SwiGLU)") + raise ImportError +except ImportError: + SwiGLU = SwiGLUFFN + XFORMERS_AVAILABLE = False + + # warnings.warn("xFormers is not available (SwiGLU)") + + +class SwiGLUFFNFused(SwiGLU): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = None, + drop: float = 0.0, + bias: bool = True, + ) -> None: + out_features = out_features or in_features + hidden_features = hidden_features or in_features + hidden_features = (int(hidden_features * 2 / 3) + 7) // 8 * 8 + super().__init__( + in_features=in_features, + hidden_features=hidden_features, + out_features=out_features, + bias=bias, + ) diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/models/__init__.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/models/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..3fdff20badbd5244bf79f16bf18dd2cb73982265 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/models/__init__.py @@ -0,0 +1,43 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import logging + +from . import vision_transformer as vits + + +logger = logging.getLogger("dinov2") + + +def build_model(args, only_teacher=False, img_size=224): + args.arch = args.arch.removesuffix("_memeff") + if "vit" in args.arch: + vit_kwargs = dict( + img_size=img_size, + patch_size=args.patch_size, + init_values=args.layerscale, + ffn_layer=args.ffn_layer, + block_chunks=args.block_chunks, + qkv_bias=args.qkv_bias, + proj_bias=args.proj_bias, + ffn_bias=args.ffn_bias, + num_register_tokens=args.num_register_tokens, + interpolate_offset=args.interpolate_offset, + interpolate_antialias=args.interpolate_antialias, + ) + teacher = vits.__dict__[args.arch](**vit_kwargs) + if only_teacher: + return teacher, teacher.embed_dim + student = vits.__dict__[args.arch]( + **vit_kwargs, + drop_path_rate=args.drop_path_rate, + drop_path_uniform=args.drop_path_uniform, + ) + embed_dim = student.embed_dim + return student, teacher, embed_dim + + +def build_model_from_cfg(cfg, only_teacher=False): + return build_model(cfg.student, only_teacher=only_teacher, img_size=cfg.crops.global_crops_size) diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/models/vision_transformer.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/models/vision_transformer.py new file mode 100644 index 0000000000000000000000000000000000000000..73f15cfb082d0fe629f8aa312c9d9b27a64ad4e7 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/models/vision_transformer.py @@ -0,0 +1,404 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/main/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +from functools import partial +import math +import logging +from typing import Sequence, Tuple, Union, Callable + +import torch +import torch.nn as nn +from torch.utils.checkpoint import checkpoint +from torch.nn.init import trunc_normal_ + +from ..layers import Mlp, PatchEmbed, SwiGLUFFNFused, MemEffAttention, NestedTensorBlock as Block +from ...layers.attention import FlashAttention + + +# logger = logging.getLogger("dinov2") + + +def named_apply(fn: Callable, module: nn.Module, name="", depth_first=True, include_root=False) -> nn.Module: + if not depth_first and include_root: + fn(module=module, name=name) + for child_name, child_module in module.named_children(): + child_name = ".".join((name, child_name)) if name else child_name + named_apply(fn=fn, module=child_module, name=child_name, depth_first=depth_first, include_root=True) + if depth_first and include_root: + fn(module=module, name=name) + return module + + +class BlockChunk(nn.ModuleList): + def forward(self, x): + for b in self: + x = b(x) + return x + + +class DinoVisionTransformer(nn.Module): + def __init__( + self, + img_size=224, + patch_size=16, + in_chans=3, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4.0, + qkv_bias=True, + ffn_bias=True, + proj_bias=True, + drop_path_rate=0.0, + drop_path_uniform=False, + init_values=None, # for layerscale: None or 0 => no layerscale + embed_layer=PatchEmbed, + act_layer=nn.GELU, + block_fn=Block, + ffn_layer="mlp", + block_chunks=1, + num_register_tokens=0, + interpolate_antialias=False, + interpolate_offset=0.1, + ): + """ + Args: + img_size (int, tuple): input image size + patch_size (int, tuple): patch size + in_chans (int): number of input channels + embed_dim (int): embedding dimension + depth (int): depth of transformer + num_heads (int): number of attention heads + mlp_ratio (int): ratio of mlp hidden dim to embedding dim + qkv_bias (bool): enable bias for qkv if True + proj_bias (bool): enable bias for proj in attn if True + ffn_bias (bool): enable bias for ffn if True + drop_path_rate (float): stochastic depth rate + drop_path_uniform (bool): apply uniform drop rate across blocks + weight_init (str): weight init scheme + init_values (float): layer-scale init values + embed_layer (nn.Module): patch embedding layer + act_layer (nn.Module): MLP activation layer + block_fn (nn.Module): transformer block class + ffn_layer (str): "mlp", "swiglu", "swiglufused" or "identity" + block_chunks: (int) split block sequence into block_chunks units for FSDP wrap + num_register_tokens: (int) number of extra cls tokens (so-called "registers") + interpolate_antialias: (str) flag to apply anti-aliasing when interpolating positional embeddings + interpolate_offset: (float) work-around offset to apply when interpolating positional embeddings + """ + super().__init__() + norm_layer = partial(nn.LayerNorm, eps=1e-6) + + self.num_features = self.embed_dim = embed_dim # num_features for consistency with other models + self.num_tokens = 1 + self.n_blocks = depth + self.num_heads = num_heads + self.patch_size = patch_size + self.num_register_tokens = num_register_tokens + self.interpolate_antialias = interpolate_antialias + self.interpolate_offset = interpolate_offset + + self.patch_embed = embed_layer(img_size=img_size, patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim) + num_patches = self.patch_embed.num_patches + + self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) + self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + self.num_tokens, embed_dim)) + assert num_register_tokens >= 0 + self.register_tokens = ( + nn.Parameter(torch.zeros(1, num_register_tokens, embed_dim)) if num_register_tokens else None + ) + + if drop_path_uniform is True: + dpr = [drop_path_rate] * depth + else: + dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule + + if ffn_layer == "mlp": + # logger.info("using MLP layer as FFN") + ffn_layer = Mlp + elif ffn_layer == "swiglufused" or ffn_layer == "swiglu": + # logger.info("using SwiGLU layer as FFN") + ffn_layer = SwiGLUFFNFused + elif ffn_layer == "identity": + # logger.info("using Identity layer as FFN") + + def f(*args, **kwargs): + return nn.Identity() + + ffn_layer = f + else: + raise NotImplementedError + + blocks_list = [ + block_fn( + dim=embed_dim, + num_heads=num_heads, + mlp_ratio=mlp_ratio, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + ffn_bias=ffn_bias, + drop_path=dpr[i], + norm_layer=norm_layer, + act_layer=act_layer, + ffn_layer=ffn_layer, + init_values=init_values, + attn_class=FlashAttention + ) + for i in range(depth) + ] + if block_chunks > 0: + self.chunked_blocks = True + chunked_blocks = [] + chunksize = depth // block_chunks + for i in range(0, depth, chunksize): + # this is to keep the block index consistent if we chunk the block list + chunked_blocks.append([nn.Identity()] * i + blocks_list[i : i + chunksize]) + self.blocks = nn.ModuleList([BlockChunk(p) for p in chunked_blocks]) + else: + self.chunked_blocks = False + self.blocks = nn.ModuleList(blocks_list) + + self.norm = norm_layer(embed_dim) + self.head = nn.Identity() + + self.mask_token = nn.Parameter(torch.zeros(1, embed_dim)) + + self.init_weights() + + def init_weights(self): + trunc_normal_(self.pos_embed, std=0.02) + nn.init.normal_(self.cls_token, std=1e-6) + if self.register_tokens is not None: + nn.init.normal_(self.register_tokens, std=1e-6) + named_apply(init_weights_vit_timm, self) + + def interpolate_pos_encoding(self, x, w, h): + previous_dtype = x.dtype + npatch = x.shape[1] - 1 + N = self.pos_embed.shape[1] - 1 + if npatch == N and w == h: + return self.pos_embed + pos_embed = self.pos_embed.float() + class_pos_embed = pos_embed[:, 0] + patch_pos_embed = pos_embed[:, 1:] + dim = x.shape[-1] + w0 = w // self.patch_size + h0 = h // self.patch_size + M = int(math.sqrt(N)) # Recover the number of patches in each dimension + assert N == M * M + kwargs = {} + if self.interpolate_offset: + # Historical kludge: add a small number to avoid floating point error in the interpolation, see https://github.com/facebookresearch/dino/issues/8 + # Note: still needed for backward-compatibility, the underlying operators are using both output size and scale factors + sx = float(w0 + self.interpolate_offset) / M + sy = float(h0 + self.interpolate_offset) / M + kwargs["scale_factor"] = (sx, sy) + else: + # Simply specify an output size instead of a scale factor + kwargs["size"] = (w0, h0) + patch_pos_embed = nn.functional.interpolate( + patch_pos_embed.reshape(1, M, M, dim).permute(0, 3, 1, 2), + mode="bicubic", + antialias=self.interpolate_antialias, + **kwargs, + ) + assert (w0, h0) == patch_pos_embed.shape[-2:] + patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) + return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1).to(previous_dtype) + + def prepare_tokens_with_masks(self, x, masks=None): + B, nc, w, h = x.shape + x = self.patch_embed(x) + if masks is not None: + x = torch.where(masks.unsqueeze(-1), self.mask_token.to(x.dtype).unsqueeze(0), x) + + x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1) + x = x + self.interpolate_pos_encoding(x, w, h) + + if self.register_tokens is not None: + x = torch.cat( + ( + x[:, :1], + self.register_tokens.expand(x.shape[0], -1, -1), + x[:, 1:], + ), + dim=1, + ) + + return x + + def forward_features_list(self, x_list, masks_list): + x = [self.prepare_tokens_with_masks(x, masks) for x, masks in zip(x_list, masks_list)] + for blk in self.blocks: + if self.training: + x = checkpoint(blk, x, use_reentrant=False) + else: + x = blk(x) + + all_x = x + output = [] + for x, masks in zip(all_x, masks_list): + x_norm = self.norm(x) + output.append( + { + "x_norm_clstoken": x_norm[:, 0], + "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], + "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], + "x_prenorm": x, + "masks": masks, + } + ) + return output + + def forward_features(self, x, masks=None): + if isinstance(x, list): + return self.forward_features_list(x, masks) + + x = self.prepare_tokens_with_masks(x, masks) + + for blk in self.blocks: + if self.training: + x = checkpoint(blk, x, use_reentrant=False) + else: + x = blk(x) + + x_norm = self.norm(x) + return { + "x_norm_clstoken": x_norm[:, 0], + "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], + "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], + "x_prenorm": x, + "masks": masks, + } + + def _get_intermediate_layers_not_chunked(self, x, n=1): + x = self.prepare_tokens_with_masks(x) + # If n is an int, take the n last blocks. If it's a list, take them + output, total_block_len = [], len(self.blocks) + blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n + for i, blk in enumerate(self.blocks): + x = blk(x) + if i in blocks_to_take: + output.append(x) + assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" + return output + + def _get_intermediate_layers_chunked(self, x, n=1): + x = self.prepare_tokens_with_masks(x) + output, i, total_block_len = [], 0, len(self.blocks[-1]) + # If n is an int, take the n last blocks. If it's a list, take them + blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n + for block_chunk in self.blocks: + for blk in block_chunk[i:]: # Passing the nn.Identity() + x = blk(x) + if i in blocks_to_take: + output.append(x) + i += 1 + assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" + return output + + def get_intermediate_layers( + self, + x: torch.Tensor, + n: Union[int, Sequence] = 1, # Layers or n last layers to take + reshape: bool = False, + return_class_token: bool = False, + norm=True, + ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]]]: + if self.chunked_blocks: + outputs = self._get_intermediate_layers_chunked(x, n) + else: + outputs = self._get_intermediate_layers_not_chunked(x, n) + if norm: + outputs = [self.norm(out) for out in outputs] + class_tokens = [out[:, 0] for out in outputs] + outputs = [out[:, 1 + self.num_register_tokens :] for out in outputs] + if reshape: + B, _, w, h = x.shape + outputs = [ + out.reshape(B, w // self.patch_size, h // self.patch_size, -1).permute(0, 3, 1, 2).contiguous() + for out in outputs + ] + if return_class_token: + return tuple(zip(outputs, class_tokens)) + return tuple(outputs) + + def forward(self, *args, is_training=False, **kwargs): + ret = self.forward_features(*args, **kwargs) + if is_training: + return ret + else: + return self.head(ret["x_norm_clstoken"]) + + +def init_weights_vit_timm(module: nn.Module, name: str = ""): + """ViT weight initialization, original timm impl (for reproducibility)""" + if isinstance(module, nn.Linear): + trunc_normal_(module.weight, std=0.02) + if module.bias is not None: + nn.init.zeros_(module.bias) + + +def vit_small(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=384, + depth=12, + num_heads=6, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_base(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_large(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=1024, + depth=24, + num_heads=16, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_giant2(patch_size=16, num_register_tokens=0, **kwargs): + """ + Close to ViT-giant, with embed-dim 1536 and 24 heads => embed-dim per head 64 + """ + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=1536, + depth=40, + num_heads=24, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/__init__.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..b88da6bf80be92af00b72dfdb0a806fa64a7a2d9 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/__init__.py @@ -0,0 +1,4 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/cluster.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/cluster.py new file mode 100644 index 0000000000000000000000000000000000000000..3df87dc3e1eb4f0f8a280dc3137cfef031886314 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/cluster.py @@ -0,0 +1,95 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +from enum import Enum +import os +from pathlib import Path +from typing import Any, Dict, Optional + + +class ClusterType(Enum): + AWS = "aws" + FAIR = "fair" + RSC = "rsc" + + +def _guess_cluster_type() -> ClusterType: + uname = os.uname() + if uname.sysname == "Linux": + if uname.release.endswith("-aws"): + # Linux kernel versions on AWS instances are of the form "5.4.0-1051-aws" + return ClusterType.AWS + elif uname.nodename.startswith("rsc"): + # Linux kernel versions on RSC instances are standard ones but hostnames start with "rsc" + return ClusterType.RSC + + return ClusterType.FAIR + + +def get_cluster_type(cluster_type: Optional[ClusterType] = None) -> Optional[ClusterType]: + if cluster_type is None: + return _guess_cluster_type() + + return cluster_type + + +def get_checkpoint_path(cluster_type: Optional[ClusterType] = None) -> Optional[Path]: + cluster_type = get_cluster_type(cluster_type) + if cluster_type is None: + return None + + CHECKPOINT_DIRNAMES = { + ClusterType.AWS: "checkpoints", + ClusterType.FAIR: "checkpoint", + ClusterType.RSC: "checkpoint/dino", + } + return Path("/") / CHECKPOINT_DIRNAMES[cluster_type] + + +def get_user_checkpoint_path(cluster_type: Optional[ClusterType] = None) -> Optional[Path]: + checkpoint_path = get_checkpoint_path(cluster_type) + if checkpoint_path is None: + return None + + username = os.environ.get("USER") + assert username is not None + return checkpoint_path / username + + +def get_slurm_partition(cluster_type: Optional[ClusterType] = None) -> Optional[str]: + cluster_type = get_cluster_type(cluster_type) + if cluster_type is None: + return None + + SLURM_PARTITIONS = { + ClusterType.AWS: "learnlab", + ClusterType.FAIR: "learnlab", + ClusterType.RSC: "learn", + } + return SLURM_PARTITIONS[cluster_type] + + +def get_slurm_executor_parameters( + nodes: int, num_gpus_per_node: int, cluster_type: Optional[ClusterType] = None, **kwargs +) -> Dict[str, Any]: + # create default parameters + params = { + "mem_gb": 0, # Requests all memory on a node, see https://slurm.schedmd.com/sbatch.html + "gpus_per_node": num_gpus_per_node, + "tasks_per_node": num_gpus_per_node, # one task per GPU + "cpus_per_task": 10, + "nodes": nodes, + "slurm_partition": get_slurm_partition(cluster_type), + } + # apply cluster-specific adjustments + cluster_type = get_cluster_type(cluster_type) + if cluster_type == ClusterType.AWS: + params["cpus_per_task"] = 12 + del params["mem_gb"] + elif cluster_type == ClusterType.RSC: + params["cpus_per_task"] = 12 + # set additional parameters / apply overrides + params.update(kwargs) + return params diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/config.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/config.py new file mode 100644 index 0000000000000000000000000000000000000000..c9de578787bbcb376f8bd5a782206d0eb7ec1f52 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/config.py @@ -0,0 +1,72 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import math +import logging +import os + +from omegaconf import OmegaConf + +import dinov2.distributed as distributed +from dinov2.logging import setup_logging +from dinov2.utils import utils +from dinov2.configs import dinov2_default_config + + +logger = logging.getLogger("dinov2") + + +def apply_scaling_rules_to_cfg(cfg): # to fix + if cfg.optim.scaling_rule == "sqrt_wrt_1024": + base_lr = cfg.optim.base_lr + cfg.optim.lr = base_lr + cfg.optim.lr *= math.sqrt(cfg.train.batch_size_per_gpu * distributed.get_global_size() / 1024.0) + logger.info(f"sqrt scaling learning rate; base: {base_lr}, new: {cfg.optim.lr}") + else: + raise NotImplementedError + return cfg + + +def write_config(cfg, output_dir, name="config.yaml"): + logger.info(OmegaConf.to_yaml(cfg)) + saved_cfg_path = os.path.join(output_dir, name) + with open(saved_cfg_path, "w") as f: + OmegaConf.save(config=cfg, f=f) + return saved_cfg_path + + +def get_cfg_from_args(args): + args.output_dir = os.path.abspath(args.output_dir) + args.opts += [f"train.output_dir={args.output_dir}"] + default_cfg = OmegaConf.create(dinov2_default_config) + cfg = OmegaConf.load(args.config_file) + cfg = OmegaConf.merge(default_cfg, cfg, OmegaConf.from_cli(args.opts)) + return cfg + + +def default_setup(args): + distributed.enable(overwrite=True) + seed = getattr(args, "seed", 0) + rank = distributed.get_global_rank() + + global logger + setup_logging(output=args.output_dir, level=logging.INFO) + logger = logging.getLogger("dinov2") + + utils.fix_random_seeds(seed + rank) + logger.info("git:\n {}\n".format(utils.get_sha())) + logger.info("\n".join("%s: %s" % (k, str(v)) for k, v in sorted(dict(vars(args)).items()))) + + +def setup(args): + """ + Create configs and perform basic setups. + """ + cfg = get_cfg_from_args(args) + os.makedirs(args.output_dir, exist_ok=True) + default_setup(args) + apply_scaling_rules_to_cfg(cfg) + write_config(cfg, args.output_dir) + return cfg diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/dtype.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/dtype.py new file mode 100644 index 0000000000000000000000000000000000000000..80f4cd74d99faa2731dbe9f8d3a13d71b3f8e3a8 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/dtype.py @@ -0,0 +1,37 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + + +from typing import Dict, Union + +import numpy as np +import torch + + +TypeSpec = Union[str, np.dtype, torch.dtype] + + +_NUMPY_TO_TORCH_DTYPE: Dict[np.dtype, torch.dtype] = { + np.dtype("bool"): torch.bool, + np.dtype("uint8"): torch.uint8, + np.dtype("int8"): torch.int8, + np.dtype("int16"): torch.int16, + np.dtype("int32"): torch.int32, + np.dtype("int64"): torch.int64, + np.dtype("float16"): torch.float16, + np.dtype("float32"): torch.float32, + np.dtype("float64"): torch.float64, + np.dtype("complex64"): torch.complex64, + np.dtype("complex128"): torch.complex128, +} + + +def as_torch_dtype(dtype: TypeSpec) -> torch.dtype: + if isinstance(dtype, torch.dtype): + return dtype + if isinstance(dtype, str): + dtype = np.dtype(dtype) + assert isinstance(dtype, np.dtype), f"Expected an instance of nunpy dtype, got {type(dtype)}" + return _NUMPY_TO_TORCH_DTYPE[dtype] diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/param_groups.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/param_groups.py new file mode 100644 index 0000000000000000000000000000000000000000..9a5d2ff627cddadc222e5f836864ee39c865208f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/param_groups.py @@ -0,0 +1,103 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +from collections import defaultdict +import logging + + +logger = logging.getLogger("dinov2") + + +def get_vit_lr_decay_rate(name, lr_decay_rate=1.0, num_layers=12, force_is_backbone=False, chunked_blocks=False): + """ + Calculate lr decay rate for different ViT blocks. + Args: + name (string): parameter name. + lr_decay_rate (float): base lr decay rate. + num_layers (int): number of ViT blocks. + Returns: + lr decay rate for the given parameter. + """ + layer_id = num_layers + 1 + if name.startswith("backbone") or force_is_backbone: + if ( + ".pos_embed" in name + or ".patch_embed" in name + or ".mask_token" in name + or ".cls_token" in name + or ".register_tokens" in name + ): + layer_id = 0 + elif force_is_backbone and ( + "pos_embed" in name + or "patch_embed" in name + or "mask_token" in name + or "cls_token" in name + or "register_tokens" in name + ): + layer_id = 0 + elif ".blocks." in name and ".residual." not in name: + layer_id = int(name[name.find(".blocks.") :].split(".")[2]) + 1 + elif chunked_blocks and "blocks." in name and "residual." not in name: + layer_id = int(name[name.find("blocks.") :].split(".")[2]) + 1 + elif "blocks." in name and "residual." not in name: + layer_id = int(name[name.find("blocks.") :].split(".")[1]) + 1 + + return lr_decay_rate ** (num_layers + 1 - layer_id) + + +def get_params_groups_with_decay(model, lr_decay_rate=1.0, patch_embed_lr_mult=1.0): + chunked_blocks = False + if hasattr(model, "n_blocks"): + logger.info("chunked fsdp") + n_blocks = model.n_blocks + chunked_blocks = model.chunked_blocks + elif hasattr(model, "blocks"): + logger.info("first code branch") + n_blocks = len(model.blocks) + elif hasattr(model, "backbone"): + logger.info("second code branch") + n_blocks = len(model.backbone.blocks) + else: + logger.info("else code branch") + n_blocks = 0 + all_param_groups = [] + + for name, param in model.named_parameters(): + name = name.replace("_fsdp_wrapped_module.", "") + if not param.requires_grad: + continue + decay_rate = get_vit_lr_decay_rate( + name, lr_decay_rate, num_layers=n_blocks, force_is_backbone=n_blocks > 0, chunked_blocks=chunked_blocks + ) + d = {"params": param, "is_last_layer": False, "lr_multiplier": decay_rate, "wd_multiplier": 1.0, "name": name} + + if "last_layer" in name: + d.update({"is_last_layer": True}) + + if name.endswith(".bias") or "norm" in name or "gamma" in name: + d.update({"wd_multiplier": 0.0}) + + if "patch_embed" in name: + d.update({"lr_multiplier": d["lr_multiplier"] * patch_embed_lr_mult}) + + all_param_groups.append(d) + logger.info(f"""{name}: lr_multiplier: {d["lr_multiplier"]}, wd_multiplier: {d["wd_multiplier"]}""") + + return all_param_groups + + +def fuse_params_groups(all_params_groups, keys=("lr_multiplier", "wd_multiplier", "is_last_layer")): + fused_params_groups = defaultdict(lambda: {"params": []}) + for d in all_params_groups: + identifier = "" + for k in keys: + identifier += k + str(d[k]) + "_" + + for k in keys: + fused_params_groups[identifier][k] = d[k] + fused_params_groups[identifier]["params"].append(d["params"]) + + return fused_params_groups.values() diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/utils.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..e8842e4145414f6f040c4ae83bf38552de8f65b2 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/dinov2/utils/utils.py @@ -0,0 +1,95 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import logging +import os +import random +import subprocess +from urllib.parse import urlparse + +import numpy as np +import torch +from torch import nn + + +# logger = logging.getLogger("dinov2") + + +def load_pretrained_weights(model, pretrained_weights, checkpoint_key): + if urlparse(pretrained_weights).scheme: # If it looks like an URL + state_dict = torch.hub.load_state_dict_from_url(pretrained_weights, map_location="cpu") + else: + state_dict = torch.load(pretrained_weights, map_location="cpu") + if checkpoint_key is not None and checkpoint_key in state_dict: + # logger.info(f"Take key {checkpoint_key} in provided checkpoint dict") + state_dict = state_dict[checkpoint_key] + # remove `module.` prefix + state_dict = {k.replace("module.", ""): v for k, v in state_dict.items()} + # remove `backbone.` prefix induced by multicrop wrapper + state_dict = {k.replace("backbone.", ""): v for k, v in state_dict.items()} + msg = model.load_state_dict(state_dict, strict=False) + # logger.info("Pretrained weights found at {} and loaded with msg: {}".format(pretrained_weights, msg)) + + +def fix_random_seeds(seed=31): + """ + Fix random seeds. + """ + torch.manual_seed(seed) + torch.cuda.manual_seed_all(seed) + np.random.seed(seed) + random.seed(seed) + + +def get_sha(): + cwd = os.path.dirname(os.path.abspath(__file__)) + + def _run(command): + return subprocess.check_output(command, cwd=cwd).decode("ascii").strip() + + sha = "N/A" + diff = "clean" + branch = "N/A" + try: + sha = _run(["git", "rev-parse", "HEAD"]) + subprocess.check_output(["git", "diff"], cwd=cwd) + diff = _run(["git", "diff-index", "HEAD"]) + diff = "has uncommitted changes" if diff else "clean" + branch = _run(["git", "rev-parse", "--abbrev-ref", "HEAD"]) + except Exception: + pass + message = f"sha: {sha}, status: {diff}, branch: {branch}" + return message + + +class CosineScheduler(object): + def __init__(self, base_value, final_value, total_iters, warmup_iters=0, start_warmup_value=0, freeze_iters=0): + super().__init__() + self.final_value = final_value + self.total_iters = total_iters + + freeze_schedule = np.zeros((freeze_iters)) + + warmup_schedule = np.linspace(start_warmup_value, base_value, warmup_iters) + + iters = np.arange(total_iters - warmup_iters - freeze_iters) + schedule = final_value + 0.5 * (base_value - final_value) * (1 + np.cos(np.pi * iters / len(iters))) + self.schedule = np.concatenate((freeze_schedule, warmup_schedule, schedule)) + + assert len(self.schedule) == self.total_iters + + def __getitem__(self, it): + if it >= self.total_iters: + return self.final_value + else: + return self.schedule[it] + + +def has_batchnorms(model): + bn_types = (nn.BatchNorm1d, nn.BatchNorm2d, nn.BatchNorm3d, nn.SyncBatchNorm) + for name, module in model.named_modules(): + if isinstance(module, bn_types): + return True + return False diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/attention.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/attention.py new file mode 100644 index 0000000000000000000000000000000000000000..ac77c5a29f6ee8cf5988f2193cb042efc75a52d1 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/attention.py @@ -0,0 +1,372 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +import logging +import os +import warnings + +from torch import Tensor +from torch import nn +import torch + +from torch.nn.functional import scaled_dot_product_attention +# from torch.nn.attention import SDPBackend + +XFORMERS_ENABLED = os.environ.get("XFORMERS_DISABLED") is None +try: + if XFORMERS_ENABLED: + from xformers.ops import memory_efficient_attention, unbind + + XFORMERS_AVAILABLE = True + # warnings.warn("xFormers is available (Attention)") + else: + # warnings.warn("xFormers is disabled (Attention)") + raise ImportError +except ImportError: + XFORMERS_AVAILABLE = False + # warnings.warn("xFormers is not available (Attention)") + + +class Attention(nn.Module): + def __init__( + self, + dim: int, + num_heads: int = 8, + qkv_bias: bool = False, + proj_bias: bool = True, + attn_drop: float = 0.0, + proj_drop: float = 0.0, + ) -> None: + super().__init__() + self.num_heads = num_heads + head_dim = dim // num_heads + self.scale = head_dim**-0.5 + + self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + self.attn_drop = nn.Dropout(attn_drop) + self.proj = nn.Linear(dim, dim, bias=proj_bias) + self.proj_drop = nn.Dropout(proj_drop) + + def forward(self, x: Tensor, attn_bias=None) -> Tensor: + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) + + q, k, v = qkv[0] * self.scale, qkv[1], qkv[2] + attn = q @ k.transpose(-2, -1) + + attn = attn.softmax(dim=-1) + attn = self.attn_drop(attn) + + x = (attn @ v).transpose(1, 2).reshape(B, N, C) + x = self.proj(x) + x = self.proj_drop(x) + return x + + +class MemEffAttention(Attention): + def forward(self, x: Tensor, attn_bias=None) -> Tensor: + if not XFORMERS_AVAILABLE: + if attn_bias is not None: + raise AssertionError("xFormers is required for using nested tensors") + return super().forward(x) + + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads) + + # q, k, v = unbind(qkv, 2) + q, k, v = [qkv[:,:,i] for i in range(3)] + + x = memory_efficient_attention(q, k, v, attn_bias=attn_bias) + x = x.reshape([B, N, C]) + + x = self.proj(x) + x = self.proj_drop(x) + return x + + + +class FlashAttention(Attention): + def forward(self, x: Tensor, attn_bias=None) -> Tensor: + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).transpose(1, 3) + + # q, k, v = unbind(qkv, 2) + q, k, v = [qkv[:,:,i] for i in range(3)] + x = scaled_dot_product_attention(q, k, v) + + # if q.dtype == torch.bfloat16: + # with nn.attention.sdpa_kernel(SDPBackend.FLASH_ATTENTION): + # x = scaled_dot_product_attention(q, k, v) + # else: + # with nn.attention.sdpa_kernel([SDPBackend.MATH, SDPBackend.EFFICIENT_ATTENTION]): + # x = scaled_dot_product_attention(q, k, v) + + x = x.transpose(1, 2).reshape([B, N, C]) + + x = self.proj(x) + x = self.proj_drop(x) + return x + + +""" +Following is written by GPT-4o +""" +class CrossAttentionRope(nn.Module): + def __init__( + self, + dim: int, + num_heads: int = 8, + qkv_bias: bool = False, + proj_bias: bool = True, + attn_drop: float = 0.0, + proj_drop: float = 0.0, + qk_norm: bool = False, + norm_layer: nn.Module = nn.LayerNorm, + rope=None, + ) -> None: + super().__init__() + self.num_heads = num_heads + head_dim = dim // num_heads + self.scale = head_dim**-0.5 + + # Separate projection layers for query, key, and value + self.q_proj = nn.Linear(dim, dim, bias=qkv_bias) + self.k_proj = nn.Linear(dim, dim, bias=qkv_bias) + self.v_proj = nn.Linear(dim, dim, bias=qkv_bias) + + self.q_norm = norm_layer(head_dim) if qk_norm else nn.Identity() + self.k_norm = norm_layer(head_dim) if qk_norm else nn.Identity() + + self.attn_drop = nn.Dropout(attn_drop) + self.proj = nn.Linear(dim, dim, bias=proj_bias) + self.proj_drop = nn.Dropout(proj_drop) + + self.rope = rope + + def forward(self, query: Tensor, key: Tensor, value: Tensor, attn_bias=None, qpos=None, kpos=None) -> Tensor: + """ + Args: + query: Tensor of shape (B, N, C), input query + key: Tensor of shape (B, M, C), input key + value: Tensor of shape (B, M, C), input value + attn_bias: Optional tensor for attention bias + Returns: + Tensor of shape (B, N, C), output of cross-attention + """ + B, N, C = query.shape + _, M, _ = key.shape + + # Project query, key, and value + q = self.q_proj(query).reshape(B, N, self.num_heads, C // self.num_heads).permute(0, 2, 1, 3) + k = self.k_proj(key).reshape(B, M, self.num_heads, C // self.num_heads).permute(0, 2, 1, 3) + v = self.v_proj(value).reshape(B, M, self.num_heads, C // self.num_heads).permute(0, 2, 1, 3) + q, k = self.q_norm(q).to(v.dtype), self.k_norm(k).to(v.dtype) + + if self.rope is not None: + q = self.rope(q, qpos) + k = self.rope(k, kpos) + + # Scale query + q = q * self.scale + + # Compute attention scores + attn = q @ k.transpose(-2, -1) # (B, num_heads, N, M) + if attn_bias is not None: + attn = attn + attn_bias + + attn = attn.softmax(dim=-1) + attn = self.attn_drop(attn) + + # Compute attention output + x = (attn @ v).transpose(1, 2).reshape(B, N, C) # (B, N, C) + + # Final projection + x = self.proj(x) + x = self.proj_drop(x) + return x + + +class MemEffCrossAttentionRope(CrossAttentionRope): + def forward(self, query: Tensor, key: Tensor, value: Tensor, attn_bias=None, qpos=None, kpos=None) -> Tensor: + """ + Args: + query: Tensor of shape (B, N, C), input query + key: Tensor of shape (B, M, C), input key + value: Tensor of shape (B, M, C), input value + attn_bias: Optional tensor for attention bias + Returns: + Tensor of shape (B, N, C), output of cross-attention + """ + if not XFORMERS_AVAILABLE: + if attn_bias is not None: + raise AssertionError("xFormers is required for using nested tensors") + return super().forward(query, key, value, attn_bias) + + B, N, C = query.shape + _, M, _ = key.shape + + # Project query, key, and value + q = self.q_proj(query).reshape(B, N, self.num_heads, C // self.num_heads) + k = self.k_proj(key).reshape(B, M, self.num_heads, C // self.num_heads) + v = self.v_proj(value).reshape(B, M, self.num_heads, C // self.num_heads) + + q = q.transpose(1, 2) + k = k.transpose(1, 2) + q, k = self.q_norm(q).to(v.dtype), self.k_norm(k).to(v.dtype) + + if self.rope is not None: + q = self.rope(q, qpos) + k = self.rope(k, kpos) + + q = q.transpose(1, 2) + k = k.transpose(1, 2) + + # Compute memory-efficient attention + x = memory_efficient_attention(q, k, v, attn_bias=attn_bias) + x = x.reshape(B, N, C) + + # Final projection + x = self.proj(x) + x = self.proj_drop(x) + return x + +class AttentionRope(nn.Module): + def __init__( + self, + dim: int, + num_heads: int = 8, + qkv_bias: bool = False, + proj_bias: bool = True, + attn_drop: float = 0.0, + proj_drop: float = 0.0, + qk_norm: bool = False, + norm_layer: nn.Module = nn.LayerNorm, + rope=None + ) -> None: + super().__init__() + self.num_heads = num_heads + head_dim = dim // num_heads + self.scale = head_dim**-0.5 + + self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + self.attn_drop = nn.Dropout(attn_drop) + self.proj = nn.Linear(dim, dim, bias=proj_bias) + self.proj_drop = nn.Dropout(proj_drop) + + self.q_norm = norm_layer(head_dim) if qk_norm else nn.Identity() + self.k_norm = norm_layer(head_dim) if qk_norm else nn.Identity() + + self.rope = rope + + def forward(self, x: Tensor, attn_bias=None, xpos=None) -> Tensor: + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) + q, k, v = qkv[0], qkv[1], qkv[2] + q, k = self.q_norm(q).to(v.dtype), self.k_norm(k).to(v.dtype) + + if self.rope is not None: + q = self.rope(q, xpos) + k = self.rope(k, xpos) + + q = q * self.scale + attn = q @ k.transpose(-2, -1) + + attn = attn.softmax(dim=-1) + attn = self.attn_drop(attn) + + x = (attn @ v).transpose(1, 2).reshape(B, N, C) + x = self.proj(x) + x = self.proj_drop(x) + return x + + +class MemEffAttentionRope(AttentionRope): + def forward(self, x: Tensor, attn_bias=None, xpos=None) -> Tensor: + if not XFORMERS_AVAILABLE: + if attn_bias is not None: + raise AssertionError("xFormers is required for using nested tensors") + return super().forward(x) + + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads) + + qkv = qkv.transpose(1, 3) + # q, k, v = unbind(qkv, 2) + q, k, v = [qkv[:,:,i] for i in range(3)] + q, k = self.q_norm(q).to(v.dtype), self.k_norm(k).to(v.dtype) + + if self.rope is not None: + q = self.rope(q, xpos) + k = self.rope(k, xpos) + + q = q.transpose(1, 2) + k = k.transpose(1, 2) + v = v.transpose(1, 2) + + x = memory_efficient_attention(q, k, v, attn_bias=attn_bias) + x = x.reshape([B, N, C]) + + # score_matrix = (q.permute(0, 2, 1, 3) * self.scale @ k.permute(0, 2, 1, 3).transpose(-2, -1)).sum(dim=1).reshape(frame_num, 261, frame_num, 261).mean(dim=[1, 3]).sum(1) # for frame attention matrix + # global_valid_id = torch.where(score_matrix > 0) + # score_matrix = (q.permute(0, 2, 1, 3) * self.scale @ k.permute(0, 2, 1, 3).transpose(-2, -1)).sum(dim=1) + + x = self.proj(x) + x = self.proj_drop(x) + return x + + +class FlashAttentionRope(AttentionRope): + def forward(self, x: Tensor, attn_bias=None, xpos=None) -> Tensor: + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).transpose(1, 3) + + # q, k, v = unbind(qkv, 2) + q, k, v = [qkv[:,:,i] for i in range(3)] + q, k = self.q_norm(q).to(v.dtype), self.k_norm(k).to(v.dtype) + + if self.rope is not None: + q = self.rope(q, xpos) + k = self.rope(k, xpos) + + x = scaled_dot_product_attention(q, k, v) + + # if q.dtype == torch.bfloat16: + # with nn.attention.sdpa_kernel(SDPBackend.FLASH_ATTENTION): + # x = scaled_dot_product_attention(q, k, v) + # else: + # with nn.attention.sdpa_kernel([SDPBackend.MATH, SDPBackend.EFFICIENT_ATTENTION]): + # x = scaled_dot_product_attention(q, k, v) + + x = x.transpose(1, 2).reshape([B, N, C]) + + x = self.proj(x) + x = self.proj_drop(x) + return x + +def get_attn_score(blk_class, x, frame_num, token_length, xpos=None): + x = blk_class.norm1(x) + + B, N, C = x.shape + qkv = blk_class.attn.qkv(x).reshape(B, N, 3, blk_class.attn.num_heads, C // blk_class.attn.num_heads) + + qkv = qkv.transpose(1, 3) + # q, k, v = unbind(qkv, 2) + q, k, v = [qkv[:,:,i] for i in range(3)] + q, k = blk_class.attn.q_norm(q).to(v.dtype), blk_class.attn.k_norm(k).to(v.dtype) + + if blk_class.attn.rope is not None: + q = blk_class.attn.rope(q, xpos) + k = blk_class.attn.rope(k, xpos) + + q = q.transpose(1, 2) + k = k.transpose(1, 2) + + score = (q.permute(0, 2, 1, 3) * blk_class.attn.scale @ k.permute(0, 2, 1, 3).transpose(-2, -1)).sum(dim=1).reshape(B, frame_num, token_length, frame_num, token_length).mean(dim=[2, 4]).sum(-1) + + return score \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/block.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/block.py new file mode 100644 index 0000000000000000000000000000000000000000..c2c1f95bd4ff36c6a7fafc2e004364c030e20c7d --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/block.py @@ -0,0 +1,406 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +import logging +import os +from typing import Callable, List, Any, Tuple, Dict +import warnings + +import torch +from torch import nn, Tensor + +from .attention import Attention, MemEffAttention, CrossAttentionRope, MemEffCrossAttentionRope, FlashAttentionRope +from ..dinov2.layers.drop_path import DropPath +from ..dinov2.layers.layer_scale import LayerScale +from ..dinov2.layers.mlp import Mlp + + +XFORMERS_ENABLED = os.environ.get("XFORMERS_DISABLED") is None +try: + if XFORMERS_ENABLED: + from xformers.ops import fmha, scaled_index_add, index_select_cat + + XFORMERS_AVAILABLE = True + # warnings.warn("xFormers is available (Block)") + else: + # warnings.warn("xFormers is disabled (Block)") + raise ImportError +except ImportError: + XFORMERS_AVAILABLE = False + # warnings.warn("xFormers is not available (Block)") + + +class Block(nn.Module): + def __init__( + self, + dim: int, + num_heads: int, + mlp_ratio: float = 4.0, + qkv_bias: bool = False, + proj_bias: bool = True, + ffn_bias: bool = True, + drop: float = 0.0, + attn_drop: float = 0.0, + init_values=None, + drop_path: float = 0.0, + act_layer: Callable[..., nn.Module] = nn.GELU, + norm_layer: Callable[..., nn.Module] = nn.LayerNorm, + attn_class: Callable[..., nn.Module] = Attention, + ffn_layer: Callable[..., nn.Module] = Mlp, + ) -> None: + super().__init__() + # print(f"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}") + self.norm1 = norm_layer(dim) + self.attn = attn_class( + dim, + num_heads=num_heads, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + attn_drop=attn_drop, + proj_drop=drop, + ) + + self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.drop_path1 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.norm2 = norm_layer(dim) + mlp_hidden_dim = int(dim * mlp_ratio) + self.mlp = ffn_layer( + in_features=dim, + hidden_features=mlp_hidden_dim, + act_layer=act_layer, + drop=drop, + bias=ffn_bias, + ) + self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.sample_drop_ratio = drop_path + + def forward(self, x: Tensor) -> Tensor: + def attn_residual_func(x: Tensor) -> Tensor: + return self.ls1(self.attn(self.norm1(x))) + + def ffn_residual_func(x: Tensor) -> Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + if self.training and self.sample_drop_ratio > 0.1: + # the overhead is compensated only for a drop path rate larger than 0.1 + x = drop_add_residual_stochastic_depth( + x, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + x = drop_add_residual_stochastic_depth( + x, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + elif self.training and self.sample_drop_ratio > 0.0: + x = x + self.drop_path1(attn_residual_func(x)) + x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2 + else: + x = x + attn_residual_func(x) + x = x + ffn_residual_func(x) + return x + + +def drop_add_residual_stochastic_depth( + x: Tensor, + residual_func: Callable[[Tensor], Tensor], + sample_drop_ratio: float = 0.0, +) -> Tensor: + # 1) extract subset using permutation + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + x_subset = x[brange] + + # 2) apply residual_func to get residual + residual = residual_func(x_subset) + + x_flat = x.flatten(1) + residual = residual.flatten(1) + + residual_scale_factor = b / sample_subset_size + + # 3) add the residual + x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) + return x_plus_residual.view_as(x) + + +def get_branges_scales(x, sample_drop_ratio=0.0): + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + residual_scale_factor = b / sample_subset_size + return brange, residual_scale_factor + + +def add_residual(x, brange, residual, residual_scale_factor, scaling_vector=None): + if scaling_vector is None: + x_flat = x.flatten(1) + residual = residual.flatten(1) + x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) + else: + x_plus_residual = scaled_index_add( + x, brange, residual.to(dtype=x.dtype), scaling=scaling_vector, alpha=residual_scale_factor + ) + return x_plus_residual + + +attn_bias_cache: Dict[Tuple, Any] = {} + + +def get_attn_bias_and_cat(x_list, branges=None): + """ + this will perform the index select, cat the tensors, and provide the attn_bias from cache + """ + batch_sizes = [b.shape[0] for b in branges] if branges is not None else [x.shape[0] for x in x_list] + all_shapes = tuple((b, x.shape[1]) for b, x in zip(batch_sizes, x_list)) + if all_shapes not in attn_bias_cache.keys(): + seqlens = [] + for b, x in zip(batch_sizes, x_list): + for _ in range(b): + seqlens.append(x.shape[1]) + attn_bias = fmha.BlockDiagonalMask.from_seqlens(seqlens) + attn_bias._batch_sizes = batch_sizes + attn_bias_cache[all_shapes] = attn_bias + + if branges is not None: + cat_tensors = index_select_cat([x.flatten(1) for x in x_list], branges).view(1, -1, x_list[0].shape[-1]) + else: + tensors_bs1 = tuple(x.reshape([1, -1, *x.shape[2:]]) for x in x_list) + cat_tensors = torch.cat(tensors_bs1, dim=1) + + return attn_bias_cache[all_shapes], cat_tensors + + +def drop_add_residual_stochastic_depth_list( + x_list: List[Tensor], + residual_func: Callable[[Tensor, Any], Tensor], + sample_drop_ratio: float = 0.0, + scaling_vector=None, +) -> Tensor: + # 1) generate random set of indices for dropping samples in the batch + branges_scales = [get_branges_scales(x, sample_drop_ratio=sample_drop_ratio) for x in x_list] + branges = [s[0] for s in branges_scales] + residual_scale_factors = [s[1] for s in branges_scales] + + # 2) get attention bias and index+concat the tensors + attn_bias, x_cat = get_attn_bias_and_cat(x_list, branges) + + # 3) apply residual_func to get residual, and split the result + residual_list = attn_bias.split(residual_func(x_cat, attn_bias=attn_bias)) # type: ignore + + outputs = [] + for x, brange, residual, residual_scale_factor in zip(x_list, branges, residual_list, residual_scale_factors): + outputs.append(add_residual(x, brange, residual, residual_scale_factor, scaling_vector).view_as(x)) + return outputs + + +class NestedTensorBlock(Block): + def forward_nested(self, x_list: List[Tensor]) -> List[Tensor]: + """ + x_list contains a list of tensors to nest together and run + """ + assert isinstance(self.attn, MemEffAttention) + + if self.training and self.sample_drop_ratio > 0.0: + + def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.attn(self.norm1(x), attn_bias=attn_bias) + + def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.mlp(self.norm2(x)) + + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=self.ls1.gamma if isinstance(self.ls1, LayerScale) else None, + ) + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=self.ls2.gamma if isinstance(self.ls1, LayerScale) else None, + ) + return x_list + else: + + def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias)) + + def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + attn_bias, x = get_attn_bias_and_cat(x_list) + x = x + attn_residual_func(x, attn_bias=attn_bias) + x = x + ffn_residual_func(x) + return attn_bias.split(x) + + def forward(self, x_or_x_list): + if isinstance(x_or_x_list, Tensor): + return super().forward(x_or_x_list) + elif isinstance(x_or_x_list, list): + if not XFORMERS_AVAILABLE: + raise AssertionError("xFormers is required for using nested tensors") + return self.forward_nested(x_or_x_list) + else: + raise AssertionError + +class BlockRope(nn.Module): + def __init__( + self, + dim: int, + num_heads: int, + mlp_ratio: float = 4.0, + qkv_bias: bool = False, + proj_bias: bool = True, + ffn_bias: bool = True, + drop: float = 0.0, + attn_drop: float = 0.0, + init_values=None, + drop_path: float = 0.0, + act_layer: Callable[..., nn.Module] = nn.GELU, + norm_layer: Callable[..., nn.Module] = nn.LayerNorm, + attn_class: Callable[..., nn.Module] = Attention, + ffn_layer: Callable[..., nn.Module] = Mlp, + qk_norm: bool=False, + rope=None + ) -> None: + super().__init__() + # print(f"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}") + self.norm1 = norm_layer(dim) + self.attn = attn_class( + dim, + num_heads=num_heads, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + attn_drop=attn_drop, + proj_drop=drop, + qk_norm=qk_norm, + rope=rope + ) + + self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.drop_path1 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.norm2 = norm_layer(dim) + mlp_hidden_dim = int(dim * mlp_ratio) + self.mlp = ffn_layer( + in_features=dim, + hidden_features=mlp_hidden_dim, + act_layer=act_layer, + drop=drop, + bias=ffn_bias, + ) + self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.sample_drop_ratio = drop_path + + def forward(self, x: Tensor, xpos=None) -> Tensor: + def attn_residual_func(x: Tensor) -> Tensor: + return self.ls1(self.attn(self.norm1(x), xpos=xpos)) + + def ffn_residual_func(x: Tensor) -> Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + if self.training and self.sample_drop_ratio > 0.1: + # the overhead is compensated only for a drop path rate larger than 0.1 + x = drop_add_residual_stochastic_depth( + x, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + x = drop_add_residual_stochastic_depth( + x, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + elif self.training and self.sample_drop_ratio > 0.0: + x = x + self.drop_path1(attn_residual_func(x)) + x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2 + else: + x = x + attn_residual_func(x) + x = x + ffn_residual_func(x) + return x + + +class CrossBlockRope(nn.Module): + def __init__( + self, + dim: int, + num_heads: int, + mlp_ratio: float = 4.0, + qkv_bias: bool = False, + proj_bias: bool = True, + ffn_bias: bool = True, + act_layer: Callable[..., nn.Module] = nn.GELU, + norm_layer: Callable[..., nn.Module] = nn.LayerNorm, + attn_class: Callable[..., nn.Module] = Attention, + cross_attn_class: Callable[..., nn.Module] = CrossAttentionRope, + ffn_layer: Callable[..., nn.Module] = Mlp, + init_values=None, + qk_norm: bool=False, + rope=None + ) -> None: + super().__init__() + # print(f"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}") + self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.norm1 = norm_layer(dim) + self.attn = attn_class( + dim, + num_heads=num_heads, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + rope=rope, + qk_norm=qk_norm + ) + + self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.ls_y = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.norm2 = norm_layer(dim) + self.norm_y = norm_layer(dim) + self.cross_attn = cross_attn_class( + dim, + num_heads=num_heads, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + rope=rope, + qk_norm=qk_norm + ) + + self.norm3 = norm_layer(dim) + mlp_hidden_dim = int(dim * mlp_ratio) + self.mlp = ffn_layer( + in_features=dim, + hidden_features=mlp_hidden_dim, + act_layer=act_layer, + bias=ffn_bias, + ) + + def forward(self, x: Tensor, y: Tensor, xpos=None, ypos=None) -> Tensor: + def attn_residual_func(x: Tensor) -> Tensor: + return self.ls1(self.attn(self.norm1(x), xpos=xpos)) + + def cross_attn_residual_func(x: Tensor, y: Tensor) -> Tensor: + return self.ls_y(self.cross_attn(self.norm2(x), y, y, qpos=xpos, kpos=ypos)) + + def ffn_residual_func(x: Tensor) -> Tensor: + return self.ls2(self.mlp(self.norm3(x))) + + x = x + attn_residual_func(x) + y_ = self.norm_y(y) + x = x + cross_attn_residual_func(x, y_) + x = x + ffn_residual_func(x) + + return x \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/camera_head.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/camera_head.py new file mode 100644 index 0000000000000000000000000000000000000000..7d844f7b76851c3e523e419e18358838e9d23410 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/camera_head.py @@ -0,0 +1,93 @@ +import torch +import torch.nn as nn +from copy import deepcopy +import torch.nn.functional as F + +# code adapted from 'https://github.com/nianticlabs/marepo/blob/9a45e2bb07e5bb8cb997620088d352b439b13e0e/transformer/transformer.py#L172' +class ResConvBlock(nn.Module): + """ + 1x1 convolution residual block + """ + def __init__(self, in_channels, out_channels): + super().__init__() + self.in_channels = in_channels + self.out_channels = out_channels + self.head_skip = nn.Identity() if self.in_channels == self.out_channels else nn.Conv2d(self.in_channels, self.out_channels, 1, 1, 0) + # self.res_conv1 = nn.Conv2d(self.in_channels, self.out_channels, 1, 1, 0) + # self.res_conv2 = nn.Conv2d(self.out_channels, self.out_channels, 1, 1, 0) + # self.res_conv3 = nn.Conv2d(self.out_channels, self.out_channels, 1, 1, 0) + + # change 1x1 convolution to linear + self.res_conv1 = nn.Linear(self.in_channels, self.out_channels) + self.res_conv2 = nn.Linear(self.out_channels, self.out_channels) + self.res_conv3 = nn.Linear(self.out_channels, self.out_channels) + + def forward(self, res): + x = F.relu(self.res_conv1(res)) + x = F.relu(self.res_conv2(x)) + x = F.relu(self.res_conv3(x)) + res = self.head_skip(res) + x + return res + +class CameraHead(nn.Module): + def __init__(self, dim=512): + super().__init__() + output_dim = dim + self.res_conv = nn.ModuleList([deepcopy(ResConvBlock(output_dim, output_dim)) + for _ in range(2)]) + self.avgpool = nn.AdaptiveAvgPool2d(1) + self.more_mlps = nn.Sequential( + nn.Linear(output_dim,output_dim), + nn.ReLU(), + nn.Linear(output_dim,output_dim), + nn.ReLU() + ) + self.fc_t = nn.Linear(output_dim, 3) + self.fc_rot = nn.Linear(output_dim, 9) + + def forward(self, feat, patch_h, patch_w): + BN, hw, c = feat.shape + + for i in range(2): + feat = self.res_conv[i](feat) + + # feat = self.avgpool(feat) + feat = self.avgpool(feat.permute(0, 2, 1).reshape(BN, -1, patch_h, patch_w).contiguous()) ########## + feat = feat.view(feat.size(0), -1) + + feat = self.more_mlps(feat) # [B, D_] + with torch.amp.autocast(device_type='cuda', enabled=False): + out_t = self.fc_t(feat.float()) # [B,3] + out_r = self.fc_rot(feat.float()) # [B,9] + pose = self.convert_pose_to_4x4(BN, out_r, out_t, feat.device) + + return pose + + def convert_pose_to_4x4(self, B, out_r, out_t, device): + out_r = self.svd_orthogonalize(out_r) # [N,3,3] + pose = torch.zeros((B, 4, 4), device=device) + pose[:, :3, :3] = out_r + pose[:, :3, 3] = out_t + pose[:, 3, 3] = 1. + return pose + + def svd_orthogonalize(self, m): + """Convert 9D representation to SO(3) using SVD orthogonalization. + + Args: + m: [BATCH, 3, 3] 3x3 matrices. + + Returns: + [BATCH, 3, 3] SO(3) rotation matrices. + """ + if m.dim() < 3: + m = m.reshape((-1, 3, 3)) + m_transpose = torch.transpose(torch.nn.functional.normalize(m, p=2, dim=-1), dim0=-1, dim1=-2) + u, s, v = torch.svd(m_transpose) + det = torch.det(torch.matmul(v, u.transpose(-2, -1))) + # Check orientation reflection. + r = torch.matmul( + torch.cat([v[:, :, :-1], v[:, :, -1:] * det.view(-1, 1, 1)], dim=2), + u.transpose(-2, -1) + ) + return r \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/pos_embed.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/pos_embed.py new file mode 100644 index 0000000000000000000000000000000000000000..e27ea0fce111bc3ba49a1e9f0062f956101116b8 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/pos_embed.py @@ -0,0 +1,174 @@ +# Copyright (C) 2022-present Naver Corporation. All rights reserved. +# Licensed under CC BY-NC-SA 4.0 (non-commercial use only). + + +# -------------------------------------------------------- +# Position embedding utils +# -------------------------------------------------------- + + + +import numpy as np + +import torch + +# -------------------------------------------------------- +# 2D sine-cosine position embedding +# References: +# MAE: https://github.com/facebookresearch/mae/blob/main/util/pos_embed.py +# Transformer: https://github.com/tensorflow/models/blob/master/official/nlp/transformer/model_utils.py +# MoCo v3: https://github.com/facebookresearch/moco-v3 +# -------------------------------------------------------- +def get_2d_sincos_pos_embed(embed_dim, grid_size, n_cls_token=0): + """ + grid_size: int of the grid height and width + return: + pos_embed: [grid_size*grid_size, embed_dim] or [n_cls_token+grid_size*grid_size, embed_dim] (w/ or w/o cls_token) + """ + grid_h = np.arange(grid_size, dtype=np.float32) + grid_w = np.arange(grid_size, dtype=np.float32) + grid = np.meshgrid(grid_w, grid_h) # here w goes first + grid = np.stack(grid, axis=0) + + grid = grid.reshape([2, 1, grid_size, grid_size]) + pos_embed = get_2d_sincos_pos_embed_from_grid(embed_dim, grid) + if n_cls_token>0: + pos_embed = np.concatenate([np.zeros([n_cls_token, embed_dim]), pos_embed], axis=0) + return pos_embed + + +def get_2d_sincos_pos_embed_from_grid(embed_dim, grid): + assert embed_dim % 2 == 0 + + # use half of dimensions to encode grid_h + emb_h = get_1d_sincos_pos_embed_from_grid(embed_dim // 2, grid[0]) # (H*W, D/2) + emb_w = get_1d_sincos_pos_embed_from_grid(embed_dim // 2, grid[1]) # (H*W, D/2) + + emb = np.concatenate([emb_h, emb_w], axis=1) # (H*W, D) + return emb + + +def get_1d_sincos_pos_embed_from_grid(embed_dim, pos): + """ + embed_dim: output dimension for each position + pos: a list of positions to be encoded: size (M,) + out: (M, D) + """ + assert embed_dim % 2 == 0 + omega = np.arange(embed_dim // 2, dtype=float) + omega /= embed_dim / 2. + omega = 1. / 10000**omega # (D/2,) + + pos = pos.reshape(-1) # (M,) + out = np.einsum('m,d->md', pos, omega) # (M, D/2), outer product + + emb_sin = np.sin(out) # (M, D/2) + emb_cos = np.cos(out) # (M, D/2) + + emb = np.concatenate([emb_sin, emb_cos], axis=1) # (M, D) + return emb + + +# -------------------------------------------------------- +# Interpolate position embeddings for high-resolution +# References: +# MAE: https://github.com/facebookresearch/mae/blob/main/util/pos_embed.py +# DeiT: https://github.com/facebookresearch/deit +# -------------------------------------------------------- +def interpolate_pos_embed(model, checkpoint_model): + if 'pos_embed' in checkpoint_model: + pos_embed_checkpoint = checkpoint_model['pos_embed'] + embedding_size = pos_embed_checkpoint.shape[-1] + num_patches = model.patch_embed.num_patches + num_extra_tokens = model.pos_embed.shape[-2] - num_patches + # height (== width) for the checkpoint position embedding + orig_size = int((pos_embed_checkpoint.shape[-2] - num_extra_tokens) ** 0.5) + # height (== width) for the new position embedding + new_size = int(num_patches ** 0.5) + # class_token and dist_token are kept unchanged + if orig_size != new_size: + print("Position interpolate from %dx%d to %dx%d" % (orig_size, orig_size, new_size, new_size)) + extra_tokens = pos_embed_checkpoint[:, :num_extra_tokens] + # only the position tokens are interpolated + pos_tokens = pos_embed_checkpoint[:, num_extra_tokens:] + pos_tokens = pos_tokens.reshape(-1, orig_size, orig_size, embedding_size).permute(0, 3, 1, 2) + pos_tokens = torch.nn.functional.interpolate( + pos_tokens, size=(new_size, new_size), mode='bicubic', align_corners=False) + pos_tokens = pos_tokens.permute(0, 2, 3, 1).flatten(1, 2) + new_pos_embed = torch.cat((extra_tokens, pos_tokens), dim=1) + checkpoint_model['pos_embed'] = new_pos_embed + + +#---------------------------------------------------------- +# RoPE2D: RoPE implementation in 2D +#---------------------------------------------------------- + +try: + from models.curope import cuRoPE2D + RoPE2D = cuRoPE2D +except ImportError: + print('Warning, cannot find cuda-compiled version of RoPE2D, using a slow pytorch version instead') + + class RoPE2D(torch.nn.Module): + + def __init__(self, freq=100.0, F0=1.0): + super().__init__() + self.base = freq + self.F0 = F0 + self.cache = {} + + def get_cos_sin(self, D, seq_len, device, dtype): + if (D,seq_len,device,dtype) not in self.cache: + inv_freq = 1.0 / (self.base ** (torch.arange(0, D, 2).float().to(device) / D)) + t = torch.arange(seq_len, device=device, dtype=inv_freq.dtype) + freqs = torch.einsum("i,j->ij", t, inv_freq).to(dtype) + freqs = torch.cat((freqs, freqs), dim=-1) + cos = freqs.cos() # (Seq, Dim) + sin = freqs.sin() + self.cache[D,seq_len,device,dtype] = (cos,sin) + return self.cache[D,seq_len,device,dtype] + + @staticmethod + def rotate_half(x): + x1, x2 = x[..., : x.shape[-1] // 2], x[..., x.shape[-1] // 2 :] + return torch.cat((-x2, x1), dim=-1) + + def apply_rope1d(self, tokens, pos1d, cos, sin): + assert pos1d.ndim==2 + cos = torch.nn.functional.embedding(pos1d, cos)[:, None, :, :] + sin = torch.nn.functional.embedding(pos1d, sin)[:, None, :, :] + return (tokens * cos) + (self.rotate_half(tokens) * sin) + + def forward(self, tokens, positions): + """ + input: + * tokens: batch_size x nheads x ntokens x dim + * positions: batch_size x ntokens x 2 (y and x position of each token) + output: + * tokens after appplying RoPE2D (batch_size x nheads x ntokens x dim) + """ + assert tokens.size(3)%2==0, "number of dimensions should be a multiple of two" + D = tokens.size(3) // 2 + assert positions.ndim==3 and positions.shape[-1] == 2 # Batch, Seq, 2 + cos, sin = self.get_cos_sin(D, int(positions.max())+1, tokens.device, tokens.dtype) + # split features into two along the feature dimension, and apply rope1d on each half + y, x = tokens.chunk(2, dim=-1) + y = self.apply_rope1d(y, positions[:,:,0], cos, sin) + x = self.apply_rope1d(x, positions[:,:,1], cos, sin) + tokens = torch.cat((y, x), dim=-1) + return tokens + +# patch embedding +class PositionGetter(object): + """ return positions of patches """ + + def __init__(self): + self.cache_positions = {} + + def __call__(self, b, h, w, device): + if not (h,w) in self.cache_positions: + x = torch.arange(w, device=device) + y = torch.arange(h, device=device) + self.cache_positions[h,w] = torch.cartesian_prod(y, x) # (h, w, 2) + pos = self.cache_positions[h,w].view(1, h*w, 2).expand(b, -1, 2).clone() + return pos \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/transformer_head.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/transformer_head.py new file mode 100644 index 0000000000000000000000000000000000000000..8b03892d1629f995151fc06e1c5299f9f6b4a6f2 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/layers/transformer_head.py @@ -0,0 +1,81 @@ +from .attention import FlashAttentionRope +from .block import BlockRope +from ..dinov2.layers import Mlp +import torch.nn as nn +from functools import partial +from torch.utils.checkpoint import checkpoint +import torch.nn.functional as F + +class TransformerDecoder(nn.Module): + def __init__( + self, + in_dim, + out_dim, + dec_embed_dim=512, + depth=5, + dec_num_heads=8, + mlp_ratio=4, + rope=None, + need_project=True, + use_checkpoint=False, + ): + super().__init__() + + self.projects = nn.Linear(in_dim, dec_embed_dim) if need_project else nn.Identity() + self.use_checkpoint = use_checkpoint + + self.blocks = nn.ModuleList([ + BlockRope( + dim=dec_embed_dim, + num_heads=dec_num_heads, + mlp_ratio=mlp_ratio, + qkv_bias=True, + proj_bias=True, + ffn_bias=True, + drop_path=0.0, + norm_layer=partial(nn.LayerNorm, eps=1e-6), + act_layer=nn.GELU, + ffn_layer=Mlp, + init_values=None, + qk_norm=False, + # attn_class=MemEffAttentionRope, + attn_class=FlashAttentionRope, + rope=rope + ) for _ in range(depth)]) + + self.linear_out = nn.Linear(dec_embed_dim, out_dim) + + def forward(self, hidden, xpos=None): + hidden = self.projects(hidden) + for i, blk in enumerate(self.blocks): + if self.use_checkpoint and self.training: + hidden = checkpoint(blk, hidden, xpos=xpos, use_reentrant=False) + else: + hidden = blk(hidden, xpos=xpos) + out = self.linear_out(hidden) + return out + +class LinearPts3d (nn.Module): + """ + Linear head for dust3r + Each token outputs: - 16x16 3D points (+ confidence) + """ + + def __init__(self, patch_size, dec_embed_dim, output_dim=3,): + super().__init__() + self.patch_size = patch_size + + self.proj = nn.Linear(dec_embed_dim, (output_dim)*self.patch_size**2) + + def forward(self, decout, img_shape): + H, W = img_shape + tokens = decout[-1] + B, S, D = tokens.shape + + # extract 3D points + feat = self.proj(tokens) # B,S,D + feat = feat.transpose(-1, -2).view(B, -1, H//self.patch_size, W//self.patch_size) + feat = F.pixel_shuffle(feat, self.patch_size) # B,3,H,W + + # permute + norm depth + return feat.permute(0, 2, 3, 1) \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/models/pi3.py b/Pixel-Perfect-Depth/ppd/models/pi3/models/pi3.py new file mode 100644 index 0000000000000000000000000000000000000000..7aac4c02df791eb4353c5e0254a812ae7b662c97 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/models/pi3.py @@ -0,0 +1,192 @@ +import torch +import torch.nn as nn +from functools import partial +from copy import deepcopy + +from .dinov2.layers import Mlp +from ..utils.geometry import homogenize_points +from .layers.pos_embed import RoPE2D, PositionGetter +from .layers.block import BlockRope +from .layers.attention import FlashAttentionRope +from .layers.transformer_head import TransformerDecoder, LinearPts3d +from .layers.camera_head import CameraHead +from .dinov2.hub.backbones import dinov2_vitl14, dinov2_vitl14_reg +from huggingface_hub import PyTorchModelHubMixin +import torch.nn.functional as F + +class Pi3(nn.Module, PyTorchModelHubMixin): + def __init__( + self, + pos_type='rope100', + decoder_size='large', + ): + super().__init__() + + # ---------------------- + # Encoder + # ---------------------- + self.encoder = dinov2_vitl14_reg(pretrained=False) + self.patch_size = 14 + del self.encoder.mask_token + + # ---------------------- + # Positonal Encoding + # ---------------------- + self.pos_type = pos_type if pos_type is not None else 'none' + self.rope=None + if self.pos_type.startswith('rope'): # eg rope100 + if RoPE2D is None: raise ImportError("Cannot find cuRoPE2D, please install it following the README instructions") + freq = float(self.pos_type[len('rope'):]) + self.rope = RoPE2D(freq=freq) + self.position_getter = PositionGetter() + else: + raise NotImplementedError + + + # ---------------------- + # Decoder + # ---------------------- + enc_embed_dim = self.encoder.blocks[0].attn.qkv.in_features # 1024 + if decoder_size == 'small': + dec_embed_dim = 384 + dec_num_heads = 6 + mlp_ratio = 4 + dec_depth = 24 + elif decoder_size == 'base': + dec_embed_dim = 768 + dec_num_heads = 12 + mlp_ratio = 4 + dec_depth = 24 + elif decoder_size == 'large': + dec_embed_dim = 1024 + dec_num_heads = 16 + mlp_ratio = 4 + dec_depth = 36 + else: + raise NotImplementedError + self.decoder = nn.ModuleList([ + BlockRope( + dim=dec_embed_dim, + num_heads=dec_num_heads, + mlp_ratio=mlp_ratio, + qkv_bias=True, + proj_bias=True, + ffn_bias=True, + drop_path=0.0, + norm_layer=partial(nn.LayerNorm, eps=1e-6), + act_layer=nn.GELU, + ffn_layer=Mlp, + init_values=0.01, + qk_norm=True, + attn_class=FlashAttentionRope, + rope=self.rope + ) for _ in range(dec_depth)]) + self.dec_embed_dim = dec_embed_dim + + # ---------------------- + # Register_token + # ---------------------- + num_register_tokens = 5 + self.patch_start_idx = num_register_tokens + self.register_token = nn.Parameter(torch.randn(1, 1, num_register_tokens, self.dec_embed_dim)) + nn.init.normal_(self.register_token, std=1e-6) + + # ---------------------- + # Local Points Decoder + # ---------------------- + self.point_decoder = TransformerDecoder( + in_dim=2*self.dec_embed_dim, + dec_embed_dim=1024, + dec_num_heads=16, + out_dim=1024, + rope=self.rope, + ) + self.point_head = LinearPts3d(patch_size=14, dec_embed_dim=1024, output_dim=3) + + # ---------------------- + # Conf Decoder + # ---------------------- + self.conf_decoder = deepcopy(self.point_decoder) + self.conf_head = LinearPts3d(patch_size=14, dec_embed_dim=1024, output_dim=1) + + # ---------------------- + # Camera Pose Decoder + # ---------------------- + self.camera_decoder = TransformerDecoder( + in_dim=2*self.dec_embed_dim, + dec_embed_dim=1024, + dec_num_heads=16, # 8 + out_dim=512, + rope=self.rope, + use_checkpoint=False + ) + self.camera_head = CameraHead(dim=512) + + # For ImageNet Normalize + image_mean = torch.tensor([0.485, 0.456, 0.406]).view(1, 3, 1, 1) + image_std = torch.tensor([0.229, 0.224, 0.225]).view(1, 3, 1, 1) + + self.register_buffer("image_mean", image_mean) + self.register_buffer("image_std", image_std) + + + def decode(self, hidden, N, H, W): + BN, hw, _ = hidden.shape + B = BN // N + + final_output = [] + + hidden = hidden.reshape(B*N, hw, -1) + + register_token = self.register_token.repeat(B, N, 1, 1).reshape(B*N, *self.register_token.shape[-2:]) + + # Concatenate special tokens with patch tokens + hidden = torch.cat([register_token, hidden], dim=1) + hw = hidden.shape[1] + + if self.pos_type.startswith('rope'): + pos = self.position_getter(B * N, H//self.patch_size, W//self.patch_size, hidden.device) + + if self.patch_start_idx > 0: + # do not use position embedding for special tokens (camera and register tokens) + # so set pos to 0 for the special tokens + pos = pos + 1 + pos_special = torch.zeros(B * N, self.patch_start_idx, 2).to(hidden.device).to(pos.dtype) + pos = torch.cat([pos_special, pos], dim=1) + + for i in range(len(self.decoder)): + blk = self.decoder[i] + + if i % 2 == 0: + pos = pos.reshape(B*N, hw, -1) + hidden = hidden.reshape(B*N, hw, -1) + else: + pos = pos.reshape(B, N*hw, -1) + hidden = hidden.reshape(B, N*hw, -1) + + hidden = blk(hidden, xpos=pos) + + if i+1 in [len(self.decoder)-1, len(self.decoder)]: + final_output.append(hidden.reshape(B*N, hw, -1)) + + return torch.cat([final_output[0], final_output[1]], dim=-1), pos.reshape(B*N, hw, -1) + + def forward_semantics(self, imgs): + h, w = imgs.shape[-2:] + new_h = (h // 16) * 14 + new_w = (w // 16) * 14 + imgs = F.interpolate(imgs, size=(new_h, new_w), mode='bilinear', align_corners=False) + imgs = imgs[None] + imgs = (imgs - self.image_mean) / self.image_std + B, N, _, H, W = imgs.shape + patch_h, patch_w = H // 14, W // 14 + + # encode by dinov2 + imgs = imgs.reshape(B*N, _, H, W) + hidden = self.encoder(imgs, is_training=True) + + if isinstance(hidden, dict): + hidden = hidden["x_norm_patchtokens"] + + hidden, pos = self.decode(hidden, N, H, W) + return hidden[:, self.patch_start_idx:] diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/utils/basic.py b/Pixel-Perfect-Depth/ppd/models/pi3/utils/basic.py new file mode 100644 index 0000000000000000000000000000000000000000..9ac73492409b1f2441a84e2f9de9681b3cf3ca9f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/utils/basic.py @@ -0,0 +1,223 @@ +import os +import os.path as osp +import math +import cv2 +from PIL import Image +import torch +from torchvision import transforms +from plyfile import PlyData, PlyElement +import numpy as np + +def load_images_as_tensor(path='data/truck', interval=1, PIXEL_LIMIT=255000): + """ + Loads images from a directory or video, resizes them to a uniform size, + then converts and stacks them into a single [N, 3, H, W] PyTorch tensor. + """ + sources = [] + + # --- 1. Load image paths or video frames --- + if osp.isdir(path): + print(f"Loading images from directory: {path}") + filenames = sorted([x for x in os.listdir(path) if x.lower().endswith(('.png', '.jpg', '.jpeg'))]) + for i in range(0, len(filenames), interval): + img_path = osp.join(path, filenames[i]) + try: + sources.append(Image.open(img_path).convert('RGB')) + except Exception as e: + print(f"Could not load image {filenames[i]}: {e}") + elif path.lower().endswith('.mp4'): + print(f"Loading frames from video: {path}") + cap = cv2.VideoCapture(path) + if not cap.isOpened(): raise IOError(f"Cannot open video file: {path}") + frame_idx = 0 + while True: + ret, frame = cap.read() + if not ret: break + if frame_idx % interval == 0: + rgb_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) + sources.append(Image.fromarray(rgb_frame)) + frame_idx += 1 + cap.release() + else: + raise ValueError(f"Unsupported path. Must be a directory or a .mp4 file: {path}") + + if not sources: + print("No images found or loaded.") + return torch.empty(0) + + print(f"Found {len(sources)} images/frames. Processing...") + + # --- 2. Determine a uniform target size for all images based on the first image --- + # This is necessary to ensure all tensors have the same dimensions for stacking. + first_img = sources[0] + W_orig, H_orig = first_img.size + scale = math.sqrt(PIXEL_LIMIT / (W_orig * H_orig)) if W_orig * H_orig > 0 else 1 + W_target, H_target = W_orig * scale, H_orig * scale + k, m = round(W_target / 14), round(H_target / 14) + while (k * 14) * (m * 14) > PIXEL_LIMIT: + if k / m > W_target / H_target: k -= 1 + else: m -= 1 + TARGET_W, TARGET_H = max(1, k) * 14, max(1, m) * 14 + print(f"All images will be resized to a uniform size: ({TARGET_W}, {TARGET_H})") + + # --- 3. Resize images and convert them to tensors in the [0, 1] range --- + tensor_list = [] + # Define a transform to convert a PIL Image to a CxHxW tensor and normalize to [0,1] + to_tensor_transform = transforms.ToTensor() + + for img_pil in sources: + try: + # Resize to the uniform target size + resized_img = img_pil.resize((TARGET_W, TARGET_H), Image.Resampling.LANCZOS) + # Convert to tensor + img_tensor = to_tensor_transform(resized_img) + tensor_list.append(img_tensor) + except Exception as e: + print(f"Error processing an image: {e}") + + if not tensor_list: + print("No images were successfully processed.") + return torch.empty(0) + + # --- 4. Stack the list of tensors into a single [N, C, H, W] batch tensor --- + return torch.stack(tensor_list, dim=0) + + +def tensor_to_pil(tensor): + """ + Converts a PyTorch tensor to a PIL image. Automatically moves the channel dimension + (if it has size 3) to the last axis before converting. + + Args: + tensor (torch.Tensor): Input tensor. Expected shape can be [C, H, W], [H, W, C], or [H, W]. + + Returns: + PIL.Image: The converted PIL image. + """ + if torch.is_tensor(tensor): + array = tensor.detach().cpu().numpy() + else: + array = tensor + + return array_to_pil(array) + + +def array_to_pil(array): + """ + Converts a NumPy array to a PIL image. Automatically: + - Squeezes dimensions of size 1. + - Moves the channel dimension (if it has size 3) to the last axis. + + Args: + array (np.ndarray): Input array. Expected shape can be [C, H, W], [H, W, C], or [H, W]. + + Returns: + PIL.Image: The converted PIL image. + """ + # Remove singleton dimensions + array = np.squeeze(array) + + # Ensure the array has the channel dimension as the last axis + if array.ndim == 3 and array.shape[0] == 3: # If the channel is the first axis + array = np.transpose(array, (1, 2, 0)) # Move channel to the last axis + + # Handle single-channel grayscale images + if array.ndim == 2: # [H, W] + return Image.fromarray((array * 255).astype(np.uint8), mode="L") + elif array.ndim == 3 and array.shape[2] == 3: # [H, W, C] with 3 channels + return Image.fromarray((array * 255).astype(np.uint8), mode="RGB") + else: + raise ValueError(f"Unsupported array shape for PIL conversion: {array.shape}") + + +def rotate_target_dim_to_last_axis(x, target_dim=3): + shape = x.shape + axis_to_move = -1 + # Iterate backwards to find the first occurrence from the end + # (which corresponds to the last dimension of size 3 in the original order). + for i in range(len(shape) - 1, -1, -1): + if shape[i] == target_dim: + axis_to_move = i + break + + # 2. If the axis is found and it's not already in the last position, move it. + if axis_to_move != -1 and axis_to_move != len(shape) - 1: + # Create the new dimension order. + dims_order = list(range(len(shape))) + dims_order.pop(axis_to_move) + dims_order.append(axis_to_move) + + # Use permute to reorder the dimensions. + ret = x.transpose(*dims_order) + else: + ret = x + + return ret + + +def write_ply( + xyz, + rgb=None, + path='output.ply', +) -> None: + if torch.is_tensor(xyz): + xyz = xyz.detach().cpu().numpy() + + if torch.is_tensor(rgb): + rgb = rgb.detach().cpu().numpy() + + if rgb is not None and rgb.max() > 1: + rgb = rgb / 255. + + xyz = rotate_target_dim_to_last_axis(xyz, 3) + xyz = xyz.reshape(-1, 3) + + if rgb is not None: + rgb = rotate_target_dim_to_last_axis(rgb, 3) + rgb = rgb.reshape(-1, 3) + + if rgb is None: + min_coord = np.min(xyz, axis=0) + max_coord = np.max(xyz, axis=0) + normalized_coord = (xyz - min_coord) / (max_coord - min_coord + 1e-8) + + hue = 0.7 * normalized_coord[:,0] + 0.2 * normalized_coord[:,1] + 0.1 * normalized_coord[:,2] + hsv = np.stack([hue, 0.9*np.ones_like(hue), 0.8*np.ones_like(hue)], axis=1) + + c = hsv[:,2:] * hsv[:,1:2] + x = c * (1 - np.abs( (hsv[:,0:1]*6) % 2 - 1 )) + m = hsv[:,2:] - c + + rgb = np.zeros_like(hsv) + cond = (0 <= hsv[:,0]*6%6) & (hsv[:,0]*6%6 < 1) + rgb[cond] = np.hstack([c[cond], x[cond], np.zeros_like(x[cond])]) + cond = (1 <= hsv[:,0]*6%6) & (hsv[:,0]*6%6 < 2) + rgb[cond] = np.hstack([x[cond], c[cond], np.zeros_like(x[cond])]) + cond = (2 <= hsv[:,0]*6%6) & (hsv[:,0]*6%6 < 3) + rgb[cond] = np.hstack([np.zeros_like(x[cond]), c[cond], x[cond]]) + cond = (3 <= hsv[:,0]*6%6) & (hsv[:,0]*6%6 < 4) + rgb[cond] = np.hstack([np.zeros_like(x[cond]), x[cond], c[cond]]) + cond = (4 <= hsv[:,0]*6%6) & (hsv[:,0]*6%6 < 5) + rgb[cond] = np.hstack([x[cond], np.zeros_like(x[cond]), c[cond]]) + cond = (5 <= hsv[:,0]*6%6) & (hsv[:,0]*6%6 < 6) + rgb[cond] = np.hstack([c[cond], np.zeros_like(x[cond]), x[cond]]) + rgb = (rgb + m) + + dtype = [ + ("x", "f4"), + ("y", "f4"), + ("z", "f4"), + ("nx", "f4"), + ("ny", "f4"), + ("nz", "f4"), + ("red", "u1"), + ("green", "u1"), + ("blue", "u1"), + ] + normals = np.zeros_like(xyz) + elements = np.empty(xyz.shape[0], dtype=dtype) + attributes = np.concatenate((xyz, normals, rgb * 255), axis=1) + elements[:] = list(map(tuple, attributes)) + vertex_element = PlyElement.describe(elements, "vertex") + ply_data = PlyData([vertex_element]) + ply_data.write(path) \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/utils/debug.py b/Pixel-Perfect-Depth/ppd/models/pi3/utils/debug.py new file mode 100644 index 0000000000000000000000000000000000000000..f3da8f3d6caece7c828cab2574bf1cbdd207779e --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/utils/debug.py @@ -0,0 +1,63 @@ +import os +import json +import debugpy +import socket +import random + +def update_vscode_launch_file(host: str, port: int): + """Update the .vscode/launch.json file with the new host and port.""" + launch_file_path = ".vscode/launch.json" + # Desired configuration + new_config = { + "version": "0.2.0", + "configurations": [ + { + "name": "bash_debug", + "type": "debugpy", + "request": "attach", + "connect": { + "host": host, + "port": port + }, + "justMyCode": False + }, + ] + } + + # Ensure the .vscode directory exists + if not os.path.exists(".vscode"): + os.makedirs(".vscode") + + # Write the updated configuration to launch.json + with open(launch_file_path, "w") as f: + json.dump(new_config, f, indent=4) + print(f"Updated {launch_file_path} with host: {host} and port: {port}") + +def is_port_in_use(host, port): + with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: + return s.connect_ex((host, port)) == 0 + +def setup_debug(is_main_process=True, max_retries=10, port_range=(10000, 20000)): + if is_main_process: + host = os.environ['SLURM_NODELIST'].split(',')[0] + + for _ in range(max_retries): + port = random.randint(*port_range) + try: + if is_port_in_use(host, port): + print(f"Port {port} is already in use, trying another...") + continue + + # 更新 launch.json + update_vscode_launch_file(host, port) + + print("master_addr = ", host) + debugpy.listen((host, port)) + print(f"Waiting for debugger attach at port {port}...", flush=True) + debugpy.wait_for_client() + print("Debugger attached", flush=True) + return + except Exception as e: + print(f"Failed to bind to port {port}: {e}") + + raise RuntimeError("Could not find a free port for debugpy after several attempts.") \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/pi3/utils/geometry.py b/Pixel-Perfect-Depth/ppd/models/pi3/utils/geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..515a36ff3d66df7dae00c07d7b3da048ede0b476 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/pi3/utils/geometry.py @@ -0,0 +1,375 @@ +import numpy as np +import torch +import torch.nn.functional as F + +def se3_inverse(T): + """ + Computes the inverse of a batch of SE(3) matrices. + T: Tensor of shape (B, 4, 4) + """ + if len(T.shape) == 2: + T = T[None] + unseq_flag = True + else: + unseq_flag = False + + if torch.is_tensor(T): + R = T[:, :3, :3] + t = T[:, :3, 3].unsqueeze(-1) + R_inv = R.transpose(-2, -1) + t_inv = -torch.matmul(R_inv, t) + T_inv = torch.cat([ + torch.cat([R_inv, t_inv], dim=-1), + torch.tensor([0, 0, 0, 1], device=T.device, dtype=T.dtype).repeat(T.shape[0], 1, 1) + ], dim=1) + else: + R = T[:, :3, :3] + t = T[:, :3, 3, np.newaxis] + + R_inv = np.swapaxes(R, -2, -1) + t_inv = -R_inv @ t + + bottom_row = np.zeros((T.shape[0], 1, 4), dtype=T.dtype) + bottom_row[:, :, 3] = 1 + + top_part = np.concatenate([R_inv, t_inv], axis=-1) + T_inv = np.concatenate([top_part, bottom_row], axis=1) + + if unseq_flag: + T_inv = T_inv[0] + return T_inv + +def get_pixel(H, W): + # get 2D pixels (u, v) for image_a in cam_a pixel space + u_a, v_a = np.meshgrid(np.arange(W), np.arange(H)) + # u_a = np.flip(u_a, axis=1) + # v_a = np.flip(v_a, axis=0) + pixels_a = np.stack([ + u_a.flatten() + 0.5, + v_a.flatten() + 0.5, + np.ones_like(u_a.flatten()) + ], axis=0) + + return pixels_a + +def depthmap_to_absolute_camera_coordinates(depthmap, camera_intrinsics, camera_pose, z_far=0, **kw): + """ + Args: + - depthmap (HxW array): + - camera_intrinsics: a 3x3 matrix + - camera_pose: a 4x3 or 4x4 cam2world matrix + Returns: + pointmap of absolute coordinates (HxWx3 array), and a mask specifying valid pixels.""" + X_cam, valid_mask = depthmap_to_camera_coordinates(depthmap, camera_intrinsics) + if z_far > 0: + valid_mask = valid_mask & (depthmap < z_far) + + X_world = X_cam # default + if camera_pose is not None: + # R_cam2world = np.float32(camera_params["R_cam2world"]) + # t_cam2world = np.float32(camera_params["t_cam2world"]).squeeze() + R_cam2world = camera_pose[:3, :3] + t_cam2world = camera_pose[:3, 3] + + # Express in absolute coordinates (invalid depth values) + X_world = np.einsum("ik, vuk -> vui", R_cam2world, X_cam) + t_cam2world[None, None, :] + + return X_world, valid_mask + + +def depthmap_to_camera_coordinates(depthmap, camera_intrinsics, pseudo_focal=None): + """ + Args: + - depthmap (HxW array): + - camera_intrinsics: a 3x3 matrix + Returns: + pointmap of absolute coordinates (HxWx3 array), and a mask specifying valid pixels. + """ + camera_intrinsics = np.float32(camera_intrinsics) + H, W = depthmap.shape + + # Compute 3D ray associated with each pixel + # Strong assumption: there are no skew terms + # assert camera_intrinsics[0, 1] == 0.0 + # assert camera_intrinsics[1, 0] == 0.0 + if pseudo_focal is None: + fu = camera_intrinsics[0, 0] + fv = camera_intrinsics[1, 1] + else: + assert pseudo_focal.shape == (H, W) + fu = fv = pseudo_focal + cu = camera_intrinsics[0, 2] + cv = camera_intrinsics[1, 2] + + u, v = np.meshgrid(np.arange(W), np.arange(H)) + z_cam = depthmap + x_cam = (u - cu) * z_cam / fu + y_cam = (v - cv) * z_cam / fv + X_cam = np.stack((x_cam, y_cam, z_cam), axis=-1).astype(np.float32) + + # Mask for valid coordinates + valid_mask = (depthmap > 0.0) + # Invalid any depth > 80m + valid_mask = valid_mask + return X_cam, valid_mask + +def homogenize_points( + points, +): + """Convert batched points (xyz) to (xyz1).""" + return torch.cat([points, torch.ones_like(points[..., :1])], dim=-1) + + +def get_gt_warp(depth1, depth2, T_1to2, K1, K2, depth_interpolation_mode = 'bilinear', relative_depth_error_threshold = 0.05, H = None, W = None): + + if H is None: + B,H,W = depth1.shape + else: + B = depth1.shape[0] + with torch.no_grad(): + x1_n = torch.meshgrid( + *[ + torch.linspace( + -1 + 1 / n, 1 - 1 / n, n, device=depth1.device + ) + for n in (B, H, W) + ], + indexing = 'ij' + ) + x1_n = torch.stack((x1_n[2], x1_n[1]), dim=-1).reshape(B, H * W, 2) + mask, x2 = warp_kpts( + x1_n.double(), + depth1.double(), + depth2.double(), + T_1to2.double(), + K1.double(), + K2.double(), + depth_interpolation_mode = depth_interpolation_mode, + relative_depth_error_threshold = relative_depth_error_threshold, + ) + prob = mask.float().reshape(B, H, W) + x2 = x2.reshape(B, H, W, 2) + return x2, prob + +@torch.no_grad() +def warp_kpts(kpts0, depth0, depth1, T_0to1, K0, K1, smooth_mask = False, return_relative_depth_error = False, depth_interpolation_mode = "bilinear", relative_depth_error_threshold = 0.05): + """Warp kpts0 from I0 to I1 with depth, K and Rt + Also check covisibility and depth consistency. + Depth is consistent if relative error < 0.2 (hard-coded). + # https://github.com/zju3dv/LoFTR/blob/94e98b695be18acb43d5d3250f52226a8e36f839/src/loftr/utils/geometry.py adapted from here + Args: + kpts0 (torch.Tensor): [N, L, 2] - , should be normalized in (-1,1) + depth0 (torch.Tensor): [N, H, W], + depth1 (torch.Tensor): [N, H, W], + T_0to1 (torch.Tensor): [N, 3, 4], + K0 (torch.Tensor): [N, 3, 3], + K1 (torch.Tensor): [N, 3, 3], + Returns: + calculable_mask (torch.Tensor): [N, L] + warped_keypoints0 (torch.Tensor): [N, L, 2] + """ + ( + n, + h, + w, + ) = depth0.shape + if depth_interpolation_mode == "combined": + # Inspired by approach in inloc, try to fill holes from bilinear interpolation by nearest neighbour interpolation + if smooth_mask: + raise NotImplementedError("Combined bilinear and NN warp not implemented") + valid_bilinear, warp_bilinear = warp_kpts(kpts0, depth0, depth1, T_0to1, K0, K1, + smooth_mask = smooth_mask, + return_relative_depth_error = return_relative_depth_error, + depth_interpolation_mode = "bilinear", + relative_depth_error_threshold = relative_depth_error_threshold) + valid_nearest, warp_nearest = warp_kpts(kpts0, depth0, depth1, T_0to1, K0, K1, + smooth_mask = smooth_mask, + return_relative_depth_error = return_relative_depth_error, + depth_interpolation_mode = "nearest-exact", + relative_depth_error_threshold = relative_depth_error_threshold) + nearest_valid_bilinear_invalid = (~valid_bilinear).logical_and(valid_nearest) + warp = warp_bilinear.clone() + warp[nearest_valid_bilinear_invalid] = warp_nearest[nearest_valid_bilinear_invalid] + valid = valid_bilinear | valid_nearest + return valid, warp + + + kpts0_depth = F.grid_sample(depth0[:, None], kpts0[:, :, None], mode = depth_interpolation_mode, align_corners=False)[ + :, 0, :, 0 + ] + kpts0 = torch.stack( + (w * (kpts0[..., 0] + 1) / 2, h * (kpts0[..., 1] + 1) / 2), dim=-1 + ) # [-1+1/h, 1-1/h] -> [0.5, h-0.5] + # Sample depth, get calculable_mask on depth != 0 + # nonzero_mask = kpts0_depth != 0 + # Sample depth, get calculable_mask on depth > 0 + nonzero_mask = kpts0_depth > 0 + + # Unproject + kpts0_h = ( + torch.cat([kpts0, torch.ones_like(kpts0[:, :, [0]])], dim=-1) + * kpts0_depth[..., None] + ) # (N, L, 3) + kpts0_n = K0.inverse() @ kpts0_h.transpose(2, 1) # (N, 3, L) + kpts0_cam = kpts0_n + + # Rigid Transform + w_kpts0_cam = T_0to1[:, :3, :3] @ kpts0_cam + T_0to1[:, :3, [3]] # (N, 3, L) + w_kpts0_depth_computed = w_kpts0_cam[:, 2, :] + + # Project + w_kpts0_h = (K1 @ w_kpts0_cam).transpose(2, 1) # (N, L, 3) + w_kpts0 = w_kpts0_h[:, :, :2] / ( + w_kpts0_h[:, :, [2]] + 1e-4 + ) # (N, L, 2), +1e-4 to avoid zero depth + + # Covisible Check + h, w = depth1.shape[1:3] + covisible_mask = ( + (w_kpts0[:, :, 0] > 0) + * (w_kpts0[:, :, 0] < w - 1) + * (w_kpts0[:, :, 1] > 0) + * (w_kpts0[:, :, 1] < h - 1) + ) + w_kpts0 = torch.stack( + (2 * w_kpts0[..., 0] / w - 1, 2 * w_kpts0[..., 1] / h - 1), dim=-1 + ) # from [0.5,h-0.5] -> [-1+1/h, 1-1/h] + # w_kpts0[~covisible_mask, :] = -5 # xd + + w_kpts0_depth = F.grid_sample( + depth1[:, None], w_kpts0[:, :, None], mode=depth_interpolation_mode, align_corners=False + )[:, 0, :, 0] + + relative_depth_error = ( + (w_kpts0_depth - w_kpts0_depth_computed) / w_kpts0_depth + ).abs() + if not smooth_mask: + consistent_mask = relative_depth_error < relative_depth_error_threshold + else: + consistent_mask = (-relative_depth_error/smooth_mask).exp() + valid_mask = nonzero_mask * covisible_mask * consistent_mask + if return_relative_depth_error: + return relative_depth_error, w_kpts0 + else: + return valid_mask, w_kpts0 + + +def geotrf(Trf, pts, ncol=None, norm=False): + """ Apply a geometric transformation to a list of 3-D points. + + H: 3x3 or 4x4 projection matrix (typically a Homography) + p: numpy/torch/tuple of coordinates. Shape must be (...,2) or (...,3) + + ncol: int. number of columns of the result (2 or 3) + norm: float. if != 0, the resut is projected on the z=norm plane. + + Returns an array of projected 2d points. + """ + assert Trf.ndim >= 2 + if isinstance(Trf, np.ndarray): + pts = np.asarray(pts) + elif isinstance(Trf, torch.Tensor): + pts = torch.as_tensor(pts, dtype=Trf.dtype) + + # adapt shape if necessary + output_reshape = pts.shape[:-1] + ncol = ncol or pts.shape[-1] + + # optimized code + if (isinstance(Trf, torch.Tensor) and isinstance(pts, torch.Tensor) and + Trf.ndim == 3 and pts.ndim == 4): + d = pts.shape[3] + if Trf.shape[-1] == d: + pts = torch.einsum("bij, bhwj -> bhwi", Trf, pts) + elif Trf.shape[-1] == d + 1: + pts = torch.einsum("bij, bhwj -> bhwi", Trf[:, :d, :d], pts) + Trf[:, None, None, :d, d] + else: + raise ValueError(f'bad shape, not ending with 3 or 4, for {pts.shape=}') + else: + if Trf.ndim >= 3: + n = Trf.ndim - 2 + assert Trf.shape[:n] == pts.shape[:n], 'batch size does not match' + Trf = Trf.reshape(-1, Trf.shape[-2], Trf.shape[-1]) + + if pts.ndim > Trf.ndim: + # Trf == (B,d,d) & pts == (B,H,W,d) --> (B, H*W, d) + pts = pts.reshape(Trf.shape[0], -1, pts.shape[-1]) + elif pts.ndim == 2: + # Trf == (B,d,d) & pts == (B,d) --> (B, 1, d) + pts = pts[:, None, :] + + if pts.shape[-1] + 1 == Trf.shape[-1]: + Trf = Trf.swapaxes(-1, -2) # transpose Trf + pts = pts @ Trf[..., :-1, :] + Trf[..., -1:, :] + elif pts.shape[-1] == Trf.shape[-1]: + Trf = Trf.swapaxes(-1, -2) # transpose Trf + pts = pts @ Trf + else: + pts = Trf @ pts.T + if pts.ndim >= 2: + pts = pts.swapaxes(-1, -2) + + if norm: + pts = pts / pts[..., -1:] # DONT DO /= BECAUSE OF WEIRD PYTORCH BUG + if norm != 1: + pts *= norm + + res = pts[..., :ncol].reshape(*output_reshape, ncol) + return res + + +def inv(mat): + """ Invert a torch or numpy matrix + """ + if isinstance(mat, torch.Tensor): + return torch.linalg.inv(mat) + if isinstance(mat, np.ndarray): + return np.linalg.inv(mat) + raise ValueError(f'bad matrix type = {type(mat)}') + +def opencv_camera_to_plucker(poses, K, H, W): + device = poses.device + B = poses.shape[0] + + pixel = torch.from_numpy(get_pixel(H, W).astype(np.float32)).to(device).T.reshape(H, W, 3)[None].repeat(B, 1, 1, 1) # (3, H, W) + pixel = torch.einsum('bij, bhwj -> bhwi', torch.inverse(K), pixel) + ray_directions = torch.einsum('bij, bhwj -> bhwi', poses[..., :3, :3], pixel) + + ray_origins = poses[..., :3, 3][:, None, None].repeat(1, H, W, 1) + + ray_directions = ray_directions / ray_directions.norm(dim=-1, keepdim=True) + plucker_normal = torch.cross(ray_origins, ray_directions, dim=-1) + plucker_ray = torch.cat([ray_directions, plucker_normal], dim=-1) + + return plucker_ray + + +def depth_edge(depth: torch.Tensor, atol: float = None, rtol: float = None, kernel_size: int = 3, mask: torch.Tensor = None) -> torch.BoolTensor: + """ + Compute the edge mask of a depth map. The edge is defined as the pixels whose neighbors have a large difference in depth. + + Args: + depth (torch.Tensor): shape (..., height, width), linear depth map + atol (float): absolute tolerance + rtol (float): relative tolerance + + Returns: + edge (torch.Tensor): shape (..., height, width) of dtype torch.bool + """ + shape = depth.shape + depth = depth.reshape(-1, 1, *shape[-2:]) + if mask is not None: + mask = mask.reshape(-1, 1, *shape[-2:]) + + if mask is None: + diff = (F.max_pool2d(depth, kernel_size, stride=1, padding=kernel_size // 2) + F.max_pool2d(-depth, kernel_size, stride=1, padding=kernel_size // 2)) + else: + diff = (F.max_pool2d(torch.where(mask, depth, -torch.inf), kernel_size, stride=1, padding=kernel_size // 2) + F.max_pool2d(torch.where(mask, -depth, -torch.inf), kernel_size, stride=1, padding=kernel_size // 2)) + + edge = torch.zeros_like(depth, dtype=torch.bool) + if atol is not None: + edge |= diff > atol + if rtol is not None: + edge |= (diff / depth).nan_to_num_() > rtol + edge = edge.reshape(*shape) + return edge \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/models/ppd.py b/Pixel-Perfect-Depth/ppd/models/ppd.py new file mode 100644 index 0000000000000000000000000000000000000000..d320d875efb5bcd57f5efed0678b1f8089e51f0c --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/ppd.py @@ -0,0 +1,88 @@ +from PIL import Image +import numpy as np +import os +import torch +import torch.nn as nn +import torch.nn.functional as F +import cv2 +import random +from omegaconf import DictConfig +from ppd.utils.diffusion.timesteps import Timesteps +from ppd.utils.diffusion.schedule import LinearSchedule +from ppd.utils.diffusion.sampler import EulerSampler +from ppd.utils.transform import image2tensor, resize_1024, resize_1024_crop, resize_keep_aspect + +from ppd.models.depth_anything_v2.dpt import DepthAnythingV2 +from ppd.models.dit import DiT + +class PixelPerfectDepth(nn.Module): + def __init__( + self, + semantics_model='MoGe2', + semantics_pth='checkpoints/moge2.pt', + sampling_steps=10, + ): + super().__init__() + self.sampling_steps = sampling_steps + DEVICE = torch.device('cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu') + self.device = DEVICE + + if semantics_model == 'MoGe2': + from ppd.moge.model.v2 import MoGeModel + self.sem_encoder = MoGeModel.from_pretrained(semantics_pth) + else: + self.sem_encoder = DepthAnythingV2( + encoder='vitl', + features=256, + out_channels=[256, 512, 1024, 1024] + ) + self.sem_encoder.load_state_dict(torch.load(semantics_pth, map_location='cpu'), strict=False) + self.sem_encoder = self.sem_encoder.to(self.device).eval() + self.sem_encoder.requires_grad_(False) + + self.configure_diffusion() + self.dit = DiT() + + def configure_diffusion(self): + self.schedule = LinearSchedule(T=1000) + self.sampling_timesteps = Timesteps( + T=self.schedule.T, + steps=self.sampling_steps, + device=self.device, + ) + self.sampler = EulerSampler( + schedule=self.schedule, + timesteps=self.sampling_timesteps, + prediction_type='velocity' + ) + + @torch.no_grad() + def infer_image(self, image, use_fp16: bool = True): + # Resize the image to match the training resolution area while keeping the original aspect ratio. + resize_image = resize_keep_aspect(image) + image = image2tensor(resize_image) + image = image.to(self.device) + autocast_dtype = torch.bfloat16 if torch.cuda.is_bf16_supported() else torch.float16 + with torch.autocast(device_type=self.device.type, dtype=autocast_dtype): + depth = self.forward_test(image) + return depth, resize_image + + @torch.no_grad() + def forward_test(self, image): + + semantics = self.semantics_prompt(image) + cond = image - 0.5 + latent = torch.randn(size=[cond.shape[0], 1, cond.shape[2], cond.shape[3]]).to(self.device) + + for timestep in self.sampling_timesteps: + input = torch.cat([latent, cond], dim=1) + pred = self.dit(x=input, semantics=semantics, timestep=timestep) + latent = self.sampler.step(pred=pred, x_t=latent, t=timestep) + return latent + 0.5 + + + @torch.no_grad() + def semantics_prompt(self, image): + with torch.no_grad(): + semantics = self.sem_encoder.forward_semantics(image) + return semantics diff --git a/Pixel-Perfect-Depth/ppd/models/ppd_train.py b/Pixel-Perfect-Depth/ppd/models/ppd_train.py new file mode 100644 index 0000000000000000000000000000000000000000..7e71cdc7ea6fffc031bb4e38f7b54ad2a66018da --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/ppd_train.py @@ -0,0 +1,177 @@ +from PIL import Image +import numpy as np +import os +import torch +import torch.nn as nn +import torch.nn.functional as F +import cv2 +import random +from omegaconf import DictConfig +from ppd.utils.diffusion.timesteps import Timesteps +from ppd.utils.diffusion.schedule import LinearSchedule +from ppd.utils.diffusion.sampler import EulerSampler +from ppd.utils.diffusion.logitnormal import LogitNormalTrainingTimesteps +from ppd.utils.transform import image2tensor, resize_1024, resize_1024_crop, resize_keep_aspect + +from ppd.models.depth_anything_v2.dpt import DepthAnythingV2 +from ppd.models.dit import DiT +from ppd.models.loss import multi_scale_grad_loss + +def get_device() -> torch.device: + """ + Get current rank device. + """ + return torch.device("cuda", int(os.environ.get("LOCAL_RANK", "0"))) + +class PixelPerfectDepth(nn.Module): + def __init__( + self, config: DictConfig): + super().__init__() + self.config = config + self.configure_diffusion() + + if self.config.semantics_model == 'MoGe2': + from ppd.moge.model.v2 import MoGeModel + self.sem_encoder = MoGeModel.from_pretrained(self.config.semantics_pth) + else: + self.sem_encoder = DepthAnythingV2( + encoder='vitl', + features=256, + out_channels=[256, 512, 1024, 1024] + ) + self.sem_encoder.load_state_dict(torch.load(self.config.semantics_pth, map_location='cpu'), strict=False) + self.sem_encoder = self.sem_encoder.to(get_device()).eval() + self.sem_encoder.requires_grad_(False) + + self.dit = DiT() + + def configure_diffusion(self): + self.schedule = LinearSchedule(T=1000) + self.sampling_timesteps = Timesteps( + T=self.schedule.T, + steps=self.config.diffusion.timesteps.sampling.steps, + device=get_device(), + ) + self.sampler = EulerSampler( + schedule=self.schedule, + timesteps=self.sampling_timesteps, + prediction_type='velocity' + ) + self.training_timesteps = LogitNormalTrainingTimesteps( + T=self.schedule.T, + loc=self.config.diffusion.timesteps.training.loc, + scale=self.config.diffusion.timesteps.training.scale, + ) + + @torch.no_grad() + def forward_test(self, batch: dict): + ori_h, ori_w = batch['image'].shape[-2:] + current_area = ori_w * ori_h + target_area = 512 * 512 + if not self.config.pretrain: + target_area = 1024 * 768 + scale = scale = (target_area / current_area) ** 0.5 + new_h = max(16, int(round(ori_h * scale / 16)) * 16) + new_w = max(16, int(round(ori_w * scale / 16)) * 16) + image = F.interpolate(batch['image'], size=(new_h, new_w), mode='bilinear', align_corners=False) + + cond = self.get_cond(image) + semantics = self.semantics_prompt(image) + latent = torch.randn(size=[cond.shape[0], 1, cond.shape[2], cond.shape[3]]).to(get_device()) + + for timestep in self.sampling_timesteps: + x = torch.cat([latent, cond], dim=1) + pred = self.dit(x=x, semantics=semantics, timestep=timestep) + latent = self.sampler.step(pred=pred, x_t=latent, t=timestep) + depth = latent + 0.5 + depth = F.interpolate(depth, size=batch['image'].shape[-2:], mode='nearest') + + return {'depth': depth, 'image': batch['image']} + + @torch.no_grad() + def semantics_prompt(self, image): + with torch.no_grad(): + semantics = self.sem_encoder.forward_semantics(image) + return semantics + + @torch.no_grad() + def get_cond(self, img): + return img-0.5 + + @torch.no_grad() + def get_gt(self, batch: dict): + depth = batch['depth'] + mask = batch['mask'].bool() + B = depth.shape[0] + min_val = [] + max_val = [] + clip_mask = mask & (depth<80.) + depth = torch.log(depth+1.) + for i in range(B): + i_depth = depth[i] + i_mask = clip_mask[i] + i_min_val, i_max_val = torch.quantile(i_depth[i_mask], 0.02, dim=-1), torch.quantile(i_depth[i_mask], 0.98, dim=-1) + min_val.append(i_min_val) + max_val.append(i_max_val) + min_val = torch.stack(min_val) + max_val = torch.stack(max_val) + invalid_mask = (max_val - min_val) < 1e-6 + if invalid_mask.any(): max_val[invalid_mask] = min_val[invalid_mask] + 1e-6 + min_val, max_val = min_val[:, None, None, None], max_val[:, None, None, None] + depth = (depth - min_val) / (max_val - min_val) + depth = torch.clamp(depth, -0.5, 1.0) + return depth-0.5, mask + + def forward_train(self, batch: dict): + batch_size = batch['image'].shape[0] + cond = self.get_cond(batch['image']) + latent, mask = self.get_gt(batch) + semantics = self.semantics_prompt(batch['image']) + noises = torch.randn_like(latent) + timesteps = self.training_timesteps.sample([batch_size], device=get_device()) + latent_noised = self.schedule.forward(latent, noises, timesteps) + x = torch.cat([latent_noised, cond], dim=1) + pred = self.dit(x=x, semantics=semantics, timestep=timesteps) + + assert pred.shape == latent.shape == noises.shape + latent_pred, noises_pred = self.schedule.convert_from_pred( + pred=pred, + pred_type='velocity', + x_t=latent_noised, + t=timesteps, + ) + loss_input = self.schedule.convert_to_pred( + x_0=latent_pred, + x_T=noises_pred, + t=timesteps, + pred_type='velocity', + ) + loss_target = self.schedule.convert_to_pred( + x_0=latent, + x_T=noises, + t=timesteps, + pred_type='velocity', + ) + loss = F.mse_loss( + input=loss_input, + target=loss_target, + reduction='none', + ) + loss = loss * mask.float() + loss = loss.sum() / (mask.float().sum() + 1e-6) + + ####### finetune stage + if not self.config.pretrain: + grad_loss = multi_scale_grad_loss( + latent_pred.squeeze(1), latent.squeeze(1), mask.float().squeeze(1) + ) + loss = loss + 0.2 * grad_loss + ####### finetune stage + + return {'loss': loss, 'depth': latent_pred+0.5, 'image': batch['image']} + + + + + + diff --git a/Pixel-Perfect-Depth/ppd/models/ppvd.py b/Pixel-Perfect-Depth/ppd/models/ppvd.py new file mode 100644 index 0000000000000000000000000000000000000000..834de0edbe209e01d0db25e8cd6327d71ac281c1 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/ppvd.py @@ -0,0 +1,107 @@ +from PIL import Image +import numpy as np +import os +import torch +import torch.nn as nn +import torch.nn.functional as F +import cv2 +import random +from omegaconf import DictConfig +from ppd.utils.diffusion.timesteps import Timesteps +from ppd.utils.diffusion.schedule import LinearSchedule +from ppd.utils.diffusion.sampler import EulerSampler +from ppd.utils.transform import video2tensor +from ppd.utils.align_vda import align_video_depth + +from ppd.models.dit_video import DiT_Video +from safetensors.torch import load_file + +# infer settings, do not change +INFER_LEN = 16 +KEYFRAMES = [0, 8, 15] +OVERLAP = 3 +STRIDE = 13 + +class PixelPerfectVideoDepth(nn.Module): + def __init__( + self, + semantics_model='Pi3', + semantics_pth='checkpoints/pi3.safetensors', + sampling_steps=4, + ): + super().__init__() + self.sampling_steps = sampling_steps + DEVICE = torch.device('cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu') + self.device = DEVICE + + if semantics_model == 'Pi3': + from ppd.models.pi3.models.pi3 import Pi3 + self.sem_encoder = Pi3() + self.sem_encoder.load_state_dict(load_file(semantics_pth)) + + self.sem_encoder = self.sem_encoder.to(self.device).eval() + self.sem_encoder.requires_grad_(False) + + self.configure_diffusion() + self.dit_video = DiT_Video() + + def configure_diffusion(self): + self.schedule = LinearSchedule(T=1000) + self.sampling_timesteps = Timesteps( + T=self.schedule.T, + steps=self.sampling_steps, + device=self.device, + ) + self.sampler = EulerSampler( + schedule=self.schedule, + timesteps=self.sampling_timesteps, + prediction_type='velocity' + ) + + @torch.no_grad() + def infer_video(self, images, use_fp16: bool = True): + images = video2tensor(images) + images = [img.to(self.device) for img in images] + p_imgs = [F.interpolate(img, size=(512, 512), mode='bilinear', align_corners=False) for img in images] + LEN = len(p_imgs) + R = (LEN - INFER_LEN) % STRIDE + if R != 0: + pad_len = STRIDE - R + last_img = p_imgs[-1] + p_imgs.extend([last_img.clone() for _ in range(pad_len)]) + autocast_dtype = torch.bfloat16 if torch.cuda.is_bf16_supported() else torch.float16 + with torch.autocast(device_type=self.device.type, dtype=autocast_dtype): + preds = self.forward_test(p_imgs) + + preds = [F.interpolate(pred, size=images[0].shape[-2:], mode='bilinear', align_corners=False) for pred in preds] + preds = align_video_depth(preds, INFER_LEN, KEYFRAMES, OVERLAP) + return preds[:LEN] + + @torch.no_grad() + def forward_test(self, imgs): + preds = [] + pre_img = None + init_latent = torch.randn(size=[INFER_LEN, 1, imgs[0].shape[2], imgs[0].shape[3]]).to(self.device) + for i in range(0, len(imgs)-INFER_LEN+1, STRIDE): + cur_img = imgs[i:i+INFER_LEN] + if pre_img is not None: + cur_img[:OVERLAP] = [pre_img[k] for k in KEYFRAMES] + pre_img = cur_img + concat_img = torch.cat(cur_img, dim=0) + semantics = self.semantics_prompt(concat_img) + cond = concat_img - 0.5 + latent = init_latent + + for timestep in self.sampling_timesteps: + input = torch.cat([latent, cond], dim=1) + pred = self.dit_video(x=input, semantics=semantics, timestep=timestep) + latent = self.sampler.step(pred=pred, x_t=latent, t=timestep) + cur_pred = latent + 0.5 + preds.append(cur_pred) + return preds + + @torch.no_grad() + def semantics_prompt(self, images): + with torch.no_grad(): + semantics = self.sem_encoder.forward_semantics(images) + return semantics diff --git a/Pixel-Perfect-Depth/ppd/models/rope.py b/Pixel-Perfect-Depth/ppd/models/rope.py new file mode 100644 index 0000000000000000000000000000000000000000..75398521f55711ceb741f8d5a669606a2bea1c70 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/models/rope.py @@ -0,0 +1,186 @@ +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + + +# Implementation of 2D Rotary Position Embeddings (RoPE). + +# This module provides a clean implementation of 2D Rotary Position Embeddings, +# which extends the original RoPE concept to handle 2D spatial positions. + +# Inspired by: +# https://github.com/meta-llama/codellama/blob/main/llama/model.py +# https://github.com/naver-ai/rope-vit + + +import numpy as np +import torch +import torch.nn as nn +import torch.nn.functional as F +from typing import Dict, Tuple + + +class PositionGetter: + """Generates and caches 2D spatial positions for patches in a grid. + + This class efficiently manages the generation of spatial coordinates for patches + in a 2D grid, caching results to avoid redundant computations. + + Attributes: + position_cache: Dictionary storing precomputed position tensors for different + grid dimensions. + """ + + def __init__(self): + """Initializes the position generator with an empty cache.""" + self.position_cache: Dict[Tuple[int, int], torch.Tensor] = {} + + def __call__(self, batch_size: int, height: int, width: int, device: torch.device) -> torch.Tensor: + """Generates spatial positions for a batch of patches. + + Args: + batch_size: Number of samples in the batch. + height: Height of the grid in patches. + width: Width of the grid in patches. + device: Target device for the position tensor. + + Returns: + Tensor of shape (batch_size, height*width, 2) containing y,x coordinates + for each position in the grid, repeated for each batch item. + """ + if (height, width) not in self.position_cache: + y_coords = torch.arange(height, device=device) + x_coords = torch.arange(width, device=device) + positions = torch.cartesian_prod(y_coords, x_coords) + self.position_cache[height, width] = positions + + cached_positions = self.position_cache[height, width] + return cached_positions.view(1, height * width, 2).expand(batch_size, -1, -1).clone() + + +class RotaryPositionEmbedding2D(nn.Module): + """2D Rotary Position Embedding implementation. + + This module applies rotary position embeddings to input tokens based on their + 2D spatial positions. It handles the position-dependent rotation of features + separately for vertical and horizontal dimensions. + + Args: + frequency: Base frequency for the position embeddings. Default: 100.0 + scaling_factor: Scaling factor for frequency computation. Default: 1.0 + + Attributes: + base_frequency: Base frequency for computing position embeddings. + scaling_factor: Factor to scale the computed frequencies. + frequency_cache: Cache for storing precomputed frequency components. + """ + + def __init__(self, frequency: float = 100.0, scaling_factor: float = 1.0): + """Initializes the 2D RoPE module.""" + super().__init__() + self.base_frequency = frequency + self.scaling_factor = scaling_factor + self.frequency_cache: Dict[Tuple, Tuple[torch.Tensor, torch.Tensor]] = {} + + def _compute_frequency_components( + self, dim: int, seq_len: int, device: torch.device, dtype: torch.dtype + ) -> Tuple[torch.Tensor, torch.Tensor]: + """Computes frequency components for rotary embeddings. + + Args: + dim: Feature dimension (must be even). + seq_len: Maximum sequence length. + device: Target device for computations. + dtype: Data type for the computed tensors. + + Returns: + Tuple of (cosine, sine) tensors for frequency components. + """ + cache_key = (dim, seq_len, device, dtype) + if cache_key not in self.frequency_cache: + # Compute frequency bands + exponents = torch.arange(0, dim, 2, device=device).float() / dim + inv_freq = 1.0 / (self.base_frequency**exponents) + + # Generate position-dependent frequencies + positions = torch.arange(seq_len, device=device, dtype=inv_freq.dtype) + angles = torch.einsum("i,j->ij", positions, inv_freq) + + # Compute and cache frequency components + angles = angles.to(dtype) + angles = torch.cat((angles, angles), dim=-1) + cos_components = angles.cos().to(dtype) + sin_components = angles.sin().to(dtype) + self.frequency_cache[cache_key] = (cos_components, sin_components) + + return self.frequency_cache[cache_key] + + @staticmethod + def _rotate_features(x: torch.Tensor) -> torch.Tensor: + """Performs feature rotation by splitting and recombining feature dimensions. + + Args: + x: Input tensor to rotate. + + Returns: + Rotated feature tensor. + """ + feature_dim = x.shape[-1] + x1, x2 = x[..., : feature_dim // 2], x[..., feature_dim // 2 :] + return torch.cat((-x2, x1), dim=-1) + + def _apply_1d_rope( + self, tokens: torch.Tensor, positions: torch.Tensor, cos_comp: torch.Tensor, sin_comp: torch.Tensor + ) -> torch.Tensor: + """Applies 1D rotary position embeddings along one dimension. + + Args: + tokens: Input token features. + positions: Position indices. + cos_comp: Cosine components for rotation. + sin_comp: Sine components for rotation. + + Returns: + Tokens with applied rotary position embeddings. + """ + # Embed positions with frequency components + cos = F.embedding(positions, cos_comp)[:, None, :, :] + sin = F.embedding(positions, sin_comp)[:, None, :, :] + + # Apply rotation + return (tokens * cos) + (self._rotate_features(tokens) * sin) + + def forward(self, tokens: torch.Tensor, positions: torch.Tensor) -> torch.Tensor: + """Applies 2D rotary position embeddings to input tokens. + + Args: + tokens: Input tensor of shape (batch_size, n_heads, n_tokens, dim). + The feature dimension (dim) must be divisible by 4. + positions: Position tensor of shape (batch_size, n_tokens, 2) containing + the y and x coordinates for each token. + + Returns: + Tensor of same shape as input with applied 2D rotary position embeddings. + + Raises: + AssertionError: If input dimensions are invalid or positions are malformed. + """ + # Validate inputs + assert tokens.size(-1) % 2 == 0, "Feature dimension must be even" + assert positions.ndim == 3 and positions.shape[-1] == 2, "Positions must have shape (batch_size, n_tokens, 2)" + + # Compute feature dimension for each spatial direction + feature_dim = tokens.size(-1) // 2 + + # Get frequency components + max_position = int(positions.max()) + 1 + cos_comp, sin_comp = self._compute_frequency_components(feature_dim, max_position, tokens.device, tokens.dtype) + + # Split features for vertical and horizontal processing + vertical_features, horizontal_features = tokens.chunk(2, dim=-1) + + # Apply RoPE separately for each dimension + vertical_features = self._apply_1d_rope(vertical_features, positions[..., 0], cos_comp, sin_comp) + horizontal_features = self._apply_1d_rope(horizontal_features, positions[..., 1], cos_comp, sin_comp) + + # Combine processed features + return torch.cat((vertical_features, horizontal_features), dim=-1) diff --git a/Pixel-Perfect-Depth/ppd/moge/__init__.py b/Pixel-Perfect-Depth/ppd/moge/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Pixel-Perfect-Depth/ppd/moge/__pycache__/__init__.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/moge/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..0382f985922019dc5e5f36beec2093fd2dff6893 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/moge/__pycache__/__init__.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/moge/model/__init__.py b/Pixel-Perfect-Depth/ppd/moge/model/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..c919e3be42c0005752e8c800129bd5f724b47ff9 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/__init__.py @@ -0,0 +1,18 @@ +import importlib +from typing import * + +if TYPE_CHECKING: + from .v1 import MoGeModel as MoGeModelV1 + from .v2 import MoGeModel as MoGeModelV2 + + +def import_model_class_by_version(version: str) -> Type[Union['MoGeModelV1', 'MoGeModelV2']]: + assert version in ['v1', 'v2'], f'Unsupported model version: {version}' + + try: + module = importlib.import_module(f'.{version}', __package__) + except ModuleNotFoundError: + raise ValueError(f'Model version "{version}" not found.') + + cls = getattr(module, 'MoGeModel') + return cls diff --git a/Pixel-Perfect-Depth/ppd/moge/model/__pycache__/__init__.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/moge/model/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..3ae79ac458dfc2b6cc67050ea7ec792319773635 Binary files 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num_register_tokens: int = 0, + interpolate_antialias: bool = False, + interpolate_offset: float = 0.1, + pretrained: bool = True, + weights: Union[Weights, str] = Weights.LVD142M, + **kwargs, +): + from ..models import vision_transformer as vits + + if isinstance(weights, str): + try: + weights = Weights[weights] + except KeyError: + raise AssertionError(f"Unsupported weights: {weights}") + + model_base_name = _make_dinov2_model_name(arch_name, patch_size) + vit_kwargs = dict( + img_size=img_size, + patch_size=patch_size, + init_values=init_values, + ffn_layer=ffn_layer, + block_chunks=block_chunks, + num_register_tokens=num_register_tokens, + interpolate_antialias=interpolate_antialias, + interpolate_offset=interpolate_offset, + ) + vit_kwargs.update(**kwargs) + model = vits.__dict__[arch_name](**vit_kwargs) + + if pretrained: + model_full_name = _make_dinov2_model_name(arch_name, patch_size, num_register_tokens) + url = _DINOV2_BASE_URL + f"/{model_base_name}/{model_full_name}_pretrain.pth" + state_dict = torch.hub.load_state_dict_from_url(url, map_location="cpu") + model.load_state_dict(state_dict, strict=True) + + return model + + +def dinov2_vits14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-S/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model(arch_name="vit_small", pretrained=pretrained, weights=weights, **kwargs) + + +def dinov2_vitb14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-B/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model(arch_name="vit_base", pretrained=pretrained, weights=weights, **kwargs) + + +def dinov2_vitl14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-L/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model(arch_name="vit_large", pretrained=pretrained, weights=weights, **kwargs) + + +def dinov2_vitg14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-g/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_giant2", + ffn_layer="swiglufused", + weights=weights, + pretrained=pretrained, + **kwargs, + ) + + +def dinov2_vits14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-S/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_small", + pretrained=pretrained, + weights=weights, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) + + +def dinov2_vitb14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-B/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_base", + pretrained=pretrained, + weights=weights, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) + + +def dinov2_vitl14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-L/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_large", + pretrained=pretrained, + weights=weights, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) + + +def dinov2_vitg14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-g/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_giant2", + ffn_layer="swiglufused", + weights=weights, + pretrained=pretrained, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/hub/utils.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/hub/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..9c6641404093652d5a2f19b4cf283d976ec39e64 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/hub/utils.py @@ -0,0 +1,39 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import itertools +import math + +import torch +import torch.nn as nn +import torch.nn.functional as F + + +_DINOV2_BASE_URL = "https://dl.fbaipublicfiles.com/dinov2" + + +def _make_dinov2_model_name(arch_name: str, patch_size: int, num_register_tokens: int = 0) -> str: + compact_arch_name = arch_name.replace("_", "")[:4] + registers_suffix = f"_reg{num_register_tokens}" if num_register_tokens else "" + return f"dinov2_{compact_arch_name}{patch_size}{registers_suffix}" + + +class CenterPadding(nn.Module): + def __init__(self, multiple): + super().__init__() + self.multiple = multiple + + def _get_pad(self, size): + new_size = math.ceil(size / self.multiple) * self.multiple + pad_size = new_size - size + pad_size_left = pad_size // 2 + pad_size_right = pad_size - pad_size_left + return pad_size_left, pad_size_right + + @torch.inference_mode() + def forward(self, x): + pads = list(itertools.chain.from_iterable(self._get_pad(m) for m in x.shape[:1:-1])) + output = F.pad(x, pads) + return output diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/__init__.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..05a0b61868e43abb821ca05a813bab2b8b43629e --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/__init__.py @@ -0,0 +1,11 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +from .dino_head import DINOHead +from .mlp import Mlp +from .patch_embed import PatchEmbed +from .swiglu_ffn import SwiGLUFFN, SwiGLUFFNFused +from .block import NestedTensorBlock +from .attention import MemEffAttention diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/__pycache__/__init__.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..6eb5881d05d2d4978a41c2d4cf0324f23c73e8e8 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/__pycache__/__init__.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/__pycache__/attention.cpython-310.pyc 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a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/__pycache__/swiglu_ffn.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/__pycache__/swiglu_ffn.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..aa590ef99bf025001fc8bcc83aa01ee8593d8f4e Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/__pycache__/swiglu_ffn.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/attention.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/attention.py new file mode 100644 index 0000000000000000000000000000000000000000..c9f79d471fc099b1dcaa512dfdbdec8a9fc5908f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/attention.py @@ -0,0 +1,100 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +import logging +import os +import warnings + +import torch.nn.functional as F +from torch import Tensor +from torch import nn + + +logger = logging.getLogger("dinov2") + + +XFORMERS_ENABLED = os.environ.get("XFORMERS_DISABLED") is None +try: + if XFORMERS_ENABLED: + from xformers.ops import memory_efficient_attention, unbind + + XFORMERS_AVAILABLE = True + # warnings.warn("xFormers is available (Attention)") + else: + # warnings.warn("xFormers is disabled (Attention)") + raise ImportError +except ImportError: + XFORMERS_AVAILABLE = False + # warnings.warn("xFormers is not available (Attention)") + + +class Attention(nn.Module): + def __init__( + self, + dim: int, + num_heads: int = 8, + qkv_bias: bool = False, + proj_bias: bool = True, + attn_drop: float = 0.0, + proj_drop: float = 0.0, + ) -> None: + super().__init__() + self.num_heads = num_heads + head_dim = dim // num_heads + self.scale = head_dim**-0.5 + + self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + self.attn_drop = nn.Dropout(attn_drop) + self.proj = nn.Linear(dim, dim, bias=proj_bias) + self.proj_drop = nn.Dropout(proj_drop) + + # # Deprecated implementation, extremely slow + # def forward(self, x: Tensor, attn_bias=None) -> Tensor: + # B, N, C = x.shape + # qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) + # q, k, v = qkv[0] * self.scale, qkv[1], qkv[2] + # attn = q @ k.transpose(-2, -1) + # attn = attn.softmax(dim=-1) + # attn = self.attn_drop(attn) + # x = (attn @ v).transpose(1, 2).reshape(B, N, C) + # x = self.proj(x) + # x = self.proj_drop(x) + # return x + + def forward(self, x: Tensor, attn_bias=None) -> Tensor: + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) # (3, B, H, N, C // H) + + q, k, v = qkv.unbind(0) # (B, H, N, C // H) + + x = F.scaled_dot_product_attention(q, k, v, attn_bias) + x = x.permute(0, 2, 1, 3).reshape(B, N, C) + + x = self.proj(x) + x = self.proj_drop(x) + return x + +class MemEffAttention(Attention): + def forward(self, x: Tensor, attn_bias=None) -> Tensor: + if not XFORMERS_AVAILABLE: + if attn_bias is not None: + raise AssertionError("xFormers is required for using nested tensors") + return super().forward(x) + + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads) + + q, k, v = unbind(qkv, 2) + + x = memory_efficient_attention(q, k, v, attn_bias=attn_bias) + x = x.reshape([B, N, C]) + + x = self.proj(x) + x = self.proj_drop(x) + return x diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/block.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/block.py new file mode 100644 index 0000000000000000000000000000000000000000..fd5b8a7bb8527b74186af7c1e060e37bdb52c73d --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/block.py @@ -0,0 +1,259 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +import logging +import os +from typing import Callable, List, Any, Tuple, Dict +import warnings + +import torch +from torch import nn, Tensor + +from .attention import Attention, MemEffAttention +from .drop_path import DropPath +from .layer_scale import LayerScale +from .mlp import Mlp + + +logger = logging.getLogger("dinov2") + + +XFORMERS_ENABLED = os.environ.get("XFORMERS_DISABLED") is None +try: + if XFORMERS_ENABLED: + from xformers.ops import fmha, scaled_index_add, index_select_cat + + XFORMERS_AVAILABLE = True + # warnings.warn("xFormers is available (Block)") + else: + # warnings.warn("xFormers is disabled (Block)") + raise ImportError +except ImportError: + XFORMERS_AVAILABLE = False + # warnings.warn("xFormers is not available (Block)") + + +class Block(nn.Module): + def __init__( + self, + dim: int, + num_heads: int, + mlp_ratio: float = 4.0, + qkv_bias: bool = False, + proj_bias: bool = True, + ffn_bias: bool = True, + drop: float = 0.0, + attn_drop: float = 0.0, + init_values=None, + drop_path: float = 0.0, + act_layer: Callable[..., nn.Module] = nn.GELU, + norm_layer: Callable[..., nn.Module] = nn.LayerNorm, + attn_class: Callable[..., nn.Module] = Attention, + ffn_layer: Callable[..., nn.Module] = Mlp, + ) -> None: + super().__init__() + # print(f"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}") + self.norm1 = norm_layer(dim) + self.attn = attn_class( + dim, + num_heads=num_heads, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + attn_drop=attn_drop, + proj_drop=drop, + ) + self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.drop_path1 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.norm2 = norm_layer(dim) + mlp_hidden_dim = int(dim * mlp_ratio) + self.mlp = ffn_layer( + in_features=dim, + hidden_features=mlp_hidden_dim, + act_layer=act_layer, + drop=drop, + bias=ffn_bias, + ) + self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.sample_drop_ratio = drop_path + + def forward(self, x: Tensor) -> Tensor: + def attn_residual_func(x: Tensor) -> Tensor: + return self.ls1(self.attn(self.norm1(x))) + + def ffn_residual_func(x: Tensor) -> Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + if self.training and self.sample_drop_ratio > 0.1: + # the overhead is compensated only for a drop path rate larger than 0.1 + x = drop_add_residual_stochastic_depth( + x, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + x = drop_add_residual_stochastic_depth( + x, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + elif self.training and self.sample_drop_ratio > 0.0: + x = x + self.drop_path1(attn_residual_func(x)) + x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2 + else: + x = x + attn_residual_func(x) + x = x + ffn_residual_func(x) + return x + + +def drop_add_residual_stochastic_depth( + x: Tensor, + residual_func: Callable[[Tensor], Tensor], + sample_drop_ratio: float = 0.0, +) -> Tensor: + # 1) extract subset using permutation + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + x_subset = x[brange] + + # 2) apply residual_func to get residual + residual = residual_func(x_subset) + + x_flat = x.flatten(1) + residual = residual.flatten(1) + + residual_scale_factor = b / sample_subset_size + + # 3) add the residual + x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) + return x_plus_residual.view_as(x) + + +def get_branges_scales(x, sample_drop_ratio=0.0): + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + residual_scale_factor = b / sample_subset_size + return brange, residual_scale_factor + + +def add_residual(x, brange, residual, residual_scale_factor, scaling_vector=None): + if scaling_vector is None: + x_flat = x.flatten(1) + residual = residual.flatten(1) + x_plus_residual = torch.index_add(x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor) + else: + x_plus_residual = scaled_index_add( + x, brange, residual.to(dtype=x.dtype), scaling=scaling_vector, alpha=residual_scale_factor + ) + return x_plus_residual + + +attn_bias_cache: Dict[Tuple, Any] = {} + + +def get_attn_bias_and_cat(x_list, branges=None): + """ + this will perform the index select, cat the tensors, and provide the attn_bias from cache + """ + batch_sizes = [b.shape[0] for b in branges] if branges is not None else [x.shape[0] for x in x_list] + all_shapes = tuple((b, x.shape[1]) for b, x in zip(batch_sizes, x_list)) + if all_shapes not in attn_bias_cache.keys(): + seqlens = [] + for b, x in zip(batch_sizes, x_list): + for _ in range(b): + seqlens.append(x.shape[1]) + attn_bias = fmha.BlockDiagonalMask.from_seqlens(seqlens) + attn_bias._batch_sizes = batch_sizes + attn_bias_cache[all_shapes] = attn_bias + + if branges is not None: + cat_tensors = index_select_cat([x.flatten(1) for x in x_list], branges).view(1, -1, x_list[0].shape[-1]) + else: + tensors_bs1 = tuple(x.reshape([1, -1, *x.shape[2:]]) for x in x_list) + cat_tensors = torch.cat(tensors_bs1, dim=1) + + return attn_bias_cache[all_shapes], cat_tensors + + +def drop_add_residual_stochastic_depth_list( + x_list: List[Tensor], + residual_func: Callable[[Tensor, Any], Tensor], + sample_drop_ratio: float = 0.0, + scaling_vector=None, +) -> Tensor: + # 1) generate random set of indices for dropping samples in the batch + branges_scales = [get_branges_scales(x, sample_drop_ratio=sample_drop_ratio) for x in x_list] + branges = [s[0] for s in branges_scales] + residual_scale_factors = [s[1] for s in branges_scales] + + # 2) get attention bias and index+concat the tensors + attn_bias, x_cat = get_attn_bias_and_cat(x_list, branges) + + # 3) apply residual_func to get residual, and split the result + residual_list = attn_bias.split(residual_func(x_cat, attn_bias=attn_bias)) # type: ignore + + outputs = [] + for x, brange, residual, residual_scale_factor in zip(x_list, branges, residual_list, residual_scale_factors): + outputs.append(add_residual(x, brange, residual, residual_scale_factor, scaling_vector).view_as(x)) + return outputs + + +class NestedTensorBlock(Block): + def forward_nested(self, x_list: List[Tensor]) -> List[Tensor]: + """ + x_list contains a list of tensors to nest together and run + """ + assert isinstance(self.attn, MemEffAttention) + + if self.training and self.sample_drop_ratio > 0.0: + + def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.attn(self.norm1(x), attn_bias=attn_bias) + + def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.mlp(self.norm2(x)) + + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=self.ls1.gamma if isinstance(self.ls1, LayerScale) else None, + ) + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=self.ls2.gamma if isinstance(self.ls1, LayerScale) else None, + ) + return x_list + else: + + def attn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias)) + + def ffn_residual_func(x: Tensor, attn_bias=None) -> Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + attn_bias, x = get_attn_bias_and_cat(x_list) + x = x + attn_residual_func(x, attn_bias=attn_bias) + x = x + ffn_residual_func(x) + return attn_bias.split(x) + + def forward(self, x_or_x_list): + if isinstance(x_or_x_list, Tensor): + return super().forward(x_or_x_list) + elif isinstance(x_or_x_list, list): + if not XFORMERS_AVAILABLE: + raise AssertionError("xFormers is required for using nested tensors") + return self.forward_nested(x_or_x_list) + else: + raise AssertionError diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/dino_head.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/dino_head.py new file mode 100644 index 0000000000000000000000000000000000000000..0ace8ffd6297a1dd480b19db407b662a6ea0f565 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/dino_head.py @@ -0,0 +1,58 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import torch +import torch.nn as nn +from torch.nn.init import trunc_normal_ +from torch.nn.utils import weight_norm + + +class DINOHead(nn.Module): + def __init__( + self, + in_dim, + out_dim, + use_bn=False, + nlayers=3, + hidden_dim=2048, + bottleneck_dim=256, + mlp_bias=True, + ): + super().__init__() + nlayers = max(nlayers, 1) + self.mlp = _build_mlp(nlayers, in_dim, bottleneck_dim, hidden_dim=hidden_dim, use_bn=use_bn, bias=mlp_bias) + self.apply(self._init_weights) + self.last_layer = weight_norm(nn.Linear(bottleneck_dim, out_dim, bias=False)) + self.last_layer.weight_g.data.fill_(1) + + def _init_weights(self, m): + if isinstance(m, nn.Linear): + trunc_normal_(m.weight, std=0.02) + if isinstance(m, nn.Linear) and m.bias is not None: + nn.init.constant_(m.bias, 0) + + def forward(self, x): + x = self.mlp(x) + eps = 1e-6 if x.dtype == torch.float16 else 1e-12 + x = nn.functional.normalize(x, dim=-1, p=2, eps=eps) + x = self.last_layer(x) + return x + + +def _build_mlp(nlayers, in_dim, bottleneck_dim, hidden_dim=None, use_bn=False, bias=True): + if nlayers == 1: + return nn.Linear(in_dim, bottleneck_dim, bias=bias) + else: + layers = [nn.Linear(in_dim, hidden_dim, bias=bias)] + if use_bn: + layers.append(nn.BatchNorm1d(hidden_dim)) + layers.append(nn.GELU()) + for _ in range(nlayers - 2): + layers.append(nn.Linear(hidden_dim, hidden_dim, bias=bias)) + if use_bn: + layers.append(nn.BatchNorm1d(hidden_dim)) + layers.append(nn.GELU()) + layers.append(nn.Linear(hidden_dim, bottleneck_dim, bias=bias)) + return nn.Sequential(*layers) diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/drop_path.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/drop_path.py new file mode 100644 index 0000000000000000000000000000000000000000..1d640e0b969b8dcba96260243473700b4e5b24b5 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/drop_path.py @@ -0,0 +1,34 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/drop.py + + +from torch import nn + + +def drop_path(x, drop_prob: float = 0.0, training: bool = False): + if drop_prob == 0.0 or not training: + return x + keep_prob = 1 - drop_prob + shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets + random_tensor = x.new_empty(shape).bernoulli_(keep_prob) + if keep_prob > 0.0: + random_tensor.div_(keep_prob) + output = x * random_tensor + return output + + +class DropPath(nn.Module): + """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" + + def __init__(self, drop_prob=None): + super(DropPath, self).__init__() + self.drop_prob = drop_prob + + def forward(self, x): + return drop_path(x, self.drop_prob, self.training) diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/layer_scale.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/layer_scale.py new file mode 100644 index 0000000000000000000000000000000000000000..51df0d7ce61f2b41fa9e6369f52391dd7fe7d386 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/layer_scale.py @@ -0,0 +1,27 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# Modified from: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L103-L110 + +from typing import Union + +import torch +from torch import Tensor +from torch import nn + + +class LayerScale(nn.Module): + def __init__( + self, + dim: int, + init_values: Union[float, Tensor] = 1e-5, + inplace: bool = False, + ) -> None: + super().__init__() + self.inplace = inplace + self.gamma = nn.Parameter(init_values * torch.ones(dim)) + + def forward(self, x: Tensor) -> Tensor: + return x.mul_(self.gamma) if self.inplace else x * self.gamma diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/mlp.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/mlp.py new file mode 100644 index 0000000000000000000000000000000000000000..bbf9432aae9258612caeae910a7bde17999e328e --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/mlp.py @@ -0,0 +1,40 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/mlp.py + + +from typing import Callable, Optional + +from torch import Tensor, nn + + +class Mlp(nn.Module): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = nn.GELU, + drop: float = 0.0, + bias: bool = True, + ) -> None: + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.fc1 = nn.Linear(in_features, hidden_features, bias=bias) + self.act = act_layer() + self.fc2 = nn.Linear(hidden_features, out_features, bias=bias) + self.drop = nn.Dropout(drop) + + def forward(self, x: Tensor) -> Tensor: + x = self.fc1(x) + x = self.act(x) + x = self.drop(x) + x = self.fc2(x) + x = self.drop(x) + return x diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/patch_embed.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/patch_embed.py new file mode 100644 index 0000000000000000000000000000000000000000..8b7c0804784a42cf80c0297d110dcc68cc85b339 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/patch_embed.py @@ -0,0 +1,88 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +from typing import Callable, Optional, Tuple, Union + +from torch import Tensor +import torch.nn as nn + + +def make_2tuple(x): + if isinstance(x, tuple): + assert len(x) == 2 + return x + + assert isinstance(x, int) + return (x, x) + + +class PatchEmbed(nn.Module): + """ + 2D image to patch embedding: (B,C,H,W) -> (B,N,D) + + Args: + img_size: Image size. + patch_size: Patch token size. + in_chans: Number of input image channels. + embed_dim: Number of linear projection output channels. + norm_layer: Normalization layer. + """ + + def __init__( + self, + img_size: Union[int, Tuple[int, int]] = 224, + patch_size: Union[int, Tuple[int, int]] = 16, + in_chans: int = 3, + embed_dim: int = 768, + norm_layer: Optional[Callable] = None, + flatten_embedding: bool = True, + ) -> None: + super().__init__() + + image_HW = make_2tuple(img_size) + patch_HW = make_2tuple(patch_size) + patch_grid_size = ( + image_HW[0] // patch_HW[0], + image_HW[1] // patch_HW[1], + ) + + self.img_size = image_HW + self.patch_size = patch_HW + self.patches_resolution = patch_grid_size + self.num_patches = patch_grid_size[0] * patch_grid_size[1] + + self.in_chans = in_chans + self.embed_dim = embed_dim + + self.flatten_embedding = flatten_embedding + + self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_HW, stride=patch_HW) + self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity() + + def forward(self, x: Tensor) -> Tensor: + _, _, H, W = x.shape + patch_H, patch_W = self.patch_size + + assert H % patch_H == 0, f"Input image height {H} is not a multiple of patch height {patch_H}" + assert W % patch_W == 0, f"Input image width {W} is not a multiple of patch width: {patch_W}" + + x = self.proj(x) # B C H W + H, W = x.size(2), x.size(3) + x = x.flatten(2).transpose(1, 2) # B HW C + x = self.norm(x) + if not self.flatten_embedding: + x = x.reshape(-1, H, W, self.embed_dim) # B H W C + return x + + def flops(self) -> float: + Ho, Wo = self.patches_resolution + flops = Ho * Wo * self.embed_dim * self.in_chans * (self.patch_size[0] * self.patch_size[1]) + if self.norm is not None: + flops += Ho * Wo * self.embed_dim + return flops diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/swiglu_ffn.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/swiglu_ffn.py new file mode 100644 index 0000000000000000000000000000000000000000..5ce211515774d42e04c8b51003bae53b88f14b35 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/layers/swiglu_ffn.py @@ -0,0 +1,72 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import os +from typing import Callable, Optional +import warnings + +from torch import Tensor, nn +import torch.nn.functional as F + + +class SwiGLUFFN(nn.Module): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = None, + drop: float = 0.0, + bias: bool = True, + ) -> None: + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.w12 = nn.Linear(in_features, 2 * hidden_features, bias=bias) + self.w3 = nn.Linear(hidden_features, out_features, bias=bias) + + def forward(self, x: Tensor) -> Tensor: + x12 = self.w12(x) + x1, x2 = x12.chunk(2, dim=-1) + hidden = F.silu(x1) * x2 + return self.w3(hidden) + + +XFORMERS_ENABLED = os.environ.get("XFORMERS_DISABLED") is None +try: + if XFORMERS_ENABLED: + from xformers.ops import SwiGLU + + XFORMERS_AVAILABLE = True + # warnings.warn("xFormers is available (SwiGLU)") + else: + # warnings.warn("xFormers is disabled (SwiGLU)") + raise ImportError +except ImportError: + SwiGLU = SwiGLUFFN + XFORMERS_AVAILABLE = False + + # warnings.warn("xFormers is not available (SwiGLU)") + + +class SwiGLUFFNFused(SwiGLU): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = None, + drop: float = 0.0, + bias: bool = True, + ) -> None: + out_features = out_features or in_features + hidden_features = hidden_features or in_features + hidden_features = (int(hidden_features * 2 / 3) + 7) // 8 * 8 + super().__init__( + in_features=in_features, + hidden_features=hidden_features, + out_features=out_features, + bias=bias, + ) diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/__init__.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..3fdff20badbd5244bf79f16bf18dd2cb73982265 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/__init__.py @@ -0,0 +1,43 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import logging + +from . import vision_transformer as vits + + +logger = logging.getLogger("dinov2") + + +def build_model(args, only_teacher=False, img_size=224): + args.arch = args.arch.removesuffix("_memeff") + if "vit" in args.arch: + vit_kwargs = dict( + img_size=img_size, + patch_size=args.patch_size, + init_values=args.layerscale, + ffn_layer=args.ffn_layer, + block_chunks=args.block_chunks, + qkv_bias=args.qkv_bias, + proj_bias=args.proj_bias, + ffn_bias=args.ffn_bias, + num_register_tokens=args.num_register_tokens, + interpolate_offset=args.interpolate_offset, + interpolate_antialias=args.interpolate_antialias, + ) + teacher = vits.__dict__[args.arch](**vit_kwargs) + if only_teacher: + return teacher, teacher.embed_dim + student = vits.__dict__[args.arch]( + **vit_kwargs, + drop_path_rate=args.drop_path_rate, + drop_path_uniform=args.drop_path_uniform, + ) + embed_dim = student.embed_dim + return student, teacher, embed_dim + + +def build_model_from_cfg(cfg, only_teacher=False): + return build_model(cfg.student, only_teacher=only_teacher, img_size=cfg.crops.global_crops_size) diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/__pycache__/__init__.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..960989786b9855ad364982973847142f5e87cfff Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/__pycache__/__init__.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/__pycache__/vision_transformer.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/__pycache__/vision_transformer.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..7ac73494bc21fe0dc596c6d7f2d2e7744ad6fcbd Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/__pycache__/vision_transformer.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/vision_transformer.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/vision_transformer.py new file mode 100644 index 0000000000000000000000000000000000000000..f0bed9d0b7cdcff2b5e129121251c58e41c4c61d --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/models/vision_transformer.py @@ -0,0 +1,407 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/main/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +from functools import partial +import math +import logging +from typing import Sequence, Tuple, Union, Callable, Optional, List + +import torch +import torch.nn as nn +import torch.utils.checkpoint +from torch.nn.init import trunc_normal_ + +from ..layers import Mlp, PatchEmbed, SwiGLUFFNFused, MemEffAttention, NestedTensorBlock as Block + + +logger = logging.getLogger("dinov2") + + +def named_apply(fn: Callable, module: nn.Module, name="", depth_first=True, include_root=False) -> nn.Module: + if not depth_first and include_root: + fn(module=module, name=name) + for child_name, child_module in module.named_children(): + child_name = ".".join((name, child_name)) if name else child_name + named_apply(fn=fn, module=child_module, name=child_name, depth_first=depth_first, include_root=True) + if depth_first and include_root: + fn(module=module, name=name) + return module + + +class BlockChunk(nn.ModuleList): + def forward(self, x): + for b in self: + x = b(x) + return x + + +class DinoVisionTransformer(nn.Module): + def __init__( + self, + img_size=224, + patch_size=16, + in_chans=3, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4.0, + qkv_bias=True, + ffn_bias=True, + proj_bias=True, + drop_path_rate=0.0, + drop_path_uniform=False, + init_values=None, # for layerscale: None or 0 => no layerscale + embed_layer=PatchEmbed, + act_layer=nn.GELU, + block_fn=Block, + ffn_layer="mlp", + block_chunks=1, + num_register_tokens=0, + interpolate_antialias=False, + interpolate_offset=0.1, + ): + """ + Args: + img_size (int, tuple): input image size + patch_size (int, tuple): patch size + in_chans (int): number of input channels + embed_dim (int): embedding dimension + depth (int): depth of transformer + num_heads (int): number of attention heads + mlp_ratio (int): ratio of mlp hidden dim to embedding dim + qkv_bias (bool): enable bias for qkv if True + proj_bias (bool): enable bias for proj in attn if True + ffn_bias (bool): enable bias for ffn if True + drop_path_rate (float): stochastic depth rate + drop_path_uniform (bool): apply uniform drop rate across blocks + weight_init (str): weight init scheme + init_values (float): layer-scale init values + embed_layer (nn.Module): patch embedding layer + act_layer (nn.Module): MLP activation layer + block_fn (nn.Module): transformer block class + ffn_layer (str): "mlp", "swiglu", "swiglufused" or "identity" + block_chunks: (int) split block sequence into block_chunks units for FSDP wrap + num_register_tokens: (int) number of extra cls tokens (so-called "registers") + interpolate_antialias: (str) flag to apply anti-aliasing when interpolating positional embeddings + interpolate_offset: (float) work-around offset to apply when interpolating positional embeddings + """ + super().__init__() + norm_layer = partial(nn.LayerNorm, eps=1e-6) + + self.num_features = self.embed_dim = embed_dim # num_features for consistency with other models + self.num_tokens = 1 + self.n_blocks = depth + self.num_heads = num_heads + self.patch_size = patch_size + self.num_register_tokens = num_register_tokens + self.interpolate_antialias = interpolate_antialias + self.interpolate_offset = interpolate_offset + + self.patch_embed = embed_layer(img_size=img_size, patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim) + num_patches = self.patch_embed.num_patches + + self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) + self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + self.num_tokens, embed_dim)) + assert num_register_tokens >= 0 + self.register_tokens = ( + nn.Parameter(torch.zeros(1, num_register_tokens, embed_dim)) if num_register_tokens else None + ) + + if drop_path_uniform is True: + dpr = [drop_path_rate] * depth + else: + dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule + + if ffn_layer == "mlp": + logger.info("using MLP layer as FFN") + ffn_layer = Mlp + elif ffn_layer == "swiglufused" or ffn_layer == "swiglu": + logger.info("using SwiGLU layer as FFN") + ffn_layer = SwiGLUFFNFused + elif ffn_layer == "identity": + logger.info("using Identity layer as FFN") + + def f(*args, **kwargs): + return nn.Identity() + + ffn_layer = f + else: + raise NotImplementedError + + blocks_list = [ + block_fn( + dim=embed_dim, + num_heads=num_heads, + mlp_ratio=mlp_ratio, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + ffn_bias=ffn_bias, + drop_path=dpr[i], + norm_layer=norm_layer, + act_layer=act_layer, + ffn_layer=ffn_layer, + init_values=init_values, + ) + for i in range(depth) + ] + if block_chunks > 0: + self.chunked_blocks = True + chunked_blocks = [] + chunksize = depth // block_chunks + for i in range(0, depth, chunksize): + # this is to keep the block index consistent if we chunk the block list + chunked_blocks.append([nn.Identity()] * i + blocks_list[i : i + chunksize]) + self.blocks = nn.ModuleList([BlockChunk(p) for p in chunked_blocks]) + else: + self.chunked_blocks = False + self.blocks = nn.ModuleList(blocks_list) + + self.norm = norm_layer(embed_dim) + self.head = nn.Identity() + + self.mask_token = nn.Parameter(torch.zeros(1, embed_dim)) + + self.init_weights() + + @property + def onnx_compatible_mode(self): + return getattr(self, "_onnx_compatible_mode", False) + + @onnx_compatible_mode.setter + def onnx_compatible_mode(self, value: bool): + self._onnx_compatible_mode = value + + def init_weights(self): + trunc_normal_(self.pos_embed, std=0.02) + nn.init.normal_(self.cls_token, std=1e-6) + if self.register_tokens is not None: + nn.init.normal_(self.register_tokens, std=1e-6) + named_apply(init_weights_vit_timm, self) + + def interpolate_pos_encoding(self, x, h, w): + previous_dtype = x.dtype + npatch = x.shape[1] - 1 + batch_size = x.shape[0] + N = self.pos_embed.shape[1] - 1 + if not self.onnx_compatible_mode and npatch == N and w == h: + return self.pos_embed + pos_embed = self.pos_embed.float() + class_pos_embed = pos_embed[:, 0, :] + patch_pos_embed = pos_embed[:, 1:, :] + dim = x.shape[-1] + h0, w0 = h // self.patch_size, w // self.patch_size + M = int(math.sqrt(N)) # Recover the number of patches in each dimension + assert N == M * M + kwargs = {} + if not self.onnx_compatible_mode and self.interpolate_offset > 0: + # Historical kludge: add a small number to avoid floating point error in the interpolation, see https://github.com/facebookresearch/dino/issues/8 + # Note: still needed for backward-compatibility, the underlying operators are using both output size and scale factors + sx = float(w0 + self.interpolate_offset) / M + sy = float(h0 + self.interpolate_offset) / M + kwargs["scale_factor"] = (sy, sx) + else: + # Simply specify an output size instead of a scale factor + kwargs["size"] = (h0, w0) + + patch_pos_embed = nn.functional.interpolate( + patch_pos_embed.reshape(1, M, M, dim).permute(0, 3, 1, 2), + mode="bicubic", + antialias=self.interpolate_antialias, + **kwargs, + ) + + assert (h0, w0) == patch_pos_embed.shape[-2:] + patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).flatten(1, 2) + return torch.cat((class_pos_embed[:, None, :].expand(patch_pos_embed.shape[0], -1, -1), patch_pos_embed), dim=1).to(previous_dtype) + + def prepare_tokens_with_masks(self, x, masks=None): + B, nc, h, w = x.shape + x = self.patch_embed(x) + + if masks is not None: + x = torch.where(masks.unsqueeze(-1), self.mask_token.to(x.dtype).unsqueeze(0), x) + + x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1) + x = x + self.interpolate_pos_encoding(x, h, w) + + if self.register_tokens is not None: + x = torch.cat( + ( + x[:, :1], + self.register_tokens.expand(x.shape[0], -1, -1), + x[:, 1:], + ), + dim=1, + ) + + return x + + def forward_features_list(self, x_list, masks_list): + x = [self.prepare_tokens_with_masks(x, masks) for x, masks, ar in zip(x_list, masks_list)] + for blk in self.blocks: + x = blk(x) + + all_x = x + output = [] + for x, masks in zip(all_x, masks_list): + x_norm = self.norm(x) + output.append( + { + "x_norm_clstoken": x_norm[:, 0], + "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], + "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], + "x_prenorm": x, + "masks": masks, + } + ) + return output + + def forward_features(self, x, masks=None): + if isinstance(x, list): + return self.forward_features_list(x, masks) + + x = self.prepare_tokens_with_masks(x, masks) + + for blk in self.blocks: + x = blk(x) + + x_norm = self.norm(x) + return { + "x_norm_clstoken": x_norm[:, 0], + "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], + "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], + "x_prenorm": x, + "masks": masks, + } + + def _get_intermediate_layers_not_chunked(self, x, n=1): + x = self.prepare_tokens_with_masks(x) + # If n is an int, take the n last blocks. If it's a list, take them + output, total_block_len = [], len(self.blocks) + blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n + for i, blk in enumerate(self.blocks): + x = blk(x) + if i in blocks_to_take: + output.append(x) + assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" + return output + + def _get_intermediate_layers_chunked(self, x, n=1): + x = self.prepare_tokens_with_masks(x) + output, i, total_block_len = [], 0, len(self.blocks[-1]) + # If n is an int, take the n last blocks. If it's a list, take them + blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n + for block_chunk in self.blocks: + for blk in block_chunk[i:]: # Passing the nn.Identity() + x = blk(x) + if i in blocks_to_take: + output.append(x) + i += 1 + assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" + return output + + def get_intermediate_layers( + self, + x: torch.Tensor, + n: Union[int, Sequence] = 1, # Layers or n last layers to take + reshape: bool = False, + return_class_token: bool = False, + norm=True, + ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]]]: + if self.chunked_blocks: + outputs = self._get_intermediate_layers_chunked(x, n) + else: + outputs = self._get_intermediate_layers_not_chunked(x, n) + if norm: + outputs = [self.norm(out) for out in outputs] + class_tokens = [out[:, 0] for out in outputs] + outputs = [out[:, 1 + self.num_register_tokens :] for out in outputs] + if reshape: + B, _, w, h = x.shape + outputs = [ + out.reshape(B, w // self.patch_size, h // self.patch_size, -1).permute(0, 3, 1, 2).contiguous() + for out in outputs + ] + if return_class_token: + return tuple(zip(outputs, class_tokens)) + return tuple(outputs) + + def forward(self, *args, is_training=False, **kwargs): + ret = self.forward_features(*args, **kwargs) + if is_training: + return ret + else: + return self.head(ret["x_norm_clstoken"]) + + +def init_weights_vit_timm(module: nn.Module, name: str = ""): + """ViT weight initialization, original timm impl (for reproducibility)""" + if isinstance(module, nn.Linear): + trunc_normal_(module.weight, std=0.02) + if module.bias is not None: + nn.init.zeros_(module.bias) + + +def vit_small(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=384, + depth=12, + num_heads=6, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_base(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_large(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=1024, + depth=24, + num_heads=16, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_giant2(patch_size=16, num_register_tokens=0, **kwargs): + """ + Close to ViT-giant, with embed-dim 1536 and 24 heads => embed-dim per head 64 + """ + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=1536, + depth=40, + num_heads=24, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/__init__.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..b88da6bf80be92af00b72dfdb0a806fa64a7a2d9 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/__init__.py @@ -0,0 +1,4 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/cluster.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/cluster.py new file mode 100644 index 0000000000000000000000000000000000000000..3df87dc3e1eb4f0f8a280dc3137cfef031886314 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/cluster.py @@ -0,0 +1,95 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +from enum import Enum +import os +from pathlib import Path +from typing import Any, Dict, Optional + + +class ClusterType(Enum): + AWS = "aws" + FAIR = "fair" + RSC = "rsc" + + +def _guess_cluster_type() -> ClusterType: + uname = os.uname() + if uname.sysname == "Linux": + if uname.release.endswith("-aws"): + # Linux kernel versions on AWS instances are of the form "5.4.0-1051-aws" + return ClusterType.AWS + elif uname.nodename.startswith("rsc"): + # Linux kernel versions on RSC instances are standard ones but hostnames start with "rsc" + return ClusterType.RSC + + return ClusterType.FAIR + + +def get_cluster_type(cluster_type: Optional[ClusterType] = None) -> Optional[ClusterType]: + if cluster_type is None: + return _guess_cluster_type() + + return cluster_type + + +def get_checkpoint_path(cluster_type: Optional[ClusterType] = None) -> Optional[Path]: + cluster_type = get_cluster_type(cluster_type) + if cluster_type is None: + return None + + CHECKPOINT_DIRNAMES = { + ClusterType.AWS: "checkpoints", + ClusterType.FAIR: "checkpoint", + ClusterType.RSC: "checkpoint/dino", + } + return Path("/") / CHECKPOINT_DIRNAMES[cluster_type] + + +def get_user_checkpoint_path(cluster_type: Optional[ClusterType] = None) -> Optional[Path]: + checkpoint_path = get_checkpoint_path(cluster_type) + if checkpoint_path is None: + return None + + username = os.environ.get("USER") + assert username is not None + return checkpoint_path / username + + +def get_slurm_partition(cluster_type: Optional[ClusterType] = None) -> Optional[str]: + cluster_type = get_cluster_type(cluster_type) + if cluster_type is None: + return None + + SLURM_PARTITIONS = { + ClusterType.AWS: "learnlab", + ClusterType.FAIR: "learnlab", + ClusterType.RSC: "learn", + } + return SLURM_PARTITIONS[cluster_type] + + +def get_slurm_executor_parameters( + nodes: int, num_gpus_per_node: int, cluster_type: Optional[ClusterType] = None, **kwargs +) -> Dict[str, Any]: + # create default parameters + params = { + "mem_gb": 0, # Requests all memory on a node, see https://slurm.schedmd.com/sbatch.html + "gpus_per_node": num_gpus_per_node, + "tasks_per_node": num_gpus_per_node, # one task per GPU + "cpus_per_task": 10, + "nodes": nodes, + "slurm_partition": get_slurm_partition(cluster_type), + } + # apply cluster-specific adjustments + cluster_type = get_cluster_type(cluster_type) + if cluster_type == ClusterType.AWS: + params["cpus_per_task"] = 12 + del params["mem_gb"] + elif cluster_type == ClusterType.RSC: + params["cpus_per_task"] = 12 + # set additional parameters / apply overrides + params.update(kwargs) + return params diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/config.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/config.py new file mode 100644 index 0000000000000000000000000000000000000000..c9de578787bbcb376f8bd5a782206d0eb7ec1f52 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/config.py @@ -0,0 +1,72 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import math +import logging +import os + +from omegaconf import OmegaConf + +import dinov2.distributed as distributed +from dinov2.logging import setup_logging +from dinov2.utils import utils +from dinov2.configs import dinov2_default_config + + +logger = logging.getLogger("dinov2") + + +def apply_scaling_rules_to_cfg(cfg): # to fix + if cfg.optim.scaling_rule == "sqrt_wrt_1024": + base_lr = cfg.optim.base_lr + cfg.optim.lr = base_lr + cfg.optim.lr *= math.sqrt(cfg.train.batch_size_per_gpu * distributed.get_global_size() / 1024.0) + logger.info(f"sqrt scaling learning rate; base: {base_lr}, new: {cfg.optim.lr}") + else: + raise NotImplementedError + return cfg + + +def write_config(cfg, output_dir, name="config.yaml"): + logger.info(OmegaConf.to_yaml(cfg)) + saved_cfg_path = os.path.join(output_dir, name) + with open(saved_cfg_path, "w") as f: + OmegaConf.save(config=cfg, f=f) + return saved_cfg_path + + +def get_cfg_from_args(args): + args.output_dir = os.path.abspath(args.output_dir) + args.opts += [f"train.output_dir={args.output_dir}"] + default_cfg = OmegaConf.create(dinov2_default_config) + cfg = OmegaConf.load(args.config_file) + cfg = OmegaConf.merge(default_cfg, cfg, OmegaConf.from_cli(args.opts)) + return cfg + + +def default_setup(args): + distributed.enable(overwrite=True) + seed = getattr(args, "seed", 0) + rank = distributed.get_global_rank() + + global logger + setup_logging(output=args.output_dir, level=logging.INFO) + logger = logging.getLogger("dinov2") + + utils.fix_random_seeds(seed + rank) + logger.info("git:\n {}\n".format(utils.get_sha())) + logger.info("\n".join("%s: %s" % (k, str(v)) for k, v in sorted(dict(vars(args)).items()))) + + +def setup(args): + """ + Create configs and perform basic setups. + """ + cfg = get_cfg_from_args(args) + os.makedirs(args.output_dir, exist_ok=True) + default_setup(args) + apply_scaling_rules_to_cfg(cfg) + write_config(cfg, args.output_dir) + return cfg diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/dtype.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/dtype.py new file mode 100644 index 0000000000000000000000000000000000000000..80f4cd74d99faa2731dbe9f8d3a13d71b3f8e3a8 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/dtype.py @@ -0,0 +1,37 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + + +from typing import Dict, Union + +import numpy as np +import torch + + +TypeSpec = Union[str, np.dtype, torch.dtype] + + +_NUMPY_TO_TORCH_DTYPE: Dict[np.dtype, torch.dtype] = { + np.dtype("bool"): torch.bool, + np.dtype("uint8"): torch.uint8, + np.dtype("int8"): torch.int8, + np.dtype("int16"): torch.int16, + np.dtype("int32"): torch.int32, + np.dtype("int64"): torch.int64, + np.dtype("float16"): torch.float16, + np.dtype("float32"): torch.float32, + np.dtype("float64"): torch.float64, + np.dtype("complex64"): torch.complex64, + np.dtype("complex128"): torch.complex128, +} + + +def as_torch_dtype(dtype: TypeSpec) -> torch.dtype: + if isinstance(dtype, torch.dtype): + return dtype + if isinstance(dtype, str): + dtype = np.dtype(dtype) + assert isinstance(dtype, np.dtype), f"Expected an instance of nunpy dtype, got {type(dtype)}" + return _NUMPY_TO_TORCH_DTYPE[dtype] diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/param_groups.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/param_groups.py new file mode 100644 index 0000000000000000000000000000000000000000..9a5d2ff627cddadc222e5f836864ee39c865208f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/param_groups.py @@ -0,0 +1,103 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +from collections import defaultdict +import logging + + +logger = logging.getLogger("dinov2") + + +def get_vit_lr_decay_rate(name, lr_decay_rate=1.0, num_layers=12, force_is_backbone=False, chunked_blocks=False): + """ + Calculate lr decay rate for different ViT blocks. + Args: + name (string): parameter name. + lr_decay_rate (float): base lr decay rate. + num_layers (int): number of ViT blocks. + Returns: + lr decay rate for the given parameter. + """ + layer_id = num_layers + 1 + if name.startswith("backbone") or force_is_backbone: + if ( + ".pos_embed" in name + or ".patch_embed" in name + or ".mask_token" in name + or ".cls_token" in name + or ".register_tokens" in name + ): + layer_id = 0 + elif force_is_backbone and ( + "pos_embed" in name + or "patch_embed" in name + or "mask_token" in name + or "cls_token" in name + or "register_tokens" in name + ): + layer_id = 0 + elif ".blocks." in name and ".residual." not in name: + layer_id = int(name[name.find(".blocks.") :].split(".")[2]) + 1 + elif chunked_blocks and "blocks." in name and "residual." not in name: + layer_id = int(name[name.find("blocks.") :].split(".")[2]) + 1 + elif "blocks." in name and "residual." not in name: + layer_id = int(name[name.find("blocks.") :].split(".")[1]) + 1 + + return lr_decay_rate ** (num_layers + 1 - layer_id) + + +def get_params_groups_with_decay(model, lr_decay_rate=1.0, patch_embed_lr_mult=1.0): + chunked_blocks = False + if hasattr(model, "n_blocks"): + logger.info("chunked fsdp") + n_blocks = model.n_blocks + chunked_blocks = model.chunked_blocks + elif hasattr(model, "blocks"): + logger.info("first code branch") + n_blocks = len(model.blocks) + elif hasattr(model, "backbone"): + logger.info("second code branch") + n_blocks = len(model.backbone.blocks) + else: + logger.info("else code branch") + n_blocks = 0 + all_param_groups = [] + + for name, param in model.named_parameters(): + name = name.replace("_fsdp_wrapped_module.", "") + if not param.requires_grad: + continue + decay_rate = get_vit_lr_decay_rate( + name, lr_decay_rate, num_layers=n_blocks, force_is_backbone=n_blocks > 0, chunked_blocks=chunked_blocks + ) + d = {"params": param, "is_last_layer": False, "lr_multiplier": decay_rate, "wd_multiplier": 1.0, "name": name} + + if "last_layer" in name: + d.update({"is_last_layer": True}) + + if name.endswith(".bias") or "norm" in name or "gamma" in name: + d.update({"wd_multiplier": 0.0}) + + if "patch_embed" in name: + d.update({"lr_multiplier": d["lr_multiplier"] * patch_embed_lr_mult}) + + all_param_groups.append(d) + logger.info(f"""{name}: lr_multiplier: {d["lr_multiplier"]}, wd_multiplier: {d["wd_multiplier"]}""") + + return all_param_groups + + +def fuse_params_groups(all_params_groups, keys=("lr_multiplier", "wd_multiplier", "is_last_layer")): + fused_params_groups = defaultdict(lambda: {"params": []}) + for d in all_params_groups: + identifier = "" + for k in keys: + identifier += k + str(d[k]) + "_" + + for k in keys: + fused_params_groups[identifier][k] = d[k] + fused_params_groups[identifier]["params"].append(d["params"]) + + return fused_params_groups.values() diff --git a/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/utils.py b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..68f8e2c3be5f780bbb7e00359b5ac4fd0ba0785f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/dinov2/utils/utils.py @@ -0,0 +1,95 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import logging +import os +import random +import subprocess +from urllib.parse import urlparse + +import numpy as np +import torch +from torch import nn + + +logger = logging.getLogger("dinov2") + + +def load_pretrained_weights(model, pretrained_weights, checkpoint_key): + if urlparse(pretrained_weights).scheme: # If it looks like an URL + state_dict = torch.hub.load_state_dict_from_url(pretrained_weights, map_location="cpu") + else: + state_dict = torch.load(pretrained_weights, map_location="cpu") + if checkpoint_key is not None and checkpoint_key in state_dict: + logger.info(f"Take key {checkpoint_key} in provided checkpoint dict") + state_dict = state_dict[checkpoint_key] + # remove `module.` prefix + state_dict = {k.replace("module.", ""): v for k, v in state_dict.items()} + # remove `backbone.` prefix induced by multicrop wrapper + state_dict = {k.replace("backbone.", ""): v for k, v in state_dict.items()} + msg = model.load_state_dict(state_dict, strict=False) + logger.info("Pretrained weights found at {} and loaded with msg: {}".format(pretrained_weights, msg)) + + +def fix_random_seeds(seed=31): + """ + Fix random seeds. + """ + torch.manual_seed(seed) + torch.cuda.manual_seed_all(seed) + np.random.seed(seed) + random.seed(seed) + + +def get_sha(): + cwd = os.path.dirname(os.path.abspath(__file__)) + + def _run(command): + return subprocess.check_output(command, cwd=cwd).decode("ascii").strip() + + sha = "N/A" + diff = "clean" + branch = "N/A" + try: + sha = _run(["git", "rev-parse", "HEAD"]) + subprocess.check_output(["git", "diff"], cwd=cwd) + diff = _run(["git", "diff-index", "HEAD"]) + diff = "has uncommitted changes" if diff else "clean" + branch = _run(["git", "rev-parse", "--abbrev-ref", "HEAD"]) + except Exception: + pass + message = f"sha: {sha}, status: {diff}, branch: {branch}" + return message + + +class CosineScheduler(object): + def __init__(self, base_value, final_value, total_iters, warmup_iters=0, start_warmup_value=0, freeze_iters=0): + super().__init__() + self.final_value = final_value + self.total_iters = total_iters + + freeze_schedule = np.zeros((freeze_iters)) + + warmup_schedule = np.linspace(start_warmup_value, base_value, warmup_iters) + + iters = np.arange(total_iters - warmup_iters - freeze_iters) + schedule = final_value + 0.5 * (base_value - final_value) * (1 + np.cos(np.pi * iters / len(iters))) + self.schedule = np.concatenate((freeze_schedule, warmup_schedule, schedule)) + + assert len(self.schedule) == self.total_iters + + def __getitem__(self, it): + if it >= self.total_iters: + return self.final_value + else: + return self.schedule[it] + + +def has_batchnorms(model): + bn_types = (nn.BatchNorm1d, nn.BatchNorm2d, nn.BatchNorm3d, nn.SyncBatchNorm) + for name, module in model.named_modules(): + if isinstance(module, bn_types): + return True + return False diff --git a/Pixel-Perfect-Depth/ppd/moge/model/modules.py b/Pixel-Perfect-Depth/ppd/moge/model/modules.py new file mode 100644 index 0000000000000000000000000000000000000000..b36ad48d40a8715da375eb15c74416f34f4f9c04 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/modules.py @@ -0,0 +1,254 @@ +from typing import * +from numbers import Number +import importlib +import itertools +import functools +import sys + +import torch +from torch import Tensor +import torch.nn as nn +import torch.nn.functional as F + +from .dinov2.models.vision_transformer import DinoVisionTransformer +from .utils import wrap_dinov2_attention_with_sdpa, wrap_module_with_gradient_checkpointing, unwrap_module_with_gradient_checkpointing +from ..utils.geometry_torch import normalized_view_plane_uv + + +class ResidualConvBlock(nn.Module): + def __init__( + self, + in_channels: int, + out_channels: int = None, + hidden_channels: int = None, + kernel_size: int = 3, + padding_mode: str = 'replicate', + activation: Literal['relu', 'leaky_relu', 'silu', 'elu'] = 'relu', + in_norm: Literal['group_norm', 'layer_norm', 'instance_norm', 'none'] = 'layer_norm', + hidden_norm: Literal['group_norm', 'layer_norm', 'instance_norm'] = 'group_norm', + ): + super(ResidualConvBlock, self).__init__() + if out_channels is None: + out_channels = in_channels + if hidden_channels is None: + hidden_channels = in_channels + + if activation =='relu': + activation_cls = nn.ReLU + elif activation == 'leaky_relu': + activation_cls = functools.partial(nn.LeakyReLU, negative_slope=0.2) + elif activation =='silu': + activation_cls = nn.SiLU + elif activation == 'elu': + activation_cls = nn.ELU + else: + raise ValueError(f'Unsupported activation function: {activation}') + + self.layers = nn.Sequential( + nn.GroupNorm(in_channels // 32, in_channels) if in_norm == 'group_norm' else \ + nn.GroupNorm(1, in_channels) if in_norm == 'layer_norm' else \ + nn.InstanceNorm2d(in_channels) if in_norm == 'instance_norm' else \ + nn.Identity(), + activation_cls(), + nn.Conv2d(in_channels, hidden_channels, kernel_size=kernel_size, padding=kernel_size // 2, padding_mode=padding_mode), + nn.GroupNorm(hidden_channels // 32, hidden_channels) if hidden_norm == 'group_norm' else \ + nn.GroupNorm(1, hidden_channels) if hidden_norm == 'layer_norm' else \ + nn.InstanceNorm2d(hidden_channels) if hidden_norm == 'instance_norm' else\ + nn.Identity(), + activation_cls(), + nn.Conv2d(hidden_channels, out_channels, kernel_size=kernel_size, padding=kernel_size // 2, padding_mode=padding_mode) + ) + + self.skip_connection = nn.Conv2d(in_channels, out_channels, kernel_size=1, padding=0) if in_channels != out_channels else nn.Identity() + + def forward(self, x): + skip = self.skip_connection(x) + x = self.layers(x) + x = x + skip + return x + + +class DINOv2Encoder(nn.Module): + "Wrapped DINOv2 encoder supporting gradient checkpointing. Input is RGB image in range [0, 1]." + backbone: DinoVisionTransformer + image_mean: torch.Tensor + image_std: torch.Tensor + dim_features: int + + def __init__(self, backbone: str, intermediate_layers: Union[int, List[int]], dim_out: int, **deprecated_kwargs): + super(DINOv2Encoder, self).__init__() + + self.intermediate_layers = intermediate_layers + + # Load the backbone + self.hub_loader = getattr(importlib.import_module(".dinov2.hub.backbones", __package__), backbone) + self.backbone_name = backbone + self.backbone = self.hub_loader(pretrained=False) + + self.dim_features = self.backbone.blocks[0].attn.qkv.in_features + self.num_features = intermediate_layers if isinstance(intermediate_layers, int) else len(intermediate_layers) + + self.output_projections = nn.ModuleList([ + nn.Conv2d(in_channels=self.dim_features, out_channels=dim_out, kernel_size=1, stride=1, padding=0,) + for _ in range(self.num_features) + ]) + + self.register_buffer("image_mean", torch.tensor([0.485, 0.456, 0.406]).view(1, 3, 1, 1)) + self.register_buffer("image_std", torch.tensor([0.229, 0.224, 0.225]).view(1, 3, 1, 1)) + + @property + def onnx_compatible_mode(self): + return getattr(self, "_onnx_compatible_mode", False) + + @onnx_compatible_mode.setter + def onnx_compatible_mode(self, value: bool): + self._onnx_compatible_mode = value + self.backbone.onnx_compatible_mode = value + + def init_weights(self): + pretrained_backbone_state_dict = self.hub_loader(pretrained=True).state_dict() + self.backbone.load_state_dict(pretrained_backbone_state_dict) + + def enable_gradient_checkpointing(self): + for i in range(len(self.backbone.blocks)): + wrap_module_with_gradient_checkpointing(self.backbone.blocks[i]) + + def enable_pytorch_native_sdpa(self): + for i in range(len(self.backbone.blocks)): + wrap_dinov2_attention_with_sdpa(self.backbone.blocks[i].attn) + + def forward(self, image: torch.Tensor, token_rows: Union[int, torch.LongTensor], token_cols: Union[int, torch.LongTensor], return_class_token: bool = False) -> Tuple[torch.Tensor, torch.Tensor]: + image_14 = F.interpolate(image, (token_rows * 14, token_cols * 14), mode="bilinear", align_corners=False, antialias=not self.onnx_compatible_mode) + image_14 = (image_14 - self.image_mean) / self.image_std + + # Get intermediate layers from the backbone + features = self.backbone.get_intermediate_layers(image_14, n=self.intermediate_layers, return_class_token=True) + + # Project features to the desired dimensionality + x = torch.stack([ + proj(feat.permute(0, 2, 1).unflatten(2, (token_rows, token_cols)).contiguous()) + for proj, (feat, clstoken) in zip(self.output_projections, features) + ], dim=1).sum(dim=1) + + if return_class_token: + return x, features[-1][1] + else: + return x + + +class Resampler(nn.Sequential): + def __init__(self, + in_channels: int, + out_channels: int, + type_: Literal['pixel_shuffle', 'nearest', 'bilinear', 'conv_transpose', 'pixel_unshuffle', 'avg_pool', 'max_pool'], + scale_factor: int = 2, + ): + if type_ == 'pixel_shuffle': + nn.Sequential.__init__(self, + nn.Conv2d(in_channels, out_channels * (scale_factor ** 2), kernel_size=3, stride=1, padding=1, padding_mode='replicate'), + nn.PixelShuffle(scale_factor), + nn.Conv2d(out_channels, out_channels, kernel_size=3, stride=1, padding=1, padding_mode='replicate') + ) + for i in range(1, scale_factor ** 2): + self[0].weight.data[i::scale_factor ** 2] = self[0].weight.data[0::scale_factor ** 2] + self[0].bias.data[i::scale_factor ** 2] = self[0].bias.data[0::scale_factor ** 2] + elif type_ in ['nearest', 'bilinear']: + nn.Sequential.__init__(self, + nn.Upsample(scale_factor=scale_factor, mode=type_, align_corners=False if type_ == 'bilinear' else None), + nn.Conv2d(in_channels, out_channels, kernel_size=3, stride=1, padding=1, padding_mode='replicate') + ) + elif type_ == 'conv_transpose': + nn.Sequential.__init__(self, + nn.ConvTranspose2d(in_channels, out_channels, kernel_size=scale_factor, stride=scale_factor), + nn.Conv2d(out_channels, out_channels, kernel_size=3, stride=1, padding=1, padding_mode='replicate') + ) + self[0].weight.data[:] = self[0].weight.data[:, :, :1, :1] + elif type_ == 'pixel_unshuffle': + nn.Sequential.__init__(self, + nn.PixelUnshuffle(scale_factor), + nn.Conv2d(in_channels * (scale_factor ** 2), out_channels, kernel_size=3, stride=1, padding=1, padding_mode='replicate') + ) + elif type_ == 'avg_pool': + nn.Sequential.__init__(self, + nn.Conv2d(in_channels, out_channels, kernel_size=3, stride=1, padding=1, padding_mode='replicate'), + nn.AvgPool2d(kernel_size=scale_factor, stride=scale_factor), + ) + elif type_ == 'max_pool': + nn.Sequential.__init__(self, + nn.Conv2d(in_channels, out_channels, kernel_size=3, stride=1, padding=1, padding_mode='replicate'), + nn.MaxPool2d(kernel_size=scale_factor, stride=scale_factor), + ) + else: + raise ValueError(f'Unsupported resampler type: {type_}') + +class MLP(nn.Sequential): + def __init__(self, dims: Sequence[int]): + nn.Sequential.__init__(self, + *itertools.chain(*[ + (nn.Linear(dim_in, dim_out), nn.ReLU(inplace=True)) + for dim_in, dim_out in zip(dims[:-2], dims[1:-1]) + ]), + nn.Linear(dims[-2], dims[-1]), + ) + + +class ConvStack(nn.Module): + def __init__(self, + dim_in: List[Optional[int]], + dim_res_blocks: List[int], + dim_out: List[Optional[int]], + resamplers: Union[Literal['pixel_shuffle', 'nearest', 'bilinear', 'conv_transpose', 'pixel_unshuffle', 'avg_pool', 'max_pool'], List], + dim_times_res_block_hidden: int = 1, + num_res_blocks: int = 1, + res_block_in_norm: Literal['layer_norm', 'group_norm' , 'instance_norm', 'none'] = 'layer_norm', + res_block_hidden_norm: Literal['layer_norm', 'group_norm' , 'instance_norm', 'none'] = 'group_norm', + activation: Literal['relu', 'leaky_relu', 'silu', 'elu'] = 'relu', + ): + super().__init__() + self.input_blocks = nn.ModuleList([ + nn.Conv2d(dim_in_, dim_res_block_, kernel_size=1, stride=1, padding=0) if dim_in_ is not None else nn.Identity() + for dim_in_, dim_res_block_ in zip(dim_in if isinstance(dim_in, Sequence) else itertools.repeat(dim_in), dim_res_blocks) + ]) + self.resamplers = nn.ModuleList([ + Resampler(dim_prev, dim_succ, scale_factor=2, type_=resampler) + for i, (dim_prev, dim_succ, resampler) in enumerate(zip( + dim_res_blocks[:-1], + dim_res_blocks[1:], + resamplers if isinstance(resamplers, Sequence) else itertools.repeat(resamplers) + )) + ]) + self.res_blocks = nn.ModuleList([ + nn.Sequential( + *( + ResidualConvBlock( + dim_res_block_, dim_res_block_, dim_times_res_block_hidden * dim_res_block_, + activation=activation, in_norm=res_block_in_norm, hidden_norm=res_block_hidden_norm + ) for _ in range(num_res_blocks[i] if isinstance(num_res_blocks, list) else num_res_blocks) + ) + ) for i, dim_res_block_ in enumerate(dim_res_blocks) + ]) + self.output_blocks = nn.ModuleList([ + nn.Conv2d(dim_res_block_, dim_out_, kernel_size=1, stride=1, padding=0) if dim_out_ is not None else nn.Identity() + for dim_out_, dim_res_block_ in zip(dim_out if isinstance(dim_out, Sequence) else itertools.repeat(dim_out), dim_res_blocks) + ]) + + def enable_gradient_checkpointing(self): + for i in range(len(self.resamplers)): + self.resamplers[i] = wrap_module_with_gradient_checkpointing(self.resamplers[i]) + for i in range(len(self.res_blocks)): + for j in range(len(self.res_blocks[i])): + self.res_blocks[i][j] = wrap_module_with_gradient_checkpointing(self.res_blocks[i][j]) + + def forward(self, in_features: List[torch.Tensor]): + out_features = [] + for i in range(len(self.res_blocks)): + feature = self.input_blocks[i](in_features[i]) + if i == 0: + x = feature + elif feature is not None: + x = x + feature + x = self.res_blocks[i](x) + out_features.append(self.output_blocks[i](x)) + if i < len(self.res_blocks) - 1: + x = self.resamplers[i](x) + return out_features diff --git a/Pixel-Perfect-Depth/ppd/moge/model/utils.py b/Pixel-Perfect-Depth/ppd/moge/model/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..c50761d8740d9d0a0284e129503b8931c6fe08c4 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/utils.py @@ -0,0 +1,49 @@ +from typing import * + +import torch +import torch.nn as nn +import torch.nn.functional as F + +def wrap_module_with_gradient_checkpointing(module: nn.Module): + from torch.utils.checkpoint import checkpoint + class _CheckpointingWrapper(module.__class__): + _restore_cls = module.__class__ + def forward(self, *args, **kwargs): + return checkpoint(super().forward, *args, use_reentrant=False, **kwargs) + + module.__class__ = _CheckpointingWrapper + return module + + +def unwrap_module_with_gradient_checkpointing(module: nn.Module): + module.__class__ = module.__class__._restore_cls + + +def wrap_dinov2_attention_with_sdpa(module: nn.Module): + assert torch.__version__ >= '2.0', "SDPA requires PyTorch 2.0 or later" + class _AttentionWrapper(module.__class__): + def forward(self, x: torch.Tensor, attn_bias=None) -> torch.Tensor: + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) # (3, B, H, N, C // H) + + q, k, v = torch.unbind(qkv, 0) # (B, H, N, C // H) + + x = F.scaled_dot_product_attention(q, k, v, attn_bias) + x = x.permute(0, 2, 1, 3).reshape(B, N, C) + + x = self.proj(x) + x = self.proj_drop(x) + return x + module.__class__ = _AttentionWrapper + return module + + +def sync_ddp_hook(state, bucket: torch.distributed.GradBucket) -> torch.futures.Future[torch.Tensor]: + group_to_use = torch.distributed.group.WORLD + world_size = group_to_use.size() + grad = bucket.buffer() + grad.div_(world_size) + torch.distributed.all_reduce(grad, group=group_to_use) + fut = torch.futures.Future() + fut.set_result(grad) + return fut diff --git a/Pixel-Perfect-Depth/ppd/moge/model/v1.py b/Pixel-Perfect-Depth/ppd/moge/model/v1.py new file mode 100644 index 0000000000000000000000000000000000000000..1c14cc7ab3e03e9eed310fd547fc85d9e2a6ad9e --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/v1.py @@ -0,0 +1,392 @@ +from typing import * +from numbers import Number +from functools import partial +from pathlib import Path +import importlib +import warnings +import json + +import torch +import torch.nn as nn +import torch.nn.functional as F +import torch.utils +import torch.utils.checkpoint +import torch.version +import utils3d +from huggingface_hub import hf_hub_download + + +from ..utils.geometry_torch import normalized_view_plane_uv, recover_focal_shift, gaussian_blur_2d, dilate_with_mask +from .utils import wrap_dinov2_attention_with_sdpa, wrap_module_with_gradient_checkpointing, unwrap_module_with_gradient_checkpointing +from ..utils.tools import timeit + + +class ResidualConvBlock(nn.Module): + def __init__(self, in_channels: int, out_channels: int = None, hidden_channels: int = None, padding_mode: str = 'replicate', activation: Literal['relu', 'leaky_relu', 'silu', 'elu'] = 'relu', norm: Literal['group_norm', 'layer_norm'] = 'group_norm'): + super(ResidualConvBlock, self).__init__() + if out_channels is None: + out_channels = in_channels + if hidden_channels is None: + hidden_channels = in_channels + + if activation =='relu': + activation_cls = lambda: nn.ReLU(inplace=True) + elif activation == 'leaky_relu': + activation_cls = lambda: nn.LeakyReLU(negative_slope=0.2, inplace=True) + elif activation =='silu': + activation_cls = lambda: nn.SiLU(inplace=True) + elif activation == 'elu': + activation_cls = lambda: nn.ELU(inplace=True) + else: + raise ValueError(f'Unsupported activation function: {activation}') + + self.layers = nn.Sequential( + nn.GroupNorm(1, in_channels), + activation_cls(), + nn.Conv2d(in_channels, hidden_channels, kernel_size=3, padding=1, padding_mode=padding_mode), + nn.GroupNorm(hidden_channels // 32 if norm == 'group_norm' else 1, hidden_channels), + activation_cls(), + nn.Conv2d(hidden_channels, out_channels, kernel_size=3, padding=1, padding_mode=padding_mode) + ) + + self.skip_connection = nn.Conv2d(in_channels, out_channels, kernel_size=1, padding=0) if in_channels != out_channels else nn.Identity() + + def forward(self, x): + skip = self.skip_connection(x) + x = self.layers(x) + x = x + skip + return x + + +class Head(nn.Module): + def __init__( + self, + num_features: int, + dim_in: int, + dim_out: List[int], + dim_proj: int = 512, + dim_upsample: List[int] = [256, 128, 128], + dim_times_res_block_hidden: int = 1, + num_res_blocks: int = 1, + res_block_norm: Literal['group_norm', 'layer_norm'] = 'group_norm', + last_res_blocks: int = 0, + last_conv_channels: int = 32, + last_conv_size: int = 1 + ): + super().__init__() + + self.projects = nn.ModuleList([ + nn.Conv2d(in_channels=dim_in, out_channels=dim_proj, kernel_size=1, stride=1, padding=0,) for _ in range(num_features) + ]) + + self.upsample_blocks = nn.ModuleList([ + nn.Sequential( + self._make_upsampler(in_ch + 2, out_ch), + *(ResidualConvBlock(out_ch, out_ch, dim_times_res_block_hidden * out_ch, activation="relu", norm=res_block_norm) for _ in range(num_res_blocks)) + ) for in_ch, out_ch in zip([dim_proj] + dim_upsample[:-1], dim_upsample) + ]) + + self.output_block = nn.ModuleList([ + self._make_output_block( + dim_upsample[-1] + 2, dim_out_, dim_times_res_block_hidden, last_res_blocks, last_conv_channels, last_conv_size, res_block_norm, + ) for dim_out_ in dim_out + ]) + + def _make_upsampler(self, in_channels: int, out_channels: int): + upsampler = nn.Sequential( + nn.ConvTranspose2d(in_channels, out_channels, kernel_size=2, stride=2), + nn.Conv2d(out_channels, out_channels, kernel_size=3, stride=1, padding=1, padding_mode='replicate') + ) + upsampler[0].weight.data[:] = upsampler[0].weight.data[:, :, :1, :1] + return upsampler + + def _make_output_block(self, dim_in: int, dim_out: int, dim_times_res_block_hidden: int, last_res_blocks: int, last_conv_channels: int, last_conv_size: int, res_block_norm: Literal['group_norm', 'layer_norm']): + return nn.Sequential( + nn.Conv2d(dim_in, last_conv_channels, kernel_size=3, stride=1, padding=1, padding_mode='replicate'), + *(ResidualConvBlock(last_conv_channels, last_conv_channels, dim_times_res_block_hidden * last_conv_channels, activation='relu', norm=res_block_norm) for _ in range(last_res_blocks)), + nn.ReLU(inplace=True), + nn.Conv2d(last_conv_channels, dim_out, kernel_size=last_conv_size, stride=1, padding=last_conv_size // 2, padding_mode='replicate'), + ) + + def forward(self, hidden_states: torch.Tensor, image: torch.Tensor): + img_h, img_w = image.shape[-2:] + patch_h, patch_w = img_h // 14, img_w // 14 + + # Process the hidden states + x = torch.stack([ + proj(feat.permute(0, 2, 1).unflatten(2, (patch_h, patch_w)).contiguous()) + for proj, (feat, clstoken) in zip(self.projects, hidden_states) + ], dim=1).sum(dim=1) + + # Upsample stage + # (patch_h, patch_w) -> (patch_h * 2, patch_w * 2) -> (patch_h * 4, patch_w * 4) -> (patch_h * 8, patch_w * 8) + for i, block in enumerate(self.upsample_blocks): + # UV coordinates is for awareness of image aspect ratio + uv = normalized_view_plane_uv(width=x.shape[-1], height=x.shape[-2], aspect_ratio=img_w / img_h, dtype=x.dtype, device=x.device) + uv = uv.permute(2, 0, 1).unsqueeze(0).expand(x.shape[0], -1, -1, -1) + x = torch.cat([x, uv], dim=1) + for layer in block: + x = torch.utils.checkpoint.checkpoint(layer, x, use_reentrant=False) + + # (patch_h * 8, patch_w * 8) -> (img_h, img_w) + x = F.interpolate(x, (img_h, img_w), mode="bilinear", align_corners=False) + uv = normalized_view_plane_uv(width=x.shape[-1], height=x.shape[-2], aspect_ratio=img_w / img_h, dtype=x.dtype, device=x.device) + uv = uv.permute(2, 0, 1).unsqueeze(0).expand(x.shape[0], -1, -1, -1) + x = torch.cat([x, uv], dim=1) + + if isinstance(self.output_block, nn.ModuleList): + output = [torch.utils.checkpoint.checkpoint(block, x, use_reentrant=False) for block in self.output_block] + else: + output = torch.utils.checkpoint.checkpoint(self.output_block, x, use_reentrant=False) + + return output + + +class MoGeModel(nn.Module): + image_mean: torch.Tensor + image_std: torch.Tensor + + def __init__(self, + encoder: str = 'dinov2_vitb14', + intermediate_layers: Union[int, List[int]] = 4, + dim_proj: int = 512, + dim_upsample: List[int] = [256, 128, 128], + dim_times_res_block_hidden: int = 1, + num_res_blocks: int = 1, + remap_output: Literal[False, True, 'linear', 'sinh', 'exp', 'sinh_exp'] = 'linear', + res_block_norm: Literal['group_norm', 'layer_norm'] = 'group_norm', + num_tokens_range: Tuple[Number, Number] = [1200, 2500], + last_res_blocks: int = 0, + last_conv_channels: int = 32, + last_conv_size: int = 1, + mask_threshold: float = 0.5, + **deprecated_kwargs + ): + super(MoGeModel, self).__init__() + + if deprecated_kwargs: + # Process legacy arguments + if 'trained_area_range' in deprecated_kwargs: + num_tokens_range = [deprecated_kwargs['trained_area_range'][0] // 14 ** 2, deprecated_kwargs['trained_area_range'][1] // 14 ** 2] + del deprecated_kwargs['trained_area_range'] + warnings.warn(f"The following deprecated/invalid arguments are ignored: {deprecated_kwargs}") + + self.encoder = encoder + self.remap_output = remap_output + self.intermediate_layers = intermediate_layers + self.num_tokens_range = num_tokens_range + self.mask_threshold = mask_threshold + + # NOTE: We have copied the DINOv2 code in torchhub to this repository. + # Minimal modifications have been made: removing irrelevant code, unnecessary warnings and fixing importing issues. + hub_loader = getattr(importlib.import_module(".dinov2.hub.backbones", __package__), encoder) + self.backbone = hub_loader(pretrained=False) + dim_feature = self.backbone.blocks[0].attn.qkv.in_features + + self.head = Head( + num_features=intermediate_layers if isinstance(intermediate_layers, int) else len(intermediate_layers), + dim_in=dim_feature, + dim_out=[3, 1], + dim_proj=dim_proj, + dim_upsample=dim_upsample, + dim_times_res_block_hidden=dim_times_res_block_hidden, + num_res_blocks=num_res_blocks, + res_block_norm=res_block_norm, + last_res_blocks=last_res_blocks, + last_conv_channels=last_conv_channels, + last_conv_size=last_conv_size + ) + + image_mean = torch.tensor([0.485, 0.456, 0.406]).view(1, 3, 1, 1) + image_std = torch.tensor([0.229, 0.224, 0.225]).view(1, 3, 1, 1) + + self.register_buffer("image_mean", image_mean) + self.register_buffer("image_std", image_std) + + @property + def device(self) -> torch.device: + return next(self.parameters()).device + + @property + def dtype(self) -> torch.dtype: + return next(self.parameters()).dtype + + @classmethod + def from_pretrained(cls, pretrained_model_name_or_path: Union[str, Path, IO[bytes]], model_kwargs: Optional[Dict[str, Any]] = None, **hf_kwargs) -> 'MoGeModel': + """ + Load a model from a checkpoint file. + + ### Parameters: + - `pretrained_model_name_or_path`: path to the checkpoint file or repo id. + - `model_kwargs`: additional keyword arguments to override the parameters in the checkpoint. + - `hf_kwargs`: additional keyword arguments to pass to the `hf_hub_download` function. Ignored if `pretrained_model_name_or_path` is a local path. + + ### Returns: + - A new instance of `MoGe` with the parameters loaded from the checkpoint. + """ + if Path(pretrained_model_name_or_path).exists(): + checkpoint = torch.load(pretrained_model_name_or_path, map_location='cpu', weights_only=True) + else: + cached_checkpoint_path = hf_hub_download( + repo_id=pretrained_model_name_or_path, + repo_type="model", + filename="model.pt", + **hf_kwargs + ) + checkpoint = torch.load(cached_checkpoint_path, map_location='cpu', weights_only=True) + model_config = checkpoint['model_config'] + if model_kwargs is not None: + model_config.update(model_kwargs) + model = cls(**model_config) + model.load_state_dict(checkpoint['model']) + return model + + def init_weights(self): + "Load the backbone with pretrained dinov2 weights from torch hub" + state_dict = torch.hub.load('facebookresearch/dinov2', self.encoder, pretrained=True).state_dict() + self.backbone.load_state_dict(state_dict) + + def enable_gradient_checkpointing(self): + for i in range(len(self.backbone.blocks)): + self.backbone.blocks[i] = wrap_module_with_gradient_checkpointing(self.backbone.blocks[i]) + + def _remap_points(self, points: torch.Tensor) -> torch.Tensor: + if self.remap_output == 'linear': + pass + elif self.remap_output =='sinh': + points = torch.sinh(points) + elif self.remap_output == 'exp': + xy, z = points.split([2, 1], dim=-1) + z = torch.exp(z) + points = torch.cat([xy * z, z], dim=-1) + elif self.remap_output =='sinh_exp': + xy, z = points.split([2, 1], dim=-1) + points = torch.cat([torch.sinh(xy), torch.exp(z)], dim=-1) + else: + raise ValueError(f"Invalid remap output type: {self.remap_output}") + return points + + def forward(self, image: torch.Tensor, num_tokens: int) -> Dict[str, torch.Tensor]: + original_height, original_width = image.shape[-2:] + + # Resize to expected resolution defined by num_tokens + resize_factor = ((num_tokens * 14 ** 2) / (original_height * original_width)) ** 0.5 + resized_width, resized_height = int(original_width * resize_factor), int(original_height * resize_factor) + image = F.interpolate(image, (resized_height, resized_width), mode="bicubic", align_corners=False, antialias=True) + + # Apply image transformation for DINOv2 + image = (image - self.image_mean) / self.image_std + image_14 = F.interpolate(image, (resized_height // 14 * 14, resized_width // 14 * 14), mode="bilinear", align_corners=False, antialias=True) + + # Get intermediate layers from the backbone + features = self.backbone.get_intermediate_layers(image_14, self.intermediate_layers, return_class_token=True) + + # Predict points (and mask) + output = self.head(features, image) + points, mask = output + + # Make sure fp32 precision for output + with torch.autocast(device_type=image.device.type, dtype=torch.float32): + # Resize to original resolution + points = F.interpolate(points, (original_height, original_width), mode='bilinear', align_corners=False, antialias=False) + mask = F.interpolate(mask, (original_height, original_width), mode='bilinear', align_corners=False, antialias=False) + + # Post-process points and mask + points, mask = points.permute(0, 2, 3, 1), mask.squeeze(1) + points = self._remap_points(points) # slightly improves the performance in case of very large output values + + return_dict = {'points': points, 'mask': mask} + return return_dict + + @torch.inference_mode() + def infer( + self, + image: torch.Tensor, + fov_x: Union[Number, torch.Tensor] = None, + resolution_level: int = 9, + num_tokens: int = None, + apply_mask: bool = True, + force_projection: bool = True, + use_fp16: bool = True, + ) -> Dict[str, torch.Tensor]: + """ + User-friendly inference function + + ### Parameters + - `image`: input image tensor of shape (B, 3, H, W) or (3, H, W)\ + - `fov_x`: the horizontal camera FoV in degrees. If None, it will be inferred from the predicted point map. Default: None + - `resolution_level`: An integer [0-9] for the resolution level for inference. + The higher, the finer details will be captured, but slower. Defaults to 9. Note that it is irrelevant to the output size, which is always the same as the input size. + `resolution_level` actually controls `num_tokens`. See `num_tokens` for more details. + - `num_tokens`: number of tokens used for inference. A integer in the (suggested) range of `[1200, 2500]`. + `resolution_level` will be ignored if `num_tokens` is provided. Default: None + - `apply_mask`: if True, the output point map will be masked using the predicted mask. Default: True + - `force_projection`: if True, the output point map will be recomputed to match the projection constraint. Default: True + - `use_fp16`: if True, use mixed precision to speed up inference. Default: True + + ### Returns + + A dictionary containing the following keys: + - `points`: output tensor of shape (B, H, W, 3) or (H, W, 3). + - `depth`: tensor of shape (B, H, W) or (H, W) containing the depth map. + - `intrinsics`: tensor of shape (B, 3, 3) or (3, 3) containing the camera intrinsics. + """ + if image.dim() == 3: + omit_batch_dim = True + image = image.unsqueeze(0) + else: + omit_batch_dim = False + image = image.to(dtype=self.dtype, device=self.device) + + original_height, original_width = image.shape[-2:] + aspect_ratio = original_width / original_height + + if num_tokens is None: + min_tokens, max_tokens = self.num_tokens_range + num_tokens = int(min_tokens + (resolution_level / 9) * (max_tokens - min_tokens)) + + with torch.autocast(device_type=self.device.type, dtype=torch.float16, enabled=use_fp16 and self.dtype != torch.float16): + output = self.forward(image, num_tokens) + points, mask = output['points'], output['mask'] + + # Always process the output in fp32 precision + with torch.autocast(device_type=self.device.type, dtype=torch.float32): + points, mask, fov_x = map(lambda x: x.float() if isinstance(x, torch.Tensor) else x, [points, mask, fov_x]) + + mask_binary = mask > self.mask_threshold + + # Get camera-space point map. (Focal here is the focal length relative to half the image diagonal) + if fov_x is None: + focal, shift = recover_focal_shift(points, mask_binary) + else: + focal = aspect_ratio / (1 + aspect_ratio ** 2) ** 0.5 / torch.tan(torch.deg2rad(torch.as_tensor(fov_x, device=points.device, dtype=points.dtype) / 2)) + if focal.ndim == 0: + focal = focal[None].expand(points.shape[0]) + _, shift = recover_focal_shift(points, mask_binary, focal=focal) + fx = focal / 2 * (1 + aspect_ratio ** 2) ** 0.5 / aspect_ratio + fy = focal / 2 * (1 + aspect_ratio ** 2) ** 0.5 + intrinsics = utils3d.torch.intrinsics_from_focal_center(fx, fy, 0.5, 0.5) + depth = points[..., 2] + shift[..., None, None] + + # If projection constraint is forced, recompute the point map using the actual depth map + if force_projection: + points = utils3d.torch.depth_to_points(depth, intrinsics=intrinsics) + else: + points = points + torch.stack([torch.zeros_like(shift), torch.zeros_like(shift), shift], dim=-1)[..., None, None, :] + + # Apply mask if needed + if apply_mask: + points = torch.where(mask_binary[..., None], points, torch.inf) + depth = torch.where(mask_binary, depth, torch.inf) + + return_dict = { + 'points': points, + 'intrinsics': intrinsics, + 'depth': depth, + 'mask': mask_binary, + } + + if omit_batch_dim: + return_dict = {k: v.squeeze(0) for k, v in return_dict.items()} + + return return_dict \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/model/v2.py b/Pixel-Perfect-Depth/ppd/moge/model/v2.py new file mode 100644 index 0000000000000000000000000000000000000000..33730bb24d3e73605436323ac02b380ba59e7754 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/model/v2.py @@ -0,0 +1,316 @@ +from typing import * +from numbers import Number +from functools import partial +from pathlib import Path +import warnings + +import torch +import torch.nn as nn +import torch.nn.functional as F +import torch.utils +import torch.utils.checkpoint +import torch.amp +import torch.version +import utils3d +from huggingface_hub import hf_hub_download +from typing import Union, Optional, Dict, Any, IO + +from ..utils.geometry_torch import normalized_view_plane_uv, recover_focal_shift, angle_diff_vec3 +from .utils import wrap_dinov2_attention_with_sdpa, wrap_module_with_gradient_checkpointing, unwrap_module_with_gradient_checkpointing +from .modules import DINOv2Encoder, MLP, ConvStack + + +class MoGeModel(nn.Module): + encoder: DINOv2Encoder + neck: ConvStack + points_head: ConvStack + mask_head: ConvStack + scale_head: MLP + onnx_compatible_mode: bool + + def __init__(self, + encoder: Dict[str, Any], + neck: Dict[str, Any], + points_head: Dict[str, Any] = None, + mask_head: Dict[str, Any] = None, + normal_head: Dict[str, Any] = None, + scale_head: Dict[str, Any] = None, + remap_output: Literal['linear', 'sinh', 'exp', 'sinh_exp'] = 'linear', + num_tokens_range: List[int] = [1200, 3600], + **deprecated_kwargs + ): + super(MoGeModel, self).__init__() + if deprecated_kwargs: + warnings.warn(f"The following deprecated/invalid arguments are ignored: {deprecated_kwargs}") + + self.remap_output = remap_output + self.num_tokens_range = num_tokens_range + + self.encoder = DINOv2Encoder(**encoder) + self.neck = ConvStack(**neck) + if points_head is not None: + self.points_head = ConvStack(**points_head) + if mask_head is not None: + self.mask_head = ConvStack(**mask_head) + if normal_head is not None: + self.normal_head = ConvStack(**normal_head) + if scale_head is not None: + self.scale_head = MLP(**scale_head) + + @property + def device(self) -> torch.device: + return next(self.parameters()).device + + @property + def dtype(self) -> torch.dtype: + return next(self.parameters()).dtype + + @property + def onnx_compatible_mode(self) -> bool: + return getattr(self, "_onnx_compatible_mode", False) + + @onnx_compatible_mode.setter + def onnx_compatible_mode(self, value: bool): + self._onnx_compatible_mode = value + self.encoder.onnx_compatible_mode = value + + @classmethod + def from_pretrained(cls, pretrained_model_name_or_path: Union[str, Path, IO[bytes]], model_kwargs: Optional[Dict[str, Any]] = None, **hf_kwargs) -> 'MoGeModel': + """ + Load a model from a checkpoint file. + + ### Parameters: + - `pretrained_model_name_or_path`: path to the checkpoint file or repo id. + - `compiled` + - `model_kwargs`: additional keyword arguments to override the parameters in the checkpoint. + - `hf_kwargs`: additional keyword arguments to pass to the `hf_hub_download` function. Ignored if `pretrained_model_name_or_path` is a local path. + + ### Returns: + - A new instance of `MoGe` with the parameters loaded from the checkpoint. + """ + if Path(pretrained_model_name_or_path).exists(): + checkpoint_path = pretrained_model_name_or_path + else: + checkpoint_path = hf_hub_download( + repo_id=pretrained_model_name_or_path, + repo_type="model", + filename="model.pt", + **hf_kwargs + ) + checkpoint = torch.load(checkpoint_path, map_location='cpu', weights_only=True) + + model_config = checkpoint['model_config'] + if model_kwargs is not None: + model_config.update(model_kwargs) + model = cls(**model_config) + model.load_state_dict(checkpoint['model'], strict=False) + + return model + + def init_weights(self): + self.encoder.init_weights() + + def enable_gradient_checkpointing(self): + self.encoder.enable_gradient_checkpointing() + self.neck.enable_gradient_checkpointing() + for head in ['points_head', 'normal_head', 'mask_head']: + if hasattr(self, head): + getattr(self, head).enable_gradient_checkpointing() + + def enable_pytorch_native_sdpa(self): + self.encoder.enable_pytorch_native_sdpa() + + def _remap_points(self, points: torch.Tensor) -> torch.Tensor: + if self.remap_output == 'linear': + pass + elif self.remap_output =='sinh': + points = torch.sinh(points) + elif self.remap_output == 'exp': + xy, z = points.split([2, 1], dim=-1) + z = torch.exp(z) + points = torch.cat([xy * z, z], dim=-1) + elif self.remap_output =='sinh_exp': + xy, z = points.split([2, 1], dim=-1) + points = torch.cat([torch.sinh(xy), torch.exp(z)], dim=-1) + else: + raise ValueError(f"Invalid remap output type: {self.remap_output}") + return points + + def forward_semantics(self, image: torch.Tensor) -> Dict[str, torch.Tensor]: + batch_size, _, img_h, img_w = image.shape + device, dtype = image.device, image.dtype + + base_h, base_w = img_h//16, img_w//16 + + # Backbones encoding + features, cls_token = self.encoder(image, base_h, base_w, return_class_token=True) + semantics = features.flatten(2).transpose(1, 2) + + return semantics + + def forward(self, image: torch.Tensor, num_tokens: int) -> Dict[str, torch.Tensor]: + batch_size, _, img_h, img_w = image.shape + device, dtype = image.device, image.dtype + + aspect_ratio = img_w / img_h + base_h, base_w = int((num_tokens / aspect_ratio) ** 0.5), int((num_tokens * aspect_ratio) ** 0.5) + num_tokens = base_h * base_w + + # Backbones encoding + features, cls_token = self.encoder(image, base_h, base_w, return_class_token=True) + features = [features, None, None, None, None] + + # Concat UVs for aspect ratio input + for level in range(5): + uv = normalized_view_plane_uv(width=base_w * 2 ** level, height=base_h * 2 ** level, aspect_ratio=aspect_ratio, dtype=dtype, device=device) + uv = uv.permute(2, 0, 1).unsqueeze(0).expand(batch_size, -1, -1, -1) + if features[level] is None: + features[level] = uv + else: + features[level] = torch.concat([features[level], uv], dim=1) + + # Shared neck + features = self.neck(features) + + # Heads decoding + + points, normal, mask = (getattr(self, head)(features)[-1] if hasattr(self, head) else None for head in ['points_head', 'normal_head', 'mask_head']) + metric_scale = self.scale_head(cls_token) if hasattr(self, 'scale_head') else None + + # Resize + points, normal, mask = (F.interpolate(v, (img_h, img_w), mode='bilinear', align_corners=False, antialias=False) if v is not None else None for v in [points, normal, mask]) + + # Remap output + if points is not None: + points = points.permute(0, 2, 3, 1) + points = self._remap_points(points) # slightly improves the performance in case of very large output values + if normal is not None: + normal = normal.permute(0, 2, 3, 1) + normal = F.normalize(normal, dim=-1) + if mask is not None: + mask = mask.squeeze(1).sigmoid() + if metric_scale is not None: + metric_scale = metric_scale.squeeze(1).exp() + + return_dict = { + 'points': points, + 'normal': normal, + 'mask': mask, + 'metric_scale': metric_scale + } + return_dict = {k: v for k, v in return_dict.items() if v is not None} + + return return_dict + + @torch.inference_mode() + def infer( + self, + image: torch.Tensor, + num_tokens: int = None, + resolution_level: int = 9, + force_projection: bool = True, + apply_mask: Literal[False, True, 'blend'] = True, + fov_x: Optional[Union[Number, torch.Tensor]] = None, + use_fp16: bool = True, + ) -> Dict[str, torch.Tensor]: + """ + User-friendly inference function + + ### Parameters + - `image`: input image tensor of shape (B, 3, H, W) or (3, H, W) + - `num_tokens`: the number of base ViT tokens to use for inference, `'least'` or `'most'` or an integer. Suggested range: 1200 ~ 2500. + More tokens will result in significantly higher accuracy and finer details, but slower inference time. Default: `'most'`. + - `force_projection`: if True, the output point map will be computed using the actual depth map. Default: True + - `apply_mask`: if True, the output point map will be masked using the predicted mask. Default: True + - `fov_x`: the horizontal camera FoV in degrees. If None, it will be inferred from the predicted point map. Default: None + - `use_fp16`: if True, use mixed precision to speed up inference. Default: True + + ### Returns + + A dictionary containing the following keys: + - `points`: output tensor of shape (B, H, W, 3) or (H, W, 3). + - `depth`: tensor of shape (B, H, W) or (H, W) containing the depth map. + - `intrinsics`: tensor of shape (B, 3, 3) or (3, 3) containing the camera intrinsics. + """ + if image.dim() == 3: + omit_batch_dim = True + image = image.unsqueeze(0) + else: + omit_batch_dim = False + image = image.to(dtype=self.dtype, device=self.device) + + original_height, original_width = image.shape[-2:] + area = original_height * original_width + aspect_ratio = original_width / original_height + + # Determine the number of base tokens to use + if num_tokens is None: + min_tokens, max_tokens = self.num_tokens_range + num_tokens = int(min_tokens + (resolution_level / 9) * (max_tokens - min_tokens)) + + # Forward pass + with torch.autocast(device_type=self.device.type, dtype=torch.float16, enabled=use_fp16 and self.dtype != torch.float16): + output = self.forward(image, num_tokens=num_tokens) + points, normal, mask, metric_scale = (output.get(k, None) for k in ['points', 'normal', 'mask', 'metric_scale']) + + # Always process the output in fp32 precision + points, normal, mask, metric_scale, fov_x = map(lambda x: x.float() if isinstance(x, torch.Tensor) else x, [points, normal, mask, metric_scale, fov_x]) + with torch.autocast(device_type=self.device.type, dtype=torch.float32): + if mask is not None: + mask_binary = mask > 0.5 + else: + mask_binary = None + + if points is not None: + # Convert affine point map to camera-space. Recover depth and intrinsics from point map. + # NOTE: Focal here is the focal length relative to half the image diagonal + if fov_x is None: + # Recover focal and shift from predicted point map + focal, shift = recover_focal_shift(points, mask_binary) + else: + # Focal is known, recover shift only + focal = aspect_ratio / (1 + aspect_ratio ** 2) ** 0.5 / torch.tan(torch.deg2rad(torch.as_tensor(fov_x, device=points.device, dtype=points.dtype) / 2)) + if focal.ndim == 0: + focal = focal[None].expand(points.shape[0]) + _, shift = recover_focal_shift(points, mask_binary, focal=focal) + fx, fy = focal / 2 * (1 + aspect_ratio ** 2) ** 0.5 / aspect_ratio, focal / 2 * (1 + aspect_ratio ** 2) ** 0.5 + intrinsics = utils3d.torch.intrinsics_from_focal_center(fx, fy, 0.5, 0.5) + points[..., 2] += shift[..., None, None] + if mask_binary is not None: + mask_binary &= points[..., 2] > 0 # in case depth is contains negative values (which should never happen in practice) + depth = points[..., 2].clone() + else: + depth, intrinsics = None, None + + # If projection constraint is forced, recompute the point map using the actual depth map & intrinsics + if force_projection and depth is not None: + points = utils3d.torch.depth_to_points(depth, intrinsics=intrinsics) + + # Apply metric scale + if metric_scale is not None: + if points is not None: + points *= metric_scale[:, None, None, None] + if depth is not None: + depth *= metric_scale[:, None, None] + + # Apply mask + if apply_mask and mask_binary is not None: + points = torch.where(mask_binary[..., None], points, torch.inf) if points is not None else None + depth = torch.where(mask_binary, depth, torch.inf) if depth is not None else None + normal = torch.where(mask_binary[..., None], normal, torch.zeros_like(normal)) if normal is not None else None + + return depth.squeeze().cpu().numpy(), mask_binary.squeeze().cpu().numpy(), intrinsics.squeeze().cpu().numpy() + + # return_dict = { + # 'points': points, + # 'intrinsics': intrinsics, + # 'depth': depth, + # 'mask': mask_binary, + # 'normal': normal + # } + # return_dict = {k: v for k, v in return_dict.items() if v is not None} + + # if omit_batch_dim: + # return_dict = {k: v.squeeze(0) for k, v in return_dict.items()} + + # return return_dict diff --git a/Pixel-Perfect-Depth/ppd/moge/scripts/__init__.py b/Pixel-Perfect-Depth/ppd/moge/scripts/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Pixel-Perfect-Depth/ppd/moge/scripts/app.py b/Pixel-Perfect-Depth/ppd/moge/scripts/app.py new file mode 100644 index 0000000000000000000000000000000000000000..ba660247f03f5a63bfdbeaaf1a1d48eb8e53777a --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/scripts/app.py @@ -0,0 +1,301 @@ +import os +os.environ['OPENCV_IO_ENABLE_OPENEXR'] = '1' +import sys +from pathlib import Path +if (_package_root := str(Path(__file__).absolute().parents[2])) not in sys.path: + sys.path.insert(0, _package_root) +import time +import uuid +import tempfile +import itertools +from typing import * +import atexit +from concurrent.futures import ThreadPoolExecutor +import shutil + +import click + + +@click.command(help='Web demo') +@click.option('--share', is_flag=True, help='Whether to run the app in shared mode.') +@click.option('--pretrained', 'pretrained_model_name_or_path', default=None, help='The name or path of the pre-trained model.') +@click.option('--version', 'model_version', default='v2', help='The version of the model.') +@click.option('--fp16', 'use_fp16', is_flag=True, help='Whether to use fp16 inference.') +def main(share: bool, pretrained_model_name_or_path: str, model_version: str, use_fp16: bool): + print("Import modules...") + # Lazy import + import cv2 + import torch + import numpy as np + import trimesh + import trimesh.visual + from PIL import Image + import gradio as gr + try: + import spaces # This is for deployment at huggingface.co/spaces + HUGGINFACE_SPACES_INSTALLED = True + except ImportError: + HUGGINFACE_SPACES_INSTALLED = False + + import utils3d + from moge.utils.io import write_normal + from moge.utils.vis import colorize_depth, colorize_normal + from moge.model import import_model_class_by_version + from moge.utils.geometry_numpy import depth_occlusion_edge_numpy + from moge.utils.tools import timeit + + print("Load model...") + if pretrained_model_name_or_path is None: + DEFAULT_PRETRAINED_MODEL_FOR_EACH_VERSION = { + "v1": "Ruicheng/moge-vitl", + "v2": "Ruicheng/moge-2-vitl-normal", + } + pretrained_model_name_or_path = DEFAULT_PRETRAINED_MODEL_FOR_EACH_VERSION[model_version] + model = import_model_class_by_version(model_version).from_pretrained(pretrained_model_name_or_path).cuda().eval() + if use_fp16: + model.half() + thread_pool_executor = ThreadPoolExecutor(max_workers=1) + + def delete_later(path: Union[str, os.PathLike], delay: int = 300): + def _delete(): + try: + os.remove(path) + except FileNotFoundError: + pass + def _wait_and_delete(): + time.sleep(delay) + _delete(path) + thread_pool_executor.submit(_wait_and_delete) + atexit.register(_delete) + + # Inference on GPU. + @(spaces.GPU if HUGGINFACE_SPACES_INSTALLED else lambda x: x) + def run_with_gpu(image: np.ndarray, resolution_level: int, apply_mask: bool) -> Dict[str, np.ndarray]: + image_tensor = torch.tensor(image, dtype=torch.float32 if not use_fp16 else torch.float16, device=torch.device('cuda')).permute(2, 0, 1) / 255 + output = model.infer(image_tensor, apply_mask=apply_mask, resolution_level=resolution_level, use_fp16=use_fp16) + output = {k: v.cpu().numpy() for k, v in output.items()} + return output + + # Full inference pipeline + def run(image: np.ndarray, max_size: int = 800, resolution_level: str = 'High', apply_mask: bool = True, remove_edge: bool = True, request: gr.Request = None): + larger_size = max(image.shape[:2]) + if larger_size > max_size: + scale = max_size / larger_size + image = cv2.resize(image, (0, 0), fx=scale, fy=scale, interpolation=cv2.INTER_AREA) + + height, width = image.shape[:2] + + resolution_level_int = {'Low': 0, 'Medium': 5, 'High': 9, 'Ultra': 30}.get(resolution_level, 9) + output = run_with_gpu(image, resolution_level_int, apply_mask) + + points, depth, mask, normal = output['points'], output['depth'], output['mask'], output.get('normal', None) + + if remove_edge: + mask_cleaned = mask & ~utils3d.numpy.depth_edge(depth, rtol=0.04) + else: + mask_cleaned = mask + + results = { + **output, + 'mask_cleaned': mask_cleaned, + 'image': image + } + + # depth & normal visualization + depth_vis = colorize_depth(depth) + if normal is not None: + normal_vis = colorize_normal(normal) + else: + normal_vis = gr.update(label="Normal map (not avalable for this model)") + + # mesh & pointcloud + if normal is None: + faces, vertices, vertex_colors, vertex_uvs = utils3d.numpy.image_mesh( + points, + image.astype(np.float32) / 255, + utils3d.numpy.image_uv(width=width, height=height), + mask=mask_cleaned, + tri=True + ) + vertex_normals = None + else: + faces, vertices, vertex_colors, vertex_uvs, vertex_normals = utils3d.numpy.image_mesh( + points, + image.astype(np.float32) / 255, + utils3d.numpy.image_uv(width=width, height=height), + normal, + mask=mask_cleaned, + tri=True + ) + vertices = vertices * np.array([1, -1, -1], dtype=np.float32) + vertex_uvs = vertex_uvs * np.array([1, -1], dtype=np.float32) + np.array([0, 1], dtype=np.float32) + if vertex_normals is not None: + vertex_normals = vertex_normals * np.array([1, -1, -1], dtype=np.float32) + + tempdir = Path(tempfile.gettempdir(), 'moge') + tempdir.mkdir(exist_ok=True) + output_path = Path(tempdir, request.session_hash) + shutil.rmtree(output_path, ignore_errors=True) + output_path.mkdir(exist_ok=True, parents=True) + trimesh.Trimesh( + vertices=vertices, + faces=faces, + visual = trimesh.visual.texture.TextureVisuals( + uv=vertex_uvs, + material=trimesh.visual.material.PBRMaterial( + baseColorTexture=Image.fromarray(image), + metallicFactor=0.5, + roughnessFactor=1.0 + ) + ), + vertex_normals=vertex_normals, + process=False + ).export(output_path / 'mesh.glb') + pointcloud = trimesh.PointCloud( + vertices=vertices, + colors=vertex_colors, + ) + pointcloud.vertex_normals = vertex_normals + pointcloud.export(output_path / 'pointcloud.ply', vertex_normal=True) + trimesh.PointCloud( + vertices=vertices, + colors=vertex_colors, + ).export(output_path / 'pointcloud.glb', include_normals=True) + cv2.imwrite(str(output_path /'mask.png'), mask.astype(np.uint8) * 255) + cv2.imwrite(str(output_path / 'depth.exr'), depth.astype(np.float32), [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + cv2.imwrite(str(output_path / 'points.exr'), cv2.cvtColor(points.astype(np.float32), cv2.COLOR_RGB2BGR), [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + if normal is not None: + cv2.imwrite(str(output_path / 'normal.exr'), cv2.cvtColor(normal.astype(np.float32) * np.array([1, -1, -1], dtype=np.float32), cv2.COLOR_RGB2BGR), [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_HALF]) + + files = ['mesh.glb', 'pointcloud.ply', 'depth.exr', 'points.exr', 'mask.png'] + if normal is not None: + files.append('normal.exr') + + for f in files: + delete_later(output_path / f) + + # FOV + intrinsics = results['intrinsics'] + fov_x, fov_y = utils3d.numpy.intrinsics_to_fov(intrinsics) + fov_x, fov_y = np.rad2deg([fov_x, fov_y]) + + # messages + viewer_message = f'**Note:** Inference has been completed. It may take a few seconds to download the 3D model.' + if resolution_level != 'Ultra': + depth_message = f'**Note:** Want sharper depth map? Try increasing the `maximum image size` and setting the `inference resolution level` to `Ultra` in the settings.' + else: + depth_message = "" + + return ( + results, + depth_vis, + normal_vis, + output_path / 'pointcloud.glb', + [(output_path / f).as_posix() for f in files if (output_path / f).exists()], + f'- **Horizontal FOV: {fov_x:.1f}°**. \n - **Vertical FOV: {fov_y:.1f}°**', + viewer_message, + depth_message + ) + + def reset_measure(results: Dict[str, np.ndarray]): + return [results['image'], [], ""] + + + def measure(results: Dict[str, np.ndarray], measure_points: List[Tuple[int, int]], event: gr.SelectData): + point2d = event.index[0], event.index[1] + measure_points.append(point2d) + + image = results['image'].copy() + for p in measure_points: + image = cv2.circle(image, p, radius=5, color=(255, 0, 0), thickness=2) + + depth_text = "" + for i, p in enumerate(measure_points): + d = results['depth'][p[1], p[0]] + depth_text += f"- **P{i + 1} depth: {d:.2f}m.**\n" + + if len(measure_points) == 2: + point1, point2 = measure_points + image = cv2.line(image, point1, point2, color=(255, 0, 0), thickness=2) + distance = np.linalg.norm(results['points'][point1[1], point1[0]] - results['points'][point2[1], point2[0]]) + measure_points = [] + + distance_text = f"- **Distance: {distance:.2f}m**" + + text = depth_text + distance_text + return [image, measure_points, text] + else: + return [image, measure_points, depth_text] + + print("Create Gradio app...") + with gr.Blocks(theme=gr.themes.Soft()) as demo: + gr.Markdown( +f''' +
+

Turn a 2D image into 3D with MoGe badge-github-stars

+
+''') + results = gr.State(value=None) + measure_points = gr.State(value=[]) + + with gr.Row(): + with gr.Column(): + input_image = gr.Image(type="numpy", image_mode="RGB", label="Input Image") + with gr.Accordion(label="Settings", open=False): + max_size_input = gr.Number(value=800, label="Maximum Image Size", precision=0, minimum=256, maximum=2048) + resolution_level = gr.Dropdown(['Low', 'Medium', 'High', 'Ultra'], label="Inference Resolution Level", value='High') + apply_mask = gr.Checkbox(value=True, label="Apply mask") + remove_edges = gr.Checkbox(value=True, label="Remove edges") + submit_btn = gr.Button("Submit", variant='primary') + + with gr.Column(): + with gr.Tabs(): + with gr.Tab("3D View"): + viewer_message = gr.Markdown("") + model_3d = gr.Model3D(display_mode="solid", label="3D Point Map", clear_color=[1.0, 1.0, 1.0, 1.0], height="60vh") + fov = gr.Markdown() + with gr.Tab("Depth"): + depth_message = gr.Markdown("") + depth_map = gr.Image(type="numpy", label="Colorized Depth Map", format='png', interactive=False) + with gr.Tab("Normal", interactive=hasattr(model, 'normal_head')): + normal_map = gr.Image(type="numpy", label="Normal Map", format='png', interactive=False) + with gr.Tab("Measure", interactive=hasattr(model, 'scale_head')): + gr.Markdown("### Click on the image to measure the distance between two points. \n" + "**Note:** Metric scale is most reliable for typical indoor or street scenes, and may degrade for contents unfamiliar to the model (e.g., stylized or close-up images).") + measure_image = gr.Image(type="numpy", show_label=False, format='webp', interactive=False, sources=[]) + measure_text = gr.Markdown("") + with gr.Tab("Download"): + files = gr.File(type='filepath', label="Output Files") + + if Path('example_images').exists(): + example_image_paths = sorted(list(itertools.chain(*[Path('example_images').glob(f'*.{ext}') for ext in ['jpg', 'png', 'jpeg', 'JPG', 'PNG', 'JPEG']]))) + examples = gr.Examples( + examples = example_image_paths, + inputs=input_image, + label="Examples" + ) + + submit_btn.click( + fn=lambda: [None, None, None, None, None, "", "", ""], + outputs=[results, depth_map, normal_map, model_3d, files, fov, viewer_message, depth_message] + ).then( + fn=run, + inputs=[input_image, max_size_input, resolution_level, apply_mask, remove_edges], + outputs=[results, depth_map, normal_map, model_3d, files, fov, viewer_message, depth_message] + ).then( + fn=reset_measure, + inputs=[results], + outputs=[measure_image, measure_points, measure_text] + ) + + measure_image.select( + fn=measure, + inputs=[results, measure_points], + outputs=[measure_image, measure_points, measure_text] + ) + + demo.launch(share=share) + + +if __name__ == '__main__': + main() diff --git a/Pixel-Perfect-Depth/ppd/moge/scripts/cli.py b/Pixel-Perfect-Depth/ppd/moge/scripts/cli.py new file mode 100644 index 0000000000000000000000000000000000000000..45c3b9006bf56306e403f8da5b6d5068215221ee --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/scripts/cli.py @@ -0,0 +1,27 @@ +import os +os.environ['OPENCV_IO_ENABLE_OPENEXR'] = '1' +from pathlib import Path +import sys +if (_package_root := str(Path(__file__).absolute().parents[2])) not in sys.path: + sys.path.insert(0, _package_root) + +import click + + +@click.group(help='MoGe command line interface.') +def cli(): + pass + +def main(): + from moge.scripts import app, infer, infer_baseline, infer_panorama, eval_baseline, vis_data + cli.add_command(app.main, name='app') + cli.add_command(infer.main, name='infer') + cli.add_command(infer_baseline.main, name='infer_baseline') + cli.add_command(infer_panorama.main, name='infer_panorama') + cli.add_command(eval_baseline.main, name='eval_baseline') + cli.add_command(vis_data.main, name='vis_data') + cli() + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/scripts/eval_baseline.py b/Pixel-Perfect-Depth/ppd/moge/scripts/eval_baseline.py new file mode 100644 index 0000000000000000000000000000000000000000..8217d9e6500b1d72a00e1a0a225ba4c2134b892e --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/scripts/eval_baseline.py @@ -0,0 +1,165 @@ +import os +import sys +from pathlib import Path +if (_package_root := str(Path(__file__).absolute().parents[2])) not in sys.path: + sys.path.insert(0, _package_root) +import json +from typing import * +import importlib +import importlib.util + +import click + + +@click.command(context_settings={"allow_extra_args": True, "ignore_unknown_options": True}, help='Evaluation script.') +@click.option('--baseline', 'baseline_code_path', type=click.Path(), required=True, help='Path to the baseline model python code.') +@click.option('--config', 'config_path', type=click.Path(), default='configs/eval/all_benchmarks.json', help='Path to the evaluation configurations. ' + 'Defaults to "configs/eval/all_benchmarks.json".') +@click.option('--output', '-o', 'output_path', type=click.Path(), required=True, help='Path to the output json file.') +@click.option('--oracle', 'oracle_mode', is_flag=True, help='Use oracle mode for evaluation, i.e., use the GT intrinsics input.') +@click.option('--dump_pred', is_flag=True, help='Dump predition results.') +@click.option('--dump_gt', is_flag=True, help='Dump ground truth.') +@click.pass_context +def main(ctx: click.Context, baseline_code_path: str, config_path: str, oracle_mode: bool, output_path: Union[str, Path], dump_pred: bool, dump_gt: bool): + # Lazy import + import cv2 + import numpy as np + from tqdm import tqdm + import torch + import torch.nn.functional as F + import utils3d + + from moge.test.baseline import MGEBaselineInterface + from moge.test.dataloader import EvalDataLoaderPipeline + from moge.test.metrics import compute_metrics + from moge.utils.geometry_torch import intrinsics_to_fov + from moge.utils.vis import colorize_depth, colorize_normal + from moge.utils.tools import key_average, flatten_nested_dict, timeit, import_file_as_module + + # Load the baseline model + module = import_file_as_module(baseline_code_path, Path(baseline_code_path).stem) + baseline_cls: Type[MGEBaselineInterface] = getattr(module, 'Baseline') + baseline : MGEBaselineInterface = baseline_cls.load.main(ctx.args, standalone_mode=False) + + # Load the evaluation configurations + with open(config_path, 'r') as f: + config = json.load(f) + + Path(output_path).parent.mkdir(parents=True, exist_ok=True) + all_metrics = {} + # Iterate over the dataset + for benchmark_name, benchmark_config in tqdm(list(config.items()), desc='Benchmarks'): + filenames, metrics_list = [], [] + with ( + EvalDataLoaderPipeline(**benchmark_config) as eval_data_pipe, + tqdm(total=len(eval_data_pipe), desc=benchmark_name, leave=False) as pbar + ): + # Iterate over the samples in the dataset + for i in range(len(eval_data_pipe)): + sample = eval_data_pipe.get() + sample = {k: v.to(baseline.device) if isinstance(v, torch.Tensor) else v for k, v in sample.items()} + image = sample['image'] + gt_intrinsics = sample['intrinsics'] + + # Inference + torch.cuda.synchronize() + with torch.inference_mode(), timeit('_inference_timer', verbose=False) as timer: + if oracle_mode: + pred = baseline.infer_for_evaluation(image, gt_intrinsics) + else: + pred = baseline.infer_for_evaluation(image) + torch.cuda.synchronize() + + # Compute metrics + metrics, misc = compute_metrics(pred, sample, vis=dump_pred or dump_gt) + metrics['inference_time'] = timer.time + metrics_list.append(metrics) + + # Dump results + dump_path = Path(output_path.replace(".json", f"_dump"), f'{benchmark_name}', sample['filename'].replace('.zip', '')) + if dump_pred: + dump_path.joinpath('pred').mkdir(parents=True, exist_ok=True) + cv2.imwrite(str(dump_path / 'pred' / 'image.jpg'), cv2.cvtColor((image.cpu().numpy().transpose(1, 2, 0) * 255).astype(np.uint8), cv2.COLOR_RGB2BGR)) + + with Path(dump_path, 'pred', 'metrics.json').open('w') as f: + json.dump(metrics, f, indent=4) + + if 'pred_points' in misc: + points = misc['pred_points'].cpu().numpy() + cv2.imwrite(str(dump_path / 'pred' / 'points.exr'), cv2.cvtColor(points.astype(np.float32), cv2.COLOR_RGB2BGR), [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + + if 'pred_depth' in misc: + depth = misc['pred_depth'].cpu().numpy() + if 'mask' in pred: + mask = pred['mask'].cpu().numpy() + depth = np.where(mask, depth, np.inf) + cv2.imwrite(str(dump_path / 'pred' / 'depth.png'), cv2.cvtColor(colorize_depth(depth), cv2.COLOR_RGB2BGR)) + + if 'mask' in pred: + mask = pred['mask'].cpu().numpy() + cv2.imwrite(str(dump_path / 'pred' / 'mask.png'), (mask * 255).astype(np.uint8)) + + if 'normal' in pred: + normal = pred['normal'].cpu().numpy() + cv2.imwrite(str(dump_path / 'pred' / 'normal.png'), cv2.cvtColor(colorize_normal(normal), cv2.COLOR_RGB2BGR)) + + if 'intrinsics' in pred: + intrinsics = pred['intrinsics'] + fov_x, fov_y = intrinsics_to_fov(intrinsics) + with open(dump_path / 'pred' / 'fov.json', 'w') as f: + json.dump({ + 'fov_x': np.rad2deg(fov_x.item()), + 'fov_y': np.rad2deg(fov_y.item()), + 'intrinsics': intrinsics.cpu().numpy().tolist(), + }, f) + + if dump_gt: + dump_path.joinpath('gt').mkdir(parents=True, exist_ok=True) + cv2.imwrite(str(dump_path / 'gt' / 'image.jpg'), cv2.cvtColor((image.cpu().numpy().transpose(1, 2, 0) * 255).astype(np.uint8), cv2.COLOR_RGB2BGR)) + + if 'points' in sample: + points = sample['points'] + cv2.imwrite(str(dump_path / 'gt' / 'points.exr'), cv2.cvtColor(points.cpu().numpy().astype(np.float32), cv2.COLOR_RGB2BGR), [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + + if 'depth' in sample: + depth = sample['depth'] + mask = sample['depth_mask'] + cv2.imwrite(str(dump_path / 'gt' / 'depth.png'), cv2.cvtColor(colorize_depth(depth.cpu().numpy(), mask=mask.cpu().numpy()), cv2.COLOR_RGB2BGR)) + + if 'normal' in sample: + normal = sample['normal'] + cv2.imwrite(str(dump_path / 'gt' / 'normal.png'), cv2.cvtColor(colorize_normal(normal.cpu().numpy()), cv2.COLOR_RGB2BGR)) + + if 'depth_mask' in sample: + mask = sample['depth_mask'] + cv2.imwrite(str(dump_path / 'gt' /'mask.png'), (mask.cpu().numpy() * 255).astype(np.uint8)) + + if 'intrinsics' in sample: + intrinsics = sample['intrinsics'] + fov_x, fov_y = intrinsics_to_fov(intrinsics) + with open(dump_path / 'gt' / 'info.json', 'w') as f: + json.dump({ + 'fov_x': np.rad2deg(fov_x.item()), + 'fov_y': np.rad2deg(fov_y.item()), + 'intrinsics': intrinsics.cpu().numpy().tolist(), + }, f) + + # Save intermediate results + if i % 100 == 0 or i == len(eval_data_pipe) - 1: + Path(output_path).write_text( + json.dumps({ + **all_metrics, + benchmark_name: key_average(metrics_list) + }, indent=4) + ) + pbar.update(1) + + all_metrics[benchmark_name] = key_average(metrics_list) + + # Save final results + all_metrics['mean'] = key_average(list(all_metrics.values())) + Path(output_path).write_text(json.dumps(all_metrics, indent=4)) + + +if __name__ == '__main__': + main() diff --git a/Pixel-Perfect-Depth/ppd/moge/scripts/infer.py b/Pixel-Perfect-Depth/ppd/moge/scripts/infer.py new file mode 100644 index 0000000000000000000000000000000000000000..fd92b29845a5079fdfef94ddb4b2168e70cd4ee6 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/scripts/infer.py @@ -0,0 +1,170 @@ +import os +os.environ['OPENCV_IO_ENABLE_OPENEXR'] = '1' +from pathlib import Path +import sys +if (_package_root := str(Path(__file__).absolute().parents[2])) not in sys.path: + sys.path.insert(0, _package_root) +from typing import * +import itertools +import json +import warnings + + +import click + + +@click.command(help='Inference script') +@click.option('--input', '-i', 'input_path', type=click.Path(exists=True), help='Input image or folder path. "jpg" and "png" are supported.') +@click.option('--fov_x', 'fov_x_', type=float, default=None, help='If camera parameters are known, set the horizontal field of view in degrees. Otherwise, MoGe will estimate it.') +@click.option('--output', '-o', 'output_path', default='./output', type=click.Path(), help='Output folder path') +@click.option('--pretrained', 'pretrained_model_name_or_path', type=str, default=None, help='Pretrained model name or path. If not provided, the corresponding default model will be chosen.') +@click.option('--version', 'model_version', type=click.Choice(['v1', 'v2']), default='v2', help='Model version. Defaults to "v2"') +@click.option('--device', 'device_name', type=str, default='cuda', help='Device name (e.g. "cuda", "cuda:0", "cpu"). Defaults to "cuda"') +@click.option('--fp16', 'use_fp16', is_flag=True, help='Use fp16 precision for much faster inference.') +@click.option('--resize', 'resize_to', type=int, default=None, help='Resize the image(s) & output maps to a specific size. Defaults to None (no resizing).') +@click.option('--resolution_level', type=int, default=9, help='An integer [0-9] for the resolution level for inference. \ +Higher value means more tokens and the finer details will be captured, but inference can be slower. \ +Defaults to 9. Note that it is irrelevant to the output size, which is always the same as the input size. \ +`resolution_level` actually controls `num_tokens`. See `num_tokens` for more details.') +@click.option('--num_tokens', type=int, default=None, help='number of tokens used for inference. A integer in the (suggested) range of `[1200, 2500]`. \ +`resolution_level` will be ignored if `num_tokens` is provided. Default: None') +@click.option('--threshold', type=float, default=0.04, help='Threshold for removing edges. Defaults to 0.01. Smaller value removes more edges. "inf" means no thresholding.') +@click.option('--maps', 'save_maps_', is_flag=True, help='Whether to save the output maps (image, point map, depth map, normal map, mask) and fov.') +@click.option('--glb', 'save_glb_', is_flag=True, help='Whether to save the output as a.glb file. The color will be saved as a texture.') +@click.option('--ply', 'save_ply_', is_flag=True, help='Whether to save the output as a.ply file. The color will be saved as vertex colors.') +@click.option('--show', 'show', is_flag=True, help='Whether show the output in a window. Note that this requires pyglet<2 installed as required by trimesh.') +def main( + input_path: str, + fov_x_: float, + output_path: str, + pretrained_model_name_or_path: str, + model_version: str, + device_name: str, + use_fp16: bool, + resize_to: int, + resolution_level: int, + num_tokens: int, + threshold: float, + save_maps_: bool, + save_glb_: bool, + save_ply_: bool, + show: bool, +): + import cv2 + import numpy as np + import torch + from PIL import Image + from tqdm import tqdm + import trimesh + import trimesh.visual + import click + + from moge.model import import_model_class_by_version + from moge.utils.io import save_glb, save_ply + from moge.utils.vis import colorize_depth, colorize_normal + from moge.utils.geometry_numpy import depth_occlusion_edge_numpy + import utils3d + + device = torch.device(device_name) + + include_suffices = ['jpg', 'png', 'jpeg', 'JPG', 'PNG', 'JPEG'] + if Path(input_path).is_dir(): + image_paths = sorted(itertools.chain(*(Path(input_path).rglob(f'*.{suffix}') for suffix in include_suffices))) + else: + image_paths = [Path(input_path)] + + if len(image_paths) == 0: + raise FileNotFoundError(f'No image files found in {input_path}') + + if pretrained_model_name_or_path is None: + DEFAULT_PRETRAINED_MODEL_FOR_EACH_VERSION = { + "v1": "Ruicheng/moge-vitl", + "v2": "Ruicheng/moge-2-vitl-normal", + } + pretrained_model_name_or_path = DEFAULT_PRETRAINED_MODEL_FOR_EACH_VERSION[model_version] + model = import_model_class_by_version(model_version).from_pretrained(pretrained_model_name_or_path).to(device).eval() + if use_fp16: + model.half() + + if not any([save_maps_, save_glb_, save_ply_]): + warnings.warn('No output format specified. Defaults to saving all. Please use "--maps", "--glb", or "--ply" to specify the output.') + save_maps_ = save_glb_ = save_ply_ = True + + for image_path in (pbar := tqdm(image_paths, desc='Inference', disable=len(image_paths) <= 1)): + image = cv2.cvtColor(cv2.imread(str(image_path)), cv2.COLOR_BGR2RGB) + height, width = image.shape[:2] + if resize_to is not None: + height, width = min(resize_to, int(resize_to * height / width)), min(resize_to, int(resize_to * width / height)) + image = cv2.resize(image, (width, height), cv2.INTER_AREA) + image_tensor = torch.tensor(image / 255, dtype=torch.float32, device=device).permute(2, 0, 1) + + # Inference + output = model.infer(image_tensor, fov_x=fov_x_, resolution_level=resolution_level, num_tokens=num_tokens, use_fp16=use_fp16) + points, depth, mask, intrinsics = output['points'].cpu().numpy(), output['depth'].cpu().numpy(), output['mask'].cpu().numpy(), output['intrinsics'].cpu().numpy() + normal = output['normal'].cpu().numpy() if 'normal' in output else None + + save_path = Path(output_path, image_path.relative_to(input_path).parent, image_path.stem) + save_path.mkdir(exist_ok=True, parents=True) + + # Save images / maps + if save_maps_: + cv2.imwrite(str(save_path / 'image.jpg'), cv2.cvtColor(image, cv2.COLOR_RGB2BGR)) + cv2.imwrite(str(save_path / 'depth_vis.png'), cv2.cvtColor(colorize_depth(depth), cv2.COLOR_RGB2BGR)) + cv2.imwrite(str(save_path / 'depth.exr'), depth, [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + cv2.imwrite(str(save_path / 'mask.png'), (mask * 255).astype(np.uint8)) + cv2.imwrite(str(save_path / 'points.exr'), cv2.cvtColor(points, cv2.COLOR_RGB2BGR), [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + if normal is not None: + cv2.imwrite(str(save_path / 'normal.png'), cv2.cvtColor(colorize_normal(normal), cv2.COLOR_RGB2BGR)) + fov_x, fov_y = utils3d.numpy.intrinsics_to_fov(intrinsics) + with open(save_path / 'fov.json', 'w') as f: + json.dump({ + 'fov_x': round(float(np.rad2deg(fov_x)), 2), + 'fov_y': round(float(np.rad2deg(fov_y)), 2), + }, f) + + # Export mesh & visulization + if save_glb_ or save_ply_ or show: + mask_cleaned = mask & ~utils3d.numpy.depth_edge(depth, rtol=threshold) + if normal is None: + faces, vertices, vertex_colors, vertex_uvs = utils3d.numpy.image_mesh( + points, + image.astype(np.float32) / 255, + utils3d.numpy.image_uv(width=width, height=height), + mask=mask_cleaned, + tri=True + ) + vertex_normals = None + else: + faces, vertices, vertex_colors, vertex_uvs, vertex_normals = utils3d.numpy.image_mesh( + points, + image.astype(np.float32) / 255, + utils3d.numpy.image_uv(width=width, height=height), + normal, + mask=mask_cleaned, + tri=True + ) + # When exporting the model, follow the OpenGL coordinate conventions: + # - world coordinate system: x right, y up, z backward. + # - texture coordinate system: (0, 0) for left-bottom, (1, 1) for right-top. + vertices, vertex_uvs = vertices * [1, -1, -1], vertex_uvs * [1, -1] + [0, 1] + if normal is not None: + vertex_normals = vertex_normals * [1, -1, -1] + + if save_glb_: + save_glb(save_path / 'mesh.glb', vertices, faces, vertex_uvs, image, vertex_normals) + + if save_ply_: + save_ply(save_path / 'pointcloud.ply', vertices, np.zeros((0, 3), dtype=np.int32), vertex_colors, vertex_normals) + + if show: + trimesh.Trimesh( + vertices=vertices, + vertex_colors=vertex_colors, + vertex_normals=vertex_normals, + faces=faces, + process=False + ).show() + + +if __name__ == '__main__': + main() diff --git a/Pixel-Perfect-Depth/ppd/moge/scripts/infer_baseline.py b/Pixel-Perfect-Depth/ppd/moge/scripts/infer_baseline.py new file mode 100644 index 0000000000000000000000000000000000000000..5409674f7cd5ce21de9200fd9038cb7d71c99e0f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/scripts/infer_baseline.py @@ -0,0 +1,140 @@ +import os +os.environ['OPENCV_IO_ENABLE_OPENEXR'] = '1' +from pathlib import Path +import sys +if (_package_root := str(Path(__file__).absolute().parents[2])) not in sys.path: + sys.path.insert(0, _package_root) +import json +from pathlib import Path +from typing import * +import itertools +import warnings + +import click + + +@click.command(context_settings={"allow_extra_args": True, "ignore_unknown_options": True}, help='Inference script for wrapped baselines methods') +@click.option('--baseline', 'baseline_code_path', required=True, type=click.Path(), help='Path to the baseline model python code.') +@click.option('--input', '-i', 'input_path', type=str, required=True, help='Input image or folder') +@click.option('--output', '-o', 'output_path', type=str, default='./output', help='Output folder') +@click.option('--size', 'image_size', type=int, default=None, help='Resize input image') +@click.option('--skip', is_flag=True, help='Skip existing output') +@click.option('--maps', 'save_maps_', is_flag=True, help='Save output point / depth maps') +@click.option('--ply', 'save_ply_', is_flag=True, help='Save mesh in PLY format') +@click.option('--glb', 'save_glb_', is_flag=True, help='Save mesh in GLB format') +@click.option('--threshold', type=float, default=0.03, help='Depth edge detection threshold for saving mesh') +@click.pass_context +def main(ctx: click.Context, baseline_code_path: str, input_path: str, output_path: str, image_size: int, skip: bool, save_maps_, save_ply_: bool, save_glb_: bool, threshold: float): + # Lazy import + import cv2 + import numpy as np + from tqdm import tqdm + import torch + import utils3d + + from moge.utils.io import save_ply, save_glb + from moge.utils.geometry_numpy import intrinsics_to_fov_numpy + from moge.utils.vis import colorize_depth, colorize_depth_affine, colorize_disparity + from moge.utils.tools import key_average, flatten_nested_dict, timeit, import_file_as_module + from moge.test.baseline import MGEBaselineInterface + + # Load the baseline model + module = import_file_as_module(baseline_code_path, Path(baseline_code_path).stem) + baseline_cls: Type[MGEBaselineInterface] = getattr(module, 'Baseline') + baseline : MGEBaselineInterface = baseline_cls.load.main(ctx.args, standalone_mode=False) + + # Input images list + include_suffices = ['jpg', 'png', 'jpeg', 'JPG', 'PNG', 'JPEG'] + if Path(input_path).is_dir(): + image_paths = sorted(itertools.chain(*(Path(input_path).rglob(f'*.{suffix}') for suffix in include_suffices))) + else: + image_paths = [Path(input_path)] + + if not any([save_maps_, save_glb_, save_ply_]): + warnings.warn('No output format specified. Defaults to saving maps only. Please use "--maps", "--glb", or "--ply" to specify the output.') + save_maps_ = True + + for image_path in (pbar := tqdm(image_paths, desc='Inference', disable=len(image_paths) <= 1)): + # Load one image at a time + image_np = cv2.cvtColor(cv2.imread(str(image_path)), cv2.COLOR_BGR2RGB) + height, width = image_np.shape[:2] + if image_size is not None and max(image_np.shape[:2]) > image_size: + height, width = min(image_size, int(image_size * height / width)), min(image_size, int(image_size * width / height)) + image_np = cv2.resize(image_np, (width, height), cv2.INTER_AREA) + image = torch.from_numpy(image_np.astype(np.float32) / 255.0).permute(2, 0, 1).to(baseline.device) + + # Inference + torch.cuda.synchronize() + with torch.inference_mode(), (timer := timeit('Inference', verbose=False, average=True)): + output = baseline.infer(image) + torch.cuda.synchronize() + + inference_time = timer.average_time + pbar.set_postfix({'average inference time': f'{inference_time:.3f}s'}) + + # Save the output + save_path = Path(output_path, image_path.relative_to(input_path).parent, image_path.stem) + if skip and save_path.exists(): + continue + save_path.mkdir(parents=True, exist_ok=True) + + if save_maps_: + cv2.imwrite(str(save_path / 'image.jpg'), cv2.cvtColor(image_np, cv2.COLOR_RGB2BGR)) + + if 'mask' in output: + mask = output['mask'].cpu().numpy() + cv2.imwrite(str(save_path /'mask.png'), (mask * 255).astype(np.uint8)) + + for k in ['points_metric', 'points_scale_invariant', 'points_affine_invariant']: + if k in output: + points = output[k].cpu().numpy() + cv2.imwrite(str(save_path / f'{k}.exr'), cv2.cvtColor(points, cv2.COLOR_RGB2BGR), [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + + for k in ['depth_metric', 'depth_scale_invariant', 'depth_affine_invariant', 'disparity_affine_invariant']: + if k in output: + depth = output[k].cpu().numpy() + cv2.imwrite(str(save_path / f'{k}.exr'), depth, [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + if k in ['depth_metric', 'depth_scale_invariant']: + depth_vis = colorize_depth(depth) + elif k == 'depth_affine_invariant': + depth_vis = colorize_depth_affine(depth) + elif k == 'disparity_affine_invariant': + depth_vis = colorize_disparity(depth) + cv2.imwrite(str(save_path / f'{k}_vis.png'), cv2.cvtColor(depth_vis, cv2.COLOR_RGB2BGR)) + + if 'intrinsics' in output: + intrinsics = output['intrinsics'].cpu().numpy() + fov_x, fov_y = intrinsics_to_fov_numpy(intrinsics) + with open(save_path / 'fov.json', 'w') as f: + json.dump({ + 'fov_x': float(np.rad2deg(fov_x)), + 'fov_y': float(np.rad2deg(fov_y)), + 'intrinsics': intrinsics.tolist() + }, f, indent=4) + + # Export mesh & visulization + if save_ply_ or save_glb_: + assert any(k in output for k in ['points_metric', 'points_scale_invariant', 'points_affine_invariant']), 'No point map found in output' + points = next(output[k] for k in ['points_metric', 'points_scale_invariant', 'points_affine_invariant'] if k in output).cpu().numpy() + mask = output['mask'] if 'mask' in output else np.ones_like(points[..., 0], dtype=bool) + normals, normals_mask = utils3d.numpy.points_to_normals(points, mask=mask) + faces, vertices, vertex_colors, vertex_uvs = utils3d.numpy.image_mesh( + points, + image_np.astype(np.float32) / 255, + utils3d.numpy.image_uv(width=width, height=height), + mask=mask & ~(utils3d.numpy.depth_edge(depth, rtol=threshold, mask=mask) & utils3d.numpy.normals_edge(normals, tol=5, mask=normals_mask)), + tri=True + ) + # When exporting the model, follow the OpenGL coordinate conventions: + # - world coordinate system: x right, y up, z backward. + # - texture coordinate system: (0, 0) for left-bottom, (1, 1) for right-top. + vertices, vertex_uvs = vertices * [1, -1, -1], vertex_uvs * [1, -1] + [0, 1] + + if save_glb_: + save_glb(save_path / 'mesh.glb', vertices, faces, vertex_uvs, image_np) + + if save_ply_: + save_ply(save_path / 'mesh.ply', vertices, faces, vertex_colors) + +if __name__ == '__main__': + main() diff --git a/Pixel-Perfect-Depth/ppd/moge/scripts/infer_panorama.py b/Pixel-Perfect-Depth/ppd/moge/scripts/infer_panorama.py new file mode 100644 index 0000000000000000000000000000000000000000..cce65cb90cd1c6750d42cdda4e72d4ce3a2c0549 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/scripts/infer_panorama.py @@ -0,0 +1,162 @@ +import os +os.environ['OPENCV_IO_ENABLE_OPENEXR'] = '1' +from pathlib import Path +import sys +if (_package_root := str(Path(__file__).absolute().parents[2])) not in sys.path: + sys.path.insert(0, _package_root) +from typing import * +import itertools +import json +import warnings + +import click + + +@click.command(help='Inference script for panorama images') +@click.option('--input', '-i', 'input_path', type=click.Path(exists=True), required=True, help='Input image or folder path. "jpg" and "png" are supported.') +@click.option('--output', '-o', 'output_path', type=click.Path(), default='./output', help='Output folder path') +@click.option('--pretrained', 'pretrained_model_name_or_path', type=str, default='Ruicheng/moge-vitl', help='Pretrained model name or path. Defaults to "Ruicheng/moge-vitl"') +@click.option('--device', 'device_name', type=str, default='cuda', help='Device name (e.g. "cuda", "cuda:0", "cpu"). Defaults to "cuda"') +@click.option('--resize', 'resize_to', type=int, default=None, help='Resize the image(s) & output maps to a specific size. Defaults to None (no resizing).') +@click.option('--resolution_level', type=int, default=9, help='An integer [0-9] for the resolution level of inference. The higher, the better but slower. Defaults to 9. Note that it is irrelevant to the output resolution.') +@click.option('--threshold', type=float, default=0.03, help='Threshold for removing edges. Defaults to 0.03. Smaller value removes more edges. "inf" means no thresholding.') +@click.option('--batch_size', type=int, default=4, help='Batch size for inference. Defaults to 4.') +@click.option('--splitted', 'save_splitted', is_flag=True, help='Whether to save the splitted images. Defaults to False.') +@click.option('--maps', 'save_maps_', is_flag=True, help='Whether to save the output maps and fov(image, depth, mask, points, fov).') +@click.option('--glb', 'save_glb_', is_flag=True, help='Whether to save the output as a.glb file. The color will be saved as a texture.') +@click.option('--ply', 'save_ply_', is_flag=True, help='Whether to save the output as a.ply file. The color will be saved as vertex colors.') +@click.option('--show', 'show', is_flag=True, help='Whether show the output in a window. Note that this requires pyglet<2 installed as required by trimesh.') +def main( + input_path: str, + output_path: str, + pretrained_model_name_or_path: str, + device_name: str, + resize_to: int, + resolution_level: int, + threshold: float, + batch_size: int, + save_splitted: bool, + save_maps_: bool, + save_glb_: bool, + save_ply_: bool, + show: bool, +): + # Lazy import + import cv2 + import numpy as np + from numpy import ndarray + import torch + from PIL import Image + from tqdm import tqdm, trange + import trimesh + import trimesh.visual + from scipy.sparse import csr_array, hstack, vstack + from scipy.ndimage import convolve + from scipy.sparse.linalg import lsmr + + import utils3d + from moge.model.v1 import MoGeModel + from moge.utils.io import save_glb, save_ply + from moge.utils.vis import colorize_depth + from moge.utils.panorama import spherical_uv_to_directions, get_panorama_cameras, split_panorama_image, merge_panorama_depth + + + device = torch.device(device_name) + + include_suffices = ['jpg', 'png', 'jpeg', 'JPG', 'PNG', 'JPEG'] + if Path(input_path).is_dir(): + image_paths = sorted(itertools.chain(*(Path(input_path).rglob(f'*.{suffix}') for suffix in include_suffices))) + else: + image_paths = [Path(input_path)] + + if len(image_paths) == 0: + raise FileNotFoundError(f'No image files found in {input_path}') + + # Write outputs + if not any([save_maps_, save_glb_, save_ply_]): + warnings.warn('No output format specified. Defaults to saving all. Please use "--maps", "--glb", or "--ply" to specify the output.') + save_maps_ = save_glb_ = save_ply_ = True + + model = MoGeModel.from_pretrained(pretrained_model_name_or_path).to(device).eval() + + for image_path in (pbar := tqdm(image_paths, desc='Total images', disable=len(image_paths) <= 1)): + image = cv2.cvtColor(cv2.imread(str(image_path)), cv2.COLOR_BGR2RGB) + height, width = image.shape[:2] + if resize_to is not None: + height, width = min(resize_to, int(resize_to * height / width)), min(resize_to, int(resize_to * width / height)) + image = cv2.resize(image, (width, height), cv2.INTER_AREA) + + splitted_extrinsics, splitted_intriniscs = get_panorama_cameras() + splitted_resolution = 512 + splitted_images = split_panorama_image(image, splitted_extrinsics, splitted_intriniscs, splitted_resolution) + + # Infer each view + print('Inferring...') if pbar.disable else pbar.set_postfix_str(f'Inferring') + + splitted_distance_maps, splitted_masks = [], [] + for i in trange(0, len(splitted_images), batch_size, desc='Inferring splitted views', disable=len(splitted_images) <= batch_size, leave=False): + image_tensor = torch.tensor(np.stack(splitted_images[i:i + batch_size]) / 255, dtype=torch.float32, device=device).permute(0, 3, 1, 2) + fov_x, fov_y = np.rad2deg(utils3d.numpy.intrinsics_to_fov(np.array(splitted_intriniscs[i:i + batch_size]))) + fov_x = torch.tensor(fov_x, dtype=torch.float32, device=device) + output = model.infer(image_tensor, fov_x=fov_x, apply_mask=False) + distance_map, mask = output['points'].norm(dim=-1).cpu().numpy(), output['mask'].cpu().numpy() + splitted_distance_maps.extend(list(distance_map)) + splitted_masks.extend(list(mask)) + + # Save splitted + if save_splitted: + splitted_save_path = Path(output_path, image_path.stem, 'splitted') + splitted_save_path.mkdir(exist_ok=True, parents=True) + for i in range(len(splitted_images)): + cv2.imwrite(str(splitted_save_path / f'{i:02d}.jpg'), cv2.cvtColor(splitted_images[i], cv2.COLOR_RGB2BGR)) + cv2.imwrite(str(splitted_save_path / f'{i:02d}_distance_vis.png'), cv2.cvtColor(colorize_depth(splitted_distance_maps[i], splitted_masks[i]), cv2.COLOR_RGB2BGR)) + + # Merge + print('Merging...') if pbar.disable else pbar.set_postfix_str(f'Merging') + + merging_width, merging_height = min(1920, width), min(960, height) + panorama_depth, panorama_mask = merge_panorama_depth(merging_width, merging_height, splitted_distance_maps, splitted_masks, splitted_extrinsics, splitted_intriniscs) + panorama_depth = panorama_depth.astype(np.float32) + panorama_depth = cv2.resize(panorama_depth, (width, height), cv2.INTER_LINEAR) + panorama_mask = cv2.resize(panorama_mask.astype(np.uint8), (width, height), cv2.INTER_NEAREST) > 0 + points = panorama_depth[:, :, None] * spherical_uv_to_directions(utils3d.numpy.image_uv(width=width, height=height)) + + # Write outputs + print('Writing outputs...') if pbar.disable else pbar.set_postfix_str(f'Inferring') + save_path = Path(output_path, image_path.relative_to(input_path).parent, image_path.stem) + save_path.mkdir(exist_ok=True, parents=True) + if save_maps_: + cv2.imwrite(str(save_path / 'image.jpg'), cv2.cvtColor(image, cv2.COLOR_RGB2BGR)) + cv2.imwrite(str(save_path / 'depth_vis.png'), cv2.cvtColor(colorize_depth(panorama_depth, mask=panorama_mask), cv2.COLOR_RGB2BGR)) + cv2.imwrite(str(save_path / 'depth.exr'), panorama_depth, [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + cv2.imwrite(str(save_path / 'points.exr'), points, [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + cv2.imwrite(str(save_path /'mask.png'), (panorama_mask * 255).astype(np.uint8)) + + # Export mesh & visulization + if save_glb_ or save_ply_ or show: + normals, normals_mask = utils3d.numpy.points_to_normals(points, panorama_mask) + faces, vertices, vertex_colors, vertex_uvs = utils3d.numpy.image_mesh( + points, + image.astype(np.float32) / 255, + utils3d.numpy.image_uv(width=width, height=height), + mask=panorama_mask & ~(utils3d.numpy.depth_edge(panorama_depth, rtol=threshold) & utils3d.numpy.normals_edge(normals, tol=5, mask=normals_mask)), + tri=True + ) + + if save_glb_: + save_glb(save_path / 'mesh.glb', vertices, faces, vertex_uvs, image) + + if save_ply_: + save_ply(save_path / 'mesh.ply', vertices, faces, vertex_colors) + + if show: + trimesh.Trimesh( + vertices=vertices, + vertex_colors=vertex_colors, + faces=faces, + process=False + ).show() + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/scripts/train.py b/Pixel-Perfect-Depth/ppd/moge/scripts/train.py new file mode 100644 index 0000000000000000000000000000000000000000..d96d3ad4d31ed0b6c30bbbbcd83033b227e90829 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/scripts/train.py @@ -0,0 +1,452 @@ +import os +from pathlib import Path +import sys +if (_package_root := str(Path(__file__).absolute().parents[2])) not in sys.path: + sys.path.insert(0, _package_root) +import json +import time +import random +from typing import * +import itertools +from contextlib import nullcontext +from concurrent.futures import ThreadPoolExecutor +import io + +import numpy as np +import cv2 +from PIL import Image +import torch +import torch.nn as nn +import torch.nn.functional as F +import torch.version +import accelerate +from accelerate import Accelerator, DistributedDataParallelKwargs +from accelerate.utils import set_seed +import utils3d +import click +from tqdm import tqdm, trange +import mlflow +torch.backends.cudnn.benchmark = False # Varying input size, make sure cudnn benchmark is disabled + +from moge.train.dataloader import TrainDataLoaderPipeline +from moge.train.losses import ( + affine_invariant_global_loss, + affine_invariant_local_loss, + edge_loss, + normal_loss, + mask_l2_loss, + mask_bce_loss, + monitoring, +) +from moge.train.utils import build_optimizer, build_lr_scheduler +from moge.utils.geometry_torch import intrinsics_to_fov +from moge.utils.vis import colorize_depth, colorize_normal +from moge.utils.tools import key_average, recursive_replace, CallbackOnException, flatten_nested_dict +from moge.test.metrics import compute_metrics + + +@click.command() +@click.option('--config', 'config_path', type=str, default='configs/debug.json') +@click.option('--workspace', type=str, default='workspace/debug', help='Path to the workspace') +@click.option('--checkpoint', 'checkpoint_path', type=str, default=None, help='Path to the checkpoint to load') +@click.option('--batch_size_forward', type=int, default=8, help='Batch size for each forward pass on each device') +@click.option('--gradient_accumulation_steps', type=int, default=1, help='Number of steps to accumulate gradients') +@click.option('--enable_gradient_checkpointing', type=bool, default=True, help='Use gradient checkpointing in backbone') +@click.option('--enable_mixed_precision', type=bool, default=False, help='Use mixed precision training. Backbone is converted to FP16') +@click.option('--enable_ema', type=bool, default=True, help='Maintain an exponential moving average of the model weights') +@click.option('--num_iterations', type=int, default=1000000, help='Number of iterations to train the model') +@click.option('--save_every', type=int, default=10000, help='Save checkpoint every n iterations') +@click.option('--log_every', type=int, default=1000, help='Log metrics every n iterations') +@click.option('--vis_every', type=int, default=0, help='Visualize every n iterations') +@click.option('--num_vis_images', type=int, default=32, help='Number of images to visualize, must be a multiple of divided batch size') +@click.option('--enable_mlflow', type=bool, default=True, help='Log metrics to MLFlow') +@click.option('--seed', type=int, default=0, help='Random seed') +def main( + config_path: str, + workspace: str, + checkpoint_path: str, + batch_size_forward: int, + gradient_accumulation_steps: int, + enable_gradient_checkpointing: bool, + enable_mixed_precision: bool, + enable_ema: bool, + num_iterations: int, + save_every: int, + log_every: int, + vis_every: int, + num_vis_images: int, + enable_mlflow: bool, + seed: Optional[int], +): + # Load config + with open(config_path, 'r') as f: + config = json.load(f) + + accelerator = Accelerator( + gradient_accumulation_steps=gradient_accumulation_steps, + mixed_precision='fp16' if enable_mixed_precision else None, + kwargs_handlers=[ + DistributedDataParallelKwargs(find_unused_parameters=True) + ] + ) + device = accelerator.device + batch_size_total = batch_size_forward * gradient_accumulation_steps * accelerator.num_processes + + # Log config + if accelerator.is_main_process: + if enable_mlflow: + try: + mlflow.log_params({ + **click.get_current_context().params, + 'batch_size_total': batch_size_total, + }) + except: + print('Failed to log config to MLFlow') + Path(workspace).mkdir(parents=True, exist_ok=True) + with Path(workspace).joinpath('config.json').open('w') as f: + json.dump(config, f, indent=4) + + # Set seed + if seed is not None: + set_seed(seed, device_specific=True) + + # Initialize model + print('Initialize model') + with accelerator.local_main_process_first(): + from moge.model import import_model_class_by_version + MoGeModel = import_model_class_by_version(config['model_version']) + model = MoGeModel(**config['model']) + count_total_parameters = sum(p.numel() for p in model.parameters()) + print(f'Total parameters: {count_total_parameters}') + + # Set up EMA model + if enable_ema and accelerator.is_main_process: + ema_avg_fn = lambda averaged_model_parameter, model_parameter, num_averaged: 0.999 * averaged_model_parameter + 0.001 * model_parameter + ema_model = torch.optim.swa_utils.AveragedModel(model, device=accelerator.device, avg_fn=ema_avg_fn) + + # Set gradient checkpointing + if enable_gradient_checkpointing: + model.enable_gradient_checkpointing() + import warnings + warnings.filterwarnings("ignore", category=FutureWarning, module="torch.utils.checkpoint") + + # Initalize optimizer & lr scheduler + optimizer = build_optimizer(model, config['optimizer']) + lr_scheduler = build_lr_scheduler(optimizer, config['lr_scheduler']) + + count_grouped_parameters = [sum(p.numel() for p in param_group['params'] if p.requires_grad) for param_group in optimizer.param_groups] + for i, count in enumerate(count_grouped_parameters): + print(f'- Group {i}: {count} parameters') + + # Attempt to load checkpoint + checkpoint: Dict[str, Any] + with accelerator.local_main_process_first(): + if checkpoint_path.endswith('.pt'): + # - Load specific checkpoint file + print(f'Load checkpoint: {checkpoint_path}') + checkpoint = torch.load(checkpoint_path, map_location='cpu', weights_only=True) + elif checkpoint_path == "latest": + # - Load latest + checkpoint_path = Path(workspace, 'checkpoint', 'latest.pt') + if checkpoint_path.exists(): + print(f'Load checkpoint: {checkpoint_path}') + checkpoint = torch.load(checkpoint_path, map_location='cpu', weights_only=True) + i_step = checkpoint['step'] + if 'model' not in checkpoint and (checkpoint_model_path := Path(workspace, 'checkpoint', f'{i_step:08d}.pt')).exists(): + print(f'Load model checkpoint: {checkpoint_model_path}') + checkpoint['model'] = torch.load(checkpoint_model_path, map_location='cpu', weights_only=True)['model'] + if 'optimizer' not in checkpoint and (checkpoint_optimizer_path := Path(workspace, 'checkpoint', f'{i_step:08d}_optimizer.pt')).exists(): + print(f'Load optimizer checkpoint: {checkpoint_optimizer_path}') + checkpoint.update(torch.load(checkpoint_optimizer_path, map_location='cpu', weights_only=True)) + if enable_ema and accelerator.is_main_process: + if 'ema_model' not in checkpoint and (checkpoint_ema_model_path := Path(workspace, 'checkpoint', f'{i_step:08d}_ema.pt')).exists(): + print(f'Load EMA model checkpoint: {checkpoint_ema_model_path}') + checkpoint['ema_model'] = torch.load(checkpoint_ema_model_path, map_location='cpu', weights_only=True)['model'] + else: + checkpoint = None + elif checkpoint_path is not None: + # - Load by step number + i_step = int(checkpoint_path) + checkpoint = {'step': i_step} + if (checkpoint_model_path := Path(workspace, 'checkpoint', f'{i_step:08d}.pt')).exists(): + print(f'Load model checkpoint: {checkpoint_model_path}') + checkpoint['model'] = torch.load(checkpoint_model_path, map_location='cpu', weights_only=True)['model'] + if (checkpoint_optimizer_path := Path(workspace, 'checkpoint', f'{i_step:08d}_optimizer.pt')).exists(): + print(f'Load optimizer checkpoint: {checkpoint_optimizer_path}') + checkpoint.update(torch.load(checkpoint_optimizer_path, map_location='cpu', weights_only=True)) + if enable_ema and accelerator.is_main_process: + if (checkpoint_ema_model_path := Path(workspace, 'checkpoint', f'{i_step:08d}_ema.pt')).exists(): + print(f'Load EMA model checkpoint: {checkpoint_ema_model_path}') + checkpoint['ema_model'] = torch.load(checkpoint_ema_model_path, map_location='cpu', weights_only=True)['model'] + else: + checkpoint = None + + if checkpoint is None: + # Initialize model weights + print('Initialize model weights') + with accelerator.local_main_process_first(): + model.init_weights() + initial_step = 0 + else: + model.load_state_dict(checkpoint['model'], strict=False) + if 'step' in checkpoint: + initial_step = checkpoint['step'] + 1 + else: + initial_step = 0 + if 'optimizer' in checkpoint: + optimizer.load_state_dict(checkpoint['optimizer']) + if enable_ema and accelerator.is_main_process and 'ema_model' in checkpoint: + ema_model.module.load_state_dict(checkpoint['ema_model'], strict=False) + if 'lr_scheduler' in checkpoint: + lr_scheduler.load_state_dict(checkpoint['lr_scheduler']) + + del checkpoint + + model, optimizer = accelerator.prepare(model, optimizer) + if torch.version.hip and isinstance(model, torch.nn.parallel.DistributedDataParallel): + # Hacking potential gradient synchronization issue in ROCm backend + from moge.model.utils import sync_ddp_hook + model.register_comm_hook(None, sync_ddp_hook) + + # Initialize training data pipeline + with accelerator.local_main_process_first(): + train_data_pipe = TrainDataLoaderPipeline(config['data'], batch_size_forward) + + def _write_bytes_retry_loop(save_path: Path, data: bytes): + while True: + try: + save_path.write_bytes(data) + break + except Exception as e: + print('Error while saving checkpoint, retrying in 1 minute: ', e) + time.sleep(60) + + # Ready to train + records = [] + model.train() + with ( + train_data_pipe, + tqdm(initial=initial_step, total=num_iterations, desc='Training', disable=not accelerator.is_main_process) as pbar, + ThreadPoolExecutor(max_workers=1) as save_checkpoint_executor, + ): + # Get some batches for visualization + if accelerator.is_main_process: + batches_for_vis: List[Dict[str, torch.Tensor]] = [] + num_vis_images = num_vis_images // batch_size_forward * batch_size_forward + for _ in range(num_vis_images // batch_size_forward): + batch = train_data_pipe.get() + batches_for_vis.append(batch) + + # Visualize GT + if vis_every > 0 and accelerator.is_main_process and initial_step == 0: + save_dir = Path(workspace).joinpath('vis/gt') + for i_batch, batch in enumerate(tqdm(batches_for_vis, desc='Visualize GT', leave=False)): + image, gt_depth, gt_mask, gt_mask_inf, gt_intrinsics, info = batch['image'], batch['depth'], batch['depth_mask'], batch['depth_mask_inf'], batch['intrinsics'], batch['info'] + gt_points = utils3d.torch.depth_to_points(gt_depth, intrinsics=gt_intrinsics) + gt_normal, gt_normal_mask = utils3d.torch.points_to_normals(gt_points, gt_mask) + for i_instance in range(batch['image'].shape[0]): + idx = i_batch * batch_size_forward + i_instance + image_i = (image[i_instance].numpy().transpose(1, 2, 0) * 255).astype(np.uint8) + gt_depth_i = gt_depth[i_instance].numpy() + gt_mask_i = gt_mask[i_instance].numpy() + gt_mask_inf_i = gt_mask_inf[i_instance].numpy() + gt_points_i = gt_points[i_instance].numpy() + gt_normal_i = gt_normal[i_instance].numpy() + save_dir.joinpath(f'{idx:04d}').mkdir(parents=True, exist_ok=True) + cv2.imwrite(str(save_dir.joinpath(f'{idx:04d}/image.jpg')), cv2.cvtColor(image_i, cv2.COLOR_RGB2BGR)) + cv2.imwrite(str(save_dir.joinpath(f'{idx:04d}/points.exr')), cv2.cvtColor(gt_points_i, cv2.COLOR_RGB2BGR), [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + cv2.imwrite(str(save_dir.joinpath(f'{idx:04d}/mask.png')), gt_mask_i * 255) + cv2.imwrite(str(save_dir.joinpath(f'{idx:04d}/depth_vis.png')), cv2.cvtColor(colorize_depth(gt_depth_i, gt_mask_i), cv2.COLOR_RGB2BGR)) + cv2.imwrite(str(save_dir.joinpath(f'{idx:04d}/normal.png')), cv2.cvtColor(colorize_normal(gt_normal_i), cv2.COLOR_RGB2BGR)) + cv2.imwrite(str(save_dir.joinpath(f'{idx:04d}/mask_inf.png')), gt_mask_inf_i * 255) + with save_dir.joinpath(f'{idx:04d}/info.json').open('w') as f: + json.dump(info[i_instance], f) + + # Reset seed to avoid training on the same data when resuming training + if seed is not None: + set_seed(seed + initial_step, device_specific=True) + + # Training loop + for i_step in range(initial_step, num_iterations): + + i_accumulate, weight_accumulate = 0, 0 + while i_accumulate < gradient_accumulation_steps: + # Load batch + batch = train_data_pipe.get() + image, gt_depth, gt_mask, gt_mask_fin, gt_mask_inf, gt_intrinsics, label_type, is_metric = batch['image'], batch['depth'], batch['depth_mask'], batch['depth_mask_fin'], batch['depth_mask_inf'], batch['intrinsics'], batch['label_type'], batch['is_metric'] + image, gt_depth, gt_mask, gt_mask_fin, gt_mask_inf, gt_intrinsics = image.to(device), gt_depth.to(device), gt_mask.to(device), gt_mask_fin.to(device), gt_mask_inf.to(device), gt_intrinsics.to(device) + current_batch_size = image.shape[0] + if all(label == 'invalid' for label in label_type): + continue # NOTE: Skip all-invalid batches to avoid messing up the optimizer. + + gt_points = utils3d.torch.depth_to_points(gt_depth, intrinsics=gt_intrinsics) + gt_focal = 1 / (1 / gt_intrinsics[..., 0, 0] ** 2 + 1 / gt_intrinsics[..., 1, 1] ** 2) ** 0.5 + + with accelerator.accumulate(model): + # Forward + if i_step <= config.get('low_resolution_training_steps', 0): + num_tokens = config['model']['num_tokens_range'][0] + else: + num_tokens = accelerate.utils.broadcast_object_list([random.randint(*config['model']['num_tokens_range'])])[0] + with torch.autocast(device_type=accelerator.device.type, dtype=torch.float16, enabled=enable_mixed_precision): + output = model(image, num_tokens=num_tokens) + pred_points, pred_mask, pred_metric_scale = output['points'], output['mask'], output.get('metric_scale', None) + + # Compute loss (per instance) + loss_list, weight_list = [], [] + for i in range(current_batch_size): + gt_metric_scale = None + loss_dict, weight_dict, misc_dict = {}, {}, {} + misc_dict['monitoring'] = monitoring(pred_points[i]) + for k, v in config['loss'][label_type[i]].items(): + weight_dict[k] = v['weight'] + if v['function'] == 'affine_invariant_global_loss': + loss_dict[k], misc_dict[k], gt_metric_scale = affine_invariant_global_loss(pred_points[i], gt_points[i], gt_mask[i], **v['params']) + elif v['function'] == 'affine_invariant_local_loss': + loss_dict[k], misc_dict[k] = affine_invariant_local_loss(pred_points[i], gt_points[i], gt_mask[i], gt_focal[i], gt_metric_scale, **v['params']) + elif v['function'] == 'normal_loss': + loss_dict[k], misc_dict[k] = normal_loss(pred_points[i], gt_points[i], gt_mask[i]) + elif v['function'] == 'edge_loss': + loss_dict[k], misc_dict[k] = edge_loss(pred_points[i], gt_points[i], gt_mask[i]) + elif v['function'] == 'mask_bce_loss': + loss_dict[k], misc_dict[k] = mask_bce_loss(pred_mask[i], gt_mask_fin[i], gt_mask_inf[i]) + elif v['function'] == 'mask_l2_loss': + loss_dict[k], misc_dict[k] = mask_l2_loss(pred_mask[i], gt_mask_fin[i], gt_mask_inf[i]) + else: + raise ValueError(f'Undefined loss function: {v["function"]}') + weight_dict = {'.'.join(k): v for k, v in flatten_nested_dict(weight_dict).items()} + loss_dict = {'.'.join(k): v for k, v in flatten_nested_dict(loss_dict).items()} + loss_ = sum([weight_dict[k] * loss_dict[k] for k in loss_dict], start=torch.tensor(0.0, device=device)) + loss_list.append(loss_) + + if torch.isnan(loss_).item(): + pbar.write(f'NaN loss in process {accelerator.process_index}') + pbar.write(str(loss_dict)) + + misc_dict = {'.'.join(k): v for k, v in flatten_nested_dict(misc_dict).items()} + records.append({ + **{k: v.item() for k, v in loss_dict.items()}, + **misc_dict, + }) + + loss = sum(loss_list) / len(loss_list) + + # Backward & update + accelerator.backward(loss) + if accelerator.sync_gradients: + if not enable_mixed_precision and any(torch.isnan(p.grad).any() for p in model.parameters() if p.grad is not None): + if accelerator.is_main_process: + pbar.write(f'NaN gradients, skip update') + optimizer.zero_grad() + continue + accelerator.clip_grad_norm_(model.parameters(), 1.0) + + optimizer.step() + optimizer.zero_grad() + + i_accumulate += 1 + + lr_scheduler.step() + + # EMA update + if enable_ema and accelerator.is_main_process and accelerator.sync_gradients: + ema_model.update_parameters(model) + + # Log metrics + if i_step == initial_step or i_step % log_every == 0: + records = [key_average(records)] + records = accelerator.gather_for_metrics(records, use_gather_object=True) + if accelerator.is_main_process: + records = key_average(records) + if enable_mlflow: + try: + mlflow.log_metrics(records, step=i_step) + except Exception as e: + print(f'Error while logging metrics to mlflow: {e}') + records = [] + + # Save model weight checkpoint + if accelerator.is_main_process and (i_step % save_every == 0): + # NOTE: Writing checkpoint is done in a separate thread to avoid blocking the main process + pbar.write(f'Save checkpoint: {i_step:08d}') + Path(workspace, 'checkpoint').mkdir(parents=True, exist_ok=True) + + # Model checkpoint + with io.BytesIO() as f: + torch.save({ + 'model_config': config['model'], + 'model': accelerator.unwrap_model(model).state_dict(), + }, f) + checkpoint_bytes = f.getvalue() + save_checkpoint_executor.submit( + _write_bytes_retry_loop, Path(workspace, 'checkpoint', f'{i_step:08d}.pt'), checkpoint_bytes + ) + + # Optimizer checkpoint + with io.BytesIO() as f: + torch.save({ + 'model_config': config['model'], + 'step': i_step, + 'optimizer': optimizer.state_dict(), + 'lr_scheduler': lr_scheduler.state_dict(), + }, f) + checkpoint_bytes = f.getvalue() + save_checkpoint_executor.submit( + _write_bytes_retry_loop, Path(workspace, 'checkpoint', f'{i_step:08d}_optimizer.pt'), checkpoint_bytes + ) + + # EMA model checkpoint + if enable_ema: + with io.BytesIO() as f: + torch.save({ + 'model_config': config['model'], + 'model': ema_model.module.state_dict(), + }, f) + checkpoint_bytes = f.getvalue() + save_checkpoint_executor.submit( + _write_bytes_retry_loop, Path(workspace, 'checkpoint', f'{i_step:08d}_ema.pt'), checkpoint_bytes + ) + + # Latest checkpoint + with io.BytesIO() as f: + torch.save({ + 'model_config': config['model'], + 'step': i_step, + }, f) + checkpoint_bytes = f.getvalue() + save_checkpoint_executor.submit( + _write_bytes_retry_loop, Path(workspace, 'checkpoint', 'latest.pt'), checkpoint_bytes + ) + + # Visualize + if vis_every > 0 and accelerator.is_main_process and (i_step == initial_step or i_step % vis_every == 0): + unwrapped_model = accelerator.unwrap_model(model) + save_dir = Path(workspace).joinpath(f'vis/step_{i_step:08d}') + save_dir.mkdir(parents=True, exist_ok=True) + with torch.inference_mode(): + for i_batch, batch in enumerate(tqdm(batches_for_vis, desc=f'Visualize: {i_step:08d}', leave=False)): + image, gt_depth, gt_mask, gt_intrinsics = batch['image'], batch['depth'], batch['depth_mask'], batch['intrinsics'] + image, gt_depth, gt_mask, gt_intrinsics = image.to(device), gt_depth.to(device), gt_mask.to(device), gt_intrinsics.to(device) + + output = unwrapped_model.infer(image) + pred_points, pred_depth, pred_mask = output['points'].cpu().numpy(), output['depth'].cpu().numpy(), output['mask'].cpu().numpy() + image = image.cpu().numpy() + + for i_instance in range(image.shape[0]): + idx = i_batch * batch_size_forward + i_instance + image_i = (image[i_instance].transpose(1, 2, 0) * 255).astype(np.uint8) + pred_points_i = pred_points[i_instance] + pred_mask_i = pred_mask[i_instance] + pred_depth_i = pred_depth[i_instance] + save_dir.joinpath(f'{idx:04d}').mkdir(parents=True, exist_ok=True) + cv2.imwrite(str(save_dir.joinpath(f'{idx:04d}/image.jpg')), cv2.cvtColor(image_i, cv2.COLOR_RGB2BGR)) + cv2.imwrite(str(save_dir.joinpath(f'{idx:04d}/points.exr')), cv2.cvtColor(pred_points_i, cv2.COLOR_RGB2BGR), [cv2.IMWRITE_EXR_TYPE, cv2.IMWRITE_EXR_TYPE_FLOAT]) + cv2.imwrite(str(save_dir.joinpath(f'{idx:04d}/mask.png')), pred_mask_i * 255) + cv2.imwrite(str(save_dir.joinpath(f'{idx:04d}/depth_vis.png')), cv2.cvtColor(colorize_depth(pred_depth_i, pred_mask_i), cv2.COLOR_RGB2BGR)) + + pbar.set_postfix({'loss': loss.item()}, refresh=False) + pbar.update(1) + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/scripts/vis_data.py b/Pixel-Perfect-Depth/ppd/moge/scripts/vis_data.py new file mode 100644 index 0000000000000000000000000000000000000000..bdb21766a67e4370578acbdf7bd17d1feb46b937 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/scripts/vis_data.py @@ -0,0 +1,84 @@ +import os +os.environ['OPENCV_IO_ENABLE_OPENEXR'] = '1' +import sys +from pathlib import Path +if (_package_root := str(Path(__file__).absolute().parents[2])) not in sys.path: + sys.path.insert(0, _package_root) + +import click + + +@click.command() +@click.argument('folder_or_path', type=click.Path(exists=True)) +@click.option('--output', '-o', 'output_folder', type=click.Path(), help='Path to output folder') +@click.option('--max_depth', '-m', type=float, default=float('inf'), help='max depth') +@click.option('--fov', type=float, default=None, help='field of view in degrees') +@click.option('--show', 'show', is_flag=True, help='show point cloud') +@click.option('--depth', 'depth_filename', type=str, default='depth.png', help='depth image file name') +@click.option('--ply', 'save_ply', is_flag=True, help='save point cloud as PLY file') +@click.option('--depth_vis', 'save_depth_vis', is_flag=True, help='save depth image') +@click.option('--inf', 'inf_mask', is_flag=True, help='use infinity mask') +@click.option('--version', 'version', type=str, default='v3', help='version of rgbd data') +def main( + folder_or_path: str, + output_folder: str, + max_depth: float, + fov: float, + depth_filename: str, + show: bool, + save_ply: bool, + save_depth_vis: bool, + inf_mask: bool, + version: str +): + # Lazy import + import cv2 + import numpy as np + import utils3d + from tqdm import tqdm + import trimesh + + from moge.utils.io import read_image, read_depth, read_meta + from moge.utils.vis import colorize_depth, colorize_normal + + filepaths = sorted(p.parent for p in Path(folder_or_path).rglob('meta.json')) + + for filepath in tqdm(filepaths): + image = read_image(Path(filepath, 'image.jpg')) + depth, unit = read_depth(Path(filepath, depth_filename)) + meta = read_meta(Path(filepath,'meta.json')) + depth_mask = np.isfinite(depth) + depth_mask_inf = (depth == np.inf) + intrinsics = np.array(meta['intrinsics']) + + extrinsics = np.array([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]], dtype=float) # OpenGL's identity camera + verts = utils3d.numpy.unproject_cv(utils3d.numpy.image_uv(*image.shape[:2]), depth, extrinsics=extrinsics, intrinsics=intrinsics) + + depth_mask_ply = depth_mask & (depth < depth[depth_mask].min() * max_depth) + point_cloud = trimesh.PointCloud(verts[depth_mask_ply], image[depth_mask_ply] / 255) + + if show: + point_cloud.show() + + if output_folder is None: + output_path = filepath + else: + output_path = Path(output_folder, filepath.name) + output_path.mkdir(exist_ok=True, parents=True) + + if inf_mask: + depth = np.where(depth_mask_inf, np.inf, depth) + depth_mask = depth_mask | depth_mask_inf + + if save_depth_vis: + p = output_path.joinpath('depth_vis.png') + cv2.imwrite(str(p), cv2.cvtColor(colorize_depth(depth, depth_mask), cv2.COLOR_RGB2BGR)) + print(f"{p}") + + if save_ply: + p = output_path.joinpath('pointcloud.ply') + point_cloud.export(p) + print(f"{p}") + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/test/__init__.py b/Pixel-Perfect-Depth/ppd/moge/test/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Pixel-Perfect-Depth/ppd/moge/test/baseline.py b/Pixel-Perfect-Depth/ppd/moge/test/baseline.py new file mode 100644 index 0000000000000000000000000000000000000000..05980aaf96870304534fcec6532225e870351a66 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/test/baseline.py @@ -0,0 +1,43 @@ +from typing import * + +import click +import torch + + +class MGEBaselineInterface: + """ + Abstract class for model wrapper to uniformize the interface of loading and inference across different models. + """ + device: torch.device + + @click.command() + @staticmethod + def load(*args, **kwargs) -> "MGEBaselineInterface": + """ + Customized static method to create an instance of the model wrapper from command line arguments. Decorated by `click.command()` + """ + raise NotImplementedError(f"{type(self).__name__} has not implemented the load method.") + + def infer(self, image: torch.FloatTensor, intrinsics: Optional[torch.Tensor] = None) -> Dict[str, torch.Tensor]: + """ + ### Parameters + `image`: [B, 3, H, W] or [3, H, W], RGB values in range [0, 1] + `intrinsics`: [B, 3, 3] or [3, 3], camera intrinsics. Optional. + + ### Returns + A dictionary containing: + - `points_*`. point map output in OpenCV identity camera space. + Supported suffixes: `metric`, `scale_invariant`, `affine_invariant`. + - `depth_*`. depth map output + Supported suffixes: `metric` (in meters), `scale_invariant`, `affine_invariant`. + - `disparity_affine_invariant`. affine disparity map output + """ + raise NotImplementedError(f"{type(self).__name__} has not implemented the infer method.") + + def infer_for_evaluation(self, image: torch.FloatTensor, intrinsics: Optional[torch.Tensor] = None) -> Dict[str, torch.Tensor]: + """ + If the model has a special evaluation mode, override this method to provide the evaluation mode inference. + + By default, this method simply calls `infer()`. + """ + return self.infer(image, intrinsics) \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/test/dataloader.py b/Pixel-Perfect-Depth/ppd/moge/test/dataloader.py new file mode 100644 index 0000000000000000000000000000000000000000..76679829afdf385938b604fa8bb5ef07b2560e7b --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/test/dataloader.py @@ -0,0 +1,221 @@ +import os +from typing import * +from pathlib import Path +import math + +import numpy as np +import torch +from PIL import Image +import cv2 +import utils3d + +from ..utils import pipeline +from ..utils.geometry_numpy import focal_to_fov_numpy, mask_aware_nearest_resize_numpy, norm3d +from ..utils.io import * +from ..utils.tools import timeit + + +class EvalDataLoaderPipeline: + + def __init__( + self, + path: str, + width: int, + height: int, + split: int = '.index.txt', + drop_max_depth: float = 1000., + num_load_workers: int = 4, + num_process_workers: int = 8, + include_segmentation: bool = False, + include_normal: bool = False, + depth_to_normal: bool = False, + max_segments: int = 100, + min_seg_area: int = 1000, + depth_unit: str = None, + has_sharp_boundary = False, + subset: int = None, + ): + filenames = Path(path).joinpath(split).read_text(encoding='utf-8').splitlines() + filenames = filenames[::subset] + self.width = width + self.height = height + self.drop_max_depth = drop_max_depth + self.path = Path(path) + self.filenames = filenames + self.include_segmentation = include_segmentation + self.include_normal = include_normal + self.max_segments = max_segments + self.min_seg_area = min_seg_area + self.depth_to_normal = depth_to_normal + self.depth_unit = depth_unit + self.has_sharp_boundary = has_sharp_boundary + + self.rng = np.random.default_rng(seed=0) + + self.pipeline = pipeline.Sequential([ + self._generator, + pipeline.Parallel([self._load_instance] * num_load_workers), + pipeline.Parallel([self._process_instance] * num_process_workers), + pipeline.Buffer(4) + ]) + + def __len__(self): + return math.ceil(len(self.filenames)) + + def _generator(self): + for idx in range(len(self)): + yield idx + + def _load_instance(self, idx): + if idx >= len(self.filenames): + return None + + path = self.path.joinpath(self.filenames[idx]) + + instance = { + 'filename': self.filenames[idx], + 'width': self.width, + 'height': self.height, + } + instance['image'] = read_image(Path(path, 'image.jpg')) + + depth, _ = read_depth(Path(path, 'depth.png')) # ignore depth unit from depth file, use config instead + instance.update({ + 'depth': np.nan_to_num(depth, nan=1, posinf=1, neginf=1), + 'depth_mask': np.isfinite(depth), + 'depth_mask_inf': np.isinf(depth), + }) + + if self.include_segmentation: + segmentation_mask, segmentation_labels = read_segmentation(Path(path,'segmentation.png')) + instance.update({ + 'segmentation_mask': segmentation_mask, + 'segmentation_labels': segmentation_labels, + }) + + meta = read_meta(Path(path, 'meta.json')) + instance['intrinsics'] = np.array(meta['intrinsics'], dtype=np.float32) + + return instance + + def _process_instance(self, instance: dict): + if instance is None: + return None + + image, depth, depth_mask, intrinsics = instance['image'], instance['depth'], instance['depth_mask'], instance['intrinsics'] + segmentation_mask, segmentation_labels = instance.get('segmentation_mask', None), instance.get('segmentation_labels', None) + + raw_height, raw_width = image.shape[:2] + raw_horizontal, raw_vertical = abs(1.0 / intrinsics[0, 0]), abs(1.0 / intrinsics[1, 1]) + raw_pixel_w, raw_pixel_h = raw_horizontal / raw_width, raw_vertical / raw_height + tgt_width, tgt_height = instance['width'], instance['height'] + tgt_aspect = tgt_width / tgt_height + + # set expected target view field + tgt_horizontal = min(raw_horizontal, raw_vertical * tgt_aspect) + tgt_vertical = tgt_horizontal / tgt_aspect + + # set target view direction + cu, cv = 0.5, 0.5 + direction = utils3d.numpy.unproject_cv(np.array([[cu, cv]], dtype=np.float32), np.array([1.0], dtype=np.float32), intrinsics=intrinsics)[0] + R = utils3d.numpy.rotation_matrix_from_vectors(direction, np.array([0, 0, 1], dtype=np.float32)) + + # restrict target view field within the raw view + corners = np.array([[0, 0], [0, 1], [1, 1], [1, 0]], dtype=np.float32) + corners = np.concatenate([corners, np.ones((4, 1), dtype=np.float32)], axis=1) @ (np.linalg.inv(intrinsics).T @ R.T) # corners in viewport's camera plane + corners = corners[:, :2] / corners[:, 2:3] + + warp_horizontal, warp_vertical = abs(1.0 / intrinsics[0, 0]), abs(1.0 / intrinsics[1, 1]) + for i in range(4): + intersection, _ = utils3d.numpy.ray_intersection( + np.array([0., 0.]), np.array([[tgt_aspect, 1.0], [tgt_aspect, -1.0]]), + corners[i - 1], corners[i] - corners[i - 1], + ) + warp_horizontal, warp_vertical = min(warp_horizontal, 2 * np.abs(intersection[:, 0]).min()), min(warp_vertical, 2 * np.abs(intersection[:, 1]).min()) + tgt_horizontal, tgt_vertical = min(tgt_horizontal, warp_horizontal), min(tgt_vertical, warp_vertical) + + # get target view intrinsics + fx, fy = 1.0 / tgt_horizontal, 1.0 / tgt_vertical + tgt_intrinsics = utils3d.numpy.intrinsics_from_focal_center(fx, fy, 0.5, 0.5).astype(np.float32) + + # do homogeneous transformation with the rotation and intrinsics + # 4.1 The image and depth is resized first to approximately the same pixel size as the target image with PIL's antialiasing resampling + tgt_pixel_w, tgt_pixel_h = tgt_horizontal / tgt_width, tgt_vertical / tgt_height # (should be exactly the same for x and y axes) + rescaled_w, rescaled_h = int(raw_width * raw_pixel_w / tgt_pixel_w), int(raw_height * raw_pixel_h / tgt_pixel_h) + image = np.array(Image.fromarray(image).resize((rescaled_w, rescaled_h), Image.Resampling.LANCZOS)) + + depth, depth_mask = mask_aware_nearest_resize_numpy(depth, depth_mask, (rescaled_w, rescaled_h)) + distance = norm3d(utils3d.numpy.depth_to_points(depth, intrinsics=intrinsics)) + segmentation_mask = cv2.resize(segmentation_mask, (rescaled_w, rescaled_h), interpolation=cv2.INTER_NEAREST) if segmentation_mask is not None else None + + # 4.2 calculate homography warping + transform = intrinsics @ np.linalg.inv(R) @ np.linalg.inv(tgt_intrinsics) + uv_tgt = utils3d.numpy.image_uv(width=tgt_width, height=tgt_height) + pts = np.concatenate([uv_tgt, np.ones((tgt_height, tgt_width, 1), dtype=np.float32)], axis=-1) @ transform.T + uv_remap = pts[:, :, :2] / (pts[:, :, 2:3] + 1e-12) + pixel_remap = utils3d.numpy.uv_to_pixel(uv_remap, width=rescaled_w, height=rescaled_h).astype(np.float32) + + tgt_image = cv2.remap(image, pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_LINEAR) + tgt_distance = cv2.remap(distance, pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_NEAREST) + tgt_ray_length = utils3d.numpy.unproject_cv(uv_tgt, np.ones_like(uv_tgt[:, :, 0]), intrinsics=tgt_intrinsics) + tgt_ray_length = (tgt_ray_length[:, :, 0] ** 2 + tgt_ray_length[:, :, 1] ** 2 + tgt_ray_length[:, :, 2] ** 2) ** 0.5 + tgt_depth = tgt_distance / (tgt_ray_length + 1e-12) + tgt_depth_mask = cv2.remap(depth_mask.astype(np.uint8), pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_NEAREST) > 0 + tgt_segmentation_mask = cv2.remap(segmentation_mask, pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_NEAREST) if segmentation_mask is not None else None + + # drop depth greater than drop_max_depth + max_depth = np.nanquantile(np.where(tgt_depth_mask, tgt_depth, np.nan), 0.01) * self.drop_max_depth + tgt_depth_mask &= tgt_depth <= max_depth + tgt_depth = np.nan_to_num(tgt_depth, nan=0.0) + + if self.depth_unit is not None: + tgt_depth *= self.depth_unit + + if not np.any(tgt_depth_mask): + # always make sure that mask is not empty, otherwise the loss calculation will crash + tgt_depth_mask = np.ones_like(tgt_depth_mask) + tgt_depth = np.ones_like(tgt_depth) + instance['label_type'] = 'invalid' + + tgt_pts = utils3d.numpy.unproject_cv(uv_tgt, tgt_depth, intrinsics=tgt_intrinsics) + + # Process segmentation labels + if self.include_segmentation and segmentation_mask is not None: + for k in ['undefined', 'unannotated', 'background', 'sky']: + if k in segmentation_labels: + del segmentation_labels[k] + seg_id2count = dict(zip(*np.unique(tgt_segmentation_mask, return_counts=True))) + sorted_labels = sorted(segmentation_labels.keys(), key=lambda x: seg_id2count.get(segmentation_labels[x], 0), reverse=True) + segmentation_labels = {k: segmentation_labels[k] for k in sorted_labels[:self.max_segments] if seg_id2count.get(segmentation_labels[k], 0) >= self.min_seg_area} + + instance.update({ + 'image': torch.from_numpy(tgt_image.astype(np.float32) / 255.0).permute(2, 0, 1), + 'depth': torch.from_numpy(tgt_depth).float(), + 'depth_mask': torch.from_numpy(tgt_depth_mask).bool(), + 'intrinsics': torch.from_numpy(tgt_intrinsics).float(), + 'points': torch.from_numpy(tgt_pts).float(), + 'segmentation_mask': torch.from_numpy(tgt_segmentation_mask).long() if tgt_segmentation_mask is not None else None, + 'segmentation_labels': segmentation_labels, + 'is_metric': self.depth_unit is not None, + 'has_sharp_boundary': self.has_sharp_boundary, + }) + + instance = {k: v for k, v in instance.items() if v is not None} + + return instance + + def start(self): + self.pipeline.start() + + def stop(self): + self.pipeline.stop() + + def __enter__(self): + self.start() + return self + + def __exit__(self, exc_type, exc_value, traceback): + self.stop() + + def get(self): + return self.pipeline.get() \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/test/metrics.py b/Pixel-Perfect-Depth/ppd/moge/test/metrics.py new file mode 100644 index 0000000000000000000000000000000000000000..904064f2a30d05dca3a53db7ecc076a0c2aaa0ad --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/test/metrics.py @@ -0,0 +1,343 @@ +from typing import * +from numbers import Number + +import torch +import torch.nn.functional as F +import numpy as np +import utils3d + +from ..utils.geometry_torch import ( + weighted_mean, + mask_aware_nearest_resize, + intrinsics_to_fov +) +from ..utils.alignment import ( + align_points_scale_z_shift, + align_points_scale_xyz_shift, + align_points_xyz_shift, + align_affine_lstsq, + align_depth_scale, + align_depth_affine, + align_points_scale, +) +from ..utils.tools import key_average, timeit + + +def rel_depth(pred: torch.Tensor, gt: torch.Tensor, eps: float = 1e-6): + rel = (torch.abs(pred - gt) / (gt + eps)).mean() + return rel.item() + + +def delta1_depth(pred: torch.Tensor, gt: torch.Tensor, eps: float = 1e-6): + delta1 = (torch.maximum(gt / pred, pred / gt) < 1.25).float().mean() + return delta1.item() + + +def rel_point(pred: torch.Tensor, gt: torch.Tensor, eps: float = 1e-6): + dist_gt = torch.norm(gt, dim=-1) + dist_err = torch.norm(pred - gt, dim=-1) + rel = (dist_err / (dist_gt + eps)).mean() + return rel.item() + + +def delta1_point(pred: torch.Tensor, gt: torch.Tensor, eps: float = 1e-6): + dist_pred = torch.norm(pred, dim=-1) + dist_gt = torch.norm(gt, dim=-1) + dist_err = torch.norm(pred - gt, dim=-1) + + delta1 = (dist_err < 0.25 * torch.minimum(dist_gt, dist_pred)).float().mean() + return delta1.item() + + +def rel_point_local(pred: torch.Tensor, gt: torch.Tensor, diameter: torch.Tensor): + dist_err = torch.norm(pred - gt, dim=-1) + rel = (dist_err / diameter).mean() + return rel.item() + + +def delta1_point_local(pred: torch.Tensor, gt: torch.Tensor, diameter: torch.Tensor): + dist_err = torch.norm(pred - gt, dim=-1) + delta1 = (dist_err < 0.25 * diameter).float().mean() + return delta1.item() + + +def boundary_f1(pred: torch.Tensor, gt: torch.Tensor, mask: torch.Tensor, radius: int = 1): + neighbor_x, neight_y = torch.meshgrid( + torch.linspace(-radius, radius, 2 * radius + 1, device=pred.device), + torch.linspace(-radius, radius, 2 * radius + 1, device=pred.device), + indexing='xy' + ) + neighbor_mask = (neighbor_x ** 2 + neight_y ** 2) <= radius ** 2 + 1e-5 + + pred_window = utils3d.torch.sliding_window_2d(pred, window_size=2 * radius + 1, stride=1, dim=(-2, -1)) # [H, W, 2*R+1, 2*R+1] + gt_window = utils3d.torch.sliding_window_2d(gt, window_size=2 * radius + 1, stride=1, dim=(-2, -1)) # [H, W, 2*R+1, 2*R+1] + mask_window = neighbor_mask & utils3d.torch.sliding_window_2d(mask, window_size=2 * radius + 1, stride=1, dim=(-2, -1)) # [H, W, 2*R+1, 2*R+1] + + pred_rel = pred_window / pred[radius:-radius, radius:-radius, None, None] + gt_rel = gt_window / gt[radius:-radius, radius:-radius, None, None] + valid = mask[radius:-radius, radius:-radius, None, None] & mask_window + + f1_list = [] + w_list = t_list = torch.linspace(0.05, 0.25, 10).tolist() + + for t in t_list: + pred_label = pred_rel > 1 + t + gt_label = gt_rel > 1 + t + TP = (pred_label & gt_label & valid).float().sum() + precision = TP / (gt_label & valid).float().sum().clamp_min(1e-12) + recall = TP / (pred_label & valid).float().sum().clamp_min(1e-12) + f1 = 2 * precision * recall / (precision + recall).clamp_min(1e-12) + f1_list.append(f1.item()) + + f1_avg = sum(w * f1 for w, f1 in zip(w_list, f1_list)) / sum(w_list) + return f1_avg + + +def compute_metrics( + pred: Dict[str, torch.Tensor], + gt: Dict[str, torch.Tensor], + vis: bool = False +) -> Tuple[Dict[str, Dict[str, Number]], Dict[str, torch.Tensor]]: + """ + A unified function to compute metrics for different types of predictions and ground truths. + + #### Supported keys in pred: + - `disparity_affine_invariant`: disparity map predicted by a depth estimator with scale and shift invariant. + - `depth_scale_invariant`: depth map predicted by a depth estimator with scale invariant. + - `depth_affine_invariant`: depth map predicted by a depth estimator with scale and shift invariant. + - `depth_metric`: depth map predicted by a depth estimator with no scale or shift. + - `points_scale_invariant`: point map predicted by a point estimator with scale invariant. + - `points_affine_invariant`: point map predicted by a point estimator with scale and xyz shift invariant. + - `points_metric`: point map predicted by a point estimator with no scale or shift. + - `intrinsics`: normalized camera intrinsics matrix. + + #### Required keys in gt: + - `depth`: depth map ground truth (in metric units if `depth_metric` is used) + - `points`: point map ground truth in camera coordinates. + - `mask`: mask indicating valid pixels in the ground truth. + - `intrinsics`: normalized ground-truth camera intrinsics matrix. + - `is_metric`: whether the depth is in metric units. + """ + metrics = {} + misc = {} + + mask = gt['depth_mask'] + gt_depth = gt['depth'] + gt_points = gt['points'] + + height, width = mask.shape[-2:] + _, lr_mask, lr_index = mask_aware_nearest_resize(None, mask, (64, 64), return_index=True) + + only_depth = not any('point' in k for k in pred) + pred_depth_aligned, pred_points_aligned = None, None + + # Metric depth + if 'depth_metric' in pred and gt['is_metric']: + pred_depth, gt_depth = pred['depth_metric'], gt['depth'] + metrics['depth_metric'] = { + 'rel': rel_depth(pred_depth[mask], gt_depth[mask]), + 'delta1': delta1_depth(pred_depth[mask], gt_depth[mask]) + } + + if pred_depth_aligned is None: + pred_depth_aligned = pred_depth + + # Scale-invariant depth + if 'depth_scale_invariant' in pred: + pred_depth_scale_invariant = pred['depth_scale_invariant'] + elif 'depth_metric' in pred: + pred_depth_scale_invariant = pred['depth_metric'] + else: + pred_depth_scale_invariant = None + + if pred_depth_scale_invariant is not None: + pred_depth = pred_depth_scale_invariant + + pred_depth_lr_masked, gt_depth_lr_masked = pred_depth[lr_index][lr_mask], gt_depth[lr_index][lr_mask] + scale = align_depth_scale(pred_depth_lr_masked, gt_depth_lr_masked, 1 / gt_depth_lr_masked) + pred_depth = pred_depth * scale + + metrics['depth_scale_invariant'] = { + 'rel': rel_depth(pred_depth[mask], gt_depth[mask]), + 'delta1': delta1_depth(pred_depth[mask], gt_depth[mask]) + } + + if pred_depth_aligned is None: + pred_depth_aligned = pred_depth + + # Affine-invariant depth + if 'depth_affine_invariant' in pred: + pred_depth_affine_invariant = pred['depth_affine_invariant'] + elif 'depth_scale_invariant' in pred: + pred_depth_affine_invariant = pred['depth_scale_invariant'] + elif 'depth_metric' in pred: + pred_depth_affine_invariant = pred['depth_metric'] + else: + pred_depth_affine_invariant = None + + if pred_depth_affine_invariant is not None: + pred_depth = pred_depth_affine_invariant + + pred_depth_lr_masked, gt_depth_lr_masked = pred_depth[lr_index][lr_mask], gt_depth[lr_index][lr_mask] + scale, shift = align_depth_affine(pred_depth_lr_masked, gt_depth_lr_masked, 1 / gt_depth_lr_masked) + pred_depth = pred_depth * scale + shift + + metrics['depth_affine_invariant'] = { + 'rel': rel_depth(pred_depth[mask], gt_depth[mask]), + 'delta1': delta1_depth(pred_depth[mask], gt_depth[mask]) + } + + if pred_depth_aligned is None: + pred_depth_aligned = pred_depth + + # Affine-invariant disparity + if 'disparity_affine_invariant' in pred: + pred_disparity_affine_invariant = pred['disparity_affine_invariant'] + elif 'depth_scale_invariant' in pred: + pred_disparity_affine_invariant = 1 / pred['depth_scale_invariant'] + elif 'depth_metric' in pred: + pred_disparity_affine_invariant = 1 / pred['depth_metric'] + else: + pred_disparity_affine_invariant = None + + if pred_disparity_affine_invariant is not None: + pred_disp = pred_disparity_affine_invariant + + scale, shift = align_affine_lstsq(pred_disp[mask], 1 / gt_depth[mask]) + pred_disp = pred_disp * scale + shift + + # NOTE: The alignment is done on the disparity map could introduce extreme outliers at disparities close to 0. + # Therefore we clamp the disparities by minimum ground truth disparity. + pred_depth = 1 / pred_disp.clamp_min(1 / gt_depth[mask].max().item()) + + metrics['disparity_affine_invariant'] = { + 'rel': rel_depth(pred_depth[mask], gt_depth[mask]), + 'delta1': delta1_depth(pred_depth[mask], gt_depth[mask]) + } + + if pred_depth_aligned is None: + pred_depth_aligned = 1 / pred_disp.clamp_min(1e-6) + + # Metric points + if 'points_metric' in pred and gt['is_metric']: + pred_points = pred['points_metric'] + + pred_points_lr_masked, gt_points_lr_masked = pred_points[lr_index][lr_mask], gt_points[lr_index][lr_mask] + shift = align_points_xyz_shift(pred_points_lr_masked, gt_points_lr_masked, 1 / gt_points_lr_masked.norm(dim=-1)) + pred_points = pred_points + shift + + metrics['points_metric'] = { + 'rel': rel_point(pred_points[mask], gt_points[mask]), + 'delta1': delta1_point(pred_points[mask], gt_points[mask]) + } + + if pred_points_aligned is None: + pred_points_aligned = pred['points_metric'] + + # Scale-invariant points (in camera space) + if 'points_scale_invariant' in pred: + pred_points_scale_invariant = pred['points_scale_invariant'] + elif 'points_metric' in pred: + pred_points_scale_invariant = pred['points_metric'] + else: + pred_points_scale_invariant = None + + if pred_points_scale_invariant is not None: + pred_points = pred_points_scale_invariant + + pred_points_lr_masked, gt_points_lr_masked = pred_points_scale_invariant[lr_index][lr_mask], gt_points[lr_index][lr_mask] + scale = align_points_scale(pred_points_lr_masked, gt_points_lr_masked, 1 / gt_points_lr_masked.norm(dim=-1)) + pred_points = pred_points * scale + + metrics['points_scale_invariant'] = { + 'rel': rel_point(pred_points[mask], gt_points[mask]), + 'delta1': delta1_point(pred_points[mask], gt_points[mask]) + } + + if vis and pred_points_aligned is None: + pred_points_aligned = pred['points_scale_invariant'] * scale + + # Affine-invariant points + if 'points_affine_invariant' in pred: + pred_points_affine_invariant = pred['points_affine_invariant'] + elif 'points_scale_invariant' in pred: + pred_points_affine_invariant = pred['points_scale_invariant'] + elif 'points_metric' in pred: + pred_points_affine_invariant = pred['points_metric'] + else: + pred_points_affine_invariant = None + + if pred_points_affine_invariant is not None: + pred_points = pred_points_affine_invariant + + pred_points_lr_masked, gt_points_lr_masked = pred_points[lr_index][lr_mask], gt_points[lr_index][lr_mask] + scale, shift = align_points_scale_xyz_shift(pred_points_lr_masked, gt_points_lr_masked, 1 / gt_points_lr_masked.norm(dim=-1)) + pred_points = pred_points * scale + shift + + metrics['points_affine_invariant'] = { + 'rel': rel_point(pred_points[mask], gt_points[mask]), + 'delta1': delta1_point(pred_points[mask], gt_points[mask]) + } + + if vis and pred_points_aligned is None: + pred_points_aligned = pred['points_affine_invariant'] * scale + shift + + # Local points + if 'segmentation_mask' in gt and 'points' in gt and any('points' in k for k in pred.keys()): + pred_points = next(pred[k] for k in pred.keys() if 'points' in k) + gt_points = gt['points'] + segmentation_mask = gt['segmentation_mask'] + segmentation_labels = gt['segmentation_labels'] + segmentation_mask_lr = segmentation_mask[lr_index] + local_points_metrics = [] + for _, seg_id in segmentation_labels.items(): + valid_mask = (segmentation_mask == seg_id) & mask + + pred_points_masked = pred_points[valid_mask] + gt_points_masked = gt_points[valid_mask] + + valid_mask_lr = (segmentation_mask_lr == seg_id) & lr_mask + if valid_mask_lr.sum().item() < 10: + continue + pred_points_masked_lr = pred_points[lr_index][valid_mask_lr] + gt_points_masked_lr = gt_points[lr_index][valid_mask_lr] + diameter = (gt_points_masked.max(dim=0).values - gt_points_masked.min(dim=0).values).max() + scale, shift = align_points_scale_xyz_shift(pred_points_masked_lr, gt_points_masked_lr, 1 / diameter.expand(gt_points_masked_lr.shape[0])) + pred_points_masked = pred_points_masked * scale + shift + + local_points_metrics.append({ + 'rel': rel_point_local(pred_points_masked, gt_points_masked, diameter), + 'delta1': delta1_point_local(pred_points_masked, gt_points_masked, diameter), + }) + + metrics['local_points'] = key_average(local_points_metrics) + + # FOV. NOTE: If there is no random augmentation applied to the input images, all GT FOV are generallly the same. + # Fair evaluation of FOV requires random augmentation. + if 'intrinsics' in pred and 'intrinsics' in gt: + pred_intrinsics = pred['intrinsics'] + gt_intrinsics = gt['intrinsics'] + pred_fov_x, pred_fov_y = intrinsics_to_fov(pred_intrinsics) + gt_fov_x, gt_fov_y = intrinsics_to_fov(gt_intrinsics) + metrics['fov_x'] = { + 'mae': torch.rad2deg(pred_fov_x - gt_fov_x).abs().mean().item(), + 'deviation': torch.rad2deg(pred_fov_x - gt_fov_x).item(), + } + + # Boundary F1 + if pred_depth_aligned is not None and gt['has_sharp_boundary']: + metrics['boundary'] = { + 'radius1_f1': boundary_f1(pred_depth_aligned, gt_depth, mask, radius=1), + 'radius2_f1': boundary_f1(pred_depth_aligned, gt_depth, mask, radius=2), + 'radius3_f1': boundary_f1(pred_depth_aligned, gt_depth, mask, radius=3), + } + + if vis: + if pred_points_aligned is not None: + misc['pred_points'] = pred_points_aligned + if only_depth: + misc['pred_points'] = utils3d.torch.depth_to_points(pred_depth_aligned, intrinsics=gt['intrinsics']) + if pred_depth_aligned is not None: + misc['pred_depth'] = pred_depth_aligned + + return metrics, misc \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/train/__init__.py b/Pixel-Perfect-Depth/ppd/moge/train/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Pixel-Perfect-Depth/ppd/moge/train/dataloader.py b/Pixel-Perfect-Depth/ppd/moge/train/dataloader.py new file mode 100644 index 0000000000000000000000000000000000000000..a3bfc280844dac602e89bee747e247946dbc6f67 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/train/dataloader.py @@ -0,0 +1,338 @@ +import os +from pathlib import Path +import json +import time +import random +from typing import * +import traceback +import itertools +from numbers import Number +import io + +import numpy as np +import cv2 +from PIL import Image +import torch +import torchvision.transforms.v2.functional as TF +import utils3d +from tqdm import tqdm + +from ..utils import pipeline +from ..utils.io import * +from ..utils.geometry_numpy import mask_aware_nearest_resize_numpy, harmonic_mean_numpy, norm3d, depth_occlusion_edge_numpy, depth_of_field + + +class TrainDataLoaderPipeline: + def __init__(self, config: dict, batch_size: int, num_load_workers: int = 4, num_process_workers: int = 8, buffer_size: int = 8): + self.config = config + + self.batch_size = batch_size + self.clamp_max_depth = config['clamp_max_depth'] + self.fov_range_absolute = config.get('fov_range_absolute', 0.0) + self.fov_range_relative = config.get('fov_range_relative', 0.0) + self.center_augmentation = config.get('center_augmentation', 0.0) + self.image_augmentation = config.get('image_augmentation', []) + self.depth_interpolation = config.get('depth_interpolation', 'bilinear') + + if 'image_sizes' in config: + self.image_size_strategy = 'fixed' + self.image_sizes = config['image_sizes'] + elif 'aspect_ratio_range' in config and 'area_range' in config: + self.image_size_strategy = 'aspect_area' + self.aspect_ratio_range = config['aspect_ratio_range'] + self.area_range = config['area_range'] + else: + raise ValueError('Invalid image size configuration') + + # Load datasets + self.datasets = {} + for dataset in tqdm(config['datasets'], desc='Loading datasets'): + name = dataset['name'] + content = Path(dataset['path'], dataset.get('index', '.index.txt')).joinpath().read_text() + filenames = content.splitlines() + self.datasets[name] = { + **dataset, + 'path': dataset['path'], + 'filenames': filenames, + } + self.dataset_names = [dataset['name'] for dataset in config['datasets']] + self.dataset_weights = [dataset['weight'] for dataset in config['datasets']] + + # Build pipeline + self.pipeline = pipeline.Sequential([ + self._sample_batch, + pipeline.Unbatch(), + pipeline.Parallel([self._load_instance] * num_load_workers), + pipeline.Parallel([self._process_instance] * num_process_workers), + pipeline.Batch(self.batch_size), + self._collate_batch, + pipeline.Buffer(buffer_size), + ]) + + self.invalid_instance = { + 'intrinsics': np.array([[1.0, 0.0, 0.5], [0.0, 1.0, 0.5], [0.0, 0.0, 1.0]], dtype=np.float32), + 'image': np.zeros((256, 256, 3), dtype=np.uint8), + 'depth': np.ones((256, 256), dtype=np.float32), + 'depth_mask': np.ones((256, 256), dtype=bool), + 'depth_mask_inf': np.zeros((256, 256), dtype=bool), + 'label_type': 'invalid', + } + + def _sample_batch(self): + batch_id = 0 + last_area = None + while True: + # Depending on the sample strategy, choose a dataset and a filename + batch_id += 1 + batch = [] + + # Sample instances + for _ in range(self.batch_size): + dataset_name = random.choices(self.dataset_names, weights=self.dataset_weights)[0] + filename = random.choice(self.datasets[dataset_name]['filenames']) + + path = Path(self.datasets[dataset_name]['path'], filename) + + instance = { + 'batch_id': batch_id, + 'seed': random.randint(0, 2 ** 32 - 1), + 'dataset': dataset_name, + 'filename': filename, + 'path': path, + 'label_type': self.datasets[dataset_name]['label_type'], + } + batch.append(instance) + + # Decide the image size for this batch + if self.image_size_strategy == 'fixed': + width, height = random.choice(self.config['image_sizes']) + elif self.image_size_strategy == 'aspect_area': + area = random.uniform(*self.area_range) + aspect_ratio_ranges = [self.datasets[instance['dataset']].get('aspect_ratio_range', self.aspect_ratio_range) for instance in batch] + aspect_ratio_range = (min(r[0] for r in aspect_ratio_ranges), max(r[1] for r in aspect_ratio_ranges)) + aspect_ratio = random.uniform(*aspect_ratio_range) + width, height = int((area * aspect_ratio) ** 0.5), int((area / aspect_ratio) ** 0.5) + else: + raise ValueError('Invalid image size strategy') + + for instance in batch: + instance['width'], instance['height'] = width, height + + yield batch + + def _load_instance(self, instance: dict): + try: + image = read_image(Path(instance['path'], 'image.jpg')) + depth, _ = read_depth(Path(instance['path'], self.datasets[instance['dataset']].get('depth', 'depth.png'))) + + meta = read_meta(Path(instance['path'], 'meta.json')) + intrinsics = np.array(meta['intrinsics'], dtype=np.float32) + depth_mask = np.isfinite(depth) + depth_mask_inf = np.isinf(depth) + depth = np.nan_to_num(depth, nan=1, posinf=1, neginf=1) + data = { + 'image': image, + 'depth': depth, + 'depth_mask': depth_mask, + 'depth_mask_inf': depth_mask_inf, + 'intrinsics': intrinsics + } + instance.update({ + **data, + }) + except Exception as e: + print(f"Failed to load instance {instance['dataset']}/{instance['filename']} because of exception:", e) + instance.update(self.invalid_instance) + return instance + + def _process_instance(self, instance: Dict[str, Union[np.ndarray, str, float, bool]]): + image, depth, depth_mask, depth_mask_inf, intrinsics, label_type = instance['image'], instance['depth'], instance['depth_mask'], instance['depth_mask_inf'], instance['intrinsics'], instance['label_type'] + depth_unit = self.datasets[instance['dataset']].get('depth_unit', None) + + raw_height, raw_width = image.shape[:2] + raw_horizontal, raw_vertical = abs(1.0 / intrinsics[0, 0]), abs(1.0 / intrinsics[1, 1]) + raw_fov_x, raw_fov_y = utils3d.numpy.intrinsics_to_fov(intrinsics) + raw_pixel_w, raw_pixel_h = raw_horizontal / raw_width, raw_vertical / raw_height + tgt_width, tgt_height = instance['width'], instance['height'] + tgt_aspect = tgt_width / tgt_height + + rng = np.random.default_rng(instance['seed']) + + # 1. set target fov + center_augmentation = self.datasets[instance['dataset']].get('center_augmentation', self.center_augmentation) + fov_range_absolute_min, fov_range_absolute_max = self.datasets[instance['dataset']].get('fov_range_absolute', self.fov_range_absolute) + fov_range_relative_min, fov_range_relative_max = self.datasets[instance['dataset']].get('fov_range_relative', self.fov_range_relative) + tgt_fov_x_min = min(fov_range_relative_min * raw_fov_x, fov_range_relative_min * utils3d.focal_to_fov(utils3d.fov_to_focal(raw_fov_y) / tgt_aspect)) + tgt_fov_x_max = min(fov_range_relative_max * raw_fov_x, fov_range_relative_max * utils3d.focal_to_fov(utils3d.fov_to_focal(raw_fov_y) / tgt_aspect)) + tgt_fov_x_min, tgt_fov_x_max = max(np.deg2rad(fov_range_absolute_min), tgt_fov_x_min), min(np.deg2rad(fov_range_absolute_max), tgt_fov_x_max) + tgt_fov_x = rng.uniform(min(tgt_fov_x_min, tgt_fov_x_max), tgt_fov_x_max) + tgt_fov_y = utils3d.focal_to_fov(utils3d.numpy.fov_to_focal(tgt_fov_x) * tgt_aspect) + + # 2. set target image center (principal point) and the corresponding z-direction in raw camera space + center_dtheta = center_augmentation * rng.uniform(-0.5, 0.5) * (raw_fov_x - tgt_fov_x) + center_dphi = center_augmentation * rng.uniform(-0.5, 0.5) * (raw_fov_y - tgt_fov_y) + cu, cv = 0.5 + 0.5 * np.tan(center_dtheta) / np.tan(raw_fov_x / 2), 0.5 + 0.5 * np.tan(center_dphi) / np.tan(raw_fov_y / 2) + direction = utils3d.unproject_cv(np.array([[cu, cv]], dtype=np.float32), np.array([1.0], dtype=np.float32), intrinsics=intrinsics)[0] + + # 3. obtain the rotation matrix for homography warping + R = utils3d.rotation_matrix_from_vectors(direction, np.array([0, 0, 1], dtype=np.float32)) + + # 4. shrink the target view to fit into the warped image + corners = np.array([[0, 0], [0, 1], [1, 1], [1, 0]], dtype=np.float32) + corners = np.concatenate([corners, np.ones((4, 1), dtype=np.float32)], axis=1) @ (np.linalg.inv(intrinsics).T @ R.T) # corners in viewport's camera plane + corners = corners[:, :2] / corners[:, 2:3] + tgt_horizontal, tgt_vertical = np.tan(tgt_fov_x / 2) * 2, np.tan(tgt_fov_y / 2) * 2 + warp_horizontal, warp_vertical = float('inf'), float('inf') + for i in range(4): + intersection, _ = utils3d.numpy.ray_intersection( + np.array([0., 0.]), np.array([[tgt_aspect, 1.0], [tgt_aspect, -1.0]]), + corners[i - 1], corners[i] - corners[i - 1], + ) + warp_horizontal, warp_vertical = min(warp_horizontal, 2 * np.abs(intersection[:, 0]).min()), min(warp_vertical, 2 * np.abs(intersection[:, 1]).min()) + tgt_horizontal, tgt_vertical = min(tgt_horizontal, warp_horizontal), min(tgt_vertical, warp_vertical) + + # 5. obtain the target intrinsics + fx, fy = 1 / tgt_horizontal, 1 / tgt_vertical + tgt_intrinsics = utils3d.numpy.intrinsics_from_focal_center(fx, fy, 0.5, 0.5).astype(np.float32) + + # 6. do homogeneous transformation + # 6.1 The image and depth are resized first to approximately the same pixel size as the target image with PIL's antialiasing resampling + tgt_pixel_w, tgt_pixel_h = tgt_horizontal / tgt_width, tgt_vertical / tgt_height # (should be exactly the same for x and y axes) + rescaled_w, rescaled_h = int(raw_width * raw_pixel_w / tgt_pixel_w), int(raw_height * raw_pixel_h / tgt_pixel_h) + image = np.array(Image.fromarray(image).resize((rescaled_w, rescaled_h), Image.Resampling.LANCZOS)) + + edge_mask = depth_occlusion_edge_numpy(depth, mask=depth_mask, thickness=2, tol=0.01) + _, depth_mask_nearest, resize_index = mask_aware_nearest_resize_numpy(None, depth_mask, (rescaled_w, rescaled_h), return_index=True) + depth_nearest = depth[resize_index] + distance_nearest = norm3d(utils3d.numpy.depth_to_points(depth_nearest, intrinsics=intrinsics)) + edge_mask = edge_mask[resize_index] + + if self.depth_interpolation == 'bilinear': + depth_mask_bilinear = cv2.resize(depth_mask.astype(np.float32), (rescaled_w, rescaled_h), interpolation=cv2.INTER_LINEAR) + depth_bilinear = 1 / cv2.resize(1 / depth, (rescaled_w, rescaled_h), interpolation=cv2.INTER_LINEAR) + distance_bilinear = norm3d(utils3d.numpy.depth_to_points(depth_bilinear, intrinsics=intrinsics)) + + depth_mask_inf = cv2.resize(depth_mask_inf.astype(np.uint8), (rescaled_w, rescaled_h), interpolation=cv2.INTER_NEAREST) > 0 + + # 6.2 calculate homography warping + transform = intrinsics @ np.linalg.inv(R) @ np.linalg.inv(tgt_intrinsics) + uv_tgt = utils3d.numpy.image_uv(width=tgt_width, height=tgt_height) + pts = np.concatenate([uv_tgt, np.ones((tgt_height, tgt_width, 1), dtype=np.float32)], axis=-1) @ transform.T + uv_remap = pts[:, :, :2] / (pts[:, :, 2:3] + 1e-12) + pixel_remap = utils3d.numpy.uv_to_pixel(uv_remap, width=rescaled_w, height=rescaled_h).astype(np.float32) + + tgt_image = cv2.remap(image, pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_LANCZOS4) + tgt_ray_length = norm3d(utils3d.numpy.unproject_cv(uv_tgt, np.ones_like(uv_tgt[:, :, 0]), intrinsics=tgt_intrinsics)) + tgt_depth_mask_nearest = cv2.remap(depth_mask_nearest.astype(np.uint8), pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_NEAREST) > 0 + tgt_depth_nearest = cv2.remap(distance_nearest, pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_NEAREST) / tgt_ray_length + tgt_edge_mask = cv2.remap(edge_mask.astype(np.uint8), pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_NEAREST) > 0 + if self.depth_interpolation == 'bilinear': + tgt_depth_mask_bilinear = cv2.remap(depth_mask_bilinear, pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_LINEAR) + tgt_depth_bilinear = cv2.remap(distance_bilinear, pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_LINEAR) / tgt_ray_length + tgt_depth = np.where((tgt_depth_mask_bilinear == 1) & ~tgt_edge_mask, tgt_depth_bilinear, tgt_depth_nearest) + else: + tgt_depth = tgt_depth_nearest + tgt_depth_mask = tgt_depth_mask_nearest + + tgt_depth_mask_inf = cv2.remap(depth_mask_inf.astype(np.uint8), pixel_remap[:, :, 0], pixel_remap[:, :, 1], cv2.INTER_NEAREST) > 0 + + # always make sure that mask is not empty + if tgt_depth_mask.sum() / tgt_depth_mask.size < 0.001: + tgt_depth_mask = np.ones_like(tgt_depth_mask) + tgt_depth = np.ones_like(tgt_depth) + instance['label_type'] = 'invalid' + + # Flip augmentation + if rng.choice([True, False]): + tgt_image = np.flip(tgt_image, axis=1).copy() + tgt_depth = np.flip(tgt_depth, axis=1).copy() + tgt_depth_mask = np.flip(tgt_depth_mask, axis=1).copy() + tgt_depth_mask_inf = np.flip(tgt_depth_mask_inf, axis=1).copy() + + # Color augmentation + image_augmentation = self.datasets[instance['dataset']].get('image_augmentation', self.image_augmentation) + if 'jittering' in image_augmentation: + tgt_image = torch.from_numpy(tgt_image).permute(2, 0, 1) + tgt_image = TF.adjust_brightness(tgt_image, rng.uniform(0.7, 1.3)) + tgt_image = TF.adjust_contrast(tgt_image, rng.uniform(0.7, 1.3)) + tgt_image = TF.adjust_saturation(tgt_image, rng.uniform(0.7, 1.3)) + tgt_image = TF.adjust_hue(tgt_image, rng.uniform(-0.1, 0.1)) + tgt_image = TF.adjust_gamma(tgt_image, rng.uniform(0.7, 1.3)) + tgt_image = tgt_image.permute(1, 2, 0).numpy() + if 'dof' in image_augmentation: + if rng.uniform() < 0.5: + dof_strength = rng.integers(12) + tgt_disp = np.where(tgt_depth_mask_inf, 0, 1 / tgt_depth) + disp_min, disp_max = tgt_disp[tgt_depth_mask].min(), tgt_disp[tgt_depth_mask].max() + tgt_disp = cv2.inpaint(tgt_disp, (~tgt_depth_mask & ~tgt_depth_mask_inf).astype(np.uint8), 3, cv2.INPAINT_TELEA).clip(disp_min, disp_max) + dof_focus = rng.uniform(disp_min, disp_max) + tgt_image = depth_of_field(tgt_image, tgt_disp, dof_focus, dof_strength) + if 'shot_noise' in image_augmentation: + if rng.uniform() < 0.5: + k = np.exp(rng.uniform(np.log(100), np.log(10000))) / 255 + tgt_image = (rng.poisson(tgt_image * k) / k).clip(0, 255).astype(np.uint8) + if 'jpeg_loss' in image_augmentation: + if rng.uniform() < 0.5: + tgt_image = cv2.imdecode(cv2.imencode('.jpg', tgt_image, [cv2.IMWRITE_JPEG_QUALITY, rng.integers(20, 100)])[1], cv2.IMREAD_COLOR) + if 'blurring' in image_augmentation: + if rng.uniform() < 0.5: + ratio = rng.uniform(0.25, 1) + tgt_image = cv2.resize(cv2.resize(tgt_image, (int(tgt_width * ratio), int(tgt_height * ratio)), interpolation=cv2.INTER_AREA), (tgt_width, tgt_height), interpolation=rng.choice([cv2.INTER_LINEAR_EXACT, cv2.INTER_CUBIC, cv2.INTER_LANCZOS4])) + + # convert depth to metric if necessary + if depth_unit is not None: + tgt_depth *= depth_unit + instance['is_metric'] = True + else: + instance['is_metric'] = False + + # clamp depth maximum values + max_depth = np.nanquantile(np.where(tgt_depth_mask, tgt_depth, np.nan), 0.01) * self.clamp_max_depth + tgt_depth = np.clip(tgt_depth, 0, max_depth) + tgt_depth = np.nan_to_num(tgt_depth, nan=1.0) + + if self.datasets[instance['dataset']].get('finite_depth_mask', None) == "only_known": + tgt_depth_mask_fin = tgt_depth_mask + else: + tgt_depth_mask_fin = ~tgt_depth_mask_inf + + instance.update({ + 'image': torch.from_numpy(tgt_image.astype(np.float32) / 255.0).permute(2, 0, 1), + 'depth': torch.from_numpy(tgt_depth).float(), + 'depth_mask': torch.from_numpy(tgt_depth_mask).bool(), + 'depth_mask_fin': torch.from_numpy(tgt_depth_mask_fin).bool(), + 'depth_mask_inf': torch.from_numpy(tgt_depth_mask_inf).bool(), + 'intrinsics': torch.from_numpy(tgt_intrinsics).float(), + }) + + return instance + + def _collate_batch(self, instances: List[Dict[str, Any]]): + batch = {k: torch.stack([instance[k] for instance in instances], dim=0) for k in ['image', 'depth', 'depth_mask', 'depth_mask_fin', 'depth_mask_inf', 'intrinsics']} + batch = { + 'label_type': [instance['label_type'] for instance in instances], + 'is_metric': [instance['is_metric'] for instance in instances], + 'info': [{'dataset': instance['dataset'], 'filename': instance['filename']} for instance in instances], + **batch, + } + return batch + + def get(self) -> Dict[str, Union[torch.Tensor, str]]: + return self.pipeline.get() + + def start(self): + self.pipeline.start() + + def stop(self): + self.pipeline.stop() + + def __enter__(self): + self.start() + return self + + def __exit__(self, exc_type, exc_value, traceback): + self.pipeline.terminate() + self.pipeline.join() + return False + + diff --git a/Pixel-Perfect-Depth/ppd/moge/train/losses.py b/Pixel-Perfect-Depth/ppd/moge/train/losses.py new file mode 100644 index 0000000000000000000000000000000000000000..2b251b230f4cc86d8358f613acf483badfb49e14 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/train/losses.py @@ -0,0 +1,270 @@ +from typing import * +import math + +import torch +import torch.nn.functional as F +import utils3d + +from ..utils.geometry_torch import ( + weighted_mean, + harmonic_mean, + geometric_mean, + mask_aware_nearest_resize, + normalized_view_plane_uv, + angle_diff_vec3 +) +from ..utils.alignment import ( + align_points_scale_z_shift, + align_points_scale, + align_points_scale_xyz_shift, + align_points_z_shift, +) + + +def _smooth(err: torch.FloatTensor, beta: float = 0.0) -> torch.FloatTensor: + if beta == 0: + return err + else: + return torch.where(err < beta, 0.5 * err.square() / beta, err - 0.5 * beta) + + +def affine_invariant_global_loss( + pred_points: torch.Tensor, + gt_points: torch.Tensor, + mask: torch.Tensor, + align_resolution: int = 64, + beta: float = 0.0, + trunc: float = 1.0, + sparsity_aware: bool = False +): + device = pred_points.device + + # Align + (pred_points_lr, gt_points_lr), lr_mask = mask_aware_nearest_resize((pred_points, gt_points), mask=mask, size=(align_resolution, align_resolution)) + scale, shift = align_points_scale_z_shift(pred_points_lr.flatten(-3, -2), gt_points_lr.flatten(-3, -2), lr_mask.flatten(-2, -1) / gt_points_lr[..., 2].flatten(-2, -1).clamp_min(1e-2), trunc=trunc) + valid = scale > 0 + scale, shift = torch.where(valid, scale, 0), torch.where(valid[..., None], shift, 0) + + pred_points = scale[..., None, None, None] * pred_points + shift[..., None, None, :] + + # Compute loss + weight = (valid[..., None, None] & mask).float() / gt_points[..., 2].clamp_min(1e-5) + weight = weight.clamp_max(10.0 * weighted_mean(weight, mask, dim=(-2, -1), keepdim=True)) # In case your data contains extremely small depth values + loss = _smooth((pred_points - gt_points).abs() * weight[..., None], beta=beta).mean(dim=(-3, -2, -1)) + + if sparsity_aware: + # Reweighting improves performance on sparse depth data. NOTE: this is not used in MoGe-1. + sparsity = mask.float().mean(dim=(-2, -1)) / lr_mask.float().mean(dim=(-2, -1)) + loss = loss / (sparsity + 1e-7) + + err = (pred_points.detach() - gt_points).norm(dim=-1) / gt_points[..., 2] + + # Record any scalar metric + misc = { + 'truncated_error': weighted_mean(err.clamp_max(1.0), mask).item(), + 'delta': weighted_mean((err < 1).float(), mask).item() + } + + return loss, misc, scale.detach() + + +def monitoring(points: torch.Tensor): + return { + 'std': points.std().item(), + } + + +def compute_anchor_sampling_weight( + points: torch.Tensor, + mask: torch.Tensor, + radius_2d: torch.Tensor, + radius_3d: torch.Tensor, + num_test: int = 64 +) -> torch.Tensor: + # Importance sampling to balance the sampled probability of fine strutures. + # NOTE: MoGe-1 uses uniform random sampling instead of importance sampling. + # This is an incremental trick introduced later than the publication of MoGe-1 paper. + + height, width = points.shape[-3:-1] + + pixel_i, pixel_j = torch.meshgrid( + torch.arange(height, device=points.device), + torch.arange(width, device=points.device), + indexing='ij' + ) + + test_delta_i = torch.randint(-radius_2d, radius_2d + 1, (height, width, num_test,), device=points.device) # [num_test] + test_delta_j = torch.randint(-radius_2d, radius_2d + 1, (height, width, num_test,), device=points.device) # [num_test] + test_i, test_j = pixel_i[..., None] + test_delta_i, pixel_j[..., None] + test_delta_j # [height, width, num_test] + test_mask = (test_i >= 0) & (test_i < height) & (test_j >= 0) & (test_j < width) # [height, width, num_test] + test_i, test_j = test_i.clamp(0, height - 1), test_j.clamp(0, width - 1) # [height, width, num_test] + test_mask = test_mask & mask[..., test_i, test_j] # [..., height, width, num_test] + test_points = points[..., test_i, test_j, :] # [..., height, width, num_test, 3] + test_dist = (test_points - points[..., None, :]).norm(dim=-1) # [..., height, width, num_test] + + weight = 1 / ((test_dist <= radius_3d[..., None]) & test_mask).float().sum(dim=-1).clamp_min(1) + weight = torch.where(mask, weight, 0) + weight = weight / weight.sum(dim=(-2, -1), keepdim=True).add(1e-7) # [..., height, width] + return weight + + +def affine_invariant_local_loss( + pred_points: torch.Tensor, + gt_points: torch.Tensor, + gt_mask: torch.Tensor, + focal: torch.Tensor, + global_scale: torch.Tensor, + level: Literal[4, 16, 64], + align_resolution: int = 32, + num_patches: int = 16, + beta: float = 0.0, + trunc: float = 1.0, + sparsity_aware: bool = False +): + device, dtype = pred_points.device, pred_points.dtype + *batch_shape, height, width, _ = pred_points.shape + batch_size = math.prod(batch_shape) + pred_points, gt_points, gt_mask, focal, global_scale = pred_points.reshape(-1, height, width, 3), gt_points.reshape(-1, height, width, 3), gt_mask.reshape(-1, height, width), focal.reshape(-1), global_scale.reshape(-1) if global_scale is not None else None + + # Sample patch anchor points indices [num_total_patches] + radius_2d = math.ceil(0.5 / level * (height ** 2 + width ** 2) ** 0.5) + radius_3d = 0.5 / level / focal * gt_points[..., 2] + anchor_sampling_weights = compute_anchor_sampling_weight(gt_points, gt_mask, radius_2d, radius_3d, num_test=64) + where_mask = torch.where(gt_mask) + random_selection = torch.multinomial(anchor_sampling_weights[where_mask], num_patches * batch_size, replacement=True) + patch_batch_idx, patch_anchor_i, patch_anchor_j = [indices[random_selection] for indices in where_mask] # [num_total_patches] + + # Get patch indices [num_total_patches, patch_h, patch_w] + patch_i, patch_j = torch.meshgrid( + torch.arange(-radius_2d, radius_2d + 1, device=device), + torch.arange(-radius_2d, radius_2d + 1, device=device), + indexing='ij' + ) + patch_i, patch_j = patch_i + patch_anchor_i[:, None, None], patch_j + patch_anchor_j[:, None, None] + patch_mask = (patch_i >= 0) & (patch_i < height) & (patch_j >= 0) & (patch_j < width) + patch_i, patch_j = patch_i.clamp(0, height - 1), patch_j.clamp(0, width - 1) + + # Get patch mask and gt patch points + gt_patch_anchor_points = gt_points[patch_batch_idx, patch_anchor_i, patch_anchor_j] + gt_patch_radius_3d = 0.5 / level / focal[patch_batch_idx] * gt_patch_anchor_points[:, 2] + gt_patch_points = gt_points[patch_batch_idx[:, None, None], patch_i, patch_j] + gt_patch_dist = (gt_patch_points - gt_patch_anchor_points[:, None, None, :]).norm(dim=-1) + patch_mask &= gt_mask[patch_batch_idx[:, None, None], patch_i, patch_j] + patch_mask &= gt_patch_dist <= gt_patch_radius_3d[:, None, None] + + # Pick only non-empty patches + MINIMUM_POINTS_PER_PATCH = 32 + nonempty = torch.where(patch_mask.sum(dim=(-2, -1)) >= MINIMUM_POINTS_PER_PATCH) + num_nonempty_patches = nonempty[0].shape[0] + if num_nonempty_patches == 0: + return torch.tensor(0.0, dtype=dtype, device=device), {} + + # Finalize all patch variables + patch_batch_idx, patch_i, patch_j = patch_batch_idx[nonempty], patch_i[nonempty], patch_j[nonempty] + patch_mask = patch_mask[nonempty] # [num_nonempty_patches, patch_h, patch_w] + gt_patch_points = gt_patch_points[nonempty] # [num_nonempty_patches, patch_h, patch_w, 3] + gt_patch_radius_3d = gt_patch_radius_3d[nonempty] # [num_nonempty_patches] + gt_patch_anchor_points = gt_patch_anchor_points[nonempty] # [num_nonempty_patches, 3] + pred_patch_points = pred_points[patch_batch_idx[:, None, None], patch_i, patch_j] + + # Align patch points + (pred_patch_points_lr, gt_patch_points_lr), patch_lr_mask = mask_aware_nearest_resize((pred_patch_points, gt_patch_points), mask=patch_mask, size=(align_resolution, align_resolution)) + local_scale, local_shift = align_points_scale_xyz_shift(pred_patch_points_lr.flatten(-3, -2), gt_patch_points_lr.flatten(-3, -2), patch_lr_mask.flatten(-2) / gt_patch_radius_3d[:, None].add(1e-7), trunc=trunc) + if global_scale is not None: + scale_differ = local_scale / global_scale[patch_batch_idx] + patch_valid = (scale_differ > 0.1) & (scale_differ < 10.0) & (global_scale > 0) + else: + patch_valid = local_scale > 0 + local_scale, local_shift = torch.where(patch_valid, local_scale, 0), torch.where(patch_valid[:, None], local_shift, 0) + patch_mask &= patch_valid[:, None, None] + + pred_patch_points = local_scale[:, None, None, None] * pred_patch_points + local_shift[:, None, None, :] # [num_patches_nonempty, patch_h, patch_w, 3] + + # Compute loss + gt_mean = harmonic_mean(gt_points[..., 2], gt_mask, dim=(-2, -1)) + patch_weight = patch_mask.float() / gt_patch_points[..., 2].clamp_min(0.1 * gt_mean[patch_batch_idx, None, None]) # [num_patches_nonempty, patch_h, patch_w] + loss = _smooth((pred_patch_points - gt_patch_points).abs() * patch_weight[..., None], beta=beta).mean(dim=(-3, -2, -1)) # [num_patches_nonempty] + + if sparsity_aware: + # Reweighting improves performance on sparse depth data. NOTE: this is not used in MoGe-1. + sparsity = patch_mask.float().mean(dim=(-2, -1)) / patch_lr_mask.float().mean(dim=(-2, -1)) + loss = loss / (sparsity + 1e-7) + loss = torch.scatter_reduce(torch.zeros(batch_size, dtype=dtype, device=device), dim=0, index=patch_batch_idx, src=loss, reduce='sum') / num_patches + loss = loss.reshape(batch_shape) + + err = (pred_patch_points.detach() - gt_patch_points).norm(dim=-1) / gt_patch_radius_3d[..., None, None] + + # Record any scalar metric + misc = { + 'truncated_error': weighted_mean(err.clamp_max(1), patch_mask).item(), + 'delta': weighted_mean((err < 1).float(), patch_mask).item() + } + + return loss, misc + +def normal_loss(points: torch.Tensor, gt_points: torch.Tensor, mask: torch.Tensor) -> torch.Tensor: + device, dtype = points.device, points.dtype + height, width = points.shape[-3:-1] + + leftup, rightup, leftdown, rightdown = points[..., :-1, :-1, :], points[..., :-1, 1:, :], points[..., 1:, :-1, :], points[..., 1:, 1:, :] + upxleft = torch.cross(rightup - rightdown, leftdown - rightdown, dim=-1) + leftxdown = torch.cross(leftup - rightup, rightdown - rightup, dim=-1) + downxright = torch.cross(leftdown - leftup, rightup - leftup, dim=-1) + rightxup = torch.cross(rightdown - leftdown, leftup - leftdown, dim=-1) + + gt_leftup, gt_rightup, gt_leftdown, gt_rightdown = gt_points[..., :-1, :-1, :], gt_points[..., :-1, 1:, :], gt_points[..., 1:, :-1, :], gt_points[..., 1:, 1:, :] + gt_upxleft = torch.cross(gt_rightup - gt_rightdown, gt_leftdown - gt_rightdown, dim=-1) + gt_leftxdown = torch.cross(gt_leftup - gt_rightup, gt_rightdown - gt_rightup, dim=-1) + gt_downxright = torch.cross(gt_leftdown - gt_leftup, gt_rightup - gt_leftup, dim=-1) + gt_rightxup = torch.cross(gt_rightdown - gt_leftdown, gt_leftup - gt_leftdown, dim=-1) + + mask_leftup, mask_rightup, mask_leftdown, mask_rightdown = mask[..., :-1, :-1], mask[..., :-1, 1:], mask[..., 1:, :-1], mask[..., 1:, 1:] + mask_upxleft = mask_rightup & mask_leftdown & mask_rightdown + mask_leftxdown = mask_leftup & mask_rightdown & mask_rightup + mask_downxright = mask_leftdown & mask_rightup & mask_leftup + mask_rightxup = mask_rightdown & mask_leftup & mask_leftdown + + MIN_ANGLE, MAX_ANGLE, BETA_RAD = math.radians(1), math.radians(90), math.radians(3) + + loss = mask_upxleft * _smooth(angle_diff_vec3(upxleft, gt_upxleft).clamp(MIN_ANGLE, MAX_ANGLE), beta=BETA_RAD) \ + + mask_leftxdown * _smooth(angle_diff_vec3(leftxdown, gt_leftxdown).clamp(MIN_ANGLE, MAX_ANGLE), beta=BETA_RAD) \ + + mask_downxright * _smooth(angle_diff_vec3(downxright, gt_downxright).clamp(MIN_ANGLE, MAX_ANGLE), beta=BETA_RAD) \ + + mask_rightxup * _smooth(angle_diff_vec3(rightxup, gt_rightxup).clamp(MIN_ANGLE, MAX_ANGLE), beta=BETA_RAD) + + loss = loss.mean() / (4 * max(points.shape[-3:-1])) + + return loss, {} + + +def edge_loss(points: torch.Tensor, gt_points: torch.Tensor, mask: torch.Tensor) -> torch.Tensor: + device, dtype = points.device, points.dtype + height, width = points.shape[-3:-1] + + dx = points[..., :-1, :, :] - points[..., 1:, :, :] + dy = points[..., :, :-1, :] - points[..., :, 1:, :] + + gt_dx = gt_points[..., :-1, :, :] - gt_points[..., 1:, :, :] + gt_dy = gt_points[..., :, :-1, :] - gt_points[..., :, 1:, :] + + mask_dx = mask[..., :-1, :] & mask[..., 1:, :] + mask_dy = mask[..., :, :-1] & mask[..., :, 1:] + + MIN_ANGLE, MAX_ANGLE, BETA_RAD = math.radians(0.1), math.radians(90), math.radians(3) + + loss_dx = mask_dx * _smooth(angle_diff_vec3(dx, gt_dx).clamp(MIN_ANGLE, MAX_ANGLE), beta=BETA_RAD) + loss_dy = mask_dy * _smooth(angle_diff_vec3(dy, gt_dy).clamp(MIN_ANGLE, MAX_ANGLE), beta=BETA_RAD) + loss = (loss_dx.mean(dim=(-2, -1)) + loss_dy.mean(dim=(-2, -1))) / (2 * max(points.shape[-3:-1])) + + return loss, {} + + +def mask_l2_loss(pred_mask: torch.Tensor, gt_mask_pos: torch.Tensor, gt_mask_neg: torch.Tensor) -> torch.Tensor: + loss = gt_mask_neg.float() * pred_mask.square() + gt_mask_pos.float() * (1 - pred_mask).square() + loss = loss.mean(dim=(-2, -1)) + return loss, {} + + +def mask_bce_loss(pred_mask_prob: torch.Tensor, gt_mask_pos: torch.Tensor, gt_mask_neg: torch.Tensor) -> torch.Tensor: + loss = (gt_mask_pos | gt_mask_neg) * F.binary_cross_entropy(pred_mask_prob, gt_mask_pos.float(), reduction='none') + loss = loss.mean(dim=(-2, -1)) + return loss, {} diff --git a/Pixel-Perfect-Depth/ppd/moge/train/utils.py b/Pixel-Perfect-Depth/ppd/moge/train/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..5f21e00876b927991381bf2f777a68b02c5b38cc --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/train/utils.py @@ -0,0 +1,57 @@ +from typing import * +import fnmatch + +import sympy +import torch +import torch.nn as nn + + +def any_match(s: str, patterns: List[str]) -> bool: + return any(fnmatch.fnmatch(s, pat) for pat in patterns) + + +def build_optimizer(model: nn.Module, optimizer_config: Dict[str, Any]) -> torch.optim.Optimizer: + named_param_groups = [ + { + k: p for k, p in model.named_parameters() if any_match(k, param_group_config['params']['include']) and not any_match(k, param_group_config['params'].get('exclude', [])) + } for param_group_config in optimizer_config['params'] + ] + excluded_params = [k for k, p in model.named_parameters() if p.requires_grad and not any(k in named_params for named_params in named_param_groups)] + assert len(excluded_params) == 0, f'The following parameters require grad but are excluded from the optimizer: {excluded_params}' + optimizer_cls = getattr(torch.optim, optimizer_config['type']) + optimizer = optimizer_cls([ + { + **param_group_config, + 'params': list(params.values()), + } for param_group_config, params in zip(optimizer_config['params'], named_param_groups) + ]) + return optimizer + + +def parse_lr_lambda(s: str) -> Callable[[int], float]: + epoch = sympy.symbols('epoch') + lr_lambda = sympy.sympify(s) + return sympy.lambdify(epoch, lr_lambda, 'math') + + +def build_lr_scheduler(optimizer: torch.optim.Optimizer, scheduler_config: Dict[str, Any]) -> torch.optim.lr_scheduler._LRScheduler: + if scheduler_config['type'] == "SequentialLR": + child_schedulers = [ + build_lr_scheduler(optimizer, child_scheduler_config) + for child_scheduler_config in scheduler_config['params']['schedulers'] + ] + return torch.optim.lr_scheduler.SequentialLR(optimizer, schedulers=child_schedulers, milestones=scheduler_config['params']['milestones']) + elif scheduler_config['type'] == "LambdaLR": + lr_lambda = scheduler_config['params']['lr_lambda'] + if isinstance(lr_lambda, str): + lr_lambda = parse_lr_lambda(lr_lambda) + elif isinstance(lr_lambda, list): + lr_lambda = [parse_lr_lambda(l) for l in lr_lambda] + return torch.optim.lr_scheduler.LambdaLR( + optimizer, + lr_lambda=lr_lambda, + ) + else: + scheduler_cls = getattr(torch.optim.lr_scheduler, scheduler_config['type']) + scheduler = scheduler_cls(optimizer, **scheduler_config.get('params', {})) + return scheduler \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/__init__.py b/Pixel-Perfect-Depth/ppd/moge/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/__pycache__/__init__.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/moge/utils/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..9b241343bf487da66e6d7f6331b440f42ac6ca66 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/moge/utils/__pycache__/__init__.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/__pycache__/geometry_numpy.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/moge/utils/__pycache__/geometry_numpy.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..6b2e49e30c8999099e1f2b9d19bf8949c2539a9a Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/moge/utils/__pycache__/geometry_numpy.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/__pycache__/geometry_torch.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/moge/utils/__pycache__/geometry_torch.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..77eb8bbb4912371f5bbb36ff25122c829d7cc89b Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/moge/utils/__pycache__/geometry_torch.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/alignment.py b/Pixel-Perfect-Depth/ppd/moge/utils/alignment.py new file mode 100644 index 0000000000000000000000000000000000000000..3d6bb78766ec1a43a89a4fc931b64f70c5201e2d --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/alignment.py @@ -0,0 +1,416 @@ +from typing import * +import math +from collections import namedtuple + +import numpy as np +import torch +import torch.nn as nn +import torch.nn.functional as F +import torch.types +import utils3d + + +def scatter_min(size: int, dim: int, index: torch.LongTensor, src: torch.Tensor) -> torch.return_types.min: + "Scatter the minimum value along the given dimension of `input` into `src` at the indices specified in `index`." + shape = src.shape[:dim] + (size,) + src.shape[dim + 1:] + minimum = torch.full(shape, float('inf'), dtype=src.dtype, device=src.device).scatter_reduce(dim=dim, index=index, src=src, reduce='amin', include_self=False) + minimum_where = torch.where(src == torch.gather(minimum, dim=dim, index=index)) + indices = torch.full(shape, -1, dtype=torch.long, device=src.device) + indices[(*minimum_where[:dim], index[minimum_where], *minimum_where[dim + 1:])] = minimum_where[dim] + return torch.return_types.min((minimum, indices)) + + +def split_batch_fwd(fn: Callable, chunk_size: int, *args, **kwargs): + batch_size = next(x for x in (*args, *kwargs.values()) if isinstance(x, torch.Tensor)).shape[0] + n_chunks = batch_size // chunk_size + (batch_size % chunk_size > 0) + splited_args = tuple(arg.split(chunk_size, dim=0) if isinstance(arg, torch.Tensor) else [arg] * n_chunks for arg in args) + splited_kwargs = {k: [v.split(chunk_size, dim=0) if isinstance(v, torch.Tensor) else [v] * n_chunks] for k, v in kwargs.items()} + results = [] + for i in range(n_chunks): + chunk_args = tuple(arg[i] for arg in splited_args) + chunk_kwargs = {k: v[i] for k, v in splited_kwargs.items()} + results.append(fn(*chunk_args, **chunk_kwargs)) + + if isinstance(results[0], tuple): + return tuple(torch.cat(r, dim=0) for r in zip(*results)) + else: + return torch.cat(results, dim=0) + + +def _pad_inf(x_: torch.Tensor): + return torch.cat([torch.full_like(x_[..., :1], -torch.inf), x_, torch.full_like(x_[..., :1], torch.inf)], dim=-1) + + +def _pad_cumsum(cumsum: torch.Tensor): + return torch.cat([torch.zeros_like(cumsum[..., :1]), cumsum, cumsum[..., -1:]], dim=-1) + + +def _compute_residual(a: torch.Tensor, xyw: torch.Tensor, trunc: float): + return a.mul(xyw[..., 0]).sub_(xyw[..., 1]).abs_().mul_(xyw[..., 2]).clamp_max_(trunc).sum(dim=-1) + + +def align(x: torch.Tensor, y: torch.Tensor, w: torch.Tensor, trunc: Optional[Union[float, torch.Tensor]] = None, eps: float = 1e-7) -> Tuple[torch.Tensor, torch.Tensor, torch.LongTensor]: + """ + If trunc is None, solve `min sum_i w_i * |a * x_i - y_i|`, otherwise solve `min sum_i min(trunc, w_i * |a * x_i - y_i|)`. + + w_i must be >= 0. + + ### Parameters: + - `x`: tensor of shape (..., n) + - `y`: tensor of shape (..., n) + - `w`: tensor of shape (..., n) + - `trunc`: optional, float or tensor of shape (..., n) or None + + ### Returns: + - `a`: tensor of shape (...), differentiable + - `loss`: tensor of shape (...), value of loss function at `a`, detached + - `index`: tensor of shape (...), where a = y[idx] / x[idx] + """ + if trunc is None: + x, y, w = torch.broadcast_tensors(x, y, w) + sign = torch.sign(x) + x, y = x * sign, y * sign + y_div_x = y / x.clamp_min(eps) + y_div_x, argsort = y_div_x.sort(dim=-1) + + wx = torch.gather(x * w, dim=-1, index=argsort) + derivatives = 2 * wx.cumsum(dim=-1) - wx.sum(dim=-1, keepdim=True) + search = torch.searchsorted(derivatives, torch.zeros_like(derivatives[..., :1]), side='left').clamp_max(derivatives.shape[-1] - 1) + + a = y_div_x.gather(dim=-1, index=search).squeeze(-1) + index = argsort.gather(dim=-1, index=search).squeeze(-1) + loss = (w * (a[..., None] * x - y).abs()).sum(dim=-1) + + else: + # Reshape to (batch_size, n) for simplicity + x, y, w = torch.broadcast_tensors(x, y, w) + batch_shape = x.shape[:-1] + batch_size = math.prod(batch_shape) + x, y, w = x.reshape(-1, x.shape[-1]), y.reshape(-1, y.shape[-1]), w.reshape(-1, w.shape[-1]) + + sign = torch.sign(x) + x, y = x * sign, y * sign + wx, wy = w * x, w * y + xyw = torch.stack([x, y, w], dim=-1) # Stacked for convenient gathering + + y_div_x = A = y / x.clamp_min(eps) + B = (wy - trunc) / wx.clamp_min(eps) + C = (wy + trunc) / wx.clamp_min(eps) + with torch.no_grad(): + # Caculate prefix sum by orders of A, B, C + A, A_argsort = A.sort(dim=-1) + Q_A = torch.cumsum(torch.gather(wx, dim=-1, index=A_argsort), dim=-1) + A, Q_A = _pad_inf(A), _pad_cumsum(Q_A) # Pad [-inf, A1, ..., An, inf] and [0, Q1, ..., Qn, Qn] to handle edge cases. + + B, B_argsort = B.sort(dim=-1) + Q_B = torch.cumsum(torch.gather(wx, dim=-1, index=B_argsort), dim=-1) + B, Q_B = _pad_inf(B), _pad_cumsum(Q_B) + + C, C_argsort = C.sort(dim=-1) + Q_C = torch.cumsum(torch.gather(wx, dim=-1, index=C_argsort), dim=-1) + C, Q_C = _pad_inf(C), _pad_cumsum(Q_C) + + # Caculate left and right derivative of A + j_A = torch.searchsorted(A, y_div_x, side='left').sub_(1) + j_B = torch.searchsorted(B, y_div_x, side='left').sub_(1) + j_C = torch.searchsorted(C, y_div_x, side='left').sub_(1) + left_derivative = 2 * torch.gather(Q_A, dim=-1, index=j_A) - torch.gather(Q_B, dim=-1, index=j_B) - torch.gather(Q_C, dim=-1, index=j_C) + j_A = torch.searchsorted(A, y_div_x, side='right').sub_(1) + j_B = torch.searchsorted(B, y_div_x, side='right').sub_(1) + j_C = torch.searchsorted(C, y_div_x, side='right').sub_(1) + right_derivative = 2 * torch.gather(Q_A, dim=-1, index=j_A) - torch.gather(Q_B, dim=-1, index=j_B) - torch.gather(Q_C, dim=-1, index=j_C) + + # Find extrema + is_extrema = (left_derivative < 0) & (right_derivative >= 0) + is_extrema[..., 0] |= ~is_extrema.any(dim=-1) # In case all derivatives are zero, take the first one as extrema. + where_extrema_batch, where_extrema_index = torch.where(is_extrema) + + # Calculate objective value at extrema + extrema_a = y_div_x[where_extrema_batch, where_extrema_index] # (num_extrema,) + MAX_ELEMENTS = 4096 ** 2 # Split into small batches to avoid OOM in case there are too many extrema.(~1G) + SPLIT_SIZE = MAX_ELEMENTS // x.shape[-1] + extrema_value = torch.cat([ + _compute_residual(extrema_a_split[:, None], xyw[extrema_i_split, :, :], trunc) + for extrema_a_split, extrema_i_split in zip(extrema_a.split(SPLIT_SIZE), where_extrema_batch.split(SPLIT_SIZE)) + ]) # (num_extrema,) + + # Find minima among corresponding extrema + minima, indices = scatter_min(size=batch_size, dim=0, index=where_extrema_batch, src=extrema_value) # (batch_size,) + index = where_extrema_index[indices] + + a = torch.gather(y, dim=-1, index=index[..., None]) / torch.gather(x, dim=-1, index=index[..., None]).clamp_min(eps) + a = a.reshape(batch_shape) + loss = minima.reshape(batch_shape) + index = index.reshape(batch_shape) + + return a, loss, index + + +def align_depth_scale(depth_src: torch.Tensor, depth_tgt: torch.Tensor, weight: Optional[torch.Tensor], trunc: Optional[Union[float, torch.Tensor]] = None): + """ + Align `depth_src` to `depth_tgt` with given constant weights. + + ### Parameters: + - `depth_src: torch.Tensor` of shape (..., N) + - `depth_tgt: torch.Tensor` of shape (..., N) + + """ + scale, _, _ = align(depth_src, depth_tgt, weight, trunc) + + return scale + + +def align_depth_affine(depth_src: torch.Tensor, depth_tgt: torch.Tensor, weight: Optional[torch.Tensor], trunc: Optional[Union[float, torch.Tensor]] = None): + """ + Align `depth_src` to `depth_tgt` with given constant weights. + + ### Parameters: + - `depth_src: torch.Tensor` of shape (..., N) + - `depth_tgt: torch.Tensor` of shape (..., N) + - `weight: torch.Tensor` of shape (..., N) + - `trunc: float` or tensor of shape (..., N) or None + + ### Returns: + - `scale: torch.Tensor` of shape (...). + - `shift: torch.Tensor` of shape (...). + """ + dtype, device = depth_src.dtype, depth_src.device + + # Flatten batch dimensions for simplicity + batch_shape, n = depth_src.shape[:-1], depth_src.shape[-1] + batch_size = math.prod(batch_shape) + depth_src, depth_tgt, weight = depth_src.reshape(batch_size, n), depth_tgt.reshape(batch_size, n), weight.reshape(batch_size, n) + + # Here, we take anchors only for non-zero weights. + # Although the results will be still correct even anchor points have zero weight, + # it is wasting computation and may cause instability in some cases, e.g. too many extrema. + anchors_where_batch, anchors_where_n = torch.where(weight > 0) + + # Stop gradient when solving optimal anchors + with torch.no_grad(): + depth_src_anchor = depth_src[anchors_where_batch, anchors_where_n] # (anchors) + depth_tgt_anchor = depth_tgt[anchors_where_batch, anchors_where_n] # (anchors) + + depth_src_anchored = depth_src[anchors_where_batch, :] - depth_src_anchor[..., None] # (anchors, n) + depth_tgt_anchored = depth_tgt[anchors_where_batch, :] - depth_tgt_anchor[..., None] # (anchors, n) + weight_anchored = weight[anchors_where_batch, :] # (anchors, n) + + scale, loss, index = align(depth_src_anchored, depth_tgt_anchored, weight_anchored, trunc) # (anchors) + + loss, index_anchor = scatter_min(size=batch_size, dim=0, index=anchors_where_batch, src=loss) # (batch_size,) + + # Reproduce by indexing for shorter compute graph + index_1 = anchors_where_n[index_anchor] # (batch_size,) + index_2 = index[index_anchor] # (batch_size,) + + tgt_1, src_1 = torch.gather(depth_tgt, dim=1, index=index_1[..., None]).squeeze(-1), torch.gather(depth_src, dim=1, index=index_1[..., None]).squeeze(-1) + tgt_2, src_2 = torch.gather(depth_tgt, dim=1, index=index_2[..., None]).squeeze(-1), torch.gather(depth_src, dim=1, index=index_2[..., None]).squeeze(-1) + + scale = (tgt_2 - tgt_1) / torch.where(src_2 != src_1, src_2 - src_1, 1e-7) + shift = tgt_1 - scale * src_1 + + scale, shift = scale.reshape(batch_shape), shift.reshape(batch_shape) + + return scale, shift + +def align_depth_affine_irls(depth_src: torch.Tensor, depth_tgt: torch.Tensor, weight: Optional[torch.Tensor], max_iter: int = 100, eps: float = 1e-12): + """ + Align `depth_src` to `depth_tgt` with given constant weights using IRLS. + """ + dtype, device = depth_src.dtype, depth_src.device + + w = weight + x = torch.stack([depth_src, torch.ones_like(depth_src)], dim=-1) + y = depth_tgt + + for i in range(max_iter): + beta = (x.transpose(-1, -2) @ (w * y)) @ (x.transpose(-1, -2) @ (w[..., None] * x)).inverse().transpose(-2, -1) + w = 1 / (y - (x @ beta[..., None])[..., 0]).abs().clamp_min(eps) + + return beta[..., 0], beta[..., 1] + + +def align_points_scale(points_src: torch.Tensor, points_tgt: torch.Tensor, weight: Optional[torch.Tensor], trunc: Optional[Union[float, torch.Tensor]] = None): + """ + ### Parameters: + - `points_src: torch.Tensor` of shape (..., N, 3) + - `points_tgt: torch.Tensor` of shape (..., N, 3) + - `weight: torch.Tensor` of shape (..., N) + + ### Returns: + - `a: torch.Tensor` of shape (...). Only positive solutions are garunteed. You should filter out negative scales before using it. + - `b: torch.Tensor` of shape (...) + """ + dtype, device = points_src.dtype, points_src.device + + scale, _, _ = align(points_src.flatten(-2), points_tgt.flatten(-2), weight[..., None].expand_as(points_src).flatten(-2), trunc) + + return scale + + +def align_points_scale_z_shift(points_src: torch.Tensor, points_tgt: torch.Tensor, weight: Optional[torch.Tensor], trunc: Optional[Union[float, torch.Tensor]] = None): + """ + Align `points_src` to `points_tgt` with respect to a shared xyz scale and z shift. + It is similar to `align_affine` but scale and shift are applied to different dimensions. + + ### Parameters: + - `points_src: torch.Tensor` of shape (..., N, 3) + - `points_tgt: torch.Tensor` of shape (..., N, 3) + - `weights: torch.Tensor` of shape (..., N) + + ### Returns: + - `scale: torch.Tensor` of shape (...). + - `shift: torch.Tensor` of shape (..., 3). x and y shifts are zeros. + """ + dtype, device = points_src.dtype, points_src.device + + # Flatten batch dimensions for simplicity + batch_shape, n = points_src.shape[:-2], points_src.shape[-2] + batch_size = math.prod(batch_shape) + points_src, points_tgt, weight = points_src.reshape(batch_size, n, 3), points_tgt.reshape(batch_size, n, 3), weight.reshape(batch_size, n) + + # Take anchors + anchor_where_batch, anchor_where_n = torch.where(weight > 0) + with torch.no_grad(): + zeros = torch.zeros(anchor_where_batch.shape[0], device=device, dtype=dtype) + points_src_anchor = torch.stack([zeros, zeros, points_src[anchor_where_batch, anchor_where_n, 2]], dim=-1) # (anchors, 3) + points_tgt_anchor = torch.stack([zeros, zeros, points_tgt[anchor_where_batch, anchor_where_n, 2]], dim=-1) # (anchors, 3) + + points_src_anchored = points_src[anchor_where_batch, :, :] - points_src_anchor[..., None, :] # (anchors, n, 3) + points_tgt_anchored = points_tgt[anchor_where_batch, :, :] - points_tgt_anchor[..., None, :] # (anchors, n, 3) + weight_anchored = weight[anchor_where_batch, :, None].expand(-1, -1, 3) # (anchors, n, 3) + + # Solve optimal scale and shift for each anchor + MAX_ELEMENTS = 2 ** 20 + scale, loss, index = split_batch_fwd(align, MAX_ELEMENTS // n, points_src_anchored.flatten(-2), points_tgt_anchored.flatten(-2), weight_anchored.flatten(-2), trunc) # (anchors,) + + loss, index_anchor = scatter_min(size=batch_size, dim=0, index=anchor_where_batch, src=loss) # (batch_size,) + + # Reproduce by indexing for shorter compute graph + index_2 = index[index_anchor] # (batch_size,) [0, 3n) + index_1 = anchor_where_n[index_anchor] * 3 + index_2 % 3 # (batch_size,) [0, 3n) + + zeros = torch.zeros((batch_size, n), device=device, dtype=dtype) + points_tgt_00z, points_src_00z = torch.stack([zeros, zeros, points_tgt[..., 2]], dim=-1), torch.stack([zeros, zeros, points_src[..., 2]], dim=-1) + tgt_1, src_1 = torch.gather(points_tgt_00z.flatten(-2), dim=1, index=index_1[..., None]).squeeze(-1), torch.gather(points_src_00z.flatten(-2), dim=1, index=index_1[..., None]).squeeze(-1) + tgt_2, src_2 = torch.gather(points_tgt.flatten(-2), dim=1, index=index_2[..., None]).squeeze(-1), torch.gather(points_src.flatten(-2), dim=1, index=index_2[..., None]).squeeze(-1) + + scale = (tgt_2 - tgt_1) / torch.where(src_2 != src_1, src_2 - src_1, 1.0) + shift = torch.gather(points_tgt_00z, dim=1, index=(index_1 // 3)[..., None, None].expand(-1, -1, 3)).squeeze(-2) - scale[..., None] * torch.gather(points_src_00z, dim=1, index=(index_1 // 3)[..., None, None].expand(-1, -1, 3)).squeeze(-2) + scale, shift = scale.reshape(batch_shape), shift.reshape(*batch_shape, 3) + + return scale, shift + + +def align_points_scale_xyz_shift(points_src: torch.Tensor, points_tgt: torch.Tensor, weight: Optional[torch.Tensor], trunc: Optional[Union[float, torch.Tensor]] = None, max_iters: int = 30, eps: float = 1e-6): + """ + Align `points_src` to `points_tgt` with respect to a shared xyz scale and z shift. + It is similar to `align_affine` but scale and shift are applied to different dimensions. + + ### Parameters: + - `points_src: torch.Tensor` of shape (..., N, 3) + - `points_tgt: torch.Tensor` of shape (..., N, 3) + - `weights: torch.Tensor` of shape (..., N) + + ### Returns: + - `scale: torch.Tensor` of shape (...). + - `shift: torch.Tensor` of shape (..., 3) + """ + dtype, device = points_src.dtype, points_src.device + + # Flatten batch dimensions for simplicity + batch_shape, n = points_src.shape[:-2], points_src.shape[-2] + batch_size = math.prod(batch_shape) + points_src, points_tgt, weight = points_src.reshape(batch_size, n, 3), points_tgt.reshape(batch_size, n, 3), weight.reshape(batch_size, n) + + # Take anchors + anchor_where_batch, anchor_where_n = torch.where(weight > 0) + + with torch.no_grad(): + points_src_anchor = points_src[anchor_where_batch, anchor_where_n] # (anchors, 3) + points_tgt_anchor = points_tgt[anchor_where_batch, anchor_where_n] # (anchors, 3) + + points_src_anchored = points_src[anchor_where_batch, :, :] - points_src_anchor[..., None, :] # (anchors, n, 3) + points_tgt_anchored = points_tgt[anchor_where_batch, :, :] - points_tgt_anchor[..., None, :] # (anchors, n, 3) + weight_anchored = weight[anchor_where_batch, :, None].expand(-1, -1, 3) # (anchors, n, 3) + + # Solve optimal scale and shift for each anchor + MAX_ELEMENTS = 2 ** 20 + scale, loss, index = split_batch_fwd(align, MAX_ELEMENTS // 2, points_src_anchored.flatten(-2), points_tgt_anchored.flatten(-2), weight_anchored.flatten(-2), trunc) # (anchors,) + + # Get optimal scale and shift for each batch element + loss, index_anchor = scatter_min(size=batch_size, dim=0, index=anchor_where_batch, src=loss) # (batch_size,) + + index_2 = index[index_anchor] # (batch_size,) [0, 3n) + index_1 = anchor_where_n[index_anchor] * 3 + index_2 % 3 # (batch_size,) [0, 3n) + + src_1, tgt_1 = torch.gather(points_src.flatten(-2), dim=1, index=index_1[..., None]).squeeze(-1), torch.gather(points_tgt.flatten(-2), dim=1, index=index_1[..., None]).squeeze(-1) + src_2, tgt_2 = torch.gather(points_src.flatten(-2), dim=1, index=index_2[..., None]).squeeze(-1), torch.gather(points_tgt.flatten(-2), dim=1, index=index_2[..., None]).squeeze(-1) + + scale = (tgt_2 - tgt_1) / torch.where(src_2 != src_1, src_2 - src_1, 1.0) + shift = torch.gather(points_tgt, dim=1, index=(index_1 // 3)[..., None, None].expand(-1, -1, 3)).squeeze(-2) - scale[..., None] * torch.gather(points_src, dim=1, index=(index_1 // 3)[..., None, None].expand(-1, -1, 3)).squeeze(-2) + + scale, shift = scale.reshape(batch_shape), shift.reshape(*batch_shape, 3) + + return scale, shift + + +def align_points_z_shift(points_src: torch.Tensor, points_tgt: torch.Tensor, weight: Optional[torch.Tensor], trunc: Optional[Union[float, torch.Tensor]] = None, max_iters: int = 30, eps: float = 1e-6): + """ + Align `points_src` to `points_tgt` with respect to a Z-axis shift. + + ### Parameters: + - `points_src: torch.Tensor` of shape (..., N, 3) + - `points_tgt: torch.Tensor` of shape (..., N, 3) + - `weights: torch.Tensor` of shape (..., N) + + ### Returns: + - `scale: torch.Tensor` of shape (...). + - `shift: torch.Tensor` of shape (..., 3) + """ + dtype, device = points_src.dtype, points_src.device + + shift, _, _ = align(torch.ones_like(points_src[..., 2]), points_tgt[..., 2] - points_src[..., 2], weight, trunc) + shift = torch.stack([torch.zeros_like(shift), torch.zeros_like(shift), shift], dim=-1) + + return shift + + +def align_points_xyz_shift(points_src: torch.Tensor, points_tgt: torch.Tensor, weight: Optional[torch.Tensor], trunc: Optional[Union[float, torch.Tensor]] = None, max_iters: int = 30, eps: float = 1e-6): + """ + Align `points_src` to `points_tgt` with respect to a Z-axis shift. + + ### Parameters: + - `points_src: torch.Tensor` of shape (..., N, 3) + - `points_tgt: torch.Tensor` of shape (..., N, 3) + - `weights: torch.Tensor` of shape (..., N) + + ### Returns: + - `scale: torch.Tensor` of shape (...). + - `shift: torch.Tensor` of shape (..., 3) + """ + dtype, device = points_src.dtype, points_src.device + + shift, _, _ = align(torch.ones_like(points_src).swapaxes(-2, -1), (points_tgt - points_src).swapaxes(-2, -1), weight[..., None, :], trunc) + + return shift + + +def align_affine_lstsq(x: torch.Tensor, y: torch.Tensor, w: torch.Tensor = None) -> Tuple[torch.Tensor, torch.Tensor]: + """ + Solve `min sum_i w_i * (a * x_i + b - y_i ) ^ 2`, where `a` and `b` are scalars, with respect to `a` and `b` using least squares. + + ### Parameters: + - `x: torch.Tensor` of shape (..., N) + - `y: torch.Tensor` of shape (..., N) + - `w: torch.Tensor` of shape (..., N) + + ### Returns: + - `a: torch.Tensor` of shape (...,) + - `b: torch.Tensor` of shape (...,) + """ + w_sqrt = torch.ones_like(x) if w is None else w.sqrt() + A = torch.stack([w_sqrt * x, torch.ones_like(x)], dim=-1) + B = (w_sqrt * y)[..., None] + a, b = torch.linalg.lstsq(A, B)[0].squeeze(-1).unbind(-1) + return a, b \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/download.py b/Pixel-Perfect-Depth/ppd/moge/utils/download.py new file mode 100644 index 0000000000000000000000000000000000000000..886edbccc81cc0c3daed4d858f641097bdfceee2 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/download.py @@ -0,0 +1,55 @@ +from pathlib import Path +from typing import * +import requests + +from tqdm import tqdm + + +__all__ = ["download_file", "download_bytes"] + + +def download_file(url: str, filepath: Union[str, Path], headers: dict = None, resume: bool = True) -> None: + # Ensure headers is a dict if not provided + headers = headers or {} + + # Initialize local variables + file_path = Path(filepath) + downloaded_bytes = 0 + + # Check if we should resume the download + if resume and file_path.exists(): + downloaded_bytes = file_path.stat().st_size + headers['Range'] = f"bytes={downloaded_bytes}-" + + # Make a GET request to fetch the file + with requests.get(url, stream=True, headers=headers) as response: + response.raise_for_status() # This will raise an HTTPError if the status is 4xx/5xx + + # Calculate the total size to download + total_size = downloaded_bytes + int(response.headers.get('content-length', 0)) + + # Display a progress bar while downloading + with ( + tqdm(desc=f"Downloading {file_path.name}", total=total_size, unit='B', unit_scale=True, leave=False) as pbar, + open(file_path, 'ab') as file, + ): + # Set the initial position of the progress bar + pbar.update(downloaded_bytes) + + # Write the content to the file in chunks + for chunk in response.iter_content(chunk_size=4096): + file.write(chunk) + pbar.update(len(chunk)) + + +def download_bytes(url: str, headers: dict = None) -> bytes: + # Ensure headers is a dict if not provided + headers = headers or {} + + # Make a GET request to fetch the file + with requests.get(url, stream=True, headers=headers) as response: + response.raise_for_status() # This will raise an HTTPError if the status is 4xx/5xx + + # Read the content of the response + return response.content + \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/geometry_numpy.py b/Pixel-Perfect-Depth/ppd/moge/utils/geometry_numpy.py new file mode 100644 index 0000000000000000000000000000000000000000..b9f97b8afd33c0660e9c7fc47853e307789d976d --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/geometry_numpy.py @@ -0,0 +1,406 @@ +from typing import * +from functools import partial +import math + +import cv2 +import numpy as np +from scipy.signal import fftconvolve +import numpy as np +import utils3d + +# from .tools import timeit + + +def weighted_mean_numpy(x: np.ndarray, w: np.ndarray = None, axis: Union[int, Tuple[int,...]] = None, keepdims: bool = False, eps: float = 1e-7) -> np.ndarray: + if w is None: + return np.mean(x, axis=axis) + else: + w = w.astype(x.dtype) + return (x * w).mean(axis=axis) / np.clip(w.mean(axis=axis), eps, None) + + +def harmonic_mean_numpy(x: np.ndarray, w: np.ndarray = None, axis: Union[int, Tuple[int,...]] = None, keepdims: bool = False, eps: float = 1e-7) -> np.ndarray: + if w is None: + return 1 / (1 / np.clip(x, eps, None)).mean(axis=axis) + else: + w = w.astype(x.dtype) + return 1 / (weighted_mean_numpy(1 / (x + eps), w, axis=axis, keepdims=keepdims, eps=eps) + eps) + + +def normalized_view_plane_uv_numpy(width: int, height: int, aspect_ratio: float = None, dtype: np.dtype = np.float32) -> np.ndarray: + "UV with left-top corner as (-width / diagonal, -height / diagonal) and right-bottom corner as (width / diagonal, height / diagonal)" + if aspect_ratio is None: + aspect_ratio = width / height + + span_x = aspect_ratio / (1 + aspect_ratio ** 2) ** 0.5 + span_y = 1 / (1 + aspect_ratio ** 2) ** 0.5 + + u = np.linspace(-span_x * (width - 1) / width, span_x * (width - 1) / width, width, dtype=dtype) + v = np.linspace(-span_y * (height - 1) / height, span_y * (height - 1) / height, height, dtype=dtype) + u, v = np.meshgrid(u, v, indexing='xy') + uv = np.stack([u, v], axis=-1) + return uv + + +def focal_to_fov_numpy(focal: np.ndarray): + return 2 * np.arctan(0.5 / focal) + + +def fov_to_focal_numpy(fov: np.ndarray): + return 0.5 / np.tan(fov / 2) + + +def intrinsics_to_fov_numpy(intrinsics: np.ndarray) -> Tuple[np.ndarray, np.ndarray]: + fov_x = focal_to_fov_numpy(intrinsics[..., 0, 0]) + fov_y = focal_to_fov_numpy(intrinsics[..., 1, 1]) + return fov_x, fov_y + + +def point_map_to_depth_legacy_numpy(points: np.ndarray): + height, width = points.shape[-3:-1] + diagonal = (height ** 2 + width ** 2) ** 0.5 + uv = normalized_view_plane_uv_numpy(width, height, dtype=points.dtype) # (H, W, 2) + _, uv = np.broadcast_arrays(points[..., :2], uv) + + # Solve least squares problem + b = (uv * points[..., 2:]).reshape(*points.shape[:-3], -1) # (..., H * W * 2) + A = np.stack([points[..., :2], -uv], axis=-1).reshape(*points.shape[:-3], -1, 2) # (..., H * W * 2, 2) + + M = A.swapaxes(-2, -1) @ A + solution = (np.linalg.inv(M + 1e-6 * np.eye(2)) @ (A.swapaxes(-2, -1) @ b[..., None])).squeeze(-1) + focal, shift = solution + + depth = points[..., 2] + shift[..., None, None] + fov_x = np.arctan(width / diagonal / focal) * 2 + fov_y = np.arctan(height / diagonal / focal) * 2 + return depth, fov_x, fov_y, shift + + +def solve_optimal_focal_shift(uv: np.ndarray, xyz: np.ndarray): + "Solve `min |focal * xy / (z + shift) - uv|` with respect to shift and focal" + from scipy.optimize import least_squares + uv, xy, z = uv.reshape(-1, 2), xyz[..., :2].reshape(-1, 2), xyz[..., 2].reshape(-1) + + def fn(uv: np.ndarray, xy: np.ndarray, z: np.ndarray, shift: np.ndarray): + xy_proj = xy / (z + shift)[: , None] + f = (xy_proj * uv).sum() / np.square(xy_proj).sum() + err = (f * xy_proj - uv).ravel() + return err + + solution = least_squares(partial(fn, uv, xy, z), x0=0, ftol=1e-3, method='lm') + optim_shift = solution['x'].squeeze().astype(np.float32) + + xy_proj = xy / (z + optim_shift)[: , None] + optim_focal = (xy_proj * uv).sum() / np.square(xy_proj).sum() + + return optim_shift, optim_focal + + +def solve_optimal_shift(uv: np.ndarray, xyz: np.ndarray, focal: float): + "Solve `min |focal * xy / (z + shift) - uv|` with respect to shift" + from scipy.optimize import least_squares + uv, xy, z = uv.reshape(-1, 2), xyz[..., :2].reshape(-1, 2), xyz[..., 2].reshape(-1) + + def fn(uv: np.ndarray, xy: np.ndarray, z: np.ndarray, shift: np.ndarray): + xy_proj = xy / (z + shift)[: , None] + err = (focal * xy_proj - uv).ravel() + return err + + solution = least_squares(partial(fn, uv, xy, z), x0=0, ftol=1e-3, method='lm') + optim_shift = solution['x'].squeeze().astype(np.float32) + + return optim_shift + + +def recover_focal_shift_numpy(points: np.ndarray, mask: np.ndarray = None, focal: float = None, downsample_size: Tuple[int, int] = (64, 64)): + import cv2 + assert points.shape[-1] == 3, "Points should (H, W, 3)" + + height, width = points.shape[-3], points.shape[-2] + diagonal = (height ** 2 + width ** 2) ** 0.5 + + uv = normalized_view_plane_uv_numpy(width=width, height=height) + + if mask is None: + points_lr = cv2.resize(points, downsample_size, interpolation=cv2.INTER_LINEAR).reshape(-1, 3) + uv_lr = cv2.resize(uv, downsample_size, interpolation=cv2.INTER_LINEAR).reshape(-1, 2) + else: + (points_lr, uv_lr), mask_lr = mask_aware_nearest_resize_numpy((points, uv), mask, downsample_size) + + if points_lr.size < 2: + return 1., 0. + + if focal is None: + focal, shift = solve_optimal_focal_shift(uv_lr, points_lr) + else: + shift = solve_optimal_shift(uv_lr, points_lr, focal) + + return focal, shift + + +def mask_aware_nearest_resize_numpy( + inputs: Union[np.ndarray, Tuple[np.ndarray, ...], None], + mask: np.ndarray, + size: Tuple[int, int], + return_index: bool = False +) -> Tuple[Union[np.ndarray, Tuple[np.ndarray, ...], None], np.ndarray, Tuple[np.ndarray, ...]]: + """ + Resize 2D map by nearest interpolation. Return the nearest neighbor index and mask of the resized map. + + ### Parameters + - `inputs`: a single or a list of input 2D map(s) of shape (..., H, W, ...). + - `mask`: input 2D mask of shape (..., H, W) + - `size`: target size (width, height) + + ### Returns + - `*resized_maps`: resized map(s) of shape (..., target_height, target_width, ...). + - `resized_mask`: mask of the resized map of shape (..., target_height, target_width) + - `nearest_idx`: if return_index is True, nearest neighbor index of the resized map of shape (..., target_height, target_width) for each dimension. + """ + height, width = mask.shape[-2:] + target_width, target_height = size + filter_h_f, filter_w_f = max(1, height / target_height), max(1, width / target_width) + filter_h_i, filter_w_i = math.ceil(filter_h_f), math.ceil(filter_w_f) + filter_size = filter_h_i * filter_w_i + padding_h, padding_w = filter_h_i // 2 + 1, filter_w_i // 2 + 1 + + # Window the original mask and uv + uv = utils3d.numpy.image_pixel_center(width=width, height=height, dtype=np.float32) + indices = np.arange(height * width, dtype=np.int32).reshape(height, width) + padded_uv = np.full((height + 2 * padding_h, width + 2 * padding_w, 2), 0, dtype=np.float32) + padded_uv[padding_h:padding_h + height, padding_w:padding_w + width] = uv + padded_mask = np.full((*mask.shape[:-2], height + 2 * padding_h, width + 2 * padding_w), False, dtype=bool) + padded_mask[..., padding_h:padding_h + height, padding_w:padding_w + width] = mask + padded_indices = np.full((height + 2 * padding_h, width + 2 * padding_w), 0, dtype=np.int32) + padded_indices[padding_h:padding_h + height, padding_w:padding_w + width] = indices + windowed_uv = utils3d.numpy.sliding_window_2d(padded_uv, (filter_h_i, filter_w_i), 1, axis=(0, 1)) + windowed_mask = utils3d.numpy.sliding_window_2d(padded_mask, (filter_h_i, filter_w_i), 1, axis=(-2, -1)) + windowed_indices = utils3d.numpy.sliding_window_2d(padded_indices, (filter_h_i, filter_w_i), 1, axis=(0, 1)) + + # Gather the target pixels's local window + target_centers = utils3d.numpy.image_uv(width=target_width, height=target_height, dtype=np.float32) * np.array([width, height], dtype=np.float32) + target_lefttop = target_centers - np.array((filter_w_f / 2, filter_h_f / 2), dtype=np.float32) + target_window = np.round(target_lefttop).astype(np.int32) + np.array((padding_w, padding_h), dtype=np.int32) + + target_window_centers = windowed_uv[target_window[..., 1], target_window[..., 0], :, :, :].reshape(target_height, target_width, 2, filter_size) # (target_height, tgt_width, 2, filter_size) + target_window_mask = windowed_mask[..., target_window[..., 1], target_window[..., 0], :, :].reshape(*mask.shape[:-2], target_height, target_width, filter_size) # (..., target_height, tgt_width, filter_size) + target_window_indices = windowed_indices[target_window[..., 1], target_window[..., 0], :, :].reshape(*([-1] * (mask.ndim - 2)), target_height, target_width, filter_size) # (target_height, tgt_width, filter_size) + + # Compute nearest neighbor in the local window for each pixel + dist = np.square(target_window_centers - target_centers[..., None]) + dist = dist[..., 0, :] + dist[..., 1, :] + dist = np.where(target_window_mask, dist, np.inf) # (..., target_height, tgt_width, filter_size) + nearest_in_window = np.argmin(dist, axis=-1, keepdims=True) # (..., target_height, tgt_width, 1) + nearest_idx = np.take_along_axis(target_window_indices, nearest_in_window, axis=-1).squeeze(-1) # (..., target_height, tgt_width) + nearest_i, nearest_j = nearest_idx // width, nearest_idx % width + target_mask = np.any(target_window_mask, axis=-1) + batch_indices = [np.arange(n).reshape([1] * i + [n] + [1] * (mask.ndim - i - 1)) for i, n in enumerate(mask.shape[:-2])] + + index = (*batch_indices, nearest_i, nearest_j) + + if inputs is None: + outputs = None + elif isinstance(inputs, np.ndarray): + outputs = inputs[index] + elif isinstance(inputs, Sequence): + outputs = tuple(x[index] for x in inputs) + else: + raise ValueError(f'Invalid input type: {type(inputs)}') + + if return_index: + return outputs, target_mask, index + else: + return outputs, target_mask + + +def mask_aware_area_resize_numpy(image: np.ndarray, mask: np.ndarray, target_width: int, target_height: int) -> Tuple[Tuple[np.ndarray, ...], np.ndarray]: + """ + Resize 2D map by nearest interpolation. Return the nearest neighbor index and mask of the resized map. + + ### Parameters + - `image`: Input 2D image of shape (..., H, W, C) + - `mask`: Input 2D mask of shape (..., H, W) + - `target_width`: target width of the resized map + - `target_height`: target height of the resized map + + ### Returns + - `nearest_idx`: Nearest neighbor index of the resized map of shape (..., target_height, target_width). + - `target_mask`: Mask of the resized map of shape (..., target_height, target_width) + """ + height, width = mask.shape[-2:] + + if image.shape[-2:] == (height, width): + omit_channel_dim = True + else: + omit_channel_dim = False + if omit_channel_dim: + image = image[..., None] + + image = np.where(mask[..., None], image, 0) + + filter_h_f, filter_w_f = max(1, height / target_height), max(1, width / target_width) + filter_h_i, filter_w_i = math.ceil(filter_h_f) + 1, math.ceil(filter_w_f) + 1 + filter_size = filter_h_i * filter_w_i + padding_h, padding_w = filter_h_i // 2 + 1, filter_w_i // 2 + 1 + + # Window the original mask and uv (non-copy) + uv = utils3d.numpy.image_pixel_center(width=width, height=height, dtype=np.float32) + indices = np.arange(height * width, dtype=np.int32).reshape(height, width) + padded_uv = np.full((height + 2 * padding_h, width + 2 * padding_w, 2), 0, dtype=np.float32) + padded_uv[padding_h:padding_h + height, padding_w:padding_w + width] = uv + padded_mask = np.full((*mask.shape[:-2], height + 2 * padding_h, width + 2 * padding_w), False, dtype=bool) + padded_mask[..., padding_h:padding_h + height, padding_w:padding_w + width] = mask + padded_indices = np.full((height + 2 * padding_h, width + 2 * padding_w), 0, dtype=np.int32) + padded_indices[padding_h:padding_h + height, padding_w:padding_w + width] = indices + windowed_uv = utils3d.numpy.sliding_window_2d(padded_uv, (filter_h_i, filter_w_i), 1, axis=(0, 1)) + windowed_mask = utils3d.numpy.sliding_window_2d(padded_mask, (filter_h_i, filter_w_i), 1, axis=(-2, -1)) + windowed_indices = utils3d.numpy.sliding_window_2d(padded_indices, (filter_h_i, filter_w_i), 1, axis=(0, 1)) + + # Gather the target pixels's local window + target_center = utils3d.numpy.image_uv(width=target_width, height=target_height, dtype=np.float32) * np.array([width, height], dtype=np.float32) + target_lefttop = target_center - np.array((filter_w_f / 2, filter_h_f / 2), dtype=np.float32) + target_bottomright = target_center + np.array((filter_w_f / 2, filter_h_f / 2), dtype=np.float32) + target_window = np.floor(target_lefttop).astype(np.int32) + np.array((padding_w, padding_h), dtype=np.int32) + + target_window_centers = windowed_uv[target_window[..., 1], target_window[..., 0], :, :, :].reshape(target_height, target_width, 2, filter_size) # (target_height, tgt_width, 2, filter_size) + target_window_mask = windowed_mask[..., target_window[..., 1], target_window[..., 0], :, :].reshape(*mask.shape[:-2], target_height, target_width, filter_size) # (..., target_height, tgt_width, filter_size) + target_window_indices = windowed_indices[target_window[..., 1], target_window[..., 0], :, :].reshape(target_height, target_width, filter_size) # (target_height, tgt_width, filter_size) + + # Compute pixel area in the local windows + target_window_lefttop = np.maximum(target_window_centers - 0.5, target_lefttop[..., None]) + target_window_bottomright = np.minimum(target_window_centers + 0.5, target_bottomright[..., None]) + target_window_area = (target_window_bottomright - target_window_lefttop).clip(0, None) + target_window_area = np.where(target_window_mask, target_window_area[..., 0, :] * target_window_area[..., 1, :], 0) + + # Weighted sum by area + target_window_image = image.reshape(*image.shape[:-3], height * width, -1)[..., target_window_indices, :].swapaxes(-2, -1) + target_mask = np.sum(target_window_area, axis=-1) >= 0.25 + target_image = weighted_mean_numpy(target_window_image, target_window_area[..., None, :], axis=-1) + + if omit_channel_dim: + target_image = target_image[..., 0] + + return target_image, target_mask + + +def norm3d(x: np.ndarray) -> np.ndarray: + "Faster `np.linalg.norm(x, axis=-1)` for 3D vectors" + return np.sqrt(np.square(x[..., 0]) + np.square(x[..., 1]) + np.square(x[..., 2])) + + +def depth_occlusion_edge_numpy(depth: np.ndarray, mask: np.ndarray, thickness: int = 1, tol: float = 0.1): + disp = np.where(mask, 1 / depth, 0) + disp_pad = np.pad(disp, (thickness, thickness), constant_values=0) + mask_pad = np.pad(mask, (thickness, thickness), constant_values=False) + kernel_size = 2 * thickness + 1 + disp_window = utils3d.numpy.sliding_window_2d(disp_pad, (kernel_size, kernel_size), 1, axis=(-2, -1)) # [..., H, W, kernel_size ** 2] + mask_window = utils3d.numpy.sliding_window_2d(mask_pad, (kernel_size, kernel_size), 1, axis=(-2, -1)) # [..., H, W, kernel_size ** 2] + + disp_mean = weighted_mean_numpy(disp_window, mask_window, axis=(-2, -1)) + fg_edge_mask = mask & (disp > (1 + tol) * disp_mean) + bg_edge_mask = mask & (disp_mean > (1 + tol) * disp) + + edge_mask = (cv2.dilate(fg_edge_mask.astype(np.uint8), np.ones((3, 3), dtype=np.uint8), iterations=thickness) > 0) \ + & (cv2.dilate(bg_edge_mask.astype(np.uint8), np.ones((3, 3), dtype=np.uint8), iterations=thickness) > 0) + + return edge_mask + + +def disk_kernel(radius: int) -> np.ndarray: + """ + Generate disk kernel with given radius. + + Args: + radius (int): Radius of the disk (in pixels). + + Returns: + np.ndarray: (2*radius+1, 2*radius+1) normalized convolution kernel. + """ + # Create coordinate grid centered at (0,0) + L = np.arange(-radius, radius + 1) + X, Y = np.meshgrid(L, L) + # Generate disk: region inside circle with radius R is 1 + kernel = ((X**2 + Y**2) <= radius**2).astype(np.float32) + # Normalize the kernel + kernel /= np.sum(kernel) + return kernel + + +def disk_blur(image: np.ndarray, radius: int) -> np.ndarray: + """ + Apply disk blur to an image using FFT convolution. + + Args: + image (np.ndarray): Input image, can be grayscale or color. + radius (int): Blur radius (in pixels). + + Returns: + np.ndarray: Blurred image. + """ + if radius == 0: + return image + kernel = disk_kernel(radius) + if image.ndim == 2: + blurred = fftconvolve(image, kernel, mode='same') + elif image.ndim == 3: + channels = [] + for i in range(image.shape[2]): + blurred_channel = fftconvolve(image[..., i], kernel, mode='same') + channels.append(blurred_channel) + blurred = np.stack(channels, axis=-1) + else: + raise ValueError("Image must be 2D or 3D.") + return blurred + + +def depth_of_field( + img: np.ndarray, + disp: np.ndarray, + focus_disp : float, + max_blur_radius : int = 10, +) -> np.ndarray: + """ + Apply depth of field effect to an image. + + Args: + img (numpy.ndarray): (H, W, 3) input image. + depth (numpy.ndarray): (H, W) depth map of the scene. + focus_depth (float): Focus depth of the lens. + strength (float): Strength of the depth of field effect. + max_blur_radius (int): Maximum blur radius (in pixels). + + Returns: + numpy.ndarray: (H, W, 3) output image with depth of field effect applied. + """ + # Precalculate dialated depth map for each blur radius + max_disp = np.max(disp) + disp = disp / max_disp + focus_disp = focus_disp / max_disp + dilated_disp = [] + for radius in range(max_blur_radius + 1): + dilated_disp.append(cv2.dilate(disp, cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2*radius+1, 2*radius+1)), iterations=1)) + + # Determine the blur radius for each pixel based on the depth map + blur_radii = np.clip(abs(disp - focus_disp) * max_blur_radius, 0, max_blur_radius).astype(np.int32) + for radius in range(max_blur_radius + 1): + dialted_blur_radii = np.clip(abs(dilated_disp[radius] - focus_disp) * max_blur_radius, 0, max_blur_radius).astype(np.int32) + mask = (dialted_blur_radii >= radius) & (dialted_blur_radii >= blur_radii) & (dilated_disp[radius] > disp) + blur_radii[mask] = dialted_blur_radii[mask] + blur_radii = np.clip(blur_radii, 0, max_blur_radius) + blur_radii = cv2.blur(blur_radii, (5, 5)) + + # Precalculate the blured image for each blur radius + unique_radii = np.unique(blur_radii) + precomputed = {} + for radius in range(max_blur_radius + 1): + if radius not in unique_radii: + continue + precomputed[radius] = disk_blur(img, radius) + + # Composit the blured image for each pixel + output = np.zeros_like(img) + for r in unique_radii: + mask = blur_radii == r + output[mask] = precomputed[r][mask] + + return output diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/geometry_torch.py b/Pixel-Perfect-Depth/ppd/moge/utils/geometry_torch.py new file mode 100644 index 0000000000000000000000000000000000000000..03f2f3c78c5b008765de14aa6cc44a9a15ec3083 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/geometry_torch.py @@ -0,0 +1,354 @@ +from typing import * +import math +from collections import namedtuple + +import numpy as np +import torch +import torch.nn as nn +import torch.nn.functional as F +import torch.types +import utils3d + +# from .tools import timeit +from .geometry_numpy import solve_optimal_focal_shift, solve_optimal_shift + + +def weighted_mean(x: torch.Tensor, w: torch.Tensor = None, dim: Union[int, torch.Size] = None, keepdim: bool = False, eps: float = 1e-7) -> torch.Tensor: + if w is None: + return x.mean(dim=dim, keepdim=keepdim) + else: + w = w.to(x.dtype) + return (x * w).mean(dim=dim, keepdim=keepdim) / w.mean(dim=dim, keepdim=keepdim).add(eps) + + +def harmonic_mean(x: torch.Tensor, w: torch.Tensor = None, dim: Union[int, torch.Size] = None, keepdim: bool = False, eps: float = 1e-7) -> torch.Tensor: + if w is None: + return x.add(eps).reciprocal().mean(dim=dim, keepdim=keepdim).reciprocal() + else: + w = w.to(x.dtype) + return weighted_mean(x.add(eps).reciprocal(), w, dim=dim, keepdim=keepdim, eps=eps).add(eps).reciprocal() + + +def geometric_mean(x: torch.Tensor, w: torch.Tensor = None, dim: Union[int, torch.Size] = None, keepdim: bool = False, eps: float = 1e-7) -> torch.Tensor: + if w is None: + return x.add(eps).log().mean(dim=dim).exp() + else: + w = w.to(x.dtype) + return weighted_mean(x.add(eps).log(), w, dim=dim, keepdim=keepdim, eps=eps).exp() + + +def normalized_view_plane_uv(width: int, height: int, aspect_ratio: float = None, dtype: torch.dtype = None, device: torch.device = None) -> torch.Tensor: + "UV with left-top corner as (-width / diagonal, -height / diagonal) and right-bottom corner as (width / diagonal, height / diagonal)" + if aspect_ratio is None: + aspect_ratio = width / height + + span_x = aspect_ratio / (1 + aspect_ratio ** 2) ** 0.5 + span_y = 1 / (1 + aspect_ratio ** 2) ** 0.5 + + u = torch.linspace(-span_x * (width - 1) / width, span_x * (width - 1) / width, width, dtype=dtype, device=device) + v = torch.linspace(-span_y * (height - 1) / height, span_y * (height - 1) / height, height, dtype=dtype, device=device) + u, v = torch.meshgrid(u, v, indexing='xy') + uv = torch.stack([u, v], dim=-1) + return uv + + +def gaussian_blur_2d(input: torch.Tensor, kernel_size: int, sigma: float) -> torch.Tensor: + kernel = torch.exp(-(torch.arange(-kernel_size // 2 + 1, kernel_size // 2 + 1, dtype=input.dtype, device=input.device) ** 2) / (2 * sigma ** 2)) + kernel = kernel / kernel.sum() + kernel = (kernel[:, None] * kernel[None, :]).reshape(1, 1, kernel_size, kernel_size) + input = F.pad(input, (kernel_size // 2, kernel_size // 2, kernel_size // 2, kernel_size // 2), mode='replicate') + input = F.conv2d(input, kernel, groups=input.shape[1]) + return input + + +def focal_to_fov(focal: torch.Tensor): + return 2 * torch.atan(0.5 / focal) + + +def fov_to_focal(fov: torch.Tensor): + return 0.5 / torch.tan(fov / 2) + + +def angle_diff_vec3(v1: torch.Tensor, v2: torch.Tensor, eps: float = 1e-12): + return torch.atan2(torch.cross(v1, v2, dim=-1).norm(dim=-1) + eps, (v1 * v2).sum(dim=-1)) + +def intrinsics_to_fov(intrinsics: torch.Tensor): + """ + Returns field of view in radians from normalized intrinsics matrix. + ### Parameters: + - intrinsics: torch.Tensor of shape (..., 3, 3) + + ### Returns: + - fov_x: torch.Tensor of shape (...) + - fov_y: torch.Tensor of shape (...) + """ + focal_x = intrinsics[..., 0, 0] + focal_y = intrinsics[..., 1, 1] + return 2 * torch.atan(0.5 / focal_x), 2 * torch.atan(0.5 / focal_y) + + +def point_map_to_depth_legacy(points: torch.Tensor): + height, width = points.shape[-3:-1] + diagonal = (height ** 2 + width ** 2) ** 0.5 + uv = normalized_view_plane_uv(width, height, dtype=points.dtype, device=points.device) # (H, W, 2) + + # Solve least squares problem + b = (uv * points[..., 2:]).flatten(-3, -1) # (..., H * W * 2) + A = torch.stack([points[..., :2], -uv.expand_as(points[..., :2])], dim=-1).flatten(-4, -2) # (..., H * W * 2, 2) + + M = A.transpose(-2, -1) @ A + solution = (torch.inverse(M + 1e-6 * torch.eye(2).to(A)) @ (A.transpose(-2, -1) @ b[..., None])).squeeze(-1) + focal, shift = solution.unbind(-1) + + depth = points[..., 2] + shift[..., None, None] + fov_x = torch.atan(width / diagonal / focal) * 2 + fov_y = torch.atan(height / diagonal / focal) * 2 + return depth, fov_x, fov_y, shift + + +def view_plane_uv_to_focal(uv: torch.Tensor): + normed_uv = normalized_view_plane_uv(width=uv.shape[-2], height=uv.shape[-3], device=uv.device, dtype=uv.dtype) + focal = (uv * normed_uv).sum() / uv.square().sum().add(1e-12) + return focal + + +def recover_focal_shift(points: torch.Tensor, mask: torch.Tensor = None, focal: torch.Tensor = None, downsample_size: Tuple[int, int] = (64, 64)): + """ + Recover the depth map and FoV from a point map with unknown z shift and focal. + + Note that it assumes: + - the optical center is at the center of the map + - the map is undistorted + - the map is isometric in the x and y directions + + ### Parameters: + - `points: torch.Tensor` of shape (..., H, W, 3) + - `downsample_size: Tuple[int, int]` in (height, width), the size of the downsampled map. Downsampling produces approximate solution and is efficient for large maps. + + ### Returns: + - `focal`: torch.Tensor of shape (...) the estimated focal length, relative to the half diagonal of the map + - `shift`: torch.Tensor of shape (...) Z-axis shift to translate the point map to camera space + """ + shape = points.shape + height, width = points.shape[-3], points.shape[-2] + diagonal = (height ** 2 + width ** 2) ** 0.5 + + points = points.reshape(-1, *shape[-3:]) + mask = None if mask is None else mask.reshape(-1, *shape[-3:-1]) + focal = focal.reshape(-1) if focal is not None else None + uv = normalized_view_plane_uv(width, height, dtype=points.dtype, device=points.device) # (H, W, 2) + + points_lr = F.interpolate(points.permute(0, 3, 1, 2), downsample_size, mode='nearest').permute(0, 2, 3, 1) + uv_lr = F.interpolate(uv.unsqueeze(0).permute(0, 3, 1, 2), downsample_size, mode='nearest').squeeze(0).permute(1, 2, 0) + mask_lr = None if mask is None else F.interpolate(mask.to(torch.float32).unsqueeze(1), downsample_size, mode='nearest').squeeze(1) > 0 + + uv_lr_np = uv_lr.cpu().numpy() + points_lr_np = points_lr.detach().cpu().numpy() + focal_np = focal.cpu().numpy() if focal is not None else None + mask_lr_np = None if mask is None else mask_lr.cpu().numpy() + optim_shift, optim_focal = [], [] + for i in range(points.shape[0]): + points_lr_i_np = points_lr_np[i] if mask is None else points_lr_np[i][mask_lr_np[i]] + uv_lr_i_np = uv_lr_np if mask is None else uv_lr_np[mask_lr_np[i]] + if uv_lr_i_np.shape[0] < 2: + optim_focal.append(1) + optim_shift.append(0) + continue + if focal is None: + optim_shift_i, optim_focal_i = solve_optimal_focal_shift(uv_lr_i_np, points_lr_i_np) + optim_focal.append(float(optim_focal_i)) + else: + optim_shift_i = solve_optimal_shift(uv_lr_i_np, points_lr_i_np, focal_np[i]) + optim_shift.append(float(optim_shift_i)) + optim_shift = torch.tensor(optim_shift, device=points.device, dtype=points.dtype).reshape(shape[:-3]) + + if focal is None: + optim_focal = torch.tensor(optim_focal, device=points.device, dtype=points.dtype).reshape(shape[:-3]) + else: + optim_focal = focal.reshape(shape[:-3]) + + return optim_focal, optim_shift + + +def mask_aware_nearest_resize( + inputs: Union[torch.Tensor, Sequence[torch.Tensor], None], + mask: torch.BoolTensor, + size: Tuple[int, int], + return_index: bool = False +) -> Tuple[Union[torch.Tensor, Sequence[torch.Tensor], None], torch.BoolTensor, Tuple[torch.LongTensor, ...]]: + """ + Resize 2D map by nearest interpolation. Return the nearest neighbor index and mask of the resized map. + + ### Parameters + - `inputs`: a single or a list of input 2D map(s) of shape (..., H, W, ...). + - `mask`: input 2D mask of shape (..., H, W) + - `size`: target size (target_width, target_height) + + ### Returns + - `*resized_maps`: resized map(s) of shape (..., target_height, target_width, ...). + - `resized_mask`: mask of the resized map of shape (..., target_height, target_width) + - `nearest_idx`: if return_index is True, nearest neighbor index of the resized map of shape (..., target_height, target_width) for each dimension, . + """ + height, width = mask.shape[-2:] + target_width, target_height = size + device = mask.device + filter_h_f, filter_w_f = max(1, height / target_height), max(1, width / target_width) + filter_h_i, filter_w_i = math.ceil(filter_h_f), math.ceil(filter_w_f) + filter_size = filter_h_i * filter_w_i + padding_h, padding_w = filter_h_i // 2 + 1, filter_w_i // 2 + 1 + + # Window the original mask and uv + uv = utils3d.torch.image_pixel_center(width=width, height=height, dtype=torch.float32, device=device) + indices = torch.arange(height * width, dtype=torch.long, device=device).reshape(height, width) + padded_uv = torch.full((height + 2 * padding_h, width + 2 * padding_w, 2), 0, dtype=torch.float32, device=device) + padded_uv[padding_h:padding_h + height, padding_w:padding_w + width] = uv + padded_mask = torch.full((*mask.shape[:-2], height + 2 * padding_h, width + 2 * padding_w), False, dtype=torch.bool, device=device) + padded_mask[..., padding_h:padding_h + height, padding_w:padding_w + width] = mask + padded_indices = torch.full((height + 2 * padding_h, width + 2 * padding_w), 0, dtype=torch.long, device=device) + padded_indices[padding_h:padding_h + height, padding_w:padding_w + width] = indices + windowed_uv = utils3d.torch.sliding_window_2d(padded_uv, (filter_h_i, filter_w_i), 1, dim=(0, 1)) + windowed_mask = utils3d.torch.sliding_window_2d(padded_mask, (filter_h_i, filter_w_i), 1, dim=(-2, -1)) + windowed_indices = utils3d.torch.sliding_window_2d(padded_indices, (filter_h_i, filter_w_i), 1, dim=(0, 1)) + + # Gather the target pixels's local window + target_uv = utils3d.torch.image_uv(width=target_width, height=target_height, dtype=torch.float32, device=device) * torch.tensor([width, height], dtype=torch.float32, device=device) + target_lefttop = target_uv - torch.tensor((filter_w_f / 2, filter_h_f / 2), dtype=torch.float32, device=device) + target_window = torch.round(target_lefttop).long() + torch.tensor((padding_w, padding_h), dtype=torch.long, device=device) + + target_window_uv = windowed_uv[target_window[..., 1], target_window[..., 0], :, :, :].reshape(target_height, target_width, 2, filter_size) # (target_height, tgt_width, 2, filter_size) + target_window_mask = windowed_mask[..., target_window[..., 1], target_window[..., 0], :, :].reshape(*mask.shape[:-2], target_height, target_width, filter_size) # (..., target_height, tgt_width, filter_size) + target_window_indices = windowed_indices[target_window[..., 1], target_window[..., 0], :, :].reshape(target_height, target_width, filter_size) # (target_height, tgt_width, filter_size) + target_window_indices = target_window_indices.expand_as(target_window_mask) + + # Compute nearest neighbor in the local window for each pixel + dist = torch.where(target_window_mask, torch.norm(target_window_uv - target_uv[..., None], dim=-2), torch.inf) # (..., target_height, tgt_width, filter_size) + nearest = torch.argmin(dist, dim=-1, keepdim=True) # (..., target_height, tgt_width, 1) + nearest_idx = torch.gather(target_window_indices, index=nearest, dim=-1).squeeze(-1) # (..., target_height, tgt_width) + target_mask = torch.any(target_window_mask, dim=-1) + nearest_i, nearest_j = nearest_idx // width, nearest_idx % width + batch_indices = [torch.arange(n, device=device).reshape([1] * i + [n] + [1] * (mask.dim() - i - 1)) for i, n in enumerate(mask.shape[:-2])] + + index = (*batch_indices, nearest_i, nearest_j) + + if inputs is None: + outputs = None + elif isinstance(inputs, torch.Tensor): + outputs = inputs[index] + elif isinstance(inputs, Sequence): + outputs = tuple(x[index] for x in inputs) + else: + raise ValueError(f'Invalid input type: {type(inputs)}') + + if return_index: + return outputs, target_mask, index + else: + return outputs, target_mask + + +def theshold_depth_change(depth: torch.Tensor, mask: torch.Tensor, pooler: Literal['min', 'max'], rtol: float = 0.2, kernel_size: int = 3): + *batch_shape, height, width = depth.shape + depth = depth.reshape(-1, 1, height, width) + mask = mask.reshape(-1, 1, height, width) + if pooler =='max': + pooled_depth = F.max_pool2d(torch.where(mask, depth, -torch.inf), kernel_size, stride=1, padding=kernel_size // 2) + output_mask = pooled_depth > depth * (1 + rtol) + elif pooler =='min': + pooled_depth = -F.max_pool2d(-torch.where(mask, depth, torch.inf), kernel_size, stride=1, padding=kernel_size // 2) + output_mask = pooled_depth < depth * (1 - rtol) + else: + raise ValueError(f'Unsupported pooler: {pooler}') + output_mask = output_mask.reshape(*batch_shape, height, width) + return output_mask + + +def depth_occlusion_edge(depth: torch.FloatTensor, mask: torch.BoolTensor, kernel_size: int = 3, tol: float = 0.1): + device, dtype = depth.device, depth.dtype + + disp = torch.where(mask, 1 / depth, 0) + disp_pad = F.pad(disp, (kernel_size // 2, kernel_size // 2, kernel_size // 2, kernel_size // 2), value=0) + mask_pad = F.pad(mask, (kernel_size // 2, kernel_size // 2, kernel_size // 2, kernel_size // 2), value=False) + disp_window = utils3d.torch.sliding_window_2d(disp_pad, (kernel_size, kernel_size), 1, dim=(-2, -1)).flatten(-2) # [..., H, W, kernel_size ** 2] + mask_window = utils3d.torch.sliding_window_2d(mask_pad, (kernel_size, kernel_size), 1, dim=(-2, -1)).flatten(-2) # [..., H, W, kernel_size ** 2] + + x = torch.linspace(-kernel_size // 2, kernel_size // 2, kernel_size, device=device, dtype=dtype) + A = torch.stack([*torch.meshgrid(x, x, indexing='xy'), torch.ones((kernel_size, kernel_size), device=device, dtype=dtype)], dim=-1).reshape(kernel_size ** 2, 3) # [kernel_size ** 2, 3] + A = mask_window[..., None] * A + I = torch.eye(3, device=device, dtype=dtype) + + affine_disp_window = (disp_window[..., None, :] @ A @ torch.inverse(A.mT @ A + 1e-5 * I) @ A.mT).clamp_min(1e-12)[..., 0, :] # [..., H, W, kernel_size ** 2] + diff = torch.where(mask_window, torch.maximum(affine_disp_window, disp_window) / torch.minimum(affine_disp_window, disp_window) - 1, 0) + + edge_mask = mask & (diff > tol).any(dim=-1) + + disp_mean = weighted_mean(disp_window, mask_window, dim=-1) + fg_edge_mask = edge_mask & (disp > disp_mean) + # fg_edge_mask = edge_mask & theshold_depth_change(depth, mask, pooler='max', rtol=tol, kernel_size=kernel_size) + bg_edge_mask = edge_mask & ~fg_edge_mask + return fg_edge_mask, bg_edge_mask + + +def depth_occlusion_edge(depth: torch.FloatTensor, mask: torch.BoolTensor, kernel_size: int = 3, tol: float = 0.1): + device, dtype = depth.device, depth.dtype + + disp = torch.where(mask, 1 / depth, 0) + disp_pad = F.pad(disp, (kernel_size // 2, kernel_size // 2, kernel_size // 2, kernel_size // 2), value=0) + mask_pad = F.pad(mask, (kernel_size // 2, kernel_size // 2, kernel_size // 2, kernel_size // 2), value=False) + disp_window = utils3d.torch.sliding_window_2d(disp_pad, (kernel_size, kernel_size), 1, dim=(-2, -1)) # [..., H, W, kernel_size ** 2] + mask_window = utils3d.torch.sliding_window_2d(mask_pad, (kernel_size, kernel_size), 1, dim=(-2, -1)) # [..., H, W, kernel_size ** 2] + + disp_mean = weighted_mean(disp_window, mask_window, dim=(-2, -1)) + fg_edge_mask = mask & (disp / disp_mean > 1 + tol) + bg_edge_mask = mask & (disp_mean / disp > 1 + tol) + + fg_edge_mask = fg_edge_mask & F.max_pool2d(bg_edge_mask.float(), kernel_size + 2, stride=1, padding=kernel_size // 2 + 1).bool() + bg_edge_mask = bg_edge_mask & F.max_pool2d(fg_edge_mask.float(), kernel_size + 2, stride=1, padding=kernel_size // 2 + 1).bool() + + return fg_edge_mask, bg_edge_mask + + +def dilate_with_mask(input: torch.Tensor, mask: torch.BoolTensor, filter: Literal['min', 'max', 'mean', 'median'] = 'mean', iterations: int = 1) -> torch.Tensor: + kernel = torch.tensor([[False, True, False], [True, True, True], [False, True, False]], device=input.device, dtype=torch.bool) + for _ in range(iterations): + input_window = utils3d.torch.sliding_window_2d(F.pad(input, (1, 1, 1, 1), mode='constant', value=0), window_size=3, stride=1, dim=(-2, -1)) + mask_window = kernel & utils3d.torch.sliding_window_2d(F.pad(mask, (1, 1, 1, 1), mode='constant', value=False), window_size=3, stride=1, dim=(-2, -1)) + if filter =='min': + input = torch.where(mask, input, torch.where(mask_window, input_window, torch.inf).min(dim=(-2, -1)).values) + elif filter =='max': + input = torch.where(mask, input, torch.where(mask_window, input_window, -torch.inf).max(dim=(-2, -1)).values) + elif filter == 'mean': + input = torch.where(mask, input, torch.where(mask_window, input_window, torch.nan).nanmean(dim=(-2, -1))) + elif filter =='median': + input = torch.where(mask, input, torch.where(mask_window, input_window, torch.nan).flatten(-2).nanmedian(dim=-1).values) + mask = mask_window.any(dim=(-2, -1)) + return input, mask + + +def refine_depth_with_normal(depth: torch.Tensor, normal: torch.Tensor, intrinsics: torch.Tensor, iterations: int = 10, damp: float = 1e-3, eps: float = 1e-12, kernel_size: int = 5) -> torch.Tensor: + device, dtype = depth.device, depth.dtype + height, width = depth.shape[-2:] + radius = kernel_size // 2 + + duv = torch.stack(torch.meshgrid(torch.linspace(-radius / width, radius / width, kernel_size, device=device, dtype=dtype), torch.linspace(-radius / height, radius / height, kernel_size, device=device, dtype=dtype), indexing='xy'), dim=-1).to(dtype=dtype, device=device) + + log_depth = depth.clamp_min_(eps).log() + log_depth_diff = utils3d.torch.sliding_window_2d(log_depth, window_size=kernel_size, stride=1, dim=(-2, -1)) - log_depth[..., radius:-radius, radius:-radius, None, None] + + weight = torch.exp(-(log_depth_diff / duv.norm(dim=-1).clamp_min_(eps) / 10).square()) + tot_weight = weight.sum(dim=(-2, -1)).clamp_min_(eps) + + uv = utils3d.torch.image_uv(height=height, width=width, device=device, dtype=dtype) + K_inv = torch.inverse(intrinsics) + + grad = -(normal[..., None, :2] @ K_inv[..., None, None, :2, :2]).squeeze(-2) \ + / (normal[..., None, 2:] + normal[..., None, :2] @ (K_inv[..., None, None, :2, :2] @ uv[..., :, None] + K_inv[..., None, None, :2, 2:])).squeeze(-2) + laplacian = (weight * ((utils3d.torch.sliding_window_2d(grad, window_size=kernel_size, stride=1, dim=(-3, -2)) + grad[..., radius:-radius, radius:-radius, :, None, None]) * (duv.permute(2, 0, 1) / 2)).sum(dim=-3)).sum(dim=(-2, -1)) + + laplacian = laplacian.clamp(-0.1, 0.1) + log_depth_refine = log_depth.clone() + + for _ in range(iterations): + log_depth_refine[..., radius:-radius, radius:-radius] = 0.1 * log_depth_refine[..., radius:-radius, radius:-radius] + 0.9 * (damp * log_depth[..., radius:-radius, radius:-radius] - laplacian + (weight * utils3d.torch.sliding_window_2d(log_depth_refine, window_size=kernel_size, stride=1, dim=(-2, -1))).sum(dim=(-2, -1))) / (tot_weight + damp) + + depth_refine = log_depth_refine.exp() + + return depth_refine diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/io.py b/Pixel-Perfect-Depth/ppd/moge/utils/io.py new file mode 100644 index 0000000000000000000000000000000000000000..108548caaa34dfcbf394ed4b021874c5ac12edf8 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/io.py @@ -0,0 +1,236 @@ +import os +os.environ['OPENCV_IO_ENABLE_OPENEXR'] = '1' +from typing import IO +import zipfile +import json +import io +from typing import * +from pathlib import Path +import re +from PIL import Image, PngImagePlugin + +import numpy as np +import cv2 + +from .tools import timeit + + +def save_glb( + save_path: Union[str, os.PathLike], + vertices: np.ndarray, + faces: np.ndarray, + vertex_uvs: np.ndarray, + texture: np.ndarray, + vertex_normals: Optional[np.ndarray] = None, +): + import trimesh + import trimesh.visual + from PIL import Image + + trimesh.Trimesh( + vertices=vertices, + vertex_normals=vertex_normals, + faces=faces, + visual = trimesh.visual.texture.TextureVisuals( + uv=vertex_uvs, + material=trimesh.visual.material.PBRMaterial( + baseColorTexture=Image.fromarray(texture), + metallicFactor=0.5, + roughnessFactor=1.0 + ) + ), + process=False + ).export(save_path) + + +def save_ply( + save_path: Union[str, os.PathLike], + vertices: np.ndarray, + faces: np.ndarray, + vertex_colors: np.ndarray, + vertex_normals: Optional[np.ndarray] = None, +): + import trimesh + import trimesh.visual + from PIL import Image + + trimesh.Trimesh( + vertices=vertices, + faces=faces, + vertex_colors=vertex_colors, + vertex_normals=vertex_normals, + process=False + ).export(save_path) + + +def read_image(path: Union[str, os.PathLike, IO]) -> np.ndarray: + """ + Read a image, return uint8 RGB array of shape (H, W, 3). + """ + if isinstance(path, (str, os.PathLike)): + data = Path(path).read_bytes() + else: + data = path.read() + image = cv2.cvtColor(cv2.imdecode(np.frombuffer(data, np.uint8), cv2.IMREAD_COLOR), cv2.COLOR_BGR2RGB) + return image + + +def write_image(path: Union[str, os.PathLike, IO], image: np.ndarray, quality: int = 95): + """ + Write a image, input uint8 RGB array of shape (H, W, 3). + """ + data = cv2.imencode('.jpg', cv2.cvtColor(image, cv2.COLOR_RGB2BGR), [cv2.IMWRITE_JPEG_QUALITY, quality])[1].tobytes() + if isinstance(path, (str, os.PathLike)): + Path(path).write_bytes(data) + else: + path.write(data) + + +def read_depth(path: Union[str, os.PathLike, IO]) -> Tuple[np.ndarray, float]: + """ + Read a depth image, return float32 depth array of shape (H, W). + """ + if isinstance(path, (str, os.PathLike)): + data = Path(path).read_bytes() + else: + data = path.read() + pil_image = Image.open(io.BytesIO(data)) + near = float(pil_image.info.get('near')) + far = float(pil_image.info.get('far')) + unit = float(pil_image.info.get('unit')) if 'unit' in pil_image.info else None + depth = np.array(pil_image) + mask_nan, mask_inf = depth == 0, depth == 65535 + depth = (depth.astype(np.float32) - 1) / 65533 + depth = near ** (1 - depth) * far ** depth + depth[mask_nan] = np.nan + depth[mask_inf] = np.inf + return depth, unit + + +def write_depth( + path: Union[str, os.PathLike, IO], + depth: np.ndarray, + unit: float = None, + max_range: float = 1e5, + compression_level: int = 7, +): + """ + Encode and write a depth image as 16-bit PNG format. + ### Parameters: + - `path: Union[str, os.PathLike, IO]` + The file path or file object to write to. + - `depth: np.ndarray` + The depth array, float32 array of shape (H, W). + May contain `NaN` for invalid values and `Inf` for infinite values. + - `unit: float = None` + The unit of the depth values. + + Depth values are encoded as follows: + - 0: unknown + - 1 ~ 65534: depth values in logarithmic + - 65535: infinity + + metadata is stored in the PNG file as text fields: + - `near`: the minimum depth value + - `far`: the maximum depth value + - `unit`: the unit of the depth values (optional) + """ + mask_values, mask_nan, mask_inf = np.isfinite(depth), np.isnan(depth),np.isinf(depth) + + depth = depth.astype(np.float32) + mask_finite = depth + near = max(depth[mask_values].min(), 1e-5) + far = max(near * 1.1, min(depth[mask_values].max(), near * max_range)) + depth = 1 + np.round((np.log(np.nan_to_num(depth, nan=0).clip(near, far) / near) / np.log(far / near)).clip(0, 1) * 65533).astype(np.uint16) # 1~65534 + depth[mask_nan] = 0 + depth[mask_inf] = 65535 + + pil_image = Image.fromarray(depth) + pnginfo = PngImagePlugin.PngInfo() + pnginfo.add_text('near', str(near)) + pnginfo.add_text('far', str(far)) + if unit is not None: + pnginfo.add_text('unit', str(unit)) + pil_image.save(path, pnginfo=pnginfo, compress_level=compression_level) + + +def read_segmentation(path: Union[str, os.PathLike, IO]) -> Tuple[np.ndarray, Dict[str, int]]: + """ + Read a segmentation mask + ### Parameters: + - `path: Union[str, os.PathLike, IO]` + The file path or file object to read from. + ### Returns: + - `Tuple[np.ndarray, Dict[str, int]]` + A tuple containing: + - `mask`: uint8 or uint16 numpy.ndarray of shape (H, W). + - `labels`: Dict[str, int]. The label mapping, a dictionary of {label_name: label_id}. + """ + if isinstance(path, (str, os.PathLike)): + data = Path(path).read_bytes() + else: + data = path.read() + pil_image = Image.open(io.BytesIO(data)) + labels = json.loads(pil_image.info['labels']) if 'labels' in pil_image.info else None + mask = np.array(pil_image) + return mask, labels + + +def write_segmentation(path: Union[str, os.PathLike, IO], mask: np.ndarray, labels: Dict[str, int] = None, compression_level: int = 7): + """ + Write a segmentation mask and label mapping, as PNG format. + ### Parameters: + - `path: Union[str, os.PathLike, IO]` + The file path or file object to write to. + - `mask: np.ndarray` + The segmentation mask, uint8 or uint16 array of shape (H, W). + - `labels: Dict[str, int] = None` + The label mapping, a dictionary of {label_name: label_id}. + - `compression_level: int = 7` + The compression level for PNG compression. + """ + assert mask.dtype == np.uint8 or mask.dtype == np.uint16, f"Unsupported dtype {mask.dtype}" + pil_image = Image.fromarray(mask) + pnginfo = PngImagePlugin.PngInfo() + if labels is not None: + labels_json = json.dumps(labels, ensure_ascii=True, separators=(',', ':')) + pnginfo.add_text('labels', labels_json) + pil_image.save(path, pnginfo=pnginfo, compress_level=compression_level) + + + +def read_normal(path: Union[str, os.PathLike, IO]) -> np.ndarray: + """ + Read a normal image, return float32 normal array of shape (H, W, 3). + """ + if isinstance(path, (str, os.PathLike)): + data = Path(path).read_bytes() + else: + data = path.read() + normal = cv2.cvtColor(cv2.imdecode(np.frombuffer(data, np.uint8), cv2.IMREAD_UNCHANGED), cv2.COLOR_BGR2RGB) + mask_nan = np.all(normal == 0, axis=-1) + normal = (normal.astype(np.float32) / 65535 - 0.5) * [2.0, -2.0, -2.0] + normal = normal / (np.sqrt(np.square(normal[..., 0]) + np.square(normal[..., 1]) + np.square(normal[..., 2])) + 1e-12) + normal[mask_nan] = np.nan + return normal + + +def write_normal(path: Union[str, os.PathLike, IO], normal: np.ndarray, compression_level: int = 7) -> np.ndarray: + """ + Write a normal image, input float32 normal array of shape (H, W, 3). + """ + mask_nan = np.isnan(normal).any(axis=-1) + normal = ((normal * [0.5, -0.5, -0.5] + 0.5).clip(0, 1) * 65535).astype(np.uint16) + normal[mask_nan] = 0 + data = cv2.imencode('.png', cv2.cvtColor(normal, cv2.COLOR_RGB2BGR), [cv2.IMWRITE_PNG_COMPRESSION, compression_level])[1].tobytes() + if isinstance(path, (str, os.PathLike)): + Path(path).write_bytes(data) + else: + path.write(data) + + +def read_meta(path: Union[str, os.PathLike, IO]) -> Dict[str, Any]: + return json.loads(Path(path).read_text()) + +def write_meta(path: Union[str, os.PathLike, IO], meta: Dict[str, Any]): + Path(path).write_text(json.dumps(meta)) \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/panorama.py b/Pixel-Perfect-Depth/ppd/moge/utils/panorama.py new file mode 100644 index 0000000000000000000000000000000000000000..3f9d121c3c189770a7fd9f88be66f74f1ba5cfd3 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/panorama.py @@ -0,0 +1,191 @@ +import os +os.environ['OPENCV_IO_ENABLE_OPENEXR'] = '1' +from pathlib import Path +from typing import * +import itertools +import json +import warnings + +import cv2 +import numpy as np +from numpy import ndarray +from tqdm import tqdm, trange +from scipy.sparse import csr_array, hstack, vstack +from scipy.ndimage import convolve +from scipy.sparse.linalg import lsmr + +import utils3d + + +def get_panorama_cameras(): + vertices, _ = utils3d.numpy.icosahedron() + intrinsics = utils3d.numpy.intrinsics_from_fov(fov_x=np.deg2rad(90), fov_y=np.deg2rad(90)) + extrinsics = utils3d.numpy.extrinsics_look_at([0, 0, 0], vertices, [0, 0, 1]).astype(np.float32) + return extrinsics, [intrinsics] * len(vertices) + + +def spherical_uv_to_directions(uv: np.ndarray): + theta, phi = (1 - uv[..., 0]) * (2 * np.pi), uv[..., 1] * np.pi + directions = np.stack([np.sin(phi) * np.cos(theta), np.sin(phi) * np.sin(theta), np.cos(phi)], axis=-1) + return directions + + +def directions_to_spherical_uv(directions: np.ndarray): + directions = directions / np.linalg.norm(directions, axis=-1, keepdims=True) + u = 1 - np.arctan2(directions[..., 1], directions[..., 0]) / (2 * np.pi) % 1.0 + v = np.arccos(directions[..., 2]) / np.pi + return np.stack([u, v], axis=-1) + + +def split_panorama_image(image: np.ndarray, extrinsics: np.ndarray, intrinsics: np.ndarray, resolution: int): + height, width = image.shape[:2] + uv = utils3d.numpy.image_uv(width=resolution, height=resolution) + splitted_images = [] + for i in range(len(extrinsics)): + spherical_uv = directions_to_spherical_uv(utils3d.numpy.unproject_cv(uv, extrinsics=extrinsics[i], intrinsics=intrinsics[i])) + pixels = utils3d.numpy.uv_to_pixel(spherical_uv, width=width, height=height).astype(np.float32) + + splitted_image = cv2.remap(image, pixels[..., 0], pixels[..., 1], interpolation=cv2.INTER_LINEAR) + splitted_images.append(splitted_image) + return splitted_images + + +def poisson_equation(width: int, height: int, wrap_x: bool = False, wrap_y: bool = False) -> Tuple[csr_array, ndarray]: + grid_index = np.arange(height * width).reshape(height, width) + grid_index = np.pad(grid_index, ((0, 0), (1, 1)), mode='wrap' if wrap_x else 'edge') + grid_index = np.pad(grid_index, ((1, 1), (0, 0)), mode='wrap' if wrap_y else 'edge') + + data = np.array([[-4, 1, 1, 1, 1]], dtype=np.float32).repeat(height * width, axis=0).reshape(-1) + indices = np.stack([ + grid_index[1:-1, 1:-1], + grid_index[:-2, 1:-1], # up + grid_index[2:, 1:-1], # down + grid_index[1:-1, :-2], # left + grid_index[1:-1, 2:] # right + ], axis=-1).reshape(-1) + indptr = np.arange(0, height * width * 5 + 1, 5) + A = csr_array((data, indices, indptr), shape=(height * width, height * width)) + + return A + + +def grad_equation(width: int, height: int, wrap_x: bool = False, wrap_y: bool = False) -> Tuple[csr_array, np.ndarray]: + grid_index = np.arange(width * height).reshape(height, width) + if wrap_x: + grid_index = np.pad(grid_index, ((0, 0), (0, 1)), mode='wrap') + if wrap_y: + grid_index = np.pad(grid_index, ((0, 1), (0, 0)), mode='wrap') + + data = np.concatenate([ + np.concatenate([ + np.ones((grid_index.shape[0], grid_index.shape[1] - 1), dtype=np.float32).reshape(-1, 1), # x[i,j] + -np.ones((grid_index.shape[0], grid_index.shape[1] - 1), dtype=np.float32).reshape(-1, 1), # x[i,j-1] + ], axis=1).reshape(-1), + np.concatenate([ + np.ones((grid_index.shape[0] - 1, grid_index.shape[1]), dtype=np.float32).reshape(-1, 1), # x[i,j] + -np.ones((grid_index.shape[0] - 1, grid_index.shape[1]), dtype=np.float32).reshape(-1, 1), # x[i-1,j] + ], axis=1).reshape(-1), + ]) + indices = np.concatenate([ + np.concatenate([ + grid_index[:, :-1].reshape(-1, 1), + grid_index[:, 1:].reshape(-1, 1), + ], axis=1).reshape(-1), + np.concatenate([ + grid_index[:-1, :].reshape(-1, 1), + grid_index[1:, :].reshape(-1, 1), + ], axis=1).reshape(-1), + ]) + indptr = np.arange(0, grid_index.shape[0] * (grid_index.shape[1] - 1) * 2 + (grid_index.shape[0] - 1) * grid_index.shape[1] * 2 + 1, 2) + A = csr_array((data, indices, indptr), shape=(grid_index.shape[0] * (grid_index.shape[1] - 1) + (grid_index.shape[0] - 1) * grid_index.shape[1], height * width)) + + return A + + +def merge_panorama_depth(width: int, height: int, distance_maps: List[np.ndarray], pred_masks: List[np.ndarray], extrinsics: List[np.ndarray], intrinsics: List[np.ndarray]): + if max(width, height) > 256: + panorama_depth_init, _ = merge_panorama_depth(width // 2, height // 2, distance_maps, pred_masks, extrinsics, intrinsics) + panorama_depth_init = cv2.resize(panorama_depth_init, (width, height), cv2.INTER_LINEAR) + else: + panorama_depth_init = None + + uv = utils3d.numpy.image_uv(width=width, height=height) + spherical_directions = spherical_uv_to_directions(uv) + + # Warp each view to the panorama + panorama_log_distance_grad_maps, panorama_grad_masks = [], [] + panorama_log_distance_laplacian_maps, panorama_laplacian_masks = [], [] + panorama_pred_masks = [] + for i in range(len(distance_maps)): + projected_uv, projected_depth = utils3d.numpy.project_cv(spherical_directions, extrinsics=extrinsics[i], intrinsics=intrinsics[i]) + projection_valid_mask = (projected_depth > 0) & (projected_uv > 0).all(axis=-1) & (projected_uv < 1).all(axis=-1) + + projected_pixels = utils3d.numpy.uv_to_pixel(np.clip(projected_uv, 0, 1), width=distance_maps[i].shape[1], height=distance_maps[i].shape[0]).astype(np.float32) + + log_splitted_distance = np.log(distance_maps[i]) + panorama_log_distance_map = np.where(projection_valid_mask, cv2.remap(log_splitted_distance, projected_pixels[..., 0], projected_pixels[..., 1], cv2.INTER_LINEAR, borderMode=cv2.BORDER_REPLICATE), 0) + panorama_pred_mask = projection_valid_mask & (cv2.remap(pred_masks[i].astype(np.uint8), projected_pixels[..., 0], projected_pixels[..., 1], cv2.INTER_NEAREST, borderMode=cv2.BORDER_REPLICATE) > 0) + + # calculate gradient map + padded = np.pad(panorama_log_distance_map, ((0, 0), (0, 1)), mode='wrap') + grad_x, grad_y = padded[:, :-1] - padded[:, 1:], padded[:-1, :] - padded[1:, :] + + padded = np.pad(panorama_pred_mask, ((0, 0), (0, 1)), mode='wrap') + mask_x, mask_y = padded[:, :-1] & padded[:, 1:], padded[:-1, :] & padded[1:, :] + + panorama_log_distance_grad_maps.append((grad_x, grad_y)) + panorama_grad_masks.append((mask_x, mask_y)) + + # calculate laplacian map + padded = np.pad(panorama_log_distance_map, ((1, 1), (0, 0)), mode='edge') + padded = np.pad(padded, ((0, 0), (1, 1)), mode='wrap') + laplacian = convolve(padded, np.array([[0, 1, 0], [1, -4, 1], [0, 1, 0]], dtype=np.float32))[1:-1, 1:-1] + + padded = np.pad(panorama_pred_mask, ((1, 1), (0, 0)), mode='edge') + padded = np.pad(padded, ((0, 0), (1, 1)), mode='wrap') + mask = convolve(padded.astype(np.uint8), np.array([[0, 1, 0], [1, 1, 1], [0, 1, 0]], dtype=np.uint8))[1:-1, 1:-1] == 5 + + panorama_log_distance_laplacian_maps.append(laplacian) + panorama_laplacian_masks.append(mask) + + panorama_pred_masks.append(panorama_pred_mask) + + panorama_log_distance_grad_x = np.stack([grad_map[0] for grad_map in panorama_log_distance_grad_maps], axis=0) + panorama_log_distance_grad_y = np.stack([grad_map[1] for grad_map in panorama_log_distance_grad_maps], axis=0) + panorama_grad_mask_x = np.stack([mask_map[0] for mask_map in panorama_grad_masks], axis=0) + panorama_grad_mask_y = np.stack([mask_map[1] for mask_map in panorama_grad_masks], axis=0) + + panorama_log_distance_grad_x = np.sum(panorama_log_distance_grad_x * panorama_grad_mask_x, axis=0) / np.sum(panorama_grad_mask_x, axis=0).clip(1e-3) + panorama_log_distance_grad_y = np.sum(panorama_log_distance_grad_y * panorama_grad_mask_y, axis=0) / np.sum(panorama_grad_mask_y, axis=0).clip(1e-3) + + panorama_laplacian_maps = np.stack(panorama_log_distance_laplacian_maps, axis=0) + panorama_laplacian_masks = np.stack(panorama_laplacian_masks, axis=0) + panorama_laplacian_map = np.sum(panorama_laplacian_maps * panorama_laplacian_masks, axis=0) / np.sum(panorama_laplacian_masks, axis=0).clip(1e-3) + + grad_x_mask = np.any(panorama_grad_mask_x, axis=0).reshape(-1) + grad_y_mask = np.any(panorama_grad_mask_y, axis=0).reshape(-1) + grad_mask = np.concatenate([grad_x_mask, grad_y_mask]) + laplacian_mask = np.any(panorama_laplacian_masks, axis=0).reshape(-1) + + # Solve overdetermined system + A = vstack([ + grad_equation(width, height, wrap_x=True, wrap_y=False)[grad_mask], + poisson_equation(width, height, wrap_x=True, wrap_y=False)[laplacian_mask], + ]) + b = np.concatenate([ + panorama_log_distance_grad_x.reshape(-1)[grad_x_mask], + panorama_log_distance_grad_y.reshape(-1)[grad_y_mask], + panorama_laplacian_map.reshape(-1)[laplacian_mask] + ]) + x, *_ = lsmr( + A, b, + atol=1e-5, btol=1e-5, + x0=np.log(panorama_depth_init).reshape(-1) if panorama_depth_init is not None else None, + show=False, + ) + + panorama_depth = np.exp(x).reshape(height, width).astype(np.float32) + panorama_mask = np.any(panorama_pred_masks, axis=0) + + return panorama_depth, panorama_mask + diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/pipeline.py b/Pixel-Perfect-Depth/ppd/moge/utils/pipeline.py new file mode 100644 index 0000000000000000000000000000000000000000..daa522e987317e949899d4159e61d7a7066e1fba --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/pipeline.py @@ -0,0 +1,503 @@ +from typing import * +from abc import abstractmethod +from queue import Empty, Full +from threading import Thread +from queue import Queue +from multiprocessing import Process +from threading import Thread, Event +import multiprocessing +import threading +import inspect +import time +import uuid +from copy import deepcopy +import itertools +import functools + +__all__ = [ + 'Node', + 'Link', + 'ConcurrentNode', + 'Worker', + 'WorkerFunction', + 'Provider', + 'ProviderFunction', + 'Sequential', + 'Batch', + 'Unbatch', + 'Parallel', + 'Graph', + 'Buffer', +] + +TERMINATE_CHECK_INTERVAL = 0.5 + + +class _ItemWrapper: + def __init__(self, data: Any, id: Union[int, List[int]] = None): + self.data = data + self.id = id + + +class Terminate(Exception): + pass + + +def _get_queue_item(queue: Queue, terminate_flag: Event, timeout: float = None) -> _ItemWrapper: + while True: + try: + item: _ItemWrapper = queue.get(block=True, timeout=TERMINATE_CHECK_INTERVAL if timeout is None else min(timeout, TERMINATE_CHECK_INTERVAL)) + if terminate_flag.is_set(): + raise Terminate() + return item + except Empty: + if terminate_flag.is_set(): + raise Terminate() + + if timeout is not None: + timeout -= TERMINATE_CHECK_INTERVAL + if timeout <= 0: + raise Empty() + + +def _put_queue_item(queue: Queue, item: _ItemWrapper, terminate_flag: Event): + while True: + try: + queue.put(item, block=True, timeout=TERMINATE_CHECK_INTERVAL) + if terminate_flag.is_set(): + raise Terminate() + return + except Full: + if terminate_flag.is_set(): + raise Terminate() + +class Node: + def __init__(self, in_buffer_size: int = 1, out_buffer_size: int = 1) -> None: + self.input: Queue = Queue(maxsize=in_buffer_size) + self.output: Queue = Queue(maxsize=out_buffer_size) + self.in_buffer_size = in_buffer_size + self.out_buffer_size = out_buffer_size + + @abstractmethod + def start(self): + pass + + @abstractmethod + def terminate(self): + pass + + def stop(self): + self.terminate() + self.join() + + @abstractmethod + def join(self): + pass + + def put(self, data: Any, key: str = None, block: bool = True) -> None: + item = _ItemWrapper(data) + self.input.put(item, block=block) + + def get(self, key: str = None, block: bool = True) -> Any: + item: _ItemWrapper = self.output.get(block=block) + return item.data + + def __enter__(self): + self.start() + return self + + def __exit__(self, exc_type, exc_value, traceback): + self.terminate() + self.join() + + +class ConcurrentNode(Node): + job: Union[Thread, Process] + + def __init__(self, running_as: Literal['thread', 'process'] = 'thread', in_buffer_size: int = 1, out_buffer_size: int = 1) -> None: + super().__init__(in_buffer_size, out_buffer_size) + self.running_as = running_as + + @abstractmethod + def _loop_fn(self, input: Queue, output: Queue, terminate_flag: Event): + pass + + def start(self): + if self.running_as == 'thread': + terminate_flag = threading.Event() + job = Thread(target=self._loop_fn, args=(self.input, self.output, terminate_flag)) + elif self.running_as == 'process': + terminate_flag = multiprocessing.Event() + job = Process(target=self._loop_fn, args=(self.input, self.output, terminate_flag)) + job.start() + self.job = job + self.terminate_flag = terminate_flag + + def terminate(self): + self.terminate_flag.set() + + def join(self): + self.job.join() + + +class Worker(ConcurrentNode): + def __init__(self, running_as: Literal['thread', 'process'] = 'thread', in_buffer_size: int = 0, out_buffer_size: int = 0) -> None: + super().__init__(running_as, in_buffer_size, out_buffer_size) + + def init(self) -> None: + """ + This method is called the the thread is started, to initialize any resources that is only held in the thread. + """ + pass + + @abstractmethod + def work(self, *args, **kwargs) -> Union[Any, Dict[str, Any]]: + """ + This method defines the job that the node should do for each input item. + A item obtained from the input queue is passed as arguments to this method, and the result is placed in the output queue. + The method is executed concurrently with other nodes. + """ + pass + + def _loop_fn(self, input: Queue, output: Queue, terminate_flag: Event): + self.init() + try: + while True: + item = _get_queue_item(input, terminate_flag) + result = self.work(item.data) + _put_queue_item(output, _ItemWrapper(result, item.id), terminate_flag) + + except Terminate: + return + + +class Provider(ConcurrentNode): + """ + A node that provides data to successive nodes. It takes no input and provides data to the output queue. + """ + def __init__(self, running_as: Literal['thread', 'process'], out_buffer_size: int = 1) -> None: + super().__init__(running_as, 0, out_buffer_size) + + def init(self) -> None: + """ + This method is called the the thread or process is started, to initialize any resources that is only held in the thread or process. + """ + pass + + @abstractmethod + def provide(self) -> Generator[Any, None, None]: + pass + + def _loop_fn(self, input: Queue, output: Queue, terminate_flag: Event): + self.init() + try: + for data in self.provide(): + _put_queue_item(output, _ItemWrapper(data), terminate_flag) + except Terminate: + return + + +class WorkerFunction(Worker): + def __init__(self, fn: Callable, running_as: 'thread', in_buffer_size: int = 1, out_buffer_size: int = 1) -> None: + super().__init__(running_as, in_buffer_size, out_buffer_size) + self.fn = fn + + def work(self, *args, **kwargs): + return self.fn(*args, **kwargs) + + +class ProviderFunction(Provider): + def __init__(self, fn: Callable, running_as: 'thread', out_buffer_size: int = 1) -> None: + super().__init__(running_as, out_buffer_size) + self.fn = fn + + def provide(self): + for item in self.fn(): + yield item + + +class Link: + def __init__(self, src: Queue, dst: Queue): + self.src = src + self.dst = dst + + def _thread_fn(self): + try: + while True: + item = _get_queue_item(self.src, self.terminate_flag) + _put_queue_item(self.dst, item, self.terminate_flag) + except Terminate: + return + + def start(self): + self.terminate_flag = threading.Event() + self.thread = Thread(target=self._thread_fn) + self.thread.start() + + def terminate(self): + self.terminate_flag.set() + + def join(self): + self.thread.join() + + +class Graph(Node): + """ + Graph pipeline of nodes and links + """ + nodes: List[Node] + links: List[Link] + + def __init__(self, in_buffer_size: int = 1, out_buffer_size: int = 1): + super().__init__(in_buffer_size, out_buffer_size) + self.nodes = [] + self.links = [] + + def add(self, node: Node): + self.nodes.append(node) + + def link(self, src: Union[Node, Tuple[Node, str]], dst: Union[Node, Tuple[Node, str]]): + """ + Links the output of the source node to the input of the destination node. + If the source or destination node is None, the pipeline's input or output is used. + """ + src_queue = self.input if src is None else src.output + dst_queue = self.output if dst is None else dst.input + self.links.append(Link(src_queue, dst_queue)) + + def chain(self, nodes: Iterable[Node]): + """ + Link the output of each node to the input of the next node. + """ + nodes = list(nodes) + for i in range(len(nodes) - 1): + self.link(nodes[i], nodes[i + 1]) + + def start(self): + for node in self.nodes: + node.start() + for link in self.links: + link.start() + + def terminate(self): + for node in self.nodes: + node.terminate() + for link in self.links: + link.terminate() + + def join(self): + for node in self.nodes: + node.join() + for link in self.links: + link.join() + + def __iter__(self): + providers = [node for node in self.nodes if isinstance(node, Provider)] + if len(providers) == 0: + raise ValueError("No provider node found in the pipeline. If you want to iterate over the pipeline, the pipeline must be driven by a provider node.") + with self: + # while all(provider.job.is_alive() for provider in providers): + while True: + yield self.get() + + def __call__(self, data: Any) -> Any: + """ + Submit data to the pipeline's input queue, and return the output data asynchronously. + NOTE: The pipeline must be streamed (i.e., every output item is uniquely associated with an input item) for this to work. + """ + # TODO + + +class Sequential(Graph): + """ + Pipeline of nodes in sequential order, where each node takes the output of the previous node as input. + The order of input and output items is preserved (FIFO) + """ + def __init__(self, nodes: List[Union[Node, Callable]], function_running_as: Literal['thread', 'process'] = 'thread', in_buffer_size: int = 1, out_buffer_size: int = 1): + """ + Initialize the pipeline with a list of nodes to execute sequentially. + ### Parameters: + - nodes: List of nodes or functions to execute sequentially. Generator functions are wrapped in provider nodes, and other functions are wrapped in worker nodes. + - function_running_as: Whether to wrap the function as a thread or process worker. Defaults to 'thread'. + - in_buffer_size: Maximum size of the input queue of the pipeline. Defaults to 0 (unlimited). + - out_buffer_size: Maximum size of the output queue of the pipeline. Defaults to 0 (unlimited). + """ + super().__init__(in_buffer_size, out_buffer_size) + for node in nodes: + if isinstance(node, Node): + pass + elif isinstance(node, Callable): + if inspect.isgeneratorfunction(node): + node = ProviderFunction(node, function_running_as) + else: + node = WorkerFunction(node, function_running_as) + else: + raise ValueError(f"Invalid node type: {type(node)}") + self.add(node) + self.chain([None, *self.nodes, None]) + + +class Parallel(Node): + """ + A FIFO node that runs multiple nodes in parallel to process the input items. Each input item is handed to one of the nodes whoever is available. + NOTE: It is FIFO if and only if all the nested nodes are FIFO. + """ + nodes: List[Node] + + def __init__(self, nodes: Iterable[Node], in_buffer_size: int = 1, out_buffer_size: int = 1, function_running_as: Literal['thread', 'process'] = 'thread'): + super().__init__(in_buffer_size, out_buffer_size) + self.nodes = [] + for node in nodes: + if isinstance(node, Node): + pass + elif isinstance(node, Callable): + if inspect.isgeneratorfunction(node): + node = ProviderFunction(node, function_running_as) + else: + node = WorkerFunction(node, function_running_as) + else: + raise ValueError(f"Invalid node type: {type(node)}") + self.nodes.append(node) + self.output_order = Queue() + self.lock = threading.Lock() + + def _in_thread_fn(self, node: Node): + try: + while True: + with self.lock: + # A better idea: first make sure its node is vacant, then get it a new item. + # Currently we will not be able to know which node is busy util there is at least one item already waiting in the queue of the node. + # This could lead to suboptimal scheduling. + item = _get_queue_item(self.input, self.terminate_flag) + self.output_order.put(node.output) + _put_queue_item(node.input, item, self.terminate_flag) + except Terminate: + return + + def _out_thread_fn(self): + try: + while True: + queue = _get_queue_item(self.output_order, self.terminate_flag) + item = _get_queue_item(queue, self.terminate_flag) + _put_queue_item(self.output, item, self.terminate_flag) + except Terminate: + return + + def start(self): + self.terminate_flag = threading.Event() + self.in_threads = [] + for node in self.nodes: + thread = Thread(target=self._in_thread_fn, args=(node,)) + thread.start() + self.in_threads.append(thread) + thread = Thread(target=self._out_thread_fn) + thread.start() + self.out_thread = thread + for node in self.nodes: + node.start() + + def terminate(self): + self.terminate_flag.set() + for node in self.nodes: + node.terminate() + + def join(self): + for thread in self.in_threads: + thread.join() + self.out_thread.join() + + +class UnorderedParallel(Graph): + """ + Pipeline of nodes in parallel, where each input item is handed to one of the nodes whoever is available. + NOTE: The order of the output items is NOT guaranteed to be the same as the input items, depending on how fast the nodes handle their input. + """ + def __init__(self, nodes: List[Union[Node, Callable]], function_running_as: Literal['thread', 'process'] = 'thread', in_buffer_size: int = 1, out_buffer_size: int = 1): + """ + Initialize the pipeline with a list of nodes to execute in parallel. If a function is given, it is wrapped in a worker node. + ### Parameters: + - nodes: List of nodes or functions to execute in parallel. Generator functions are wrapped in provider nodes, and other functions are wrapped in worker nodes. + - function_running_as: Whether to wrap the function as a thread or process worker. Defaults to 'thread'. + - in_buffer_size: Maximum size of the input queue of the pipeline. Defaults to 0 (unlimited). + - out_buffer_size: Maximum size of the output queue of the pipeline. Defaults to 0 (unlimited). + """ + super().__init__(in_buffer_size, out_buffer_size) + for node in nodes: + if isinstance(node, Node): + pass + elif isinstance(node, Callable): + if inspect.isgeneratorfunction(node): + node = ProviderFunction(node, function_running_as) + else: + node = WorkerFunction(node, function_running_as) + else: + raise ValueError(f"Invalid node type: {type(node)}") + self.add(node) + for i in range(len(nodes)): + self.chain([None, self.nodes[i], None]) + + +class Batch(ConcurrentNode): + """ + Groups every `batch_size` items into a batch (a list of items) and passes the batch to successive nodes. + The `patience` parameter specifies the maximum time to wait for a batch to be filled before sending it to the next node, + i.e., when the earliest item in the batch is out of `patience` seconds, the batch is sent regardless of its size. + """ + def __init__(self, batch_size: int, patience: float = None, in_buffer_size: int = 1, out_buffer_size: int = 1): + assert batch_size > 0, "Batch size must be greater than 0." + super().__init__('thread', in_buffer_size, out_buffer_size) + self.batch_size = batch_size + self.patience = patience + + def _loop_fn(self, input: Queue, output: Queue, terminate_flag: Event): + try: + while True: + batch_id, batch_data = [], [] + # Try to fill the batch + for i in range(self.batch_size): + if i == 0 or self.patience is None: + timeout = None + else: + timeout = self.patience - (time.time() - earliest_time) + if timeout < 0: + break + try: + item = _get_queue_item(input, terminate_flag, timeout) + except Empty: + break + + if i == 0: + earliest_time = time.time() + batch_data.append(item.data) + batch_id.append(item.id) + + batch = _ItemWrapper(batch_data, batch_id) + _put_queue_item(output, batch, terminate_flag) + except Terminate: + return + + +class Unbatch(ConcurrentNode): + """ + Ungroups every batch (a list of items) into individual items and passes them to successive nodes. + """ + def __init__(self, in_buffer_size: int = 1, out_buffer_size: int = 1): + super().__init__('thread', in_buffer_size, out_buffer_size) + + def _loop_fn(self, input: Queue, output: Queue, terminate_flag: Event): + try: + while True: + batch = _get_queue_item(input, terminate_flag) + for id, data in zip(batch.id or itertools.repeat(None), batch.data): + item = _ItemWrapper(data, id) + _put_queue_item(output, item, terminate_flag) + except Terminate: + return + + +class Buffer(Node): + "A FIFO node that buffers items in a queue. Usefull achieve better temporal balance when its successor node has a variable processing time." + def __init__(self, size: int): + super().__init__(size, size) + self.size = size + self.input = self.output = Queue(maxsize=size) \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/tools.py b/Pixel-Perfect-Depth/ppd/moge/utils/tools.py new file mode 100644 index 0000000000000000000000000000000000000000..3687f6938fe34433d149a1a8405be7eed5f23c37 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/tools.py @@ -0,0 +1,289 @@ +from typing import * +import time +from pathlib import Path +from numbers import Number +from functools import wraps +import warnings +import math +import json +import os +import importlib +import importlib.util + + +def catch_exception(fn): + @wraps(fn) + def wrapper(*args, **kwargs): + try: + return fn(*args, **kwargs) + except Exception as e: + import traceback + print(f"Exception in {fn.__name__}", end='r') + # print({', '.join(repr(arg) for arg in args)}, {', '.join(f'{k}={v!r}' for k, v in kwargs.items())}) + traceback.print_exc(chain=False) + time.sleep(0.1) + return None + return wrapper + + +class CallbackOnException: + def __init__(self, callback: Callable, exception: type): + self.exception = exception + self.callback = callback + + def __enter__(self): + return self + + def __exit__(self, exc_type, exc_val, exc_tb): + if isinstance(exc_val, self.exception): + self.callback() + return True + return False + +def traverse_nested_dict_keys(d: Dict[str, Dict]) -> Generator[Tuple[str, ...], None, None]: + for k, v in d.items(): + if isinstance(v, dict): + for sub_key in traverse_nested_dict_keys(v): + yield (k, ) + sub_key + else: + yield (k, ) + + +def get_nested_dict(d: Dict[str, Dict], keys: Tuple[str, ...], default: Any = None): + for k in keys: + d = d.get(k, default) + if d is None: + break + return d + +def set_nested_dict(d: Dict[str, Dict], keys: Tuple[str, ...], value: Any): + for k in keys[:-1]: + d = d.setdefault(k, {}) + d[keys[-1]] = value + + +def key_average(list_of_dicts: list) -> Dict[str, Any]: + """ + Returns a dictionary with the average value of each key in the input list of dictionaries. + """ + _nested_dict_keys = set() + for d in list_of_dicts: + _nested_dict_keys.update(traverse_nested_dict_keys(d)) + _nested_dict_keys = sorted(_nested_dict_keys) + result = {} + for k in _nested_dict_keys: + values = [] + for d in list_of_dicts: + v = get_nested_dict(d, k) + if v is not None and not math.isnan(v): + values.append(v) + avg = sum(values) / len(values) if values else float('nan') + set_nested_dict(result, k, avg) + return result + + +def flatten_nested_dict(d: Dict[str, Any], parent_key: Tuple[str, ...] = None) -> Dict[Tuple[str, ...], Any]: + """ + Flattens a nested dictionary into a single-level dictionary, with keys as tuples. + """ + items = [] + if parent_key is None: + parent_key = () + for k, v in d.items(): + new_key = parent_key + (k, ) + if isinstance(v, MutableMapping): + items.extend(flatten_nested_dict(v, new_key).items()) + else: + items.append((new_key, v)) + return dict(items) + + +def unflatten_nested_dict(d: Dict[str, Any]) -> Dict[str, Any]: + """ + Unflattens a single-level dictionary into a nested dictionary, with keys as tuples. + """ + result = {} + for k, v in d.items(): + sub_dict = result + for k_ in k[:-1]: + if k_ not in sub_dict: + sub_dict[k_] = {} + sub_dict = sub_dict[k_] + sub_dict[k[-1]] = v + return result + + +def read_jsonl(file): + import json + with open(file, 'r') as f: + data = f.readlines() + return [json.loads(line) for line in data] + + +def write_jsonl(data: List[dict], file): + import json + with open(file, 'w') as f: + for item in data: + f.write(json.dumps(item) + '\n') + + +def to_hierachical_dataframe(data: List[Dict[Tuple[str, ...], Any]]): + import pandas as pd + data = [flatten_nested_dict(d) for d in data] + df = pd.DataFrame(data) + df = df.sort_index(axis=1) + df.columns = pd.MultiIndex.from_tuples(df.columns) + return df + + +def recursive_replace(d: Union[List, Dict, str], mapping: Dict[str, str]): + if isinstance(d, str): + for old, new in mapping.items(): + d = d.replace(old, new) + elif isinstance(d, list): + for i, item in enumerate(d): + d[i] = recursive_replace(item, mapping) + elif isinstance(d, dict): + for k, v in d.items(): + d[k] = recursive_replace(v, mapping) + return d + + +class timeit: + _history: Dict[str, List['timeit']] = {} + + def __init__(self, name: str = None, verbose: bool = True, average: bool = False): + self.name = name + self.verbose = verbose + self.start = None + self.end = None + self.average = average + if average and name not in timeit._history: + timeit._history[name] = [] + + def __call__(self, func: Callable): + import inspect + if inspect.iscoroutinefunction(func): + async def wrapper(*args, **kwargs): + with timeit(self.name or func.__qualname__): + ret = await func(*args, **kwargs) + return ret + return wrapper + else: + def wrapper(*args, **kwargs): + with timeit(self.name or func.__qualname__): + ret = func(*args, **kwargs) + return ret + return wrapper + + def __enter__(self): + self.start = time.time() + return self + + @property + def time(self) -> float: + assert self.start is not None, "Time not yet started." + assert self.end is not None, "Time not yet ended." + return self.end - self.start + + @property + def average_time(self) -> float: + assert self.average, "Average time not available." + return sum(t.time for t in timeit._history[self.name]) / len(timeit._history[self.name]) + + @property + def history(self) -> List['timeit']: + return timeit._history.get(self.name, []) + + def __exit__(self, exc_type, exc_val, exc_tb): + self.end = time.time() + if self.average: + timeit._history[self.name].append(self) + if self.verbose: + if self.average: + avg = self.average_time + print(f"{self.name or 'It'} took {avg:.6f} seconds in average.") + else: + print(f"{self.name or 'It'} took {self.time:.6f} seconds.") + + +def strip_common_prefix_suffix(strings: List[str]) -> List[str]: + first = strings[0] + + for start in range(len(first)): + if any(s[start] != strings[0][start] for s in strings): + break + + for end in range(1, min(len(s) for s in strings)): + if any(s[-end] != first[-end] for s in strings): + break + + return [s[start:len(s) - end + 1] for s in strings] + + +def multithead_execute(inputs: List[Any], num_workers: int, pbar = None): + from concurrent.futures import ThreadPoolExecutor + from contextlib import nullcontext + from tqdm import tqdm + + if pbar is not None: + pbar.total = len(inputs) if hasattr(inputs, '__len__') else None + else: + pbar = tqdm(total=len(inputs) if hasattr(inputs, '__len__') else None) + + def decorator(fn: Callable): + with ( + ThreadPoolExecutor(max_workers=num_workers) as executor, + pbar + ): + pbar.refresh() + @catch_exception + @suppress_traceback + def _fn(input): + ret = fn(input) + pbar.update() + return ret + executor.map(_fn, inputs) + executor.shutdown(wait=True) + + return decorator + + +def suppress_traceback(fn): + @wraps(fn) + def wrapper(*args, **kwargs): + try: + return fn(*args, **kwargs) + except Exception as e: + e.__traceback__ = e.__traceback__.tb_next.tb_next + raise + return wrapper + + +class no_warnings: + def __init__(self, action: str = 'ignore', **kwargs): + self.action = action + self.filter_kwargs = kwargs + + def __call__(self, fn): + @wraps(fn) + def wrapper(*args, **kwargs): + with warnings.catch_warnings(): + warnings.simplefilter(self.action, **self.filter_kwargs) + return fn(*args, **kwargs) + return wrapper + + def __enter__(self): + self.warnings_manager = warnings.catch_warnings() + self.warnings_manager.__enter__() + warnings.simplefilter(self.action, **self.filter_kwargs) + + def __exit__(self, exc_type, exc_val, exc_tb): + self.warnings_manager.__exit__(exc_type, exc_val, exc_tb) + + +def import_file_as_module(file_path: Union[str, os.PathLike], module_name: str): + spec = importlib.util.spec_from_file_location(module_name, file_path) + module = importlib.util.module_from_spec(spec) + spec.loader.exec_module(module) + return module \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/vis.py b/Pixel-Perfect-Depth/ppd/moge/utils/vis.py new file mode 100644 index 0000000000000000000000000000000000000000..cb9c2378b58ec26ac5067b7ffcbd749a8ad968ce --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/vis.py @@ -0,0 +1,65 @@ +from typing import * + +import numpy as np +import matplotlib + + +def colorize_depth(depth: np.ndarray, mask: np.ndarray = None, normalize: bool = True, cmap: str = 'Spectral') -> np.ndarray: + if mask is None: + depth = np.where(depth > 0, depth, np.nan) + else: + depth = np.where((depth > 0) & mask, depth, np.nan) + disp = 1 / depth + if normalize: + min_disp, max_disp = np.nanquantile(disp, 0.001), np.nanquantile(disp, 0.99) + disp = (disp - min_disp) / (max_disp - min_disp) + colored = np.nan_to_num(matplotlib.colormaps[cmap](1.0 - disp)[..., :3], 0) + colored = np.ascontiguousarray((colored.clip(0, 1) * 255).astype(np.uint8)) + return colored + + +def colorize_depth_affine(depth: np.ndarray, mask: np.ndarray = None, cmap: str = 'Spectral') -> np.ndarray: + if mask is not None: + depth = np.where(mask, depth, np.nan) + + min_depth, max_depth = np.nanquantile(depth, 0.001), np.nanquantile(depth, 0.999) + depth = (depth - min_depth) / (max_depth - min_depth) + colored = np.nan_to_num(matplotlib.colormaps[cmap](depth)[..., :3], 0) + colored = np.ascontiguousarray((colored.clip(0, 1) * 255).astype(np.uint8)) + return colored + + +def colorize_disparity(disparity: np.ndarray, mask: np.ndarray = None, normalize: bool = True, cmap: str = 'Spectral') -> np.ndarray: + if mask is not None: + disparity = np.where(mask, disparity, np.nan) + + if normalize: + min_disp, max_disp = np.nanquantile(disparity, 0.001), np.nanquantile(disparity, 0.999) + disparity = (disparity - min_disp) / (max_disp - min_disp) + colored = np.nan_to_num(matplotlib.colormaps[cmap](1.0 - disparity)[..., :3], 0) + colored = np.ascontiguousarray((colored.clip(0, 1) * 255).astype(np.uint8)) + return colored + + +def colorize_segmentation(segmentation: np.ndarray, cmap: str = 'Set1') -> np.ndarray: + colored = matplotlib.colormaps[cmap]((segmentation % 20) / 20)[..., :3] + colored = np.ascontiguousarray((colored.clip(0, 1) * 255).astype(np.uint8)) + return colored + + +def colorize_normal(normal: np.ndarray, mask: np.ndarray = None) -> np.ndarray: + if mask is not None: + normal = np.where(mask[..., None], normal, 0) + normal = normal * [0.5, -0.5, -0.5] + 0.5 + normal = (normal.clip(0, 1) * 255).astype(np.uint8) + return normal + + +def colorize_error_map(error_map: np.ndarray, mask: np.ndarray = None, cmap: str = 'plasma', value_range: Tuple[float, float] = None): + vmin, vmax = value_range if value_range is not None else (np.nanmin(error_map), np.nanmax(error_map)) + cmap = matplotlib.colormaps[cmap] + colorized_error_map = cmap(((error_map - vmin) / (vmax - vmin)).clip(0, 1))[..., :3] + if mask is not None: + colorized_error_map = np.where(mask[..., None], colorized_error_map, 0) + colorized_error_map = np.ascontiguousarray((colorized_error_map.clip(0, 1) * 255).astype(np.uint8)) + return colorized_error_map diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/webfile.py b/Pixel-Perfect-Depth/ppd/moge/utils/webfile.py new file mode 100644 index 0000000000000000000000000000000000000000..1e98abf8413e1c9f408849b74f4d2025d25511b6 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/webfile.py @@ -0,0 +1,73 @@ +import requests +from typing import * + +__all__ = ["WebFile"] + + +class WebFile: + def __init__(self, url: str, session: Optional[requests.Session] = None, headers: Optional[Dict[str, str]] = None, size: Optional[int] = None): + self.url = url + self.session = session or requests.Session() + self.session.headers.update(headers or {}) + self._offset = 0 + self.size = size if size is not None else self._fetch_size() + + def _fetch_size(self): + with self.session.get(self.url, stream=True) as response: + response.raise_for_status() + content_length = response.headers.get("Content-Length") + if content_length is None: + raise ValueError("Missing Content-Length in header") + return int(content_length) + + def _fetch_data(self, offset: int, n: int) -> bytes: + headers = {"Range": f"bytes={offset}-{min(offset + n - 1, self.size)}"} + response = self.session.get(self.url, headers=headers) + response.raise_for_status() + return response.content + + def seekable(self) -> bool: + return True + + def tell(self) -> int: + return self._offset + + def available(self) -> int: + return self.size - self._offset + + def seek(self, offset: int, whence: int = 0) -> None: + if whence == 0: + new_offset = offset + elif whence == 1: + new_offset = self._offset + offset + elif whence == 2: + new_offset = self.size + offset + else: + raise ValueError("Invalid value for whence") + + self._offset = max(0, min(new_offset, self.size)) + + def read(self, n: Optional[int] = None) -> bytes: + if n is None or n < 0: + n = self.available() + else: + n = min(n, self.available()) + + if n == 0: + return b'' + + data = self._fetch_data(self._offset, n) + self._offset += len(data) + + return data + + def close(self) -> None: + pass + + def __enter__(self): + return self + + def __exit__(self, exc_type, exc_value, traceback): + pass + + \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/moge/utils/webzipfile.py b/Pixel-Perfect-Depth/ppd/moge/utils/webzipfile.py new file mode 100644 index 0000000000000000000000000000000000000000..25ed1d3cd34720335eb001d77a278539ffef569b --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/moge/utils/webzipfile.py @@ -0,0 +1,128 @@ +from typing import * +import io +import os +from zipfile import ( + ZipInfo, BadZipFile, ZipFile, ZipExtFile, + sizeFileHeader, structFileHeader, stringFileHeader, + _FH_SIGNATURE, _FH_FILENAME_LENGTH, _FH_EXTRA_FIELD_LENGTH, _FH_GENERAL_PURPOSE_FLAG_BITS, + _MASK_COMPRESSED_PATCH, _MASK_STRONG_ENCRYPTION, _MASK_UTF_FILENAME, _MASK_ENCRYPTED +) +import struct +from requests import Session + +from .webfile import WebFile + + +class _SharedWebFile(WebFile): + def __init__(self, webfile: WebFile, pos: int): + super().__init__(webfile.url, webfile.session, size=webfile.size) + self.seek(pos) + + +class WebZipFile(ZipFile): + "Lock-free version of ZipFile that reads from a WebFile, allowing for concurrent reads." + def __init__(self, url: str, session: Optional[Session] = None, headers: Optional[Dict[str, str]] = None): + """Open the ZIP file with mode read 'r', write 'w', exclusive create 'x', + or append 'a'.""" + webf = WebFile(url, session=session, headers=headers) + super().__init__(webf, mode='r') + + def open(self, name, mode="r", pwd=None, *, force_zip64=False): + """Return file-like object for 'name'. + + name is a string for the file name within the ZIP file, or a ZipInfo + object. + + mode should be 'r' to read a file already in the ZIP file, or 'w' to + write to a file newly added to the archive. + + pwd is the password to decrypt files (only used for reading). + + When writing, if the file size is not known in advance but may exceed + 2 GiB, pass force_zip64 to use the ZIP64 format, which can handle large + files. If the size is known in advance, it is best to pass a ZipInfo + instance for name, with zinfo.file_size set. + """ + if mode not in {"r", "w"}: + raise ValueError('open() requires mode "r" or "w"') + if pwd and (mode == "w"): + raise ValueError("pwd is only supported for reading files") + if not self.fp: + raise ValueError( + "Attempt to use ZIP archive that was already closed") + + assert mode == "r", "Only read mode is supported for now" + + # Make sure we have an info object + if isinstance(name, ZipInfo): + # 'name' is already an info object + zinfo = name + elif mode == 'w': + zinfo = ZipInfo(name) + zinfo.compress_type = self.compression + zinfo._compresslevel = self.compresslevel + else: + # Get info object for name + zinfo = self.getinfo(name) + + if mode == 'w': + return self._open_to_write(zinfo, force_zip64=force_zip64) + + if self._writing: + raise ValueError("Can't read from the ZIP file while there " + "is an open writing handle on it. " + "Close the writing handle before trying to read.") + + # Open for reading: + self._fileRefCnt += 1 + zef_file = _SharedWebFile(self.fp, zinfo.header_offset) + + try: + # Skip the file header: + fheader = zef_file.read(sizeFileHeader) + if len(fheader) != sizeFileHeader: + raise BadZipFile("Truncated file header") + fheader = struct.unpack(structFileHeader, fheader) + if fheader[_FH_SIGNATURE] != stringFileHeader: + raise BadZipFile("Bad magic number for file header") + + fname = zef_file.read(fheader[_FH_FILENAME_LENGTH]) + if fheader[_FH_EXTRA_FIELD_LENGTH]: + zef_file.seek(fheader[_FH_EXTRA_FIELD_LENGTH], whence=1) + + if zinfo.flag_bits & _MASK_COMPRESSED_PATCH: + # Zip 2.7: compressed patched data + raise NotImplementedError("compressed patched data (flag bit 5)") + + if zinfo.flag_bits & _MASK_STRONG_ENCRYPTION: + # strong encryption + raise NotImplementedError("strong encryption (flag bit 6)") + + if fheader[_FH_GENERAL_PURPOSE_FLAG_BITS] & _MASK_UTF_FILENAME: + # UTF-8 filename + fname_str = fname.decode("utf-8") + else: + fname_str = fname.decode(self.metadata_encoding or "cp437") + + if fname_str != zinfo.orig_filename: + raise BadZipFile( + 'File name in directory %r and header %r differ.' + % (zinfo.orig_filename, fname)) + + # check for encrypted flag & handle password + is_encrypted = zinfo.flag_bits & _MASK_ENCRYPTED + if is_encrypted: + if not pwd: + pwd = self.pwd + if pwd and not isinstance(pwd, bytes): + raise TypeError("pwd: expected bytes, got %s" % type(pwd).__name__) + if not pwd: + raise RuntimeError("File %r is encrypted, password " + "required for extraction" % name) + else: + pwd = None + + return ZipExtFile(zef_file, mode, zinfo, pwd, True) + except: + zef_file.close() + raise \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/utils/__pycache__/set_seed.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/utils/__pycache__/set_seed.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..88fbc7b4bdd8629c178e9be900d78305b8d66799 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/utils/__pycache__/set_seed.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/utils/__pycache__/transform.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/utils/__pycache__/transform.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..800c8594d701e6f392e33706899806677f71579d Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/utils/__pycache__/transform.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/utils/align_depth_func.py b/Pixel-Perfect-Depth/ppd/utils/align_depth_func.py new file mode 100644 index 0000000000000000000000000000000000000000..44621e562ee35b3f6b3337850ce1bbed31ed8c9f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/align_depth_func.py @@ -0,0 +1,42 @@ +import torch +import numpy as np +import cv2 +from sklearn.linear_model import RANSACRegressor +from sklearn.preprocessing import PolynomialFeatures +from sklearn.pipeline import make_pipeline + +degree = 1 +poly_features = PolynomialFeatures(degree=degree, include_bias=False) +ransac = RANSACRegressor(max_trials=1000) +model = make_pipeline(poly_features, ransac) + +def recover_metric_depth_ransac(pred, gt, mask, log=True): + pred = pred.astype(np.float32) + gt = gt.astype(np.float32) + + mask_gt = gt[mask].astype(np.float32) + ori_mask_gt = mask_gt + mask_pred = pred[mask].astype(np.float32) + + ## depth -> log depth + mask_gt = np.log(mask_gt + 1.) + + try: + model.fit(mask_pred[:, None], mask_gt[:, None]) + a, b = model.named_steps['ransacregressor'].estimator_.coef_, model.named_steps['ransacregressor'].estimator_.intercept_ + a = a.item() + b = b.item() + except: + a, b = 1, 0 + + if a > 0: + pred_metric = a * pred + b + else: + pred_mean = np.mean(mask_pred) + gt_mean = np.mean(mask_gt) + pred_metric = pred * (gt_mean / pred_mean) + + ## log depth -> depth + pred_metric = np.exp(pred_metric) - 1. + pred_metric = np.clip(pred_metric, 1e-3, np.max(ori_mask_gt)) + return pred_metric \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/utils/align_vda.py b/Pixel-Perfect-Depth/ppd/utils/align_vda.py new file mode 100644 index 0000000000000000000000000000000000000000..d04847b54bcd5f537be50a14747e5f0fd96e199a --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/align_vda.py @@ -0,0 +1,52 @@ +import numpy as np + +def align_video_depth(depth_list, INFER_LEN, KEYFRAMES, OVERLAP): + depth_list = [depth.squeeze().cpu().numpy() for depth in depth_list] + + depth_list_aligned = [] + ref_align = [] + + for i in range(0, len(depth_list)): + if i == 0: + depth_list_aligned.extend(depth_list[i][j] for j in range(INFER_LEN)) + for kf_id in KEYFRAMES: + ref_align.append(depth_list[0][kf_id]) + if i != 0: + cur_align = [] + for k in range(len(KEYFRAMES)): + cur_align.append(depth_list[i][k]) + scale, shift = compute_scale_and_shift_full(np.concatenate(cur_align), + np.concatenate(ref_align), + np.concatenate(np.ones_like(ref_align)==1)) + + new_depth = depth_list[i] * scale + shift + depth_list_aligned.extend(new_depth[j] for j in range(OVERLAP, INFER_LEN)) + + ref_align = ref_align[:1] + for kf_id in KEYFRAMES[1:]: + ref_align.append(new_depth[kf_id]) + return np.stack(depth_list_aligned, axis=0) + + +def compute_scale_and_shift_full(prediction, target, mask): + prediction = prediction.astype(np.float32) + target = target.astype(np.float32) + mask = mask.astype(np.float32) + + a_00 = np.sum(mask * prediction * prediction) + a_01 = np.sum(mask * prediction) + a_11 = np.sum(mask) + + b_0 = np.sum(mask * prediction * target) + b_1 = np.sum(mask * target) + + x_0 = 1 + x_1 = 0 + + det = a_00 * a_11 - a_01 * a_01 + + if det != 0: + x_0 = (a_11 * b_0 - a_01 * b_1) / det + x_1 = (-a_01 * b_0 + a_00 * b_1) / det + + return x_0, x_1 \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/utils/depth2pcd.py b/Pixel-Perfect-Depth/ppd/utils/depth2pcd.py new file mode 100644 index 0000000000000000000000000000000000000000..881cb93bf65e0e2ec49105701b2d12e77da912d0 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/depth2pcd.py @@ -0,0 +1,55 @@ +import numpy as np +import open3d as o3d + +def depth2pcd(depth, intrinsic, color=None, input_mask=None, ret_pcd=False): + """ + Convert a depth map into a 3D point cloud. + + Args: + depth (np.ndarray): (H, W) depth map in meters. + intrinsic (np.ndarray): (3, 3) camera intrinsic matrix. + color (np.ndarray, optional): (H, W, 3) RGB image aligned with the depth map. + input_mask (np.ndarray, optional): (H, W) boolean mask indicating valid pixels. + ret_pcd (bool, optional): If True, returns an Open3D PointCloud object; + otherwise returns NumPy arrays. + + Returns: + - If ret_pcd=True: returns `o3d.geometry.PointCloud()` + - Otherwise: returns (N, 3) point coordinates and (N, 3) color arrays. + """ + H, W = depth.shape + u, v = np.meshgrid(np.arange(W), np.arange(H)) + + fx, fy = intrinsic[0,0], intrinsic[1,1] + cx, cy = intrinsic[0,2], intrinsic[1,2] + + Z = depth.reshape(-1) + X = ((u.reshape(-1) - cx) / fx) * Z + Y = ((v.reshape(-1) - cy) / fy) * Z + + points = np.stack([X, Y, Z], axis=1) + + # mask valid points + mask = np.ones_like(Z, dtype=bool) + if input_mask is not None: + mask &= input_mask.reshape(-1) + + # Keep only valid points + points = points[mask] + + # Process color information + if color is not None: + color = color.astype(np.float32) / 255.0 + colors = color.reshape(-1, 3)[mask] + else: + colors = None + + # Return Open3D point cloud or NumPy arrays + if ret_pcd: + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(points) + if colors is not None: + pcd.colors = o3d.utility.Vector3dVector(colors) + return pcd + else: + return points, colors \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/utils/diffusion/__pycache__/sampler.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/utils/diffusion/__pycache__/sampler.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..a3ff33567cd4ed15fa3bdf77f42776fc8ba9507e Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/utils/diffusion/__pycache__/sampler.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/utils/diffusion/__pycache__/schedule.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/utils/diffusion/__pycache__/schedule.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..69a2f5776b6de6a899f12dcc3a8eb8edd36fefe2 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/utils/diffusion/__pycache__/schedule.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/utils/diffusion/__pycache__/timesteps.cpython-310.pyc b/Pixel-Perfect-Depth/ppd/utils/diffusion/__pycache__/timesteps.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..e39308a473ba8acae9f97a590ebd3b387763f099 Binary files /dev/null and b/Pixel-Perfect-Depth/ppd/utils/diffusion/__pycache__/timesteps.cpython-310.pyc differ diff --git a/Pixel-Perfect-Depth/ppd/utils/diffusion/logitnormal.py b/Pixel-Perfect-Depth/ppd/utils/diffusion/logitnormal.py new file mode 100644 index 0000000000000000000000000000000000000000..04e0186ad64b13353366a4131420c887ca99cb89 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/diffusion/logitnormal.py @@ -0,0 +1,44 @@ +from abc import ABC +from typing import Sequence, Union +import torch +from torch.distributions import LogisticNormal + +class Timesteps(ABC): + """ + Timesteps base class. + """ + + def __init__(self, T: Union[int, float]): + assert T > 0 + self._T = T + + @property + def T(self) -> Union[int, float]: + """ + Maximum timestep inclusive. + int if discrete, float if continuous. + """ + return self._T + + def is_continuous(self) -> bool: + """ + Whether the schedule is continuous. + """ + return isinstance(self.T, float) + +class LogitNormalTrainingTimesteps(Timesteps): + """ + Logit-Normal sampling of timesteps in [0, T]. + """ + + def __init__(self, T: Union[int, float], loc: float, scale: float): + super().__init__(T) + self.dist = LogisticNormal(loc, scale) + + def sample( + self, + size: Sequence[int], + device: torch.device = "cpu", + ) -> torch.Tensor: + t = self.dist.sample(size)[..., 0].to(device).mul_(self.T) + return t if self.is_continuous() else t.round().int() diff --git a/Pixel-Perfect-Depth/ppd/utils/diffusion/sampler.py b/Pixel-Perfect-Depth/ppd/utils/diffusion/sampler.py new file mode 100644 index 0000000000000000000000000000000000000000..9369335a2ad78e51cb33a7ecb42864a9b7278409 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/diffusion/sampler.py @@ -0,0 +1,73 @@ +import torch +from enum import Enum +from ppd.utils.diffusion.timesteps import Timesteps +from ppd.utils.diffusion.schedule import LinearSchedule + + +class EulerSampler: + """ + The Euler method is the simplest ODE solver. + """ + + def __init__( + self, + schedule: LinearSchedule, + timesteps: Timesteps, + prediction_type: 'velocity', + ): + self.schedule = schedule + self.timesteps = timesteps + self.prediction_type = prediction_type + + + def step( + self, + pred: torch.Tensor, + x_t: torch.Tensor, + t: torch.Tensor, + **kwargs, + ) -> torch.Tensor: + """ + Step to the next timestep. + """ + return self.step_to(pred, x_t, t, self.get_next_timestep(t), **kwargs) + + def step_to( + self, + pred: torch.Tensor, + x_t: torch.Tensor, + t: torch.Tensor, + s: torch.Tensor, + **kwargs, + ) -> torch.Tensor: + """ + Steps from x_t at timestep t to x_s at timestep s. Returns x_s. + """ + t = t[(...,) + (None,) * (x_t.ndim - t.ndim)] if t.ndim < x_t.ndim else t + s = s[(...,) + (None,) * (x_t.ndim - s.ndim)] if s.ndim < x_t.ndim else s + T = self.schedule.T + # Step from x_t to x_s. + pred_x_0, pred_x_T = self.schedule.convert_from_pred(pred, self.prediction_type, x_t, t) + pred_x_s = self.schedule.forward(pred_x_0, pred_x_T, s.clamp(0, T)) + # Clamp x_s to x_0 and x_T if s is out of bound. + pred_x_s = pred_x_s.where(s >= 0, pred_x_0) + pred_x_s = pred_x_s.where(s <= T, pred_x_T) + return pred_x_s + + def get_next_timestep( + self, + t: torch.Tensor, + ) -> torch.Tensor: + """ + Get the next sample timestep. + Support multiple different timesteps t in a batch. + If no more steps, return out of bound value -1 or T+1. + """ + T = self.timesteps.T + steps = len(self.timesteps) + curr_idx = self.timesteps.index(t) + next_idx = curr_idx + 1 + + s = self.timesteps[next_idx.clamp_max(steps - 1)] + s = s.where(next_idx < steps, -1) + return s \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/utils/diffusion/schedule.py b/Pixel-Perfect-Depth/ppd/utils/diffusion/schedule.py new file mode 100644 index 0000000000000000000000000000000000000000..9c2833cc91af17b69fc95d3fc5b741bb8a0157ce --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/diffusion/schedule.py @@ -0,0 +1,54 @@ +""" +Linear interpolation schedule (lerp). +""" + +from typing import Tuple, Union +import torch +from enum import Enum + + +class LinearSchedule: + """ + Linear interpolation schedule (lerp) is proposed by flow matching and rectified flow. + It leads to straighter probability flow theoretically. It is also used by Stable Diffusion 3. + + x_t = (1 - t) * x_0 + t * x_T + + """ + + def __init__(self, T: Union[int, float] = 1.0): + self.T = T + + def forward(self, x_0: torch.Tensor, x_T: torch.Tensor, t: torch.Tensor) -> torch.Tensor: + """ + Diffusion forward function. + """ + t = t[(...,) + (None,) * (x_0.ndim - t.ndim)] if t.ndim < x_0.ndim else t + return (1 - t / self.T) * x_0 + (t / self.T) * x_T + + def convert_from_pred( + self, pred: torch.Tensor, pred_type: 'velocity', x_t: torch.Tensor, t: torch.Tensor + ) -> Tuple[torch.Tensor, torch.Tensor]: + """ + Convert from velocity prediction. Return predicted x_0 and x_T. + """ + t = t[(...,) + (None,) * (x_t.ndim - t.ndim)] if t.ndim < x_t.ndim else t + A_t = 1 - t / self.T + B_t = t / self.T + + # pred_type = 'velocity' + pred_x_0 = x_t - B_t * pred + pred_x_T = x_t + A_t * pred + + return pred_x_0, pred_x_T + + def convert_to_pred( + self, x_0: torch.Tensor, x_T: torch.Tensor, t: torch.Tensor, pred_type: 'velocity' + ) -> torch.FloatTensor: + """ + Convert to velocity prediction target given x_0 and x_T. + Predict velocity dx/dt based on the lerp schedule (x_T - x_0). + Proposed by rectified flow (https://arxiv.org/abs/2209.03003) + """ + # pred_type = 'velocity' + return x_T - x_0 diff --git a/Pixel-Perfect-Depth/ppd/utils/diffusion/timesteps.py b/Pixel-Perfect-Depth/ppd/utils/diffusion/timesteps.py new file mode 100644 index 0000000000000000000000000000000000000000..79aaa2fd9b12ca5380f3d508390cc51e2c5027c9 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/diffusion/timesteps.py @@ -0,0 +1,39 @@ +from typing import Union +import torch + + +class Timesteps: + """ + Sampling timesteps. + It defines the discretization of sampling steps. + """ + + def __init__( + self, + T: int, + steps: int, + device: torch.device = "cpu", + ): + self.T = T + timesteps = torch.arange(T, -1, -(T + 1) / steps, device=device).round().int() + self.timesteps = timesteps + + def __len__(self) -> int: + """ + Number of sampling steps. + """ + return len(self.timesteps) + + def __getitem__(self, idx: Union[int, torch.IntTensor]) -> torch.Tensor: + return self.timesteps[idx] + + def index(self, t: torch.Tensor) -> torch.Tensor: + """ + Find index by t. + Return index of the same shape as t. + Index is -1 if t not found in timesteps. + """ + i, j = t.reshape(-1, 1).eq(self.timesteps).nonzero(as_tuple=True) + idx = torch.full_like(t, fill_value=-1, dtype=torch.int) + idx.view(-1)[i] = j.int() + return idx \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/utils/logger.py b/Pixel-Perfect-Depth/ppd/utils/logger.py new file mode 100644 index 0000000000000000000000000000000000000000..899e453dadbac34ff1a0d2efd34b9ae2a74c4b10 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/logger.py @@ -0,0 +1,80 @@ +import os +class Log: + log_on = True + used_tags = dict() # To keep track of used tags + _is_main_cached = None # Cache to store the main process check result + + @staticmethod + def is_main_process(): + if Log._is_main_cached is not None: + return Log._is_main_cached + try: + from pytorch_lightning.utilities import rank_zero_only + if rank_zero_only.rank == 0: + Log._is_main_cached = True + else: + Log._is_main_cached = False + except: + Log._is_main_cached = True + return Log._is_main_cached + + @staticmethod + def _should_log(tag): + if not Log.log_on: + return False + if not Log.is_main_process(): + return False + if tag is None: + return True + if '__' in tag: + num = int(tag.split('__')[-1]) + tag = tag.split('__')[0] + else: + num = 3 + + if tag not in Log.used_tags: + Log.used_tags[tag] = num + Log.used_tags[tag] -= 1 + if Log.used_tags[tag] >= 0: + return True + else: + return False + + @staticmethod + def info(*args, tag=None): + if Log._should_log(tag): + print("\033[1;32m[INFO]\033[0;0m", *args) + + @staticmethod + def warn(*args, tag=None): + if Log._should_log(tag): + print("\033[1;35m[WARN]\033[0;0m", *args) + + @staticmethod + def error(*args, tag=None): + print("\033[1;31m[ERROR]\033[0;0m", *args) + + @staticmethod + def debug(*args, tag=None): + if Log._should_log(tag) and 'HT_DEBUG' in os.environ and os.environ['HT_DEBUG'] == '1': + print("\033[1;33m[DEBUG]\033[0;0m", *args) + + + +def monitor_process_wrapper(func): + """The wrapper will print a log both before and after the wrapped function runned.""" + def wrapped(*args, **kwargs): + Log.info(f'"{func.__name__}()" begin...') + ret_value = func(*args, **kwargs) + Log.info(f'"{func.__name__}()" end...') + return ret_value + return wrapped + +def monitor_class_process_wrapper(func): + """The wrapper will print a log both before and after the wrapped function runned.""" + def wrapped(self, *args, **kwargs): + Log.info(f'"{self.__class__.__name__}.{func.__name__}()" begin...') + ret_value = func(self, *args, **kwargs) + Log.info(f'"{self.__class__.__name__}.{func.__name__}()" end...') + return ret_value + return wrapped diff --git a/Pixel-Perfect-Depth/ppd/utils/lr_table.py b/Pixel-Perfect-Depth/ppd/utils/lr_table.py new file mode 100644 index 0000000000000000000000000000000000000000..348868bf3a134eafeaee67157ffd59ac66b8303f --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/lr_table.py @@ -0,0 +1,43 @@ +from omegaconf import DictConfig +from ppd.utils.logger import Log + +class LRTable: + def __init__(self, + default_lr: float = 1e-4, + prefix_table: DictConfig = None, + postfix_table: DictConfig = None, + else_table: DictConfig = None): + # + self.default_lr = default_lr + self.prefix_table = prefix_table + self.postfix_table = postfix_table + self.else_table = else_table + self.tables = [self.prefix_table, self.postfix_table, self.else_table] + self.tags = ["prefix_", "postfix_", "else_"] + + def match_table(self, key) -> bool: + if self.prefix_table is not None: + for prefix in self.prefix_table: + if key.startswith(prefix): + return 0, prefix + + if self.postfix_table is not None: + for postfix in self.postfix_table: + if key.endswith(postfix): + return 1, postfix + + if self.else_table is not None: + for else_key in self.else_table: + if else_key in key and self.tables[2][else_key] is not None: + return 2, else_key + + return 3, None + + def get_lr(self, key) -> float: + table_idx, match_key = self.match_table(key) + if table_idx == 3: + Log.debug(f'{key} is not matched to any table, use default lr: {self.default_lr}') + return 'default', self.default_lr + else: + Log.debug(f'{key} is matched to table {self.tags[table_idx]}: {match_key}') + return self.tags[table_idx] + match_key, self.tables[table_idx][match_key] \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/utils/parallel_utils.py b/Pixel-Perfect-Depth/ppd/utils/parallel_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..371436eb98cfa0d3b3271c6f245fa7ebbe1e8da9 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/parallel_utils.py @@ -0,0 +1,145 @@ +# copy from EasyVolumetricVideo +# Author: Zhen Xu https://github.com/dendenxu + +from typing import Callable, List, Dict +from multiprocessing.pool import ThreadPool +from tqdm import tqdm +from threading import Thread +import torch +from torch import Tensor +from typing import List +import imageio +import os + + +import asyncio +from functools import wraps + +def async_call_func(func): + @wraps(func) + async def wrapper(*args, **kwargs): + loop = asyncio.get_event_loop() + # Use run_in_executor to run the blocking function in a separate thread + return await loop.run_in_executor(None, func, *args, **kwargs) + return wrapper + +def _save_image_impl(save_img, save_path): + """Common implementation for saving images synchronously or asynchronously""" + os.makedirs(os.path.dirname(save_path), exist_ok=True) + imageio.imwrite(save_path, save_img) + + +def cat_dict(dict_list, dim=0, reserved_keys=['select_indice', 'dens_volume_fine', 'z_vals_fine', 'z_vals_mid_fine', 'points_fine', 'dens_volume', 'prob_volume', 't_vals', 't2z_func', 'img_feat', 't_mean_std_min_max']): + return {k: torch.cat([item[k] for item in dict_list], dim) for k in dict_list[0] if isinstance(dict_list[0][k], Tensor) and k not in reserved_keys} + +def cat_list(list_list: List[List[Tensor]], dim: int = 0): + return [torch.cat([item[i] for item in list_list], dim=dim) for i in range(len(list_list[0]))] + +def cat_tensor(tensor_list: List[Tensor], dim=0): + return torch.cat(tensor_list, dim=dim) + +slice_func = lambda chunk_index, chunk_dim, chunk_size: [slice(None)] * chunk_dim + [slice(chunk_index, chunk_index+chunk_size)] +def chunkify(func, cat_func, chunk_tensors: List[Tensor], chunk_dim: int, chunk_size: int, **kwargs): + ''' + func: function to be chunkified + cat: function to concatenate the results + chunk_tensors: list of tensors to be chunkified + chunk_dim: dimension to be chunkified + chunk_size: size of each chunk + ''' + total_chunk_size = chunk_tensors[0].shape[chunk_dim] + assert all([total_chunk_size == chunk_tensors[i].shape[chunk_dim] for i in range(1, len(chunk_tensors))]) + return cat_func([func(*[chunk_tensor[slice_func(i, chunk_dim, chunk_size)] for chunk_tensor in chunk_tensors], **kwargs) for i in range(0, total_chunk_size, chunk_size)], chunk_dim) + + all_ret = {} + for i in range(0, chunk_size, chunk_num): + ret = func(*[chunk_tensor[:, i:i + chunk_num] for chunk_tensor in chunk_tensors], **kwargs) + if isinstance(ret, dict): + for k in ret: + if ret[k] is None: + continue + if k not in all_ret: + all_ret[k] = [] + all_ret[k].append(ret[k]) + elif isinstance(ret, list) or isinstance(ret, tuple): + for k in range(len(ret)): + if ret[k] is None: + continue + if k not in all_ret: + all_ret[k] = [] + all_ret[k].append(ret[k]) + elif isinstance(ret, torch.Tensor): + if 0 not in all_ret: + all_ret[0] = [] + all_ret[0].append(ret) + if isinstance(ret, dict): + return {k: torch.cat(all_ret[k], dim=chunk_dim) for k in all_ret} + elif isinstance(ret, list) or isinstance(ret, tuple): + return [torch.cat(all_ret[k], dim=chunk_dim) for k in all_ret] + elif isinstance(ret, torch.Tensor): + return torch.cat(all_ret[0], dim=chunk_dim) + +def async_call(fn): + def wrapper(*args, **kwargs): + Thread(target=fn, args=args, kwargs=kwargs).start() + return wrapper + +@async_call +def save_image_async(save_img, save_path): + """Save image asynchronously""" + _save_image_impl(save_img, save_path) + +def save_image(save_img, save_path): + """Save image synchronously""" + _save_image_impl(save_img, save_path) + +def parallel_execution(*args, action: Callable, num_processes=32, print_progress=False, sequential=False, async_return=False, desc=None, **kwargs): + # NOTE: we expect first arg / or kwargs to be distributed + # NOTE: print_progress arg is reserved + + def get_length(args: List, kwargs: Dict): + for a in args: + if isinstance(a, list): + return len(a) + for v in kwargs.values(): + if isinstance(v, list): + return len(v) + raise NotImplementedError + + def get_action_args(length: int, args: List, kwargs: Dict, i: int): + action_args = [(arg[i] if isinstance(arg, list) and len(arg) == length else arg) for arg in args] + # TODO: Support all types of iterable + action_kwargs = {key: (kwargs[key][i] if isinstance(kwargs[key], list) and len(kwargs[key]) == length else kwargs[key]) for key in kwargs} + return action_args, action_kwargs + + if not sequential: + # Create ThreadPool + pool = ThreadPool(processes=num_processes) + + # Spawn threads + results = [] + asyncs = [] + length = get_length(args, kwargs) + for i in range(length): + action_args, action_kwargs = get_action_args(length, args, kwargs, i) + async_result = pool.apply_async(action, action_args, action_kwargs) + asyncs.append(async_result) + + # Join threads and get return values + if not async_return: + for async_result in tqdm(asyncs, desc=desc, disable=not print_progress): + results.append(async_result.get()) # will sync the corresponding thread + pool.close() + pool.join() + return results + else: + return pool + else: + results = [] + length = get_length(args, kwargs) + for i in tqdm(range(length), desc=desc, disable=not print_progress): + action_args, action_kwargs = get_action_args(length, args, kwargs, i) + async_result = action(*action_args, **action_kwargs) + results.append(async_result) + return results + diff --git a/Pixel-Perfect-Depth/ppd/utils/set_seed.py b/Pixel-Perfect-Depth/ppd/utils/set_seed.py new file mode 100644 index 0000000000000000000000000000000000000000..c03635e993187e3da2603e9e0adf90aa920ce598 --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/set_seed.py @@ -0,0 +1,13 @@ +import random +import numpy as np +import torch + +def set_seed(seed=666): + import random, numpy as np, torch + random.seed(seed) + np.random.seed(seed) + torch.manual_seed(seed) + if torch.cuda.is_available(): + torch.cuda.manual_seed_all(seed) + torch.backends.cudnn.deterministic = True + torch.backends.cudnn.benchmark = False \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/utils/transform.py b/Pixel-Perfect-Depth/ppd/utils/transform.py new file mode 100644 index 0000000000000000000000000000000000000000..fb6a0ffcc7527cb425ccfc24f87d8ddcc2d0efff --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/transform.py @@ -0,0 +1,78 @@ +import cv2 +import numpy as np +import torch +import torch.nn.functional as F + +def image2tensor(image): + image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + image = np.asarray(image / 255.).astype(np.float32) + image = np.transpose(image, (2, 0, 1)) + image = np.ascontiguousarray(image).astype(np.float32) + image = torch.from_numpy(image).unsqueeze(0) + return image + +def video2tensor(images): + tensor_list = [] + for i in range(images.shape[0]): + image = images[i] + image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + image = np.asarray(image / 255.).astype(np.float32) + image = np.transpose(image, (2, 0, 1)) + image = np.ascontiguousarray(image).astype(np.float32) + image = torch.from_numpy(image).unsqueeze(0) + tensor_list.append(image) + return tensor_list + +def resize_1024(image): + image = cv2.resize(image, (1024, 768), interpolation=cv2.INTER_LINEAR) + return image + +def resize_1024_crop(image): + ori_h, ori_w = image.shape[:2] + tar_w, tar_h = 1024, 768 + if ori_h > ori_w: + resize_h = int(tar_w / ori_w * ori_h) + image = cv2.resize(image, (tar_w, resize_h), interpolation=cv2.INTER_LINEAR) + if resize_h > tar_h: + top = (resize_h - tar_h) // 2 + image = image[top:top+tar_h, :] + else: + image = cv2.resize(image, (tar_w, tar_h), interpolation=cv2.INTER_LINEAR) + + else: + resize_w = int(tar_h / ori_h * ori_w) + image = cv2.resize(image, (resize_w, tar_h), interpolation=cv2.INTER_LINEAR) + + if resize_w > tar_w: + left = (resize_w - tar_w) // 2 + image = image[:, left:left+tar_w] + else: + image = cv2.resize(image, (tar_w, tar_h), interpolation=cv2.INTER_LINEAR) + + return image + +def resize_keep_aspect(image): + ori_h, ori_w = image.shape[:2] + tar_w, tar_h = 1024, 768 + ori_area = ori_h * ori_w + tar_area = tar_h * tar_w + scale = scale = (tar_area / ori_area) ** 0.5 + resize_h = ori_h * scale + resize_w = ori_w * scale + resize_h = max(16, int(round(resize_h / 16)) * 16) + resize_w = max(16, int(round(resize_w / 16)) * 16) + + if scale < 1: + image = cv2.resize(image, (resize_w, resize_h), interpolation=cv2.INTER_AREA) + else: + image = cv2.resize(image, (resize_w, resize_h), interpolation=cv2.INTER_CUBIC) + return image + + + + + + + + + diff --git a/Pixel-Perfect-Depth/ppd/utils/video_utils.py b/Pixel-Perfect-Depth/ppd/utils/video_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..054afc367febb2fe8a6ebbc0e64227e1b97a566e --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/video_utils.py @@ -0,0 +1,54 @@ +# This file is originally from Video Depth Anything +import numpy as np +import matplotlib.cm as cm +import imageio +import cv2 + +def read_video_frames(video_path, process_length=-1, target_fps=-1, max_res=-1): + cap = cv2.VideoCapture(video_path) + original_fps = cap.get(cv2.CAP_PROP_FPS) + original_height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) + original_width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) + + if max_res > 0 and max(original_height, original_width) > max_res: + scale = max_res / max(original_height, original_width) + height = round(original_height * scale) + width = round(original_width * scale) + + fps = original_fps if target_fps < 0 else target_fps + + stride = max(round(original_fps / fps), 1) + + frames = [] + frame_count = 0 + + while cap.isOpened(): + ret, frame = cap.read() + if not ret or (process_length > 0 and frame_count >= process_length): + break + if frame_count % stride == 0: + frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) # Convert BGR to RGB + if max_res > 0 and max(original_height, original_width) > max_res: + frame = cv2.resize(frame, (width, height)) # Resize frame + frames.append(frame) + frame_count += 1 + cap.release() + frames = np.stack(frames, axis=0) + + return frames, fps + +def save_video(frames, output_video_path, fps=10, is_depths=False, grayscale=False): + writer = imageio.get_writer(output_video_path, fps=fps, macro_block_size=1, codec='libx264', ffmpeg_params=['-crf', '18']) + if is_depths: + colormap = np.array(cm.get_cmap("inferno").colors) + d_min, d_max = frames.min(), frames.max() + for i in range(frames.shape[0]): + depth = frames[i] + depth_norm = ((depth - d_min) / (d_max - d_min) * 255).astype(np.uint8) + depth_vis = (colormap[depth_norm] * 255).astype(np.uint8) if not grayscale else depth_norm + writer.append_data(depth_vis) + else: + for i in range(frames.shape[0]): + writer.append_data(frames[i]) + + writer.close() \ No newline at end of file diff --git a/Pixel-Perfect-Depth/ppd/utils/vis_utils.py b/Pixel-Perfect-Depth/ppd/utils/vis_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..de3ae0b65f25f83c5df5f7484c1d7c91c495df0c --- /dev/null +++ b/Pixel-Perfect-Depth/ppd/utils/vis_utils.py @@ -0,0 +1,22 @@ +import numpy as np +import matplotlib +import torch + +def visualize_depth(depth: np.ndarray, + depth_min=None, + depth_max=None, + percentile=2, + ret_minmax=False, + cmap='Spectral'): + if depth_min is None: depth_min = np.percentile(depth, percentile) + if depth_max is None: depth_max = np.percentile(depth, 100 - percentile) + if depth_min == depth_max: + depth_min = depth_min - 1e-6 + depth_max = depth_max + 1e-6 + cm = matplotlib.colormaps[cmap] + depth = ((depth - depth_min) / (depth_max - depth_min)).clip(0, 1) + img_colored_np = cm(depth, bytes=False)[:, :, 0:3] # value from 0 to 1 + if ret_minmax: + return img_colored_np, depth_min, depth_max + else: + return img_colored_np