diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..59b7a8cb3d7f3b4d67d708f3452cd7dda1fe8964 --- /dev/null +++ b/.gitignore @@ -0,0 +1,35 @@ +**/__pycache__ +/checkpoints +/log +/lightning_logs +/pyramid +*.ipynb +/data +preprocess_megadepth.py +*.ckpt +test.py +/RelPoseRepo +eval_regressor.py +/assets/megadepth_test_new +/configs/megadepth_new.yaml +/results +assets/new_submission.zip + +__eval_baselines.py +__pose_tracking.py +__track.py +/__pose_tracking + +/baselines/configs +/baselines/repo +/baselines/weights +/baselines/__models.py +baselines/demo.html + +utils/__reprojection.py +utils/__pose_solver.py +utils/__generate_epipolar_imgs.py +utils/__visualize.py + +submission.py +/qualitative \ No newline at end of file diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..29f81d812f3e768fa89638d1f72920dbfd1413a8 --- /dev/null +++ b/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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Download pretrained models [here](https://drive.google.com/drive/folders/1bBlds3UX7-XDCevbIl4bnnywvWzzP5nN) for evaluation. +2. Create new folders: +``` +mkdir checkpoints & mkdir data +``` +3. Organize the downloaded checkpoints like this: +``` +SRPose +|-- checkpoints + |-- ho3d.ckpt + |-- linemod.ckpt + |-- mapfree.ckpt + |-- matterport.ckpt + |-- megadepth.ckpt + `-- scannet.ckpt + ... +``` + +### Matterport +1. Download Matterport dataset [here](https://github.com/jinlinyi/SparsePlanes/blob/main/docs/data.md), only `mp3d_planercnn_json.zip` and `rgb.zip` are required. +2. Unzip and organize the downloaded files: +``` +mkdir data/mp3d +mkdir data/mp3d/mp3d_planercnn_json & mkdir data/mp3d/rgb +unzip /mp3d_planercnn_json.zip -d data/mp3d/mp3d_planercnn_json +unzip /rgb.zip -d data/mp3d/rgb +``` +3. The resulted directory tree should be like this: +``` +SRPose +|-- data + |-- mp3d + |-- mp3d_planercnn_json + | |-- cached_set_test.json + | |-- cached_set_train.json + | `-- cached_set_val.json + `-- rgb + |-- 17DRP5sb8fy + ... + ... + ... +``` +4. Evaluate with the following command: +``` +python eval.py configs/matterport.yaml checkpoints/matterport.ckpt +``` + +### ScanNet & MegaDepth +1. Download and organize the ScanNet-1500 and MegaDepth-1500 test sets according to the [LoFTR Training Script](https://github.com/zju3dv/LoFTR/blob/master/docs/TRAINING.md). Note that only the test sets and the dataset indices are required. +2. The resulted directory tree should be: +``` +SRPose +|-- data + |-- scannet + | |-- index + | |-- test + | `-- train (optional) + |-- megadepth + |-- index + |-- test + `-- train (optional) + ... + ... +``` +3. Evaluate with the following commands: +``` +python eval.py configs/scannet.yaml checkpoints/scannet.ckpt +python eval.py configs/megadepth.yaml checkpoints/megedepth.ckpt +``` + +### HO3D +1. Download HO3D (version 3) dataset [here](https://www.tugraz.at/institute/icg/research/team-lepetit/research-projects/hand-object-3d-pose-annotation/), `HO3D_v3.zip` and `HO3D_v3_segmentations_rendered.zip` are required. +2. Unzip and organize the downloaded files: +``` +mkdir data/ho3d +unzip /HO3D_v3.zip -d data/ho3d +unzip /HO3D_v3_segmentations_rendered.zip -d data/ho3d +``` +3. Evaluate with the following commands: +``` +python eval.py configs/ho3d.yaml checkpoints/ho3d.ckpt +python eval_add_reproj.py configs/ho3d.yaml checkpoints/ho3d.ckpt +``` + +### Linemod +1. Download Linemod dataset [here](https://bop.felk.cvut.cz/datasets/) or run the following commands: +``` +cd data + +export SRC=https://bop.felk.cvut.cz/media/data/bop_datasets +wget $SRC/lm_base.zip # Base archive with dataset info, camera parameters, etc. +wget $SRC/lm_models.zip # 3D object models. +wget $SRC/lm_test_all.zip # All test images ("_bop19" for a subset used in the BOP Challenge 2019/2020). +wget $SRC/lm_train_pbr.zip # PBR training images (rendered with BlenderProc4BOP). + +unzip lm_base.zip # Contains folder "lm". +unzip lm_models.zip -d lm # Unpacks to "lm". +unzip lm_test_all.zip -d lm # Unpacks to "lm". +unzip lm_train_pbr.zip -d lm # Unpacks to "lm". +``` + +2. Evaluate with the following commands: +``` +python eval.py configs/linemod.yaml checkpoints/linemod.ckpt +python eval_add_reproj.py configs/linemod.yaml checkpoints/linemod.ckpt +``` + +### Niantic +1. Download Niantic dataset [here](https://research.nianticlabs.com/mapfree-reloc-benchmark/dataset). +2. Unzip and organize the downloaded files: +``` +mkdir data/mapfree +unzip /train.zip -d data/mapfree +unzip /val.zip -d data/mapfree +unzip /test.zip -d data/mapfree +``` +3. The ground truth of the test set is not publicly available, but you can run the following command to produce a new submission file and submit it on the [project page](https://research.nianticlabs.com/mapfree-reloc-benchmark/submit) for evaluation: +``` +python eval_add_reproj.py configs/mapfree.yaml checkpoints/mapfree.ckpt +``` +You should be able to find a `new_submission.zip` in `SRPose/assets/` afterwards, or you can submit the already produced file `SRPose/assets/mapfree_submission.zip` instead. + + +## Training +Download and organize the datasets following [Evaluation](#evaluation), then run the following command for training: +``` +python train.py configs/.yaml +``` +Please refer to the `.yaml` files in `SRPose/configs/` for detailed configurations. + + +## Baselines +We also offer two publicly available matcher-based baselines, [LightGlue](https://github.com/cvg/LightGlue) and [LoFTR](https://github.com/zju3dv/LoFTR), for evaluation and comparison. +Just run the following commands: +``` +# For Matterport, ScanNet and MegaDepth +python eval_baselines.py configs/.yaml lightglue +python eval_baselines.py configs/.yaml loftr + +# For HO3D and Linemod +python eval_baselines.py configs/.yaml lightglue --resize 640 --depth +python eval_baselines.py configs/.yaml loftr --resize 640 --depth +``` + +The `--resize xx` option controls the larger dimension of cropped target object images that will be resized to. +The `--depth` option controls whether the depth maps will be used to obtain scaled pose estimation. + +## Acknowledgements +In this repository, we have used codes from the following repositories. We thank all the authors for sharing great codes. +- [LightGlue](https://github.com/cvg/LightGlue) +- [LoFTR](https://github.com/zju3dv/LoFTR) +- [8point](https://github.com/crockwell/rel_pose) +- [SparsePlanes](https://github.com/jinlinyi/SparsePlanes/tree/main) +- [Map-free](https://github.com/nianticlabs/map-free-reloc/tree/main) + +## Citation +``` +@inproceedings{yin2024srpose, + title={SRPose: Two-view Relative Pose Estimation with Sparse Keypoints}, + author={Yin, Rui and Zhang, Yulun and Pan, Zherong and Zhu, Jianjun and Wang, Cheng and Jia, Biao}, + booktitle={ECCV}, + year={2024} +} +``` diff --git a/assets/figures/obj_vis_gt.png b/assets/figures/obj_vis_gt.png new file mode 100644 index 0000000000000000000000000000000000000000..7e82c2a17eeb37cd33da69de6a4d03c48590c9e7 Binary files /dev/null and b/assets/figures/obj_vis_gt.png differ diff --git a/assets/figures/obj_vis_query.png b/assets/figures/obj_vis_query.png new file mode 100644 index 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a/baselines/matchers.py b/baselines/matchers.py new file mode 100644 index 0000000000000000000000000000000000000000..6a55a0921199cf04692a23944aa0481df533f334 --- /dev/null +++ b/baselines/matchers.py @@ -0,0 +1,72 @@ +import torch +import time + +from lightglue import LightGlue as LightGlue_ +from lightglue import SuperPoint +from lightglue.utils import rbd +from kornia.feature import LoFTR as LoFTR_ + + +def image_rgb2gray(image): + # in: torch.tensor - (3, H, W) + # out: (1, H, W) + image = image[0] * 0.3 + image[1] * 0.59 + image[2] * 0.11 + return image[None] + + +class LightGlue(): + def __init__(self, num_keypoints=2048, device='cuda'): + self.extractor = SuperPoint(max_num_keypoints=num_keypoints).eval().to(device) # load the extractor + self.matcher = LightGlue_(features='superpoint').eval().to(device) # load the matcher + self.device = device + + @torch.no_grad() + def match(self, image0, image1): + start_time = time.time() + + # image: torch.tensor - (3, H, W) + image0 = image0.to(self.device) + image1 = image1.to(self.device) + + preprocess_time = time.time() + + # extract local features + feats0 = self.extractor.extract(image0) # auto-resize the image, disable with resize=None + feats1 = self.extractor.extract(image1) + + extract_time = time.time() + + # match the features + matches01 = self.matcher({'image0': feats0, 'image1': feats1}) + feats0, feats1, matches01 = [rbd(x) for x in [feats0, feats1, matches01]] # remove batch dimension + matches = matches01['matches'] # indices with shape (K,2) + points0 = feats0['keypoints'][matches[..., 0]] # coordinates in image #0, shape (K,2) + points1 = feats1['keypoints'][matches[..., 1]] # coordinates in image #1, shape (K,2) + + match_time = time.time() + + return points0, points1, preprocess_time-start_time, extract_time-preprocess_time, match_time-extract_time + + +class LoFTR(): + def __init__(self, pretrained='indoor', device='cuda'): + self.loftr = LoFTR_(pretrained=pretrained).eval().to(device) + self.device = device + + @torch.no_grad() + def match(self, image0, image1): + start_time = time.time() + + # image: torch.tensor - (3, H, W) + image0 = image_rgb2gray(image0)[None].to(self.device) + image1 = image_rgb2gray(image1)[None].to(self.device) + + preprocess_time = time.time() + + extract_time = time.time() + + out = self.loftr({'image0': image0, 'image1': image1}) + points0, points1 = out['keypoints0'], out['keypoints1'] + + match_time = time.time() + return points0, points1, preprocess_time-start_time, extract_time-preprocess_time, match_time-extract_time diff --git a/baselines/pose.py b/baselines/pose.py new file mode 100644 index 0000000000000000000000000000000000000000..d5bfed0b58aaed6c296aa2551c58fd5c04c27ec6 --- /dev/null +++ b/baselines/pose.py @@ -0,0 +1,92 @@ +import torch +from torchvision.transforms import Resize + +from .matchers import LightGlue, LoFTR +# from .__models import SuperGlue, SGMNet, ASpanFormer, DKM +from .pose_solver import EssentialMatrixSolver, EssentialMatrixMetricSolver, PnPSolver, ProcrustesSolver + +import time + + +class PoseRecover(): + def __init__(self, matcher='lightglue', solver='procrustes', img_resize=None, device='cuda'): + self.device = device + + if matcher == 'lightglue': + self.matcher = LightGlue(device=device) + elif matcher == 'loftr': + self.matcher = LoFTR(device=device) + # elif matcher == 'superglue': + # self.matcher = SuperGlue(device=device) + # elif matcher == 'aspanformer': + # self.matcher = ASpanFormer(device=device) + # elif matcher == 'sgmnet': + # self.matcher = SGMNet(device=device) + # elif matcher == 'dkm': + # self.matcher = DKM(device=device) + else: + raise NotImplementedError + + self.img_resize = img_resize + + self.basic_solver = EssentialMatrixSolver() + + if solver == 'essential': + self.scaled_solver = EssentialMatrixMetricSolver() + elif solver == 'pnp': + self.scaled_solver = PnPSolver() + elif solver == 'procrustes': + self.scaled_solver = ProcrustesSolver() + + def recover(self, image0, image1, K0, K1, bbox0=None, bbox1=None, mask0=None, mask1=None, depth0=None, depth1=None): + if self.img_resize is not None: + h, w = image0.shape[-2:] + if h > w: + h_new = self.img_resize + w_new = int(w * h_new / h) + else: + w_new = self.img_resize + h_new = int(h * w_new / w) + + # h_new, w_new = 480, 640 + resize = Resize((h_new, w_new), antialias=True) + scale0 = torch.tensor([image0.shape[-1]/w_new, image0.shape[-2]/h_new], dtype=torch.float) + scale1 = torch.tensor([image1.shape[-1]/w_new, image1.shape[-2]/h_new], dtype=torch.float) + image0 = resize(image0) + image1 = resize(image1) + + points0, points1, preprocess_time, extract_time, match_time = self.matcher.match(image0, image1) + + if self.img_resize is not None: + points0 *= scale0.unsqueeze(0).to(points0.device) + points1 *= scale1.unsqueeze(0).to(points1.device) + + if bbox0 is not None and bbox1 is not None: + x1, y1, x2, y2 = bbox0 + u1, v1, u2, v2 = bbox1 + + points0[:, 0] += x1 + points0[:, 1] += y1 + + points1[:, 0] += u1 + points1[:, 1] += v1 + + if mask0 is not None and mask1 is not None: + filtered_ind0 = mask0[(points0[:, 1]).int(), (points0[:, 0]).int()] + filtered_ind1 = mask1[(points1[:, 1]).int(), (points1[:, 0]).int()] + filtered_inds = filtered_ind0 * filtered_ind1 + points0 = points0[filtered_inds] + points1 = points1[filtered_inds] + + points0, points1 = points0.cpu().numpy(), points1.cpu().numpy() + + start_time = time.time() + + if depth0 is None or depth1 is None: + R_est, t_est, _ = self.basic_solver.estimate_pose(points0, points1, {'K_color0': K0, 'K_color1': K1}) + else: + R_est, t_est, _ = self.scaled_solver.estimate_pose(points0, points1, {'K_color0': K0, 'K_color1': K1, 'depth0': depth0, 'depth1': depth1}) + + recover_time = time.time() + + return R_est, t_est, points0, points1, preprocess_time, extract_time, match_time, recover_time-start_time diff --git a/baselines/pose_solver.py b/baselines/pose_solver.py new file mode 100644 index 0000000000000000000000000000000000000000..385b8831afda3744d1c18eff34663de73cf2fab2 --- /dev/null +++ b/baselines/pose_solver.py @@ -0,0 +1,320 @@ +import numpy as np +import cv2 as cv +import open3d as o3d + + +def backproject_3d(uv, depth, K): + ''' + Backprojects 2d points given by uv coordinates into 3D using their depth values and intrinsic K + :param uv: array [N,2] + :param depth: array [N] + :param K: array [3,3] + :return: xyz: array [N,3] + ''' + + uv1 = np.concatenate([uv, np.ones((uv.shape[0], 1))], axis=1) + xyz = depth.reshape(-1, 1) * (np.linalg.inv(K) @ uv1.T).T + return xyz + + +class EssentialMatrixSolver: + '''Obtain relative pose (up to scale) given a set of 2D-2D correspondences''' + + def __init__(self, ransac_pix_threshold=0.5, ransac_confidence=0.99999): + + # EMat RANSAC parameters + self.ransac_pix_threshold = ransac_pix_threshold + self.ransac_confidence = ransac_confidence + + def estimate_pose(self, kpts0, kpts1, data): + R = np.full((3, 3), np.nan) + t = np.full((3), np.nan) + if len(kpts0) < 5: + return R, t, 0 + + K0 = data['K_color0'].numpy() + K1 = data['K_color1'].numpy() + + # normalize keypoints + kpts0 = (kpts0 - K0[[0, 1], [2, 2]][None]) / K0[[0, 1], [0, 1]][None] + kpts1 = (kpts1 - K1[[0, 1], [2, 2]][None]) / K1[[0, 1], [0, 1]][None] + + # normalize ransac threshold + ransac_thr = self.ransac_pix_threshold / np.mean([K0[0, 0], K1[1, 1], K0[1, 1], K1[0, 0]]) + + # compute pose with OpenCV + E, mask = cv.findEssentialMat( + kpts0, kpts1, np.eye(3), + threshold=ransac_thr, prob=self.ransac_confidence, method=cv.RANSAC) + self.mask = mask + if E is None: + return R, t, 0 + + # recover pose from E + best_num_inliers = 0 + ret = R, t, 0 + for _E in np.split(E, len(E) / 3): + n, R, t, _ = cv.recoverPose(_E, kpts0, kpts1, np.eye(3), 1e9, mask=mask) + if n > best_num_inliers: + best_num_inliers = n + ret = (R, t[:, 0], n) + return ret + + +class EssentialMatrixMetricSolverMEAN(EssentialMatrixSolver): + '''Obtains relative pose with scale using E-Mat decomposition and depth values at inlier correspondences''' + + def __init__(self, cfg): + super().__init__(cfg) + + def estimate_pose(self, kpts0, kpts1, data): + '''Estimates metric translation vector using by back-projecting E-mat inliers to 3D using depthmaps. + The metric translation vector can be obtained by looking at the residual vector (projected to the translation vector direction). + In this version, each 3D-3D correspondence gives an optimal scale for the translation vector. + We simply aggregate them by averaging them. + ''' + + # get pose up to scale + R, t, inliers = super().estimate_pose(kpts0, kpts1, data) + if inliers == 0: + return R, t, inliers + + # backproject E-mat inliers at each camera + K0 = data['K_color0'] + K1 = data['K_color1'] + mask = self.mask.ravel() == 1 # get E-mat inlier mask from super class + inliers_kpts0 = np.int32(kpts0[mask]) + inliers_kpts1 = np.int32(kpts1[mask]) + depth_inliers_0 = data['depth0'][inliers_kpts0[:, 1], inliers_kpts0[:, 0]].numpy() + depth_inliers_1 = data['depth1'][inliers_kpts1[:, 1], inliers_kpts1[:, 0]].numpy() + # check for valid depth + valid = (depth_inliers_0 > 0) * (depth_inliers_1 > 0) + if valid.sum() < 1: + R = np.full((3, 3), np.nan) + t = np.full((3, 1), np.nan) + inliers = 0 + return R, t, inliers + xyz0 = backproject_3d(inliers_kpts0[valid], depth_inliers_0[valid], K0) + xyz1 = backproject_3d(inliers_kpts1[valid], depth_inliers_1[valid], K1) + + # rotate xyz0 to xyz1 CS (so that axes are parallel) + xyz0 = (R @ xyz0.T).T + + # get average point for each camera + pmean0 = np.mean(xyz0, axis=0) + pmean1 = np.mean(xyz1, axis=0) + + # find scale as the 'length' of the translation vector that minimises the 3D distance between projected points from 0 and the corresponding points in 1 + scale = np.dot(pmean1 - pmean0, t) + t_metric = scale * t + t_metric = t_metric.reshape(3, 1) + + return R, t_metric[:, 0], inliers + + +class EssentialMatrixMetricSolver(EssentialMatrixSolver): + ''' + Obtains relative pose with scale using E-Mat decomposition and RANSAC for scale based on depth values at inlier correspondences. + The scale of the translation vector is obtained using RANSAC over the possible scales recovered from 3D-3D correspondences. + ''' + + def __init__(self, ransac_pix_threshold=0.5, ransac_confidence=0.99999, ransac_scale_threshold=0.1): + super().__init__(ransac_pix_threshold, ransac_confidence) + self.ransac_scale_threshold = ransac_scale_threshold + + def estimate_pose(self, kpts0, kpts1, data): + '''Estimates metric translation vector using by back-projecting E-mat inliers to 3D using depthmaps. + ''' + + # get pose up to scale + R, t, inliers = super().estimate_pose(kpts0, kpts1, data) + if inliers == 0: + return R, t, inliers + + # backproject E-mat inliers at each camera + K0 = data['K_color0'] + K1 = data['K_color1'] + mask = self.mask.ravel() == 1 # get E-mat inlier mask from super class + inliers_kpts0 = np.int32(kpts0[mask]) + inliers_kpts1 = np.int32(kpts1[mask]) + depth_inliers_0 = data['depth0'][inliers_kpts0[:, 1], inliers_kpts0[:, 0]].numpy() + depth_inliers_1 = data['depth1'][inliers_kpts1[:, 1], inliers_kpts1[:, 0]].numpy() + + # check for valid depth + valid = (depth_inliers_0 > 0) * (depth_inliers_1 > 0) + if valid.sum() < 1: + R = np.full((3, 3), np.nan) + t = np.full((3, ), np.nan) + inliers = 0 + return R, t, inliers + xyz0 = backproject_3d(inliers_kpts0[valid], depth_inliers_0[valid], K0) + xyz1 = backproject_3d(inliers_kpts1[valid], depth_inliers_1[valid], K1) + + # rotate xyz0 to xyz1 CS (so that axes are parallel) + xyz0 = (R @ xyz0.T).T + + # get individual scales (for each 3D-3D correspondence) + scale = np.dot(xyz1 - xyz0, t.reshape(3, 1)) # [N, 1] + + # RANSAC loop + best_inliers = 0 + best_scale = None + for scale_hyp in scale: + inliers_hyp = (np.abs(scale - scale_hyp) < self.ransac_scale_threshold).sum().item() + if inliers_hyp > best_inliers: + best_scale = scale_hyp + best_inliers = inliers_hyp + + # Output results + t_metric = best_scale * t + t_metric = t_metric.reshape(3, 1) + + return R, t_metric[:, 0], best_inliers + + +class PnPSolver: + '''Estimate relative pose (metric) using Perspective-n-Point algorithm (2D-3D) correspondences''' + + def __init__(self, ransac_iterations=1000, reprojection_inlier_threshold=3, confidence=0.99999): + # PnP RANSAC parameters + self.ransac_iterations = ransac_iterations + self.reprojection_inlier_threshold = reprojection_inlier_threshold + self.confidence = confidence + + def estimate_pose(self, pts0, pts1, data): + # uses nearest neighbour + pts0 = np.int32(pts0) + + if len(pts0) < 4: + return np.full((3, 3), np.nan), np.full((3, 1), np.nan), 0 + + # get depth at correspondence points + depth_0 = data['depth0'] + depth_pts0 = depth_0[pts0[:, 1], pts0[:, 0]] + + # remove invalid pts (depth == 0) + valid = depth_pts0 > depth_0.min() + if valid.sum() < 4: + return np.full((3, 3), np.nan), np.full((3, 1), np.nan), 0 + pts0 = pts0[valid] + pts1 = pts1[valid] + depth_pts0 = depth_pts0[valid] + + # backproject points to 3D in each sensors' local coordinates + K0 = data['K_color0'] + K1 = data['K_color1'] + xyz_0 = backproject_3d(pts0, depth_pts0, K0).numpy() + + # get relative pose using PnP + RANSAC + succ, rvec, tvec, inliers = cv.solvePnPRansac( + xyz_0, pts1, K1.numpy(), + None, iterationsCount=self.ransac_iterations, + reprojectionError=self.reprojection_inlier_threshold, confidence=self.confidence, + flags=cv.SOLVEPNP_P3P) + + # refine with iterative PnP using inliers only + if succ and len(inliers) >= 6: + succ, rvec, tvec, _ = cv.solvePnPGeneric(xyz_0[inliers], pts1[inliers], K1.numpy( + ), None, useExtrinsicGuess=True, rvec=rvec, tvec=tvec, flags=cv.SOLVEPNP_ITERATIVE) + rvec = rvec[0] + tvec = tvec[0] + + # avoid degenerate solutions + if succ: + if np.linalg.norm(tvec) > 1000: + succ = False + + if succ: + R, _ = cv.Rodrigues(rvec) + t = tvec.reshape(3, 1) + else: + R = np.full((3, 3), np.nan) + t = np.full((3, 1), np.nan) + inliers = [] + + return R, t[:, 0], inliers + + +class ProcrustesSolver: + '''Estimate relative pose (metric) using 3D-3D correspondences''' + + def __init__(self, ransac_max_corr_distance=0.5, refine=False): + + # Procrustes RANSAC parameters + self.ransac_max_corr_distance = ransac_max_corr_distance + self.refine = refine + + def estimate_pose(self, pts0, pts1, data): + # uses nearest neighbour + pts0 = np.int32(pts0) + pts1 = np.int32(pts1) + + if len(pts0) < 3: + return np.full((3, 3), np.nan), np.full((3), np.nan), 0 + + # get depth at correspondence points + depth_0, depth_1 = data['depth0'], data['depth1'] + depth_pts0 = depth_0[pts0[:, 1], pts0[:, 0]] + depth_pts1 = depth_1[pts1[:, 1], pts1[:, 0]] + + # remove invalid pts (depth == 0) + valid = (depth_pts0 > depth_0.min()) * (depth_pts1 > depth_1.min()) + if valid.sum() < 3: + return np.full((3, 3), np.nan), np.full((3), np.nan), 0 + pts0 = pts0[valid] + pts1 = pts1[valid] + depth_pts0 = depth_pts0[valid] + depth_pts1 = depth_pts1[valid] + + # backproject points to 3D in each sensors' local coordinates + K0 = data['K_color0'] + K1 = data['K_color1'] + xyz_0 = backproject_3d(pts0, depth_pts0, K0) + xyz_1 = backproject_3d(pts1, depth_pts1, K1) + + # create open3d point cloud objects and correspondences idxs + pcl_0 = o3d.geometry.PointCloud() + pcl_0.points = o3d.utility.Vector3dVector(xyz_0) + pcl_1 = o3d.geometry.PointCloud() + pcl_1.points = o3d.utility.Vector3dVector(xyz_1) + corr_idx = np.arange(pts0.shape[0]) + corr_idx = np.tile(corr_idx.reshape(-1, 1), (1, 2)) + corr_idx = o3d.utility.Vector2iVector(corr_idx) + + # obtain relative pose using procrustes + ransac_criteria = o3d.pipelines.registration.RANSACConvergenceCriteria() + res = o3d.pipelines.registration.registration_ransac_based_on_correspondence( + pcl_0, pcl_1, corr_idx, self.ransac_max_corr_distance, criteria=ransac_criteria) + inliers = int(res.fitness * np.asarray(pcl_1.points).shape[0]) + + # refine with ICP + if self.refine: + # first, backproject both (whole) point clouds + vv, uu = np.mgrid[0:depth_0.shape[0], 0:depth_1.shape[1]] + uv_coords = np.concatenate([uu.reshape(-1, 1), vv.reshape(-1, 1)], axis=1) + + valid = depth_0.reshape(-1) > 0 + xyz_0 = backproject_3d(uv_coords[valid], depth_0.reshape(-1)[valid], K0) + + valid = depth_1.reshape(-1) > 0 + xyz_1 = backproject_3d(uv_coords[valid], depth_1.reshape(-1)[valid], K1) + + pcl_0 = o3d.geometry.PointCloud() + pcl_0.points = o3d.utility.Vector3dVector(xyz_0) + pcl_1 = o3d.geometry.PointCloud() + pcl_1.points = o3d.utility.Vector3dVector(xyz_1) + + icp_criteria = o3d.pipelines.registration.ICPConvergenceCriteria(relative_fitness=1e-4, + relative_rmse=1e-4, + max_iteration=30) + + res = o3d.pipelines.registration.registration_icp(pcl_0, + pcl_1, + self.ransac_max_corr_distance, + init=res.transformation, + criteria=icp_criteria) + + R = res.transformation[:3, :3] + t = res.transformation[:3, -1] + inliers = int(res.fitness * np.asarray(pcl_1.points).shape[0]) + return R, t, inliers diff --git a/configs/default.py b/configs/default.py new file mode 100644 index 0000000000000000000000000000000000000000..de7c34bde4482dc97135a7fea07896a6f21269b5 --- /dev/null +++ b/configs/default.py @@ -0,0 +1,85 @@ +from yacs.config import CfgNode as CN + + +_CN = CN() + +# Model +_CN.MODEL = CN() +_CN.MODEL.NUM_KEYPOINTS = 1024 +_CN.MODEL.TEST_NUM_KEYPOINTS = 2048 +_CN.MODEL.N_LAYERS = 6 +_CN.MODEL.NUM_HEADS = 4 +_CN.MODEL.FEATURES = 'superpoint' + +# Dataset +_CN.DATASET = CN() +_CN.DATASET.TASK = None +_CN.DATASET.DATA_SOURCE = None +_CN.DATASET.DATA_ROOT = None +_CN.DATASET.MIN_OVERLAP_SCORE = None + +## For MapFree +_CN.DATASET.ESTIMATED_DEPTH = None + +## For Linemod(BOP) +_CN.DATASET.OBJECT_ID = None +_CN.DATASET.MIN_VISIBLE_FRACT = None +_CN.DATASET.MAX_ANGLE_ERROR = None +_CN.DATASET.JSON_PATH = None + +## For MegaDepth/ScanNet +_CN.DATASET.TRAIN = CN() +_CN.DATASET.TRAIN.DATA_ROOT = None +_CN.DATASET.TRAIN.NPZ_ROOT = None +_CN.DATASET.TRAIN.LIST_PATH = None +_CN.DATASET.TRAIN.INTRINSIC_PATH = None +_CN.DATASET.TRAIN.MIN_OVERLAP_SCORE = None + +_CN.DATASET.VAL = CN() +_CN.DATASET.VAL.DATA_ROOT = None +_CN.DATASET.VAL.NPZ_ROOT = None +_CN.DATASET.VAL.LIST_PATH = None +_CN.DATASET.VAL.INTRINSIC_PATH = None +_CN.DATASET.VAL.MIN_OVERLAP_SCORE = None + +_CN.DATASET.TEST = CN() +_CN.DATASET.TEST.DATA_ROOT = None +_CN.DATASET.TEST.NPZ_ROOT = None +_CN.DATASET.TEST.LIST_PATH = None +_CN.DATASET.TEST.INTRINSIC_PATH = None +_CN.DATASET.TEST.MIN_OVERLAP_SCORE = None + +# Train +_CN.TRAINER = CN() + +_CN.TRAINER.EPOCHS = None +_CN.TRAINER.LEARNING_RATE = None +_CN.TRAINER.PCT_START = None +_CN.TRAINER.BATCH_SIZE = None +_CN.TRAINER.NUM_WORKERS = None +_CN.TRAINER.PIN_MEMORY = True +_CN.TRAINER.N_SAMPLES_PER_SUBSET = None + +_CN.RANDOM_SEED = 0 + + +# _CN.EMAT_RANSAC = CN() +# _CN.EMAT_RANSAC.PIX_THRESHOLD = 0.5 +# _CN.EMAT_RANSAC.SCALE_THRESHOLD = 0.1 +# _CN.EMAT_RANSAC.CONFIDENCE = 0.99999 + +# _CN.PNP = CN() +# _CN.PNP.RANSAC_ITER = 1000 +# _CN.PNP.REPROJECTION_INLIER_THRESHOLD = 3 +# _CN.PNP.CONFIDENCE = 0.99999 + +# _CN.PROCRUSTES = CN() +# _CN.PROCRUSTES.MAX_CORR_DIST = 0.05 # meters +# _CN.PROCRUSTES.REFINE = False + + +def get_cfg_defaults(): + """Get a yacs CfgNode object with default values for my_project.""" + # Return a clone so that the defaults will not be altered + # This is for the "local variable" use pattern + return _CN.clone() diff --git a/configs/ho3d.yaml b/configs/ho3d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..525f131444175b0fd237a378e7053fcdfaafef50 --- /dev/null +++ b/configs/ho3d.yaml @@ -0,0 +1,19 @@ +MODEL: + NUM_KEYPOINTS: 1024 + +DATASET: + TASK: 'object' + DATA_SOURCE: 'ho3d' + DATA_ROOT: 'data/ho3d' + JSON_PATH: 'assets/ho3d_test_3000/ho3d_test.json' + + MAX_ANGLE_ERROR: 45 + +TRAINER: + EPOCHS: 200 + LEARNING_RATE: 0.00002 + BATCH_SIZE: 32 + NUM_WORKERS: 8 + PCT_START: 0.3 + N_SAMPLES_PER_SUBSET: 4000 + \ No newline at end of file diff --git a/configs/linemod.yaml b/configs/linemod.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e87ff7c4771f18faa24799ac53d237d9ef6e1357 --- /dev/null +++ b/configs/linemod.yaml @@ -0,0 +1,20 @@ +MODEL: + NUM_KEYPOINTS: 1200 + +DATASET: + TASK: 'object' + DATA_SOURCE: 'linemod' + DATA_ROOT: 'data/lm' + JSON_PATH: 'assets/linemod_test_1500/linemod_test.json' + + MIN_VISIBLE_FRACT: 0.75 + MAX_ANGLE_ERROR: 45 + +TRAINER: + EPOCHS: 200 + LEARNING_RATE: 0.00002 + BATCH_SIZE: 32 + NUM_WORKERS: 8 + PCT_START: 0.3 + N_SAMPLES_PER_SUBSET: 200 + \ No newline at end of file diff --git a/configs/mapfree.yaml b/configs/mapfree.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c38d1ccd37d4e28939120cff015587e22a3457ab --- /dev/null +++ b/configs/mapfree.yaml @@ -0,0 +1,14 @@ +DATASET: + TASK: 'scene' + DATA_SOURCE: 'mapfree' + DATA_ROOT: 'data/mapfree/' + # ESTIMATED_DEPTH: None # To load estimated depth map, provide the suffix to the depth files, e.g. 'dptnyu', 'dptkiti' + +TRAINER: + EPOCHS: 200 + LEARNING_RATE: 0.00002 + BATCH_SIZE: 32 + NUM_WORKERS: 6 + PCT_START: 0.3 + N_SAMPLES_PER_SUBSET: 200 + \ No newline at end of file diff --git a/configs/matterport.yaml b/configs/matterport.yaml new file mode 100644 index 0000000000000000000000000000000000000000..288b91ce739c3765977fdc37cae0054067e32049 --- /dev/null +++ b/configs/matterport.yaml @@ -0,0 +1,11 @@ +DATASET: + TASK: 'scene' + DATA_SOURCE: 'matterport' + DATA_ROOT: 'data/mp3d' + +TRAINER: + EPOCHS: 200 + LEARNING_RATE: 0.00005 + BATCH_SIZE: 32 + NUM_WORKERS: 8 + PCT_START: 0.3 diff --git a/configs/megadepth.yaml b/configs/megadepth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aeb5127e132df4585bff16ca28236775521be7a3 --- /dev/null +++ b/configs/megadepth.yaml @@ -0,0 +1,29 @@ +DATASET: + TASK: "scene" + DATA_SOURCE: "megadepth" + + TRAIN: + DATA_ROOT: "data/megadepth/train" + NPZ_ROOT: "data/megadepth/index/scene_info_0.1_0.7" + LIST_PATH: "data/megadepth/index/trainvaltest_list/train_list.txt" + MIN_OVERLAP_SCORE: 0.0 + + VAL: + DATA_ROOT: "data/megadepth/test" + NPZ_ROOT: "data/megadepth/index/scene_info_val_1500" + LIST_PATH: "data/megadepth/index/trainvaltest_list/val_list.txt" + MIN_OVERLAP_SCORE: 0.0 + + TEST: + DATA_ROOT: "data/megadepth/test" + NPZ_ROOT: "assets/megadepth_test_1500_scene_info" + LIST_PATH: "assets/megadepth_test_1500_scene_info/megadepth_test_1500.txt" + MIN_OVERLAP_SCORE: 0.0 + +TRAINER: + EPOCHS: 500 + LEARNING_RATE: 0.00002 + BATCH_SIZE: 32 + NUM_WORKERS: 8 + PCT_START: 0.3 + N_SAMPLES_PER_SUBSET: 200 diff --git a/configs/scannet.yaml b/configs/scannet.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3184589d77fd6a567d6075c39f1a1a2c07c7adfd --- /dev/null +++ b/configs/scannet.yaml @@ -0,0 +1,33 @@ +DATASET: + TASK: "scene" + DATA_SOURCE: "scannet" + + TRAIN: + DATA_ROOT: "data/scannet/train" + NPZ_ROOT: "data/scannet/index/scene_data/train" + LIST_PATH: "data/scannet/index/scene_data/train_list/scannet_all.txt" + INTRINSIC_PATH: "data/scannet/index/intrinsics.npz" + MIN_OVERLAP_SCORE: 0.4 + + VAL: + DATA_ROOT: "data/scannet/test" + NPZ_ROOT: "assets/scannet_test_1500" + LIST_PATH: "assets/scannet_test_1500/scannet_test.txt" + INTRINSIC_PATH: "assets/scannet_test_1500/intrinsics.npz" + MIN_OVERLAP_SCORE: 0.0 + + TEST: + DATA_ROOT: "data/scannet/test" + NPZ_ROOT: "assets/scannet_test_1500" + LIST_PATH: "assets/scannet_test_1500/scannet_test.txt" + INTRINSIC_PATH: "assets/scannet_test_1500/intrinsics.npz" + MIN_OVERLAP_SCORE: 0.0 + +TRAINER: + EPOCHS: 500 + LEARNING_RATE: 0.0001 + BATCH_SIZE: 32 + NUM_WORKERS: 8 + PCT_START: 0.3 + N_SAMPLES_PER_SUBSET: 200 + \ No newline at end of file diff --git a/datasets/__init__.py b/datasets/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..77b1456bfd4f76ba322bb2c1a9fff902dbc8beac --- /dev/null +++ b/datasets/__init__.py @@ -0,0 +1,20 @@ +from .matterport import build_matterport +from .linemod import build_linemod +from .megadepth import build_concat_megadepth +from .scannet import build_concat_scannet +from .ho3d import build_ho3d +from .mapfree import build_concat_mapfree +from .sampler import RandomConcatSampler + +dataset_dict = { + 'scene': { + 'matterport': build_matterport, + 'megadepth': build_concat_megadepth, + 'scannet': build_concat_scannet, + 'mapfree': build_concat_mapfree, + }, + 'object': { + 'linemod': build_linemod, + 'ho3d': build_ho3d, + } +} diff --git a/datasets/ho3d.py b/datasets/ho3d.py new file mode 100644 index 0000000000000000000000000000000000000000..729bc700b4f8088b5d7d89441824fbff45d7caf4 --- /dev/null +++ b/datasets/ho3d.py @@ -0,0 +1,331 @@ +from pathlib import Path +import numpy as np +from PIL import Image +import cv2 +import pickle +import json +from tqdm import tqdm +import torch +from torch.utils.data import Dataset, ConcatDataset + +from utils.augment import Augmentor + + +class HO3D(Dataset): + def __init__(self, data_root, sequence_path, mode): + self.data_root = Path(data_root) + mode = 'evaluation' if mode != 'train' else 'train' + self.sequence_dir = self.data_root / mode / sequence_path + + self.color_dir = self.sequence_dir / 'rgb' + self.mask_dir = self.sequence_dir / 'seg' + self.depth_dir = self.sequence_dir / 'depth' + self.meta_dir = self.sequence_dir / 'meta' + + self.color_paths = list(self.color_dir.iterdir()) + self.color_paths = sorted(self.color_paths) + + self.mask_paths = [self.mask_dir / f'{x.stem}.png' for x in self.color_paths] + self.depth_paths = [self.depth_dir / f'{x.stem}.png' for x in self.color_paths] + self.meta_paths = [self.meta_dir / f'{x.stem}.pkl' for x in self.color_paths] + + # self.glcam_in_cvcam = torch.tensor([ + # [1,0,0,0], + # [0,-1,0,0], + # [0,0,-1,0], + # [0,0,0,1] + # ]).float() + self.intrinsics, self.extrinsics, self.objCorners, self.objNames, valid = self._load_meta(self.meta_paths) + + self.color_paths = np.array(self.color_paths)[valid.numpy()] + self.mask_paths = np.array(self.mask_paths)[valid.numpy()] + self.depth_paths = np.array(self.depth_paths)[valid.numpy()] + self.meta_paths = np.array(self.meta_paths)[valid.numpy()] + + self.bboxes, valid = self._load_bboxes(self.mask_paths) + self.intrinsics = self.intrinsics[valid] + self.extrinsics = self.extrinsics[valid] + self.objCorners = self.objCorners[valid] + self.objNames = self.objNames[valid.numpy()] + self.color_paths = self.color_paths[valid.numpy()] + self.mask_paths = self.mask_paths[valid.numpy()] + self.depth_paths = self.depth_paths[valid.numpy()] + self.meta_paths = self.meta_paths[valid.numpy()] + + assert len(self.color_paths) == self.intrinsics.shape[0] + assert len(self.objNames) == self.extrinsics.shape[0] + + self.augment = Augmentor(mode=='train') + + def __len__(self): + return len(self.color_paths) + + def _load_bboxes(self, mask_paths): + bboxes = [] + valid = [] + for mask_path in mask_paths: + mask = cv2.imread(str(mask_path)) + # mask = cv2.resize(mask, (640, 480)) + w_scale, h_scale = 640 / mask.shape[1], 480 / mask.shape[0] + obj_mask = torch.from_numpy(mask[..., 1] == 255) + + if obj_mask.float().sum() < 100: + valid.append(False) + continue + valid.append(True) + + mask_inds = torch.where(obj_mask) + x1, x2 = mask_inds[0].aminmax() + y1, y2 = mask_inds[1].aminmax() + bbox = torch.tensor([y1*h_scale, x1*w_scale, y2*h_scale, x2*w_scale]).int() + bboxes.append(bbox) + + bboxes = torch.stack(bboxes) + valid = torch.tensor(valid) + + return bboxes, valid + + def _load_meta(self, meta_paths): + intrinsics = [] + extrinsics = [] + objCorners = [] + objNames = [] + valid = [] + for meta_path in meta_paths: + with open(meta_path, 'rb') as f: + anno = pickle.load(f, encoding='latin1') + + if anno['camMat'] is None: + valid.append(False) + continue + valid.append(True) + + camMat = torch.from_numpy(anno['camMat']) + ex = torch.eye(4) + ex[:3, :3] = torch.from_numpy(cv2.Rodrigues(anno['objRot'])[0]) + ex[:3, 3] = torch.from_numpy(anno['objTrans']) + # ex = self.glcam_in_cvcam @ ex + objCorners3DRest = torch.from_numpy(anno['objCorners3DRest']).float() + # objCorners3DRest = (ex[:3, :3] @ objCorners3DRest.T + ex[:3, 3:]).T + objCorners3DRest = objCorners3DRest @ ex[:3, :3].T + ex[:3, 3] + + intrinsics.append(camMat) + extrinsics.append(ex) + objCorners.append(objCorners3DRest) + objNames.append(anno['objName']) + + intrinsics = torch.stack(intrinsics).float() + extrinsics = torch.stack(extrinsics).float() + objCorners = torch.stack(objCorners) + objNames = np.array(objNames) + valid = torch.tensor(valid) + + return intrinsics, extrinsics, objCorners, objNames, valid + + def _load_mask(self, mask_path): + mask = cv2.imread(str(mask_path)) + mask = cv2.resize(mask, (640, 480)) + mask = mask[..., 1] == 255 + return mask + + def _load_depth(self, depth_path): + depth_scale = 0.00012498664727900177 + depth_img = cv2.imread(str(depth_path)) + + dpt = depth_img[:, :, 2] + depth_img[:, :, 1] * 256 + dpt = dpt * depth_scale + + return dpt + + def __getitem__(self, idx): + color = cv2.imread(str(self.color_paths[idx])) + color = cv2.cvtColor(color, cv2.COLOR_BGR2RGB) + # color = self.augment(color) + color = (torch.tensor(color).float() / 255.0).permute(2, 0, 1) + + mask = self._load_mask(self.mask_paths[idx]) + mask = torch.from_numpy(mask) + depth = self._load_depth(self.depth_paths[idx]) + depth = torch.from_numpy(depth) + + bbox = self.bboxes[idx] + + intrinsic = self.intrinsics[idx] + extrinsic = self.extrinsics[idx] + objCorners = self.objCorners[idx] + objName = self.objNames[idx] + + return { + 'color': color, + 'mask': mask, + 'depth': depth, + 'extrinsic': extrinsic, + 'intrinsic': intrinsic, + 'objCorners': objCorners, + 'bbox': bbox, + 'color_path': str(self.color_paths[idx]).split('/', 2)[-1], + 'objName': objName, + } + + +class HO3DPair(Dataset): + def __init__(self, data_root, mode, sequence_id, max_angle_error): + self.ho3d_dataset = HO3D(data_root, sequence_id, mode) + + angle_err = self.get_angle_error(self.ho3d_dataset.extrinsics[:, :3, :3]) + index0, index1 = torch.where(angle_err < max_angle_error) + filter = torch.where(index0 < index1) + self.index0, self.index1 = index0[filter], index1[filter] + # angle_err_filtered = angle_err[row, col] + + self.indices = torch.tensor(list(zip(self.index0, self.index1))) + if mode == 'val' or mode == 'test': + self.indices = self.indices[torch.randperm(self.indices.size(0))[:1500]] + + def get_angle_error(self, R): + # R: (B, 3, 3) + residual = torch.einsum('aij,bik->abjk', R, R) + trace = torch.diagonal(residual, dim1=-2, dim2=-1).sum(-1) + cosine = (trace - 1) / 2 + cosine = torch.clip(cosine, -1, 1) + R_err = torch.acos(cosine) + angle_err = R_err.rad2deg() + + return angle_err + + def __len__(self): + return len(self.indices) + + def __getitem__(self, idx): + idx0, idx1 = self.indices[idx] + data0, data1 = self.ho3d_dataset[idx0], self.ho3d_dataset[idx1] + + images = torch.stack([data0['color'], data1['color']], dim=0) + + ex0, ex1 = data0['extrinsic'], data1['extrinsic'] + rel_ex = ex1 @ ex0.inverse() + rel_R = rel_ex[:3, :3] + rel_t = rel_ex[:3, 3] + + intrinsics = torch.stack([data0['intrinsic'], data1['intrinsic']], dim=0) + bboxes = torch.stack([data0['bbox'], data1['bbox']]) + objCorners = torch.stack([data0['objCorners'], data1['objCorners']]) + + return { + 'images': images, + 'rotation': rel_R, + 'translation': rel_t, + 'intrinsics': intrinsics, + 'bboxes': bboxes, + 'objCorners': objCorners, + 'pair_names': (data0['color_path'], data1['color_path']), + 'objName': data0['objName'] + } + + +class HO3DfromJson(Dataset): + def __init__(self, data_root, json_path): + self.data_root = Path(data_root) + with open(json_path, 'r') as f: + self.scene_info = json.load(f) + + self.obj_names = [ + '003_cracker_box', + '006_mustard_bottle', + '011_banana', + '025_mug', + '037_scissors' + ] + self.object_points = {obj: np.loadtxt(self.data_root / 'models' / obj / 'points.xyz') for obj in self.obj_names} + + def _load_color(self, path): + color = cv2.imread(path) + color = cv2.cvtColor(color, cv2.COLOR_BGR2RGB) + return color + + def _load_mask(self, path): + mask_path = str(path).replace('rgb', 'seg').replace('.jpg', '.png') + mask = cv2.imread(str(mask_path)) + mask = cv2.resize(mask, (640, 480)) + mask = mask[..., 1] == 255 + return mask + + def _load_depth(self, path): + depth_scale = 0.00012498664727900177 + + depth_path = str(path).replace('rgb', 'depth').replace('.jpg', '.png') + depth_img = cv2.imread(depth_path) + + dpt = depth_img[:, :, 2] + depth_img[:, :, 1] * 256 + dpt = dpt * depth_scale + + return dpt + + def __len__(self): + return len(self.scene_info) + + def __getitem__(self, idx): + info = self.scene_info[str(idx)] + pair_names = info['pair_names'] + + image0 = self._load_color(str(self.data_root / pair_names[0])) + image0 = (torch.tensor(image0).float() / 255.0).permute(2, 0, 1) + image1 = self._load_color(str(self.data_root / pair_names[1])) + image1 = (torch.tensor(image1).float() / 255.0).permute(2, 0, 1) + images = torch.stack([image0, image1], dim=0) + + mask0 = self._load_mask(str(self.data_root / pair_names[0])) + mask0 = torch.from_numpy(mask0) + mask1 = self._load_mask(str(self.data_root / pair_names[1])) + mask1 = torch.from_numpy(mask1) + masks = torch.stack([mask0, mask1], dim=0) + + depth0 = self._load_depth(str(self.data_root / pair_names[0])) + depth0 = torch.from_numpy(depth0) + depth1 = self._load_depth(str(self.data_root / pair_names[1])) + depth1 = torch.from_numpy(depth1) + depths = torch.stack([depth0, depth1], dim=0) + + rotation = torch.tensor(info['rotation']).reshape(3, 3) + translation = torch.tensor(info['translation']) + intrinsics = torch.tensor(info['intrinsics']).reshape(2, 3, 3) + bboxes = torch.tensor(info['bboxes']) + objCorners = torch.tensor(info['objCorners']) + + return { + 'images': images, + 'masks': masks, + 'depths': depths, + 'rotation': rotation, + 'translation': translation, + 'intrinsics': intrinsics, + 'bboxes': bboxes, + 'objCorners': objCorners, + 'objName': info['objName'][0], + 'point_cloud': self.object_points[info['objName'][0]] + } + + +def build_ho3d(mode, config): + config = config.DATASET + + data_root = config.DATA_ROOT + seq_id_list = [x.stem for x in (Path(data_root) / 'train').iterdir()] + val_id_list = ['BB14', 'SMu1', 'MC1', 'GSF14', 'SM2', 'SM3', 'SM4', 'SM5', 'MC2', 'MC4', 'MC5', 'MC6'] + for val_id in val_id_list: + seq_id_list.remove(val_id) + + if mode == 'train': + datasets = [] + for seq_id in tqdm(seq_id_list, desc=f'Loading HO3D {mode} dataset'): + datasets.append(HO3DPair(data_root, mode, seq_id, config.MAX_ANGLE_ERROR)) + return ConcatDataset(datasets) + + elif mode == 'test' or mode == 'val': + # datasets = [] + # for seq_id in tqdm(val_id_list[:5], desc=f'Loading HO3D {mode} dataset'): + # datasets.append(HO3DPair(data_root, mode, seq_id, config.MAX_ANGLE_ERROR)) + # return ConcatDataset(datasets) + + return HO3DfromJson(config.DATA_ROOT, config.JSON_PATH) + \ No newline at end of file diff --git a/datasets/linemod.py b/datasets/linemod.py new file mode 100644 index 0000000000000000000000000000000000000000..a6122ca4c9b83044e01695315658be85d568061e --- /dev/null +++ b/datasets/linemod.py @@ -0,0 +1,441 @@ +import json +from pathlib import Path +import math +import random +from tqdm import tqdm, trange +import plyfile + +import numpy as np +import torch +from PIL import Image +from torch.utils.data import Dataset, ConcatDataset +from torch.nn import functional as F + +from utils import Augmentor + + +LINEMOD_ID_TO_NAME = { + '000001': 'ape', + '000002': 'benchvise', + '000003': 'bowl', + '000004': 'camera', + '000005': 'can', + '000006': 'cat', + '000007': 'mug', + '000008': 'driller', + '000009': 'duck', + '000010': 'eggbox', + '000011': 'glue', + '000012': 'holepuncher', + '000013': 'iron', + '000014': 'lamp', + '000015': 'phone', +} + + +def inverse_transform(trans): + rot = trans[:3, :3] + t = trans[:3, 3] + rot = np.transpose(rot) + t = -np.matmul(rot, t) + output = np.zeros((4, 4), dtype=np.float32) + output[3][3] = 1 + output[:3, :3] = rot + output[:3, 3] = t + return output + + +class BOPDataset(Dataset): + + def __init__(self, + dataset_path, + scene_path, + object_id, + min_visible_fract, + mode, + rgb_postfix='.png', + object_scale=None + ): + super().__init__() + self.dataset_path = dataset_path + self.scene_path = scene_path + self.object_id = object_id + + if dataset_path.name == 'lm' or dataset_path.name == 'lmo': + base_obj_scale = 1.0 + self.models_path = self.dataset_path / 'models' + elif dataset_path.name == 'tless': + base_obj_scale = 0.60 + self.models_path = self.dataset_path / 'models_reconst' + else: + raise ValueError(f'Unknown dataset type {dataset_path.name}') + + self.model_path = self.models_path / f'obj_{self.object_id:06d}.ply' + self.pointcloud_path = self.dataset_path / 'models_eval' / f'obj_{self.object_id:06d}.ply' + + models_info_path = self.dataset_path / 'models_eval' / 'models_info.json' + with open(models_info_path, 'r') as f: + self.model_info = json.load(f)[str(object_id)] + + # self.center_object = center_object + if object_scale is None: + self.object_scale = base_obj_scale / self.model_info['diameter'] + else: + self.object_scale = object_scale + + # self.image_scale = 1.0 + self.bounds = torch.tensor([ + (self.model_info['min_x'], self.model_info['min_x'] + self.model_info['size_x']), + (self.model_info['min_y'], self.model_info['min_y'] + self.model_info['size_y']), + (self.model_info['min_z'], self.model_info['min_z'] + self.model_info['size_z']), + ]) + self.centroid = self.bounds.mean(dim=1) + + self.depth_dir = self.scene_path / 'depth' + self.mask_dir = self.scene_path / 'mask_visib' + self.color_dir = self.scene_path / 'rgb' + self.intrinsics_path = self.scene_path / 'scene_camera.json' + self.extrinsics_path = self.scene_path / 'scene_gt.json' + self.gt_info_path = self.scene_path / 'scene_gt_info.json' + + self.intrinsics, self.depth_scales = self.load_intrinsics(self.intrinsics_path) + self.extrinsics, self.scene_object_inds = self.load_extrinsics(self.extrinsics_path) + self.extrinsics = torch.stack(self.extrinsics, dim=0) + self.gt_info = self.load_gt_info(self.gt_info_path) + + # # Compute quaternions for sampling. + # rotation, translation = three.decompose(self.extrinsics) + # self.quaternions = three.quaternion.mat_to_quat(rotation[:, :3, :3]) + + self.depth_paths = sorted([self.depth_dir / f'{frame_ind:06d}.png' + for frame_ind in self.scene_object_inds.keys()]) + self.mask_paths = [ + self.mask_dir / f'{frame_ind:06d}_{obj_ind:06d}.png' + for frame_ind, obj_ind in self.scene_object_inds.items() + ] + self.color_paths = sorted([self.color_dir / f'{frame_ind:06d}{rgb_postfix}' + for frame_ind in self.scene_object_inds.keys()]) + + visib_filter = np.array(self.gt_info['visib_fract']) >= min_visible_fract + self.color_paths = np.array(self.color_paths)[visib_filter] + self.mask_paths = np.array(self.mask_paths)[visib_filter] + self.depth_paths = np.array(self.depth_paths)[visib_filter] + self.depth_scales = np.array(self.depth_scales)[visib_filter] + for k in self.gt_info: + self.gt_info[k] = np.array(self.gt_info[k])[visib_filter] + + self.extrinsics = np.array(self.extrinsics)[visib_filter] + self.intrinsics = np.array(self.intrinsics)[visib_filter] + + self.augment = Augmentor(mode=='train') + + assert len(self.depth_paths) == len(self.mask_paths) + assert len(self.depth_paths) == len(self.color_paths) + + # def load_pointcloud(self): + # obj = meshutils.Object3D(self.pointcloud_path) + # points = torch.tensor(obj.vertices, dtype=torch.float32) + # points = points * self.object_scale + # return points + + def load_gt_info(self, path): + with open(path, 'r') as f: + gt_info_json = json.load(f) + keys = sorted([int(k) for k in gt_info_json.keys()]) + gt_info = {k: [] for k in gt_info_json['0'][0]} + for key in keys: + value = gt_info_json[str(key)] + obj_info = value[self.scene_object_inds[key]] + for info_k in obj_info: + gt_info[info_k].append(obj_info[info_k]) + + return gt_info + + def load_intrinsics(self, path): + intrinsics = [] + depth_scales = [] + with open(path, 'r') as f: + intrinsics_json = json.load(f) + keys = sorted([int(k) for k in intrinsics_json.keys()]) + for key in keys: + value = intrinsics_json[str(key)] + intrinsic_3x3 = value['cam_K'] + intrinsics.append(torch.tensor(intrinsic_3x3).reshape(3, 3)) + depth_scales.append(value['depth_scale']) + + return intrinsics, depth_scales + + def load_extrinsics(self, path): + extrinsics = [] + scene_object_inds = {} + with open(path, 'r') as f: + extrinsics_json = json.load(f) + frame_inds = sorted([int(k) for k in extrinsics_json.keys()]) + for frame_ind in frame_inds: + for obj_ind, cam_d in enumerate(extrinsics_json[str(frame_ind)]): + if cam_d['obj_id'] == self.object_id: + rotation = torch.tensor( + cam_d['cam_R_m2c'], dtype=torch.float32).reshape(3, 3) + translation = torch.tensor(cam_d['cam_t_m2c'], dtype=torch.float32) / 1000. + # quaternion = three.quaternion.mat_to_quat(rotation) + # extrinsics.append(three.to_extrinsic_matrix(translation, quaternion)) + extrinsic = torch.eye(4) + extrinsic[:3, :3] = rotation + extrinsic[:3, 3] = translation + extrinsics.append(extrinsic) + scene_object_inds[frame_ind] = obj_ind + + return extrinsics, scene_object_inds + + def __len__(self): + return len(self.color_paths) + + def get_ids(self): + return [p.stem for p in self.color_paths] + + def _load_color(self, path): + image = Image.open(path) + image = np.array(image) + return image + + def _load_mask(self, path): + image = Image.open(path) + image = np.array(image, dtype=bool) + if len(image.shape) > 2: + image = image[:, :, 0] + return image + + def _load_depth(self, path): + image = Image.open(path) + image = np.array(image, dtype=np.float32) + return image + + def __getitem__(self, idx): + color = self._load_color(self.color_paths[idx]) + # color = self.augment(color) + color = (torch.tensor(color).float() / 255.0).permute(2, 0, 1) + mask = self._load_mask(self.mask_paths[idx]) + mask = torch.tensor(mask).bool() + depth = self._load_depth(self.depth_paths[idx]) + depth = torch.tensor(depth) * self.object_scale * self.depth_scales[idx] + + # intrinsic = self.normalize_intrinsic(self.intrinsics[idx]) + # extrinsic = self.normalize_extrinsic(self.extrinsics[idx]) + + intrinsic = torch.from_numpy(self.intrinsics[idx]) + extrinsic = torch.from_numpy(self.extrinsics[idx]) + + bbox_obj = self.gt_info['bbox_obj'][idx] + bbox_visib = self.gt_info['bbox_visib'][idx] + + bbox_obj = torch.tensor([bbox_obj[0], bbox_obj[1], bbox_obj[0]+bbox_obj[2], bbox_obj[1]+bbox_obj[3]]) + bbox_visib = torch.tensor([bbox_visib[0], bbox_visib[1], bbox_visib[0]+bbox_visib[2], bbox_visib[1]+bbox_visib[3]]) + + visib_fract = self.gt_info['visib_fract'][idx] + px_count_visib = self.gt_info['px_count_visib'][idx] + + return { + 'color': color, + 'mask': mask, + 'depth': depth, + 'extrinsic': extrinsic, + 'intrinsic': intrinsic, + 'bbox_obj': bbox_obj, + 'bbox_visib': bbox_visib, + 'visib_fract': visib_fract, + 'px_count_visib': px_count_visib, + 'color_path': str(self.color_paths[idx]).split('/', 2)[-1], + 'object_scale': self.object_scale, + 'depth_scale': self.depth_scales[idx] + } + + +class Linemod(Dataset): + def __init__(self, data_root, mode, object_id, scene_id, min_visible_fract, max_angle_error): + if mode == 'train': + type_path = 'train_pbr' + rgb_postfix = '.jpg' + scene_id = scene_id + elif mode == 'val' or mode == 'test': + type_path = 'test' + rgb_postfix = '.png' + scene_id = object_id + else: + raise NotImplementedError(f'mode {mode}') + + data_root = Path(data_root) + scene_path = data_root / type_path / f'{scene_id:06d}' + self.bop_dataset = BOPDataset(data_root, scene_path, object_id=object_id, min_visible_fract=min_visible_fract, mode=mode, rgb_postfix=rgb_postfix) + + angle_err = self.get_angle_error(torch.from_numpy(self.bop_dataset.extrinsics[:, :3, :3])) + index0, index1 = torch.where(angle_err < max_angle_error) + filter = torch.where(index0 < index1) + self.index0, self.index1 = index0[filter], index1[filter] + # angle_err_filtered = angle_err[row, col] + + self.indices = torch.tensor(list(zip(self.index0, self.index1))) + if mode == 'val': + self.indices = self.indices[torch.randperm(self.indices.size(0))[:1500]] + + def get_angle_error(self, R): + # R: (B, 3, 3) + residual = torch.einsum('aij,bik->abjk', R, R) + trace = torch.diagonal(residual, dim1=-2, dim2=-1).sum(-1) + cosine = (trace - 1) / 2 + cosine = torch.clip(cosine, -1, 1) + R_err = torch.acos(cosine) + angle_err = R_err.rad2deg() + + return angle_err + + def __len__(self): + return len(self.indices) + + def __getitem__(self, idx): + idx0, idx1 = self.indices[idx] + data0, data1 = self.bop_dataset[idx0], self.bop_dataset[idx1] + + images = torch.stack([data0['color'], data1['color']], dim=0) + + ex0, ex1 = data0['extrinsic'], data1['extrinsic'] + rel_ex = ex1 @ ex0.inverse() + rel_R = rel_ex[:3, :3] + rel_t = rel_ex[:3, 3] + + intrinsics = torch.stack([data0['intrinsic'], data1['intrinsic']], dim=0) + bboxes = torch.stack([data0['bbox_visib'], data1['bbox_visib']]) + + return { + 'images': images, + 'rotation': rel_R, + 'translation': rel_t, + 'intrinsics': intrinsics, + 'bboxes': bboxes, + 'pair_names': (data0['color_path'], data1['color_path']), + 'object_scale': data0['object_scale'], + 'depth_scale': (data0['depth_scale'], data1['depth_scale']), + } + + +class LinemodfromJson(Dataset): + def __init__(self, data_root, json_path): + self.data_root = Path(data_root) + with open(json_path, 'r') as f: + self.scene_info = json.load(f) + + # self.image_scale = 1.0 + + models_info_path = self.data_root / 'models_eval' / 'models_info.json' + with open(models_info_path, 'r') as f: + model_info = json.load(f) + + self.object_diameters = {obj: model_info[obj]['diameter'] for obj in model_info} + self.object_points = {obj: self._load_point_cloud(obj) for obj in self.object_diameters} + + def _load_point_cloud(self, obj_id): + with open(self.data_root / 'models_eval' / f'obj_{int(obj_id):06d}.ply', "rb") as f: + plydata = plyfile.PlyData.read(f) + xyz = np.stack([np.array(plydata["vertex"][c]).astype(float) for c in ("x", "y", "z")], axis=1) + return xyz + + def _load_color(self, path): + image = Image.open(path) + # new_shape = (int(image.width * self.image_scale), int(image.height * self.image_scale)) + # image = image.resize(new_shape) + image = np.array(image) + return image + + def _load_mask(self, path): + path = path.replace('rgb', 'mask_visib').replace('.png', '_000000.png') + image = Image.open(path) + # new_shape = (int(image.width * self.image_scale), int(image.height * self.image_scale)) + # image = image.resize(new_shape) + image = np.array(image, dtype=bool) + if len(image.shape) > 2: + image = image[:, :, 0] + return image + + def _load_depth(self, path): + path = path.replace('rgb', 'depth') + image = Image.open(path) + # new_shape = (int(image.width * self.image_scale), int(image.height * self.image_scale)) + # image = image.resize(new_shape) + image = np.array(image, dtype=np.float32) + return image + + def __len__(self): + return len(self.scene_info) + + def __getitem__(self, idx): + info = self.scene_info[str(idx)] + pair_names = info['pair_names'] + + image0 = self._load_color(str(self.data_root / pair_names[0])) + image0 = (torch.tensor(image0).float() / 255.0).permute(2, 0, 1) + image1 = self._load_color(str(self.data_root / pair_names[1])) + image1 = (torch.tensor(image1).float() / 255.0).permute(2, 0, 1) + images = torch.stack([image0, image1], dim=0) + + mask0 = self._load_mask(str(self.data_root / pair_names[0])) + mask0 = torch.tensor(mask0).bool() + mask1 = self._load_mask(str(self.data_root / pair_names[1])) + mask1 = torch.tensor(mask1).bool() + masks = torch.stack([mask0, mask1], dim=0) + + depth0 = self._load_depth(str(self.data_root / pair_names[0])) + depth0 = torch.tensor(depth0) * info['depth_scale'][0] + depth1 = self._load_depth(str(self.data_root / pair_names[1])) + depth1 = torch.tensor(depth1) * info['depth_scale'][1] + depths = torch.stack([depth0, depth1], dim=0) / 1000. + + rotation = torch.tensor(info['rotation']).reshape(3, 3) + translation = torch.tensor(info['translation']) + intrinsics = torch.tensor(info['intrinsics']).reshape(2, 3, 3) + bboxes = torch.tensor(info['bboxes']) + + obj_id = str(int(pair_names[0].split('/')[1])) + diameter = self.object_diameters[obj_id] + point_cloud = torch.from_numpy(self.object_points[obj_id]) / 1000. + + return { + 'images': images, + 'masks': masks, + 'depths': depths, + 'rotation': rotation, + 'translation': translation, + 'intrinsics': intrinsics, + 'bboxes': bboxes, + 'diameter': diameter, + 'point_cloud': point_cloud, + } + + +def build_linemod(mode, config): + config = config.DATASET + + # datasets = [] + # for i, _ in enumerate(LINEMOD_ID_TO_NAME): + # datasets.append(Linemod(config.DATA_ROOT, mode, i+1, config.MIN_VISIBLE_FRACT, config.MAX_ANGLE_ERROR)) + + # return ConcatDataset(datasets) + + if mode == 'train': + datasets = [] + with tqdm(total=len(LINEMOD_ID_TO_NAME) * 50) as t: + t.set_description(f'Loading Linemod {mode} datasets') + for i, _ in enumerate(LINEMOD_ID_TO_NAME): + for j in range(50): + t.update(1) + try: + datasets.append(Linemod(config.DATA_ROOT, mode, i+1, j, config.MIN_VISIBLE_FRACT, config.MAX_ANGLE_ERROR)) + except KeyError: + continue + return ConcatDataset(datasets) + + elif mode == 'test' or mode == 'val': + # datasets = [] + # for i, _ in enumerate(LINEMOD_ID_TO_NAME): + # datasets.append(Linemod(config.DATA_ROOT, mode, i+1, i+1, config.MIN_VISIBLE_FRACT, config.MAX_ANGLE_ERROR)) + + # return ConcatDataset(datasets) + return LinemodfromJson(config.DATA_ROOT, config.JSON_PATH) diff --git a/datasets/mapfree.py b/datasets/mapfree.py new file mode 100644 index 0000000000000000000000000000000000000000..7683a6b441d30c6399843c3b2afa1930bade80bd --- /dev/null +++ b/datasets/mapfree.py @@ -0,0 +1,178 @@ +from pathlib import Path + +import torch +import torch.utils.data as data +import cv2 +import numpy as np +from transforms3d.quaternions import qinverse, qmult, rotate_vector, quat2mat + +from utils.transform import correct_intrinsic_scale +from utils import Augmentor + + +class MapFreeScene(data.Dataset): + def __init__(self, scene_root, resize, sample_factor=1, overlap_limits=None, estimated_depth=None, mode='train'): + super().__init__() + + self.scene_root = Path(scene_root) + self.resize = resize + self.sample_factor = sample_factor + self.estimated_depth = estimated_depth + + # load absolute poses + self.poses = self.read_poses(self.scene_root) + + # read intrinsics + self.K = self.read_intrinsics(self.scene_root, resize) + + # load pairs + self.pairs = self.load_pairs(self.scene_root, overlap_limits, self.sample_factor) + + self.augment = Augmentor(mode=='train') + + @staticmethod + def read_intrinsics(scene_root: Path, resize=None): + Ks = {} + with (scene_root / 'intrinsics.txt').open('r') as f: + for line in f.readlines(): + if '#' in line: + continue + + line = line.strip().split(' ') + img_name = line[0] + fx, fy, cx, cy, W, H = map(float, line[1:]) + + K = np.array([[fx, 0, cx], [0, fy, cy], [0, 0, 1]], dtype=np.float32) + if resize is not None: + K = correct_intrinsic_scale(K, resize[0] / W, resize[1] / H) + Ks[img_name] = K + return Ks + + @staticmethod + def read_poses(scene_root: Path): + """ + Returns a dictionary that maps: img_path -> (q, t) where + np.array q = (qw, qx qy qz) quaternion encoding rotation matrix; + np.array t = (tx ty tz) translation vector; + (q, t) encodes absolute pose (world-to-camera), i.e. X_c = R(q) X_W + t + """ + poses = {} + with (scene_root / 'poses.txt').open('r') as f: + for line in f.readlines(): + if '#' in line: + continue + + line = line.strip().split(' ') + img_name = line[0] + qt = np.array(list(map(float, line[1:]))) + poses[img_name] = (qt[:4], qt[4:]) + return poses + + def load_pairs(self, scene_root: Path, overlap_limits: tuple = None, sample_factor: int = 1): + """ + For training scenes, filter pairs of frames based on overlap (pre-computed in overlaps.npz) + For test/val scenes, pairs are formed between keyframe and every other sample_factor query frames. + If sample_factor == 1, all query frames are used. Note: sample_factor applicable only to test/val + Returns: + pairs: nd.array [Npairs, 4], where each column represents seaA, imA, seqB, imB, respectively + """ + overlaps_path = scene_root / 'overlaps.npz' + + if overlaps_path.exists(): + f = np.load(overlaps_path, allow_pickle=True) + idxs, overlaps = f['idxs'], f['overlaps'] + if overlap_limits is not None: + min_overlap, max_overlap = overlap_limits + mask = (overlaps > min_overlap) * (overlaps < max_overlap) + idxs = idxs[mask] + return idxs.copy() + else: + idxs = np.zeros((len(self.poses) - 1, 4), dtype=np.uint16) + idxs[:, 2] = 1 + idxs[:, 3] = np.array([int(fn[-9:-4]) + for fn in self.poses.keys() if 'seq0' not in fn], dtype=np.uint16) + return idxs[::sample_factor] + + def get_pair_path(self, pair): + seqA, imgA, seqB, imgB = pair + return (f'seq{seqA}/frame_{imgA:05}.jpg', f'seq{seqB}/frame_{imgB:05}.jpg') + + def __len__(self): + return len(self.pairs) + + def __getitem__(self, index): + # image paths (relative to scene_root) + img_name0, img_name1 = self.get_pair_path(self.pairs[index]) + w_new, h_new = self.resize + + image0 = cv2.imread(str(self.scene_root / img_name0)) + # image0 = cv2.resize(image0, (w_new, h_new)) + image0 = cv2.cvtColor(image0, cv2.COLOR_BGR2RGB) + image0 = self.augment(image0) + image0 = torch.from_numpy(image0).permute(2, 0, 1).float() / 255. + + image1 = cv2.imread(str(self.scene_root / img_name1)) + # image1 = cv2.resize(image1, (w_new, h_new)) + image1 = cv2.cvtColor(image1, cv2.COLOR_BGR2RGB) + image1 = self.augment(image1) + image1 = torch.from_numpy(image1).permute(2, 0, 1).float() / 255. + images = torch.stack([image0, image1], dim=0) + + + depth0 = np.load(str(self.scene_root / img_name0).replace('.jpg', f'.da.npy')) + depth0 = torch.from_numpy(depth0).float() + + depth1 = np.load(str(self.scene_root / img_name1).replace('.jpg', f'.da.npy')) + depth1 = torch.from_numpy(depth1).float() + + depths = torch.stack([depth0, depth1], dim=0) + + # get absolute pose of im0 and im1 + # quaternion and translation vector that transforms World-to-Cam + q1, t1 = self.poses[img_name0] + # quaternion and translation vector that transforms World-to-Cam + q2, t2 = self.poses[img_name1] + + # get 4 x 4 relative pose transformation matrix (from im1 to im2) + # for test/val set, q1,t1 is the identity pose, so the relative pose matches the absolute pose + q12 = qmult(q2, qinverse(q1)) + t12 = t2 - rotate_vector(t1, q12) + T = np.eye(4, dtype=np.float32) + T[:3, :3] = quat2mat(q12) + T[:3, -1] = t12 + T = torch.from_numpy(T) + + K_0 = torch.from_numpy(self.K[img_name0].copy()).reshape(3, 3) + K_1 = torch.from_numpy(self.K[img_name1].copy()).reshape(3, 3) + intrinsics = torch.stack([K_0, K_1], dim=0).float() + + data = { + 'images': images, + 'depths': depths, + 'rotation': T[:3, :3], + 'translation': T[:3, 3], + 'intrinsics': intrinsics, + 'scene_id': self.scene_root.stem, + 'scene_root': str(self.scene_root), + 'pair_id': index*self.sample_factor, + 'pair_names': (img_name0, img_name1), + } + + return data + + +def build_concat_mapfree(mode, config): + assert mode in ['train', 'val', 'test'], 'Invalid dataset mode' + + data_root = Path(config.DATASET.DATA_ROOT) / mode + scenes = scenes = [s.name for s in data_root.iterdir() if s.is_dir()] + sample_factor = {'train': 1, 'val': 5, 'test': 1}[mode] + estimated_depth = config.DATASET.ESTIMATED_DEPTH + + resize = (540, 720) + overlap_limits = (0.2, 0.7) + + # Init dataset objects for each scene + datasets = [MapFreeScene(data_root / scene, resize, sample_factor, overlap_limits, estimated_depth, mode) for scene in scenes] + + return data.ConcatDataset(datasets) diff --git a/datasets/matterport.py b/datasets/matterport.py new file mode 100644 index 0000000000000000000000000000000000000000..88d13059f33ecbe4ac70db39503163383a924d5b --- /dev/null +++ b/datasets/matterport.py @@ -0,0 +1,86 @@ +import numpy as np +import cv2 +from pathlib import Path +import json +import torch +from torch.utils.data import Dataset + +from utils import rotation_matrix_from_quaternion, Augmentor + + +class Matterport3D(Dataset): + def __init__(self, data_root, mode='train'): + data_root = Path(data_root) + json_path = data_root / 'mp3d_planercnn_json' / f'cached_set_{mode}.json' + + scene_info = {'images': [], 'rotation': [], 'translation': [], 'intrinsics': []} + + with open(json_path) as f: + split = json.load(f) + + for _, data in enumerate(split['data']): + images = [] + for imgnum in ['0', '1']: + img_name = data_root / '/'.join(data[imgnum]['file_name'].split('/')[6:]) + images.append(img_name) + + rel_rotation = data['rel_pose']['rotation'] + rel_translation = data['rel_pose']['position'] + intrinsic = [ + [517.97, 0, 320], + [0, 517.97, 240], + [0, 0, 1] + ] + intrinsics = [intrinsic, intrinsic] + + scene_info['images'].append(images) + scene_info['rotation'].append(rel_rotation) + scene_info['translation'].append(rel_translation) + scene_info['intrinsics'].append(intrinsics) + + scene_info['rotation'] = torch.tensor(scene_info['rotation']) + scene_info['translation'] = torch.tensor(scene_info['translation']) + scene_info['intrinsics'] = torch.tensor(scene_info['intrinsics']) + + self.scene_info = scene_info + self.augment = Augmentor(mode=='train') + + self.is_training = mode == 'train' + + def __len__(self): + return len(self.scene_info['images']) + + def __getitem__(self, idx): + img_names = self.scene_info['images'][idx] + rotation = self.scene_info['rotation'][idx] + translation = self.scene_info['translation'][idx] + intrinsics = self.scene_info['intrinsics'][idx] + + images = [] + for i in range(2): + image = cv2.imread(str(img_names[i])) + image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + image = self.augment(image) + image = torch.from_numpy(image).permute(2, 0, 1) + images.append(image) + images = torch.stack(images) + images = images.float() / 255. + + rotation = -rotation if rotation[0] < 0 else rotation + rotation /= rotation.norm(2) + rotation = rotation_matrix_from_quaternion(rotation[None,])[0] + + rotation = rotation.mT + translation = -rotation @ translation.unsqueeze(-1) + translation = translation[:, 0] + + return { + 'images': images, + 'rotation': rotation, + 'translation': translation, + 'intrinsics': intrinsics, + } + + +def build_matterport(mode, config): + return Matterport3D(config.DATASET.DATA_ROOT, mode) diff --git a/datasets/megadepth.py b/datasets/megadepth.py new file mode 100644 index 0000000000000000000000000000000000000000..bf68afca732718f29d0ab5712e00c7e071d4b372 --- /dev/null +++ b/datasets/megadepth.py @@ -0,0 +1,125 @@ +import os.path as osp +import numpy as np +import cv2 +from tqdm import tqdm +import torch +from torch.utils.data import Dataset, ConcatDataset + +from utils import Augmentor + + +class MegaDepthDataset(Dataset): + def __init__(self, + root_dir, + npz_path, + mode='train', + min_overlap_score=0.4, + ): + """ + Manage one scene(npz_path) of MegaDepth dataset. + + Args: + root_dir (str): megadepth root directory that has `phoenix`. + npz_path (str): {scene_id}.npz path. This contains image pair information of a scene. + mode (str): options are ['train', 'val', 'test'] + min_overlap_score (float): how much a pair should have in common. In range of [0, 1]. Set to 0 when testing. + """ + super().__init__() + self.root_dir = root_dir + self.mode = mode + self.scene_id = npz_path.split('.')[0] + + # prepare scene_info and pair_info + if mode == 'test': + min_overlap_score = 0 + self.scene_info = np.load(npz_path, allow_pickle=True) + self.pair_infos = self.scene_info['pair_infos'].copy() + del self.scene_info['pair_infos'] + self.pair_infos = [pair_info for pair_info in self.pair_infos if pair_info[1] > min_overlap_score] + + self.augment = Augmentor(mode=='train') + + def __len__(self): + return len(self.pair_infos) + + def __getitem__(self, idx): + (idx0, idx1), overlap_score, central_matches = self.pair_infos[idx] + + # read grayscale image and mask. (1, h, w) and (h, w) + img_name0 = osp.join(self.root_dir, self.scene_info['image_paths'][idx0]) + img_name1 = osp.join(self.root_dir, self.scene_info['image_paths'][idx1]) + + w_new, h_new = 640, 480 + + image0 = cv2.imread(img_name0) + scale0 = torch.tensor([image0.shape[1]/w_new, image0.shape[0]/h_new], dtype=torch.float) + image0 = cv2.resize(image0, (w_new, h_new)) + image0 = cv2.cvtColor(image0, cv2.COLOR_BGR2RGB) + # image0 = self.augment(image0) + image0 = torch.from_numpy(image0).permute(2, 0, 1).float() / 255. + + image1 = cv2.imread(img_name1) + scale1 = torch.tensor([image1.shape[1]/w_new, image1.shape[0]/h_new], dtype=torch.float) + image1 = cv2.resize(image1, (w_new, h_new)) + image1 = cv2.cvtColor(image1, cv2.COLOR_BGR2RGB) + # image1 = self.augment(image1) + image1 = torch.from_numpy(image1).permute(2, 0, 1).float() / 255. + + scales = torch.stack([scale0, scale1], dim=0) + images = torch.stack([image0, image1], dim=0) + + # read intrinsics of original size + K_0 = torch.tensor(self.scene_info['intrinsics'][idx0].copy(), dtype=torch.float).reshape(3, 3) + K_1 = torch.tensor(self.scene_info['intrinsics'][idx1].copy(), dtype=torch.float).reshape(3, 3) + intrinsics = torch.stack([K_0, K_1], dim=0) + + # read and compute relative poses + T0 = self.scene_info['poses'][idx0] + T1 = self.scene_info['poses'][idx1] + T_0to1 = torch.tensor(np.matmul(T1, np.linalg.inv(T0)), dtype=torch.float)[:4, :4] # (4, 4) + + data = { + 'images': images, + 'scales': scales, # (2, 2): [scale_w, scale_h] + 'rotation': T_0to1[:3, :3], + 'translation': T_0to1[:3, 3], + 'intrinsics': intrinsics, + 'pair_names': (self.scene_info['image_paths'][idx0], self.scene_info['image_paths'][idx1]), + 'depth_pair_names': (self.scene_info['depth_paths'][idx0], self.scene_info['depth_paths'][idx1]), + } + + return data + + +def build_concat_megadepth(mode, config): + if mode == 'train': + config = config.DATASET.TRAIN + elif mode == 'val': + config = config.DATASET.VAL + elif mode == 'test': + config = config.DATASET.TEST + else: + raise NotImplementedError(f'mode {mode}') + + data_root = config.DATA_ROOT + # pose_root = config.POSE_ROOT + npz_root = config.NPZ_ROOT + list_path = config.LIST_PATH + # intrinsic_path = config.INTRINSIC_PATH + min_overlap_score = config.MIN_OVERLAP_SCORE + + with open(list_path, 'r') as f: + npz_names = [name.split()[0] for name in f.readlines()] + + datasets = [] + npz_names = [f'{n}.npz' for n in npz_names] + for npz_name in tqdm(npz_names, desc=f'Loading MegaDepth {mode} datasets',): + npz_path = osp.join(npz_root, npz_name) + datasets.append(MegaDepthDataset( + data_root, + npz_path, + mode=mode, + min_overlap_score=min_overlap_score, + )) + + return ConcatDataset(datasets) diff --git a/datasets/sampler.py b/datasets/sampler.py new file mode 100644 index 0000000000000000000000000000000000000000..4e441d6bcd2bec5cb423f22a5b4dc0ca011a17cc --- /dev/null +++ b/datasets/sampler.py @@ -0,0 +1,77 @@ +import torch +from torch.utils.data import Sampler, ConcatDataset + + +class RandomConcatSampler(Sampler): + """ Random sampler for ConcatDataset. At each epoch, `n_samples_per_subset` samples will be draw from each subset + in the ConcatDataset. If `subset_replacement` is ``True``, sampling within each subset will be done with replacement. + However, it is impossible to sample data without replacement between epochs, unless bulding a stateful sampler lived along the entire training phase. + + For current implementation, the randomness of sampling is ensured no matter the sampler is recreated across epochs or not and call `torch.manual_seed()` or not. + Args: + shuffle (bool): shuffle the random sampled indices across all sub-datsets. + repeat (int): repeatedly use the sampled indices multiple times for training. + [arXiv:1902.05509, arXiv:1901.09335] + NOTE: Don't re-initialize the sampler between epochs (will lead to repeated samples) + NOTE: This sampler behaves differently with DistributedSampler. + It assume the dataset is splitted across ranks instead of replicated. + TODO: Add a `set_epoch()` method to fullfill sampling without replacement across epochs. + ref: https://github.com/PyTorchLightning/pytorch-lightning/blob/e9846dd758cfb1500eb9dba2d86f6912eb487587/pytorch_lightning/trainer/training_loop.py#L373 + """ + def __init__(self, + data_source: ConcatDataset, + n_samples_per_subset: int, + subset_replacement: bool=True, + shuffle: bool=True, + repeat: int=1, + seed: int=None): + if not isinstance(data_source, ConcatDataset): + raise TypeError("data_source should be torch.utils.data.ConcatDataset") + + self.data_source = data_source + self.n_subset = len(self.data_source.datasets) + self.n_samples_per_subset = n_samples_per_subset + self.n_samples = self.n_subset * self.n_samples_per_subset * repeat + self.subset_replacement = subset_replacement + self.repeat = repeat + self.shuffle = shuffle + self.generator = torch.manual_seed(seed) + assert self.repeat >= 1 + + def __len__(self): + return self.n_samples + + def __iter__(self): + indices = [] + # sample from each sub-dataset + for d_idx in range(self.n_subset): + low = 0 if d_idx==0 else self.data_source.cumulative_sizes[d_idx-1] + high = self.data_source.cumulative_sizes[d_idx] + if self.subset_replacement: + rand_tensor = torch.randint(low, high, (self.n_samples_per_subset, ), + generator=self.generator, dtype=torch.int64) + else: # sample without replacement + len_subset = len(self.data_source.datasets[d_idx]) + rand_tensor = torch.randperm(len_subset, generator=self.generator) + low + if len_subset >= self.n_samples_per_subset: + rand_tensor = rand_tensor[:self.n_samples_per_subset] + else: # padding with replacement + rand_tensor_replacement = torch.randint(low, high, (self.n_samples_per_subset - len_subset, ), + generator=self.generator, dtype=torch.int64) + rand_tensor = torch.cat([rand_tensor, rand_tensor_replacement]) + indices.append(rand_tensor) + indices = torch.cat(indices) + if self.shuffle: # shuffle the sampled dataset (from multiple subsets) + rand_tensor = torch.randperm(len(indices), generator=self.generator) + indices = indices[rand_tensor] + + # repeat the sampled indices (can be used for RepeatAugmentation or pure RepeatSampling) + if self.repeat > 1: + repeat_indices = [indices.clone() for _ in range(self.repeat - 1)] + if self.shuffle: + _choice = lambda x: x[torch.randperm(len(x), generator=self.generator)] + repeat_indices = map(_choice, repeat_indices) + indices = torch.cat([indices, *repeat_indices], 0) + + assert indices.shape[0] == self.n_samples + return iter(indices.tolist()) diff --git a/datasets/scannet.py b/datasets/scannet.py new file mode 100644 index 0000000000000000000000000000000000000000..4dfa8351b0412bf2c3d3f60f2acb4ee6950c2ed6 --- /dev/null +++ b/datasets/scannet.py @@ -0,0 +1,154 @@ +from os import path as osp +import numpy as np +from numpy.linalg import inv +import cv2 +from tqdm import tqdm + +import torch +from torch.utils.data import Dataset, ConcatDataset + +from utils import Augmentor + + +def read_scannet_pose(path): + """ Read ScanNet's Camera2World pose and transform it to World2Camera. + + Returns: + pose_w2c (np.ndarray): (4, 4) + """ + cam2world = np.loadtxt(path, delimiter=' ') + world2cam = inv(cam2world) + return world2cam + + +class ScanNetDataset(Dataset): + def __init__(self, + root_dir, + npz_path, + intrinsic_path, + mode='train', + min_overlap_score=0.4, + pose_dir=None, + ): + """Manage one scene of ScanNet Dataset. + Args: + root_dir (str): ScanNet root directory that contains scene folders. + npz_path (str): {scene_id}.npz path. This contains image pair information of a scene. + intrinsic_path (str): path to depth-camera intrinsic file. + mode (str): options are ['train', 'val', 'test']. + pose_dir (str): ScanNet root directory that contains all poses. + (we use a separate (optional) pose_dir since we store images and poses separately.) + """ + super().__init__() + self.root_dir = root_dir + self.pose_dir = pose_dir if pose_dir is not None else root_dir + self.mode = mode + + # prepare data_names, intrinsics and extrinsics(T) + with np.load(npz_path) as data: + self.data_names = data['name'] + if 'score' in data.keys() and mode not in ['val' or 'test']: + kept_mask = data['score'] > min_overlap_score + self.data_names = self.data_names[kept_mask] + self.intrinsics = dict(np.load(intrinsic_path)) + self.augment = Augmentor(mode=='train') + + def __len__(self): + return len(self.data_names) + + def _read_abs_pose(self, scene_name, name): + pth = osp.join(self.pose_dir, + scene_name, + 'pose', f'{name}.txt') + return read_scannet_pose(pth) + + def _compute_rel_pose(self, scene_name, name0, name1): + pose0 = self._read_abs_pose(scene_name, name0) + pose1 = self._read_abs_pose(scene_name, name1) + + return np.matmul(pose1, inv(pose0)) # (4, 4) + + def __getitem__(self, idx): + data_name = self.data_names[idx] + scene_name, scene_sub_name, stem_name_0, stem_name_1 = data_name + scene_name = f'scene{scene_name:04d}_{scene_sub_name:02d}' + + img_name0 = osp.join(self.root_dir, scene_name, 'color', f'{stem_name_0}.jpg') + img_name1 = osp.join(self.root_dir, scene_name, 'color', f'{stem_name_1}.jpg') + + w_new, h_new = 640, 480 + + image0 = cv2.imread(img_name0) + image0 = cv2.resize(image0, (w_new, h_new)) + image0 = cv2.cvtColor(image0, cv2.COLOR_BGR2RGB) + # image0 = self.augment(image0) + image0 = torch.from_numpy(image0).permute(2, 0, 1).float() / 255. + + image1 = cv2.imread(img_name1) + image1 = cv2.resize(image1, (w_new, h_new)) + image1 = cv2.cvtColor(image1, cv2.COLOR_BGR2RGB) + # image1 = self.augment(image1) + image1 = torch.from_numpy(image1).permute(2, 0, 1).float() / 255. + images = torch.stack([image0, image1], dim=0) + + # depth0 = cv2.imread(osp.join(self.root_dir, scene_name, 'depth', f'{stem_name_0}.png'), cv2.IMREAD_UNCHANGED) + # depth0 = depth0 / 1000 + # depth0 = torch.from_numpy(depth0).float() + + # depth1 = cv2.imread(osp.join(self.root_dir, scene_name, 'depth', f'{stem_name_1}.png'), cv2.IMREAD_UNCHANGED) + # depth1 = depth1 / 1000 + # depth1 = torch.from_numpy(depth1).float() + # depths = torch.stack([depth0, depth1], dim=0) + + K_0 = K_1 = torch.tensor(self.intrinsics[scene_name].copy(), dtype=torch.float).reshape(3, 3) + intrinsics = torch.stack([K_0, K_1], dim=0) + + # read and compute relative poses + T_0to1 = torch.tensor(self._compute_rel_pose(scene_name, stem_name_0, stem_name_1), + dtype=torch.float32) + + data = { + 'images': images, + # 'depths': depths, + 'rotation': T_0to1[:3, :3], + 'translation': T_0to1[:3, 3], + 'intrinsics': intrinsics, + 'pair_names': (osp.join(scene_name, 'color', f'{stem_name_0}.jpg'), + osp.join(scene_name, 'color', f'{stem_name_1}.jpg')) + } + + return data + + +def build_concat_scannet(mode, config): + if mode == 'train': + config = config.DATASET.TRAIN + elif mode == 'val': + config = config.DATASET.VAL + elif mode == 'test': + config = config.DATASET.TEST + else: + raise NotImplementedError(f'mode {mode}') + + data_root = config.DATA_ROOT + npz_root = config.NPZ_ROOT + list_path = config.LIST_PATH + intrinsic_path = config.INTRINSIC_PATH + min_overlap_score = config.MIN_OVERLAP_SCORE + + with open(list_path, 'r') as f: + npz_names = [name.split()[0] for name in f.readlines()] + + datasets = [] + for npz_name in tqdm(npz_names, desc=f'Loading ScanNet {mode} datasets',): + npz_path = osp.join(npz_root, npz_name) + datasets.append(ScanNetDataset( + data_root, + npz_path, + intrinsic_path, + mode=mode, + min_overlap_score=min_overlap_score, + )) + + return ConcatDataset(datasets) + diff --git a/eval.py b/eval.py new file mode 100644 index 0000000000000000000000000000000000000000..abc44eeb933beb22330d7910f181119522bcee26 --- /dev/null +++ b/eval.py @@ -0,0 +1,48 @@ +import argparse +from torch.utils.data import DataLoader +import lightning as L + +from datasets import dataset_dict +from model import PL_RelPose, keypoint_dict +from configs.default import get_cfg_defaults + + +def main(args): + config = get_cfg_defaults() + config.merge_from_file(args.config) + + task = config.DATASET.TASK + dataset = config.DATASET.DATA_SOURCE + + batch_size = config.TRAINER.BATCH_SIZE + num_workers = config.TRAINER.NUM_WORKERS + pin_memory = config.TRAINER.PIN_MEMORY + + test_num_keypoints = config.MODEL.TEST_NUM_KEYPOINTS + + build_fn = dataset_dict[task][dataset] + testset = build_fn('test', config) + testloader = DataLoader(testset, batch_size=batch_size, num_workers=num_workers, pin_memory=pin_memory) + + pl_relpose = PL_RelPose.load_from_checkpoint(args.ckpt_path) + pl_relpose.extractor = keypoint_dict[pl_relpose.hparams['features']](max_num_keypoints=test_num_keypoints, detection_threshold=0.0).eval() + + trainer = L.Trainer( + devices=[0], + ) + + trainer.test(pl_relpose, dataloaders=testloader) + + +def get_parser(): + parser = argparse.ArgumentParser() + parser.add_argument('config', type=str, help='.yaml configure file path') + parser.add_argument('ckpt_path', type=str) + + return parser + + +if __name__ == "__main__": + parser = get_parser() + args = parser.parse_args() + main(args) diff --git a/eval_add_reproj.py b/eval_add_reproj.py new file mode 100644 index 0000000000000000000000000000000000000000..5bfee6aab4dc2ea5b6b0aa09f3073d87c6f64d37 --- /dev/null +++ b/eval_add_reproj.py @@ -0,0 +1,138 @@ +import argparse +import numpy as np +import torch +from collections import defaultdict +from tqdm import tqdm +from transforms3d.quaternions import mat2quat +import pandas as pd + +from model import PL_RelPose, keypoint_dict +from utils.reproject import reprojection_error, Pose, save_submission +from utils.metrics import reproj, add, adi, compute_continuous_auc, relative_pose_error, rotation_angular_error +from datasets import dataset_dict +from configs.default import get_cfg_defaults + + +@torch.no_grad() +def main(args): + config = get_cfg_defaults() + config.merge_from_file(args.config) + + task = config.DATASET.TASK + dataset = config.DATASET.DATA_SOURCE + device = args.device + + test_num_keypoints = test_num_keypoints = config.MODEL.TEST_NUM_KEYPOINTS + + build_fn = dataset_dict[task][dataset] + testset = build_fn('test', config) + testloader = torch.utils.data.DataLoader(testset, batch_size=1) + + pl_relpose = PL_RelPose.load_from_checkpoint(args.ckpt_path) + pl_relpose.extractor = keypoint_dict[pl_relpose.hparams['features']](max_num_keypoints=test_num_keypoints, detection_threshold=0.0).eval().to(device) + pl_relpose.module = pl_relpose.module.eval().to(device) + + preprocess_times, extract_times, regress_times = [], [], [] + adds, adis = [], [] + repr_errs = [] + R_errs, t_errs = [], [] + ts_errs = [] + results_dict = defaultdict(list) + for i, data in enumerate(tqdm(testloader)): + if dataset == 'ho3d' and args.obj_name is not None and data['objName'][0] != args.obj_name: + continue + image0, image1 = data['images'][0] + K0, K1 = data['intrinsics'][0] + T = torch.eye(4) + T[:3, :3] = data['rotation'][0] + T[:3, 3] = data['translation'][0] + T = T.numpy() + + # with record_function("model_inference"): + R_est, t_est, preprocess_time, extract_time, regress_time = pl_relpose.predict_one_data(data) + preprocess_times.append(preprocess_time) + extract_times.append(extract_time) + regress_times.append(regress_time) + + t_err, R_err = relative_pose_error(T, R_est.cpu().numpy(), t_est.cpu().numpy(), ignore_gt_t_thr=0.0) + + R_errs.append(R_err) + t_errs.append(t_err) + + ts_errs.append(torch.tensor(T[:3, 3] - t_est.cpu().numpy()).norm(2)) + + if dataset == 'mapfree': + repr_err = reprojection_error(R_est.cpu().numpy(), t_est.cpu().numpy(), T[:3, :3], T[:3, 3], K=K1, W=image1.shape[-1], H=image1.shape[-2]) + repr_errs.append(repr_err) + R = R_est.detach().cpu().numpy() + t = t_est.reshape(-1).detach().cpu().numpy() + scene = data['scene_id'][0] + estimated_pose = Pose( + image_name=data['pair_names'][1][0], + q=mat2quat(R).reshape(-1), + t=t.reshape(-1), + inliers=0 + ) + results_dict[scene].append(estimated_pose) + + if 'point_cloud' in data: + adds.append(add(R_est.cpu().numpy(), t_est.cpu().numpy(), T[:3, :3], T[:3, 3], data['point_cloud'][0].numpy())) + adis.append(adi(R_est.cpu().numpy(), t_est.cpu().numpy(), T[:3, :3], T[:3, 3], data['point_cloud'][0].numpy())) + + metrics = [] + values = [] + + preprocess_times = np.array(preprocess_times) * 1000 + extract_times = np.array(extract_times) * 1000 + regress_times = np.array(regress_times) * 1000 + + metrics.append('Extracting Time (ms)') + values.append(f'{np.mean(extract_times):.1f}') + + metrics.append('Recovering Time (ms)') + values.append(f'{np.mean(regress_times):.1f}') + + metrics.append('Total Time (ms)') + values.append(f'{np.mean(extract_times) + np.mean(regress_times):.1f}') + + # ts_errs = np.array(ts_errs) + # print(f'Median Trans. Error (m):\t{np.median(ts_errs):.2f}') + # print(f'Median Rot. Error (°):\t{np.median(R_errs):.2f}') + + if task == 'object': + metrics.append('Object ADD') + values.append(f'{compute_continuous_auc(adds, np.linspace(0.0, 0.1, 1000)) * 100:.1f}') + + metrics.append('Object ADD-S') + values.append(f'{compute_continuous_auc(adis, np.linspace(0.0, 0.1, 1000)) * 100:.1f}') + + if dataset == 'mapfree': + re = np.array(repr_errs) + + metrics.append('VCRE @90px Prec.') + values.append(f'{(re < 90).mean() * 100:.2f}') + + metrics.append('VCRE Med.') + values.append(f'{np.median(re):.2f}') + + save_submission(results_dict, 'assets/new_submission.zip') + + res = pd.DataFrame({'Metrics': metrics, 'Values': values}) + print(res) + + +def get_parser(): + parser = argparse.ArgumentParser() + parser.add_argument('config', type=str, help='.yaml configure file path') + parser.add_argument('ckpt_path', type=str) + + parser.add_argument('--device', type=str, default='cuda:0') + parser.add_argument('--obj_name', type=str, default=None) + + return parser + + +if __name__ == "__main__": + parser = get_parser() + args = parser.parse_args() + main(args) diff --git a/eval_baselines.py b/eval_baselines.py new file mode 100644 index 0000000000000000000000000000000000000000..3b2468417bd6124610aa0900fb67c0692ee158b9 --- /dev/null +++ b/eval_baselines.py @@ -0,0 +1,189 @@ +import numpy as np +import argparse +from tqdm import tqdm +import torch +import pandas as pd + +# from lightglue.utils import load_image +from configs.default import get_cfg_defaults +from datasets import dataset_dict +from baselines.pose import PoseRecover +from utils.metrics import relative_pose_error, rotation_angular_error, error_auc, add, adi, compute_continuous_auc + + +def main(args): + config = get_cfg_defaults() + config.merge_from_file(args.config) + + task = config.DATASET.TASK + dataset = config.DATASET.DATA_SOURCE + + # try: + # data_root = config.DATASET.TEST.DATA_ROOT + # except: + # data_root = config.DATASET.DATA_ROOT + + build_fn = dataset_dict[task][dataset] + testset = build_fn('test', config) + testloader = torch.utils.data.DataLoader(testset, batch_size=1) + + device = args.device + img_resize = args.resize + poseRec = PoseRecover(matcher=args.matcher, solver=args.solver, img_resize=img_resize, device=device) + + preprocess_times, extract_times, match_times, recover_times = [], [], [], [] + R_errs, t_errs = [], [] + ts_errs = [] + adds, adis = [], [] + for i, data in enumerate(tqdm(testloader)): + if dataset == 'ho3d' and args.obj_name is not None and data['objName'][0] != args.obj_name: + continue + + image0, image1 = data['images'][0].to(device) + # if dataset == 'megadepth': + # image0 = load_image(os.path.join(data_root, data['pair_names'][0][0])).to(device) + # image1 = load_image(os.path.join(data_root, data['pair_names'][1][0])).to(device) + # else: + # image0, image1 = data['images'][0].to(device) + + bbox0, bbox1 = None, None + if task == 'object': + bbox0, bbox1 = data['bboxes'][0] + x1, y1, x2, y2 = bbox0 + u1, v1, u2, v2 = bbox1 + image0 = image0[:, y1:y2, x1:x2] + image1 = image1[:, v1:v2, u1:u2] + + mask0, mask1 = None, None + if args.mask: + mask0, mask1 = data['masks'][0].to(device) + + depth0, depth1 = None, None + if args.depth: + depth0, depth1 = data['depths'][0] + + K0, K1 = data['intrinsics'][0] + T = torch.eye(4) + T[:3, :3] = data['rotation'][0] + T[:3, 3] = data['translation'][0] + T = T.numpy() + + R, t, points0, points1, preprocess_time, extract_time, match_time, recover_time = poseRec.recover(image0, image1, K0, K1, bbox0, bbox1, mask0, mask1, depth0, depth1) + preprocess_times.append(preprocess_time) + extract_times.append(extract_time) + match_times.append(match_time) + recover_times.append(recover_time) + + if np.isnan(R).any(): + R_err = 180 + R = np.identity(3) + t_err = 180 + t = np.array([0., 0., 0.]) + else: + t_err, R_err = relative_pose_error(T, R, t, ignore_gt_t_thr=0.0) + + R_errs.append(R_err) + t_errs.append(t_err) + + if args.depth: + t = np.nan_to_num(t) + ts_errs.append(torch.tensor(T[:3, 3] - t).norm(2)) + + if task == 'object': + if np.isnan(R).any(): + adds.append(1.) + adis.append(1.) + else: + adds.append(add(R, t, T[:3, :3], T[:3, 3], data['point_cloud'][0].numpy())) + adis.append(adi(R, t, T[:3, :3], T[:3, 3], data['point_cloud'][0].numpy())) + + metrics = [] + values = [] + + preprocess_times = np.array(preprocess_time) * 1000 + extract_times = np.array(extract_time) * 1000 + match_times = np.array(match_times) * 1000 + recover_times = np.array(recover_time) * 1000 + + metrics.append('Extracting Time (ms)') + values.append(f'{np.mean(extract_times):.1f}') + + metrics.append('Matching Time (ms)') + values.append(f'{np.mean(match_times):.1f}') + + metrics.append('Recovering Time (ms)') + values.append(f'{np.mean(recover_times):.1f}') + + metrics.append('Total Time (ms)') + values.append(f'{np.mean(extract_times) + np.mean(match_times) + np.mean(recover_times):.1f}') + + # pose auc + angular_thresholds = [5, 10, 20] + pose_errors = np.max(np.stack([R_errs, t_errs]), axis=0) + aucs = error_auc(pose_errors, angular_thresholds, mode='Pose estimation') # (auc@5, auc@10, auc@20) + for k in aucs: + metrics.append(k) + values.append(f'{aucs[k] * 100:.2f}') + + R_errs = torch.tensor(R_errs) + t_errs = torch.tensor(t_errs) + + metrics.append('Rotation Avg. Error (°)') + values.append(f'{R_errs.mean():.2f}') + + metrics.append('Rotation Med. Error (°)') + values.append(f'{R_errs.median():.2f}') + + metrics.append('Rotation @30° ACC') + values.append(f'{(R_errs < 30).float().mean() * 100:.1f}') + + metrics.append('Rotation @15° ACC') + values.append(f'{(R_errs < 15).float().mean() * 100:.1f}') + + if args.depth: + ts_errs = torch.tensor(ts_errs) + + metrics.append('Translation Avg. Error (m)') + values.append(f'{ts_errs.mean():.4f}') + + metrics.append('Translation Med. Error (m)') + values.append(f'{ts_errs.median():.4f}') + + metrics.append('Translation @1m ACC') + values.append(f'{(ts_errs < 1.0).float().mean() * 100:.1f}') + + metrics.append('Translation @10cm ACC') + values.append(f'{(ts_errs < 0.1).float().mean() * 100:.1f}') + + if task == 'object': + metrics.append('Object ADD') + values.append(f'{compute_continuous_auc(adds, np.linspace(0.0, 0.1, 1000)) * 100:.1f}') + + metrics.append('Object ADD-S') + values.append(f'{compute_continuous_auc(adis, np.linspace(0.0, 0.1, 1000)) * 100:.1f}') + + res = pd.DataFrame({'Metrics': metrics, 'Values': values}) + print(res) + + +def get_parser(): + parser = argparse.ArgumentParser() + parser.add_argument('config', type=str, help='.yaml configure file path') + parser.add_argument('matcher', type=str) + parser.add_argument('--solver', type=str, default='procrustes') + + parser.add_argument('--resize', type=int, default=None) + parser.add_argument('--depth', action='store_true') + + parser.add_argument('--mask', action='store_true') + parser.add_argument('--obj_name', type=str, default=None) + + parser.add_argument('--device', type=str, default='cuda:0') + + return parser + + +if __name__ == "__main__": + parser = get_parser() + args = parser.parse_args() + main(args) diff --git a/model/__init__.py b/model/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e7da9e95b0bf28d2030882091d1a8dff04828702 --- /dev/null +++ b/model/__init__.py @@ -0,0 +1,4 @@ +import torch + +from .relpose import RelPose +from .pl_trainer import PL_RelPose, keypoint_dict diff --git a/model/pl_trainer.py b/model/pl_trainer.py new file mode 100644 index 0000000000000000000000000000000000000000..1ba6bbf1f777b6869bd6958dd4b278e76b21cb21 --- /dev/null +++ b/model/pl_trainer.py @@ -0,0 +1,201 @@ +from typing import Any +import numpy as np +import torch +import lightning as L +from lightglue import SuperPoint, DISK, SIFT, ALIKED +import time + +from utils import rotation_angular_error, translation_angular_error, error_auc +from .relpose import RelPose + + +keypoint_dict = { + 'superpoint': SuperPoint, + 'disk': DISK, + 'sift': SIFT, + 'aliked': ALIKED, +} + + +class PL_RelPose(L.LightningModule): + def __init__( + self, + task, + lr, + epochs, + pct_start, + num_keypoints, + n_layers, + num_heads, + features='superpoint', + ): + super().__init__() + + self.extractor = keypoint_dict[features](max_num_keypoints=num_keypoints, detection_threshold=0.0).eval() + self.module = RelPose(features=features, task=task, n_layers=n_layers, num_heads=num_heads) + self.criterion = torch.nn.HuberLoss() + + self.s_r = torch.nn.Parameter(torch.zeros(1)) + # self.s_ta = torch.nn.Parameter(torch. zeros(1)) + self.s_t = torch.nn.Parameter(torch.zeros(1)) + + self.r_errors = {k:[] for k in ['train', 'valid', 'test']} + self.ta_errors = {k:[] for k in ['train', 'valid', 'test']} + self.t_errors = {k:[] for k in ['train', 'valid', 'test']} + + self.save_hyperparameters() + + def _shared_log(self, mode, loss, loss_r, loss_t, loss_ta, loss_tn): + self.log_dict({ + f'{mode}_loss/sum': loss, + f'{mode}_loss/r': loss_r, + f'{mode}_loss/t': loss_t, + f'{mode}_loss/ta': loss_ta, + f'{mode}_loss/tn': loss_tn, + }, on_epoch=True, sync_dist=True) + + def training_step(self, batch, batch_idx): + loss, loss_r, loss_ta, loss_t, loss_tn, r_err, ta_err, t_err = self._shared_forward_step(batch, batch_idx) + + self.r_errors['train'].append(r_err) + self.ta_errors['train'].append(ta_err) + self.t_errors['train'].append(t_err) + + self._shared_log('train', loss, loss_r, loss_t, loss_ta, loss_tn) + + return loss + + def validation_step(self, batch, batch_idx): + loss, loss_r, loss_ta, loss_t, loss_tn, r_err, ta_err, t_err = self._shared_forward_step(batch, batch_idx) + + self.r_errors['valid'].append(r_err) + self.ta_errors['valid'].append(ta_err) + self.t_errors['valid'].append(t_err) + + self._shared_log('valid', loss, loss_r, loss_t, loss_ta, loss_tn) + + def test_step(self, batch, batch_idx): + loss, loss_r, loss_ta, loss_t, loss_tn, r_err, ta_err, t_err = self._shared_forward_step(batch, batch_idx) + + self.r_errors['test'].append(r_err) + self.ta_errors['test'].append(ta_err) + self.t_errors['test'].append(t_err) + + self._shared_log('test', loss, loss_r, loss_t, loss_ta, loss_tn) + + def _shared_forward_step(self, batch, batch_idx): + images = batch['images'] + rotation = batch['rotation'] + translation = batch['translation'] + intrinsics = batch['intrinsics'] + + image0 = images[:, 0, ...] + image1 = images[:, 1, ...] + + with torch.no_grad(): + feats0 = self.extractor({'image': image0}) + feats1 = self.extractor({'image': image1}) + + if 'scales' in batch: + scales = batch['scales'] + feats0['keypoints'] *= scales[:, 0].unsqueeze(1) + feats1['keypoints'] *= scales[:, 1].unsqueeze(1) + + if self.hparams.task == 'scene': + pred_r, pred_t = self.module({'image0': {**feats0, 'intrinsics': intrinsics[:, 0]}, 'image1': {**feats1, 'intrinsics': intrinsics[:, 1]}}) + elif self.hparams.task == 'object': + bboxes = batch['bboxes'] + pred_r, pred_t = self.module({'image0': {**feats0, 'intrinsics': intrinsics[:, 0], 'bbox': bboxes[:, 0]}, 'image1': {**feats1, 'intrinsics': intrinsics[:, 1]}}) + + r_err = rotation_angular_error(pred_r, rotation) + ta_err = translation_angular_error(pred_t, translation) + + loss_r = self.criterion(r_err, torch.zeros_like(r_err)) + loss_ta = self.criterion(ta_err, torch.zeros_like(ta_err)) + loss_tn = self.criterion(pred_t / pred_t.norm(2, dim=-1, keepdim=True), translation / translation.norm(2, dim=-1, keepdim=True)) + loss_t = self.criterion(pred_t, translation) + + # loss = loss_r * torch.exp(-self.s_r) + loss_t * torch.exp(-self.s_t) + loss_ta * torch.exp(-self.s_ta) + self.s_r + self.s_t + self.s_ta + loss = loss_r + loss_ta + loss_t + loss_tn + + r_err = r_err.detach() + ta_err = ta_err.detach() + t_err = (pred_t.detach() - translation).norm(2, dim=1) + + return loss, loss_r, loss_ta, loss_t, loss_tn, r_err, ta_err, t_err + + def predict_one_data(self, data, device='cuda'): + st_time = time.time() + images = data['images'].to(device) + intrinsics = data['intrinsics'].to(device) + + image0 = images[:, 0, ...] + image1 = images[:, 1, ...] + + preprocess = time.time() + + with torch.no_grad(): + feats0 = self.extractor({'image': image0}) + feats1 = self.extractor({'image': image1}) + + extract_time = time.time() + + if 'scales' in data: + scales = data['scales'].to(device) + feats0['keypoints'] *= scales[:, 0].unsqueeze(1) + feats1['keypoints'] *= scales[:, 1].unsqueeze(1) + + if self.hparams.task == 'scene': + pred_r, pred_t = self.module({'image0': {**feats0, 'intrinsics': intrinsics[:, 0]}, 'image1': {**feats1, 'intrinsics': intrinsics[:, 1]}}) + elif self.hparams.task == 'object': + bboxes = data['bboxes'].to(device) + pred_r, pred_t = self.module({'image0': {**feats0, 'intrinsics': intrinsics[:, 0], 'bbox': bboxes[:, 0]}, 'image1': {**feats1, 'intrinsics': intrinsics[:, 1]}}) + + regress_time = time.time() + + return pred_r[0], pred_t[0], preprocess-st_time, extract_time-preprocess, regress_time-extract_time + + + def _shared_on_epoch_end(self, mode): + r_errors = torch.hstack(self.r_errors[mode]).rad2deg() + ta_errors = torch.hstack(self.ta_errors[mode]).rad2deg() + ta_errors = torch.minimum(ta_errors, 180-ta_errors) + + auc = error_auc(torch.maximum(r_errors, ta_errors).cpu(), [5, 10, 20], mode) + t_errors = torch.hstack(self.t_errors[mode]) + + self.log_dict({ + **auc, + f'{mode}_Rot./Avg. Error': r_errors.mean(), + f'{mode}_Rot./Med. Error': r_errors.median(), + f'{mode}_Rot./@30° ACC': (r_errors < 30).float().mean(), + f'{mode}_Rot./@15° ACC': (r_errors < 15).float().mean(), + # f'{mode}_ta/avg': ta_errors.mean(), + # f'{mode}_ta/med': ta_errors.median(), + f'{mode}_Trans./Avg. Error': t_errors.mean(), + f'{mode}_Trans./Med. Error': t_errors.median(), + f'{mode}_Trans./@10cm ACC': (t_errors < 0.1).float().mean(), + f'{mode}_Trans./@1m ACC': (t_errors < 1.0).float().mean(), + }, sync_dist=True) + + self.r_errors[mode].clear() + self.ta_errors[mode].clear() + self.t_errors[mode].clear() + + def on_train_epoch_end(self): + self._shared_on_epoch_end('train') + + def on_validation_epoch_end(self): + self._shared_on_epoch_end('valid') + + def on_test_epoch_end(self): + self._shared_on_epoch_end('test') + + def configure_optimizers(self): + optimizer = torch.optim.AdamW(self.module.parameters(), lr=self.hparams.lr) + scheduler = torch.optim.lr_scheduler.OneCycleLR(optimizer, max_lr=self.hparams.lr, steps_per_epoch=1, epochs=self.hparams.epochs, pct_start=self.hparams.pct_start) + + return { + 'optimizer': optimizer, + 'lr_scheduler': scheduler + } diff --git a/model/relpose.py b/model/relpose.py new file mode 100644 index 0000000000000000000000000000000000000000..f8f58650dd498a34737334ace3b14358cc49b69c --- /dev/null +++ b/model/relpose.py @@ -0,0 +1,465 @@ +import warnings +from types import SimpleNamespace +from typing import Callable, List, Optional, Tuple + +import torch +import torch.nn.functional as F +from torch import nn + +from utils import rotation_matrix_from_ortho6d + +try: + from flash_attn.modules.mha import FlashCrossAttention +except ModuleNotFoundError: + FlashCrossAttention = None + +if FlashCrossAttention or hasattr(F, "scaled_dot_product_attention"): + FLASH_AVAILABLE = True +else: + FLASH_AVAILABLE = False + +torch.backends.cudnn.deterministic = True +torch.set_float32_matmul_precision('medium') + + +def normalize_keypoints(kpts, intrinsics): + # kpts: (B, M, 2) + # intrinsics: (B, 3, 3) + b, m, _ = kpts.shape + kpts = torch.cat([kpts, torch.ones((b, m, 1), device=kpts.device)], dim=2) + kpts = intrinsics.inverse() @ kpts.mT + kpts = kpts.mT + kpts = kpts[..., :2] + + return kpts + + +# @torch.cuda.amp.custom_fwd(cast_inputs=torch.float32) +def cosine_similarity(x, y): + sim = torch.einsum('...id,...jd->...ij', x / x.norm(2, -1, keepdim=True), y / y.norm(2, -1, keepdim=True)) + sim = (sim + 1) / 2 + return sim + + +def pad_to_length(x: torch.Tensor, length: int) -> Tuple[torch.Tensor]: + if length <= x.shape[-2]: + return x, torch.ones_like(x[..., :1], dtype=torch.bool) + pad = torch.ones( + *x.shape[:-2], length - x.shape[-2], x.shape[-1], device=x.device, dtype=x.dtype + ) + y = torch.cat([x, pad], dim=-2) + mask = torch.zeros(*y.shape[:-1], 1, dtype=torch.bool, device=x.device) + mask[..., : x.shape[-2], :] = True + return y, mask + + +def gather(x: torch.Tensor, indices: torch.tensor): + b, _, n = x.shape + bs = torch.arange(b).reshape(b, 1, 1) + ns = torch.arange(n) + return x[bs, indices.unsqueeze(-1), ns] + + +class Attention(nn.Module): + def __init__(self, allow_flash: bool = True) -> None: + super().__init__() + if allow_flash and not FLASH_AVAILABLE: + warnings.warn( + "FlashAttention is not available. For optimal speed, " + "consider installing torch >= 2.0 or flash-attn.", + stacklevel=2, + ) + self.enable_flash = allow_flash and FLASH_AVAILABLE + self.has_sdp = hasattr(F, "scaled_dot_product_attention") + if allow_flash and FlashCrossAttention: + self.flash_ = FlashCrossAttention() + if self.has_sdp: + torch.backends.cuda.enable_flash_sdp(allow_flash) + + def forward(self, q, k, v, mask: Optional[torch.Tensor] = None) -> torch.Tensor: + if self.enable_flash and q.device.type == "cuda": + # use torch 2.0 scaled_dot_product_attention with flash + if self.has_sdp: + args = [x.contiguous() for x in [q, k, v]] + v = F.scaled_dot_product_attention(*args, attn_mask=mask).to(q.dtype) + return v if mask is None else v.nan_to_num() + else: + assert mask is None + q, k, v = [x.transpose(-2, -3).contiguous() for x in [q, k, v]] + m = self.flash_(q, torch.stack([k, v], 2)) + return m.transpose(-2, -3).to(q.dtype).clone() + elif self.has_sdp: + args = [x.contiguous() for x in [q, k, v]] + v = F.scaled_dot_product_attention(*args, attn_mask=mask) + return v if mask is None else v.nan_to_num() + else: + s = q.shape[-1] ** -0.5 + sim = torch.einsum("...id,...jd->...ij", q, k) * s + if mask is not None: + sim.masked_fill(~mask, -float("inf")) + attn = F.softmax(sim, -1) + return torch.einsum("...ij,...jd->...id", attn, v) + + +class SelfBlock(nn.Module): + def __init__( + self, embed_dim: int, num_heads: int, bias: bool = True + ) -> None: + super().__init__() + self.embed_dim = embed_dim + self.num_heads = num_heads + assert self.embed_dim % num_heads == 0 + self.head_dim = self.embed_dim // num_heads + self.Wqkv = nn.Linear(embed_dim, 3 * embed_dim, bias=bias) + self.inner_attn = Attention() + self.out_proj = nn.Linear(embed_dim, embed_dim, bias=bias) + self.ffn = nn.Sequential( + nn.Linear(2 * embed_dim, 2 * embed_dim), + nn.LayerNorm(2 * embed_dim, elementwise_affine=True), + nn.GELU(), + nn.Linear(2 * embed_dim, embed_dim), + ) + + def forward( + self, + x: torch.Tensor, + encoding: torch.Tensor, + mask: Optional[torch.Tensor] = None, + ) -> torch.Tensor: + qkv = self.Wqkv(x) + qkv = qkv.unflatten(-1, (self.num_heads, -1, 3)).transpose(1, 2) + q, k, v = qkv[..., 0], qkv[..., 1], qkv[..., 2] + q += encoding + k += encoding + + context = self.inner_attn(q, k, v, mask=mask) + + message = self.out_proj(context.transpose(1, 2).flatten(start_dim=-2)) + return x + self.ffn(torch.cat([x, message], -1)) + + +class CrossBlock(nn.Module): + def __init__( + self, embed_dim: int, num_heads: int, bias: bool = True + ) -> None: + super().__init__() + self.heads = num_heads + dim_head = embed_dim // num_heads + self.scale = dim_head**-0.5 + inner_dim = dim_head * num_heads + self.to_qk = nn.Linear(embed_dim, inner_dim, bias=bias) + self.to_v = nn.Linear(embed_dim, inner_dim, bias=bias) + self.to_out = nn.Linear(inner_dim, embed_dim, bias=bias) + self.ffn = nn.Sequential( + nn.Linear(2 * embed_dim, 2 * embed_dim), + nn.LayerNorm(2 * embed_dim, elementwise_affine=True), + nn.GELU(), + nn.Linear(2 * embed_dim, embed_dim), + ) + # self.reg_attn = nn.Identity() + # self.reg_sim = nn.Identity() + + def map_(self, func: Callable, x0: torch.Tensor, x1: torch.Tensor): + return func(x0), func(x1) + + def forward( + self, x0: torch.Tensor, x1: torch.Tensor, match: torch.Tensor, mask: Optional[torch.Tensor] = None + ) -> List[torch.Tensor]: + + qk0, qk1 = self.map_(self.to_qk, x0, x1) + v0, v1 = self.map_(self.to_v, x0, x1) + qk0, qk1, v0, v1 = map( + lambda t: t.unflatten(-1, (self.heads, -1)).transpose(1, 2), + (qk0, qk1, v0, v1), + ) + + qk0, qk1 = qk0 * self.scale**0.5, qk1 * self.scale**0.5 + sim = torch.einsum("bhid, bhjd -> bhij", qk0, qk1) + if mask is not None: + sim = sim.masked_fill(~mask.unsqueeze(1), -float("inf")) + + assert len(match.shape) == 3 + match = match.unsqueeze(1) + sim = sim * match + # sim = self.reg_attn(sim) + # match = self.reg_sim(match) + + attn01 = F.softmax(sim, dim=-1) + attn10 = F.softmax(sim.transpose(-2, -1).contiguous(), dim=-1) + m0 = torch.einsum("bhij, bhjd -> bhid", attn01, v1) + m1 = torch.einsum("bhji, bhjd -> bhid", attn10.transpose(-2, -1), v0) + if mask is not None: + m0, m1 = m0.nan_to_num(), m1.nan_to_num() + + m0, m1 = self.map_(lambda t: t.transpose(1, 2).flatten(start_dim=-2), m0, m1) + m0, m1 = self.map_(self.to_out, m0, m1) + x0 = x0 + self.ffn(torch.cat([x0, m0], -1)) + x1 = x1 + self.ffn(torch.cat([x1, m1], -1)) + + return x0, x1 + + +class TransformerLayer(nn.Module): + def __init__(self, *args, **kwargs): + super().__init__() + self.self_attn = SelfBlock(*args, **kwargs) + self.cross_attn = CrossBlock(*args, **kwargs) + + def forward( + self, + desc0, + desc1, + encoding0, + encoding1, + match, + mask0: Optional[torch.Tensor] = None, + mask1: Optional[torch.Tensor] = None, + ): + if mask0 is not None and mask1 is not None: + return self.masked_forward(desc0, desc1, encoding0, encoding1, match, mask0, mask1) + else: + desc0 = self.self_attn(desc0, encoding0) + desc1 = self.self_attn(desc1, encoding1) + return self.cross_attn(desc0, desc1, match) + + # This part is compiled and allows padding inputs + def masked_forward(self, desc0, desc1, encoding0, encoding1, match, mask0, mask1): + mask = mask0 & mask1.transpose(-1, -2) + mask0 = mask0 & mask0.transpose(-1, -2) + mask1 = mask1 & mask1.transpose(-1, -2) + desc0 = self.self_attn(desc0, encoding0, mask0) + desc1 = self.self_attn(desc1, encoding1, mask1) + return self.cross_attn(desc0, desc1, match, mask) + + +class RelPose(nn.Module): + default_conf = { + "name": "RelPose", # just for interfacing + "input_dim": 256, # input descriptor dimension (autoselected from weights) + "descriptor_dim": 256, + "add_scale_ori": False, + "n_layers": 3, + "num_heads": 4, + "pct_pruning": 0, + "task": "scene", + "mp": False, # enable mixed precision + "weights": None, + } + + required_data_keys = ["image0", "image1"] + + features = { + "superpoint": { + "input_dim": 256, + }, + "disk": { + "input_dim": 128, + }, + "aliked": { + "input_dim": 128, + }, + "sift": { + "input_dim": 128, + # "add_scale_ori": True, + }, + } + + def __init__(self, features="superpoint", **conf) -> None: + super().__init__() + self.conf = conf = SimpleNamespace(**{**self.default_conf, **conf}) + if features is not None: + if features not in self.features: + raise ValueError( + f"Unsupported features: {features} not in " + f"{{{','.join(self.features)}}}" + ) + for k, v in self.features[features].items(): + setattr(conf, k, v) + + if conf.input_dim != conf.descriptor_dim: + self.input_proj = nn.Linear(conf.input_dim, conf.descriptor_dim, bias=True) + else: + self.input_proj = nn.Identity() + + head_dim = conf.descriptor_dim // conf.num_heads + self.posenc = nn.Linear( + 2 + 2 * self.conf.add_scale_ori, head_dim + ) + + h, n, d = conf.num_heads, conf.n_layers, conf.descriptor_dim + + self.transformers = nn.ModuleList( + [TransformerLayer(d, h) for _ in range(n)] + ) + + self.rotation_regressor = nn.Sequential( + nn.Linear(conf.descriptor_dim*2, conf.descriptor_dim), + nn.ReLU(), + nn.Linear(conf.descriptor_dim, conf.descriptor_dim//2), + nn.ReLU(), + nn.Linear(conf.descriptor_dim//2, 6), + ) + + self.translation_regressor = nn.Sequential( + nn.Linear(conf.descriptor_dim*2, conf.descriptor_dim), + nn.ReLU(), + nn.Linear(conf.descriptor_dim, conf.descriptor_dim//2), + nn.ReLU(), + nn.Linear(conf.descriptor_dim//2, 3), + ) + + # self.reg_kpts0 = nn.Identity() + # self.reg_kpts1 = nn.Identity() + + # static lengths LightGlue is compiled for (only used with torch.compile) + self.static_lengths = None + + def compile( + self, mode="reduce-overhead", static_lengths=[256, 512, 768, 1024, 1280, 1536] + ): + for i in range(self.conf.n_layers): + self.transformers[i].masked_forward = torch.compile( + self.transformers[i].masked_forward, mode=mode, fullgraph=True + ) + + self.static_lengths = static_lengths + + def forward(self, data: dict) -> dict: + """ + Match keypoints and descriptors between two images + + Input (dict): + image0: dict + keypoints: [B x M x 2] + descriptors: [B x M x D] + image: [B x C x H x W] or image_size: [B x 2] + image1: dict + keypoints: [B x N x 2] + descriptors: [B x N x D] + image: [B x C x H x W] or image_size: [B x 2] + Output + """ + with torch.autocast(enabled=self.conf.mp, device_type="cuda"): + return self._forward(data) + + def _forward(self, data: dict) -> dict: + for key in self.required_data_keys: + assert key in data, f"Missing key {key} in data" + data0, data1 = data["image0"], data["image1"] + kpts0, kpts1 = data0["keypoints"], data1["keypoints"] + intrinsic0, intrinsic1 = data0["intrinsics"], data1["intrinsics"] + b, m, _ = kpts0.shape + b, n, _ = kpts1.shape + + if self.conf.add_scale_ori: + kpts0 = torch.cat( + [kpts0] + [data0[k].unsqueeze(-1) for k in ("scales", "oris")], -1 + ) + kpts1 = torch.cat( + [kpts1] + [data1[k].unsqueeze(-1) for k in ("scales", "oris")], -1 + ) + desc0 = data0["descriptors"].detach().contiguous() + desc1 = data1["descriptors"].detach().contiguous() + + assert desc0.shape[-1] == self.conf.input_dim + assert desc1.shape[-1] == self.conf.input_dim + + mask0, mask1 = None, None + c = max(m, n) + do_compile = self.static_lengths and c <= max(self.static_lengths) + if do_compile: + kn = min([k for k in self.static_lengths if k >= c]) + desc0, mask0 = pad_to_length(desc0, kn) + desc1, mask1 = pad_to_length(desc1, kn) + kpts0, _ = pad_to_length(kpts0, kn) + kpts1, _ = pad_to_length(kpts1, kn) + + matchability = cosine_similarity(desc0, desc1) + + assert self.conf.pct_pruning >= 0 and self.conf.pct_pruning < 1 + if self.conf.pct_pruning > 0: + ind0, ind1 = self.get_pruned_indices(matchability, self.conf.pct_pruning) + + matchability = gather(matchability, ind0) + matchability = gather(matchability.mT, ind1).mT + + desc0 = gather(desc0, ind0) + desc1 = gather(desc1, ind1) + + kpts0 = gather(kpts0, ind0) + kpts1 = gather(kpts1, ind1) + + if self.conf.task == "object": + bbox = data0["bbox"] # (B, 4) + ind0, mask0 = self.get_prompted_indices(kpts0, bbox) + + matchability[:, 0] = torch.zeros_like(matchability[:, 0], device=matchability.device) + desc0[:, 0] = torch.zeros_like(desc0[:, 0], device=desc0.device) + kpts0[:, 0] = torch.zeros_like(kpts0[:, 0], device=kpts0.device) + + matchability = gather(matchability, ind0) + desc0 = gather(desc0, ind0) + kpts0 = gather(kpts0, ind0) + + desc0 = self.input_proj(desc0) + desc1 = self.input_proj(desc1) + + # kpts0 = self.reg_kpts0(kpts0) + # kpts1 = self.reg_kpts1(kpts1) + + # cache positional embeddings + kpts0 = normalize_keypoints(kpts0, intrinsic0) + kpts1 = normalize_keypoints(kpts1, intrinsic1) + + encoding0 = self.posenc(kpts0).unsqueeze(-3) + encoding1 = self.posenc(kpts1).unsqueeze(-3) + + for i in range(self.conf.n_layers): + desc0, desc1 = self.transformers[i]( + desc0, desc1, encoding0, encoding1, match=matchability, mask0=mask0, mask1=mask1, + ) + + desc0, desc1 = desc0[..., :m, :], desc1[..., :n, :] + if self.conf.task == 'object': + n_kpts0 = mask0.sum(1, keepdim=True) + n_kpts0 = torch.clip(n_kpts0, min=1) + desc0 = (desc0 * mask0.unsqueeze(-1)).sum(1) / n_kpts0 + desc1 = desc1.mean(1) + else: + desc0, desc1 = desc0.mean(1), desc1.mean(1) + + feat = torch.cat([desc0, desc1], 1) + + R = self.rotation_regressor(feat) + R = rotation_matrix_from_ortho6d(R) + t = self.translation_regressor(feat) + + return R, t + + def get_pruned_indices(self, match, pct_pruning): + matching_scores0 = match.mean(-1) + matching_scores1 = match.mean(-2) + + num_pruning0 = int(pct_pruning * matching_scores0.size(-1)) + num_pruning1 = int(pct_pruning * matching_scores1.size(-1)) + + _, indices0 = matching_scores0.sort() + _, indices1 = matching_scores1.sort() + + indices0 = indices0[:, num_pruning0:] + indices1 = indices1[:, num_pruning1:] + + return indices0, indices1 + + def get_prompted_indices(self, kpts, bbox): + # kpts: (B, M, 2) + # bbox: (B, 4) - (x, y, x, y) + x, y = kpts[..., 0], kpts[..., 1] + mask = (x >= bbox[:, 0].unsqueeze(-1)) & (x <= bbox[:, 2].unsqueeze(-1)) + mask &= (y >= bbox[:, 1].unsqueeze(-1)) & (y <= bbox[:, 3].unsqueeze(-1)) + mask_sorted, indices = mask.long().sort(descending=True) + indices *= mask_sorted + indices = indices[:, :mask_sorted.sum(-1).max()] + mask_sorted = mask_sorted[:, :mask_sorted.sum(-1).max()] + + return indices, mask_sorted diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..837c5d71cf35d5462108cf832898e9272a053d92 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,11 @@ +albumentations==1.4.1 +kornia==0.7.1 +open3d==0.18.0 +opencv-python==4.9.0.80 +plyfile==1.0.3 +scikit-learn==1.4.1.post1 +yacs==0.1.8 +lightning==2.2.1 +transforms3d==0.4.1 +pandas==2.1.1 +lightglue @ git+https://github.com/cvg/LightGlue@main diff --git a/train.py b/train.py new file mode 100644 index 0000000000000000000000000000000000000000..5e4719a23dbf489c6a8a9e14fe636b86b9935c6d --- /dev/null +++ b/train.py @@ -0,0 +1,104 @@ +import argparse +from torch.utils.data import DataLoader +import lightning as L +from lightning.pytorch.callbacks import LearningRateMonitor, ModelCheckpoint + +from datasets import dataset_dict, RandomConcatSampler +from model import PL_RelPose +from utils import seed_torch +from configs.default import get_cfg_defaults + + +def main(args): + config = get_cfg_defaults() + config.merge_from_file(args.config) + + task = config.DATASET.TASK + dataset = config.DATASET.DATA_SOURCE + + batch_size = config.TRAINER.BATCH_SIZE + num_workers = config.TRAINER.NUM_WORKERS + pin_memory = config.TRAINER.PIN_MEMORY + n_samples_per_subset = config.TRAINER.N_SAMPLES_PER_SUBSET + lr = config.TRAINER.LEARNING_RATE + epochs = config.TRAINER.EPOCHS + pct_start = config.TRAINER.PCT_START + + num_keypoints = config.MODEL.NUM_KEYPOINTS + n_layers = config.MODEL.N_LAYERS + num_heads = config.MODEL.NUM_HEADS + features = config.MODEL.FEATURES + + seed = config.RANDOM_SEED + seed_torch(seed) + + build_fn = dataset_dict[task][dataset] + trainset = build_fn('train', config) + validset = build_fn('val', config) + + if dataset == 'scannet' or dataset == 'megadepth' or dataset == 'linemod' or dataset == 'ho3d' or dataset == 'mapfree': + sampler = RandomConcatSampler( + trainset, + n_samples_per_subset=n_samples_per_subset, + subset_replacement=True, + shuffle=True, + seed=seed + ) + trainloader = DataLoader(trainset, batch_size=batch_size, num_workers=num_workers, pin_memory=pin_memory, sampler=sampler) + else: + trainloader = DataLoader(trainset, batch_size=batch_size, num_workers=num_workers, pin_memory=pin_memory, shuffle=True) + + validloader = DataLoader(validset, batch_size=batch_size, num_workers=num_workers, pin_memory=pin_memory) + + if args.weights is None: + pl_relpose = PL_RelPose( + task=task, + lr=lr, + epochs=epochs, + pct_start=pct_start, + n_layers=n_layers, + num_heads=num_heads, + num_keypoints=num_keypoints, + features=features, + ) + else: + pl_relpose = PL_RelPose.load_from_checkpoint( + checkpoint_path=args.weights, + task=task, + lr=lr, + epochs=epochs, + pct_start=pct_start, + n_layers=n_layers, + num_heads=num_heads, + num_keypoints=num_keypoints, + ) + + lr_monitor = LearningRateMonitor(logging_interval='epoch') + latest_checkpoint_callback = ModelCheckpoint() + best_checkpoint_callback = ModelCheckpoint(monitor='valid/auc@20', mode='max') + trainer = L.Trainer( + devices=[0], + # devices=[0, 1], + # accelerator='gpu', strategy='ddp_find_unused_parameters_true', + max_epochs=epochs, + callbacks=[lr_monitor, latest_checkpoint_callback, best_checkpoint_callback], + precision="bf16-mixed", + # fast_dev_run=1, + ) + + trainer.fit(pl_relpose, trainloader, validloader, ckpt_path=args.resume) + + +def get_parser(): + parser = argparse.ArgumentParser() + parser.add_argument('config', type=str, help='.yaml configure file path') + parser.add_argument('--resume', type=str, default=None) + parser.add_argument('--weights', type=str, default=None) + + return parser + + +if __name__ == "__main__": + parser = get_parser() + args = parser.parse_args() + main(args) diff --git a/utils/__init__.py b/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..63e6f762d49c9b85f2acc72ff1c613268fffae67 --- /dev/null +++ b/utils/__init__.py @@ -0,0 +1,19 @@ +import os +import numpy as np +import random +import torch + +from .metrics import quat_degree_error, rotation_angular_error, translation_angular_error, error_auc +from .transform import rotation_matrix_from_ortho6d, rotation_matrix_from_quaternion +from .augment import Augmentor +# from .visualize import project_3D_points, plot_3D_box + + +def seed_torch(seed): + random.seed(seed) + os.environ['PYTHONHASHSEED'] = str(seed) + np.random.seed(seed) + torch.manual_seed(seed) + torch.cuda.manual_seed(seed) + torch.backends.cudnn.benchmark = False + torch.backends.cudnn.deterministic = True diff --git a/utils/augment.py b/utils/augment.py new file mode 100644 index 0000000000000000000000000000000000000000..aa92a4617de0c462b0247d803fd5b1644775cd9d --- /dev/null +++ b/utils/augment.py @@ -0,0 +1,15 @@ +import albumentations as A + + +class Augmentor(object): + def __init__(self, is_training:bool): + self.augmentor = A.Compose([ + A.MotionBlur(p=0.25), + A.ColorJitter(p=0.25), + A.ImageCompression(p=0.25), + A.ISONoise(p=0.25), + A.ToGray(p=0.1) + ], p=float(is_training)) + + def __call__(self, x): + return self.augmentor(image=x)['image'] diff --git a/utils/metrics.py b/utils/metrics.py new file mode 100644 index 0000000000000000000000000000000000000000..b445cd37b758c2ec655ac6e9a2741cf174329a4c --- /dev/null +++ b/utils/metrics.py @@ -0,0 +1,163 @@ +import numpy as np +import torch +import sklearn +from scipy import spatial + + +def quat_degree_error(q1, q2): + return 2 * torch.acos((q1 * q2).sum(1).abs()) * 180 / torch.pi + + +def rotation_angular_error(R, Rgt): + """ + Computes rotation degree error of residual rotation angle [radians] + Input: + R - estimated rotation matrix [B, 3, 3] + Rgt - groundtruth rotation matrix [B, 3, 3] + Output: degree error + """ + + residual = R.transpose(1, 2) @ Rgt + trace = torch.diagonal(residual, dim1=-2, dim2=-1).sum(-1) + cosine = (trace - 1) / 2 + cosine = torch.clip(cosine, -0.99999, 0.99999) # handle numerical errors and NaNs + R_err = torch.acos(cosine) + # loss = F.l1_loss(R_err, torch.zeros_like(R_err)) + + return R_err + + +def translation_angular_error(t, tgt): + cosine = torch.cosine_similarity(t, tgt) + cosine = torch.clip(cosine, -0.99999, 0.99999) # handle numerical errors and NaNs + t_err = torch.acos(cosine) + + return t_err + + +def error_auc(errors, thresholds, mode): + """ + Args: + errors (list): [N,] + thresholds (list) + """ + errors = [0] + sorted(list(errors)) + recall = list(np.linspace(0, 1, len(errors))) + + aucs = [] + # thresholds = [5, 10, 20] + for thr in thresholds: + last_index = np.searchsorted(errors, thr) + y = recall[:last_index] + [recall[last_index-1]] + x = errors[:last_index] + [thr] + aucs.append(np.trapz(y, x) / thr) + + return {f'{mode}/auc@{t}': auc for t, auc in zip(thresholds, aucs)} + + +def relative_pose_error(T_0to1, R, t, ignore_gt_t_thr=0.0): + # angle error between 2 vectors + t_gt = T_0to1[:3, 3] + n = np.linalg.norm(t) * np.linalg.norm(t_gt) + t_err = np.rad2deg(np.arccos(np.clip(np.dot(t, t_gt) / n, -1.0, 1.0))) + t_err = np.minimum(t_err, 180 - t_err) # handle E ambiguity + if np.linalg.norm(t_gt) < ignore_gt_t_thr: # pure rotation is challenging + t_err = 0 + + # angle error between 2 rotation matrices + R_gt = T_0to1[:3, :3] + cos = (np.trace(np.dot(R.T, R_gt)) - 1) / 2 + cos = np.clip(cos, -1., 1.) # handle numercial errors + R_err = np.rad2deg(np.abs(np.arccos(cos))) + + return t_err, R_err + + +def transform_pts_Rt(pts, R, t): + """ + Applies a rigid transformation to 3D points. + + :param pts: nx3 ndarray with 3D points. + :param R: 3x3 rotation matrix. + :param t: 3x1 translation vector. + :return: nx3 ndarray with transformed 3D points. + """ + assert(pts.shape[1] == 3) + pts_t = R.dot(pts.T) + t.reshape((3, 1)) + return pts_t.T + +def reproj(K, R_est, t_est, R_gt, t_gt, pts): + """ + reprojection error. + :param K intrinsic matrix + :param R_est, t_est: Estimated pose (3x3 rot. matrix and 3x1 trans. vector). + :param R_gt, t_gt: GT pose (3x3 rot. matrix and 3x1 trans. vector). + :param model: Object model given by a dictionary where item 'pts' + is nx3 ndarray with 3D model points. + :return: Error of pose_est w.r.t. pose_gt. + """ + pts_est = transform_pts_Rt(pts, R_est, t_est) + pts_gt = transform_pts_Rt(pts, R_gt, t_gt) + + pixels_est = K.dot(pts_est.T) + pixels_est = pixels_est.T + pixels_gt = K.dot(pts_gt.T) + pixels_gt = pixels_gt.T + + n = pts.shape[0] + est = np.zeros((n, 2), dtype=np.float32); + est[:, 0] = np.divide(pixels_est[:, 0], pixels_est[:, 2]) + est[:, 1] = np.divide(pixels_est[:, 1], pixels_est[:, 2]) + + gt = np.zeros((n, 2), dtype=np.float32); + gt[:, 0] = np.divide(pixels_gt[:, 0], pixels_gt[:, 2]) + gt[:, 1] = np.divide(pixels_gt[:, 1], pixels_gt[:, 2]) + + e = np.linalg.norm(est - gt, axis=1).mean() + return e + +def add(R_est, t_est, R_gt, t_gt, pts): + """ + Average Distance of Model Points for objects with no indistinguishable views + - by Hinterstoisser et al. (ACCV 2012). + + :param R_est, t_est: Estimated pose (3x3 rot. matrix and 3x1 trans. vector). + :param R_gt, t_gt: GT pose (3x3 rot. matrix and 3x1 trans. vector). + :param model: Object model given by a dictionary where item 'pts' + is nx3 ndarray with 3D model points. + :return: Error of pose_est w.r.t. pose_gt. + """ + pts_est = transform_pts_Rt(pts, R_est, t_est) + pts_gt = transform_pts_Rt(pts, R_gt, t_gt) + e = np.linalg.norm(pts_est - pts_gt, axis=1).mean() + return e + +def adi(R_est, t_est, R_gt, t_gt, pts): + """ + Average Distance of Model Points for objects with indistinguishable views + - by Hinterstoisser et al. (ACCV 2012). + + :param R_est, t_est: Estimated pose (3x3 rot. matrix and 3x1 trans. vector). + :param R_gt, t_gt: GT pose (3x3 rot. matrix and 3x1 trans. vector). + :param model: Object model given by a dictionary where item 'pts' + is nx3 ndarray with 3D model points. + :return: Error of pose_est w.r.t. pose_gt. + """ + pts_est = transform_pts_Rt(pts, R_est, t_est) + pts_gt = transform_pts_Rt(pts, R_gt, t_gt) + + # Calculate distances to the nearest neighbors from pts_gt to pts_est + nn_index = spatial.cKDTree(pts_est) + nn_dists, _ = nn_index.query(pts_gt, k=1) + + e = nn_dists.mean() + return e + + +def compute_continuous_auc(metrics, thresholds): + x_range = thresholds.max() - thresholds.min() + results = np.array(metrics) + accuracies = [(results <= t).sum() / len(results) for t in thresholds] + auc = sklearn.metrics.auc(thresholds, accuracies) / x_range + + return auc diff --git a/utils/reproject.py b/utils/reproject.py new file mode 100644 index 0000000000000000000000000000000000000000..8500ae9a4e0113c4dea34921594c1dc621ac111a --- /dev/null +++ b/utils/reproject.py @@ -0,0 +1,111 @@ +import numpy as np +from typing import List, Tuple +from dataclasses import dataclass +from pathlib import Path +from zipfile import ZipFile + + +@dataclass +class Pose: + image_name: str + q: np.ndarray + t: np.ndarray + inliers: float + + def __str__(self) -> str: + formatter = {'float': lambda v: f'{v:.6f}'} + max_line_width = 1000 + q_str = np.array2string(self.q, formatter=formatter, max_line_width=max_line_width)[1:-1] + t_str = np.array2string(self.t, formatter=formatter, max_line_width=max_line_width)[1:-1] + return f'{self.image_name} {q_str} {t_str} {self.inliers}' + + +def save_submission(results_dict: dict, output_path: Path): + with ZipFile(output_path, 'w') as zip: + for scene, poses in results_dict.items(): + poses_str = '\n'.join((str(pose) for pose in poses)) + zip.writestr(f'pose_{scene}.txt', poses_str.encode('utf-8')) + + + +def project(pts: np.ndarray, K: np.ndarray, img_size: List[int] or Tuple[int] = None) -> np.ndarray: + """Projects 3D points to image plane. + + Args: + - pts [N, 3/4]: points in camera coordinates (homogeneous or non-homogeneous) + - K [3, 3]: intrinsic matrix + - img_size (width, height): optional, clamp projection to image borders + Outputs: + - uv [N, 2]: coordinates of projected points + """ + + assert len(pts.shape) == 2, 'incorrect number of dimensions' + assert pts.shape[1] in [3, 4], 'invalid dimension size' + assert K.shape == (3, 3), 'incorrect intrinsic shape' + + uv_h = (K @ pts[:, :3].T).T + uv = uv_h[:, :2] / uv_h[:, -1:] + + if img_size is not None: + uv[:, 0] = np.clip(uv[:, 0], 0, img_size[0]) + uv[:, 1] = np.clip(uv[:, 1], 0, img_size[1]) + + return uv + + +def get_grid_multipleheight() -> np.ndarray: + # create grid of points + ar_grid_step = 0.3 + ar_grid_num_x = 7 + ar_grid_num_y = 4 + ar_grid_num_z = 7 + ar_grid_z_offset = 1.8 + ar_grid_y_offset = 0 + + ar_grid_x_pos = np.arange(0, ar_grid_num_x)-(ar_grid_num_x-1)/2 + ar_grid_x_pos *= ar_grid_step + + ar_grid_y_pos = np.arange(0, ar_grid_num_y)-(ar_grid_num_y-1)/2 + ar_grid_y_pos *= ar_grid_step + ar_grid_y_pos += ar_grid_y_offset + + ar_grid_z_pos = np.arange(0, ar_grid_num_z).astype(float) + ar_grid_z_pos *= ar_grid_step + ar_grid_z_pos += ar_grid_z_offset + + xx, yy, zz = np.meshgrid(ar_grid_x_pos, ar_grid_y_pos, ar_grid_z_pos) + ones = np.ones(xx.shape[0]*xx.shape[1]*xx.shape[2]) + eye_coords = np.concatenate([c.reshape(-1, 1) + for c in (xx, yy, zz, ones)], axis=-1) + return eye_coords + + +# global variable, avoids creating it again +eye_coords_glob = get_grid_multipleheight() + + +def reprojection_error( + R_est: np.ndarray, t_est: np.ndarray, R_gt: np.ndarray, t_gt: np.ndarray, K: np.ndarray, + W: int, H: int) -> float: + eye_coords = eye_coords_glob + + # obtain ground-truth position of projected points + uv_gt = project(eye_coords, K, (W, H)) + + # residual transformation + cam2w_est = np.eye(4) + if not np.isnan(R_est).any(): + cam2w_est[:3, :3] = R_est + cam2w_est[:3, -1] = t_est + cam2w_gt = np.eye(4) + cam2w_gt[:3, :3] = R_gt + cam2w_gt[:3, -1] = t_gt + + # residual reprojection + eyes_residual = (np.linalg.inv(cam2w_est) @ cam2w_gt @ eye_coords.T).T + uv_pred = project(eyes_residual, K, (W, H)) + + # get reprojection error + repr_err = np.linalg.norm(uv_gt - uv_pred, ord=2, axis=1) + mean_repr_err = float(repr_err.mean().item()) + return mean_repr_err diff --git a/utils/transform.py b/utils/transform.py new file mode 100644 index 0000000000000000000000000000000000000000..56ecc00f607ef94b4d2e0ad6fa9da3ba58c831f5 --- /dev/null +++ b/utils/transform.py @@ -0,0 +1,100 @@ +import torch +import numpy as np + + +######################################################################################################## +# Based on the paper : On the Continuity of Rotation Representations in Neural Networks +# code from https://github.com/papagina/RotationContinuity/blob/master/Inverse_Kinematics/code/tools.py +# batch*n +def normalize_vector(v): + batch = v.shape[0] + v_mag = torch.sqrt(v.pow(2).sum(1)) # batch + v_mag = torch.max(v_mag, torch.autograd.Variable(torch.FloatTensor([1e-8]).to(v.device))) + v_mag = v_mag.view(batch, 1).expand(batch, v.shape[1]) + v = v / v_mag + return v + + +# u, v batch*n +def cross_product(u, v): + batch = u.shape[0] + # print (u.shape) + # print (v.shape) + i = u[:, 1] * v[:, 2] - u[:, 2] * v[:, 1] + j = u[:, 2] * v[:, 0] - u[:, 0] * v[:, 2] + k = u[:, 0] * v[:, 1] - u[:, 1] * v[:, 0] + + out = torch.cat((i.view(batch, 1), j.view(batch, 1), k.view(batch, 1)), 1) # batch*3 + + return out + + +def rotation_matrix_from_ortho6d(poses): + """ + Computes rotation matrix from 6D continuous space according to the parametrisation proposed in + On the Continuity of Rotation Representations in Neural Networks + https://arxiv.org/pdf/1812.07035.pdf + :param poses: [B, 6] + :return: R: [B, 3, 3] + """ + + x_raw = poses[:, 0:3] # batch*3 + y_raw = poses[:, 3:6] # batch*3 + + x = normalize_vector(x_raw) # batch*3 + z = cross_product(x, y_raw) # batch*3 + z = normalize_vector(z) # batch*3 + y = cross_product(z, x) # batch*3 + + x = x.view(-1, 3, 1) + y = y.view(-1, 3, 1) + z = z.view(-1, 3, 1) + matrix = torch.cat((x, y, z), 2) # batch*3*3 + return matrix + + +#quaternion batch*4 +def rotation_matrix_from_quaternion(quaternion): + batch=quaternion.shape[0] + + quat = normalize_vector(quaternion).contiguous() + + qw = quat[...,0].contiguous().view(batch, 1) + qx = quat[...,1].contiguous().view(batch, 1) + qy = quat[...,2].contiguous().view(batch, 1) + qz = quat[...,3].contiguous().view(batch, 1) + + # Unit quaternion rotation matrices computatation + xx = qx*qx + yy = qy*qy + zz = qz*qz + xy = qx*qy + xz = qx*qz + yz = qy*qz + xw = qx*qw + yw = qy*qw + zw = qz*qw + + row0 = torch.cat((1-2*yy-2*zz, 2*xy - 2*zw, 2*xz + 2*yw), 1) #batch*3 + row1 = torch.cat((2*xy+ 2*zw, 1-2*xx-2*zz, 2*yz-2*xw ), 1) #batch*3 + row2 = torch.cat((2*xz-2*yw, 2*yz+2*xw, 1-2*xx-2*yy), 1) #batch*3 + + matrix = torch.cat((row0.view(batch, 1, 3), row1.view(batch,1,3), row2.view(batch,1,3)),1) #batch*3*3 + + return matrix + + +def correct_intrinsic_scale(K, scale_x, scale_y): + '''Given an intrinsic matrix (3x3) and two scale factors, returns the new intrinsic matrix corresponding to + the new coordinates x' = scale_x * x; y' = scale_y * y + Source: https://dsp.stackexchange.com/questions/6055/how-does-resizing-an-image-affect-the-intrinsic-camera-matrix + ''' + + transform = np.eye(3) + transform[0, 0] = scale_x + transform[0, 2] = scale_x / 2 - 0.5 + transform[1, 1] = scale_y + transform[1, 2] = scale_y / 2 - 0.5 + Kprime = transform @ K + + return Kprime