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| | import numpy as np
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| | import torch
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| | import torch.utils.data as data
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| | import torch.nn.functional as F
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| |
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| | import os
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| | import math
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| | import random
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| | from glob import glob
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| | import os.path as osp
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| |
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| | from .utils import frame_utils
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| | from .utils.augmentor import FlowAugmentor, SparseFlowAugmentor
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| |
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| |
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| | class FlowDataset(data.Dataset):
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| | def __init__(self, aug_params=None, sparse=False):
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| | self.augmentor = None
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| | self.sparse = sparse
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| | if aug_params is not None:
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| | if sparse:
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| | self.augmentor = SparseFlowAugmentor(**aug_params)
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| | else:
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| | self.augmentor = FlowAugmentor(**aug_params)
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| |
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| | self.is_test = False
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| | self.init_seed = False
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| | self.flow_list = []
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| | self.image_list = []
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| | self.extra_info = []
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| |
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| | def __getitem__(self, index):
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| |
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| | if self.is_test:
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| | img1 = frame_utils.read_gen(self.image_list[index][0])
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| | img2 = frame_utils.read_gen(self.image_list[index][1])
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| | img1 = np.array(img1).astype(np.uint8)[..., :3]
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| | img2 = np.array(img2).astype(np.uint8)[..., :3]
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| | img1 = torch.from_numpy(img1).permute(2, 0, 1).float()
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| | img2 = torch.from_numpy(img2).permute(2, 0, 1).float()
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| | return img1, img2, self.extra_info[index]
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| |
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| | if not self.init_seed:
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| | worker_info = torch.utils.data.get_worker_info()
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| | if worker_info is not None:
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| | torch.manual_seed(worker_info.id)
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| | np.random.seed(worker_info.id)
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| | random.seed(worker_info.id)
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| | self.init_seed = True
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| |
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| | index = index % len(self.image_list)
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| | valid = None
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| | if self.sparse:
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| | flow, valid = frame_utils.readFlowKITTI(self.flow_list[index])
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| | else:
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| | flow = frame_utils.read_gen(self.flow_list[index])
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| |
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| | img1 = frame_utils.read_gen(self.image_list[index][0])
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| | img2 = frame_utils.read_gen(self.image_list[index][1])
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| |
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| | flow = np.array(flow).astype(np.float32)
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| | img1 = np.array(img1).astype(np.uint8)
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| | img2 = np.array(img2).astype(np.uint8)
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| |
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| |
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| | if len(img1.shape) == 2:
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| | img1 = np.tile(img1[...,None], (1, 1, 3))
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| | img2 = np.tile(img2[...,None], (1, 1, 3))
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| | else:
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| | img1 = img1[..., :3]
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| | img2 = img2[..., :3]
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| |
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| | if self.augmentor is not None:
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| | if self.sparse:
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| | img1, img2, flow, valid = self.augmentor(img1, img2, flow, valid)
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| | else:
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| | img1, img2, flow = self.augmentor(img1, img2, flow)
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| |
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| | img1 = torch.from_numpy(img1).permute(2, 0, 1).float()
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| | img2 = torch.from_numpy(img2).permute(2, 0, 1).float()
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| | flow = torch.from_numpy(flow).permute(2, 0, 1).float()
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| |
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| | if valid is not None:
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| | valid = torch.from_numpy(valid)
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| | else:
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| | valid = (flow[0].abs() < 1000) & (flow[1].abs() < 1000)
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| |
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| | return img1, img2, flow, valid.float()
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| |
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| |
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| | def __rmul__(self, v):
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| | self.flow_list = v * self.flow_list
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| | self.image_list = v * self.image_list
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| | return self
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| |
|
| | def __len__(self):
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| | return len(self.image_list)
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| |
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| |
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| | class MpiSintel(FlowDataset):
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| | def __init__(self, aug_params=None, split='training', root='datasets/Sintel', dstype='clean'):
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| | super(MpiSintel, self).__init__(aug_params)
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| | flow_root = osp.join(root, split, 'flow')
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| | image_root = osp.join(root, split, dstype)
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| |
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| | if split == 'test':
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| | self.is_test = True
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| |
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| | for scene in os.listdir(image_root):
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| | image_list = sorted(glob(osp.join(image_root, scene, '*.png')))
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| | for i in range(len(image_list)-1):
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| | self.image_list += [ [image_list[i], image_list[i+1]] ]
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| | self.extra_info += [ (scene, i) ]
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| |
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| | if split != 'test':
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| | self.flow_list += sorted(glob(osp.join(flow_root, scene, '*.flo')))
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| |
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| |
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| | class FlyingChairs(FlowDataset):
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| | def __init__(self, aug_params=None, split='train', root='datasets/FlyingChairs_release/data'):
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| | super(FlyingChairs, self).__init__(aug_params)
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| |
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| | images = sorted(glob(osp.join(root, '*.ppm')))
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| | flows = sorted(glob(osp.join(root, '*.flo')))
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| | assert (len(images)//2 == len(flows))
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| |
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| | split_list = np.loadtxt('chairs_split.txt', dtype=np.int32)
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| | for i in range(len(flows)):
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| | xid = split_list[i]
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| | if (split=='training' and xid==1) or (split=='validation' and xid==2):
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| | self.flow_list += [ flows[i] ]
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| | self.image_list += [ [images[2*i], images[2*i+1]] ]
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| |
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| |
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| | class FlyingThings3D(FlowDataset):
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| | def __init__(self, aug_params=None, root='datasets/FlyingThings3D', dstype='frames_cleanpass'):
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| | super(FlyingThings3D, self).__init__(aug_params)
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| |
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| | for cam in ['left']:
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| | for direction in ['into_future', 'into_past']:
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| | image_dirs = sorted(glob(osp.join(root, dstype, 'TRAIN/*/*')))
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| | image_dirs = sorted([osp.join(f, cam) for f in image_dirs])
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| |
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| | flow_dirs = sorted(glob(osp.join(root, 'optical_flow/TRAIN/*/*')))
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| | flow_dirs = sorted([osp.join(f, direction, cam) for f in flow_dirs])
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| |
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| | for idir, fdir in zip(image_dirs, flow_dirs):
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| | images = sorted(glob(osp.join(idir, '*.png')) )
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| | flows = sorted(glob(osp.join(fdir, '*.pfm')) )
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| | for i in range(len(flows)-1):
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| | if direction == 'into_future':
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| | self.image_list += [ [images[i], images[i+1]] ]
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| | self.flow_list += [ flows[i] ]
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| | elif direction == 'into_past':
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| | self.image_list += [ [images[i+1], images[i]] ]
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| | self.flow_list += [ flows[i+1] ]
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| |
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| |
|
| | class KITTI(FlowDataset):
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| | def __init__(self, aug_params=None, split='training', root='datasets/KITTI'):
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| | super(KITTI, self).__init__(aug_params, sparse=True)
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| | if split == 'testing':
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| | self.is_test = True
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| |
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| | root = osp.join(root, split)
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| | images1 = sorted(glob(osp.join(root, 'image_2/*_10.png')))
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| | images2 = sorted(glob(osp.join(root, 'image_2/*_11.png')))
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| |
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| | for img1, img2 in zip(images1, images2):
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| | frame_id = img1.split('/')[-1]
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| | self.extra_info += [ [frame_id] ]
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| | self.image_list += [ [img1, img2] ]
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| |
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| | if split == 'training':
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| | self.flow_list = sorted(glob(osp.join(root, 'flow_occ/*_10.png')))
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| |
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| |
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| | class HD1K(FlowDataset):
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| | def __init__(self, aug_params=None, root='datasets/HD1k'):
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| | super(HD1K, self).__init__(aug_params, sparse=True)
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| |
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| | seq_ix = 0
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| | while 1:
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| | flows = sorted(glob(os.path.join(root, 'hd1k_flow_gt', 'flow_occ/%06d_*.png' % seq_ix)))
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| | images = sorted(glob(os.path.join(root, 'hd1k_input', 'image_2/%06d_*.png' % seq_ix)))
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| |
|
| | if len(flows) == 0:
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| | break
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| |
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| | for i in range(len(flows)-1):
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| | self.flow_list += [flows[i]]
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| | self.image_list += [ [images[i], images[i+1]] ]
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| |
|
| | seq_ix += 1
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| |
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| |
|
| | def fetch_dataloader(args, TRAIN_DS='C+T+K+S+H'):
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| | """ Create the data loader for the corresponding trainign set """
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| |
|
| | if args.stage == 'chairs':
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| | aug_params = {'crop_size': args.image_size, 'min_scale': -0.1, 'max_scale': 1.0, 'do_flip': True}
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| | train_dataset = FlyingChairs(aug_params, split='training')
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| |
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| | elif args.stage == 'things':
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| | aug_params = {'crop_size': args.image_size, 'min_scale': -0.4, 'max_scale': 0.8, 'do_flip': True}
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| | clean_dataset = FlyingThings3D(aug_params, dstype='frames_cleanpass')
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| | final_dataset = FlyingThings3D(aug_params, dstype='frames_finalpass')
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| | train_dataset = clean_dataset + final_dataset
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| |
|
| | elif args.stage == 'sintel':
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| | aug_params = {'crop_size': args.image_size, 'min_scale': -0.2, 'max_scale': 0.6, 'do_flip': True}
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| | things = FlyingThings3D(aug_params, dstype='frames_cleanpass')
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| | sintel_clean = MpiSintel(aug_params, split='training', dstype='clean')
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| | sintel_final = MpiSintel(aug_params, split='training', dstype='final')
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| |
|
| | if TRAIN_DS == 'C+T+K+S+H':
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| | kitti = KITTI({'crop_size': args.image_size, 'min_scale': -0.3, 'max_scale': 0.5, 'do_flip': True})
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| | hd1k = HD1K({'crop_size': args.image_size, 'min_scale': -0.5, 'max_scale': 0.2, 'do_flip': True})
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| | train_dataset = 100*sintel_clean + 100*sintel_final + 200*kitti + 5*hd1k + things
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| |
|
| | elif TRAIN_DS == 'C+T+K/S':
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| | train_dataset = 100*sintel_clean + 100*sintel_final + things
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| |
|
| | elif args.stage == 'kitti':
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| | aug_params = {'crop_size': args.image_size, 'min_scale': -0.2, 'max_scale': 0.4, 'do_flip': False}
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| | train_dataset = KITTI(aug_params, split='training')
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| |
|
| | train_loader = data.DataLoader(train_dataset, batch_size=args.batch_size,
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| | pin_memory=False, shuffle=True, num_workers=4, drop_last=True)
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| |
|
| | print('Training with %d image pairs' % len(train_dataset))
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| | return train_loader
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| |
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