CoolFace
Apppublic

blanchon/Metric3D

sourceHugging Facegpl-3.0updated 2y agoView on Hugging Face
0likes
do_test.cpython-39.pyc65 linesDownload Raw Back to __pycache__
1a

2�o�d_/�3@s\ddlZddlmmZddlZddlZddlmZ	ddl4mZddlm
Z
mZmZddlZddlmZddlZddlmZddlmZddlmZmZed�dd	�Zejejd5�dd�Zejejd6�d
d�Z ej!ej!d7�dd�Z"e#e#e$ej!d�dd�Z%dd�Z&gfejj'ejejejejeje(e$d�dd�Z)dd�Z*dejj'ee$ej+e,e#d�dd�Z-dS) �N)�MetricAverageMeter)�
save_val_imgs�create_html�
save_raw_imgs)�tqdm)�Image)�reconstruct_pcd�save_point_cloud)�datacCs~|��D]p\}}t|tj�r,|jdd�||<t|t�rt|�dkrt|dtj�rt|�D]\}}|jdd�|||<qZq|S)NT)�non_blocking�r)�items�8isinstance�torch�Tensor�cuda�list�len�	enumerate)r9�k�v�iZl_i�r�DC:\Users\JUGG\Documents\GitHub\Metric3DPrivate\mono\utils\do_test.py�to_cudas&r)�pred�targetcCsL|dk}t�|�dkr8t�||�t�||�d}nd}||}||fS)Nr�10�:�0�yE>r)r�sum�median)rr�mask�scaleZpred_scaledrrr�align_scales"r#cCs�|dk}||����}||����}t�|�dkrxtj||dd�\}}|dkr�t�||�t�||�d}d}nd}d}|||}||fS�Nrrr)�degr)�cpu�numpyrr�np�polyfitr �rrr!�target_maskZ	pred_maskr"�shiftrrr�align_scale_shift"s r-cCs�|dk}||}||}t�|�dkrhtj||dd�\}}|dkrpt�||�t�||�d}d}nd}d}|||}||fSr$)r(rr)r r*rrr�align_scale_shift_numpy1s r.)�H�W�11intrinsics�returncCs�|\}}}}||d}t�d|��tj�}|||}	t�|	|df�}12t�d|��tj�}|||}t�||df�j}
t�|13||�}t�|
||�}tj|14|
||gdd�}|S)zh15    Encode the camera intrinsic parameters (focal length and principle point) to a 4-channel map. 16    g@rr�)�axis)r(�arange�astype�float32�tile�T�arctan�stack)r/r0r1�fx�fyZu0�v0�f�x_rowZx_row_center_normZx_center�y_colZy_col_center_normZy_centerZfov_xZfov_y�	cam_modelrrr�build_camera_modelAsrCc	CsHgd�}|j\}}}|d|d}	|d|d}17t|	|18�}||}t||�}
t||�}t|d|
d�}t|d|d�}t|d�}t|d�}tj|||
ftjd�}tj|||||||tj|d�}|d||d<|d||d<t	|
||�}tj|||||||tjdd�}||||||g}d|}||||fS)	z�19    Resize the input.20    Resizing consists of two processed, i.e. 1) to the canonical space (adjust the camera model); 2) resize the image while the camera model holds. Thus the21    label will be scaled with the resize factor.22    �g33333�^@gR���]@gR����Y@rrr3)Zdsize�
interpolation)�value������)23�shape�min�int�max�cv2�resize�INTER_LINEAR�copyMakeBorder�BORDER_CONSTANTrC)�imageZoutput_shape�	intrinsicZcanonical_shapeZto_canonical_ratio�padding�h�w�_Zresize_ratio_hZresize_ratio_wZto_scale_ratioZresize_ratioZ	reshape_hZ	reshape_w�pad_h�pad_wZ24pad_h_halfZ25pad_w_halfrB�pad�label_scale_factorrrr�resize_for_inputWsJ26�27�	r\��model�inputrB�pad_info�28scale_info�gt_depth�normalize_scale�	ori_shapecCs�t||d�}|j�|�\}	}29}|	��}	|	|d|	jd|d�|d|	jd|d�f}	|durn|j}n|gkr||}n|	j}tjjj|	dddd�dd�f|dd���}	|	||}	|dur�t	|	|�\}
}nd}
d}|	|
|fS)N)r_rBrrr3rG�bilinear��mode)30�dict�module�	inference�squeezerIr�nn�31functional�interpolater#)r^r_rBr`rarbrcrdr32�33pred_depth�34confidence�output_dictZresize_shape�pred_depth_scaler"rrr�get_prediction�s&�8,rscsj|d}|j}t�gd����dd�ddf}t�gd����dd�ddf}t�|tj�}|j\}}}	|d|dd}35|d}||36}|d||d||d|d	g}
t|||
||gd37�\}�}}||}t�	|�38d����}t�|||�}|ddd�dd�dd�f��}t�	��39d������ddd�dd�dd�f����fdd
�dD�}||||fS)a40    Pre-process the input for forwarding. Employ `label scale canonical transformation.'41        Args:42            rgb: input rgb image. [H, W, 3]43            intrinsic: camera intrinsic parameter, [fx, fy, u0, v0]44            data_basic: predefined canonical space in configs.45    �canonical_spacerDN�g��(\�2M@g���(\�L@g�L@rrr3Zfocal_lengthrG��?)r3rrcs:g|]2}tjjj��jd|�jd|fddd��qS)r3rGreF)�sizerg�
align_corners)rrlrmrnrI)�.0r�rBrr�46<listcomp>�s�z1transform_test_data_scalecano.<locals>.<listcomp>)r3���� )
�	crop_sizer�tensor�floatrM�cvtColor�
COLOR_BGR2RGBrIr\�47from_numpy�	transpose�divr)�rgbrS�48data_basicrtZforward_size�mean�stdZori_hZori_wrWZ	ori_focalZcanonical_focalZcano_label_scale_ratioZcanonical_intrinsicrZZresize_label_scale_ratior[Zcam_model_stacksrrzr�transform_test_data_scalecano�s2  4950�  51�r�T)r^�cfg�	test_data�logger�is_distributed�52local_rankc*
Csp|j}d}|d}tj|dd�|d}	tj|	dd�|jjd}53tgd��}tgd��}tgd��}
tt|��D�]�\}}t�	|d�dd�dd�ddd�f�54�}|d	dur�t�	|d	d�}|d55}||}d}nd}d}|d}|du�rd
d
|jdd|jddg}t|||j�\}}}}t
|||||d|56|jd|jdgd�\}}}|�rtjjj|dddd�dd�f|jd|jdfdd���}t�|���}|||dk��||dk��}t||�\}}|dk}|�||||�|�||||�|
�||||�||dkrrtjt�||d�dd�t�|��|j��ddd�} t�gd����dd�ddf�| j�}!t�gd����dd�ddf�| j�}"t�| |!|"�} t |||du�r�|ntj!||jd�| t�|d|d�|�|�"��#��$�}t%||d|d|d|d�}#tjt�|	|d�dd�|ddk�r�t&|#�'d�|�'dd�t�|	|d|ddd�d��qrdD]�}$dD]�}%t%||%|$|%d|$|d|d�}#dt(t)|%|$��d t(t)|%d|$��}&t&|#�'d�|�'dd�t�|	|d|ddd�|&d���q��q�qr|�rd|�*�}'t+d!|'�|�*�}(t+d"|(�|
�*�})t+d#|)�nt+d$�dS)%Nrz/visT)�exist_okz/pcd)�abs_rel�rmse�silog�delta1�delta2�delta3r�rH�depthZdepth_scaleFrSg@�@r3rr]rerfr�folderrDru)�device�filenamerG)rHrG�����z.ply)g�������?rvg�������?)iXi i�i�i�Z_fx_Z_fy_zw/o match :zmedian match :zglobal match :z-missing gt_depth, only save visualizations...),�show_dir�os�makedirsr�Zdepth_rangerrrrM�imread�copyrIr�rsrrlrmrnrkr�rr r-�update_metrics_gpu�osp�join�tor��permuter�r�r�r�	ones_like�detachr&r'rr	�reshape�strrK�get_metrics�print)*r^r�r�r�r�r�r�Z
save_intervalZ
save_imgs_dirZsave_pcd_dirrcZdamZ57dam_medianZ58dam_globalr�anZ59rgb_originrbZgt_depth_scaleZ
gt_depth_flagrSZ	rgb_inputZcam_models_stacksrZr[rorrr"Zpred_depth_medianZpred_globalrWr!Z	rgb_torchr�r�Zpcd�rr?ZfstrZ60eval_errorZeval_error_medianZeval_error_globalrrr�"do_scalecano_test_with_custom_data�s�	*61 �<$((�62 :$,F6364r�)Tr).rZtorch.nn.functionalrlrm�F�loggingr��os.path�pathr�Zmono.utils.avg_meterrZmono.utils.visualizationrrrrMrr'r(�PILr�matplotlib.pyplot�pyplot�pltZmono.utils.unproj_pcdrr	rhrr�r#r-�arrayr.rKrrCr\�Moduler�rsr��65RootLogger�boolr�rrrr�<module>sP		=��#4��