Pytorch version of SfmLearner from Tinghui Zhou et al.

Overview

SfMLearner Pytorch version

This codebase implements the system described in the paper:

Unsupervised Learning of Depth and Ego-Motion from Video

Tinghui Zhou, Matthew Brown, Noah Snavely, David G. Lowe

In CVPR 2017 (Oral).

See the project webpage for more details.

Original Author : Tinghui Zhou ([email protected]) Pytorch implementation : Clément Pinard ([email protected])

sample_results

Preamble

This codebase was developed and tested with Pytorch 1.0.1, CUDA 10 and Ubuntu 16.04. Original code was developped in tensorflow, you can access it here

Prerequisite

pip3 install -r requirements.txt

or install manually the following packages :

pytorch >= 1.0.1
pebble
matplotlib
imageio
scipy
argparse
tensorboardX
blessings
progressbar2
path.py

Note

Because it uses latests pytorch features, it is not compatible with anterior versions of pytorch.

If you don't have an up to date pytorch, the tags can help you checkout the right commits corresponding to your pytorch version.

What has been done

  • Training has been tested on KITTI and CityScapes.
  • Dataset preparation has been largely improved, and now stores image sequences in folders, making sure that movement is each time big enough between each frame
  • That way, training is now significantly faster, running at ~0.14sec per step vs ~0.2s per steps initially (on a single GTX980Ti)
  • In addition you don't need to prepare data for a particular sequence length anymore as stacking is made on the fly.
  • You can still choose the former stacked frames dataset format.
  • Convergence is now almost as good as original paper with same hyper parameters
  • You can know compare with groud truth for your validation set. It is still possible to validate without, but you now can see that minimizing photometric error is not equivalent to optimizing depth map.

Differences with official Implementation

  • Smooth Loss is different from official repo. Instead of applying it to disparity, we apply it to depth. Original disparity smooth loss did not work well (don't know why !) and it did not even converge at all with weight values used (0.5).
  • loss is divided by 2.3 when downscaling instead of 2. This is the results of empiric experiments, so the optimal value is clearly not carefully determined.
  • As a consequence, with a smooth loss of 2.0̀, depth test is better, but Pose test is worse. To revert smooth loss back to original, you can change it here

Preparing training data

Preparation is roughly the same command as in the original code.

For KITTI, first download the dataset using this script provided on the official website, and then run the following command. The --with-depth option will save resized copies of groundtruth to help you setting hyper parameters. The --with-pose will dump the sequence pose in the same format as Odometry dataset (see pose evaluation)

python3 data/prepare_train_data.py /path/to/raw/kitti/dataset/ --dataset-format 'kitti' --dump-root /path/to/resulting/formatted/data/ --width 416 --height 128 --num-threads 4 [--static-frames /path/to/static_frames.txt] [--with-depth] [--with-pose]

For Cityscapes, download the following packages: 1) leftImg8bit_sequence_trainvaltest.zip, 2) camera_trainvaltest.zip. You will probably need to contact the administrators to be able to get it. Then run the following command

python3 data/prepare_train_data.py /path/to/cityscapes/dataset/ --dataset-format 'cityscapes' --dump-root /path/to/resulting/formatted/data/ --width 416 --height 171 --num-threads 4

Notice that for Cityscapes the img_height is set to 171 because we crop out the bottom part of the image that contains the car logo, and the resulting image will have height 128.

Training

Once the data are formatted following the above instructions, you should be able to train the model by running the following command

python3 train.py /path/to/the/formatted/data/ -b4 -m0.2 -s0.1 --epoch-size 3000 --sequence-length 3 --log-output [--with-gt]

You can then start a tensorboard session in this folder by

tensorboard --logdir=checkpoints/

and visualize the training progress by opening https://localhost:6006 on your browser. If everything is set up properly, you should start seeing reasonable depth prediction after ~30K iterations when training on KITTI.

Evaluation

Disparity map generation can be done with run_inference.py

python3 run_inference.py --pretrained /path/to/dispnet --dataset-dir /path/pictures/dir --output-dir /path/to/output/dir

Will run inference on all pictures inside dataset-dir and save a jpg of disparity (or depth) to output-dir for each one see script help (-h) for more options.

Disparity evaluation is avalaible

python3 test_disp.py --pretrained-dispnet /path/to/dispnet --pretrained-posenet /path/to/posenet --dataset-dir /path/to/KITTI_raw --dataset-list /path/to/test_files_list

Test file list is available in kitti eval folder. To get fair comparison with Original paper evaluation code, don't specify a posenet. However, if you do, it will be used to solve the scale factor ambiguity, the only ground truth used to get it will be vehicle speed which is far more acceptable for real conditions quality measurement, but you will obviously get worse results.

Pose evaluation is also available on Odometry dataset. Be sure to download both color images and pose !

python3 test_pose.py /path/to/posenet --dataset-dir /path/to/KITIT_odometry --sequences [09]

ATE (Absolute Trajectory Error) is computed as long as RE for rotation (Rotation Error). RE between R1 and R2 is defined as the angle of R1*R2^-1 when converted to axis/angle. It corresponds to RE = arccos( (trace(R1 @ R2^-1) - 1) / 2). While ATE is often said to be enough to trajectory estimation, RE seems important here as sequences are only seq_length frames long.

Pretrained Nets

Avalaible here

Arguments used :

python3 train.py /path/to/the/formatted/data/ -b4 -m0 -s2.0 --epoch-size 1000 --sequence-length 5 --log-output --with-gt

Depth Results

Abs Rel Sq Rel RMSE RMSE(log) Acc.1 Acc.2 Acc.3
0.181 1.341 6.236 0.262 0.733 0.901 0.964

Pose Results

5-frames snippets used

Seq. 09 Seq. 10
ATE 0.0179 (std. 0.0110) 0.0141 (std. 0.0115)
RE 0.0018 (std. 0.0009) 0.0018 (std. 0.0011)

Discussion

Here I try to link the issues that I think raised interesting questions about scale factor, pose inference, and training hyperparameters

  • Issue 48 : Why is target frame at the center of the sequence ?
  • Issue 39 : Getting pose vector without the scale factor uncertainty
  • Issue 46 : Is Interpolated groundtruth better than sparse groundtruth ?
  • Issue 45 : How come the inverse warp is absolute and pose and depth are only relative ?
  • Issue 32 : Discussion about validation set, and optimal batch size
  • Issue 25 : Why filter out static frames ?
  • Issue 24 : Filtering pixels out of the photometric loss
  • Issue 60 : Inverse warp is only one way !

Other Implementations

TensorFlow by tinghuiz (original code, and paper author)

Owner
Clément Pinard
PhD ENSTA Paris, Deep Learning Engineer @ ContentSquare
Clément Pinard
Source code for our paper "Empathetic Response Generation with State Management"

Source code for our paper "Empathetic Response Generation with State Management" this repository is maintained by both Jun Gao and Yuhan Liu Model Ove

Yuhan Liu 3 Oct 08, 2022
Customer-Transaction-Analysis - This analysis is based on a synthesised transaction dataset containing 3 months worth of transactions for 100 hypothetical customers.

Customer-Transaction-Analysis - This analysis is based on a synthesised transaction dataset containing 3 months worth of transactions for 100 hypothetical customers. It contains purchases, recurring

Ayodeji Yekeen 1 Jan 01, 2022
Pytorch Implementation of Spiking Neural Networks Calibration, ICML 2021

SNN_Calibration Pytorch Implementation of Spiking Neural Networks Calibration, ICML 2021 Feature Comparison of SNN calibration: Features SNN Direct Tr

Yuhang Li 60 Dec 27, 2022
A tensorflow model that predicts if the image is of a cat or of a dog.

Quick intro Hello and thank you for your interest in my project! This is the backend part of a two-repo application. The other part can be found here

Tudor Matei 0 Mar 08, 2022
Implementation of light baking system for ray tracing based on Activision's UberBake

Vulkan Light Bakary MSU Graphics Group Student's Diploma Project Treefonov Andrey [GitHub] [LinkedIn] Project Goal The goal of the project is to imple

Andrey Treefonov 7 Dec 27, 2022
Moment-DETR code and QVHighlights dataset

Moment-DETR QVHighlights: Detecting Moments and Highlights in Videos via Natural Language Queries Jie Lei, Tamara L. Berg, Mohit Bansal For dataset de

Jie Lei 雷杰 133 Dec 22, 2022
Convert Pytorch model to onnx or tflite, and the converted model can be visualized by Netron

Convert Pytorch model to onnx or tflite, and the converted model can be visualized by Netron

Roxbili 5 Nov 19, 2022
Companion code for the paper "An Infinite-Feature Extension for Bayesian ReLU Nets That Fixes Their Asymptotic Overconfidence" (NeurIPS 2021)

ReLU-GP Residual (RGPR) This repository contains code for reproducing the following NeurIPS 2021 paper: @inproceedings{kristiadi2021infinite, title=

Agustinus Kristiadi 4 Dec 26, 2021
The World of an Octopus: How Reporting Bias Influences a Language Model's Perception of Color

The World of an Octopus: How Reporting Bias Influences a Language Model's Perception of Color Overview Code and dataset for The World of an Octopus: H

1 Nov 13, 2021
Federated Deep Reinforcement Learning for the Distributed Control of NextG Wireless Networks.

FDRL-PC-Dyspan Federated Deep Reinforcement Learning for the Distributed Control of NextG Wireless Networks. This repository contains the entire code

Peyman Tehrani 17 Nov 18, 2022
We are More than Our JOints: Predicting How 3D Bodies Move

We are More than Our JOints: Predicting How 3D Bodies Move Citation This repo contains the official implementation of our paper MOJO: @inproceedings{Z

72 Oct 20, 2022
LWCC: A LightWeight Crowd Counting library for Python that includes several pretrained state-of-the-art models.

LWCC: A LightWeight Crowd Counting library for Python LWCC is a lightweight crowd counting framework for Python. It wraps four state-of-the-art models

Matija Teršek 39 Dec 28, 2022
ACAV100M: Automatic Curation of Large-Scale Datasets for Audio-Visual Video Representation Learning. In ICCV, 2021.

ACAV100M: Automatic Curation of Large-Scale Datasets for Audio-Visual Video Representation Learning This repository contains the code for our ICCV 202

sangho.lee 28 Nov 08, 2022
Towards Representation Learning for Atmospheric Dynamics (AtmoDist)

Towards Representation Learning for Atmospheric Dynamics (AtmoDist) The prediction of future climate scenarios under anthropogenic forcing is critical

Sebastian Hoffmann 4 Dec 15, 2022
PyTorch implementation of GLOM

GLOM PyTorch implementation of GLOM, Geoffrey Hinton's new idea that integrates concepts from neural fields, top-down-bottom-up processing, and attent

Yeonwoo Sung 20 Aug 17, 2022
Style transfer between images was performed using the VGG19 model

Style transfer between images was performed using the VGG19 model. The necessary codes, libraries and all other information of this project are available below

Onur yılmaz 2 May 09, 2022
Pytorch implementation of the unsupervised object discovery method LOST.

LOST Pytorch implementation of the unsupervised object discovery method LOST. More details can be found in the paper: Localizing Objects with Self-Sup

Valeo.ai 189 Dec 25, 2022
Why Are You Weird? Infusing Interpretability in Isolation Forest for Anomaly Detection

Why, hello there! This is the supporting notebook for the research paper — Why Are You Weird? Infusing Interpretability in Isolation Forest for Anomal

2 Dec 14, 2021
Open-sourcing the Slates Dataset for recommender systems research

FINN.no Recommender Systems Slate Dataset This repository accompany the paper "Dynamic Slate Recommendation with Gated Recurrent Units and Thompson Sa

FINN.no 48 Nov 28, 2022
Neural style transfer as a class in PyTorch

pt-styletransfer Neural style transfer as a class in PyTorch Based on: https://github.com/alexis-jacq/Pytorch-Tutorials Adds: StyleTransferNet as a cl

Tyler Kvochick 31 Jun 27, 2022