├── .gitignore ├── LICENSE ├── README.md ├── cmd_args.py ├── configs ├── test_ours_FlyingThings3D.yaml ├── test_ours_KITTI.yaml └── train_ours.yaml ├── data_preprocess ├── IO.py ├── flyingthings3d_utils.py ├── kitti_utils.py ├── process_flyingthings3d_subset.py ├── process_kitti.py └── python_pfm.py ├── datasets ├── KITTI_mapping.txt ├── __init__.py ├── flyingthings3d_subset.py └── kitti.py ├── evaluation_bnn.py ├── evaluation_utils.py ├── main.py ├── main_utils.py ├── models ├── HPLFlowNet.py ├── HPLFlowNet_shallow.py ├── __init__.py ├── _khash_ffi.c ├── bilateralNN.py ├── bnn_flow.py ├── build_khash_cffi.py ├── epe3d_loss.py ├── khash.h ├── khash_int2int.h └── module_utils.py ├── trained_models └── README.md ├── transforms ├── __init__.py ├── functional.py └── transforms.py ├── utils ├── __init__.py ├── calib_cam_to_cam │ ├── 000000.txt │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── 000042.txt │ ├── 000043.txt │ ├── 000044.txt │ ├── 000045.txt │ ├── 000046.txt │ ├── 000047.txt │ ├── 000048.txt │ ├── 000049.txt │ ├── 000050.txt │ ├── 000051.txt │ ├── 000052.txt │ ├── 000053.txt │ ├── 000054.txt │ ├── 000055.txt │ ├── 000056.txt │ ├── 000057.txt │ ├── 000058.txt │ ├── 000059.txt │ ├── 000060.txt │ ├── 000061.txt │ ├── 000062.txt │ ├── 000063.txt │ ├── 000064.txt │ ├── 000065.txt │ ├── 000066.txt │ ├── 000067.txt │ ├── 000068.txt │ ├── 000069.txt │ ├── 000070.txt │ ├── 000071.txt │ ├── 000072.txt │ ├── 000073.txt │ ├── 000074.txt │ ├── 000075.txt │ ├── 000076.txt │ ├── 000077.txt │ ├── 000078.txt │ ├── 000079.txt │ ├── 000080.txt │ ├── 000081.txt │ ├── 000082.txt │ ├── 000083.txt │ ├── 000084.txt │ ├── 000085.txt │ ├── 000086.txt │ ├── 000087.txt │ ├── 000088.txt │ ├── 000089.txt │ ├── 000090.txt │ ├── 000091.txt │ ├── 000092.txt │ ├── 000093.txt │ ├── 000094.txt │ ├── 000095.txt │ ├── 000096.txt │ ├── 000097.txt │ ├── 000098.txt │ ├── 000099.txt │ ├── 000100.txt │ ├── 000101.txt │ ├── 000102.txt │ ├── 000103.txt │ ├── 000104.txt │ ├── 000105.txt │ ├── 000106.txt │ ├── 000107.txt │ ├── 000108.txt │ ├── 000109.txt │ ├── 000110.txt │ ├── 000111.txt │ ├── 000112.txt │ ├── 000113.txt │ ├── 000114.txt │ ├── 000115.txt │ ├── 000116.txt │ ├── 000117.txt │ ├── 000118.txt │ ├── 000119.txt │ ├── 000120.txt │ ├── 000121.txt │ ├── 000122.txt │ ├── 000123.txt │ ├── 000124.txt │ ├── 000125.txt │ ├── 000126.txt │ ├── 000127.txt │ ├── 000128.txt │ ├── 000129.txt │ ├── 000130.txt │ ├── 000131.txt │ ├── 000132.txt │ ├── 000133.txt │ ├── 000134.txt │ ├── 000135.txt │ ├── 000136.txt │ ├── 000137.txt │ ├── 000138.txt │ ├── 000139.txt │ ├── 000140.txt │ ├── 000141.txt │ ├── 000142.txt │ ├── 000143.txt │ ├── 000144.txt │ ├── 000145.txt │ ├── 000146.txt │ ├── 000147.txt │ ├── 000148.txt │ ├── 000149.txt │ ├── 000150.txt │ ├── 000151.txt │ ├── 000152.txt │ ├── 000153.txt │ ├── 000154.txt │ ├── 000155.txt │ ├── 000156.txt │ ├── 000157.txt │ ├── 000158.txt │ ├── 000159.txt │ ├── 000160.txt │ ├── 000161.txt │ ├── 000162.txt │ ├── 000163.txt │ ├── 000164.txt │ ├── 000165.txt │ ├── 000166.txt │ ├── 000167.txt │ ├── 000168.txt │ ├── 000169.txt │ ├── 000170.txt │ ├── 000171.txt │ ├── 000172.txt │ ├── 000173.txt │ ├── 000174.txt │ ├── 000175.txt │ ├── 000176.txt │ ├── 000177.txt │ ├── 000178.txt │ ├── 000179.txt │ ├── 000180.txt │ ├── 000181.txt │ ├── 000182.txt │ ├── 000183.txt │ ├── 000184.txt │ ├── 000185.txt │ ├── 000186.txt │ ├── 000187.txt │ ├── 000188.txt │ ├── 000189.txt │ ├── 000190.txt │ ├── 000191.txt │ ├── 000192.txt │ ├── 000193.txt │ ├── 000194.txt │ ├── 000195.txt │ ├── 000196.txt │ ├── 000197.txt │ ├── 000198.txt │ └── 000199.txt ├── easydict.py └── geometry.py └── visualization.py /.gitignore: -------------------------------------------------------------------------------- 1 | # self-defined 2 | trained_models/*.pth.tar 3 | test_key2int.py 4 | tmp.py 5 | tmp 6 | checkpoints 7 | tee_dir 8 | .ipynb_checkpoints 9 | .DS_Store 10 | .idea 11 | 12 | # Byte-compiled / optimized / DLL files 13 | __pycache__/ 14 | *.py[cod] 15 | *$py.class 16 | 17 | # C extensions 18 | *.so 19 | 20 | # Distribution / packaging 21 | .Python 22 | build/ 23 | develop-eggs/ 24 | dist/ 25 | downloads/ 26 | eggs/ 27 | .eggs/ 28 | lib/ 29 | lib64/ 30 | parts/ 31 | sdist/ 32 | var/ 33 | wheels/ 34 | *.egg-info/ 35 | .installed.cfg 36 | *.egg 37 | MANIFEST 38 | 39 | # PyInstaller 40 | # Usually these files are written by a python script from a template 41 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 42 | *.manifest 43 | *.spec 44 | 45 | # Installer logs 46 | pip-log.txt 47 | pip-delete-this-directory.txt 48 | 49 | # Unit test / coverage reports 50 | htmlcov/ 51 | .tox/ 52 | .coverage 53 | .coverage.* 54 | .cache 55 | nosetests.xml 56 | coverage.xml 57 | *.cover 58 | .hypothesis/ 59 | .pytest_cache/ 60 | 61 | # Translations 62 | *.mo 63 | *.pot 64 | 65 | # Django stuff: 66 | *.log 67 | local_settings.py 68 | db.sqlite3 69 | 70 | # Flask stuff: 71 | instance/ 72 | .webassets-cache 73 | 74 | # Scrapy stuff: 75 | .scrapy 76 | 77 | # Sphinx documentation 78 | docs/_build/ 79 | 80 | # PyBuilder 81 | target/ 82 | 83 | # Jupyter Notebook 84 | .ipynb_checkpoints 85 | 86 | # pyenv 87 | .python-version 88 | 89 | # celery beat schedule file 90 | celerybeat-schedule 91 | 92 | # SageMath parsed files 93 | *.sage.py 94 | 95 | # Environments 96 | .env 97 | .venv 98 | env/ 99 | venv/ 100 | ENV/ 101 | env.bak/ 102 | venv.bak/ 103 | 104 | # Spyder project settings 105 | .spyderproject 106 | .spyproject 107 | 108 | # Rope project settings 109 | .ropeproject 110 | 111 | # mkdocs documentation 112 | /site 113 | 114 | # mypy 115 | .mypy_cache/ 116 | -------------------------------------------------------------------------------- /cmd_args.py: -------------------------------------------------------------------------------- 1 | import socket 2 | import numpy as np 3 | import yaml 4 | import os, sys 5 | import os.path as osp 6 | 7 | import datasets 8 | import models 9 | 10 | from utils.easydict import EasyDict 11 | 12 | model_names = sorted(name for name in models.__dict__ 13 | if (not name.startswith("__")) 14 | and ('Args' not in name) 15 | and ('Block' not in name) 16 | and ('net' in name or 'Net' in name) 17 | and callable(models.__dict__[name])) + ['ICP'] 18 | 19 | dataset_names = sorted(name for name in datasets.__dict__ 20 | if not name.startswith("__")) 21 | 22 | 23 | def postprocess(args): 24 | # -------------------- miscellaneous -------------------- 25 | args.allow_less_points = hasattr(args, 'allow_less_points') and args.allow_less_points 26 | 27 | # -------------------- arch -------------------- 28 | assert (args.arch in model_names) 29 | # -------------------- dataset -------------------- 30 | assert (args.dataset in dataset_names) 31 | assert hasattr(args, 'data_root') 32 | # -------------------- learning -------------------- 33 | if not args.evaluate: 34 | # -------------------- init -------------------- 35 | if not hasattr(args, 'init'): 36 | args.init = 'xavier' 37 | if not hasattr(args, 'gain'): 38 | args.gain = 1. 39 | 40 | # -------------------- custom lr -------------------- 41 | if hasattr(args, 'custom_lr') and args.custom_lr: 42 | args.lrs = [float(item) for item in args.lrs.split(',')][::-1] 43 | args.lr_switch_epochs = [int(item) for item in args.lr_switch_epochs.split(',')][::-1] 44 | assert (len(args.lrs) == len(args.lr_switch_epochs)) 45 | 46 | diffs = [second - first for first, second in zip(args.lr_switch_epochs, args.lr_switch_epochs[1:])] 47 | assert (np.all(np.array(diffs) < 0)) 48 | 49 | args.lr = args.lrs[-1] 50 | 51 | # -------------------- resume -------------------- 52 | if args.evaluate: 53 | assert (hasattr(args, 'resume')) 54 | assert args.resume is not False 55 | 56 | return args 57 | 58 | 59 | def parse_args_from_yaml(yaml_path): 60 | with open(yaml_path, 'r') as fd: 61 | args = yaml.load(fd) 62 | args = EasyDict(d=args) 63 | args = postprocess(args) 64 | return args 65 | 66 | -------------------------------------------------------------------------------- /configs/test_ours_FlyingThings3D.yaml: -------------------------------------------------------------------------------- 1 | ckpt_dir: checkpoints/test/ours_FlyingThings3DSubset 2 | resume: trained_models/ours.pth.tar 3 | evaluate: True 4 | 5 | unsymmetric: True 6 | 7 | arch: HPLFlowNet 8 | last_relu: False 9 | allow_less_points: True 10 | 11 | use_leaky: True 12 | bcn_use_bias: True 13 | bcn_use_norm: True 14 | 15 | batch_size: 1 16 | 17 | scales_filter_map: [[3., 1, -1, -1], 18 | [2., 1, -1, -1], 19 | [1., 1, 1, 1], 20 | [0.5, 1, 1, 1], 21 | [0.25, 1, 1, 1], 22 | [0.125, 1, 1, 1], 23 | [0.0625, 1, 1, 1], 24 | ] 25 | 26 | dim: 3 27 | num_points: 8192 28 | 29 | 30 | DEVICE: cuda 31 | 32 | dataset: FlyingThings3DSubset 33 | 34 | data_process: 35 | DEPTH_THRESHOLD: 35. 36 | NO_CORR: True 37 | 38 | print_freq: 50 39 | workers: 8 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | -------------------------------------------------------------------------------- /configs/test_ours_KITTI.yaml: -------------------------------------------------------------------------------- 1 | ckpt_dir: checkpoints/test/ours_KITTI_8192_35m 2 | resume: trained_models/ours.pth.tar 3 | evaluate: True 4 | 5 | unsymmetric: True 6 | 7 | arch: HPLFlowNet 8 | last_relu: False 9 | allow_less_points: True 10 | 11 | use_leaky: True 12 | bcn_use_bias: True 13 | bcn_use_norm: True 14 | 15 | batch_size: 1 16 | 17 | scales_filter_map: [[3., 1, -1, -1], 18 | [2., 1, -1, -1], 19 | [1., 1, 1, 1], 20 | [0.5, 1, 1, 1], 21 | [0.25, 1, 1, 1], 22 | [0.125, 1, 1, 1], 23 | [0.0625, 1, 1, 1], 24 | ] 25 | 26 | dim: 3 27 | num_points: 8192 28 | 29 | 30 | DEVICE: cuda 31 | 32 | dataset: KITTI 33 | remove_ground: True 34 | 35 | data_process: 36 | DEPTH_THRESHOLD: 35. 37 | NO_CORR: True 38 | 39 | print_freq: 50 40 | workers: 8 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /configs/train_ours.yaml: -------------------------------------------------------------------------------- 1 | ckpt_dir: checkpoints/train/ours 2 | resume: False 3 | 4 | arch: HPLFlowNet 5 | last_relu: False 6 | allow_less_points: False 7 | 8 | use_leaky: True 9 | bcn_use_bias: True 10 | bcn_use_norm: True 11 | 12 | custom_lr: True 13 | lr_switch_epochs: "0,110,220,260,300,340,380,420,615,700" 14 | lrs: "0.0001,7e-5,4.9e-5,3.43e-5,2.401e-5,1.6807e-5,1.17649e-5,1e-5,0.000007,0.0000049" 15 | 16 | # general args 17 | batch_size: 1 18 | epochs: 800 19 | 20 | # for model 21 | scales_filter_map: [[3., 1, -1, -1], 22 | [2., 1, -1, -1], 23 | [1., 1, 1, 1], 24 | [0.5, 1, 1, 1], 25 | [0.25, 1, 1, 1], 26 | [0.125, 1, 1, 1], 27 | [0.0625, 1, 1, 1], 28 | ] 29 | 30 | dim: 3 31 | num_points: 8192 32 | 33 | 34 | DEVICE: cuda 35 | 36 | evaluate: False 37 | 38 | dataset: FlyingThings3DSubset 39 | 40 | data_process: 41 | DEPTH_THRESHOLD: 35. 42 | NO_CORR: True 43 | 44 | # data augmentation 45 | aug_together: 46 | degree_range: 0.1745329252 47 | shift_range: 1. 48 | scale_low: 0.95 49 | scale_high: 1.05 50 | jitter_sigma: 0.01 51 | jitter_clip: 0.00 52 | 53 | aug_pc2: 54 | degree_range: 0. 55 | shift_range: 0.3 56 | jitter_sigma: 0.01 57 | jitter_clip: 0.00 58 | 59 | # miscalleneous 60 | print_freq: 50 61 | workers: 16 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | -------------------------------------------------------------------------------- /data_preprocess/flyingthings3d_utils.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | 3 | 4 | def next_pixel2pc(flow, disparity, save_path=None, f=-1050., cx=479.5, cy=269.5): 5 | height, width = disparity.shape 6 | 7 | BASELINE = 1.0 8 | depth = -1. * f * BASELINE / disparity 9 | 10 | x = ((np.tile(np.arange(width, dtype=np.float32)[None, :], (height, 1)) - cx + flow[..., 0]) * -1. / disparity)[:, 11 | :, None] 12 | y = ((np.tile(np.arange(height, dtype=np.float32)[:, None], (1, width)) - cy + flow[..., 1]) * 1. / disparity)[:, 13 | :, None] 14 | pc = np.concatenate((x, y, depth[:, :, None]), axis=-1) 15 | 16 | if save_path is not None: 17 | np.save(save_path, pc) 18 | return pc 19 | 20 | 21 | def pixel2pc(disparity, save_path=None, f=-1050., cx=479.5, cy=269.5): 22 | height, width = disparity.shape 23 | 24 | BASELINE = 1.0 25 | depth = -1. * f * BASELINE / disparity 26 | 27 | x = ((np.tile(np.arange(width, dtype=np.float32)[None, :], (height, 1)) - cx) * -1. / disparity)[:, :, None] 28 | y = ((np.tile(np.arange(height, dtype=np.float32)[:, None], (1, width)) - cy) * 1. / disparity)[:, :, None] 29 | pc = np.concatenate((x, y, depth[:, :, None]), axis=-1) 30 | 31 | if save_path is not None: 32 | np.save(save_path, pc) 33 | return pc -------------------------------------------------------------------------------- /data_preprocess/kitti_utils.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import png 3 | 4 | 5 | def pixel2xyz(depth, P_rect, px=None, py=None): 6 | assert P_rect[0,1] == 0 7 | assert P_rect[1,0] == 0 8 | assert P_rect[2,0] == 0 9 | assert P_rect[2,1] == 0 10 | assert P_rect[0,0] == P_rect[1,1] 11 | focal_length_pixel = P_rect[0,0] 12 | 13 | height, width = depth.shape[:2] 14 | if px is None: 15 | px = np.tile(np.arange(width, dtype=np.float32)[None, :], (height, 1)) 16 | if py is None: 17 | py = np.tile(np.arange(height, dtype=np.float32)[:, None], (1, width)) 18 | const_x = P_rect[0,2] * depth + P_rect[0,3] 19 | const_y = P_rect[1,2] * depth + P_rect[1,3] 20 | 21 | x = ((px * (depth + P_rect[2,3]) - const_x) / focal_length_pixel) [:, :, None] 22 | y = ((py * (depth + P_rect[2,3]) - const_y) / focal_length_pixel) [:, :, None] 23 | pc = np.concatenate((x, y, depth[:, :, None]), axis=-1) 24 | 25 | pc[..., :2] *= -1. 26 | return pc 27 | 28 | 29 | def load_uint16PNG(fpath): 30 | reader = png.Reader(fpath) 31 | pngdata = reader.read() 32 | px_array = np.vstack( map(np.uint16, pngdata[2]) ) 33 | if pngdata[3]['planes'] == 3: 34 | width, height = pngdata[:2] 35 | px_array = px_array.reshape(height, width, 3) 36 | return px_array 37 | 38 | 39 | def load_disp(fpath): 40 | # A 0 value indicates an invalid pixel (ie, no 41 | # ground truth exists, or the estimation algorithm didn't produce an estimate 42 | # for that pixel). 43 | array = load_uint16PNG(fpath) 44 | valid = array > 0 45 | disp = array.astype(np.float32) / 256.0 46 | disp[np.logical_not(valid)] = -1. 47 | return disp, valid 48 | 49 | 50 | def load_op_flow(fpath): 51 | array = load_uint16PNG(fpath) 52 | valid = array[..., -1] == 1 53 | array = array.astype(np.float32) 54 | flow = (array[..., :-1] - 2**15) / 64. 55 | return flow, valid 56 | 57 | 58 | def disp_2_depth(disparity, valid_disp, FOCAL_LENGTH_PIXEL): 59 | BASELINE = 0.54 60 | depth = FOCAL_LENGTH_PIXEL * BASELINE / (disparity + 1e-5) 61 | depth[np.logical_not(valid_disp)] = -1. 62 | return depth 63 | -------------------------------------------------------------------------------- /data_preprocess/process_kitti.py: -------------------------------------------------------------------------------- 1 | import os, sys 2 | import os.path as osp 3 | import numpy as np 4 | from multiprocessing import Pool 5 | 6 | from kitti_utils import * 7 | 8 | calib_root = './utils/calib_cam_to_cam/' 9 | data_root = sys.argv[1] 10 | disp1_root = osp.join(data_root, 'training/disp_occ_0') 11 | disp2_root = osp.join(data_root, 'training/disp_occ_1') 12 | op_flow_root = osp.join(data_root, 'training/flow_occ') 13 | 14 | save_path = sys.argv[2] 15 | 16 | 17 | def process_one_frame(idx): 18 | sidx = '{:06d}'.format(idx) 19 | 20 | calib_path = osp.join(calib_root, sidx + '.txt') 21 | with open(calib_path) as fd: 22 | lines = fd.readlines() 23 | assert len([line for line in lines if line.startswith('P_rect_02')]) == 1 24 | P_rect_left = \ 25 | np.array([float(item) for item in 26 | [line for line in lines if line.startswith('P_rect_02')][0].split()[1:]], 27 | dtype=np.float32).reshape(3, 4) 28 | 29 | assert P_rect_left[0, 0] == P_rect_left[1, 1] 30 | focal_length_pixel = P_rect_left[0, 0] 31 | 32 | disp1_path = osp.join(disp1_root, sidx + '_10.png') 33 | disp1, valid_disp1 = load_disp(disp1_path) 34 | depth1 = disp_2_depth(disp1, valid_disp1, focal_length_pixel) 35 | pc1 = pixel2xyz(depth1, P_rect_left) 36 | 37 | disp2_path = osp.join(disp2_root, sidx + '_10.png') 38 | disp2, valid_disp2 = load_disp(disp2_path) 39 | depth2 = disp_2_depth(disp2, valid_disp2, focal_length_pixel) 40 | 41 | valid_disp = np.logical_and(valid_disp1, valid_disp2) 42 | 43 | op_flow, valid_op_flow = load_op_flow(osp.join(op_flow_root, '{:06d}_10.png'.format(idx))) 44 | vertical = op_flow[..., 1] 45 | horizontal = op_flow[..., 0] 46 | height, width = op_flow.shape[:2] 47 | 48 | px2 = np.zeros((height, width), dtype=np.float32) 49 | py2 = np.zeros((height, width), dtype=np.float32) 50 | 51 | for i in range(height): 52 | for j in range(width): 53 | if valid_op_flow[i, j] and valid_disp[i, j]: 54 | try: 55 | dx = horizontal[i, j] 56 | dy = vertical[i, j] 57 | except: 58 | print('error, i,j:', i, j, 'hor and ver:', horizontal[i, j], vertical[i, j]) 59 | continue 60 | 61 | px2[i, j] = j + dx 62 | py2[i, j] = i + dy 63 | 64 | pc2 = pixel2xyz(depth2, P_rect_left, px=px2, py=py2) 65 | 66 | final_mask = np.logical_and(valid_disp, valid_op_flow) 67 | 68 | valid_pc1 = pc1[final_mask] 69 | valid_pc2 = pc2[final_mask] 70 | 71 | truenas_path = osp.join(save_path, '{:06d}'.format(idx)) 72 | os.makedirs(truenas_path, exist_ok=True) 73 | np.save(osp.join(truenas_path, 'pc1.npy'), valid_pc1) 74 | np.save(osp.join(truenas_path, 'pc2.npy'), valid_pc2) 75 | 76 | 77 | pool = Pool(4) 78 | indices = range(200) 79 | pool.map(process_one_frame, indices) 80 | pool.close() 81 | pool.join() 82 | -------------------------------------------------------------------------------- /data_preprocess/python_pfm.py: -------------------------------------------------------------------------------- 1 | import re 2 | import numpy as np 3 | import sys 4 | 5 | 6 | def readPFM(file): 7 | file = open(file, 'rb') 8 | 9 | color = None 10 | width = None 11 | height = None 12 | scale = None 13 | endian = None 14 | 15 | header = file.readline().rstrip() 16 | if header == 'PF': 17 | color = True 18 | elif header == 'Pf': 19 | color = False 20 | else: 21 | raise Exception('Not a PFM file.') 22 | 23 | dim_match = re.match(r'^(\d+)\s(\d+)\s$', file.readline()) 24 | if dim_match: 25 | width, height = map(int, dim_match.groups()) 26 | else: 27 | raise Exception('Malformed PFM header.') 28 | 29 | scale = float(file.readline().rstrip()) 30 | if scale < 0: # little-endian 31 | endian = '<' 32 | scale = -scale 33 | else: 34 | endian = '>' # big-endian 35 | 36 | data = np.fromfile(file, endian + 'f') 37 | shape = (height, width, 3) if color else (height, width) 38 | 39 | data = np.reshape(data, shape) 40 | data = np.flipud(data) 41 | return data, scale 42 | 43 | def writePFM(file, image, scale=1): 44 | file = open(file, 'wb') 45 | 46 | color = None 47 | 48 | if image.dtype.name != 'float32': 49 | raise Exception('Image dtype must be float32.') 50 | 51 | image = np.flipud(image) 52 | 53 | if len(image.shape) == 3 and image.shape[2] == 3: # color image 54 | color = True 55 | elif len(image.shape) == 2 or len(image.shape) == 3 and image.shape[2] == 1: # greyscale 56 | color = False 57 | else: 58 | raise Exception('Image must have H x W x 3, H x W x 1 or H x W dimensions.') 59 | 60 | file.write('PF\n' if color else 'Pf\n') 61 | file.write('%d %d\n' % (image.shape[1], image.shape[0])) 62 | 63 | endian = image.dtype.byteorder 64 | 65 | if endian == '<' or endian == '=' and sys.byteorder == 'little': 66 | scale = -scale 67 | 68 | file.write('%f\n' % scale) 69 | 70 | image.tofile(file) 71 | 72 | -------------------------------------------------------------------------------- /datasets/__init__.py: -------------------------------------------------------------------------------- 1 | from .flyingthings3d_subset import * 2 | from .kitti import * 3 | -------------------------------------------------------------------------------- /evaluation_utils.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | 3 | 4 | def evaluate_3d(sf_pred, sf_gt): 5 | """ 6 | sf_pred: (N, 3) 7 | sf_gt: (N, 3) 8 | """ 9 | l2_norm = np.linalg.norm(sf_gt - sf_pred, axis=-1) 10 | EPE3D = l2_norm.mean() 11 | 12 | sf_norm = np.linalg.norm(sf_gt, axis=-1) 13 | relative_err = l2_norm / (sf_norm + 1e-4) 14 | 15 | acc3d_strict = (np.logical_or(l2_norm < 0.05, relative_err < 0.05)).astype(np.float).mean() 16 | acc3d_relax = (np.logical_or(l2_norm < 0.1, relative_err < 0.1)).astype(np.float).mean() 17 | outlier = (np.logical_or(l2_norm > 0.3, relative_err > 0.1)).astype(np.float).mean() 18 | 19 | return EPE3D, acc3d_strict, acc3d_relax, outlier 20 | 21 | 22 | def evaluate_2d(flow_pred, flow_gt): 23 | """ 24 | flow_pred: (N, 2) 25 | flow_gt: (N, 2) 26 | """ 27 | 28 | epe2d = np.linalg.norm(flow_gt - flow_pred, axis=-1) 29 | epe2d_mean = epe2d.mean() 30 | 31 | flow_gt_norm = np.linalg.norm(flow_gt, axis=-1) 32 | relative_err = epe2d / (flow_gt_norm + 1e-5) 33 | 34 | acc2d = (np.logical_or(epe2d < 3., relative_err < 0.05)).astype(np.float).mean() 35 | 36 | return epe2d_mean, acc2d 37 | -------------------------------------------------------------------------------- /models/__init__.py: -------------------------------------------------------------------------------- 1 | from .epe3d_loss import * 2 | 3 | from .HPLFlowNet import * 4 | from .HPLFlowNet_shallow import * 5 | -------------------------------------------------------------------------------- /models/build_khash_cffi.py: -------------------------------------------------------------------------------- 1 | import glob 2 | import os 3 | 4 | from cffi import FFI 5 | 6 | 7 | # include_dirs = [os.path.join('libraries', 'Rmath', 'src'), 8 | # os.path.join('libraries', 'Rmath', 'include')] 9 | 10 | # rmath_src = glob.glob(os.path.join('libraries', 'Rmath', 'src', '*.c')) 11 | 12 | ffi = FFI() 13 | ffi.set_source('_khash_ffi', '#include "khash_int2int.h"') 14 | 15 | ffi.cdef('''\ 16 | typedef int... khint64_t; 17 | 18 | static inline void *khash_int2int_init(void); 19 | static void khash_int2int_destroy(void *); 20 | static inline khint64_t khash_int2int_get(void *, khint64_t, khint64_t); 21 | static inline int khash_int2int_set(void *, khint64_t, khint64_t); 22 | ''') 23 | 24 | if __name__ == '__main__': 25 | ffi.compile(verbose=True) 26 | -------------------------------------------------------------------------------- /models/epe3d_loss.py: -------------------------------------------------------------------------------- 1 | import torch 2 | import torch.nn as nn 3 | 4 | 5 | class EPE3DLoss(nn.Module): 6 | def __init__(self): 7 | super(EPE3DLoss, self).__init__() 8 | 9 | def forward(self, input, target): 10 | return torch.norm(input - target, p=2, dim=1) -------------------------------------------------------------------------------- /models/khash_int2int.h: -------------------------------------------------------------------------------- 1 | #ifndef KHASH_INT2INT_H 2 | #define KHASH_INT2INT_H 3 | 4 | #include "khash.h" 5 | 6 | KHASH_MAP_INIT_INT64(i2i, khint64_t) 7 | 8 | static inline void *khash_int2int_init(void) { 9 | return kh_init(i2i); 10 | } 11 | 12 | static void khash_int2int_destroy(void *_hash) { 13 | khash_t(i2i) *hash = (khash_t(i2i)*)_hash; 14 | if (hash) kh_destroy(i2i, hash); 15 | } 16 | 17 | static inline khint64_t khash_int2int_get(void *_hash, khint64_t key, khint64_t default_value) { 18 | khash_t(i2i) *hash = (khash_t(i2i)*)_hash; 19 | khint_t k = kh_get(i2i, hash, key); 20 | if ( k == kh_end(hash) ) return default_value; 21 | return kh_val(hash, k); 22 | } 23 | 24 | static inline int khash_int2int_set(void *_hash, khint64_t key, khint64_t value) 25 | { 26 | khint_t k; 27 | int ret; 28 | khash_t(i2i) *hash = (khash_t(i2i)*)_hash; 29 | if ( !hash ) return -1; 30 | k = kh_put(i2i, hash, key, &ret); 31 | kh_val(hash,k) = value; 32 | return k; 33 | } 34 | 35 | #endif 36 | -------------------------------------------------------------------------------- /models/module_utils.py: -------------------------------------------------------------------------------- 1 | import torch 2 | import torch.nn as nn 3 | 4 | __all__ = ['Conv1dReLU', 'Conv2dReLU', 'Conv3dReLU'] 5 | 6 | LEAKY_RATE = 0.1 7 | 8 | 9 | class Conv1dReLU(nn.Module): 10 | def __init__(self, in_channels, out_channels, kernel_size=1, stride=1, padding=0, use_leaky=False, bias=True): 11 | super(Conv1dReLU, self).__init__() 12 | self.in_channels = in_channels 13 | self.out_channels = out_channels 14 | self.kernel_size = kernel_size 15 | relu = nn.ReLU(inplace=True) if not use_leaky else nn.LeakyReLU(LEAKY_RATE, inplace=True) 16 | 17 | self.composed_module = nn.Sequential( 18 | nn.Conv1d(in_channels, out_channels, kernel_size=kernel_size, stride=stride, padding=padding, bias=bias), 19 | relu 20 | ) 21 | 22 | def forward(self, x): 23 | x = self.composed_module(x) 24 | return x 25 | 26 | 27 | class Conv2dReLU(nn.Module): 28 | def __init__(self, in_channels, out_channels, kernel_size=1, stride=1, padding=0, use_leaky=False, bias=True): 29 | super(Conv2dReLU, self).__init__() 30 | self.in_channels = in_channels 31 | self.out_channels = out_channels 32 | self.kernel_size = kernel_size 33 | 34 | relu = nn.ReLU(inplace=True) if not use_leaky else nn.LeakyReLU(LEAKY_RATE, inplace=True) 35 | 36 | self.composed_module = nn.Sequential( 37 | nn.Conv2d(in_channels, out_channels, kernel_size=kernel_size, stride=stride, padding=padding, bias=bias), 38 | relu 39 | ) 40 | 41 | def forward(self, x): 42 | x = self.composed_module(x) 43 | return x 44 | 45 | 46 | class Conv3dReLU(nn.Module): 47 | def __init__(self, in_channels, out_channels, kernel_size=1, stride=1, padding=0, use_leaky=False, bias=True): 48 | super(Conv3dReLU, self).__init__() 49 | 50 | relu = nn.ReLU(inplace=True) if not use_leaky else nn.LeakyReLU(LEAKY_RATE, inplace=True) 51 | 52 | self.composed_module = nn.Sequential( 53 | nn.Conv3d(in_channels, out_channels, kernel_size=kernel_size, stride=stride, padding=padding, bias=bias), 54 | relu 55 | ) 56 | 57 | def forward(self, x): 58 | x = self.composed_module(x) 59 | return x 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /trained_models/README.md: -------------------------------------------------------------------------------- 1 | # Trained models 2 | To use our test code directly, please download the following models into this directory 3 | * [Ours full model](https://drive.google.com/file/d/1NZn7i0A3AoR4vTkqRceDXODQeKpynai-/view?usp=sharing) -------------------------------------------------------------------------------- /transforms/__init__.py: -------------------------------------------------------------------------------- 1 | from .transforms import * 2 | -------------------------------------------------------------------------------- /transforms/functional.py: -------------------------------------------------------------------------------- 1 | import torch 2 | 3 | def to_tensor(array): 4 | """Convert a 2D `numpy.ndarray`` to tensor, do transpose first. 5 | 6 | See ``ToTensor`` for more details. 7 | 8 | Args: 9 | array (numpy.ndarray): Image to be converted to tensor. 10 | 11 | Returns: 12 | Tensor: Converted image. 13 | """ 14 | assert len(array.shape) == 2 15 | array = array.transpose((1, 0)) 16 | 17 | return torch.from_numpy(array) 18 | 19 | 20 | -------------------------------------------------------------------------------- /utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/laoreja/HPLFlowNet/bb5284f89ecdea3287f5fe0ca379e9921767d88b/utils/__init__.py -------------------------------------------------------------------------------- /utils/calib_cam_to_cam/000000.txt: -------------------------------------------------------------------------------- 1 | calib_time: 09-Jan-2012 13:57:47 2 | corner_dist: 9.950000e-02 3 | S_00: 1.392000e+03 5.120000e+02 4 | K_00: 9.842439e+02 0.000000e+00 6.900000e+02 0.000000e+00 9.808141e+02 2.331966e+02 0.000000e+00 0.000000e+00 1.000000e+00 5 | D_00: -3.728755e-01 2.037299e-01 2.219027e-03 1.383707e-03 -7.233722e-02 6 | R_00: 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 7 | T_00: 2.573699e-16 -1.059758e-16 1.614870e-16 8 | S_rect_00: 1.242000e+03 3.750000e+02 9 | R_rect_00: 9.999239e-01 9.837760e-03 -7.445048e-03 -9.869795e-03 9.999421e-01 -4.278459e-03 7.402527e-03 4.351614e-03 9.999631e-01 10 | P_rect_00: 1,1+02 0.000000e+00 6.095593e+02 0.000000e+00 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 11 | S_01: 1.392000e+03 5.120000e+02 12 | K_01: 9.895267e+02 0.000000e+00 7.020000e+02 0.000000e+00 9.878386e+02 2.455590e+02 0.000000e+00 0.000000e+00 1.000000e+00 13 | D_01: -3.644661e-01 1.790019e-01 1.148107e-03 -6.298563e-04 -5.314062e-02 14 | R_01: 9.993513e-01 1.860866e-02 -3.083487e-02 -1.887662e-02 9.997863e-01 -8.421873e-03 3.067156e-02 8.998467e-03 9.994890e-01 15 | T_01: -5.370000e-01 4.822061e-03 -1.252488e-02 16 | S_rect_01: 1.242000e+03 3.750000e+02 17 | R_rect_01: 9.996878e-01 -8.976826e-03 2.331651e-02 8.876121e-03 9.999508e-01 4.418952e-03 -2.335503e-02 -4.210612e-03 9.997184e-01 18 | P_rect_01: 7.215377e+02 0.000000e+00 6.095593e+02 -3.875744e+02 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 19 | S_02: 1.392000e+03 5.120000e+02 20 | K_02: 9.597910e+02 0.000000e+00 6.960217e+02 0.000000e+00 9.569251e+02 2.241806e+02 0.000000e+00 0.000000e+00 1.000000e+00 21 | D_02: -3.691481e-01 1.968681e-01 1.353473e-03 5.677587e-04 -6.770705e-02 22 | R_02: 9.999758e-01 -5.267463e-03 -4.552439e-03 5.251945e-03 9.999804e-01 -3.413835e-03 4.570332e-03 3.389843e-03 9.999838e-01 23 | T_02: 5.956621e-02 2.900141e-04 2.577209e-03 24 | S_rect_02: 1.242000e+03 3.750000e+02 25 | R_rect_02: 9.998817e-01 1.511453e-02 -2.841595e-03 -1.511724e-02 9.998853e-01 -9.338510e-04 2.827154e-03 9.766976e-04 9.999955e-01 26 | P_rect_02: 7.215377e+02 0.000000e+00 6.095593e+02 4.485728e+01 0.000000e+00 7.215377e+02 1.728540e+02 2.163791e-01 0.000000e+00 0.000000e+00 1.000000e+00 2.745884e-03 27 | S_03: 1.392000e+03 5.120000e+02 28 | K_03: 9.037596e+02 0.000000e+00 6.957519e+02 0.000000e+00 9.019653e+02 2.242509e+02 0.000000e+00 0.000000e+00 1.000000e+00 29 | D_03: -3.639558e-01 1.788651e-01 6.029694e-04 -3.922424e-04 -5.382460e-02 30 | R_03: 9.995599e-01 1.699522e-02 -2.431313e-02 -1.704422e-02 9.998531e-01 -1.809756e-03 2.427880e-02 2.223358e-03 9.997028e-01 31 | T_03: -4.731050e-01 5.551470e-03 -5.250882e-03 32 | S_rect_03: 1.242000e+03 3.750000e+02 33 | R_rect_03: 9.998321e-01 -7.193136e-03 1.685599e-02 7.232804e-03 9.999712e-01 -2.293585e-03 -1.683901e-02 2.415116e-03 9.998553e-01 34 | P_rect_03: 7.215377e+02 0.000000e+00 6.095593e+02 -3.395242e+02 0.000000e+00 7.215377e+02 1.728540e+02 2.199936e+00 0.000000e+00 0.000000e+00 1.000000e+00 2.729905e-03 35 | -------------------------------------------------------------------------------- /utils/calib_cam_to_cam/000001.txt: -------------------------------------------------------------------------------- 1 | calib_time: 09-Jan-2012 13:57:47 2 | corner_dist: 9.950000e-02 3 | S_00: 1.392000e+03 5.120000e+02 4 | K_00: 9.842439e+02 0.000000e+00 6.900000e+02 0.000000e+00 9.808141e+02 2.331966e+02 0.000000e+00 0.000000e+00 1.000000e+00 5 | D_00: -3.728755e-01 2.037299e-01 2.219027e-03 1.383707e-03 -7.233722e-02 6 | R_00: 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 7 | T_00: 2.573699e-16 -1.059758e-16 1.614870e-16 8 | S_rect_00: 1.242000e+03 3.750000e+02 9 | R_rect_00: 9.999239e-01 9.837760e-03 -7.445048e-03 -9.869795e-03 9.999421e-01 -4.278459e-03 7.402527e-03 4.351614e-03 9.999631e-01 10 | P_rect_00: 7.215377e+02 0.000000e+00 6.095593e+02 0.000000e+00 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 11 | S_01: 1.392000e+03 5.120000e+02 12 | K_01: 9.895267e+02 0.000000e+00 7.020000e+02 0.000000e+00 9.878386e+02 2.455590e+02 0.000000e+00 0.000000e+00 1.000000e+00 13 | D_01: -3.644661e-01 1.790019e-01 1.148107e-03 -6.298563e-04 -5.314062e-02 14 | R_01: 9.993513e-01 1.860866e-02 -3.083487e-02 -1.887662e-02 9.997863e-01 -8.421873e-03 3.067156e-02 8.998467e-03 9.994890e-01 15 | T_01: -5.370000e-01 4.822061e-03 -1.252488e-02 16 | S_rect_01: 1.242000e+03 3.750000e+02 17 | R_rect_01: 9.996878e-01 -8.976826e-03 2.331651e-02 8.876121e-03 9.999508e-01 4.418952e-03 -2.335503e-02 -4.210612e-03 9.997184e-01 18 | P_rect_01: 7.215377e+02 0.000000e+00 6.095593e+02 -3.875744e+02 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 19 | S_02: 1.392000e+03 5.120000e+02 20 | K_02: 9.597910e+02 0.000000e+00 6.960217e+02 0.000000e+00 9.569251e+02 2.241806e+02 0.000000e+00 0.000000e+00 1.000000e+00 21 | D_02: -3.691481e-01 1.968681e-01 1.353473e-03 5.677587e-04 -6.770705e-02 22 | R_02: 9.999758e-01 -5.267463e-03 -4.552439e-03 5.251945e-03 9.999804e-01 -3.413835e-03 4.570332e-03 3.389843e-03 9.999838e-01 23 | T_02: 5.956621e-02 2.900141e-04 2.577209e-03 24 | S_rect_02: 1.242000e+03 3.750000e+02 25 | R_rect_02: 9.998817e-01 1.511453e-02 -2.841595e-03 -1.511724e-02 9.998853e-01 -9.338510e-04 2.827154e-03 9.766976e-04 9.999955e-01 26 | P_rect_02: 7.215377e+02 0.000000e+00 6.095593e+02 4.485728e+01 0.000000e+00 7.215377e+02 1.728540e+02 2.163791e-01 0.000000e+00 0.000000e+00 1.000000e+00 2.745884e-03 27 | S_03: 1.392000e+03 5.120000e+02 28 | K_03: 9.037596e+02 0.000000e+00 6.957519e+02 0.000000e+00 9.019653e+02 2.242509e+02 0.000000e+00 0.000000e+00 1.000000e+00 29 | D_03: -3.639558e-01 1.788651e-01 6.029694e-04 -3.922424e-04 -5.382460e-02 30 | R_03: 9.995599e-01 1.699522e-02 -2.431313e-02 -1.704422e-02 9.998531e-01 -1.809756e-03 2.427880e-02 2.223358e-03 9.997028e-01 31 | T_03: -4.731050e-01 5.551470e-03 -5.250882e-03 32 | S_rect_03: 1.242000e+03 3.750000e+02 33 | R_rect_03: 9.998321e-01 -7.193136e-03 1.685599e-02 7.232804e-03 9.999712e-01 -2.293585e-03 -1.683901e-02 2.415116e-03 9.998553e-01 34 | P_rect_03: 7.215377e+02 0.000000e+00 6.095593e+02 -3.395242e+02 0.000000e+00 7.215377e+02 1.728540e+02 2.199936e+00 0.000000e+00 0.000000e+00 1.000000e+00 2.729905e-03 35 | -------------------------------------------------------------------------------- /utils/calib_cam_to_cam/000002.txt: -------------------------------------------------------------------------------- 1 | calib_time: 09-Jan-2012 13:57:47 2 | corner_dist: 9.950000e-02 3 | S_00: 1.392000e+03 5.120000e+02 4 | K_00: 9.842439e+02 0.000000e+00 6.900000e+02 0.000000e+00 9.808141e+02 2.331966e+02 0.000000e+00 0.000000e+00 1.000000e+00 5 | D_00: -3.728755e-01 2.037299e-01 2.219027e-03 1.383707e-03 -7.233722e-02 6 | R_00: 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 7 | T_00: 2.573699e-16 -1.059758e-16 1.614870e-16 8 | S_rect_00: 1.242000e+03 3.750000e+02 9 | R_rect_00: 9.999239e-01 9.837760e-03 -7.445048e-03 -9.869795e-03 9.999421e-01 -4.278459e-03 7.402527e-03 4.351614e-03 9.999631e-01 10 | P_rect_00: 7.215377e+02 0.000000e+00 6.095593e+02 0.000000e+00 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 11 | S_01: 1.392000e+03 5.120000e+02 12 | K_01: 9.895267e+02 0.000000e+00 7.020000e+02 0.000000e+00 9.878386e+02 2.455590e+02 0.000000e+00 0.000000e+00 1.000000e+00 13 | D_01: -3.644661e-01 1.790019e-01 1.148107e-03 -6.298563e-04 -5.314062e-02 14 | R_01: 9.993513e-01 1.860866e-02 -3.083487e-02 -1.887662e-02 9.997863e-01 -8.421873e-03 3.067156e-02 8.998467e-03 9.994890e-01 15 | T_01: -5.370000e-01 4.822061e-03 -1.252488e-02 16 | S_rect_01: 1.242000e+03 3.750000e+02 17 | R_rect_01: 9.996878e-01 -8.976826e-03 2.331651e-02 8.876121e-03 9.999508e-01 4.418952e-03 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7.232804e-03 9.999712e-01 -2.293585e-03 -1.683901e-02 2.415116e-03 9.998553e-01 34 | P_rect_03: 7.215377e+02 0.000000e+00 6.095593e+02 -3.395242e+02 0.000000e+00 7.215377e+02 1.728540e+02 2.199936e+00 0.000000e+00 0.000000e+00 1.000000e+00 2.729905e-03 35 | -------------------------------------------------------------------------------- /utils/easydict.py: -------------------------------------------------------------------------------- 1 | class EasyDict(dict): 2 | """ 3 | Get attributes 4 | >>> d = EasyDict({'foo':3}) 5 | >>> d['foo'] 6 | 3 7 | >>> d.foo 8 | 3 9 | >>> d.bar 10 | Traceback (most recent call last): 11 | ... 12 | AttributeError: 'EasyDict' object has no attribute 'bar' 13 | >>> #Works recursively 14 | >>> d = EasyDict({'foo':3, 'bar':{'x':1, 'y':2}}) 15 | >>> isinstance(d.bar, dict) 16 | True 17 | >>> d.bar.x 18 | 1 19 | >>> EasyDict({}) 20 | {} 21 | >>> EasyDict(d={}) 22 | {} 23 | >>> EasyDict(None) 24 | {} 25 | >>> d = {'a': 1} 26 | >>> EasyDict(**d) 27 | {'a': 1} 28 | >>> d = EasyDict() 29 | >>> d.foo = 3 30 | >>> d.foo 31 | 3 32 | >>> d.bar = {'prop': 'value'} 33 | >>> d.bar.prop 34 | 'value' 35 | >>> d 36 | {'foo': 3, 'bar': {'prop': 'value'}} 37 | >>> d.bar.prop = 'newer' 38 | >>> d.bar.prop 39 | 'newer' 40 | >>> d = EasyDict({'foo':0, 'bar':[{'x':1, 'y':2}, {'x':3, 'y':4}]}) 41 | >>> isinstance(d.bar, list) 42 | True 43 | >>> from operator import attrgetter 44 | >>> list(map(attrgetter('x'), d.bar)) 45 | [1, 3] 46 | >>> list(map(attrgetter('y'), d.bar)) 47 | [2, 4] 48 | >>> d = EasyDict() 49 | >>> list(d.keys()) 50 | [] 51 | >>> d = EasyDict(foo=3, bar=dict(x=1, y=2)) 52 | >>> d.foo 53 | 3 54 | >>> d.bar.x 55 | 1 56 | >>> o = EasyDict({'clean':True}) 57 | >>> list(o.items()) 58 | [('clean', True)] 59 | >>> #And like a class 60 | >>> class Flower(EasyDict): 61 | ... power = 1 62 | ... 63 | >>> f = Flower() 64 | >>> f.power 65 | 1 66 | >>> f = Flower({'height': 12}) 67 | >>> f.height 68 | 12 69 | >>> f['power'] 70 | 1 71 | >>> sorted(f.keys()) 72 | ['height', 'power'] 73 | """ 74 | def __init__(self, d=None, **kwargs): 75 | if d is None: 76 | d = {} 77 | if kwargs: 78 | d.update(**kwargs) 79 | for k, v in d.items(): 80 | setattr(self, k, v) 81 | # Class attributes 82 | for k in self.__class__.__dict__.keys(): 83 | if not (k.startswith('__') and k.endswith('__')): 84 | setattr(self, k, getattr(self, k)) 85 | 86 | def __setattr__(self, name, value): 87 | if isinstance(value, (list, tuple)): 88 | value = [self.__class__(x) 89 | if isinstance(x, dict) else x for x in value] 90 | elif isinstance(value, dict) and not isinstance(value, self.__class__): 91 | value = self.__class__(value) 92 | super(EasyDict, self).__setattr__(name, value) 93 | super(EasyDict, self).__setitem__(name, value) 94 | 95 | __setitem__ = __setattr__ 96 | 97 | 98 | if __name__ == "__main__": 99 | import doctest 100 | doctest.testmod() 101 | -------------------------------------------------------------------------------- /utils/geometry.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import os 3 | import os.path as osp 4 | 5 | 6 | def get_batch_2d_flow(pc1, pc2, predicted_pc2, paths): 7 | if 'KITTI' in paths[0] or 'kitti' in paths[0]: 8 | focallengths = [] 9 | cxs = [] 10 | cys = [] 11 | constx = [] 12 | consty = [] 13 | constz = [] 14 | for path in paths: 15 | fname = osp.split(path)[-1] 16 | calib_path = osp.join( 17 | osp.dirname(__file__), 18 | 'calib_cam_to_cam', 19 | fname + '.txt') 20 | with open(calib_path) as fd: 21 | lines = fd.readlines() 22 | P_rect_left = \ 23 | np.array([float(item) for item in 24 | [line for line in lines if line.startswith('P_rect_02')][0].split()[1:]], 25 | dtype=np.float32).reshape(3, 4) 26 | focallengths.append(-P_rect_left[0, 0]) 27 | cxs.append(P_rect_left[0, 2]) 28 | cys.append(P_rect_left[1, 2]) 29 | constx.append(P_rect_left[0, 3]) 30 | consty.append(P_rect_left[1, 3]) 31 | constz.append(P_rect_left[2, 3]) 32 | focallengths = np.array(focallengths)[:, None, None] 33 | cxs = np.array(cxs)[:, None, None] 34 | cys = np.array(cys)[:, None, None] 35 | constx = np.array(constx)[:, None, None] 36 | consty = np.array(consty)[:, None, None] 37 | constz = np.array(constz)[:, None, None] 38 | 39 | px1, py1 = project_3d_to_2d(pc1, f=focallengths, cx=cxs, cy=cys, 40 | constx=constx, consty=consty, constz=constz) 41 | px2, py2 = project_3d_to_2d(predicted_pc2, f=focallengths, cx=cxs, cy=cys, 42 | constx=constx, consty=consty, constz=constz) 43 | px2_gt, py2_gt = project_3d_to_2d(pc2, f=focallengths, cx=cxs, cy=cys, 44 | constx=constx, consty=consty, constz=constz) 45 | else: 46 | px1, py1 = project_3d_to_2d(pc1) 47 | px2, py2 = project_3d_to_2d(predicted_pc2) 48 | px2_gt, py2_gt = project_3d_to_2d(pc2) 49 | 50 | flow_x = px2 - px1 51 | flow_y = py2 - py1 52 | 53 | flow_x_gt = px2_gt - px1 54 | flow_y_gt = py2_gt - py1 55 | 56 | flow_pred = np.concatenate((flow_x[..., None], flow_y[..., None]), axis=-1) 57 | flow_gt = np.concatenate((flow_x_gt[..., None], flow_y_gt[..., None]), axis=-1) 58 | return flow_pred, flow_gt 59 | 60 | 61 | def project_3d_to_2d(pc, f=-1050., cx=479.5, cy=269.5, constx=0, consty=0, constz=0): 62 | x = (pc[..., 0] * f + cx * pc[..., 2] + constx) / (pc[..., 2] + constz) 63 | y = (pc[..., 1] * f + cy * pc[..., 2] + consty) / (pc[..., 2] + constz) 64 | 65 | return x, y 66 | --------------------------------------------------------------------------------