154 lines
5.2 KiB
Python
154 lines
5.2 KiB
Python
import os
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os.environ["CUDA_VISIBLE_DEVICES"] = '0'
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import sys
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import torch
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import torch.optim as optim
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import torch.nn as nn
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from torch.utils.data import DataLoader
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sys.path.append(os.path.dirname(os.path.abspath(__file__)) + '/..')
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from data.dataset import Dataset
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from utils.utils import Accumulator
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from models.depth_estim import DepthEstimation
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from models.convnext import ConvNeXt
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def plot3d(depth, mask):
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import kornia
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import plotly.graph_objects as go
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from data.render import intrinsic
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K = torch.tensor(intrinsic()[None, :, :], device='cuda')
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pc = kornia.geometry.depth.depth_to_3d(depth, K, normalize_points=True)
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pc = pc[0,:,mask[0]].detach().cpu().numpy()
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go.Figure(data = [go.Scatter3d(x=pc[0,:], y=pc[1,:], z=pc[2,:], marker=dict(size=3, line=dict(width=0)), mode='markers'),
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]).show()
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def chamfer_loss(depth_image, vertices, depth_mask, mesh_mask):
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import kornia
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import pytorch3d
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from data.render import intrinsic
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from pytorch3d.structures import Pointclouds
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from utils.pytorch3d_chamfer import chamfer_distance
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from pytorch3d.ops.points_normals import estimate_pointcloud_normals
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from utils.data_utils import get_normals_from_depth
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K = torch.tensor(intrinsic()[None, :, :], device='cuda')
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pc = kornia.geometry.depth.depth_to_3d(depth_image, K, normalize_points=True)
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pc = [torch.permute(pc[i,:,depth_mask[i]], [1,0]) for i in range(depth_image.shape[0])]
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pc_pc = Pointclouds(pc)
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mesh_gt = [vertices[i, mesh_mask[i], :] for i in range(vertices.shape[0])]
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mesh_gt_pc = Pointclouds(mesh_gt)
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pc_norm = get_normals_from_depth(depth_image, depth_mask, K)
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mesh_norm = estimate_pointcloud_normals(mesh_gt_pc, neighborhood_size=50)
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chamfer = chamfer_distance(pc_pc, mesh_gt_pc, x_normals=pc_norm, y_normals=mesh_norm)
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return chamfer
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def normal_loss(depth_image, depth_mask, normal_image_gt):
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import kornia
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import pytorch3d
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from data.render import intrinsic
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K = torch.tensor(intrinsic()[None, :, :], device='cuda')
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pc = kornia.geometry.depth.depth_to_3d(depth_image, K, normalize_points=True)
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pc = torch.stack([pc[i,:,depth_mask[i]] for i in range(depth_image.shape[0])])
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normal_image = get_normals_from_depth(depth_image[None,:,:], depth_mask[None,:,:], K)
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pass
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def train_step(batch):
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### Training
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model.train() # train mode is on by default after construction
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# 1. Forward pass
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y_pred = model([batch['rgb_image'], batch['view']])
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# 2. Calculate loss
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mse = loss_fn(y_pred * batch['depth_mask'][:,None,:,:], batch['depth_image'][:,None,:,:] * batch['depth_mask'][:,None,:,:])
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chamfer, _ = chamfer_loss(y_pred, batch['mesh_posed'], batch['depth_mask'], batch['mesh_mask'])
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loss = mse + 1e-1 * chamfer
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# 3. Zero grad optimizer
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optimizer.zero_grad()
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# 4. Loss backward
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loss.backward()
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# 5. Step the optimizer
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optimizer.step()
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return { 'train/loss': loss.detach().cpu().numpy() }
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def valid_step(batch):
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### Testing
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model.eval() # put the model in evaluation mode for testing (inference)
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# 1. Forward pass
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with torch.inference_mode():
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pred = model([batch['rgb_image'], batch['view']])
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# 2. Calculate the loss
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mse = loss_fn(pred * batch['depth_mask'][:,None,:,:], batch['depth_image'][:,None,:,:] * batch['depth_mask'][:,None,:,:])
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chamfer, _ = chamfer_loss(pred, batch['mesh_posed'], batch['depth_mask'], batch['mesh_mask'])
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loss = mse + 1e-1 * chamfer
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return { 'valid/loss': loss.detach().cpu().numpy() }
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def batch_to_device(batch, device):
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filter = {'mesh_posed'}
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for key in batch:
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if key in filter:
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batch[key] = batch[key].to(device)
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if __name__ == '__main__':
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device = "cuda" if torch.cuda.is_available() else "cpu"
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random_view = False
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use_skip = False
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batch_size = 2
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train_dataset = Dataset('dataset/CLOTH3D/train', 'dataset/CLOTH3D2RGB/train', 'frames_small.txt', random_view=random_view, device=device)
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valid_dataset = Dataset('dataset/CLOTH3D/train', 'dataset/CLOTH3D2RGB/train', 'frames_small.txt', random_view=random_view, device=device)
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train_dataloader = DataLoader(train_dataset, batch_size=batch_size, drop_last=True, num_workers=0)
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valid_dataloader = DataLoader(valid_dataset, batch_size=batch_size, drop_last=True, num_workers=0)
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train_accumulator = Accumulator()
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valid_accumulator = Accumulator()
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model = DepthEstimation(device=device, use_skip=use_skip)
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loss_fn = nn.MSELoss()
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optimizer = optim.Adam(model.parameters(), lr=0.001)
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iteration = 0
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while True:
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for batch in train_dataloader:
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train_loss = train_step(batch)
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train_accumulator.update(train_loss)
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if iteration % 1000 == 0:
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print(f"Iteration: {iteration} | Train loss: {train_accumulator.get()['train/loss']}")
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train_accumulator.reset()
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iteration += 1
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for batch in valid_dataloader:
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valid_loss = valid_step(batch)
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valid_accumulator.update(valid_loss)
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print(f"Iteration: {iteration} | Valid loss: {valid_accumulator.get()['valid/loss']}")
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valid_accumulator.reset()
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pass |