Added struct2depth model

Author: aneliaangelova

CODEOWNERS

@@ -48,6 +48,7 @@
 /research/slim/ @sguada @nathansilberman
 /research/steve/ @buckman-google
 /research/street/ @theraysmith
+/research/struct2depth/ @aneliaangelova
 /research/swivel/ @waterson
 /research/syntaxnet/ @calberti @andorardo @bogatyy @markomernick
 /research/tcn/ @coreylynch @sermanet

research/README.md

@@ -74,6 +74,7 @@ request.
 -   [slim](slim): image classification models in TF-Slim.
 -   [street](street): identify the name of a street (in France) from an image
     using a Deep RNN.
+-   [struct2depth](struct2depth): unsupervised learning of depth and ego-motion.
 -   [swivel](swivel): the Swivel algorithm for generating word embeddings.
 -   [syntaxnet](syntaxnet): neural models of natural language syntax.
 -   [tcn](tcn): Self-supervised representation learning from multi-view video.

research/struct2depth/BUILD

@@ -0,0 +1 @@
+package(default_visibility = ["//visibility:public"])

research/struct2depth/README.md

@@ -0,0 +1,147 @@
+# struct2depth
+
+This a method for unsupervised learning of depth and egomotion from monocular video, achieving new state-of-the-art results on both tasks by explicitly modeling 3D object motion, performing on-line refinement and improving quality for moving objects by novel loss formulations. It will appear in the following paper: 
+
+**V. Casser, S. Pirk, R. Mahjourian, A. Angelova, Depth Prediction Without the Sensors: Leveraging Structure for Unsupervised Learning from Monocular Videos, AAAI Conference on Artificial Intelligence, 2019**
+https://arxiv.org/pdf/1811.06152.pdf
+
+This code is implemented and supported by Vincent Casser (git username: VincentCa) and Anelia Angelova (git username: AneliaAngelova). Please contact [email protected] for questions. 
+
+Project website: https://sites.google.com/view/struct2depth.
+
+## Quick start: Running training
+
+Before running training, run gen_data_* script for the respective dataset in order to generate the data in the appropriate format for KITTI or Cityscapes. It is assumed that motion masks are already generated and stored as images.
+Models are trained from an Imagenet pretrained model.
+
+```shell
+
+ckpt_dir="your/checkpoint/folder"
+data_dir="KITTI_SEQ2_LR/" # Set for KITTI
+data_dir="CITYSCAPES_SEQ2_LR/" # Set for Cityscapes
+imagenet_ckpt="resnet_pretrained/model.ckpt"
+
+python train.py \
+  --logtostderr \
+  --checkpoint_dir $ckpt_dir \
+  --data_dir $data_dir \
+  --architecture resnet \
+  --imagenet_ckpt $imagenet_ckpt \
+  --imagenet_norm true \
+  --joint_encoder false
+```
+
+
+
+## Running depth/egomotion inference on an image folder
+
+KITTI is trained on the raw image data (resized to 416 x 128), but inputs are standardized before feeding them, and Cityscapes images are cropped using the following cropping parameters: (192, 1856, 256, 768). If using a different crop, it is likely that additional training is necessary. Therefore, please follow the inference example shown below when using one of the models. The right choice might depend on a variety of factors. For example, if a checkpoint should be used for odometry, be aware that for improved odometry on motion models, using segmentation masks could be advantageous (setting *use_masks=true* for inference). On the other hand, all models can be used for single-frame depth estimation without any additional information.
+
+
+```shell
+
+input_dir="your/image/folder"
+output_dir="your/output/folder"
+model_checkpoint="your/model/checkpoint"
+
+python inference.py \
+    --logtostderr \
+    --file_extension png \
+    --depth \
+    --egomotion true \
+    --input_dir $input_dir \
+    --output_dir $output_dir \
+    --model_ckpt $model_checkpoint
+```
+
+Note that the egomotion prediction expects the files in the input directory to be a consecutive sequence, and that sorting the filenames alphabetically is putting them in the right order.
+
+One can also run inference on KITTI by providing
+
+```shell
+--input_list_file ~/kitti-raw-uncompressed/test_files_eigen.txt
+```
+
+and on Cityscapes by passing
+
+```shell
+--input_list_file CITYSCAPES_FULL/test_files_cityscapes.txt
+```
+
+instead of *input_dir*.
+Alternatively inference can also be ran on pre-processed images.
+
+
+
+## Running on-line refinement
+
+On-line refinement is executed on top of an existing inference folder, so make sure to run regular inference first. Then you can run the on-line fusion procedure as follows:
+
+```shell
+
+prediction_dir="some/prediction/dir"
+model_ckpt="checkpoints/checkpoints_baseline/model-199160"
+handle_motion="false"
+size_constraint_weight="0" # This must be zero when not handling motion.
+
+# If running on KITTI, set as follows:
+data_dir="KITTI_SEQ2_LR_EIGEN/"
+triplet_list_file="$data_dir/test_files_eigen_triplets.txt"
+triplet_list_file_remains="$data_dir/test_files_eigen_triplets_remains.txt"
+ft_name="kitti"
+
+# If running on Cityscapes, set as follows:
+data_dir="CITYSCAPES_SEQ2_LR_TEST/" # Set for Cityscapes
+triplet_list_file="/CITYSCAPES_SEQ2_LR_TEST/test_files_cityscapes_triplets.txt"
+triplet_list_file_remains="CITYSCAPES_SEQ2_LR_TEST/test_files_cityscapes_triplets_remains.txt"
+ft_name="cityscapes"
+
+python optimize.py \
+  --logtostderr \
+  --output_dir $prediction_dir \
+  --data_dir $data_dir \
+  --triplet_list_file $triplet_list_file \
+  --triplet_list_file_remains $triplet_list_file_remains \
+  --ft_name $ft_name \
+  --model_ckpt $model_ckpt \
+  --file_extension png \
+  --handle_motion $handle_motion \
+  --size_constraint_weight $size_constraint_weight
+```
+
+
+
+## Running evaluation
+
+```shell
+
+prediction_dir="some/prediction/dir"
+
+# Use these settings for KITTI:
+eval_list_file="KITTI_FULL/kitti-raw-uncompressed/test_files_eigen.txt"
+eval_crop="garg"
+eval_mode="kitti"
+
+# Use these settings for Cityscapes:
+eval_list_file="CITYSCAPES_FULL/test_files_cityscapes.txt"
+eval_crop="none"
+eval_mode="cityscapes"
+
+python evaluate.py \
+  --logtostderr \
+  --prediction_dir $prediction_dir \
+  --eval_list_file $eval_list_file \
+  --eval_crop $eval_crop \
+  --eval_mode $eval_mode
+```
+
+
+
+## Credits
+
+This code is implemented and supported by Vincent Casser and Anelia Angelova and can be found at
+https://sites.google.com/view/struct2depth.
+The core implementation is derived from [https://github.com/tensorflow/models/tree/master/research/vid2depth)](https://github.com/tensorflow/models/tree/master/research/vid2depth)
+by [Reza Mahjourian]([email protected]), which in turn is based on [SfMLearner
+(https://github.com/tinghuiz/SfMLearner)](https://github.com/tinghuiz/SfMLearner)
+by [Tinghui Zhou](https://github.com/tinghuiz).

research/struct2depth/alignment.py

@@ -0,0 +1,54 @@
+
+# Copyright 2018 The TensorFlow Authors All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+
+"""Common utilities for data pre-processing, e.g. matching moving object across frames."""
+
+import numpy as np
+
+def compute_overlap(mask1, mask2):
+    # Use IoU here.
+    return np.sum(mask1 & mask2)/np.sum(mask1 | mask2)
+
+def align(seg_img1, seg_img2, seg_img3, threshold_same=0.3):
+    res_img1 = np.zeros_like(seg_img1)
+    res_img2 = np.zeros_like(seg_img2)
+    res_img3 = np.zeros_like(seg_img3)
+    remaining_objects2 = list(np.unique(seg_img2.flatten()))
+    remaining_objects3 = list(np.unique(seg_img3.flatten()))
+    for seg_id in np.unique(seg_img1):
+        # See if we can find correspondences to seg_id in seg_img2.
+        max_overlap2 = float('-inf')
+        max_segid2 = -1
+        for seg_id2 in remaining_objects2:
+            overlap = compute_overlap(seg_img1==seg_id, seg_img2==seg_id2)
+            if overlap>max_overlap2:
+                max_overlap2 = overlap
+                max_segid2 = seg_id2
+        if max_overlap2 > threshold_same:
+            max_overlap3 = float('-inf')
+            max_segid3 = -1
+            for seg_id3 in remaining_objects3:
+                overlap = compute_overlap(seg_img2==max_segid2, seg_img3==seg_id3)
+                if overlap>max_overlap3:
+                    max_overlap3 = overlap
+                    max_segid3 = seg_id3
+            if max_overlap3 > threshold_same:
+                res_img1[seg_img1==seg_id] = seg_id
+                res_img2[seg_img2==max_segid2] = seg_id
+                res_img3[seg_img3==max_segid3] = seg_id
+                remaining_objects2.remove(max_segid2)
+                remaining_objects3.remove(max_segid3)
+    return res_img1, res_img2, res_img3

research/struct2depth/gen_data_city.py

@@ -0,0 +1,158 @@
+
+# Copyright 2018 The TensorFlow Authors All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+
+""" Offline data generation for the Cityscapes dataset."""
+
+import os
+from absl import app
+from absl import flags
+from absl import logging
+import numpy as np
+import cv2
+import os, glob
+
+import alignment
+from alignment import compute_overlap
+from alignment import align
+
+
+SKIP = 2
+WIDTH = 416
+HEIGHT = 128
+SUB_FOLDER = 'train'
+INPUT_DIR = '/usr/local/google/home/anelia/struct2depth/CITYSCAPES_FULL/'
+OUTPUT_DIR = '/usr/local/google/home/anelia/struct2depth/CITYSCAPES_Processed/'
+
+def crop(img, segimg, fx, fy, cx, cy):
+    # Perform center cropping, preserving 50% vertically.
+    middle_perc = 0.50
+    left = 1 - middle_perc
+    half = left / 2
+    a = img[int(img.shape[0]*(half)):int(img.shape[0]*(1-half)), :]
+    aseg = segimg[int(segimg.shape[0]*(half)):int(segimg.shape[0]*(1-half)), :]
+    cy /= (1 / middle_perc)
+
+    # Resize to match target height while preserving aspect ratio.
+    wdt = int((float(HEIGHT)*a.shape[1]/a.shape[0]))
+    x_scaling = float(wdt)/a.shape[1]
+    y_scaling = float(HEIGHT)/a.shape[0]
+    b = cv2.resize(a, (wdt, HEIGHT))
+    bseg = cv2.resize(aseg, (wdt, HEIGHT))
+
+    # Adjust intrinsics.
+    fx*=x_scaling
+    fy*=y_scaling
+    cx*=x_scaling
+    cy*=y_scaling
+
+    # Perform center cropping horizontally.
+    remain = b.shape[1] - WIDTH
+    cx /= (b.shape[1] / WIDTH)
+    c = b[:, int(remain/2):b.shape[1]-int(remain/2)]
+    cseg = bseg[:, int(remain/2):b.shape[1]-int(remain/2)]
+
+    return c, cseg, fx, fy, cx, cy
+
+
+def run_all():
+  dir_name=INPUT_DIR + '/leftImg8bit_sequence/' + SUB_FOLDER + '/*'
+  print('Processing directory', dir_name)
+  for location in glob.glob(INPUT_DIR + '/leftImg8bit_sequence/' + SUB_FOLDER + '/*'):
+    location_name = os.path.basename(location)
+    print('Processing location', location_name)
+    files = sorted(glob.glob(location + '/*.png'))
+    files = [file for file in files if '-seg.png' not in file]
+    # Break down into sequences
+    sequences = {}
+    seq_nr = 0
+    last_seq = ''
+    last_imgnr = -1
+
+    for i in range(len(files)):
+        seq = os.path.basename(files[i]).split('_')[1]
+        nr = int(os.path.basename(files[i]).split('_')[2])
+        if seq!=last_seq or last_imgnr+1!=nr:
+            seq_nr+=1
+        last_imgnr = nr
+        last_seq = seq
+        if not seq_nr in sequences:
+            sequences[seq_nr] = []
+        sequences[seq_nr].append(files[i])
+
+    for (k,v) in sequences.items():
+        print('Processing sequence', k, 'with', len(v), 'elements...')
+        output_dir = OUTPUT_DIR + '/' + location_name + '_' + str(k)
+        if not os.path.isdir(output_dir):
+            os.mkdir(output_dir)
+        files = sorted(v)
+        triplet = []
+        seg_triplet = []
+        ct = 1
+
+        # Find applicable intrinsics.
+        for j in range(len(files)):
+            osegname = os.path.basename(files[j]).split('_')[1]
+            oimgnr = os.path.basename(files[j]).split('_')[2]
+            applicable_intrinsics = INPUT_DIR + '/camera/' + SUB_FOLDER + '/' + location_name + '/' + location_name + '_' + osegname + '_' + oimgnr + '_camera.json'
+            # Get the intrinsics for one of the file of the sequence.
+            if os.path.isfile(applicable_intrinsics):
+                f = open(applicable_intrinsics, 'r')
+                lines = f.readlines()
+                f.close()
+                lines = [line.rstrip() for line in lines]
+
+                fx = float(lines[11].split(': ')[1].replace(',', ''))
+                fy = float(lines[12].split(': ')[1].replace(',', ''))
+                cx = float(lines[13].split(': ')[1].replace(',', ''))
+                cy = float(lines[14].split(': ')[1].replace(',', ''))
+
+        for j in range(0, len(files), SKIP):
+            img = cv2.imread(files[j])
+            segimg = cv2.imread(files[j].replace('.png', '-seg.png'))
+
+            smallimg, segimg, fx_this, fy_this, cx_this, cy_this = crop(img, segimg, fx, fy, cx, cy)
+            triplet.append(smallimg)
+            seg_triplet.append(segimg)
+            if len(triplet)==3:
+                cmb = np.hstack(triplet)
+                align1, align2, align3 = align(seg_triplet[0], seg_triplet[1], seg_triplet[2])
+                cmb_seg = np.hstack([align1, align2, align3])
+                cv2.imwrite(os.path.join(output_dir, str(ct).zfill(10) + '.png'), cmb)
+                cv2.imwrite(os.path.join(output_dir, str(ct).zfill(10) + '-fseg.png'), cmb_seg)
+                f = open(os.path.join(output_dir, str(ct).zfill(10) + '_cam.txt'), 'w')
+                f.write(str(fx_this) + ',0.0,' + str(cx_this) + ',0.0,' + str(fy_this) + ',' + str(cy_this) + ',0.0,0.0,1.0')
+                f.close()
+                del triplet[0]
+                del seg_triplet[0]
+                ct+=1
+
+# Create file list for training. Be careful as it collects and includes all files recursively.
+fn = open(OUTPUT_DIR + '/' + SUB_FOLDER + '.txt', 'w')
+for f in glob.glob(OUTPUT_DIR + '/*/*.png'):
+    if '-seg.png' in f or '-fseg.png' in f:
+        continue
+    folder_name = f.split('/')[-2]
+    img_name = f.split('/')[-1].replace('.png', '')
+    fn.write(folder_name + ' ' + img_name + '\n')
+fn.close()
+
+
+def main(_):
+  run_all()
+
+
+if __name__ == '__main__':
+  app.run(main)