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process.py
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#!/usr/bin/env python3
# Copyright (c) Facebook, Inc. and its affiliates.
import logging
import os
from os.path import join as pjoin
import shutil
from depth_fine_tuning import DepthFineTuner
from flow import Flow
from scale_calibration import calibrate_scale
from tools import make_video as mkvid
from utils.frame_range import FrameRange, OptionalSet
from utils.helpers import print_banner, print_title
from video import (Video, sample_pairs)
class DatasetProcessor:
def __init__(self, writer=None):
self.writer = writer
def create_output_path(self, params):
range_tag = f"R{params.frame_range.name}"
flow_ops_tag = "-".join(params.flow_ops)
name = f"{range_tag}_{flow_ops_tag}_{params.model_type}"
out_dir = pjoin(self.path, name)
os.makedirs(out_dir, exist_ok=True)
return out_dir
def extract_frames(self, params):
print_banner("Extracting PTS")
self.video.extract_pts()
print_banner("Extracting frames")
self.video.extract_frames()
def pipeline(self, params):
self.extract_frames(params)
print_banner("Downscaling frames (raw)")
self.video.downscale_frames("color_down", params.size, "raw")
print_banner("Downscaling frames (png)")
self.video.downscale_frames("color_down_png", params.size, "png")
print_banner("Downscaling frames (for flow)")
self.video.downscale_frames("color_flow", Flow.max_size(), "png", align=64)
frame_range = FrameRange(
frame_range=params.frame_range.set, num_frames=self.video.frame_count,
)
frames = frame_range.frames()
print_banner("Compute initial depth")
ft = DepthFineTuner(self.out_dir, frames, params)
initial_depth_dir = pjoin(self.path, f"depth_{params.model_type}")
if not self.video.check_frames(pjoin(initial_depth_dir, "depth"), "raw"):
ft.save_depth(initial_depth_dir)
valid_frames = calibrate_scale(self.video, self.out_dir, frame_range, params)
# frame range for finetuning:
ft_frame_range = frame_range.intersection(OptionalSet(set(valid_frames)))
print("Filtered out frames",
sorted(set(frame_range.frames()) - set(ft_frame_range.frames())))
print_banner("Compute flow")
frame_pairs = sample_pairs(ft_frame_range, params.flow_ops)
self.flow.compute_flow(frame_pairs, params.flow_checkpoint)
print_banner("Compute flow masks")
self.flow.mask_valid_correspondences()
flow_list_path = self.flow.check_good_flow_pairs(
frame_pairs, params.overlap_ratio
)
shutil.copyfile(flow_list_path, pjoin(self.path, "flow_list.json"))
print_banner("Visualize flow")
self.flow.visualize_flow(warp=True)
print_banner("Fine-tuning")
ft.fine_tune(writer=self.writer)
print_banner("Compute final depth")
if not self.video.check_frames(pjoin(ft.out_dir, "depth"), "raw", frames):
ft.save_depth(ft.out_dir, frames)
if params.make_video:
print_banner("Export visualization videos")
self.make_videos(params, ft.out_dir)
return initial_depth_dir, ft.out_dir, frame_range.frames()
def process(self, params):
self.path = params.path
os.makedirs(self.path, exist_ok=True)
self.video_file = params.video_file
self.out_dir = self.create_output_path(params)
self.video = Video(params.path, params.video_file)
self.flow = Flow(params.path, self.out_dir)
print_title(f"Processing dataset '{self.path}'")
print(f"Output directory: {self.out_dir}")
if params.op == "all":
return self.pipeline(params)
elif params.op == "extract_frames":
return self.extract_frames(params)
else:
raise RuntimeError("Invalid operation specified.")
def make_videos(self, params, ft_depth_dir):
args = [
"--color_dir", pjoin(self.path, "color_down_png"),
"--out_dir", pjoin(self.out_dir, "videos"),
"--depth_dirs",
pjoin(self.path, f"depth_{params.model_type}"),
pjoin(self.path, "depth_colmap_dense"),
pjoin(ft_depth_dir, "depth"),
]
gt_dir = pjoin(self.path, "depth_gt")
if os.path.isdir(gt_dir):
args.append(gt_dir)
vid_params = mkvid.MakeVideoParams().parser.parse_args(
args,
namespace=params
)
logging.info("Make videos {}".format(vid_params))
mkvid.main(vid_params)