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import argparse
import json
import logging
import os
from os.path import join
import cv2
import matplotlib as mpl
import matplotlib.cm as cm
import numpy as np
import torch
from SpikeT.model.S2DepthNet import S2DepthTransformerUNetConv
from SpikeT.utils.data_augmentation import CenterCrop, RandomCrop
logging.basicConfig(level=logging.INFO, format='')
def load_vidar_dat(filename, frame_cnt=None, width=640, height=480, reverse_spike=True):
'''
output: <class 'numpy.ndarray'> (frame_cnt, height, width) {0，1} float32
'''
array = np.fromfile(filename, dtype=np.uint8)
len_per_frame = height * width // 8
framecnt = frame_cnt if frame_cnt != None else len(array) // len_per_frame
spikes = []
for i in range(framecnt):
compr_frame = array[i * len_per_frame: (i + 1) * len_per_frame]
blist = []
for b in range(8):
blist.append(np.right_shift(np.bitwise_and(
compr_frame, np.left_shift(1, b)), b))
frame_ = np.stack(blist).transpose()
frame_ = frame_.reshape((height, width), order='C')
if reverse_spike:
frame_ = np.flipud(frame_)
spikes.append(frame_)
return np.array(spikes).astype(np.float32)
def RawToSpike(video_seq, h, w, flipud=True):
video_seq = np.array(video_seq).astype(np.uint8)
img_size = h*w
img_num = len(video_seq)//(img_size//8)
SpikeMatrix = np.zeros([img_num, h, w], np.uint8)
pix_id = np.arange(0,h*w)
pix_id = np.reshape(pix_id, (h, w))
comparator = np.left_shift(1, np.mod(pix_id, 8))
byte_id = pix_id // 8
for img_id in np.arange(img_num):
id_start = int(img_id)*int(img_size)//8
id_end = int(id_start) + int(img_size)//8
cur_info = video_seq[id_start:id_end]
data = cur_info[byte_id]
result = np.bitwise_and(data, comparator)
if flipud:
SpikeMatrix[img_id, :, :] = np.flipud((result == comparator))
else:
SpikeMatrix[img_id, :, :] = (result == comparator)
return SpikeMatrix
def ensure_dir(path):
if not os.path.exists(path):
os.makedirs(path)
def make_colormap(img, color_mapper):
color_map_inv = np.ones_like(img[0]) * np.amax(img[0]) - img[0]
color_map_inv = np.nan_to_num(color_map_inv, nan=1)
color_map_inv = color_map_inv / np.amax(color_map_inv)
color_map_inv = np.nan_to_num(color_map_inv)
color_map_inv = color_mapper.to_rgba(color_map_inv)
color_map_inv[:, :, 0:3] = color_map_inv[:, :, 0:3][..., ::-1]
return color_map_inv
def main(config, initial_checkpoint, spike_path):
use_phased_arch = config['use_phased_arch']
config['model']['gpu'] = config['gpu']
config['model']['every_x_rgb_frame'] = config['data_loader']['train']['every_x_rgb_frame']
config['model']['baseline'] = config['data_loader']['train']['baseline']
config['model']['loss_composition'] = config['trainer']['loss_composition']
model = eval(config['arch'])(config['model'])
if initial_checkpoint is not None:
print('Loading initial model weights from: {}'.format(initial_checkpoint))
checkpoint = torch.load(initial_checkpoint)
print(checkpoint['state_dict'])
model = torch.nn.DataParallel(model).cuda()
if use_phased_arch:
C, (H, W) = config["model"]["num_bins_events"], config["model"]["spatial_resolution"]
dummy_input = torch.Tensor(1, C, H, W)
times = torch.Tensor(1)
_ = model.forward(dummy_input, times=times, prev_states=None)
print(model.state_dict)
model.load_state_dict(checkpoint['state_dict'])
gpu = torch.device('cuda:' + str(config['gpu']))
model.to(gpu)
model.eval()
data_tranfsorm = CenterCrop(224)
# construct color mapper, such that same color map is used for all outputs.
f = open(spike_path, 'rb')
spike_seq = f.read()
spike_seq = np.frombuffer(spike_seq, 'b')
spikes = RawToSpike(spike_seq, 260, 346)
spikes = spikes.astype(np.float32)
spikes = torch.from_numpy(spikes)
f.close()
# spikes = load_vidar_dat(spike_path, width=400, height=250)
data = data_tranfsorm(spikes)
dT, dH, dW = data.shape
item = {}
item['image'] = data
input = {}
input['image'] = data[None, dT//2-64:dT//2+64]
prev_super_states = {'image': None}
prev_states_lstm = {}
new_predicted_targets, _, _ = model(input, prev_super_states['image'], prev_states_lstm)
frame = new_predicted_targets['image'][0].detach().cpu().numpy()
color_map_inv = np.ones_like(frame[0]) * np.amax(frame[0]) - frame[0]
color_map_inv = np.nan_to_num(color_map_inv, nan=1)
color_map_inv = color_map_inv / np.amax(color_map_inv)
color_map_inv = np.nan_to_num(color_map_inv)
vmax = np.percentile(color_map_inv, 95)
normalizer = mpl.colors.Normalize(vmin=color_map_inv.min(), vmax=vmax)
color_mapper_overall = cm.ScalarMappable(norm=normalizer, cmap='magma')
with torch.no_grad():
f = open(spike_path, 'rb')
spike_seq = f.read()
spike_seq = np.frombuffer(spike_seq, 'b')
spikes = RawToSpike(spike_seq, 260, 346)
spikes = spikes.astype(np.float32)
spikes = torch.from_numpy(spikes)
f.close()
data = data_tranfsorm(spikes)
print(data.shape)
dT, dH, dW = data.shape
item = {}
item['image'] = data
input = {}
input['image'] = data[None, dT//2-64:dT//2+64]
prev_super_states = {'image': None}
prev_states_lstm = {}
new_predicted_targets, _, _ = model(input, prev_super_states['image'], prev_states_lstm)
predict_depth = new_predicted_targets['image']
print(predict_depth.shape)
predict_depth = predict_depth[0].cpu().numpy()
img = predict_depth
cv2.imwrite(f'{os.path.basename(spike_path).split(".")[0]}_image.png', img[0][:, :, None] * 255.0)
spikes = data.permute(1,2,0).cpu().numpy()
input_spikes = np.mean(spikes, axis=2).astype(np.float32)
cv2.imwrite(f'{os.path.basename(spike_path).split(".")[0]}_spike.png', input_spikes[:, :, None] * 255.0)
# save color map
color_map = make_colormap(img, color_mapper_overall)
cv2.imwrite(f'{os.path.basename(spike_path).split(".")[0]}_colormap.png', color_map * 255.0)
if __name__ == '__main__':
logger = logging.getLogger()
parser = argparse.ArgumentParser(
description='Inference depth map from monocular spike stream')
parser.add_argument('--path_to_model', type=str,
help='path to the model weights',
default='SpikeT/s2d_weights/debug_A100_SpikeTransformerUNetConv_LocalGlobal-Swin3D-T/model_best.pth.tar')
parser.add_argument('--config', type=str,
help='path to config. If not specified, config from model folder is taken',
default=None)
parser.add_argument('--data_folder', type=str,
help='path to folder of data to be tested',
default=None)
args = parser.parse_args()
if args.config is None:
head_tail = os.path.split(args.path_to_model)
config = json.load(open(os.path.join(head_tail[0], 'config.json')))
else:
config = json.load(open(args.config))
spike_path = 'driving_outdoor0.dat'
spike_path = 'dense276.npy'
spike_path = 'dense082.npy'
main(config, args.path_to_model, f'asset/{spike_path}')
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